EQUIPMENT CARRIER FOR CHANNEL INSPECTION AND / OR MAINTENANCE SYSTEM

Description

Field of invention

[0001] The invention relates to a sewer inspection and / or maintenance system with a device carrier for attaching devices to a carrier system of the sewer inspection and / or maintenance system, wherein the carrier system comprises a carriage. Background of the invention

[0002] Sewer inspection systems or sewer maintenance systems are known from the prior art, for example from EP 2 689227 A1. Fig. 1 Figure 1 shows the system known from EP 2 689 227 A1. The system consists of a carriage F and a lifting device H attached to it. An inspection camera IK is mounted at the free end of the lifting device H. The inspection camera has a specific interface. The free end of the lifting device H has a specific interface corresponding to the interface of the inspection camera. The inspection camera can thus be detached from and reattached to the lifting device. A disadvantage of this system is that the interface between the inspection camera and the lifting device is specific to the inspection camera. This means that only inspection cameras with exactly this type of interface can be attached to the lifting device. If a camera has a different interface, it is customary to use a correspondingly adapted lifting device. In other words, different lifting devices are provided for cameras with different interfaces, and these may need to be exchanged.

[0003] Another disadvantage is that the system has to be removed from the sewer to change the camera, and then reinserted after the camera and lifting device have been replaced. Long setup times can lead to significant time losses during sewer inspections.

[0004] US Patent 6,820,653 B1 discloses a multi-module device for inspecting and repairing pipes. The device comprises several modules, including a base module, a camera module, a sensor module, and a brush module. Each module can be connected to other modules to form an inspection device, a preparation device, a marking device, or a repair device.

[0005] From DE 100 29 764 A1, a carriage with a carriage core and at least four wheels is known, wherein a camera arm and / or a working arm can be attached to the carriage core. The carriage core has two interconnected longitudinal parts that enclose an opening and which, on their side facing the opening, have at least two parallel grooves over at least a portion of their length in the form of an upper pair of grooves and a lower pair of grooves. The camera arm or a working arm can be attached to the carriage by means of a fastening device.

[0006] US4773815 A discloses a manipulator that automatically changes tools with respect to its tool holder / tool ​​head, wherein several tools to be used are stored on a rack next to the manipulator. The manipulator is automatically actuated to detach one or more tools from its working head and attach one or more tools with respect to the working head. Object of the invention

[0007] The object of the present invention is therefore to provide solutions that make it possible to attach various devices to a sewer inspection and / or maintenance system without having to replace other components or parts of the sewer inspection and / or maintenance system, in order to enable more efficient maintenance and / or inspection of a sewer. Inventive solution

[0008] This problem is solved by a channel inspection and / or maintenance system according to the independent claim. Advantageous embodiments of the invention are specified in the dependent claims.

[0009] Accordingly, a canal inspection and / or maintenance system according to claim 1 is provided.

[0010] Because at least one connection of the first interface can be connected to at least one connection of the second interface, it is not necessary for the first and second interfaces to have the same number of connections, as long as one connection of the first interface can be connected to one connection of the second interface. This advantageously allows different devices to be attached to the device carrier, even if they belong to completely different categories of devices.

[0011] It is advantageous if the first connections and the second connections at least one connection for data transmission, and / or at least one connection for the transmission of electrical energy, and / or at least one hydraulic connection, and / or at least one pneumatic connection include.

[0012] The devices of the number of different devices can have a second adapter that corresponds to the first adapter of the device carrier, wherein the first adapter and the second adapter are designed in such a way that an arrangement of a device of the number of different devices on the device carrier is only possible in a predetermined position of the second adapter relative to the first adapter.

[0013] It can be advantageous if the first adapter and the second adapter can be coupled together in a fluid-tight manner.

[0014] The first connections of the first interface device can be coupled or connectable to lines arranged on the carrier system, wherein the lines are selected from the group consisting of data line, power line, compressed air line and high pressure line.

[0015] The devices, of which there are several different types, can have an identifier that allows the sewer inspection and / or maintenance system to determine which device is mounted on the equipment carrier.

[0016] The identifier can be stored in a storage medium arranged on or in the devices, wherein the device carrier has a reading device with which the identifier can be read from the storage medium of the device arranged on the device carrier.

[0017] The reading device can be coupled with a control or data processing unit of the channel inspection and / or maintenance system, and the reading device can be designed to transmit the read identifier to the control or data processing unit.

[0018] The first connections of the first interface device can be designed to be controllable, preferably depending on the device arranged on the device carrier.

[0019] In one embodiment of the invention, the lines, in particular the compressed air line and high-pressure line, can be controlled, preferably depending on the device arranged on the device carrier.

[0020] The lifting arm is preferably designed in such a way that the device carrier can be freely positioned in a channel or pipe with respect to several degrees of freedom. Brief description of the characters

[0021] Further details and features of the invention, as well as specific, 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 on which an inspection camera is arranged; Fig. 2 a sewer inspection and / or maintenance system according to the invention with a device carrier and a detailed view of a device carrier according to the invention; Fig. 3 adapter of a device carrier; Fig. 4 adapter of a device carrier; Fig. 5 a sewer inspection and / or maintenance system according to the invention with a device magazine arranged on the carrier system; Fig. 6 a schematic detailed view of a device magazine; and Fig. 7 a block diagram of a sewer inspection and / or maintenance system according to the invention. Detailed description of the invention

[0022] The present invention enables the detachable mounting of various devices to a trolley using a device carrier, without requiring the modification or replacement of modules or components of the carrier system. This is made possible by the adapters and interface devices of the device carrier and the devices. The devices can be of various classes, such as tools or inspection units. The tools can include, for example, milling cutters, gripping tools, flushing nozzles, or the like. The inspection units can include, for example, cameras or other sensor systems.

[0023] According to the invention, the devices can also include equipment and systems that remain in the channel after inspection or maintenance, such as RFID components, monitoring devices or the like.

[0024] The equipment magazine and carrier advantageously allow various devices to be carried into the sewer. The sewer inspection and / or maintenance system can thus perform equipment changes as needed without having to remove the entire system from the sewer. The carrier can also accommodate equipment and systems that remain in the sewer after inspection or maintenance – the equipment magazine is advantageously designed to carry such equipment and systems into the sewer as well.

[0025] "To take into the canal" means that the carrier system on which the equipment magazine is arranged, together with the equipment contained in the equipment magazine, can be brought into the canal and placed at the desired location in the canal.

[0026] Fig. 2 Figure (a) shows a channel inspection and / or maintenance system 1 according to the invention with a device carrier 21 and a detailed view of a device carrier according to the invention (Figure (b)).

[0027] The canal inspection and / or maintenance system 1 includes a vehicle.

[0028] A lifting arm 20 is arranged on the carriage 5, which advantageously comprises several arm sections articulated together. It is advantageous if the arm sections are movable relative to each other, and if the lifting arm 20 as such is movable relative to the carriage 5. It is further advantageous if each arm section is assigned an actuating means by which the arm section can be moved relative to the arm section to which it is articulated. This allows the free end of the lifting arm 20 to be moved as desired.

[0029] A device carrier 21 is arranged at the free end of the lifting arm 20, which can also be detached from the lifting arm 20 if required (i.e. optionally), for example for maintenance purposes.

[0030] The device carrier 21 can be designed to rotate about a pivot axis DA, so that, if necessary, the device arranged on the device carrier 21 can be swivelled about this axis DA.

[0031] According to the invention, it is provided that various devices G can be arranged on the device carrier 21. For this purpose, an adapter system 41 is provided, which essentially comprises a first adapter 41a and a second adapter 41b, wherein the first adapter 41a is assigned to the device carrier 21, and the second adapter 41b is assigned to the device G.

[0032] The two adapters, that is, adapter 21a of the device carrier 21 and adapter 21b of the device, are designed to correspond to each other and to allow the device to be locked onto the device carrier, preferably temporarily. The adapter system 41 includes a locking device for this purpose, which is not shown here.

[0033] The locking device comprises at least one controllable locking element arranged on the first adapter, i.e., on adapter 41a of the device carrier. The locking element can thus be coupled to a control unit of the carriage (carrier system), which can then control and monitor the locking process.

[0034] The locking device may, for example, include a radially extending pin that, when locked, can engage with a radially extending blind hole present on adapter 41b of the device. According to another example, the locking device may also include a type of clamping device into which the device adapter can be clamped. In principle, any type of locking device can be used as long as it is suitable for locking the device, with its adapter, to the adapter of the device carrier.

[0035] To prevent incorrect (incorrectly oriented) mounting of a device by the mounting bracket, it has proven advantageous if the two adapters 21a and 21b are designed such that mounting a device on the mounting bracket is only possible in a predetermined position of the device adapter 41b relative to the mounting bracket adapter 41a. This can be achieved, for example, by the geometry of the two adapters, or by positioning pins on the mounting bracket adapter (or on the device adapter) that can be engaged in positioning holes on the device adapter (or on the mounting bracket adapter) – naturally, the positioning pins and positioning holes are arranged so that they can only be brought together in a predetermined position of the two adapters relative to each other.

[0036] The adapter system can be designed so that adapter 41a of the device carrier and adapter 41b of the device can be coupled together in a fluid-tight (gas- and liquid-tight) manner. This prevents the ingress of dirt, liquids, or gases into the intermediate area of ​​the adapter system during sewer inspection or maintenance.

[0037] Figure (a) of Fig. 2 Figure 1 shows three devices G as examples, which can be arranged on the device carrier 21 by means of the two adapters 21a and 21b. Due to the interface device designed according to the invention, which is described below, devices of different device classes (sensor systems, cameras, normal tools, fluid-carrying tools such as rinsing nozzles, and the like) can be detachably attached to the device carrier.

[0038] Fig. 3 Figure (a) shows an adapter system 41 of a device carrier according to a first embodiment of the invention. Figure (b) schematically shows the adapter system 41, Figure (c) shows a section of the first adapter 41a along the section axis AA, Figure (d) shows a section of the second adapter 41b along the section axis BB, and Figure (c) shows an alternative embodiment of the second adapter.

[0039] The adapter system 41 comprises an adapter 41a assigned to the device carrier and an adapter 41b assigned to the device G, wherein the device carrier is in Fig. 3 "Assigned to the device carrier" or "assigned to the device" means that the device carrier / device has the respective adapter, or that the respective adapter is an integral part of the device carrier / device.

[0040] At the in Fig. 3 In the adapter system shown, adapters 41a and 41b each have a largely round cross-section, whereby adapter 21b of the device can be engaged with adapter 21a of the device carrier. The outer diameter of adapter 21b essentially corresponds to the inner diameter of adapter 21a. Of course, a reverse configuration with corresponding diameters is also possible – i.e., adapter 41a engages with adapter 41b.

[0041] The two adapters 41a and 41b have positioning means that ensure they can only engage in a specific position relative to each other. The second adapter 41b has a radially outward-projecting positioning pin 50 that engages in a corresponding recess 51 on the first adapter 41a when the two adapters 41a and 41b are brought together. Of course, other positioning means are also possible that ensure the two adapters can only be brought together in a specific way. Another type of positioning means is the geometry of the adapters – for example, the outer circumference of the second adapter and the inner circumference of the first adapter can have a polygonal shape, such that the two adapters can only be joined in a specific position relative to each other.

[0042] According to the invention, the device carrier has a first interface device 42a, and the devices G each have a second interface device 42b. Both interface devices 42a and 42b are configured to communicate with each other. For this purpose, the first interface device 42a has a number of first connections 45a, 45b, and 45c, and the second interface device 42b has a number of second connections 46a, 46b, and 46c, wherein at least one connection of the first connections 45a, 45b, and 45c can be connected to at least one connection of the second connections 46a, 46b, and 46c when a device is attached to the device carrier (by means of the adapters 41a and 41b).This means that the two interface devices 42a, 42b may also have a different number of connections, as long as a connection of the first interface device 42a can be coupled to a connection of the second interface device 42b when a device is attached to the device carrier.

[0043] Figure (b) shows a first adapter 41a of a device carrier and Figure (c) shows a second adapter 41b of a device. These two adapters, or rather the two interface devices 42a and 4b, each have four connections 45a; 45b; 45c and 46a; 46b; 46c, respectively, with connections 45b and 46b being duplicated. The connections of the first interface device 42a can each be connected to a connection of the second interface device 42b; for example, connection 45a can be connected to connection 46a, connection 45b can be connected to connection 46b, and connection 45c can be connected to connection 46c.

[0044] Figure (d) shows an alternative configuration of the interface devices 42b of the second adapter 41b. This interface device 42b according to Figure (d) can nevertheless be coupled with the interface device 42a according to Figure (b), since the port 46b can be coupled with the port 45b and the port 46c can be coupled with the port 45c.

[0045] The terminals 45b can be for electrical power transmission and / or data transmission. These two terminals are designed as plug-in connections, so that terminal 45b engages with terminal 46b to establish electrical contact between the two terminals. Alternatively, the electrical power transmission and / or data transmission terminals can also be designed as contactless connections, for example, if the electrical power / data is transmitted inductively or capacitively.

[0046] Connections 45a and 46a can be hydraulic connections, which can be used, for example, to supply a fluid, e.g., water, to a device G designed as a cleaning nozzle. The hydraulic connections are preferably designed to allow for pressure- and fluid-tight coupling.

[0047] Connections 45c and 46c can be pneumatic connections, which can be used, for example, to supply a gas, e.g., air, to a device G. For example, the gas supplied to the device can be used to pneumatically operate an actuator located on the device. The pneumatic connections are preferably designed to allow for pressure-tight coupling.

[0048] If adapter 41b is coupled to adapter 41a as shown in figure (d) according to figure (b), then ports 46b and 46c of interface device 42b are coupled to the corresponding ports 45b and 45c of interface device 42a, respectively. Ports 45a and the other of the two ports 45b are not required for the device used. In this case, it may be advantageous to provide a shut-off device, such as a valve, for port 45a.

[0049] The connections are each coupled to corresponding lines or supply lines 47a, 47b, 47c. For example, connections 45a (hydraulic connection) and 45c (pneumatic connection) can each be coupled to a high-pressure hose. Connection 45b can be coupled to data and / or power lines.

[0050] If, in the case of adapter 41b according to figure (d), the connection 45a of adapter 41a according to figure (b) is not required, the aforementioned shut-off device can also be provided in the corresponding supply line.

[0051] A device designed as a camera may, for example, have an air nozzle that creates a kind of air curtain in front of the camera lens, preventing dust or other particles from reaching the lens during operation. The interface device 42b of such a camera may have a data connection, a power connection, and a pneumatic connection. Nevertheless, this interface device 42b can be coupled to the interface device 42a shown in Figure (b) (the hydraulic connection 45a is present but not required).

[0052] The interface device 42b of a device designed as a flushing nozzle with camera can have a data connection, a power connection, and a hydraulic connection. Nevertheless, this interface device 42b can be coupled with the interface device 42a shown in Figure (b) (the pneumatic connection 45c is present but not required).

[0053] In another example, a camera without any additional functions is used as the device. In this case, the interface device 42b can have a data connection and a power connection. Nevertheless, this interface device 42b can be coupled with the interface device 42a shown in Figure (b) (the pneumatic connection 45c and the hydraulic connection 45a are present, but are not required).

[0054] Similarly, a flushing head without any further function can be used as a device. In this case, it is sufficient if the interface device 42b has only a hydraulic connection. Nevertheless, this interface device 42b can be coupled with the interface device 42a shown in Figure (b) (the pneumatic connection 45c and the two connections 45b are present, but are not required).

[0055] In one embodiment of the invention, the devices can each have an identifier that enables the channel inspection and / or maintenance system to determine which device is currently arranged on the device carrier.

[0056] The identifier can be stored in a storage medium located on or in the device, and the device carrier or the device carrier's adapter can have a reading device with which the identifier can be read from the storage medium of the device located on the device carrier. The storage medium can be an RFID tag that can be read with a reading device designed as an RFID reader. Alternatively, the storage medium can also be a barcode or QR code (which store the identifier in coded form) that can be read with a reading device designed as a barcode or QR code reader. When using a device magazine, as described below with reference to Fig. 5 As described, such an identifier can be omitted if the location of each device within the device magazine is known. However, using an identifier is advantageous when a device is manually attached to the device carrier. In this case, the system can automatically determine which device is attached to the carrier.

[0057] If the device mounted on the carrier is known, a system control unit, such as a control unit on the carriage or a control unit located outside the duct, can automatically deactivate the unnecessary lines / supply lines. The control unit can be configured to prevent an operator from unintentionally activating an unnecessary supply line.

[0058] Fig. 4 Figure (a) shows an adapter system 41 of a device carrier according to a further embodiment of the invention. Figure (a) schematically shows a first adapter 41a of the tool carrier and Figure (b) schematically shows a second adapter 41b of the device.

[0059] Unlike the Fig. 3 In the adapter system shown, the two adapters 41a and 41b do not interlock. Therefore, it may be advantageous to provide a circumferential sealing ring on adapter 41a and / or adapter 41b.

[0060] The function and operation of the two interfaces 42a and 42b correspond to the function and operation of the two with reference to Fig. 3 described interfaces.

[0061] Unlike the one in Fig. 3 In the described adapter system, two axially protruding positioning pins 50 are arranged on the first adapter 41a, which engage in corresponding recesses 51 on the second adapter 41b.

[0062] Even in the Fig. 4 The adapter system shown includes (not shown here) locking devices to lock the first adapter to the second adapter.

[0063] The aforementioned equipment carrier and adapter system, including the interface system, can be advantageously used to attach different devices, for example, to a lifting arm, without having to modify the lifting arm itself. They are particularly advantageous, however, when the devices need to be changed while the inspection and / or maintenance system is in operation, i.e., when it is located in the pipe. This is now possible without having to remove the inspection and / or maintenance system from the pipe.

[0064] According to another aspect of the invention, the carrier system, such as a carriage, has a device magazine for holding a number of devices.

[0065] A carrier system 5 with an attached equipment magazine is in Fig. 5 shown, a schematic view of a device magazine is in Fig. 6 shown.

[0066] The carrier system 5, which here is designed as a carriage, has a lifting arm 20, at the free end of which a tool carrier 21 is arranged, as described above. The tool carrier 21 has a first adapter 41a, which corresponds to the first adapter described above. A number of tools G are arranged in the tool magazine 60, wherein in Fig. 5 Seven devices are located in the device magazine 60. Each device has a second adapter 41b, which corresponds to the second adapters described above.

[0067] By means of the first adapter 41a and the second adapter 41b, a device can be detachably attached to the device carrier 21, wherein it is possible according to the invention that the device to be attached is arranged in the device magazine 60.

[0068] In order to pick up a device from the device magazine 60 with the device carrier 21 arranged on the lifting arm, the lifting arm 20 is designed such that the device carrier 21 arranged on it is movable between a number of device exchange positions P1 and at least one device insertion position P2. With n devices in the device magazine 60, the device carrier 21 can therefore assume n device exchange positions P1.

[0069] During device changeover, the lifting arm 20, with a device attached to the first adapter 41a, is moved to a first device changeover position P1a. The first adapter 41a is designed to detach the device attached to it from the first adapter 41a in this first device changeover position P1a, i.e., to place the device into the device magazine. The first device changeover position P1a corresponds to a position in or on the device magazine where the device is placed in the magazine.

[0070] The lifting arm 20 is then moved to a second device exchange position P1b without a device attached to the first adapter 41a. The first adapter 41a is configured to attach a device G, which is held in the device magazine 60, to the first adapter 41a in the second device exchange position P1b. The second device exchange position P1b corresponds to a position in or on the device magazine where the device to be received is located.

[0071] As described above, the first adapter 41a and the second adapter 41b have a locking device (not shown here) with which a device G arranged on the first adapter 41a or taken from the device magazine can be temporarily locked onto the first adapter.

[0072] The locking device comprises at least one controllable locking element arranged on the first adapter 41a, wherein the locking element is movable relative to the device carrier 21 between a locking position and an unlocking position. When a device is placed in the device magazine, the locking element is moved from the locking position to the unlocking position, thus releasing the device attached to the adapter 41a from the adapter 41a. When picking up a device from the device magazine, the locking element is in the unlocking position. After the device has been positioned on the first adapter 41a, the locking element is moved from the unlocking position to the locking position. The device is now firmly connected to the device carrier. The locking device can be described above with reference to Fig 2 correspond to the described locking device.

[0073] In one embodiment of the invention, the locking device can be moved from the locking position to the unlocking position when the lifting arm or the device carrier is not in a device exchange position. As explained above, the device can be one that remains in the duct after inspection or maintenance, for example, monitoring units or the like. Such devices can also be included in the device magazine and advantageously have a second adapter, as described above. With the aid of the device carrier 21 according to the invention, such devices can be removed from the device magazine and placed at a predetermined location in the duct. Such devices are hereinafter also referred to as "lost" devices.

[0074] It can be advantageous if lost devices also have a unique identifier, or a storage medium in which a unique device identifier is stored. In an advantageous embodiment, the storage medium is a writable storage medium, such as an RFID tag. The identifier can be read from the storage medium using a reading device arranged on the device carrier or on the device carrier's adapter. In an embodiment of the invention, in addition to the reading device, a writing device can also be provided on the device carrier or on the device carrier's adapter (or alternatively, a read / write device) with which the information can be written to the storage medium. For example, when a lost device is placed in the conduit, the system can write the position of the lost device in the conduit to the storage medium.

[0075] It is advantageous if each device stored in the device magazine has a predetermined position. A control unit that operates the lifting arm can then move or control the lifting arm independently (i.e., without human intervention) to the corresponding device exchange position and pick up the device stored there. An operator only needs to specify at an input device which device is to be picked up by the device carrier. The control unit then automatically places the device attached to the device carrier into the device magazine (provided a device is attached to the device carrier) and automatically picks up the desired device from the device magazine.

[0076] Since a predetermined position is also provided in the device magazine for the device to be placed there, the control unit can also move or control the lifting arm to the corresponding device change position.

[0077] The aforementioned identifier ensures that the control unit always knows which device is currently attached to the device carrier. If devices are only loaded from the device magazine, the control unit knows which device is currently attached to the device carrier even without such an identifier.

[0078] The loading and unloading of devices from and into the device magazine can thus be fully automated.

[0079] The equipment magazine 60 optionally features a locking device (not shown here) for a device G stored within it, which allows the device to be releasably locked in the equipment magazine 60 after it has been inserted. The locking device ensures that the device does not fall out of the equipment magazine during operation of the sewer inspection and / or maintenance equipment, which could occur, for example, due to vibrations from the transport vehicle. The locking device can be, for example, a magnet. However, the locking device can also include grippers or locking mechanisms.

[0080] In an advantageous embodiment of the invention, the locking device can be designed as a controllable locking device. Advantageously, it is controllable such that the release of a locking mechanism of a device to be removed from the device magazine 60 by the lifting arm 20 only occurs when the device is attached to the first adapter 41a. Whether the device is attached to the first adapter can be determined by means of the locking device associated with the first adapter (for locking a device to the first adapter), particularly if it is a controllable locking device.

[0081] Furthermore, it is advantageous if the safety device is controllable in such a way that a device to be placed in the device magazine 60 is locked in place before the device is released from the first adapter 41a. The control unit of the carriage can be designed for this purpose such that the device is only released from the first adapter 41a once the device is locked in the device magazine 60.

[0082] In both cases, this ensures that a device is never in an unsecured state.

[0083] The lifting arm 20 is designed such that the device carrier 21 can be freely positioned in a channel or pipe with respect to several degrees of freedom, i.e., it can be moved in all directions. It can also be advantageous if the device carrier itself is rotatably and / or pivotably mounted on the lifting arm.

[0084] A combination of the equipment magazine according to the invention with an equipment carrier according to the invention and the corresponding adapters for the equipment carrier and the equipment enables particularly efficient sewer inspection and / or maintenance. All necessary equipment (e.g., inspection camera, flushing nozzle, milling cutter, lost equipment, etc.) can be carried in the equipment magazine. The required equipment can be picked up from the equipment magazine using the equipment carrier and moved to any desired position with the aforementioned lifting arm.

[0085] Fig. 7 shows a block diagram of a channel inspection and / or maintenance system according to the invention.

[0086] An inspection and / or maintenance device of an inspection and / or maintenance system is arranged in a channel K and is movable within the channel. The inspection and / or maintenance device has a carriage 5 as a support system, on which an articulated lifting arm 20 is arranged. The lifting arm has two lifting arm segments that are articulated together, and the two lifting arm segments are movable relative to each other by means of an actuating device. A device carrier 21 is arranged at the free end of the lifting arm, which, as described above, has a first adapter that in turn has controllable locking means for locking a mounted device. The other end of the lifting arm is pivotally and / or rotatably articulated to the carriage, with corresponding actuating means provided for pivoting / rotating.The carriage can have a drive control 102, with which the drive units of the carriage wheels can be controlled.

[0087] The inspection and / or maintenance system further comprises an operating unit 101, which is coupled via a communication link 103 to a control unit 100 of the inspection and / or maintenance equipment. The communication link 103 can be wired or wireless.

[0088] The control unit 100 is in turn coupled or connected to the drive control 102, the equipment magazine 60, the actuating means of the lifting arm 20 or the lifting arm segments, and the equipment carrier 21. The adapter or the controllable locking means of the adapter can be controlled by means of the control unit 100. The previously described changing of a device can also be carried out by means of the control unit 100. Furthermore, the safety device of the equipment carrier can also be controlled by means of the control unit 100, as also described above.

[0089] The control unit 100 is shown here as part of the inspection and / or maintenance equipment. In an alternative embodiment of the invention, the control unit 100 can also be part of the operating unit, or the function of the control unit 100 can be taken over by the operating unit. Reference numeral of the invention

[0090] 1 Channel inspection and / or maintenance system 5 Carrier system (e.g., trolley) 20 Lifting arm of the carrier system 21 Equipment carrier 41 Adapter system 41a First adapter of the equipment carrier 21 41b Second adapter of the device G 42a First interface device of the equipment carrier 21 42b Second interface device of the device G 45a, 45b, 45c First connections of the first interface device 42a 46a, 46b, 46c Second connections of the second interface device 42b 47a, 47b, 47c Carrier system-side lines of the first connections 45a, 45b, 45c 50 Positioning pin 51 Recess for positioning pin 52 Seal 60 Equipment magazine 100 Control device of the carrier system 5 101 Operating unit 102 Drive control 103 Communication link DA Rotary axis Device(s) (e.g., camera, sensors, tools) Channel P1, P1a, P1b Device change positions P2 Device insertion position Reference to the state of the art

[0091] FCarriage HLifter IKInspection camera

Claims

1. Sewer inspection and / or maintenance system (1) comprising a carriage (5) and a number of different devices (G), wherein - a device carrier (21) is arranged on the carriage (5), wherein the device carrier (21) is arranged on a lifting arm (20) which is arranged on the carriage (5), - the carriage (5) has a device magazine (60) for holding the number of devices (G), - the device carrier (21) has a first adapter (41a) for detachably arranging one device from the number of different devices (G) on the device carrier, - the device carrier (21) has a first interface device (42a) and the number of different devices (G) each have a second interface device (42b), wherein the first interface device (42a) corresponds to the second interface device (42b), - the first interface device (42a) has a number of first connections (45a; 45b; 45c) and the second interface device (42b) has a number of second connections (46a; 46b; 46c), wherein at least one terminal of the first terminals (45a; 45b; 45c) can be coupled to at least one terminal of the second terminals (46a; 46b; 46c) when a device of the number of different devices (G) is attached to the device carrier (21), - the first adapter (41a) and / or the devices of the number of different devices (G) have a locking device with which a device of the number of different devices (G) arranged on the first adapter (41a) can be temporarily locked to the adapter, wherein the locking device comprises at least one controllable locking means arranged on the first adapter (41a).

2. Sewer inspection and / or maintenance system according to the preceding claim, wherein the first connections (45a; 45b; 45c) and the second connections (46a; 46b; 46c) - at least one connection for data transmission, and / or - at least one connection for transmitting electrical energy, and / or - at least one hydraulic connection, and / or - at least one pneumatic connection3. Sewer inspection and / or maintenance system according to one of the preceding claims, wherein the devices of the number of different devices (G) have a second adapter (41b) corresponding to the first adapter (41a) of the device carrier (21), wherein the first adapter (41a) and the second adapter (41b) are designed such that a device from the number of different devices (G) can only be arranged on the device carrier (21) in a predetermined position of the second adapter (41b) relative to the first adapter (41a).

4. Sewer inspection and / or maintenance system according to the preceding claim, wherein the first adapter (41a) and the second adapter (41b) can be coupled to each other in a fluid-tight manner.

5. Sewer inspection and / or maintenance system according to one of the preceding claims, wherein the first connections (45a; 45b; 45c) of the first interface device (42a) on the carriage side are coupled or can be coupled to lines (47a; 47b; 47c) arranged on the carriage (5), wherein the lines are selected from the group consisting of data lines, power lines, compressed air lines, and high-pressure lines. 47c) arranged on the carriage (5), wherein the lines are selected from the group consisting of data lines, power lines, compressed air lines, and high-pressure lines.

6. Sewer inspection and / or maintenance system according to one of the preceding claims, wherein the devices of the number of different devices (G) have an identifier that enables the sewer inspection and / or maintenance system to determine which device is arranged on the device carrier (21).

7. Sewer inspection and / or maintenance system according to the preceding claim, wherein the identifier is stored in a storage device arranged on or in the devices, wherein the device carrier (21) has a reading device with which the identifier can be read from the storage device of the device arranged on the device carrier.

8. Sewer inspection and / or maintenance system according to the preceding claim, wherein the reading device is coupled to a control or data processing device of the sewer inspection and / or maintenance system, and the reading device is designed to transmit the read identifier to the control or data processing device.

9. Sewer inspection and / or maintenance system according to one of the preceding claims, wherein the first connections (45a; 45b; 45c) of the first interface device (42a) are controllably designed, preferably depending on the device arranged on the device carrier.

10. Sewer inspection and / or maintenance system according to one of claims 5 to 9, wherein the lines (47a; 47b; 47c), in particular the compressed air line and high-pressure line, are controllable, preferably depending on the device (G) arranged on the device carrier (21).

11. Sewer inspection and / or maintenance system according to the preceding claim, wherein the lifting arm (20) is designed such that the device carrier (21) can be freely positioned in a sewer or pipe with respect to several degrees of freedom.