Sewer inspection and / or maintenance system

Abstract

A sewer inspection and / or maintenance system is provided, comprising - a base unit that can be moved in a channel, - a number of members, each of which is assigned at least one controllable actuating means, the members being movable relative to the base unit and relative to each other by means of the actuating means assigned to them, - an effector arranged at a free end of one of the links, and - a control unit which is coupled on the one hand to the actuating means and on the other hand to an input device, wherein the effector is movable by means of the input device and the control unit. A correspondingly designed procedure is also provided.

Description

Field of the invention

[0001] The invention relates to a sewer inspection and / or maintenance system with a lifting device comprising several links, which is arranged on a carriage and at whose free end working means, such as a camera or a tool, are arranged, as well as to a method for controlling a sewer inspection and / or maintenance system. Background of the invention

[0002] Sewer inspection and / or maintenance systems with a carriage and a lifting system arranged thereon are known from the prior art, for example from EP 2 689 227 A1. Fig. Figure 1 shows the system known from EP 2 689 227 A1. The system consists of a carriage F and a lift H mounted thereon. The lift H has several joints HG. An inspection camera IK is mounted at the free end of the lift H. The carriage F is coupled to an input device EE. The input device EE controls the carriage F and the lift H independently of each other, for example, to move the camera to a specific position in the sewer.

[0003] The separate or independent control of crawler F and lifter H is a complex process and requires extensive experience and good orientation skills from the operator. The operator must manually coordinate and coordinate the movements of the crawler and lifter, and if necessary, also the movement of the inspection camera mounted on the lifter, so that the inspection camera is moved to the desired position in the sewer. At the same time, the operator must keep an eye on the surroundings to avoid, for example, a collision of the inspection camera with the sewer wall or other obstacles, such as when the lifting arm is raised.

[0004] DE 10 2016 112 811 A1 discloses a modular vehicle system for overcoming obstacles and a method for operating the modular vehicle system. The modular vehicle system comprises at least three sub-modules with at least four wheel units, at least one wheel drive unit for driving the wheel units, and at least two vertical joint units, each with a joint actuator arranged between the sub-modules to connect two adjacent sub-modules in a chain-like manner and to tilt the sub-modules vertically. The system further comprises at least one control unit that controls the wheel units and joint units. The modular and articulated design of the system allows obstacles to be overcome. Object of the invention

[0005] The object of the present invention is therefore to provide solutions that enable simpler and safer operation and control of a sewer inspection and / or maintenance system in a sewer or pipe. Inventive solution

[0006] This object is achieved with a sewer inspection and / or maintenance system and a method for controlling a sewer inspection and / or maintenance system according to the independent claims. Advantageous embodiments of the invention are specified in the respective dependent claims.

[0007] A sewer inspection and / or maintenance system is provided, comprising - a base unit that can be moved in a channel, - a number of members, each of which is assigned at least one controllable actuating means, the members being movable relative to the base unit and relative to each other by means of the actuating means assigned to them, - an effector arranged at a free end of one of the links, and - a control unit which is coupled on the one hand to the actuating means and on the other hand to an input device, wherein - the input device is adapted to generate first control commands based on user inputs and to provide them to the control unit, wherein the first control commands comprise information about a translational and / or rotational movement to be carried out with the effector, and - the control unit is adapted to generate second control commands based on the first control commands provided to it, with which second control commands the actuating means can be controlled, wherein the actuating means can be controlled with the second control commands in such a way that the members are moved in such a way that the effector is moved in accordance with the translational and / or rotational movement of the first control commands.

[0008] The advantage here is that an operator no longer has to control the base unit and / or the links individually to initiate a desired movement of the effector, but rather controls the effector itself by specifying which movement the effector should perform using the input means.

[0009] In one embodiment of the invention, the control unit can be coupled to the base unit and further adapted to generate third control commands based on the first control commands provided to it, with which the base unit can be controlled, wherein the third control commands cause a movement (forward and / or backward travel) of the base unit in the channel, wherein the combination of movement of the links and movement of the base unit causes a movement of the effector in accordance with the translational and / or rotational movement of the first control commands.

[0010] This means that the base unit and the links “follow” the desired movement of the effector.

[0011] The base unit may comprise a carriage. The effector may comprise a tool or a sensor device, in particular a camera device, although the invention is not limited thereto.

[0012] The input device can be a joystick or a touch-sensitive input device.

[0013] At least one member of the plurality of members may be coupled to the base unit, wherein this member is preferably movable relative to the base unit.

[0014] The number of links can be coupled together in pairs, with two coupled links being movable relative to each other.

[0015] The invention further provides a method for controlling a sewer inspection and / or maintenance system, wherein the sewer inspection and / or maintenance system comprises: - a base unit that can be moved in a channel, - a number of members, each of which is assigned at least one controllable actuating means, the members being movable relative to the base unit and relative to each other by means of the actuating means assigned to them, - an effector arranged at a free end of one of the links, and - a control unit which is coupled on the one hand to the actuating means and on the other hand to an input device, wherein - user inputs are received at the input device, whereby the user inputs are intended to control the effector, - based on the user inputs, first control commands are generated and provided to the control unit, wherein the first control commands comprise information about a translational and / or rotational movement to be carried out with the effector, and - the control unit generates second control commands based on the first control commands provided to it, with which the control unit controls the actuating means, whereby the members are moved in such a way that the effector is moved in accordance with the translational and / or rotational movement of the first control commands.

[0016] The control unit can be coupled to the base unit, wherein the control unit generates third control commands based on the first control commands provided to it, wherein the third control commands cause a movement of the base unit in the channel, wherein based on the combination of movement of the links and movement of the base unit, the effector is moved according to the translational and / or rotational movement of the first control commands.

[0017] It is advantageous if the control unit determines for or when generating the second control commands and / or when generating the third control commands, - which links must be moved and how using the control devices assigned to them, and / or - how the base unit must be moved so that the movement of the links or the movement of the base unit or the combination of movement of the links and movement of the base unit causes the effector to move in accordance with the translational and / or rotational movement of the first control commands.

[0018] It may be advantageous if the second control commands and / or the third control commands are selected in such a way that a smooth, advantageously jerk-free movement of the effector is achieved when the links and / or the base unit are moved.

[0019] The method may comprise a teaching step, wherein in the teaching step the members are each moved from an initial position to an end position by means of the actuating means assigned to them, wherein information about the respective initial position and end position is stored in a memory device of the control unit, and wherein the generation of the second control commands takes place taking into account the initial position and end position of the respective members.

[0020] The predetermined (desired or controlled) position of the effector relative to the base unit is achieved by a combined movement of the links. Short description of the characters

[0021] Further details and features of the invention, as well as concrete, particularly advantageous embodiments of the invention, will become apparent from the following description in conjunction with the drawing. It shows: Fig. 1 a schematic representation of a system known from the prior art with a lifter and an inspection camera arranged thereon; Fig. 2 a schematic representation of a system according to the invention; Fig. 3 an application example of a system according to the invention; and Fig. 4 shows another application example of a system according to the invention. Detailed description of the invention

[0022] The present invention makes it possible to move an end effector to a specific location (position) in the duct without the system operator having to control the carriage and the lift (and possibly the end effector) separately or independently of one another. This means that, according to the invention, the entire system is steered towards a predetermined point in the duct, with the operator only having to control the end effector. According to the invention, an input device is provided for control, with which the entire system is controlled - transparently for the operator. This means that the input device only specifies which movement (translational and / or rotational) the end effector must perform in the duct in order to bring the end effector to the desired point in the duct. From the operator's perspective, therefore, only the end effector is controlled.Based on the movements to be performed by the end effector, the complete system, i.e. carriage, lifter and, if applicable, end effector, synchronizes itself independently, so that the movements of the individual components (carriage, lifter and, if applicable, end effector) result in the end effector moving to the desired point in the channel.

[0023] The end effector is also referred to below as the effector. The effector can be, for example, a gripper, a tool, a sensor, or a camera, although the invention is not limited to these.

[0024] Fig. 2 shows (in a schematic manner) a sewer inspection and / or maintenance system 1 according to the invention, which, according to the embodiment shown here, has a base unit B designed as a carriage F, an input device EE and a control unit SE.

[0025] The base unit B or the carriage F can be moved in a channel, preferably in both directions, ie forwards and backwards.

[0026] The base unit B is coupled to a control device (SV) via a communication network 10, which can be designed as a wired or wireless communication network.

[0027] The control device SV here comprises an input device EE and a control unit SE. In one embodiment of the invention, the control unit SE can also be provided in the base unit B, while the control device SV essentially only comprises the input device EE. However, with regard to the invention, it is irrelevant whether the control unit SE is part of the base unit B or part of the control device SV.

[0028] The input device EE is provided to control the movement of the effector in space (i.e. in the channel), as described in more detail below. The input device EE can comprise a joystick whose lever can be tilted in any direction. It can be advantageous if the joystick is designed as a so-called 3D joystick, in which the lever can not only be tilted in any direction, but can also be moved up and down and rotated in order to enable a three-dimensional movement of the effector to be controlled in space. In cases in which the effector is only to be moved in two dimensions, a 2D joystick is sufficient.

[0029] Alternatively or additionally (in particular in addition to the joystick), the input device EE may also comprise a touch-sensitive input device, such as a tablet.

[0030] The specific design of the input device EE is not essential to the invention. What is important is that it has means that enable control of the effector.

[0031] A lifter H is arranged on the base unit, which has a number of links G n The lifter is connected to its first link (in Fig. 2 the member G 1 ) on the base unit. The last link (in Fig. 2 the member G 5 ) of the lifter H has a free end at which the effector E (for example a camera, a tool or the like) is arranged.

[0032] In the example shown here, the lifter H comprises five links G 1 to G 5 Depending on requirements, there may be more or fewer than five links. The individual links can be designed differently, with some examples listed below: - One member G 1can be designed as a kind of platform that can be moved vertically relative to the base unit B, for example to raise or lower the effector E. - One member G 2 not be designed as a kind of turntable that can be rotated about an axis of rotation, preferably in both directions and by at least 360°. - The members G 3 and G 4 can together form a kind of lifting arm that can be raised and lowered, whereby the two links G 3 and G 4 are connected to each other in a hinged manner. - One member G 5 can be designed as a kind of rotary module that can be rotated about a rotation axis, for example to rotate the effector E connected to it. - Another element, not shown here, can be designed as a hydraulic or pneumatic cylinder, for example, to effect a linear movement of the effector along the alignment of the hydraulic or pneumatic cylinder. For example, element G 3 , which is part of the lifting arm, can be designed as a hydraulic or pneumatic cylinder.

[0033] The members G 1 to G 5 are coupled in pairs, whereby two coupled members are movable relative to each other. Fig. 2 is the term G 1 with the member G 2 coupled, whereby the element G 2 relative to the term G 1 is movable (in this case rotatable). The link G 3 is with the term G 2 coupled, whereby the element G 3 relative to the term G 2 is movable (in this case relative to the member G 2 pivotable). The link G 4 is with the term G3 coupled, with the link G 4 being movable relative to the link G 3 (in this case, movable relative to the link G 3 by pivoting). Finally, the link G 5 is coupled to the link G 4 with the link G 5 being movable relative to the link G 4 (in this case, rotatable relative to the link G 4 ).

[0034] Through this pairwise coupling of the links G 1 to G 5 there results a continuous kinematic chain from G 1 to G 5 .

[0035] According to the invention, at least one controllable adjusting means S n is assigned to each link G n such that the links G n are movable relative to the base unit B and relative to one another n by means of the adjusting means S assigned to them.

[0036] The adjusting means assigned to the respective links are specifically adapted to the links, with some examples being given below: - The member G 1 is the adjusting agent S 1 , which is designed here as a type of lifting scissors. Alternatively, the adjusting device S 1 can also be designed as a hydraulic or pneumatic cylinder. - The member G 2 is the adjusting agent S 2 which has an electric motor for rotating the member G 2 can include. - The member G 3 is the adjusting agent S 3 assigned. The adjusting agent S 3 may comprise a servomotor with which the member G 3 relative to the term G 2 can be swiveled. - The member G 4 is the adjusting agent S 4 assigned. The adjusting agent S 4 may comprise a servomotor with which the member G 4relative to the term G 3 can be swiveled. - The member G 5 a servo motor can be used as a control device G 5 be assigned to which the member G 5 relative to the term G 4 can be rotated.

[0037] By arranging the lifter H on the base unit B, with the first link G 1 is movable relative to the base unit B, the base unit B is part of the above-mentioned kinematic chain, so that the overall system is a continuous kinematic chain from the base unit B via the link G 1 up to limb G 5 represents or forms.

[0038] The adjusting means S n are controllable independently of each other. According to the invention, the actuating means S n be controlled so that the entire system, ie the base unit B and the elements G n, independently synchronized with the result that the movements of the individual components (base unit B and the links G n ) move the effector E to the desired point in the channel. Examples of this are given with reference to Fig. 3 and Fig. 4 described.

[0039] Controlling the system or effector E: The input device EE is intended to control the movement of the effector (e.g., a camera) in the channel. This means that the effector is moved to a desired point in the channel using the input device EE. It is important that the user controls the effector E using the input device EE, i.e., specifies how and in which direction the effector should move. This means that, from the user's perspective, the base unit B and the elements G are not nare controlled, but rather the effector itself. However, the base unit B and the links G n (or the actuators S n assigned to the links G n ) are controlled in such a way that the effector performs a movement that corresponds to the user's input at the input device EE. Advantageously, therefore, the user does not have to concern themselves with the movement of the base unit B or the control of the links G n . The movement of the effector E through the channel can thus be done more simply, safely, and efficiently.

[0040] The procedure for this is described in more detail below.

[0041] The input device EE receives user inputs (e.g., tilting or turning a joystick). For example, tilting the joystick forward should cause the camera (effector) to move forward in the channel. Turning the joystick should align the camera in the channel in the desired direction (e.g., turning it to the right pans the camera to the right). Tilting and turning the joystick can be performed simultaneously by an operator, so that the camera is moved forward in the channel and simultaneously panned to the side. However, the invention is not limited to these examples.

[0042] Based on the user inputs, the input device EE generates first control commands SI 1 and provides them to the control unit SE. The first control commands SI 1include information about a translational and / or rotational movement that is to be performed with the effector E or that the effector E is to perform. Example: When tilting the joystick forwards, the first control commands include SI 1 Information that the effector is to be moved forward (translational movement). As explained above, the user controls the effector E with the input device EE from the user's perspective.

[0043] The control unit SE receives the first control commands SI 1 and generates SI based on the first control commands 1 second control commands SI 2 , with which the adjusting means S n According to the invention, the second control commands SI 2 the adjusting means S n controlled so that the adjusting means S n assigned members G nare moved (relative to each other and relative to the base unit B) in such a way that the effector E is moved according to the first control commands SI 1 is moved - the effector E thus the one in the first control commands SI 1 performs the specified translational and / or rotational movement(s).

[0044] The second control commands SI 2 are then assigned to the respective adjusting means S n which then causes a corresponding movement of the respective link G n initiate.

[0045] The control unit SE is preferably (i.e. optionally) further adapted based on the first control commands SI provided to it 1 third control commands SI 3 to generate signals that can be used to control the base unit B. With the third control commands SI 3 A movement of the base unit B in the channel (forward and preferably also backward) can be effected. The third control commands SI 3are fed to the base unit B, which then executes the corresponding movement (travel movement) forward or backward. For example, if the effector is to be moved forward in the channel, it may be sufficient to simply move or drive the carriage F forward accordingly.

[0046] Here, the combination of movement of the links G n and method of the base unit B moving the effector E according to the translational and / or rotational movement(s) of the first control commands SI 1 causes.

[0047] For example, if the joystick is tilted forward and the joystick is simultaneously turned to the right, the camera should be moved forward in the channel and at the same time panned to the right (this information is in the first control commands SI 1 included). With the second control commands SI 2 the adjusting means S nand indirectly via the adjusting means the members G n causes the camera to move in such a way that it pans to the right (in the example of Fig. 2 can be the term G 2 be caused to perform a rotational movement to the right, whereby the effector E, for example the camera, is panned to the right). At the same time, the third control commands SI 3 The crawler causes a movement (drive) forward in the channel, causing the camera to move forward in the channel. The control of the base unit B and the links G n is transparent to the operator - the operator always controls the effector E from his point of view, ie the movement of the effector in the channel.

[0048] When generating the second control commands SI, the control unit SE determines 2 and / or the third control commands SI 3 - which members G n by means of the adjusting means S assigned to themn how to move, and / or - how the base unit B must be moved so that the movement of the links, the movement of the base unit or the combination of movement of the links and movement of the base unit causes the effector E to move according to the first control commands SI 1 causes.

[0049] It is important to note that not all adjusting agents S n and the base unit B must be moved. If the camera is only to be moved forward in the channel, it may be sufficient to only use the corresponding third control commands SI 3 to generate commands to control the crawler. If, in another example, the camera is only to be panned to the right, it may be sufficient to use the corresponding second control commands SI 2 to generate, for example, the term G 2 (or the member G 2 assigned adjusting means S 2) is caused to perform a rotational movement to the right.

[0050] According to the invention, a predetermined position of the effector E relative to the base unit B is achieved by a combined movement of the members G n An additional translational movement of the effector in the channel is achieved by moving the base unit in the channel, whereby the operator controls neither the links nor the base unit, but specifies the movement of the effector with the input device EE.

[0051] Coordination of the movements of the carriage and the jack (or its links G n ) and its coordination by the operator is thus completely avoided, which not only considerably simplifies control by the operator but also effectively accelerates it.

[0052] According to the invention, a learning step can be provided in which the elements G neach by means of the control means S assigned to them n be moved from an initial position to an end position, whereby information about the respective initial position and end position is stored in a memory device of the control unit SE. When generating the second control commands SI 2 the initial and final positions of the respective links G n This prevents the elements from becoming overdriven.

[0053] Furthermore, the control unit SE can, taking into account the initial position and end position of the respective elements G n optimize the movement of the entire system. For example (related to Fig. 2) lifting the effector while simultaneously moving the effector backwards can be achieved by - a lifting of the limb G 1 and a movement of the carriage F backwards, or - by deflecting the link G 3upwards (in the best case without moving the carriage F backwards).

[0054] By deflecting the link G 3 upwards, the effector is simultaneously moved backwards - the further the limb G 3 is deflected, the further the effector moves backward, and the less the carriage needs to be moved backward. Reducing the carriage movements can be advantageous, especially on uneven ground. Alternatively, the desired position of the effector can also be achieved by lifting the link G 1 and a movement of the carriage F backwards - however, here the carriage has to cover a greater distance.

[0055] Below are three examples of movement (controlled by a joystick) of the camera in the channel, although the invention is not limited to these examples. - Forward movement of the camera - Joystick is tilted forward - Carriage moves forward with the camera mounted on it - Upward movement (lifting) of the camera - Joystick is pulled up - Lifter (or the necessary links, e.g. link G 1 ) raises the camera - Pan the camera to the left - Joystick is tilted to the left - Lifter (or the necessary links, e.g. link G 2 ) the camera pans to the left (additionally or alternatively the crawler can also make a turn to the left)

[0056] Fig. 3 shows an application example of a system according to the invention.

[0057] In the channel K there is a carriage F. On the carriage there is a jack, which here exemplarily carries two links G 1 and G 2 With the first term G 1The jack is mounted on the carriage and can be deflected against the carriage. The second link G 2 is at the first term G 1 hinged, so that the lifter essentially forms a lifting arm. At the free end of the second link G 2 The effector E (for example an inspection camera) is arranged. The links G 1 , G 2 are corresponding adjusting agents S 1 , S 2 assigned to the members G 1 , G 2 the second control commands SI 2 to move accordingly as described above.

[0058] An effector E is to be moved from an initial position P1 to a target position P2, while maintaining its orientation. The operator operates the input device such that the effector E moves essentially along the dashed arrow. As explained above, the control of the actuators is transparent to the operator. If the input device is a joystick, for example, the joystick is tilted forward and simultaneously raised, which corresponds to a movement of the effector along the dashed arrow.

[0059] The control unit SE determines from the position or movement of the joystick (this information is contained in the first control commands SI 1 included) corresponding second and third control commands SI 2 and SI 3 .

[0060] The third control commands cause the carriage to move forward by the distance Δh.

[0061] At the same time, the second control commands SI 2 the first and second adjusting means S 1 and S 2 in addition the members G 1 and G 2 to move the effector by the distance Δv. The first term G 1 is therefore pivoted upwards. At the same time, the second link G 2 relative to the first term G 1 pivoted downwards (the angle α between the first link G 1 and the second term G 2 decreases) to achieve an unchanged orientation of the effector.

[0062] The sum of the movements of the links and the carriage results in the effector E being moved from the starting position P1 to the target position P2.

[0063] It has been found to be advantageous if the second and third control commands S 1 and S 2be selected or adjusted in such a way that the effector movement is as smooth and jerk-free as possible (in the Fig. In the example shown in Figure 3, the second and third control commands S 1 and S 2 chosen so that the effector moves along the dashed arrow).

[0064] Fig. 4 shows a further application example of a system according to the invention.

[0065] In the channel K there is a carriage F. On the carriage there is a jack, which here exemplarily carries two links G 1 and G 2 With the first term G 1 The jack is mounted on the carriage and can be deflected against the carriage. The second link G 2 is at the first term G 1 hinged, so that the lifter essentially forms a lifting arm. At the free end of the second link G 2The effector E (for example an inspection camera) is arranged. The links G 1 , G 2 are corresponding adjusting agents S 1 , S 2 assigned to the members G 1 , G 2 the second control commands SI 2 to move accordingly as described above.

[0066] An effector E is to be moved from an initial position P1 to a target position P2, while maintaining its orientation. The operator operates the input device such that the effector E moves essentially along the dashed arrow. As explained above, the control of the actuators is transparent to the operator. If the input device is a joystick, for example, the joystick is tilted forward and simultaneously pressed down, which corresponds to a movement of the effector along the dashed arrow.

[0067] The control unit SE determines from the position or movement of the joystick (this information is contained in the first control commands SI 1 included) corresponding second and third control commands SI 2 and SI 3 .

[0068] The second control commands SI 2 cause the first and second actuating means S 1 and S 2 in addition the members G 1 and G 2 to move the effector by the distance Δv. The first term G 1 is therefore pivoted downwards. At the same time, the second link G 2 relative to the first term G 1 pivoted upwards (the angle α between the first link G 1 and the second term G 2 increases) to achieve an unchanged orientation of the effector.

[0069] At the same time, the third control commands cause the trolley to move backward by a distance Δh. Although the target position P2 (from the trolley's perspective) is in front of the starting position P1, the trolley must be moved backward. Lowering the lifter by a distance Δv would cause the effector to reach a final position that is in front of the desired target position.

[0070] The sum of the movements of the links and the carriage results in the effector E being moved from the starting position P1 to the target position P2.

[0071] A key advantage of the present invention is that, unlike prior art, the operator does not have to control the links and the carriage to achieve a desired movement of the effector. According to the invention, the operator controls the effector itself by controlling the movement to be performed by the effector using the input device. The operator no longer has to worry about controlling the links and the carriage and can concentrate fully on the movement / control of the effector. This significantly simplifies, accelerates, and increases safety. Reference symbols: B Base unit (e.g. trolley) E Effector or end effector EE input device (e.g. joystick or controller of VR glasses) F trolley G n Links of the lifter H S n controllable adjusting means - each element G nis a setting agent S n assigned. H Heber HG joints of the lifter H IK inspection camera P1 starting position P2 target position SE control unit SI 1 first control commands SI 2 second control commands SI 3 third control commands SV control device α Angle between first term G 1 and second term G 2 Δv vertical offset Δh horizontal offset

Claims

[1] Sewer inspection and / or maintenance system (1), comprising - a base unit (B) movable in a channel, - a number of members (G n ), each of which has at least one controllable actuating means (S n ), where the members (G n ) by means of the adjusting means assigned to them (S n ) are movable relative to the base unit (B) and relative to each other, - an effector (E) which is attached to a free end of one of the links (G n ) is arranged, and - a control unit (SE) which is connected on the one hand to the actuating means (S n ) and on the other hand is coupled to an input device (EE), wherein - the input device (EE) is adapted to provide first control commands (SI) based on user inputs 1 ) and provide it to the control unit (SE), wherein the first control commands (SI 1) information about a translational and / or rotational movement to be carried out with the effector (E), and - the control unit (SE) is adapted based on the first control commands (SI) provided to it 1 ) second control commands (SI 2 ) with which the adjusting means (S n ) are controllable, whereby the second control commands (SI 2 ) the adjusting means (S n ) are controllable so that the members (G n ) are moved in such a way that the effector (E) is moved according to the translational and / or rotational movement of the first control commands (SI 1 ) is moved. [2] System according to the preceding claim, wherein the control unit (SE) is coupled to the base unit (B) and is further adapted, based on the first control commands (SI 1 ) third control commands (SI 3) with which the base unit (B) can be controlled, whereby the third control commands (SI 3 ) a movement of the base unit (B) in the channel is effected, the combination of movement of the members (G n ) and method of the base unit (B) a movement of the effector (E) according to the translational and / or rotational movement of the first control commands (SI 1 ) is caused. [3] System according to one of the preceding claims, wherein the base unit (10) comprises a carriage and / or wherein the effector (E) comprises a tool or a sensor device. [4] System according to the preceding claim, wherein the sensor device is a camera device. [5] System according to one of the preceding claims, wherein the input device (EE) is a joystick or a touch-sensitive input device. [6] System according to one of the preceding claims, wherein at least one member of the number of members (G n ) is coupled to the base unit (B), said member being movable relative to the base unit (B). [7] System according to one of the preceding claims, wherein the number of links (G n ) are coupled together in pairs and two coupled members are movable relative to each other. [8] Method for controlling a sewer inspection and / or maintenance system (1), the sewer inspection and / or maintenance system comprising: - a base unit (B) movable in a channel, - a number of links (G n ), each of which has at least one controllable actuating means (S n ), where the members (G n ) by means of the adjusting means assigned to them (S n ) are movable relative to the base unit (B) and relative to each other, - an effector (E) which is attached to a free end of one of the links (G n ) is arranged, and - a control unit (SE) which is connected on the one hand to the actuating means (S n ) and on the other hand is coupled to an input device (EE), wherein - user inputs are received at the input device (EE), whereby the user inputs are intended to control the effector (E), - based on user input, first control commands (SI 1 ) and provided to the control unit (SE), wherein the first control commands (SI 1 ) information about a translational and / or rotational movement to be carried out with the effector (E), and - the control unit (SE) based on the first control commands (SI 1 ) second control commands (SI 2 ) with which the control unit (SE) controls the actuating means (S n), whereby the links (G n ) are moved in such a way that the effector (E) is moved according to the translational and / or rotational movement of the first control commands (SI 1 ) is moved. [9] Method according to the preceding claim, wherein the control unit (SE) is coupled to the base unit (B), wherein the control unit (SE) based on the first control commands (SI 1 ) third control commands (SI 3 ) is generated, whereby the third control commands (SI 3 ) a movement of the base unit (B) in the channel is effected, wherein based on the combination of movement of the links (G n ) and moving the base unit (B) of the effector (E) according to the translational and / or rotational movement of the first control commands (SI 1 ) is moved. [10] Method according to one of the two preceding claims, wherein the control unit (SE) for or when generating the second control commands (SI 2 ) and / or when generating the third control commands (SI 3 ) determined, - which members (G n ) by means of the adjusting means assigned to them (S n ) how to move so that the movement of the limbs, and / or - how the base unit (B) must be moved so that the movement of the base unit or the combination of movement of the links (G n ) and method of the base unit (B) a movement of the effector (E) according to the translational and / or rotational movement of the first control commands (SI 1 ) is caused. [11] Method according to one of the preceding claims 8 to 10, wherein the method comprises a learning step, wherein in the learning step the elements (G n ) by means of the adjusting means assigned to them (S n) are moved from an initial position to an end position, wherein information about the respective initial position and end position is stored in a memory device of the control unit (SE), and wherein the generation of the second control commands (SI 2 ) taking into account the initial and final positions of the respective links (G n ) takes place. [12] Method according to one of the preceding claims 8 to 11, wherein a predetermined position of the effector (E) relative to the base unit (B) is determined by a combined movement of the members (G n ) is reached.

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