Method for controlling a crane according to a scalable real-time interference mapping

Description

[Technical field]

[0001] The invention relates generally to the technical field of cranes, and in particular tower cranes. The invention also relates to a control system executing this control method, and to a crane equipped with this said control system.

[0002] The invention relates more particularly to a method of controlling a crane, for which the boom of the crane can be controlled in an automated control state in order to avoid colliding with neighboring obstacles, in particular the booms of neighboring cranes.

[0003] The invention thus finds a preferred application on construction sites in which at least two cranes are installed and used, the jibs of which operate in intersecting circular work areas. [State of the art]

[0004] As is known, it may be necessary to install and use several cranes on a construction site to cover, due to its relief and its extent, the entire construction area, and / or to achieve the objectives targeted by the application context.

[0005] However, depending on the locations where the cranes are mounted and the tasks assigned to them, it is possible that their fields of action, which describe a circular area, may partially overlap. The problem raised by these overlapping zones, called interference zones, is that there is a greater or lesser risk that cranes sharing an interference zone may, during their slewing movement, interfere in this so-called interference zone, and in the worst case collide.

[0006] In the event that the presence of an interference zone is unavoidable, site managers must imperatively and obligatorily equip the cranes with safety devices preventing these risks of interference and collision, such as: anti-collision systems continuously monitoring and detecting whether, in its slewing movement, the crane boom will or will not encounter an obstacle (such as the boom of another crane); or work space / travel limiters, for example slewing limiters.

[0007] Typically, these devices are connected and communicate with the crane's control / command system, which controls its slewing movements.

[0008] On such construction sites, when all crane operators have left their control stations, it is conventional to place all cranes in a weathervane or out-of-service state, in which for each the slewing brake is released and the boom is free to rotate under the action of the wind, thus naturally aligning itself in the wind.

[0009] On the other hand, in the particular case where one of the cranes is in working condition with a crane operator operating it, and where the crane operator of a neighboring crane is not at his control station, it is then necessary, and known, to place this neighboring crane in a state of automated control of the orientation of its boom, so that the latter does not interfere with the boom of the crane in working condition.

[0010] Many automated piloting processes which are executed by the control / command system in order to automatically orient the boom so as to limit, or even eliminate, any risk of interference in at least one interference zone, are available in the literature, such as those cited below.

[0011] Document EP3495311 discloses an automated control method which must either: position a crane in an optimal configuration, which corresponds to a spatial configuration in which the crane is aligned with the direction of the wind, if to reach this optimal configuration, the crane must not cross any interference zones; or else, in the case where the crane would have to cross at least one interference zone, first determine subsidiary configurations attached to subsidiary angular sectors which do not intersect the interference zones, then position the crane in the subsidiary configuration which is closest to the optimal configuration, i.e. the subsidiary configuration for which the boom of the crane will be most in phase with the direction of the wind, failing to be perfectly aligned with it.

[0012] Document EP3495310 discloses an automated piloting method which determines a preferred direction of rotation, corresponding to the direction of rotation for which the crane has the least interference zone to cross when it is caused to move from an initial configuration to a destination configuration in alignment with the wind.

[0013] Document JP H07 300295 proposes to make two cranes communicate with each other in order to know the orientations and relative elevations of their respective booms, and thus define safety zones, without having to use anti-collision systems.

[0014] However, for these automated control processes to be actually carried out, operators must, during a preparatory phase prior to launch, configure the control / command systems by entering / defining the locations of the different cranes present on their site, as well as the interference zones which will depend on characteristics entered by the operator and relating to the locations of the different cranes present and / or the dimensions of their elements / equipment, for example, the length of the booms or counter-jibs.

[0015] Thus, this preparatory phase can be long and / or complex to implement (both technically and materially), and subject to errors because it is based on data entered by the operator(s). It also requires, for the configuration of the control / command system, the intervention of a person who masters the environmental context of the site (site relief, the different states and equipment of a crane, etc.), as all the people working on a site do not necessarily have the same approach / the same knowledge of the site (a person in charge of managing the entire site will, for example, have more detailed knowledge or a more global vision than a crane operator in charge of one crane among the several present).

[0016] Furthermore, the configuration of the control / command system, depending on how it was designed / defined, may not be very intuitive or ergonomic for someone who is not familiar with IT tools (for example, because of the number of parameters to be entered). [Summary of the invention]

[0017] Also, the invention aims to respond positively to this problem by proposing a highly accessible control method capable of autonomously controlling the orientation of a crane boom according to the risk levels of the interference zones included in its circular working area, without it being necessary to specify the environmental context; the control method discovering and memorizing, in real time, the interference zones in order to then adapt to them and optimize the future orientation movements of the boom which will make it possible to reduce or even eliminate the risks of interference and collision.

[0018] Thus, the invention proposes a piloting method for piloting a crane comprising a boom and at least one anti-collision system adapted to detect a risk of collision on a right side and a left side of the boom, said boom being pilotable in orientation around an orientation axis and operating in a circular working area, for which the crane is: either in a working state in which manual control of the boom orientation is implemented by a crane operator, or in an automated control state in which automated control of the boom orientation is implemented; the piloting process implementing at least the following steps: an initial segmentation step during which the circular work area is segmented into several angular sectors; an initial parameterization step during which each of the several angular sectors is associated with an interference counter representative of a level of risk of interference in the associated angular sector between the arrow and an obstacle;a construction step during which, the crane being either in the working state or in the automated piloting state, whether the boom is moving or not, and each time the boom is present in an angular sector among the several angular sectors, and the at least one anti-collision system detects a risk of collision in said angular sector, then a value of the interference counter in said angular sector is incremented, thus constructing in real time an interference map in which the several angular sectors have interference counters having values which are distinct and evolving.;

[0019] The principle of the control method of the invention is based on the use of an interference map representative of the circular working area of the crane, which circular working area is segmented into a plurality of angular sectors. Each angular sector is associated with an interference counter whose value is representative of a level of risk of interference (and therefore possibly of collision) in this angular sector between the boom and an obstacle (such as the boom of another crane). For example, if the value of the interference counter is low (or even zero), then the risk of interference between the boom and an obstacle is low (or even zero). Conversely, the higher the value of the interference counter, the greater the risk of interference.

[0020] The particularity of this mapping is that it evolves in real time such that when at least one anti-collision system with which the crane is equipped, which is located in any angular sector, detects a risk of collision between the crane and an obstacle, the value of the interference counter of this angular sector is incremented.

[0021] An advantage of this process is that it is not necessary to have a preparatory phase of knowledge and capture of the environmental context of the construction site, since the process is implemented autonomously by the crane with real-time learning of the interference risk levels in the angular sectors segmenting its circular working area for its orientation and positioning. Thus, it is not useful to know the number and location of cranes whose field of action may interfere with that of the crane for which the process is implemented, nor the state of said cranes (working, in automatic mode, in weather vane, etc.). Also, the mapping is constructed independently of the state of the crane considered.

[0022] Furthermore, as explained below, a default mapping of the circular working area is proposed, for which the circular working area is segmented into a predefined number of angular sectors such that for all angular sectors, the level of interference risk is minimal. In this case, the control process will identify completely autonomously, based on the events occurring in the circular working area, the angular sectors of interference and their associated level of interference risk. Advantageously, the initial segmentation and configuration steps are not a mandatory step for the operator, and they are especially not blocking if this operator is not aware of the crane's environmental context.

[0023] However, in the opposite case, the operator has the optional possibility of defining the number of angular sectors to segment the circular work area and assigning an interference counter value to all or part of them. Thus, the process is highly accessible, being able to be carried out by people with or without knowledge of the characteristics of the site, as well as by people with or without computer skills. Note that these optional initial segmentation and configuration steps are only implemented once, when the process is put into service.

[0024] It should also be noted that the segmentation of the circular working area is a theoretical or virtual segmentation, associated with a model of the circular working area. In other words, the control process constructs a model of the circular working area, representative of the circular working area of the crane, and on this model it implements the segmentation.

[0025] According to a characteristic of the invention, when the crane is in the automated control state, the automated control of the orientation of the boom is implemented according to the interference mapping.

[0026] Advantageously, when the crane is in the automated piloting state, the piloting process adapts in real time to changes in the interference mapping to orient and then position the crane in angular sectors in which the risk of interference is low / lower.

[0027] According to a characteristic of the invention, during automated piloting, each time the boom is present in an angular sector, called the starting angular sector, among the several angular sectors, and the at least one anti-collision system detects a risk of collision in said starting angular sector, a step of automatic and autonomous orientation of the boom is implemented during which said boom is oriented from the starting angular sector in a direction opposite to the right or left side for which the risk of collision is detected, until it is automatically stopped in a final angular sector which is an angular sector in which the at least one anti-collision system does not detect a risk of collision,said step of automatic and autonomous orientation of the arrow comprising a selection sub-step during which the final angular sector is selected from among the several angular sectors according to the values of their respective interference counters.,

[0028] When a risk of collision is detected by the at least one anti-collision system between the crane boom and an obstacle, which may arrive from the right or left side of the boom, and the boom is in an automated piloting mode, the piloting method, during a step called automatic and autonomous orientation, will automatically carry out an orientation movement of the crane boom in the opposite direction to that of the side of the boom where the risk of collision was detected, from the angular sector where the crane boom is located, called the starting angular sector, to a final angular sector where the crane will be stopped and in which the at least one detection system will no longer detect the risk of collision.

[0029] Advantageously, the orientation movement is carried out by the piloting process in complete autonomy, that is to say that the crane, when a risk of collision is detected with an obstacle such as the boom of another crane, does not need to communicate with this other crane to carry out the orientation movement of the boom, hence its autonomous nature.

[0030] The final angular sector is chosen by the control method, during a selection sub-step taking place during the automatic and autonomous orientation step of the boom, from among several angular sectors, relying for this on the interference mapping giving at time t the interference counter values of each of these angular sectors, the objective being to position the boom of the crane in an angular sector in which the risk of interference is low.

[0031] According to a characteristic of the invention, during the step of automatic and autonomous orientation of the arrow, the arrow is oriented from the starting angular sector until it reaches or exceeds a precautionary angular sector, said precautionary angular sector corresponding to: either to the angular sector, called the first angular sector, for which the at least one anti-collision system no longer detects any risk of collision during the step of automatic and autonomous orientation of the boom from the starting angular sector; or to an angular sector located at a precautionary angular distance from said first angular sector.

[0032] In other words, when the crane boom is automatically oriented by the process of controlling the starting angular sector towards the final angular sector, the boom will at least reach a so-called precautionary angular sector in which the at least one anti-collision system no longer detects the risk of collision.

[0033] Note that during this orientation, if there is at least one intermediate angular sector between the starting angular sector and the precautionary angular sector, the interference map will be updated in real time such that the interference counter values of the starting angular sector and of this at least one intermediate angular sector will be incremented. Since the risk of collision is no longer detected in the precautionary angular sector, its interference counter value remains unchanged.

[0034] According to an alternative embodiment of the method, this precautionary angular sector may correspond to the angular sector, called the first angular sector, for which the risk of collision is no longer detected. According to a second alternative embodiment, in order to leave an additional safety margin to further minimize the risk of interference, and / or to take into account, for example, the degree of precision / margin of error of the at least one anti-collision system, the precautionary angular sector may be chosen at a certain angular distance, called the precautionary angular distance, from the first angular sector.

[0035] In other words, when the steering process orients the crane boom until it reaches an angular sector for which the risk of collision is no longer detected (i.e. the first angular sector), the steering process will continue the orientation movement, always in the same direction, over a certain number of degrees corresponding to the precautionary angular distance, until it reaches the precautionary angular sector.

[0036] According to one embodiment of the invention, the precautionary angular distance is non-zero and configurable, and is for example between 3 and 10 degrees.

[0037] In other words, such a configurable precautionary angular distance can be considered in the definition of the control method. It can for example be between 3 and 10 degrees, and for example of the order of 5 degrees. If this value in variants of implementation of the control method can be a predefined fixed value, it can also be in other variants a value given by the operator, during the parameterization step of the process for example, in the mentioned value range.

[0038] According to a characteristic of the invention, during the selection sub-step, the final angular sector is selected from angular sectors, called close angular sectors, including the precautionary angular sector and angular sectors which are distributed over a given limit angular distance from said precautionary angular sector.

[0039] According to a characteristic of the invention, the limiting angular distance is less than or equal to 360 degrees, and for example less than or equal to 180 degrees.

[0040] In other words, the control process, during the selection sub-step, will choose a final angular sector in which to complete the crane orientation movement from among several angular sectors, called close angular sectors, included within a given limit angular distance from and including the precautionary angular sector.

[0041] The value of the limiting angular distance is less than or equal to 360 degrees, thus allowing at most one complete or almost complete turn. Alternatively, the value of the limiting angular distance is less than or equal to 180 degrees, thus allowing at most one half turn.

[0042] In one embodiment of the control method, this value of the limit angular distance can be predefined. In another embodiment, this value can be given by the operator in the value range specified during the process parameterization step, for example.

[0043] According to a characteristic of the invention, during the selection sub-step, the values of the interference counters of the close angular sectors are compared to a minimum value and the close angular sector(s) having an interference counter value less than or equal to said minimum value is or are said to be secure close angular sectors, and the final angular sector is selected from said secure close angular sector(s).

[0044] In other words, in connection with the previous point, the limiting angular distance comprises several angular sectors, called close angular sectors, which are all potential final angular sectors in which the control method can stop the orientation movement and position the arrow. During the selection sub-step, the control method carries out an initial sorting of the potential candidates by comparing the value of their interference counter to a minimum interference counter value, which establishes a low threshold for which the risk of interference is estimated to be low. The close angular sectors whose interference counter value is less than or equal to this minimum value are selected as promising candidates, these close angular sectors then being called safe close angular sectors.

[0045] According to a characteristic of the invention, during the selection sub-step, the minimum value corresponds to the lowest value of the interference counters of the nearby angular sectors, or to the lowest value of the interference counters of the nearby angular sectors incremented by a configurable increment value.

[0046] The minimum value serving as the first selection criterion can correspond either to the lowest value of the interference counters of the nearby angular sectors; or the lowest value of the interference counters of the nearby angular sectors incremented by a configurable increment value, this increment value being able for example to correspond to one or two increment units.

[0047] In the first case, only those close angular sectors with the lowest interference counter value, i.e. those with the lowest risk of interference, are considered as safe close angular sectors. However, depending on the application context, this value can be relatively restrictive.

[0048] For example, the near angular sector(s) having the lowest interference counter value may potentially be relatively far from the precautionary angular sector, whereas near angular sectors that are much closer to the precautionary angular sector may have an interference counter value that is greater than the lowest interference counter value, but for which the risk of interference remains low.

[0049] However, it is possible that these sectors are more interesting for the positioning of the boom, because they are located near the sectors where the detection took place; it can be assumed that the crane was working in its starting angular sector, and that it is necessary for it to return to this sector.

[0050] The second scenario aims to address this drawback by offering a better compromise between positioning the boom in a secure angular sector following collision risk detection and control of the application context (in the example given above, avoiding unnecessary loss of time by allowing the crane to return as quickly as possible to the angular sector where it was working).

[0051] According to a characteristic of the invention, during the selection sub-step, the final angular sector is selected as being a secure close angular sector, among the secure close angular sectors, and which is: either the one which is angularly closest to the precautionary angular sector; or the one which, on the one hand, has an interference counter value which is equivalent to the lowest value of the interference counters of the nearby angular sectors and, on the other hand, is angularly closest to the precautionary angular sector.

[0052] In connection with the previous point, following the application of the first selection criterion which made it possible to identify secure close angular sectors over the limiting angular distance, the second and last criterion applied in order to determine the final angular sector is to choose the secure close angular sector which: in the first case, has the lowest interference counter value and is angularly closest to the precautionary angular sector; in the second case, which has an interference counter value that is lower than the defined minimum value (without corresponding to the smallest interference counter value), and which is angularly close to the precautionary angular sector.

[0053] In both cases, it is possible, depending on the interference counter values, that the final angular sector chosen is the precautionary angular sector. At that moment, this means that the automatic and autonomous orientation step of the boom ends when the control method orients the boom in the precautionary angular sector. Otherwise, the control method must orient the boom again over a certain angular distance separating the precautionary angular sector from the determined final angular sector.

[0054] According to a characteristic of the invention, during the selection sub-step, the values of the interference counters of the close angular sectors are compared to a maximum value and the close angular sector(s) having an interference counter value greater than or equal to said maximum value is or are said to be risky close angular sectors, and in which the final angular sector is selected from the close angular sectors extending in a safe angular interval delimited, on the one hand, by the included precautionary angular sector and, on the other hand, by the risky close angular sector or by the first of the risky close angular sectors starting from the excluded precautionary angular sector;such that, during the step of automatic and autonomous orientation of the arrow, the arrow does not reach and does not exceed said risky near angular sector or said first of the risky near angular sectors starting from the precautionary angular sector.;

[0055] According to a characteristic of the invention, during the selection sub-step, the final angular sector is selected as the close angular sector having the lowest value of the interference counter in the safe angular interval, independently of the values of the interference counters of the close angular sectors located beyond said safe angular interval. When applying the first selection criterion, the values of the interference counters of the close angular sectors included in the limit angular distance are also compared to a maximum value corresponding to a threshold value for which the risk of interference between the arrow and an obstacle is very high.

[0056] Any angular sector with an interference counter value greater than this value is considered a risky near angular sector. Depending on the application context, the limiting angular distance may include one or more risky near angular sectors (successive or not). The objective is for the steering method to stop the arrow orientation before reaching the first of one or more risky near angular sectors.

[0057] If at least one risky near angular sector is identified, then the control method will modify its selection criterion, by choosing as the final angular sector the near angular sector having the smallest interference counter value among the near angular sectors included in a safe angular interval delimited by the precautionary angular sector and the first risky near angular sector that can be encountered in the direction of the orientation movement (this risky near angular sector being excluded from the safe angular interval). As indicated previously, depending on the interference counter values of the angular sectors included in the safe angular interval, the final angular sector may correspond to the precautionary angular sector.

[0058] According to a characteristic of the invention, during the initial segmentation step, the circular working area is segmented into at least 36 angular sectors.

[0059] According to one embodiment of the invention, the initial segmentation step, the circular working area is segmented into at least 120 isometric angular sectors.

[0060] According to one embodiment of the invention, during the initial parameterization step, the value of the interference counter of each of the several angular sectors is the smallest value defined in said control method.

[0061] In the design of the control process, it is at least planned that the circular working area, during the initial segmentation step, is segmented in the interference mapping into at least 36 angular sectors which may or may not be isometric.

[0062] As previously indicated, the piloting process offers the operator a default segmentation which he can then modify, and for which the circular working area is segmented into 120 isometric angular sectors, i.e. each having an angular distance of 3 degrees.

[0063] Also, according to a given embodiment, the control method proposes, for the initial parameterization step, a default parameterization of the interference counter values of each of the angular sectors such that in the initial state of operation of the crane (t = 0), the interference counter value of all the angular sectors is the smallest defined in the method, meaning that all the angular sectors are initially considered to be de-risked, and that the angular sectors of interference / interference zones will be progressively identified by the control method during detections of collision risk by the at least one anti-collision system.

[0064] The invention also relates to a system for controlling a crane comprising a boom and at least one anti-collision system adapted to detect a risk of collision on a right side and a left side of the boom, said boom being controllable in orientation around an orientation axis and operating in a circular working area, said control system communicating / exchanging information with the at least one anti-collision system and controlling the boom, and in which said control system is designed to contain and execute a program containing a list of instructions relating to an implementation of a control method according to that presented.

[0065] In other words, the control method presented in the context of the invention is implemented in and then executed by a control system, said control system controlling the orientation movements of the crane, and being connected to the at least one anti-collision system, with which it communicates. Thus, when the at least one anti-collision system detects a risk of collision on the right side or the left side of the crane, it transmits this information to the control system which will then apply the control method, by implementing the construction step, followed by the automatic orientation and selection steps. This control system is, without limitation, an electronic card, or a processor, or a controller, or a computer, or a combination of all or part of these elements.

[0066] The invention also relates to a crane comprising a boom and at least one anti-collision system adapted to detect a risk of collision on a right side and a left side of the boom, said boom being controllable in orientation around an orientation axis and operating in a circular working area, said crane further comprising a control system according to that described above, and communicating / exchanging information with the at least one anti-collision system and with the boom to control it in rotation, either in the working state in response to commands from a crane operator, or in the automated control state. [Brief description of the figures]

[0067] 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 an example of a crane comprising a control system adapted for implementing and operating the control method; [ Fig 2 ] is a flowchart describing the operating principle of the control process depending on whether the crane is in a working state or in an automated control state; [ Fig 3 ] is a flowchart describing the operation of the automatic and autonomous boom orientation step when the crane is in an automated piloting state; [ Fig 4] schematically illustrates a crane in two real environment examples (left) with either one neighboring crane or three neighboring cranes, then the same crane modeled with its circular work area (center) and this same circular work area having been segmented into several angular sectors (right) after the initial segmentation step of the control process, it being noted that the boom is represented superimposed on this segmented circular work area; [ Fig 5 ] schematically illustrates an example of interference mapping resulting from the construction step of the control method, in which a value of an associated interference counter is entered for each angular sector (for clarity in the next figures, the value of the interference counter is not indicated in the interference mapping when it is equal to 0); [ Fig 6] schematically illustrates a crane, called the first crane, in an example environment (on the left) with a neighboring crane, called the second crane, where the work area is represented as segmented and where the boom of the first crane is in a starting angular segment, and an interference map (on the right) representative of the circular work area of this first crane, the interference counters of the angular sectors all being at zero, this prior to the construction step of the control method, in other words before incrementing the interference counters of the angular sectors concerned in the event of detection of a risk of collision; [ Fig 7 ] is equivalent to the Figure 6 , and comes as a result of the situation of the Figure 6after the second crane has been oriented to the point that the anti-collision system of the first crane detects a risk of collision, thereby initiating the start of the construction step of the piloting process and the automatic and autonomous orientation step of the boom of the first crane; [ Fig 8 ] is equivalent to the Figure 7 , and comes as a result of the situation of the Figure 7while the second crane has been stopped with its boom positioned in an angular position close to the starting angular sector, during the automatic and autonomous orientation step of the boom of the first crane until reaching a first angular sector for which the risk of collision is no longer detected (operation step by a crane operator if the first crane is in the working state, or first orientation step if it is in the automated piloting state), and during the construction step with real-time and parallel updating of the interference mapping of the first crane; [ Fig 9 ] is equivalent to the Figure 7 , and comes as a result of the situation of the Figure 7 while the second crane continues its orientation (as a variant of the case of the Figure 8), during the automatic and autonomous orientation stage of the boom of the first crane until reaching a first angular sector for which the risk of collision is no longer detected (operation stage by a crane operator if the first crane is in the working state, or first orientation stage if it is in the automated piloting state), and during the construction stage with real-time and parallel updating of the interference mapping of the first crane; [ Fig 10 ] is equivalent to the Figure 9 , and comes as a result of the situation of the Figure 9 , during the automatic and autonomous orientation stage of the boom of the first crane until reaching a precautionary angular sector, beyond the first angular sector; [ Fig 11] schematically illustrates the first crane, in an example of an environmental context (on the left) with the second crane and with another neighboring crane, called the third crane, during the automatic and autonomous orientation step of the boom of the first crane, and more specifically during its selection sub-step, with an interference map (on the right) representative of the circular working area of the first crane; [ Fig 12 ] schematically illustrates the first crane (on the left) of the Figure 12 and its associated interference mapping (right), during the automatic and autonomous orientation step of the boom of the first crane until reaching a final angular sector established during the selection sub-step, having a minimum value and a maximum value of the interference counter respectively equal to 1 and 5; [ Fig 13 ] schematically illustrates the first crane (on the left) of the Figure 12and its associated interference mapping (right), during the automatic and autonomous orientation step of the boom of the first crane until reaching a final angular sector established during the selection sub-step, having a minimum value and a maximum value of the interference counter respectively equal to 2 and 5; [ Fig 14 ] schematically illustrates the first crane (on the left) of the Figure 12 and its associated interference mapping (right), during the automatic and autonomous orientation step of the boom of the first crane until reaching a final angular sector established during the selection sub-step, having a minimum value and a maximum value of the interference counter respectively equal to 0 and 4. [Detailed description of one or more embodiments of the invention]

[0068] The DP control method which is the subject of the invention is implemented by being implemented in a control system 1c equipping a crane G, then is executed by this same control system 1c. This control system 1c comprises for example all or part of the following means: an electronic card, a processor, a controller, a computer. This control system 1c comprises for example a memory in which is loaded a program containing a list of instructions for the implementation, for example by a processor or a computer, of this DP control method.

[0069] According to the proposed embodiment and with reference to Figure 1 , the control system 1c is integrated into the control / command system 1 of the crane G, which can for example be installed in a control cabin 14.

[0070] The crane G illustrated is a tower crane which comprises a mast 11 mounted on a platform 13 which can be fixed to the ground 10 or else be mobile (for example by being placed on rails); and a rotating assembly formed by a jib F and a counter-jib 12 substantially aligned, and possibly a jib holder 22 (or punch) with tie rods 23, said rotating assembly being rotated about an axis of orientation A, which is of vertical extension, by means of a slewing ring 15 coupled to at least one slewing motor, causing the jib F to sweep a circular zone around the axis of orientation A, this circular zone corresponding to its circular working area AT shown diagrammatically on the Figures 4 to 14 A counterweight 16 (or ballast block) is positioned on the counter-jib 12 to counterbalance the weight of a load lifted by the crane G as well as to stabilize the latter during its orientation movements.

[0071] The load is lifted by means of a hook 20 located at the end of a pulley block 19 which is moved vertically by means of at least one lifting cable 18 attached to a distribution trolley 17 movable in translation on a rolling track 21 provided along the arrow F.

[0072] In this embodiment, the control / command system 1 comprises a central unit 1a in connection with the piloting system 1c; central unit 1a whose role is to orchestrate / ensure the proper functioning of the crane G and in particular the implementation of the movements of the elements of the crane (orientation of the boom, optionally raising / lowering of the boom) and of the load (movement of the distribution trolley, lifting of the block and of the load).

[0073] This central unit 1a communicates at least to the control system 1c information relating to the current state of the crane G, which is either in a working state E2, or in an automated control state E1 or in weather vane.

[0074] The control / command system 1 comprises an anti-collision system 1b which receives, from one or more sensors 24 arranged on the crane G, and for example on the boom F (such as for example millimeter wave radar sensors), information detecting the risk of collision between the boom F and an obstacle arriving from its right side or its left side.

[0075] The central unit 1a also communicates with the at least one anti-collision system 1b, and also receives control orders from a control console 2 used by the crane operator in order to be able to maneuver the crane G.

[0076] A flowchart of the DP control process is shown Figures 2 And 3. Its operating principle is explained in more detail below and illustrated through several examples which are the subject of the Figures 4 to 14 .

[0077] The DP control method is applied in the context of construction site environment contexts for which the boom F of a first crane G1, which is shaped to implement the DP control method and which can be in working state or in automated control state, can, when positioned in an angular or rotating position in its circular working area AT, interfere with different types of obstacle, for example: the boom(s) of other cranes G2 and / or G3 and / or G4, because the circular working areas AT of the first crane G1 or of said other crane(s) G2, G3, G4 overlap in interference zones IZ; buildings such that their location on the construction site occupies part of the surface area of the circular working area AT of the first crane G1.

[0078] For illustration purposes, two examples of construction site environment context are shown Figure 4(left). In the first example, the boom F of the first crane G1 can potentially interfere with the boom of a second crane G2. In the second example, the boom F of the first crane G1 can potentially interfere with the booms of a second crane G2, a third crane G3, and a fourth crane G4.

[0079] In reference to the Figure 2 , at its start, the DP control process implements an initial ED segmentation step during which a virtual modeling of the circular working area AT of the first crane G1 is implemented ( Figure 4 , in the center) such that it is segmented into a plurality of angular sectors SA ( Figure 4, right). It is on the basis of this virtual model that an interference map C is then constructed. By abuse of language, for reasons of clarity, the real circular work area and the modeled circular work area will bear the same reference "AT" in this description.

[0080] In this modeling, the elements of the external environment to the first crane G1 are not modeled, and in particular the neighboring cranes or other cranes G2, G3 and / or G4, or any other potential obstacle such as a building, are not represented and considered in the modeling. Thus, the interference zones IZ are also not present in the modeling of the circular work area AT, and therefore in the interference mapping C which will result from it.

[0081] The DP control method is defined such that the virtual model of the circular working area AT of the first crane is at least segmented into 36 angular sectors SA. In a preferred embodiment, the circular working area AT is segmented into 120 isometric angular sectors SA (i.e., each one measuring 3 degrees). According to different embodiments, either the number of angular sectors SA defined in the virtual model is fixed by the designers of the DP control method, or it can be configured by an operator through an option proposed by software accessible from the control / command system 1 (in which case the operator must validate his / her configuration so that the control method can continue).

[0082] For clarity and understanding of the operating principle of the DP control method, the circular working area AT of the first crane G1 is segmented into 32 isometric angular sectors in the Figures 4 to 14 .

[0083] Following the initial segmentation step ED, the control process implements an initial parameterization step EP during which it constructs from the virtual model an interference map C which ultimately, and over the course of the actions subsequently carried out by the control process DP, will be representative of the heterogeneity of a real risk of interference IR between the boom F of the first crane G1 and the obstacle(s) in the entire surface area of the circular working area AT described by the arrow F.

[0084] To do this, the DP control method associates with each of the angular sectors SA, segmenting the circular working area AT, an interference counter Cpt which can take a value Cptval representative of a level of risk of IR interference such that: the smaller the value Cptval, the lower the risk of IR interference between the boom F of the first crane G1 and an obstacle; and conversely, the larger the value Cptval of the interference counter Cpt, the higher the risk of IR interference.

[0085] The range of values that can be taken by the value Cptval can be different according to several embodiments, depending on the level of IR risk that the designers associate with a value. In the embodiment presented, the interference counter Cpt can take at least six integer values of Cptval ranging from 0 to 5, such that the level of IR interference risk is: zero when the value Cptval is equal to 0, very low when it is equal to 1, low when it is equal to 2, medium when it is equal to 3, high when it is equal to 4, and very high when it is equal to 5. An example of interference mapping C is illustrated Figure 5 . It is conceivable in other embodiments that the range of Cptval values is wider, or on the contrary more reduced.

[0086] By default, during the initial parameterization step EP, the DP control method constructs the interference map C such that the interference counter Cpt of each of the angular sectors SA is equal to the lowest value Cptval. According to two implementation variants, either this step is entirely automated, or the operator optionally has the possibility of modifying the Cptval values given by default by the control method. Indeed, the operator may have a more or less detailed knowledge of the real context of the circular area AT of the first crane G1, and therefore be able to associate for all or part of the angular sectors SA represented in the interference map C a suitable value Cptval. This second implementation variant assumes that the operator validates his own parameterization so that the DP control method can continue.

[0087] The piloting method is implemented when the first crane G1 is either in a working state E2 (which is the state in which piloting is exercised manually by a crane operator) or in an automated piloting state E1.

[0088] Also, in reference to the Figure 2 , following the initial parameterization step EP, the control method DP identifies the state of the first crane G1, for example by means of information transmitted for example by the central unit 1a to the control system 1c, during two identification phases Q1, Q2 such that: During a first identification phase Q1, the first crane G1 is identified as being or not in the working state E2, in other words piloted by a crane operator; If not, during a second identification phase Q2, the first crane G1 is identified as being or not in the automated piloting state E1; If not, the piloting method considers the first crane G1 as being in the weather vane state, and waits during a waiting phase Q3 for this state to change.

[0089] For clarity and understanding of the operating principle of the DP control process, for the next figures illustrating application examples: The environment context is shown in the left figure, the interference map C of the first crane G1 is shown on the right; In the schematic representation of the environment context, the circular working area AT of the first crane G1 is shown as segmented, with its arrow superimposed; In the interference maps C, when the value Cptval of the interference counter Cpt of an angular sector SA is equal to 0, the value Cptval is not shown in said angular sector SA.

[0090] The interference map C is constructed / updated in real time as the at least one anti-collision system 1b of the first crane G1 detects a risk of collision between the boom F and an obstacle during a construction stage EB.

[0091] This construction step EB is triggered when, depending on whether the first crane G1 is in an automated control state E1 (respectively a working state E2), the control method DP receives, from the at least one anti-collision system 1b or from the central unit 1a, during a reception step Q4 (respectively Q5) information on the detection of a risk of collision. Otherwise, the control method DP remains in the waiting / standby state if it does not receive such information representing the detection of a risk of collision.

[0092] The EB construction step is therefore implemented following the detection of a risk of collision and in parallel with: In the case where the first crane G1 is in an automated piloting state, an automatic and autonomous orientation step of the boom EM, In the case where it is in a working state E2, an avoidance maneuver E3 of the crane operator to avoid colliding with the boom of the second crane (this avoidance maneuver E3 can be operated manually or alternatively automatically).

[0093] In both cases, the step of automatic and autonomous orientation of the boom EM and the avoidance maneuver E3 consist of moving the boom F of the first crane G1 according to an orientation movement M1 from its starting angular position, for which the risk of collision has been detected by the at least one anti-collision system 1b, until reaching (or exceeding) a first angular position for which the risk of collision is no longer detected by said at least one anti-collision system.

[0094] The orientation movement M1 is such that its direction is opposite to the side of the boom F of the first crane G1 for which the risk of collision was detected: clockwise for a detection of a risk of collision arriving towards the left side, anticlockwise for a detection of a risk of collision arriving on the right side

[0095] The EB construction step is more precisely illustrated by means of the example presented in the Figures 6 to 9 , for which the circular working area AT of the first crane G1 partially overlaps in an interference zone IZ the circular working area of a second neighboring crane G2. The first crane G1 is either in an automated piloting state E1 or in a working state E2; the second crane G2 is in a working state.

[0096] In reference to the Figure 6, the first crane G1 and the second crane G2 are both in two angular positions such that they are not in interference. The boom F of the first crane G1 is considered to be in a starting angular position included in an angular sector called the starting angular sector SD. The interference map C representative of the first crane G1 is such that the value Cptval of the interference counters Cpt of all the angular sectors SA, including the starting angular sector SD, are equal to 0.

[0097] In reference to the Figure 7, the second crane G2 moves according to an orientation movement M2 in the clockwise direction such that the at least one anti-collision system 1b of the first crane G1 detects a risk of collision arriving from the right side of the boom. At the time of detection, the control method DP initiates the implementation of the construction step EB by incrementing in the interference map C the value Cptval of the interference counter Cpt of the starting angular sector SD.

[0098] Following the situation of the Figure 8, the second crane G2 continues its orientation movement M2, while the first crane G1 is oriented according to the orientation movement M1 during the automatic and autonomous orientation step of the boom EM (or the avoidance maneuver E3) until reaching the first angular position for which the risk of collision is no longer detected, the values Cptval of the interference counters of the angular sectors SA crossed by the boom F of the first crane G1 and for which the risk of collision still continues to be detected are incremented in the interference map C. This means that the value Cptval of the interference counter Cpt of the angular sector SA comprising the first angular position for which the risk of collision is no longer detected where the boom F of the first crane G1 is placed, called the first angular sector S1, is not incremented.

[0099] The update of the interference map C is stored by the DP control process.

[0100] Note that depending on the application situation, in particular when the first crane G1 is in automated piloting state E1, and as illustrated by the Figure 8 , the boom F of the first crane G1 can be positioned in a first angular sector S1 which is included in an interference zone with another crane, provided that the risk of collision is no longer detected.

[0101] Such interference mapping C is of interest to the crane operator because it allows him to be informed of the presence of a risk zone where to work and / or position the boom, and the latter is particularly advantageous when the first crane G1 is in automated piloting state E1, and the control / command system 1 must automatically and completely autonomously position the boom in a safe angular position or for which the risk of interference / collision with an obstacle is low.

[0102] According to an alternative embodiment, when the first crane G1 is in an automated control state E1, the automatic and autonomous orientation step of the boom EM can only consist of the orientation movement M1 described above. In this case, the first angular sector S1 corresponds to a final angular sector SF in which the boom F of the first crane G1 remains positioned once the risk of collision is no longer detected. Also, it can be considered that the first angular sector S1 corresponds to the final angular sector following the avoidance maneuver E3 of the crane operator, when the first crane G1 is in the working state E2.

[0103] According to other embodiment variants, additional automatic steps can be implemented. In this respect, the flowchart describing the step of automatic and autonomous orientation of the EM arrow in Figure 3 includes all the planned automatic steps.

[0104] The automatic and autonomous orientation step of the boom EM thus comprises a first orientation sub-step EM1, which is imposed, consisting of the orientation movement M1 of the boom F of the first crane G1 described so far, from the starting angular sector SD, where a risk of collision has been detected, to the first angular sector S1, where the risk of collision is no longer detected; the orientation movement being carried out in the opposite direction to the side of the boom F where the risk of collision has been detected. The construction step EB for the real-time construction of the map representing the level of risk of IR interference in the circular working area AT of the first crane G1 is carried out in parallel with this first orientation sub-step EM1.

[0105] Following this orientation sub-step EM1, the automatic and autonomous orientation step of the boom EM comprises a second orientation sub-step EM2 during which the control method DP continues the orientation movement M1 of the first crane G1 from the first angular sector S1 over an angular distance called the precautionary angular distance DAP. The angular sector in which the boom F of the first crane G1 is positioned is then called the precautionary angular sector SP located at the precautionary angular distance DAP from said first angular sector S1.

[0106] This second orientation sub-step EM2 is implemented so that an additional safety margin is left to further minimize the risk of collision between the boom F of the first crane G1 and the detected obstacle (here the boom of the second crane G2), or even to take into account, for example, the degree of precision / margin of error of the at least one anti-collision system 1b. It is illustrated in the Figure 10 , which is equivalent and comes after the situation of the Figure 9 .

[0107] According to different embodiments of the invention, the precautionary angular distance DAP can either be fixed by the designers of the invention or be configurable, for example through a parameterization implemented by the operator during the initial parameterization step EP. It can for example be between 3 degrees and 10 degrees. In a preferred embodiment, the precautionary angular distance DAP is equal to 3 degrees.

[0108] Depending on the angular distance defining the first angular sector S1, the angular position of the boom F of the first crane G1 in said first angular sector S1, and the value of the precautionary angular distance DAP, it remains possible that after moving the boom F over the precautionary angular distance DAP, the boom is still included in the first angular sector S1.

[0109] In this case, the first angular sector S1 is considered to be the precautionary angular sector SP. In the preferred embodiment, for which the angular distance of all the angular sectors is equal to 3 degrees and therefore to the precautionary angular distance DAP, the precautionary angular sector SP corresponds to the angular sector SA adjoining downstream the first angular sector S1 in the direction of the slewing movement M1 of the boom F of the first crane G1.

[0110] Optionally, the DP control method can also implement a third orientation sub-step EM3 consisting of continuing the orientation movement M1 of the boom F of the first crane G1 from the precautionary angular sector SP (or from the first angular sector S1 if the second orientation sub-step EM2 is not implemented in the DP control method) until reaching an angular sector called the final angular sector SF, for which the risk of interference between the boom F and an obstacle is low, or even non-existent.

[0111] Upstream of this third orientation sub-step EM3, a selection sub-step ES is carried out during which the DP control process will determine / select the final angular sector SF according to different criteria.

[0112] The selection sub-step ES and the third orientation sub-step EM3 are illustrated by means of the Figures 11 to 14, for which an application context is considered (figures on the left) where the first crane G1, whose boom is positioned in the precautionary sector SP, presents interference zones with the second crane G2 and also a third crane G3 which are both in working condition.

[0113] The representative interference map C of the circular working area AT of the first crane G1 is illustrated in the figures on the right, said circular area being represented as segmented into angular sectors, with its arrow F superimposed, for explanatory purposes.

[0114] In reference to the Figure 11 , the final angular sector SF is selected from several angular sectors called close angular sectors SN, which are included in a limit angular distance DL defined as being non-zero and less than or equal to 360° from the precautionary angular sector SP included.

[0115] In the embodiment presented, the limit angular distance DL is equal to 180°. This means that, depending on the result from the selection sub-step ES, the final angular sector SF may correspond to the precautionary angular sector SP (or the first angular sector S1 if the second orientation sub-step EM2 is not implemented in the control method DP), in which case the control method DP does not proceed to the third orientation sub-step EM3. The control method DP checks whether this situation is encountered during a verification phase Q8, taking place between the selection sub-step ES and the third orientation step EM3.

[0116] During the selection sub-step ES, the control method DP compares the value Cptval of the interference counter Cpt of each of the nearby angular sectors SN with a minimum value val_min and a maximum value val_max, both integers and included in the range of values that Cptval can take. In the embodiment presented, the minimum value val_min and the maximum value val_max are included in the integer range [0,5]

[0117] The val_min value corresponds to a threshold for which any near angular sector SN having an interference counter value Cptval less than or equal to is considered to be a safe near angular sector SNS, i.e. a near angular sector SN for which the risk of IR interference is low, or even zero.

[0118] Conversely, the val_max value corresponds to a threshold for which any near angular sector SN having an interference counter value Cptval equal to or greater than is considered to be a risky near angular sector SR, i.e. a near angular sector SN for which the risk of IR interference is high or very high.

[0119] According to different embodiments, either the minimum value val_min and maximum value val_max as well as the limit angular distance DL are fixed by the designers, or they can be optionally defined by the operator during the initial parameterization step EP. By default, according to a first embodiment of the invention, the minimum value val_min and maximum value val_max can correspond respectively to the lowest and highest of the values Cptval that the interference counters Cpt can take.

[0120] In a second embodiment, the minimum value val_min could correspond to a percentage of the difference between the highest and lowest of the Cptval values of the interference counter Cpt, the minimum value val_min being rounded to the nearest unit if the difference is not an integer value. For example, the minimum value val_min is respectively equal to 2 or 3 if the difference between the highest and lowest Cptval value is equal to 2.4 or 2.8. Note that in the case where the difference is equidistant from two units, the minimum value val_min would be equal to the largest of the units. For example, if the difference is equal to 2.5, then the minimum value val_min is equal to 3.The minimum values val_min and maximum value val_max can also be modified / adapted automatically in the case where no secure near angular sector SNS is identified among the one or more near angular sectors SN (see below).

[0121] When no near angular sector SN is a risky near angular sector SR, the final angular sector SF is chosen such that it corresponds to the first safe near angular sector SNS closest, in the direction of the orientation movement M1 of the boom F of the first crane G1, to the precautionary angular sector SP included.

[0122] In the example illustrated in Figure 12, for which the minimum value val_min and the maximum value val_max are considered to be respectively equal to 1 and 5, the secure close angular sectors SNS correspond to the close angular sectors SN whose interference counter Cptval value is less than or equal to 1, i.e. here those having a Cptval value of zero or equal to 1. The precautionary angular sector SP is not part of these secure close angular sectors SNS, because it has a Cptval value equal to 2.

[0123] Therefore, the control method continues the slewing movement M1 of the boom F of the first crane G1 from the precautionary angular sector SP (or from the first angular sector S1) to the final angular sector SF, which here corresponds to the first safe near angular sector SNS having a zero interference counter value Cptval Cpt in the direction of the slewing movement M1.

[0124] In the example illustrated in Figure 13 , for which the application context of the Figure 12 is repeated but this time for a minimum value val_min and a maximum value val_max equal to 2 and 5 respectively, the secure close angular sectors SNS correspond to the close angular sectors SN whose interference counter value Cptval is less than or equal to 2, i.e. here the close angular sectors SN having a Cptval value zero or equal to 1 or equal to 2. In this application context, the DP control method does not implement the third orientation step EM3, having determined that the final angular sector SF corresponds to the precautionary angular sector SP, because it has a Cptval value equal to 2.

[0125] In the case where the limit angular distance DL does not contain any secure near angular sector SNS, the DP control method can increment the minimum value val_min until it identifies one or more secure near angular sectors SNS in the limit angular distance DL.

[0126] In reference to the Figure 14 for which the application context of the Figure 12and for which the minimum value val_min and the maximum value val_max are respectively equal to 0 and 5, when the close angular sectors SN include one or more risky close angular sectors SR, the operating principle of the control method is defined such that the boom F of the first crane G1 must not cross the risky close angular sector SR or the first of the risky close angular sectors SR1 encountered in its orientation movement M1, even if safe close angular sectors SNS are located downstream of the risky close angular sector SR or the first of the risky close angular sectors SR1.

[0127] According to the same principle as previously, the DP control method then seeks to determine a final angular sector SF among secure close angular sectors SNS no longer included in the limit angular distance DL, but in a new angular interval, called secure angular interval DS, including the precautionary angular sector SP (or the first angular sector S1) and excluding the risky close angular sector SR or the first of the risky close angular sectors SR1.

[0128] In the case where the secure angular interval DS does not contain any secure near angular sector SNS, the DP control method increments the minimum value val_min until it identifies one or more secure near angular sectors SNS in the secure angular interval DS.

[0129] This situation is presented in Figure 14, for which there is no secure near angular sector SNS in the secure angular interval DS such as having a zero interference counter Cptval value Cpt. Following two successive increments, the DP control method manages to identify a single secure near angular sector SNS having a Cptval value of interference counter Cpt equal to 2, and which corresponds to the precautionary angular sector SP in the illustrated example. The DP control method then considers that the precautionary angular sector SP corresponds to the final angular sector SF (and consequently, does not implement the third orientation sub-step EM3).

[0130] During the orientation sub-steps EM1, EM2, EM3, the DP control method checks during reception phases Q6 (before the second orientation sub-step EM2), Q7 (before the selection sub-step ES) and Q9 (before the third orientation sub-step EM3) whether it has received information representative of a detection of a risk of collision. If so, the DP control method starts again from the beginning and repeats the automatic and autonomous orientation step of the arrow EM.

Claims

1. A control method (DP) for controlling a crane (G) comprising a boom (F) and at least one anti-collision system (1b) adapted to detect a risk of collision on a right side and a left side of the boom (F), said boom (F) being controllable in orientation about an orientation axis (A) and operating in a circular work area (AT), for which the crane (G) is : - either in a working state (E2) for which a manual controlling of the orientation of the boom (F) is implemented by a crane operator, - either in an automated control state (E1) for which an automated controlling of the orientation of the boom (F) is implemented; the control method (DP) implementing at least an initial segmentation step (ED) during which the circular work area (AT) is segmented into several angular sectors (SA); the control method (DP) being characterized in that it implements the following steps : - an initial setting step (EP) during which each of the several angular sectors (SA) is associated with an interference counter (Cpt) representative of a level of risk of interference (IR) in the angular sector (SA) associated between the boom (F) and an obstacle; - a construction step (EB) during which, the crane (G) being either in the working state (E2) or in the automated control state (E1), whether the boom (F) is moving or not, and each time the boom (F) is present in an angular sector (SA) among the several angular sectors (SA), and the at least one anti-collision system (1b) detects a risk of collision in said angular sector (SA), then a value (Cptval) of the interference counter (Cpt) in said angular sector (SA) is incremented, thus constructing in real time an interference mapping (C) in which the several angular sectors (SA) present interference counters (Cpt) having values (Cptval) which are distinct and scalable.

2. The control method (DP) according to claim 1, wherein, when the crane (G) is in the automated control state (E1), the automated controlling of the orientation of the boom (F) is implemented as a function of the interference mapping (C).

3. The control method (DP) according to claim 2, wherein, during the automated controlling, each time the boom (F) is present in an angular sector (SA), called starting angular sector (SD), among the several angular sectors (SA), and that the at least one anti-collision system (1b) detects a risk of collision in said starting angular sector (SD), an automatic and autonomous orientation step of the boom is implemented (EM) during which said boom (F) is oriented from the starting angular sector (SD) in a direction opposite to the right or left side for which the risk of collision is detected, until it is automatically stopped in a final angular sector (SF) which is an angular sector (SA) in which the at least one anti-collision system (1b) does not detect any risk of collision, said automatic and autonomous orientation step of the boom (EM) comprising a sub-selection step (ES) during which is selected the final angular sector (SF) among the several angular sectors (SA) according to the values (Cptval) of their respective interference counters (Cpt).

4. The control method (DP) according to claim 3, wherein, during the automatic and autonomous orientation step of the boom (EM), the boom (F) is oriented from the starting angular sector (SD) until reaching or exceed a precautionary angular sector (SP), said precautionary angular sector (SP) corresponding: - either to the angular sector (SA), called first angular sector (S1), for which the at least one anti-collision system (1b) no longer detects a risk of collision during the automatic and autonomous orientation step of the boom (EM) from the starting angular sector (SD); - or to an angular sector (SA) located at a precautionary angular distance (DAP) from said first angular sector (S1).

5. The control method (DP) according to claim 4, wherein the precautionary angular distance (DAP) is non-zero and configurable and is for example between 3 and 10 degrees.

6. The control method (DP) according to claim 4 or 5, wherein, during the selection sub-step (ES), the final angular sector (SF) is selected from among angular sectors (SA), called nearby angular sectors (SN), including the precautionary angular sector (SP) and angular sectors (SA) which are distributed over a given limit angular distance (DL) from said precautionary angular sector (SP).

7. The control method (DP) according to claim 6, wherein the limit angular distance (DL) is less than or equal to 360 degrees, and for example less than or equal to 180 degrees.

8. The control method (DP) according to claim 6 or 7, wherein, during the selection sub-step (ES), the values (Cptval) of the interference counters (Cpt) of the nearby angular sectors (SN) are compared to a minimum value (val_min) and the nearby angular sector(s) (SN) having an interference counter (Cpt) value (Cptval) less than or equal to said minimum value (val_min) is or are called secured nearby angular sectors (SNS), and the final angular sector (SF) is selected from said secured nearby angular sector(s) (SNS).

9. The control method (DP) according to claim 8, wherein, during the selection sub-step (ES), the minimum value (val_min) corresponds to the lowest value (Cptval) of the interference counters (Cpt) of the nearby angular sectors (SN), or at the lowest value (Cptval) of the interference counters (Cpt) of the nearby angular sectors incremented by a configurable increment value.

10. The control method (DP) according to claims 8 and 9, wherein, during the selection sub-step (ES), the final angular sector (SF) is selected as being a secured nearby angular sector (SNS), among the secured nearby angular sectors (SNS), and which is: - either the one that is angularly closest to the angular precautionary sector (SP); - or the one which, on the one hand, has a value (Cptval) of the interference counter (Cpt) which is equivalent to the lowest value (Cptval) of the interference counters (Cpt) of the nearby angular sectors (SN) and, on the other hand, is the closest angularly to the precautionary angular sector (SP).

11. The control method (DP) according to any one of claims 8 to 10, wherein, during the selection sub-step (ES), the values (Cptval) of the interference counters (Cpt) of the nearby angular sectors (SN) are compared with a maximum value (val_max) and the nearby angular sector(s) (SN) having an interference counter (Cpt) value (Cptval) greater than or equal to said maximum value (val_max) is or are said risky nearby angular sectors (SR), and in which the final angular sector (SF) is selected among the nearby angular sectors (SN) extending in a delimited secured angular interval (DS), on the one hand, by the precautionary angular sector (SP) included and, on the other hand, by the risky nearby angular sector (SR) or by the first of the risky nearby angular sectors (SR1) starting from the excluded precautionary angular sector (SP); so that, during the automatic and autonomous orientation step of the boom (EM), the boom (F) does not reach and does not exceed said risky nearby angular sector (SR) or said first of the risky nearby angular sectors (SR1) starting from the precautionary angular sector (SP).

12. The control method (DP) according to claim 11, wherein, during the selection sub-step (ES), the final angular sector (SF) is selected as the nearby angular sector (SN) having the lowest value (Cptval) of the interference counter (Cpt) in the secured angular interval (DS), independently of the values (Cptval) of the interference counters (Cpt) of the nearby angular sectors (SN) located beyond said secured angular interval (DS).

13. The control method (DP) according to any one of the preceding claims, wherein, during the initial segmentation step (ED), the circular work area (AT) is segmented into at least 36 angular sectors (SA).

14. The control method (DP) according to claim 13, wherein, during the initial segmentation step (ED), the circular work area (AT) is segmented into at least 120 isometric angular sectors (SA).

15. The control method (DP) according to any one of the preceding claims, wherein, during the initial setting step (EP), the value (Cptval) of the interference counter (Cpt) of each of the several angular sectors (SA) is the smallest value defined in said control method (DP).

16. A control system (1c) for controlling a crane (G) comprising a boom (F) and at least one anti-collision system (1b) adapted to detect a risk of collision on a right side and a left side of the boom (F), said boom (F) being controllable in orientation about an orientation axis (A) and operating in a circular work area (AT), said control system (1c) communicating / exchanging information with the at least one anti-collision system (1b) and controlling the boom (F), and in which said automatic control system (1c) is designed to contain and to execute a program comprising a list of instructions related to an implementation of a control method (DP) in accordance with any one of the preceding claims.

17. A crane (G) comprising a boom (F) and at least one anti-collision system (1b) adapted to detect a risk of collision on a right side and a left side of the boom (F), said boom (F) being controllable in orientation about an orientation axis (A) and operating in a circular work area (AT), said crane (G) further comprising a control system (1c) according to claim 16 and communicating / exchanging information with the at least one anti-collision system (1b) and with the boom (F) to control it in rotation, either in the working state (E2) in response to commands from a crane operator, or in the automated control state (E1).