Support device for underwater inspection of a maritime or river structure

Abstract

The present invention relates to a device (2) for supporting underwater inspection of a maritime or river structure (1), comprising a longitudinal frame (3); means (4) for removably fixing said frame (3) against a wall of said structure (1) at an emerged part (100), said fixing means (4) being shaped to partially secure said frame (3) in immersion in a vertical direction; characterized in that it comprises at least one carriage (6) movable along said frame (3); said carriage (6) being provided with means (8) for receiving means (5) for underwater inspection of said structure (1); means (7) for moving said carriage (6) along said frame (3) from a high position to a low position, via intermediate positions, and vice versa. The invention also relates to a method for underwater inspection of a maritime or river structure (1), for implementing said support device (2).Figure for abstract: Fig. 1.

Description

Title of the invention: Support device for underwater inspection of a maritime or river structure Technical field of the invention

[0001] The present invention falls within the field of underwater inspection of a maritime and river structure, as well as a port structure.

[0002] For the purposes of the invention, such a maritime or river structure, hereinafter referred to as a "structure", belongs to a work of art installed in the water, such as a bridge, a platform, a wind turbine, a dam, a dike, or even a lock. Serving as a supporting structure for said work of art, it has a submerged part. By way of non-limiting example, said structure may be a bridge pier, a maritime or river quay, or even a lock wall or a retaining wall for a canal.

[0003] As is known, due to the specificities of the environment, the examination of a maritime or river structure, with a submerged part, is carried out irregularly, particularly when the structure is not subject to periodic inspection requirements. The structures suffer from natural aging induced by environmental conditions, in particular underwater conditions applied to the submerged part of the structure. When a structural defect is detected from the surface, or there is a suspicion of a structural defect, it becomes necessary to carry out an underwater (or subaquatic) inspection of the structure, namely of its submerged part located below the water level.

[0004] Such an underwater inspection can be carried out by deploying divers from the structure or from a vessel anchored nearby. In proportion to the depth to be reached and the inspection tasks to be carried out, as well as the equipment to be submerged, the divers must have extremely specialized training and skills, without however ensuring their complete safety. In particular, the marine conditions of the inspection site make a human dive all the more complex and dangerous, due to the swell, the amplitude of the tides, but above all the strength of the currents and the constant fluctuation of these environmental conditions, especially in inland waters the proximity of non-passive hydraulic structures presents a significant danger.In particular, inspection is made more complex near a structure, where visibility is reduced, due to turbidity resulting from suspension under the effect of moving water and currents near the structure to be inspected.

[0005] In this context, underwater inspection can be carried out by acoustic imaging using a sonar), deployed in the water opposite the wall of the structure to be inspect and allowing recording of a relief map of the surface of said submerged part of the structure. To obtain an optimal rendering of this map, it is therefore necessary to maintain the sonar in a precise and fixed position, perpendicular to the structure, for the time required for the capture carried out by the beam of said sonar. Additionally, if mapped locations show potential structural defects, it may be necessary to submerge photographic or video capture means as close as possible to the locations detected as defective.

[0006] Therefore, mainly due to the strength of the currents and the turbidity of the water, it is difficult for a diver to maintain the imaging equipment in a fixed position relative to the structure for the time necessary for the capture.

[0007] An alternative solution consists of deploying a remote- or preferably wire-guided underwater robot, commonly called "ROV" (for "Remotely Operated Underwater Vehicle"), essentially a light ROV of the OBServation ROV category ("OBSROV"), a light wire-guided machine, with a mass of at least 50 kg (kilograms), generally at least 100 kg, or preferably an ultra-light machine, commonly called "underwater drone", a class grouping wire-guided drones with a mass of less than 100 kg, generally less than 50 kg. While it allows access to great depths, ROV deployment requires dedicated and heavy equipment, such as a crane and surface power, accompanied by a crew trained with very specific skills, well beyond that of a conventional remote operator. ROV deployment is therefore complex and expensive, especially for inspections that must be carried out quickly and at low cost.

[0008] The solution of deploying underwater drones is easier, but requires “calm” conditions, particularly with few marine or river currents. Indeed, the low weight of these ultra-light drones makes them extremely sensitive to currents, making their deployment complex or even impossible if the environmental conditions are not optimal. Once again, the uncontrolled movements of the drone during its dive do not allow it to maintain a fixed position relative to the structure for the time necessary for capture by imaging means. Statement of the invention

[0009] The invention aims to overcome the drawbacks of the state of the art by proposing a support device for underwater inspection of a maritime or river structure, making it possible to deploy inspection means from said structure, while avoiding the need to deploy divers and allowing the deployment of ROVs. light or ultra-light drones.

[0010] To do this, the underwater inspection support device comprises - a longitudinal chassis; - means for removable fixing of said chassis against a wall of said structure at an emerged part, said fixing means being shaped to partially secure said chassis in immersion in a vertical direction; characterized in that it comprises at least: - a mobile trolley along said chassis; said trolley being provided with means for receiving underwater inspection means of said structure; - means for moving said carriage along said chassis from a high position to a low position, via intermediate positions, and vice versa.

[0011] According to additional, non-limiting characteristics, said chassis comprises at least one longitudinal upright; said carriage comprising a plate mounted to slide on the front face of said at least one longitudinal upright.

[0012] According to one embodiment, said movement means comprise a system of pulleys connected to each other by a cable secured to said carriage, said cable being mounted endlessly around said pulleys.

[0013] According to one embodiment, said receiving means comprise a support mounted on the front face of said carriage, said support comprising a distal end offset relative to said carriage.

[0014] According to one embodiment, the distal end comprises orientable means for holding said inspection means.

[0015] According to one embodiment, said fixing means comprise a removable base, mounted orthogonally on the rear face of said chassis.

[0016] According to one embodiment, said fixing means comprise means for ballasting said base on said structure. The invention also relates to a method for underwater inspection of a maritime or river structure, for the implementation of the support device according to the invention. According to the invention, such an inspection method comprises at least the following steps - underwater inspection means are mounted on said support device, through said carriage receiving means; - said frame is positioned vertically at a location against a wall of said structure, through said removable fixing means; - an inspection of said wall is carried out by checking the vertical movement of said carriage along said frame between the high position and the low position.

[0017] According to one embodiment, the control of the vertical movement of said carriage is continuous and speed-controlled.

[0018] According to one embodiment, the control of the vertical movement of said carriage is carried out (i) from the high position to a first submerged position, at which a first capture is carried out by said inspection means; ii) from said first submerged position to a next submerged position, at which a next capture is made; iii) the said carriage is raised to the high position.

[0019] According to one embodiment, said inspection method consists of, in the high position of said carriage, moving said support device laterally relative to said wall, to a next location; then repeating the inspection at said next location. Presentation of the drawings

[0020] Other characteristics and advantages of the invention will emerge from the detailed description which follows of the non-limiting embodiments of the invention, with reference to the appended figures, in which:

[0021] [Fig. 1] schematically represents a perspective view of an embodiment of the support device, showing in particular a chassis in the form of a ladder on the front face of which is mounted the sliding carriage with its plate receiving an offset support, as well as on the rear face removable fixing means by ballast;

[0022] [Fig.2] schematically represents a partial view according to a transverse vertical section of a structure in the form of a quay, against a wall of which is positioned vertically an inspection support device at an intermediate immersion position; at a first location;

[0023] [Fig.3] schematically represents a front view of a structure in the form of a quay, showing in particular the support device at a first location and held by ballast from the upper face of the quay, with the submerged trolley in a first position for inspecting the submerged part of the wall of said quay;

[0024] [Fig.4] schematically represents a view similar to [Fig.4], showing the device moved to a next location along said quay, after several successive inspections; and

[0025] [Fig.5] schematically represents a front view of a structure in the form of a wall, against the wall of which the support device is fixed, after moving to a new location, the carriage being immersed in an intermediate position. Detailed description

[0026] The present invention relates to the underwater inspection of a maritime or river structure 1.

[0027] As mentioned previously, such a structure 1 belongs to a work of art installed in the water, such as a bridge, a platform, a wind turbine, a dam, a dike, or even a lock. Serving as a supporting structure for said work of art, it has an emerged part and a submerged part. By way of non-limiting example, said structure 1 may be a bridge pier, a maritime or river quay, or a lock or canal retaining wall. Figures 2 to 4 show an example of a port quay structure 1, with a vertical wall 102, connected at the top to a surface 103, namely the top of the quay. [Fig.5] shows a structure 1 in the form of a wall, with only a vertical wall 102.

[0028] This being said, first of all, the invention relates to an inspection support device 2, hereinafter referred to as “device”. Such a device 2 is dedicated to the inspection of a maritime or river structure 1, in particular of its submerged part 101, but possibly also makes it possible to inspect its emerged part 100.

[0029] To do this, the device 2 comprises a longitudinal frame 3, namely that said frame 3 extends along a length which is its largest dimension and which serves as a reference. Furthermore, the length of the frame 3 may be at least twice its width. Furthermore, the length of the frame 3 is designed to allow the immersion of a part of the device 2 to a height corresponding at least partially to the height of the submerged part 101 of the structure 1 Such a frame 3 can be made from a single element, such as a side member or a beam extending along the length of the device 2, or in the form of an assembly of several elements together. Thus, according to one embodiment, the chassis 3 comprises at least one longitudinal upright 30. According to a preferred embodiment, the chassis 3 comprises two longitudinal uprights 30, parallel to each other, connected transversely and orthogonally by crosspieces 31, generally giving the chassis 3 a ladder shape, as visible in [Fig.l].

[0030] According to one embodiment, the chassis 3 can be modular, provided with several sections removable from each other, abutted longitudinally, to adapt the length of the device 2 according to the height of the submerged part 101 to be inspected.

[0031] Further on, the device 2 comprises means 4 for removable fixing of said frame 3 against a wall of said structure 1 at its emerged part 100. In other words, the fixing means 4 make it possible to attach and maintain the device 2 on the structure 1, along the wall to be inspected, preferably along the vertical wall 102. This fixing can be carried out against and in contact with said wall, or with an offset providing a space between said wall and the rear face of device 2. In addition, said fixing means 4 are shaped to partially secure said frame 3 in immersion in a vertical direction. In short, the fixing is carried out from the emerged part 100, so that the device 2 extends until it is immersed in the water and is located at least opposite the submerged part 101. Furthermore, before fixing, it is possible to choose or modify the length of the frame 3, to adapt it to the height of the submerged part 101 to be inspected. Furthermore, the fixing means 4 make it possible to secure the device 2 vertically or substantially vertically to the structure 1, in particular along its vertical wall 102.

[0032] It will be noted that the fixing can be provided as removable, avoiding damage to the structure 1. To do this, the fixing means 4 can be of any type. The fixing means 4 can be carried out by hooking between the materials of the structure 1, through a link or by any other means adapted to said materials of the structure 1. Preferably, the fixing means 4 are mounted on the rear face of the chassis 3, in particular at the level of said at least one longitudinal upright 30.

[0033] According to one embodiment, the fixing means 4 make it possible to directly secure the device 2 against the vertical wall 102 of the structure 1 (especially when it does not include a surface 103). Such a configuration is notably visible in [Fig.5].

[0034] According to another embodiment, as visible in [Fig.l], said fixing means 4 comprise a removable base 40, mounted orthogonally on the rear face of said chassis 3. Such a base 40 makes it possible to secure the device 2 to a structure 1 having a surface 103, such as a dock. This configuration is notably visible in FIGS. 2 to 4. Said base 40 may be of any type. According to a preferred embodiment, the base 40 comprises a plate, extending orthogonally relative to the chassis 3, attached in a removable manner to said at least one longitudinal upright 30. According to one embodiment, said fixing means 4 comprise means 41 for ballasting said base 40 on said structure 1. In short, the device 2 provides for maintaining the base 40 on the surface 103 of the structure 1 by placing one or more ballasts there. In addition, the total mass of the ballast means 41 can be adapted, in particular as a function of the length of the device 2, the equipment it carries, or even the environmental conditions (for example, by increasing or decreasing the weight of the ballasts as a function of the swell or the strength of the currents). It will be noted that the mass of the ballast means 41 is adapted according to that of the device 2, in particular according to the material weight that it carries.

[0035] According to an embodiment, not shown, the device 2 can be moved laterally along said structure 1, namely horizontally along and from one side to the other of the vertical wall 102 to be inspected (i.e. from left to right, or vice versa). An example of lateral movement of the device 2 relative to the structure 1 is notably shown in [Fig.4], taking place from left to right successively in several lateral positions. To do this, the device 2 comprises suitable means, attached to the rear of the chassis 3, ensuring lateral sliding or rolling. In addition, the means can allow, through suitable motorization and control, controlled lateral movement of said device 2. The means may be of any type. In particular, they may be casters attached to said at least one longitudinal upright 30, or to the lower face of the base 40. They may also be one or more rails affixed for fixing to the structure 1 (then forming part of said fixing means 4), the device 2 then comprising complementary means ensuring the sliding interlocking of the chassis 3 with said rails.

[0036] According to one embodiment, depending on the length of the device 2 and the equipment it carries, said device 2 may comprise flotation means, facilitating the handling of said device 2 when it is put in place at the level of the structure 1. These flotation means may be attached to the chassis 3, in order to reduce the weight in the water of the device 2. Therefore, these flotation means may be essentially arranged at the level of the part of the device 2 intended to be submerged.

[0037] Further, the device 2 is dedicated to the inspection of the structure 1, in particular of the submerged part 101 of the vertical wall 103. Said device 2 must therefore allow the onboarding of inspection means 5 (which may or may not be part of said device 2). In addition, the mounting on the device 2 of the inspection means 5 must advantageously allow the inspection of all or part of the structure 1. The invention therefore provides for attaching said inspection means 5 to the device 2 while ensuring their mobility along the device 2, to successively inspect the structure 1 at several positions.

[0038] To do this, the device 2 comprises a carriage 6 movable along said frame 3. In short, the carriage 6 can be moved from one end to the other of the device 2. According to one embodiment, said carriage 6 comprises a plate 60 slidably mounted on the front face of said at least one longitudinal upright 30. In the case of two longitudinal uprights 30, said plate 60 is slidably attached along each of them.

[0039] In this respect, according to one embodiment, said at least one longitudinal amount 30 comprises a profile provided with at least one groove, extending from one end to the other. Preferably, such a profile may comprise a rectangular or square parallelepiped section, with a central core connected by diagonals to inclined internal walls and connected to the two respective edges of each angle, generally forming a triangle at each of said angles; each of the edges may have a solid face or with an opening opening into the interior of said profile, diverging from the outside of the opening towards the interior of the core, then forming a groove along said profile. An example of such a profile is commonly referred to as “BOSCH REXROTH ®”. Therefore, the carriage 6 is equipped with elements of a shape complementary to said groove, ensuring the sliding interlocking of each of said elements within the corresponding groove, thus forming a slide. Thus, the carriage 6 comprises the elements on the rear face, in particular on the rear face of the plate 60, while the profile of said at least one longitudinal upright 30 comprises a groove on the front face. Other assemblies can be envisaged, in particular lateral elements cooperating with the groove breasts provided on the external sides of said at least one longitudinal upright 30.

[0040] Furthermore, the profile of said longitudinal upright 30 may be made of any type of material, preferably metallic, in particular aluminum. The profile is obtained by conventional means, in particular by extrusion. Additionally, the sleepers 31 may be similar.

[0041] Further, in order to ensure the mobility of the carriage 6, the device 2 comprises means 7 for moving said carriage 6 along said chassis 3 from a high position to a low position, via intermediate positions, and vice versa. In other words, the movement means 7 ensure the control of the mobility of said carriage 6 along the chassis 3, from one end to the other of the device 2. It will be noted that the notions of “low” and “high” are understood in relation to the vertical position of the device 2 when it is fixed at the level of the structure 1, the low position corresponding to the submerged end, while the high position corresponds to the emerged end; the carriage 6 therefore moves vertically. Such a vertical direction of movement of said carriage 6 is in particular represented in [Fig.2].

[0042] The displacement means 7 can be of any type, manual or motorized, electrically or pneumatically. According to one embodiment, the movement means 7 comprise a system of pulleys 70 connected to each other by a cable 71 secured to said carriage 6. In addition, said cable 71 is mounted endlessly around said pulleys 70. Thus, by maneuvering said cable 71, the traction exerted is transmitted to the carriage 6 which then moves along said chassis 3. It will be noted that a motorization can be provided to said pulleys 70, in particular to the pulley 70 located above (i.e. emerged), controlling its rotation and, thus, the vertical movement of the carriage 6. This motorization can be provided manually, for example by means of a crank, or through a rotary motor, in particular a winch.

[0043] In addition, said carriage 6 is provided with means 8 for receiving means 5 for underwater inspection of said structure 1. These receiving means 8 make it possible to secure said inspection means 5 in a fixed or mobile manner, then integral with said carriage 6, moving together. According to a corresponding embodiment, the receiving means 8 are attached in a fixed manner to the front face of the plate 60 of said carriage 6. According to one embodiment, said receiving means 8 comprise a support 80 mounted on the front face of said carriage 6, said support comprising a distal end 81 offset relative to said carriage 6. In other words, said support 80 has a shape moving its distal end 81 away from said carriage 6, and therefore from the structure 1. This offset corresponds to a distance adapted according to the inspection means 5 to be mounted at said distal end 81.

[0044] In this respect, the distal end 81 comprises means for holding said inspection means 5. According to one embodiment, said holding means are provided to be orientable. In other words, the holding means can be moved into a dedicated position relative to the distal end 81 and, thus, relative to the device 2, to facilitate the inspection of the structure 1, in particular by laterally offsetting the inspection means 5 relative to the chassis 3. Additionally, once correctly oriented, the holding means can be locked in that position. Said holding means may be of any type. Preferably, the holding means may comprise at least one articulation, in particular in translation, in rotation, in pivoting, or even a spherical or even telescopic articulation. According to one embodiment, said holding means may comprise a motorization of their orientation, allowing, by a remote control on the surface, to control a movement of said holding means and, thus, of the inspection means 5 subject to them.

[0045] In this respect, the inspection means 5 may be of any type, in particular of the imaging type, such as a camera or a photographic device, as well as of the acoustic imaging type (i.e. a sonar). Said inspection means 5 may also comprise a rangefinder, in particular a laser rangefinder. Said inspection means 5 can be autonomous or triggered. controlled from an operator on the surface. The inspection means 5 can also be attached to an underwater vehicle, preferably to a light or ultra-light ROV, such as a drone, in particular a remote- or wire-guided one. It is then said drone which is mounted on the holding means and, through its on-board motorization controlled from the surface, which can ensure movement of the inspection means 5 relative to the distal end 81 through the articulation of said holding means.

[0046] The invention also relates to a method for underwater inspection of a maritime or river structure 1. Such an inspection method is provided for the implementation of the support device 2 according to the invention, as previously described.

[0047] Advantageously, said inspection method comprises at least the following steps. First of all, underwater inspection means 5 are mounted on said support device 2, through said means 8 for receiving the carriage 6. This mounting is carried out while the device 2 is out of the water. Then, said frame 3 is positioned vertically at a location against a wall of said structure 1, through said removable fixing means 4. In short, the device 2 is placed against the wall of the structure 1 to be inspected, from the quay or from a boat if the structure 1 only comprises a vertical wall 103.

[0048] Then, an inspection of said wall is carried out by checking the vertical movement of said carriage 6 along said frame 3 between the high position and the low position. In other words, the inspection can be carried out from the top down, or in the opposite direction. It is also possible to lower the carriage 6 to a pre-established intermediate position, in order to check the structure 1 at this specific location.

[0049] In particular, for means 5 of inspection by taking successive images, such as a sonar or a photographic camera, the carriage 6 is moved then stopped at a position where an image of the wall is taken, then moved again to another position to take a next image. Then, the images can be cross-referenced, mapping all or part of the wall. With reference to the drawings, [Fig. 3] shows in dotted lines a circle centered on the distal end 81 of the support 80 to which the inspection means 5 are subject, said circle representing the reported zone of the capture beam of said inspection means 5. Figures 4 and 5 show in dotted lines ovoid shapes corresponding to the intersection of the different capture zones of said inspection means 5. According to one embodiment of the inspection method, the control of the movement vertical of said carriage 6 is carried out successively i) from the high position to a first submerged position, at which a first capture is carried out by said inspection means 5; ii) from said first submerged position to a next submerged position, at which a next capture is made; iii) said carriage 6 is raised to the high position. According to one embodiment, the control of the vertical movement of said carriage 6 is continuous and speed-controlled. This control can be obtained by suitable motorization means. Thus, it is possible to perform a vertical tracking shot, particularly suitable in the case of capture by video-type inspection means 5.

[0050] Similarly, according to one embodiment, a horizontal tracking shot can be performed. To do this, in the high position of said carriage 6, said device 2 is moved laterally relative to said wall, to a next location. Then, the inspection is repeated at said next location, namely by moving the carriage 6 vertically. In addition, lateral movement can also be controlled and servo-controlled, fully automating the inspection process of the wall of structure 1.

[0051] Alternatively, the vertical and horizontal movements can be combined, so as to obtain a diagonal or even circular movement.

[0052] In fact, the movements of the carriage 6 are dependent on the type of inspection means 5 which are attached to the device 2.

[0053] Thus, the device 2, as well as its implementation method, make it possible to ensure an inspection that is simple to implement and quick to deploy, at lower costs. The device 2 makes it possible to overcome environmental conditions, stabilizing the inspection means 5 used.

Claims

Claims

1. Device (2) for supporting underwater inspection of a maritime or river structure (1), comprising - a longitudinal frame (3) comprising at least one longitudinal upright (30); - means (4) for removable attachment of said frame (3) against a wall of said structure (1) at an emerged part (100), said attachment means (4) being shaped to partially secure said frame (3) in immersion in a vertical direction; - a carriage (6) movable along said frame (3); said carriage (6) comprising a plate (60) slidably mounted on the front face of said at least one longitudinal upright (30); said carriage (6) being provided with means (8) for receiving means (5) for underwater inspection of said structure (1); - means (7) for moving said carriage (6) along said frame (3) from a high position to a low position, via intermediate positions, and vice versa;characterized in that said receiving means (8) comprise - a support (80) mounted on the front face of said carriage (3), said support (80) comprising a distal end (81) offset relative to said carriage (6).;

2. Support device (2) according to the preceding claim, characterized in that - said displacement means (7) comprise a system of pulleys (70) connected to each other by a cable (71) secured to said carriage (6), said cable (71) being mounted endlessly around said pulleys (70).

3. Support device (2) according to the preceding claim, characterized in that - the distal end (81) comprises orientable means for holding said inspection means (5).

4. Support device (2) according to any one of the preceding claims, characterized in that - said fixing means (4) comprise a removable base (40), mounted orthogonally on the rear face of said chassis (3).

5. Support device (2) according to the preceding claim, characterized in that - said fixing means (4) comprise means (41) for ballasting said base (40) on said structure (1).

6. Method for underwater inspection of a maritime or river structure (1), for implementing the support device (2) according to any one of the preceding claims, in which - underwater inspection means (5) are mounted on said support device (2), through said means (8) for receiving the carriage (6); - said chassis (3) is positioned vertically at a location against a wall of said structure (1), through said removable fixing means (4); - an inspection of said wall is carried out by monitoring the vertical movement of said carriage (6) along said chassis (3) between the high position and the low position.

7. Inspection method according to the preceding claim, characterized in that - the control of the vertical movement of said carriage (6) is continuous and speed-controlled.

8. Inspection method according to any one of claims 6 or 7, characterized in that the control of the vertical movement of said carriage (6) is carried out i) from the high position to a first submerged position, at which a first capture is carried out by said inspection means (5); ii) from said first submerged position to a following submerged position, at which a following capture is carried out; iii) said carriage (6) is raised to the high position.

9. Inspection method according to any one of claims 6 to 8, characterized in that - in the high position of said carriage (6), moving said support device (2) laterally relative to said wall, to a next location; - repeating the inspection at said next location.

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