• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The invention relates to a robotic device (1) for inspecting a pipeline, comprising at least one pair of propulsion elements (2, 3, 4, 5) each comprising a rotary drum (6, 7; 9), an outer surface has a screw thread, the device being characterized in that it further comprises a body (10) associated with the at least one pair of propulsion elements and in which are housed a sensor at least one pair of electric motors (17-20) for rotating a rotating drum and at least one pair of electric power sources (21a-21c, 22a-22c, 23a-23c, 24a-24c) each for powering a electric motor, the body being shaped so that a ventral portion and a dorsal portion of the device are symmetrical to each other with respect to a median frontal plane (PF) of the device, thus allowing movement of the device either on the belly or on the back.
    公开号:FR3035951A1
    申请号:FR1554098
    申请日:2015-05-07
    公开日:2016-11-11
    发明作者:Florent Souvestre
    申请人:Commissariat a lEnergie Atomique CEA；Commissariat a lEnergie Atomique et aux Energies Alternatives CEA；
    IPC主号:
    专利说明:

    [0001] TECHNICAL FIELD The field of the invention is that of robotic devices for inspection of pipelines, such as sewage and rainwater pipes or water pipes. industrial pipelines. The invention relates more particularly to a device propelled by means of Archimedes screws adapted to move in pipes in the presence of water, sand, grease or mud and which has the advantage of supporting an accidental reversal. STATE OF THE PRIOR ART Mobile mechatronic devices are used to evolve inside urban or industrial network pipes in order to carry out an inspection by means of, inter alia, taking photographs. The locomotion function of such devices is generally provided by wheels or caterpillars. But to avoid blocking situations of such devices, the pipe must generally be cured using high pressure jet before the passage of the device. Furthermore, in the case where the device would come back because, for example, the presence of an obstacle, it can not continue its progression and a manual recovery operation must be implemented. These cleaning and recovery operations generate significant costs. Drives powered by Archimedean screws have been developed to progress on soft or wet terrain, such as mud, snow or water, as well as on hard ground. This ability to be able to evolve regardless of the environment encountered makes it an off-road mode of locomotion suitable for progression within pipelines. Steady Flux, Inc. offers a device, called CBOR, pipe inspection using such an Archimedean screw propulsion. This device comprises a pair of propulsion elements each comprising a rotary drum whose outer surface has an Archimedean screw thread, and a central module coupled to each of the propulsion elements by means of support arms. Due to its design with a central module positioned above the propulsion elements, this device does not tolerate accidental rollover "on the back". In such a case, a manual recovery must always be performed. DISCLOSURE OF THE INVENTION The object of the invention is to propose a mobile pipe inspection device which is both off-road in the sense that it can progress whatever the medium encountered in the pipes, and capable of to continue its progression despite an accidental rollover on the back. The invention proposes for this purpose a robotic inspection device of a pipe, comprising at least one pair of propulsion elements each comprising a rotary drum whose outer surface has an Archimedean screw thread. The propulsion elements of a pair extend in a longitudinal direction so as to be symmetrical with each other with respect to a median sagittal plane of the device. The device further comprises a body associated with the at least one pair of propulsion elements and in which are housed at least one sensor, at least one pair of electric motors for each rotating a rotary drum and at least one pair electric power sources for each powering an electric motor. The body is shaped so that a ventral portion and a dorsal portion of the device are symmetrical to each other with respect to a median frontal plane of the device, thus allowing movement of the device either on the belly or on the back by means of of the at least one pair of propulsion elements. Some preferred but non-limiting aspects of this device are the following: the propulsion elements are floats; The threading present on the outer surface of a rotary drum has angular portions of zero height at angular intervals of 3600; the body further comprises a receptacle for an electronic control-command card; It comprises a first and a second pair of propulsion elements arranged to be symmetrical with each other with respect to a median transverse plane of the device; the body comprises at least one pair of cylindrical portions of smaller diameter than the rotary drums, the cylindrical portions of a pair extending in the longitudinal direction and being interconnected by a transverse joint portion which has a height in the median sagittal plane less than the diameter of the rotating drums, and the body further comprises a compartment in which is housed the at least one sensor, the compartment extending from the junction portion in the longitudinal direction between the propulsion elements ; each cylindrical portion forms a longitudinal housing mounted inside a rotating drum and arranged to receive an electric motor for rotating the corresponding rotary drum and a source of electrical energy for powering the electric motor; The body comprises a pair of cylindrical portions, and the transverse junction portion comprises a pair of transverse housings each arranged to receive an electric motor, at least one source of electrical energy being housed in the compartment. The invention also relates to the use of the device for the inspection of a pipeline. BRIEF DESCRIPTION OF THE DRAWINGS Other aspects, objects, advantages and features of the invention will become more apparent upon reading the following detailed description of preferred embodiments thereof, given by way of non-limiting example, and with reference to the accompanying drawings in which: Figure 1 is an exploded view of a device according to a first possible embodiment of the invention; Figure 2 is a perspective sectional view of a propulsion element of a device according to the first possible embodiment of the invention; FIG. 3 shows a possible embodiment of an on-board recording system in a device according to the invention; Figures 4 and 5 show a device according to a second possible embodiment of the invention. In the different figures, the identical elements bear the same references. DETAILED DESCRIPTION OF PARTICULAR EMBODIMENTS The invention relates to a robotic device for inspection of a pipe, such as a street network pipe or pipe of an industrial installation. Propulsion of the device is ensured by Archimedes screws rotated with motors in direct drive. Such a propulsion allows the device to be off-road in the sense that it can progress inside a pipe whatever the medium encountered, both in contact with the bottom of the pipe in the presence water, mud, grease or sand. Figures 1 and 4 show two possible embodiments of a device 1, 100 according to the invention. The device 1, 100 comprises at least one pair of propulsion elements 2, 3; 4, 5 each comprising a rotating drum 6, 7; 8, 9 of which an outer surface has an Archimedean screw thread. The propulsion elements of a pair extend in a longitudinal direction, along the axis X, so as to be symmetrical to each other with respect to a median sagittal plane Ps of the device. In the middle sagittal plane Ps of the device is meant a vertical plane (Z axis) with respect to the ground (X-Y plane) extending in the longitudinal direction of the device, separating the left half from the right half. Each rotating drum typically takes the form of a hollow cylinder, open at one end and terminating at its other end by a cone. Threading a pair of rotary drums 6, 7; 8, 9 is such that one has a thread on the left and the other has a thread on the right. For example, the outer surface of the right rotary drum (as viewed in the X-axis direction) has a left-hand thread and the outer surface of the left-hand rotary drum has a right-hand thread. When two pairs of drums are used, the right drums may have the same thread, the left drums then having the opposite thread. In a preferred embodiment, the propulsion elements are floats. For this purpose, the rotary drums are watertight and of sufficient size (in particular in the sense that an air pocket is present where the interior space is not occupied) to allow the device to float on the water. . In such a case, the screw threads of Archimedes also allow the device to move on the water in the manner of a propeller. In another preferred embodiment, and as shown in FIGS. 2 and 3, the thread F present on the outer surface of a rotary drum 4, 5 has angular portions L of zero height at 360 ° angular intervals. These angular portions L are thus equi-distributed along the thread with an angular portion L by pitch of the thread, at least as regards the threading located on the cylindrical portion of the rotary drum. To do this, the threading may have a variable height with regions of regular attenuation of the height on either side of each of the angular portions L of zero height. In such a way, the outer surface of a drum has a smooth, threadless band extending in the longitudinal direction. This smooth band facilitates the progression of the device by limiting the resistance caused by friction with the bottom of the pipe and minimizing the draft. The device can then be carried by the natural stream of water without consuming energy. The device 1, 100 further comprises a body 10, 110 associated with the at least one pair of propulsion elements and in which at least one sensor is housed, at least one pair of electric motors for each rotating a drum rotary and at least one pair of electric power sources for each power an electric motor. The at least one sensor may be a camera system, for example a camera, especially a directional camera, or a camera. The invention is however not limited to a particular type of sensor, and extends to any type of sensor capable of observing a physical quantity with or without contact with the environment, such as for example a temperature sensor or a sensor pH. The body 10, 110 is also shaped so that a ventral portion and a dorsal portion of the device are symmetrical to each other with respect to a median frontal plane PE of the device. The mean front plane PE of the device means a plane parallel to the ground, perpendicular to the median sagittal plane Ps, and which separates the lower half, or ventral, of the device from the upper or dorsal half of the device. Due to this geometrical configuration, the device tolerates accidental overturning since it can move both on the "belly" and on the "back" by means of the at least one pair of propulsion elements. As shown in FIGS. 1 and 4, the body 10, 110 may comprise at least one pair of cylindrical portions 11, 12, 13, 14, 50, 60 of smaller diameter than the rotary drums 6, 7, 8, 9. The cylindrical portions of a pair extend in the longitudinal direction and are each arranged co-axially with a rotating drum of a pair of propulsion elements. They are interconnected by a transverse junction portion 71, 70 which has a height in the median sagittal plane Ps less than the diameter of the rotating drums. The cylindrical portions and the joining portion thus form an assembly that has a general shape of a pair of optical binoculars.
    [0002] The body 10, 110 further comprises a compartment 15, 16 in which the at least one sensor is housed. The compartment 15, 16 extends from the transverse joint portion 71, 70 in the longitudinal direction between the propulsion elements 2, 3; 4, 5.
    [0003] The at least one sensor is thus accommodated in a space between the propulsion elements, whose dimension along the Z axis is less than or equal to the diameter of the rotary drums. The dimension along the Y axis can in turn vary in planes parallel to the median frontal plane PE to allow the rotating drums to be close to one another and thus to gain compactness. In particular, the dimension 10 along the Y axis can be minimal at the level of the median frontal plane PF, then increase progressively as one moves away from this median frontal plane PE towards the top, respectively towards the bottom. of the device, this progressive increase allowing to marry the cylindrical contour of the rotating drums. In a first embodiment illustrated in FIGS. 1 to 3, an electric motor and a power source are associated with each of the rotating drums and arranged within the corresponding rotary drum. In this first embodiment, each cylindrical portion of a pair of cylindrical portions of the body 10 forms a longitudinal housing 11, 12; 13, 14 arranged to accommodate an electric motor 17, 18; 19, 20 for rotating the corresponding rotary drum and an electric power source 21a-21c, 22a-22c; 23a-23c, 24a-24c for powering the electric motor. Each longitudinal housing 11, 12; 13, 14 of a pair is mounted inside a rotating drum 6, 7; 8, 9 of a pair of propulsion elements so that the compartment 15; 16 is arranged between the propulsion elements 2, 25 3; 4, 5 at the median sagittal plane Ps. An electric motor and a power source are thus integrated in each rotating drum, and the at least one sensor is arranged between the drums. In this way, the device does not require any additional module (s) to accommodate these elements and its external shape corresponds to that of the rotary drums. In this way, the device has a symmetry with respect to a mean front plane PE of the device. As shown in FIG. 1, a rotating drum takes the form of a hollow cylinder open at a first end to receive a housing and terminating at its other end by a cone. A longitudinal housing has a cylindrical shape complementary to that of the drum so as to be engaged. A longitudinal housing may in particular be composed of a cylindrical base surmounted by a cylinder of smaller diameter. The body 10 has a base supporting a pair of housings 11, 12 and a compartment 15, the base may include a receptacle for an electronic control board 26 of the electric power source, the electric motor and the sensor. In order to allow the maximum of degrees of freedom and to allow the machine to move in all directions, the different rotary drums are driven independently by electric motors that can rotate in both directions. FIG. 3 illustrates an embodiment in which each compartment 15, 16 can accommodate two sensors, for example two cameras C1, C2. A first camera Cl can point to the top, while the second camera C2 points to the bottom (and vice versa depending on whether the device is moving on the belly or on the back). In another embodiment, each compartment 15, 16 accommodates three cameras with, in addition to the two cameras C1, C2 pointing upwards and downwards, an additional camera pointing forwards, respectively towards the rear, and whose optical axis is parallel to the axis of revolution of the pipe.
    [0004] The electric power source of an engine may comprise a plurality of batteries, for example three batteries as shown in FIG. 1. Each longitudinal housing 11-14 of the body 10 then comprises a space for receiving an electric motor and a reception space for each of the batteries. Taking the example of the longitudinal housing 14, the receiving spaces 26a, 26b, 26c of the batteries 24a, 24b, 24c can be arranged equi-distributed along a circumference surrounding the motor receiving space 25. 20. FIG. 2 shows, in perspective view, a section along the median sagittal plane Ps of a propulsion element 5 according to the first possible embodiment of the device according to the invention. The propulsion element 5 comprises the rotary drum 9 in which is inserted the longitudinal housing 14. The longitudinal housing 14 comprises a receiving space 25 of the engine 20 and is found in Figure 2 a receiving space 26c of one of the batteries 24c. The housing 14 is composed of a cylindrical base surmounted by a cylinder of smaller diameter forming a shoulder 10 and which protrudes a shaft 27 rotated by the motor 20. The drum 9 has in its internal volume a piece of cylindrical drive 28 which has a bore in close fit with the shaft 27 so as to allow the rotation of the drum 14 to be rotated. The cylindrical workpiece 28 is effectively secured to the outer surface of the drum 9 via walls. a receiving space of the housing 14 in the drum 9. There is more precisely a wall 29 integral with the cylindrical driving piece 28 and which matches the front portion of the housing 14, a wall 30 which serves as a stop for the shoulder of the housing 14 and a wall 31 integral with the outer surface of the drum and which extends in the longitudinal direction to match the shape of the cylindrical base 14 of the housing 14. These paro is 29, 30, 31 define in the internal volume of the drum 14 a rear space of a front space. The hollow rear space is used for receiving the housing 14 and the hollow front space also serves as an air pocket for the flotation. In one possible embodiment, the device may comprise only a single pair of propulsion elements and a body having a single longitudinal housing pair. In another possible embodiment shown in Figures 1-3, the device comprises a first and a second pair of propulsion elements arranged to be symmetrical with each other with respect to a median transverse plane PT of the device. By median transverse plane is meant a plane 30 vertical to the ground, perpendicular to the medial sagittal plane Ps, which separates the front half of the device from the rear half of the device. With this third symmetry, the robustness of the device is improved. In addition, the presence of four rotary drums allows easier rotation of the device, with a shorter turning radius. It is also accompanied by a distributed distribution of power without the use of transmission mechanisms, resulting in a better overall propulsive efficiency and a better load distribution. In this embodiment, the body 10 comprises two pairs of longitudinal housings and a sensor accommodated in the compartment 15, 16 arranged between the housings of each pair, the body being arranged at the median transverse plane PT. As shown in FIG. 1, the body can be decomposed into two symmetrical subparts relative to the median transverse plane PT, each subpart being dedicated to one of the pairs of propulsion elements. The receptacle for control electronics can be arranged at an interface between the two pairs of housings, for example in a space formed at the connection between the two sub-parts of the body. In a second embodiment illustrated in FIGS. 4 and 5, the electric motors and their energy sources are arranged behind a pair of propulsion elements. The motors are more precisely placed back-to-back and each enable rotation of one of the rotating drums of a pair of propulsion elements. In this second embodiment, the body 110 comprises a pair of cylindrical portions 50, 60, and the transverse joint portion 70 comprises a pair of transverse housings each arranged to accommodate an electric motor 500, 600. As part of this embodiment, the at least one source of electrical energy is housed in the compartment 15, 16 which accommodates the at least one sensor. For example, as illustrated in FIG. 5, there are two batteries 151, 152, 161, 162 for supplying each motor 500, 600. The at least one sensor may comprise one or more cameras accommodated in the compartment so that similar to what is discussed in Figure 3 discussed above.
    [0005] In this second embodiment also, the device 100 may comprise only one pair of propulsion elements and a body placed at the rear of the pair of elements. However, as shown in FIGS. 4 and 5, in this second mode, the device 100 may comprise a first and a second pair of propulsion elements arranged so as to be symmetrical with each other with respect to a median transverse plane PT of the device. . The body 110 is then found in the center of the device, and has a symmetry according to each of the planes Ps, PE and PT. Each motor 500, 600 is coupled to a shaft 300, 400 integral with the propulsion element or elements 2, 4; 3, 5 located on the same side of the medial sagittal plane Ps 10 and which extends through each of the cylindrical portions 50, 60 of the body 110. The coupling is provided by the gear of a workpiece 510, 610 driven in rotation by the motor on a part 520, 620 carried by the shaft. Each shaft 300, 400 is thus rotated by one of the electric motors 500, 600, for rotating the rotary drum or drums 6, 8; 7, 9 located on the same side of the median sagittal plane Ps.
    [0006] In each of the embodiments described above, the first and second pair of propulsion members may be interconnected by an articulated mechanism to aid obstacle clearance. This mechanism can be carried by the body, for example being inserted between the two above-mentioned subparts of the body 10 according to the first embodiment of the invention.
    [0007] The invention is not limited to the device as described above, but also extends to its use for inspection of a pipeline. 25
    权利要求:
    Claims (13)
    [0001]
    REVENDICATIONS1. A robotic inspection device (1, 100) for a pipeline, comprising at least one pair of propulsion elements (2, 3, 4, 5) each comprising a rotating drum (6, 7, 8, 9) of which one outer surface has an Archimedean screw thread (F), the propulsive members of a pair extending in a longitudinal direction so as to be symmetrical to each other with respect to a median sagittal plane (Ps) of the device, the device being characterized in that it further comprises a body (10, 110) associated with the at least one pair of propulsion elements and in which are housed at least one sensor (C1, C2), at least one pair electric motors (17-20, 500, 600) for rotating a rotating drum and at least one pair of electric power sources (21a-21c, 22a-22c; 23a-23c, 24a-24c, 151, 152 161, 162) for each feeding an electric motor, the body being shaped so that a ventral portion and a portion dorsa the device of the device are symmetrical to each other with respect to a median frontal plane (PE) of the device, thus allowing a movement of the device either on the belly or on the back by means of the at least one pair of propulsion elements.
    [0002]
    2. Device according to claim 1, wherein the propulsion elements (2, 3; 4, 5) are floats.
    [0003]
    3. Device according to one of claims 1 and 2, wherein the thread (F) present on the outer surface of a rotary drum (6, 7; 8, 9) comprises angular portions (L) of zero height to angular intervals of 360 °.
    [0004]
    4. Device according to one of claims 1 to 3, wherein the body (10, 110) further comprises a receptacle for an electronic control board (26). 3035951 13
    [0005]
    5. Device according to one of claims 1 to 4, comprising a first (2, 3) and a second (4, 5) pair of propulsion elements arranged to be symmetrical to each other with respect to a median transverse plane. (PT) of the device. 5
    [0006]
    6. Device according to claim 5, wherein the first (2, 3) and the second (4, 5) pair of propulsion elements are interconnected by an articulated mechanism.
    [0007]
    7. Device according to one of claims 1 to 6, wherein the body (10, 100) comprises at least one pair of cylindrical portions (11, 12; 13, 14; 50, 60) of smaller diameter than the rotary drums (6, 7; 8, 9), the cylindrical portions of a pair extending in the longitudinal direction and being interconnected by a transverse junction portion (71, 70) having a height in the sagittal plane median (Ps) less than the diameter of the rotating drums, and wherein the body further comprises a compartment (15, 16) in which is housed the at least one sensor (C1, C2), the compartment (15, 16). extending from the joining portion in the longitudinal direction between the propulsion elements.
    [0008]
    8. Device according to claim 7, wherein each cylindrical portion (11, 12; 13, 14) forms a longitudinal housing mounted inside a rotating drum and arranged to accommodate an electric motor (17, 18; , 20) for rotating the corresponding rotary drum and an electric power source (21a-21c, 22a-22c, 23a-23c, 24a-24c) for supplying the electric motor. 25
    [0009]
    9. Device according to claim 8, wherein a source of electrical energy comprises a plurality of batteries (24a, 24b, 24c), and wherein each longitudinal housing comprises a receiving space (25) of an electric motor and a receiving space (26a, 26b, 26c) of each of the batteries, the battery receiving spaces being arranged equi-distributed along a circumference surrounding the receiving space of the electric motor. 3035951 14
    [0010]
    The apparatus of claim 7, wherein the body (110) comprises a pair of cylindrical portions (50, 60), wherein the transverse joint portion (70) comprises a pair of transverse housings each adapted to accommodate an electric motor. (500, 600), and wherein at least one electrical power source (151, 152, 161, 162) is accommodated in the compartment (15, 16).
    [0011]
    11. Device according to claim 10 taken in combination with claim 5, comprising a pair of shafts (300, 400) each coupled to the propulsion elements (2, 4, 3, 5) located on the same side of the sagittal plane. median (Ps), each shaft (300, 400) being rotated by one of the electric motors (500, 600).
    [0012]
    12. Device according to one of claims 1 to 11, wherein the at least one sensor is a shooting system. 15
    [0013]
    13. Use of the device according to one of claims 1 to 12 for the inspection of a pipe.
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    同族专利:
    公开号 | 公开日
    EP3292342B1|2019-06-19|
    FR3035951B1|2017-05-19|
    US20180119868A1|2018-05-03|
    AU2015394012A1|2017-11-23|
    WO2016177436A1|2016-11-10|
    JP6739448B2|2020-08-12|
    EP3292342A1|2018-03-14|
    US10371306B2|2019-08-06|
    AU2015394012B2|2020-03-19|
    JP2018520925A|2018-08-02|
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    法律状态:
    2016-05-27| PLFP| Fee payment|Year of fee payment: 2 |
    2016-11-11| PLSC| Publication of the preliminary search report|Effective date: 20161111 |
    2017-05-30| PLFP| Fee payment|Year of fee payment: 3 |
    2018-05-28| PLFP| Fee payment|Year of fee payment: 4 |
    2019-05-31| PLFP| Fee payment|Year of fee payment: 5 |
    2020-05-30| PLFP| Fee payment|Year of fee payment: 6 |
    2022-02-11| ST| Notification of lapse|Effective date: 20220105 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1554098A|FR3035951B1|2015-05-07|2015-05-07|ARCHIMEDE SCREW PROPULSION PIPING INSPECTION DEVICE|FR1554098A| FR3035951B1|2015-05-07|2015-05-07|ARCHIMEDE SCREW PROPULSION PIPING INSPECTION DEVICE|
    EP15763549.1A| EP3292342B1|2015-05-07|2015-09-09|Device for the inspection of conduits with archimedean screw propulsion|
    PCT/EP2015/070612| WO2016177436A1|2015-05-07|2015-09-09|Pipe-inspection device propelled by an archimedes screw|
    JP2017557902A| JP6739448B2|2015-05-07|2015-09-09|Pipe inspection device propelled by Archimedian screw|
    AU2015394012A| AU2015394012B2|2015-05-07|2015-09-09|Pipe-Inspection device propelled by an archimedes screw|
    US15/570,778| US10371306B2|2015-05-07|2015-09-09|Pipe-inspection device propelled by an Archimedes screw|
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