EP0821109A1 - Excavator for use in a hazardous environment, buoy for maritime work and control post therefor - Google Patents

Excavator for use in a hazardous environment, buoy for maritime work and control post therefor Download PDF

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Publication number
EP0821109A1
EP0821109A1 EP97401785A EP97401785A EP0821109A1 EP 0821109 A1 EP0821109 A1 EP 0821109A1 EP 97401785 A EP97401785 A EP 97401785A EP 97401785 A EP97401785 A EP 97401785A EP 0821109 A1 EP0821109 A1 EP 0821109A1
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EP
European Patent Office
Prior art keywords
machine
actuators
buoy
hostile environment
sensors
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP97401785A
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German (de)
French (fr)
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EP0821109B1 (en
Inventor
Louis Perez
Claude Scheier
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Prestations Industrielles Et De Montage (spim) Ste
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Prestations Industrielles Et De Montage (spim) Ste
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Publication of EP0821109A1 publication Critical patent/EP0821109A1/en
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    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • E02F9/205—Remotely operated machines, e.g. unmanned vehicles
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F5/00—Dredgers or soil-shifting machines for special purposes
    • E02F5/006—Dredgers or soil-shifting machines for special purposes adapted for working ground under water not otherwise provided for

Definitions

  • the present invention relates to the transformation of a public works, allowing coastal works up to a water depth of 100 m.
  • Such a device allows the creation of trenches allowing the penetration of pipes or cables in underwater areas.
  • the operator of the shovel must not be prone to seasickness or be sensitive to roll and pitch, it must be able to compensate for these phenomena in the perception of the work he performs.
  • the first object of the invention is to transform a work machine public allowing work to be carried out in hyperbaric and hostile environments under water to a depth of 100 meters without presenting the disadvantages of the prior art.
  • Another advantage of the invention is to allow carry out shore works up to a depth of 100 meters by continuity with the same material.
  • the watertight machine equipped with actuators allowing remote control is characterized in that its organs sensitive are waterproof to keep the same capacity under water as on earth, in terms of engineering work, and includes sensors which indicate the position of the different axes making it possible to judge the state of the machine, indicating its direction and position, hydraulic umbilicals and electrics carrying power energy, control orders actuators and the information from the sensors, these umbilicals connecting the machine in the water, and an element on the surface where is the energy generator, as well as the complete or partial management system depending on whether the principle adopted is piloting the machine from a pontoon or of a buoy.
  • the energy generator is a motor thermal driving hydraulic pumps.
  • the actuators are made watertight at the pressures of the fluids exerted from the outside towards the inside, during the power plant shutdown phases.
  • the energy generator is a pump hydraulics and actuators are hydraulic motors or cylinders.
  • the generator and the actuators are electric.
  • the generator consists of a hydraulic pump for motors and power actuators and a electric generator for other motors or actuators.
  • the equipment includes means for radio communication on the one hand for the reception of the signals of control of the various elements of the intermediate equipment, engines and actuators of the craft and secondly for the transmission signals from the machine's sensors.
  • the sealing means are constituted double V-shaped seals whose Vs are joined together in two perpendicular directions.
  • hertzian means of communication of intermediate equipment communicate with a cockpit.
  • the working machine comprises a gyroscope to determine its course and two inclinometers, one for determine the tilt along the x-axis, the other to determine the tilt along the y axis.
  • the machine is a hydraulic shovel equipped with a second arm on which tools can be mounted auxiliaries can be brought into the working position by a rotation of the turret 180 ° angle.
  • the auxiliary tool is a drilling mast.
  • the auxiliary tool consists of a pump.
  • the auxiliary tool consists of a shear.
  • the auxiliary tool consists of a hydraulic hammer.
  • the machine is a bulldozer moved to the ground by tracks and having a blade transverse to its movement and whose height position is defined by two actuators.
  • the excavator boom actuators are put in flow control position when the shovel teeth have reached the desired trench depth, so that the operator can dig a trench, the bottom of which remains at the same level.
  • Another object of the invention is to define a submersible buoy which constitutes the intermediate equipment ensuring the supply of energy to the machine and the connection with the command post while protecting against the great surges.
  • the buoy comprises in a volume cylindrical a first sealed upper compartment communicating with the atmosphere by a chimney closable by at least one valve sealing controlled by a jack and containing means of communication with a control station, and a second compartment in which is arranged a flexible pocket communicating with the first compartment by a supply pipe, said flexible pocket containing the fossil fuel used to power the heat engine placed in the first compartment, this flexible pocket being placed in a compartment which communicates by a lower wall pierced with orifices with the fluid medium in which the buoy floats, the cylindrical envelope of the buoy being provided at its periphery with an inflatable tube allowing a apart from maintaining the buoy at the same level of flotation whatever the level of fuel in the pocket and on the other hand its immersion in case surface danger.
  • the buoy includes means for actuation of the actuating cylinder of the sealing valve and means of controlling the inflation and deflation of the outer membrane inflatable to allow total immersion of the buoy or to control its buoyancy level as a function of the levels of the combustible liquid fossil and weather conditions.
  • the buoy comprises in addition to the engine thermal an electric generator for charging a battery supply of electronic equipment incorporated in the upper compartment, air conditioning system, pumps hydraulic to supply the actuating fluid to the engine or machine power actuator.
  • the electronic circuits include a first programmable controller connected by an interface terminal block: aux sensors delivering information on engine operation and actuators for controlling the internal combustion engine; by the umbilical which provides feedback from the electrical box of measurement of the craft; to the umbilical of hydraulic distributors of the craft; sensors and actuators to control the level flotation of the buoy or its immersion and to modems connected themselves to one or more antennas allowing transmission by a first modem and reception by the other modem.
  • a final object of the invention is the use of a buoy submersible intermediate between a cockpit on land and the craft being in the water, the connection between the buoy and the craft being provided by hydraulic and electric umbilicals and in which the link between the buoy and the cockpit is provided by a network over the air.
  • a sea can become dangerous in less than an hour.
  • the principle of our invention is also based on the makes the buoy submersible. In the case of a rough sea, the buoy is sunk and therefore protected (the sea is not dangerous, in this case, only on the surface). As soon as the sea is calm, the buoy is refloated and the work start again.
  • the machine control station connected to an intermediate equipment communicating with the radio wave control is characterized in that the station includes a seat mounted on actuators reproducing the movements inclination along the two axes of the machine and comprising near the driver's seat two three-axis manipulators with safety devices effort feedback linked on the one hand to a second programmable controller, itself connected on the one hand to beam transmission and reception modems radio and secondly by a serial link to a computer system of industrial computer type with keyboard connected to a monitor visualization.
  • the device for returning the force from the apparatus consists of pressure sensors arranged on the pump outputs high pressure supplying the machine with energy, said sensors being connected to the first programmable controller of the intermediate equipment, the signals supplied by these sensors emitted by the radio transmission modem then received by the cockpit receiving modem and converted to a supply current of an electromagnet intended to apply a force proportional to the pressure measured at the outlet of the pumps on the ball joint of the manipulator associated with the pressure sensor.
  • the monitor screen has several windows managed by the computer program which allows in a first window displaying the direction indicated by the gyroscope, in a second window the representation of the machine and the dimensions of the trench dug by the machine, in a third window the representation the inclination of the machine along the x-axis, in a fourth window the representation of the inclination of the machine along the y-axis and, in a fifth window the representation of the inclination of the bucket teeth of the shovel so as to allow the driver to know the exact position of the bucket at any time, finally a fifth viewing window allows possibly display the images transmitted by a camera mounted on the craft.
  • the cockpit computer includes a computer program reconstructing computer generated images representing, from the signals provided by the feedback sensors, movements of the machine and position and tilt sensors the machine, on the one hand the position of the machine and on the other hand the realization of the work performed.
  • the automaton installed in the equipment intermediate and used for the control and command of the programmed machine to include sequences of operation of the automated machine for operations such as laying the cuttings near the trench so that the driver is relieved of this task and the backfill thus carried out is always at the same distance from the trench.
  • such a sequence is triggered by the user from one of the buttons of a three-axis manipulator and the execution of the sequence is represented on the screen so that the driver can take control at the end of the automated sequence of the manipulator (s).
  • the machine control automaton will include for an automated sequence of the excavation deposit a shovel boom lift control; then an order from rotation of the excavator turret by a determined angle followed by a command tilting bucket to dump nearby cuttings of the trench then again a turret rotation control in opposite direction and the same angle determined to then order the shipment to a cockpit signal so that the user can resume manipulator control.
  • the program of the automatic the intermediate equipment allows, when the user controls by a of manipulators the movement of the shovel tool arm, to manage automatically turn the turret a half turn to ensure its set up precisely and at the end of use to perform the rotation in the opposite direction so as to avoid a twist greater than half a turn the umbilical.
  • FIG. 1 shows a machine (1) for maritime work or under water depth, determined between 0 and 100 m, connected by an umbilical cord (4) supported by floats (5) to intermediate equipment (2).
  • the craft (1) can consist either of, as shown in FIG. 2A, a shovel towed by tracks and mounted on a turret (11) equipped with a mono-block boom (12), a pendulum (13) and a bucket (14) and on the other side the turret of a secondary arm (15, 16, 17), or of a bulldozer (1B), shown in Figure 5.
  • the bulldozer (1B) consists of a platform crawler mounted and a blade disposed at the end of the platform in front the tracks and mounted on the platform using jacks defining the tilt and height of the blade.
  • the secondary arm of the shovel consists of an arm arrow (15) on which an arm pendulum (16) is articulated at the end of which is articulated a second arm balance (17) carrying at its end a arm cup (18) to which equipment or tools can be fixed usable on this arm.
  • the type of equipment that can be used on this arm is consisting, for example, of a drilling mast (19) which can be replaced by a pump, shears or a hammer.
  • the shovel arrow (12) is positioned by a first actuator (115) and includes a first sensor (111) of copy of arrow movement.
  • the tilt of the shovel pendulum (13) is controlled by a second actuator (122) and at the level of the articulation between the shovel boom (12) and the pendulum (13) is placed a second sensor (132) for copying the pendulum movement.
  • a second actuator (122) at the level of the articulation between the shovel boom (12) and the pendulum (13) is placed a second sensor (132) for copying the pendulum movement.
  • a third actuator (142) and on the axis of articulation between the balance and the bucket (14) is placed a third sensor (143) for copying the bucket movement (14).
  • the inclination of the arrow (15) of the second arm is controlled by a first actuator (151) and a first feedback sensor (155) of the arrow movement allows you to know its inclination.
  • a second actuator (152) connected on the one hand to the arrow (15) and on the other hand to the first balance (16) determines the inclination of the first balance (16) of the second arm and a second feedback sensor (166) of the movement of the first balance allows to know its position.
  • a third actuator (161) connected on the one hand to the second pendulum (17) and on the other hand to the first balance (16) makes it possible to determine the position of a second balance (17) of the second arm and a third sensor (177) makes it possible to know by copies the movement of the second pendulum (17) to its position.
  • a tool holder (18) mounted at the end of the second balance (17) is positioned by a fourth actuator (178) and a fourth feedback sensor (189) the movement of the tool holder allows you to know its position.
  • a fourth actuator (178) and a fourth feedback sensor (189) the movement of the tool holder allows you to know its position.
  • a fourth feedback sensor (189) the movement of the tool holder allows you to know its position.
  • the tool (19) integral with the tool holder (18) are arranged four feedback sensors tool movements. All four sensors can be used or not depending on the type of tool placed on the tool holder.
  • the turret (11) of the shovel has a sensor (114) of turret rotation copy, a sensor assembly (112) for measuring the pressure of the hydraulic gearbox and the piloting pressures of the distributors and a set (113) of sensors consisting of a depth gauge, a gyrocompass, a shovel tilt sensor along the x axis, and a shovel tilt sensor along the y axis.
  • each of the feedback sensors movements of one of the elements of the shovel sends its signal on a electrical measurement box (117) which retransmits by an umbilical of 37 lead wires (42) information to the intermediate equipment (2) consisting of a buoy (2).
  • the electrical measurement box (117) as well as the control box of the hydraulic distributors (116) are placed in a sealed casing on the turret (11) of the shovel.
  • the control box (116) sends the control signals to the hydraulic box of the drill mast and the electrical measurement unit (117) receives on the one hand the signals from sensors described above, of the shovel, the arm and the mast drill or accessory placed at the end of the arm and secondly the signals from two pressure switches.
  • Distributor control signals arrive via a 32-wire umbilical (41) from the buoy (2).
  • the machine is connected by hydraulic umbilicals to the pumps located in the buoy, one (43) supplying the fluids under pressure towards the shovel and ensuring by a second umbilical (432) the return fluids to the hydraulic tank, the other (44) also providing the supply of fluids to other organs of the shovel and by a second umbilical (442) return of fluids, as shown in Figure 3C.
  • FIG. 2D represents a distributor (1181) for controlling the two cylinders (122) for example forming the actuators between the arrow (12) and the pendulum (13) and associated on either side of the arrow.
  • This distributor is controlled by an electromagnet (1162) for controlling the output cylinders and a second electromagnet (1161) for controlling the re-entry cylinders.
  • the hydraulic circuit connecting the pump (203) to the cylinder (122) is interrupted by this distributor (1181) and, depending on the order sent, the two cylinders (122) are either ordered as output or ordered as input.
  • On the circuit connecting the two compartments of each cylinder is also connected a second distributor (1182) controlled by an electromagnet (1163) for control the so-called "fuzzy" position.
  • this distributor (1182) When this distributor (1182) is activated, the compartments located on either side of the piston of each cylinder are placed in communication with each other so that the cylinder freely follows the movements imposed by the bucket. In this way when the cylinders (115) the boom, the user, by controlling the jacks (122 and 142) modifying the inclination of the pendulum and the bucket, will cause a movement of the bucket towards the shovel. This reconciliation movement is carried out while preserving the bucket teeth at the same level so as to dig a trench keeping everywhere the same level.
  • the hydraulic circuit of each actuator is completed by a pressure limiter (2032) and a return (432) to the hydraulic tank (2031).
  • Each actuator of the shovel or bulldozer is sealed in placing on the end A of the compartment in which the piston slides (1221) of the actuator (122) a sealing device shown in Figure 2E.
  • This device consists of a double lip seal (1223) having two V-shaped lips so that each of the two V's is arranged in a direction perpendicular to each other. So the joint seal (1223) makes the actuator waterproof not only at pressures exerted from inside the chamber (1221) to the outside, but also to pressures exerted from the outside towards the chamber (1221), when the high pressure pumps are not driven.
  • Each of two high pressure pumps (202, 203) which feed a double umbilical (44, 43) and return umbilicals (432, 442) to the hydraulic tank (2031).
  • the automaton (206) manages on the one hand by some automated movement programs for some movement sequences and on the other hand manages the exchanges between measurement signals from the machine installed at the bottom of the sea and the control signals from the shore-based control station and received by a radio-relay system consisting of the antennas (28) each connected to a transmission modem (207) and respectively a receiving modem (208).
  • the modems (207, 208) are connected to serial outputs of the PLC (206).
  • the automaton (206) also manages, as shown in FIG. 3B, the information of management of the buoy constituted by the signals indicating the clogging of the high pressure filter and the pressure regulating the pumps (202, 203), these signals arrive by the beam (2064).
  • the PLC manages the indications of measurement coming from a depth gauge installed on the buoy (2) and arriving by the wire harness (2062).
  • Another wire harness provides the controller (206) by the arrival (2063) the information concerning the filling valve of the diesel tank, by an arrival (2065) the information concerning the ascent of the buoy, by an arrival (2066) the information concerning immersion of the buoy, by an arrival (2068) the information concerning engine cooling, by an arrival (2067) the information of buoy air control.
  • the automaton (206) receives also by the beam (2010) of information concerning the internal combustion engine operation and sends commands by the beam (2011) allowing starting and speed regulation of this internal combustion engine.
  • the internal combustion engine (201) is installed in a compartment (20) of the buoy (2) which communicates with the atmosphere by a chimney (26) which can be sealed by a sealing valve actuated by a jack.
  • the engine drives on the one hand an alternator (209) and on the other hand the high pressure pumps (202, 203) as well as a air conditioning system.
  • the alternator (209) allows charging a battery (211) disposed in this compartment which allows a start the engine on the other hand power the installations electronic measuring and control system.
  • a watertight flexible pouch (22) comprising a filling valve which communicates with the upper part of the buoy.
  • This filling valve allowing the filling of the pocket (22) with a fossil fuel (221) such as diesel.
  • a fossil fuel (221) such as diesel.
  • the pocket (22) deforms.
  • the volume delimited between the wall bottom (21) of the waterproof compartment (20) and the bottom partition (24) of the buoy is provided with an opening (241) for communication with the water for allow the volume not filled by the bag to be filled with water, this which thus limits the buoyancy variations of the buoy.
  • the buoy is equipped on its outer wall with a flange (27) fixed on the latter by attachment means not shown.
  • This tube (27) is inflatable by a equipment placed inside the buoy (2) and controlled by the automat (206).
  • This equipment makes it possible, by inflating the flange (27), to make raise the buoy to the surface and, by deflating the tube (27), check the immersion of the buoy after ordering the engine to stop and the tightness of the compartment (20) by closing the valve of the ventilation chimney (26), so as to immerse the buoy (2) during storms.
  • the measurement information of the shovel movements are sent by the radio beam to the receiving modem (377) connected to the cockpit programmable controller (376).
  • This automaton (376) is also connected by a serial link to an industrial PC type P.C. with a keyboard (75) which controls a monitor (32) and performs a display program on the one hand of the position of the machine by representing on synthetic images the heading of the machine determined by the gyroscope installed on the shovel, on the other hand by representing by computer generated images the inclination along the x-axis and along the y-axis of the shovel.
  • a last window of the monitor allows to represent the shovel at the edge of the trench made by it so as to visualize for the user work progress.
  • the pilot's seat is installed on jacks (35, 36) which copy the inclinations of the shovel (1) so as to reproduce the driving sensations as if the pilot were installed on the machine.
  • the automaton (376) also controls devices (331, 341) of force feedback on the left (33), right (34) manipulators. These manipulators (33, 34, Figure 4B) allow the driver to control by the connections (3304, 3404) with the terminal block (374) the different movements of the shovel having in return, on the one hand the sensations of inclination transmitted by the seat and the thrust sensations of the shovel on the manipulators (33, 34) and on the other hand the visualization by images of summary of the position of the bucket teeth (14), of the inclination of the machine (1) and the progress of the works.
  • the device returns the efforts of the shovel (1) on the manipulators controlled, by the signals provided by the pressure sensors (204, 205) at the outlet of the high pressure pumps (202, 203) which are sent by the machine (206) from the buoy (2) to the machine (376) from the cockpit.
  • the latter (376) translates these pressure signals in a proportional control current so as to send the current to electromagnets arranged in each device (341, 331) for returning the efforts.
  • the electromagnets increase the resistance to displacement of each of the manipulators in proportion to the electrical signals received.
  • each electromagnet (341, respectively 331) is connected to an identical mechanism, represented in FIG. 4C, in which the rod respective of the electromagnet (3411, 3311) is made integral with a plate mobile (349, 339) mounted in translation on sliding rods (3481, 3381) in sleeves (3471, 3371).
  • These sleeves (3371) are fixed on a plate (347, 337) which constitutes, with posts (344, 334) and a plate (342, 332), a rigid chassis for the assembly.
  • the electromagnet (341, 331) is mounted on the respective bottom plate (342, 332) and the manipulator (340, 330) is made integral with the upper plate (347 respectively 337).
  • This upper plate has a hole in which pass the axis of the manipulator (34, 33) and an element (340, 330) integral with the axis (34, 33) which presses on the ends of the fingers (3401, 3301) for transmitting the movements of the handle (34, 33) of the manipulator (340, 330) to sensors for translating these movements in electrical signals retransmitted by the links (3404, 3304, Figure 4B) at the terminal block (374).
  • the plate (349, 339) is also suspended by two springs (346, 336) arranged on each side to the upper plate (347, 337) of the chassis.
  • the spring tension (346, 336) increases and the force bearing of the plate (345, 335) on the control element (3402, 3302) movements of the fingers (3401, 3403, 3301, 3303) for detecting movements of the handle (34, 33) undergoes an effort which opposes the displacement of the handle (34, 33) in inclination.
  • the pilot will have the feeling of resistance encountered by the remote controlled craft.

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Operation Control Of Excavators (AREA)
  • Component Parts Of Construction Machinery (AREA)
  • Control By Computers (AREA)

Abstract

The underwater digger has manipulators (12,13,15-17) which are manoeuvred by actuators (115,122,151,152,161,178) equipped with sensors (189,177,168,166,155,111,132,143) to indicate the positions of the pivots between the manipulator sections. The machine is powered by a surface unit with an engine and a power generator, connected to the actuators by hydraulic and electrical umbilical lines, with other lines relaying information from the sensors to the surface. The power for the digger can be provided by an i. c. engine driving hydraulic pumps, or by a hydraulic pump feeding actuators in the form of hydraulic motors or power cylinders. In addition, the actuators are sealed from external pressures by means of double-lipped V-seals, and the configuration of the machine is monitored by means of a gyroscopes and two inclinometers.

Description

La présente invention concerne la transformation d'un engin de travaux publics, permettant d'effectuer des travaux côtiers jusqu'à une profondeur d'eau de 100 m.The present invention relates to the transformation of a public works, allowing coastal works up to a water depth of 100 m.

Un tel dispositif permet la création de tranchées permettant l'enfoncement de canalisations ou de câbles dans des zones sous eau.Such a device allows the creation of trenches allowing the penetration of pipes or cables in underwater areas.

Jusqu'à présent, il était connu de travailler à de faibles profondeurs (environ 10 m) grâce à une pelle montée sur une barge à fond plat. Dans ce cas, la pelle est limitée en charge par son bras de levier d'une part, et d'autre part le porte-à-faux existant entre le godet de la pelle et la barge.Until now, it has been known to work at shallow depths (about 10 m) thanks to a shovel mounted on a flat-bottomed barge. In this case, the shovel is limited in load by its lever arm on the one hand, and on the other hand the overhang existing between the bucket of the shovel and the barge.

Si on augmente la surface de la barge, la taille de la pelle et par la même son poids, le tirant d'eau de l'ensemble est augmenté et la possibilité d'utiliser cette barge dans les zones à faible tirant d'eau diminue.If we increase the surface of the barge, the size of the shovel and by the even its weight, the draft of the assembly is increased and the possibility using this barge in areas with shallow draft decreases.

Ce principe comporte des inconvénients et des difficultés.This principle has drawbacks and difficulties.

Le conducteur de la pelle ne doit pas être sujet au mal de mer ni être sensible aux roulis et tangage, il doit être capable de compenser ces phénomènes dans la perception des travaux qu'il effectue.The operator of the shovel must not be prone to seasickness or be sensitive to roll and pitch, it must be able to compensate for these phenomena in the perception of the work he performs.

Enfin, dès que la mer a un clapot important ou qu'elle devient dangereuse, les travaux doivent être arrêtés, le personnel et le matériel doivent être protégés par un déplacement rapide en zone de repli.Finally, as soon as the sea has a big chop or it becomes dangerous, work must be stopped, personnel and equipment must be protected by rapid movement in the fallback zone.

Le premier but de l'invention est de transformer un engin de travaux publics permettant d'effectuer des travaux en milieu hyperbar et hostile sous l'eau jusqu'à une profondeur de 100 mètres sans présenter les inconvénients de l'art antérieur.The first object of the invention is to transform a work machine public allowing work to be carried out in hyperbaric and hostile environments under water to a depth of 100 meters without presenting the disadvantages of the prior art.

De plus, un autre avantage de l'invention est de permettre d'effectuer les travaux du rivage jusqu'à 100 mètres de profondeur en continuité avec le même matériel. In addition, another advantage of the invention is to allow carry out shore works up to a depth of 100 meters by continuity with the same material.

Ce but est atteint par le fait que l'engin étanche, doté d'actionneurs permettant la commande à distance est caractérisé en ce que ses organes sensibles sont étanches pour garder ainsi la même capacité sous l'eau que sur terre, en terme de travaux de génie, et comporte des capteurs qui indiquent la position des différents axes permettant de juger de l'état de l'engin, en indiquant sa direction et sa position, des ombilicaux hydrauliques et électriques transportant l'énergie de puissance, les ordres de commandes des actionneurs et les informations provenant des capteurs, ces ombilicaux reliant l'engin se trouvant dans l'eau, et un élément en surface où se trouve le générateur d'énergie, ainsi que le système de gestion complet ou partiel selon que le principe retenu soit le pilotage de l'engin à partir d'un ponton ou d'une bouée.This object is achieved by the fact that the watertight machine, equipped with actuators allowing remote control is characterized in that its organs sensitive are waterproof to keep the same capacity under water as on earth, in terms of engineering work, and includes sensors which indicate the position of the different axes making it possible to judge the state of the machine, indicating its direction and position, hydraulic umbilicals and electrics carrying power energy, control orders actuators and the information from the sensors, these umbilicals connecting the machine in the water, and an element on the surface where is the energy generator, as well as the complete or partial management system depending on whether the principle adopted is piloting the machine from a pontoon or of a buoy.

Selon une autre particularité le générateur d'énergie est un moteur thermique entraínant des pompes hydrauliques.According to another particularity, the energy generator is a motor thermal driving hydraulic pumps.

Selon une autre particularité les actionneurs sont rendus étanches aux pressions des fluides s'exerçant de l'extérieur vers l'intérieur, pendant les phases d'arrêts de la centrale d'énergie.According to another particular feature, the actuators are made watertight at the pressures of the fluids exerted from the outside towards the inside, during the power plant shutdown phases.

Selon une autre particularité le générateur d'énergie est une pompe hydraulique et les actionneurs sont des moteurs hydrauliques ou des vérins.According to another particularity, the energy generator is a pump hydraulics and actuators are hydraulic motors or cylinders.

Selon une autre particularité le générateur et les actionneurs sont électriques.According to another particular feature, the generator and the actuators are electric.

Selon une autre particularité le générateur est constitué d'une pompe hydraulique pour les moteurs et actionneurs de puissance et d'un générateur électrique pour les autres moteurs ou actionneurs.According to another particular feature, the generator consists of a hydraulic pump for motors and power actuators and a electric generator for other motors or actuators.

Selon une autre particularité l'équipement comporte des moyens de communication hertziens d'une part pour la réception des signaux de commande des différents éléments de l'équipement intermédiaire, des moteurs et des actionneurs de l'engin et, d'autre part pour la transmission des signaux provenant des capteurs de l'engin. According to another particular feature, the equipment includes means for radio communication on the one hand for the reception of the signals of control of the various elements of the intermediate equipment, engines and actuators of the craft and secondly for the transmission signals from the machine's sensors.

Selon une autre particularité les moyens d'étanchéité sont constitués de joints à double lèvres en V dont les V sont accolés entre eux selon deux directions perpendiculaires.According to another particular feature, the sealing means are constituted double V-shaped seals whose Vs are joined together in two perpendicular directions.

Selon une autre particularité les moyens de communication hertziens de l'équipement intermédiaire communiquent avec un poste de pilotage.According to another peculiarity the hertzian means of communication of intermediate equipment communicate with a cockpit.

Selon une autre particularité l'engin de travail comporte un gyroscope pour déterminer son cap et deux inclinomètres, l'un pour déterminer l'inclinaison selon l'axe des x, l'autre pour déterminer l'inclinaison selon l'axe des y.According to another particular feature, the working machine comprises a gyroscope to determine its course and two inclinometers, one for determine the tilt along the x-axis, the other to determine the tilt along the y axis.

Selon une autre particularité l'engin est une pelle hydraulique équipée d'un deuxième bras sur lequel peuvent être montés des outils auxiliaires amenable en position de travail par une rotation de la tourelle d'un angle de 180°.According to another feature, the machine is a hydraulic shovel equipped with a second arm on which tools can be mounted auxiliaries can be brought into the working position by a rotation of the turret 180 ° angle.

Selon une autre particularité l'outil auxiliaire est un mât de forage.According to another particular feature, the auxiliary tool is a drilling mast.

Selon une autre particularité l'outil auxiliaire est constitué d'une pompe.According to another particular feature, the auxiliary tool consists of a pump.

Selon une autre particularité l'outil auxiliaire est constitué d'une cisaille.According to another particular feature, the auxiliary tool consists of a shear.

Selon une autre particularité l'outil auxiliaire est constitué d'un marteau hydraulique.According to another particular feature, the auxiliary tool consists of a hydraulic hammer.

Selon une autre particularité l'engin est un bouteur mû sur le sol par des chenilles et comportant une lame transversale à son déplacement et dont la position en hauteur est définie par deux actionneurs.According to another particular feature, the machine is a bulldozer moved to the ground by tracks and having a blade transverse to its movement and whose height position is defined by two actuators.

Selon une autre particularité les actionneurs de flèche de pelle sont mis en position de pilotage flow lorsque les dents de la pelle ont atteint la profondeur de tranchée souhaitée, de façon à permettre au conducteur de creuser une tranchée dont le fond reste au même niveau.According to another particular feature, the excavator boom actuators are put in flow control position when the shovel teeth have reached the desired trench depth, so that the operator can dig a trench, the bottom of which remains at the same level.

Un autre but de l'invention est de définir une bouée immergeable qui constitue l'équipement intermédiaire assurant la fourniture des énergies à l'engin et la liaison avec le poste de commande tout en se protégeant contre les grands déferlements. Another object of the invention is to define a submersible buoy which constitutes the intermediate equipment ensuring the supply of energy to the machine and the connection with the command post while protecting against the great surges.

Ce but est atteint par le fait que la bouée comporte dans un volume cylindrique un premier compartiment supérieur étanche communiquant avec l'atmosphère par une cheminée obturable par au moins une soupape d'étanchéité commandée par un vérin et contenant des moyens de communication avec un poste de commande, et un second compartiment dans lequel est disposé une poche souple communiquant avec le premier compartiment par un tuyau d'alimentation, ladite poche souple contenant le combustible fossile destiné à l'alimentation du moteur thermique placé dans le premier compartiment, cette poche souple étant placée dans un compartiment qui communique par une paroi inférieure percée d'orifices avec le milieu fluide dans lequel la bouée flotte, l'enveloppe cylindrique de la bouée étant pourvue à sa périphérie d'un boudin gonflable permettant d'une part le maintien de la bouée au même niveau de flottaison quel que soit le niveau du combustible dans la poche et, d'autre part son immersion en cas de danger en surface.This object is achieved by the fact that the buoy comprises in a volume cylindrical a first sealed upper compartment communicating with the atmosphere by a chimney closable by at least one valve sealing controlled by a jack and containing means of communication with a control station, and a second compartment in which is arranged a flexible pocket communicating with the first compartment by a supply pipe, said flexible pocket containing the fossil fuel used to power the heat engine placed in the first compartment, this flexible pocket being placed in a compartment which communicates by a lower wall pierced with orifices with the fluid medium in which the buoy floats, the cylindrical envelope of the buoy being provided at its periphery with an inflatable tube allowing a apart from maintaining the buoy at the same level of flotation whatever the level of fuel in the pocket and on the other hand its immersion in case surface danger.

Selon une autre particularité la bouée comporte des moyens de commande du vérin d'actionnement de la soupape d'étanchéité et des moyens de contrôle du gonflage et dégonflage de la membrane extérieure gonflable de façon à permettre l'immersion totale de la bouée ou de contrôler son niveau de flottaison en fonction des niveaux du liquide combustible fossile et des conditions météorologiques.According to another particular feature, the buoy includes means for actuation of the actuating cylinder of the sealing valve and means of controlling the inflation and deflation of the outer membrane inflatable to allow total immersion of the buoy or to control its buoyancy level as a function of the levels of the combustible liquid fossil and weather conditions.

Selon une autre particularité la bouée comporte en plus du moteur thermique un générateur électrique destiné à la charge d'une batterie d'alimentation des équipements électroniques incorporés dans le compartiment supérieur, un système de climatisation, des pompes hydrauliques permettant de fournir le fluide d'actionnement au moteur ou actionneur de puissance de l'engin.According to another particular feature, the buoy comprises in addition to the engine thermal an electric generator for charging a battery supply of electronic equipment incorporated in the upper compartment, air conditioning system, pumps hydraulic to supply the actuating fluid to the engine or machine power actuator.

Selon une autre particularité les circuits électroniques comportent un premier automate programmable relié par un bornier d'interface : aux capteurs délivrant les informations sur le fonctionnement du moteur et aux actionneurs permettant le pilotage du moteur à combustion interne ; par l'ombilical qui fournit le retour des informations de la boite électrique de mesure de l'engin ; à l'ombilical de pilotage des distributeurs hydrauliques de l'engin ; aux capteurs et actionneurs permettant de commander le niveau de flottaison de la bouée ou son immersion et à des modems reliés eux-mêmes à une ou plusieurs antennes permettant l'émission par un premier modem et la réception par l'autre modem.According to another particularity, the electronic circuits include a first programmable controller connected by an interface terminal block: aux sensors delivering information on engine operation and actuators for controlling the internal combustion engine; by the umbilical which provides feedback from the electrical box of measurement of the craft; to the umbilical of hydraulic distributors of the craft; sensors and actuators to control the level flotation of the buoy or its immersion and to modems connected themselves to one or more antennas allowing transmission by a first modem and reception by the other modem.

Un dernier but de l'invention est l'utilisation d'une bouée immergeable intermédiaire ente un poste de pilotage se trouvant à terre et l'engin se trouvant dans l'eau, la liaison entre la bouée et l'engin étant assurée par des ombilicaux hydrauliques et électriques et dans laquelle la liaison entre la bouée et le poste de pilotage est assurée par un réseau hertzien.A final object of the invention is the use of a buoy submersible intermediate between a cockpit on land and the craft being in the water, the connection between the buoy and the craft being provided by hydraulic and electric umbilicals and in which the link between the buoy and the cockpit is provided by a network over the air.

Les avantages de ce système sont multiples :

  • le pilote n'est plus sur l'eau, mais à terre, il ne subit plus le roulis,
  • le pilote travaille en toute sécurité et ne subit plus les caprices dangereux de la mer,
  • le confort est équivalent à celui d'un bureau de travail ordinaire avec toutes ses aisances.
    • The advantages of this system are multiple:
  • the pilot is no longer on the water, but on land, he no longer rolls,
  • the pilot works safely and is no longer subjected to the dangerous vagaries of the sea,
  • comfort is equivalent to that of an ordinary office with all its facilities.

    • Il est important de noter qu'une mer peut devenir dangereuse en moins d'une heure. Le principe de notre invention est basé également sur le fait que la bouée est immergeable. Dans le cas d'une mer déchaínée, la bouée est coulée et donc protégée (la mer n'est dangereuse, dans ce cas, qu'en surface). Dès que la mer est calme, la bouée est renflouée et le travail recommence.It is important to note that a sea can become dangerous in less than an hour. The principle of our invention is also based on the makes the buoy submersible. In the case of a rough sea, the buoy is sunk and therefore protected (the sea is not dangerous, in this case, only on the surface). As soon as the sea is calm, the buoy is refloated and the work start again.

    Ce but est atteint par le fait que le poste de commande pour engin relié à un équipement intermédiaire communiquant avec le poste de commande par onde hertzienne est caractérisé en ce que le poste comporte un siège monté sur des actionneurs reproduisant les mouvements d'inclinaison selon les deux axes de l'engin et comportant à proximité du siège du conducteur deux manipulateurs à trois axes avec dispositifs de renvoi d'effort reliés d'une part à un second automate programmable, lui-même relié d'une part à des modems d'émission et de réception de faisceau hertzien et d'autre part par une liaison en série à un système informatique de type ordinateur industriel avec clavier connecté à un moniteur de visualisation.This goal is achieved by the fact that the machine control station connected to an intermediate equipment communicating with the radio wave control is characterized in that the station includes a seat mounted on actuators reproducing the movements inclination along the two axes of the machine and comprising near the driver's seat two three-axis manipulators with safety devices effort feedback linked on the one hand to a second programmable controller, itself connected on the one hand to beam transmission and reception modems radio and secondly by a serial link to a computer system of industrial computer type with keyboard connected to a monitor visualization.

    Selon une autre particularité le dispositif de renvoi d'effort de l'engin est constitué de capteurs de pression disposés sur les sorties des pompes haute pression alimentant l'engin en énergie, lesdits capteurs étant reliés au premier automate programmable de l'équipement intermédiaire, les signaux fournis par ces capteurs émis par le modem de transmission hertzien puis reçus par le modem de réception de la cabine de pilotage et convertis en un courant d'alimentation d'un électroaimant destiné à appliquer un effort proportionnel à la pression mesurée en sortie des pompes sur la rotule du manipulateur associé au capteur de pression.According to another particular feature, the device for returning the force from the apparatus consists of pressure sensors arranged on the pump outputs high pressure supplying the machine with energy, said sensors being connected to the first programmable controller of the intermediate equipment, the signals supplied by these sensors emitted by the radio transmission modem then received by the cockpit receiving modem and converted to a supply current of an electromagnet intended to apply a force proportional to the pressure measured at the outlet of the pumps on the ball joint of the manipulator associated with the pressure sensor.

    Selon une autre particularité l'écran du moniteur comporte plusieurs fenêtres gérées par le programme de l'ordinateur qui permet dans une première fenêtre l'affichage de la direction indiquée par le gyroscope, dans une deuxième fenêtre la représentation de l'engin et des dimensions de la tranchée creusée par l'engin, dans une troisième fenêtre la représentation de l'inclinaison de l'engin selon l'axe des x, dans une quatrième fenêtre la représentation de l'inclinaison de l'engin selon l'axe des y et, dans une cinquième fenêtre la représentation de l'inclinaison des dents du godet de la pelle de façon à permettre au conducteur de connaítre la position exacte du godet à tout moment, enfin une cinquième fenêtre de visualisation permet éventuellement d'afficher les images transmises par une caméra montée sur l'engin.According to another particular feature, the monitor screen has several windows managed by the computer program which allows in a first window displaying the direction indicated by the gyroscope, in a second window the representation of the machine and the dimensions of the trench dug by the machine, in a third window the representation the inclination of the machine along the x-axis, in a fourth window the representation of the inclination of the machine along the y-axis and, in a fifth window the representation of the inclination of the bucket teeth of the shovel so as to allow the driver to know the exact position of the bucket at any time, finally a fifth viewing window allows possibly display the images transmitted by a camera mounted on the craft.

    Selon une autre particularité l'ordinateur du poste de pilotage comporte un programme informatique reconstituant des images de synthèse représentant, à partir des signaux fournis par les capteurs de recopie des mouvements de l'engin et des capteurs de position et d'inclinaison de l'engin, d'une part la position de l'engin et d'autre part la réalisation du travail effectué. According to another particular feature, the cockpit computer includes a computer program reconstructing computer generated images representing, from the signals provided by the feedback sensors, movements of the machine and position and tilt sensors the machine, on the one hand the position of the machine and on the other hand the realization of the work performed.

    Selon une autre particularité l'automate implanté dans l'équipement intermédiaire et servant au contrôle et à la commande de l'engin programmé pour comporter des séquences de fonctionnement de l'engin automatisé pour des opérations telles que la pose du déblai à proximité de la tranchée de façon à ce que le conducteur soit déchargé de cette tâche et que le remblai ainsi effectué soit toujours à la même distance par rapport à la tranchée.According to another particular feature, the automaton installed in the equipment intermediate and used for the control and command of the programmed machine to include sequences of operation of the automated machine for operations such as laying the cuttings near the trench so that the driver is relieved of this task and the backfill thus carried out is always at the same distance from the trench.

    Selon une autre particularité une telle séquence est enclenchée par l'utilisateur à partir d'un des boutons d'un manipulateur à trois axes et l'exécution de la séquence est représentée sur l'écran pour que le conducteur puisse à la fin de la séquence automatisée reprendre le contrôle du ou des manipulateurs.According to another particular feature, such a sequence is triggered by the user from one of the buttons of a three-axis manipulator and the execution of the sequence is represented on the screen so that the driver can take control at the end of the automated sequence of the manipulator (s).

    Selon une autre particularité l'automate de commande de l'engin comportera pour une séquence automatisée du dépôt de déblai une commande de relèvement de la flèche de pelle ; puis une commande de rotation de la tourelle de pelle d'un angle déterminé suivi d'une commande de basculement du godet de pelle de façon à déverser le déblai à proximité de la tranchée puis à nouveau une commande de rotation de la tourelle en sens inverse et du même angle déterminé pour ensuite commander l'envoi à un signal au poste de pilotage de façon à ce que l'utilisateur reprenne le contrôle du manipulateur.According to another particular feature, the machine control automaton will include for an automated sequence of the excavation deposit a shovel boom lift control; then an order from rotation of the excavator turret by a determined angle followed by a command tilting bucket to dump nearby cuttings of the trench then again a turret rotation control in opposite direction and the same angle determined to then order the shipment to a cockpit signal so that the user can resume manipulator control.

    Selon une autre particularité le programme de l'automate de l'équipement intermédiaire permet, lorsque l'utilisateur commande par un des manipulateurs le mouvement du bras porte outils de la pelle, de gérer automatiquement la rotation de la tourelle d'un demi-tour pour assurer sa mise en place de façon précise et à la fin de l'utilisation d'effectuer la rotation en sens inverse de façon à éviter une torsion supérieure à un demi tour de l'ombilical.According to another particular feature, the program of the automatic the intermediate equipment allows, when the user controls by a of manipulators the movement of the shovel tool arm, to manage automatically turn the turret a half turn to ensure its set up precisely and at the end of use to perform the rotation in the opposite direction so as to avoid a twist greater than half a turn the umbilical.

    D'autres particularités et avantages de la présente invention apparaítront plus clairement à la lecture de la description ci-après faite en référence aux dessins annexés dans lesquels :

  • la figure 1 représente une vue en perspective de l'engin et de l'équipement intermédiaire en milieu hostile;
  • la figure 2A représente un schéma synoptique d'un engin du type pelle avec ses capteurs et actionneurs ;
  • la figure 2B représente une vue de dessus schématique de l'engin du type pelle ;
  • la figure 2C représente un schéma électrique des connections au niveau de l'engin ;
  • la figure 2D représente le schéma des circuits hydrauliques commandant les actionneurs et les moteurs de l'engin ;
  • la figure 2E représente le système d'étanchéité des actionneurs de l'engin ;
  • la figure 3A représente une bouée constituant l'équipement intermédiaire ;
  • la figure 3B représente le schéma électrique des équipements placés à l'intérieur de la bouée ;
  • la figure 3C représente d'une part le schéma simplifié des circuits hydrauliques de l'équipement intermédiaire et d'autre part le schéma électrique du poste de pilotage permettant la restitution des renvois d'effort ;
  • la figure 4A représente une vue en perspective et en coupe partielle du poste de pilotage ;
  • la figure 4B représente un schéma électrique du poste de pilotage ;
  • la figure 4C représente une vue schématique du manipulateur à restitution d'effort ;
  • la figure 5 représente le principe de l'invention utilisé avec deux types d'engins différents.
    • Other features and advantages of the present invention will appear more clearly on reading the description below made with reference to the accompanying drawings in which:
  • FIG. 1 represents a perspective view of the machine and of the intermediate equipment in a hostile environment;
  • FIG. 2A represents a block diagram of a machine of the excavator type with its sensors and actuators;
  • Figure 2B shows a schematic top view of the shovel-type vehicle;
  • FIG. 2C represents an electrical diagram of the connections at the level of the machine;
  • FIG. 2D represents the diagram of the hydraulic circuits controlling the actuators and the engines of the machine;
  • FIG. 2E represents the sealing system of the actuators of the machine;
  • FIG. 3A represents a buoy constituting the intermediate equipment;
  • FIG. 3B represents the electrical diagram of the equipment placed inside the buoy;
  • FIG. 3C represents on the one hand the simplified diagram of the hydraulic circuits of the intermediate equipment and on the other hand the electrical diagram of the cockpit allowing the restitution of the force references;
  • Figure 4A shows a perspective view in partial section of the cockpit;
  • FIG. 4B represents an electrical diagram of the cockpit;
  • FIG. 4C represents a schematic view of the force restitution manipulator;
  • Figure 5 shows the principle of the invention used with two different types of gear.

    • La figure 1 représente un engin (1) pour travaux maritime ou sous profondeur d'eau, déterminée entre 0 et 100 m, relié par un cordon ombilical (4) soutenu par des flotteurs (5) à un équipement intermédiaire (2). L'engin (1) peut être constitué soit, comme représenté à la figure 2A, d'une pelle tractée par des chenilles et montée sur une tourelle (11) équipée d'une flèche monobloc (12), d'un balancier (13) et d'un godet (14) et de l'autre côté de la tourelle d'un bras secondaire (15, 16, 17), soit d'un bouteur (1B), représenté à la figure 5. Le bouteur (1B) est constitué d'une plate forme montée sur chenille et d'une lame disposée en bout de la plate forme devant les chenilles et monté sur la plate forme à l'aide de vérins définissant l'inclinaison et la hauteur de la lame.Figure 1 shows a machine (1) for maritime work or under water depth, determined between 0 and 100 m, connected by an umbilical cord (4) supported by floats (5) to intermediate equipment (2). The craft (1) can consist either of, as shown in FIG. 2A, a shovel towed by tracks and mounted on a turret (11) equipped with a mono-block boom (12), a pendulum (13) and a bucket (14) and on the other side the turret of a secondary arm (15, 16, 17), or of a bulldozer (1B), shown in Figure 5. The bulldozer (1B) consists of a platform crawler mounted and a blade disposed at the end of the platform in front the tracks and mounted on the platform using jacks defining the tilt and height of the blade.

    L'invention va maintenant être décrite plus en détail en liaison avec la pelle mais, il est évident qu'elle peut s'appliquer aussi bien à un bouteur ou tout autre engin de travaux publics aménagé selon le même principe.The invention will now be described in more detail in connection with the shovel but, it is obvious that it can be applied as well to a bulldozer or any other public works machine fitted out according to the same principle.

    Le bras secondaire de la pelle est constitué d'une flèche de bras (15) sur laquelle s'articule un balancier de bras (16) à l'extrémité duquel s'articule un deuxième balancier de bras (17) portant à son extrémité un godet de bras (18) sur lequel peuvent être fixés les équipements ou les outils utilisables sur ce bras. Le type d'équipement utilisable sur ce bras est constitué, par exemple, par un mât de forage (19) lequel peut être remplacé par une pompe, une cisaille ou un marteau. La flèche (12) de pelle est positionnée par un premier actionneur (115) et comporte un premier capteur (111) de recopie de mouvement de flèche. L'inclinaison du balancier de pelle (13) est commandée par un second actionneur (122) et au niveau de l'articulation entre la flèche (12) de pelle et le balancier (13) est placé un second capteur (132) de recopie du mouvement de balancier. De même la position du godet (14) de pelle par rapport au balancier (13) est déterminée par un troisième actionneur (142) et sur l'axe d'articulation entre le balancier et le godet (14) est placé un troisième capteur (143) de recopie du mouvement de godet (14).The secondary arm of the shovel consists of an arm arrow (15) on which an arm pendulum (16) is articulated at the end of which is articulated a second arm balance (17) carrying at its end a arm cup (18) to which equipment or tools can be fixed usable on this arm. The type of equipment that can be used on this arm is consisting, for example, of a drilling mast (19) which can be replaced by a pump, shears or a hammer. The shovel arrow (12) is positioned by a first actuator (115) and includes a first sensor (111) of copy of arrow movement. The tilt of the shovel pendulum (13) is controlled by a second actuator (122) and at the level of the articulation between the shovel boom (12) and the pendulum (13) is placed a second sensor (132) for copying the pendulum movement. Likewise the position of shovel bucket (14) relative to the pendulum (13) is determined by a third actuator (142) and on the axis of articulation between the balance and the bucket (14) is placed a third sensor (143) for copying the bucket movement (14).

    L'inclinaison de la flèche (15) du second bras est commandée par un premier actionneur (151) et un premier capteur (155) de recopie du mouvement de flèche permet de connaítre son inclinaison. Un second actionneur (152) relié d'une part à la flèche (15) et d'autre part au premier balancier (16) permet de déterminer l'inclinaison du premier balancier (16) du second bras et un second capteur de recopie (166) du mouvement du premier balancier permet de connaítre sa position. Un troisième actionneur (161) relié d'une part au second balancier (17) et d'autre part au premier balancier (16) permet de déterminer la position d'un second balancier (17) du deuxième bras et un troisième capteur (177) permet de connaítre par recopie du mouvement du deuxième balancier (17) sa position. Enfin un porte outil (18) monté à l'extrémité du second balancier (17) est positionné par un quatrième actionneur (178) et un quatrième capteur de recopie (189) du mouvement du porte outil permet de connaítre sa position. Enfin sur l'outil (19) solidaire du porte outil(18) sont disposés quatre capteurs de recopie des mouvements de l'outil. L'ensemble des quatre capteurs peut être utilisé ou non selon le type d'outil placé sur le porte outil. Enfin la tourelle (11) de la pelle, comme représentée à la figure 2, comporte un capteur (114) de recopie de rotation de la tourelle, un ensemble capteur (112) de mesure de la pression de boite hydraulique et des pressions de pilotage des distributeurs et un ensemble (113) de capteurs constitué d'un profondimètre, d'un gyrocompas, d'un capteur d'inclinaison de pelle selon l'axe x, et d'un capteur d'inclinaison de pelle selon l'axe y.The inclination of the arrow (15) of the second arm is controlled by a first actuator (151) and a first feedback sensor (155) of the arrow movement allows you to know its inclination. A second actuator (152) connected on the one hand to the arrow (15) and on the other hand to the first balance (16) determines the inclination of the first balance (16) of the second arm and a second feedback sensor (166) of the movement of the first balance allows to know its position. A third actuator (161) connected on the one hand to the second pendulum (17) and on the other hand to the first balance (16) makes it possible to determine the position of a second balance (17) of the second arm and a third sensor (177) makes it possible to know by copies the movement of the second pendulum (17) to its position. Finally a tool holder (18) mounted at the end of the second balance (17) is positioned by a fourth actuator (178) and a fourth feedback sensor (189) the movement of the tool holder allows you to know its position. Finally on the tool (19) integral with the tool holder (18) are arranged four feedback sensors tool movements. All four sensors can be used or not depending on the type of tool placed on the tool holder. Finally the turret (11) of the shovel, as shown in Figure 2, has a sensor (114) of turret rotation copy, a sensor assembly (112) for measuring the pressure of the hydraulic gearbox and the piloting pressures of the distributors and a set (113) of sensors consisting of a depth gauge, a gyrocompass, a shovel tilt sensor along the x axis, and a shovel tilt sensor along the y axis.

    Comme représenté à la figure 2C, chacun des capteurs de recopie des mouvements de l'un des éléments de la pelle envoie son signal sur une boite électrique de mesure (117) laquelle retransmet par un ombilical de 37 fils conducteurs (42) les informations vers l'équipement intermédiaire (2) constitué par une bouée (2). Le boítier électrique de mesure (117) ainsi que le boítier de pilotage des distributeurs hydrauliques (116) sont placés dans un carter étanche sur la tourelle (11) de la pelle. Le boítier de pilotage (116) envoie les signaux de commande au boítier hydraulique du mât de forage et le boítier électrique de mesure (117) reçoit d'une part les signaux des capteurs décrits précédemment, de la pelle, du bras ainsi que du mât de forage ou de l'accessoire placé au bout du bras et d'autre part les signaux provenant de deux pressostats. Les signaux de commande des distributeurs arrivent par un ombilical à 32 fils (41) de la bouée (2). En plus de ces deux ombilicaux (41, 42) l'engin est relié par des ombilicaux hydrauliques aux pompes se trouvant dans la bouée, l'un (43) alimentant les fluides sous pression vers la pelle et assurant par un deuxième ombilical (432) le retour des fluides vers le réservoir hydraulique, l'autre (44) assurant également l'amenée des fluides vers d'autres organes de la pelle et par un second ombilical (442) le retour des fluides, comme représenté à la figure 3C.As shown in Figure 2C, each of the feedback sensors movements of one of the elements of the shovel sends its signal on a electrical measurement box (117) which retransmits by an umbilical of 37 lead wires (42) information to the intermediate equipment (2) consisting of a buoy (2). The electrical measurement box (117) as well as the control box of the hydraulic distributors (116) are placed in a sealed casing on the turret (11) of the shovel. The control box (116) sends the control signals to the hydraulic box of the drill mast and the electrical measurement unit (117) receives on the one hand the signals from sensors described above, of the shovel, the arm and the mast drill or accessory placed at the end of the arm and secondly the signals from two pressure switches. Distributor control signals arrive via a 32-wire umbilical (41) from the buoy (2). In addition to these two umbilicals (41, 42) the machine is connected by hydraulic umbilicals to the pumps located in the buoy, one (43) supplying the fluids under pressure towards the shovel and ensuring by a second umbilical (432) the return fluids to the hydraulic tank, the other (44) also providing the supply of fluids to other organs of the shovel and by a second umbilical (442) return of fluids, as shown in Figure 3C.

    La figure 2D représente un distributeur (1181) de commande des deux vérins (122) par exemple formant les actionneurs entre la flèche (12) et le balancier (13) et associés de par et d'autre de la flèche. Ce distributeur est commandé par un électroaimant (1162) de pilotage des vérins en sortie et un deuxième électroaimant (1161) de pilotage des vérins en rentrée. Le circuit hydraulique reliant la pompe (203) au vérin (122) est interrompu par ce distributeur (1181) et, selon la commande envoyée, les deux vérins (122) sont soit commandés en sortie, soit commandés en entrée. Sur le circuit reliant les deux compartiments de chaque vérin est branché également un second distributeur (1182) commandé par un électroaimant (1163) pour piloter la position dite "floue". Lorsque ce distributeur (1182) est actionné, les compartiments situés de part et d'autre du piston de chaque vérin sont mis en communication entre eux de façon à ce que le vérin suive librement les mouvements imposés par le godet. De cette façon lorsque les vérins (115) de commande de la flèche, l'utilisateur, par commande des vérins (122 et 142) modifiant l'inclinaison du balancier et du godet, va provoquer un mouvement de rapprochement du godet en direction de la pelle. Ce mouvement de rapprochement s'effectue en conservant les dents de godet au même niveau de façon à creuser une tranchée conservant partout le même niveau. Le circuit hydraulique de chaque actionneur est complété par un limiteur de pression (2032) et un retour (432) au réservoir hydraulique (2031). Chaque actionneur de la pelle ou du bouteur est rendu étanche en plaçant sur l'extrémité A du compartiment dans lequel coulisse le piston (1221) de l'actionneur (122) un dispositif d'étanchéité représenté à la figure 2E. Ce dispositif est constitué par un joint d'étanchéité (1223) à double lèvre comportant deux lèvres en V de façon que chacun des deux V soient disposés selon une direction perpendiculaire à l'autre. Ainsi le joint d'étanchéité (1223) rend l'actionneur étanche non seulement aux pressions s'exerçant de l'intérieur de la chambre (1221) vers l'extérieur, mais également aux pressions s'exerçant de l'extérieur vers la chambre (1221), lorsque les pompes haute pression ne sont pas entraínées. Chacune des deux pompes (202, 203) haute pression qui alimente un double ombilical (44, 43) et des ombilicaux de retour (432, 442) vers le réservoir hydraulique (2031). A proximité de chacune de ces pompes (202, 203) est placé sur chaque départ des ombilicaux haute pression des capteurs de pression (204, 205) dont les signaux électriques sont envoyés sur un automate programmable (206). Cet automate programmable (206) envoie les signaux électriques par l'ombilical (41) pour la boite de pilotage hydraulique et reçoit également les signaux arrivant par l'ombilical (42) de la boite électrique de mesure. L'automate (206), comme on le verra par la suite, gère d'une part par certains programmes des mouvements automatisés pour certaines séquences de mouvements et d'autre part gère les échanges entre les signaux de mesure provenant de l'engin installé au fond de la mer et les signaux de commande provenant du poste de commande installé à terre et reçus par un système de communication à faisceau hertzien constitué par les antennes (28) reliées chacune à un modem d'émission (207) et respectivement un modem de réception (208). Les modems (207, 208) sont branchés sur des entrées sorties séries de l'automate (206). L'automate (206) gère également, comme représenté à la figure 3B, les informations de gestion de la bouée constituées par les signaux indiquant le colmatage du filtre haute pression et la pression de régulation des pompes (202, 203), ces signaux arrivent par le faisceau (2064). L'automate gère les indications de mesure provenant d'un profondimètre installé sur la bouée (2) et arrivant par le faisceau de fils (2062). Un autre faisceau de fils fournit à l'automate (206) par l'arrivée (2063) les informations concernant la vanne de remplissage du réservoir de gasoil, par une arrivée (2065) les informations concernant la remontée de la bouée, par une arrivée (2066) les informations concernant l'immersion de la bouée, par une arrivée (2068) les informations concernant le refroidissement du moteur, par une arrivée (2067) les informations de commande de la mise à l'air de la bouée. Enfin l'automate (206) reçoit également par le faisceau (2010) des informations concernant le fonctionnement du moteur à combustion interne et envoie des commandes par le faisceau (2011) permettant le démarrage et la régulation de vitesse de ce moteur à combustion interne. Le moteur (201) à combustion interne est installé dans un compartiment (20) de la bouée (2) lequel communique avec l'atmosphère par une cheminée (26) qui peut être rendue étanche par un clapet d'étanchéité actionnable par un vérin. Dans le compartiment (20) obturable à volonté, le moteur thermique entraíne d'une part un alternateur (209) et d'autre part les pompes à haute pression (202, 203) ainsi qu'un système de conditionnement d'air. L'alternateur (209) permet la charge d'une batterie (211) disposée dans ce compartiment laquelle permet d'une part le démarrage du moteur d'autre part l'alimentation des installations électroniques de mesure et de commande de l'ensemble. En dessous du compartiment étanche (20) limité par la paroi inférieure (21) est placée une poche souple étanche (22) comportant une vanne de remplissage qui communique avec la partie haute de la bouée. Cette vanne de remplissage permettant le remplissage de la poche (22) avec un combustible fossile (221) tel que du gasoil. Au fur et à mesure de la consommation du combustible fossile (221), la poche (22) se déforme. Le volume délimité entre la paroi inférieure (21) du compartiment étanche (20) et la cloison inférieure (24) de la bouée est pourvue d'ouverture (241) de communication avec l'eau pour permettre le remplissage par l'eau du volume non occupé par la poche, ce qui limite ainsi les variations de flottaison de la bouée. Enfin la bouée est équipée sur sa paroi externe d'un boudin (27) fixé sur celle-ci par des moyens d'attache non représentés. Ce boudin (27) est gonflable par un équipement disposé à l'intérieur de la bouée (2) et contrôlé par l'automate (206). Cet équipement permet, par le gonflage du boudin (27), de faire remontée la bouée en surface et, par le dégonflage du boudin (27), de contrôler l'immersion de la bouée après avoir commandé l'arrêt du moteur thermique et l'étanchéité du compartiment (20) en fermant le clapet de la cheminée d'aération (26), de façon à immerger la bouée (2) lors des tempêtes.FIG. 2D represents a distributor (1181) for controlling the two cylinders (122) for example forming the actuators between the arrow (12) and the pendulum (13) and associated on either side of the arrow. This distributor is controlled by an electromagnet (1162) for controlling the output cylinders and a second electromagnet (1161) for controlling the re-entry cylinders. The hydraulic circuit connecting the pump (203) to the cylinder (122) is interrupted by this distributor (1181) and, depending on the order sent, the two cylinders (122) are either ordered as output or ordered as input. On the circuit connecting the two compartments of each cylinder is also connected a second distributor (1182) controlled by an electromagnet (1163) for control the so-called "fuzzy" position. When this distributor (1182) is activated, the compartments located on either side of the piston of each cylinder are placed in communication with each other so that the cylinder freely follows the movements imposed by the bucket. In this way when the cylinders (115) the boom, the user, by controlling the jacks (122 and 142) modifying the inclination of the pendulum and the bucket, will cause a movement of the bucket towards the shovel. This reconciliation movement is carried out while preserving the bucket teeth at the same level so as to dig a trench keeping everywhere the same level. The hydraulic circuit of each actuator is completed by a pressure limiter (2032) and a return (432) to the hydraulic tank (2031). Each actuator of the shovel or bulldozer is sealed in placing on the end A of the compartment in which the piston slides (1221) of the actuator (122) a sealing device shown in Figure 2E. This device consists of a double lip seal (1223) having two V-shaped lips so that each of the two V's is arranged in a direction perpendicular to each other. So the joint seal (1223) makes the actuator waterproof not only at pressures exerted from inside the chamber (1221) to the outside, but also to pressures exerted from the outside towards the chamber (1221), when the high pressure pumps are not driven. Each of two high pressure pumps (202, 203) which feed a double umbilical (44, 43) and return umbilicals (432, 442) to the hydraulic tank (2031). Near each of these pumps (202, 203) is placed on each departure of the high pressure umbilicals from the pressure sensors (204, 205) whose electrical signals are sent to a PLC programmable (206). This programmable controller (206) sends the signals electric by the umbilical (41) for the hydraulic control box and receives also the signals arriving by the umbilical (42) of the electrical box of measured. The automaton (206), as will be seen later, manages on the one hand by some automated movement programs for some movement sequences and on the other hand manages the exchanges between measurement signals from the machine installed at the bottom of the sea and the control signals from the shore-based control station and received by a radio-relay system consisting of the antennas (28) each connected to a transmission modem (207) and respectively a receiving modem (208). The modems (207, 208) are connected to serial outputs of the PLC (206). The automaton (206) also manages, as shown in FIG. 3B, the information of management of the buoy constituted by the signals indicating the clogging of the high pressure filter and the pressure regulating the pumps (202, 203), these signals arrive by the beam (2064). The PLC manages the indications of measurement coming from a depth gauge installed on the buoy (2) and arriving by the wire harness (2062). Another wire harness provides the controller (206) by the arrival (2063) the information concerning the filling valve of the diesel tank, by an arrival (2065) the information concerning the ascent of the buoy, by an arrival (2066) the information concerning immersion of the buoy, by an arrival (2068) the information concerning engine cooling, by an arrival (2067) the information of buoy air control. Finally the automaton (206) receives also by the beam (2010) of information concerning the internal combustion engine operation and sends commands by the beam (2011) allowing starting and speed regulation of this internal combustion engine. The internal combustion engine (201) is installed in a compartment (20) of the buoy (2) which communicates with the atmosphere by a chimney (26) which can be sealed by a sealing valve actuated by a jack. In the compartment (20) closable at will, the engine drives on the one hand an alternator (209) and on the other hand the high pressure pumps (202, 203) as well as a air conditioning system. The alternator (209) allows charging a battery (211) disposed in this compartment which allows a start the engine on the other hand power the installations electronic measuring and control system. Below the sealed compartment (20) limited by the lower wall (21) is placed a watertight flexible pouch (22) comprising a filling valve which communicates with the upper part of the buoy. This filling valve allowing the filling of the pocket (22) with a fossil fuel (221) such as diesel. As fuel is consumed fossil (221), the pocket (22) deforms. The volume delimited between the wall bottom (21) of the waterproof compartment (20) and the bottom partition (24) of the buoy is provided with an opening (241) for communication with the water for allow the volume not filled by the bag to be filled with water, this which thus limits the buoyancy variations of the buoy. Finally the buoy is equipped on its outer wall with a flange (27) fixed on the latter by attachment means not shown. This tube (27) is inflatable by a equipment placed inside the buoy (2) and controlled by the automat (206). This equipment makes it possible, by inflating the flange (27), to make raise the buoy to the surface and, by deflating the tube (27), check the immersion of the buoy after ordering the engine to stop and the tightness of the compartment (20) by closing the valve of the ventilation chimney (26), so as to immerse the buoy (2) during storms.

    On comprend que l'on a ainsi réalisé un ensemble qui permet à un outil de travaux publics d'effectuer des travaux sous marin sans être tributaire du clapot généré par la mer, et sans diminuer la capacité de travail de l'engin de travaux publics, car la pelle conserve sa puissance sous l'eau. Ainsi une pelle de 50 tonnes conserve sa capacité de travail et d'élévation de charge lorsqu'elle est immergée sous l'eau avec le dispositif de l'invention. Elle n'a pas à supporter un bras plus long pour pouvoir travailler à des profondeurs importantes ou à être installée sur une plate forme ou barge qui est sensible au roulis et au tangage. De cette façon la tranchée a toutes les garanties d'être rectiligne et les travaux sont interrompus le moins de temps possible, sauf dans les cas de grande tempête. De plus comme on va le voir ci-après le poste de pilotage étant installé à terre le conducteur de l'engin n'est pas perturbé par les mouvements de tangage et de roulis.We understand that we have thus achieved a set that allows a public works tool to perform work underwater without being dependent on the chop generated by the sea, and without reducing the working capacity of public works machinery, because the shovel retains its power underwater. Thus a 50-ton excavator retains its working and lifting capacity load when submerged underwater with the the invention. She doesn't have to support a longer arm to be able to work at great depths or to be installed on a platform or barge which is sensitive to roll and pitch. In this way the trench has all guarantees of being straight and work is interrupted the least as long as possible, except in the event of a major storm. Also as we will see it below the cockpit being installed on the ground the driver of the machine is not disturbed by the pitching and rolling movements.

    Les informations de mesure des mouvements de la pelle sont envoyées par le faisceau hertzien au modem de réception (377) relié à l'automate programmable (376) du poste de pilotage. Cet automate (376) est également relié par une liaison série à un ordinateur industriel de type P.C. avec un clavier (75) lequel contrôle un moniteur (32) et exécute un programme d'affichage d'une part de la position de l'engin en représentant sur des images de synthèse le cap de l'engin déterminé par le gyroscope installé sur la pelle, d'autre part en représentant par des images de synthèse l'inclinaison selon l'axe des x et selon l'axe des y de la pelle. Enfin une dernière fenêtre du moniteur permet de représenter la pelle au bord de la tranchée réalisée par celle-ci de façon à visualiser pour l'utilisateur l'avancement des travaux. Le siège du pilote est installé sur des vérins (35, 36) qui recopient les inclinaisons de la pelle (1) de façon à reproduire les sensations de conduite comme si le pilote était installé sur l'engin. L'automate (376) commande également par son bornier des dispositifs (331, 341) de renvoi d'effort sur les manipulateurs gauche (33), droit (34). Ces manipulateurs (33, 34, figure 4B) permettent au conducteur de commander par les liaisons (3304, 3404) avec le bornier (374) les différents mouvements de la pelle en ayant en retour, d'une part les sensations d'inclinaison transmise par le siège et les sensations d'efforts de la pelle sur les manipulateurs (33, 34) et d'autre part la visualisation par images de synthèse de la position des dents du godet (14), de l'inclinaison de l'engin (1) et de l'avancement des travaux. Le dispositif renvoie les efforts de la pelle (1) sur les manipulateurs commandés, par les signaux fournis par les capteurs de pression (204, 205) en sortie des pompes haute pression (202, 203) qui sont envoyés par l'automate (206) de la bouée (2) vers l'automate (376) du poste de pilotage. Ce dernier (376) traduit ces signaux de pression en un courant de commande proportionnel de façon à envoyer le courant sur des électroaimants disposés dans chaque dispositif (341, 331) de renvoi des efforts. Les électroaimants augmentent la résistance au déplacement de chacun des manipulateurs en proportion des signaux électriques reçus.The measurement information of the shovel movements are sent by the radio beam to the receiving modem (377) connected to the cockpit programmable controller (376). This automaton (376) is also connected by a serial link to an industrial PC type P.C. with a keyboard (75) which controls a monitor (32) and performs a display program on the one hand of the position of the machine by representing on synthetic images the heading of the machine determined by the gyroscope installed on the shovel, on the other hand by representing by computer generated images the inclination along the x-axis and along the y-axis of the shovel. Finally a last window of the monitor allows to represent the shovel at the edge of the trench made by it so as to visualize for the user work progress. The pilot's seat is installed on jacks (35, 36) which copy the inclinations of the shovel (1) so as to reproduce the driving sensations as if the pilot were installed on the machine. The automaton (376) also controls devices (331, 341) of force feedback on the left (33), right (34) manipulators. These manipulators (33, 34, Figure 4B) allow the driver to control by the connections (3304, 3404) with the terminal block (374) the different movements of the shovel having in return, on the one hand the sensations of inclination transmitted by the seat and the thrust sensations of the shovel on the manipulators (33, 34) and on the other hand the visualization by images of summary of the position of the bucket teeth (14), of the inclination of the machine (1) and the progress of the works. The device returns the efforts of the shovel (1) on the manipulators controlled, by the signals provided by the pressure sensors (204, 205) at the outlet of the high pressure pumps (202, 203) which are sent by the machine (206) from the buoy (2) to the machine (376) from the cockpit. The latter (376) translates these pressure signals in a proportional control current so as to send the current to electromagnets arranged in each device (341, 331) for returning the efforts. The electromagnets increase the resistance to displacement of each of the manipulators in proportion to the electrical signals received.

    En effet, chaque électroaimant (341, respectivement 331) est relié à un mécanisme identique, représenté à la figure 4C, dans lequel la tige respective de l'électroaimant (3411, 3311) est rendue solidaire d'une plaque mobile (349, 339) montée en translation sur des tiges coulissantes (3481, 3381) dans des manchons (3471, 3371). Ces manchons (3371) sont fixés sur une plaque (347, 337) laquelle constitue, avec des poteaux (344, 334) et une plaque (342, 332), un châssis rigide pour l'ensemble. L'électroaimant (341, 331) est monté sur la plaque inférieure respective (342, 332) et le manipulateur (340, 330) est rendu solidaire de la plaque supérieure (347 respectivement 337). Cette plaque supérieure comporte un perçage dans lequel passent l'axe du manipulateur (34, 33) et un élément (340, 330) solidaire de l'axe (34, 33) qui appuie sur les extrémités des doigts (3401, 3301) de transmission des mouvements du manche (34, 33) du manipulateur (340, 330) à des capteurs permettant de traduire ces mouvements en signaux électriques retransmis par les liaisons (3404, 3304, figure 4B) au bornier (374). La plaque (349, 339) est suspendue également par deux ressorts (346, 336) disposés de chaque côté à la plaque supérieure (347, 337) du châssis. Des tiges (343, 333) solidaires d'une part de la plaque (349, 339) et d'autre part d'une bague annulaire (348, 338) laquelle est rendue solidaire des tiges (3481, 3381) guidées entre translation dans les manchons (3471, 3371). Lorsque l'effort de l'électroaimant augmente sur la plaque (349, 339), la tension des ressort (346, 336) augmente et la force d'appui de la plaque (345, 335) sur l'élément (3402, 3302) de commande des déplacements des doigts (3401, 3403, 3301, 3303) de détection des mouvements du manche (34, 33) subit un effort qui s'oppose au déplacement du manche (34, 33) en inclinaison. De cette façon par cette réalisation simple utilisée sur chacun des manipulateurs (340, 330), le pilote aura la sensation de la résistance rencontrée par l'engin piloté à distance.Indeed, each electromagnet (341, respectively 331) is connected to an identical mechanism, represented in FIG. 4C, in which the rod respective of the electromagnet (3411, 3311) is made integral with a plate mobile (349, 339) mounted in translation on sliding rods (3481, 3381) in sleeves (3471, 3371). These sleeves (3371) are fixed on a plate (347, 337) which constitutes, with posts (344, 334) and a plate (342, 332), a rigid chassis for the assembly. The electromagnet (341, 331) is mounted on the respective bottom plate (342, 332) and the manipulator (340, 330) is made integral with the upper plate (347 respectively 337). This upper plate has a hole in which pass the axis of the manipulator (34, 33) and an element (340, 330) integral with the axis (34, 33) which presses on the ends of the fingers (3401, 3301) for transmitting the movements of the handle (34, 33) of the manipulator (340, 330) to sensors for translating these movements in electrical signals retransmitted by the links (3404, 3304, Figure 4B) at the terminal block (374). The plate (349, 339) is also suspended by two springs (346, 336) arranged on each side to the upper plate (347, 337) of the chassis. Rods (343, 333) integral with one part of the plate (349, 339) and on the other hand an annular ring (348, 338) which is secured to the rods (3481, 3381) guided between translation in the sleeves (3471, 3371). When the force of the electromagnet increases on the plate (349, 339), the spring tension (346, 336) increases and the force bearing of the plate (345, 335) on the control element (3402, 3302) movements of the fingers (3401, 3403, 3301, 3303) for detecting movements of the handle (34, 33) undergoes an effort which opposes the displacement of the handle (34, 33) in inclination. This way by this simple realization used on each of the manipulators (340, 330), the pilot will have the feeling of resistance encountered by the remote controlled craft.

    D'autres modifications à la portée de l'homme de métier font également partie de l'esprit de l'invention.Other modifications within the reach of those skilled in the art make also part of the spirit of the invention.

    Claims (29)

    Engin étanche (1), doté d'actionneurs (115, 122, 142, 151, 152, 161, 178) permettant la commande à distance caractérisé en ce que ses organes sensibles sont étanches pour garder ainsi la même capacité sous l'eau que sur terre, en terme de travaux de génie, et comporte des capteurs (189, 177, 168, 166, 155, 111, 132, 143) qui indiquent la position des différents axes permettant de juger de l'état de l'engin, en indiquant sa direction et sa position, des ombilicaux (43, 44) hydrauliques et électriques (41, 42) transportant l'énergie de puissance, les ordres de commandes des actionneurs et les informations provenant des capteurs, ces ombilicaux reliant l'engin (1) se trouvant dans l'eau, et un élément en surface (2) où se trouve le générateur d'énergie, ainsi que le système de gestion complet ou partiel selon que le principe retenu de pilotage de l'engin est soit à partir d'un ponton soit d'une bouée.Waterproof machine (1), equipped with actuators (115, 122, 142, 151, 152, 161, 178) allowing the remote control characterized in that its sensitive organs are sealed to keep the same capacity under water than on earth, in terms of engineering work, and includes sensors (189, 177, 168, 166, 155, 111, 132, 143) which indicate the position of the different axes to judge the state of the machine, indicating its direction and position, hydraulic and electric umbilicals (43, 44) (41, 42) transporting power energy, the control commands of the actuators and the information from the sensors, these umbilicals connecting the machine (1) in the water, and a surface element (2) where finds the energy generator, as well as the complete management system or partial depending on whether the principle of piloting the machine is either from a pontoon be of a buoy. Engin de travail en milieu hostile selon la revendication 1, caractérisé en ce que le générateur d'énergie est un moteur thermique (201) entraínant des pompes hydrauliques (202, 203).Work machine in a hostile environment according to claim 1, characterized in that the energy generator is a heat engine (201) driving hydraulic pumps (202, 203). Engin de travail en milieu hostile selon la revendication 1 ou 2, caractérisé en ce que les actionneurs (115, 122, 142, 151, 152, 161, 178) sont rendus étanches aux pressions des fluides s'exerçant de l'extérieur vers l'intérieur, pendant les phases d'arrêts de la centrale d'énergie.Work machine in a hostile environment according to claim 1 or 2, characterized in that the actuators (115, 122, 142, 151, 152, 161, 178) are sealed against the pressures of fluids exerted from the outside towards inside, during the power plant shutdown phases. Engin de travail en milieu hostile selon la revendication 1 ou 3, caractérisé en ce que le générateur d'énergie est une pompe hydraulique et les actionneurs sont des moteurs hydrauliques ou des vérins.Work machine in a hostile environment according to claim 1 or 3, characterized in that the energy generator is a hydraulic pump and the actuators are hydraulic motors or cylinders. Engin de travail en milieu hostile selon la revendication 1 ou 3, caractérisé en ce que le générateur et les actionneurs sont électriques.Work machine in a hostile environment according to claim 1 or 3, characterized in that the generator and the actuators are electric. Engin de travail en milieu hostile selon une des revendications 1 ou 3, caractérisé en ce que le générateur est constitué d'une pompe hydraulique pour les moteurs et actionneurs de puissance et d'un générateur électrique pour les autres moteurs ou actionneurs. Work machine in a hostile environment according to one of claims 1 or 3, characterized in that the generator consists of a pump hydraulics for motors and power actuators and generator electric for other motors or actuators. Engin de travail en milieu hostile selon une des revendications 1 à 6, caractérisé en ce que l'équipement comporte des moyens (28, 208, 207) de communication hertziens d'une part pour la réception (208) des signaux de commande des différents éléments de l'équipement intermédiaire, des moteurs (201 à 203) et des actionneurs de l'engin et, d'autre part pour la transmission (207) des signaux provenant des capteurs de l'engin (1).Work machine in a hostile environment according to one of claims 1 to 6, characterized in that the equipment includes means (28, 208, 207) of radio communication on the one hand for the reception (208) of the signals for controlling the various elements of the intermediate equipment, motors (201 to 203) and actuators of the machine and, on the other hand for the transmission (207) of the signals coming from the sensors of the machine (1). Engin de travail en milieu hostile selon la revendication 7, caractérisé en ce que les moyens d'étanchéité sont constitués de joints (1223) à double lèvres en V dont les V sont accolés entre eux selon deux directions perpendiculaires.Work machine in a hostile environment according to claim 7, characterized in that the sealing means consist of seals (1223) with double V-shaped lips whose Vs are joined together in two perpendicular directions. Engin de travail en milieu hostile selon la revendication 7, caractérisé en ce que les moyens de communication hertziens de l'équipement intermédiaire communiquent avec un poste de pilotage (3).Work machine in a hostile environment according to claim 7, characterized in that the radio communication means of the intermediate equipment communicates with a cockpit (3). Engin de travail en milieu hostile selon une des revendications précédentes, caractérisé en ce que l'engin de travail comporte un gyroscope (113) pour déterminer son cap et deux inclinomètres (113), l'un pour déterminer l'inclinaison selon l'axe des x, l'autre pour déterminer l'inclinaison selon l'axe des y.Work equipment in a hostile environment according to one of the claims previous, characterized in that the working machine includes a gyroscope (113) to determine its course and two inclinometers (113), one for determine the tilt along the x-axis, the other to determine the tilt along the y axis. Engin de travail en milieu hostile selon une des revendications précédentes, caractérisé en ce que l'engin (1) est une pelle hydraulique équipée d'un deuxième bras (15, 16, 17, 18) sur lequel peuvent être montés des outils auxiliaires amenable en position de travail par une rotation de la tourelle d'un angle de 180°.Work equipment in a hostile environment according to one of the claims previous, characterized in that the machine (1) is a hydraulic shovel equipped with a second arm (15, 16, 17, 18) on which can be mounted auxiliary tools that can be brought into the working position by rotating the 180 ° turret. Engin de travail en milieu hostile selon la revendication 11, caractérisé en ce que l'outil auxiliaires est un mât de forage (19).Work machine in a hostile environment according to claim 11, characterized in that the auxiliary tool is a drilling mast (19). Engin de travail en milieu hostile selon la revendication 11, caractérisé en ce que l'outil auxiliaire est constitué d'une pompe.Work machine in a hostile environment according to claim 11, characterized in that the auxiliary tool consists of a pump. Engin de travail en milieu hostile selon la revendication 11, caractérisé en ce que l'outil auxiliaire est constitué d'une cisaille.Work machine in a hostile environment according to claim 11, characterized in that the auxiliary tool consists of a shear. Engin de travail en milieu hostile selon la revendication 11, caractérisé en ce que l'outil auxiliaire est constitué d'un marteau hydraulique. Work machine in a hostile environment according to claim 11, characterized in that the auxiliary tool consists of a hydraulic hammer. Engin de travail en milieu hostile selon une des revendications 1 à 10, caractérisé en ce que l'engin est un bouteur (1B) mû sur le sol par des chenilles comportant une lame transversale à son déplacement et dont la position en hauteur est définie par deux actionneurs.Work machine in a hostile environment according to one of claims 1 to 10, characterized in that the machine is a bulldozer (1B) moved on the ground by tracks comprising a blade transverse to its movement and the height position is defined by two actuators. Engin de travail en milieu hostile selon une des revendications 1 à 15, caractérisé en ce que les actionneurs de flèche de pelle sont mis en position de pilotage "flow" lorsque les dents de la pelle ont atteint la profondeur de tranchée souhaitée, de façon à permettre au conducteur de creuser une tranchée dont le fond reste au même niveau.Work machine in a hostile environment according to one of claims 1 to 15, characterized in that the shovel boom actuators are placed steering position "flow" when the teeth of the shovel have reached the desired trench depth, so that the operator can dig a trench, the bottom of which remains at the same level. Engin de travail selon la revendication 1 caractérisé en ce que la bouée comporte dans un volume cylindrique un premier compartiment supérieur étanche (20) communiquant avec l'atmosphère par une cheminée (26) obturable par au moins une soupape d'étanchéité commandée par un vérin et contenant des moyens de communication avec un poste de commande, et un second compartiment dans lequel est disposée une poche souple (21) communiquant avec le premier compartiment par un tuyau d'alimentation, ladite poche souple contenant le combustible fossile (221) destiné à l'alimentation du moteur thermique (201) placé dans le premier compartiment, cette poche souple (21) étant placée dans un compartiment qui communique par une paroi inférieure (24) percée d'orifices (241) avec le milieu fluide dans lequel la bouée (2) flotte, l'enveloppe cylindrique de la bouée étant pourvue à sa périphérie d'un boudin gonflable (27) permettant d'une part le maintien de la bouée (2) au même niveau de flottaison quel que soit le niveau du combustible dans la poche et d'autre part son immersion en cas de danger en surface.Working machine according to claim 1 characterized in that the buoy has a first compartment in a cylindrical volume waterproof upper (20) communicating with the atmosphere through a chimney (26) closable by at least one sealing valve controlled by a cylinder and containing means of communication with a control, and a second compartment in which is placed a pocket flexible (21) communicating with the first compartment by a hose supply, said flexible bag containing the fossil fuel (221) intended for the supply of the heat engine (201) placed in the first compartment, this flexible pocket (21) being placed in a compartment which communicates by a lower wall (24) pierced with orifices (241) with the fluid medium in which the buoy (2) floats, the cylindrical envelope of the buoy being provided at its periphery with an inflatable tube (27) allowing on the one hand maintaining the buoy (2) at the same level of flotation whatever either the level of fuel in the pocket and secondly its immersion in surface danger. Engin de travail selon la revendication 18, caractérisé en ce que la bouée comporte pour travaux maritime selon la revendication 18, caractérisée en ce qu'elle comporte des moyens de commande du vérin d'actionnement de la soupape d'étanchéité du compartiment supérieur (20) et des moyens de contrôle du gonflage et dégonflage du boudin (27) gonflable de façon à permettre l'immersion totale de la bouée ou de contrôler son niveau de flottaison en fonction des niveaux du liquide combustible fossile (221) et des conditions météorologiques.Working machine according to claim 18, characterized in that the buoy comprises for maritime works according to claim 18, characterized in that it comprises means for controlling the jack actuating the upper compartment sealing valve (20) and means for controlling the inflation and deflation of the tube (27) inflatable to allow total immersion of the buoy or to control its buoyancy level as a function of the levels of the combustible liquid fossil (221) and weather conditions. Engin de travail selon la revendication 18 ou 19 caractérisé en ce que la bouée comporte pour travaux maritime selon la revendication 18 ou 19, caractérisée en ce qu'elle comporte en plus du moteur thermique (201) un générateur électrique (209) destiné à la charge d'une batterie d'alimentation (211) des équipements électroniques incorporés dans la chambre, un système de climatisation, des pompes hydrauliques (202, 203) permettant de fournir le fluide d'actionnement aux moteurs ou actionneurs de puissance de l'engin (1).Working machine according to claim 18 or 19 characterized in what the buoy includes for maritime works according to claim 18 or 19, characterized in that it comprises in addition to the heat engine (201) an electric generator (209) intended for charging a battery supply (211) of the electronic equipment incorporated in the room, air conditioning system, hydraulic pumps (202, 203) for supplying the actuating fluid to the motors or actuators of power of the machine (1). Engin de travail selon une des revendications 18 à 20 caractérisé en ce que le circuit électronique de la bouée comporte pour travaux maritime selon une des revendications 18 à 20, caractérisée en ce que les circuits électroniques comportent un automate programmable (206) relié par un bornier d'interface : aux capteurs délivrant les informations sur le fonctionnement du moteur (201) et aux actionneurs permettant le pilotage du moteur (201) à combustion interne, à l'ombilical (42) fournissant le retour des informations de la boite électrique de mesure de l'engin (1), à l'ombilical (41) de pilotage des distributeurs hydrauliques de l'engin (1) ; aux capteurs (2063 à 2067) et actionneur (2069) permettant de commander le niveau de flottaison de la bouée ou son immersion et à des modems reliés eux-mêmes à une ou plusieurs antennes (28) permettant l'émission par un premier modem (207) et la réception par l'autre modem (208).Working machine according to one of claims 18 to 20 characterized in that the electronic circuit of the buoy comprises for maritime works according to one of claims 18 to 20, characterized in that the electronic circuits include a programmable controller (206) connected by an interface terminal block: to the sensors delivering information on the operation of the motor (201) and to the actuators allowing the piloting of the internal combustion engine (201) at the umbilical (42) providing the return of information from the electrical box for measuring the machine (1), to the umbilical (41) piloting the hydraulic distributors of the machine (1); to the sensors (2063 to 2067) and actuator (2069) for controlling the level of buoy buoyancy or immersion and connected modems themselves to one or more antennas (28) allowing transmission by a first modem (207) and reception by the other modem (208). Poste de commande pour engin (1) selon la revendication 1, relié par un ombilical (4) à un équipement intermédiaire (2) communiquant avec le poste de commande par onde hertzienne caractérisé en ce que le poste (3) comporte un siège (31) monté sur des actionneurs (35, 36) reproduisant les mouvements d'inclinaison selon les deux axes de l'engin et comportant à proximité du siège (31) du conducteur deux manipulateurs (33, 34) à trois axes avec dispositifs (331, 341) de renvoi d'effort reliés d'une part à un automate programmable (376), lui-même relié à des modems d'émission (378) et de réception (377) de faisceau hertzien et d'autre part par une liaison série à un système informatique de type ordinateur industriel (375) avec clavier connecté à un moniteur (32) de visualisation.Control station for machine (1) according to claim 1, connected by an umbilical (4) to an intermediate equipment (2) communicating with the radio wave control station characterized in that the station (3) comprises a seat (31) mounted on actuators (35, 36) reproducing the tilt movements along the two axes of the machine and comprising near the driver's seat (31) two manipulators (33, 34) with three axes with force deflection devices (331, 341) connected on the one hand to a programmable controller (376), itself connected to modems radio beam transmission (378) and reception (377) and on the other hand by a serial link to an industrial computer type computer system (375) with keyboard connected to a display monitor (32). Poste de commande pour engin selon la revendication 22, caractérisé en ce que le dispositif de renvoi d'effort de l'engin est constitué de capteurs (204, 205) de pression disposés sur les sorties des pompes (202, 203) haute pression alimentant l'engin en énergie, lesdits capteurs étant reliés à l'automate (206) programmable de l'équipement intermédiaire (2), les signaux fournis par ces capteurs émis par le modem (207) de transmission hertzien puis reçus par le modem (377) de réception de la cabine de pilotage (3) et convertis par un deuxième automate (376) en un courant d'alimentation d'un électroaimant destiné à appliquer un effort proportionnel à la pression mesurée en sortie des pompes sur la rotule du manipulateur (34, 33) associé au capteur de pression (204, respectivement 205).Control station for a machine according to claim 22, characterized in that the force return device of the machine consists pressure sensors (204, 205) arranged on the pump outputs (202, 203) high pressure supplying the machine with energy, said sensors being connected to the programmable controller (206) of the intermediate equipment (2), the signals supplied by these sensors emitted by the modem (207) of wireless transmission then received by the modem (377) receiving the cockpit (3) and converted by a second automaton (376) into a supply current of an electromagnet intended to apply a force proportional to the pressure measured at the outlet of the pumps on the ball joint of the manipulator (34, 33) associated with the pressure sensor (204, respectively 205). Poste de commande pour engin selon la revendication 22 ou 23, caractérisé en ce que l'écran du moniteur (32) comporte plusieurs fenêtres gérées par le programme de l'ordinateur (375) pour permettre dans une première fenêtre l'affichage de la direction indiqué par le gyroscope, dans une deuxième fenêtre la représentation de l'engin et des dimensions de la tranchée creusée par l'engin, dans une troisième fenêtre l'inclinaison de l'engin selon l'axe des x, dans une quatrième fenêtre l'inclinaison de l'engin selon l'axe des y, dans une cinquième fenêtre l'inclinaison des dents du godet (14) de la pelle (1) de façon à permettre au conducteur de connaítre la position exacte du godet à tout moment, et dans une dernière fenêtre de visualisation les images transmises par les modems (279, 379) en provenance d'une caméra montée sur l'engin (1). Control station for a machine according to claim 22 or 23, characterized in that the monitor screen (32) has several windows managed by the computer program (375) to allow in a first window displaying the direction indicated by the gyroscope, in a second window the representation of the machine and the dimensions of the trench dug by the machine, in a third window the inclination of the machine along the x-axis, in a fourth window the inclination of the machine along the y axis, in a fifth window the inclination of the teeth of the bucket (14) of the shovel (1) so as to allow the driver to know the exact position of the bucket at all times, and in a final window of viewing the images transmitted by the modems (279, 379) in from a camera mounted on the machine (1). Poste de commande pour engin selon la revendication 24, caractérisé en ce que l'ordinateur du poste de pilotage comporte un programme informatique reconstituant des images de synthèse représentant à partir des signaux fournis par les capteurs de recopie des mouvements de l'engin et des capteurs de position et d'inclinaison, d'une part la position de l'engin d'autre part la réalisation du travail effectué.Control station for a machine according to claim 24, characterized in that the cockpit computer has a computer program reconstructing computer generated images representing from the signals provided by the feedback sensors of the movements of the machine and position and tilt sensors, on the one hand the position of on the other hand the realization of the work carried out. Poste de commande pour engin selon une des revendications 22 à 25, caractérisé en ce que l'automate (206) implanté dans l'équipement intermédiaire et servant au contrôle et à la commande de l'engin (1) est programmé pour comporter des séquences automatisées de fonctionnement de l'engin pour des opérations telles que la pose du déblai à proximité de la tranchée de façon à ce que le conducteur soit déchargé de cette tâche et que le remblai ainsi effectué soit toujours à la même distance par rapport à la tranchée.Machine control station according to one of claims 22 to 25, characterized in that the automaton (206) installed in the equipment intermediate and used for the control and command of the machine (1) is programmed to include automated operating sequences of the machine for operations such as laying the cuttings near the trench so that the driver is relieved of this task and that the backfilling thus carried out is always at the same distance from the trench. Poste de commande pour engin selon la revendication 26, caractérisé en ce qu'une telle séquence est enclenchée par l'utilisateur à partir d'un des boutons d'un des manipulateurs (34, 33) à trois axes et l'exécution de la séquence est représentée sur l'écran pour que le conducteur puisse à la fin de la séquence automatisée reprendre le contrôle de l'engin par les manipulateurs.Control station for a machine according to claim 26, characterized in that such a sequence is initiated by the user at from one of the buttons of one of the three-axis manipulators (34, 33) and the execution of the sequence is represented on the screen so that the driver can take control at the end of the automated sequence of the craft by the manipulators. Poste de commande pour engin selon la revendication 26 ou 27, caractérisé en ce que l'automate (206) de commande de l'engin (1) comportera pour une séquence automatisée du dépôt de déblai une commande de relèvement de la flèche (12) de pelle ; une commande de rotation de la tourelle (11) de pelle d'un angle déterminé suivi d'une commande de basculement du godet (14) de pelle de façon à déverser le déblai à proximité de la tranchée puis à nouveau une commande de rotation de tourelles en sens inverse du même angle et l'envoi d'un signal au poste de pilotage de façon à ce que l'utilisateur reprenne le contrôle.Control station for a machine according to claim 26 or 27, characterized in that the machine control automaton (206) (1) will include for an automated sequence of the excavation deposit a shovel boom lifting control (12); an order from rotation of the excavator turret (11) by a determined angle followed by a shovel bucket tilting control (14) so as to pour the cut close to the trench then again a rotation control of turrets in the opposite direction from the same angle and sending a signal to the station so that the user regains control. Poste de commande pour engin selon une des revendications 22 à 28, caractérisé en ce que le programme de l'automate de l'équipement intermédiaire permet, lorsque l'utilisateur commande par le manipulateur le mouvement du bras (15 à 18) porte outils (19), de gérer automatiquement la rotation de la tourelle (11) d'un demi-tour pour assurer sa mise en place de façon précise et à la fin de l'utilisation d'effectuer la rotation en sens inverse de façon à éviter une torsion supérieure à un demi tour des ombilicaux (4).Machine control station according to one of claims 22 to 28, characterized in that the program of the equipment controller intermediate allows, when the user controls by the manipulator the movement of the arm (15 to 18) tool holder (19), to automatically manage the rotation of the turret (11) by a half-turn to ensure its positioning precise way and at the end of use to rotate in reverse so as to avoid torsion greater than half a turn of the umbilicals (4).
    EP97401785A 1996-07-25 1997-07-24 System for operations in a hazardous environment including an excavator and control post therefor Expired - Lifetime EP0821109B1 (en)

    Applications Claiming Priority (2)

    Application Number Priority Date Filing Date Title
    FR9609386 1996-07-25
    FR9609386A FR2751677B1 (en) 1996-07-25 1996-07-25 ENGINEERING VEHICLE FOR WORK IN HOSTILE ENVIRONMENTS, BUOY FOR MARITIME WORK, CONTROL STATION ASSOCIATED WITH A VEHICLE OR A BUOY-ENGINE ASSEMBLY

    Publications (2)

    Publication Number Publication Date
    EP0821109A1 true EP0821109A1 (en) 1998-01-28
    EP0821109B1 EP0821109B1 (en) 2002-09-25

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    ID=9494484

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    Application Number Title Priority Date Filing Date
    EP97401785A Expired - Lifetime EP0821109B1 (en) 1996-07-25 1997-07-24 System for operations in a hazardous environment including an excavator and control post therefor

    Country Status (7)

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    EP (1) EP0821109B1 (en)
    AT (1) ATE224983T1 (en)
    DE (1) DE69715749T2 (en)
    DK (1) DK0821109T3 (en)
    ES (1) ES2184044T3 (en)
    FR (1) FR2751677B1 (en)
    PT (1) PT821109E (en)

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    ES2168166A1 (en) * 1998-11-04 2002-06-01 Tejedor Fernando Sanchez Machine for carrying out underwater work
    CN102797276A (en) * 2012-09-11 2012-11-28 韦力生 Creeping crawler walking type silt remover
    WO2015110834A1 (en) * 2014-01-24 2015-07-30 Ihc Engineering Business Ltd Trenching apparatus with levelling means
    CN107059971A (en) * 2017-04-19 2017-08-18 安徽捷思新型材料有限公司 Water-bed soil pick-up special operation ship
    CN115162449A (en) * 2022-07-13 2022-10-11 中交上海航道局有限公司 Sludge dewatering device for dredger

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    JPH07229741A (en) * 1994-02-18 1995-08-29 Mitsubishi Heavy Ind Ltd Device for measuring degree of leveling rubble
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    US3892079A (en) * 1971-12-27 1975-07-01 Hitachi Construction Machinery Control system for amphibious hydraulic excavator
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    Cited By (11)

    * Cited by examiner, † Cited by third party
    Publication number Priority date Publication date Assignee Title
    ES2168166A1 (en) * 1998-11-04 2002-06-01 Tejedor Fernando Sanchez Machine for carrying out underwater work
    CN102797276A (en) * 2012-09-11 2012-11-28 韦力生 Creeping crawler walking type silt remover
    WO2015110834A1 (en) * 2014-01-24 2015-07-30 Ihc Engineering Business Ltd Trenching apparatus with levelling means
    KR20160113132A (en) * 2014-01-24 2016-09-28 아이에이치씨 엔지니어링 비니지스 리미티드 Trenching apparatus with levelling means
    CN106029989A (en) * 2014-01-24 2016-10-12 Ihc工程商业有限公司 Trenching apparatus with levelling means
    US9945097B2 (en) 2014-01-24 2018-04-17 Ihc Engineering Business Limited Trench apparatus with leveling means
    CN106029989B (en) * 2014-01-24 2019-01-04 Ihc工程商业有限公司 Ditching equipment with leveling unit
    KR102362715B1 (en) 2014-01-24 2022-02-15 로열 아이에이치씨 리미티드 Trenching apparatus with levelling means
    CN107059971A (en) * 2017-04-19 2017-08-18 安徽捷思新型材料有限公司 Water-bed soil pick-up special operation ship
    CN115162449A (en) * 2022-07-13 2022-10-11 中交上海航道局有限公司 Sludge dewatering device for dredger
    CN115162449B (en) * 2022-07-13 2023-09-05 中交上海航道局有限公司 Sludge dewatering device for dredger

    Also Published As

    Publication number Publication date
    EP0821109B1 (en) 2002-09-25
    DK0821109T3 (en) 2003-02-03
    PT821109E (en) 2003-02-28
    ATE224983T1 (en) 2002-10-15
    DE69715749D1 (en) 2002-10-31
    DE69715749T2 (en) 2003-06-05
    FR2751677B1 (en) 1998-11-20
    ES2184044T3 (en) 2003-04-01
    FR2751677A1 (en) 1998-01-30

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