BASKET-TYPE HANDLING MACHINE EQUIPPED WITH AN ELECTRIC LINE DETECTION DEVICE AND CORRESPONDING METHOD

Abstract

The invention relates to a handling machine (1) of the nacelle type, configured to, when a measured electric field value is greater than a threshold value, execute a safety procedure comprising the inhibition of the ground movement control and of the actuation system with the upper control station (11A), the emission of an alert signal relating to the proximity of a detected power line, while authorizing a control with the lower control station (13C). The invention also relates to a corresponding method. Figure for the abstract: Fig.1

Description

Title of the invention: BASKET-TYPE HANDLING MACHINE EQUIPPED WITH AN ELECTRIC LINE DETECTION DEVICE AND CORRESPONDING METHOD FIELD OF THE INVENTION

[0001] The present invention generally relates to handling machines of the basket type, used to access high areas, in particular for an operator working at height. PREVIOUS ART

[0002] Height handling machines are commonly used, particularly for the construction and maintenance of infrastructure. However, the use of these machines presents risks linked to the potential presence of overhead power lines near areas where work is carried out at height.

[0003] It is known to equip the basket-type handling machine with an overhead power line detection device.

[0004] However, there are problems with detection reliability and / or that, despite the detection of the line, an accident occurs.

[0005] It is desirable to be able to reliably detect the proximity of a power line to the machine in order to be able to limit the risk of an accident and so that, in the event of detection, the control of the machine is adapted so as to prevent an accident or a succession of accidents.

[0006] The aim of the present invention is to propose a new handling machine and a corresponding method making it possible to overcome all or part of the problems set out above. Summary of the invention

[0007] To this end, the invention relates to a handling machine of the nacelle type, comprising: - a base which comprises a rolling chassis, and preferably a turret pivotally mounted on the chassis around an axis orthogonal to the ground support plane of the wheels of the machine; - a motorized system for driving the chassis on the ground; - an elevating structure and a working platform hinged to the elevating structure; and - a system for actuating the lifting structure, such as a system of jacks, to enable the work platform to be moved, particularly up and down; - a data processing system, such as a computer system, configured to control the motorized drive system for moving the chassis on the ground and the actuating system of the lifting structure; - a first manual control device, called a high control station, which equips the work platform to allow an operator present in the work platform to control the movement on the ground of the machine and the actuation system of the lifting structure; - a second manual control system, called a low control station, which equips the base, to allow an operator on the ground to control the actuation system of the lifting structure; - a power line detection device coupled to the work platform configured to measure an electric field from an AC voltage source power line; - an alert system, such as a display and / or sound signal emission system; - a CAN communication network to which the data processing system is connected; characterized in that the power line detection device comprises: - a power line detection sensor to acquire an analog electric field signal, - an analog-to-digital converter to convert the analog signal from the sensor into a digital signal; - a communication interface with the machine's CAN communication network, to transmit over the CAN communication network a measured electric field value corresponding to the digital signal, and in that the data processing system is configured to, when the measured electric field value is greater than a threshold value, execute a security procedure comprising: - inhibition of the ground movement control of the machine with the high control station; - inhibition of the control of the lifting structure actuation system with the high control station, - the emission by the warning system of an alert signal relating to the proximity of a detected power line, while allowing control of the lifting structure actuation system with the low control station, preferably at a reduced speed and by unit movement and in the direction of a reduction in the value of the measured electric field, to allow an operator on the ground to control the movement of the platform away from the detected electric line, while being warned of a danger relating to the overhead power line by the alert signal of said warning system.

[0008] By transmitting electric field values from an electric line, on the CAN (Controller Area Network) communication network of the machine to which the data processing system of the machine is connected, said data processing system, which forms the intelligence of the machine, and which is configured to control in particular the movement of the machine on the ground and the movement of the lifting structure, can thus access these electric field values and use them (analyze) to act accordingly on one or more elements of the machine.In particular, the processing system is configured to not take into account the ground movement commands of the machine and the elevation system (and the turret when present and the rotational mobility of the platform relative to the elevation structure if applicable) coming from the upper control station when the electric field value measured by the detection device is greater than an electric field threshold value (which corresponds to a detected line distance which is less than a distance threshold value). In other words, the detection of a measured electric field value greater than an electric field threshold value (i.e. the detection of an electric line at a distance less than a distance threshold value) results, for the upper control station, in the stopping of the commands as explained above.The processing system also controls the emission of an alert message, preferably audible or visual, to warn of the danger corresponding to the proximity of a detected power line.

[0009] The measured value of the electric field from a power line is a function of the distance between the power line and the detection device, so that the measured electric field value can be considered relative to the distance between the power line and the detection device.

[0010] The lower control station remains usable by an operator below to allow the platform to be brought back to a position sufficiently far from the line so that the operator above can reuse the upper control station.

[0011] Advantageously, the warning system comprises a warning device, preferably a display, which is fitted to the base of the machine, on the side of the low control station, so that an operator on the ground is effectively warned of the cause of the machine stopping and of a potential risk of electrocution.

[0012] The data processing system is the on-board system of the machine which is configured to control in particular the movement on the ground of the machine and the movements of the elevation system, and of the turret when it is present, or even a pivoting mobility of the platform relative to the structure elevation if applicable.

[0013] The safety procedure includes at least stopping the movement of the machine on the ground due to the movements of the lifting system and generating an alert signal, preferably with data indicating the risk zone relating to the positioning of the detection device which has detected a line.

[0014] When the machine comprises several line detection devices, the line detection devices can be arranged so as to cover a given area around the platform. Total or partial overlap of the detection areas is possible. At least partial overlap makes it possible to ensure detection redundancy and to identify possible inconsistencies between the data provided by the line detection devices. The processing system can then be configured to act according to any detected inconsistencies, in particular by executing the security procedure in the event of an inconsistency.

[0015] The machine may also include one or more of the following characteristics taken in any technically admissible combination.

[0016] According to one embodiment, the high control station comprises an override system configured to override the inhibition of all or part of the inhibited commands of the high control station, the override system being configured so that activation of the override function requires an operator to keep a member, such as a button, of the override system pressed while using the high control station.

[0017] According to one embodiment, the data processing system comprises a first electric field threshold value and a second electric field threshold value greater than the first threshold value, and is configured so that, when the value of the electric field measured by the detection device is less than the second threshold value, but greater than the first threshold value, the data processing system triggers an alert by the alert system and, when the value of the measured electric field is greater than the second threshold value, the data processing system triggers the securing procedure.

[0018] According to one embodiment, the securing procedure also comprises cutting off an electrical power outlet arranged on the platform and to which an electrical appliance such as a hedge trimmer can be connected.

[0019] According to one embodiment, the machine comprises an additional power line detection device configured to transmit on the CAN network, a measured electric field value originating from a power line subjected to an alternating voltage source.

[0020] According to one embodiment, each power line detection device comprises several selectable power supply inputs for the rac connection to the machine's power supply battery, and in that the power line detection device is configured to define an identifier of the device according to the selected power supply input, and to transmit on the CAN network of the machine data associated with said identifier.

[0021] According to one embodiment, the line detection devices are arranged in different locations on the platform, preferably on two opposite sides of the platform.

[0022] According to one embodiment, in which the data processing system is configured to analyze the data transmitted by the line detection devices, and in the event of inconsistency between the data transmitted by the line detection devices, trigger the security procedure.

[0023] According to one embodiment, in which the or each device comprises: - an electronic circuit including a processing chain comprising an analog processing stage, and said analog-digital converter, the circuit preferably comprising an additional processing chain in parallel with said processing chain, and - a controller configured to convert digital signals into data conforming to the machine's CAN communication protocol, the controller preferably also being configured to detect errors between the output data provided by the two processing chains.

[0024] According to one embodiment, the data processing system comprises several processing units configured to communicate with each other via a dedicated CAN network forming part of the CAN network of the machine, the processing units preferably comprise: - a main processing unit configured to control the motorized system for driving the chassis and the system for actuating the lifting system; - a processing unit associated with the platform configured to transmit control instructions from the high control station to the main processing unit; - a processing unit associated with the base configured to receive control instructions from the low control station coming from the main processing unit.

[0025] According to one embodiment, the alert system comprises at least one display device arranged on the base to be visible to an operator on the ground on which is intended to be displayed a message corresponding to said alert signal to warn a low operator of the danger relating to the overhead power line.

[0026] According to one embodiment, the data processing system is configured to detect the disconnection from the CAN network or the power cut of the or of each line detection device, and to trigger in the event of said detection of disconnection or power cut a safety procedure including stopping the movement of the machine and the movements of the lifting structure.

[0027] According to one embodiment, for the or each power line detection device, the power line detection sensor, the analog-digital converter for converting the analog signals from the sensor into digital signals; and the communication interface with the CAN network of the machine, are housed in the same housing.

[0028] The invention also relates to a method for controlling a handling machine according to any one of the preceding embodiments, in which the method comprises the following steps: - transmission of an electric field value on the machine's CAN communication network by a power line detection device; - comparison by the processing system of the value of electric fields transmitted by said detection device, with a threshold value, and - depending on the results of the comparison, triggering of the security procedure.

[0029] According to one embodiment, the processing system authorizing the movement control of the platform from the low control station, preferably with constraints such as a limited speed and / or amplitude of movement, an operator on the ground controls the movement of the platform from the low control station in the direction of moving the platform away from the detected power line. Brief description of the drawings

[0030] Other characteristics and advantages of the invention will emerge from the following description, which is purely illustrative and non-limiting and must be read in conjunction with the appended drawings, in which:

[0031] - [Fig.l] [Fig.l] is a side view of a handling machine according to a mode of carrying out the invention;

[0032] - [Fig.2] [Fig.2] is a schematic view of a set of components of a handling machine according to an embodiment of the invention, such as that of [Fig.l], said assembly comprising a data processing system and several power line detection devices;

[0033] - [Fig.3] [Fig.3] is a flowchart comprising steps of a method of control of a handling machine according to one embodiment of the invention. DETAILED DESCRIPTION

[0034] Embodiments are described below with reference to the accompanying drawings. In the drawings, the size and relative sizes of the elements may be exaggerated for clarity. Like numerals refer to like elements throughout the drawings. However, the invention may be embodied in many different forms and should not be construed as being limited to the embodiments set forth herein.

[0035] A reference throughout the specification to "an embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment is included in at least one embodiment of the present invention. Thus, the occurrence of the phrase "in an embodiment" at various locations throughout the specification does not necessarily refer to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

[0036] A machine 1 for handling people, also called a nacelle, is proposed, comprising a lifting structure 4 equipped with a work platform 7 and carried by a chassis 2 directly or indirectly, for which the risk of accident with an overhead power line 1005, such as a high-voltage line, is reduced.

[0037] Base of the handling machine

[0038] With reference to the figures, a handling machine 1 of the basket type is shown, allowing work to be carried out by lifting people.

[0039] The nacelle 1 comprises a rolling chassis 2 equipped with a motor system 12 for driving the chassis 2 on the ground. The motor system may be of the thermal or electric type.

[0040] At least some of the wheels are steered wheels, having a variable orientation relative to the chassis 2, to enable the nacelle 1 to be steered. The chassis is equipped with a steering control system for the steered wheels.

[0041] According to one embodiment of the invention and as illustrated in [Fig.l], the chassis 2 carries a turret 3 pivotally mounted around an axis orthogonal to the ground support plane of the wheels of the machine. Thus the pivot axis of the turret is vertical when the machine is supported by its wheels on a horizontal plane of ground.

[0042] The chassis 2, as well as the turret 3 when it is present, thus forms a base 9 which carries the elevation structure 4.

[0043] Elevation structure

[0044] According to one embodiment and as illustrated in the example of [Fig.l], the lifting structure 4 comprises a set of arms 6 articulated to each other and to the chassis. The set of arms 6 comprises in the example illustrated several articulated arms 60, 61, 62 and, at the end of these arms which is opposite the base 9, an arm 63 pendulum to which platform 7 is coupled.

[0045] The movement of the lifting structure 4, in particular for lifting (deploying) or lowering (folding) the structure and therefore the platform, is made possible by an actuation system (not shown), such as a system of jacks arranged with the lifting structure 4 to fold or deploy the lifting structure 4.

[0046] The cylinder system may be of the hydraulic or electric type. In the case of a hydraulic cylinder system, a hydraulic circuit system (not shown) is used to power the hydraulic cylinder system. The hydraulic circuit system usually comprises a circuit for powering the cylinder system and an oil pressurization system, such as a pump, actuated by a motor. Said motor may be wholly or partly common with a motor of the ground-moving drive system or be a separate motor. The processing system is used to control the hydraulic circuit system to control the power supply to the cylinder system.

[0047] The actuation system allows the lifting structure to take on different configurations in space, including a lowered configuration and a raised configuration to allow the work platform 7 to be moved, in particular up and down and preferably also in a plane parallel to the ground support plane of the wheels of the machine, relative to the chassis 2.

[0048] The platform 7 is equipped with a control console 1 IA. The control console 1 IA comprises a first control member, such as a joystick, which makes it possible to control the movement of the machine on the ground, and a second control member, such as a joystick, which makes it possible to control the handling system and in particular the deployment and folding of the lifting structure 4. It may be provided that the first control member and the second control member are produced by the same member which can be actuated differently depending on the desired function or by two separate members. It may be provided that the platform 7 is movable about a vertical axis relative to the lifting structure and can be controlled by pivoting about said vertical axis from the control console 11 A.

[0049] The control console 11 A, also called the high control station, thus allows the operator to transmit to the processing system 10 instructions for controlling the movement of the chassis on the ground (using the motor system 12) and / or instructions for moving the platform 7, for example by controlling the deployment and folding of the elevation structure 4, the rotation of the turret when it is present, the rotation of the platform relative to the elevation structure 4 when it has such rotational mobility.

[0050] The base 9 of the machine which includes the chassis 2, as well as the turret 3 when it is present, also includes a control station, called low control station 13C, which allows an operator on the ground to transmit to the processing system 10 instructions for moving the platform 7 relative to the chassis.

[0051] Data processing system

[0052] The data processing system 10 is configured to, when the measured electric field value coming from an overhead power line 1005 is greater than a threshold value (preferably a threshold value beyond which the platform is considered to be in a danger zone), execute a safety procedure (making the operator in the platform safe) comprising: - inhibition of the ground movement control of the machine with the high control station 11A; - inhibition of the control of the actuation system of the elevation structure 4 with the high control station 1 IA, and inhibition of the rotation of the turret when it is present, and of the rotation of the platform relative to the elevation structure 4 when the platform has such rotational mobility; - the emission of an alert signal by the warning system 15A, 15B; while authorizing a command of the actuation system of the lifting structure 4 with the low control station 13C, preferably at a reduced speed and by unitary movement and in the direction of a reduction in the measured electric field value, to allow an operator on the ground, who is thus informed of the danger by the alert emitted by the warning system 15A, 15B, to command the movement of the platform 7 away from the detected overhead power line 1005.

[0053] It may be provided that additional mobilities of the machine are inhibited. Thus, when the machine comprises a turret and / or the platform is pivotally movable relative to the elevation structure around a vertical axis, the controls from the upper control station for rotation of the turret and / or the platform may also be inhibited.

[0054] The upper control station is provided with an override system (bypassing the inhibition) so that the operator at the top of the platform can regain control of the upper control station, but preferably in degraded conditions: it can be provided that keeping the button pressed is necessary to control movements, and that the speed of the movements is limited, the limit imposed being able to be greater than a limit previously imposed when the machine is located in an area close to the line, i.e. between two electric field threshold values, but not yet in a danger zone.

[0055] According to one embodiment, when the operator in the platform chooses to override the inhibition of the commands of the high control station, the actions of the operator are preferably stored in an external server to allow tracing of actions. The override function can be carried out with the system 210A illustrated in [Fig.2], for which a sustained press of a push button is necessary to continue using the upper control station, as long as the machine remains in an area for which the measured value of the electric field is greater than the threshold value associated with the triggering of the safety procedure. The system 21 OA comprises a plurality of indicator lights including:

[0056] - a green light corresponding to an electric field measurement lower than a first threshold value (this also indicates that the or each detection device is functional),

[0057] - an orange light indicating that the measured electric field is between the first threshold value and a second threshold value, and therefore that the machine is in an area approaching a power line: controls can be restricted, in particular the speed of movements. It can be provided that when the measured electric field value crosses the first threshold value upwards (green light turns orange), an inhibition of movement and movements is triggered, while allowing the operator to cancel this inhibition by a single request from the override system, such as a single press on the push button, to reactivate the controls of the high control station, which ensures that the operator is aware of the approach of a power line;

[0058] - a red light meaning that the measured electric field is above the second threshold value and therefore that the machine is in a danger zone which triggers the safety procedure. Preferably, in this case an override of the inhibition requires a continuous request from the override system, such as a continuous press on the push button at the same time as the operator operates the high control station.

[0059] It is thus provided to stop the movement commands at the level of the control desk present in the platform (upper control station), but while retaining the possibility of controlling movements of the elevation structure and of the turret if present, and of the rotation of the platform when this mobility is present, preferably in a degraded manner, from the lower control station, with display of an alert message for the operator of the lower control station.

[0060] Because the detected electric field value data are transmitted over the CAN communication network 8, i.e. over a CAN bus, to which the processing system 10 is connected, the processing system 10 can not only prevent further movement of the machine and movements of the platform (and preferably of the turret where applicable) to limit the risk of an accident, but can also generate an alert message (displayed and / or audible) based on the data. transmitted by the or each line detection device 5, 5' on the CAN communication network 8 which made it possible to trigger the stopping of the movement commands and movements for the upper control station. This data, which benefits the processing system 10 due to their communication on the CAN network, may include in particular an identifier of the device 5, 5' with which its position is associated, in particular when several line detection devices are present.

[0061] Knowledge of the identifier of the device allows the processing system 10 to determine the associated position of the line detection device which has detected a line, and to command the generation of an alert message to an operator at the bottom of the machine, preferably at least by display, to inform him not only of a risk relating to the proximity of an overhead power line but also to identify where the detected line is located (danger zone) from the position of the detection device which made it possible to detect the line. Of course, this information can also be provided to the operator in the platform with a suitable alert system.

[0062] Such a design of the machine limits the risk of electrocution, in particular for an operator on the ground, with little or no insulation from the ground, who needs to act on the lower control station to move the platform where the upper operator is located. Indeed, until now the lower operator had no information on the cause of stopping the movement of the machine and stopping the movements of the platform, whereas thanks to the design of the machine according to the invention and in particular the communication of the data from the device 5, 5' to the processing system 10 via the CAN network, the processing system 10 can generate an alert message which informs the operator on the ground of the proximity of a power line and therefore of a risk of electrocution. The operator on the ground thus informed can then act with caution, for example by ensuring that he is insulated from the ground and / or the machine, to control the movement of the platform from the lower control station.

[0063] According to a particular embodiment, the data processing system 10 comprises a first threshold value and a second threshold value lower than the first threshold value, and is configured so that, when the value of the measured electric field is lower than the second threshold value, but higher than the first threshold value, the data processing system 10 triggers one or more alert devices 15A, 15B to warn the operator in the platform of the approach of a power line and, when the value of the measured electric field is higher than the second threshold value, the data processing system 10 triggers a securing procedure. An example of a securing procedure is presented below.

[0064] The threshold value(s) are preferably adjustable, for example to allow the machine to be adjusted according to the standards in force in the different countries.

[0065] The safety procedure may also include cutting off an electrical power outlet located on the platform 7 (machine generator function inhibited) and to which an electrical appliance such as a hedge trimmer may be connected. This prevents the operator from accidentally cutting an overhead power line.

[0066] Processing units

[0067] According to one embodiment of the invention, the data processing system 10 comprises several processing units 10A, 10B, 10C configured to communicate with each other, for example via a dedicated CAN communication network 81 which is a sub-network of the CAN communication network 8. The power line detection devices can be connected to a dedicated CAN communication network 82 which is a sub-network of the CAN communication network 8, as for example illustrated in [Fig.2].

[0068] According to a preferred embodiment and as for example illustrated in [Fig.2], the processing units 10A, 10B, 10C comprise:

[0069] -a main processing unit 10B, preferably master, for transmitting ground movement commands to the processing unit 10C and commands to the actuating system of the lifting structure;

[0070] -a processing unit 10A associated with the platform 7, preferably slave, which transmits a command from the high control station to the main processing unit 10B;

[0071] -a processing unit 10C associated with the base 9, preferably slave, which receives a command from the low control station coming from the main processing unit 10B. The unit 10C controls the ground movement system of the machine according to the commands received.

[0072] It can then be provided that the alert system comprises:

[0073] - an alert device 15B, preferably audible and / or visual, controllable by the main processing unit 10B; and

[0074] - an alert device 15A, preferably audible, controllable by the unit of 10A treatment associated with platform 7.

[0075] The warning device 15B preferably comprises a display device 151B in the lower control station so that a lower operator can be warned of a danger linked to the presence of an electrical line which has triggered the stopping of the movement of the machine and the movements of the platform.

[0076] According to one embodiment, the data from a line detection device 5 are analyzed by one of the processing units, for example the unit 10A, and the data from another line detection device 5' are analyzed by another of the processing units. processing, for example unit 10B. The results of these analyses are analyzed by one of the said processing units and in case of inconsistency between the results, the securing procedure is executed. An example of inconsistency is that one unit detects a danger but not the other, or more generally if the decisions / outputs of the units (controllers) correspond to opposing instructions.

[0077] The processing system or each processing unit is presented for example in the form of a processor and a data memory in which computer instructions executable by said processor are stored, or in the form of a microcontroller (or controller).

[0078] In other words, the described functions and steps can be implemented in the form of a computer program or via hardware components (e.g., programmable gate arrays).In particular, the functions and steps performed by the system or each processing unit, in particular for controlling the motorization of the ground movement system and controlling the handling system (elevation structure), and the turret when present, can be performed by instruction sets or computer modules implemented in a processor or controller or be performed by dedicated electronic components or components of the programmable logic circuit type (or FPGA which is the acronym for field-programmable gate array, which literally corresponds to in-situ programmable gate array) or of the application-specific integrated circuit type (or ASIC which is the acronym for application-specific integrated circuit, which literally corresponds to application-specific integrated circuit). It is also possible to combine computer parts and electronic parts.

[0079] The system or each processing unit is thus an electronic and / or computer unit. When it is specified that the system or said unit is configured to carry out a given operation, this means that the system or the unit comprises computer instructions and the corresponding execution means which make it possible to carry out said operation and / or that the system or the unit comprises corresponding electronic components.

[0080] Power line detection device

[0081] The or each power line detection device 5, 5' comprises a:

[0082] - a power line detection sensor that acquires a field signal electrical in the form of an analog signal,

[0083] - an analog signal processing circuit;

[0084] - an analog-to-digital converter for converting the acquired analog signal by the sensor into digital signal;

[0085] - a controller for converting the digital signal into data according to the protocol CAN, preferably the CAN Open Safety protocol;

[0086] - a communication interface 58, 58' with the CAN network of the machine, for transmit on the CAN 8 communication network, an electric field value coming from an overhead power line.

[0087] Preferably, the elements cited above of a line detection device are housed in the same housing, i.e. are integrated into a single device which forms the line detection device and which is connected to the CAN network of the machine.

[0088] The or each detection device is thus a digital detection device which directly sends the data relating to line detection to the machine's CAN network.

[0089] According to a preferred embodiment, the machine comprises several power line detection devices. Thus, the machine comprises the device 5 and an additional power line detection device 5' configured, like the device 5, to transmit on the CAN network, measured electric field values (i.e. data relating to the detected distance of a power line relative to said additional power line detection device 5', for a given power of a power line).

[0090] The data processing system 10 can be configured to analyze the data transmitted by the line detection devices 5, 5', and in the event of inconsistency between the data transmitted by the line detection devices, trigger the security procedure.

[0091] It can be provided that each device 5, 5' comprises a sensor and two processing chains produced in the form of an electronic card. Each processing chain preferably comprises an analog processing stage including a filtering and amplification circuit, an analog-digital conversion stage and a stage for converting the digital signal to the CAN protocol, preferably CAN Open Safety).

[0092] Thus, the processing units are configured to communicate with each other and detect inconsistencies in data supplied by the two detection devices, and to, in the event of inconsistency being detected, command the execution of the securing procedure, in particular with the stopping of the movement of the machine and the stopping of the movements of the handling system.

[0093] Preferably, the data processing system 10 is configured to detect the disconnection or power cut of the line detection device or devices 5, 5', and to trigger the security procedure in the event of detection of disconnection or power cut.

[0094] Preferably, each power line detection device 5, 5' comprises several selectable power supply inputs for connection to the machine's power supply battery 19, and in that the power line detection device is configured to define an identifier of the device in depending on the selected power supply input, and to transmit data associated with said identifier over the machine's CAN network.

[0095] The detection devices 5, 5' are connected to the battery 19 of the machine by electrical connections 195, 195'.

[0096] The power supply battery 19 is connected to different inputs of the power line detection devices 5, 5' so that the power supply input of the power line detection device to which the battery is connected makes it possible to define an identification data item making it possible to identify the power line detection device. This identifier is communicated on the CAN network by being associated with the line detection data transmitted by the corresponding line detection device. In the example illustrated, each device 5, 5' has four inputs. Selecting one of these inputs to connect the positive terminal of the power supply battery to it makes it possible to identify the device.For example, the first device 5 is connected by the first input, marked "0", to the positive pole of the battery 19 and the second device 5' is connected to another input, marked "1", to the positive pole of the battery 19, and / or by the method of binary coding (in order to increase the number of possible identifiers).

[0097] Thus, when one or each of the line detection devices detects the proximity of a power line, corresponding data is transmitted over the CAN network, being associated with the identifier of the line detection device, which makes it possible to determine the line detection device that detected the proximity of the power line and thus to identify where the danger potentially comes from in order to display corresponding information to the user.

[0098] According to one embodiment of the invention, the line detection devices 5, 5' are arranged in different locations on the platform 7, preferably on two opposite sides of the platform 7.

[0099] The position of the device is known to the processing system (the position of the device is associated with the identifier of the device), which allows the system to control the display of data which takes into account the position of the detection device(s). For example, the system can indicate a proximity of a line on the right of the platform, when the device which detected a line is located on the right side.

[0100] Control method

[0101] The machine as described above makes it possible to implement a method of controlling the machine, an example of which is presented below in connection with [Fig.3].

[0102] The machine or platform on which an operator is located moves in an environment where a power line is located. In step 310, the detection device power line or at least one of the power line detection devices transmits on the CAN communication network 8 an electric field value coming from a power line supplied by an alternating voltage source. In step 320, the processing system 10 compares the detected field value with a first threshold value.It can be provided that when the detected field value is between a first threshold value and a second threshold value (less than the first threshold value), for example between 250 and 400 Volts per meter (corresponding for example to a distance between 7 meters and 3 meters) for a 20 kV power line, the processing system 10 commands the emission of an alert signal to the alert system to warn the operator in the platform, without however preventing machine movement and platform movement commands from the high control station or by triggering a stop of the controls which can be easily deactivated by the operator by requesting once an override system to ensure that the operator is aware of the proximity of a power line.

[0103] As explained previously, it can be provided that the machine comprises a dedicated CAN network 82 for communication between the power line detection devices and the processing system 10. The machine can also comprise another dedicated CAN network 81 for communication between different processing units of the processing system 10.

[0104] In step 330, when the measured electric field value is greater than the second threshold value, then the processing system 10 not only commands the emission of an alert signal, preferably different from the previous alert signal, to the alert system to warn the operator, but the processing system 10 also commands the execution of a security procedure.

[0105] The safety procedure includes stopping the movement of the machine and the movements of the platform from the high control station, to keep the high operator away from the power line. The warning signal is a signal that is representative of the risk of electrocution, for example the warning signal is a voice message or a display, coming from a warning device audible or visible to an operator on the ground. Thus, the machine preferably includes a warning device located on the base in the low control station.

[0106] When several line detection devices are positioned at different locations on the platform, the processing system can identify the detection device which transmitted the line detection data which made it possible to trigger the alert and, the position of the device being associated with its identifier, the alert message can be adapted by specifying the danger zone corresponding to the position of the identified line detection device.

[0107] The processing system 10 continues to authorize the control of movements of the lifting structure, and where appropriate of the platform relative to the lifting structure, from the lower control station, but preferably under limited (degraded) conditions. Said limits include, for example, a limited speed of movement, a limitation to unitary commands which generate unitary movements - limited amplitude: i.e. it is necessary to press several times on a control member of the lower station 13C to carry out a movement of the lifting structure 4 over a given distance.

[0108] Thus in step 340, a low operator who is warned of the danger of electrocution thanks to the specific alert signal emitted by the alert system, controls the movement of the lifting structure 4 from the low control station 13C to bring the platform 7 into a position away from the power line.

[0109] The operator in the platform can then resume the controls of the high control station 11A which are again authorized by the processing system 10 when the detected electric field value has fallen below the second threshold value.

[0110] Of course, the method also applies in the case where a single threshold value is defined and which then corresponds directly to the second threshold value.

[0111] The function of analyzing the digital data provided by the detection device(s) and the function of triggering the prevention of movement of the machine and / or the lifting structure based on the detected signals is integrated into the processing system of the machine, which further includes the functions of controlling the movement of the machine and the functions of controlling the lifting structure.

[0112] Implementing the function of analyzing the data transmitted by the line detection device(s) 5, 5' in the processing system 10, which corresponds to the on-board computer(s) of the machine (i.e. the computer(s) integrated into the machine from the factory) makes it possible to avoid having to add one or more additional computers, and allows said on-board processing system 10, which originally contains the machine movement control and platform movement control functions, to act on said commands as a function of the analyzed line detection data and to adapt the alert signal(s) generated as a function of the analyzed data to specificize the alert signal(s) and inform in particular an operator on the ground of the risk of electrocution.

[0113] Thus the decision-making function to cut off the movement of the machine or to cut off the actuation of the handling system and / or the turret based on the data transmitted by the detection device(s) is integrated into the on-board processing system of the machine.

[0114] In other words, contrary to what may exist in the prior art, the detection device(s) are directly connected by the CAN network to the data processing system 10 of the machine and not directly connected to power cut-off systems, such as relays, of the machine's movement drive system or of the actuating system of the turret and / or of the lifting structure. In the prior art, when the detection device cuts the power supply to the machine's movement system, or to the turret and / or of the lifting structure, this is done without going through the data processing system which does not know why the movement or actuation control functions of the handling system have been cut.

[0115] Thus, it is the processing system of the machine which receives the information from the detection devices and makes the decision whether or not to cut off certain functions of the machine. Whereas in the prior art it is the detection device which itself comprises a function of cutting off the movement or actuation of the handling system, without the processing system of the machine being connected and recovering information from this detection communication device.

[0116] Thanks to the fact that the on-board processing system of the machine receives the data from the detection devices and decides on the implementation of the safety procedure, the processing system makes it possible to communicate suitable information. In particular, it is thus possible to display to an operator, in particular at the lower control station, the cause of the machine stopping to indicate to him the proximity of electrical lines so that he is aware of the proximity of the line and thus acts accordingly, in particular by ensuring that he is isolated from the ground and / or the machine, to lower the platform from the lower control station.

[0117] The invention is not limited to the embodiments illustrated in the drawings.

[0118] Furthermore, the term "comprising" does not exclude other elements or steps. Furthermore, features or steps that have been described with reference to one of the embodiments set forth above may also be used in combination with other features or steps of other embodiments set forth above.

Claims

Claims

1. A basket-type handling machine (1), comprising: - a base (9) which comprises a rolling chassis (2), and preferably a turret (3) pivotally mounted on the chassis (2) around an axis orthogonal to the ground support plane of the wheels of the machine; - a motorized drive system (12) for moving the chassis (2) on the ground; - a lifting structure (4) and a working platform (7) hinged to the lifting structure (4); and - a system for actuating the lifting structure (4), such as a system of jacks, to enable the work platform (7) to be moved, in particular up and down; - a data processing system (10), such as a computer system, configured to control the motorized drive system (12) in moving the chassis on the ground and the system for actuating the lifting structure (4); - a first manual control device (1 IA), called the high control station, which equips the work platform (7) to allow an operator present in the work platform (7) to control the movement on the ground of the machine and the actuation system of the lifting structure (4); - a second manual control system (13C), called a low control station, which equips the base (9), to allow an operator on the ground to control the actuation system of the lifting structure (4); - a power line detection device (5) coupled to the work platform (7) configured to measure an electric field from an AC voltage source power line; - an alert system (15A, 15B), such as a system for displaying and / or emitting sound signals; - a CAN communication network (8) to which the data processing system (10) is connected; characterized in that the power line detection device (5) comprises: - a power line detection sensor (1005) for acquiring an analog electric field signal, - an analog to digital converter to convert the signal analog of the sensor into a digital signal; - a communication interface (58) with the CAN communication network (8) of the machine, for transmitting on the CAN communication network (8), a measured electric field value corresponding to the digital signal, and in that the data processing system (10) is configured to, when the measured electric field value is greater than a threshold value, execute a safety procedure comprising: - inhibiting the ground movement control of the machine with the high control station (1 IA);- inhibiting the control of the system for actuating the lifting structure (5) with the high control station (1 IA), - emitting by the warning system (15A, 15B) an alert signal relating to the proximity of a detected power line, while authorizing a control of the system for actuating the lifting structure (4) with the low control station (13C), preferably at a reduced speed and by unitary movement and in the direction of a reduction in the value of the measured electric field, to allow an operator on the ground to control the movement of the platform (7) away from the detected power line (1005), while being warned of a danger relating to the overhead power line by the alert signal of said warning system (15A, 15B).;

2. A handling machine (1) according to claim 1, wherein the high control station (11A) comprises an override system (210A) configured to override the inhibition of all or part of the inhibited commands of the high control station, the override system (210A) being configured so that activation of the override function requires an operator to keep a member, such as a button, of the override system (210A) pressed while using the high control station.

3. A handling machine (1) according to claim 1 or 2, wherein the data processing system (10) comprises a first electric field threshold value and a second electric field threshold value greater than the first threshold value, and is configured such that, when the value of the electric field measured by the detection device (5) is less than the second threshold value, but greater than the first threshold value, the data processing system (10) triggers an alert by the alert system (15A, 15B) and, when the value of the measured electric field is greater than the second threshold value, the data processing system (10) triggers the security procedure.

4. Handling machine (1) according to any one of the preceding claims, in which the securing procedure also comprises cutting off an electrical power outlet arranged on the platform (7) and to which an electrical appliance such as a hedge trimmer can be connected.

5. Handling machine (1) according to any one of the preceding claims, in which the machine comprises an additional power line detection device (5') configured to transmit on the CAN network, a measured electric field value coming from a power line (1005) subjected to an alternating voltage source

6. A handling machine (1) according to claim 5, wherein each power line detection device (5, 5') comprises a plurality of selectable power supply inputs for connection to the power supply battery of the machine, and in that the power line detection device is configured to define an identifier of the device as a function of the selected power supply input, and to transmit on the CAN network of the machine data associated with said identifier.

7. Handling machine (1) according to claim 6, wherein the line detection devices (5, 5') are arranged at different locations on the platform (7), preferably on two opposite sides of the platform (7).

8. Handling machine (1) according to any one of claims 5 to 7, in which the data processing system (10) is configured to analyze the data transmitted by the line detection devices (5, 5'), and in the event of inconsistency between the data transmitted by the line detection devices, trigger the securing procedure.

9. Handling machine (1) according to any one of the preceding claims, in which the or each device comprises: - an electronic circuit including a processing chain comprising an analog processing stage, and said analog-digital converter, the circuit preferably comprising an additional processing chain in parallel with said processing chain, and - a controller configured to convert digital signals into data conforming to the machine's CAN communication protocol, the controller preferably also being configured to detect errors between the output data provided by the two processing chains.

10. Handling machine (1) according to any one of the preceding claims, in which the data processing system (10) comprises several processing units (10A, 10B, 10C) configured to communicate with each other via a dedicated CAN network (82) forming part of the CAN network (8) of the machine, the processing units (10A, 10B, 10C) preferably comprise: - a main processing unit (10B) configured to control the motorized drive system (12) for moving the chassis (2) and the actuation system of the lifting system (4); - a processing unit (10A) associated with the platform (7) configured to transmit control instructions from the high control station (1 IA) to the main processing unit (10B); - a processing unit (10C) associated with the base (9) configured to receive control instructions from the low control station (13C) coming from the main processing unit (10B).

11. Handling machine (1) according to claim 10, in which the warning system comprises at least one display device (151B) arranged on the base (9) to be visible to an operator on the ground on which is intended to be displayed a message corresponding to said warning signal to warn a low operator of the danger relating to the overhead power line.

12. Handling machine (1) according to any one of the preceding claims, in which the data processing system (10) is configured to detect the disconnection from the CAN network or the power cut of the or each line detection device (5, 5'), and to trigger in the event of said detection of disconnection or power cut a safety procedure including stopping the movement of the machine and the movements of the lifting structure.

13. A handling machine (1) according to any preceding claim, wherein, for the or each power line detection device (5, 5') the power line detection sensor, the analog-to-digital converter for converting the analog signals sensor logic into digital signals; and the communication interface with the machine's CAN network, are housed in the same box.

14. A method of controlling a handling machine according to any one of the preceding claims, wherein the method comprises the following steps: - transmission (310) of an electric field value on the CAN communication network (8) of the machine by an electric line detection device (5, 5'); - comparison (320) by the processing system (10) of the value of electric fields transmitted by said detection device (5, 5'), with a threshold value, and - depending on the results of the comparison, triggering (330) of the security procedure.

15. Method according to claim 14, in which the processing system (10) authorizing the control of movement of the platform (7) from the low control station (13C), preferably with constraints such as a limited speed and / or amplitude of movement, a ground operator controls (340) the movement of the platform from the low control station (13C) in the direction of moving the platform away from the detected power line (1005).

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