• 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:
    Method for repairing a civil engineering work, comprising depositing directly on a portion of the workpiece to be repaired with a reinforcement structure formed of one or more successive layers of at least one reinforcement material, each extruded in contact with the surface on which the material is to be deposited, by a robotic system.
    公开号:FR3054578A1
    申请号:FR1657241
    申请日:2016-07-27
    公开日:2018-02-02
    发明作者:Jerome Stubler；Julien ERDOGAN；Philippe ZANKER
    申请人:Soletanche Freyssinet SA；
    IPC主号:
    专利说明:

    ® FRENCH REPUBLIC
    NATIONAL INSTITUTE OF INDUSTRIAL PROPERTY © Publication number:
    (to be used only for reproduction orders)
    ©) National registration number
    054 578
    57241
    COURBEVOIE © Int Cl 8 : E 04 G 23/02 (2017.01)
    PATENT INVENTION APPLICATION
    A1
    ©) Date of filing: 27.07.16. © Applicant (s): SOLETANCHE FREYSSINETSociété (© Priority: by simplified shares - FR. @ Inventor (s): STUBLER JEROME, ERDOGAN JULIEN and ZANKER PHILIPPE. (43) Date of public availability of the request: 02.02.18 Bulletin 18/05. ©) List of documents cited in the report preliminary research: Refer to end of present booklet (© References to other national documents ® Holder (s): SOLETANCHE FREYSSINET Company related: by simplified actions. ©) Extension request (s): © Agent (s): CABINET NONY.
    154) PROCESS FOR REPAIRING A CIVIL WORK
    ©) Method for repairing a civil engineering structure, comprising depositing directly on a portion of the structure to be repaired a reinforcing structure formed from one or more successive layers of at least one reinforcing material, each extruded in contact with the surface on which the material is to be deposited, by a robotic system.
    FR 3 054 578 - A1
    PROCESS FOR REPAIRING A CIVIL WORK
    The present invention relates to the reinforcement of civil engineering works, in particular of buildings or works of public works, such as vaults of tunnels, bridges, pipes, etc. being here included under the expression "civil engineering" all types of constructions, whatever their destination.
    These structures may require reinforcement during their life in order, for example, to compensate for the aging of their structure.
    It is customary to use structural reinforcements using the techniques defined below.
    One of the common methods consists in carrying out a lining, whole or partial, of an element of the structure by placing one or more metallic reinforcements. This technique requires on the one hand the filling of any voids between the contact surfaces of the structure to be reinforced and the reinforcement implemented, and on the other hand the realization of rigid inclusions connecting the existing structure to the reinforcement. The difficulty of this technique lies in particular in:
    - the significant resources necessary for its implementation on site, consumers of labor and handling and injection equipment;
    - the limited possibilities of making reinforcements of variable and precise dimensions;
    - the quality of the continuity of contact between the reinforcement and the structure to be reinforced.
    A second commonly used method consists in carrying out a lining, whole or partial, of an element of the structure by placing a concrete reinforcement in the form of a shell or a beam. This technique may require the manual placement of reinforcement cages, anchored or not in the existing structure, and the use of formwork before placing the concrete. The concrete is placed in the traditional way by means of a concrete pump, by spraying or by precast element before installation. The difficulty of this technique lies in:
    - the means necessary for its implementation on site, consumers of labor, handling equipment and formwork;
    - the great difficulty of producing reinforcements of variable size along the structure.
    A third method consists in applying by manual bonding to the existing structure of the reinforcements based on composite materials in the form of fabric, strip, or rod. As an example, the composite materials commonly used are materials composed of carbon fibers impregnated with an epoxy matrix. Such a method allows a reinforcement in traction and in shear of the elements of the existing structure but brings only little advantage concerning the increase in their inertia.
    These three techniques are sometimes combined.
    Furthermore, it is known to produce concrete structures in the building sector by a technique assimilated to 3D printing, using an extrusion head controlled from digital data. The head is moved, in successive planes of increasing altitude, by a robotic arm, to extrude successive layers of the construction material according to the geometry to be produced. The deposition of a layer on the previous one is not carried out according to a real-time acquisition of data relating to the relief of the portion of the work already carried out, but according to a 3D virtual mesh in memory of the structure to be produced.
    The present invention aims to remedy all or part of the drawbacks mentioned above of the usual repair methods, and it achieves this by means of a method of repairing a civil engineering work, comprising depositing directly on a portion of the structure to be repaired of a reinforcing structure formed by one or more successive layers of at least one reinforcing material, in particular in strips, each extruded in contact with the surface on which the material is to be deposited, by a robotic system .
    By “contact extrusion” it should be understood that the outlet orifice of the nozzle through which the material comes out is located near the surface on which the material is deposited, at a distance which is preferably of the order of 1 thickness of the deposited layer.
    The invention makes it possible to easily reinforce civil engineering structures by applying to it by extrusion several layers of a reinforcing material by means of the robotic system, the latter preferably being controlled in real time by means allowing precise positioning relative to the book.
    The reinforcing material can be extruded in a strip of relatively constant size, in successive adherent layers, so as to form the desired geometry. The level of finish can be adapted according to need.
    Thus the reinforcement constituted by extrusion of material can be of constant profile, flat or projecting, or of variable profile, so as to optimize the quantity of reinforcement material used and to adapt to structural needs as well as to the imposed conditions of template. by its exploitation. In particular, the reinforcement structure can be a ribbed shell with variable inertia or a ribbed beam with variable inertia.
    Extrusion head
    The material is deposited using at least one extrusion head from the robotic system.
    It is advantageous for the extrusion head to have a nozzle having an outlet for the slit-shaped material. In this case, the nozzle can be moved in a direction perpendicular to the longitudinal axis of the slot. Other forms of outlet ports are possible, however.
    The extrusion head can be single or multi-nozzle.
    The extrusion head is preferably arranged to deposit the material in the form of a strip.
    The extrusion head is supplied with the material under sufficient pressure to eject it through the nozzle outlet.
    Where appropriate, the extrusion head comprises a supply of reinforcing fibers, which can be mixed in the extrusion head with a base formulation of the material, in particular a cement base formulation. The extruded material can also be prepared with the introduction of fibers upstream of the extrusion head.
    The extrusion head can be fitted with any ducts for supplying cleaning fluids and / or rinsing the nozzle.
    Acquisition of relief data
    The method according to the invention preferably comprises the acquisition of relief data of the area on which the material is to be deposited and the automatic control of the extrusion head at least from these relief data.
    By “relief data” it is necessary to understand data which provide information on the location of the surface on which the deposition of the material is to be carried out relative to a known frame of reference of the robotic system, so that the nozzle can automatically be brought into the position suitable for depositing material during extrusion.
    It can be 3D relief data, that is to say that a spatial mesh is produced, in the three directions of an orthonormal reference frame, of the surface considered. It can also be a succession of 2D scans in section planes spaced along the structure, or even an ID scan along a beam for example, so as to control the spacing between the nozzle and the surface on which the material is to be deposited.
    The acquisition of the relief data can be carried out using a corresponding acquisition system of the robotic system, for example carried by the same robotic arm as the extrusion head.
    The acquisition of the relief data may include the acquisition of relief data in real time, simultaneously with the extrusion. This data can be used to position the extrusion head so as to orient it properly to deposit the different successive layers of the material and allow it to move relative to the structure.
    The acquisition of the relief data can in particular make it possible to maintain the nozzle at a predefined distance from the surface on which the material is to be deposited; it may be the surface of the structure during the deposition of the first layer or that of a layer of the material previously deposited.
    The acquisition of the relief data may also include the acquisition of relief data prior to the extrusion.
    It is possible, in an exemplary implementation of the invention, to provide on the robotic system an acquisition system which is used for the first time to carry out a scan of the portion of the structure to be repaired, without depositing the material. This first acquisition can in particular be useful for calculating an optimal trajectory to be carried out by the extrusion head taking into account the shape to be given to the reinforcement structure; once the trajectory has been calculated, the acquisition system can continue to be used to find out the positioning of the nozzle in relation to the structure and / or to adjust it in relation to it. This allows fine control of the deposition of the different layers, in particular by keeping the nozzle at the required distance from the deposition surface and with the desired orientation.
    This acquisition can also be carried out by a corresponding acquisition system, distinct from the robotic system.
    The acquisition of the relief data can be carried out using at least one optical sensor, by scanning ultrasonic or millimeter waves, and / or using at least one mechanical probe. It may be one or more cameras, possibly with fringe projection, or a device of the laser range finder or ultrasound type, or a millimeter wave radar, of the Lidar type for example.
    If necessary, we also proceed, for example simultaneously with the acquisition of the relief, with a survey of the structure, for example to highlight its faults. In the case where a radar is used to perform a surface scan, this radar can also be used to scan the structure in its thickness. If necessary, this additional data is used to adapt the shape of the reinforcing structure, for example to thicken it in the areas where defects are detected. Real-time detection of faults can be useful, for example in the case of the inspection of a very long pipeline, and preventive reinforcement of areas where potential brittleness is detected.
    Reinforcement structure
    The number of layers deposited depends on the thickness to be given locally to the reinforcement structure and can be understood, for example between and 100, better 2 and 100. In particular, where the thickness to be given to the reinforcement structure is minimal , the number of layers can be equal to 1, the number of layers being greater where the thickness of the reinforcing structure is not minimum. The reinforcing structure may comprise at least one portion where the number of superimposed extruded layers is greater than 1.
    The thickness of each layer depends on the rheology of the material and its setting speed. It is for example between 1 and 30 mm.
    When the material is deposited in strips, the width of each strip is for example between 3 and 50 mm.
    The guidance of the extrusion head is preferably carried out so as to comply with a pre-programmed application law of the reinforcing material, in order to give the reinforcing structure its desired shape. This law can take into account the creep of the material, if necessary.
    This law may aim, for example, to produce a reinforcement structure of constant thickness along the portion of the structure to be reinforced.
    However, the method according to the invention makes it possible to easily produce a reinforcement structure with an optimal shape allowing the necessary reinforcement to be given, taking into account the constraints to which the structure is exposed, while minimizing the amount of material used.
    The repair process may include smoothing the structure before it is taken using a tool of the robotic system, in particular a spatula. It is preferably a tool carried by the same arm of the robotic system as the extrusion head.
    This smoothing can only take place after the outermost layer has been deposited; as a variant, one or more smoothing actions are carried out between deposits of successive layers. If necessary, an irregular deposit of the material is automatically detected, and a smoothing action is then triggered. This irregular deposit can be detected, for example after acquiring a relief of the area on which the material is deposited.
    The number of layers deposited and / or the thickness of the layers deposited can vary so as to produce a reinforcing structure whose inertia varies. It is thus possible to minimize the amount of material deposited while providing the necessary reinforcement.
    The reinforcing structure can be ribbed, the ribs being oriented longitudinally or transversely or in an intermediate direction as required.
    The reinforcing structure may be a beam, which for example follows a face of a beam of the structure to be reinforced, along at least part of it.
    The reinforcing structure can also be a shell, in particular when it is a question of reinforcing a dome or an arch, of a tunnel for example.
    The reinforcing structure may also be a boss for distribution of concentrated force, such as a massive cable and / or tie rod anchoring, in particular a cable anchoring boss (s) for additional prestressing, cable deflector (s). ) external prestressing, support or anchoring of shock absorber (s). Such bosses are used in particular on engineering structures such as bridges.
    The reinforcement structure can be produced with one or more reservations by varying the location of the deposited layers. Such reservations are used for example for the installation of inserts, prestressing bar for the connection to the existing structure, plugs or guides, in particular cables.
    Moving the extrusion head
    The robotic system can move independently, for example comprising a self-propelled platform.
    Alternatively, the robotic system includes a platform which is towed.
    The robot system can be moved on wheels, tracks, cables, or sliding pads.
    It may be advantageous when possible, for example during the reinforcement of a beam, to ensure that the structure contributes to mechanically guide the robotic system in its movement along the structure during the production of the structure. reinforcement.
    For example, guidance is effected by pressing the robotic system against at least one surface of the structure, in particular at least one surface defined by a beam of the structure, for example several surfaces of the structure including two opposite surfaces . Thus, the robotic system moves along the beam while being guided by the latter, and deposits the reinforcing material as it advances on the beam.
    Preferably, the deposition accuracy of the reinforcing structure is better than +/- 0.5 cm in the thickness direction and / or in a direction parallel to the underlying surface of the structure.
    Reinforcement material
    The material used has a rheology compatible with its extrusion and the deposition of superimposed layers, in particular in the form of strips.
    Preferably, the setting time of the material is long enough for the deposition of a layer on a previously deposited layer to be carried out before this previously deposited layer is completely set; this guarantees maximum adhesion between the layers.
    The extruded reinforcement material can be of various types.
    In particular, it may be made up, depending on the structure considered and the need for reinforcement, of cementitious materials such as high performance or ultra high performance concrete, fiber or not.
    In the case of a structure to be reinforced constituted by a wooden frame, the reinforcement material used can be made of a mixture of resin and wood. Thus, the extruded material may include a resin.
    Work to be reinforced
    The structure to be reinforced is preexisting when the process according to the invention is implemented. The latter aims to repair the structure, that is to say to consolidate it by providing the reinforcing structure according to the invention.
    The structure to be reinforced may have been completed more than three months, six months or a year before the implementation of the process according to the invention.
    The structure may be a vault, in particular a tunnel or a dome.
    The structure can also be a bridge, the portion of the structure to be repaired being, for example, part of the bridge deck.
    The invention also applies to the repair of a hollow structure such as a pipe, buried or not, or a mast, or a non-visitable gallery, the robotic system preferably circulating along this pipe, of this mast or from this gallery, inside this one or this one.
    The structure can still be in masonry and the reinforcement structure which is deposited is used for joining.
    The portion of the structure to be repaired can be mostly concrete. The portion of the work to be repaired can still be metallic or wooden.
    The invention also relates to a reinforcing structure at least partially covering a civil engineering structure, in particular a reinforcing structure in the form of a beam, hull or boss, produced by the implementation of the method according to the invention.
    The invention also relates to a civil engineering structure repaired by the installation on the structure of a reinforcing structure produced by the implementation of the method according to the invention.
    The invention also relates to a robotic system suitable for repairing a civil engineering work, comprising:
    - At least one extrusion head configured to form directly on a portion of the structure to be repaired a reinforcement structure composed of a reinforcement material, this reinforcement material preferably being a concrete, in particular fiber-reinforced, or comprising a resin ,
    - a system for acquiring relief data of the area on which the material is to be deposited,
    - a computer to automatically control the movements of the extrusion head relative to the structure to be repaired, from at least the relief data and the shape to be given on the structure to the reinforcement structure, the movements of the extrusion head being controlled so as to extrude the material in successive layers, the extrusion of the material taking place in contact with the surface on which the material is to be deposited.
    This robotic system can have all or some of the features previously described in connection with the repair process according to the invention.
    Thus, this robotic system advantageously comprises:
    - an articulated arm carrying the extrusion head, in particular an arm with several degrees of freedom,
    - a mobile platform along the structure, in particular a self-propelled or towed platform, mounted on wheels, tracks, cables or sliding shoes, the movement of which is controlled by the computer,
    a tool for smoothing the structure deposited before it is set, in particular in the form of a spatula, this tool preferably being carried by the same robotic arm as the extrusion head,
    - Means for automatically orienting a nozzle of the extrusion head perpendicular to the surface on which the reinforcing material is deposited, the extrusion head preferably comprising a nozzle in the form of a slot.
    The invention will be better understood on reading the description which follows, of non-limiting examples of implementation thereof, and on examining the appended drawing, in which:
    - Figure 1 shows schematically and partially an example of a robotic system according to the invention, used in the context of the reinforcement of a vault,
    FIGS. 2A and 2B show in isolation schematically and partially the extrusion head during the extrusion of the material,
    FIG. 3 illustrates the juxtaposition of stacks of superimposed extruded bands as the construction of the reinforcement structure progresses,
    - Figure 4 is an example of a reinforcing structure produced using the robotic system of Figure 1, ίο
    FIG. 5 illustrates the possibility of varying the inertia of the reinforcement structure produced using the robotic system of FIG. 1,
    - Figure 6 shows another example of reinforcement structure, made along a beam,
    FIG. 7 illustrates the possibility of varying the inertia of the reinforcement structure of FIG. 5,
    FIG. 7A illustrates a detail of FIG. 7,
    FIG. 8 schematically and partially represents another example of a robotic system according to the invention, used in the context of the reinforcement of a pipeline,
    FIG. 9 represents an example of a reinforcement structure produced using the robotic system of FIG. 8,
    FIG. 10 schematically and partially represents examples of robotic systems according to the invention, used for making bosses on a structure such as a bridge,
    FIG. 11 represents a boss produced using the method according to the invention, after embossing to the structure of the structure,
    FIGS. 12 and 13 show in longitudinal section examples of profiles which can be given to the bosses,
    - Figure 14 shows schematically and partially another example of a robotic system used for the reinforcement of a masonry,
    FIG. 15 is a block diagram illustrating the link between different components of the robotic system, and
    - Figure 16 illustrates the possibility of equipping the robotic system with auxiliary tools, such as finishing tools such as a spatula.
    FIG. 1 shows a first example of a motorized system 10 according to the invention, used to reinforce a civil engineering structure comprising a vault V, for example that of a tunnel.
    The robotic system 10 includes a mobile platform 11, which can move along the vault V.
    The robotic system 10 includes an articulated arm 12 which can include one or more segments as a function of the number of degrees of freedom necessary to deposit the material. This arm 12 can be articulated around an axis parallel to a generatrix of the arch.
    In the example illustrated, the arm comprises three articulated segments, but the invention encompasses any type of deformable and / or orientable structure, suitable for the reinforcement operation to be carried out.
    The arm carries an extrusion head 13 which makes it possible to deposit several successive layers of a reinforcing material, for example based on cement.
    The extrusion head 13 comprises, as visible in FIG. 2A, a nozzle 14 through which the reinforcing material is extruded in the fluid state.
    This extrusion takes place first, during a first passage of the extrusion head, in contact with the external surface S of the structure, to form a first layer of strip Ci, as illustrated in FIG. 2A, then during the next passage in contact with the layer Ci previously deposited, to form the second strip layer C2, as illustrated in FIG. 2B, and so on depending on the number of layers to be deposited to form the desired reinforcement structure. The deposition of a layer on the previous one preferably takes place before the previous layer has finished setting, so as to have the best possible adhesion between the layers.
    After forming a portion of the reinforcing structure whose width w corresponds to that of a strip, we proceed to the production of the following portion. This portion can be formed in continuity with the previous one, without overlapping the bands, as illustrated in FIG. 3. When the successive bands are juxtaposed while the material has not yet set, the bands can merge on their edges in contact , so that the final reinforcement structure has, after setting of the material, continuity in a direction transverse to the strips. FIG. 3 shows three successive stacks in the longitudinal direction of the structure, each stack comprising four superposed strips of material, denoted Ci, i to C 4 , i for the first stack, Ci, 2 to C2, 4 for the second stack, and Ci, 3 to C 4 , 3 for the third stack.
    The outlet orifice of the nozzle 14 preferably has a section of elongated shape along a longitudinal axis X, for example rectangular, this longitudinal axis X preferably being oriented perpendicular to the direction D along which the nozzle 14 moves to deposit each strip layers of the reinforcing structure.
    The thickness e of each layer which is deposited is for example substantially constant for each of the layers of the reinforcement structure and we play on the number of layers deposited locally to give the reinforcement structure the desired thickness at each point .
    We have for example e between 1 and 30mm and the width w of the bands between 3 and 50mm. The thickness may depend on the rheology of the material used, and the thickness which is deposited is preferably chosen so that the layer adheres entirely to the surface on which it is deposited, without losing its cohesion.
    The number of layers superimposed locally depends on the thickness that the reinforcement structure must have at this point.
    When extruding a layer, the distance d from the nozzle 14 to the surface on which the material is deposited is preferably equal to e. This allows the material to adhere to the surface on which it is deposited, even when the extrusion is carried out with the axis of the nozzle 14 facing upwards.
    The extrusion head 13 is advantageously equipped with a shutter not shown, which closes in the absence of extrusion, for example when the extrusion is locally interrupted because the reinforcing material does not have to be deposited , for example because the extrusion head 13 is too far from the structure to extrude the reinforcement material into contact therewith or because the number of layers already deposited corresponds to the thickness desired for the reinforcement structure in the nozzle area 14.
    The nozzle 14 is supplied with reinforcement material via any conduit, the supply pressure of the reinforcement material being chosen as a function of its rheology and of the flow rate exits from the nozzle.
    Preferably, the reinforcing material is pumped into a tank which can be fixed relative to the structure, in which case a flexible pipe is provided between this tank and the platform 11. The tank can still move with the robotic system 10, in particular when the quantity of reinforcing material to be deposited allows it.
    The robotic system 10 comprises, in the example illustrated, a system 30 for acquiring relief data, shown diagrammatically in FIG. 15, which allows it to determine the relief of the surface of the structure on which the reinforcing structure must be performed to control the movement of the arm 12 and the platform 11 so that the reinforcing material can be deposited as desired.
    This acquisition system 30 can be fixed or mobile relative to the arm 12 and / or to the platform 11. It can also be external to the platform 11 and / or to the arm 12, for example located on another machine whose positioning relative to the platform 11 and / or to the arm 12 is known with sufficient precision.
    The acquisition system 30 comprises for example one or more cameras and / or one or more radio frequency devices, for example of the Lidar type.
    The robotic system 10 includes a computer 31 which receives the data generated by the acquisition system 30 and controls the platform 11, the arm 12 and the extrusion of the material accordingly.
    This control is done in order to respect a predefined law for depositing the reinforcement material on the structure.
    It is for example, as illustrated in Figure 4, to achieve a reinforcing structure 100 in the form of a shell whose thickness decreases towards the edges, in section taken perpendicular to the longitudinal direction of the structure.
    This law for depositing the reinforcing material is chosen according to the mechanical stresses to which the structure is exposed; the invention allows, by controlled extrusion, to locally deposit only the quantity of reinforcing material necessary to impart the required mechanical strength at each point of the structure, so that a material saving is achieved comparatively certain known repair techniques.
    The robotic system may include a man / machine interface 32 allowing it to be informed of the deposit law to be observed; this filing law may result from a preliminary study of the faults of the work which are to be corrected.
    Preferably, the computer 31 is programmed so that the deposition operation of the reinforcement structure is carried out independently, without human intervention to control the necessary displacements of the extrusion nozzle 14.
    The relief data are advantageously used in real time to ensure that the deposition of the first layer of the material takes place by following the relief of the portion of the structure to be reinforced and, for each subsequent layer, that of the relief of the last deposited layer, so that the deposition of a new layer on one or more previously deposited layers can lead to the desired final geometry.
    The deposition of a layer on the previous one is preferably carried out as a function of real-time acquisition of data relating to the relief of the portion of the structure already produced, so as to be able to adapt the positioning of the nozzle accordingly .
    The deposition of the different layers is thus carried out, preferably, with a possibility of real-time correction of the trajectory of the nozzle 14 thanks to the relief data.
    The robotic system 10 can thus be produced so as to be able to self-adapt to its environment. The implementation of the robotic system is thereby facilitated.
    The reference 34 in FIG. 15 has designated all of the actuators of the robotic system, the operation of which is controlled by the computer 31 so as to deposit the reinforcement structure according to the desired geometry.
    The movement of the platform 11 can be controlled from the same relief data as that used to determine the movements of the arm 12. As a variant, the acquisition of the relief data only serves to control the movements of the arm relative to the platform and the displacement of the latter takes place independently of the relief of the portion of the structure on which the reinforcing structure is produced.
    For example, the platform is moved in increments along the structure, with each stop of the platform a sweep of the surface of the structure by the nozzle 14 to deposit a layer of reinforcing material there, depending on the geometry to achieve. The scanning takes place as many times as necessary to deposit the number of layers making it possible to reach the desired maximum thickness.
    During this scanning, an acquisition of the relief data in real time makes it possible to determine the movements of the arm necessary to move the nozzle to a predefined distance from the surface in contact with which the extrusion is to be carried out.
    Once all the layers have been deposited, the platform is moved in a new increment. This displacement can correspond to the width of an extruded strip, so as to allow the production of a continuous reinforcement structure along the structure, as explained above.
    When the platform 11 is on wheels or tracks, the computer 31 can control the drive motor or motors thereof so as to follow a predefined trajectory. The correction of this trajectory can be done by any means.
    The guidance of the platform 11 in its movement along the structure can also be ensured mechanically by one or more rails or by wire guidance.
    The movement of the platform 11 can be assisted by an optical system, for example by means of one or more cameras, in particular other than those serving to recognize the topology of the surface on which the reinforcing material is to be deposited.
    Where appropriate, markers are positioned along the structure to help the robotic system find its way along the structure. These markers can be made so as to be detected by the relief data acquisition system. These can be optical, passive or active markers.
    The guidance of the platform 11 can also be carried out using a satellite location system, for example of the dGPS type and / or by terrestrial or marine pseudolites.
    It is possible, if necessary, to have at least one predefined point of the work, and better still at several points, one or more RFID tags or other tracking tags, or one or more optical markers, giving the robotic system a position reference. , and / or which can for example delimit an action zone of the robotic system or help it to orient itself.
    Several tracking techniques can be combined for better accuracy, if necessary.
    Preferably, the robotic system 10 comprises an inertial platform and / or an odometer helping it to determine the position and / or the orientation of the platform 11 over time, when it is moving.
    The invention makes it possible to produce reinforcement structures of any geometry adapted to the nature of the structure to be repaired.
    It is thus possible to produce the reinforcement structure with variable inertia, for example greater where the stresses are greatest.
    For example, in the case of reinforcement of a vault, it is possible, as illustrated in FIG. 5, to vary the inertia along the structure by making, for example, ribs 101 spaced apart along the structure.
    Illustrated in FIG. 6 is the possibility of consolidating using the reinforcement structure 100 a beam P. The reinforcement structure 100 is for example itself in the form of a beam, for example of cross section I, whose base dish can be wider than the top dish.
    The inertia of the reinforcement structure can be varied along the beam, as illustrated in FIG. 7, with for example reduced inertia portions 102 limited to the base plate. The transition 103 between the portions of higher inertia and those of lower inertia can be substantially linear on the scale of the structure, a wide variety of transition profiles being achievable thanks to the invention. If we look more closely at the reinforcement structure 100, we can see in the transitions a stepped relief with steps of width w, as illustrated in FIG. 7A, because the deposition is carried out by strips of width w. The height between two successive steps corresponds substantially to the difference in the number of layers deposited to make the two corresponding stacks.
    The dimensions and / or the morphology of the robotic system 10 can be adapted as a function of the geometry of the structure to be repaired.
    In the example of a pipe D, visitable or not, buried or not, as illustrated in FIG. 8, the platform 11 may have wheels oriented to bear on the internal surface of the pipe in order to move along this one. The arm 12 can be telescopic and include a rotary segment around an axis coincident with that of the pipe. The nozzle 14 can be moved in the radial direction so as to be brought to the desired distance from the surface on which the reinforcing material is to be extruded. Each strip can be deposited on all or part of the circumference.
    In such a case, the acquisition of the relief data can be limited for example to an acquisition of the distance to the axis of the pipeline, in the radial direction, of the interior surface of the pipeline S.
    If necessary, a reinforcing rib 105 can be produced, projecting from the interior surface of the pipeline, as illustrated in FIG. 9. The robotic system can if necessary carry out several passages in the pipeline.
    FIG. 10 illustrates the repair of a bridge using two robotic systems working in parallel, one for producing a reinforcing structure 100 in the form of a boss on the outside of the structure. , the other working inside the work.
    In the case where the reinforcement structure is a boss, it can be produced with a passage 108 allowing the anchoring of a prestressing cable PC using a support block BA, as illustrated in the Figure 12, or with a passage 109 of flared shape at its ends to deflect a PC prestressing cable.
    Once the boss has been made, it can also be embossed to the structure, as illustrated in FIG. 11. In this case, the deposition of the layers by extrusion is carried out so as to leave holes for the subsequent installation of the system. of brelage.
    FIG. 14 illustrates the repair of a masonry using a robotic system 10 according to the invention. The robotic system is then used for joining, between the R stones. If necessary, the robotic system can be equipped with a tool to scrape the existing joints, prior to the installation of the new joints by extrusion.
    The robotic system can be fitted with other tools, for example with a spatula 17 as illustrated in FIG. 16, in order for example to smooth the reinforcement material deposited by extrusion before it sets.
    Of course, the invention is not limited to the examples which have just been given.
    Thanks to the invention, all types of civil engineering works can be repaired.
    权利要求:
    Claims (36)
    [1" id="c-fr-0001]
    1. A method of repairing a civil engineering structure, comprising depositing directly on a portion of the structure to be repaired a reinforcing structure (100) formed of one or more successive layers of at least one material reinforcement, each extruded in contact with the surface on which the material is to be deposited, by a robotic system (10).
    [2" id="c-fr-0002]
    2. Method according to claim 1, the material being extruded in strips.
    [3" id="c-fr-0003]
    3. Method according to claim 1 or 2, the material being deposited using at least one extrusion head (13) of the robotic system, in particular an extrusion head having an outlet for the shaped material slot.
    [4" id="c-fr-0004]
    4. Method according to any one of the preceding claims, comprising a smoothing of the structure before it is taken using a tool (17) of the robotic system, in particular a spatula, preferably a tool carried by the same arm ( 12) of the robotic system as the extrusion head (13).
    [5" id="c-fr-0005]
    5. Method according to any one of the preceding claims, comprising the acquisition of relief data of the area on which the material is to be deposited and the automatic control of the extrusion head at least from these relief data.
    [6" id="c-fr-0006]
    6. Method according to claim 5, the acquisition of the relief data being effected by means of an acquisition system of the robotic system, in particular carried by a same arm as the extrusion head.
    [7" id="c-fr-0007]
    7. Method according to claim 5 or 6, the acquisition of the relief data comprising the acquisition of relief data in real time, simultaneously with the extrusion.
    [8" id="c-fr-0008]
    8. Method according to any one of claims 5 to 7, the acquisition of the relief data comprising the acquisition of relief data prior to the extrusion
    [9" id="c-fr-0009]
    9. Method according to any one of the preceding claims, the acquisition of the relief data being effected using at least one optical sensor, by scanning ultrasonic or millimeter waves, and / or using at least one mechanical probe.
    [10" id="c-fr-0010]
    10. Method according to any one of the preceding claims, including claim 3, the guiding of the extrusion head being carried out so as to comply with a preprogrammed application law of the reinforcing material.
    [11" id="c-fr-0011]
    11. Method according to any one of the preceding claims, the number of layers deposited being between 2 and 100 and the thickness of each layer between 1 and 30 mm.
    [12" id="c-fr-0012]
    12. Method according to any one of the preceding claims, in which the number of layers deposited and / or the thickness of the layers deposited varies so as to produce a reinforcing structure (100) whose inertia varies.
    [13" id="c-fr-0013]
    13. Method according to any one of claims 1 to 12, the reinforcing structure being ribbed.
    [14" id="c-fr-0014]
    14. Method according to any one of the preceding claims, the reinforcing structure being a beam.
    [15" id="c-fr-0015]
    15. Method according to any one of claims 1 to 12, the reinforcing structure being a shell.
    [16" id="c-fr-0016]
    16. Method according to any one of the preceding claims, the reinforcing structure being a concentrated force diffusion boss, such as a cable anchoring block and / or tie rods, in particular a cable anchoring boss ( s) additional prestressing, deflection cable (s) external prestressing, support or anchor shock absorber (s).
    [17" id="c-fr-0017]
    17. Method according to any one of the preceding claims, the reinforcing structure being produced with one or more reservations by playing on the location of the deposited layers.
    [18" id="c-fr-0018]
    18. Method according to any one of the preceding claims, in which the structure contributes to mechanically guiding the robotic system in its movement along the structure during the production of the reinforcement structure, in particular by pressing the robotic system against at least one surface of the structure, in particular at least one surface defined by a beam of the structure.
    [19" id="c-fr-0019]
    19. Method according to any one of the preceding claims, the precision of deposition of the reinforcing structure being better than +/- 0.5 cm in the thickness direction and / or in a direction parallel to the sub-surface. underlying the book.
    [20" id="c-fr-0020]
    20. Method according to any one of the preceding claims, the extruded material being a concrete, in particular fiber-reinforced, preferably a high performance or ultra high performance concrete.
    [21" id="c-fr-0021]
    21. Method according to any one of the preceding claims, the extruded material comprising a resin.
    [22" id="c-fr-0022]
    22. Method according to any one of the preceding claims, the structure being a vault (V), in particular of a tunnel or dome.
    [23" id="c-fr-0023]
    23. Method according to any one of the preceding claims, the structure being a bridge, the portion of the structure to be repaired forming in particular part of the bridge deck.
    [24" id="c-fr-0024]
    24. Method according to any one of the preceding claims, the work being a pipe or a mat, the robotic system preferably circulating along this pipe or this mat, inside of it.
    [25" id="c-fr-0025]
    25. Method according to any one of the preceding claims, the structure being in masonry and the deposited structure (100) serving for joining.
    [26" id="c-fr-0026]
    26. Method according to any one of the preceding claims, the portion of the structure to be repaired being mainly made of concrete.
    [27" id="c-fr-0027]
    27. Method according to any one of claims 1 to 25, the portion of the work to be repaired being metallic.
    [28" id="c-fr-0028]
    28. Method according to any one of claims 1 to 25, the portion of the work to be repaired being made of wood.
    [29" id="c-fr-0029]
    29. Reinforcement structure (100) covering at least partially a civil engineering structure, in particular beam, hull or boss, produced by the implementation of the method according to any one of the preceding claims.
    [30" id="c-fr-0030]
    30. Civil engineering structure repaired by the installation on the structure of a reinforcing structure (100) produced by the implementation of the method according to any one of claims 1 to 28.
    [31" id="c-fr-0031]
    31. Robotic system (10) suitable for repairing a civil engineering structure, in particular for implementing the method according to any one of claims 1 to 28, comprising:
    at least one extrusion head (13) configured to form directly on a portion of the structure to be repaired a reinforcing structure composed of a reinforcing material, this reinforcing material preferably being a concrete, in particular fiber-reinforced, or comprising a resin,
    - a system for acquiring relief data of the area on which the material is to be deposited,
    - a computer to automatically control the movements of the extrusion head (13) relative to the structure to be repaired, from at least the relief data and the shape to be given on the structure to the reinforcement structure, displacements of the extrusion head being controlled so as to extrude the material in successive layers,
    5 the extrusion of the material taking place in contact with the surface on which the material is to be deposited.
    [32" id="c-fr-0032]
    32. The robotic system according to claim 31, comprising an articulated arm (12) carrying the extrusion head, in particular at several degrees of freedom.
    [33" id="c-fr-0033]
    33. Robotic system according to claim 31 or 32, comprising a platform (11) movable along the structure, in particular a self-propelled or towed platform, mounted on wheels, tracks, cables or sliding shoes, the movement of which is controlled by the calculator.
    [34" id="c-fr-0034]
    34. System according to any one of claims 31 to 33, comprising a tool for smoothing the structure deposited before it is set, in particular in the form of a spatula, this
    15 tool preferably being carried by the same arm as the extrusion head.
    [35" id="c-fr-0035]
    35. System according to any one of claims 31 to 34, comprising means for automatically orienting a nozzle of the extrusion head perpendicular to the surface on which the reinforcing material is deposited.
    [36" id="c-fr-0036]
    36. System according to any one of claims 31 to 35, the extrusion head (13) comprising a nozzle (14) in the form of a slot.
    1/4
    IVI Vq
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    同族专利:
    公开号 | 公开日
    US20190270239A1|2019-09-05|
    WO2018019644A1|2018-02-01|
    FR3054578B1|2021-12-24|
    MX2019000937A|2019-08-21|
    KR20190038569A|2019-04-08|
    EP3491207A1|2019-06-05|
    AU2017304363A1|2019-02-14|
    US11225013B2|2022-01-18|
    CA3031547A1|2018-02-01|
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    法律状态:
    2017-07-31| PLFP| Fee payment|Year of fee payment: 2 |
    2018-02-02| PLSC| Publication of the preliminary search report|Effective date: 20180202 |
    2018-07-30| PLFP| Fee payment|Year of fee payment: 3 |
    2020-05-26| PLFP| Fee payment|Year of fee payment: 5 |
    2021-05-26| PLFP| Fee payment|Year of fee payment: 6 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1657241|2016-07-27|
    FR1657241A|FR3054578B1|2016-07-27|2016-07-27|METHOD FOR REPAIRING A CIVIL ENGINEERING WORK|FR1657241A| FR3054578B1|2016-07-27|2016-07-27|METHOD FOR REPAIRING A CIVIL ENGINEERING WORK|
    US16/319,918| US11225013B2|2016-07-27|2017-07-17|Method for repairing a civil engineering structure|
    KR1020197004610A| KR20190038569A|2016-07-27|2017-07-17|How to repair civil engineering structures|
    CA3031547A| CA3031547A1|2016-07-27|2017-07-17|Method for repairing a civil engineering structure|
    AU2017304363A| AU2017304363A1|2016-07-27|2017-07-17|Method for repairing a civil engineering structure|
    MX2019000937A| MX2019000937A|2016-07-27|2017-07-17|Method for repairing a civil engineering structure.|
    EP17740737.6A| EP3491207A1|2016-07-27|2017-07-17|Method for repairing a civil engineering structure|
    PCT/EP2017/068050| WO2018019644A1|2016-07-27|2017-07-17|Method for repairing a civil engineering structure|
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