FR3079297B1 - METHOD FOR DETERMINING THE POSITION AND / OR ORIENTATION OF A ROBOT / CARRIER MOVING IN PIPING AND ASSOCIATED ASSEMBLIES - Google Patents

METHOD FOR DETERMINING THE POSITION AND / OR ORIENTATION OF A ROBOT / CARRIER MOVING IN PIPING AND ASSOCIATED ASSEMBLIES Download PDF

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Publication number
FR3079297B1
FR3079297B1 FR1852555A FR1852555A FR3079297B1 FR 3079297 B1 FR3079297 B1 FR 3079297B1 FR 1852555 A FR1852555 A FR 1852555A FR 1852555 A FR1852555 A FR 1852555A FR 3079297 B1 FR3079297 B1 FR 3079297B1
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FR
France
Prior art keywords
robot
orientation
determining
carrier
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
FR1852555A
Other languages
French (fr)
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FR3079297A1 (en
Inventor
Fabrice Leomy
Nicolas Charnay
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
Framatome SA
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 Framatome SA filed Critical Framatome SA
Priority to FR1852555A priority Critical patent/FR3079297B1/en
Publication of FR3079297A1 publication Critical patent/FR3079297A1/en
Application granted granted Critical
Publication of FR3079297B1 publication Critical patent/FR3079297B1/en
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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
    • G01D5/142—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices
    • G01D5/145—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices influenced by the relative movement between the Hall device and magnetic fields
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • 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
    • G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
    • G05D1/0261—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic plots
    • 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
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E30/00—Energy generation of nuclear origin
    • Y02E30/30—Nuclear fission reactors

Abstract

Cette méthode de détermination de la position et/ou de l'orientation d'un robot ou d'un porteur d'un système mécanisé (28) évoluant dans une tuyauterie (16), comporte une étape de détermination d'au moins l'une d'une position du robot/porteur (28) le long de la tuyauterie (16) ou d'une orientation du robot/porteur (28) autour d'un axe central (X) de la tuyauterie (16), l'étape de détermination comprenant les sous-étapes suivantes : - positionnement d'au moins un repère (26) à l'extérieur de la tuyauterie (16) à une position prédéterminée ; - création d'un champ magnétique par le ou chaque repère (26) ; - détection dudit champ magnétique et localisation du ou de chaque repère (26) par le robot/porteur (28).This method of determining the position and / or the orientation of a robot or of a carrier of a mechanized system (28) moving in a pipe (16), comprises a step of determining at least the one of a position of the robot / carrier (28) along the pipe (16) or of an orientation of the robot / carrier (28) around a central axis (X) of the pipe (16), the determination step comprising the following sub-steps: - positioning of at least one mark (26) outside the pipe (16) at a predetermined position; - Creation of a magnetic field by the or each mark (26); - detection of said magnetic field and localization of the or each mark (26) by the robot / carrier (28).

FR1852555A 2018-03-23 2018-03-23 METHOD FOR DETERMINING THE POSITION AND / OR ORIENTATION OF A ROBOT / CARRIER MOVING IN PIPING AND ASSOCIATED ASSEMBLIES Active FR3079297B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
FR1852555A FR3079297B1 (en) 2018-03-23 2018-03-23 METHOD FOR DETERMINING THE POSITION AND / OR ORIENTATION OF A ROBOT / CARRIER MOVING IN PIPING AND ASSOCIATED ASSEMBLIES

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1852555A FR3079297B1 (en) 2018-03-23 2018-03-23 METHOD FOR DETERMINING THE POSITION AND / OR ORIENTATION OF A ROBOT / CARRIER MOVING IN PIPING AND ASSOCIATED ASSEMBLIES
FR1852555 2018-03-23

Publications (2)

Publication Number Publication Date
FR3079297A1 FR3079297A1 (en) 2019-09-27
FR3079297B1 true FR3079297B1 (en) 2020-07-17

Family

ID=63080013

Family Applications (1)

Application Number Title Priority Date Filing Date
FR1852555A Active FR3079297B1 (en) 2018-03-23 2018-03-23 METHOD FOR DETERMINING THE POSITION AND / OR ORIENTATION OF A ROBOT / CARRIER MOVING IN PIPING AND ASSOCIATED ASSEMBLIES

Country Status (1)

Country Link
FR (1) FR3079297B1 (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112345284B (en) * 2020-11-26 2021-07-27 吉林大学 Device for testing reciprocating motion dynamic performance of magnetic field driven cableless pipeline robot

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DK173122B1 (en) * 1995-07-04 2000-01-31 Force Instituttet Movable robot for internal inspection of pipes
CN2258566Y (en) * 1995-11-24 1997-07-30 清华大学 Static magnet field type positioning system and creeper using said system
GB9816083D0 (en) * 1998-07-24 1998-09-23 Jme Ltd Pipeline crawler control and/or tracking system
US20010029989A1 (en) * 2000-02-17 2001-10-18 Paz German N. Pipeline identification and positioning system
CN106078736A (en) * 2016-06-13 2016-11-09 江苏若博机器人科技有限公司 One is wirelessly transferred dinuclear ten axle crawler type natural gas line robot control system

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Publication number Publication date
FR3079297A1 (en) 2019-09-27

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