WO2009095579A1 - Device for lifting and moving an object, including a powered bearing - Google Patents

Abstract

The invention relates to a device for lifting and moving an object (4), that comprises a crane (1), said crane including a boom (1b) equipped with a so-called lifting cable (1a) having at the free end thereof a link (8, 8a-8b-8c) capable of holding at the lower end thereof an object suspended thereto via a gripping device (5,5a-5b), wherein the lifting cable (1a) is coupled to at least one traction cable (9, 9a-9b) having an end connected to at least one traction winch (10, 10a-10b), characterised in that it comprises: a powered bearing (30) connected to a connection ring or hook (1d) at the lower end of said lifting cable, said link being connected at the upper end thereof to a lower mobile portion (30b) of the powered bearing, said powered bearing (30) thus being capable of controlling the powered rotation of said link and of said object in rotation about itself when said lower portion (30b) is actuated in powered rotation; and said powered bearing (30) cooperates with a reaction arm (32) that allows the transfer of the torsion stress generated by said powered bearing upon rotation, at a fixed upper portion (30a) of said powered bearing, connected to said connection ring or hook.

Description

 DEVICE FOR LIFTING AND MOVING AN OBJECT COMPRISING A MOTORIZED BEARING

The present invention relates to the installation of artificial blocks for constituting shore protection dikes or dikes against the effects of waves.

It relates more particularly to the underwater control of the position and orientation of the blocks during handling and more particularly at the time of the final removal of said blocks on the structure.

Coastal shorelines and port areas are generally protected from the effects of waves and waves by structures with a shell that can withstand the extreme conditions of the sea for decades or even centuries.

Numerous devices have been developed in order to ensure efficient operation over very long periods, without significant destabilization of the structure. The devices are generally made of natural blocks (rockfill) or artificial blocks (concrete blocks), resistant by their mass and / or their shape and / or nesting, said blocks being either simply deposited in bulk when it comes to rough quarry blocks, either arranged in one another according to a predefined laying plan with rules to be respected (case of monolayer shells), or else arranged p seudo-random when it comes to blocks of shapes more mas sive (eg cubic or pdococic blocks and their derivatives).

The installation of molded blocks requires gripping and handling means that allow a precise placement of each of the blocks in the building being built, so that the laying of the following blocks can continue without difficulties. If the out-of-water zone, usually done at the end of the work, is not really a problem because the crane operator has a direct view of the state of the work. the work already installed and control of the positioning of the block being installed, it is not the same for the portion of the work located under water. We generally use the contest of divers who then assist the crane operator during the phase of removal of the block and confirm the crane operator the correct positioning of the block, before it is disconnected from its gripping tool. It is then arranged to work in quiet time, because in case of high seas or swells, divers can not intervene safely, because of the ambient agitation and in particular the lack of sufficient visibility. In some parts of the world, ocean-weather conditions hardly ever reach a level of calm that allows construction operations to be carried out under acceptable conditions. Indeed, in these areas a persistent long-term swell disturbs the shoreline in the coastal zone and does not allow the intervention of divers in conditions of acceptable safety, and the shells are then extremely delicate to realize, and in addition the durations There are considerable risks of extension due to long periods of "stand-by", that is to say, waiting for periods of calm, which generates considerable additional costs for these works.

Thus, the problem posed is to handle, in a controlled, precise and reliable manner, artificial blocks of all shapes, and to position them accurately and in accordance with the laying plans, on the shell of a dike being built. in the submarine zone from the bottom of the sea, to the emerging zone of the said structure, or even on its aerial part.

To do this, the present invention provides a device for lifting and moving an object and comprising a crane, said crane comprising an arrow equipped with a first cable, said lifting cable, preferably comprising at its end a link adapted to bear at its lower end a said obj and which is suspended from it by means of a gripping device, wherein said lifting cable, suspended at the end of said boom, is coupled to at least one second cable , says traction cable, one end of which is connected to at least one pulling winch, preferably secured to a support platform of said boom, the other end of the pulling cable being integral with the suspension hoisting rope, preferably at the level of a hook or connecting ring at the lower end of said lifting cable, such that the reduction in length of at least one said pulling cable, by actuation of at least one said pulling winch, allow:

a- to incline said lifting cable with respect to the vertical ZZ and to move said object in translation in a vertical plane not passing by a said traction cable and said lifting cable, preferably a vertical plane passing through the the axis of said arrow X1 X '1, and / or

b- to move said obj and laterally with respect to a vertical plane passing through the axis Xl X '1 of said boom, in a plane passing through two traction cables, the two traction cables cooperating with two traction winches arranged both sides of said boom, characterized in that it comprises:

a motorized bearing comprising a fixed upper part and a lower part movable in relative motor rotation with respect to said fixed upper part, said fixed upper part of said motorized bearing being integral with a said connecting ring or hook at the lower end of said cable lifting, and said link being connected at its upper end to said lower movable portion of said motorized bearing, said motorized bearing thus making it possible to control the motorized rotation of said link and said object and in rotation on itself when said movable lower part is actuated in rotation, said motor bearing acting as a trunnion when its rotatable lower part is disengaged, and

said motorized bearing cooperating with a rigid arm, said reaction arm, which makes it possible to take up the torsional forces generated by said motorized bearing in rotation, at the upper part of said motorized bearing integral with said ring or hook of connection, said reaction arm being interposed between the end of a said traction cable and said fixed upper portion of said motor bearing which it is secured.

It will be understood that the term "fixed upper part" means that said upper part of the motorized bearing is fixed in rotation around the axis Zc of said motorized bearing relative to the movable lower part, the axis Zc of rotation of the movable lower part. said motorized bearing corresponding to the Z axis _{1 of} said link when an obj and y is suspended at its lower end, is vertically (Z).

This motorized rotation at the level of the motorized bearing can be controlled by the crane operator and makes it possible to precisely adjust the position of the objective and as needed during its final removal, in particular in the case of a block to be deposited in a special laying plan on an assembly of blocks of a dike in progress.

It is understood that one end of the reaction arm is fixed on said upper part of the motorized bearing and the other end is connected to a traction cable, the other end of said traction cable being connected to a said traction hoist.

The combination of said motorized bearing and of said reaction arm is particularly advantageous because it makes it possible to faithfully and accurately reflect the rotational control movements on itself with respect to the axis Z ₁ Z _{1 of} said link and said object and suspended, synchronized rotation by the motorized bearing.

Indeed, when one seeks to rotate the suspended object by actuating the movable lower part of the motorized bearing in the direction of clockwise, the fixed upper part undergoes a reaction which tends to rotate in the reverse. Because the moments of the forces are considerable, the reaction arm is all the more effective as it is longer. Thus, an arm several meters long will remain substantially in alignment with the traction cable connected to the winch of traction, even for large torques needed by the weight of the obj and suspended very heavy that we try to rotate on itself.

In a preferred embodiment, said motorized bearing is equipped with device (s) for determining position and orientation with respect to a fixed reference mark XYZ of the space, capable of indicating the position and orientation of said object and suspended at said link in said fixed reference XYZ by deduction of the position and orientation of said motorized bearing, and preferably a computer to which said (s) device (s) for determining position and orientation is (are) connected (s) ) for displaying on a screen the movements of said obj and in space.

In a preferred variant, said link is independent of the lifting cable and has a torsional rigidity greater than that of said lifting cable, said link being preferably constituted by at least one metal chain or a steel tube or profile. or composite material, said tube or profile having a torsional rigidity and flexible is flexed with respect to its longitudinal direction.

The term "flexion with respect to the longitudinal direction" is used here to mean a bending by which the straight axis of said link at rest adopts a curved shape with respect to said rectilinear axis, when it is stressed in bending.

It is understood that said chain or said tubes or profiles have a very high torsional rigidity much greater than that of said lifting cable.

This torsional stiffness combined with a flexible flex in relation to the longitudinal direction of the link, allows for a first greater mechanical filtering parasitic accelerations recorded at the inertial unit due to possible shocks on a said object. In addition, and above all, this torsional stiffness of said link allows the position and orientation of said obj and movements of said obj and visualized following the calculations of said computer are more faithful to the real movements of said object, that is to say are better synchronized with the movements of said inertial unit.

Here is meant by "pin", a ball bearing device, roller, or bearing type ls, allowing rotation of said link on itself, without torsion at its connection to said ring or hook connection. These characteristics allow the movements of the inertial unit to reflect, even more accurately, the movements of the object.

More preferably, the gripping device is secured to the lower end of the link and adapted to cooperate with a said object, so that:

the center of gravity of said obj and remains in alignment with said link being lifted and displaced, and

- The movements of said object and said link in rotation relative to the vertical axis of said link Z ₁ are passed to one another.

In a particular embodiment, the gripping device at the lower end of said link is constituted by a plurality of slings arranged in a crow's foot, connected to a plurality of lifting rings, integral with said object and distributed around said obj and such that the center of gravity of said obj and remains in alignment with said link being lifted and moved.

In another embodiment, said gripping device is constituted by an entirely rigid device, of the type of sugar tongs.

The rigidity characteristics of said link and gripping devices, such as sugar tongs or crow's feet, are particularly advantageous so that any rotation of said link controlled by the motor bearing is faithfully reflected in said obj and vice versa so that any rotation said obj and itself is accurately and accurately reflected by a synchronized rotation of said link and, where appropriate, a said position measuring device and orientation as described above, including a so-called inertial unit as described below, so that synchronized rotation movements of said object on itself are more accurately retranscribed by the calculations performed on the basis of the data recorded from said measuring devices and in particular the inertial unit.

All the characteristics relating to the rigidity of the link and the structure of said gripping device are therefore intended to render the positioning of a said obj and more precise.

In a preferred embodiment, said link consists of a double spreader comprising two upper and lower transverse beams, said upper beam being secured, preferably in the middle, of said movable lower part of the motorized bearing, and said lower beam being integral, preferably in the middle, of said gripping device of said suspended object, said upper and lower beams being connected to one another by two chains of identical lengths arranged, preferably symmetrically with respect to the longitudinal axis Z ₁ Z _{1 of} said link, preferably said chains being fixed at their upper and lower ends at the lateral ends of said upper and lower beams.

Here, the term "transverse beam" means beams disposed in a direction perpendicular to the axial direction of said link, or in a horizontal direction, when said link is stretched in the vertical direction by an object suspended at its lower end.

This embodiment with a link consisting of a double spreader is particularly preferred, since this arrangement of the two chains gives the link a high torsional stiffness while having a minimal footprint storage and a setting up and easy handling, because it has no intrinsic rigidity in the absence of suspended load. More particularly, in the method according to the invention, said object is a concrete block and, by lifting, moving and laying of blocks, a block assembly in a desired position for the production of a protective dike of shore or harbor dike resting on the bottom of the sea.

To do this, it is necessary to position each new concrete block in a specific position adapted to as semblage of previously deposited blocks, which is why a device according to the invention is particularly advantageous in this application.

It is understood that the inclination of the lifting cable relative to the vertical can be obtained by the implementation of a single pulling cable disposed substantially in the axis of said boom, but also by the implementation of several cables traction, including two traction cables arranged symmetrically or otherwise with respect to said arrow. And, in the case where the two traction cables are arranged symmetrically, it is understood that the displacement in said vertical plane passing through the axis of said boom is by a reduction in identical length of the two traction cables.

On the other hand, it is understood that, to obtain a lateral displacement, it is necessary to use at least two traction cables arranged on either side of said boom and that at least one of the traction cables must know a reduction in length, by actuation of said traction hoist, to obtain this lateral displacement or, if the two traction cables experience a reduction in length, this length must be of different lengths if the two cables are arranged symmetrically with respect to said arrow.

These lateral displacements in a plane inclined with respect to the horizontal or displacements in a vertical plane of said obj and, with the aid of said cable (s) of traction, make it possible especially to stabilize said obj and in the event of swinging during operation, or to avoid the appearance of such swings. The present invention therefore also provides a method of moving and lifting an object using a lifting device and displacement according to the invention, characterized in that one stabilizes and / or adjusts the positioning of said object suspended from said lifting cable, by actuating at least one said traction hoist, by: a- tilting said lifting cable with respect to the vertical ZZ and translational displacement said object, in a vertical plane passing through a said traction cable and said lifting cable, preferably a vertical plane passing through the axis of said arrow X1 X '1, and / or b- moving said object laterally with respect to a vertical plane passing through the axis X1 X' 1 of said arrow, in a plane passing through two traction cables, the two traction cables cooperating with said traction winches disposed on either side of said arrow.

Advantageously, a crane is used whose lower end of said boom rests on an arrow support, itself secured to a steering turret, and said boom being inclined in a vertical plane, said boom being adapted to be rotated relative to a vertical axis integral with said boom support.

In an advantageous embodiment variant, the device according to the invention comprises a single traction cable of which said traction winch is disposed substantially in the axis XX '' 'of said boom, so that the reduction in length of said traction cable, by actuation of said pulling winch makes it possible to incline said lifting cable with respect to the vertical ZZ and to move in translation said object, in a vertical plane passing through said pulling cable and said lifting cable, preferably a vertical plane not by the axis of the arrow

X1 X '1, that is to say when said traction cable is located in the same vertical plane as the axis of said arrow (Xl X' 1).

The implementation of a said traction cable makes it possible to move precisely said connecting ring or hook and therefore said obj and in translation in a vertical plane comprising the axis of the arrow, and of bringing said object closer to said pulling winch without having to modify the inclination of the boom and, of course, without having to move the crane, which is prohibited when the latter is being lifted from a heavy object.

To move in a precise manner said ring or hook of connection and thus said object in translation in a horizontal plane, that is to say laterally with respect to the vertical plane passing through the axis of the arrow, advantageously, the device according to the invention comprises at least two traction cables connected respectively to two traction hoists, one end of each pulling cable being connected to a said traction hoist, preferably secured to a support of said boom, the other end each of the two traction cables being secured to said lifting cable, preferably at its lower end at the same said connecting ring or hook, the two traction winches being disposed on either side of said boom, preferably symmetrically, so that a reduction in length of at least one of said two traction cables makes it possible to move said object laterally with respect to a plane v ertical passing through the axis XlX'l of said arrow, in a plane passing through the two traction cables, preferably a different length reduction for the two traction cables arranged symmetrically with respect to a vertical plane passing through the axis of said arrow.

Advantageously, the two said traction hoists are arranged at both ends of a transverse beam secured to a platform supporting said boom. This makes it possible, in particular, to adjust at the end of the laying the adequacy of the position of a block with respect to the already laid block of a dike in progress.

The present invention therefore also provides a method in which a device of this type according to the invention is implemented and said motorized bearing is rotated so as to orient the object, by rotation on itself, in the final phase of the invention. deposit.

In a simplified embodiment, said device for determining the position and orientation is constituted by: a device of the GPS type integral with said motorized bearing, making it possible to deduce the position of the center of gravity of said object and when it is disposed at the lower end of said link of known length, stretched vertically, and

an orientation determining device integral with said fixed upper part or preferably of said movable lower part of the motorized bearing in the absence of an angular encoder indicating the angle of rotation of the movable lower part with respect to said fixed upper part; said orientation determining device consisting of a magnetic compass indicating the azimuth with respect to the magnetic north.

In an advantageous embodiment, the lifting device and displacement according to the invention said link is equipped with an inertial unit, said inertial unit being fixed on said link, preferably such that the axis of said link, when it is stretched by a said suspended object is confused with one of the axes of the reference (Xc, Yc, Zc) related to the inertial unit, said inertial unit being connected to a computer, preferably located in the cabin of the crane operator, to which are transmitted the data, recorded in real time, of longitudinal accelerations of said inertial unit in the three directions of a moving marker (Xc, Yc, Zc) and rotational accelerations (φ1, φ2, φ3) of said inertial unit by relative to the same axes of the movable reference (Xc, Yc, Zc) linked to said inertial unit, the computer being able to indicate the positions and orientation of said object suspended at said link in a fixed reference (X, Y, Z) of the space, derived from the instantaneous position and orientation of the inertial unit, and, preferably, the computer being able to display on a screen movements of said object in space.

The term "reference (Xc, Yc, Zc) related to the inertial unit" means that said marker is fixed relative to the control unit when it is movable relative to the fixed reference (X, Y, Z). An inertial unit is an accelerometer device known to those skilled in the art, able to record in real time its accelerations of longitudinal displacement in the three directions of space of a movable reference (Xc, Yc, Zc) and the rotational displacement accelerations (φ1, ψ2, φ3) of the same movable marker, with respect to the three axes of a fixed reference (X, Y, Z) of the space.

It is understood that said computer first calculates the evolution of the position and trajectory of said inertial unit. And, knowing these position and orientation of the inertial unit, as well as the distance of said inertial unit from the center of gravity of said obj and, this distance being constant since said link remains tight by said obj and which is suspended, The computer can deduce, by a simple geometric calculation, a position and orientation in real time of said obj and.

It is thus possible, in the absence of any direct visibility of said object by the crane operator, to control the movement of said object according to the data calculated by said computer and to determine the trajectory of said object to be placed at a desired determined location, in particular when the obj ected objects are objects of heavy load, of several tens of tons, such as concrete blocks assembled for the construction of an underwater dike.

According to the present invention, said inertial unit is thus not fixed directly on said object and, as is customary in other fields of use of this type of device, for the following reasons:

1 - said object is likely to collide with other objects during its removal, more particularly when said obj and is a concrete block that is deposited at the bottom of the sea to make a dike, the shocks with previously laid blocks being frequent. Fixing the inertial unit on said obj and may cause damage to said power plant during said shocks. 2- the fact of deporting the support of the inertial unit with respect to said object along said link allows a first clipping or filtering of the amplitude of the accelerations related to the possible shocks, fas mechanically through said link, as explained later.

3 - the fact of moving upwards said central allows to maintain it out of the water and use positioning means in the space type GPS (Global Positioning System), DGPS (GPS differential), positioning type laser or automatic theodolite, as explained below.

The present invention therefore also provides a method of moving and lifting an object and using a device according to the invention comprising an inertial unit, characterized in that said object is moved and in view of the to pose at a determined location, according to its position and its angular orientation with respect to the three dimensions of the space (XYZ, φ l -φ2-φ3) and, preferably, according to the visualization of its movements, such as calculated by said computer.

In a preferred embodiment, said inertial unit is coupled to a Kalman filter which makes it possible to clip the acceleration amplitudes recorded by the inertial unit, in the event of a large acceleration amplitude of the inertial unit caused by an impact. on said obj and, and making it possible to substitute, at these amplitudes of accelerations thus clipped (hereinafter parasitic accelerations), the probable values of evolution of the position parameters of said inertial unit, and, preferably, said Kalman filter furthermore making it possible to identify the location of said shock and, more preferably, to display on the screen the position of the object and during the impact and / or of another said obj and already posed with which said obj and during installation has collided.

These Kalman filters are known to those skilled in the art. Such a filter is a recursive estimator that is used to eliminate motion

"parasites" calculated aberrantly by the computer given their appearance in the form of peaks, while these movements are not performed in reality, especially in case of shocks on said object, as explained below.

In an original way according to the present invention, this Kalman filter is used to further identify the location at which said object has received an impact, for example by visualizing said object by a different color at each shock, in the zone of said shock. . It is understood that this last information is very useful for the crane operator, in order to adjust the position of the block in the final phase of removal of said obj and, in particular of a block on a dike, and more particularly in the absence of any visibility of said block by the crane operator or by an assistant diver responsible for supervising said final phase.

In a preferred embodiment, said inertial unit is combined with a device for directly measuring the position of said inertial unit in said fixed frame (φ1, φ2, φ3), said measurement comprising the study of the path of an emitted wave. by said measuring device, such as a laser sighting device, an automatic theodolite or, preferably, a differential GPS.

This embodiment makes it possible to implement a method in which, advantageously, only the angular acceleration data (φ1, φ2, φ3) recorded with the aid of said inertial unit are processed within the computer. it being coupled to a Kalman filter, and the longitudinal position in the space of said object with respect to said fixed reference (X, Y,

Z) being provided by means of an additional device for directly determining the position of said inertial unit by means of wave emission, such as a device of the laser aiming system, theodolite or, preferably, a device of the differential GPS type.

Advantageously, in a method according to the invention, the realization by the Kalman filter of the clipping acceleration amplitudes caused by shocks on said obj and is used for identify and, preferably, display on a screen, the occurrence of a shock on said object.

This makes it possible, in particular, to adjust at the end of the laying the adequacy of the position of a block with respect to the already laid block of a dike in progress.

According to another advantageous characteristic, said inertial unit is integral with said link in the vicinity of said connecting ring or hook between said lifting cables and said link, where appropriate under a said motorized bearing or journal connected to the end of said link and cooperating with a said hook or connecting ring.

Advantageously, said inertial unit is fixed on said link at a distance from said block such that said inertial unit is always kept out of water.

Other characteristics and advantages of the present invention will become more apparent on reading the description which follows, given in an illustrative and nonlimiting manner, with reference to the appended drawings in which:

FIG. 1 represents, in section and in side view, the installation of artificial blocks of cubic shape, for producing the shell of an embankment embankment according to the prior art,

FIGS. 2A-2B show respectively in view of sus and in side view, a cube-shaped block,

FIGS. 3A-3B show a side view of a "gripper" type gripping device for adjusting the orientation angle of said block relative to the vertical,

FIG. 4 shows in side view the laying of artificial blocks of cubic shape using the lifting device according to the invention, FIG. 4A represents the cartesian orthogonal coordinate system linked to the inertial unit with respect to the fixed reference Cartesian reference frame XYZ,

FIG. 4B represents the Cartesian orthogonal coordinate system Xc-Yc-Zc relating to the oblique position of the inertial unit with reference to FIG. 4;

- Figure 5 is a view relating to Figure 4 shown in view of sus, in which the positioning of the hook is provided by two traction cables connected to two traction winches, the latter being either integral with the structure of the crane installed on fixed supports in relation to the ground,

FIG. 5A represents a view from above of the lateral and longitudinal displacements of the connecting hook by acting on the length of the traction cables connected to the traction hoists,

- Figure 5B shows an inertial unit 6 mounted on a rigid link 8a, consisting of a profiled tube of steel or rigid material, and connected to the lower end of the hoist cable and a traction cable 9a-9b via a pin 29,

FIGS. 6A-6B illustrate the operating mode of a Kalman filter,

FIG. 7 is the logic diagram of the operation of a Kalman filter in the particular case of laying blocks according to the invention,

FIGS. 8A and 8C are side views of a rigid link constituted by a tube or section made of steel or rigid material 8a (FIG. 8A) or by a steel chain 8b (FIG. 8C), cooperating with the connection point ends of the traction cables 9 and lifting cable 1a through a motor bearing 30 cooperating with a reaction bar 32,

- Figure 8B is a top view of Figures 8A and 8C. - Figure 8D is a side view of a rigid link consisting of a double spreader 8c.

In Figure 1, there is shown the laying of artificial blocks according to the prior art. A crane 1 installed on the embankment 2a closest to the sea 3 handles a block 4 suspended by a clamp 5 to the main cable of said crane, said lifting cable, to make the shell of a fill 2c according to a predetermined profile corresponding substantially to the curve 2d. The crane comprises a support platform 14 which supports a cockpit 13 and an arrow Ib which rests on the platform 14 by its lower end. The arrow I b is in an inclined position relative to the vertical, this inclination being variable and adjustable, in particular by means of an arrow support cable I c connected to a lifting winch 18 supported by said platform 14. The support platform 14 is able to be displaced in rotation about a vertical axis ZZ with respect to its displacement means on which it rests, such as tracks 19, thus rotating the boom and the cabin of the crane around a vertical axis. By jetting along the length of the cables I c, the orientation of the arrow I b in the vertical plane can be adjusted so that the block 4 can then be positioned vertically to its destination, and then lowered by turning the cable to be deposited at the desired location on the work already appeared. This procedure works properly when the sea is calm and the work can be controlled by divers. On the other hand, when a large chop or an offshore swell 3a is established over a long period, the work must be interrupted because, under the effect of said swell, the suspended block is urged and oscillates for several meters. in all directions, and more or less randomly. Moreover, in the area of the embankment not yet protected, the swell breaks or creates a major agitation suspending particles of sand or aggregates, or creating micro air bubbles and foam, which make the visibility almost zero, thus preventing any intervention by the divers. FIGS. 2A-2B show respectively in view of sus and in side view an artificial block 4 of known shape, substantially cubic having on its lateral faces median recesses, in the form of substantially cylindrical grooves with half cross-section. circular. These recesses or grooves 4a have the advantage of facilitating gripping, increase the interblock reactions and the "porosity" of a semblance of blocks. Thus, when a block assembly is struck by the incident wave, during heavy swells or storms, the energy released is considerably increased by this porosity and the attenuation effect is thus reinforced. Unlike the storage of blocks during manufacture and supply, which requires a very orderly arrangement so as to occupy as little space as possible, as shown in Figure 5, when setting up the blocks for a dike , we aim at optimizing the overall porosity, that is to say that we try to install the blocks askew in relation to each other while atantant them a stable contact with the adjacent blocks and the adjacent lower blocks, the next layer to permanently lock the position of the lower previous layer, thus ensuring the stability of the whole throughout the life of the work that exceeds several decades or even the century. This procedure is known to those skilled in the art and is the subject of special preparations leading to specific laying plans that must be respected for the work of art to properly fill his office. Many very different specific forms have been developed in the world (for example, reference is made to the international recommendations which describe them extensively), and some of them have the advantage of naturally interlocking with each other.

In FIGS. 3A-3B, a front view is shown of a known gripping device 5a of the "sugar tong" type in the form of a half circle, which makes it possible to grasp the block either vertically (FIG. 3A) or with a angle α relative to the vertical (Figure 3B). In Figure 4, preferably, the gripping device is constituted by a crowbar slings 5b having at least three strands attached to the lifting rings 5c incorporated in precise positions of the block before pouring concrete. This gripping device 5b makes it possible to maintain the center of gravity of the block in the axis of alignment of the link 8, on the one hand, and, on the other hand, favors the synchronization of the rotations of said block and said link with respect to the Z axis ₁ (axis of the link 8).

In Figure 4, there is shown in side view the device according to the invention consists of a ring or connecting hook I d located at the end of the hoist cable l a. The connecting hook I d is connected to the upper end of a link consisting of a sling 8, preferably via a motor bearing 30, its lower end being connected to a crow's foot 5b connected to lifting rings 5c integral with the block 4. On the sling 8, preferably out of the water, preferably in the upper part near the hook connection I d, one (or) device is installed ( s) 6 of determination of position and orientation of said obj and 4 suspended at said link 8 stretched vertically, in a fixed reference of the space XYZ, such as an inertial unit 6 whose function is to record in real time the longitudinal displacement accelerations along the Xc-Yc-Zc axes, as well as the rotational accelerations Φi "φ ₂ " φ ₃ about the same axes. The Cartesian coordinate system corresponding to said axes is a reference relative to the actual support of the inertial unit, as shown in FIG. 4A, the Zc axis corresponding to the longitudinal axis Z ₁ of the link 8. Thus, when the link 8 is vertical as shown in dashed lines in FIG. 4, said axis Zc then corresponds to the vertical axis Z of the fixed marker, the Xc-Yc axes having an angular offset θ relative to the XY axes of the fixed marker.

When the assembly consisting of the cable 1a, the inertial unit 6, the link 8, the gripping means 5 and the artificial block 4 moves, the longitudinal accelerations along Xc-Yc-Zc and angular according to φ ₁ -φ ₂ - φ ₃ are recorded in real time within the inertial unit and transmitted to a computer, preferably located in the crane operator's cabin. This allows, by a double integration with respect to the time, to calculate the exact trajectory of said inertial unit, as well as its orientation, and thus the direction of the link 8, since the orientation of the link 8 is constant with respect to the orientation. of the inertial unit. Knowing this direction, as well as the distance from the inertial unit to the center of gravity of the block, we deduce from this a simple geometrical calculation the real time position of the center of gravity of the block, therefore the position in real time of the block , and this in the absence of any direct visibility of the block by the crane operator.

Thus, a preferred procedure is as follows:

block 40 is seized on the storage area of FIG. 5, said block being in the known position XO-YO-ZO, then

the link 8 is stretched by acting on the lifting cable 1 a, the said link is then vertical and the Cartesian marks relating to the inertial unit and the absolute reference point have the Z axis in common as detailed in FIG. 4A, then,

as soon as the block leaves the ground 2a, the inertial unit is triggered which then records all the movements of said central unit, then

positioning the upper end of the boom so that said obj and is substantially in line with the desired location in the drop zone as shown in Figure 4, and then

knowing the absolute position of the inertial unit, the position of the block is calculated in real time, and the final approach by the crane operator, before removal, is carried out, even in the absence of visibility or in the absence of any control by divers, thanks to said calculated XYZ position of the block, the movements of the block as well as the state of the work already performed being displayed on a screen in the cabin crane operator, and

after removal, the gripping device is disconnected, preferably automatically by a release device, not shown, controlled from the crane operator's cabin; the crane is then free to go to grab the next block on the storage area.

In Figure 4, there is shown a traction cable 9 connected at its right end to the ring I d and at its left end to a traction winch 10 secured to the turret 13 of the crane. During the handling of the block by the crane, the length ρ of said pulling cable is reduced, in order to bring the connecting ring or hook I d towards the vertical of the point of deposit, which has the advantageous effects of drastically limiting the oscillations. of the block in the XoZ plane. In addition, this maneuver is much faster than straightening the arrow I b of the crane by acting on the cables I c, to come to position its end to the vertical of said point of removal.

In a preferred version of the invention shown in the plan view of FIG. 5, there are two traction cables 9a-9b connected to two traction winches 1A-Ob, the two traction winches advantageously being secured to each other. a beam 17, itself secured to the supporting structure of the arrow I b, so the turret of the crane. By acting on the respective lengths Q ₁ - ρ ₂ of the traction cables 9a-9b, the ring or connecting hook I d is accurately positioned in a bipolar manner in the plane formed by the two straight lines constituted by said cables. 9a-9b, said straight lines intersecting at point C at the ring I d. Thus, when the connecting ring or hook I d is brought back to the turret of the crane by reducing the length of said cables, as detailed in FIG. 4, the two cables 9a-9b are strongly tensioned and, if the lengths Q ₁ = Q ₂ , the connecting ring or hook is exactly in the axis of the crane boom. The triangle ABC formed by the end of the cable leaving the winch 10a (A), the end of the cable coming out of the winch 10b (B) and the point C constituting the ring or connecting hook I d is isosceles and said ring is then stabilized in its position thus avoiding any lateral swing relative to the axis of the crane, in the direction of the Y axis. This stabilizing effect being all the more important as the inclination β of the cable of crane relative to the vertical is important, because the decomposition of forces at the ring or connection hook I d (point C) creates a horizontal tension in the traction cables 9a-9b, proportional to said inclination β.

By reducing the length of one of the traction cables relative to the other, as shown in FIG. 5A, for example the traction cable 9a, the point C of the triangle, and therefore the connecting ring or hook I d, moves upwardly in the figure by describing a circular arc 12 centered at A. Thus, j j over the lengths of the cables 9a-9b, it is advantageous to accurately position the ring or connecting hook in n ' any point of the surface January 1, while preventing the swinging movements of said ring in both directions XX-YY.

Thus, by using only one pulling cable 9 as explained with reference to FIG. 4, almost all of the swinging of the ring or hook I d in the plane XoZ only, the ring or connecting hook I d remaining free to swing in the perpendicular plane YoZ, while with two traction cables 9a-9b as explained with reference to Figure 5, it removes almost the entire swing in the planes XoZ and YoZ, the ring remaining stable. And, by varying the length differences Q ₁ -Q _{2 of} said traction cables 9a-9b, said ring or hook connection I d is accurately displaced on a surface 1 1 of several m ² , in all directions around the initial position, thus allowing extremely precise and stable positioning of said blocks in the space.

Compact devices are commercially available, including an inertial unit equipped with a gyroscope and accelerometer for measuring movements, orientation and position of an obj and which it is secured. It will be possible to use a device marketed by XSens Technologies B. V. (the Netherlands). These devices generally comprise a metal support on which is fixed the inertial unit itself. This support will be attached to the link.

The operation of an inertial unit is known to those skilled in the art, but its operation in the context of the invention is very particular. Indeed, in the final phase of the approach, just before the removal of the block on the book, the block comes knocking in general adjoining blocks before then move to its final position. These shocks induce sudden variations in speed, and therefore significant accelerations, which disturb the inertial unit, which is then no longer able to provide a precise and reliable calculated positioning, which creates an unacceptable shift in the calculated position of the block relative to one another. at its real position.

To overcome this drawback, a Kalman filter, known to those skilled in the art, is used in a particular way to eliminate these disturbances. The Kalman filter is a recursive estimator. This means that to estimate the current state of a system, only the previous state and the current measurements are needed to estimate the future position with optimal accuracy. Thus, in the event of a side impact as explained in FIG. 6A, the acceleration, angular or longitudinal, has a series of peaks 15 during a lapse of time s δt. During this time δt, the block has hardly moved, but the mathematical calculation consisting of the double integration of accelerations on each of the axes over this period δt, generally leads to aberrant calculated movements, because not performed in reality. For this purpose, the Kalman filter detects these parasitic accelerations by simple analysis in real time of the previous step of the movement, the filter isolates them by clipping 16a-16b said accelerations, and thus does not take them into account in the mathematical calculation of the instantaneous position. In certain configurations, the Kalman filter is able, by analyzing the previous steps, to predict the movements during this short period Δt and thus to substitute for these parasitic accelerations, the probable evolution of the system, as represented in FIG. 6B, thus leading to better reliability in calculating the instantaneous position.

In a preferred version of the invention, only the angular accelerations are used in the calculation of the exact position of the block, the longitudinal acceleration peaks are observed to signal to the crane shocks blocks with adjacent blocks or those of the lower layer, but the accelerations themselves are not directly taken into account in the calculation of the position. Thus, to determine the position of the block in real time, it is measured, for example by means of an automatic theodolite shown in FIG. 4 in the same form 7a-7b as the data transmission device, the XYZ position. in real time of the inertial unit 6, then knowing the evolution in real time of the angular accelerations φi -φ ₂ -φ ₃ of said plant, we deduce the direction of the link 8, and knowing the distance from the center of gravity from the block to said inertial unit which is a constant length L, the exact position of the center of gravity of the block is calculated.

In a preferred version of the invention, the inertial unit is provided with a DGPS satellite positioning system. This system, known to those skilled in the art, is a differential system, that is to say, a beacon is installed on the inertial unit and a second beacon is installed on the ground at a fixed point. Thus, by synchronously combining the signals of the two receivers, the positioning of the mobile is realized, not in absolute terms with respect to the satellite, but in relative relation to the fixed receiver, thus radically improving the positioning accuracy.

FIG. 7 shows a first global mode of operation of the positioning system, in which the six main raw parameters (longitudinal accelerations Xc-Yc-Zc and angular accelerations φ l -φ2-φ3) are transmitted. from the inertial unit 6 to the computer, preferably located in the cabin 13 of the crane operator. The data is then processed within the computer 20 by the Kalman filter 20a and the position 21 of the block 4 is established on the basis of all or part of these 6 filtered parameters. The exploitation of the data relating to the aberrant accelerations, corresponding to the shocks of the block with the adjacent blocks, is carried out at 20b and is displayed at 22, preferably directly in the cabin of the crane operator, advantageously in the form 22a: vertical shock amplitude " 3 ", in the form 22b: right lateral shock (amplitude" 0 ") and, in the form 22b: left side impact (amplitude" 0 "). Thus, the crane operator knowing the type of shock and its amplitude, is able to judge the type of contact between the block being installed and the work already made, and thus determine in the absence of any visual contact , or any information from divers, the adequacy of the position of the block relative to the laying plan, so its correct installation.

In the same FIG. 7, there is shown a second preferred overall mode of operation of the positioning system, in which the 6 main parameters in the raw state (longitudinal accelerations Xc-Yc-Zc and angular accelerations φ1 -φ2-φ3) are transmitted from the inertial unit 6 to the computer preferably located in the cabin crane operator. Only the angular accelerating data φ l -φ2-φ3 then processed within the computer 20 by the Kalman filter 20a, the position in the space of said inertial unit 6 being provided by a remote measurement means 7a. -7b, such as an automatic theodolite, a laser sighting system or a DGPS-type satellite positioning, which makes it possible to very precisely calculate the position 21 of the block 4 by not considering the values of the longitudinal accelerations Xc-Yc-Zc . The exploitation of the outlier acceleration data is carried out in the same way as explained above, which allows the crane operator to have in real time accurate information on the various shocks between the block being installed and the work already done, just before the final deposit.

In a preferred version of the invention shown in the figures

8A-8B, the link 8a consists of a bar, preferably rectilinear, resistant to torsion, and rigidly secured to the gripping tool, such that the orientation of the inertial unit secured to the link 8a has the same orientation along the Zc axis as the block 4. Said link 8a is connected to the connecting ring I d via a motorized bearing 30, electrical, hydraulic or pneumatic, powered by means not shown, acting as a pin when the engine is disengaged. A rigid arm acting as a reaction arm 32 is secured to one end of the fixed upper portion 30a of the motorized bearing 30, and at the other end, it is connected to a tension cable 9b under tension. The movable lower part 30b in relative rotation with respect to said fixed upper part, along the axis Zc of the motorized bearing, is rigidly connected to the upper end of said link 8a. Thus, by actuating the operator in one direction or the other, the movable lower portion 30b of the motorized bearing drives the inertial unit 6 and the block 4, the angular displacements being substantially identical because of the torsional rigidity according to the invention. Z axis ₁ Z _{1 of} said link 8a. The reaction arm counterbalances the effects of torsion at the fixed upper portion 30a of the motorized bearing. Indeed, as shown in FIG. 8B, a torsion torque M applied to the fixed upper part 30a of the motorized bearing induces a rotation 32a of the reaction arm 32. And because the reaction arm and the traction cable 9b are under a large voltage due to the angle β of the hoisting cable la with the vertical, a return force F proportional to the gap, brings said arm 32 in alignment with the pulling cable 9b. Thus, shortly before depositing the block 4 in final position, the instantaneous position of said block being known thanks to the inertial unit, the crane operator can accurately adjust its orientation a few degrees of rotation along the axis Zc, by simply acting on the motor 30, in one direction or the other. The angular movement being recorded by the inertial unit, is then immediately available to help the crane operator in this final phase of the installation.

In FIGS. 8A-8B, the device according to the invention is represented with two traction cables 9a-9b, only the traction cable 9b is connected to the reaction arm, the cable 9a being connected directly, either to the ring or hook I d, either at the upper part 30a of the motor, in the immediate vicinity of its axis of rotation. In the case of the use of a single traction cable 9, as shown in Figure 4, the reaction arm 32 is connected directly to said cable.

In a simplified version of the invention, not shown, the motorization is removed, and the link 8a having a torsional stiffness along the axis Zc, is on the one hand suspended from the ring or hook I d, and from secondly rigidly connected to the reaction arm 32. It is then appropriate in this case, when entering the block wise on its storage area, as described above with reference to Figure 5, that the position of the gripping tool is pre adjusted in such a way that once the crane is in position in the removal zone, the block has the right orientation, since the crane operator then no longer has the means to vary this angular positioning along the vertical axis Zc.

FIG. 8C shows an advantageous embodiment of the link 8 having torsional rigidity, which is in the form of a chain 8b. Indeed, in the absence of tension in the chain, it is possible to rotate it on its axis Z ₁ Z ₁ with little effort, but when we apply a significant tension, each of the links being perpendicularly connected to the following and the diameter of the wire of each of the rings being slightly less than the free internal diameter of the adjacent ring, the chain will naturally tend to reposition itself in a configuration of zero torsion, hence perpendicular to the adjacent link, as detailed in Figure 8C. In FIG. 8C, the inertial unit 6 is integral with the rotatable lower part 30b of the motorized bearing.

The link 8, 8a-8b with torsional rigidity along the axis Z ₁ Z ₁ can be obtained from a simple steel tube, or from a profile made of composite material, which has a good torsional rigidity, while maintaining great flexural flexibility in the XoZ and YoZ planes, which advantageously makes it possible to perform a first mechanical filtering of the shocks on the blocks, thus avoiding passing directly to the inertial unit all the parasitic accelerations due to shocks.

In a preferred version shown in FIG. 8D, the link 8 consists of a double spreader 8c consisting of:

An upper beam 80 perpendicular to the longitudinal axis

Z ₁ of the double spreader, corresponding to the axis Zc of the motorized bearing when an object is suspended to it, and secured in the middle of the movable lower part 30b of the motorized bearing, and

• a lower beam 81 secured in the middle to said gripping device 5 of the blocks 4 which is rigidly attached to it on the underside, and

Two identical chains 82a-82b of equal length respectively connecting the lateral ends of said beams, the two chains 82a-82b being arranged symmetrically with respect to the Z axis of said link corresponding to the axis of rotation

Zc of said motorized bearing.

Under the effect of the self-weight of the beam-chain assembly, the double spreader 8c forms a trapezium and remains in the same vertical plane when a block 4 is suspended at the lower end of the double spreader 8c.

When the motorized bearing is actuated, the two beams 80-81 are then no longer exactly in the same vertical plane, and the load slightly tends to rise. But, the weight of the assembly tends to return the lower beam 81 in the same plane as that of the upper beam 80, which corresponds to the equilibrium state of the system. This arrangement is more advantageous than that of Figure 8C, because its torsional rigidity is much greater. Likewise, it is more advantageous than that of FIG. 8A, since it imposes a maximum distance between the upper and lower beams, but no minimum distance, whereas tube type link or rigid section 8a imposes a fixed distance between the motorized bearing and the gripping device of the load.

This fixed distance of the rigid link 8a involves a larger storage space, less easy handling for the establishment and manipulation of the link.

The risk of damage to the link 8c storage and handling are reduced compared to a rigid link 8a.

The double spreader has been described as being connected in their middle on the one hand to the movable part of the motorized bearing, and on the other hand to the gripping device, but it remains in the spirit of the invention if the point of attachment is eccentric in the same proportion and in the same direction, for each of the pedals. This variant is not the preferred version of the invention, because it has lower performance for the same mass of structure, that is to say, beams and chains.

It remains in the spirit of the invention if the hoisting rope is continuous up to the gripping device 5, the hook or the ring then being replaced by a mechanical cable clamp from gripping said hoisting rope at a fixed point on which the end of the traction cable or cables is connected, the part above the cable tie then acting as the lifting cable and the part below the cable tie acting as the link 8.

In a simplified embodiment, the device for measuring the position and orientation of said object or block 4 consists of: a GPS device O ₁ or preferably of the DGPS type as previously described, integral with the upper part 30a of the motorized bearing 30 and to deduce the position of the center of gravity of the block 4 when it is arranged at the lower end of the tensioned tie 8 arranged vertically whose length is known, and a determination of the orientation device 6 ₂ secured to the movable lower part 30b of the motor bearing which is secured, this orientation determining device preferably consisting of a magnetic compass indicating the azimuth relative to magnetic north, fixed on the upper beam of a double spreader 8c.

Due to the synchronization of the rotations of said link 8 and said block 4, the determination of the orientation, that is to say here of the azimuth with respect to the fixed portion 30a or preferably movable lower portion 30b of the bearing motorized to which is fixed the magnetic compass, allows to deduce the orientation of said block 4 suspended at said link stretched vertically 8 and thus allows to control the rotation of the motorized bearing 30 so as to place the block 4 in the orientation before removing it from the already existing blocks.

When the motorized bearing 30 is equipped with an angular encoder capable of accurately indicating the angular orientation of the movable lower part 30b of the motorized bearing relative to its fixed upper part 30a, the magnetic compass is advantageously installed on the upper fixed part. motorized bearing. Indeed, knowing the orientation relative to the magnetic north of the fixed upper portion 30a of the motorized bearing, and knowing the orientation of the movable lower part relative to the fixed upper part of the motorized bearing with the aid of the encoder angular, one can deduce the orientation of said block suspended at said stretched link 8 due to the torsional rigidity of said link 8a-8b-8c.

In FIG. 8D, there is shown a DGPS O ₁ installed on the fixed upper part 30a of the motorized bearing and a magnetic compass 6 ₂ secured to the mobile part of the motorized bearing, fixed to the end of the upper beam 80.

But, insofar as an angular encoder makes it possible to know the orientation of the movable lower part 30b of the motorized bearing, relative to its fixed upper part, the compass will be advantageously installed. magnetic 6 ₂ near DGPS O ₁ , that is to say on the fixed upper part of said motorized bearing.

Claims

1. Device for lifting and moving an object (4) comprising a crane (1), said crane comprising an arrow (I b) equipped with a first cable, said lifting cable (la), preferably comprising at its end a link (8, 8a-8b-8c) adapted to support at its lower end a said object which is suspended from it by means of a gripping device (5,5a-5b), wherein said cable lifting device (1a), suspended at the end of said boom (Ib), is coupled to at least one second cable, said traction cable (9, 9a-9b), one end of which is connected to at least one winch of traction (10, 1 Oa-I Ob), preferably integral with a support platform (14) of said boom, the other end of the pulling cable (9) being integral with the suspension hoisting rope, preferably at a hook or connecting ring (I d) at the lower end of said hoisting cable, so that the length reduction of at least ins a said traction cable, by actuation of at least one said traction hoist, allows: a- to tilt (β) said lifting cable (la) relative to the vertical (ZZ) and to move in translation said object (4), in a vertical plane passing through a said traction cable and said lifting cable, preferably a vertical plane passing through the axis of said arrow (XlX'l), and / or b- moving said object laterally with respect to a vertical plane passing through the axis (XlX'l) of said boom, in a plane passing through two traction cables (9a, 9b), the two traction cables cooperating with two traction hoists (1 Oa- I Ob) arranged on either side of said boom, characterized in that it comprises: a motorized bearing (30) comprising a fixed upper portion (30a) and a lower portion (30b) movable in relative motorized rotation with respect to said upper fixed portion, said fixed upper portion (30a) of said motorized bearing (30) and secured to a said connecting ring or hook (Id) at the lower end of said lifting cable, and said link being connected at its upper end to said lower moving part (30b) of said motorized bearing, said motorized bearing (30) thus making it possible to control the motorized rotation of said link and said object and in rotation on itself when said movable lower part (30b) is actuated in motorized rotation, said a motor bearing (30) acting as a trunnion when its rotatable lower part (30b) is disengaged, and said motorized bearing (30) cooperating with a rigid arm, said reaction arm (32), which makes it possible to take up the torsional forces generated by said rotating motor bearing, at the upper portion (30a) of said integral motor bearing connecting ring or hook, said reaction arm (32) being interposed between the end of a said traction cable (9a, 9b) and the fixed upper portion (30a) of said motor bearing which it is secured. 2. Device according to claim 1, characterized in that said motorized bearing (30) is equipped with positioning and orientation determination device (s) (6, O ₁ -O ₂ ) relative to a fixed reference (XYZ ) space, aρte (s) to indicate the position and orientation of said obj and suspended at said link in said fixed reference (XYZ) by deduction of the position and orientation of said motorized bearing, and preferably a computer to which (s) said position determining and orienting disruption device (s) is (are) connected to display on a screen the movements of said obj and in space. 3. Device according to one of claims 1 or 2, characterized in that said link (8, 8a-8b) has a greater torsional stiffness than said lifting cable (la), said link being preferably constituted by at least one metal chain (8b, 8c) or a tube or section (8a) of steel or composite material, said tube or section (8a) having torsional rigidity and flexibility in flexion with respect to its longitudinal direction, and - The gripping device (5,5a-5b) is integral with the lower end of the link (8, 8a-8b-8c) and adapted to cooperate with a said object, so that: the center of gravity of said object remains in the vertical alignment (ZZ) of said link being lifted and displaced, and - The movements of said object and said link in rotation relative to the axis of said link (Z ₁ Z ₁ ) are passed to one another. 4. Device according to claim 3, characterized in that said link consists of a double spreader (8c) comprising two upper transverse beams (80) and lower (81), said upper beam (80) being integral, preferably in its middle of said movable lower part (30b) of the motorized bearing, and said lower beam (81) being integral, preferably in the middle of said gripping device (5,5a-5b) of said suspended object, said upper beams (80) and lower (81) being connected to one another by two chains of identical lengths (82a, 82b) arranged, preferably symmetrically with respect to the longitudinal axis (Z ₁ Z ₁ ) of said link, preferably said chains (82a, 82b) being secured at their upper and lower ends at the lateral ends of said upper and lower beams. 5. Device according to claims 1 to 4, characterized in that it comprises a single pulling cable (9), said pulling winch (10) is disposed substantially in the axis (XlX'l) of said arrow, so that the reduction in length of said traction cable, by actuation of said traction hoist, makes it possible to incline said lifting cable with respect to the vertical ZZ and to translate said object in translation in a vertical plane passing through said traction cable and said hoisting rope, preferably a vertical plane passing through the axis of said boom (XlX'l), that is to say when said pulling cable is situated in the same vertical plane as the axis of said arrow (XlX'l). 6. Device according to claims 1 to 4, characterized in that it comprises at least two traction cables (9a, 9b) connected, respectively, with two pulling winches (10a, 10b), one end of each pulling cable being connected to a said pulling winch (10a, 10b), preferably secured to a support (14) of said boom, the other end each of the two traction cables being integral with said lifting cable (1a), preferably at its lower end at the same said connecting ring or hook (Id), the two traction winches being arranged on either side of said boom, preferably symmetrically, so that a reduction in length (ρl, ρ2) of at least one of said two traction cables (9a, 9b) makes it possible to move said object laterally with respect to a vertical plane passing through the axis (X1X'l) of said boom, in a plane passing through the two traction cables (9a, 9b), preferably a different length reduction for the two traction cables arranged symmetrically with respect to a plane vertical passing through the axis d e said arrow. 7. Device according to claim 6, characterized in that said two traction winches (10a, 10b) are arranged at both ends of a transverse beam (17) integral with a platform (14) supporting said boom. 8. Device according to one of claims 1 to 7, characterized in that said device for determining the position and orientation (6, O ₁ -O ₂ ) is constituted by: a device type GPS (O ₁ ) integral with said bearing motor (30) for deriving the position of the center of gravity of said object (4) when it is disposed at the lower end of said link (8) of known length stretched vertically, and an orientation determining device (6 ₂ ) integral with said fixed upper portion (30a) of the motorized bearing or preferably of said movable lower portion (30b) of the motorized bearing in the absence of an angular encoder indicating the angle of rotation of said movable lower part relative to to said fixed upper part, said orientation determining device consisting of a magnetic compass indicating the azimuth relative to the magnetic north. 9. Device according to one of claims 1 to 7, characterized in that it comprises a said link (8, 8a-8b) is equipped with an inertial unit (6), said inertial unit being fixed on said link ( 8, 8a-8b), preferably such that the axis of said link, when stretched by a said obj and suspended, coincides with one of the axes (7c) of the reference (Xc, Yc, Zc) bound to the inertial unit, said inertial unit (6) being connected to a computer (20), preferably located in the cabin (13) of the crane operator, to which are transmitted the data recorded in real time of longitudinal accelerations of said inertial unit in the three directions of a movable marker (Xc, Yc, Zc) and rotational accelerations (φ1, φ2, φ3) of said inertial unit with respect to the same axes of the movable marker (Xc, Yc, Zc) related to said inertial unit, the computer being able to indicate the positions and orientation of said obj and suspended in said li in a fixed reference (X, Y, Z) of the space deduced from the position and orientation of the inertial unit, and, preferably, the computer being able to display on a screen movements of said object in space. 10. Device according to claim 9, characterized in that said inertial unit (6) is coupled to a Kalman filter (20a) which allows to clip (16a-16b) the acceleration amplitudes recorded by the inertial unit, in the event of a large acceleration amplitude of the inertial unit caused by an impact on said object, and to substitute for these amplitudes of accelerations thus clipped the probable values of evolution of the position parameters of said inertial unit, and, preferably, said Kalman filter further making it possible to identify the location of said shock and, more preferably, to visualize on the screen the position of the object and during the impact and / or another said obj and already at posed with which said obj and being laid collided. 1 1. Device according to one of claims 9 or 10, characterized in that said inertial unit (6) is combined with a device for directly measuring the position of said inertial unit in said fixed frame (φ l, ψ2, φ3 ), said measurement comprising the study of the path of a wave emitted by said measuring device, such as a laser sighting device, an automatic theodolite or, preferably, a differential GPS. 12. Device according to one of claims 1 to 10, characterized in that said inertial unit (6) is integral with said link (8, 8a-8b) near said ring or hook connection (I d) between said cables. lifting and said link, if necessary under a said pin (29) connected to the end of said link and cooperating with a said hook or connecting ring (I d). 13. A method of moving and lifting an obj and using a device according to one of claims 1 to 1 1, characterized in that one stabilizes and / or adjusts the positioning of said suspended object said lifting cable, by actuating at least one said traction hoist, in: a-tilting (β) said lifting cable (la) relative to the vertical (ZZ) and translational displacement said obj and (4), in a vertical plane passing through a said traction cable and said lifting cable, preferably, a vertical plane passing through the axis of said arrow (XlX '1), and / or b- moving said object laterally relative to a vertical plane passing through the axis (X1 X '1) of said arrow, in a plane passing through two traction cables (9a, 9b), the two traction cables cooperating with said traction hoists arranged on either side of said boom. 14. The method of claim 13, characterized in that it implements a device according to one of claims 5 or 6, and said motor bearing (30) is rotated so as to orient the objective and, by rotation on itself, in the final phase of removal. 15. Method according to one of claims 13 or 14, characterized in that one implements a device according to one of claims 2 to 12 and moves said obj and to pose it at a specific location, as a function of its position and its angular orientation with respect to the three dimensions of the space in a fixed reference (X, Y, Z) deduced according to the position and orientation indications provided by said position and orientation determination device ( 6) and, preferably, according to the visualization of its movements, as calculated by said computer. 16. Method according to one of claims 1 to 1 5, characterized in that said object is a concrete block and is made, by lifting, moving and laying of blocks, as semblage of blocks in a desired position for the realization a shore protection dyke or harbor dike resting on the bottom of the sea.