EP2231499B1 - Device for lifting and moving an object, including an inertial unit - Google Patents
Device for lifting and moving an object, including an inertial unit Download PDFInfo
- Publication number
- EP2231499B1 EP2231499B1 EP09706039A EP09706039A EP2231499B1 EP 2231499 B1 EP2231499 B1 EP 2231499B1 EP 09706039 A EP09706039 A EP 09706039A EP 09706039 A EP09706039 A EP 09706039A EP 2231499 B1 EP2231499 B1 EP 2231499B1
- Authority
- EP
- European Patent Office
- Prior art keywords
- inertial unit
- article
- connection
- traction
- cable
- 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.)
- Not-in-force
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/46—Position indicators for suspended loads or for crane elements
Definitions
- the present invention relates to the installation of artificial blocks for constituting shore protection dikes or dikes against the effects of waves.
- It relates more particularly to the underwater control of the position and orientation of the blocks during handling and more particularly at the time of the final removal of said blocks on the structure.
- Coastal shorelines and port areas are generally protected from the effects of waves and waves by structures with a shell that can withstand the extreme conditions of the sea for decades or even centuries.
- the devices are generally made of natural blocks (rockfill) or artificial blocks (concrete blocks), resistant by their mass and / or their shape and / or nesting, said blocks being either simply deposited in bulk when it comes to gross quarry blocks, either arranged in one another according to a predefined laying plan with rules to be respected (case of monolayer shells), or else arranged pseudo-randomly when it comes to blocks of more massive shapes (For example cubic or pseudo-cubic blocks and their derivatives).
- the problem posed is to handle, in a controlled, precise and reliable manner, artificial blocks of all shapes, and to position them accurately and in accordance with the laying plans, on the shell of a dike being built. in the submarine zone from the bottom of the sea, to the emerging zone of the said structure, or even on its aerial part.
- the present invention provides a device for lifting and moving an object comprising a crane, said crane comprising an arrow equipped with a first cable, said lifting cable, comprising at its end a link adapted to support a said object suspended from it by means of a gripping device, characterized in that said link is equipped with an inertial unit, such a crane is disclosed in the document US 2005/103,738 , said inertial unit being fixed on said link, preferably so that the axis of said link, when stretched by a said suspended object, or coincides with one of the axes of the reference (Xc, Yc, Zc) related to the inertial unit, said inertial unit being connected to a computer, preferably located in the cabin of the crane operator, to which are transmitted the data, recorded in real time, longitudinal acceleration of said inertial unit in the three directions of a movable marker (Xc, Yc, Zc) and rotational accelerations ( ⁇ 1, ⁇ 2, ⁇ 3) of said inertial unit with respect to the same
- reference (Xc, Yc, Zc) related to the inertial unit means that said marker is fixed relative to the control unit when it is movable relative to the fixed reference (X, Y, Z).
- An inertial unit is an accelerometer device known to those skilled in the art, able to record in real time its accelerations of longitudinal displacement in the three directions of the space of a movable marker (Xc, Yc, Zc) and the rotational displacement accelerations ( ⁇ 1, ⁇ 2, ⁇ 3) of the same movable marker, with respect to the three axes of a fixed reference (X, Y, Z) of the space.
- said computer first calculates the evolution of the position and trajectory of said inertial unit. And, knowing these position and orientation of the inertial unit, as well as the distance of said inertial unit from the center of gravity of said object, this distance being constant since said link remains tight by said object which is suspended from it, the computer can deduce, by a simple geometric calculation, a position and orientation in real time of said object.
- the present invention thus also provides a method of moving and lifting an object with the aid of a device according to the invention, characterized in that said object is moved in order to place it at a determined location, according to its position and its angular orientation with respect to the three dimensions of the space (XYZ, ⁇ 1- ⁇ 2- ⁇ 3) and, preferably, as a function of the visualization of its movements, as calculated by said computer.
- said object is a concrete block and is made, by lifting, moving and laying of blocks, an assembly of blocks in a desired position for the realization of a shore protection dyke or harbor dyke resting on the bottom of the sea.
- said inertial unit is fixed on said link at a distance from said block such that said inertial unit is always kept out of water.
- said inertial unit is coupled to a Kalrnan filter which makes it possible to clip the acceleration amplitudes recorded by the inertial unit, in the event of a large acceleration amplitude of the inertial unit caused by an impact. on said object, and making it possible to substitute, at these amplitudes of accelerations thus clipped (hereinafter parasitic accelerations), the probable values of evolution of the position parameters of said inertial unit, and, preferably, said Kalman filter allowing in addition, to identify the location of said shock and, more preferably, to visualize on the screen the position of the object during the impact and / or of another said object already laid with which said object being applied is collided.
- parasitic accelerations the probable values of evolution of the position parameters of said inertial unit
- Kalman filters are known to those skilled in the art. Such a filter is a recursive estimator which is used to eliminate "parasitic" movements calculated aberrantly by the computer in view of their appearance in the form of peaks, whereas these movements are not carried out in reality, in particular in case shock on said object, as explained below.
- this Kalman filter is used to further identify the location at which said object has received an impact, for example by visualizing said object by a different color at each shock, in the zone of said shock. .
- the latter information is very useful for the crane operator, to adjust the position of the block in the final phase of removal of said object, including a block on a dike, and more particularly in the absence of any visibility of said block by the crane operator or a diver assistance to supervise said final phase.
- said inertial unit is combined with a device for directly measuring the position, in said fixed reference (X, Y, Z) of said inertial unit, said measurement comprising the study of the path of a wave emitted by said measuring device, such as a laser sighting device, an automatic theodolite or, preferably, a differential GPS.
- a device for directly measuring the position, in said fixed reference (X, Y, Z) of said inertial unit said measurement comprising the study of the path of a wave emitted by said measuring device, such as a laser sighting device, an automatic theodolite or, preferably, a differential GPS.
- This embodiment makes it possible to implement a method in which, advantageously, only the angular acceleration data ( ⁇ 1, ⁇ 2, ⁇ 3) recorded with the aid of said inertial unit are processed within the computer; ci being coupled to a Kalman filter, and the longitudinal position in the space of said object with respect to said fixed reference (X, Y, Z) being provided via an additional device for direct determination of the longitudinal position of said inertial unit by means of wave emission, such as a laser sighting device, an automatic theodolite or, preferably, a differential GPS.
- wave emission such as a laser sighting device, an automatic theodolite or, preferably, a differential GPS.
- the realization by the Kalman filter of the clipping of the acceleration amplitudes caused by shocks on said object is used to identify and, preferably, to display on a screen, the occurrence of a shock on said object.
- said link is constituted by the lower part of the hoisting cable.
- said link is independent of the lifting cable and has a greater torsional rigidity than said lifting cable, said link being preferably consisting of a metal chain or a tube or profile made of steel or composite material, said tube or profile having a torsional rigidity and flexural flexibility with respect to its longitudinal direction.
- flexion with respect to the longitudinal direction is used here to mean a bending by which the straight axis of said link at rest adopts a curved shape with respect to said rectilinear axis, when it is stressed in bending.
- This torsional stiffness combined with flexibility in bending with respect to the longitudinal direction of the link makes it possible to perform a first greater mechanical filtering of the parasitic accelerations recorded at the level of the inertial unit due to possible shocks on a said object. Furthermore, and above all, this torsional stiffness of said link allows the position and orientation of said object and movements of said object visualized following the calculations of said computer to be more faithful with respect to the real movements of said object, that is to say are better synchronized with the movements of said inertial unit.
- said link is connected to the lower end of said lifting cable by a ring or hook connection, the upper end of said link cooperating with said hook or connecting ring via a pin.
- pin a ball bearing device, roller, or even smooth bearing type, allowing rotations of said link on itself, without torsion at its connection to said ring or hook connection.
- the center of gravity of said object remains in alignment with said link being lifted and moved.
- the gripping device at the lower end of said link is constituted by a plurality of slings arranged in a crow's foot, connected to a plurality of lifting rings, integral with said object and distributed around said object such that the center of gravity of said object remains in alignment with said link being lifted and moved.
- said gripping device is constituted by an entirely rigid device, of the type of sugar tongs.
- gripping devices such as sugar tongs or crow's feet, are particularly advantageous so that any rotation of said object on itself is reflected by a rotation of said link and therefore of said inertial unit, so that the rotational movements of said object on itself are more accurately transcribed by the calculations performed on the basis of data recorded from the movements of the inertial unit.
- a crane whose lower end of said boom rests on an arrow support, itself secured to a steering turret, and said boom being inclined in a vertical plane, said boom being adapted to be rotated relative to a vertical axis integral with said boom support.
- the device according to the invention comprises said hoisting cable suspended at the end of said boom, coupled to a second cable, said traction cable, one end of which is connected to a winch, preferably integral. a support platform for said boom, the other end of the pulling cable being integral with the suspension hoisting rope, preferably at a hook or connecting ring at the lower end of said hoisting rope, such that the reduction in length of said pulling cable, by actuation of said pulling winch, makes it possible to incline said lifting cable with respect to the vertical ZZ and to move said object in translation in a vertical plane passing through said pulling cable.
- traction and said lifting cable preferably a vertical plane passing through the axis of said arrow (X1X'1), that is to say when said traction cable is located in the same vertical plane as the axis of said arrow (X1X'1).
- a said traction cable makes it possible to accurately move the said connecting ring or hook and therefore the said object in translation in a vertical plane comprising the axis of the arrow, and to bring the said object closer to the said traction hoist. without having to change the inclination of the boom and, of course, without having to move the crane, which is prohibited when it is being lifted from a heavy object.
- the device according to the invention comprises at least two traction cables connected respectively to two traction winches, one end of each traction cable being connected to a said traction hoist, preferably secured to a support of said boom, the other end of each of the two traction cables being secured to said lifting cable, preferably at its lower end at the same said ring or hook connection (1d), the two traction winches being arranged on either side of said arrow, preferably symmetrically, so that a reduction in length of at least one of said two cables traction allows to move said object laterally with respect to a vertical plane passing through the axis X1X'1 of said arrow, in a plane defined by the two traction cables, preferably a length reduction different for the two traction cables arranged symmetrically with respect to a vertical plane passing through the axis of said
- the two said traction hoists are arranged at both ends of a transverse beam secured to a platform supporting said boom. This makes it possible, in particular, to adjust at the end of the laying the adequacy of the position of a block with respect to the already laid block of a dike in progress.
- the present invention therefore provides a method in which a displacement and lifting device, as defined above, is implemented and the stability and positioning of said object is adjusted by actuating at least one said traction hoist.
- said link is connected at its upper end to a motor bearing, integral with said connecting ring or hook, said motorized bearing for controlling the motorized rotation of said link and said object in rotation on itself when its motor is actuated, and said motor bearing acting as a trunnion when its engine is disengaged.
- This rotation can be controlled by the crane operator and makes it possible to adjust the position of the object as needed during its final removal, in particular in the case of a block to be deposited in a particular laying plane on an assembly of blocks of a dike in progress.
- said motorized bearing cooperates with a rigid arm, said reaction arm, which makes it possible to take up the torsional forces generated by said motorized bearing in rotation, at the upper part of said motorized bearing secured to said connecting ring or hook, said reaction arm being interposed between the end of a said traction cable and the upper portion of said motor bearing which it is secured.
- the present invention therefore also provides a method in which a device of this type according to the invention is implemented and said motorized bearing is rotated so as to orient the object, by rotation on itself, in the final phase of the invention. deposit.
- a crane 1 installed on the embankment 2a closest to the sea 3 handles a block 4 suspended by a clamp 5 to the main cable 1a of said crane, said lifting cable, to make the shell of a fill 2c according to a predetermined profile corresponding substantially to the curve 2d.
- the crane comprises a support platform 14 which supports a cockpit 13 and an arrow 1b which rests on the platform 14 by its lower end.
- the arrow 1b is in an inclined position relative to the vertical, this inclination being variable and adjustable, in particular by means of an arrow support cable 1c connected to a hoisting winch 18 supported by said platform 14.
- the support platform 14 is able to be displaced in rotation around a vertical axis ZZ with respect to its displacement means on which it rests, such as tracks 19, thereby rotating the boom and the cabin of the crane. around a vertical axis.
- the orientation of the arrow 1b in the vertical plane can be adjusted so that the block 4 can be positioned vertically to its destination, then down by unscrewing the cable 1a to be deposited at the desired location on the already assembled work. This procedure works properly when the sea is calm and the work can be controlled by divers.
- the work when a large chop or an offshore swell 3a is established over a long period, the work must be interrupted because, under the effect of said swell, the suspended block is urged and oscillates for several meters. in all directions, and more or less randomly.
- the swell breaks or creates a major agitation suspending particles of sand or aggregates, or creating micro-bubbles and foam, which make the visibility almost zero, thus preventing any intervention by the divers.
- FIGS. 2A-2B respectively shown in plan view and in side view an artificial block 4 of known shape, substantially cubic having on its lateral faces of the median recesses, under form of substantially cylindrical grooves semicircular section.
- These recesses or grooves 4a have the advantage of facilitating gripping, increase interblock reactions and the "porosity" of a block assembly.
- the dissipated energy is considerably increased by this porosity and the attenuation effect is thereby enhanced.
- FIGS. 3A-3B a front view is shown of a known gripping device 5a of the "sugar tong" type in the shape of a half-circle, which makes it possible to grasp the block either vertically ( figure 3A ), with an angle ⁇ to the vertical ( figure 3B ).
- the gripping device is constituted by a crowbar leg 5b slings having at least three strands attached to the lifting rings 5c incorporated in precise positions of the block before pouring concrete.
- This gripping device 5b makes it possible to maintain the center of gravity of the block in the alignment axis of the link 8, on the one hand, and, on the other hand, favors the synchronization of the rotations of said block and said link with respect to the axis Zc ( axis of said link 8).
- the device according to the invention consists of a connecting ring or hook 1d located at the end of the lifting cable 1a.
- the connecting hook 1d is connected to the upper end of a link consisting of a sling 8, preferably via a trunnion, its lower end being connected to a crowbar 5b connected to 5c lifting rings integral with the block 4.
- an inertial unit 6 is installed whose function is to record real-time acceleration of longitudinal displacement along the Xc-Yc-Zc axes, as well as rotational accelerations ⁇ 1 - ⁇ 2 - ⁇ 3 around the same axes.
- the Cartesian coordinate system corresponding to said axes is a reference relative to the actual support of the inertia unit, as shown in FIG. Figure 4A , the Zc axis corresponding to the longitudinal axis of the link 8.
- said Zc axis corresponds with the Z axis of the fixed marker, the Xc-Yc axes having an angular offset ⁇ relative to the XY axes of the fixed marker.
- the longitudinal accelerations along Xc-Yc-Zc and angular according to ⁇ 1- ⁇ 2 - ⁇ 3 are recorded in real time within the inertial unit and transmitted to a computer, preferably located in the crane operator's cabin. This allows, by a double integration with respect to time, to calculate the exact trajectory of said inertial unit, as well as its orientation, therefore the direction of the link 8, since the orientation of the link 8 is constant with respect to the orientation of the link. the inertial unit.
- a traction cable 9 connected at its right end to the ring 1d and at its left end to a traction winch 10 secured to the turret 13 of the crane.
- the length is reduced said traction cable, for bring the ring or connecting hook 1d towards the vertical of the point of deposit, which has the advantageous effects of drastically limiting the oscillations of the block in the XoZ plane.
- this maneuver is much faster than straightening the boom 1b of the crane by acting on the cables 1c to come to position its end vertically said removal point.
- two traction cables 9a-9b are connected to two traction winches 10a-10b, the two traction winches being advantageously secured to a beam 17, itself secured to the bearing structure of the boom 1b, and therefore to the turret of the crane.
- This stabilizing effect being all the more important as the inclination ⁇ of the crane cable 1a relative to vertically is important because the decomposition of forces at the ring or hook 1d connection (point C) creates a horizontal tension in the traction cables 9a-9b, proportional to said inclination ⁇ .
- Compact devices are commercially available, including an inertial unit equipped with a gyroscope and accelerometer for measuring movements, orientation and position of an object to which it is attached. It will be possible to use a device marketed by XSens Technologies BV (the Netherlands). These devices generally comprise a metal support on which is fixed the inertial unit itself. This support will be attached to the link.
- an inertial unit is known to those skilled in the art, but its operation in the context of the invention is very particular. Indeed, in the final phase of the approach, just before the removal of the block on the structure, the block comes in contact with the adjacent blocks in general before moving into its final position. These shocks induce sudden variations in speed, and therefore significant accelerations, which disturb the inertial unit, which is then no longer able to provide a precise and reliable calculated positioning, which creates an unacceptable shift in the calculated position of the block with respect to its real position.
- the Kalman filter is a recursive estimator. This means that to estimate the current state of a system, only the previous state and the current measurements are needed to estimate the future position with optimal accuracy.
- the acceleration, angular or longitudinal has a series of peaks 15 during a lapse of time ⁇ t.
- the block has hardly moved, but the mathematical calculation consisting of the double integration of accelerations on each of the axes on this period ⁇ t, generally leads to aberrant calculated movements, because not made in reality.
- the Kalman filter detects these parasitic accelerations by simple real-time analysis of the previous step of the movement, the filter isolates them by clipping 16a-16b said accelerations, and thus does not take them into account in the calculation. mathematical of the instantaneous position.
- the Kalman filter is able, by analyzing the previous steps, to predict the movements during this short period ⁇ t and to thus substitute for these parasitic accelerations, the probable evolution of the system, as represented on the Figure 6B , thus leading to better reliability in calculating the instantaneous position.
- the longitudinal acceleration peaks are observed to indicate to the crane operator the shocks of the blocks with the adjacent blocks or those of the layer lower, but the accelerations themselves are not directly taken into account in the calculation of the position.
- the block position in real time it is measured, for example, with the aid of an automatic theodolite represented on the figure 4 in the same form 7a-7b as the data transmission device, the XYZ position in real time of the inertial unit 6, and then knowing the evolution in real time of the angular accelerations ⁇ 1 - ⁇ 2 - ⁇ 3 of said central unit, we deduce the direction of the link 8, and knowing the distance from the center of gravity of the block to said inertial unit which is a constant length L, we calculate the exact position of the center of gravity of the block.
- the inertial unit is provided with a DGPS satellite positioning system.
- This system known to those skilled in the art, is a differential system, that is to say, a beacon is installed on the inertial unit and a second beacon is installed on the ground at a fixed point.
- a first global mode of operation of the positioning system has been represented, in which the 6 main parameters in the raw state (longitudinal accelerations Xc-Yc-Zc and angular accelerations ⁇ 1- ⁇ 2- ⁇ 3) are transmitted from the inertial unit 6 towards the computer, preferably located in the cabin 13 of the crane operator.
- the data is then processed within the computer 20 by the Kalman filter 20a and the position 21 of the block 4 is established based on all or part of these 6 filtered parameters.
- the crane operator knowing the type of shock and its amplitude, is able to judge the type of contact between the block being installed. and the work already done, and so determine in the absence of any visual contact, or any information from divers, the adequacy of the position of the block relative to the laying plane, so its correct installation .
- FIG. 7 a second preferred overall mode of operation of the positioning system is shown, in which the 6 main parameters in the raw state (longitudinal accelerations Xc-Yc-Zc and angular accelerations ⁇ 1- ⁇ 2- ⁇ 3) are transmitted from the inertial unit. 6 to the computer preferably located in the crane operator's cabin. Only the angular accelerating data ⁇ 1- ⁇ 2- ⁇ 3 then processed within the computer 20 by the Kalman filter 20a, the position in the space of said inertial unit 6 being provided by a remote measuring means 7a.
- the link 8a consists of a bar, preferably rectilinear, resistant to torsion, and rigidly secured to the gripping tool, so that the orientation of the inertial unit integral with the link 8a has the same orientation according to the axis Zc that the block 4.
- Said link 8a is connected to the connecting ring 1d via a motorized bearing 30, electrical, hydraulic or pneumatic, powered by means not shown, playing the role trunnion when the engine is disengaged.
- a rigid arm acting as a reaction arm 32, integral with the upper part 30a of the engine, is connected to a traction cable 9b under tension.
- the lower part 30b of the engine is rigidly connected to said link 8a.
- the lower part 30b of the motorization drives the inertial unit 6 and the block 4, the angular displacements being substantially identical due to the torsional rigidity along the ZZ axis of said link 8a.
- the reaction arm counterbalances the effects of torsion at the upper part 30a of the engine. Indeed, as represented on the Figure 8B , a torsion torque M applied on the upper part 30a of the motorization induces a rotation 32a of the reaction arm 32. And, because the reaction arm and the traction cable 9b are under a high tension because of the angle ⁇ of the lifting cable 1a with the vertical, a restoring force F brings said arm 32 back into alignment with the pulling cable 9b.
- the crane operator can accurately adjust its orientation a few degrees of rotation along the axis Zc, by simply acting on the motor 30, in one direction or the other.
- the angular movement being recorded by the inertial unit is then immediately available to help the crane operator in this final phase of the installation.
- the device according to the invention is represented with two traction cables 9a-9b, only the traction cable 9b is connected to the reaction arm, the cable 9a being connected directly, either to the ring or hook 1d, or to the level of the upper part 30a of the engine, in the immediate vicinity of its axis of rotation.
- the reaction arm 32 is connected directly to said cable.
- the motorization is removed, and the link 8a having a torsional rigidity along the axis Zc, is on the one hand suspended from the ring or hook 1d, and other part rigidly connected to the reaction arm 32. It is then appropriate in this case, during the lashing of the block on its storage area, as described above with reference to the figure 5 , that the position of the gripping tool is pre-adjusted so that once the crane is in position in the removal zone, the block has the right orientation, because the crane operator has then more means to vary this angular positioning along the vertical axis Zc.
- the link 8, 8a-8b with torsional stiffness along the axis ZZ can be obtained from a simple steel tube, or else from a profile made of composite material, which has good torsional stiffness, while keeping a great flexural flexibility in the XoZ and YoZ planes, which advantageously makes it possible to perform a first mechanical filtering of the shocks on the blocks, thus avoiding directly passing on to the inertial unit all the parasitic accelerations due to shocks.
- the hoisting rope is continuous up to the gripping device 5, the hook or the ring then being replaced by a mechanical cable clamp from gripping said hoisting rope at a fixed point on which is connected the end of the traction cable or cables, the portion above the cable tie then acting as lifting cable 1a and the part below said cable tie acting as the link 8.
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Jib Cranes (AREA)
- Control And Safety Of Cranes (AREA)
- Load-Engaging Elements For Cranes (AREA)
- Paper (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
Description
La présente invention concerne la pose de blocs artificiels permettant de constituer des digues de protection de rivage ou des digues contre les effets de la houle.The present invention relates to the installation of artificial blocks for constituting shore protection dikes or dikes against the effects of waves.
Elle concerne plus particulièrement le contrôle en sous-marin de la position et de l'orientation des blocs au cours de la manutention et plus particulièrement au moment de la dépose finale desdits blocs sur l'ouvrage.It relates more particularly to the underwater control of the position and orientation of the blocks during handling and more particularly at the time of the final removal of said blocks on the structure.
Les rivages côtiers et les zones portuaires sont en général protégés contre les effets des vagues et de la houle par des ouvrages revêtus d'une carapace capable de résister aux conditions extrêmes de la mer durant des décennies voire des siècles.Coastal shorelines and port areas are generally protected from the effects of waves and waves by structures with a shell that can withstand the extreme conditions of the sea for decades or even centuries.
De nombreux dispositifs ont été développés de manière à assurer un fonctionnement performant sur des durées très longues, sans déstabilisation significatives de l'ouvrage. Les dispositifs sont en général constitués de blocs naturels (enrochements) ou artificiels (blocs en béton), résistant par leur masse et/ou leur forme et/ou imbrication, lesdits blocs étant, soit simplement déposés en vrac lorsqu'il s'agit de blocs bruts de carrière, soit agencés les uns dans les autres selon un plan de pose prédéfini avec des règles à respecter (cas des carapaces monocouche), soit encore agencés de manière pseudo-aléatoire lorsqu'il s'agit de blocs de formes plus massives (cas par exemple des blocs cubiques ou pseudo-cubiques et de leurs dérivés).Numerous devices have been developed in order to ensure efficient operation over very long periods, without significant destabilization of the structure. The devices are generally made of natural blocks (rockfill) or artificial blocks (concrete blocks), resistant by their mass and / or their shape and / or nesting, said blocks being either simply deposited in bulk when it comes to gross quarry blocks, either arranged in one another according to a predefined laying plan with rules to be respected (case of monolayer shells), or else arranged pseudo-randomly when it comes to blocks of more massive shapes (For example cubic or pseudo-cubic blocks and their derivatives).
La mise en place de blocs moulés nécessite des moyens de préhension et de manutention qui permettent une mise en place précise de chacun des blocs dans l'édifice en cours de construction, de manière à ce que la pose des blocs suivants puisse se poursuivre sans difficultés. Si la zone hors d'eau, réalisée en général à la fin de l'ouvrage ne pose pas vraiment de problème car le grutier a une vision directe de l'état de l'ouvrage déjà installé et une maîtrise du positionnement du bloc en cours d'installation, il n'en va pas de même de la portion de l'ouvrage située sous l'eau. On utilise en général le concours de plongeurs qui assistent alors le grutier durant la phase de dépose du blocs et confirment au grutier le positionnement correct dudit bloc, avant qu'il ne soit déconnecté de son outil de préhension. On s'arrange alors pour travailler en période calme, car, en cas de forte mer ou de houle importante, les plongeurs ne peuvent pas intervenir en toute sécurité, en raison de l'agitation ambiante et en particulier l'absence de visibilité suffisante. Dans certaines régions du monde, les conditions océano-météo n'atteignent quasiment jamais un niveau de calme permettant d'effectuer les opérations de construction dans des conditions acceptables. En effet, dans ces zones une houle persistante de longue période perturbe le rivage dans la zone côtière et ne permet pas l'intervention de plongeurs dans des conditions de sécurité acceptable, et les carapaces sont alors extrêmement délicates à réaliser, et de plus les durées de chantier présentent des risques considérables de prolongation en raison de périodes importantes de "stand-by", c'est-à-dire d'attente de périodes de calme, ce qui engendre des surcoûts considérables pour ces ouvrages.The establishment of molded blocks requires gripping and handling means that allow precise placement of each of the blocks in the building under construction, so that the installation of the following blocks can continue without difficulty . If the out-of-water zone, usually done at the end of the work, is not really a problem because the crane operator has a direct view of the state of the work. the already installed structure and a control of the positioning of the block being installed, it is not the same for the portion of the work located under water. We generally use the contest of divers who then assist the crane operator during the phase of removal of the block and confirm the crane operator the correct positioning of the block, before it is disconnected from its gripping tool. It is then arranged to work in quiet time, because in case of high seas or swells, divers can not intervene safely, because of the ambient agitation and in particular the lack of sufficient visibility. In some parts of the world, ocean-weather conditions hardly ever reach a level of calm allowing construction operations to be carried out under acceptable conditions. Indeed, in these areas a persistent long-term swell disturbs the shoreline in the coastal zone and does not allow the intervention of divers in conditions of acceptable safety, and the shells are then extremely delicate to realize, and in addition the durations There are considerable risks of extension due to long periods of "stand-by", that is to say, waiting for periods of calm, which generates considerable additional costs for these works.
Ainsi, le problème posé est de manutentionner, de manière contrôlée, précise et fiable, des blocs artificiels de toutes formes, et de les positionner avec précision et en conformité avec les plans de pose, sur la carapace d'une digue en cours de construction dans la zone sous-marine depuis le fond de la mer, jusqu'à la zone émergeante dudit ouvrage, voire sur sa partie aérienne.Thus, the problem posed is to handle, in a controlled, precise and reliable manner, artificial blocks of all shapes, and to position them accurately and in accordance with the laying plans, on the shell of a dike being built. in the submarine zone from the bottom of the sea, to the emerging zone of the said structure, or even on its aerial part.
Pour ce faire, la présente invention fournit un dispositif de levage et déplacement d'un objet comprenant une grue, ladite grue comprenant une flèche équipée d'un premier câble, dit câble de levage, comprenant à son extrémité un lien apte à supporter un dit objet qui lui est suspendu par l'intermédiaire d'un dispositif de préhension, caractérisé en ce que ledit lien est équipé d'une centrale inertielle, une telle grue est divulguée dans le document
On entend par "repère (Xc, Yc, Zc) lié à la centrale inertielle" que ledit repère est fixe par rapport à la centrale quand il est mobile par rapport au repère fixe (X, Y, Z).The term "reference (Xc, Yc, Zc) related to the inertial unit" means that said marker is fixed relative to the control unit when it is movable relative to the fixed reference (X, Y, Z).
Une centrale inertielle est un dispositif accéléromètre connu de l'homme de l'art, apte à enregistrer en temps réel ses accélérations de déplacement longitudinal dans les trois direction de l'espace d'un repère mobile (Xc, Yc, Zc) et les accélérations de déplacement en rotation (ϕ1, ϕ2, ϕ3) du même repère mobile, par rapport aux trois axes d'un repère fixe (X, Y, Z) de l'espace.An inertial unit is an accelerometer device known to those skilled in the art, able to record in real time its accelerations of longitudinal displacement in the three directions of the space of a movable marker (Xc, Yc, Zc) and the rotational displacement accelerations (φ1, φ2, φ3) of the same movable marker, with respect to the three axes of a fixed reference (X, Y, Z) of the space.
On comprend que ledit ordinateur calcule d'abord l'évolution de la position et de la trajectoire de ladite centrale inertielle. Et, connaissant ces position et orientation de la centrale inertielle, ainsi que la distance de ladite centrale inertielle par rapport au centre de gravité dudit objet, cette distance étant constante puisque ledit lien reste tendu par ledit objet qui lui est suspendu, l'ordinateur peut en déduire, par un calcul géométrique simple, une position et orientation en temps réel dudit objet.It is understood that said computer first calculates the evolution of the position and trajectory of said inertial unit. And, knowing these position and orientation of the inertial unit, as well as the distance of said inertial unit from the center of gravity of said object, this distance being constant since said link remains tight by said object which is suspended from it, the computer can deduce, by a simple geometric calculation, a position and orientation in real time of said object.
Il est ainsi possible, en l'absence de toute visibilité directe dudit objet par le grutier, de commander le déplacement dudit objet en fonction des données calculées par ledit ordinateur et de déterminer la trajectoire dudit objet pour être posé à un emplacement déterminé voulu, notamment lorsque les objets en cause sont des objets de forte Charge, de plusieurs dizaines de tonnes, tels que des blocs de béton assemblés pour la réalisation d'une digue sous-marine.It is thus possible, in the absence of any direct visibility of said object by the crane operator, to control the movement of said object according to the data calculated by said computer and to determine the trajectory said object to be placed at a desired location, particularly when the objects in question are objects of high load, several tens of tons, such as concrete blocks assembled for the realization of an underwater dike.
Selon la présente invention, ladite centrale inertielle n'est donc pas fixée directement sur ledit objet, comme il est d'usage dans d'autres domaines d'utilisation de ce type de dispositif, pour les raisons suivantes :
- 1- ledit objet est susceptible de rentrer en collision avec d'autres objets lors de sa dépose, plus particulièrement lorsque ledit objet est un bloc de béton que l'on dépose au fond de la mer pour réaliser une digue, les chocs avec des blocs précédemment posés étant fréquents. La fixation de la centrale inertielle sur ledit objet risquerait d'entraîner l'endommagement de ladite centrale lors desdits chocs.
- 2- le fait de déporter le support de la centrale inertielle par rapport audit objet le long dudit lien permet qu'un premier écrêtage ou filtrage de l'amplitude des accélérations liées aux chocs éventuels, se fasse mécaniquement par l'intermédiaire dudit lien, comme explicité plus loin.
- 3- le fait de déporter vers le haut ladite centrale permet de la maintenir hors de l'eau et d'utiliser des moyens de positionnement dans l'espace de type GPS (Global Positioning System), DGPS (GPS différentiel), de type positionnement laser ou théodolite automatique, comme explicité ci-après.
- Said object is capable of colliding with other objects during its removal, more particularly when said object is a block of concrete which is deposited at the bottom of the sea to make a dike, shocks with blocks previously posed being frequent. Fixing the inertial unit on said object could cause damage to said plant during said shocks.
- 2- the fact of deporting the support of the inertial unit with respect to said object along said link allows a first clipping or filtering of the amplitude of the accelerations related to the possible shocks, is done mechanically via said link, as explained further.
- 3 - the fact of moving upwards said central allows to maintain it out of the water and use positioning means in the space type GPS (Global Positioning System), DGPS (GPS differential), positioning type laser or automatic theodolite, as explained below.
La présente invention fournit donc également un procédé de déplacement et de levage d'un objet à l'aide d'un dispositif selon l'invention, caractérisé en ce que l'on déplace ledit objet en vue de le poser à un emplacement déterminé, en fonction de sa position et de son orientation angulaire par rapport aux trois dimensions de l'espace (X-Y-Z, ϕ1-ϕ2-ϕ3) et, de préférence, en fonction de la visualisation de ses mouvements, tels que calculés par ledit ordinateur.The present invention thus also provides a method of moving and lifting an object with the aid of a device according to the invention, characterized in that said object is moved in order to place it at a determined location, according to its position and its angular orientation with respect to the three dimensions of the space (XYZ, φ1-φ2-φ3) and, preferably, as a function of the visualization of its movements, as calculated by said computer.
Plus particulièrement, dans le procédé selon l'invention, ledit objet est un bloc de béton et on réalise, par levage, déplacement et pose de blocs, un assemblage de blocs dans une position voulue pour la réalisation d'une digue de protection de rivage ou digue portuaire reposant sur le fond de la mer.More particularly, in the method according to the invention, said object is a concrete block and is made, by lifting, moving and laying of blocks, an assembly of blocks in a desired position for the realization of a shore protection dyke or harbor dyke resting on the bottom of the sea.
Avantageusement, ladite centrale inertielle est fixée sur ledit lien à une distance dudit bloc telle que ladite centrale inertielle reste toujours maintenue hors d'eau.Advantageously, said inertial unit is fixed on said link at a distance from said block such that said inertial unit is always kept out of water.
Dans un mode préféré de réalisation, ladite centrale inertielle est couplée à un filtre de Kalrnan qui permet d'écrêter les amplitudes d'accélérations enregistrées par la centrale inertielle, en cas d'amplitude d'accélération importante de la centrale inertielle causée par un choc sur ledit objet, et permettant de substituer, à ces amplitudes d'accélérations ainsi écrêtées (ci-après accélérations parasites), les valeurs probables d'évolution des paramètres de position de ladite centrale inertielle, et, de préférence, ledit filtre de Kalman permettant en outre d'identifier l'emplacement dudit choc et, de préférence encore, visualiser sur l'écran la position de l'objet lors du choc et/ou d'un autre dit objet déjà posé avec lequel ledit objet en cours de pose est rentré en collision.In a preferred embodiment, said inertial unit is coupled to a Kalrnan filter which makes it possible to clip the acceleration amplitudes recorded by the inertial unit, in the event of a large acceleration amplitude of the inertial unit caused by an impact. on said object, and making it possible to substitute, at these amplitudes of accelerations thus clipped (hereinafter parasitic accelerations), the probable values of evolution of the position parameters of said inertial unit, and, preferably, said Kalman filter allowing in addition, to identify the location of said shock and, more preferably, to visualize on the screen the position of the object during the impact and / or of another said object already laid with which said object being applied is collided.
Ces filtres de Kalman sont connus de l'homme de l'art. Un tel filtre est un estimateur récursif qui est utilisé pour éliminer des mouvements "parasites" calculés de façon aberrante par l'ordinateur compte tenu de leur apparition sous forme de pics, alors que ces mouvements ne sont pas effectués dans la réalité, notamment en cas de chocs sur ledit objet, comme explicité plus loin.These Kalman filters are known to those skilled in the art. Such a filter is a recursive estimator which is used to eliminate "parasitic" movements calculated aberrantly by the computer in view of their appearance in the form of peaks, whereas these movements are not carried out in reality, in particular in case shock on said object, as explained below.
De façon originale selon la présente invention, ce filtre de Kalman est utilisé pour, en outre, identifier l'emplacement auquel ledit objet a reçu un choc, par exemple en visualisant ledit objet par une couleur différente à chaque choc, dans la zone dudit choc. On comprend que cette dernière information est très utile pour le grutier, afin d'ajuster la position du bloc en phase finale de dépose dudit objet, notamment d'un bloc sur une digue, et plus particulièrement en l'absence de toute visibilité dudit bloc par le grutier ou par un plongeur d'assistance chargé de superviser ladite phase finale.In an original way according to the present invention, this Kalman filter is used to further identify the location at which said object has received an impact, for example by visualizing said object by a different color at each shock, in the zone of said shock. . We understand that the latter information is very useful for the crane operator, to adjust the position of the block in the final phase of removal of said object, including a block on a dike, and more particularly in the absence of any visibility of said block by the crane operator or a diver assistance to supervise said final phase.
Dans un mode préféré de réalisation, ladite centrale inertielle est combinée à un dispositif de mesure directe de la position, dans ledit repère fixe (X, Y, Z), de ladite centrale inertielle, ladite mesure comprenant l'étude du trajet d'une onde émise par ledit dispositif de mesure, tel qu'un dispositif de visée laser, un théodolite automatique ou, de préférence, un GPS différentiel.In a preferred embodiment, said inertial unit is combined with a device for directly measuring the position, in said fixed reference (X, Y, Z) of said inertial unit, said measurement comprising the study of the path of a wave emitted by said measuring device, such as a laser sighting device, an automatic theodolite or, preferably, a differential GPS.
Ce mode de réalisation permet de mettre en oeuvre un procédé dans lequel, avantageusement, seules les données d'accélération angulaire (ϕ1, ϕ2, ϕ3) enregistrées à l'aide de ladite centrale inertielle sont traitées au sein de l'ordinateur, celui-ci étant couplé à un filtre de Kalman, et la position longitudinale dans l'espace dudit objet par rapport audit repère fixe (X, Y, Z) étant fournie par l'intermédiaire d'un dispositif additionnel de détermination directe de la position longitudinale de ladite centrale inertielle au moyen d'émission d'ondes, tel qu'un dispositif de visée laser, un théodolite automatique ou, de préférence, un GPS différentiel.This embodiment makes it possible to implement a method in which, advantageously, only the angular acceleration data (φ1, φ2, φ3) recorded with the aid of said inertial unit are processed within the computer; ci being coupled to a Kalman filter, and the longitudinal position in the space of said object with respect to said fixed reference (X, Y, Z) being provided via an additional device for direct determination of the longitudinal position of said inertial unit by means of wave emission, such as a laser sighting device, an automatic theodolite or, preferably, a differential GPS.
Avantageusement encore, dans un procédé selon l'invention, la réalisation par le filtre de Kalman de l'écrêtage des amplitudes d'accélération causées par des chocs sur ledit objet, est exploitée pour identifier et, de préférence, visualiser sur un écran, l'occurrence d'un choc sur ledit objet.Advantageously, in a method according to the invention, the realization by the Kalman filter of the clipping of the acceleration amplitudes caused by shocks on said object, is used to identify and, preferably, to display on a screen, the occurrence of a shock on said object.
Ceci permet, en particulier, d'ajuster en fin de pose l'adéquation de la position d'un bloc par rapport au bloc déjà posé d'une digue en cours de réalisation.This makes it possible, in particular, to adjust at the end of the laying the adequacy of the position of a block with respect to the already laid block of a dike in progress.
Dans une variante de réalisation, ledit lien est constitué par la partie inférieure du câble de levage. Toutefois, dans une variante préférée, ledit lien est indépendant du câble de levage et présente une rigidité à la torsion supérieure à celle dudit câble de levage, ledit lien étant de préférence constitué d'une chaîne métallique ou d'un tube ou profilé en acier ou matériau composite, ledit tube ou profilé présentant une rigidité à la torsion et de la souplesse en flexion par rapport à sa direction longitudinale.In an alternative embodiment, said link is constituted by the lower part of the hoisting cable. However, in a preferred variant, said link is independent of the lifting cable and has a greater torsional rigidity than said lifting cable, said link being preferably consisting of a metal chain or a tube or profile made of steel or composite material, said tube or profile having a torsional rigidity and flexural flexibility with respect to its longitudinal direction.
On entend ici par "flexion par rapport à la direction longitudinale", une flexion par laquelle l'axe rectiligne dudit lien au repos adopte une forme courbe par rapport audit axe rectiligne, lorsqu'il est sollicité en flexion.The term "flexion with respect to the longitudinal direction" is used here to mean a bending by which the straight axis of said link at rest adopts a curved shape with respect to said rectilinear axis, when it is stressed in bending.
Cette rigidité en torsion alliée à une souplesse en flexion par rapport à la direction longitudinale du lien, permet de réaliser un premier filtrage mécanique plus important des accélérations parasites enregistrées au niveau de la centrale inertielle dues à des chocs éventuels sur un dit objet. En outre, et surtout, cette rigidité à la torsion dudit lien permet que les position et orientation dudit objet et mouvements dudit objet visualisés suite aux calculs dudit ordinateur soient plus fidèles par rapport aux mouvements réels dudit objet, c'est-à-dire soient mieux synchronisés avec les mouvements de ladite centrale inertielle.This torsional stiffness combined with flexibility in bending with respect to the longitudinal direction of the link makes it possible to perform a first greater mechanical filtering of the parasitic accelerations recorded at the level of the inertial unit due to possible shocks on a said object. Furthermore, and above all, this torsional stiffness of said link allows the position and orientation of said object and movements of said object visualized following the calculations of said computer to be more faithful with respect to the real movements of said object, that is to say are better synchronized with the movements of said inertial unit.
De préférence encore, ledit lien est relié à l'extrémité inférieure dudit câble de levage par un anneau ou crochet de raccordement, l'extrémité supérieure dudit lien coopérant avec ledit crochet ou anneau de raccordement par l'intermédiaire d'un tourillon.More preferably, said link is connected to the lower end of said lifting cable by a ring or hook connection, the upper end of said link cooperating with said hook or connecting ring via a pin.
On entend ici par "tourillon", un dispositif à roulement à billes, à rouleaux, ou encore de type palier lisse, autorisant les rotations dudit lien sur lui-même, sans torsion au niveau de son raccordement audit anneau ou crochet de raccordement. Ces caractéristiques permettent que les mouvements de la centrale inertielle reflètent, plus fidèlement encore, les mouvements de l'objet.Here is meant by "pin", a ball bearing device, roller, or even smooth bearing type, allowing rotations of said link on itself, without torsion at its connection to said ring or hook connection. These characteristics allow the movements of the inertial unit to reflect, even more accurately, the movements of the object.
Selon d'autres caractéristiques avantageuse :
- ladite centrale inertielle est solidaire dudit lien à proximité dudit anneau ou crochet de raccordement entre lesdits câbles de levage et ledit lien, le cas échéant dessous un dit tourillon relié à l'extrémité dudit lien et coopérant avec un dit crochet ou anneau de raccordement, et
- ledit dispositif de préhension est solidaire de l'extrémité inférieure du lien et apte à coopérer avec un dit objet, de telle sorte que les mouvements dudit objet en rotation par rapport à l'axe dudit lien soient répercutés à ladite extrémité inférieure du lien.
- said inertial unit is integral with said link in the vicinity of said connecting ring or hook between said hoisting ropes and said link, where appropriate under a said trunnion connected to the end of said link and cooperating with said hook or connecting ring, and
- said gripping device is secured to the lower end of the link and adapted to cooperate with said object, so that the movements of said object in rotation relative to the axis of said link are reflected at said lower end of the link.
De préférence, le centre de gravité dudit objet reste dans l'alignement dudit lien en cours de levage et déplacement.Preferably, the center of gravity of said object remains in alignment with said link being lifted and moved.
Dans un mode de réalisation particulier, le dispositif de préhension à l'extrémité inférieure dudit lien est constitué par une pluralité d'élingues disposées en patte d'oie, reliée à une pluralité d'anneaux de levage, solidaires dudit objet et répartis autour dudit objet de telle sorte que le centre de gravité dudit objet reste dans l'alignement dudit lien en cours de levage et déplacement.In a particular embodiment, the gripping device at the lower end of said link is constituted by a plurality of slings arranged in a crow's foot, connected to a plurality of lifting rings, integral with said object and distributed around said object such that the center of gravity of said object remains in alignment with said link being lifted and moved.
Dans un autre mode de réalisation, ledit dispositif de préhension est constitué par un dispositif entièrement rigide, de type pince à sucre.In another embodiment, said gripping device is constituted by an entirely rigid device, of the type of sugar tongs.
Ces dispositifs de préhension, de type pince à sucre ou en patte d'oie, sont particulièrement avantageux pour que toute rotation dudit objet sur lui-même soit répercutée par une rotation dudit lien et donc de ladite centrale inertielle, de façon à ce que les mouvements de rotation dudit objet sur lui-même soient plus fidèlement retranscrits par les calculs opérés sur la base des données enregistrées à partir des mouvements de la centrale inertielle.These gripping devices, such as sugar tongs or crow's feet, are particularly advantageous so that any rotation of said object on itself is reflected by a rotation of said link and therefore of said inertial unit, so that the rotational movements of said object on itself are more accurately transcribed by the calculations performed on the basis of data recorded from the movements of the inertial unit.
Avantageusement, on met en oeuvre une grue dont l'extrémité inférieure de ladite flèche repose sur un support de flèche, lui-même solidaire d'une tourelle de pilotage, et ladite flèche étant inclinée dans un plan vertical, ladite flèche étant apte à être déplacée en rotation par rapport à un axe vertical solidaire dudit support de flèche.Advantageously, use is made of a crane whose lower end of said boom rests on an arrow support, itself secured to a steering turret, and said boom being inclined in a vertical plane, said boom being adapted to be rotated relative to a vertical axis integral with said boom support.
Dans une variante de réalisation avantageuse, le dispositif selon l'invention comprend ledit câble de levage suspendu à l'extrémité de ladite flèche, couplé à un deuxième câble, dit câble de traction, dont une extrémité est reliée à un treuil, de préférence solidaire d'une plate-forme support de ladite flèche, l'autre extrémité du câble de traction étant solidaire du câble de levage en suspension, de préférence au niveau d'un crochet ou anneau de raccordement à l'extrémité inférieure dudit câble de levage, de telle sorte que la réduction de longueur dudit câble de traction, par actionnement dudit treuil de traction permette d'incliner ledit câble de levage par rapport à la verticale ZZ et de déplacer en translation ledit objet, dans un plan vertical passant par ledit câble de traction et ledit câble de levage, de préférence, un plan vertical passant par l'axe de ladite flèche (X1X'1), c'est-à-dire lorsque ledit câble de traction est situé dans le même plan vertical que l'axe de ladite flèche (X1X'1).In an advantageous embodiment, the device according to the invention comprises said hoisting cable suspended at the end of said boom, coupled to a second cable, said traction cable, one end of which is connected to a winch, preferably integral. a support platform for said boom, the other end of the pulling cable being integral with the suspension hoisting rope, preferably at a hook or connecting ring at the lower end of said hoisting rope, such that the reduction in length of said pulling cable, by actuation of said pulling winch, makes it possible to incline said lifting cable with respect to the vertical ZZ and to move said object in translation in a vertical plane passing through said pulling cable. traction and said lifting cable, preferably a vertical plane passing through the axis of said arrow (X1X'1), that is to say when said traction cable is located in the same vertical plane as the axis of said arrow (X1X'1).
La mise en oeuvre d'un dit câble de traction permet de déplacer de façon précise ledit anneau ou crochet de raccordement et donc ledit objet en translation dans un plan vertical comprenant l'axe de la flèche, et de rapprocher ledit objet dudit treuil de traction sans avoir à modifier l'inclinaison de la flèche et, bien sur, sans avoir à déplacer la grue, ce qui est proscrit lorsque celle-ci est en cours de levage d'un objet pesant.The implementation of a said traction cable makes it possible to accurately move the said connecting ring or hook and therefore the said object in translation in a vertical plane comprising the axis of the arrow, and to bring the said object closer to the said traction hoist. without having to change the inclination of the boom and, of course, without having to move the crane, which is prohibited when it is being lifted from a heavy object.
Pour déplacer de façon précise ledit anneau ou crochet de raccordement et donc ledit objet en translation dans un plan horizontal, c'est-à-dire latéralement par rapport à un plan vertical passant par l'axe de la flèche, avantageusement, le dispositif selon l'invention comporte au moins deux câbles de traction reliés, respectivement, à deux treuils de traction , une extrémité de chacun câble de traction étant reliée à un dit treuil de traction, de préférence solidaire d'un support de ladite flèche, l'autre extrémité de chacun des deux câbles de traction étant solidaire dudit câble de levage, de préférence à son extrémité inférieure au niveau du même dit anneau ou crochet de raccordement (1d), les deux treuils de traction étant disposés de part et d'autre de ladite flèche, de préférence symétriquement, de sorte qu'une réduction de longueur de l'un au moins des deux dits câbles de traction permet de déplacer ledit objet latéralement par rapport à un plan vertical passant par l'axe X1X'1 de ladite flèche, dans un plan défini par les deux câbles de traction, de préférence une réduction de longueurs différente pour les deux câbles de traction disposés symétriquement par rapport à un plan vertical passant par l'axe de ladite flèche.To move in a precise manner said ring or hook connection and thus said object in translation in a horizontal plane, that is to say laterally with respect to a vertical plane passing through the axis of the arrow, advantageously, the device according to the invention comprises at least two traction cables connected respectively to two traction winches, one end of each traction cable being connected to a said traction hoist, preferably secured to a support of said boom, the other end of each of the two traction cables being secured to said lifting cable, preferably at its lower end at the same said ring or hook connection (1d), the two traction winches being arranged on either side of said arrow, preferably symmetrically, so that a reduction in length of at least one of said two cables traction allows to move said object laterally with respect to a vertical plane passing through the axis X1X'1 of said arrow, in a plane defined by the two traction cables, preferably a length reduction different for the two traction cables arranged symmetrically with respect to a vertical plane passing through the axis of said arrow.
Ces déplacements latéraux dans un plan incliné par rapport à l'horizontal ou déplacements dans un plan vertical dudit objet, à l'aide de dit(s) câble(s) de traction, permettent surtout de stabiliser ledit objet en cas de balancement en cours d'opération, ou d'éviter l'apparition de tels balancements.These lateral displacements in a plane inclined with respect to the horizontal or displacements in a vertical plane of said object, with the aid of said cable (s) of traction, make it possible especially to stabilize said object in case of swinging in progress of operation, or to avoid the appearance of such swings.
Avantageusement encore, les deux dits treuils de traction sont disposés aux deux extrémités d'une poutre transversale solidaire d'une plate-forme supportant ladite flèche. Ceci permet, en particulier, d'ajuster en fin de pose l'adéquation de la position d'un bloc par rapport au bloc déjà posé d'une digue en cours de réalisation.Advantageously, the two said traction hoists are arranged at both ends of a transverse beam secured to a platform supporting said boom. This makes it possible, in particular, to adjust at the end of the laying the adequacy of the position of a block with respect to the already laid block of a dike in progress.
La présente invention fournit donc un procédé dans lequel on met en oeuvre un dispositif de déplacement et de levage, tel que défini ci-dessus, et on ajuste la stabilité et le positionnement dudit objet en actionnant au moins un dit treuil de traction.The present invention therefore provides a method in which a displacement and lifting device, as defined above, is implemented and the stability and positioning of said object is adjusted by actuating at least one said traction hoist.
Dans un autre mode préféré de réalisation, ledit lien est relié à son extrémité supérieur à un palier motorisé, solidaire dudit anneau ou crochet de raccordement, ledit palier motorisé permettant de commander la rotation motorisée dudit lien et dudit objet en rotation sur lui-même lorsque son moteur est actionné, et ledit palier motorisé jouant le rôle de tourillon lorsque son moteur est débrayé.In another preferred embodiment, said link is connected at its upper end to a motor bearing, integral with said connecting ring or hook, said motorized bearing for controlling the motorized rotation of said link and said object in rotation on itself when its motor is actuated, and said motor bearing acting as a trunnion when its engine is disengaged.
Cette rotation peut être commandée par le grutier et permet d'ajuster la position de l'objet en tant que de besoin lors de sa dépose finale, notamment dans le cas d'un bloc à déposer dans un plan de pose particulier sur un assemblage de blocs d'une digue en cours de réalisation.This rotation can be controlled by the crane operator and makes it possible to adjust the position of the object as needed during its final removal, in particular in the case of a block to be deposited in a particular laying plane on an assembly of blocks of a dike in progress.
Avantageusement encore, ledit palier motorisé coopère avec un bras rigide, dit bras de réaction, qui permet de reprendre les efforts de torsion générés par ledit palier motorisé en rotation, au niveau de la partie supérieure dudit palier motorisé solidaire dudit anneau ou crochet de raccordement, ledit bras de réaction étant intercalé entre l'extrémité d'un dit câble de traction et la partie supérieure dudit palier motorisé de laquelle il est solidaire.Advantageously, said motorized bearing cooperates with a rigid arm, said reaction arm, which makes it possible to take up the torsional forces generated by said motorized bearing in rotation, at the upper part of said motorized bearing secured to said connecting ring or hook, said reaction arm being interposed between the end of a said traction cable and the upper portion of said motor bearing which it is secured.
La présente invention fournit donc également un procédé dans lequel on met en oevre un dispositif de ce type selon l'invention et on actionne en rotation ledit palier motorisé de façon à orienter l'objet, par rotation sur lui-même, en phase finale de dépose.The present invention therefore also provides a method in which a device of this type according to the invention is implemented and said motorized bearing is rotated so as to orient the object, by rotation on itself, in the final phase of the invention. deposit.
D'autres caractéristiques et avantages de la présente invention ressortiront mieux à la lecture de la description qui va suivre, faite de manière illustrative et non limitative, en référence aux dessins annexés sur lesquels :
- la
figure 1 représente en coupe et en vue de côté l'installation de blocs artificiels de forme cubique, pour réaliser la carapace d'une digue à talus selon l'art antérieur, - les
figures 2A-2B représentent respectivement en vue de dessus et en vue de côté, un bloc de forme cubique, - les
figures 3A-3B représentent en vue de côté un dispositif de préhension de blocs de type "pince à sucre" permettant d'ajuster l'angle d'orientation dudit bloc par rapport à la verticale, - la
figure 4 représente en vue de côté la pose de blocs artificiels de forme cubique à l'aide du dispositif de levage selon l'invention, - la
figure 4A représente le repère orthogonal cartésien lié à la centrale inertielle par rapport au repère cartésien fixe de référence XYZ, - la
figure 4B représente le repère orthogonal cartésien Zc-Yc-7c relatif à la position oblique de la centrale inertielle en référence à lafigure 4 , - la
figure 5 est une vue relative à lafigure 4 représentée en vue de dessus, dans laquelle le positionnement du crochet est assuré par deux câbles de traction reliés à deux treuils de traction, ces derniers étant soit solidaires de la structure de la grue, soit installés sur des supports fixes par rapport au sol, - la
figure 5A représente en vue de dessus les déplacements latéral et longitudinal du crochet de raccordement en agissant sur la longueur des câbles de traction reliés aux treuils de traction, - la
figure 5B représente une centrale inertielle 6 montée surun lien rigide 8a, constitué d'un tube profilé en acier ou matériau rigide, et reliée à l'extrémité inférieure du câble de levage la et d'un câble detraction 9a-9b par l'intermédiaire d'un tourillon 29, - les
figures 6A-6B illustrent le mode opératoire d'un filtre de Kalman, - la
figure 7 est le diagramme logique du fonctionnement d'un filtre de Kalman dans le cas particulier de la pose des blocs selon l'invention,
Lesfigures 8A et 8C sont des vues de coté d'un lien rigide constitué d'un tube ou profilé en acier ou matériau rigide 8a (figure 8A ) ou par une chaîne en acier 8b (figure 8C ), coopérant avec le point de raccordement des extrémités des câble detraction 9 et câble de levage 1a par l'intermédiaire d'un palier motorisé 30 coopérant avec une barre de réaction 32, - la
figure 8B est une vue de dessus desfigures 8A et 8C .
- the
figure 1 represents in section and in side view the installation of artificial blocks of cubic shape, to achieve the shell of a embankment embankment according to the prior art, - the
Figures 2A-2B respectively represent in top view and in side view, a block of cubic shape, - the
Figures 3A-3B represent in side view a device for gripping "sugar tongs" type blocks making it possible to adjust the angle of orientation of said block with respect to the vertical, - the
figure 4 represents in side view the laying of artificial blocks of cubic shape using the lifting device according to the invention, - the
Figure 4A represents the Cartesian orthogonal coordinate system bound to the inertial unit with respect to the fixed Cartesian reference reference XYZ, - the
Figure 4B represents the Cartesian orthogonal coordinate system Zc-Yc-7c relating to the oblique position of the inertial unit with reference to thefigure 4 , - the
figure 5 is a view of thefigure 4 shown in plan view, in which the positioning of the hook is provided by two traction cables connected to two traction winches, the latter being either integral with the structure of the crane, or installed on fixed supports relative to the ground, - the
Figure 5A represents in a view from above the lateral and longitudinal movements of the connecting hook by acting on the length of the traction cables connected to the traction hoists, - the
Figure 5B represents aninertial unit 6 mounted on arigid link 8a, consisting of a profiled tube of steel or rigid material, and connected to the lower end of the hoistcable 1a and atraction cable 9a-9b via ajournal 29, - the
Figures 6A-6B illustrate the procedure of a Kalman filter, - the
figure 7 is the logic diagram of the operation of a Kalman filter in the particular case of laying blocks according to the invention,
TheFigures 8A and 8C are side views of a rigid link consisting of a tube or section of steel orrigid material 8a (figure 8A ) or by asteel chain 8b (Figure 8C ), cooperating with the connection point of the ends of thetraction cables 9 and liftingcable 1a via amotor bearing 30 cooperating with areaction bar 32, - the
Figure 8B is a top view ofFigures 8A and 8C .
Dans la
Sur les
Sur les
Sur la
Sur la
Lorsque l'ensemble constitué du câble 1a, de la centrale inertielle 6, du lien 8, du moyen de préhension 5 et du bloc artificiel 4 se déplace, les accélérations longitudinales selon Xc-Yc-Zc et angulaires selon ϕ1-ϕ2-ϕ3 sont enregistrées en temps réel au sein de la centrale inertielle et transmises à un ordinateur, situé de préférence dans la cabine du grutier. Ceci permet, par une double intégration par rapport au temps, de calculer la trajectoire exacte de ladite centrale inertielle, ainsi que son orientation, donc la direction du lien 8, puisque l'orientation du lien 8 est constante par rapport à l'orientation de la centrale inertielle. Connaissant cette direction, ainsi que la distance de la centrale inertielle jusqu'au centre de gravité du bloc, on en déduit par un calcul géométrique simple la position en temps réel du centre de gravité du bloc, donc la position en temps réel du bloc, et ce en l'absence de toute visibilité directe du bloc par le grutier.When the assembly consisting of the
Ainsi, un mode opératoire préféré est le suivant :
- on saisit le bloc 40 sur l'aire de stockage de la
figure 5 , ledit bloc étant dans la position connue X0-Y0-Z0, puis - on tend
le lien 8 en agissant sur le câble de levage 1a, ledit lien est alors vertical et les repères cartésiens relatifs à la centrale inertielle et le repère absolu ont l'axe Z en commun comme détaillé sur lafigure 4A , puis, - dès que le bloc quitte le
sol 2a, on déclenche la centrale inertielle qui enregistre alors tous les déplacements de ladite centrale, puis - on positionne l'extrémité supérieure de la flèche de façon à ce que ledit objet soit sensiblement à l'aplomb de l'emplacement voulu dans la zone de dépose comme illustré sur la
figure 4 , puis - connaissant la position absolue de la centrale inertielle, la position du bloc est calculée en temps réel, et l'approche finale par le grutier, avant dépose, est effectuée, même en l'absence de visibilité ou en l'absence de tout contrôle par plongeurs, grâce à ladite position X-Y-Z calculée du bloc, les mouvements du bloc ainsi que l'état de l'ouvrage déjà réalisé étant visualisés sur un écran dans la cabine du grutier, et
- après dépose, le dispositif de préhension est déconnecté, de préférence de manière automatique par un dispositif de largage, non représenté, commandé depuis la cabine du grutier ;
- la grue est alors libre pour aller saisir le bloc suivant sur l'aire de stockage.
- block 40 is entered on the storage area of the
figure 5 , said block being in the known position X0-Y0-Z0, then - the
link 8 is tensioned by acting on the hoistingrope 1a, the said link is then vertical and the Cartesian marks relating to the inertial unit and the absolute reference point have the Z axis in common as detailed on theFigure 4A then, - as soon as the block leaves the
ground 2a, the inertial unit is triggered which then records all the movements of said central unit, then - positioning the upper end of the boom so that said object is substantially in line with the desired location in the removal zone as illustrated in FIG.
figure 4 then - knowing the absolute position of the inertial unit, the position of the block is calculated in real time, and the final approach by the crane operator, before removal, is carried out, even in the absence of visibility or in the absence of any control by divers, thanks to said calculated XYZ position of the block, the movements of the block as well as the state of the work already realized being displayed on a screen in the cabin crane operator, and
- after removal, the gripping device is disconnected, preferably automatically by a release device, not shown, controlled from the crane operator's cabin;
- the crane is then free to go to grab the next block on the storage area.
Sur la
Dans une version préférée de l'invention représentée sur la vue en plan de la
En réduisant la longueur de l'un des câbles de traction par rapport à l'autre, tel que représenté sur la
Ainsi, en n'utilisant qu'un seul câble de traction 9 comme expliqué en référence à la
Des dispositifs compacts sont disponibles dans le commerce, comprenant une centrale inertielle munie de gyroscope et d'accéléromètre pour la mesure de mouvements, de l'orientation et de la position d'un objet auquel il est solidarisé,. On pourra notamment utiliser un dispositif commercialisé par la société XSens Technologies B.V. (the Netherlands). Ces dispositifs comportent en général un support métallique sur lequel est fixée la centrale inertielle proprement dite. C'est ce support qui sera fixé audit lien.Compact devices are commercially available, including an inertial unit equipped with a gyroscope and accelerometer for measuring movements, orientation and position of an object to which it is attached. It will be possible to use a device marketed by XSens Technologies BV (the Netherlands). These devices generally comprise a metal support on which is fixed the inertial unit itself. This support will be attached to the link.
Le fonctionnement d'une centrale inertielle est connu de l'homme de l'art, mais son fonctionnement dans le cadre de l'invention est très particulier. En effet, dans la phase finale de l'approche, juste avant la dépose du bloc sur l'ouvrage, le bloc vient heurter en général les blocs adjacents avant de se mettre ensuite dans sa position définitive. Ces chocs induisent des variations brutales de vitesse, donc des accélérations importantes, qui perturbent la centrale inertielle, laquelle n'est alors plus capable de fournir un positionnement calculé précis et fiable, ce qui crée un décalage inacceptable le la position calculée du bloc par rapport à sa position réelle.The operation of an inertial unit is known to those skilled in the art, but its operation in the context of the invention is very particular. Indeed, in the final phase of the approach, just before the removal of the block on the structure, the block comes in contact with the adjacent blocks in general before moving into its final position. These shocks induce sudden variations in speed, and therefore significant accelerations, which disturb the inertial unit, which is then no longer able to provide a precise and reliable calculated positioning, which creates an unacceptable shift in the calculated position of the block with respect to its real position.
Pour palier cet inconvénient, un filtre de Kalman, connu de l'homme de l'art, est utilisé de manière particulière pour éliminer ces perturbations. Le filtre de Kalman est un estimateur récursif. Cela signifie que pour estimer l'état courant d'un système, seuls l'état précédent et les mesures actuelles sont nécessaires pour estimer la position future avec une précision optimale. Ainsi, en cas de choc latéral comme expliqué sur la
Dans une version préférée de l'invention, seules les accélérations angulaires sont utilisées dans le calcul de la position exacte du bloc, les pics d'accélérations longitudinales sont observés pour signaler au grutier les chocs des blocs avec les blocs adjacents ou ceux de la couche inférieure, mais les accélérations elles-mêmes ne sont pas directement prises en compte dans le calcul de la position. Ainsi, pour déterminer la position du bloc en temps réel, on mesure, par exempte à l'aide d'un théodolite automatique représenté sur la
Dans une version préférée de l'invention, la centrale inertielle est munie d'un système de positionnement par satellite de type DGPS. Ce système, connu de l'homme de l'art, est un système différentiel, c'est-à-dire qu'une balise est installée sur la central inertielle et une seconde balise est installée à terre en un point fixe. Ainsi, en combinant de manière synchrone les signaux des deux récepteurs, le positionnement du mobile est réalisé, non pas dans l'absolu par rapport au satellite, mais en relatif par rapport au récepteur fixe, améliorant ainsi radicalement la précision du positionnement.In a preferred version of the invention, the inertial unit is provided with a DGPS satellite positioning system. This system, known to those skilled in the art, is a differential system, that is to say, a beacon is installed on the inertial unit and a second beacon is installed on the ground at a fixed point. Thus, by synchronously combining the signals of the two receivers, the positioning of the mobile is realized, not in absolute terms with respect to the satellite, but in relative relation to the fixed receiver, thus radically improving the positioning accuracy.
Sur la
Sur la même
Dans une version préférée de l'invention représentée sur les
Sur les
Dans une version simplifiée de l'invention, non représentée, la motorisation est supprimée, et le lien 8a présentant une rigidité en torsion selon l'axe Zc, est d'une part suspendu à l'anneau ou crochet 1d, et d'autre part relié rigidement au bras de réaction 32. Il convient alors dans ce cas, lors du saisissage du bloc sur son aire de stockage, comme décrit précédemment en référence à la
Sur la
Le lien 8, 8a-8b à rigidité de torsion selon l'axe ZZ peut être obtenu à partir d'un simple tube en acier, ou encore d'un profilé en matériau composite, qui présente une bonne rigidité de torsion, tout en gardant une grande souplesse en flexion dans les plans XoZ et YoZ, ce qui permet avantageusement de réaliser un premier filtrage mécanique des chocs sur les blocs, évitant ainsi de répercuter directement à la centrale inertielle la totalité des accélérations parasites dues aux chocs.The
On reste dans l'esprit de l'invention si le câble de levage est continu jusqu'au dispositif de préhension 5, le crochet ou l'anneau étant alors remplacé par un serre-câble mécanique venant enserrer ledit câble de levage en un point fixe sur lequel est connecté l'extrémité du ou des câbles de traction, la partie au dessus du serre-câble jouant alors le rôle de câble de levage 1a et la partie située en dessous dudit serre-câble jouant le rôle du lien 8.It remains in the spirit of the invention if the hoisting rope is continuous up to the gripping device 5, the hook or the ring then being replaced by a mechanical cable clamp from gripping said hoisting rope at a fixed point on which is connected the end of the traction cable or cables, the portion above the cable tie then acting as lifting
Claims (16)
- A hoist and mover device for hoisting and moving an article (4), the device comprising a crane (1), said crane having a jib (1b) fitted with a first cable, referred to as a hoist cable (1a) , having at its end a connection (8, 8a-8b) suitable for supporting said article that is suspended therefrom via a gripper device (5b), the hoist and mover device being characterized in that said connection (8, 8a-8b) is fitted with an inertial unit (6), said inertial unit being fastened to said connection (8, 8a-8b), preferably in such a manner that the axis of said connection, when tensioned by a said suspended article, coincides with one of the axes (7c) of the frame of reference (Xc, Yc, Zc) associated with the inertial unit, said inertial unit (6) being connected to a computer (20), preferably situated in the crane-driver's cabin (13), to transmit thereto the data registered in real time concerning the longitudinal accelerations of said inertial unit in the three directions of a moving frame of reference (Xc, Yc, Zc) and the rotary accelerations (ϕ1, ϕ2, ϕ3) of said inertial unit relative to the same axes of the moving frame of reference (Xc, Yc, Zc) associated with said inertial unit, the computer being suitable for indicating the position and the orientation of said article suspended from said connection in a fixed three-dimensional frame of reference (X, Y, Z), as deduced from the position and the orientation of the inertial unit, and preferably the computer being capable of causing the movements of said article in three dimensions to be displayed on a screen.
- A device according to claim 1, characterized in that said inertial unit (6) is coupled to a Kalman filter (20a) that serves to peak limit (16a-16b) the amplitudes of accelerations registered by the inertial unit in the event of the inertial unit being subjected to high amplitudes of acceleration as a result of an impact against said article, with the probable values for the variation in the position parameters of said inertial unit being substituted for said acceleration amplitudes as peak limited in this way, and preferably said Kalman filter also enabling the position of said impact to be identified, and more preferably, enabling the screen to display the position of the article during the impact and/or the position of another said article that has already been laid and with which said article that is being laid has come into collision.
- A device according to claim 1 or claim 2, characterized in that said inertial unit (6) is combined with a device for directly measuring the position of said inertial unit in said fixed frame of reference (ϕ1, ϕ2, ϕ3) , said measurement comprising studying the travel of a wave emitted by said measurement device, such as a laser sighting device, an automatic theodolite, or preferably a differential GPS.
- A device according to any one of claims 1 to 3, characterized in that said connection (8, 8a-8b) presents twisting rigidity that is greater than that of said hoist cable (1a), said connection preferably being constituted by a metal chain or a tube or a section member of steel or of composite material, said tube or section member presenting twisting rigidity and flexibility in bending relative to its longitudinal direction.
- A device according to claim 4, characterized in that said connection (8, 8a-8b) is connected to the bottom end of said hoist cable by a connection ring or hook (1d), the top end of said connection (8) co-operating with said connection hook or ring (1d) via a swivel (29).
- A device according to any one of claims 1 to 5, characterized in that:· said inertial unit (6) is secured to said connection (8, 8a-8b) close to said connection ring or hook (1d) between said hoist cables and said connection, where appropriate beneath a said swivel (29) connected to the end of said connection and co-operating with a said connection hook or ring (1d) ; and· the gripper device (5b) is secured to the bottom end of the connection (8, 8a-8b) and is suitable for co-operating with said article, in such a manner that the movements of said article in rotation relative to the axis of said connection (Zc) are applied to said bottom end of said connection.
- A device according to any one of claims 1 to 6, characterized in that said hoist cable (1a) suspended from the end of said jib (1b) is coupled to a second cable, referred to as a traction cable (9), having one end connected to a winch (10), which winch is preferably secured to the support platform (14) of said jib, the other end of the traction cable (9) being secured to the suspended hoist cable, preferably at the level of a connection hook or ring (1d) at the bottom end of said hoist cable, in such a manner that shortening the length of said traction cable, by actuating said traction winch, enables said hoist cable (1a) to be inclined at an angle (β) relative to the vertical (ZZ), with said article (4) being moved in translation in a vertical plane containing said traction cable and said hoist cable, preferably a vertical plane containing the axis of said jib (X1X'1).
- A device according to any one of claims 1 to 6, characterized in that it includes at least two traction cables (9a, 9b) respectively connected to two traction winches (10a, 10b), one end of each traction cable being connected to a respective one of said traction winches (10a, 10b), which winches are preferably secured to a support (14) for said jib, the other end of each of the two traction cables being secured to said hoist cable (1a), preferably at its bottom end at the level of said connection ring or hook (1d), the two traction winches being disposed on either side of said jib, preferably symmetrically, such that shortening the length (ρ1-ρ2) of at least one of the two said traction cables (9a, 9b) enables said article to be moved laterally relative to the vertical plane containing the axis (X1X'1) of said jib, in a plane containing the two traction cables (9a, 9b), which two traction cables are disposed symmetrically about a vertical plane containing the axis of said jib, and preferably being shortened by different lengths.
- A device according to claim 8, characterized in that said two traction winches (10a, 10b) are disposed at two ends of a transverse beam (17) secured to a platform (14) supporting said jib.
- A method of moving and hoisting an article using a device according to any one of claims 1 to 9, the method being characterized in that said article is moved in order to be laid at a determined location, as a function of its position and angular orientation relative to the three axes of a fixed three-dimensional frame of reference (X, Y, Z), and preferably as a function of a display of its movements as calculated by said computer.
- A method according to claim 10, characterized in that said article is a block of concrete and an assembly of blocks is made by hoisting, moving, and laying blocks in positions that are desired for making an embankment protecting a shore or a port jetty resting on the sea bottom.
- A method according to claim 11, characterized in that said inertial unit is fastened to said connection at a distance from said block such that said inertial unit is kept permanently out of the water.
- A method according to any one of claims 10 to 12, characterized in that only the angular acceleration data (ϕ1, ϕ2, ϕ3) registered using said inertial unit is processed within the computer (20), the computer being coupled to a Kalman filter (20a), and the longitudinal position in three dimensions of said article relative to said fixed frame of reference (X, Y, Z) being provided by means of an additional device for directly determining the position of said inertial unit by emitting waves (7a-7b), such as a device of the laser sighting system type, a theodolite, or preferably a device of the differential GPS type.
- A method according to claim 13, characterized in that the peak limiting (16a, 16b) of the acceleration amplitude resulting from impacts against said article and as performed by the Kalman filter (20a) is used in order to identify, and preferably in order to display on a screen, the occurrence of an impact against said article.
- A method according to any one of claims 10 to 14, characterized in that a hoist and mover device as defined in any one of claims 7 to 9 is used and the stability and the position of said article is adjusted by actuating at least one of said traction winches.
- A method according to any one of claims 10 to 15, characterized in that a device according to claim 10 or claim 11 is used and said motor-driven bearing (30) is actuated so as to orient the article by turning it about its axis during the final laying stage.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR0850489A FR2926804B1 (en) | 2008-01-25 | 2008-01-25 | DEVICE FOR LIFTING AND MOVING AN OBJECT COMPRISING THE IMPLEMENTATION OF AN INERTIAL POWER PLANT |
PCT/FR2009/050074 WO2009095577A1 (en) | 2008-01-25 | 2009-01-20 | Device for lifting and moving an object, including an inertial unit |
Publications (2)
Publication Number | Publication Date |
---|---|
EP2231499A1 EP2231499A1 (en) | 2010-09-29 |
EP2231499B1 true EP2231499B1 (en) | 2011-11-09 |
Family
ID=39735116
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP09706039A Not-in-force EP2231499B1 (en) | 2008-01-25 | 2009-01-20 | Device for lifting and moving an object, including an inertial unit |
Country Status (6)
Country | Link |
---|---|
EP (1) | EP2231499B1 (en) |
AT (1) | ATE532740T1 (en) |
BR (1) | BRPI0907390A2 (en) |
FR (1) | FR2926804B1 (en) |
MA (1) | MA31990B1 (en) |
WO (1) | WO2009095577A1 (en) |
Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8405721B2 (en) | 2008-10-21 | 2013-03-26 | Motion Metrics International Corp. | Method, system and apparatus for monitoring loading of a payload into a load carrying container |
DK177006B1 (en) | 2010-01-19 | 2010-11-22 | Ah Ind Projects Aps | Method for controlling orientation of a load suspended in a carrier wire around the wire as well as a player arrangement |
US8843279B2 (en) | 2011-06-06 | 2014-09-23 | Motion Metrics International Corp. | Method and apparatus for determining a spatial positioning of loading equipment |
WO2015165463A1 (en) | 2014-04-28 | 2015-11-05 | Liftra Ip Aps | Method and device for automatic control of the position of a burden suspended in a main wire on a crane |
US11041720B2 (en) * | 2016-12-13 | 2021-06-22 | Pgs Geophysical As | Calibration of a magnetometer in a towed object telemetry unit based on turn data |
CN113152386B (en) * | 2021-02-04 | 2023-03-21 | 南昌工学院 | Cable crane grading damming system of wet-process stockpiling tailing pond |
Family Cites Families (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CA662030A (en) * | 1963-04-23 | Mansaver Industries | Motor actuated rotary crane hook | |
US1481234A (en) * | 1922-01-14 | 1924-01-15 | Bergen Point Iron Works | Digging apparatus |
US4171053A (en) * | 1977-08-24 | 1979-10-16 | Cecce Robert F | Antipendulation crane |
DE4238795A1 (en) * | 1992-11-17 | 1993-07-01 | Edgar Von Dipl Ing Hinueber | Damping pendulum movement of hanging loads on crane - using microprocessor to control crane movement and load cable length using sensor input of cable angular velocity and acceleration |
FR2704847A1 (en) * | 1993-05-05 | 1994-11-10 | Bertin & Cie | Process and device for limiting the swing of a load suspended from a motorised support |
US7289875B2 (en) * | 2003-11-14 | 2007-10-30 | Siemens Technology-To-Business Center Llc | Systems and methods for sway control |
-
2008
- 2008-01-25 FR FR0850489A patent/FR2926804B1/en not_active Expired - Fee Related
-
2009
- 2009-01-20 BR BRPI0907390-6A patent/BRPI0907390A2/en not_active Application Discontinuation
- 2009-01-20 AT AT09706039T patent/ATE532740T1/en active
- 2009-01-20 EP EP09706039A patent/EP2231499B1/en not_active Not-in-force
- 2009-01-20 WO PCT/FR2009/050074 patent/WO2009095577A1/en active Application Filing
-
2010
- 2010-07-01 MA MA32975A patent/MA31990B1/en unknown
Also Published As
Publication number | Publication date |
---|---|
MA31990B1 (en) | 2011-01-03 |
EP2231499A1 (en) | 2010-09-29 |
FR2926804B1 (en) | 2010-03-26 |
BRPI0907390A2 (en) | 2015-07-21 |
FR2926804A1 (en) | 2009-07-31 |
WO2009095577A1 (en) | 2009-08-06 |
ATE532740T1 (en) | 2011-11-15 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
EP2231499B1 (en) | Device for lifting and moving an object, including an inertial unit | |
EP2231498B1 (en) | Device for lifting and moving an object, including a powered bearing | |
EP2791000B1 (en) | Fairlead for guiding an anchoring chain and intended to be provided to anchoring equipment on the floor of a floating platform | |
CA2654140A1 (en) | Method of measuring, on the fly, the height of an electrolysis anode | |
EP3536899B1 (en) | Drilling machine comprising a connection device for a device for measuring verticality | |
EP3194259B1 (en) | Fairlead to guide a anchor chain, for a floating installation | |
FR2859717A1 (en) | CUTTING BUCKET, ESPECIALLY A MOTOR DIPPING BUCKET | |
FR2590539A1 (en) | SINGLE CABLE MOORING SYSTEM AND METHOD OF MAKING A HIGH SEA TERMINAL USING SUCH A SYSTEM | |
CA1112060A (en) | Alignment device for submerged tube ends by means of a surface support | |
CA1103467A (en) | No translation available | |
EP2948621B1 (en) | Method for determining the position of a cutting device in the ground using a mobile carriage | |
EP0054498A1 (en) | Installation for dredging a sea bottom, particularly for great depths | |
CA2975344C (en) | Device for precutting a column for a floor | |
EP0533559B1 (en) | Pincer grab excavator | |
FR2946367A1 (en) | TOOL AND METHOD FOR PLACING CONCRETE CARAPLE BLOCKS | |
CA1273965A (en) | Method and device for drilling a well | |
EP0709526A2 (en) | Back-filling device for pipe trenches | |
EP0841465B1 (en) | Drill verticality measuring device | |
FR2682474A1 (en) | Method, device and installation for determining the direction of the strand entering the water of a mooring or towing cable on a craft | |
EP0533558A1 (en) | Pincer grab excavator | |
FR2781033A1 (en) | Cable laying apparatus for burying cable in bed of watercourse comprising a towed sledge-mounted submerged mole-plough | |
EP3012219A1 (en) | Earthworking device that can be adapted to the deck of a telescopic truck | |
FR2785684A1 (en) | Fully automatic mobile storage, handling, deployment and retrieval equipment for belts of seismic sensors, buries them individually over large area at controlled speed, avoiding onerous, time-consuming manual methods | |
WO2024141724A1 (en) | Improved lifting accessory and method for using same | |
FR2785685A1 (en) | Oil and gas prospecting vehicle, deploys cables and inserts seismic sensors rapidly and automatically at locations over extensive, variably-sloping site without prior survey, and without pausing |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PUAI | Public reference made under article 153(3) epc to a published international application that has entered the european phase |
Free format text: ORIGINAL CODE: 0009012 |
|
17P | Request for examination filed |
Effective date: 20100611 |
|
AK | Designated contracting states |
Kind code of ref document: A1 Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO SE SI SK TR |
|
AX | Request for extension of the european patent |
Extension state: AL BA RS |
|
DAX | Request for extension of the european patent (deleted) | ||
GRAP | Despatch of communication of intention to grant a patent |
Free format text: ORIGINAL CODE: EPIDOSNIGR1 |
|
GRAS | Grant fee paid |
Free format text: ORIGINAL CODE: EPIDOSNIGR3 |
|
GRAA | (expected) grant |
Free format text: ORIGINAL CODE: 0009210 |
|
AK | Designated contracting states |
Kind code of ref document: B1 Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO SE SI SK TR |
|
REG | Reference to a national code |
Ref country code: GB Ref legal event code: FG4D Free format text: NOT ENGLISH |
|
REG | Reference to a national code |
Ref country code: CH Ref legal event code: EP |
|
REG | Reference to a national code |
Ref country code: IE Ref legal event code: FG4D Free format text: LANGUAGE OF EP DOCUMENT: FRENCH |
|
REG | Reference to a national code |
Ref country code: DE Ref legal event code: R096 Ref document number: 602009003606 Country of ref document: DE Effective date: 20120112 |
|
REG | Reference to a national code |
Ref country code: NL Ref legal event code: VDEP Effective date: 20111109 |
|
LTIE | Lt: invalidation of european patent or patent extension |
Effective date: 20111109 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: LT Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20111109 Ref country code: NO Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20120209 Ref country code: IS Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20120309 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: PL Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20111109 Ref country code: SI Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20111109 Ref country code: PT Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20120309 Ref country code: SE Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20111109 Ref country code: HR Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20111109 Ref country code: GR Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20120210 Ref country code: NL Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20111109 Ref country code: LV Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20111109 |
|
REG | Reference to a national code |
Ref country code: IE Ref legal event code: FD4D |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: CY Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20111109 |
|
BERE | Be: lapsed |
Owner name: SAIPEM SA Effective date: 20120131 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: BG Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20120209 Ref country code: EE Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20111109 Ref country code: IE Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20111109 Ref country code: CZ Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20111109 Ref country code: SK Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20111109 Ref country code: DK Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20111109 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: IT Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20111109 Ref country code: RO Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20111109 |
|
PLBE | No opposition filed within time limit |
Free format text: ORIGINAL CODE: 0009261 |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT |
|
REG | Reference to a national code |
Ref country code: AT Ref legal event code: MK05 Ref document number: 532740 Country of ref document: AT Kind code of ref document: T Effective date: 20111109 |
|
26N | No opposition filed |
Effective date: 20120810 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: DE Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20120801 |
|
REG | Reference to a national code |
Ref country code: DE Ref legal event code: R119 Ref document number: 602009003606 Country of ref document: DE Effective date: 20120801 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: BE Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20120131 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: AT Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20111109 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: MK Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20111109 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: ES Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20120220 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: FI Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20111109 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: MT Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20111109 |
|
REG | Reference to a national code |
Ref country code: CH Ref legal event code: PL |
|
GBPC | Gb: european patent ceased through non-payment of renewal fee |
Effective date: 20130120 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: LI Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20130131 Ref country code: CH Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20130131 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: GB Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20130120 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: TR Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20111109 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: LU Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20120120 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: HU Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20090120 |
|
REG | Reference to a national code |
Ref country code: FR Ref legal event code: PLFP Year of fee payment: 8 |
|
REG | Reference to a national code |
Ref country code: FR Ref legal event code: PLFP Year of fee payment: 9 |
|
REG | Reference to a national code |
Ref country code: FR Ref legal event code: PLFP Year of fee payment: 10 |
|
PGFP | Annual fee paid to national office [announced via postgrant information from national office to epo] |
Ref country code: MC Payment date: 20171219 Year of fee payment: 10 |
|
PGFP | Annual fee paid to national office [announced via postgrant information from national office to epo] |
Ref country code: FR Payment date: 20180122 Year of fee payment: 10 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: MC Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20190131 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: FR Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20190131 |