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WO2022253395A1 - Système combiné d'aide à l'escalade et d'arrêt de chute - Google Patents

Système combiné d'aide à l'escalade et d'arrêt de chute Download PDF

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Publication number
WO2022253395A1
WO2022253395A1 PCT/DK2022/050116 DK2022050116W WO2022253395A1 WO 2022253395 A1 WO2022253395 A1 WO 2022253395A1 DK 2022050116 W DK2022050116 W DK 2022050116W WO 2022253395 A1 WO2022253395 A1 WO 2022253395A1
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WO
WIPO (PCT)
Prior art keywords
pull force
winch
force profile
line
profile
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/DK2022/050116
Other languages
English (en)
Inventor
Tommy Christensen
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fano Kran Service AS
Original Assignee
Fano Kran Service AS
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fano Kran Service AS filed Critical Fano Kran Service AS
Publication of WO2022253395A1 publication Critical patent/WO2022253395A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A62—LIFE-SAVING; FIRE-FIGHTING
    • A62B—DEVICES, APPARATUS OR METHODS FOR LIFE-SAVING
    • A62B1/00—Devices for lowering persons from buildings or the like
    • A62B1/06—Devices for lowering persons from buildings or the like by making use of rope-lowering devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
    • B66D1/02—Driving gear
    • B66D1/12—Driving gear incorporating electric motors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
    • B66D1/28—Other constructional details
    • B66D1/40—Control devices
    • B66D1/48—Control devices automatic

Definitions

  • the present invention relates to a combined climbing assistant and fall arrest system, a method of operating the system and a method of calibrating the system. Background of the invention
  • the present invention is concerned with a the assisting of users climbing e.g. ladders or moving in relatively reproducible movement patterns and where such users requires assisting both in terms of safety and load relief.
  • the invention relates to a combined climbing assistant and fall arrest system (SYS) comprising
  • the winch including a spool (SPO) for winding and unwinding of a system line (LIN),
  • SPO spool
  • LIN system line
  • the system line (LIN) having a first end (FEND) and a second end (SEND), [0008] the second end comprising a pulling force coupler (PFC),
  • a controller (CON)
  • the controller being communicatively coupled to the motor for control of the motor according a control algorithm (CA) for establishment of a pulling force of the winch (WI) to the system line (LIN),
  • CA control algorithm
  • the algorithm being stored in an associated memory (MEM)
  • MEM associated memory
  • the winding and the unwinding of the system line defining an operating range (OR) of the system line (LIN), the operating range (OR) ranging from an upper position (UP) of the pulling force coupler (PFC) and a lower position (LP) of the pulling force coupler (PFC),
  • the winch (WI) applying a pulling force (PF) according to one of at least two different pull force profiles.
  • the system is controlled by the controller and the system may switch between different pull force profiles, thereby facilitating a more attractive embodiments, where the pull force profiles may be adapted to fit relevant scenarios and uses of the system.
  • Different uses may e.g. be that of a person climbing upwards against gravity, where the user is then pull according a pull force profile by the winch winding the line coupled to the user and where another use may be where the winch un-winds the line when onloaded, i.e. when no user is coupled to the pulling force coupler.
  • the applied pull force profiles are stored in the memory associated to the controller so that they can be used as a basis for control of the pull force when the system is powered up.
  • the pull force profiles may also be stored in the memory as a framework for calibration of the individual system. Calibration in the present context is e.g. referred to operating range. In such scenario, the operating range may be adapted to fit the intended use of the system, e.g. the length of an associated ladder related to where the winch is mounted relative to the ladder.
  • the winch (WI) applies a pulling force (PF) according to one of at least two different pull force profile during winding.
  • the winch (WI) applies a pulling force (PF) according to one of at least two different pull force profile during un-winding.
  • the winch (WI) applying a pulling force (PF) according to a pull force profile (PFP), wherein a first pull force profile (FPFP) is applied during winding and/or unwinding of the system line (LIN) and a second pull force profile (SPFP) is applied during winding and/or unwinding of the system line, and wherein
  • the first pull force profile (FPFP) is different from the second pull force profile (SPFP).
  • pulling force is referring to a pull force which is applied through the operation of the motor of the winch under the control of the controller.
  • the pull force is not referring to a passive brake or a mechanical blocking of the system line for emergency stops.
  • the pull force is first of all established to assist a user of the system, e.g. a worker climbing a ladder, performing a movement in the direction or against the direction of gravity.
  • the pull force may advantageously be configured in many different ways within the scope of the invention, but a focus should still be that of assisting a user partly compensation for gravity, e.g. when climbing up and down a ladder.
  • the system may apply different pull forces when, i.e. pull force profiles, .... apply a the pull force may be different when a user moves predominantly in the direction of gravity, i.e. a user moving down e.g. of a ladder.
  • pull force profile may be broadly understood as how pulling is applied to the line of the winch during winding and unwinding.
  • the pulling profile may be dependent on many parameters such as direction of the rotation of the spool/drum of the winch, i.e. whether the winch is winding or unwinding the line.
  • the pulling profile may also be dependent on where the end of the line having the pull force coupler is within the operating range. Is it close to the lower end or is it close to the upper end.
  • the pulling force profile may furthermore also depend on whether e.g. a movement in the direction of the upper end is performed with load or without load, i.e. whether a user has been coupled to the pull force coupler or not, or whether he/she is moving upwards or not. Different scenarios are described elsewhere in the present application.
  • the system state i.e. whether is loaded with a user using the system or whether the system is non-loaded, may be established manually or automatically.
  • the pull force coupler may be implemented in numerous different ways within the scope of the invention as long as the coupler may allow a user to securely attach or de-attach himself to the pull force coupler. Moreover the pull force coupler should not only be strong enough so as to cope with the pull force applied by the winch but it should also be strong enough to ensure that user weight may be carried securely if the fall arrest arrangement is activated.
  • the pull force coupler may e.g. comprise one single coupling mechanism, e.g. a snap lock, and it may also comprise further couplings, magnetic couplings, whatever enabling the intended operation.
  • Different kinds of harnesses, clothing, etc. fixated to the user during use may be applied so that the pull force may be translated to the user whether the user is moving up and down according to the preferred operation or whether the user is wholly or partly suspended in the line should conditions for fall arrest be met.
  • the first end of the line is typically fastened to the winch, e.g. to the spool of the winch.
  • a spool in the present context designated a spool in conventional state but also any suitable mechanism applied in a winch by means of which a line may be wound and unwound. The unwind and winding being at least partially controlled by a user.
  • the winch may be driven by a motor (M) directly or via a suitable gear/transmission.
  • the winch may be fitted to e.g. a climbing structure, such as a ladder or to the structure to be climbed itself.
  • the winch (WI) is applying a pulling force (PF) according to a pull force profile (PFP), wherein a first pull force profile (FPFP) is applied during winding of the system line (LIN) and a second pull force profile (SPFP) is applied during unwinding of the system line (LIN), and wherein
  • the first pull force profile (FPFP) is different from the second pull force profile (SPFP).
  • the pull force is provided by the winch under automatic control of the controller (CON) according to a pull force profile.
  • the pull force is provided by the winch under automatic control of the controller (CON) according to a pull force profile selected among a plurality of predetermined pull force profiles stored in the memory (MEM) of the system.
  • the pull force is provided by the winch under automatic control of the controller (CON) according to a first pull force profile (FPFP) during winding of the system line (LIN) and wherein the winding is performed with a variable speed defined by a load coupled to the pull force coupler and moving in the direction from the lower position (LP) to the upper position (UP).
  • FPFP first pull force profile
  • such scenario represents that a user has coupled to the pull force coupler of the system.
  • the system control is explicitly instructed to perform assisted lift, or the system automatically recognizes that an assisted lift is appropriate under detected working conditions.
  • detection or such derived information may e.g. be obtained when it is detected that the system line is wound to the spool at a certain speed or if it is determined electrically that the pull force coupler is now loaded, i.e. coupled to a user, through detection of the power supplied to the motor.
  • Numerous other ways of establishing automatically, that a first pull force profile is required may be applied within the scope of the invention.
  • the system may adapt to a user climbing speed.
  • the controller switches automatically between at least the first pull force profile (FPFP) and the second pull force profile (SPFP) when a switching criteria are met.
  • a switching criteria may e.g. be whether the line is to be applied for assisting a user moving against or with gravity, e.g. climbing of descending a ladder. In other words, different pull force profiles may be applied in dependency whether a user coupled to the line is moving up or down.
  • Another switching criteria may e.g. be whether the line is loaded or not, i.e. whether the winch is to or in the process of winding/un winding the line in a loaded condition or not.
  • An example of such switching scenario is e.g. whether a user is climbing and being coupled to the system by a pull force coupler or whether the line is to be winded with no load.
  • the system may then switch between two different dedicated pull force profiles.
  • the switching may be automatic invoked by different more of less types of detection methods and detections systems and the switching may be manually activated by the user.
  • a third pull force profile (TPFP) is applied during winding of the system line (LIN) and wherein the third pull force profile (TPFP) is different from the first pull force profile (FPFP).
  • the system is designed to be able to use two different pull force profiles during winding up the line. Different circumstances may be present during winding up the line and thereby the pulling force coupler and the system may be designed to match the intended operation.
  • a third pull force profile (TPFP) is applied during winding of the system line (LIN) and wherein the third pull force profile (TPFP) is different from the first pull force profile (FPFP), the first pull force profile being applied during winding when a load is coupled to the pulling force coupler (PFC) and the third pull force profile being applied during winding when the pulling force coupler (PFC) is unloaded.
  • the system is designed to be able to use two different pull force profiles during winding up the line. Different circumstances may be present during winding up the line and thereby the pulling force coupler and therefore the system may be designed to match the intended operation.
  • One of many advantageous operation strategies of the system may be established by establishment of a pulling force defined by the first pull force profile which assist the user of the system in moving up against gravity, i.e. when the winch winds the line up, and a second pull force profile may be used to pull with a lower force when a user is moving with gravity, i.e. moving down, and when the winch is unwinding.
  • a further pull force profile may be applied within the scope of the invention; a third pull force profile.
  • This third pull force profile is to be used when the winch is winding the line up in a non-loaded state.
  • This state may be established automatically which will be explained elsewhere in this application or the state may be established “manually” by the specific instructions of a user, e.g. when a user is located at or around the lower position of the operating range and the end of the line carrying the pull force coupler is a the higher position of the operating range.
  • the controller switches between the first pull force profile (FPFP) and the second pull force profile (SPFP) on the basis of control instruction (Cl) received from a an instruction input.
  • a control instruction may be established directly as an explicit user instruction that he/she now wants a specific pull force profile, i.e. moving up or moving down.
  • This instruction may e.g. be communicated directly by means of control buttons mounted and located at the top of the operating range, e.g. in the vicinity of the upper position and/or lower position.
  • the user interface may also be implemented as a wireless interface, mobile interface, e.g. as an app on a mobile communication device; smartphone, tablet, etc.
  • the controller switch between the first pull force profile (FPFP), the second pull force profile (SPFP) and at least one further pull force profile, e.g. on the basis of control instruction (Cl) received from a an instruction input.
  • FPFP first pull force profile
  • SPFP second pull force profile
  • Cl control instruction
  • the instruction input comprises a user interface (UI).
  • UI user interface
  • a dedicated user interface has the benefit that the pull force profiles established and executed by the controller in response to explicit instructions by a user may be established to fit exactly what the user desires. This may e.g. include a pull force profile which may be adapted to specific users; the users wishes to a pull assistant, the weight of the user, the weight or the load the user carries, etc.
  • the instruction input comprises a sensor arrangement (SEN) by means of which winding and/or unwinding is automatically determined.
  • a sensor arrangement may e.g. include an encoder detecting the direction of the rotation of the winch, i.e. whether the line is currently winding or unwinding.
  • the first pull force profile (FPFP) is non-linear within the operating range (OR).
  • the first pull force profile determining the force applied when winding the line, may thus, under the control of the controller, apply different pulling force within the operating range.
  • the non-linear pulling force provided by the winch according to the first pull force profile may be dependent on many parameters such as the position within the operating range, the specific load, the detected load, the intended assisting, etc
  • the pulling profile may thus, as non-linear, be dependent on where the end of the line having the pull force coupler is within the operating range. Is it close to the lower end or is it close to the upper end.
  • the pulling force profile may thus also depend on whether e.g. a movement in the direction of the upper end is performed with load or without load, i.e. whether a user has been coupled to the pull force coupler or not, or whether he/she is moving upwards or not. Different scenarios are described elsewhere in the present application.
  • the operation of the controller is configured for automatically providing the required pull according to the profile thereby ensuring that a user, when the pull is non-linear, may not need to consider this aspect and just automatically experience the pull he/she wishes.
  • This is in particular important during winding of the line, i.e. when the a user coupled to the line by the pull force coupler is moving up, as the user of course would benefit of a substantial pull during e.g. climbing of a ladder.
  • Such pull may e.g. be the equivalent of a 40 kilogram pull.
  • Such a pull may e.g. be the equivalent of 3 kilograms, i.e. around 30 N.
  • a typical and simple way of providing the desired pull may be to supply an electrical motor driving the winch with a power corresponding to the desired pull.
  • Other ways of applying a non-linear pull force may be applied within the scope of the invention.
  • the intended pull force during operation of the system is obtained automatically during the operating range by control of the motor by the controller based on preestablished or pre-calibrated versions of preestablished pull force profiles.
  • the control may e.g. be based on further input from one or more sensors and one or more calculations or information by means of which enough information can be derived to obtain the non-linear pull during winding/climb assist.
  • Unwinding of the line while no user is connected may e.g. be controlled to provide a certain desired pull, e.g. 3 ON, being enough to move the pull force coupler in a non-coupled state from the upper position to the lower position and from the lower position to the upper position while keeping the line relatively straight and having a certain rotational speed.
  • the rational speed may be constant or non-linear, if so desired.
  • the system comprises a lock arrangement (LOC) for stopping unwinding of the system line (LIN) when activated.
  • LOC lock arrangement
  • the locking system may e.g. be activated either autonomously, e.g. when formed as a stand-alone mechanically driven locking system or automatically e.g. under the control of the controller when certain measured criteria are met, e.g. unwinding of the spool at a speed exceeding a certain predefined threshold.
  • Other emergency criteria may be applied within the scope of the invention, e.g. at least partly defined by the use of artificial intelligence or where combined criteria are met.
  • the locking arrangement (LOC) is controlled by the controller (CON)
  • the locking arrangement is activated by a mechanical lock independent of the controller
  • the system comprises an audio interface, e.g. a loudspeaker, being configured for provided at least two different characteristic audio profiles (APL.APn), and wherein the audio profiles are associated to different pull forces of a current pull force profile.
  • the system comprises an audio interface, e.g. a loudspeaker, being configured for provided at least two different characteristic audio profiles (APL.APn), and wherein the audio profiles further comprises at least one further audio profile associated with an emergency state.
  • APL.APn characteristic audio profiles
  • the system comprises an visual interface, e.g. a light emitter, being configured for providing at least two different characteristic visual profiles (VPL.VPn), and wherein the visual profiles are associated to different pull forces of a current pull force profile.
  • the system comprises an visual interface, e.g. a light emitter, being configured for provided at least two different characteristic audio profiles (VPl. VPn), and wherein the audio profiles further comprises at least one further audio profile associated with an emergency state.
  • the system may be calibrated to different operating ranges.
  • the pull force profiles may also be stored in the memory as a framework for calibration of the individual system. Calibration in the present context is e.g. referred to operating range. In such scenario, the operating range may be adapted to fit the intended use of the system, e.g. the length of an associated ladder related to where the winch is mounted relative to the ladder.
  • the system comprises a winch lock (LOC).
  • LOC winch lock
  • the winch lock is communicatively coupled with the controller for activation of rotational locking in at least a direction of un-winding.
  • the winch lock is communicatively coupled with the controller for de-activation of rotational locking in at least a direction of un-winding.
  • the winch lock arranged as a stand alone system.
  • the average pull force applied in a pull force profile when the system is in a loaded state is higher than the average pull force applied in a pull force profile when the system is in a non-loaded state.
  • the invention moreover relates to a use of the system according to any of the above mentioned features [0089]
  • the invention moreover relates to a method of calibrating a system according to any of the above mentioned features wherein at least one of the pull force profiles are calibrated to one of a plurality of different applicable operating ranges to activation of the system.
  • Activation in the present context means that the system us brought into a state where the controller automatically establishes the pull forces matching the available at least two different pull force profiles optionally on the basis of supplementary control inputs provided by a user or provided by automatic detection of relevant conditions.
  • the invention relates to a method of assisting a user in climbing by means of a climbing assistant and a fall arrest system ,
  • the system comprising a winch including a line, the winch being driven by a motor under the control of a controller,
  • the method comprising the steps of coupling a user to a second end of the line
  • the method including the step of coupling a user to the second end of the line,
  • fig. 1 illustrates an application of the inventive system in a first embodiment
  • fig. 2 illustrates principles of a winch according to embodiments of the invention
  • fig. 3 illustrates principles of a winch control in embodiments of the invention
  • fig. 4 illustrates how a system line LIN of winch WI may be wound and unwound
  • fig. 5 to fig 7d illustrated different features and embodiments of pull force profiles applicable within the scope of the invention
  • fig. 8 illustrates exemplary subranges of the pull force profile.
  • the present invention deals with a combined climbing assistant and fall arrest system, typically in relation to personnel performing different service tasks, maintenance, construction, etc. and where a part of the process involves climbing in or on e.g. structures such as wind turbine towers, on-shore or off shore, oil rigs, cranes, constructions scaffolds, etc.
  • the inventive system may both assist the worker in doing his/her work processes but also ensure that security concerns are properly met in a way that suits the intended work-processes
  • FIG. 1 illustrates an application of the inventive system in an environmental condition, where the system is particularly advantageous.
  • the illustrated embodiment of the invention is applied in the context of an off-shore wind turbine tower TOW.
  • On the wind turbine tower TOW is mounted a number of ladders LAD of which two are illustrated.
  • a winch WI is mounted to the tower TOW for automatic unwinding and winding of a system line LIN.
  • a first end of the line LIN is fixed to a rotatable element, e.g. a spool (not shown).
  • the winding and unwinding is at least partly controlled by an associated controller (not shown)
  • a pulling force coupler PFC is mounted to the line LIN at a second end.
  • the pulling force coupler PFC may e.g. be a hinge or a snap lock means of which a user U may easily couple to the line LIN prior to climbing up or down the ladder and easily decouple again when the user has reached the intended level.
  • An exemplary pull force coupling may be applied with a Kong Frog Carabiner connector.
  • a user U may pull down the line LIN by means of a rope ROP attached to the line LIN in order to pull the line down to a lower position if the line has been almost fully wound up by the winch.
  • This manual operation is here illustrated in fig. 1, whereas more automatically implemented embodiments may be achieved by the provisions of a user interface (not shown) which may be mounted at the lower end of the ladder and by means of which a user U may “order” the line down.
  • the winch may automatically wind the line up with a relatively little pull force, e.g.
  • the pull force applied by the winch WI may be e.g. 200N to 700N both when a user climbs up or down.
  • At user may e.g. be standing at a vessel VES.
  • Fig. 2 illustrates principles of an exemplary embodiment of a winch WI, e.g. the illustrated winch WI of the embodiment of fig. 1.
  • the illustrated winch WI includes a spool with a line LIN, which may be wound and unwound.
  • the line LIN may e.g. be made implemented as a wire.
  • a winch suspension may also be included (not shown) and may serve as a mechanical suspension by means of which the winch may be fixed to a ladder or a mechanical structure to be climbed (not shown). This could e.g. be the tower TOW of fig. 1.
  • the winch may e.g. further include a (e.g. centrifugal) brake CBR, adapted for reducing the rotation.
  • the centrifugal brake may also be exchanged or supplemented with a mechanical lock, which when activated, will block for un-winding of the line LIN, thereby providing a fall arrest feature ensuring that the system line LIN may also have the function as a security line, capable of stopping a fall, if a fall is detected.
  • the fall may be detected by means of sensors associated to the controller and a locking may be initiated e.g. by activating a locking pall (not shown) which may, when activated block for at least un-winding.
  • a locking pall (not shown) which may, when activated block for at least un-winding.
  • Mechanical blocking of rotation of a winch may be obtained by means of many different physical arrangements within the art. These may include mechanical locks which may be de-activated and activated either by a stand-alone system separate from the system controlled by the controller, e.g. a simple mechanical implemented fall arrest system of the conventional type or it may be controlled by a further controller.
  • a locking of rotation may be deactivated by the controller, either upon automatic detection of certain trigger conditions or e.g. in response to a de-activation command or action provided by a user by means of a user interface communicatively coupled to the controller.
  • the blocking of rotation is performed in both winding and un-winding direction of the winch.
  • the winch WI moreover includes a motor in a motor housing MOT and a control in a control box CONB.
  • the motor and the control (not shown) is moreover electrically coupled to a power supply (not shown).
  • the motor includes a motor brake LOC and relevant sensors SEN required to facilitate the desired operation of the winch.
  • the sensors may e.g. include encoders enabling measuring and/or derivation of rotational speed, degree of winding and un winding, direction of rotation, measure of whether the pull force coupler (not shown) connected at a second end of the line is located at end positions, e.g. a lower position or an upper position, etc.
  • the winch may further include a drum connected to a drive shaft of the motor or the spool whereupon a rope ROP is wound and by means of which a user may un-wound the line LIN mechanically by pulling down in the rope and thereby manually unwinding the line LIN.
  • An alternative embodiment of a mechanical pull mechanism illustrated in the present embodiment is shown in the above fig. 1, where a rope ROP is attached to the vicinity of the second end SEND of the line, and whereby a user can manually pull the second end SEND of the line from an upper position UP to a lower position LP in order to couple himself/herself to the pulling force coupler PFC.
  • the controller may establish a relatively low counterforce to such pulling to ensure that the line is not free-running at any time during operation but also ensure that the pulling force is not too high and making it too difficult for the user pulling it down.
  • Fig. 3 illustrates some key principles of a winch control and some optional features.
  • a winch WI e.g. the one illustrated in fig. 2 and/or the one illustrated in fig. 1, is connected with or including a controller for controlling a motor.
  • the motor may be a motor as outlined in fig. 2.
  • the motor is not shown in fig. 3.
  • the controller on a runtime basis sends control signals to a motor of the winch and thereby makes a system line with a pull force coupler (not shown) move up and down according to certain desired pull force profiles and with certain speed characteristics.
  • a way of obtaining the desired pull force may e.g. be to power the winch by a synchronous electrical motor. These may be powered by a AC or DC (which may be modulated) power source, and the motor will rotate at a speed consistent with the frequency of the supply. Synchronous motors are used in many applications where it is desirable to maintain a constant speed under varying load.
  • Variable control of synchronous motors can also be achieved by using a variable frequency drive.
  • An example og a motor which may be applied in a system according to embodiments of the invention, may be a servo motor Schneider Electric BMH.
  • This motor as with other applicable motors, is an AC synchronous motor and it may advantageously include a holding brake.
  • the motor includes an encoder system by means of which rotation may be controlled and/or monitored.
  • rotation may be controlled and/or monitored.
  • many other ways of powering the winch may be applied within the scope of the invention, various types of electrical motors may be applied, varies types of electrical power sources may be applied.
  • the electrical motors may drive the winch directly or may be coupled to a spool/drum winding and unwinding the line via a gear system, various types of manual/automatic transmissions may be applied, a fixed gear may be applied as long as the desired pull force profile is obtained.
  • the motor may advantageously be able to be controlled and function with different pull force profiles depending on whether the system is loaded or not, e.g. whether a person has been attached to the pulling force coupler or not.
  • the pull force profile is not intended to reach a certain speed, as the user is intended to define the rotation speed when a user is coupled to the system and wind/unwinds the wire by his or her movements.
  • the pull force profile is simply established to invoke an automatic winding of the second end to the upper position when a user de couples/non coupled to the line and also to provide resistance to un-winding if a user mechanically pulls the line in order to bring the second end to a lower position.
  • controller CON is understood as one or more microcontrollers including or communicatively coupled with one of more memories which may include software code running one or more software algorithms.
  • control algorithm In the present context, unless otherwise noted, this may be referred to as a control algorithm.
  • the controller may moreover include or be communicatively coupled with optional network controlled s) town memory controller(s) for interfacing data to and from the environment, e.g. by sending control signals to the motor drive of the winch, receiving sensor signals from e.g. an encoder transmitting signals representative of position and/or the rotational speed/rotational direction of the motor or the connected winch drive (e.g. a spool of a winch), an interface designed for establishment of a dedicated user interface for assisted control of the winch, etc.
  • optional network controlled s) for interfacing data to and from the environment, e.g. by sending control signals to the motor drive of the winch, receiving sensor signals from e.g. an encoder transmitting signals representative of position and/or the rotational speed/rotational direction of the motor or the connected winch drive (e.g. a spool of a winch), an interface designed for establishment of a dedicated user interface for assisted control of the winch, etc.
  • the winch is established to be able to unwind a line under conditions determined by the controller and according to pre-programmed pull force profile(s) and also and wind the line up again also according to a pull force profiles determined by the controller.
  • line is to be interpreted in the broadest sense of the word.
  • the term line includes any kind of wire, cable, chain, rope, cord or other or any combination thereof suitable for lifting a user, suspending a user in case of hazard or emergency conditions or for use in climb assisting of a user, i.e. during conditions where a user e.g. climbing a ladder in upwards direction are assisted by a pull force, not suspending but assisting the climbing of a user in the desired movement upwards.
  • the term “winch” includes any kind of various machines or instruments for hauling or pulling comprising a spool or drum on which a wire or the like may be wound or unwound by means of a drive rotating the spool.
  • the rotation may be powered by electric, hydraulic, pneumatic, or internal combustion drives or other or any combination thereof.
  • a power supply may in the present context e.g. be an electrical device or system that supplies electric power to an electrical load; here e.g. the motor and the controller.
  • the main purpose of the electric power supply is to convert electric current from a source to the correct voltage, current, and frequency to power the load.
  • power supplies are sometimes referred to as electric power converters. Some power supplies are separate standalone pieces of equipment, while others are built into the load appliances that they power.
  • power supplies may perform include limiting the current drawn by the load to safe levels, shutting off the current in the event of an electrical fault, power conditioning to prevent electronic noise or voltage surges on the input from reaching the load, power-factor correction, and storing energy so it can continue to power the load in the event of a temporary interruption in the source power (uninterruptible power supply).
  • both electric storages such as batteries may be applied and in other contexts a coupling to a AC source, e.g. from the grid.
  • Electrical power supplies may also be established as hybrid supplies, where e.g. the main power is supplied from the electrical grid and where some of the electrical energy is stored e.g. in battery packs for use as power backup, controller supply, etc. in case the grid supply is temporarily interrupted.
  • the power supply may be any suitable power supply type available to the skilled person in the art, e.g. switched mode power supplies, capacitive power supplies, etc. as long as the desired pull force can be obtained and at the same that the controller and other system circuitry can be powered at any time.
  • the controller may be pre-programmed to ensure a proper winding and unwinding of the line by at least a first pull force profile during winding of the system line onto the winch and a second pull force profile PFPT.n when unwinding the system line from the winch.
  • the present system is in an advantageous embodiment designed with a PA system (PA: public address), e.g. including an audio system, signalling the running conditions of the system and the operational modes.
  • PA system may also include a visual indication system indicating the current operational mode of the system.
  • the signalling scheme may be applied in many different ways within the scope of the invention as long as a user using the system may perceive how the system operates at given times.
  • the audio signalling through the PA-system may thus be used to communicate the different states of a pull force profile.
  • a pull force profile may designate by how much force the winch is pulling at any current time. This is in particular advantageous when a nondinear pull force profile is used.
  • the system may thus optionally comprises an audio interface, e.g. a loudspeaker, being configured for provided at least two different characteristic audio profiles (APT.APn), and wherein the audio profiles are associated to different pull forces of a current pull force profile and the audio interface is controlled directly or indirectly by the controller CON.
  • an audio interface e.g. a loudspeaker
  • APT.APn characteristic audio profiles
  • the audio profiles further comprises at least one further audio profile associated with an emergency state.
  • the system may thus optionally comprises a visual interface, e.g. a loudspeaker, being configured for provided at least two different characteristic visual profiles (VPT.VPn), and wherein the visual profiles are associated to different pull forces of a current pull force profile and the visual interface is controlled directly or indirectly by the controller CON.
  • VPT.VPn characteristic visual profiles
  • the visual profiles further comprises at least one further visual profile associated with an emergency state.
  • a visual interface may typically include one or more light emitters, e.g. emitting light with different colors.
  • the system may moreover comprise a user interface UI.
  • the user interface may be able to communicate operating conditions
  • the user interface may thus be adapted to derive that a certain operating condition is intended, e.g. by receiving input from a user the he or she wants the pull force coupler at the lower position or the upper position e.g. by means of explicit button induced control signal communication to the controller or by, e.g. the mechanical embodiment of fig. 1, where a user is simply intended to pull the line manually from an upper position to a lower position as illustrated in fig. 1 and thereby force the unwinding of the system line and thereby bring the pull force coupler down to the lower position.
  • An example of a pull force profile could e.g. be when a user is moving upward and where the pull force e.g. in a bottom operating range is 30N, a middle operating range is 400N and an upper operating range is again 30N.
  • the pull force may ramp up from the 3 ON to the 400N in a distance between the bottom range and the middle range and again ramp down from 400N to the 30N in a distance between the middle range the upper range. Further examples of such pull force profiles will be provided elsewhere in the present application.
  • Applicable pull force for a motor to be applied within the scope of the invention may e.g. be 20N to 1000N.
  • An advantageous example may be applied when a pull force profile establish climbing assistance to a user, when coupled to the line and that this assistant pull force profile used for control of the pull force both when the user is moving against and in the direction of gravity.
  • a different pull force profile may in the same system be used when the line is winded and un-winded without load, e.g. when no user is coupled to the line.
  • the audio system in an easy and perceivable way may communicate to the user e.g. during climbing in the upwards direction, whether the user assisting pull force is low, high, increasing or decreasing.
  • Fig. 4 illustrates how a system line LIN of winch WI may be wound and unwound and how the associated terminology is applied in the present context unless otherwise stated.
  • a system line e.g. the one illustrated in fig. 1 and/or fig. 2, may by wound or unwound by means of controller (e.g. the one illustrated in fig. 2 and explained functionally in connection with fig. 3).
  • a pull force coupler is attached to a second end of the system line LIN and a first end is attached to the winch WI.
  • the pull force couple may be moved between at least two different position, an upper position UP and a lower position LP under the control of the controller optionally further by physical force induced by a user coupled to the pull force coupler.
  • the pull force coupler PFC may in the present context be moved within an operating range OR between the upper position UP and the lower position LP.
  • a first pull force profile FPFP may be applied when the winch is winding the system line LIN up and a second pull force profile SPFP when the winch is un-winding the system line LIN.
  • the first pull force profile FPFC i.e. a pull force profile executed by the controller with the aim of assisting a user moving against gravity
  • the pull force is relatively low at the lower position LP where a user will couple to the pull force coupler.
  • the pull force should preferably not be too large when the user couples e.g. his or her harness to the coupler.
  • the low pull force is here illustrated by and “XI” and may e.g. designate a pull force of 20- 40N.
  • the pull force would than gradually pull the line and ensure that the line is winding onto the winch and when a certain climb hight is reached, the pull force increases to a force “X2”, e.g. 350N to 450N, thereby providing a significant and pleasant lift assist when the user is climbing between the lower position LP and the upper position UP.
  • the pull force will the decrease in strength when the user is coming closer to the upper position UP.
  • the second pull force profile SPFP is intended for assisting lightly the user when climbing down from the upper position UP towards the lower position, hereby providing a constant pull force (a relatively small counterforce) “XI” when the user climbs down.
  • This force induced by the winch under the control of the controller may e.g. be a pull force induced by the motor of the winch of e.g. 20-40N.
  • the pull force is here opposite the direction of climbing.
  • pull force profile may be designed in many different ways.
  • the pull force profiles may even be adapted to individual user and stored as user presets.
  • the presets may be active automatically or by choice of the user, e.g. by using some kind of recognition that a certain user is about to active a pull force profile or a user may e.g. by means of an app or an appropriate user interface identify himself and active the personal pull force profile, whenever he or she is climbing up or down.
  • Fig. 5 illustrates further different types of pull force profiles for exemplified pull force profiles in fig. 6 and fig. 7a-d, are shown with reference to un-winding positions e.g. positions a, b and c (the position of the pull force coupler of e.g. fig. 1).
  • the illustrated applied pull force profiles apples a first pull force profile when winding the line (and assisting a user when climbing up) and second pull force profile e.g. when lowering the line non-coupled to a user) or when climbing down.
  • Fig. 6 thus illustrates a control algorithm, e.g. implemented in the system of fig. 1 or the system explained in fig. 2, providing one pull force profile PFP in a loaded state LO when a user is coupled to the second end of the line SEND and when the user climbs up or down.
  • the pull force is x2.
  • the system may switch or be switched to an unloaded state ULO, where the pull force of the winch WI is applied according to another pull force profile PFP where the system applied another and here: a lower pull force, xl.
  • the pull force xl may according to embodiments by e.g. 20N to 80N and the pull force x2 may e.g. be between 100N and 1000N, such as between 300N and 800N, such as between 350N and 600N.
  • the average pull force over the distance DIST should preferably be higher for a pull force profile PFP applied when the system is in a loaded state than the average pull force applied in average when the system is operated in a non- loaded state.
  • the described pull force profiles in fig. 7a-d may in principle be applied alone or combination with other pull force profiles as long as conditions may be established for the switching between the pull force profile, automatically or manually invoked.
  • Fig 7a illustrates an embodiment where a first pull force profile FPFP is applied during winding and where a second pull force profile SPFP is applied during un-winding.
  • the first pull force profile FPFP is linear but slightly higher than pull force xl, e.g. 300N and the second pull force profile SPFP being slightly lower than the pull force xl, e.g. 250N
  • Fig. 7b illustrates an embodiment where different pull force profiles, pull force profile low, PFPL, pull force medium PFPM , and a pull force profile high PFPH may be applied when a user climbs up a ladder or climbs down a ladder, the user being attached to the climb assistant system. Furthermore a pull force profile minimum PFPMIN profile may be applied when the line is wound or unwound by the winch in an unloaded state, i.e. when a user is not attached to the line.
  • the pull force x2H may e.g. be 450N.
  • the pull force x2M may e.g. be 400N
  • the pull force x2L may e.g. be 350N
  • Fig. 7c illustrates an embodiment where a first pull force profile FPFP is applied during climb assist where as a second and a third pull force profile
  • SPFP, TPFP are used for winding and unwinding when the system is not loaded
  • Fig. 7d an embodiment where a linear pull force profile, as first pull force profile FPFP, is combined with a non-linear pull force profile, a second pull force profile SPFP.
  • Fig. 8 illustrates exemplary sub ranges of a operating range OR of a system according to the invention. The system may e.g. refer to the system illustrated or referred to in any of the above figs 1 to 7d
  • a pull force profile PFP implemented in the system (not shown) has been shown associated with three relevant subranges of the operating range OR, namely an upper operating range UOR, a middle operating range MOR and a lower operating range LOR.
  • the pull force profile PVP is non-linear in the sense that the pull force varies with winding/unwinding.
  • the pull force may be relatively low, e.g. 3 ON in order to make it possible to couple and decouple from the system line as easy as possible, whereas the pull force may e.g. be at a 400N.
  • the upper operating range UOR may e.g. cover a distance of 2 m.
  • Embodiments may e.g. cover distances of 0 to 4 meters.
  • the lower operating range LOR may e.g. cover a distance of 2 m.
  • Embodiments may cover distances of 0 to 4 meters.
  • Ramp up and down operating ranges between the upper operating range UOR and the middle operating range MOR and between the middle operating range MOT and the lower operating range LOR may gradually reduce or increase the pull force to fit the respective pull forces without inducing too much or any transients in the pull force when a user moves from one sub range to another.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Business, Economics & Management (AREA)
  • Emergency Management (AREA)
  • Prostheses (AREA)

Abstract

La présente invention concerne un système combiné d'aide à l'escalade et d'arrêt de chute (SYS) comprenant un treuil (WI), le treuil comprenant une bobine (SPO) pour l'enroulement et le déroulement d'une ligne de système (LIN), la ligne de système (LIN) ayant une première extrémité (FEND) et une seconde extrémité (SEND), la seconde extrémité comprenant un coupleur de force de traction (PFC), le treuil étant entraîné par un moteur (M), le système (SYS) comprenant en outre un dispositif de commande (CON), le dispositif de commande étant couplé en communication au moteur pour commander le moteur selon un algorithme de commande (CA) pour l'établissement d'une force de traction du treuil (WI) à la ligne de système (LIN), l'algorithme étant stocké dans une mémoire associée (MEM), l'enroulement et le déroulement de la ligne de système définissant une plage de fonctionnement (OR) de la ligne de système (LIN), la plage de fonctionnement (OR) allant d'une position supérieure (UP) du coupleur de force de traction (PFC) et d'une position inférieure (LP) du coupleur de force de traction (PFC), le treuil (WI) appliquant une force de traction (PF) selon l'un d'au moins deux profils de force de traction différents.
PCT/DK2022/050116 2021-05-31 2022-05-31 Système combiné d'aide à l'escalade et d'arrêt de chute Ceased WO2022253395A1 (fr)

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20110127112A1 (en) * 2008-01-22 2011-06-02 Jean-Luc Born Crash Safety Device Having a Rope Drive Mechanism
EP2915770A1 (fr) * 2014-03-03 2015-09-09 Actsafe Systems AB Interface utilisateur pour système motorisé portatif
KR20160012638A (ko) * 2014-07-25 2016-02-03 (주)화담알앤알 인명 구조용 리프팅 장치
EP2432573B1 (fr) * 2009-05-19 2018-10-31 Limpet Holdings (UK) Limited Dispositif et procédé d'aide à l'escalade
US20200179731A1 (en) * 2017-05-26 2020-06-11 Koduct Co., Ltd. Rope type elevating device
US20200299114A1 (en) * 2017-10-27 2020-09-24 Reel Tech Co., Ltd. Lifting apparatus for highly-mounted device and control method thereof

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20110127112A1 (en) * 2008-01-22 2011-06-02 Jean-Luc Born Crash Safety Device Having a Rope Drive Mechanism
US20140124296A1 (en) 2008-01-22 2014-05-08 Jean-Luc Born Fall Arrest Device with Rope Drive Mechanism
EP2432573B1 (fr) * 2009-05-19 2018-10-31 Limpet Holdings (UK) Limited Dispositif et procédé d'aide à l'escalade
EP2915770A1 (fr) * 2014-03-03 2015-09-09 Actsafe Systems AB Interface utilisateur pour système motorisé portatif
KR20160012638A (ko) * 2014-07-25 2016-02-03 (주)화담알앤알 인명 구조용 리프팅 장치
US20200179731A1 (en) * 2017-05-26 2020-06-11 Koduct Co., Ltd. Rope type elevating device
US20200299114A1 (en) * 2017-10-27 2020-09-24 Reel Tech Co., Ltd. Lifting apparatus for highly-mounted device and control method thereof

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