Channel inspection and / or maintenance system

Abstract

A channel inspection and / or maintenance system (1) is provided, comprising: - a base unit (B) movable in a channel, - a number of elements (G), each of which is assigned at least one controllable actuator (S), wherein the elements are movable relative to the base unit and relative to each other by means of the actuators assigned to them, - an effector (E) arranged at a free end of one of the elements, and - a control unit (SE) coupled on the one hand to the actuators and on the other hand to an input device (EE), wherein the effector is movable by means of the input device and the control unit.

Description

Field of the invention

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

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

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

[0004] The object of the present invention is therefore to provide solutions that enable simpler and safer operation and control of a sewer inspection and / or maintenance system in a sewer or pipe. Inventive solution

[0005] This object is achieved with a sewer inspection and / or maintenance system and a method for controlling a sewer inspection and / or maintenance system according to the independent claims. Advantageous embodiments of the invention are specified in the respective dependent claims.

[0006] A sewer inspection and / or maintenance system is provided, comprising a base unit movable in a channel, a number of links, each of which is assigned at least one controllable actuating means, the links being movable relative to the base unit and relative to each other by means of the actuating means assigned to them, an effector arranged at a free end of one of the links, and a control unit coupled on the one hand to the actuating means and on the other hand to an input device, where the input device is adapted to generate first control commands based on user inputs and to provide them to the control unit, wherein the first control commands comprise information about a translational and / or rotational movement to be carried out with the effector, and the control unit is adapted to generate second control commands based on the first control commands provided to it, with which the actuating means can be controlled, wherein the actuating means can be controlled with the second control commands such that the members are moved such that the effector is moved according to the translational and / or rotational movement of the first control commands.

[0007] The advantage here is that an operator no longer has to control the base unit and / or the links individually to initiate a desired movement of the effector, but rather controls the effector itself by specifying which movement the effector should perform using the input means.

[0008] In one embodiment of the invention, the control unit can be coupled to the base unit and further adapted to generate third control commands based on the first control commands provided to it, with which the base unit can be controlled, wherein the third control commands cause a movement (forward and / or backward movement) of the base unit in the channel, wherein the combination of movement of the links and movement of the base unit causes a movement of the effector in accordance with the translational and / or rotational movement of the first control commands.

[0009] This means that the base unit and the links "follow" the desired movement of the effector.

[0010] The base unit may comprise a carriage. The effector may comprise a tool or a sensor device, in particular a camera device, although the invention is not limited thereto.

[0011] The input device can be a joystick or a touch-sensitive input device.

[0012] At least one member of the number of members may be coupled to the base unit, wherein this member is preferably movable relative to the base unit.

[0013] The number of links can be coupled together in pairs, whereby two coupled links are movable relative to each other.

[0014] The invention further provides a method for controlling a sewer inspection and / or maintenance system, wherein the sewer inspection and / or maintenance system comprises: a base unit movable in a channel, a number of links, each of which is assigned at least one controllable actuating means, the links being movable relative to the base unit and relative to each other by means of the actuating means assigned to them, an effector arranged at a free end of one of the links, and a control unit coupled on the one hand to the actuating means and on the other hand to an input device, where at the input device, user inputs are received, wherein the user inputs are intended for controlling the effector, first control commands are generated based on the user inputs and are provided to the control unit, wherein the first control commands comprise information about a translational and / or rotational movement to be carried out with the effector, and the control unit generates second control commands based on the first control commands provided to it, with which second control commands the control unit controls the actuating means, whereby the members are moved such that the effector is moved according to the translational and / or rotational movement of the first control commands.

[0015] The control unit can be coupled to the base unit, wherein the control unit generates third control commands based on the first control commands provided to it, wherein the third control commands cause a movement of the base unit in the channel, wherein based on the combination of movement of the links and movement of the base unit, the effector is moved according to the translational and / or rotational movement of the first control commands.

[0016] It is advantageous if the control unit determines for or when generating the second control commands and / or when generating the third control commands, which links must be moved and how using the control devices assigned to them, and / or how the base unit must be moved, so that the movement of the links or the movement of the base unit or the combination of movement of the links and movement of the base unit causes the effector to move in accordance with the translational and / or rotational movement of the first control commands.

[0017] It may be advantageous if the second control commands and / or the third control commands are selected in such a way that a smooth, advantageously jerk-free movement of the effector is effected when the links and / or the base unit are moved.

[0018] The method may comprise a teaching step, wherein in the teaching step the members are each moved from an initial position to an end position by means of the actuating means assigned to them, wherein information about the respective initial position and end position is stored in a memory device of the control unit, and wherein the generation of the second control commands takes place taking into account the initial position and end position of the respective members.

[0019] The predetermined (desired or controlled) position of the effector relative to the base unit is achieved by a combined movement of the links. Short description of the characters

[0020] 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 shows a schematic representation of a system known from the prior art with a lifter and an inspection camera arranged thereon; Fig. 2 shows a schematic representation of a system according to the invention; Fig. 3 shows an application example of a system according to the invention; and Fig. 4 shows a further application example of a system according to the invention. Detailed description of the invention

[0021] The present invention makes it possible to move an end effector to a specific location (position) in the duct without the system operator having to control the carriage and the lift (and possibly the end effector) separately or independently of one another. This means that, according to the invention, the entire system is steered towards a predetermined point in the duct, with the operator only having to control the end effector. According to the invention, an input device is provided for control, with which the entire system is controlled - transparently for the operator. This means that the input device only specifies which movement (translational and / or rotational) the end effector must perform in the duct in order to bring the end effector to the desired point in the duct. From the operator's perspective, therefore, only the end effector is controlled.Based on the movements to be performed by the end effector, the complete system, i.e. carriage, lifter and, if applicable, end effector, synchronizes itself independently, so that the movements of the individual components (carriage, lifter and, if applicable, end effector) result in the end effector moving to the desired point in the channel.

[0022] The end effector is also referred to below as the effector. The effector can be, for example, a gripper, a tool, a sensor, or a camera, although the invention is not limited to these.

[0023] Fig. 2 shows (in a schematic manner) a sewer inspection and / or maintenance system 1 according to the invention, which, according to the embodiment shown here, has a base unit B designed as a carriage F, an input device EE and a control unit SE.

[0024] The base unit B or the carriage F can be moved in a channel, preferably in both directions, ie forwards and backwards.

[0025] The base unit B is coupled to a control device (SV) via a communication network 10, which can be designed as a wired or wireless communication network.

[0026] The control device SV here comprises an input device EE and a control unit SE. In one embodiment of the invention, the control unit SE can also be provided in the base unit B, while the control device SV essentially only comprises the input device EE. However, with regard to the invention, it is irrelevant whether the control unit SE is part of the base unit B or part of the control device SV.

[0027] The input device EE is provided to control the movement of the effector in space (i.e., in the channel), as described in more detail below. The input device EE may comprise a joystick whose lever can be tilted in any direction. It may be advantageous if the joystick is designed as a so-called 3D joystick, in which the lever can not only be tilted in any direction, but can also be moved up and down and rotated, thus enabling three-dimensional movement of the effector to be controlled in space. In cases where the effector is only to be moved in two dimensions, a 2D joystick is sufficient.

[0028] Alternatively or additionally (in particular in addition to the joystick), the input device EE may also comprise a touch-sensitive input device, such as a tablet.

[0029] The specific design of the input device EE is not essential to the invention. What is important is that it has means that enable control of the effector.

[0030] A lifter H is arranged on the base unit, which comprises a number of links G n. The lifter is connected to its first link (in Fig. 2 the element G 1 ) is arranged on the base unit. The last element (in Fig. 2 the member G 5 ) of the lifter H has a free end at which the effector E (for example a camera, a tool or the like) is arranged.

[0031] In the example shown here, the lifter H comprises five links G 1 to G 5 . Depending on requirements, however, there may be more or fewer than five links. The individual links can be designed in different ways; some examples are given below: A link G 1 can be designed as a type of platform that can be moved vertically relative to the base unit B, for example to raise or lower the effector E. A link G 2 can be designed as a type of turntable that can be rotated about an axis of rotation, preferably in both directions and by at least 360°. The links G 3 and G 4 can together form a type of lifting arm that can be raised and lowered, wherein the two links G 3 and G 4 are connected to one another in an articulated manner. A link G 5 can be designed as a type of rotary module that can be rotated about an axis of rotation, for example to rotate the effector E connected to it. Another link, not shown here, can be designed as a hydraulic or pneumatic cylinder, for example to cause a linear movement of the effector along the alignment of the hydraulic or pneumatic cylinder.For example, the member G 3 , which is part of the lifting arm, can be designed as a hydraulic or pneumatic cylinder.

[0032] The members G 1 to G 5 are coupled in pairs, whereby two coupled members are movable relative to each other. Fig. 2 Link G 1 is coupled to link G 2, whereby link G 2 is movable relative to link G 1 (in this case, rotatable). Link G 3 is coupled to link G 2, whereby link G 3 is movable relative to link G 2 (in this case, pivotable relative to link G 2). Link G 4 is coupled to link G 3, whereby link G 4 is movable relative to link G 3 (in this case, pivotable relative to link G 3). Finally, link G 5 is coupled to link G 4, whereby link G 5 is movable relative to link G 4 (in this case, rotatable relative to link G 4).

[0033] This pairwise coupling of the links G 1 to G 5 results in a continuous kinematic chain from G 1 to G 5 .

[0034] According to the invention, at least one controllable actuating means S n is assigned to each member G n, wherein the members G n are movable relative to the base unit B and relative to one another by means of the actuating means S n assigned to them.

[0035] The adjusting means assigned to the respective links are specifically adapted to the links, with some examples being given below: The actuating means S 1 is assigned to the link G 1 and is designed here as a type of lifting scissors. Alternatively, the actuating means S 1 can also be designed as a hydraulic or pneumatic cylinder. The actuating means S 2 is assigned to the link G 2 and can comprise an electric motor for rotating the link G 2. The actuating means S 3 is assigned to the link G 3. The actuating means S 3 can comprise an actuating motor with which the link G 3 can be pivoted relative to the link G 2. The actuating means S 4 is assigned to the link G 4. The actuating means S 4 can comprise an actuating motor with which the link G 4 can be pivoted relative to the link G 3. The link G 5 can be assigned an actuating motor as the actuating means G 5 and can rotate the link G 5 relative to the link G 4.

[0036] Due to the arrangement of the lifter H on the base unit B, wherein the first link G 1 is movable relative to the base unit B, the base unit B is part of the above-mentioned kinematic chain, so that the overall system represents or forms a continuous kinematic chain from the base unit B via the link G 1 to the link G 5.

[0037] The actuating means S n are independently controllable. According to the invention, the actuating means S n are controlled in such a way that the entire system, ie the base unit B and the links G n , are independently synchronized, with the result that the movements of the individual components (base unit B and the links G n ) move the effector E to the desired point in the channel. Examples of this are described with reference to Fig. 3 and Fig. 4 described.

[0038] Controlling the system or the effector E: The input device EE is provided to control the movement of the effector (e.g. a camera) in the channel, i.e. with the help of the input device EE the effector is moved in the channel to a desired point. It is important here that the user controls the effector E with the input device EE, i.e. uses the input device EE to specify how and in which direction the effector should move. This means that from the user's point of view it is not the base unit B and the elements G n that are controlled, but the effector itself. Effectively and transparently for the user, however, the base unit B and the elements G n (or the actuating devices S n assigned to the elements G n) are actually controlled in such a way that the effector performs a movement that corresponds to the user's input on the input device EE.The advantage here is that the user does not have to worry about moving the base unit B or controlling the links G n. Moving the effector E through the channel can thus be done more easily, safely, and efficiently.

[0039] The process is described in more detail below.

[0040] The input device EE receives user inputs (e.g., tilting or turning a joystick). For example, tilting the joystick forward should cause the camera (effector) to move forward in the channel. Turning the joystick should align the camera in the desired direction in the channel (e.g., turning it to the right pans the camera to the right). Tilting and turning the joystick can be performed simultaneously by an operator, so that the camera is moved forward in the channel and simultaneously panned to the side. However, the invention is not limited to these examples.

[0041] Based on the user inputs, the input device EE generates first control commands SI 1 and provides them to the control unit SE. The first control commands SI 1 include information about a translational and / or rotational movement that is to be performed with the effector E or that the effector E is intended to perform. Example: When tilting the joystick forward, the first control commands SI 1 include information that the effector is to be moved forward (translational movement). As explained above, from the user's perspective, the user controls the effector E with the input device EE.

[0042] The control unit SE receives the first control commands SI 1 and, based on the first control commands SI 1, generates second control commands SI 2 with which the actuating means S n can be controlled. According to the invention, the actuating means S n can be controlled with the second control commands SI 2 such that the elements G n assigned to the actuating means S n are moved (relative to one another and relative to the base unit B) such that the effector E is moved according to the first control commands SI 1 - the effector E therefore executes the translational and / or rotational movement(s) specified in the first control commands SI 1.

[0043] The second control commands SI 2 are then fed to the respective actuating means S n, which then cause a corresponding movement of the respective member G n.

[0044] The control unit SE is preferably (i.e., optionally) further adapted to generate third control commands SI3 based on the first control commands SI1 provided to it, with which the base unit B can be controlled. The third control commands SI3 can cause the base unit B to move within the channel (forward and preferably also backward). The third control commands SI3 are fed to the base unit B, which then executes the corresponding movement (travel movement) forward or backward. If, for example, the effector is to be moved forward in the channel, it may be sufficient to merely move or travel the carriage F forward accordingly.

[0045] The combination of movement of the links G n and movement of the base unit B causes the effector E to move in accordance with the translational and / or rotational movement(s) of the first control commands SI 1.

[0046] For example, if the joystick is tilted forward and the joystick is simultaneously turned to the right, the camera should be moved forward in the channel and simultaneously panned to the right (this information is contained in the first control commands SI 1). With the second control commands SI 2, the actuating means S n and indirectly via the actuating means the elements G n are caused to move in such a way that the camera is panned to the right (in the example of the Fig. 2 For example, link G 2 can be caused to rotate to the right, causing effector E, or perhaps the camera, to pan to the right. At the same time, the third control command SI 3 causes the crawler to move forward in the channel, causing the camera to move forward in the channel. The control of base unit B and links G n is transparent to the operator – from his perspective, the operator always controls effector E, i.e., the movement of the effector in the channel.

[0047] When generating the second control commands SI 2 and / or the third control commands SI 3, the control unit SE determines which members G n must be moved by means of the actuating means S n assigned to them, and / or how the base unit B must be moved, so that the movement of the links, the movement of the base unit or the combination of movement of the links and movement of the base unit causes the effector E to move in accordance with the first control commands SI 1 causes.

[0048] It is important to note that not all actuators S n and the base unit B always need to be moved. For example, if the camera is only to be moved forward in the channel, it may be sufficient to generate only the corresponding third control commands SI 3 to control the carriage. In another example, if the camera is only to be panned to the right, it may be sufficient to generate only the corresponding second control commands SI 2 to cause, for example, the element G 2 (or the actuator S 2 assigned to the element G 2 ) to perform a rotational movement to the right.

[0049] According to the invention, a predetermined position of the effector E relative to the base unit B is achieved by a combined movement of the links G n. An additional translational movement of the effector in the channel is achieved by moving the base unit in the channel, whereby the operator controls neither the links nor the base unit, but rather specifies the movement of the effector with the input device EE.

[0050] Coordination of the movements of the carriage and the jack (or its links G n ) and their coordination by the operator is thus completely avoided, which not only considerably simplifies control by the operator but also effectively accelerates it.

[0051] According to the invention, a learning step can be provided in which the elements G n are each moved from an initial position to an end position by means of their associated actuating means S n , with information about the respective initial position and end position being stored in a memory device of the control unit SE. When generating the second control commands SI 2 , the initial position and end position of the respective elements G n can be taken into account. "Overriding" of the elements can thus be prevented.

[0052] Furthermore, the control unit SE can optimize the movement of the entire system by taking into account the initial and final positions of the respective elements G n. For example (related to Fig. 2 ) the effector can be lifted while simultaneously moving the effector backwards by a lifting of the link G 1 and a movement of the carriage F backwards, or by deflecting the link G 3 upwards (in the best case without the carriage F moving backwards) be effected.

[0053] By deflecting link G 3 upward, the effector is simultaneously moved backward. The further link G 3 is deflected, the further the effector moves backward, and the less the carriage needs to be moved backward. Reducing the carriage movements can be advantageous, especially on uneven ground. Alternatively, the desired position of the effector can also be achieved by raising link G 1 and moving the carriage F backward. However, in this case, the carriage must travel a greater distance.

[0054] Below are three examples of movement (controlled by a joystick) of the camera in the channel, although the invention is not limited to these examples. Forward movement of the camera Joystick is tilted forwards Carriage moves forwards with the attached camera Upward movement (lifting) of the camera Joystick is pulled upwards Lifter (or the necessary links, e.g. link G 1 ) lifts the camera Panning of the camera to the left Joystick is tilted to the left Lifter (or the necessary links, e.g. link G 2 ) pans the camera to the left (additionally or alternatively the carriage can also make a turn to the left)

[0055] Fig. 3 shows an application example of a system according to the invention.

[0056] In channel K there is a carriage F. A lift is arranged on the carriage, which here has two links G 1 and G 2 as an example. The first link G 1 of the lift is arranged on the carriage and can be deflected towards the carriage. The second link G 2 is hinged to the first link G 1 so that the lift essentially forms a lifting arm. The effector E (for example an inspection camera) is arranged at the free end of the second link G 2. The links G 1 , G 2 are assigned corresponding actuating means S 1 , S 2 in order to move the links G 1 , G 2 in accordance with the second control commands SI 2 , as described above.

[0057] An effector E is to be moved from an initial position P1 to a target position P2, with the effector's orientation unchanged. The operator operates the input device such that the effector E moves essentially along the dashed arrow. As explained above, the control of the actuators is transparent to the operator. If the input device is a joystick, for example, the joystick is tilted forward and simultaneously raised, which corresponds to a movement of the effector along the dashed arrow.

[0058] The control unit SE determines the corresponding second and third control commands SI 2 and SI 3 from the position or movement of the joystick (this information is contained in the first control commands SI 1).

[0059] The third control commands cause the carriage to move forward by the distance Δh.

[0060] At the same time, the second control commands SI 2 cause the first and second actuators S 1 and S 2 to move the links G 1 and G 2 such that the effector is raised by the distance Δv. The first link G 1 is thus pivoted upward. At the same time, the second link G 2 is pivoted downward relative to the first link G 1 (the angle α between the first link G 1 and the second link G 2 decreases) to maintain an unchanged orientation of the effector.

[0061] The sum of the movements of the links and the carriage results in the effector E being moved from the starting position P1 to the target position P2.

[0062] It has proven advantageous if the second and third control commands S 1 and S 2 are selected or adjusted in such a way that the effector movement is as smooth and smooth as possible (in the Fig. 3 In the example shown, the second and third control commands S 1 and S 2 are selected so that the effector moves along the dashed arrow).

[0063] Fig. 4 shows another application example of a system according to the invention.

[0064] In channel K there is a carriage F. A lift is arranged on the carriage, which here has two links G 1 and G 2 as an example. The first link G 1 of the lift is arranged on the carriage and can be deflected towards the carriage. The second link G 2 is hinged to the first link G 1 so that the lift essentially forms a lifting arm. The effector E (for example an inspection camera) is arranged at the free end of the second link G 2. The links G 1 , G 2 are assigned corresponding actuating means S 1 , S 2 in order to move the links G 1 , G 2 in accordance with the second control commands SI 2 , as described above.

[0065] An effector E is to be moved from an initial position P1 to a target position P2, with the effector's orientation unchanged. The operator operates the input device such that the effector E moves essentially along the dashed arrow. As explained above, the control of the actuators is transparent to the operator. If the input device is a joystick, for example, the joystick is tilted forward and simultaneously pressed down, which corresponds to a movement of the effector along the dashed arrow.

[0066] The control unit SE determines the corresponding second and third control commands SI 2 and SI 3 from the position or movement of the joystick (this information is contained in the first control commands SI 1).

[0067] The second control commands SI 2 cause the first and second actuators S 1 and S 2 to move the links G 1 and G 2 such that the effector is lowered by the distance Δv. The first link G 1 is thus pivoted downward. At the same time, the second link G 2 is pivoted upward relative to the first link G 1 (the angle α between the first link G 1 and the second link G 2 increases) to maintain an unchanged orientation of the effector.

[0068] At the same time, the third control commands cause the trolley to move backward by a distance Δh. Although the target position P2 (from the trolley's perspective) is in front of the starting position P1, the trolley must be moved backward. Lowering the lifter by a distance Δv would cause the effector to reach a final position that is in front of the desired target position.

[0069] The sum of the movements of the links and the carriage results in the effector E being moved from the starting position P1 to the target position P2.

[0070] A key advantage of the present invention is that, unlike prior art, the operator does not have to control the limbs and the carriage to achieve a desired movement of the effector. According to the invention, the operator controls the effector itself by controlling the movement to be performed by the effector using the input device. The operator no longer has to worry about controlling the limbs and the carriage and can concentrate fully on the movement / control of the effector. This significantly simplifies, accelerates, and increases safety in the control of the system. Reference symbol:

[0071] BBase unit (e.g., trolley) EEndeffector or end effector EEInput device (e.g., joystick or controller of VR glasses) FCarriage G n Links of the lifter HS n controllable actuators - each link G n is assigned an actuator S n. HHiver HGJoints of the lifter H IKInspection camera P1Starting position P2Target position SEControl unit SI 1 first control commands SI 2 second control commands SI 3 third control commands SVControl device αAngle between first link G 1 and second link G 2 Δvvertical offset Δhhorizontal offset

Claims

1. Sewer inspection and / or maintenance system (1), comprising - a base unit (B) movable in a sewer, - a number of links (G n ), each of which has at least one controllable actuating means (S n ), where the members (G n ) by means of the adjusting means assigned to them (S n ) are movable relative to the base unit (B) and relative to each other, - an effector (E) which is attached to a free end of one of the links (G n ), and - a control unit (SE) which is connected on the one hand to the actuating means (S n) and, on the other hand, is coupled to an input device (EE), wherein - the input device (EE) is adapted to generate first control commands (SI1) based on user inputs and to provide them to the control unit (SE), wherein the first control commands (SI1) comprise information about a translatory and / or rotary movement to be carried out with the effector (E), and - the control unit (SE) is adapted to generate second control commands (SI2) based on the first control commands (SI1) provided to it, with which second control commands the actuating means (S n ), whereby the second control commands (SI2) control the actuating means (S n ) are controllable so that the members (G n ) such that the effector (E) is moved according to the translational and / or rotational movement of the first control commands (SI1).

2. System according to the preceding claim, wherein the control unit (SE) is coupled to the base unit (B) and is further adapted to generate third control commands (SI3) based on the first control commands (SI1) provided to it, with which the base unit (B) can be controlled, wherein the third control commands (SI3) effect a movement of the base unit (B) in the channel, wherein the combination of movement of the members (G n ) and moving the base unit (B) causes the effector (E) to move in accordance with the translational and / or rotational movement of the first control commands (SI1).

3. System according to one of the preceding claims, wherein the base unit (10) comprises a carriage and / or wherein the effector (E) comprises a tool or a sensor device, in particular a camera device.

4. System according to one of the preceding claims, wherein the input device (EE) is a joystick or a touch-sensitive input device.

5. System according to one of the preceding claims, wherein at least one member of the number of members (G n ) is coupled to the base unit (B), wherein this member is preferably movable relative to the base unit (B).

6. System according to one of the preceding claims, wherein the number of links (G n ) are coupled together in pairs and two coupled members are movable relative to each other.

7. Method for controlling a channel inspection and / or maintenance system (1), wherein the channel inspection and / or maintenance system comprises: - a base unit (B) movable in a channel, - a number of links (G n ), each of which has at least one controllable actuating means (S n ), where the members (G n) by means of the adjusting means assigned to them (S n ) are movable relative to the base unit (B) and relative to each other, - an effector (E) which is attached to a free end of one of the links (G n ), and - a control unit (SE) which is connected on the one hand to the actuating means (S n) and, on the other hand, is coupled to an input device (EE), wherein - user inputs are received at the input device (EE), wherein the user inputs are intended to control the effector (E), - based on the user inputs, first control commands (SI1) are generated and provided to the control unit (SE), wherein the first control commands (SI1) comprise information about a translatory and / or rotary movement to be carried out with the effector (E), and - the control unit (SE) generates second control commands (SI2) based on the first control commands (SI1) provided to it, with which second control commands the control unit (SE) controls the actuating means (S n ), whereby the links (G n ) such that the effector (E) is moved according to the translational and / or rotational movement of the first control commands (SI1).

8. Method according to the preceding claim, wherein the control unit (SE) is coupled to the base unit (B), wherein the control unit (SE) generates third control commands (SI3) based on the first control commands (SI1) provided to it, wherein the third control commands (SI3) effect a movement of the base unit (B) in the channel, wherein based on the combination of movement of the links (G n ) and moving the base unit (B) of the effector (E) according to the translational and / or rotational movement of the first control commands (SI1).

9. Method according to one of the two preceding claims, wherein the control unit (SE) determines for or when generating the second control commands (SI2) and / or when generating the third control commands (SI3), - which elements (G n ) by means of the adjusting means assigned to them (S n) must be moved in order to enable the movement of the links, and / or - how the base unit (B) must be moved in order to enable the movement of the base unit or the combination of movement of the links (G n ) and moving the base unit (B) causes the effector (E) to move in accordance with the translational and / or rotational movement of the first control commands (SI1).

10. Method according to one of the preceding claims 7 to 9, wherein the method comprises a learning step, wherein in the learning step the elements (G n ) by means of the adjusting means assigned to them (S n ) are moved from an initial position to an end position, wherein information about the respective initial position and end position is stored in a memory device of the control unit (SE), and wherein the generation of the second control commands (SI2) takes into account the initial position and end position of the respective members (G n ) takes place.

11. Method according to one of the preceding claims 7 to 10, wherein a predetermined position of the effector (E) relative to the base unit (B) is determined by a combined movement of the members (G n ) is reached.

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