EP3088835A1 - Remotely operated vehicle for inspection of an environment with explosive atmosphere - Google Patents
Remotely operated vehicle for inspection of an environment with explosive atmosphere Download PDFInfo
- Publication number
- EP3088835A1 EP3088835A1 EP16167121.9A EP16167121A EP3088835A1 EP 3088835 A1 EP3088835 A1 EP 3088835A1 EP 16167121 A EP16167121 A EP 16167121A EP 3088835 A1 EP3088835 A1 EP 3088835A1
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- Prior art keywords
- detector
- vehicle
- gas
- explosive atmosphere
- supply circuit
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F42—AMMUNITION; BLASTING
- F42D—BLASTING
- F42D5/00—Safety arrangements
- F42D5/02—Locating undetonated charges
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41H—ARMOUR; ARMOURED TURRETS; ARMOURED OR ARMED VEHICLES; MEANS OF ATTACK OR DEFENCE, e.g. CAMOUFLAGE, IN GENERAL
- F41H7/00—Armoured or armed vehicles
- F41H7/005—Unmanned ground vehicles, i.e. robotic, remote controlled or autonomous, mobile platforms carrying equipment for performing a military or police role, e.g. weapon systems or reconnaissance sensors
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/02—Alarms for ensuring the safety of persons
- G08B21/12—Alarms for ensuring the safety of persons responsive to undesired emission of substances, e.g. pollution alarms
- G08B21/16—Combustible gas alarms
Definitions
- the present invention relates to the field of mobile inspection machines, and more particularly to a teleoperated vehicle carrying an explosimeter capable of evolving in a secure manner in a potentially explosive atmosphere medium.
- ATEX To evolve in explosive atmospheres, known as ATEX, robotic systems must generally meet the conditions set out in the ATEX regulations.
- Explosimeters are generally designed to sound an audible or visual alarm when the atmosphere becomes explosive, that is, the atmospheric concentration of combustible gas exceeds a certain threshold.
- Catalytic technology based on a chemical oxidation-reduction reaction has several major disadvantages.
- this technology requires oxygen to perform a measurement.
- the detection is limited to a range extending between 0% and 100% of the LEL.
- Infrared technology is not based on a chemical reaction, but on a physical property of carbonaceous flammable gases which concerns the absorption of an infrared ray by the molecular bonds CH between the carbon atoms C and the hydrogen atoms H
- Infrared technology has the advantage of being insensitive to poisons, of not needing oxygen to function, to be able to measure beyond 100% of the LEL, and also to have a response time. fast, that is, less than 10 seconds.
- the purpose of the present invention is to overcome the disadvantages of the state of the art and in particular to overcome the difficulties of setting up an ATEX version.
- the present invention aims to remedy these drawbacks by equipping a teleoperated vehicle with an explosimeter configured to place the vehicle in a safe state in case of detection of explosive risk.
- the invention thus relates to a tele-operated inspection vehicle in a potentially explosive atmosphere medium comprising a vehicle power supply circuit, an explosive atmosphere detector comprising an infrared gas detector, and a control unit. of the power supply circuit coupled to the explosive atmosphere detector and the power supply circuit.
- the explosive atmosphere detector includes a sensitivity selector for setting a detection threshold dependent on the gases suspected to be detected, the control unit of the supply circuit being configured to cut off the supply circuit when the concentration of gas detected is greater than the detection limit.
- the infrared gas detector cooperates with the control unit so that it generates the power supply cutoff of the vehicle if the value of LEL measured is above a safety threshold.
- This configuration provides the vehicle with a positive safety feature that, when connected, only allows the platform to power up if the explosive hazards are assessed as acceptable.
- infrared gas detector makes it possible to increase the performance of the detector compared with a catalytic type detection.
- the infrared gas detector is an infrared detector devoid of specific configuration dedicated to an evolution in a potentially explosive atmosphere medium.
- the combination of the control unit, the power supply circuit, the infrared detector and the selector propose a tele-operated inspection vehicle in a hazardous atmospheric environment that complies with the ATEX regulations without having to use any elements, and in particular an infrared gas detector, which is not ATEX certified.
- the sensitivity selector can be configured to adjust the corresponding measurement scale with the detection threshold.
- the adaptation of the detection sensitivity in addition to the change of detection threshold makes it possible to adjust the detection fineness of the gas concentration level as a function of the gases suspected.
- the sensitivity selector may advantageously comprise a first detection threshold for detecting a dangerous concentration of methane in the atmosphere and a second detection threshold for detecting a dangerous concentration of one or more gases other than methane in the atmosphere.
- the explosive atmosphere detector may further comprise an electrochemical cell configured to detect the presence of hydrogen and measure its concentration level in the atmosphere.
- the electrochemical cell thus makes it possible to overcome the lack of possibility of detecting hydrogen with an infrared detector.
- the explosive atmosphere detector preferably includes a sampling port disposed on the front of the vehicle and cooperating with a pump configured to route the withdrawn gas to the infrared gas detector.
- the explosive atmosphere detector may comprise a sampling orifice disposed on the front of the vehicle, a pump cooperating with the sampling orifice and configured to convey the sampled gas to the infrared gas detector, and to the less a "silica-gel" type filter mounted between the sampling port and the pump on the path of the sampled gas.
- the "silica-gel” filter absorbs at least a portion of the water molecules present in the atmosphere and thus reduces the risk of malfunction of the gas detector due to ambient humidity.
- the explosive atmosphere detector comprises internal monitoring means able to record in a memory the measured data associated with operating parameters of said explosive atmosphere detector.
- the memorization of the data and the operating parameters makes it possible to trace the history of the teleoperated vehicle so as to make an internal monitoring of the proper functioning of the vehicle and its explosive atmosphere detector and for the checks carried out during its maintenance.
- the vehicle comprises a vibration damping module, for example a "silent block" in English, on which the infrared gas detector is mounted, the infrared gas detector and the damping module being separated from the vibrating elements of the vehicle.
- a vibration damping module for example a "silent block" in English, on which the infrared gas detector is mounted, the infrared gas detector and the damping module being separated from the vibrating elements of the vehicle.
- This damping module makes it possible to increase the stability of the explosive atmosphere detector and in particular the infrared detector and thus to reduce the measurement noise and to ensure better stability of the measurements made.
- the vehicle may include electromagnetic shielding elements mounted around the explosive atmosphere detector to reduce electromagnetic interference during measurements, thereby reducing noise, and improving detection.
- the explosive atmosphere detector may include calibration means accessible on the vehicle to a user and configured to adjust the zero level of the detection.
- the calibration means make it possible to calibrate the zero of the infrared gas detector according to the environment.
- FIGURE illustrates a block diagram of a telephonic vehicle. carried out inspection in medium potentially explosive atmosphere according to one embodiment of the invention.
- the tele-operated vehicle 1, or inspection platform comprises an electric drive system 2 coupled to a running gear 3 associated with tracks for moving the vehicle, and a vehicle control system 3 able to control the vehicles.
- platform 1 different elements of platform 1, including moving the platform, and configured to communicate remotely with external devices.
- the vehicle 1 further comprises a general power supply circuit 6 of the vehicle 1, an explosive atmosphere detector 7 comprising an infrared gas detector 8, and a control unit 9 of the power supply circuit 4 coupled to the detector 7. explosive atmosphere and the power supply circuit 6.
- the infrared gas detector 7 is for example an infrared detection card initially intended for the measurement of carbon dioxide, carbon monoxide and methane levels for various applications outside the ATEX medium.
- the explosive atmosphere detector 7 comprises a sensitivity selector 10 making it possible to define the operating environment of the vehicle 1 and thus to set a detection threshold dependent on the gas that can be detected.
- the sensitivity selector 10 may be set for methane detection or for detection of other gases.
- the detection threshold corresponds to an alert threshold which is set according to a percentage of the LEL which results in a detection voltage threshold.
- the control unit 9 of the detection circuit is configured to cut off the supply circuit 6 when the gas concentration detected is greater than the detection threshold thus set. In other words, as soon as the detection voltage delivered by the detector 7 is greater than the voltage threshold, the detector 7 controls the power supply circuit 6 to cut off the general power supply of the vehicle 1.
- the vehicle 1 is then de-energized, immobilized.
- the general cut thus completely reduces the risk of explosion caused by even partial combustion of the combustible gases present in the atmosphere, this combustion being able to be caused by a possible accidental short-circuit or by the heat produced by the vehicle 1 in a environment with a very high concentration of combustible gas.
- the vehicle 1 is configured to be powered back only by an external action, for example an action of a user.
- the explosive atmosphere detector 7 further comprises an electrochemical cell 11 for detecting hydrogen configured to detect the presence of hydrogen and to measure its concentration level in the atmosphere.
- the explosive atmosphere detector 7 comprises a sampling orifice 12 disposed on the front of the vehicle 1 and coupled to the electrochemical cell 11 and to the infrared detector 8 via conduits 13.
- the detector 7 comprises in addition to take by suction the gases from the surrounding atmosphere, a pump 14 adapted to circulate the gases in the conduits 13.
- the explosive atmosphere detector 7 comprises a "silica-gel" type filter 15 mounted on one of the ducts 13 between the sampling orifice 12 and the pump 14. .
- the vehicle 1 is mounted by separating the vibration-generating elements, such as the electric motor, from the infrared gas detector 8. To further reduce the vibrations arriving on the infrared detector 8, the infrared detector 8 is installed in the vehicle on a damping module 16 also called "silent block" in English.
- the teleoperated vehicle according to the invention thus provides a robotic platform comprising an explosimeter configured to place the vehicle in a safe state in case of detection of explosive risk.
Abstract
Véhicule (1) télé-opéré d'inspection en milieu à atmosphère potentiellement explosive comportant un circuit (6) d'alimentation électrique du véhicule, un détecteur (7) d'atmosphère explosive comportant un détecteur à infrarouge (8) de gaz, et une unité (9) de commande du circuit (6) d'alimentation électrique couplée au détecteur (7) d'atmosphère explosive et au circuit (6) d'alimentation électrique. Le détecteur (7) d'atmosphère explosive comprend un sélecteur de sensibilité (10) permettant de régler un seuil de détection dépendant du gaz suspecté d'être détecté, l'unité (9) de commande du circuit d'alimentation étant configurée pour couper le circuit d'alimentation (6) lorsque la concentration de gaz détecté est supérieure au seuil de détection.Vehicle (1) tele-operated inspection in a potentially explosive atmosphere medium comprising a circuit (6) for powering the vehicle, an explosive atmosphere detector (7) comprising an infrared detector (8) of gas, and a control unit (9) for the power supply circuit (6) coupled to the explosive atmosphere detector (7) and the power supply circuit (6). The explosive atmosphere detector (7) comprises a sensitivity selector (10) for setting a detection threshold dependent on the gas suspected of being detected, the control unit (9) of the supply circuit being configured to cut the supply circuit (6) when the detected gas concentration is greater than the detection threshold.
Description
La présente invention concerne le domaine des engins mobiles d'inspection, et plus particulièrement un véhicule télé-opéré embarquant un explosimètre apte à évoluer de manière sécurisée en milieu à atmosphère potentiellement explosive.The present invention relates to the field of mobile inspection machines, and more particularly to a teleoperated vehicle carrying an explosimeter capable of evolving in a secure manner in a potentially explosive atmosphere medium.
Lors d'accidents, survenant par exemple dans des enceintes au moins partiellement fermées, il peut y avoir des risques d'explosion, notamment en cas de fuite de gaz ou de liquides inflammables tels que le méthane ou l'essence.Accidents, for example occurring in at least partially closed enclosures, there may be risks of explosion, especially in case of leakage of gas or flammable liquids such as methane or gasoline.
Il existe par conséquent des risques évidents pour les primo-intervenants sur le site d'un accident dans le cas où le niveau de gaz inflammable présent dans l'enceinte où l'accident a eu lieu est à un niveau tel qu'une étincelle entraînerait l'inflammation du gaz et engendrerait une explosion.There are therefore obvious risks for first-responders at the site of an accident in the event that the level of flammable gas present in the enclosure where the accident took place is at a level such that a spark would cause the ignition of the gas and would cause an explosion.
Pour réduire le niveau de risque des missions pour les hommes, il est connu d'utiliser des véhicules télé-opérés, ou robots mobiles, pour assister les intervenants dans des milieux hostiles, voire pour réaliser des prélèvements avant l'entrée d'un homme sur la zone hostile.To reduce the risk level of missions for men, it is known to use tele-operated vehicles, or mobile robots, to assist the responders in hostile environments, or even to take samples before the entry of a man on the hostile zone.
Pour évoluer en milieux à atmosphères explosibles, dits ATEX, les systèmes robotiques doivent remplir généralement les conditions énoncées dans la réglementation ATEX.To evolve in explosive atmospheres, known as ATEX, robotic systems must generally meet the conditions set out in the ATEX regulations.
Par ailleurs, pour mesurer le risque d'explosion dans une zone à risque, il est connu d'utiliser des appareils permettant de mesurer la teneur en gaz explosible d'une atmosphère. Ces appareils sont généralement appelés des explosimètres. Les explosimètres sont généralement conçus pour déclencher une alarme sonore ou visuelle lorsque l'atmosphère devient explosible, c'est-à-dire que la concentration atmosphérique en gaz combustible dépasse un certain seuil.Furthermore, to measure the risk of explosion in a hazardous area, it is known to use devices for measuring the explosive gas content of an atmosphere. These devices are usually called explosimeters. Explosimeters are generally designed to sound an audible or visual alarm when the atmosphere becomes explosive, that is, the atmospheric concentration of combustible gas exceeds a certain threshold.
Il existe principalement deux technologies d'explosimètre : les explosimètres catalytiques, et les explosimètres infrarouges dont les cellules de détection ont été miniaturisées pour une utilisation sur des appareils portables.There are mainly two explosimeter technologies: catalytic explosimeters, and infrared explosimeters whose Detection cells have been miniaturized for use on portable devices.
La technologie catalytique, basée sur une réaction chimique d'oxydo-réduction présente plusieurs inconvénients majeurs.Catalytic technology based on a chemical oxidation-reduction reaction has several major disadvantages.
Il s'agit en premier lieu du risque d'empoisonnement de l'élément sensible et donc la perte de la fonction de détection en cas de présence de composés soufrés, organochlorés ou de vapeur de silicone.It is primarily the risk of poisoning of the sensitive element and therefore the loss of the detection function in the presence of sulfur compounds, organochlorine or silicone vapor.
En second lieu, cette technologie nécessite de l'oxygène pour effectuer une mesure.Second, this technology requires oxygen to perform a measurement.
Par ailleurs, en cas de concentration de gaz élevée, c'est-à-dire supérieure à la limite inférieure d'explosivité (LIE), une saturation de l'élément sensible et une perte possible de la fonction de détection peuvent se produire.Furthermore, in case of high gas concentration, that is to say higher than the lower explosive limit (LEL), a saturation of the sensitive element and a possible loss of the detection function can occur.
Enfin, la détection est limitée à une plage s'étendant entre 0% et 100% de la LIE.Finally, the detection is limited to a range extending between 0% and 100% of the LEL.
La technologie infrarouge n'est pas basée sur une réaction chimique, mais sur une propriété physique des gaz inflammables carbonés qui concerne l'absorption d'un rayon infrarouge par les liaisons moléculaires C-H entre les atomes de carbone C et les atomes d'hydrogènes H. La technologie infrarouge présente l'avantage d'être insensible aux poisons, de ne pas avoir besoin d'oxygène pour fonctionner, de pouvoir réaliser des mesures au-delà de 100% de la LIE, et également d'avoir un temps de réponse rapide, c'est-à-dire inférieur à 10 secondes.Infrared technology is not based on a chemical reaction, but on a physical property of carbonaceous flammable gases which concerns the absorption of an infrared ray by the molecular bonds CH between the carbon atoms C and the hydrogen atoms H Infrared technology has the advantage of being insensitive to poisons, of not needing oxygen to function, to be able to measure beyond 100% of the LEL, and also to have a response time. fast, that is, less than 10 seconds.
La complexité des problèmes à traiter pour la mise en ouvre d'une version ATEX d'un véhicule télé-opéré de détection d'atmosphère explosive, conjuguée à l'étroitesse du marché ne permet pas d'envisager la production de versions répondant aux normes d'utilisation en milieu à risque explosif.The complexity of the problems to be addressed for the implementation of an ATEX version of a remote-controlled explosive atmosphere detection vehicle, combined with the narrowness of the market, makes it impossible to envisage the production of versions that meet the standards. for use in potentially explosive atmospheres.
Le but de la présente invention est de pallier les inconvénients de l'état de la technique et notamment de pallier les difficultés de mise en place d'une version ATEX.The purpose of the present invention is to overcome the disadvantages of the state of the art and in particular to overcome the difficulties of setting up an ATEX version.
La présente invention vise à remédier à ces inconvénients en équipant un véhicule télé-opéré d'un explosimètre configuré pour placer le véhicule dans un état sécuritaire en cas de détection de risque explosif.The present invention aims to remedy these drawbacks by equipping a teleoperated vehicle with an explosimeter configured to place the vehicle in a safe state in case of detection of explosive risk.
L'invention a ainsi pour objet un véhicule télé-opéré d'inspection en milieu à atmosphère potentiellement explosive comportant un circuit d'alimentation électrique du véhicule, un détecteur d'atmosphère explosive comportant un détecteur à infrarouge de gaz, et une unité de commande du circuit d'alimentation électrique couplée au détecteur d'atmosphère explosive et au circuit d'alimentation électrique.The invention thus relates to a tele-operated inspection vehicle in a potentially explosive atmosphere medium comprising a vehicle power supply circuit, an explosive atmosphere detector comprising an infrared gas detector, and a control unit. of the power supply circuit coupled to the explosive atmosphere detector and the power supply circuit.
Le détecteur d'atmosphère explosive comprend un sélecteur de sensibilité permettant de régler un seuil de détection dépendant des gaz suspectés d'être détectés, l'unité de commande du circuit d'alimentation étant configurée pour couper le circuit d'alimentation lorsque la concentration de gaz détectés est supérieure au seuil de détection.The explosive atmosphere detector includes a sensitivity selector for setting a detection threshold dependent on the gases suspected to be detected, the control unit of the supply circuit being configured to cut off the supply circuit when the concentration of gas detected is greater than the detection limit.
Chargé de la détection de la LIE de l'environnement dans lequel se déplace le véhicule robotisé, le détecteur à infrarouge de gaz coopère avec l'unité de commande pour que celle-ci génère la coupure d'alimentation du véhicule si la valeur de LIE mesurée est supérieure à un seuil de sécurité.Responsible for detecting the LEL of the environment in which the robotic vehicle moves, the infrared gas detector cooperates with the control unit so that it generates the power supply cutoff of the vehicle if the value of LEL measured is above a safety threshold.
Cette configuration fournit au véhicule un élément de sécurité positive, qui lorsqu'il est connecté, n'autorise la mise sous tension de la plateforme que si les risques explosifs sont évalués comme acceptables.This configuration provides the vehicle with a positive safety feature that, when connected, only allows the platform to power up if the explosive hazards are assessed as acceptable.
L'utilisation d'un détecteur à infrarouge de gaz permet d'accroître les performances du détecteur par rapport à une détection de type catalytique.The use of an infrared gas detector makes it possible to increase the performance of the detector compared with a catalytic type detection.
De préférence, le détecteur à infrarouge de gaz est un détecteur à infrarouge dépourvu de configuration spécifique dédiée à une évolution en milieu à atmosphère potentiellement explosive.Preferably, the infrared gas detector is an infrared detector devoid of specific configuration dedicated to an evolution in a potentially explosive atmosphere medium.
La combinaison de l'unité de commande, du circuit d'alimentation, du détecteur à infrarouge et du sélecteur, permet de proposer un véhicule télé-opéré d'inspection en milieu atmosphérique à risque répondant à la réglementation ATEX sans avoir à utiliser des éléments, et notamment un détecteur à infrarouge de gaz, qui ne soit certifié ATEX.The combination of the control unit, the power supply circuit, the infrared detector and the selector propose a tele-operated inspection vehicle in a hazardous atmospheric environment that complies with the ATEX regulations without having to use any elements, and in particular an infrared gas detector, which is not ATEX certified.
Il est ainsi possible de réduire le coût total et de simplifier la fabrication d'un véhicule télé-opéré d'inspection apte à évoluer en milieu ATEX.It is thus possible to reduce the total cost and simplify the manufacture of a teleoperated inspection vehicle able to evolve in ATEX environment.
Avantageusement, le sélecteur de sensibilité peut être configuré pour régler l'échelle de mesure correspondante avec le seuil de détection.Advantageously, the sensitivity selector can be configured to adjust the corresponding measurement scale with the detection threshold.
L'adaptation de la sensibilité de détection en sus du changement de seuil de détection permet de régler la finesse de détection du niveau de concentration de gaz en fonction des gaz suspectés.The adaptation of the detection sensitivity in addition to the change of detection threshold makes it possible to adjust the detection fineness of the gas concentration level as a function of the gases suspected.
Le sélecteur de sensibilité peut avantageusement comprendre un premier seuil de détection pour détecter une concentration dangereuse de méthane dans l'atmosphère et un second seuil de détection pour détecter une concentration dangereuse d'un ou plusieurs gaz autre(s) que le méthane dans l'atmosphère.The sensitivity selector may advantageously comprise a first detection threshold for detecting a dangerous concentration of methane in the atmosphere and a second detection threshold for detecting a dangerous concentration of one or more gases other than methane in the atmosphere.
Avantageusement, le détecteur d'atmosphère explosive peut comprendre en outre une cellule électrochimique configurée pour détecter la présence d'hydrogène et mesurer son niveau de concentration dans l'atmosphère.Advantageously, the explosive atmosphere detector may further comprise an electrochemical cell configured to detect the presence of hydrogen and measure its concentration level in the atmosphere.
La cellule électrochimique permet ainsi de pallier l'absence de possibilité de détection d'hydrogène avec un détecteur infrarouge.The electrochemical cell thus makes it possible to overcome the lack of possibility of detecting hydrogen with an infrared detector.
Le détecteur d'atmosphère explosive comprend de préférence un orifice de prélèvement disposé sur l'avant du véhicule et coopérant avec une pompe configurée pour acheminer le gaz prélevé jusqu'au détecteur infrarouge de gaz.The explosive atmosphere detector preferably includes a sampling port disposed on the front of the vehicle and cooperating with a pump configured to route the withdrawn gas to the infrared gas detector.
Avantageusement, le détecteur d'atmosphère explosive peut comprendre un orifice de prélèvement disposé sur l'avant du véhicule, une pompe coopérant avec l'orifice de prélèvement et configurée pour acheminer le gaz prélevé jusqu'au détecteur à infrarouge de gaz, et au moins un filtre de type « silica-gel » monté entre l'orifice de prélèvement et la pompe sur le trajet du gaz prélevé.Advantageously, the explosive atmosphere detector may comprise a sampling orifice disposed on the front of the vehicle, a pump cooperating with the sampling orifice and configured to convey the sampled gas to the infrared gas detector, and to the less a "silica-gel" type filter mounted between the sampling port and the pump on the path of the sampled gas.
Le filtre « silica-gel » permet d'absorber au moins une partie des molécules d'eau présentes dans l'atmosphère et ainsi de réduire le risque de dysfonctionnement du détecteur de gaz lié à l'humidité ambiante.The "silica-gel" filter absorbs at least a portion of the water molecules present in the atmosphere and thus reduces the risk of malfunction of the gas detector due to ambient humidity.
Dans un mode de réalisation, le détecteur d'atmosphère explosive comprend des moyens de surveillance interne aptes à enregistrer dans une mémoire les données mesurées associées à des paramètres de fonctionnement dudit détecteur d'atmosphère explosive.In one embodiment, the explosive atmosphere detector comprises internal monitoring means able to record in a memory the measured data associated with operating parameters of said explosive atmosphere detector.
La mémorisation des données et des paramètres de fonctionnement permet de réaliser un tracé de l'historique du véhicule télé-opéré de manière à opérer une surveillance interne du bon fonctionnement du véhicule et de son détecteur d'atmosphère explosive et pour les contrôles réalisés lors de sa maintenance.The memorization of the data and the operating parameters makes it possible to trace the history of the teleoperated vehicle so as to make an internal monitoring of the proper functioning of the vehicle and its explosive atmosphere detector and for the checks carried out during its maintenance.
De préférence, le véhicule comprend un module d'amortissement des vibrations, par exemple un « silent bloc » en anglais, sur lequel le détecteur à infrarouge de gaz est monté, le détecteur à infrarouge de gaz et le module d'amortissement étant séparés des éléments vibrants du véhicule.Preferably, the vehicle comprises a vibration damping module, for example a "silent block" in English, on which the infrared gas detector is mounted, the infrared gas detector and the damping module being separated from the vibrating elements of the vehicle.
Ce module d'amortissement permet d'augmenter la stabilité du détecteur d'atmosphère explosive et notamment du détecteur à infrarouge et ainsi de réduire le bruit de mesure et d'assurer une meilleure stabilité des mesures réalisées.This damping module makes it possible to increase the stability of the explosive atmosphere detector and in particular the infrared detector and thus to reduce the measurement noise and to ensure better stability of the measurements made.
Avantageusement, le véhicule peut comprendre des éléments de blindage électromagnétique montés autour du détecteur d'atmosphère explosive pour réduire les perturbations électromagnétiques lors des mesures, réduire ainsi le bruit, et améliorer la détection.Advantageously, the vehicle may include electromagnetic shielding elements mounted around the explosive atmosphere detector to reduce electromagnetic interference during measurements, thereby reducing noise, and improving detection.
Le détecteur d'atmosphère explosive peut comprendre des moyens de calibration accessibles sur le véhicule à un utilisateur et configurés pour régler le niveau zéro de la détection.The explosive atmosphere detector may include calibration means accessible on the vehicle to a user and configured to adjust the zero level of the detection.
Les moyens de calibration permettent de calibrer le zéro du détecteur infrarouge de gaz en fonction de l'environnement.The calibration means make it possible to calibrate the zero of the infrared gas detector according to the environment.
D'autres avantages et caractéristiques de l'invention apparaîtront à l'examen de la description détaillée d'un mode de réalisation de l'invention nullement limitatif et du dessin annexé sur lequel la figure unique illustre un schéma synoptique d'un véhicule télé-opéré d'inspection en milieu à atmosphère potentiellement explosive selon un mode de réalisation de l'invention.Other advantages and characteristics of the invention will appear on examining the detailed description of an embodiment of the invention which is in no way limitative and of the appended drawing in which the single FIGURE illustrates a block diagram of a telephonic vehicle. carried out inspection in medium potentially explosive atmosphere according to one embodiment of the invention.
Le véhicule télé-opéré 1, ou plateforme d'inspection, comprend un système de motorisation électrique 2 couplé à un train de roulement 3 associé à des chenilles pour le déplacement du véhicule, et un système 5 de commande du véhicule 3 apte à commander les différents éléments de la plateforme 1, notamment le déplacement de la plateforme, et configuré pour communiquer à distance avec des appareils extérieurs.The tele-operated
Le véhicule 1 comprend en outre un circuit 6 d'alimentation électrique générale du véhicule 1, un détecteur 7 d'atmosphère explosive comportant un détecteur infrarouge 8 de gaz, et une unité 9 de commande du circuit 4 d'alimentation électrique couplée au détecteur 7 d'atmosphère explosive et au circuit 6 d'alimentation électrique.The
Le détecteur infrarouge de gaz 7 est par exemple une carte de détection infrarouge destinée initialement à la mesure de taux de dioxyde de carbone, de monoxyde de carbone et de méthane pour différentes applications hors milieu ATEX.The
Le détecteur 7 d'atmosphère explosive comprend un sélecteur de sensibilité 10 permettant de définir l'environnement de fonctionnement du véhicule 1 et ainsi de régler un seuil de détection dépendant du gaz susceptible d'être détecté. Dans le mode de réalisation illustré, le sélecteur de sensibilité 10 peut être réglé pour une détection de méthane ou bien pour une détection d'autres gaz.The
Le seuil de détection correspond à un seuil d'alerte qui est réglé en fonction d'un pourcentage de la LIE qui se traduit par un seuil de tension de détection.The detection threshold corresponds to an alert threshold which is set according to a percentage of the LEL which results in a detection voltage threshold.
L'unité 9 de commande du circuit de détection est configurée pour couper le circuit d'alimentation 6 lorsque la concentration de gaz détecté est supérieure au seuil de détection ainsi réglé. Autrement dit, dès que la tension de détection délivrée par le détecteur 7 est supérieure au seuil de tension, le détecteur 7 commande le circuit 6 d'alimentation électrique pour couper l'alimentation générale du véhicule 1.The
Le véhicule 1 se trouve alors hors tension, immobilisé. La coupure générale réduit ainsi totalement le risque d'explosion provoquée par une combustion même partielle des gaz combustibles présents dans l'atmosphère, cette combustion pouvant être provoquée par un éventuel court-circuit accidentel ou bien par la chaleur produite par le véhicule 1 dans un environnement à très forte concentration en gaz combustible.The
Le véhicule 1 est configuré pour être remis sous tension uniquement par une action extérieure, par exemple une action d'un utilisateur.The
Le détecteur 7 d'atmosphère explosive comprend en outre une cellule électrochimique 11 de détection d'hydrogène configurée pour détecter la présence d'hydrogène et mesurer son niveau de concentration dans l'atmosphère.The
Pour réaliser les mesures de concentration gazeuse, le détecteur 7 d'atmosphère explosive comprend un orifice 12 de prélèvement disposé sur l'avant du véhicule 1 et couplé à la cellule électrochimique 11 et au détecteur infrarouge 8 via des conduits 13. Le détecteur 7 comprend en outre pour prélever par aspiration les gaz de l'atmosphère environnante, une pompe 14 apte à faire circuler les gaz dans les conduits 13.In order to carry out the gaseous concentration measurements, the
Pour réduire le risque de détérioration du détecteur infrarouge 8 par l'humidité, le détecteur 7 d'atmosphère explosive comprend un filtre 15 de type « silica-gel » monté sur un des conduits 13 entre l'orifice de prélèvement 12 et la pompe 14.To reduce the risk of damaging the
Le véhicule 1 est monté en séparant les éléments générant des vibrations, comme par exemple le moteur électrique, du détecteur infrarouge 8 de gaz. Pour réduire d'autant plus les vibrations arrivant sur le détecteur infrarouge 8, le détecteur infrarouge 8 est installé dans le véhicule sur un module d'amortissement 16 appelé aussi « silent bloc » en anglais.The
Le véhicule télé-opéré selon l'invention permet ainsi de fournir une plateforme robotisée comportant un explosimètre configuré pour placer le véhicule dans un état sécuritaire en cas de détection de risque explosif.The teleoperated vehicle according to the invention thus provides a robotic platform comprising an explosimeter configured to place the vehicle in a safe state in case of detection of explosive risk.
Claims (10)
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| FR1553768A FR3035494B1 (en) | 2015-04-27 | 2015-04-27 | TELEOPER VEHICLE FOR INSPECTION IN EXPLOSIVE ATMOSPHERE |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| EP3088835A1 true EP3088835A1 (en) | 2016-11-02 |
| EP3088835B1 EP3088835B1 (en) | 2018-01-31 |
Family
ID=54199766
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| EP16167121.9A Not-in-force EP3088835B1 (en) | 2015-04-27 | 2016-04-26 | Remotely operated vehicle for inspection of an environment with explosive atmosphere |
Country Status (2)
| Country | Link |
|---|---|
| EP (1) | EP3088835B1 (en) |
| FR (1) | FR3035494B1 (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0180423A2 (en) * | 1984-10-25 | 1986-05-07 | Sieger Limited | A system for remotely adjusting a parameter of an electrical circuit within an enclosure |
| FR2762379A1 (en) * | 1997-04-21 | 1998-10-23 | Mondher Safi | Safety device for gas appliances and installations |
| EP1752842A1 (en) * | 2005-07-29 | 2007-02-14 | Engitech Engineering & Technologies s.r.l. | Apparatus for supplying and controlling electric appliances arranged in places at risk of explosion and corresponding control device. |
| FR2982368A1 (en) * | 2011-11-08 | 2013-05-10 | Ct Xpert Sas | IMPROVEMENTS TO GAS AND VAPOR DETECTION DEVICES |
-
2015
- 2015-04-27 FR FR1553768A patent/FR3035494B1/en not_active Expired - Fee Related
-
2016
- 2016-04-26 EP EP16167121.9A patent/EP3088835B1/en not_active Not-in-force
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0180423A2 (en) * | 1984-10-25 | 1986-05-07 | Sieger Limited | A system for remotely adjusting a parameter of an electrical circuit within an enclosure |
| FR2762379A1 (en) * | 1997-04-21 | 1998-10-23 | Mondher Safi | Safety device for gas appliances and installations |
| EP1752842A1 (en) * | 2005-07-29 | 2007-02-14 | Engitech Engineering & Technologies s.r.l. | Apparatus for supplying and controlling electric appliances arranged in places at risk of explosion and corresponding control device. |
| FR2982368A1 (en) * | 2011-11-08 | 2013-05-10 | Ct Xpert Sas | IMPROVEMENTS TO GAS AND VAPOR DETECTION DEVICES |
Also Published As
| Publication number | Publication date |
|---|---|
| FR3035494A1 (en) | 2016-10-28 |
| EP3088835B1 (en) | 2018-01-31 |
| FR3035494B1 (en) | 2017-05-26 |
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