FR3035275A1 - DEVICE FOR MONITORING AND / OR INTERVENTING ON A CABLE LOCATED IN HEIGHT - Google Patents

Abstract

The invention relates to a control device and / or intervention on a cable (C) located in height comprising: - an aircraft (2) of the multicopter type, comprising a frame (3) and a plurality of lift rotors (4). ), - means for telepiloting said aircraft (2), - hooking means (6), integral with said frame (3), for the attachment of the latter on said cable (C), which hooking means (6) comprise at least one roller (7) adapted to be positioned on said cable (C), which roller (7) is associated with a motor (8) which allows its driving in rotation to ensure the displacement of said frame (3). ) along said cable (C), by rolling said roller (7) on said cable (C), and - control and / or intervention means (10) adapted to control at least one parameter of said cable (C) ), or to intervene on the latter, which means (10) of control and / or intervention are carried by said frame (3).

Description

TECHNICAL FIELD TO WHICH THE INVENTION RELATES The present invention generally relates to the field of control devices and / or intervention on a cable located at height. TECHNOLOGICAL BACKGROUND Certain cables located at height need to be checked to check their condition, punctually or periodically, and / or require to be subjected to a maintenance intervention or repair, that by means of a material dedicated. However, these control operations and / or intervention are problematic when the cable is located at a high height, especially several tens of meters from the ground. For example, for electrical conductors of high voltage lines, which extend to heights of the order of 20 to 60 meters, carried by towers, the corresponding control and / or intervention operations can be carried out: on live conductors, by specialized teams, from a suitable aerial platform (called TST nacelle); but these nacelles are in very small numbers and their use is limited in tension and height; - on de-energized conductors, using conventional aerial lifts; but such conventional nacelles are also limited in height; the corresponding work is not easy under the cables and the precise interventions are very difficult in most cases, with still an obligation to record the line; - on power-down or undervoltage conductors, climbing masts by specialized crews, then moving on the cables of a "wagon", using sling and pulley systems; the corresponding operations again require the use of specialists and are relatively risky; - by means of a pole; but interventions are then limited in operation distance; - by means of a basket suspended from a helicopter; but this solution is expensive and also risky. OBJECT OF THE INVENTION In order to overcome the aforementioned drawbacks of the state of the art, the present invention proposes a device for controlling and / or intervening on a cable located at a height, at an altitude I_ with respect to the ground. which comprises: - a multicopter type aircraft comprising a chassis and a plurality of lift rotors, - means for telepiloting said aircraft, - hooking means, integral with said chassis of said aircraft, for the attachment of said aircraft on said cable, which attachment means comprise at least one roller adapted to be positioned on said cable, which roller is associated with an actuator which allows its driving in rotation to ensure the displacement of said frame along said cable, by rolling said roller on said cable, and 15 - control and / or intervention means, adapted to control at least one parameter of said cable, or to intervene on this cable. last, which means of control and / or intervention are carried by said frame. The attachment means of the chassis of the aircraft preferably consist of a butt-shaped structure comprising at least two rollers 20, at least one of which is associated with an engine. According to yet another particularity, in particular to limit the risk of contact with the cable during the hooking and unhooking maneuvers of the frame, said one or more rollers define a bearing line on the cable, with lifting rotors which extend in a plan of sustenance; in the normal position of movement of said aircraft or attachment of the latter on the cable, said plane of lift is located under said support line; and the lift rotors of the aircraft preferably work in thrust. Still according to a preferred feature, the control and / or intervention device comprises information means carried by said frame, adapted in particular to allow an operator to remotely view the maneuvers for hooking said frame on said cable, as well as his stall maneuvers; these information means may consist of a camera, a laser, a radar or any other suitable means. According to yet another preferred feature, the device 3035275 3 comprises a flight control sling, whose length is greater than said altitude L of said cable, a first end of which is fixed to said frame and whose second end is intended to remain on the ground , or close to the ground, to allow control of the altitude level of said chassis to adopt, to facilitate its attachment to said cable. In a particular embodiment, said second end of this flight control sling is mounted on a controlled winch for its control in winding and unwinding. The device according to the invention advantageously comprises a working plate for the support of the control and / or intervention means, which working plate is provided with connecting means with said frame. In a particularly advantageous embodiment, these connecting means between the work plate and the frame comprise at least two connecting slings whose length is greater than said altitude L of said cable, to allow said frame to hook onto said cable. with said working plate remaining on the ground, one of the ends of said slings being fixed to said frame, and the other end of said slings being associated with controllable maneuvering means integral with said working plate, which maneuvering means are adapted: to allow said work plate to be hoisted from the ground to the chassis hooked to said cable, and to allow the descent of said work plate from said frame hooked to said cable, to the ground, said device further comprising controllable means for removably securing said frame with said work plate. Still according to a particular embodiment, said frame / work plate fastening means comprise at least one male / female interlocking system associated with locking means between the two, controllable in activation and in deactivation. According to yet another particularity, at least one of said connecting slings acts as a flight control sling, for controlling the altitude level of said chassis to adopt, to facilitate its attachment to said cable. In a particular embodiment, the device according to the invention 3035275 4 comprises a working plate provided with two piloted winches, each associated with a first end of a connecting sling and possibly flight control, for the winding and the unwinding of the latter, the other end of said slings being fixed to said frame, each of said slings being associated with a male / female interlock system provided with its own controllable locking system. DETAILED DESCRIPTION OF AN EXEMPLARY EMBODIMENT The invention will be further illustrated, without being limited in any way, by the following description, in relation to the accompanying drawings in which: FIG. 1 is a general schematic view illustrating a device according to invention, comprising a remotely piloted aircraft, for a control or intervention on a cable, said aircraft being placed on the ground here; FIG. 2 is an enlarged diagrammatic view in perspective of the aircraft of the control and / or intervention device according to FIG. 1, shown here in isolation; FIG. 3 is a general view similar to FIG. 1 illustrating the control and / or intervention device according to the invention, with the remotely piloted aircraft in intermediate flight, before it is hooked onto the cable; FIG. 4 is an enlarged diagrammatic perspective view illustrating the remotely piloted aircraft of FIG. 3, just before it is hooked onto the cable; - Figure 5 is a schematic view similar to Figure 4 illustrating the remotely pilot aircraft hooked on the cable; FIG. 6 is a view similar to FIG. 5 illustrating the movements of the aircraft on the cable; FIG. 7 is a general schematic view illustrating an alternative embodiment of a device according to the invention comprising a remotely piloted aircraft for control and / or intervention on a cable, associated with a work plate that can be detached from its chassis, maintained by slings, said aircraft being here represented in intermediate flight between the ground and the cable, with the working plate 30 placed on the ground; FIG. 8 is an enlarged schematic view in perspective of the aircraft of the control and / or intervention device according to FIG. 7; FIG. 9 is a diagrammatic view similar to FIG. 8 illustrating the remotely piloted aircraft, seen in perspective, just before it is hooked onto the cable, the working platen still being placed on the ground; FIG. 10 is a view similar to FIG. 9 illustrating the remotely piloted aircraft hooked on the cable, with the work platform still resting on the ground; FIG. 11 is a view similar to FIG. 10 illustrating the raising of the work plate from the remotely piloted aircraft attached to the cable; - Figure 12 schematically illustrates the working plate associated with the aircraft according to Figures 7 to 11, with its lifting means; - Figure 13 is a view similar to Figure 11 illustrating the work plate just before attachment to the chassis of the aircraft hooked to the cable; FIG. 14 is a schematic view illustrating the aircraft according to FIGS. 7 to 13, hooked to the cable, with the work plate locked on its chassis. As illustrated in FIGS. 1 to 14, the device 1 according to the invention is adapted to perform control and / or intervention operations on a cable C 15 located at a height, at an altitude L with respect to the ground S The cable may for example be an electrical conductor C stretched between P towers and extending at an altitude L of several meters or tens of meters, for example 20 to 60 meters from the ground S. This device 1 control and / or intervention comprises: - an aircraft 2, 2 'of multicopter type comprising a chassis 3 and a plurality of lift rotors 4, - means 5 for telepiloting the aircraft 2, 2' by an operator A, - attachment means 6 integral with the chassis 3 of the aircraft 2, 2 ', which allow the attachment of this aircraft 2, 2' on the cable C; these attachment means 25 comprise at least one roller 7, 7 'adapted to be positioned on the cable C and at least one of which is associated with a motor 8 (for example an electric motor) for its rotational drive to ensure the displacement of said frame 3 along the cable C by rolling said one or said rollers 7, 7 'on said cable C, and 30 - control and / or intervention means 10, adapted to control at least one parameter of said C cable, and / or to intervene on the latter, which means 10 control and / or intervention are carried by the frame 3 of the aircraft 2, 2 '. As can be seen in FIGS. 2 and 8, the aircraft 2, 2 'here is of the flat-plate type hexacopter type 3035275 6, comprising a chassis 3 which carries six lift rotors 4. The chassis 3 can be made of mechanically welded metal, plastic or composite material. The different lift rotors 4 are each composed of a motorized propeller; they extend in the same plane D (Figure 2) and they are oriented downwards (that is to say, under the frame portion 3 which carries them) to work thrust to the ground. The means 6 which allow the attachment of the aircraft 2, 2 'on the cable C consist of a butt-shaped structure comprising two rollers 7, 7' 10 aligned which define a bearing line E on the cable C. The roller 7 is here associated with the electric motor 8, and the roller 7 'is rotatably mounted. The motorization 8 is equipped with a battery; it can be remotely piloted or controlled in a programmed manner.

In the normal position of displacement of the aircraft 2, 2 ', the bearing line E of the rollers 7, 7' is situated above the plane D in which the lifting rotors 4 extend. the aircraft 2, 2 'also comprises information means 11 adapted to allow the operator A to remotely view his hooking maneuvers on the cable C and his stall maneuvers. These information means 11 may consist of a camera, laser, radar, or other means. In addition, this frame 3 also supports a work plate 12 which itself carries at least part of the aforementioned control and / or intervention means 10. Depending on the type of operation that is desired, these control and / or intervention means 10 may for example consist of: - one or more sensors adapted to detect the temperature of the cable C, 30 - in one or more wear sensors, for determining the wear of the cable C, - in a cable repair system C, after detecting a degradation thereof, - in a system for installing various devices on the cable C (by 3035275 7 example indwelling sensor, beacon ...). These various control and / or intervention means 10 can be mounted directly on the work plate 12 or be carried by any lifting table, manipulator arm or other interface, itself mounted on said work plate 12. These different control and / or intervention means 10 can be remotely piloted or be programmedly controlled. The remotely piloting means 5 of the aircraft 2, 2 'comprise a control system 51 adapted to be used by the operator A, comprising means 10 for radio control and telemetry, making it possible to control the entire flight of the aircraft. aircraft 2, 2 '. For this, the chassis 3 of the aircraft is equipped with suitable electrical and electronic means to perform this flight. The control system 51 comprises means for receiving the signals coming from the information means 11, and display means such as a screen, to help the operator A during the hooking maneuvers of the frame 3 on the cable C and stall. It also comprises remote control or programming means of the drive 8 of the roller 7, in both directions, to move the frame 3 along the cable C after hooking; and it also possibly comprises means for remote control or programming means 10 for control and / or intervention on the cable C. In a first embodiment of the invention, illustrated in FIGS. 12 is directly attached to the frame 3 by any appropriate means 25, or integrated therewith, to form a single homogeneous assembly. The implementation of the control device and / or intervention 1 is then as follows: The aircraft 2, consisting of the chassis 3 with the levitation rotors 4, the hooking hook 6 and the work plate 12 provided with control / intervention means 10, is supported on the ground (FIG. 1) and is controlled by the operator A, who assures his take-off and ascent (FIG. 2) thanks to his control system 51. The aircraft 2 can be completely autonomous and fly freely under the control of the operator A.

The ascent of the aircraft 2 takes place as far as the cable C (FIG. 4), the operator A possibly being assisted by the information means 11 to remotely visualize the approach and the maneuvering maneuver. . Arrived at the height of the cable C (the support line E of the rollers 7, 7 'being 5 slightly above the cable C) the operator A stops the ascent and carries out a horizontal translation to place the line of rollers 7 , 7 'above and above the cable C. Then, by a slight descent maneuver (reduction of gases for example), the operator A comes to press the rollers 7, 7' on the cable C and it stops the lift rotors 4 (Figure 5).

The frame assembly 3 / work plate 12 can then be moved on the cable C by means of the motorized roller system (7, 8), controllable in direction and in speed (FIG. 6), or in a programmed manner, to realize the control and / or intervention operations sought. Once the corresponding operations are completed, the stalling operation of the chassis 3 is carried out in the opposite direction by: - restarting the lift rotors 4, - raising the aircraft 2, - horizontal translation of the aircraft 2, and release of the cable C, and - descent of the aircraft 2 to the ground.

Such a device structure 1, with work plate 12 "on board", mobile with the chassis 3 of the aircraft 2, is suitable for relatively light control and / or intervention means 10, for example of the order of a few kilograms. According to an alternative embodiment, the device 1 comprises a flight control sling 14 (shown in dashed lines in FIGS. 1, 3, 4 and 5) whose length is greater than the altitude L of the cable C, a first end 141 (said upper end) is attached to the chassis 3 of the aircraft 2 and the second end 142 (said lower end) is intended to remain on the ground, or close to the ground, to allow control the altitude level of the chassis 3 to adopt, to facilitate its attachment to the cable C. It is understood that the sling 14 allows the operator A to control the altitude of the aircraft 2 by manual management or motorized from its lower end 142 so killed at ground level, and maintain the aircraft 2 captive. In a preferred embodiment, this bottom end 142 of the flight control sling 14, located at ground level, is wound on a motorized winch 14a, remaining on the ground (shown in dashed lines in FIGS. 1 and 3). ), whose winding and unwinding maneuvers are controlled by dedicated radio controlled means, from the control system 51 handled by the operator A. The flight control sling 14 can be actuated during the ascent or descent. the descent of the aircraft 2 (Figure 3), but especially during the maneuvers hanging on the cable C and stall (Figures 4, 5 and 6). Note that once the chassis 3 hooked on the cable C, this sling 10 flight control 14 can be left in suspension or released from said frame 3, by any appropriate means. It is also conceivable to wind this sling 14 on the frame 3, by a dedicated retractor system (winch for example), after having optionally released its lower end 142 of the optional winch 14a.

In the latter case, this retractor system can replace the winch 14a above and ensure the function. The flight control sling 14 is preferably fixed on the chassis 3 in an area ensuring the best stability during flight. Another variant embodiment of the invention is illustrated in FIGS. 7 to 14. This variant embodiment is similar to the embodiment described with reference to FIGS. 1 to 6, but it is distinguished by the connecting means. between the working plate 12 and the chassis 3. The corresponding connection means between the working plate 12 and the chassis 3 here comprise two connecting slings 15 and 16 whose length is greater than the altitude L of the cable C, so as to allow the frame 3 to attach to the cable C with the work plate 12 resting on the ground. One of the ends 151, 161 of these two slings 15, 16 is fixed to the frame 3, and their other end 152, 162 is associated with maneuverable maneuvering means, here in the form of a winch, respectively 17 and 18, integral of the work plate 12 (Figure 12). The two winches 17 and 18, on which the ends 152 and 162 of the slings 15 and 16 are respectively wound, are controllable in winding and unwinding to enable the work plate 12 to be hoisted from the ground 3035275 10 to the chassis 3 hooked to the cable C, and to allow the descent of the work plate 12 from said frame 3 hooked to the cable C, to the ground. In addition, the device 1 further comprises here controllable means 20, 21, 22, 23 (detailed below) for removably securing the frame 3 with the work plate 12. The control of the winches 17 and 18, as well as the control of the securing means 20, 21, 22, 23 is effected by the operator A from his control system 51. This variant embodiment of the aircraft 2 ', the chassis 3 of which is associated with the platform 12 by connecting slings 15 and 16, is of particular interest when the control means and / or intervention 10 are too heavy for the assembly (chassis 3 and means 10 control / intervention) can be mounted on cable C directly. Preferably, one of the connecting slings (in this case the sling 15) is adapted to also fulfill a flight control sling function, as explained above. For this, the end 151 of this sling 15 is fixed to the frame 3 in an area ensuring the best stability during the flight. The securing means 20 to 23 between the working plate 12 and the chassis 3 of the aircraft 2 'consist of a male / female interlocking system 20-21 associated with locking means 22-23 which can be actuated in activation and in deactivation. As can be seen in particular in Figure 8, the corresponding interlocking means consist of two male sections 20 secured to the plate 12, which have the possibility of each coming to fit or fit into a female profile 21 arranged 3. Specifically, the male profiles 20 extend here perpendicularly to the plane of the work plate 12 (that is to say vertically in the normal position of use), and the female sections 21 correspond to a part profiles used to form the hooking hook 6 of the chassis 3.

At the end of nesting, removable locking means 22-23 controllable are activated to lock together the work plate 12 and the frame 3; these removable locking means consist for example of a pin system 22 formed on each of the female profiles 21 of the frame 3, which come into the orifices 23 formed in the male sections 20 of the work plate 12. It will be noted that as an alternative embodiment, the pin system 22 may be formed on the plate 12, close to the male sections 20, the orifices 23 then being provided at the base of the female sections 21.

In the embodiment illustrated in Figures 7 to 14, it is noted that the connecting slings 15 and 16 each pass from their ends 152, 162 wound on their winch 17, 18 respectively, in the male sections 20 of the plateau working 12; and their ends 151, 161 are fixed in the bottom of their respective female sections 21, to optimize the guide of the engagement 10 of the work plate 12 on the frame 3. The implementation of this embodiment, for a control and / or an intervention on the cable C is carried out as follows. The work plate 12 is supported on the ground, loaded with control and / or activation means 10, the locking means 22, 23 with the chassis 3 15 being deactivated. Operator A controls the take-off of the aircraft 2 '(FIG. 7), the control of the altitude being managed in this case mainly by the adapted course of the flight and flight control sling 15 (from remote control of the motorized winch 17).

The second sling 16 follows the movement. As for the embodiment illustrated in relation with FIGS. 1 to 6, the controlled climb to the cable C is advantageously assisted by the information means 11 making it possible to remotely view the approach and hooking maneuvers.

Once the line of rollers 7, 7 'slightly above the cable C (FIG. 9), the ascent is stopped and the operator A controls the aircraft 2' in horizontal translation, then it comes to press the rollers 7, 7 'on the cable C, by reduction of the gases or action on the flight control sling 15 connected to the ground. The chassis 3 of the aircraft 2 'is then hooked to the cable C and the lift rotors 4 can be stopped (FIG. 10). The work plate 12 is hoisted from the ground (FIGS. 11 and 12) by winding the slings 15 and 16 onto their respective winches 17, 18 (remotely controlled by the operator A). When the work plate 12 comes close to the frame 3, the male sections 20 of this plate 12 are automatically fitted into the female sections 21 of the frame 3 (FIG. 13). After complete nesting, the operator A activates the locking means 22, 23 to secure the fastening.

The assembly can then be moved on the cable C (FIG. 14), in the manner previously described in connection with FIGS. 1 to 6, to carry out the desired control and / or intervention operations. Once these operations are completed, the stall maneuver is performed inversely with the attachment maneuver, by deactivating the locking means 22, 23, lowering the work plate 12 to the ground by unwinding the slings 15, 16, and then piloting the aircraft 2 'to ensure its unhooking of the cable C, followed by a return to the ground. As for the ascent, the control of the descent altitude can be managed by the adapted winding of the link 15 and flight control sling, from remote control of the motorized winch 17, the second sling 16 following movement. In the context of the various embodiments described above, the rolling line E of the rollers 7, 7 'situated above the plane D of the lift rotors 4 and the thrust work of the lift rotors 4, 20 allow to limit the risks of contact of said levitation rotors 4 with the cable C during the hooking and unhooking maneuvers of the frame 3. The device 1 according to the invention allows a control and / or intervention on a cable C located in height: - with relatively simple structure means, 25 - in a fast manner, - in a way not risky for the personnel involved, this for any type of cable C, especially for conductive cables out of tension or even undervoltage. In the latter case the slings used comply with the requirements of live work; in addition, the flight electronics 30 is adapted to withstand the magnetic field generated by the live conductors.

Claims (11)

REVENDICATIONS1. Device (1) for controlling and / or intervening on a cable (C) situated in height, at an altitude (L) with respect to the ground, characterized in that it comprises: - an aircraft (2, 2 ') multicopter type comprising a frame (3) and a plurality of levitation rotors (4), - means (5) for telepiloting said aircraft (2, 2 '), - hooking means (6), integral said chassis (3) of said aircraft (2, 2 '), allowing attachment thereof to said cable (C), which attachment means (6) comprise at least one roller (7) adapted to be positioned on said cable (C), which roller (7) is associated with a motor (8) which allows its driving in rotation to ensure the movement of said frame (3) along said cable (C), by rolling said roller (7) on said cable (C), and - control and / or intervention means (10) adapted to control at least one parameter of said cable (C), or to intervene thereon, which s means (10) control and / or intervention are carried by said frame (3). 2. Device (1) according to claim 1, characterized in that said attachment means (6) consist of a butt-shaped structure comprising at least two rollers (7, 7 ') of which at least one is associated to a motorization (8). 3. Device (1) according to any one of claims 1 or 2, characterized in that said roller or rollers (7, 7 ') define a bearing line (E) on said cable (C), and said rotors of levitation (4) extend in a plane of lift (D), in that, in the normal position of displacement of said aircraft (2, 2 ') or attachment of the latter on said cable (C), said plane lift (D) is located under said support line (E), and in that said lift rotors (4) operate in thrust. 4. Device (1) according to any one of claims 1 to 3, characterized in that it comprises information means (11) carried by said frame (3), particularly adapted to allow an operator (A ) remotely view the hooking maneuvers of said frame (3) on said cable (C), as well as its stall maneuvers. 5. Device (1) according to any one of claims 1 to 4, characterized in that it comprises a flight control sling (14, 15), whose length is greater than said altitude (L) of said cable ( C), a first end (141, 151) of which is attached to said frame (3) and a second end (142, 152) of which is intended to remain on the ground or near the ground to allow control of the level of altitude of said chassis (3) to adopt, to facilitate its attachment to said cable (C). 6. Device (1) according to claim 5, characterized in that said second end (142, 152) of said flight control sling (14, 15) is mounted on a controlled winch (15, 17) for its control in winding and unwinding. 7. Device (1) according to any one of claims 1 to 6, characterized in that it comprises a work plate (12) for the support of said means 10 (10) control and / or intervention, which working plate (12) is provided with means (15, 16; 20, 21, 22, 23) for connection with said frame (3). 8. Device (1) according to claim 7, characterized in that said connecting means between said work plate (12) and said frame (3) comprise at least two connecting slings (15, 16) whose length is 15 greater than said altitude (L) of said cable (C), to allow said frame (3) to hook onto said cable (C) with said working plate (12) resting on the ground, one of the ends (151, 161) said slings (15, 16) being fixed to said frame (3), and the other end (152, 162) of said slings (15, 16) being associated with controllable maneuvering means (17, 18) secured to said plate working device (12), which operating means (17, 18) are adapted: - to enable said work plate (12) to be lifted from the ground to said frame (3) hooked to said cable (C), and - to allow the descent of said work plate (12) from said frame (3) hooked to said cable (C) to the ground, said device ( 1) further comprising means (20, 21, 22, 23) controllable for releasably securing said frame (3) with said work plate (12). 9. Device (1) according to claim 8, characterized in that said securing means (20, 21, 22, 23) comprise a male / female interlocking system (20, 21) associated with locking means (22). , 23) between the two, controllable for activation and deactivation. 10. Device (1) according to claims 5, 8 and 9 taken in combination, characterized in that at least one of said connecting slings (15) acts as a flight control sling, to control the level of altitude of said frame (3) to adopt, to facilitate its attachment to said cable (Ç). 35 11. Device (1) according to claim 10, characterized in that it comprises a work plate (12) provided with two controlled winches (17, 18), each associated with a first end (152, 162) of a connecting sling (15, 16) and possibly flight control, for winding and unwinding this last, the other end (151, 161) of said slings (15, 16) being fixed to said frame (3 ), each of said slings (15, 16) being associated with a male / female interlocking system (20, 21), provided with its own controllable locking system (22, 23).