EP0821109B1 - System zur Arbeit in gefährlicher Umgebung umfassend eine Baumaschine und dazugehörende Kontrollstation - Google Patents

System zur Arbeit in gefährlicher Umgebung umfassend eine Baumaschine und dazugehörende Kontrollstation Download PDF

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Publication number
EP0821109B1
EP0821109B1 EP97401785A EP97401785A EP0821109B1 EP 0821109 B1 EP0821109 B1 EP 0821109B1 EP 97401785 A EP97401785 A EP 97401785A EP 97401785 A EP97401785 A EP 97401785A EP 0821109 B1 EP0821109 B1 EP 0821109B1
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EP
European Patent Office
Prior art keywords
machine
actuators
buoy
sensors
control
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EP97401785A
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English (en)
French (fr)
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EP0821109A1 (de
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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    • 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.
  • US-A-3,892,079 discloses a watertight device capable of being remotely controlled by a transceiver arrangement. The machine works at shallow depths.
  • 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 device 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.
  • a submersible buoy constituting 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 has in one 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; through 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.
  • Another special feature 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 radio.
  • 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 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 viewing.
  • 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 made.
  • 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 measuring unit (117) receives the signals on the one hand 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 controller (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.

Claims (29)

  1. System zum Durchführen von Arbeiten in einer aggressiven Umgebung mit einer dichten Maschine (1), die mit Betätigungsvorrichtungen (115, 122, 142, 151, 152, 161, 178) versehen ist, welche die Fernsteuerung ermöglichen, dadurch gekennzeichnet, daß ihre empfindlichen Einrichtungen dicht sind, um hinsichtlich Bauarbeiten dieselben Möglichkeiten unter Wasser wie auf dem Land zu erhalten, und Sensoren (189, 177, 168, 166, 155, 111, 132, 143) enthält, die die Position der verschiedenen Achsen angeben, was es ermöglicht, den Zustand der Maschine zu beurteilen, indem ihre Richtung und ihre Position angegeben werden, hydraulische Leitungen (43, 44) und elektrische Leitungen (41, 42), die die Leistungsenergie, die Steuerbefehle der Betätigungsvorrichtungen und die Informationen, die von den Sensoren stammen, übertragen, wobei diese Leitungen die Maschine (1), die sich im Wasser befindet, und ein Element (2) an der Oberfläche des Systems zum Durchführen von Arbeiten in einer aggressiven Umgebung, wo sich der Energiegenerator befindet, sowie das vollständige oder teilweise Steuersystem, je nachdem, ob das ausgewählte Steuerprinzip der Maschine von einem Brückenschiff oder einer Boje ausgeht, verbindet.
  2. System nach Anspruch 1, dadurch gekennzeichnet, daß der Energiegenerator ein Verbrennungsmotor (201) ist, der Hydraulikpumpen (202, 203) antreibt.
  3. System nach Anspruch 1 oder 2, dadurch gekennzeichnet, daß die Betätigungsvorrichtungen (115, 122, 142, 151, 152, 161, 178) gegen Drücke der Flüssigkeiten, die von der Außenseite auf die Innenseite wirken, während der Phasen des Stillstands der Energieversorgung dicht gemacht sind.
  4. System nach Anspruch 1 oder 3, dadurch gekennzeichnet, daß der Generator eine Hydraulikpumpe ist und die Betätigungsvorrichtungen Hydraulikmotoren oder Zylinder sind.
  5. System nach Anspruch 1 oder 3, dadurch gekennzeichnet, daß der Generator und die Betätigungsvorrichtungen elektrisch sind.
  6. System nach einem der Ansprüche 1 oder 3, dadurch gekennzeichnet, daß der Generator aus einer Hydraulikpumpe für die Kraftmotoren und -betätigungsvorrichtungen und einem elektrischen Generator für die anderen Motoren oder Betätigungsvorrichtungen besteht.
  7. System nach einem der Ansprüche 1 bis 6, dadurch gekennzeichnet, daß die Anlage Funkverbindungsmittel (28, 208, 207) aufweist, einerseits für den Empfang (208) der Steuersignale der verschiedenen Elemente der Zwischenanlage, der Motoren (201 bis 203) und der Betätigungsvorrichtungen der Maschine und andererseits für die Übertragung (207) der Signale, die von den Sensoren der Maschine (1) stammen.
  8. System nach Anspruch 7, dadurch gekennzeichnet, daß die Dichtungsmittel aus Dichtungen (1223) mit Doppel-V-Leisten bestehen, deren V entlang zwei senkrechten Richtungen aneinandergefügt sind.
  9. System nach Anspruch 7, dadurch gekennzeichnet, daß die Funkverbindungsmittel der Zwischenanlage mit einem Führungsstand (3) in Verbindung stehen.
  10. System nach einem der vorangehenden Ansprüche, dadurch gekennzeichnet, daß die Arbeitsmaschine ein Gyroskop (113) zum Bestimmen ihres Kurses und zwei Neigungsmesser (113) aufweist, einen zum Bestimmen der Neigung gemäß der x-Achse und den anderen zum Bestimmen der Neigung gemäß der y-Achse.
  11. System nach einem der vorangehenden Ansprüche, dadurch gekennzeichnet, daß die Maschine (1) ein Hydraulikbagger ist, der mit einem zweiten Arm (15, 16, 17, 18) versehen ist, an dem Hilfswerkzeuge montiert sein können, die durch eine Drehung des Revolvers um einen Winkel von 180° in die Arbeitsposition gebracht werden können.
  12. System nach Anspruch 11, dadurch gekennzeichnet, daß das Hilfswerkzeug ein Bohrmast (19) ist.
  13. System nach Anspruch 11, dadurch gekennzeichnet, daß das Hilfswerkzeug aus einer Pumpe besteht.
  14. System nach Anspruch 11, dadurch gekennzeichnet, daß das Hilfswerkzeug aus einer Schere besteht.
  15. System nach Anspruch 11, dadurch gekennzeichnet, daß das Hilfswerkzeug aus einem Hydraulikhammer besteht.
  16. System nach einem der Ansprüche 1 bis 10, dadurch gekennzeichnet, daß die Maschine eine Planierraupe (1B) ist, die durch Raupen mit einer Lamelle quer zu ihrer Fortbewegung auf dem Boden bewegt wird und deren Höhenposition durch zwei Betätigungsvorrichtungen definiert wird.
  17. System nach einem der Ansprüche 1 bis 15, dadurch gekennzeichnet, daß die Betätigungsvorrichtungen des Baggerauslegers in die Position der "Ablauf"-Steuerung gebracht werden, wenn die Zinken der Schaufel die gewünschte Grabentiefe erreicht haben, um dem Fahrer zu ermöglichen, einen Graben auszuheben, dessen Boden auf derselben Höhe bleibt.
  18. System nach Anspruch 1, dadurch gekennzeichnet, daß die Boje in einem zylindrischen Volumen ein erstes oberes dichtes Abteil (20), das mit der Atmosphäre durch einen Schacht (26) in Verbindung steht, der durch mindestens ein Dichtungsventil verschließbar ist, welches durch einen Zylinder gesteuert wird und Mittel zur Verbindung mit einem Steuerstand enthält, und ein zweites Abteil aufweist, in dem ein nachgiebiges Fach (21) angeordnet ist, das mit dem ersten Abteil durch eine Versorgungsröhre in Verbindung steht, wobei das nachgiebige Fach den fossilen Brennstoff (221) enthält, der zur Versorgung des Verbrennungsmotors (201) vorgesehen ist, welcher im ersten Abteil angeordnet ist, wobei dieses nachgiebige Fach (21) in einem Abteil angeordnet ist, das durch eine untere Wand (24), die mit Öffnungen (241) versehen ist, mit der flüssigen Umgebung in Verbindung steht, in der die Boje (2) schwimmt, wobei das zylindrische Gehäuse der Boje an seinem Umfang mit einem aufblasbaren Wulst (27) versehen ist, der einerseits das Halten der Boje (2) auf gleicher Schwimmhöhe unabhängig vom Spiegel des Brennstoffs in dem Fach, und andererseits ihr Eintauchen im Fall einer Gefahr an der Oberfläche ermöglicht.
  19. System nach Anspruch 18, dadurch gekennzeichnet, daß die Boje Mittel zum Steuern des Betätigungszylinders des Dichtungsventils des oberen Abteils (20) und Mittel zur Steuerung des Aufblasens und Entleerens des aufblasbaren Wulstes (27) umfaßt, um das vollständige Eintauchen der Boje oder die Steuerung ihrer Schwimmhöhe in Abhängigkeit von den Spiegeln der fossilen Brennstoffflüssigkeit (221) und den meteorologischen Bedingungen zu ermöglichen.
  20. System nach Anspruch 18 oder 19, dadurch gekennzeichnet, daß die Boje zusätzlich zum Verbrennungsmotor (201) einen elektrischen Generator (209), der für das Laden einer Versorgungsbatterie (211) der in die Kammer integrierten elektronischen Anlagen vorgesehen ist, ein Klimatisierungssystem, und Hydraulikpumpen (202, 203) aufweist, die es ermöglichen, das Betätigungsfluid zu den Kraftmotoren oder -betätigungsvorrichtungen der Maschine (1) zu liefern,.
  21. System nach einem der Ansprüche 18 bis 20, dadurch gekennzeichnet, daß die elektronischen Schaltkreise der Boje einen programmierbaren Automaten (206) umfassen, der durch ein Schnittstellenklemmbrett mit folgendem verbunden ist: mit den Sensoren, die die Informationen über die Funktion des Motors (201) liefern, und mit den Betätigungsvorrichtungen, die die Steuerung des Verbrennungsmotors (201) ermöglichen, mit der Leitung (42), die die Rückführung der Informationen des elektrischen Meßkastens der Maschine (1) liefert, mit der Leitung (41) zur Steuerung der Hydraulikverteiler der Maschine-(1); mit den Sensoren (2063 bis 2067) und der Betätigungsvorrichtung (2069), die es ermöglicht, die Schwimmhöhe der Boje oder ihr Eintauchen zu steuern, und mit Modems, die wiederum mit einer oder mehreren Antennen (28) verbunden sind, die das Aussenden durch ein erstes Modem (207) und den Empfang durch das andere Modem (208) ermöglichen.
  22. Steuerstand für die Maschine (1) des Systems nach Anspruch 1, welche durch eine Leitung (4) mit einer Zwischenanlage (2) verbunden ist, die mit dem Steuerstand durch eine Funkwelle in Verbindung steht, dadurch gekennzeichnet, daß der Stand (3) einen Sitz (31) umfaßt, der auf Betätigungsvorrichtungen (35, 36) montiert ist, welche die Neigungsbewegungen entlang der zwei Achsen der Maschine reproduzieren und in der Nähe des Sitzes (31) des Fahrers zwei Manipulatoren (33, 34) mit drei Achsen mit Vorrichtungen (331, 341) zur Kraftrückkopplung umfassen, die einerseits mit einem programmierbaren Automaten (376), der wiederum mit einem Sendemodem (378) und einem Empfangsmodem (377) mit Richtfunkstrecke verbunden ist, und andererseits durch eine Serienverbindung mit einem Informatiksystem des Typs Industriecomputer (375) mit Tastatur, welcher mit einem Anzeigemonitor (32) verbunden ist, verbunden sind.
  23. Steuerstand nach Anspruch 22, dadurch gekennzeichnet, daß die Vorrichtung zur Kraftrückkopplung der Maschine aus Drucksensoren (204, 205) besteht, die an den Ausgängen der Hochdruckpumpen (202, 203), die die Maschine mit Energie versorgen, angeordnet sind, wobei die Sensoren mit dem programmierbaren Automaten (206) der Zwischenanlage (2) verbunden sind, wobei die von diesen Sensoren gelieferten Signale durch das Funkübertragungsmodem (207) ausgesandt werden und dann vom Empfangsmodem (377) der Führungskabine (3) empfangen werden und durch einen zweiten Automaten (376) in einen Versorgungsstrom eines Elektromagneten umgewandelt werden, der dazu vorgesehen ist, eine Kraft, die zum Druck proportional ist, der am Ausgang der Pumpen gemessen wird, auf das Kugelgelenk des Manipulators (34, 33) aufzubringen, der mit dem Drucksensor (204 bzw. 205) verbunden ist.
  24. Steuerstand nach Anspruch 22 oder 23, dadurch gekennzeichnet, daß der Bildschirm des Monitors (32) mehrere Fenster aufweist, die durch das Programm des Computers (375) unterstützt werden, um in einem ersten Fenster die Anzeige der durch das Gyroskop angegebenen Richtung, in einem zweiten Fenster die Darstellung der Maschine und der Abmessungen des durch die Maschine ausgehobenen Grabens, in einem dritten Fenster die Neigung der Maschine gemäß der x-Achse, in einem vierten Fenster die Neigung der Maschine gemäß der y-Achse, in einem fünften Fenster die Neigung der Zinken der Schaufel (14) des Baggers (1), um dem Fahrer zu ermöglichen, die exakte Position der Schaufel jederzeit zu kennen, und in einem letzten Anzeigefenster die von den Modems (279, 379) übertragenen Bilder, die von einer an der Maschine (1) montierten Kamera stammen, zu ermöglichen.
  25. Steuerstand nach Anspruch 24, dadurch gekennzeichnet, daß der Computer des Führungsstandes ein Informatikprogramm umfaßt, das Synthesebilder rekonstruiert, die aus Signalen, die von den Sensoren zur Nachahmung der Bewegungen der Maschine und den Positions- und Neigungssensoren geliefert werden, einerseits die Position der Maschine und andererseits die Realisierung der durchgeführten Arbeit darstellen.
  26. Steuerstand nach einem der Ansprüche 22 bis 25, dadurch gekennzeichnet, daß der in die Zwischenanlage eingesetzte und zur Kontrolle und zur Steuerung der Maschine (1) dienende Automat (206) programmiert ist, um automatisierte Sequenzen der Funktion der Maschine für Vorgänge wie das Ablegen des ausgehobenen Materials in der Nähe des Grabens aufzuweisen, damit der Fahrer von dieser Arbeit befreit ist und damit die so durchgeführte Aufschüttung immer im gleichen Abstand bezüglich des Grabens liegt.
  27. Steuerstand nach Anspruch 26, dadurch gekennzeichnet, daß eine derartige Sequenz durch den Benutzer durch eine der Tasten von einem der Manipulatoren (34, 33) mit drei Achsen in Gang gebracht wird und die Ausführung der Sequenzauf dem Bildschirm dargestellt wird, damit der Fahrer am Ende der automatisierten Sequenz die Kontrolle der Maschine durch die Manipulatoren wieder übernehmen kann.
  28. Steuerstand nach Anspruch 26 oder 27, dadurch gekennzeichnet, daß der Steuerautomat (206) der Maschine (1) für eine automatisierte Sequenz der Ablage des ausgehobenen Materials einen Steuerbefehl zum Anheben des Auslegers (12) des Baggers; einen Steuerbefehl zum Drehen des Revolvers (11) des Baggers um einen bestimmten Winkel, gefolgt von einem Steuerbefehl zum Kippen der Schaufel (14) des Baggers, um das ausgehobene Material in der Nähe des Grabens auszukippen, dann erneut einen Steuerbefehl zur Drehung der Revolver in der umgekehrten Richtung um den gleichen Winkel und zum Senden eines Signals an den Führungsstand, damit der Benutzer die Kontrolle wieder übernimmt, umfaßt.
  29. Steuerstand nach einem der Ansprüche 22 bis 28, dadurch gekennzeichnet, daß das Programm des Automaten der Zwischenanlage es ermöglicht, wenn der Benutzer durch den Manipulator die Bewegung des Arms (15 bis 18) zum Tragen der Werkzeuge (19) steuert, automatisch die Drehung des Revolvers (11) um eine halbe Umdrehung zu leiten, um seine präzise Anordnung sicherzustellen, und am Ende der Verwendung die Drehung in der umgekehrten Richtung zu bewirken, um eine Verdrehung der Leitungen (4), die größer ist als eine halbe Umdrehung, zu vermeiden.
EP97401785A 1996-07-25 1997-07-24 System zur Arbeit in gefährlicher Umgebung umfassend eine Baumaschine und dazugehörende Kontrollstation Expired - Lifetime EP0821109B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR9609386 1996-07-25
FR9609386A FR2751677B1 (fr) 1996-07-25 1996-07-25 Engin de genie pour travail en milieu hostile, bouee pour travaux maritimes, poste de commande associe a un engin ou a un ensemble bouee-engin

Publications (2)

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

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

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ES2168166B2 (es) * 1998-11-04 2003-10-16 Tejedor Fernando Sanchez Maquina para desarrollar trabajos submarinos.
CN102797276A (zh) * 2012-09-11 2012-11-28 韦力生 一种龟步履带行走式清淤机
GB201401236D0 (en) * 2014-01-24 2014-03-12 Ihc Engineering Business Ltd Trenching apparatus
CN107059971A (zh) * 2017-04-19 2017-08-18 安徽捷思新型材料有限公司 水底吸污专用作业船
CN115162449B (zh) * 2022-07-13 2023-09-05 中交上海航道局有限公司 一种挖泥船用污泥脱水装置

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS492722Y1 (de) * 1968-10-18 1974-01-23
JPS5238323B2 (de) * 1971-12-27 1977-09-28
DE3739041A1 (de) * 1987-11-17 1989-05-24 Siemens Ag Kabelpflug
FR2693220B1 (fr) * 1992-07-06 1994-08-19 Sacavi Sa Procédé pour le curage d'ouvrages, notamment d'égouts.
JPH07229741A (ja) * 1994-02-18 1995-08-29 Mitsubishi Heavy Ind Ltd 捨石ならし度測定装置
US5850341A (en) * 1994-06-30 1998-12-15 Caterpillar Inc. Method and apparatus for monitoring material removal using mobile machinery

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DK0821109T3 (da) 2003-02-03
DE69715749T2 (de) 2003-06-05
FR2751677A1 (fr) 1998-01-30
EP0821109A1 (de) 1998-01-28
PT821109E (pt) 2003-02-28
DE69715749D1 (de) 2002-10-31
FR2751677B1 (fr) 1998-11-20
ATE224983T1 (de) 2002-10-15
ES2184044T3 (es) 2003-04-01

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