WO2011147434A1

WO2011147434A1 - System for moving a sensor or actuator in a three dimensional s pace

Info

Publication number: WO2011147434A1
Application number: PCT/EP2010/003264
Authority: WO
Inventors: Harald Staab
Original assignee: Abb Ag
Priority date: 2010-05-28
Filing date: 2010-05-28
Publication date: 2011-12-01

Abstract

The invention relates to an arrangement and device for monitoring and inspection of a facility or of a section of an installation using surveillance devices, which are selected according to the current requirements and serve for the processing and transmission of information and provided with other devices, which effect those operations being recognized as necessary whereas sensors are being provided as monitoring equipment which detect the respective required information and submit to an at least one supervisory authority, and whereas more devices are provided as actuators, which initiate on behalf of corresponding signals transmitted by the at least one inspection point and considered as being necessary control measures and carry them out respectively wherein at least in the monitored and inspected part of the system (10) means (18, 20) are provided, which move the equipment (22) provided for the collection and transmission of any information and initiate or implement the movement of all necessary measures provided for other devices (22) on specified routes.

Description

SYSTEM FOR MOVING A SENSOR OR ACTUATOR IN A THREE DIMENSIONAL SPACE

The invention relates to an arrangement and a device for monitoring and inspection of a facility or of a section of an installation using surveillance devices, which are selected according to the current requirements and serve for the processing and transmission of information and provided with other devices, which effect those operations being recognized as necessary whereas sensors are being provided as monitoring equipment which detect the respective required information and submit to an at least one supervisory authority, and whereas more devices are provided as actuators, which initiate on behalf of corresponding signals transmitted by the at least one inspection point and considered as being necessary control measures and carry them out respectively.

As an example of a certain area as part of a large process plant with pipes, valves, pumps and gauges, level indicators and other sensors is provided, which are all used in accordance with a predetermined process run. Accordingly, permanently installed surveillance systems are provided which transmit the recorded operating data to a control room above.

In plants that are considered less critical or are located in areas with lower population density, where an accident does not result in a serious potential of threat to humans or the environment, accordingly, the equipment having facilities for early detection of incidents or other surveillance devices may be provided more economically, so a monitoring and early detection of potential problems may be delayed or not. A subsequent furnishing of such a system with the required surveillance and control facilities or service is often not feasible or only at unreasonably high costs, which can often generate the idea of demolition and new construction.

Based on this prior art, the object of the invention is to provide an apparatus of that type which allows, to retrofit in existing facilities or parts the required monitoring and control devices at the smallest effort and at approximate equal reliability compared to the units that are equipped from the outset accordingly.

This problem is solved by the features of claim 1. Accordingly, it is provided that at least in the monitored and inspected some area resources are provided, which allow to retrofit equipment provided for recording and reporting of information and the initiating or implementing the proposed considered necessary measures other devices on specified routes.

With the help of the resources provided by the invention, appliances can be installed rather easily, which means at reasonable effort, in that facility, thus control, monitoring, investigation and/or maintenance is feasible in an easy way, which do not impede the operation of the plant, but, on the contrary, are more secure, since any fault and/or damage are detected very early and necessary counter actions may be initiated immediately.

In accordance with a preferred implementation of the invention, the means for movement of equipment and other equipment being provided are very pliable, tension resilient elements which may different function, such as supporting function, control function, adjusting function or support function whereas its design proposed for this purpose in mechanical manner is rather simple.

Herewith the elements are formed as supporting elements as well as control elements, as well as supply routes i.e. for example, only a few carrying elements are provided, on which the actuators for the control and positioning force are attached and where applicable the feed arranged for supply of the aforementioned devices.

According to an advantageous embodiment of the invention, the limp items are formed as ropes, cables or chains. The chains and cables according to the invention are preferably made of material according to demand and load-selected, such as steel for the chains or plastic or rubber, where appropriate, with metal, e.g. steel, for cables.

Additionally, the elements can be formed as ropes from fibrous material such as steel fibers, PA (polyamide), PE (polyethylene), PP (polypropylene) or aramid, which is adapted for the respective purpose.

Accordingly, such a cable or rope may be especially resistant against strain, i.e. a low extensibility, or on the contrary to be highly elastic, i.e. extensible in the longitudinal direction, like a rubber band.

Furthermore, the rope may be used with a circular cross section or as a belt with a flat ribbon-like, i.e. rectangular, cross section. In addition, such a rope may be monofilament or polyfil whereas in the latter case, the individual fibers of the rope either are rotated or intertwined.

Another feature of the invention is characterized in that the elements are configured as cable either for their supply of fluids, or intended to supply the equipment with electricity.

Advantageously, one embodiment of the device according to the invention is also characterized in that a support element mounted stationary in the spaces fastened to its structure, and that at least one actuating element of the support element is movable articulated or supported, in order to the introduce the forces in the supporting element.

The aforementioned forces that are absorbed by an actuator result in the fact that each actuator is used for the adjustment of the position of a unit affiliated herewith and the resulting weight is passed into the load bearing element, which is connected with the actuator or to which it is arranged.

Preferably, at each support element a device is being positioned by which the at least one actuator is connected to the support element and passes its load into the support element.

In general, the invention provides that each support element is connected to the carrying structure of the relevant facility or the respective system part stationarily whereas for the introduction of load from the bearing element into the respective structure as well as for the introduction of load from the adjusting element into the dedicated bearing element rollers are provided for absorbing load or movements respectively.

The devices typically are sensors and actors. Their functions typically are to transmit and record data from sensors located in the respective area and/or to interact with other objects in said space.

The supporting elements essentially consist of cables which are provided in said area and optionally of one or more elements running in parallel. The load-bearing part may be made in different ways, e.g. stiff or stretchable in longitudinal direction (rubber cable), band-like or with round profile, monofil or fibred, braided or twisted.

The elements running in parallel are in particular power cables provided for supplying energy to the devices or to the drives for the pulleys, cables for data transmission or hoses for carrying fluids. They may be located within or outside the supporting element respectively the load-bearing part.

The purpose and function of the load-bearing part is to carry elements running in parallel and to pull the devices attached to it in one or in either direction. Likewise their function is to support the devices against gravity. If it doesn't have the latter function then there is an additional apparatus, supporting the devices against gravity.

This apparatus may be similar to the mounting of a curtain. It consists of a lengthy guide which is mounted to a stationary structure and to which the devices are attached with a floating bearing. Generally these devices, i.e. the sensors and the actuators, are connected with guide ropes which are provided for guiding and adjusting their positions by means of pulleys or roller devices.

The pulleys are used to coil and uncoil the ropes and to change direction of the respective device while the roller devices are connected to the supporting structure of the system and that the roller devices serve as fixed points of deflection where the support element is looped around. With guides or bearings they are attached to another structure which is movable with respect to the cord. This structure may be stationary, e.g. fixed to a pole, or movable, e.g. by means of another rope or cable.

In the case of this solution variant, the actuator either is permanently attached to the supporting element, i.e. quasi-stationary, or on the carrying-element is another roller means in the form of a rope or pulley fastened, through which the actuating element is guided, and by means of which connected to the actuator device in its position and/or function is adjustable.

A further object of the invention is related to the prevention or at least the control of oscillations due to the fact that any construction based on limp means needs additional support in order to avoid undesired oscillations in any direction.

So, acceleration and deceleration of the devices may cause oscillations. Furthermore outside installations are exposed to wind that causes oscillations, too. There is only very little damping. The oscillation frequency is low if there is long distance between the supporting pulleys. This has no negative effect on applications such as an inspection system for offshore wind-parks. Consequently there is no impact on taking high-zoom pictures which will capture the targeted range. For even better precision a pan-tilt unit of a camera would be able to compensate swinging effects.

Low-stretch ropes are essential to avoid up-down oscillations. These ropes are available from e.g. yachting sports, even for demanding outdoor and marine environments.

Oscillations may cause the device to hit the solid structure of the plant or building. This would result in damage and in unsafe operation. Ways of how to avoid this are alternatively or additionally: a. add soft padding around the device and allow soft collision that results in no damage b. apply more tension to the cables c. control the tension of the cables to actively compensate oscillation; more driving pulleys are needed

Oscillations may also be eliminated additionally by mechanical guidings, such as bars and rods or other kind of dampers, which keep the respective device in a rigid position.

A further preferred embodiment of the invention provides that the cable being provided as supply route is arranged in parallel to the carrier and actuators.

The cables can be trained as a cable feed either in the interior of the support elements or actuators, or being arranged outside, for example by mechanical means, such as hooks or brackets, appended to it or are connected to the support element by means of bonding, are. Which type of connection is chosen in each case depends on local conditions. This may well be advantageous to provide a detachable variant, that is to attach the feeds only, and not permanently connect with the relevant element in one piece.

According to an advantageous embodiment of the invention the cables may be provided as hollow cable to supply fluids or as power cable having mutually insulated conductors.

Finally, drives can be provided in accordance with another embodiment of the invention for acting upon the carrier and actuators, which are used for moving the actuators if desired and possible.

Another problem to be solved by this embodiment is the charging of actuators in order to move the devices being fastened to the respective actuators towards the dedicated location of operation, respectively to move the feed towards a pre-specified position.

Acceleration and deceleration of the device causes oscillation. Furthermore outside installations are exposed to wind that causes oscillations. There is very little damping. There is low oscillation frequency if there is long distance between the supporting pulleys. This has no negative effect on applications such as an inspection system for offshore wind parks (Even high-zoom pictures will capture the targeted range. For even better precision the pan-tilt unit of the camera would be able to compensate swinging effects).

In parallel to cable 13 there is at least one other rope or cable (44) at the bottom of the range. Additionally there is a long, stiff bar (41) attached to the device and hanging down. Optionally there may be an additional weight (42) to counterbalance the weight of the device and lower the center of gravity of the device-bar assembly, especially if the device is at an upper position. The bar is loosely attached to the rope (44) or clamped between 2 ropes. At this point of attachment (45) an additional mechanical part may be attached to introduce friction when moving sideways. This prevents oscillations caused by acceleration and deceleration of the device in horizontal direction.

High accuracy with positioning the device can be achieved either by good forward accuracy, e.g. high resolution pulley drives as well as good controllers, which avoid position offsets by eliminating the stretch of the cables, or by sensor-based position control, e.g. by means of laser distance sensors in x and y direction. Another option for high precision in repeatability at a designated position is to install stationary mechanical guides. These guides could be made of simple metal bars. When the device is to be positioned there, it just slides into the guides from one side. It may also hook or clamp itself onto the guide to reach a precise docking position. This is useful for e.g. capture optical or thermal snapshots of exactly the same part of a plant but only once an hour or once a day.

If the device is a manipulation device, e.g. for pressing a button, for turning a switch, for operating a valve, the base of the device needs to be fixed in order to take counterforce in all 6 directions. Obviously the cables cannot do this, but it can be achieved with mechanical guides plus clamps being used for precise positioning.

These and other advantageous features and benefits and improvements are object of further claims.

Using the accompanying drawing comprising schematically shown embodiments, the invention, particularly advantageous embodiments and improvements of the invention and special advantages of the invention is illustrated and described.

In the drawings:

Fig. 1 shows a first plant with a support structure in lateral view, a support element means fixed to a supporting structure, and roller devices being fortified at the structure, and bearing a control element which is fixedly secured at a first end to the support element and accordingly a device is positioned in the distance by the other end of the adjusting element and coiled up and uncoiled by means of another roller unit;

Fig. 2 shows a section of a large complex in perspective with a support element guided by means of several rolling facilities and an actuating element attached with a device thereto;

Fig 3 shows one of three star-shaped elements facing one another connected with a load,

Fig. 4 is a schematic representation of an irrigation arrangement in lateral view, Fig. 5 shows a schematic representation regarding the attachment of a supporting element,

Fig. 6a shows a supporting element;

Fig. 6b shows a supporting element with a feed element arranged in its interior,

Fig. 6c shows a supporting element arranged with external supply,

Fig. 7a shows a first arrangement of a support element for movability of a device attached thereon,

Fig. 7b shows a second arrangement of a supporting element movably arranged with a device,

Fig. 8 shows examples of different pulleys, which are either driven or passive;

Fig. 8a shows a first embodiment of a pulley (driven), Fig. 8b shows a second embodiment of a pulley (driven), Fig. 8c shows a first embodiment of a storage role (passive) and Fig. 8d shows a second embodiment of a storage role (passive).

Fig. 1 shows an industrial facility 10 which is disposed within an area 14 supported by a framework 12 and is provided with a pulley or roller device as a supporting device 16, which is cooperating with a supporting element 18, whereat a control or actuating element 20 is fastened controlling a device 22 which is held by the actuating element 20.

The support device 16 in this example is formed by two roller devices which are fastened to the framework 12. Thereon a cable 18 is looped around forming supporting element 18 and being tied together and forming a double-barrelled cable.

One end of the control element 20 is connected to the supporting element 18 at a first position while its other end is joint to a pulley 24 being fastened to the cable remote from the first position. Hence this arrangement may move vertically between two levels by coiling up or uncoiling the cable by means of the pulley 24 as well as horizontally by turning the support devices 16.

Using the three arrows at references 16, 22 and 24, one for movement in the horizontal direction caused by turning the supporting device 16 holding the carrying-rope, i.e. the supporting element 18, one for the movement in the vertical direction of the control element 20 whereat the device 22 is connected, and one for the turning motion of the pulley 24, the two-dimensional positioning with the inventive device is illustrated.

Fig. 2 shows an excerpt from an industrial plant 11 as presented, which is similar with an inventive supporting device 17 shown already in Fig 1. Again, the support device 17 is provided in a facility 11 equipped with supports 26, where the beginning and the end of the support element 18, being looped around a support device 17, are not shown.

But shown are three roller devices 17 where the carrying cable as support element 18, is being looped around and by which it is lead across the area of the plant 11.

The pulleys 17 are provided as deflection devices where at each the carrying cable 18 is deflected into a different direction in order to reach to all important areas of the industrial plant 11 for the access of the respective device for sensing, monitoring and adjusting.

Fig. 3 shows an example of an arrangement is shown which is particularly intended for oscillation free or at least oscillation poor applications where the presence of oscillations has strictly to be avoided.

Accordingly this example shows an apparatus comprising at least three carrying cables serving as control elements 20 which are arranged in star-like manner. Each of these control elements 20 are coiled on pulleys 24 and are provided in a triangle arrangement like a three-armed star, i.e. its arms are like the cables which draw an angle of 120°, whereas the sensor device 22 is connected to the free ends of the carrying cables 20.

In this example, the prior attachment of a support element 18, as shown in Fig. 1 or 2, is not necessary and may be dispensed. Hence by means of the variable adjustability of the control elements 20 involved the oscillation freedom and the necessary positioning possibility is achieved. The three actuators 20 being each connected to pulleys 24 which are fixed to the facilities, which may coil up or uncoil and thereby determine the position of the items related to the device 22.

Following these three directions guided adjustable control elements 20, it is oscillation- free possible that device 22 within the respective attachment-variety of actuators 20 enclosing circle move with regard to any horizontal or vertical position and position.

Fig. 4 shows another example of a practical application of the inventive device, where at the side of an area, in the example shown, a flowerbed, supporting posts or columns 26 are arranged. Hereto a supporting element 18 is connected via roller devices 16 at each end which devices are provided for coiling up respectively uncoiling the control cable 20 thus any device 30 fastened stationary to the cable may change its position.

The device 30 is for example a universal device, which is provided for both the supply of fluid for irrigation as well as to fertilize the plant 28 or for pest control through a controllable outlet opening 32, for example, a nozzle.

Furthermore there is provided one or more device 34 for loosening of the soil, digging and possibly picking, plucking, cleaning or cutting plants is possible.

In the figures 5-8 different designs of details of the device of the invention are shown by way of example to illustrate its versatility.

Thus, Fig. 5 shows an embodiment of a roller device 36, which comes as deflection element 36 and is attached to a structure more available for the considered location 38. This deflection can be used for carrying cables 18 or for adjusting ropes 20, whereas each of them is provided for deflection of the concerned item.

In the figures 6a to 6c are various embodiments of a bearing elements, which is provided preferably in the form of a cable with a circular cross section to land use.

Fig. 6a shows this section of such a suspension cables 18 from the side, where-in it is irrelevant here whether the rope is twisted or braided.

In Fig 6b, a section of a cable 19 is shown where in its center a feeder 40 is arranged for the supply of a device (not shown). Even with this embodiment both ways of manufacture of the cable, namely turning or braiding, are possible and in principle irrelevant. However, with a steel wire produced by braiding is easier and more reliable to make sure that the feed remains in the center and is protected in accordance with the cover of the braided fibers of the cable.

In Fig. 6c finally a further variant of the design of a suspension cable as a supporting element 18 is shown, whereas the suspension cable 18 in this case similar to a cable car has a pure support function, and is provided with holding elements 42, such as brackets, hooks and eyelets.

By means of these retaining elements 42 which comprise the feeder 40 this is born and moved parallel along to the suspension cable 18.

Fig. 7a shows a first arrangement of a support element 18 for movability of a device attached to it. In the example shown, the device is a loudspeaker 44 for acoustic irradiation of large areas of one to two as roll bodies 46 which are attached to a structure 38, connected suspension cable 18, on which is the speaker 44 connected rigidly to the carrying cable 18 and in this two directions can be moved. But instead of a loudspeaker it may be any other device needed or required for the respective purpose.

Fig. 7b shows a second arrangement of a support cable 18 with a device, e.g. a loudspeaker 44 as before, too, attached to it. In this case, supporting cable 18 is clamped stationary between two points 47 fixed to the corresponding structure, such as columns, beams or surfaces arranged, wherein via a holding device 48 with eyelet the loudspeaker 44 is held and guided by a control cable 21. This control cable 21 is to the holding device 48 and attached by means of which the speaker 44 can be moved along the support cable 18 in its two directions.

In the figures 8a to 8d finally, different variants of embodiments of pulleys or deflecting or storage rolls for actuating devices arranged on the suspension cable shown schematically.

In Fig. 8a a first form of a pulley 50 is shown which particularly is intended for use for carrying cables 18 and is formed by a cylindrical drum 52. According to the principle shown here, the cable may be looped around the pulley 50 between 0-times to n times and may leave the rope deflection drum 52 in any direction. The concrete example will show the drum 52 being rotatable in both directions of rotation, whereat it is charged by the supporting elements in the form of about 1 ¾ clasp, whereby the respective section of the cable is relieved, as the load for both is absorbed by the drum 52.

In Fig. 8b, a similar configuration of the pulley of FIG 8a is shown in Fig 8a, in contrast to the rope 18 in two full wraps applied to the cable drum 52 and back again, that is in the opposite direction.

Fig. 8c finally shows a designated role as a storage drum 54, which is also formed circular cylindrical and in which the respective rope 18 is wound up and embrace not only several times. This drum 52 is called a storage role, winds up on her because the rope, or handles, that can be stored using multiple wraps. One end of the rope 18 is on the outer surface of the drum in a fixed anchor 47, while the other end is not shown in more detail. Again, the drum 52 is rotated in either direction, but only as far as balance is still a wound on the drum.

Fig. 8d is an almost identical design as shown in Fig 8c, whereas, however, a cable section 56 of cable 18 is lead into the interior of the drum 52 and from there outwards as a non-rotating cable, for example for data transfer or for power supply, without getting in conflict with the rotating motion.

As devices in this context the devices are typically sensors and actuators, with their respective functions which is on the one hand the recording of information from the monitored area and on the other hand the information transmission and/or interaction with other objects in said area.

List of reference numerals industrial plant

framework

area

carrying device

support member

support element

actuator, adjusting element

device

roller device, pulley

columns, anchoring, post

plants, flowers

device, universal device

outlet, nozzle

device

deflection

structure

injection

holding element speakers

roller device benchmark, anchoring holding device holding device pulley

drum

section of cable

Claims

Patent claims

1. Arrangement and device for monitoring and inspection of a facility or of a section of an installation using surveillance devices, which are selected according to the current requirements and serve for the processing and transmission of information and provided with other devices, which effect those operations being recognized as necessary whereas sensors are being provided as monitoring equipment which detect the respective required information and submit to an at least one supervisory authority, and whereas more devices are provided as actuators, which initiate on behalf of corresponding signals transmitted by the at least one inspection point and considered as being necessary control measures and carry them out respectively

wherein

at least in the monitored and inspected part of the system (10) means (18, 20) are provided, which move the equipment (22) provided for the collection and transmission of any information and initiate or implement the movement of all necessary measures provided for other devices (22) on specified routes.

2. Device of claim 1 , characterized in that the means (18, 20, 40) provided for movement of devices and other equipment are limp elements (18, 20, 40), which alternatively have support function, control function or supply function.

3. Device according to claim 1 characterized in that the limp elements (18, 20, 40) are provided as supporting elements (18) as well as control elements (20) as well as feeders (40).

4. Device according to claim 1 or 2 characterized in that the limp elements (18, 20, 40) are provided as ropes, cables or chains respectively as hoses.

5. Device of claim 4, wherein the elements (18, 20) formed as ropes or cables are made of fibrous materials, such as fibers made of steel, or of PA, or of PE, or of PP or of Aramid, which is adapted and formed according to the respective intended use.

6. Device of claim 5, characterized in that the elements (18, 20) are formed as a rope with a round cross section or as a belt with a flat ribbon-like cross section.

7. Device of claim 4, wherein the elements (40) adapted for supply of the equipment (20) are provided as cable or as an armoured hose.

8. Device according to the previous claims, characterized in that a support element (18) is fixed in the area (10, 14) stationary to its structure (38) and that at least one actuator (20) is supported mobile on the support element (18).

9. Device of claim 8, wherein each control element (20) is used for items related to a position setting device (22) and that the resulting gravitational force is absorbed by a support element (18).

10. Device of claim 8 or 9, wherein at least one device (47, 48) is provided at the supporting-element (18), by means of which said at least one actuator (20) is connected with the support element (18) and the load of which is introduced into the support element (18).

11. Device of one of the previous claims, characterized in that roller devices (24, 46) are provided for absorbing load from the support element (18) by the respective structure (38) as well as for introduction of load from the actuator (20) into the associated support element (18) by means of which the respective forces are deductible and/or movements are executable.

12. Device of one of the claims 3 tol l , characterized in that the cables and hoses provided as feeders or supply hoses (40) are arranged in parallel to the supporting and actuating elements (18, 20).

13. Device of claim 12, characterized in that the feeders (40) are arranged either in the interior of the support elements (18) or control elements (20) or outside it.

14. Device according to claim 12 or 13, characterized in, that the cables and hoses provided for feeding or charging elements (40) are designed according to need as hoses to supply fluids or as a power cable with insulated wires against each other.

The arrangement and device of the previous claims, characterized in that the movement of the supporting and adjusting elements (18, 20) is effected by means of drives.