Device for placing and detecting a marker in a channel or pipe system

Abstract

Device comprising a carriage (50) of a sewer inspection and / or maintenance system, on which an arm (51) is arranged which is movable with several degrees of freedom relative to the carriage, wherein - a receiving means for receiving a marker (10), in particular an RFID transponder, is provided at a free end of the arm, - the arm is designed to move the receiving device with the marking (10) received by it to a predetermined location in a pipeline and / or duct system, and - the recording device is designed to place the mark at the predetermined location.

Description

Field of the invention

[0001] The invention relates to a device for applying and detecting a marking in a channel or pipe system. Background of the invention

[0002] When rehabilitating sewers, such as wastewater canals, it is common practice to first inspect the sewer. Based on the results of the inspection, the sewer is then rehabilitated. During the rehabilitation process, the area to be rehabilitated is determined using a length measurement. For example, a milling device is moved along the sewer to a point in the sewer that needs to be cleared (e.g., in the area of ​​a side inlet covered by an inliner). The position of the point to be cleared can be specified as the distance from the sewer manhole (the distance can be determined during an inspection using a length measurement).

[0003] However, length measurement (both during inspection and during renovation) is complex and can be error-prone, which can lead to the milling process not being carried out at the desired location.

[0004] The relevant location (e.g., the side inlet concealed by a liner) can also be determined using sophisticated, highly sensitive radar technology. By analyzing the reflected radar waves, an air pocket behind the liner can be detected. The liner can then be removed at this location. However, the use of radar technology is not always reliable, as it can also lead to defects (cavities between the liner and the channel wall) being mistakenly interpreted as side inlets. Therefore, this measurement method is not suitable for automated milling. Object of the invention

[0005] The object of the present invention is therefore to provide solutions that enable simple and safe localization of predetermined locations (e.g. a location to be milled free) in the canal, in order to ensure correct rehabilitation of the canal. Inventive solution

[0006] This object is achieved by the devices according to the independent claims. Advantageous embodiments of the invention are specified in the respective dependent claims.

[0007] Accordingly, a device is provided comprising a carriage of a sewer inspection and / or maintenance system, on which an arm is arranged which is movable with several degrees of freedom relative to the carriage, wherein - at a free end of the arm, receiving means for receiving a marking, in particular an RFID transponder, are provided, - the arm is designed to move the receiving means with the marking received thereby to a predetermined location in a pipeline and / or channel system, and - the receiving means is designed to apply the marking at the predetermined location.

[0008] A magazine for receiving a number of markers can be provided on the carriage, wherein the arm is further configured to move the receiving means to the magazine and wherein the receiving means is further configured to receive a marker from the magazine.

[0009] It may be advantageous if an RFID writing device is arranged on the carriage and / or on the arm and / or on the receiving means, which is adapted to write data to the RFID transponder before, during or after the attachment of the transponder.

[0010] The data may include: - an identifier, in particular a unique identifier, - Position of a side inlet of the piping and / or duct system, - Angle of a side inlet of the piping and / or duct system, - Diameter of a side inlet of the piping and / or sewer system, - Diameter of the piping and / or duct system - Position of the RFID transponder relative to the center point of a side inlet of the piping and / or duct system, - Distance to the starting point of the posture, - geometry of the side inlet of the piping and / or duct system, and - combinations thereof.

[0011] The marking can be selected from the group comprising - Applying a marking to an inner wall of the piping and / or duct system, - Inserting the marking into a recess made or existing on the inner wall of the piping and / or duct system, and - clamping the marking using clamping devices in the piping and / or duct system, in particular in a side inlet of the piping and / or duct system.

[0012] Furthermore, a device is provided comprising a carriage of a sewer inspection and / or maintenance system and an RFID reading device.

[0013] The RFID reading device can be adapted to detect an RFID transponder mounted in the channel.

[0014] The RFID reading device or a data processing device coupled to the RFID reading device can be adapted to determine the position of the RFID transponder relative to the RFID reading device and, from the determined position of the RFID transponder relative to the RFID reading device, to determine the location (i.e. the position of the marking in the channel) at which the marking is applied.

[0015] Several methods are also described below, with which the functioning of the devices according to the invention is explained in more detail.

[0016] A method is described for applying a marking at a specific location in a pipeline and / or duct system, wherein - an inspection and / or maintenance system in the piping and / or sewer system is brought into the area of ​​the specific location, - the inspection and / or maintenance system applies the marking at the specified location, wherein the marking comprises an RFID transponder.

[0017] The marking can be selected from the group comprising - Applying the marking to an inner wall of the piping and / or duct system or to an object located in the piping and / or duct system (e.g. a sleeve), - Inserting the marking into a recess made or existing on the inner wall of the piping and / or duct system, and - clamping the marking using clamping devices in the piping and / or duct system, in particular in a side inlet of the piping and / or duct system.

[0018] Before, during or after the RFID transponder is attached, it can be written with data, preferably by means of an RFID writing device arranged on the inspection and / or maintenance system.

[0019] The data can be selected from the group comprising - an identifier, in particular a unique identifier, to identify the RFID transponder, - Position of a side inlet of the piping and / or duct system, - an identifier and / or the position of the specific location (e.g. the identifier of an object in the channel and its position in the channel), - Angle of a side inlet of the piping and / or duct system, - Diameter of a side inlet of the piping and / or sewer system, - Diameter of the piping and / or duct system - Position of the RFID transponder relative to the center point of a side inlet of the piping and / or duct system, - Distance to the starting point of the posture, - geometry of the side inlet of the piping and / or duct system, and - combinations thereof.

[0020] Also described is a method for detecting a marking in a piping and / or duct system, wherein the marking is applied at a specific location in the piping and / or duct system, wherein the marking comprises an RFID transponder, wherein - an inspection and / or maintenance system having an RFID reader, which is moved or advanced in the piping and / or duct system until the RFID reader detects the RFID transponder, - the RFID reading device or a data processing device coupled to the RFID reading device determines the position of the RFID transponder relative to the RFID reading device, and - the specific location at which the marking is applied is determined from the determined position of the RFID transponder relative to the RFID reading device.

[0021] It can be advantageous if data stored in the RFID transponder is read out (using the RFID reading device).

[0022] The determined position of the RFID transponder can correspond to the position of a side inlet of the piping and / or duct system or the position of an object in the piping and / or duct system. Alternatively, based on the read data and the determined position of the RFID transponder, the position of a side inlet of the piping and / or duct system or the position of an object in the piping and / or duct system can be determined.

[0023] Also described is a method for rehabilitating a section of a pipeline and / or sewer system, wherein a side inlet leads from the section, wherein - a marking is applied in the area of ​​the side inlet or in the side inlet, preferably using an inspection and / or maintenance system, the marking comprising an RFID transponder, - wherein an inliner is inserted into the section, wherein the inliner at least partially covers or conceals the side inlet, - with an RFID reading device, which is preferably arranged on an inspection and / or maintenance system, the RFID transponder is detected, - the position of the RFID transponder relative to the RFID reader is determined, whereby - the determined position of the RFID transponder corresponds to the position of a side inlet of the piping and / or duct system, or - data is read from the RFID transponder and based on the read data and the determined position of the RFID transponder, a position of the side inlet of the piping and / or duct system is determined, and - the inliner is removed at the position of the side inlet, preferably using a milling device of the inspection and / or maintenance system to expose the side inlet.

[0024] The marking can be selected from the group comprising - Applying the marking to an inner wall of the piping and / or duct system, - Inserting the marking into a recess made or existing on the inner wall of the piping and / or duct system, and - clamping the marking using clamping devices in the piping and / or duct system, in particular in a side inlet of the piping and / or duct system.

[0025] The data may include - an identifier, in particular a unique identifier, - Position of a side inlet of the piping and / or duct system, - Angle of a side inlet of the piping and / or duct system, - Diameter of a side inlet of the piping and / or sewer system, - Diameter of the piping and / or duct system - Position of the RFID transponder relative to the center point of a side inlet of the piping and / or duct system, - Distance to the starting point of the posture, - geometry of the side inlet of the piping and / or duct system, and - combinations thereof. Short description of the characters

[0026] 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 an example of a device (trolley) in a channel with which a marking can be applied in the channel; and Fig. 2 an example of a device (trolley) in a channel with which a marking in the channel can be detected. Detailed description of the invention

[0027] The invention makes it possible to locate predetermined locations (e.g. a location to be milled freely or an object in the channel, such as a sleeve) in the channel reliably and accurately.

[0028] In this process, markers, such as RFID tags or transponders, are applied to specific locations in the sewer, for example, during a sewer inspection. The markers can be detected automatically and accurately, for example, by a milling robot. If the pipe to be repaired is covered with an inliner, the areas to be milled can be easily and, above all, accurately detected.

[0029] The marker can be placed at the location itself or at a position relative to it. Adhesive techniques can be used for placement, the marker can be inserted into a drilled / milled location or recess in the pipe wall, or the marker can be clamped to support components in the side inlet. During or after placement, the marker or RFID transponder can be written with additional data, especially if the marker is placed relative to the actual location.

[0030] A carriage or sliding system with an RFID reader can determine the position of the RFID transponder relative to the RFID reader with millimeter precision using measured values ​​such as the RSSI (Received Signal Strength Indicator). Additional data stored in the RFID transponder can be read and used, for example, as information for a subsequent milling process.

[0031] The method also has the advantage that the RFID transponder can be detected even if it is covered by an inliner, for example.

[0032] Fig. Figure 1 shows a carriage 50 in a channel 1, which is used to apply markers 10 to the channel. In this example, the markers are RFID transponders.

[0033] The carriage 50 has an arm 51, which is movable relative to the carriage 50 with several degrees of freedom. At the free end of the arm 51, a receiving means for receiving an RFID transponder 10 is provided. The receiving means can be a type of gripper with which the RFID transponder 10 can be held.

[0034] A magazine 52 is arranged on the carriage, in which a number of RFID transponders are accommodated. The arm 51 is preferably designed such that it can move the receiving means to the magazine in order to remove an RFID transponder from the magazine. The magazine is optional, so that according to the invention, only a single RFID transponder can be transported into the channel with the carriage and attached there.

[0035] The arm 51 is further configured to move the receiving means with the RFID transponder 10 received thereby to a predetermined location in the channel 1 and to attach it at the predetermined location in the channel.

[0036] In Fig. 1 shows several RFID transponders 10 already installed in the duct. Two RFID transponders 10 have been attached to the inner duct wall, for example, using an adhesive to the inner duct wall 2. Another RFID transponder 10 has been inserted into a recess 2a of the inner duct wall 2 - here, too, an adhesive can be used to secure the RFID transponder 10 in the recess 2a. Another RFID transponder 10 has been attached to the wall 2 of a side inlet 3. Yet another RFID transponder 10 has been fastened in the side inlet 3 using clamping devices. Other suitable systems can also be used to fasten the RFID transponder 10 at a predetermined location in the duct, e.g., magnetic fastening, pressing in, or the like.

[0037] In the case of plastic pipes or a duct made of plastic pipes, a transponder holder on which the RFID transponder is arranged can be heated and the heated transponder holder can be fused to the inner wall of the pipe.

[0038] Other suitable fastening methods are also possible, as long as the RFID transponders according to the invention are attached to an inner wall 2 of the piping and / or sewer system in such a way that they remain there at least temporarily. "Remain there temporarily" here means that the RFID transponders remain there at least until the purpose of the marking has been fulfilled (e.g., until a sewer rehabilitation system has detected the RFID transponder). After the purpose has been fulfilled, the RFID transponders can remain in the sewer or be removed again.

[0039] Although in Fig. 1 shows several RFID transponders 10 mounted in the channel, one RFID transponder 10 is usually sufficient to mark, for example, a location in the channel to be processed.

[0040] However, multiple RFID transponders 10 per location to be processed can increase accuracy or be advantageous for redundancy purposes. For example, a specific location in the channel can be determined using triangulation from several RFID transponders placed at a distance from each other.

[0041] Before, during or after the attachment of an RFID transponder 10, it can be written with data, preferably by means of an RFID writing device 22, which is arranged here at the front end of the arm 51.

[0042] The following data or types of data have proven to be advantageous, although the invention is not limited to these data or types of data: - an identifier, in particular a unique identifier, - Position of a side inlet of the piping and / or duct system, - Angle of a side inlet of the piping and / or duct system, - diameter of a side inlet of the piping and / or duct system (1), - Diameter of the piping and / or duct system, - Position of the RFID transponder relative to the center point of a side inlet of the piping and / or duct system, - Distance to the starting point of the posture, - an identifier and / or the position of the specific location (for example, an identifier of an object (such as a sleeve) and a position of the object in the channel can be stored), - geometry of the side inlet of the piping and / or duct system, and - combinations thereof.

[0043] For example, an RFID transponder 10 can be placed next to a side inlet 3. If the position of the RFID transponder relative to the center point of a side inlet and the diameter of the side inlet are stored as data in this RFID transponder, a milling system, for example, can mill an inliner precisely at this location (center point) and in the correct size based on this data.

[0044] It is also possible, for example, to place the RFID transponder 10 opposite the area to be machined or the side inlet in the channel. Based on the position of a side inlet stored in the RFID transponder 10, the area to be milled can still be correctly determined.

[0045] Fig. 2 shows a carriage (designed as a milling device) in a channel with which a marking in the channel can be detected.

[0046] A side inlet 3 branches off from the canal.

[0047] In a previous inspection process, an RFID transponder 10 was attached to the inner channel wall 2 in the area near the side inlet 3 (as described with reference to Fig. 1). Using an RFID writing device, the position (as distance Δx) of the RFID transponder relative to the center of the side inlet 3 and the diameter D of the side inlet 3 were stored as data in the RFID transponder 10.

[0048] In a subsequent rehabilitation process, an inliner 30 was installed in area 1a of the sewer, covering the side inlet 3. Furthermore, the inliner also conceals the RFID transponder 10.

[0049] With the Fig. 2, which is designed as a milling device, the inliner in the area of ​​the side inlet is to be removed again in order to restore the function of the side inlet.

[0050] The carriage 50 has an arm 51, which is movable relative to the carriage 50 with several degrees of freedom. A milling device 55 is arranged at the free end of the arm 51, with which the side inlet is to be opened or the inliner in the area of ​​the side inlet is to be removed.

[0051] An RFID reader 20 is arranged at the front end of arm 51. The RFID reader detects the RFID transponder 10 (as soon as it is within range of the RFID reader). The RFID reader also reads the data stored in the RFID transponder—in this example, the position (as distance Δx) of the RFID transponder 10 relative to the center of the side inlet 3 and the diameter D of the side inlet 3.

[0052] When the RFID transponder 10 is detected, the position of the RFID transponder 10 relative to the RFID reading device 20 is determined with millimeter precision using measured values ​​such as RSSI (Received Signal Strength Indicator).

[0053] With - the position of the RFID transponder 10 relative to the RFID reading device 20, - the position (as distance Δx) of the RFID transponder 10 relative to the center of the side inlet 3 and - the diameter D of the side inlet 3, the position of the side inlet relative to the carriage 50 (or relative to the milling device 55) and the diameter of the side inlet are known, so that a precise opening of the side inlet is ensured.

[0054] Based on this information, the arm 51 and the milling device 55 can be controlled so that the milling device 55 removes the inliner exactly in the area of ​​the side inlet 3.

[0055] For this purpose, the RFID reader 20 can be coupled to a data processing device 21 of the carriage, which, based on this information, takes over control of the arm 51 and the milling device 55. If necessary, the data processing device 21 can also take over control of the carriage 50, for example, if the carriage still needs to be moved so that the milling device 55 can reach the location to be milled.

[0056] This not only enables safe and precise removal of the liner in the area of ​​the side inlet. After detecting the RFID transponder 10 and reading the data from the RFID transponder, the carriage 50, designed as a milling device, can open the side inlet completely autonomously, i.e., without human intervention.

[0057] The installation of an RFID transponder in the sewer and the detection of an attached RFID transponder for the purpose of sewer rehabilitation with an inliner that must be partially removed again have been described above.

[0058] However, according to the invention, RFID transponders can also be installed in the sewer for other purposes and subsequently detected. For example, during a sewer inspection, RFID transponders can be installed at predetermined locations in the sewer, which must be located again at a later time, for example, when measurements need to be performed with different inspection systems and the measurements require a common, unique reference point to which the different inspection systems can align. List of reference symbols 1 piping and / or duct system 1a Section of the piping and / or sewer system 2 Inner wall of the piping and / or duct system 1 2a Recess on the inner wall 2 3 side inlets 10 Marking (e.g. RFID transponder) 20 RFID readers 21 Data processing facility 22 RFID writing device 30 inline skates 50 trolleys 51 Arm of the carriage 50 52 Magazine 55 Milling device Δx distance D Diameter of the side inlet

Claims

[1] Device comprising a carriage (50) of a sewer inspection and / or maintenance system, on which an arm (51) is arranged which is movable with several degrees of freedom relative to the carriage, wherein - receiving means for receiving a marking (10), in particular an RFID transponder, are provided at a free end of the arm, - the arm is designed to move the receiving means with the marking (10) received thereby to a predetermined location in a pipeline and / or channel system, and - the receiving means is designed to apply the marking at the predetermined location. [2] Device according to the preceding claim, wherein a magazine (52) for receiving a number of markers is provided on the carriage, wherein the arm is further configured to move the receiving means to the magazine and wherein the receiving means is further configured to receive a marker from the magazine. [3] Device according to one of the two preceding claims, wherein an RFID writing device (22) is arranged on the carriage and / or on the arm and / or on the receiving means, which is adapted to write data to the RFID transponder before, during or after the attachment of the transponder. [4] Device according to the preceding claim, wherein the data comprises - an identifier, in particular a unique identifier, - Position of a side inlet (3) of the piping and / or duct system (1), - angle of a side inlet (3) of the piping and / or duct system (1), - diameter of a side inlet (3) of the piping and / or duct system (1), - Diameter of the piping and / or duct system (1) - Position of the RFID transponder (10) relative to the center point of a side inlet (3) of the piping and / or duct system (1), - Distance to the starting point of the posture, - geometry of the side inlet (3) of the piping and / or duct system (1), and - combinations thereof. [5] Device according to one of the preceding claims, wherein the application of the marking (10) is selected from the group comprising - Applying a marking to an inner wall (2) of the piping and / or duct system (1), - Inserting the marking into a recess (2a) made or present on the inner wall (2) of the piping and / or duct system (1), and - clamping the marking using clamping means in the pipe and / or channel system (1), in particular in a side inlet (3) of the pipe and / or channel system (1). [6] Device comprising a carriage of a sewer inspection and / or maintenance system and an RFID reading device. [7] Device according to the preceding claim, wherein the RFID reading device is adapted to detect an RFID transponder mounted in the channel. [8] Device according to one of the two preceding claims, wherein the RFID reading device (20) or a data processing device (21) coupled to the RFID reading device (20) is adapted to determine the position of the RFID transponder (10) relative to the RFID reading device (20), and to determine from the determined position of the RFID transponder (10) relative to the RFID reading device (20) the location (i.e. the position of the marking in the channel) at which the marking is applied.

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