INDEPENDENT SYSTEM FOR INSPECTION, MONITORING AND SURVEILLANCE OF LONG INFRASTRUCTURE AND THE ENVIRONMENT THEREOF

Abstract

Disclosed is an independent system for the inspection, monitoring and surveillance of long infrastructure and the environment thereof, which is based on a movable device with systems for propulsion and control of the device, power and recharging systems and navigation and positioning systems, and which is able to inspect the infrastructure and communicate with a remote control, the system being formed by an autonomous mobile device (DM) including rolling elements (R), and a grooved auxiliary line (LA) consisting of a cable comprising a guiding groove (RA).

Claims

1. An independent system for the inspection, monitoring and surveillance of long infrastructures and the environment thereof, which is based on a movable device with systems for propulsion and control of the device, power and recharging systems and navigation and positioning systems, and which is able to inspect the infrastructure and communicate with a remote control, characterized by being formed by an autonomous mobile device (DM) including rolling elements (R) a grooved auxiliary line (LA), which consists of a non-rigid cable comprising a guiding groove (RA) which allows the displacement of the autonomous device without the anchoring of the cable to the mount structure hindering same.

2. The independent system for the inspection, monitoring and surveillance of long infrastructures and the environment thereof according to claim 1, characterized in that the design of the grooved auxiliary line (LA) and of the autonomous mobile device allows said grooved auxiliary line to be anchored by means of an anchoring fitting, or to be suspended from a mount such as columns, supports or facings, without hindering the displacement of the autonomous mobile device along the guiding groove.

3. The independent system for the inspection, monitoring and surveillance of long infrastructures and the environment thereof according to claim 1, characterized in that the rolling elements (R) of the autonomous mobile device can slightly rock, transmitting their movement using the inner surface of the guiding groove (RA) and thus accommodate the sag and the variations in height and in direction of the grooved line.

4. The independent system for the inspection, monitoring and surveillance of long infrastructures and the environment thereof according to claim 2, characterized in that the surface along which the autonomous mobile device (DM) moves can be vertical, with the rolling elements (R) rotating about the vertical shaft thereof, or said surface can be horizontal, with the rolling elements (R) rotating about the horizontal shaft thereof.

5. The independent system for the inspection, monitoring and surveillance of long infrastructures and the environment thereof according to any of the preceding claims, characterized in that the rolling elements (R) can be arranged in pairs on a mount transverse to the grooved auxiliary line (LA), which rotates freely on the frame of the autonomous mobile equipment, such that the displacement thereof can accommodate the curvature of the auxiliary line (LA).

6. The independent system for the inspection, monitoring and surveillance of long infrastructures and the environment thereof according to any of the preceding claims, characterized in that the angle of orientation of the rolling elements (R) is adjusted in each case according to the different surfaces along which the autonomous mobile device (DM) moves.

7. The independent system for the inspection, monitoring and surveillance of long infrastructures and the environment thereof according to claim 1, characterized by a core of the auxiliary line (LA) formed by one or more conductors or optical fiber based on the functional and mechanical characteristics of the line.

8. The independent system for the inspection, monitoring and surveillance of long infrastructures and the environment thereof according to claim 1, characterized by a core of the auxiliary line (LA) consisting of a metallic conductor, of the required materials and size based on the electrical and mechanical characteristics of the line, which may be connected to the poles, fittings, surge arresters, and the remaining protective devices of the line.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0016] FIG. 1a depicts a possible layout of the independent anchoring system in a section repeating along its entire path. FIG. 1b is the detail of a mooring pole for the layout, of how the grooved auxiliary line hangs from it and of the autonomous mobile device that is displaced supported on the grooved auxiliary line.

[0017] FIGS. 2a, 2b, 2c and 2d are perspective, front and top views of the grooved auxiliary line, together with a section of its physical structure.

[0018] FIGS. 3a, 3b, 3c and 3d depict several perspective, front, side and top views of the autonomous mobile device.

[0019] FIGS. 4, 5 and 6 correspond with movable devices similar to that of FIG. 3, but for different applications. FIGS. 4a, 4b, 4c and 4d depict different views of a variant of the device where the guiding surface is horizontal, with the rolling elements rotating about the horizontal shaft thereof. FIGS. 5a, 5b, 5c and 5d depict different views of a variant of the device, where the rolling elements are arranged in pairs, such that the displacement can accommodate the curvature of the auxiliary line. FIGS. 6a, 6b, 6c and 6d show views of a variant such that the device can accommodate different angles of orientation of the rolling elements and therefore different guiding surfaces.

[0020] FIG. 7 depicts a motor-shaft-rolling element assembly of the autonomous mobile device connected to the grooved auxiliary line.

[0021] FIGS. 8 to 16 show different configurations of the grooved auxiliary line, as appropriate for each application.

DETAILED DISCLOSURE OF AN EMBODIMENT

[0022] FIG. 1a shows an exemplary layout of this system, which repeats along the entire path. FIG. 1b shows in detail the assembly of components forming the system for inspection of infrastructures. It is based on the installation of an autonomous mobile device DM capable of being displaced in a self-propelled manner on a grooved auxiliary line LA for performing inspection, monitoring and surveillance tasks as a result of the sensing equipment it incorporates.

[0023] A key feature of the invention is that the design of the grooved auxiliary line LA and of the autonomous mobile device allow said grooved auxiliary line to be able to be anchored or suspended from a mount, such as columns, supports or facings, without hindering the displacement of the autonomous mobile device along the guiding groove. It is therefore independent of the layout to be inspected.

[0024] FIG. 2 shows the detail of the grooved auxiliary line LA. FIG. 3 shows the autonomous mobile device DM. This device incorporates a system for propulsion which is coupled to the grooved auxiliary line by a guiding groove RA for the displacement of the device, ensuring its anchoring, the traction thereon and its release, if necessary, for example, for maintenance.

[0025] The grooved aerial auxiliary line LA is fixed by means of an anchoring fitting, for example a clamp, allowing the rolling elements R to transmit the movement of the autonomous mobile device DM using the inner surface of the guiding groove RA, as seen in FIG. 3. The autonomous mobile device is thereby able to move freely along the grooved auxiliary line, without the clamping supports of said line requiring a particular actuation on the part of the autonomous mobile device so as to allow it to pass through same.

[0026] The grooved auxiliary line LA consists of a cable having a grooved section which allows the coupling of the autonomous mobile device such that it can be displaced longitudinally along the cable. Since it is a cable, it can be suspended from two points, forming a very long span, without intermediate supports.

[0027] FIG. 3 explains the fixing system, where it can be seen that the autonomous mobile device moves on the grooved auxiliary line, enabling the displacement, as well as preventing it from being able to be accidentally released.

[0028] In order to propel the autonomous mobile device through the grooved auxiliary line, the traction system has a series of rolling elements R, which are displaced by the vertical guiding surface, as seen in FIG. 3, rotating about the vertical shaft thereof, operated by a motor incorporated in the frame of the autonomous mobile device.

[0029] It is also possible for the guiding surface to be horizontal, with the rolling elements rotating about the horizontal shaft thereof, as seen in FIG. 4.

[0030] As can be seen in FIG. 5, other possible variants consist of the rolling elements being arranged in pairs on a mount transverse to the grooved auxiliary line, such that they rotate freely on the frame of the autonomous mobile device and their displacement can accommodate the curvature of the auxiliary line. Likewise, as shown in FIG. 6, the angle of orientation of the rolling elements can be selected for the purpose of accommodating different choices of guiding surface of the grooved auxiliary line.

[0031] To enable the release of the autonomous mobile device and its removal from the grooved auxiliary line of the motor-shaft-rolling element assembly, it can be laterally displaced, as shown in FIG. 7.

[0032] To allow the displacement of the autonomous mobile device along the grooved auxiliary line, the latter may adopt widely varying configurations and geometric shapes, as shown in FIGS. 8 to 16.

[0033] The cable of the grooved auxiliary line LA may be manufactured from different materials based on the configuration of the autonomous mobile device and its weight and on the characteristics of the line on which it is installed, such as the length of spans, the characteristics of the supports, the applicable legal requirements, etc.

[0034] The system has an electronic system for control of the autonomous mobile device which controls all the subsystems and receives instructions from the remote control, in addition to a power system, including a battery powering the drone and a recharging system and a charge sensor.

[0035] Another aspect of the invention relates to a system for control and remote supervision of the autonomous mobile device which allows providing it with instructions for parking, displacement, charging, navigation, collection of information, actuation of auxiliary devices, as well as for receiving and viewing the information generated by onboard systems.

[0036] The autonomous mobile device DM incorporates a subsystem for navigation and locating of the autonomous mobile device based on a GPS system, a revolution counter for each rolling element in contact with the cable as a complement to navigation and for internal diagnostics, a gyroscope and accelerometer as a complement to navigation and for internal diagnostics and for the auxiliary line, a communications module for both the remote control of the drone and for the sending of information.

[0037] The autonomous mobile device DM likewise incorporates a subsystem for monitoring and inspection of the infrastructure with the ability to incorporate, as required, the following: cameras, thermal cameras, laser measurement devices, ultrasound sensors, gas sensors, a subsystem with the ability to incorporate auxiliary devices such as megaphones, flame throwers or sprays, and a mount to incorporate other additional subsystems.