EP4053069A1 - Method for controlling lifting of a suspended load in the event of an emergency stop - Google Patents

Abstract

Method for controlling the lifting of a suspended load (9) by means of a lifting winch (6) integrating a drum (62) on which is wound a lifting cable (60) coupled to the load, comprising:- measuring a mass parameter and a lifting speed representative of a mass and a displacement speed of the load;- monitoring an emergency stop (4) which, once activated, cuts the lifting winch;- when when the load is raised, compare the lifting speed with a low threshold and a high threshold which vary according to the mass parameter; - control the lifting in an optimized mode in which the lifting speed uphill is authorized below of the high threshold and prohibited above the high threshold, and if the emergency stop is activated during a rise and while the hoisting speed is greater than the low threshold then an alarm is activated.

Description

The invention relates to a control method for controlling the lifting of a suspended load by means of a lifting winch incorporating a drum on which is wound a lifting cable coupled to the suspended load.

It relates more particularly to a control method which aims to avoid winding faults in the hoisting cable which may occur when an emergency stop is activated when the suspended load is raised.

In known manner, a lifting winch, also called a cable winch, comprises a cable drum around which a lifting cable is wound, where the drum is driven in rotation by means of a motor in two opposite directions of rotation for a winding/unwinding of the lifting cable on the drum, thus controlling the lifting of the suspended load up and down.

The invention finds a preferred, and non-limiting, application for crane-type hoisting apparatus, and in particular a tower crane, a component slewing crane, a self-erecting crane, a harbor crane and a mobile crane. In an application to a crane, the suspended load is generally suspended on a jib, and in particular on a distribution carriage moving along such a jib, to make it go up and down vis-à-vis the jib.

The invention can also find applications in transport devices such as cable cars and elevators, and in other types of lifting devices such as gantries.

In order to improve the productivity of load lifting operations, it is known to now use lifting winches of the high lifting performance winch type, called "HPL", which make it possible to have, in comparison with generation winches above, very high lifting speeds at low load uphill and downhill, such as a lifting speed of the order of 200 m / min, or even beyond.

However, the applicant observed that, if during a rise of the suspended load (and therefore during a winding of the lifting cable on the drum), an emergency stop is activated (generally for safety reasons) and that consequently the hoisting winch is cut (thereby stopping the ascent of the suspended load), then defects in the winding of the hoisting cable on the drum may appear. In indeed, a sudden stop of the rotation of the drum, during a winding phase of the hoisting cable, can lead, with the inertia of the hoisting cable (in particular at high speed), to a wound part of the hoisting cable comes off the drum and/or is distributed unevenly. Eventually, such winding faults can degrade the condition of the hoisting rope, and can affect the safety and reliability of lifting operations.

Thus, the invention proposes to solve this problem by controlling the lifting of the load, in particular during the lifting phases of the load, to at least warn of a risk of winding fault, so that a control of the winding (for example a visual control) and, if necessary, unwinding of the lifting cable to catch up and eliminate the winding fault, or even to prevent such a winding fault from occurring.

• mesure d'un paramètre de masse représentatif d'une masse de la charge suspendue ;
• mesure d'une vitesse de levage représentative d'une vitesse de déplacement de la charge suspendue, en montée et en descente, et comprise dans une plage de vitesses bornée à une vitesse maximale ;
• surveillance d'un arrêt d'urgence qui, une fois activé, coupe au moins le treuil de levage et stoppe le levage de la charge suspendue et qui, une fois désactivé, autorise une remise en service du treuil de levage ;
• lors d'une montée de la charge suspendue, comparaison de la vitesse de levage en montée avec un seuil bas qui varie en fonction du paramètre de masse, et avec un seuil haut qui varie aussi en fonction du paramètre de masse, ledit seuil haut étant supérieur ou égal au seuil bas et inférieur ou égal à la vitesse maximale ;
• contrôle du levage dans un mode optimisé dans lequel la vitesse de levage en montée est autorisée seulement en-dessous du seuil haut et interdite au-dessus du seuil haut, et si l'arrêt d'urgence est activé lors d'une montée de la charge suspendue et alors que la vitesse de levage en montée est supérieure au seuil bas alors une alarme est activée.

To this end, the invention proposes a control method for controlling the lifting of a suspended load by means of a lifting winch incorporating a drum on which is wound a lifting cable coupled to the suspended load, this control method implementing the following steps:

• measurement of a mass parameter representative of a mass of the suspended load;
• measurement of a lifting speed representative of a speed of movement of the suspended load, uphill and downhill, and included in a range of speeds limited to a maximum speed;
• monitoring of an emergency stop which, once activated, cuts at least the lifting winch and stops the lifting of the suspended load and which, once deactivated, authorizes the lifting winch to be put back into service;
• during an ascent of the suspended load, comparison of the ascent lifting speed with a low threshold which varies as a function of the mass parameter, and with a high threshold which also varies as a function of the mass parameter, said high threshold being greater than or equal to the low threshold and less than or equal to the maximum speed;
• hoisting control in an optimized mode in which the hoisting speed uphill is authorized only below the high threshold and prohibited above the high threshold, and if the emergency stop is activated during a rise of the suspended load and while the uphill hoisting speed is greater than the low threshold, an alarm is activated.

Thus, the invention proposes an optimized mode in which, during an ascent of the suspended load, the ascent lifting speed is limited in the sense that it cannot exceed the high threshold; this high threshold being dependent on the mass of the load and being a threshold beyond which the risk of a winding fault is very high, or even the winding fault may be such that it cannot be corrected, even by unrolling the lifting cable. Thus, this clamping prevents such a non-recoverable winding fault from occurring.

Furthermore, in this optimized mode when the suspended load is raised, if the lifting speed uphill is greater than the low threshold, then an alarm is activated; this low threshold being dependent on the mass of the load and being a threshold beyond which the risk of a winding fault is high, with a winding fault which can preferably be corrected by unwinding the lifting cable. Thus, the alarm informs that it is necessary to check whether there is a winding fault and, if necessary, that this winding fault must be corrected by unrolling the lifting cable.

It should be noted that the mass parameter can correspond to the mass of the suspended load, or to another parameter which depends on the mass of the suspended load, such as for example a weight, a tension, a force, a stretch, etc

It should also be noted that the lifting speed can correspond to the speed of movement of the suspended load, or to another speed which depends on the speed of movement of the suspended load, such as for example a speed of rotation of the drum, engine speed, hoist rope speed, etc.

According to one characteristic, in the optimized mode, once the emergency stop is deactivated, and if the hoisting speed uphill was greater than the low threshold at the time of the activation of the emergency stop, then the lifting speed uphill, and optionally also downhill, is limited to a reduced speed, below the high threshold, until a winding condition is met, said winding condition being representative of a state of winding/unwinding of the lifting cable around the drum.

In this way, after the hoisting winch is put back into service, following an emergency stop during an ascent of the suspended load at an uphill hoisting speed greater than the lower threshold, the hoisting speed is limited to the reduced speed to encourage recovery of the probable winding fault, by unwinding the hoisting cable, and also to avoid making the winding fault worse. Then, it is only once the winding condition is met, that the lifting speed can be unbridled (i.e. can exceed the reduced speed) in order to be able to resume the lifting operations of charge.

This winding condition reflects the absence of a winding fault, either because no winding fault has occurred at the time of the emergency stop, or because the winding fault has was caught after the hoisting winch was put back into service. This winding condition may be subject to validation, either by an operator who performs a visual check, or automatically or remotely, for example by means of a dedicated sensor.

In an alternative embodiment, in the optimized mode, once the emergency stop is deactivated, and if the lifting speed uphill was greater than the low threshold at the time of the activation of the emergency stop, then the uphill hoisting speed is again authorized only below the high threshold and prohibited above the high threshold, unless another operating mode is selected.

In other words, in this variant embodiment, the lifting speed, both uphill and downhill, is not limited to the reduced speed after deactivation of the emergency stop, and there is no assessment of a winding condition; only the alarm is activated before a return to normal in this alternative embodiment of the optimized mode.

According to one possibility, the winding condition is fulfilled once the hoisting rope has been unwound by a given unwinding length after the emergency stop has been deactivated.

This unwinding length corresponds to a minimum length to make up for a winding fault, and can be the result of a calculation, a simulation, a series of empirical tests, or a check by an operator.

According to another possibility, the unwinding length is a function of at least one of the following parameters among the lifting speed uphill at the time of activation of the emergency stop and the mass parameter.

In other words, this unwinding length depends on the uphill hoisting speed at the time of the activation of the emergency stop and/or the mass parameter.

According to one characteristic, once the winding condition has been fulfilled in the optimized mode, the alarm is deactivated.

According to another characteristic, once the winding condition has been fulfilled in the optimized mode, the uphill hoisting speed is again authorized only below the high threshold and prohibited above the high threshold, unless another operating mode is selected.

In a particular embodiment, when the mass parameter is less than a given reference value, the low threshold and the high threshold are distinct and they increase with the mass parameter.

In other words, when the mass parameter is low (i.e. lower than the reference value), there will be three speed zones, below the low threshold, between the low threshold and the high threshold, and above the upper threshold. Exceptions to this scenario are however possible, depending for example on the type of lifting cable and/or the model of lifting winch.

In a particular embodiment, when the mass parameter is greater than the reference value, the low threshold and the high threshold are equal; they decrease with the mass parameter.

In other words, when the mass parameter is high (that is to say greater than the reference value), there will be two speed zones, below the low threshold and above the low threshold; this low threshold being equivalent to the high threshold.

According to one possibility, the maximum speed varies according to the mass parameter and, when the mass parameter is greater than the reference value, the maximum speed decreases with the mass parameter and the low threshold and the high threshold are equal to this Maximum speed.

According to another possibility, when the mass parameter is lower than the reference value, the maximum speed is constant or constant within plus or minus 15%, and the high threshold is strictly lower than the maximum speed or is equal to the maximum speed .

Advantageously, the reduced speed, in the optimized mode, is lower than the low threshold.

According to a variant, the reduced speed, in the optimized mode, is between 0.1 and 0.6 times the maximum speed, and for example between 0.2 and 0.4 times the maximum speed.

In an advantageous embodiment, the alarm takes the form of a visual or audible alarm signal on a piloting interface.

In a particular embodiment, a step is performed for selecting an operating mode from among the optimized mode and a basic mode in which the uphill lifting speed is authorized in the entire speed range, and if a stoppage of emergency is activated during an ascent of the suspended load and while the ascent lifting speed is greater than the low threshold then an alarm is activated; and hoist control operates in the selected operating mode.

This basic mode corresponds to operation without hoisting speed restriction, but with an alarm all the same if an emergency stop is activated when the suspended load is raised with an uphill hoisting speed greater than the low threshold , to inform that it is necessary to check if there is a winding fault; because, as a reminder, the low threshold is a threshold beyond which the risk of a winding fault is high.

Advantageously, in the basic mode, the alarm varies according to whether the uphill lifting speed is lower than the high threshold or is higher than the high threshold at the time of the activation of the emergency stop.

In other words, in the basic mode, the alarm, whether audible or visual, depends on whether the lifting speed up is between the low threshold and the high threshold or if the lifting speed up is above above the high threshold, in order to alert an operator of a high (or minor) but remediable risk of winding fault (case where the uphill lifting speed is lower than the high threshold) or of a risk of fault very high (or major) or even non-recoverable winding (case where the uphill lifting speed is greater than the upper threshold).

In another particular embodiment, a step is performed for selecting an operating mode from among the optimized mode and a secure mode in which the uphill lifting speed is authorized only below the low threshold and prohibited above it. low threshold; and hoist control operates in the selected operating mode.

This secure mode corresponds to operation with a clamping of the lifting speed uphill below the low threshold, in the sense that this lifting speed uphill cannot exceed the low threshold; thus preventing a winding fault (recoverable or non-recoverable) from occurring.

It is of course conceivable that a step of selecting an operating mode from among the optimized mode, the basic mode and the secure mode is carried out, and the lifting control takes place in the operating mode selected from among the three.

Advantageously, during hoist control, downhill hoisting speed is permitted throughout the speed range.

In other words, in the optimized mode, and even in the other operating modes such as the basic mode and the safe mode, the downhill hoisting speed is not restricted and can operate in the entire speed range, otherwise said up to the maximum speed.

In fact, in the event of an emergency stop during a descent at high speed, no risk of winding fault is observed, only the ascent is problematic, at least for this question of the winding fault.

• un premier système de mesure pour une mesure d'un paramètre de masse représentatif d'une masse de la charge suspendue ;
• un second système de mesure pour une mesure d'une vitesse de levage représentative d'une vitesse de déplacement de la charge suspendue, en montée et en descente, et comprise dans une plage de vitesses bornée à une vitesse maximale ;
• un arrêt d'urgence qui, une fois activé, coupe au moins le treuil de levage et stoppe le levage de la charge suspendue et qui, une fois désactivé, autorise une remise en service du treuil de levage ;
• un système d'alarme configurée pour émettre une alarme lorsqu'activé ; et
• un système de contrôle/commande relié au premier système de mesure, au second système de mesure, au treuil de levage, au système d'alarme et à l'arrêt d'urgence, ledit système de contrôle/commande étant configuré pour effectuer, lors d'une montée de la charge suspendue, une comparaison de la vitesse de levage en montée avec un seuil bas qui varie en fonction du paramètre de masse, et avec un seuil haut qui varie aussi en fonction du paramètre de masse, ledit seuil haut étant supérieur ou égal au seuil bas et inférieur ou égal à la vitesse maximale ; et

dans lequel le système de contrôle/commande est configuré pour, dans un mode optimisé, piloter le treuil de levage pour que la vitesse de levage en montée soit autorisée seulement en-dessous du seuil haut et soit interdite au-dessus du seuil haut, et pour activer le système d'alarme si l'arrêt d'urgence est activé lors d'une montée de la charge suspendue et alors que la vitesse de levage en montée est supérieure au seuil basThe invention also relates to a lifting or transport device, such as for example a crane, comprising a lifting winch incorporating a drum on which is wound a lifting cable coupled to a suspended load for lifting the suspended load, this lifting or transport device comprising:

• a first measuring system for measuring a mass parameter representative of a mass of the suspended load;
• a second measurement system for measuring a lifting speed representative of a speed of movement of the suspended load, uphill and downhill, and included in a range of speeds limited to a maximum speed;
• an emergency stop which, once activated, cuts at least the hoisting winch and stops the lifting of the suspended load and which, once deactivated, authorizes a return to service of the lifting winch;
• an alarm system configured to sound an alarm when activated; and
• a control/command system connected to the first measurement system, to the second measurement system, to the hoisting winch, to the alarm system and to the emergency stop, said control/command system being configured to carry out, during of an ascent of the suspended load, a comparison of the ascent lifting speed with a low threshold which varies as a function of the mass parameter, and with a high threshold which also varies as a function of the mass parameter, said high threshold being greater than or equal to the low threshold and less than or equal to the maximum speed; and

wherein the control/command system is configured to, in an optimized mode, control the hoisting winch so that the uphill hoisting speed is authorized only below the high threshold and is prohibited above the high threshold, and to activate the alarm system if the emergency stop is activated during an ascent of the suspended load and while the ascent lifting speed is greater than the low threshold

According to one characteristic, the control/command system is configured to, in the optimized mode and once the emergency stop is deactivated, drive the hoisting winch so that the hoisting speed, whether uphill and descent, is limited to a reduced speed, below the high threshold, until a winding condition is fulfilled, said winding condition being representative of a winding/unwinding state of the lifting cable around the drum.

According to one characteristic, the lifting or transport device comprises a mode selector for selecting an operating mode from among the optimized mode and a basic mode in which the control/command system controls the lifting winch so that the lifting speed uphill is permitted throughout the entire speed range, and to activate the alarm system if an emergency stop is activated during an ascent of the suspended load and while the ascent lifting speed is greater than the low threshold.

According to another characteristic, the lifting or transport device comprises a mode selector for selecting an operating mode from among the optimized mode and a secure mode in which the control/command system controls the lifting winch so that the speed of Uphill lifting is only permitted below the lower threshold and prohibited above the lower threshold.

• [Fig 1] est une vue schématique d'une grue selon l'invention ;
• [Fig 2] est un tableau représentant les variations du seuil bas et du seuil haut en fonction du paramètre de masse, avec les trois zones de vitesse dans le mode basique ;
• [Fig 3] est un tableau représentant les variations du seuil bas et du seuil haut en fonction du paramètre de masse, avec les trois zones de vitesse dans le mode optimisé ;
• [Fig 4] est un tableau représentant les variations du seuil bas et du seuil haut en fonction du paramètre de masse, avec les trois zones de vitesse dans le mode sécurisé.

Other characteristics and advantages of the present invention will appear on reading the detailed description below, of a non-limiting example of implementation, made with reference to the appended figures in which:

• [ Fig 1 ] is a schematic view of a crane according to the invention;
• [ Fig 2 ] is a table representing the variations of the low threshold and of the high threshold as a function of the mass parameter, with the three speed zones in the basic mode;
• [ Fig.3 ] is a table representing the variations of the low threshold and of the high threshold as a function of the mass parameter, with the three speed zones in the optimized mode;
• [ Fig 4 ] is a table representing the variations of the low threshold and of the high threshold as a function of the mass parameter, with the three speed zones in the secure mode.

The figure 1 schematically represents a crane 1, for example of the tower crane type, this crane 1 comprising a mast 10 and a distributing jib 11 along which a trolley moves, under which the suspended load 9 is suspended from a lifting cable 60 by through a block and a hook (not shown).

The crane 1 also includes a lifting winch 6, essentially composed of an electric motor 61, a reduction gear and a drum 62 around which is wound the lifting cable 60 coupled to the suspended load 9; the electric motor 61 drives the drum 62 in rotation in one direction or the other, via the reducer, to wind or unwind the lifting cable 60, therefore for lifting the suspended load 9 uphill (towards the up) or down (down).

The electric motor 61 of the lifting winch 6 is controlled by a frequency converter 63, with speed variator function. This electric motor 61 is itself supplied with electrical energy by an electrical power supply 12, which is in particular constituted by an electrical distribution network.

The hoisting winch 6 further comprises a motor brake 64, associated with the electric motor 61. The closing of the motor brake 64 immobilizes the electric motor 61 and the drum 62 in rotation, while the opening of this motor brake 64 allows the free rotation of the electric motor 61 and of the drum 62. Normally, the starting of the electric motor 61 is accompanied by an opening of the brake motor 64, while stopping this electric motor 61 is accompanied by the closing of the motor brake 64.

The crane 1 also comprises a control/command system 2 connected to the frequency converter 63 for controlling the motor speed of the electric motor 61, whether uphill or downhill, and thus controlling the speed of movement of the suspended load 9, uphill and downhill. This control/command system 2 is also connected to the motor brake 64 to control its opening/closing.

The crane 1 also comprises a first measuring system 31 for measuring a mass parameter PM representative of a mass of the suspended load 9. This mass parameter PM may correspond to the mass of the suspended load 9, or else to another parameter which depends on the mass of the suspended load, such as for example a weight, a tension measured at the level of the lifting cable 60, a force measured for example at the level of the block or the hook, a stretching of the lifting 60, etc.

The crane 1 also comprises a second measurement system 32 for measuring a lifting speed VL representative of the speed of movement of the suspended load 9, uphill and downhill, and included in a range of speeds limited to a speed maximum VMAX. This lifting speed VL can correspond to the speed of movement of the suspended load 9, or else to another speed which depends on the speed of movement of the suspended load 9, such as for example a speed of rotation of the drum 62, an instruction speed, engine speed, 60 hoist rope speed, etc. In normal operation, without clamping of the lifting speed VL, this lifting speed VL can vary from zero to the maximum speed VMAX, this maximum speed VMAX being a manufacturer limit or a machine limit specific to the lifting winch 6. This maximum speed VMAX can vary with the mass parameter PM, and more particularly decrease with the mass parameter PM.

The control/command system 2 is connected both to the first measurement system 31 and to the second measurement system 32 to receive in real time the measurement of the mass parameter PM and the measurement of the lifting speed VL.

The crane 1 incorporates at least one emergency stop 4, for example placed in a cockpit 13 or on a remote control or at the foot of the mast 10 and which, once activated, cuts at least the lifting winch 6 (in other words stops the electric motor 61) and stops the lifting of the suspended load 9 and which, once deactivated, authorizes a return to service of the lifting winch 6. This emergency stop 4 is connected to the control/command system 2 which, when the emergency stop 4 is activated, cuts off the hoisting winch 6. Other electrical devices can of course also be cut off when the emergency stop is activated. emergency 4.

The crane 1 includes an alarm system 5 configured to emit an alarm when activated. This alarm system 5 can be in the form of a visual display, for example at the level of a piloting interface placed in the piloting cabin 13 or of a remote interface, so that the alarm signal is a visual signal on this control interface. As a variant or in addition, this alarm system 5 can comprise a sound transmitter, for example in the cockpit 13, so that the alarm signal is a sound signal. The alarm system 5 is linked to the control/command system 2 which is configured to activate/deactivate the alarm system 5 under certain conditions described later.

The control/command system 2 is configured to operate a lifting control during a descent of the suspended load 9 and during an ascent of the suspended load 9.

During a descent of the suspended load 9, the control/command system 2 authorizes the lifting speed VL in descent in the entire speed range, in other words a pilot can control the lifting speed VL in the entire speed range up to at the corresponding maximum speed VMAX for the mass parameter PM measured.

During an ascent of the suspended load 9, the control/command system 2 is configured to carry out a comparison of the lifting speed VL in ascent with a low threshold SB which varies according to the mass parameter PM, and with a high threshold SH which also varies as a function of the mass parameter PM, where this high threshold SH is greater than or equal to the low threshold SB and less than or equal to the maximum speed VMAX.

The Figures 2 to 4 illustrate, in tables, an example of variations of a low threshold SB and of a high threshold SH, expressed in m/s, as a function of the mass parameter PM expressed in kg. The low threshold SB is schematized by a single line in thick line, while the high threshold SH is schematized by a double line in thick line. In this example, when the mass parameter is lower than a given reference value PREF, the low threshold SB and the high threshold SH are distinct and they increase with the mass parameter PM, and thus the low threshold SB is strictly lower than the high threshold SH. Moreover, when the mass parameter PM is greater than the reference value PREF, the low threshold SB and the high threshold SH are equal to the maximum speed VMAX which decreases with the mass parameter PM. In other words, beyond this value of reference PREF, that is to say for very heavy loads, the control/command system 2 imposes a reduction in the maximum speed VMAX, and the two thresholds SB, SH are equal to this maximum speed VMAX and therefore also decrease with the mass parameter PM. In this example, when the mass parameter PM is lower than the reference value PREF, the maximum speed VMAX is constant or constant to plus or minus 15%, and the high threshold SH is strictly lower than the maximum speed VMAX.

Thus, the variation curves of the low threshold SB, of the high threshold and of the maximum speed VMAX delimit three speed zones, a low zone ZB below the low threshold SB, an intermediate zone ZI between the low threshold SB and the threshold high SH, and a high zone ZH between the high threshold SH and the maximum speed VMAX. The intermediate zone ZI and the upper zone ZH stop beyond the reference value PREF, so that beyond this reference value PREF only the lower zone ZB remains.

The low threshold SB and the high threshold SH are established by modeling, simulation or real test of a net stop of a winding of the lifting cable 60 around the drum 62 (such a winding being associated with a rise of the suspended load 9 ) for different uphill lifting speeds VL and for different mass parameters PM, distinguishing the low threshold SB as a speed below which no winding fault is observed and above which a winding fault winding is observed, and the high threshold SH as a speed above which the winding fault observed is very high (or major) or even irrecoverable, while between the low threshold SB and the high threshold SH the fault of observed winding is high (or minor) but recoverable by an operation of unwinding and rewinding the lifting cable 60.

During a rise of the suspended load 9, three operating modes can be selected, in particular by means of a mode selector 7, arranged for example at the level of a piloting interface placed in the piloting cabin 13, so that the pilot (also called crane operator) can select an operating mode from among the following three operating modes: a basic mode, an optimized mode and a secure mode.

The lifting control, by means of the control/command system 2, then takes place in the selected operating mode. During hoist control, the downhill hoisting speed VL is as a reminder allowed in the entire speed range.

With reference to the Figure 2 , in the basic mode, the control/command system 2 controls the lifting winch 6 so that the lifting speed VL in ascent (in other words during an ascent of the suspended load 9) is authorized in the entire speed range, therefore up to the maximum speed VMAX. Also, in the basic mode, the control/command system 2 authorizes the hoisting speed VL in the three speed zones ZB, ZI and ZH. Moreover, in this basic mode, the control/command system 2 is configured to activate the alarm system 5 if the emergency stop 4 is activated during a rise of the suspended load 9 and while the speed lifting speed VL on the way up is greater than the low threshold SB.

• si la vitesse de levage VL en montée est dans la zone basse ZB au moment de l'activation de l'arrêt d'urgence 4 qui provoque un arrêt net de la montée de la charge suspendue 9, alors le système d'alarme 5 n'est pas activé ; et
• si la vitesse de levage VL en montée est dans la zone intermédiaire ZI ou dans la zone haute ZH, au moment de l'activation de l'arrêt d'urgence 4, alors le système d'alarme 5 est activé pour déclencher une alarme propre à informer un opérateur (par exemple le pilote) d'un risque de défaut d'enroulement.

In other words, in basic mode:

• if the lifting speed VL uphill is in the low zone ZB at the time of activation of the emergency stop 4 which causes a sharp stop in the lifting of the suspended load 9, then the alarm system 5 n is not activated; and
• if the uphill lifting speed VL is in the intermediate zone ZI or in the high zone ZH, at the time of activation of the emergency stop 4, then the alarm system 5 is activated to trigger its own alarm to inform an operator (for example the pilot) of a risk of winding fault.

• le défaut d'enroulement est potentiellement élevé (ou mineur) et rattrapable dans le cas où la vitesse de levage VL en montée est dans la zone intermédiaire ZI ; ou
• le défaut d'enroulement est potentiellement très élevé (ou majeur) voire non rattrapable dans le cas où la vitesse de levage VL en montée est dans la zone haute ZH.

In basic mode, the alarm varies depending on whether the uphill hoisting speed VL is lower than the high threshold SH or higher than the high threshold SH, in other words the alarm is not the same depending on whether the hoisting speed VL uphill is in the intermediate zone ZB or in the high zone ZH, at the moment of the activation of the emergency stop 4. In this way, the operator will be informed with two distinct alarms that:

• the winding defect is potentially high (or minor) and can be corrected in the case where the lifting speed VL uphill is in the intermediate zone ZI; Where
• the winding fault is potentially very high (or major) or even not recoverable in the case where the uphill lifting speed VL is in the high zone ZH.

In the basic mode, once the emergency stop 4 is deactivated, the hoisting speed VL, whether uphill and downhill, is again allowed in the whole speed range, unless another operating mode is selected.

With reference to the Figure 3 , in the optimized mode, the control/command system 2 controls the hoisting winch 6 so that the uphill hoisting speed VL is authorized only below the high threshold SH and prohibited above the high threshold SH. Also, in the optimized mode, the control/command system 2 authorizes the uphill hoisting speed VL only in the lower zone ZB and in the intermediate zone ZI, and prohibits the uphill hoisting speed VL in the upper zone ZH, which is schematized by stripes in the upper zone ZH on the Figure 3 .

Furthermore, in this optimized mode, the control/command system 2 is configured to activate the alarm system 5 if the emergency stop 4 is activated during a rise of the suspended load 9 and while the speed lifting speed VL on the way up is greater than the low threshold SB.

• si la vitesse de levage VL en montée est dans la zone basse ZB au moment de l'activation de l'arrêt d'urgence 4, alors le système d'alarme 5 n'est pas activé ; et
• si la vitesse de levage VL en montée est dans la zone intermédiaire ZI, au moment de l'activation de l'arrêt d'urgence 4, alors le système d'alarme 5 est activé pour déclencher une alarme propre à informer l'opérateur d'un risque de défaut d'enroulement.

In other words, in the optimized mode:

• if the uphill hoisting speed VL is in the low zone ZB at the time of the activation of the emergency stop 4, then the alarm system 5 is not activated; and
• if the uphill hoisting speed VL is in the intermediate zone ZI, when the emergency stop 4 is activated, then the alarm system 5 is activated to trigger an alarm specific to informing the operator of a risk of winding fault.

This alarm can be specific to the optimized mode, and therefore different from the basic mode alarms. It is also possible for this optimized mode alarm to be equivalent to the basic mode alarm triggered when the lifting speed VL uphill is in the intermediate zone ZI.

Thus, with this optimized mode, the upper zone ZH is prohibited so that there is no risk of a major or even irrecoverable winding fault. On the other hand, the intermediate zone ZI is authorized, so that if the hoisting speed VL uphill is in the intermediate zone ZI at the time of activation of the emergency stop 4, then the operator will be informed by a alarm of a risk of winding fault, which is potentially minor and recoverable.

• si la vitesse de levage VL en montée était inférieure au seuil bas SB (autrement dit était dans la zone basse ZB) au moment de l'activation de l'arrêt d'urgence 4, la vitesse de levage VL en montée est à nouveau autorisée en-dessous du seuil haut SH et interdite au-dessus du seuil haut SH (autrement dit est autorisée dans la zone basse ZB et dans la zone intermédiaire ZI, et interdite dans la zone haute ZH), à moins qu'un autre mode de fonctionnement ne soit sélectionné ;
• si la vitesse de levage VL en montée était supérieure au seuil bas SB (autrement dit était dans la zone intermédiaire ZI) au moment de l'activation de l'arrêt d'urgence 4, la vitesse de levage VL en montée, et optionnellement aussi en descente, est limitée à une vitesse réduite VRED, jusqu'à ce qu'une condition d'enroulement soit remplie, une telle condition d'enroulement étant représentative d'un état d'enroulement/déroulement du câble de levage 60 autour du tambour 62.

In the optimized mode, once the emergency stop 4 is deactivated, there are two possibilities:

• if the uphill hoisting speed VL was lower than the lower threshold SB (i.e. was in the lower zone ZB) at the time of activation of the emergency stop 4, the uphill hoisting speed VL is again authorized below the high threshold SH and prohibited above the high threshold SH (in other words is authorized in the low zone ZB and in the intermediate zone ZI, and prohibited in the high zone ZH), unless another mode of operation is selected;
• if the lifting speed VL uphill was greater than the low threshold SB (in other words was in the intermediate zone ZI) at the time of activation of the emergency stop 4, the lifting speed VL uphill, and optionally also downhill, is limited to a reduced speed VRED, until a winding condition is fulfilled, such a winding condition being representative of a winding/unwinding state of the lifting cable 60 around the drum 62.

The point of restricting the uphill hoisting speed VL to the reduced speed VRED (in other words the uphill hoisting speed VL cannot exceed the reduced speed VRED) is to impose low-speed operations for rewinding of the lifting cable 60 around the drum 62 to make up for the winding fault.

Optionally, the downhill hoisting speed VL is also limited to the reduced speed VRED (i.e. the downhill hoisting speed VL cannot exceed the reduced speed VRED) to impose low speed operations for the unwinding of the hoist rope 60 to correct the winding fault.

The winding condition is a function of the uphill hoisting speed VL at the time of activation of the emergency stop 4. Indeed, the winding fault increases with the uphill hoisting speed VL at the time of activation of the emergency stop 4.

The winding condition is also a function of the mass parameter PM. Indeed, the winding defect decreases with the mass parameter PM measured at the time of the activation of the emergency stop 4, since the heavier the suspended load 9 is and applies an increased tension on the lifting cable 60 and the less the risk of a winding fault is present.

Advantageously, the winding condition is fulfilled once the lifting cable 60 has been unwound by a given unwinding length LDER after the emergency stop 4 has been deactivated. This unwinding length LDER is therefore also a function of the hoisting speed VL uphill at the time of activation of emergency stop 4 and/or mass parameter PM.

It is possible that the control of the winding condition is operated automatically (by means of a sensor or an automatic control of the unwinding length LDER) and/or visually by an operator.

• l'alarme du système d'alarme 5 soit désactivée ;
• la vitesse de levage VL en montée soit à nouveau autorisée seulement en-dessous du seuil haut SH et interdite au-dessus du seuil haut SH, à moins qu'un autre mode de fonctionnement soit sélectionné ;
• la vitesse de levage VL en descente soit à nouveau autorisée dans toute la plage de vitesse, dans le cas où cette vitesse de levage VL en descente était limitée à la vitesse réduite VRED.

In the optimized mode, once the winding condition has been fulfilled, the control/command system 2 provides commands so that:

• the alarm of alarm system 5 is deactivated;
• the uphill hoisting speed VL is again authorized only below the high threshold SH and prohibited above the high threshold SH, unless another operating mode is selected;
• the downhill hoisting speed VL is again authorized in the entire speed range, in the event that this downhill hoisting speed VL was limited to the reduced speed VRED.

This reduced speed VRED may be lower than the low threshold SB (as associated with the mass parameter PM of the suspended load 9) and/or be included between 0.1 and 0.6 times the maximum speed, and for example between 0.2 and 0.4 times the maximum speed.

Alternatively, in the optimized mode, once the emergency stop 4 is deactivated, there is only one possibility: it does not matter whether the hoisting speed VL uphill was lower or higher than the low threshold SB at the time of the activation of emergency stop 4, the uphill hoisting speed VL is again authorized below the upper threshold SH and prohibited above the upper threshold SH (in other words is authorized in the lower zone ZB and in the intermediate zone ZI, and prohibited in the upper zone ZH), unless another operating mode is selected. In other words, in this variant, there is no reduced speed or winding condition, and there is essentially the alarm to warn the operator of a risk of winding fault.

With reference to the Figure 4 , in the secure mode, the control/command system 2 controls the lifting winch 6 so that the uphill lifting speed VL is authorized only below the low threshold SB and prohibited above the low threshold SB. Also, in the secure mode, the control/command system 2 authorizes the lifting speed VL uphill only in the low zone ZB, and prohibits the lifting speed VL uphill in the intermediate zone ZI and in the high zone ZH, which is schematized by stripes in the intermediate zone ZI and in the upper zone ZH on the Figure 4 .

In this secure mode, if the emergency stop 4 is activated when the suspended load 9 rises, the control/command system 2 activates no alarm by means of the alarm system 5, because there is no there is no risk of winding fault below the low threshold SB. Once the emergency stop 4 is deactivated, the hoisting speed VL uphill is again authorized below the low threshold SB and prohibited above the low threshold SB, unless another operating mode is not selected.

Claims (15)

Control method for controlling a lifting of a suspended load (9) by means of a lifting winch (6) incorporating a drum (62) on which is wound a lifting cable (60) coupled to the suspended load (9 ), said control method implementing the following steps: - measurement of a mass parameter (PM) representative of a mass of the suspended load (9); - measurement of a lifting speed (VL) representative of a speed of movement of the suspended load (9), uphill and downhill, and included in a range of speeds limited to a maximum speed (VMAX); - monitoring of an emergency stop (4) which, once activated, cuts at least the lifting winch (6) and stops the lifting of the suspended load (9) and which, once deactivated, authorizes a return to hoisting winch service (6); - during a rise of the suspended load (9), comparison of the lifting speed (VL) uphill with a low threshold (SB) which varies according to the mass parameter (PM), and with a high threshold ( SH) which also varies as a function of the mass parameter (PM), said high threshold (SH) being greater than or equal to the low threshold (SB) and less than or equal to the maximum speed (VMAX); - hoisting control in an optimized mode in which the hoisting speed (VL) uphill is authorized only below the high threshold (SH) and prohibited above the high threshold (SH), and if the stoppage of emergency (4) is activated during an ascent of the suspended load (9) and while the lifting speed (VL) in ascent is greater than the low threshold (SB) then an alarm is activated. Hoisting method according to Claim 1, in which, in the optimized mode, once the emergency stop (4) is deactivated, and if the hoisting speed (VL) uphill was greater than the low threshold (SB) when the emergency stop (4) is activated, then the lifting speed (VL) in ascent, and optionally also in descent, is limited to a reduced speed (VRED), lower than the high threshold (SH ), until a winding condition is fulfilled, said winding condition being representative of a winding/unwinding state of the lifting cable (60) around the drum (62). Hoisting method according to claim 2, wherein the winding condition is a function of the hoisting speed (VL) uphill at the time of activation of the emergency stop (4). Hoisting method according to claim 2 or 3, wherein the winding condition is met once the hoisting rope (60) has been unwound by a given unwinding length (LDER) after deactivation of the urgency (4). Lifting method according to Claims 3 and 4, in which the unwinding length (LDER) is a function of at least one of the following parameters among the lifting speed (VL) uphill at the moment of the activation of the stop emergency (4) and the mass parameter (PM). Hoisting method according to any one of Claims 2 to 5, in which, once the winding condition has been fulfilled in the optimized mode, the alarm is deactivated and the hoisting speed (VL) uphill is again authorized only below the high threshold (SH) and prohibited above the high threshold (SH), unless another operating mode is selected. Lifting method according to any one of the preceding claims, in which, when the mass parameter (PM) is less than a given reference value (PREF), the low threshold (SB) and the high threshold (SH) are distinct and they increase with the mass parameter (PM). Lifting method according to Claim 7, in which, when the mass parameter (PM) is greater than the reference value (PREF), the low threshold (SB) and the high threshold (SH) are equal, they decrease with the parameter of mass (PM). Lifting method according to any one of the preceding claims, in which a step of selecting an operating mode from among the optimized mode and a basic mode is carried out in which the lifting speed (VL) uphill is authorized throughout the speed range, and if an emergency stop (4) is activated when the suspended load (9) is raised and while the lifting speed (VL) uphill is greater than the low threshold (SB) then a alarm is activated;
and hoist control operates in the selected operating mode. Hoisting method according to Claim 9, in which, in the basic mode, the alarm varies according to whether the hoisting speed (VL) in ascent is lower than the high threshold (SH) or is higher than the high threshold (SH) at the moment activation of the emergency stop (4). Lifting method according to any one of the preceding claims, in which a step is performed for selecting an operating mode from among the optimized mode and a secure mode in which the lifting speed (VL) uphill is authorized only in- below the low threshold (SB) and prohibited above the low threshold (SB);
and hoist control operates in the selected operating mode. Lifting or transport device, such as for example a crane (1), comprising a lifting winch (6) integrating a drum (62) on which is wound a lifting cable (60) coupled to a suspended load (9) for a lifting of the suspended load (9), said lifting or transport device comprising: - a first measuring system (31) for measuring a mass parameter (PM) representative of a mass of the suspended load (9); - a second measuring system (32) for measuring a lifting speed (VL) representative of a moving speed of the suspended load (9), uphill and downhill, and included in a limited speed range at maximum speed (VMAX); - an emergency stop (4) which, once activated, cuts at least the lifting winch (6) and stops the lifting of the suspended load (9) and which, once deactivated, authorizes the winch to be put back into service lift (6); - an alarm system (5) configured to emit an alarm when activated; and - a control/command system (2) connected to the first measuring system (31), to the second measuring system (32), to the lifting winch (6), to the alarm system (5) and to the shutdown (4), said control/command system (2) being configured to carry out, during an ascent of the suspended load (9), a comparison of the lifting speed (VL) in ascent with a low threshold (SB) which varies according to the mass parameter (PM), and with a high threshold (SH) which also varies according to the mass parameter (PM), said high threshold (SH) being greater than or equal to the low threshold ( SB) and less than or equal to the maximum speed (VMAX); and in which the control/command system (2) is configured to, in an optimized mode, control the lifting winch (6) so that the lifting speed (VL) uphill is authorized only below the high threshold (SH ) and is prohibited above the high threshold (SH), and to activate the alarm system (5) if the emergency stop (4) is activated during a rise of the suspended load (9) and while the hoisting speed (VL) uphill is greater than the low threshold (SB). Lifting or transport device according to claim 12, in which the control/command system (2) is configured to, in the optimized mode and once the emergency stop (4) is deactivated, drive the winch lifting (6) so that the lifting speed (VL), whether uphill or downhill, is limited to a reduced speed (VRED), lower than the high threshold (SH), until a condition of winding is fulfilled, said winding condition being representative of a winding/unwinding state of the lifting cable (60) around the drum (62). Lifting or transport device according to claim 12 or 13, comprising a mode selector (7) for selecting an operating mode from among the optimized mode and a basic mode in which the control/command system (2) pilots the winch hoisting (6) so that the hoisting speed (VL) uphill is authorized throughout the entire speed range, and to activate the alarm system (5) if an emergency stop (4) is activated during a ascent of the suspended load (9) and while the lifting speed (VL) in ascent is greater than the low threshold (SB). Lifting or transport device according to any one of Claims 12 to 14, comprising a mode selector (7) for selecting an operating mode from among the optimized mode and a secure mode in which the control/command system (2) controls the lifting winch (6) so that the lifting speed (VL) uphill is authorized only below the low threshold (SB) and prohibited above the low threshold (SB).

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