FR3049703B1 - METHOD FOR DETERMINING THE POSITION AND / OR ORIENTATION OF A ROBOT / CARRIER EVOLVING IN A PIPING SYSTEM, ASSEMBLY AND METHOD FOR MAINTENANCE THEREOF - Google Patents

METHOD FOR DETERMINING THE POSITION AND / OR ORIENTATION OF A ROBOT / CARRIER EVOLVING IN A PIPING SYSTEM, ASSEMBLY AND METHOD FOR MAINTENANCE THEREOF Download PDF

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Publication number
FR3049703B1
FR3049703B1 FR1652844A FR1652844A FR3049703B1 FR 3049703 B1 FR3049703 B1 FR 3049703B1 FR 1652844 A FR1652844 A FR 1652844A FR 1652844 A FR1652844 A FR 1652844A FR 3049703 B1 FR3049703 B1 FR 3049703B1
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FR
France
Prior art keywords
robot
carrier
orientation
determining
piping
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.)
Active
Application number
FR1652844A
Other languages
French (fr)
Other versions
FR3049703A1 (en
Inventor
Fabrice Leomy
Bruno Bader
Guillaume Combret
Olivier Theallier
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Areva NP SAS
Original Assignee
Areva NP SAS
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Areva NP SAS filed Critical Areva NP SAS
Priority to FR1652844A priority Critical patent/FR3049703B1/en
Priority to PCT/EP2017/057734 priority patent/WO2017167982A1/en
Publication of FR3049703A1 publication Critical patent/FR3049703A1/en
Application granted granted Critical
Publication of FR3049703B1 publication Critical patent/FR3049703B1/en
Active legal-status Critical Current
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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
    • F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
    • F16L55/48—Indicating the position of the pig or mole in the pipe or conduit
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L2101/00—Uses or applications of pigs or moles
    • F16L2101/30—Inspecting, measuring or testing
    • G—PHYSICS
    • G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
    • G21C—NUCLEAR REACTORS
    • G21C17/00—Monitoring; Testing ; Maintaining
    • G21C17/017—Inspection or maintenance of pipe-lines or tubes in nuclear installations

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • General Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Mechanical Engineering (AREA)
  • Acoustics & Sound (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
  • Manipulator (AREA)
  • Length Measuring Devices Characterised By Use Of Acoustic Means (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)

Abstract

La présente invention concerne une méthode de détermination de la position et/ou de l'orientation d'un robot ou d'un porteur d'un système mécanisé (5) évoluant dans une tuyauterie (10), la méthode comportant une étape de détermination d'au moins l'un d'une position du robot/porteur (5) le long de la tuyauterie (10) ou d'une orientation du robot/porteur (5) autour d'un axe central de la tuyauterie (10). La méthode comprend : - une étape de fixation d'un repère (15) sur la surface extérieure (22) de la tuyauterie (10) à une position prédéterminée, le repère (15) étant apte à être fixé en toute position angulaire autour de la tuyauterie (10) ; et, - une étape de localisation du repère (15) par le robot/porteur (5), le robot/porteur (5) étant à l'intérieur de la tuyauterie (10).The present invention relates to a method for determining the position and / or the orientation of a robot or of a carrier of a mechanized system (5) operating in a pipe (10), the method comprising a step of determining at least one of a position of the robot / carrier (5) along the piping (10) or of an orientation of the robot / carrier (5) around a central axis of the piping (10) . The method comprises: - a step of fixing a mark (15) on the external surface (22) of the piping (10) at a predetermined position, the mark (15) being able to be fixed in any angular position around the piping (10); and, a step of locating the mark (15) by the robot / carrier (5), the robot / carrier (5) being inside the piping (10).

FR1652844A 2016-03-31 2016-03-31 METHOD FOR DETERMINING THE POSITION AND / OR ORIENTATION OF A ROBOT / CARRIER EVOLVING IN A PIPING SYSTEM, ASSEMBLY AND METHOD FOR MAINTENANCE THEREOF Active FR3049703B1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
FR1652844A FR3049703B1 (en) 2016-03-31 2016-03-31 METHOD FOR DETERMINING THE POSITION AND / OR ORIENTATION OF A ROBOT / CARRIER EVOLVING IN A PIPING SYSTEM, ASSEMBLY AND METHOD FOR MAINTENANCE THEREOF
PCT/EP2017/057734 WO2017167982A1 (en) 2016-03-31 2017-03-31 Method for determining the position and/or the orientation of a robot/carrier moving through a pipe, associated assembly and maintenance method

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1652844A FR3049703B1 (en) 2016-03-31 2016-03-31 METHOD FOR DETERMINING THE POSITION AND / OR ORIENTATION OF A ROBOT / CARRIER EVOLVING IN A PIPING SYSTEM, ASSEMBLY AND METHOD FOR MAINTENANCE THEREOF
FR1652844 2016-03-31

Publications (2)

Publication Number Publication Date
FR3049703A1 FR3049703A1 (en) 2017-10-06
FR3049703B1 true FR3049703B1 (en) 2020-01-17

Family

ID=56555481

Family Applications (1)

Application Number Title Priority Date Filing Date
FR1652844A Active FR3049703B1 (en) 2016-03-31 2016-03-31 METHOD FOR DETERMINING THE POSITION AND / OR ORIENTATION OF A ROBOT / CARRIER EVOLVING IN A PIPING SYSTEM, ASSEMBLY AND METHOD FOR MAINTENANCE THEREOF

Country Status (2)

Country Link
FR (1) FR3049703B1 (en)
WO (1) WO2017167982A1 (en)

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3139733A1 (en) * 1981-10-06 1983-04-21 Kraftwerk Union AG, 4330 Mülheim Positioning method and device for invisible equipment carriers that can be moved in hollow bodies
JPH06323837A (en) 1993-05-12 1994-11-25 Meitec Corp Position detector for robot moving through pipe
DE59608391D1 (en) * 1995-10-16 2002-01-17 Framatome Anp Gmbh TUBE MANIPULATOR FOR TESTING OR PROCESSING THE INSIDE SURFACE OF A TUBE
DE10338952A1 (en) * 2003-08-25 2005-03-24 Jäger, Frank-Michael Pipeline inspection pig identification arrangement, in which pig locating takes place by the exchange of acoustic signals between an acoustic unit mounted with the pig and an external acoustic unit
US20110198075A1 (en) * 2010-02-15 2011-08-18 Kabushiki Kaisha Toshiba In-pipe work device

Also Published As

Publication number Publication date
FR3049703A1 (en) 2017-10-06
WO2017167982A1 (en) 2017-10-05

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