POSITIONING SYSTEM FOR CHANNEL INSPECTION AND / OR MAINTENANCE SYSTEMS

Description

Field of invention

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

[0002] Sewer inspection systems with a carriage and a positioning system attached to it are known from the prior art, for example from EP 2 689 227 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. The lifting device H has several joints HG. An inspection camera IK is mounted at the free end of the lifting device H. The lifting device H can be raised or lowered by means of pneumatic actuators, so that the camera attached to the lifting device is also raised or lowered. A disadvantage of this system, however, is that the camera can only be raised or lowered, which significantly limits the possibilities for sewer inspection. Furthermore, it is a disadvantage that the camera cannot be raised or lowered exactly vertically, but rather describes a curve during the raising or lowering process, as shown in Figure 2. Fig. 1 This is indicated by the arc K. This can lead to a change in the distance between the camera and the surface being inspected, which may necessitate readjusting the camera's focus.

[0003] 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.

[0004] US Patent 4,773,815 discloses an automatic manipulator capable of executing various programs and adaptively controlled operations. It incorporates automatic tool-changing devices by which the manipulator transfers tools to its tool holder. The tools to be used are held on a rack next to the manipulator. The manipulator has a movable arm that is height-adjustable, and the free end of this arm holds the tools.

[0005] US patent 2016 / 0334693 A1 discloses a camera mount designed as an articulated arm for attaching a camera. The disclosed camera mount comprises a base, one or more arms, and a head, which are movably connected to one another. The camera mount is rotatable relative to the base.

[0006] From CN 212255120 U, a bridge inspection robot is known which has a chassis and a lifting arm attached to the chassis. A tool is arranged at the free end of the lifting arm. The lifting arm is rotatable about a pivot axis relative to the chassis.

[0007] US Patent 2022 / 0356695 A1 discloses a sewer inspection system comprising a crawler and a lifting arm. The lifting arm is mounted on a base, which in turn is attached to the crawler. A camera is mounted at the free end of the lifting arm. Object of the invention

[0008] The object of the present invention is therefore to provide solutions that expand the possibilities of sewer inspection and / or sewer maintenance. Inventive solution

[0009] This problem is solved by a channel inspection and / or maintenance system with a positioning system according to the independent claim. Advantageous embodiments of the invention are specified in the dependent claims.

[0010] The provision therefore includes a sewer inspection and / or maintenance system comprising a carriage and a positioning system for positioning equipment in a sewer, wherein the positioning system has a lifting arm which is arranged on a base support, the base support is arranged on the carriage, the lifting arm is pivotable about a pivot axis relative to the base support, and the base support is movable or travelable along a movement axis relative to the carriage, wherein the movement axis runs parallel to the longitudinal axis of the carriage, and a first controllable actuating means is assigned to the base support which is adapted to move or travel the base support along the movement axis relative to the carriage.

[0011] The base support can be rotated about an axis of rotation relative to the carriage.

[0012] It is advantageous if a receiving unit is arranged at the free end of the lifting arm for receiving, in particular detachable receiving, the device.

[0013] The lifting arm can have at least two lifting arm sections which are articulated, preferably via a swivel joint, coupled to each other, wherein the free end of one of the two lifting arm sections is arranged to be deflectable or pivotable on the base support.

[0014] It can be advantageous if a first controllable actuating device is assigned to the base carrier, which is adapted to pivot the lifting arm about the pivot axis relative to the base carrier, and / or to rotate the base carrier about the rotation axis relative to the carriage, and / or One of the two lifting arm sections is assigned a second controllable actuator that is adapted to move one lifting arm section relative to the other lifting arm section.

[0015] An absolute encoder can be assigned to the first and / or second controllable actuator. This avoids the need for homing movements of the positioning system.

[0016] It can 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 a further degree of freedom to the positioning system.

[0017] The recording unit can be rotatably arranged 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.

[0018] In one embodiment of the invention, at least one pressure-tight channel can be formed in the lifting arm.

[0019] 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.

[0020] The pressure-tight channel may have connection means to supply it with a fluid (gas or liquid), especially under high pressure.

[0021] To stabilize the device, it may be provided that the device can be arranged indirectly via a gimbal at the free end of the lifting arm, and / or the positioning system can be moved in such a way that the movements of the positioning system correspond to the function of a gimbal. Brief description of the characters

[0022] 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 channel inspection system known from the prior art with a lifter arranged thereon; Fig. 2 a positioning system according to a first aspect of the invention, outside the scope of protection of the claims; Fig. 3 a positioning system according to a second aspect of the invention; Fig. 4 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

[0023] The positioning system according to the invention advantageously makes it possible to significantly expand the possibilities of 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 jacks as those known from 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, whereby 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) can be positioned almost arbitrarily in the sewer.

[0024] Fig. 2 Figure 1 shows a positioning system according to the invention according to a first aspect of the invention, outside the scope of protection of the claims.

[0025] A positioning system 10 is provided on a carriage 5, which is movable or slidable in a channel. The positioning system essentially comprises a lifting arm 20. The lifting arm 20 can consist of several lifting arm sections 20.1, 20.2, and more than two lifting arm sections may 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 releasably receiving, a device G. The device G can comprise a tool, a camera, sensors, or the like.

[0026] The lifting arm 20 is arranged on a base support 30. The base support 30, in turn, is arranged on, or can be arranged on, the carriage 5. It can be advantageous if the base support is detachably arranged on the carriage. This allows the lifting arm 20 to be replaced if necessary, or removed if it is not needed.

[0027] The lifting arm 20 is articulated to the base support 30, preferably in such a way that it can pivot relative to the base support 30 via a pivot axis AS. This allows the lifting arm to be raised or lowered.

[0028] The base support 30 is rotatable about an axis of rotation AD relative to the carriage 5, preferably in both directions. Preferably, the base support 30 is rotatable about an axis of rotation AD through an angle of at least 90°, particularly preferably through an angle of 180°, and most preferably through an angle of 360°. If, for example, a camera is attached to the lifting arm 20 as a device G, a 360° view can be achieved with appropriate dimensioning and alignment of the lifting arm 20 or the lifting arm sections 20.1, 20.2, without the need to move the camera itself relative to the lifting arm. According to another application example, the camera can, for example, be aligned perpendicular to the pipe wall.

[0029] Fig. 3 shows a positioning system according to the invention according to a second aspect of the invention.

[0030] A positioning system 10 is provided on a carriage 5, which is movable or slidable in a channel. The positioning system essentially comprises a lifting arm 20. The lifting arm 20 can consist of several lifting arm sections 20.1, 20.2, and more than two lifting arm sections may 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 releasably receiving, a device G. The device G can comprise a tool, a camera, sensors, or the like.

[0031] The lifting arm 20 is arranged on a base support 30. The base support 30, in turn, is arranged on, or can be arranged on, the carriage 5. It can be advantageous if the base support is detachably arranged on the carriage. This allows the lifting arm 20 to be replaced if necessary, or removed if it is not needed.

[0032] The lifting arm 20 is articulated to the base support 30, preferably in such a way that it can pivot relative to the base support 30 via a pivot axis AS. This allows the lifting arm to be raised or lowered.

[0033] The base support 30 is movable along a movement axis AB relative to the carriage. This means that the base support 30 can be shifted or moved along this movement axis AB. The movement axis AB is parallel to the longitudinal axis of the carriage, i.e., the base support 30 can be moved forwards or backwards on the carriage 5.

[0034] For this purpose, guide means can be provided on the carriage 5, preferably on the top of the carriage (in Fig. 3 (not shown), which accommodate the base carrier and in which the base carrier 30 is guided. Actuating devices, such as servo motors, can be provided for moving the base carrier along the guides. Alternatively, the guides and actuating devices can also be implemented using linear axes with spindle drives. In principle, all guides and actuating devices can be used, provided they are suitable for moving the base carrier 30 along a movement axis AB.

[0035] According to another aspect of the invention, the in the Fig. 2 und Fig. 3 The configurations shown can be combined. A base support 30 is then arranged on the carriage 5, which is movable relative to the base support along an axis of movement AB (as with reference to Fig. 3 described), wherein the base support 30 is rotatable about a pivot axis AD relative to the carriage 5 (as with reference to Fig. 2 (described).

[0036] In the two in Fig. 2 und Fig. 3 In the embodiments of the invention shown, the lifting arm 20 has two lifting arm sections 20.1, 20.2. However, more than two lifting arm sections can also be provided. Each pair of lifting arm sections is articulated together so that one lifting arm section can be moved relative to the other lifting arm section. Suitable actuating means can be assigned to each individual lifting arm section for moving it.

[0037] Corresponding positioning devices can also be assigned to the base carrier to rotate the base carrier about the axis of rotation AD. A positioning device of the base carrier can also be provided to deflect the lifting arm relative to the base carrier (about the pivot axis AS).

[0038] Fig. 4 shows a first application example of a positioning system according to the invention.

[0039] A positioning system 10 according to the invention is arranged on the carriage 5, as described above. The positioning system 10 has a lifting arm 20, which consists of two lifting arm sections 20.1 and 20.2. The lifting arm sections are pivotally connected to each other so that the angle α between the two lifting arm sections can be changed. The lifting arm 20 can be deflected about the pivot axis AS to raise or lower the free end of the lifting arm or a receiving unit 21 arranged at the free end. To maintain the orientation 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 pivots relative to the base support 30, the second lifting arm section 20.2 always remains horizontally aligned.Without additional measures, the recording unit 21 describes a curve when raising / lowering, as with reference to . Fig. 1 explained in relation to the state of the art.

[0040] According to the invention, the base support 30 can now be moved forwards or backwards along the axis of movement AB relative to the carriage during the raising or lowering of the receiving unit 21. This ensures that the receiving unit 21 moves in a straight line or vertically during raising or lowering, as described in the Fig. 4 The double arrow shown indicates this. In particular, this avoids the need to move the carriage itself to achieve this straight or vertical movement of the receiving unit. Especially on uneven or dirty surfaces, vibrations can occur during travel, which can negatively affect inspection or maintenance.

[0041] Fig. 5 shows a second application example of a positioning system according to the invention.

[0042] A positioning system 10 according to the invention is arranged on the carriage 5, as above with reference to Fig. 2 und Fig. 3 The positioning system 10 has a lifting arm 20, which consists of two lifting arm sections 20.1 and 20.2. The lifting arm sections are articulated together. The lifting arm 20 can be deflected about the pivot axis AS in order to raise or lower the free end of the lifting arm or a receiving unit 21 arranged at the free end.

[0043] According to the invention, 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 axis of rotation AD and moved along the axis of movement AB. In this configuration, the positioning system 10 can be moved such that the free end of the lifting arm can be moved freely in all three dimensions, as shown in Fig. 5 Illustrated by movement path X.

[0044] The positioning system 10 can have a pressure-tight channel extending 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 pressurization device of the carriage. The pressurization 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 can be arranged on the receiving unit 21 by means of appropriately designed connecting elements, to which the fluid (optionally under high pressure) can be supplied.

[0045] With the positioning system 10 according to the invention and a flushing nozzle arranged on the receiving unit 21, a high-pressure water jet can be provided, for example, which can be directed precisely at a specific point in the channel or moved precisely along a path. In contrast to conventional flushing devices, which emit several water jets non-specifically in several directions, a cleaning process can thus be carried out considerably faster (only what needs to be cleaned is cleaned), and considerably less water is required for the cleaning process (since no water is needed for sections of the channel that do not require cleaning).

[0046] Instead of water, air can also be supplied to the rinsing nozzle via the pressure-tight channel.

[0047] The pressure-tight channel or another pressure-tight channel can alternatively be provided to guide electrical lines to the receiving unit 21 or to the actuating means of the positioning system 10.

[0048] Fig. 6 shows an embodiment of a receiving unit 21 of a positioning system according to the invention.

[0049] A receiving unit 21 for receiving, and in particular releasably receiving, a device G is arranged at the front or free end of the lifting arm 20. The receiving unit 21 is pivotable relative to the lifting arm 20 or 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 by 180°. One and the same camera can be used for both forward and reverse travel. Figure (a) shows a receiving unit 21 oriented forward, and Figure (b) shows a receiving unit 21 that has been pivoted by 180° and is therefore oriented backward.

[0050] In a further aspect of the invention, it can 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 at the free end of the lifting arm or at the receiving unit 21 via a gimbal. Alternatively, the positioning system, in particular the lifting arm, can also 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. Reference numeral of the invention

[0051] 1 Channel inspection and / or maintenance system 5 Trolley 10 Positioning system 20 Lifting arm 20.1, 20.2 Lifting arm sections of the lifting arm 20 21 Mounting unit or equipment carrier at the free end of the lifting arm 20 30 Base support AB Axis of movement AD Axis of rotation AS Swivel axis G Equipment (e.g. camera, sensors, tools) K Channel X Path of movement α Swivel angle of the mounting unit 21 relative to the lifting arm 20 or angle α between the two lifting arm sections 20.1, 20.2 Reference to the state of the art

[0052] FFahrwagen HHeber HGJoenke des Hebers IKInspektionskamera KKurve oder Bewegungskurve

Claims

1. 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) arranged on a base carrier (30), - the base carrier (30) is arranged on the carriage (5), - the lifting arm can be pivoted relative to the base carrier (30) via a pivot axis (AS ), - the base carrier (30) is movable or traversable relative to the carriage (5) along a movement axis (AB), wherein the movement axis (AB) runs parallel to the longitudinal axis of the carriage (5), and - the base carrier (30) is assigned a first controllable actuating means which is adapted to move or traverse the base carrier (30) along the axis of movement (AB ) relative to the carriage (5).

2. Sewer inspection and / or maintenance system (1) according to claim 1, wherein the base carrier (30) can be rotated about a rotation axis (AD ) relative to the carriage (5).

3. Sewer inspection and / or maintenance system (1) according to claim 1 or 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. Sewer inspection and / or maintenance system (1) according to one of the preceding claims, wherein the lifting arm (20) has at least two lifting arm sections (20.1; 20.2) which are connected to each other in an articulated manner, preferably via a pivot joint, and wherein the free end of one of the two lifting arm sections (20.1; 20.2) is arranged in a deflectable or pivotable manner on the base carrier (30).

5. Sewer inspection and / or maintenance system (1) according to one of the preceding claims, wherein - the first controllable actuator is adapted - to pivot the lifting arm relative to the base carrier (30) via the pivot axis (AS ), and / or - rotate the base carrier (30) about the axis of rotation (AD ) 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. Sewer inspection and / or maintenance system (1) according to the preceding claim, wherein an absolute value encoder is assigned to the first controllable actuator and / or the second controllable actuator.

7. Sewer inspection and / or maintenance system (1) according to claim 3, wherein the recording unit (21) can be pivoted relative to the lifting arm (20) over a predetermined angle range (α), preferably over an angle range of 180°, particularly preferably over an angle range of 270°.

8. Sewer inspection and / or maintenance system (1) according to claim 3, wherein the mounting 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 mounting unit is rotatable relative to the second part of the mounting unit.

9. Sewer inspection and / or maintenance system (1) according to one of the preceding claims, wherein a pressure-tight channel is formed in the lifting arm (20).

10. Sewer inspection and / or maintenance system (1) according to the preceding claim, wherein the pressure-tight channel is formed 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. Sewer inspection and / or maintenance systems (1) according to claim 3, wherein, to stabilize the device - the device can be arranged indirectly via a gimbal at the free end of the lifting arm, and / or - the positioning system is movable in such a way that the movements of the positioning system correspond to the function of a gimbal.