Method for controlling aerial lift, in particular scissor lift, and associated aerial lift

Abstract

It is disclosed a method for controlling an aerial lift, the method comprising a first step (101) carried out while the wheels are not rotating, during which a first characteristic variable of a state of the aerial lift is measured, the first variable being a height of a basket of the aerial lift, and measuring at least one second characteristic variable of the state of the aerial lift, the first value forming a set of values together with at least one second value measured for each second variable. A second step (102) is then performed to assess whether each set of values is located within an authorized area (Z1) or a prohibited area (Z2) of the column graph (110) associated with that set of values. During a subsequent third step (103), the ground movement of the aerial lift is authorized or not authorized depending on the evaluation of the second step (102).

Description

TECHNICAL FIELD

[0001] The present invention relates to a control method for aerial lifts, in particular scissor lifts, and to an aerial lift implementing such a control method. BACKGROUND

[0002] Mobile personnel aerial lifts, also simply referred to as "aerial lifts", comprise a base mounted on wheels to enable the aerial lift to move on the ground, a basket, also known as a gondola, and a lifting device for the basket, which is located between the basket and the base to adjust the height of the basket with respect to the ground. We are concerned here with aerial lifts capable of vertically lifting the basket above the base on a horizontal ground. Known aerial lifts include, but are not limited to, scissor lifting devices, telescopic lifting devices, boom lifts, etc.

[0003] The basket comprises a platform surrounded by a guardrail, the basket being designed to accommodate one or more persons and possibly also to accommodate loads, such as tools or other equipment, materials (e.g. paint, cement), etc.

[0004] In the case of a scissor lift, the lifting device comprises bars which are hinged at their centre like scissors, a plurality of these scissor mechanisms being connected together by their ends, one on top of the other, pivotally, so that the assembly formed by the hinged bars can be folded and unfolded in height. The lifting device also comprises at least one actuator, generally a hydraulic cylinder, which actuates the hinged bars to unfold or fold them.

[0005] In order to enable the basket to be lifted, the ends of the upper bars are connected to sliders intended to slide in tracks arranged below the floor of the platform, while the ends of the lower bars are connected to sliders intended to slide in tracks arranged on the base. The lifting device thus generally lifts the basket from a lowered position on the base to a desired working height by means of one or more hydraulic cylinders, the basket thus being in a raised position.

[0006] On an aerial lift, stability is essential for safety reasons. The height of the basket, as well as the distribution of the same on the supports, the load on the platform, etc., are elements which must be mastered in order to control this stability and to ensure that the operator does not use the aerial lift with adjustments which are outside the safety range.

[0007] In particular, according to the current very conservative practice, if the gondola is in the raised working position, if the aerial lift needs to be moved on the ground, it is necessary to make the gondola return first to the lowered position and then to raise the gondola to its raised working position, before moving the base with respect to the ground. Moreover, some machines require the installation of stabilizers to generate the lift. The movement requires raising, moving and then resetting the stabilizers before being able to raise them again. This succession of operations requires time and effort, which affects the autonomy of the aerial lift, especially when the aerial lift is electric, which is increasingly the case.

[0008] US-2022 / 198905-A1 describes an aerial lift equipped, for example, with an optical system for analyzing the environment of the platform to prevent conflicts with the environment. US-2017 / 052542-A1 describes an autonomous inspection robot comprising a camera located at the end of an arm, the robot calculating the maximum travel speed according to the environment in which it is located.

[0009] The present invention aims to solve these problems more particularly by proposing an aerial lift that is easier to operate, more economical, without compromising safety. SUMMARY

[0010] To this end, the present invention relates to a method for controlling an aerial lift, in which: - the aerial lift comprises wheels and is configured to move on the ground by rotating the wheels, the direction of movement of the aerial lift on the ground being controlled by turning the wheels, optionally, the aerial lift comprising a swing axis and / or a gondola with an extension, - during a first step, when the wheels are not rotating: • a first characteristic variable of the state of the aerial lift is measured by means of first measuring means in order to obtain a first value, the first variable being the height (H) of the gondola of the aerial lift with respect to the lowered position of the gondola, and • at least one second characteristic variable of the state of the aerial lift is measured in order to obtain at least one second value, each second variable being different from the first variable and being measured by means of measuring means, the first value forming a numerical group with the at least one second value for each second variable, - the at least one second characteristic variable is chosen from: • the weight of the load carried in the gondola, • the swing angle of the swing axis of the aerial lift, • the mass distribution coefficient of the load carried in the extension of the gondola, or • the turning angle of the wheels, - during a second step, subsequent to said first step, the following is evaluated: • each set of values is evaluated in relation to a corresponding nomogram and the coordinates of the points forming the same, by means of a calculator and a nomogram recorded in said calculator, said nomogram being divided into an authorized area and a forbidden area complementary to said authorized area, • it is evaluated whether the set of values measured in said first step is included in the authorized area or in the forbidden area of said nomogram, - during a third step, subsequent to said second step, based on the evaluation of said second step, the ground movement of the aerial lift is authorized or not authorized by means of a controller.

[0011] By means of the present invention, the ground movement of the aerial lift can be authorized even when the basket is at a height with respect to the lowered position, as long as the platform is in an operating condition that does not compromise the stability of the aerial lift, the present invention being able to save energy and time. The aerial lift is therefore easier to operate without compromising safety.

[0012] According to an advantageous but non-mandatory aspect of the present invention, such a control method can comprise one or more of the following features, alone or in any technically admissible combination: - during said first step, at least two second values are measured, said at least two second values being respectively associated with different second characteristic variables, when said first value forms two sets of values with each of said two second values, said two sets of values are each associated with a corresponding nomogram, during said second step, it is evaluated whether each set of values is included in the authorized area or in the forbidden area of the corresponding nomogram, during a third step, if each set of values is located in the authorized area of the corresponding nomogram, the movement of the aerial lift on the ground is authorized.

[0013] - one of the nomograms used during said second step is a conditional nomogram, said conditional nomogram comprising a first version and a second version, one or the other of which is activated based on the environment and / or configuration of the aerial lift.

[0014] - said first version is activated when said aerial lift is located on a ground forming a slab, said slab having a flat and compacted surface, while said second version is activated when said aerial lift is located on a ground not forming a slab, and during the second step, the calculator evaluates whether the set of values associated with the conditional nomogram is included in the authorized area or in the forbidden area of the activated version of the conditional nomogram.

[0015] - in the authorized area of the second version of the condition nomogram, each point is uniquely associated with a maximum ground movement speed setting value of the aerial lift, While during the third step, the movement authorization comprises the maximum speed setting value.

[0016] - the maximum speed setting value depends on the measured value of the first variable.

[0017] - each numerical group comprises only one second value in addition to the first value, the nomogram associated with each numerical group forming a two-dimensional space in the graphical representation.

[0018] The present invention also relates to an aerial lift, in particular a scissor lift, comprising: - a base supported by wheels, the aerial lift being configured to move on the ground by rotating the wheels, - a gondola configured to accommodate a load to be carried, - lifting means arranged between the gondola and the base, such that the height of the gondola relative to a lowered position of the gondola is adjustable, - a first measuring device configured to measure a first characteristic variable of the state of the aerial lift, the first characteristic variable being the height of the gondola, - at least one second measuring device, each second measuring device being configured to measure a second characteristic variable of the state of the aerial lift, the first and second characteristic variables being different from each other, - a calculator and a nomogram recorded in the calculator, wherein the platform is configured to implement the control method according to any one of the preceding claims.

[0019] Advantageously: - the aerial lift comprises a swing axis, and / or - the gondola comprises an extension. BRIEF DESCRIPTION OF DRAWINGS

[0020] The present invention will be better understood and other advantages thereof will become more clearly apparent on consideration of the following description of several embodiments of an aerial lift and of a control method for an aerial lift, made in accordance with the principles thereof, in which: -[ Figure 1 ] is a perspective view of an aerial lift according to a first embodiment of the invention; -[ Figure 2 ] Figure 2 the aerial lift of Figure 1 in four different configurations and side views, respectively, in the four illustrations a), b), c) and d); -Figure 3 ] Figure 3 is shown in another configuration Figure 1 is a front view of the aerial lift of [ Figure 4 ] Figure 4 a schematic diagram illustrating Figure 1 is a front view of the aerial lift of [ Figure 5 ] Figure 5 are shown in two respective illustrations a) and b) an aerial lift according to other embodiments of the application; [ Figure 6 ] Figure 6 are shown in two respective illustrations a) and b) a nomogram used in a control method according to other embodiments of the application, and [ Figure 7 ] Figure 7 are shown in two respective illustrations a) and b) a nomogram used in a control method according to other embodiments of the application. DETAILED DESCRIPTION

[0021] The aerial lift is shown in Figure 1 In the example shown, the aerial lift is a scissor lift 10. In variants not shown, the aerial lift is another type of lift, for example an extendable lift, the principles of the application described with reference to the scissor lift 10 being transposable to other types of aerial lift.

[0022] The scissor lift 10 comprises a base 12 which can rest on and move on the ground S by means of connecting elements, typically wheels 14. The scissor lift 10 comprises here two shafts 15 supported by the wheels 14. Figure 3 Only one shaft 15 is shown in the figure. The wheels 14 define a preferred direction of movement of the base 12, and by extension, of the scissor lift 10.

[0023] The lift 10 also comprises a cage 16 and lifting means 18 for the cage 16. In the example shown, the cage 16 comprises a platform 17A, a guardrail 17B and a controller 17C. The controller 17C is configured to send information to a user and to receive control commands from a user. According to a non-limiting example, the controller 17C is a human-machine interface intended for a user positioned on the platform 17A. For example, the controller 17C comprises buttons and / or control levers, one or more indicator lights, a display screen, possibly a touch screen, one or more warning sound devices.

[0024] The lifting device 18 comprises a set of articulated levers 20 that support the basket 16, so that the height of the basket 16 relative to the base 12 is variable and controlled by the set of levers 20. The lifting device 18 also comprises an actuator 22, here a hydraulic cylinder, that actuates the levers 20 to control the height H of the platform 16 relative to the base 12, and by extension the height of the platform relative to the ground S on which the scissor lift 10 moves. The actuator 22 is controlled by a user, for example using a controller 17C located on the platform 17A.

[0025] The base 12 defines a median plane P12 parallel to the ground S. The lifting device 18 defines a lifting axis Z18 perpendicular to the median plane P12. Thus, when the ground S is horizontal, the lifting axis Z18 is vertical. An axis X12 is designated longitudinal axis of the base 12, oriented parallel to the direction of advancement of the base 4. The longitudinal axis X12 is parallel to the horizontal plane P4 and perpendicular to the longitudinal axis Z8. A transverse axis Y12 of the base 12 is also defined, oriented so that the longitudinal axis X12, the transverse axis Y12 and the lifting axis Z18 together form an orthonormal reference frame.

[0026] The movement of the scissor lift 10 "on the ground S" corresponds to the movement of the base 12 relative to the ground S, caused by the rotation of the wheels 14. When the wheels 14 are not turned, the base 12 is considered to be stationary relative to the ground S.

[0027] Some of the wheels 14, for example those of the front axle of the scissor lift 10, are steerable to guide the movement of the scissor lift 10 on the ground S. For example, the wheels 14 of one of the axles 15 are steerable. A steering angle a 14 is defined as the angle between the steerable wheel 14 and the longitudinal axis X12. When the wheel 14 is aligned with the longitudinal axis X12, the steering angle a 14 is zero. When the steering angle a 14 is zero and the wheel 14 is turned, the base 12 moves essentially along a straight line - the ground S is considered to be flat. When the wheel 14 is steered, in other words when the steering angle a 14 is not zero, then when the wheel 14 is turned, the base 12 moves essentially along an arc on the ground. The scissor lift 10 advantageously comprises means for measuring the steering angle a 14, for example an angle sensor mounted on the axle 15 supported by the steerable wheel 14. The angle sensor is not shown.

[0028] When the base 12 is stationary relative to the ground S, the scissor lift 10 is also said to be "stationary relative to the ground S" by extension, but other movements of the scissor lift 10 can generally still be made, for example the basket 16 can still be raised or lowered, and / or the steering angle a 14 of the wheels 14 can be changed, etc., as long as these movements are not prohibited for other reasons, for example for safety reasons.

[0029] InFigure 2 In the four illustrations a) to d), the scissor lift 10 is shown in four different configurations, which correspond to four different heights H of the basket 16.

[0030] In the illustration a), the scissor lift 10 is shown in a lowered configuration, which corresponds to a minimum height H of the basket 16. 最小 wherein the lifting device 18 is fully folded. The basket 16 is then in a minimum height position, called lowered position.

[0031] In the illustration d), the scissor lift 10 is shown in a raised configuration, wherein the lifting device 18 is maximally unfolded, while remaining in normal use conditions. The height H of the basket 16 is equal to a maximum height H 最大 . In the raised configuration, the basket 16 is then in a maximum raised position.

[0032] It is understood that the minimum height H 最小 and the maximum height H 最大 are two extreme values of the height H of the basket 16, which are in particular related to the design of the components, in particular to the geometry of the lifting device 18. During normal use of the scissor lift 10, the user adjusts the height H of the basket 16 between these two extreme heights H 最小 and H 最大 .

[0033] In the illustration b) of Figure 2 , the basket 16 is shown in a first intermediate position between the lowered position and the maximum raised position, the scissor lift 10 being in a first intermediate configuration, wherein the height H of the basket 16 is equal to a first height threshold H1, the first height threshold H1 being strictly less than the maximum height H 最大 .

[0034] In the illustration c) of Figure 2 , the scissor lift 10 is shown in a second intermediate configuration, wherein the height H of the basket 16 is equal to a second height threshold H2, the second height threshold H2 being strictly less than the maximum height H 最大 and strictly greater than the first height threshold H1.

[0035] The scissor lift 10 further comprises a first measuring device configured to measure the height H of the basket 16. The first measuring device is not shown. The first measuring device comprises for example an angle sensor measuring the angle between two consecutive bars of the set of bars 20. Alternatively, the first measuring device comprises a sensor of the stroke of the actuator 22. The height H measured by the first measuring device is a first variable characterizing the state of the scissor lift 10, in other words the height H is a first characteristic variable of the state of the scissor lift 10.

[0036] Still referring to Figure 2 Fig. C), the basket 16 is shown supporting a load M1 of given weight. The load M1 is said to be carried in the basket 16. The load M1 comprises, for example, one or more persons present on the platform 17A and / or tools, materials, etc. transported on the platform 17A.

[0037] The scissor lift 10 comprises a measuring device configured to measure the weight of the load M1 carried in the basket 16. The measuring device for the carried weight M1 is not shown. According to a non-limiting example, the measuring device for the weight of the carried load M1 comprises load sensors integrated into the joints of the set of levers 20, as described in the published application FR-3 105 202.

[0038] It will be understood that the higher the weight of the load M1 and the higher the height H of the basket 16, the greater the risk of the scissor lift 10 tipping over when the movement of the scissor lift 10 on the ground S is not controlled.

[0039] In Figure 2 , it is assumed that the ground S is flat but not horizontal, the ground S having a tilt angle. It will be understood that the lifting axis H18 is not perfectly vertical. In Figure 3 , the scissor lift 10 is shown on a ground S that is not flat. In order to compensate for the lack of flatness of the ground S, one of the axes of the scissor lift 10, here the axis 15 shown in Figure 3 , is "swinging", which means that this swinging axis 15 pivots relative to the rest of the base 12 about an axis parallel to the longitudinal axis X12. From this, the swinging axis 15 serves to at least partially compensate for the lack of flatness of the ground S, so that the lifting axis Z18 remains substantially vertical.

[0040] The swinging angle a 15 is defined as the angle between the axis A15 of the swinging axis 15 and the median plane P12. When the scissor lift 10 moves on a flat ground S, the swinging angle a 15 is zero. The scissor lift 10 comprises a measuring device configured to measure the swinging angle a 15, for example an angle sensor mounted on the base 12. The measuring device for the swinging angle a 15 is not shown.

[0041] It will be understood that, depending on the case, the scissor lift 10 is said to move on a ground S having different flatness, hardness, etc. When the ground S has a surface that is flat and compacted, the ground S is said to form a "slab". By "flat", it is meant a surface that is substantially flat and horizontal. And by "compacted surface", it is meant a surface that is considered to be non-deformable when the scissor lift 10 passes, in particular without forming ruts when the wheels 14 pass. For example, the slab corresponds to a concrete ground S of a logistics warehouse.

[0042] The mass of the load M1 carried in the basket 16, the swing angle a15 of the swing axis 15 of the scissor lift 10, or the steering angle a14 of the wheels 14 are all examples of characteristic variables of the state of the scissor lift 10, which are referred to as "second variables". Each second variable is measured by means of a corresponding measuring device.

[0043] It is understood that the higher the height H of the basket 16 and the higher the one or more second values, the greater the risk of the scissor lift 10 tipping over in the event of uncontrolled movement of the scissor lift 10 relative to the ground 1. Reference is made below to Figure 4 The control method described for the scissor lift 10 is implemented to reduce this risk.

[0044] Reference is made to Figure 4 the drawing a), the control method comprises a first step 101 during which the height H of the basket 16 is measured when the wheels 14 are not turned to obtain a first value. In other words, the first characteristic variable of the scissor lift 10 is measured when the base 12 is stationary relative to the ground S.

[0045] Still during the first step 101, at least one second characteristic variable of the state of the scissor lift 10 is also measured, each second value being different from the first value and being measured by means of a corresponding measuring device to obtain at least one second value. In other words, in the example shown, at least one value of the weight of the load M1 carried on the basket 16, of the swing angle a15 of the swing axis 15 and of the steering angle a14 of the wheels is measured at the same time as the base 12 is stationary relative to the ground S.

[0046] The scissor lift 10 advantageously comprises a calculator 17D comprising a memory (not shown) such that the calculator 17D is configured to record the measured values obtained during the first step 101. The calculator 17D is for example integrated into the controller 17C.

[0047] The calculator 17D is also configured to record one or more nomograms.

[0048] The first value forms, together with one or more second values, one or more numerical groups. Each numerical group is associated with a corresponding nomogram and forms the coordinates of the points in this nomogram. In the present case, the first value is the measurement of the height H of the basket 16 and the second values are the measurements of the weight of the load M1, the steering angle a 14 or the swing angle a 15. Thus, in theory, three numerical groups comprising only one second value can be formed, in particular the numerical groups {M1, H}, {M1, a 14} and {M1, a 15}, three numerical groups comprising two second values: {M1, H, a 14}, {M1, H, a 15} and {M1, a 14, a 15}, and a single numerical group comprising three second values: {M1, H, a 14, a 15}. Not all numerical groups are necessarily useful.

[0049] According to the preferred embodiment, each numerical group comprises only one second value in addition to the first value, the nomogram associated with each numerical group defining a two-dimensional space in the graphical representation. A first example of such a nomogram (reference 110) is shown graphically in the inset b) of Figure 4 Fig. 1. The nomogram 110 is here associated with the weight of the load M1 and the height H. In other words, the numerical group {M1, H} forms the coordinates of the points in this nomogram 110, which defines a two-dimensional space in the graphical representation that is easy to represent and imagine. For example, the nomogram 110 and the points corresponding to the associated numerical group are displayed on the controller 17C to draw the attention of the user on the basket 16. The graphical representation of the nomogram 110 is not limiting.

[0050] The nomogram 110 is divided into an authorized zone Z1 and a forbidden zone Z2 complementary to the authorized zone Z1. The authorized zone Z1 and the forbidden zone Z2 are separated by a continuous boundary F110. In other words, the boundary F110 is a feature of the nomogram 110 and divides the space of the nomogram 110 into two complementary zones: the authorized zone Z1 and the forbidden zone Z2.

[0051] More generally, the control method comprises a second step 102, which follows the first step 101 and during which it is assessed, with the aid of the calculator 17D and the nomogram 110 recorded in the calculator 17D, whether the numerical group measured in the first step 101 is included in the authorized zone Z1 or in the forbidden zone Z2 of the nomogram 110.

[0052] The control method further comprises a third step 103, which follows the second step 102, and during which, based on the evaluation of the second step 102, the ground movement of the scissor lift 10 is authorized or not authorized by means of the controller, here by means of the controller 17C. If in the second step 102 the value group lies in the authorized zone Z1, in the third step 103 the ground movement of the scissor lift 10 is authorized. The "authorization of the ground movement" does not mean that the scissor lift 10 will automatically start to move on the ground; it means that if the user commands the scissor lift 10 to move, for example using the controller 17C, the user's command is accepted and executed.

[0053] If in the second step 102 the value group lies in the forbidden zone Z2, in the third step 103 the ground movement of the scissor lift 10 is forbidden. In other words, even if the user commands the scissor lift 10 to move, the user's command is not executed.

[0054] In the example shown, the value group associated with the nomogram 110 comprises the height H and the weight of the load M1 carried. It will be understood that when the height H is reduced, for example the height H is equal to the minimum height H 最小 , the ground movement of the scissor lift 10 must be possible, regardless of the load M1 carried - of course within the specifications of the scissor lift 10. Therefore, in the graphical representation of the nomogram 110, the authorized zone Z1 comprises the origin of the nomogram 110.

[0055] Therefore, during the third step 103, the controller 17C authorizes the ground movement of the scissor lift S only when the load M1 is sufficiently reduced with respect to the height H, and vice versa, that is, in the case where the height H is sufficiently reduced with respect to the load M1. Therefore, the control method according to the present application enables the scissor lift 10 to move without the risk of tipping, that is, maintaining the safety of the personnel and the equipment, without having to return the gondola 16 to the lowered position, which saves time and energy.

[0056] As Figure 4 b) shows, the authorized zone Z1 and the forbidden zone Z2 are advantageously cut out according to predetermined thresholds of the first and second values considered, to facilitate the understanding of the nomogram 110, in particular when the user is in a complex environment, for example when the user is on the gondola 10 and the scissor lift 10 moves on a construction site where the environment is not well controlled. The border F110 here has a stepped shape.

[0057] Each second value M1, a 14 or a 15 is in a range defined by a minimum value L0 and a nominal value L 最大between the minimum value L0 and the maximum value Hmax. For each second value, a first threshold value LI and a second threshold value L2 are also defined, the first threshold value LI being a predetermined threshold value strictly less than the nominal value L 最大 and strictly greater than the minimum value L0, the second threshold value L2 being strictly less than the first threshold value LI and strictly greater than the minimum value L0.

[0058] When, in the first step 101, the first value H is less than the first height threshold value HI, then, in the second step 102, the associated set of values is included in the authorized zone Z1 of the corresponding nomogram, as soon as the second value is less than the nominal value L 最大 associated with this second characteristic variable.

[0059] When, in the first step 101, the first value H is between the first height threshold value HI and the second height threshold value H2, which is intermediate between the first height threshold value HI and the maximum height H 最大 of the basket 16, then, in the second step 102, the associated set of values is included in the authorized zone Z1, as soon as the second value is less than the first threshold value LI.

[0060] When, in the first step 101, the first value H is between the second height threshold value H2 and the maximum height H 最大 of the basket, then, in the second step 102, the associated set of values is included in the authorized zone Z1, as soon as the second value is less than the second threshold value L2.

[0061] The examples shown using the nomogram 110 associated with the values of the weight of the load M1 carried and the height H, in other words with the set of values {H, M1}, can be transposed to other sets of values, in particular to the sets of values {M1, a14} and {M1, a15} here.

[0062] However, the case of a nomogram 110 defined by two threshold values associated with the first value and by two threshold values associated with the second value is preferred, because this nomogram is easy for the user to understand.

[0063] Preferably, the safety criterion associated with a plurality of sets of values is taken into account simultaneously. Thus, during the first step 101, at least two second values M1 / a14 / a15 are measured, which are respectively associated with different second characteristic variables.

[0064] The first value H forms, with each of the two second values M1 / a14 / a15, at least two sets of values, which are each associated with a respective nomogram. Thus, here, the at least two sets of values are chosen from the three sets of values {M1, H}, {M1, a14} and {M1, a15}. Three nomograms are thus provided.

[0065] According to an example, the three nomographs (not shown) are similar to the nomograph 110, in that the characteristic line separating the authorized zone from the forbidden zone has a step shape. In other words, for each nomograph, two thresholds are defined for the first values, and two thresholds are defined for each second value. Advantageously, the thresholds defined for the first values, in other words the thresholds H1 and H2 defined for the height H, are identical for each nomograph, so as to standardize the height criterion between each nomograph and facilitate the user's understanding.

[0066] During a second step 102, it is assessed whether each numerical group is included in the authorized zone Z1 or in the forbidden zone Z2 of the corresponding nomograph. During a third step 103, if each numerical group is located in the authorized zone Z1 of the corresponding nomograph, the ground movement of the scissor lift 10 is authorized. In other words, for each second value of the measurements, if at least one of the associated numerical groups is located in the forbidden zone Z2 of the nomograph corresponding to this numerical group, the ground movement of the scissor lift 10 is prohibited in the third step. The safety of the scissor lift 10 is thus improved, since it takes into account a plurality of criteria, each criterion being associated with a state of the scissor lift 10.

[0067] Figures 5 to 7 Alternative embodiments of the application are illustrated. In the alternative embodiments of the application, elements similar to those of the other embodiments are provided with the same reference numerals and operate in the same way. In the following, the differences between each embodiment and the previous one or more embodiments are mainly described.

[0068] Figure 5 An alternative aerial lift, here a scissor lift 11, is illustrated in Fig. 1 1. The scissor lift 11 differs from the previously described scissor lift 10 in that the platform 17A is extendable, which means that the gondola 16 comprises an extension 19 which can be deployed or stored according to the needs of its user. The platform 17A is generally aligned with the lifting device 18 along a lifting axis Z18.

[0069] In Figure 5 In the inset a) of Fig. 1 1, the extension 19 is in a position called storage position and the gondola 16 is in a storage configuration. A first load M' placed on the platform 17A is illustrated.

[0070] In the illustration b), the extension 19 is in the deployed position, which means that the extension 19 extends beyond the platform 17A and extends the platform 17A to increase the loading surface of the basket 16. The basket 16 is then in a configuration called deployed configuration. A second load M" and a third load M'" are shown, the second load M" being placed on the platform 17A and the third load M'" being placed on the extension 19. In the example illustrated, the cumulative weight of the second load M" and of the third load M'" is considered equal to the weight of the first load M'. As a result, the second load M" is substantially aligned with the lifting device 18 along the lifting axis Z18, while the third load M'" is not aligned with the lifting device 18. It will be understood that the heavier the third load M'" is, the less stable the scissor lift 11 is.

[0071] The coefficient C19 is called a weight distribution coefficient of the loads carried in the basket 16. According to a non-limiting example, the coefficient C19 is equal to the ratio between the weight of the third load M'" located on the extension 19 and the total weight of the loads located on the basket 16, here the sum of the weights of the second load M" and of the third load M'". To illustrate, if the weight of the third load M'" is equal to the mass of the second load M", the coefficient C19 is equal to 1 / (1+1)=1 / 2 or 0.5. If the weight of the third load M'" is four times the weight of the second load M", the coefficient C19 is equal to 1 / (4+1)=1 / 5 or 0.2. Other equivalent definitions of the coefficient C19 are of course possible. The coefficient C19 thus characterizes the distribution of the total weight carried in the basket 16 between the platform 17A and the extension 19.

[0072] The scissor lift 11 comprises a measuring device configured to measure the coefficient C19. Advantageously, the measuring device configured to measure the coefficient C19 is the same as the measuring device for measuring the total weight carried in the basket 16. The coefficient C19 is another example of a second characteristic variable of the state of the scissor lift 11.

[0073] The previously described control method is implemented using the coefficient C19, which means that in the first step 101, the coefficient C19 is used to form a set of values with the first value and possibly with one or more other second values. The second step 102 and the third step 103 are implemented as described above.

[0074] In the Figure 6 , two alternative nomograms are shown in the illustrations a) and b), respectively, the reference numerals being 111 and 120.

[0075] In the illustration a), the nomogram 111 is characterized by a frontier F111. The previously described control method is implemented using the frontier F111, which means that in the first step 101, the frontier F111 is used to form a set of values with the first value and possibly with one or more other second values. The second step 102 and the third step 103 are implemented as described above. Figure 4b) The described nomogram 110 is defined by two thresholds of the first value and two thresholds of the second value, i.e. a first height threshold H1, a second height threshold H2, a first threshold L1 and a second threshold L2. Of course, the number of thresholds associated with the first value or each second value can be adjusted as needed. It will be understood that the more the number of thresholds increases, the more the step of the characteristic curve decreases, until the boundary F111 becomes a smooth curve, as Figure 6 illustrated in the drawing a) of the figure.

[0076] In Figure 6 the example illustrated in b), the nomogram 120 is a three-dimensional nomogram, which means that a numerical group comprising a first value and two second values is associated, here the weight of the carried load M1 and the steering angle a14. The three-dimensional space of the nomogram 120 is divided in two by the boundary F120 to separate the authorized zone Z1 from the forbidden zone Z2. The boundary F120 is here a continuous surface.

[0077] It will be understood that when the steering angle a14 is zero, it depends only on the first value H and the second value which is non-zero, here the load M1, whether the numerical group is located in the authorized zone Z1 or in the forbidden zone Z2. Thus, it is found that the numerical group is in the condition of the nomogram 111, as Figure 6 illustrated in a. In other words, on the nomogram 120 of Figure 6 b), the intersection between the boundary F120 and the plane formed by the two axes H and M1 corresponds to the boundary F111 of the nomogram 111 of Figure 6 a).

[0078] More generally, it will be understood that whatever the number of values forming a numerical group, the numerical group forms the coordinates of a point in a space of the same dimension. Thus, a nomogram associated with the numerical group can be defined, the nomogram being defined in a space of dimension equal to the number of values of the numerical group.

[0079] That is, the graphical representation of such a space cannot exceed three [dimensions], rather than having a single nomogram with more than three dimensions, preferably a plurality of two-dimensional nomograms, the graphical representation of which - in particular on the screen of the controller 17C - is easy and intuitive to understand.

[0080] Reference Figure 7 is made to describe another aspect of the application. Figure 7 A nomogram 130, called "conditional nomogram", is illustrated in

[0081] For example, the first version 130A is activated when the scissor lift is located on a ground S that forms a slab (for example in a warehouse), while the second version 130B is activated when the scissor lift is located on a ground S that does not form a slab (for example on an outdoor construction site). More generally, when the scissor lift 10 is located elsewhere than on a ground that forms a slab, then the scissor lift is in "all-terrain mode". Preferably, the scissor lift 10 comprises a tilting axis when it is required to move on a ground S that does not form a slab.

[0082] During the second step 102 of the control method, the calculator 17D assesses whether the set of values associated with the conditional nomogram 130 is comprised in the authorized zone Z1 or in the forbidden zone Z2 of the activated version (130A or 130B) of the conditional nomogram 130.

[0083] Thus, if the scissor lift 10 is located on a slab, in the second step 102 of the control method, the calculator 17D assesses whether the set of values associated with the conditional nomogram 130 is comprised in the authorized zone Z1 or in the forbidden zone Z2 of the first version 130A of the conditional nomogram 130. If the scissor lift 10 is located elsewhere than on a slab, in the second step 102 of the control method, the calculator 17D assesses whether the set of values associated with the conditional nomogram 130 is comprised in the authorized zone Z1 or in the forbidden zone Z2 of the second version 130B of the conditional nomogram 130.

[0084] In the example of figure 1, the conditional nomogram 130 comprises a first version 130A and a second version 130B. Figure 7 In the example of figure 1, the conditional nomogram 130 comprises a first version 130A and a second version 130B.

[0085] In the example of figure 1, the conditional nomogram 130 comprises a first version 130A and a second version 130B. Figure 7 In the example of figure 1, the conditional nomogram 130 comprises a first version 130A and a second version 130B.

[0086] It should be understood that the risk of tipping over the scissor lift 10 is lower when the scissor lift 10 is located on the platform than when the scissor lift 10 is located elsewhere than on the platform. In the example shown, this is reflected in the fact that the authorized zone Z1 of the second version 130B has a reduced size compared to the authorized zone Z1 of the first version 130A. In other words, the criteria for authorizing movement are more stringent when the scissor lift 10 is in the all-terrain mode than when the scissor lift 10 is on the platform.

[0087] Advantageously, in the authorized zone Z1 of the second version 130B of the condition nomogram 130, each point is uniquely associated with a maximum ground movement speed setting of the scissor lift 10 relative to the ground S. By unique, it is meant that each point is associated with a single speed setting. The speed setting is for example recorded in a numerical table, which is previously recorded in the calculator 17D.

[0088] In the example of figure 2, the point P1 is in the authorized zone Z1 of the second version 130B of the condition nomogram 130. Thus, this point corresponds to a set of measured values characterizing the state of the scissor lift 10, here the values associated with the values {H, M1}. Thus, the point P1 is associated with a speed setting. According to a non-limiting example, the speed setting is given as an absolute value (for example expressed in km / h) or as a relative value (for example as a percentage of the maximum speed of the scissor lift 10). Figure 7 During the third step 103 of the control method, the movement authorization given by the controller includes a maximum speed setting. In other words, if the user requests a movement of the scissor lift 10 by the controller 17C, and if the controller 17C gives an authorization to move the scissor lift on the ground, the movement speed is limited by the maximum speed setting given by the controller 17C.

[0089] Advantageously, the maximum speed setting depends on the measured value of the first value H.

[0090] In the example described above, one or the other of the first version 130A and the second version 130B of the nomogram 130 is activated depending on whether the scissor lift 10 / 11 is moving in "all-terrain mode" or not. According to another variant, one or the other of the first version 130A and the second version 130B of the nomogram 130 is activated depending on whether the scissor lift 10 / 11 is moving inside the building or outside the building, the risk of wind being higher outside the building than inside the building. According to a variant not shown, one or the other of the first version 130A or the second version 130B of the nomogram 130 is activated based on the number of people on the platform 17A.

[0091]

[0092] ​According to a variant not shown, one or the other of the first version 130A and the second version 130B of the nomogram 130 is activated depending on the configuration of the scissor lift 10 / 11, for example depending on whether the scissor lift is equipped with a swivel axis 15 or whether the scissor lift is equipped with an extension 19 of the platform 17A.

[0093] The above embodiments and variants can be combined to produce new embodiments of the application.

Claims

1. A method for controlling an aerial lift (10; 11), wherein: - said aerial lift (10; 11) comprises wheels (14) and is configured to move on the ground (S) by rotating said wheels (14), the direction of movement of said aerial lift (10; 11) on the ground (S) being controlled by turning said wheels (14), optionally said aerial lift comprising a swing axis (15) and / or a gondola (16) having an extension (19), - during a first step (101), when said wheels (14) are not rotating: • a first characteristic variable of the state of said aerial lift (10; 11) is measured by means of first measuring means in order to obtain a first value, said first variable being the height (H) of the gondola (16) of said aerial lift (10; 11) with respect to a lowered position of said gondola (16), and • at least one second characteristic variable (M1, a14, a15, C19) of the state of said aerial lift (10; 11) is measured in order to obtain at least one second value, each second variable being different from the first variable and being measured by means of measuring means, - said at least one second characteristic variable is selected from: • the weight of a load (M1) carried in said gondola (16), • the swing angle (a15) of a swing axis (15) of said aerial lift (10; 11), • a distribution coefficient (C19) of the weight of a load (M1) carried in an extension (19) of said gondola (16), or • the turning angle (a14) of said wheels (14), said first value forming a numerical group together with at least one second measured value for each second variable, - during a second step (102) following said first step (101), it is assessed whether: • each numerical group is associated with a corresponding nomogram and forms a point in this nomogram by calculating the coordinates of this point by means of a calculator (17D) and a nomogram (110; 111; 120; 130) recorded in said calculator (17D), said nomogram being divided into an authorized area (Z1) and a forbidden area (Z2) complementary to said authorized area (Z1), • the numerical group measured in said first step (101) is included in the authorized area (Z1) or in the forbidden area (Z2) of said nomogram (110; 111; 120; 130), - during a third step (103) following said second step (102), based on the assessment of said second step (102), the movement of said aerial lift (10; 11) on the ground (S) is authorized or not authorized by means of a controller (17C).

2. The control method according to claim 1, wherein: - during said first step (101), at least two second values are measured, said at least two second values being respectively associated with different second characteristic variables (M1, a14, a15, C19), - said first value and each of said two second values form two numerical groups, each of said two numerical groups being associated with a respective nomogram (110; 111; 120; 130), - during said second step (102), it is assessed whether each numerical group is included in an authorized area (Z1) or in a forbidden area (Z2) of the corresponding nomogram, - during said third step (103), if each numerical group is located in an authorized area (Z1) of the corresponding nomogram, the movement of the aerial lift on the ground (S) is authorized.

3. The control method according to any one of claims 1 or 2, wherein: - one of the nomograms used during said second step (102) is a conditional nomogram (130), said conditional nomogram comprising a first version (130A) and a second version (130B), one or the other of said first version (130A) and said second version (130B) being activated based on the environment and / or configuration of the aerial lift (10; 11).

4. The control method according to claim 3, wherein: - said first version (130A) is activated when the aerial lift (10; 11) is located on a ground (S) forming a slab, said slab having a flat and compacted surface, while said second version (130B) is activated when the aerial lift is located on a ground not forming a slab; - during said second step (102), said calculator (17D) assesses whether said numerical group associated with said conditional nomogram (130) is included in an authorized area (Z1) or in a forbidden area (Z2) of the activated version of said conditional nomogram.

5. The control method according to any one of claims 3 or 4, wherein: - in the authorized area (Z1) of the second version (130B) of said conditional nomogram (130), each point (P1) is uniquely associated with a maximum speed setting value for the movement of the aerial lift (10; 11) on the ground (S), - during said third step (103), the movement authorization comprises a maximum speed setting value.

6. The control method according to claim 5, wherein: - the maximum speed setting value of the movement depends on the measured value of said first value (H).

7. The control method according to any one of claims 1 to 6, wherein: - each numerical group comprises only one second value (M1, a14, a15, C19) in addition to said first value (H), said nomogram (110; 111; 130) associated with each numerical group forming a two-dimensional space in the graphical representation.

8. The control method according to claim 7, wherein For each numerical group: - when in said first step (101) said first value (H) is lower than a first height threshold (H1) strictly lower than the maximum height (H 最大 ) of the basket (16), then in said second step (102) said set of values is included in the authorized zone (Z1) of the associated nomogram (110; 111; 130) as long as said second value (M1, a14, a15, C19) is lower than the nominal value (L 最大 ) associated with this second characteristic variable, - When the first value is between the first height threshold (H1) and the second height threshold (H2) in the first step (101), the second height threshold is between the first height threshold (H1) and the maximum height (H) of the hanging basket (16). 最大 If the second value is less than the first predetermined threshold (L1), then in the second step (102), as long as the second value is less than the first predetermined threshold (L1), the first predetermined threshold is strictly less than the nominal value (L1) associated with the second feature variable. 最大 The numerical group is then included in the authorized region (Z1). - when in said first step (101) said first value is comprised between said second height threshold (H2) and a maximum height (H 最大 ) of said basket (16), then, as long as said second value is lower than a second predetermined threshold (L2) strictly lower than said first predetermined threshold (LI), in said second step (102) said set of values is included in said authorized zone (Zl).

9. An aerial lift (10; 11), in particular a scissor lift, comprising: - a chassis (12) supported by wheels (14), said aerial lift being configured to move on the ground (S) by rotating said wheels, - a gondola (16) configured to accommodate a carried load (M1), - a control system (17) configured to control the movement of said aerial lift on the ground (S) by means of said wheels (14), said control system comprising: - a calculator (17D) configured to calculate, during a first step (101), a first value (H) representative of the state of the ground (S) on which said aerial lift (10; 11) is located, - a memory (17E) configured to store a plurality of second values (M1, a14, a15, C19) representative of the state of the ground (S) on which said aerial lift (10; 11) is located, - a selector (17F) configured to select, during a second step (102), two second values (M1, a14, a15, C19) from said plurality of second values (M1, a14, a15, C19) stored in said memory (17E), said two second values being selected based on said first value (H) calculated during said first step (101), - a comparator (17G) configured to compare, during a third step (103), each numerical group formed by said first value (H) and said two second values selected during said second step (102) with a corresponding nomogram (110; 111; 120; 130) stored in said memory (17E), - a movement authorization unit (17H) configured to authorize, during said third step (103), the movement of said aerial lift on the ground (S) if each numerical group is located in an authorized area (Z1) of the corresponding nomogram. - a lifting device (18) arranged between the gondola (16) and the base such that the height (H) of the gondola (16) relative to a lowered position of the gondola (16) is adjustable, - a first measuring device configured to measure a first characteristic variable of a state of the aerial lift (10; 11), the first characteristic variable being the height (H) of the gondola (16), - at least one second measuring device, each second measuring device being configured to measure a second characteristic variable (M1, a14, a15, C19) of the state of the aerial lift (10; 11), the first and second characteristic variables being different from each other, - a calculator (17D) and a nomogram (110; 111; 120; 130) recorded in the calculator (17D), wherein: - the platform is configured to implement the control method according to any one of claims 1 to 8.

10. The aerial lift (10; 11) according to claim 9, wherein: - the aerial lift comprises a swing axis (15), and / or - the gondola (16) comprises an extension (19).

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