Lifting and handling device equipped with identification components to establish a configuration and operating characteristic

Abstract

The present invention relates to a lifting and handling device (G) comprising a plurality of structural elements, a plurality of operating elements, at least one ballast element mounted on a structural element, a central control unit, a plurality of identification components (01-26), each structural, operating, and ballast element being coupled to an identification component, and each identification component comprising a radio communication module with a predefined radio communication range (R) to be able to communicate with at least one other identification component, and a radio communication master unit (MU) connected to the plurality of identification components (01-26) and intended to receive identification information from each of the components, as well as a method for managing and controlling the operation of said lifting and handling device (G).

Description

[Technical Domain of the Invention]

[0001] The present invention relates to a lifting and handling device, such as a crane, comprising assembled structural elements and operating elements, as well as components for identifying said structural and operating elements. The invention further relates to a method for monitoring the operation of the aforementioned lifting and handling device. [Previous Technique]

[0002] Some lifting and handling equipment, such as construction cranes, and in particular modular and self-erecting cranes, are composed of independent structural elements, also called frame members, which are assembled to form a structure or framework. Specifically, these elements form a jib (made up of several jib sections), a counter-jib, a pivot, a mast (also called a pylon, made up of several mast sections), and a base on which the mast is mounted. These structural elements can be assembled in a configuration that varies for each construction site. Furthermore, it is common for certain structural elements to be used on several cranes, sometimes of different models, such as mast structural elements.Generally, each structural element is identified by a unique physical marking specific to it, which may, for example, indicate the place and date of manufacture of the structural element.

[0003] During a logistics supply operation, a yard manager prepares and sends the appropriate structural elements to a construction site.

[0004] Once these structural elements are received on site, an erector must ensure that they install the appropriate type of structural element in the correct location on the crane to achieve the predefined crane configuration. It should also be noted that the crane also includes: operating elements to provide movements of the lifting and handling device or of a load, such as actuators such as a lifting winch, a distribution winch, a hoisting winch, and drive elements such as a distribution trolley for load distribution, a lifting block system for lifting load; and ballast elements, also called weights or counterweights, generally provided at the base and / or on a counter-jib.

[0005] Such operating elements and such ballast elements are thus mounted on structural elements, and contribute to the lifting capacities and limits of the lifting and handling device.

[0006] Once the lifting and handling device is assembled, an assembler or technician subsequently selects a load curve adapted to a predefined configuration of the lifting and handling device; it being noted that this load curve will depend on the configuration of the lifting and handling device and more specifically on the structural elements (types, number, presence of reinforcements or not, and locations of the structural elements) which define the rigidity and dimensions of the structure, such as the height of the mast, the length of the boom and the length of the counter-jib, and also on the operating elements (types, number and locations of the actuators and drive elements) and the ballast elements (locations, weight, number).

[0007] Also, an assembly error could lead to an actual configuration different from the predefined configuration, and therefore to the selection of a load curve unsuitable for the actual configuration, with potentially serious consequences, such as damage to or even collapse of the lifting and handling device.

[0008] A visual inspection of the lifting and handling equipment assembly is therefore usually carried out. This inspection is generally lengthy, tedious, and prone to human error.

[0009] The state of the art can be illustrated by the teachings of document US2016223313A which describes a machine equipped with a mobile arm such as a crane, comprising several articulated segments some of which are equipped with transmitter / receiver modules in communication with an evaluation module to evaluate the positions of the articulated segments, and thus allow to know the movements, vibrations and / or deflections of the mobile arm.

[0010] However, this state of the art does not in any way offer a solution to facilitate the assembly of a lifting and handling device, and especially to know a configuration of this lifting and handling device, and therefore to adapt an operating characteristic to the configuration, and in particular a load curve; the notion of operating characteristic designates a characteristic representative of the control of the operating element(s), which, as a reminder, ensure the movements of the lifting and handling device and thus the movements of the load, and in particular control limits such as load limits defined by the aforementioned load curve.

[0011] The prior art can also be illustrated by the findings of document DE 10 2015 016856 A1, which discloses a lifting and handling device according to the preamble of claim 1 and a crane configuration method based on an online portal containing at least one database comprising a plurality of standard crane configurations, with an interface for user access to the online portal. This method notably uses the detection of certain structural elements to determine the configuration. Such a configuration method allows for the retrieval of a load curve from the portal; however, this curve is not optimal for the actual crane configuration, and furthermore, this method is unsuitable for handling variable or even extreme configurations with long booms or tall masts.

[0012] Finally, document WO2021028258, which is an earlier application under Article 54(3) EPC, discloses a method and device for detecting the erection status of a construction machine, in particular a crane, with electronic identification elements attached to the erection elements of the construction machine, and an electronic evaluation unit for determining the erection status and / or location of the erection elements based on information received from the identification elements. The identification elements attached to the erection elements are equipped with energy-generating means for generating electrical energy from environmental influences, as well as an energy storage unit for storing the energy produced and supplying the identification elements.

[0013] The present invention aims to resolve all or part of the drawbacks mentioned above.

[0014] The technical problem underlying the invention consists in particular of providing a lifting and handling device, such as a crane for example, enabling the configuration of said lifting and handling device to be known and an operating characteristic to be precisely adapted to the configuration of said lifting and handling device, as well as a method for controlling the operation of said lifting and handling device. [Summary of the invention]

[0015] To this end, the present invention relates to a lifting and handling device comprising a plurality of structural elements assembled to form a structure of said lifting and handling device, a plurality of operating elements carried by structural elements included in the plurality of structural elements and designed to provide movements of the lifting and handling device or of a load, at least one ballast element mounted on a structural element, a central control unit controlling at least one operating element included in the plurality of operating elements, said lifting and handling device being remarkable in that it further comprises: a plurality of identification components, each structural element included in the plurality of structural elements being coupled to an identification component included in the plurality of identification components, each functional element included in the plurality of functional elements being coupled to an identification component included in the plurality of identification components, and at least one ballast element being coupled to an identification component included in the plurality of identification components, and each identification component comprising a radio communication module having a predefined radio communication range in order to be able to communicate with at least one other identification component,and a master radio communication unit connected to the plurality of identification components and intended to receive identification information from each of the identification components included in the plurality of identification components; each of the identification components being configured to transmit identification information to the master radio communication unit according to a hop-by-hop communication protocol between identification components located within their respective radio communication ranges;and in that said central control unit is linked to the master radio communication unit and is configured to determine the location of each structural element included in the plurality of structural elements, of each operating element included in the plurality of operating elements, and of at least one ballast element based on the identification information transmitted by each of the identification components to the master radio communication unit, and to deduce therefrom a configuration of the lifting and handling device and then at least one typical operating characteristic of said lifting and handling device associated with said configuration.

[0016] Thus, the invention makes it possible to retrieve the identification information of all the identification components, associated with the structural elements, the operating elements and the ballast element(s), by a step-by-step communication up to the master radio communication unit, and therefore up to the central control unit.

[0017] This hop-by-hop communication between identification components allows identification information to be transmitted to the master radio communication unit, even with a limited radio communication range, as long as it is sufficient to communicate with a neighboring identification component. Such a solution is particularly advantageous in the field of modular cranes, because these cranes can have masts of varying heights and boom lengths depending on the chosen assembly configuration. Therefore, regardless of the distance of the identification component furthest from the master radio communication unit, it will always be able to transmit its identification information thanks to the hop-by-hop communication protocol implemented by the identification components.

[0018] Furthermore, the invention makes it possible to deduce a typical operating characteristic from the identification information of all the identification components, associated with the structural elements, the operating elements and the ballast element(s), which has the advantage of optimizing this typical operating characteristic by taking into account not only the structural elements, but also the operating elements and the ballast element(s) which contribute to the movement capabilities of the lifting and handling device and the load.

[0019] According to one possibility, the identification information communicated by the identification component of each structural element of the plurality of structural elements contains a structural parameter that is representative of a maximum value of allowable stresses for said structural element, and the central control unit is configured to establish the typical operating characteristic also as a function of the structural parameter associated with each structural element of the plurality of structural elements.

[0020] This structural parameter can be a parameter representing the stiffness of the structural element in question. In other words, the identification information provided by the identification component of each structural element within the plurality of structural elements can contain a structural parameter representing the stiffness of said structural element. This structural parameter representing the stiffness of said element can, for example, indicate whether the structural element is reinforced or not.

[0021] According to another possibility, the identification information communicated by the identification component of each operating element of the plurality of operating elements contains a limit operating parameter that is representative of a maximum value of permissible stresses for said operating element, and the central control unit is configured to establish the typical operating characteristic also as a function of the limit operating parameter associated with each operating element of the plurality of operating elements.

[0022] This limiting operating parameter can be a parameter representing a maximum permissible load for the movement associated with the operating element concerned; such as, for example, a maximum load for an actuator such as a winch or a cylinder.

[0023] According to another possibility, the identification information communicated by the identification component of at least one ballast element contains a limit ballast parameter that is representative of a maximum value of permissible stresses for said at least one ballast element, and the central control unit is configured to establish the typical operating characteristic also as a function of the limit ballast parameter associated with the at least one ballast element.

[0024] This limit ballast parameter can be a parameter representing a mass or weight of the ballast element concerned.

[0025] Taking into consideration structural parameters and / or limit operating parameters and / or limit ballast parameter(s) is particularly advantageous for establishing and optimizing the typical operating characteristic, taking into consideration not only the elements but also their maximum allowable stress values; these allowable stresses being determined for example for static load cases, dynamic load cases and fatigue cases.

[0026] The identification component could, for example, refer to a battery-powered active identification tag.

[0027] The lifting and handling device may refer to a crane, and for example a modularly assembled tower crane or a self-erecting crane, and may also have one or more of the following characteristics, taken alone or in combination.

[0028] Depending on one possibility, the plurality of structural elements are selected from the list including mast elements, jib elements, counter-jib elements, a pivot (rotating part at the top of the mast), a telescoping cage, anchor frames, a hoisting structure, or a base (supporting part at the foot of the mast).

[0029] The telescoping cage is a structural element located beneath the pivot (or rotating part) and used to add or remove mast sections. Such a telescoping cage typically includes a linear actuator, such as a cylinder, which lifts the rotating part, creating space for positioning a new mast section.

[0030] Anchor frames are frames fixed along the mast and designed to be fixed to a neighboring structure by rigid connections, depending on the final height to be reached, in order to transmit to the structure forces generated by the great height of the mast.

[0031] A hoisting structure, with its possible support frames, is a structural element placed at the foot of the mast and used to push the entire mast upwards.

[0032] The plurality of operating elements can be selected from the list including actuators and drive elements, which participate in the movement of the load (e.g. in lifting and distribution) and / or in the movement of one or more structural elements (e.g. boom orientation and boom lowering / raising).

[0033] The actuators may include at least one lifting winch and one distribution winch, and the drive elements include at least one distribution trolley and one lifting block system.

[0034] Other actuators are also conceivable, such as a winch or a boom lowering / raising cylinder, a telescoping cylinder (coupled with a telescoping cage), a hoisting cylinder (coupled with a hoisting structure), or a boom orientation motor.

[0035] According to one possibility, at least one typical operating characteristic designates a quantity or curve representing the load limits of the lifting and handling device, such as a load curve or total mass to be lifted in the case of telescoping or hoisting; a load curve defining the maximum working loads at the considered spans.

[0036] Each identification component may include a control device connected to a memory containing the identification information enabling the identification of the associated structural element, operating element, or ballast element, to an electric battery for powering the control device, and to a radio communication module for ensuring communication between the identification components.

[0037] According to one embodiment, communication between the identification components is short or medium distance and is done via Bluetooth, radio frequency or WIFI.

[0038] The radio communication range of the radio communication module of each identification component may be less than 30m.

[0039] Advantageously, the fact that each radio communication module of each identification component has a radio communication range of less than or equal to 30m, and preferably between 15m and 20m, allows each identification component to receive a radio communication signal containing the identification information, associated for example with an incoming signal reception power (RSSI), from one or more neighboring identification components, as well as the formation of a mesh network allowing the central control unit to extract a location of each of the construction elements, each of the operating elements and each of the ballast elements in order to know a configuration of the lifting and handling device.

[0040] Advantageously, the fact that each radio communication module of each identification component has a radio communication range of less than or equal to 30m, and preferably between 15m and 20m, allows for localization of the identification component by triangulation.

[0041] According to one embodiment, the central control unit is configured to determine a location of each structural element included in the plurality of structural elements, of each operating element included in the plurality of operating elements and of at least one ballast element as a function of a signal power, a signal attenuation or a response time of the identification information transmitted by each of the identification components.

[0042] The central control unit can be configured to select at least one typical operating characteristic from a plurality of typical operating characteristics stored in a computer database listing a plurality of configurations of the lifting and handling device to which are associated respective typical operating characteristics.

[0043] The invention also relates to a control method for monitoring the operation of a lifting and handling device as described above, this control method comprising the following steps: Attach an identification component to each of the structural elements included in a plurality of structural elements, to each of the operating elements included in a plurality of operating elements and to at least one ballast element; Transmission by the identification component attached to each of the structural elements, each of the operating elements and to at least one ballast element of an identification information to at least one other identification component included in a radio communication range;Reception by a master radio communication unit connected to the plurality of identification components of the identification information from each of the identification components included in the plurality of identification components, the identification information of the identification components being transmitted to the master radio communication unit according to a hop-by-hop protocol between identification components located in their respective radio communication ranges; Transmission of the identification information of each of the identification components by the master radio communication unit to a central control unit controlling at least one operating element included in the plurality of operating elements, and communicating with the master radio communication unit;Determination by the central control unit of a location of each structural element included in the plurality of structural elements, of each operating element included in the plurality of operating elements, and of at least one ballast element based on the identification information transmitted by each of the identification components to the master radio communication unit; Deduction of a configuration of the lifting and handling device based on the location of each structural element included in the plurality of structural elements, of the location of each operating element included in the plurality of operating elements, of the location of at least one ballast element and of the identification information of each of the identification components;and Deduction by the central control unit of at least one typical operating characteristic of the lifting and handling device adapted to the configuration of the lifting and handling device.

[0044] The configuration of the lifting and handling device can refer to a set of properties relating to the lifting and handling device, including a mast composition (number of structural mast elements, stiffness or reinforcement of the structural mast elements, mast height deduced from the number and type of structural mast elements, location of the different structural mast elements), a type of base (swivel or fixed base, base support on the ground), a quantity and location of the ballast elements (number of ballast elements at the base level, number of ballast elements at the counter-jib level), a jib composition (number of structural jib elements, stiffness or reinforcement of the structural jib elements, jib length deduced from the number and type of structural jib elements, location of the different structural jib elements),the nature of the counter-jib (dimensions and rigidity of the counter-jib), the nature of the distribution trolley (model and distribution capacity of the distribution trolley), the nature of the lifting block system (model and lifting capacity of the lifting block system), the nature of the actuators (capacity of the winches, such as the lifting winch and the distribution winch, and possibly also the boom lowering / raising winch).

[0045] According to one possibility of the method, the identification information communicated by the identification component of each structural element of the plurality of structural elements contains a structural parameter which is representative of a maximum value of permissible stresses for said structural element, and in which the central control unit establishes the typical operating characteristic also as a function of the structural parameter associated with each structural element of the plurality of structural elements.

[0046] According to another possibility of the method, the identification information communicated by the identification component of each operating element of the plurality of operating elements contains a limit operating parameter which is representative of a maximum value of permissible stresses for said operating element, and in which the central control unit establishes the typical operating characteristic also as a function of the limit operating parameter associated with each operating element of the plurality of operating elements.

[0047] According to another possibility of the method, the identification information communicated by the identification component of at least one ballast element contains a limit ballast parameter which is representative of a maximum value of permissible stresses for said at least one ballast element, and in which the central control unit establishes the typical operating characteristic also as a function of the limit ballast parameter associated with the at least one ballast element.

[0048] The step of deducing at least one typical operating characteristic includes, in addition to a selection of at least one typical operating characteristic from a plurality of typical operating characteristics stored in a computer database listing a plurality of configurations of the lifting and handling device to which are associated respective typical operating characteristics.

[0049] In the described process, if the configuration of the lifting and handling device deduced during the step is not found in the computer database, then the central control unit issues an alert signal and blocks the commissioning of the lifting and handling device.

[0050] According to a first implementation method, the step of deducing at least one typical operating characteristic consists of deducing a single typical operating characteristic adapted to the configuration of the lifting and handling device.

[0051] In this implementation mode, the described process may include an automatic selection step by the central control unit of the typical operating characteristic to induce a limitation of piloting the lifting and handling device by a pilot.

[0052] According to a second implementation of the described process, the step of deducing at least one typical operating characteristic consists of deducing at least two typical operating characteristics adapted to the configuration of the lifting and handling device, said process further comprising the following steps: Display for a pilot, in charge of piloting the lifting and handling device, of at least two typical operating characteristics; Selection by the pilot of a favorite typical operating characteristic from among the at least two typical operating characteristics; Selection by the central control unit of the favorite typical operating characteristic to induce a limitation of piloting the lifting and handling device. [Brief description of the Figures]

[0053] The invention will be better understood with the aid of the detailed description set forth below in relation to the accompanying drawings in which: [ Fig.1 ] is a schematic representation of a lifting and handling device comprising structural, operational, and ballasting elements. Fig. 2 ] is a schematic representation of the lifting and handling device of the figure 1 comprising a plurality of identification components. Fig.3 ] is a diagram representing step-by-step communication between the identification components of the figure 2 and a master radio communication unit connected to a central control unit. Fig. 4 [ ] is a flowchart showing the execution steps of a first method of implementing a process for controlling the operation of the lifting and handling device of the figure 1 . [ Fig. 5[ ] is a flowchart showing the execution steps of a second method for implementing a process for controlling the operation of the lifting and handling device of the figure 1 . [ Fig. 6 ] is a schematic representation of an identification component. [Detailed description]

[0054] In the detailed description that will follow of the figures defined above, the same elements or elements fulfilling identical functions may retain the same references in order to simplify the understanding of the invention. Composition of the lifting and handling equipment

[0055] The invention relates to a lifting and handling device G, which designates a crane shown in the figure 1 , and for example a modularly assembled tower crane or a self-erecting crane, comprising a plurality of structural elements EMi, EFj, B, P, CF assembled to form a structure of said lifting and handling device.

[0056] In the example illustrated in Figure 1 The lifting and handling device G comprises the following structural elements: mast elements EMi (here EM1, EM2, EM3, EM4,...EM9) which, once assembled, form a vertically extending mast M; a base B on which the foot of the mast M is fixed, said base B generally resting on the ground; a pivot P fixed to the top of the mast M and movable in rotation around a vertical axis; jib elements EFj (here EF1, EF2, EF3, EF4, ... EF11) which, once assembled on the pivot P, form a horizontally extending jib F; and a counter jib CF assembled on the pivot P, opposite the jib F.

[0057] The lifting and handling device G also includes a plurality of operating elements supported by structural elements included in the plurality of structural elements EMi, EFj, B, P, CF and designed to provide movements of the lifting and handling device G or of a load. The operating elements can be selected from the list including actuators and drive elements.

[0058] In the example illustrated in Figure 1The drive elements include at least one distribution trolley CD, movable along the boom F for distributing a load, and a lifting block system ML suspended from the distribution trolley CD for lifting the load. The actuators may also include at least one distribution winch (not shown) that drives the movement of the distribution trolley CD via a distribution cable, and a lifting winch (not shown) that drives the movement of the lifting block system ML via a lifting cable. These actuators may also include a slewing motor (not shown) mounted on the pivot P to drive the rotation of the rotating part consisting of the pivot P, the boom F, and the counter-jib CF.

[0059] The lifting and handling device G also includes at least one ballast element L1, L2 mounted on a structural element.

[0060] In the example illustrated in Figure 1, the ballast elements include one or more L1 ballasts mounted on the base B, and also one or more L2 ballasts mounted on the counter-jib CF.

[0061] The lifting and handling device G includes a central control unit UC (illustrated in Figure 3 ) controlling at least one operating element included in the plurality of operating elements. In this case, this central control unit CU controls the actuators, such as the distribution winch, the lifting winch and the aforementioned slewing motor.

[0062] With reference to the Figure 2, said lifting and handling device G further comprises a plurality of identification components 01-26, each structural element included in the plurality of structural elements EMi, EFj, B, P, CF being coupled to an identification component included in the plurality of identification components 01-26, each operating element included in the plurality of operating elements being coupled to an identification component included in the plurality of identification components 01-26, and at least one ballast element L1, L2 being coupled to an identification component included in the plurality of identification components 01-26.

[0063] In the example illustrated in Figure 2The identification components 01-11 are mounted on eleven boom elements EF1, ..., EF11 forming boom F; identification component 12 is mounted on the counter-jib CF; identification component 13 is mounted on the pivot P; identification component 14 is mounted on a cockpit CP supported by the pivot P; identification component 15 is mounted on the distribution trolley CD; identification component 16 is mounted on the lifting block system ML; identification components 17-25 are mounted on nine mast elements EM1, ..., EM9 forming mast M; and identification component 26 is mounted on the base B. Also, on this Figure 2 , not all identification components are represented, those associated with actuators and those associated with ballast elements L1, L2 are missing.

[0064] Each identification component 01-26 includes a radio communication module with a predefined radio communication range R so as to be able to communicate with at least one other identification component.

[0065] The lifting and handling device G includes a master radio communication unit UM connected to the plurality of identification components 01-26 and intended to receive identification information from each of the identification components included in the plurality of identification components 01-26. This master radio communication unit UM is also connected to the central control unit UC, for example by wired or wireless means. Identification components

[0066] With reference to the Figure 6 In the lifting and handling device G, each component with identification number 01-26 comprises: the radio communication module 100 showing the predefined radio communication range R (illustrated in Figure 2) in order to be able to communicate with at least one other identification component, said radio communication module forming a transmitter / receiver; a memory 101 storing an identification ID information enabling the associated element to be individually identified, whether it be a structural element, a functional element or a ballast element; an electric battery 102;and a control device 103, for example of the processor or controller type, connected to the memory 101, the electric battery 102 and the radio communication module 100 to enable the identification component to transmit its identification information ID to one or more neighboring identification components, and also to receive from one or more neighboring identification components their respective identification information ID in order to forward to other neighboring identification components this identification information ID that it has received from one or more neighboring identification components. ;

[0067] In this way, the 01-26 identification components form a mesh network with autonomous 01-26 identification components that communicate hop-by-hop using a decentralized radio protocol. A "neighboring identification component" is understood to be an identification component located within the radio communication range R.

[0068] In the mesh network formed by the identification components 01-26, the master radio communication unit UM is connected: either directly to the identification components that are close to it, such as, for example, identification components 01, 12, 13, 14, 17 and 18 in the example of Figures 1 And 3 ; either indirectly to identification components that are not neighbors to it, via step-by-step communication that passes through one of the neighboring identification components.

[0069] In other words, each of the identification components 01-26 is configured to transmit identification information to the master radio unit UM according to a hop-by-hop communication protocol between identification components located within their radio communication ranges R. Hop-by-hop communication refers to the successive wireless transmission of a radio communication signal between identification components located within their radio communication ranges R until the radio communication signal reaches the master radio unit UM, as shown in the diagram. figure 3 .

[0070] According to one embodiment, the radio communication module of each of the identification components 01-26 is a short- or medium-range radio communication module, i.e., with a range R less than or equal to 30 meters, or even less than or equal to 20 meters. This radio communication module is, for example, a Bluetooth, radio frequency, or Wi-Fi radio communication module.

[0071] For each component with identification 01-26, the identification information also contains a limit parameter that represents a maximum permissible stress value for the element in question, namely: for each structural element, a structural parameter that is representative of a maximum value of allowable stresses for said structural element; for each operating element, a limit operating parameter that is representative of a maximum value of allowable stresses for said operating element; and for the ballast element(s), a limit ballast parameter that is representative of a maximum value of allowable stresses for said ballast element.

[0072] As an example, the identification information communicated by the identification component of each structural element of the plurality of structural elements may contain the structural parameter representing a rigidity of said structural element.

[0073] This structural parameter, representative of the rigidity of said element, can for example provide information on whether said element is reinforced or not.

[0074] The central control unit CU is configured to establish the typical operating characteristic also as a function of the structural parameter associated with each structural element of the plurality of structural elements, the limit operating parameter associated with each operating element of the plurality of operating elements, and the limit ballast parameter associated with the ballast element(s).

[0075] Advantageously, the formation of the mesh network with autonomous identification components 01-26 that communicate hop-by-hop according to a decentralized radio protocol, each identification component 01-26 transmitting a radio communication signal containing identification information to at least one neighboring identification component, allows the central control unit UC to: retrieve, via the master radio communication unit UM, the set of radio communication signals containing the identification information of the different identification components 01-26; and calculate or deduce a location of each of the identification components 01-26 in the lifting and handling device G from these signals; deduce a location of each of the structural elements, each of the operating elements and each of the ballast elements which are associated with the different identification components 01-26, from the identification information contained in their radio communication signals; construct or deduce a configuration of the lifting and handling device G as a function of the location of these structural elements, operating elements and ballast elements.

[0076] Advantageously, the central control unit UC locates each of the identification components 01-26 at least in part by triangulation, determining who is or are the neighbor(s) of each of the identification components 01-26.

[0077] As an alternative or complement to this triangulation-based localization, the central control unit (CCU) can determine the location of each of the identification components 01-26 based on the power of the radio communication signal received by the identification components, the attenuation of the radio communication signal received by the identification components, or the response time of the identification information transmitted by each of the identification components. Indeed, each of these signal parameters (received power or RSSI, attenuation, or response time) is a function of the distance between the two identification components communicating with each other.

[0078] Table 1 shows an example of an information sequence relating to a mast M of the lifting and handling device G transmitted from the master radio communication unit UM to the central control unit UC. The central control unit UC measures a distance between the master radio communication unit UM and each mast element EMi of the mast M, to which identification information is associated so that the central control unit UC can deduce a composition of the mast M. [Table 1] Identification component Distance from the master radio communication unit UM Identification information 17 4,5 m EM9 mast element type 1 18 9,4 m EM8 mast element type 1 19 14,3 m EM7 mast element type 1 ... ... ... 25 43,7 m Reinforced EM1 type 1 mast element 26 49,0 m Base B of type XX

[0079] The central control unit (CCU) can perform a consistency check between measured distances and theoretical distances stored within the CCU. The CCU is thus able to detect if one or more mast elements are missing from mast M and can therefore alert an operator responsible for assembling mast M.

[0080] Similarly, the central control unit (UC) may be able to determine the composition of the boom (F), the nature of the counter-boom (CF), or the nature of the distribution trolley (CD), ... Determining an operating characteristic

[0081] In the lifting and handling device G according to the invention, the central control unit UC is therefore linked to the master radio communication unit UM and is configured to determine a location of each structural element included in the plurality of structural elements, of each operating element included in the plurality of operating elements, and of each ballast element L1, L2 as a function of the identification information (and more precisely of the radio communication signal containing the identification information) transmitted by each of the identification components 01-26 to the master radio communication unit UM, and to deduce a configuration of the lifting and handling device G.

[0082] It should be noted that the central control unit UC can establish the typical operating characteristic also as a function of the structural parameter associated with each structural element of the plurality of structural elements, the limit operating parameter associated with each operating element of the plurality of operating elements, and the limit ballast parameter associated with the ballast element(s).

[0083] Once the central control unit UC has established the configuration of the lifting and handling device G, this central control unit UC determines at least one typical operating characteristic of the lifting and handling device G associated with said configuration.

[0084] At least one typical operating characteristic designates a quantity or curve representing the load limits, such as a load curve. The load curve defines the maximum loads that can be lifted by the lifting and handling device G at spans considered along its boom F, notably also taking into account a conventional wind load considered during the design of the lifting and handling device G.

[0085] In one scenario, the central control unit (CCU) is configured to select at least one typical operating characteristic from a plurality of typical operating characteristics stored in a computer database that lists a plurality of configurations of the lifting and handling device G, each associated with its respective typical operating characteristics. The computer database for the lifting and handling device G could, for example, be a local database of the central control unit (CCU) or stored on a dedicated server, such as a dedicated remote server.

[0086] At least one typical operating characteristic selected by the central control unit CU may take into account local regulations or a physical quantity related to wind, such as wind speed. Method for controlling the operation of a lifting and handling device

[0087] The invention also relates to a method for controlling the operation of a lifting and handling device G, comprising the following steps shown in the Figures 4 and 5 : Attach S1 an identification component 01-26 to each of the structural elements included in a plurality of structural elements, to each of the operating elements included in a plurality of operating elements and to each of the ballast elements; Transmission S2 by the identification component 01-26 attached to each of the structural elements, each of the operating elements and each of the ballast elements of an identification information to at least one other identification component included in the radio communication range R;Reception S3 by the master radio communication unit UM connected to the plurality of identification components 01-26 of an identification information from each of the identification components included in the plurality of identification components 01-26, the identification information of the identification components being transmitted to the master radio communication unit UM according to a hop-by-hop protocol between identification components 01-26 located in their respective radio communication ranges R; Transmission S4 of the identification information of each of the identification components 01-26 by the master radio communication unit UM to the central control unit UC; Determination S5 by the central control unit UC of a location of each structural element included in the plurality of structural elements, of each operating element included in the plurality of operating elements, and of each ballast element as a function of the identification information transmitted by each of the identification components to the master radio communication unit UM;Deduction S6 of the configuration of the lifting and handling device G based on the location of each structural element included in the plurality of structural elements, the location of each operating element included in the plurality of operating elements, the location of each ballast element and the identification information of each of the identification components 01-26; Deduction S7 by the central control unit UC of at least one typical operating characteristic of the lifting and handling device G adapted to the configuration of the lifting and handling device G.

[0088] The S7 step of deducing at least one typical operating characteristic includes, as previously explained, a selection of at least one typical operating characteristic from a plurality of typical operating characteristics stored in the computer database listing a plurality of configurations of the lifting and handling device G to which are associated respective typical operating characteristics.

[0089] In the described process, if the configuration of the lifting and handling device G deduced during step S6 is not found in the computer database, then the central control unit UC issues an alert signal and blocks the commissioning of the lifting and handling device G. First method of implementation

[0090] According to a first implementation method, the S7 step of deducing at least one typical operating characteristic consists of deducing a single typical operating characteristic adapted to the configuration of the lifting and handling device G. For example, in the computer database, a single typical operating characteristic is associated with the configuration.

[0091] In this implementation, the described process may include a selection step S8 represented in the figure 4Automatically, the central control unit (UC) uses the typical operating characteristic to limit the pilot's control of the lifting and handling device G. In other words, the pilot of the lifting and handling device G, generally located in the operator's cabin (CP), is limited in their control based on this typical operating characteristic, which, as a reminder, can advantageously be a load curve. Second method of implementation

[0092] According to a second implementation of the described process, step S7, which involves deducing at least one typical operating characteristic, consists of deducing at least two typical operating characteristics adapted to the configuration of the lifting and handling device. For example, in the computer database, two typical operating characteristics are associated with the configuration: for example, one typical operating characteristic that prioritizes lifting capacity at the end of the boom over maximum lifting capacity at the bottom of the boom, and another typical operating characteristic that prioritizes lifting capacity at the bottom of the boom over maximum lifting capacity at the end of the boom.

[0093] In this second mode, the process further includes the following steps shown in the figure 5 : Display S8' for the pilot, in charge of piloting the lifting and handling device G, of at least two typical operating characteristics; Selection S9' by the pilot of a favorite typical operating characteristic from among the at least two typical operating characteristics (for example, depending on site conditions, and in particular wind conditions); Selection S10' by the central control unit UC of the favorite typical operating characteristic to induce a limitation of piloting the lifting and handling device G by the pilot.

[0094] In other words, the operator of the lifting and handling device G is limited in its operation based on this preferred typical operating characteristic that it has chosen from those adapted to the configuration.

[0095] Although the invention has been described in connection with particular examples of embodiment, it is clearly evident that it is by no means limited to them and that it includes all technical equivalents of the means described as well as their combinations if these fall within the scope of the invention.

Claims

1. A lifting and handling device (G) comprising: • a plurality of structural elements (EMi, EFj, B, P, CF) assembled to form a structure of said lifting and handling device; • a plurality of operating elements (CD, ML) carried by structural elements comprised in the plurality of structural elements and designed to provide movements of the lifting and handling device or a load; • at least one ballasting element (L1; L2) mounted on a structural element; • a central monitoring unit (UC) controlling at least one operating element comprised in the plurality of operating elements (CD, ML); said lifting and handling device (G) further comprises: • a plurality of identification components (01-26), each structural element comprised in the plurality of structural elements (EMi, EFj, B, P, CF) being coupled to an identification component comprised in the plurality of components identification (01-26), each operating element comprised in the plurality of operating elements (CD, ML) being coupled to an identification component comprised in the plurality of identification components (01-26), and the at least one ballasting element (L1; L2) being coupled to an identification component comprised in the plurality of identification components (01-26), and each identification component comprising a radiocommunication module having a predefined radiocommunication range (R) in order to be able to communicate with at least one other identification component; and • a radiocommunication master unit (UM) connected to the plurality of identification components (01-26) and intended to receive identification information from each of the identification components comprised in the plurality of the identification components (01-26); characterized in that each of the identification components (01-26) being configured to transmit to the radiocommunication master unit (UM) the identification information according to a hop-by-hop communication protocol between identification components located within their radiocommunication ranges (R); and in that said central monitoring unit (UC) is linked to the master radiocommunication unit (UM) and is configured to: • determine a location of each structural element comprised in the plurality of structural elements (EMi, EFj, B, P, CF), of each operating element comprised in the plurality of operating elements (CD, ML), and of at least one ballasting element (L1; L2) as a function of the identification information transmitted by each of the identification components (01-26) to the master radiocommunication unit (UM), and • deduce therefrom a configuration of the lifting and handling device (G) then at least one typical operating characteristic of said lifting and handling device (G) associated with said configuration.

2. The lifting and handling device (G) according to claim 1, wherein the identification information communicated by the identification component of each structural element of the plurality of structural elements (EMi, EFj, B, P, CF), contains a structural parameter which is representative of a maximum value of admissible stresses for said structural element, and wherein the central monitoring unit (UC) is configured to establish the typical operating characteristic also according to the structural parameter associated with each structural element of the plurality of structural elements (EMi, EFj, B, P, CF).

3. The lifting and handling device (G) according to claim 2, wherein the structural parameter is a parameter which is representative of a stiffness of the structural element concerned.

4. The lifting and handling device (G) according to any one of claims 1 to 3, wherein the identification information communicated by the identification component of each operating element of the plurality of operating elements (CD, ML), contains a limit operating parameter which is representative of a maximum value of admissible stresses for said operating element, for example determined for static, dynamic and fatigue load cases, and wherein the central monitoring unit (UC) is configured to establish the typical operating characteristic also according to the limit operating parameter associated with each operating element of the plurality of operating elements (CD, ML).

5. The lifting and handling device (G) according to any one of claims 1 to 4 wherein the identification information communicated by the identification component of the at least one ballasting element (L1; L2), contains a limit ballasting parameter which is representative of a maximum value of admissible stresses for said at least one ballasting element (L1; L2), for example determined for static, dynamic and fatigue load cases, and wherein the central monitoring unit (UC) is configured to establish the typical operating characteristic also according to the limit ballasting parameter associated with the at least one ballasting element (L1; L2).

6. The lifting and handling device (G) according to any of the preceding claims, which designates a crane, for example a block-erecting tower crane or a self-erecting crane.

7. The lifting and handling device (G) according to any of the preceding claims, wherein the plurality of structural elements (EMi, EFj, B, P, CF) are selected from the list comprising mast elements (EMi), jib elements (EFi), a counter-jib (CF), a pivot (P), a telescoping cage, anchor frames, a hoisting structure, or a base (B).

8. The lifting and handling device (G) according to to any of the preceding claims, wherein the plurality of operating elements (CD, ML) are selected from the list comprising actuators and drive elements (CD, ML), and for example the actuators comprise at least one lifting winch and one distribution winch, and the drive elements comprise at least one distribution trolley (CD) and a lifting block system (ML).

9. The lifting and handling device (G) according to any of the preceding claims, wherein the at least one typical operating characteristic is a quantity or a curve representative of the load limits of the lifting and handling device (G), such as for example a load curve.

10. The lifting and handling device (G) according to any of the preceding claims, wherein each identification component (01-26) comprises a monitoring device connected to a memory containing the identification information allowing to identify the structural element (EMi, EFj, B, P, CF) or the operating element (CD, ML) or the ballasting element (L1; L2) associated, to an electric battery intended to supply the monitoring device, and to a radiocommunication module intended to ensure communication between the identification components.

11. The lifting and handling device (G) according to any of the preceding claims, wherein the radiocommunication range (R) of the radiocommunication module of each identification component is less than or equal to 30 m.

12. The lifting and handling device (G) according to any of the preceding claims, wherein the central monitoring unit (UC) is configured to determine a location of each structural element comprised in the plurality of structural elements (EMi , EFj, B, P, CF), of each operating element comprised in the plurality of operating elements (CD, ML) and of at least one ballasting element (L1; L2) as a function of a power signal, a signal attenuation or a response time of the identification information transmitted by each of the identification components (01-26).

13. A monitoring method for monitoring the operation of a lifting and handling device (G) according to any of the preceding claims, said monitoring method comprising the following steps: • an attaching (S1) of an identification component on each of the structural elements comprised in a plurality of structural elements (EMi, EFj, B, P, CF), on each of the operating elements comprised in a plurality of operating elements (CD, ML) and on at least one ballasting element (L1; L2); • a transmitting (S2), by the identification component attached to each of the structural elements (EMi, EFj, B, P, CF), to each of the operating elements (CD, ML) and to the at least one ballasting element (L1; L2), of an identification information to at least one other identification component (01-26) comprised in a radiocommunication range (R); • a receiving (S3), by a radiocommunication master unit (UM) connected to the plurality of identification components (01-26), of the identification information from each of the identification components comprised in the plurality of identification components (01-26), the identification information of the identification components being transmitted to the radiocommunication master unit (UM) according to a hop-by-hop communication protocol between identification components located within their radiocommunication ranges (R); • a transmitting (S4) of the identification information of each of the identification components (01-26) by the radiocommunication master unit (UM) to a central monitoring unit (UC), said central monitoring unit (UC) controlling at least one operating element comprised in the plurality of operating elements (CD, ML), and communicating with the radiocommunication master unit (UM); • a determining (S5), by the central monitoring unit (UC), of a location of each structural element comprised in the plurality of structural elements (EMi, EFj, B, P, CF), of each operating element comprised in the plurality of operating elements (CD, ML), and of the at least one ballasting element (L1; L2), as a function of the identification information transmitted by each of the identification components to the radiocommunication master unit (UM); • a deducing (S6) of a configuration of the lifting and handling device (G) as a function of the location of each structural element comprised in the plurality of structural elements (EMi, EFj, B, P, CF), of the location of each operating element comprised in the plurality of operating elements (CD, ML), of the location of the at least one ballasting element (L1; L2) and of the identification information of each of the components identification (01-26); • a deducing (S7), by the central monitoring unit (UC), of at least one typical operating characteristic of the lifting and handling device (G) suitable for the configuration of the lifting and handling device (G).

14. The monitoring method according to claim 13, wherein : - the identification information communicated by the identification component of each structural element of the plurality of structural elements (EMi, EFj, B, P, CF), contains a structural parameter which is representative of a maximum value of admissible stresses for said structural element, and wherein the central monitoring unit (UC) establishes the typical operating characteristic also according to the structural parameter associated with each structural element of the plurality of structural elements (EMi, EFj, B, P, CF); and / or - the identification information communicated by the identification component of each operating element of the plurality of operating elements (CD, ML), contains a limit operating parameter which is representative of a maximum value of admissible stresses for said operating element, and wherein the central monitoring unit (UC) establishes the typical operating characteristic also according to the limit operating parameter associated with each operating element of the plurality of operating elements (CD, ML); and / or - the identification information communicated by the identification component of the at least one ballasting element (L1; L2), contains a limit ballasting parameter which is representative of a maximum value of admissible stresses for said at least one ballasting element (L1; L2), and wherein the central monitoring unit (UC) establishes the typical operating characteristic also according to the limit ballasting parameter associated with the at least one ballasting element (L1; L2).

15. The monitoring method according to claim 13 or 14, wherein the deducing (S7) of the at least one typical operating characteristic further comprises a selection of at least one typical operating characteristic from among a plurality of typical operating characteristics stored in a computer database listing a plurality of configurations of the lifting and handling device (G) with which respective typical operating characteristics are associated.

16. The monitoring method according to claim 15, wherein, if the configuration of the lifting and handling device (G) deduced during the deducing (S6) does not appear in the computer database, then the central monitoring unit (UC) emits a warning signal and blocks the commissioning of the lifting and handling device (G).

17. The monitoring method according to any one of claims 13 to 16, wherein the deducing (S7) consists in deducing a single typical operating characteristic adapted to the configuration of the lifting and handling device (G).

18. The monitoring method according to claim 17, comprising a automatically selecting step (S8) by the central monitoring unit (UC) of the typical operating characteristic to induce a limitation of a control of the lifting and handling device (G) by a pilot.

19. The monitoring method according to ant one of claims 13 to 16, wherein the deducing (S7) of the at least one typical operating characteristic consists in deducing at least two typical operating characteristics adapted to the configuration of the lifting and handling device, said monitoring method further comprising the following steps of: • a displaying (S8') for a pilot, in charge of control the lifting and handling device (G), of at least two typical operating characteristics; • a selecting (S9') by the pilot of a preferred typical operating characteristic among the at least two typical operating characteristics; • a selecting (S10') by the central monitoring unit (UC) of the preferred typical operating characteristic to induce a limitation of the control of the lifting and handling device (G) by the pilot.

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