Positioning system for sewer inspection and / or maintenance systems

Abstract

A positioning system for sewer inspection and / or maintenance systems is provided for positioning a device in a sewer, wherein the positioning system has a lifting arm that is arranged on a base support, wherein - the lifting arm can be deflected or pivoted relative to the base support via a pivot axis, - the base support can be arranged on a carriage of the sewer inspection and / or maintenance system, and - the basic support - is movable or travelable along an axis of movement relative to the carriage, and / or - is rotatable about an axis of rotation relative to the carriage.

Description

Field of the invention

[0001] The invention relates to a positioning system for sewer inspection and / or maintenance systems and to a sewer inspection and / or maintenance system comprising a carriage and a positioning system. The positioning system is designed for positioning devices in a sewer. Background of the invention

[0002] Sewer inspection systems with a carriage and a positioning 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 arranged thereon. The lift H has several joints HG. An inspection camera IK is arranged at the free end of the lift H. By means of pneumatic actuating means, the lift H can be raised or lowered, so that the camera attached to the lift is also raised or lowered. The disadvantage here, however, is that the camera can only be raised or lowered, which considerably limits the possibilities for a sewer inspection. Another disadvantage is that the camera cannot be raised or lowered exactly vertically, but describes a curve when raised or lowered, as in Fig. 1 is indicated by the arc K. This can lead to a change in the distance from the camera to a surface to be inspected, which may require readjustment of the camera's focus. Object of the invention

[0003] The object of the present invention is therefore to provide solutions that expand the possibilities of sewer inspection and / or sewer maintenance. Inventive solution

[0004] This object is achieved with a positioning system for sewer inspection and / or maintenance systems for positioning a device in a sewer, and with a sewer inspection and / or maintenance system having a positioning system according to the independent claims. Advantageous embodiments of the invention are specified in the respective dependent claims.

[0005] Accordingly, a positioning system for sewer inspection and / or maintenance systems is provided for positioning a device in a sewer, wherein the positioning system comprises a lifting arm arranged on a base support, wherein - the lifting arm can be deflected or pivoted relative to the base support via a pivot axis, - the base support can be arranged on a carriage of the sewer inspection and / or maintenance system, and - the base carrier - is movable or displaceable along a movement axis relative to the carriage, and / or - can be rotated about an axis of rotation relative to the carriage.

[0006] This extends sewer inspection and / or maintenance systems with regard to the use of the device by several degrees of freedom, which significantly increases the possibilities for sewer inspection or maintenance.

[0007] Sewer inspection and / or maintenance system comprising a carriage and a positioning system for positioning devices in a sewer, wherein - the positioning system comprises a lifting arm arranged on a base support, - the base support is arranged on the carriage, - the lifting arm can be deflected or pivoted relative to the base support via a pivot axis, and - the base carrier - is movable or displaceable along a movement axis relative to the carriage, and / or - can be rotated about an axis of rotation relative to the carriage.

[0008] It is advantageous if a receiving unit is arranged at the free end of the lifting arm for receiving, in particular detachably receiving, the device.

[0009] The lifting arm can have at least two lifting arm sections which are coupled to one another in an articulated manner, preferably via a pivot joint, wherein the free end of one of the two lifting arm sections is arranged on the base support in a deflectable or pivotable manner.

[0010] It can be advantageous if - a first controllable actuating means is assigned to the base support, which is adapted, - to deflect or pivot the lifting arm relative to the base support via the pivot axis, and / or - the base support - is to be moved or traversed along the movement axis relative to the carriage, and / or - to rotate the axis of rotation relative to the carriage, and / or one of the two lifting arm sections is assigned a second controllable actuating means which is adapted to move one lifting arm section relative to the other lifting arm section.

[0011] An absolute encoder can be assigned to the first controllable actuator and / or the second controllable actuator. This avoids reference runs of the positioning system.

[0012] It may be advantageous if the receiving unit can be pivoted relative to the lifting arm over a predetermined angular range, preferably over an angular range of 180°, particularly preferably over an angular range of 270°. This adds another degree of freedom to the positioning system.

[0013] The recording unit can - be rotatably mounted at the free end of the lifting arm, and / or - be designed in two parts, wherein a first part of the receiving unit is rotatable relative to the second part of the receiving unit.

[0014] In one embodiment of the invention, at least one pressure-tight channel can be formed in the lifting arm.

[0015] The pressure-tight channel can be designed as a continuous pressure-tight channel from one end to the other end of the lifting arm, which is coupled to the carriage on the carriage side.

[0016] The pressure-tight channel may have connecting means for supplying a fluid (gas or liquid) to it, in particular under high pressure.

[0017] Furthermore, a positioning system for sewer inspection and / or maintenance systems is provided for positioning a device in a sewer, wherein the positioning system has a lifting arm, wherein the device can be arranged at a free end of the lifting arm, can provide for the stabilization of the device that - the device can be arranged indirectly via a gimbal at the free end of the lifting arm, and / or - Positioning system is movable in such a way that the movements of the positioning system correspond to the function of a gimbal. Short description of the characters

[0018] 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 prior art sewer inspection system with a lifter arranged thereon; Fig. 2 shows a positioning system according to a first aspect of the invention; Fig. 3 shows a positioning system according to a second aspect of the invention; Fig. 4 shows a first application example of a positioning system according to the invention; Fig. 5 a second application example of a positioning system according to the invention; and Fig. 6 an embodiment of a receiving unit of a positioning system according to the invention. Detailed description of the invention

[0019] The positioning system according to the invention advantageously makes it possible to significantly expand the possibilities for sewer inspection and / or sewer maintenance and, moreover, to simplify sewer inspections and / or sewer maintenance. In contrast to positioning systems known from the prior art, such as lifters as disclosed in EP 2 689 227 A1, which can only be raised or lowered, the positioning system according to the invention has significantly more degrees of freedom, allowing the head of the positioning system (i.e., the free end of the positioning system to which a device, such as a camera, is attached) to be positioned almost arbitrarily in the sewer.

[0020] Fig. 2 shows a positioning system according to a first aspect of the invention.

[0021] A positioning system 10 is provided on a carriage 5, which can be moved or displaced in a channel. The positioning system 10 essentially comprises a lifting arm 20. The lifting arm 20 can consist of several lifting arm sections 20.1, 20.2, whereby more than two lifting arm sections can also be provided. A receiving unit or device carrier 21 can be arranged at the free end of the lifting arm 20, for receiving, in particular detachably receiving, a device G. The device G can comprise a tool, a camera, sensors, or the like.

[0022] The lifting arm 20 is mounted on a base support 30. The base support 30, in turn, is mounted or can be mounted on the carriage 5. It may be advantageous if the base support is detachably mounted on the carriage. This allows the lifting arm 20 to be replaced as needed or removed when not in use.

[0023] The lifting arm 20 is articulated to the base support 30, preferably in such a way that it has a pivot axis A S can be deflected or pivoted relative to the base support 30. This allows the lifting arm to be raised or lowered.

[0024] The base support 30 is about a rotation axis A D rotatable relative to the carriage 5, preferably in both directions. Preferably, the base support 30 is rotatable over an angle of at least 90°, particularly preferably over an angle of 180°, most preferably over an angle of 360° around a rotation axis A DRotatable. If, for example, a camera is attached to the lifting arm 20 as device G, a panoramic view or a 360° image can be achieved with appropriate dimensioning and alignment of the lifting arm 20 or the lifting arm sections 20.1, 20.2 without the camera itself having to be moved relative to the lifting arm. According to another application example, the camera can, for example, be aligned perpendicular to the pipe wall.

[0025] Fig. 3 shows a positioning system according to a second aspect of the invention.

[0026] A positioning system 10 is provided on a carriage 5, which can be moved or displaced in a channel. The positioning system 10 essentially comprises a lifting arm 20. The lifting arm 20 can consist of several lifting arm sections 20.1, 20.2, whereby more than two lifting arm sections can also be provided. A receiving unit or device carrier 21 can be arranged at the free end of the lifting arm 20, for receiving, in particular detachably receiving, a device G. The device G can comprise a tool, a camera, sensors, or the like.

[0027] The lifting arm 20 is mounted on a base support 30. The base support 30, in turn, is mounted or can be mounted on the carriage 5. It may be advantageous if the base support is detachably mounted on the carriage. This allows the lifting arm 20 to be replaced as needed or removed when not in use.

[0028] The lifting arm 20 is articulated to the base support 30, preferably in such a way that it has a pivot axis A S can be deflected or pivoted relative to the base support 30. This allows the lifting arm to be raised or lowered.

[0029] The base support 30 is along a movement axis A B movable relative to the carriage. This means that the base support 30 can be moved along this axis of movement A B can be moved or moved. In the case of Fig. 3, the movement axis A runs B essentially parallel to the longitudinal axis of the carriage, ie the base support 30 can be moved forwards or backwards on the carriage 5. According to an alternative embodiment, the movement axis A Bbut also at a certain angle to the longitudinal axis of the carriage, for example 90° or perpendicular - the base support 30 can then be moved laterally on the carriage 5.

[0030] For this purpose, guide means can be provided on the carriage 5, preferably on the top side of the carriage (in Fig. 3 not shown) which accommodate the base support and in which the base support 30 is guided. Adjusting means, such as servomotors, can be provided for moving the base support along the guide means. Alternatively, the guide means and adjusting means can also be implemented using linear axes with spindle drives. In principle, all guide means and adjusting means can be used, provided they are suitable for moving the base support 30 along a movement axis A. B to move.

[0031] According to a further aspect of the invention, the Fig. 2 and Fig. 3 shown embodiments. A base support 30 is then arranged on the carriage 5, which is movable relative to the base support along a movement axis A B is movable (as with reference to Fig. 3), wherein the base support 30 is pivoted about a rotation axis A D is rotatable relative to the carriage 5 (as described with reference to Fig. 2).

[0032] The two in Fig. 2 and Fig. In the embodiments of the invention shown in Figure 3, the lifting arm 20 has two lifting arm sections 20.1, 20.2. However, more than two lifting arm sections can also be provided. Two lifting arm sections are hingedly coupled to each other, so that one lifting arm section can be moved relative to the other lifting arm section. Suitable adjusting means can be assigned to each of the individual lifting arm sections to move them.

[0033] Corresponding adjusting means can also be assigned to the base support in order to move the base support around the rotation axis A D An adjusting device of the base support can also be provided to deflect the lifting arm relative to the base support (around the pivot axis A S ).

[0034] Fig. 4 shows a first application example of a positioning system according to the invention.

[0035] A positioning system 10 according to the invention is arranged on the carriage 5, as described above. The positioning system 10 here has a lifting arm 20, which consists of two lifting arm sections 20.1 and 20.2. The lifting arm sections are connected to one another in an articulated manner, so that the angle α between the two lifting arm sections can be changed. Around the pivot axis A SThe lifting arm 20 can be deflected to raise or lower the free end of the lifting arm or a receiving unit 21 arranged at the free end. In order to maintain the alignment of the receiving unit 21 during raising or lowering, the angle α between the two lifting arm sections 20.1 and 20.2 is continuously adjusted so that when the first lifting arm section 20.1 is pivoted relative to the base support 30, the second lifting arm section 20.2 always remains horizontally aligned. Without additional measures, the receiving unit 21 describes a curve during raising / lowering, as described with reference to Fig. 1 explains the state of the art.

[0036] According to the invention, however, the base support 30 can now be moved during the lifting or lowering of the receiving unit 21 along the movement axis A Bbe moved forwards or backwards relative to the carriage. This ensures that the receiving unit 21 is moved in a straight line or vertically when being raised or lowered, as indicated by the Fig. This is indicated by the double arrow shown in Figure 4. In particular, this avoids the need to move the carriage itself to achieve this straight or vertical movement of the pickup unit. Especially on uneven or dirty surfaces, vibrations can occur during travel, which can negatively impact inspection or maintenance.

[0037] Fig. 5 shows a second application example of a positioning system according to the invention.

[0038] A positioning system 10 according to the invention is arranged on the carriage 5, as described above with reference to Fig. 2 and Fig. 3. The positioning system 10 here has a lifting arm 20, which consists of two lifting arm sections 20.1 and 20.2. The lifting arm sections are connected to one another by hinges. Around the pivot axis A S the lifting arm 20 can be deflected in order to raise or lower the free end of the lifting arm or a receiving unit 21 arranged at the free end.

[0039] According to the invention, it is provided that the two lifting arm sections 20.1 and 20.2 are movable relative to each other and the lifting arm as such can be pivoted (raised / lowered) relative to the base support 30. Furthermore, the base support 30 can be rotated about the rotation axis A D rotated and along the movement axis A B In this configuration, the positioning system 10 can be moved so that the free end of the lifting arm can be moved freely in all three dimensions, as shown in Fig. 5 illustrated by motion path X.

[0040] The positioning system 10 can have a pressure-tight channel that runs from the base support 30 to the free end or to the receiving unit 21. On the carriage side, the pressure-tight channel can be coupled to the carriage 5 or to a pressurizing device of the carriage. The pressurizing device can be adapted to pressurize the pressure-tight channel with a fluid (gas or liquid) or to supply a fluid (gas or liquid) to the pressure-tight channel. The fluid is conveyed through the pressure-tight channel to the receiving unit 21. A flushing nozzle, to which the fluid can be supplied (optionally under high pressure), can be arranged on the receiving unit 21 by means of appropriately designed connecting means.

[0041] With the positioning system 10 according to the invention and a rinsing nozzle arranged on the receiving unit 21, for example, a high-pressure water jet can be provided, which can be specifically directed at a certain point in the channel or can be specifically moved along a path. In contrast to conventional rinsing devices, which emit multiple water jets non-specifically in multiple directions, a cleaning process can be carried out considerably more quickly (only that which needs to be cleaned is cleaned), and considerably less water is required for the cleaning process (since no water is required for channel sections not to be cleaned). Instead of water, air can also be supplied to the rinsing nozzle via the pressure-tight channel.

[0042] The pressure-tight channel or another pressure-tight channel can alternatively also be provided to guide electrical lines to the receiving unit 21 or to the actuating means of the positioning system 10.

[0043] Fig. 6 shows an embodiment of a receiving unit 21 of a positioning system according to the invention.

[0044] At the front or free end of the lifting arm 20, a receiving unit 21 for receiving, in particular detachably receiving, a device G is arranged. The receiving unit 21 can be pivoted relative to the lifting arm 20 or relative to the lifting arm section 20.2 over a predetermined angular range α, preferably over an angular range of 180°, particularly preferably over an angular range of 270°. This allows, for example, a camera arranged on the receiving unit 21 to be pivoted through 180°. One and the same camera can be used for both forward and reverse travel. Figure (a) shows a receiving unit 21 that is oriented towards the front, while figure (b) shows a receiving unit 21 that is pivoted through 180° and is therefore oriented towards the rear.

[0045] In a further aspect of the invention, it may be advantageous to stabilize a device arranged at the free end of the lifting arm 20 or at the receiving unit 21. For this purpose, the device can be arranged indirectly via a gimbal at the free end of the lifting arm or at the receiving unit 21. Alternatively, the positioning system, in particular the lifting arm, can be movable such that the movement of the positioning system corresponds to the function of a gimbal or the positioning system assumes the function of a gimbal.

[0046] Reference numerals of the invention 1 sewer inspection and / or maintenance system 5 trolleys 10 Positioning system 20 lifting arm 20.1, 20.2 Lifting arm sections of the lifting arm 20 21 Support unit or device carrier at the free end of the lifting arm 20 30 base supports A B axis of movement A D axis of rotation A S Swivel axis G Devices (e.g. camera, sensors, tools) K channel X motion path α Pivoting angle of the receiving unit 21 relative to the lifting arm 20 or angle α between the two lifting arm sections 20.1, 20.2Reference symbols to the prior art F Carriage H Heber HG joints of the lifter IK inspection camera K curve or movement curve QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] EP 2 689 227 A1 [0002, 0019]

Claims

[1] Positioning system (10) for channel inspection and / or maintenance systems (1) for positioning a device (G) in a channel (K), wherein the positioning system comprises a lifting arm (20) arranged on a base support (30), wherein - the lifting arm via a swivel axis (A S ) is deflectable or pivotable relative to the base support (30), - the base support (30) can be arranged on a carriage (5) of the sewer inspection and / or maintenance system (1), and - the base support (30) - along a movement axis (A B ) is movable or displaceable relative to the carriage (5), and / or - around a rotation axis (A D ) is rotatable relative to the carriage (5). [2] Sewer inspection and / or maintenance system (1) comprising a carriage (5) and a positioning system (10) for positioning devices (G) in a sewer (K), wherein - the positioning system comprises a lifting arm (20) which is arranged on a base support (30), - the base support (30) is arranged on the carriage (5), - the lifting arm via a swivel axis (A S ) is deflectable or pivotable relative to the base support (30), and - the base support (30) - along a movement axis (A B ) is movable or displaceable relative to the carriage (5), and / or - around a rotation axis (A D ) is rotatable relative to the carriage (5). [3] Positioning system (10) according to claim 1 or sewer inspection and / or maintenance system (1) according to claim 2, wherein a receiving unit (21) is arranged at the free end of the lifting arm (20) for receiving, in particular detachably receiving, the device (G). [4] Positioning system (10) according to claim 1 or sewer inspection and / or maintenance system (1) according to one of claims 2 or 3, wherein the lifting arm (20) has at least two lifting arm sections (20.1; 20.2) which are coupled to one another in an articulated manner, preferably via a rotary joint, and wherein the free end of one of the two lifting arm sections (20.1; 20.2) is arranged deflectably or pivotably on the base support (30). [5] Positioning system (10) according to claim 1 or sewer inspection and / or maintenance system (1) according to one of claims 2 to 4, wherein - the base support (30) is assigned a first controllable actuating means which is adapted - the lifting arm over the swivel axis (A S ) relative to the base support (30) or pivot, and / or - the base support (30) - along the axis of movement (A B ) is to be moved or displaced relative to the carriage (5), and / or - around the axis of rotation (A D ) relative to the carriage (5), and / or - one of the two lifting arm sections (20.1; 20.2) is assigned a second controllable actuating means which is adapted to move the one lifting arm section (20.1) relative to the other lifting arm section (20.2). [6] Positioning system (10) according to the preceding claim, wherein an absolute value encoder is assigned to the first controllable actuating means and / or the second controllable actuating means. [7] Positioning system (10) according to claim 3, wherein the receiving unit (21) is pivotable relative to the lifting arm (20) over a predetermined angular range (α), preferably over an angular range of 180°, particularly preferably over an angular range of 270°. [8] Positioning system (10) according to claim 3, wherein the receiving unit (21) - is rotatably arranged at the free end of the lifting arm (20), and / or - is designed in two parts, wherein a first part of the receiving unit is rotatable relative to the second part of the receiving unit. [9] Positioning system (10) according to claim 1 or channel inspection and / or maintenance system (1) according to one of claims 2 to 8, wherein a pressure-tight channel is formed in the lifting arm (20). [10] Positioning system (10) according to the preceding claim, wherein the pressure-tight channel is designed from one end to the other end of the lifting arm (20) as a continuous pressure-tight channel which is coupled to the carriage (5) on the carriage side. [11] Positioning system (10) for channel inspection and / or maintenance systems (1) for positioning a device (G) in a channel (K), wherein the positioning system has a lifting arm (20), wherein the device can be arranged at a free end of the lifting arm, wherein for stabilizing the device - the device can be arranged indirectly via a gimbal at the free end of the lifting arm, and / or - Positioning system is movable in such a way that the movements of the positioning system correspond to the function of a gimbal.

Images