Alignment device

Abstract

An alignment device for installation of construction material is provided, the device comprising a body comprising a passage for light transmission; a calibrator for receiving light transmitted through the passage of the body; and a support for connection of the body with the construction material. Related systems, kits, and methods are also provided.

Description

TITLEALIGNMENT DEVICEFIELD

[0001] This invention relates to construction and installation. In particular, the invention relates (although is not limited) to industrial pipe laying, and more particularly to alignment of pipes for industrial pipe laying.BACKGROUND

[0002] Pipe laying is a process by which sections of industrial pipe are connected to form pipelines. A range of industries require pipeline installation, including oil and gas industries and urban utilities such as water and sewerage.

[0003] Pipe may be installed above ground, below ground (in-ground), or under water. Installation techniques vary depending on the type of installation and piping application. However, safe and effective industrial pipe installation requires specific skills and typically involves teams of construction workers with specialised training.

[0004] Proper alignment of sections of pipe is a key issue for pipe laying. In many instances (such as for installation of concrete pipes and the like) a gasket is used to seal connections between sections of pipe, wherein the gasket is placed on an insertion end of one pipe section, the insertion end and gasket substantially fittingly inserted into a receiving end of another pipe section, wherein the gasket seals the connection.

[0005] Where sections of pipe are improperly aligned, this can result in damage to pipe and / or pipe gasket, and improper sealing of pipe sections. Where improper sealing occurs, such as due to damage to pipe and / or pipe gasket, subsequent leaking or loss of structural integrity can require removal and reinstallation of pipe. This can be a highly involved process requiring significant labour and costs.

[0006] In recent times, advances in robotic pipe installation have been made. Robotic pipe installation can offer potential benefits in reducing manual labour and limiting exposure of personnel to hazards. For example, traditional approaches to in- ground pipe installation involve construction workers entering trenches to manipulate pipe during installation. Workers in trenches are exposed to substantial danger including injury from moving pipes, and trench cave-in.

[0007] Where robotic pipe installation techniques allow for connection of pipe sections without the need for personnel at the location of pipe connection (e.g. withina trench), this can minimise exposure of personnel to danger. However, proper alignment of pipe sections in the absence of personnel guiding pipes at the site of the connection may present an additional challenge.

[0008] With the preceding in mind, new approaches to assist with alignment of sections of pipe during industrial pipe laying would be desirable. New approaches adapted for alignment of sections of pipe during industrial pipe laying using automated and / or robotic pipe handling device or systems would be particularly desirable. It would be especially desirable, in at least some instances, to develop new approaches adapted for alignment of sections of pipe during robotic, in-ground pipe laying in the absence of personnel within pipe trenches to guide pipes at the site of connection.

[0009] The reference to prior art in the background is not and should not be taken as an acknowledgement or suggestion that the referenced prior art forms part of the common general knowledge in Australia or in any other country.SUMMARY

[0010] A first aspect of the invention broadly provides an alignment device for installation of construction material, the device comprising a body comprising a passage for light transmission; a calibrator for receiving light transmitted through the passage of the body; and a support for connection of the body with the construction material.

[0011] Suitably, the support of the alignment device is for connection of the body with the construction material to stabilise alignment of the body and / or passage thereof with the construction material.

[0012] Suitably, the passage for light transmission of the body of the alignment device is a substantially elongated passage. In embodiments, the body is a substantially elongated body.

[0013] Suitably, the alignment device of the first aspect is adapted to be placed or installed within substantially hollow construction material. Suitably, the support of the alignment device is for contact with one or more inner surfaces of a section of construction material, to stabilise alignment of the body and / or passage thereof of the alignment device within the construction material.

[0014] In embodiments, the alignment device of the first aspect is particularly adapted to be installed within pipe, such as industrial pipe. In embodiments, the support of the alignment device is for contact with an inner surface of a section of pipe,to stabilise alignment of the body and / or passage thereof of the alignment device within the pipe.

[0015] In embodiments, the body of the device of the first aspect is substantially rectangularly prismatic.

[0016] Suitably, the body comprises a first end; and a second end. The first end of the body may be a rear end. The second end of the body may be a front end.

[0017] In embodiments, the body of the device is a unitary, one piece, or one part body.

[0018] In embodiments, the body comprises a plurality of body pieces or body parts.

[0019] In embodiments, the body of the device comprises one, one or more, or a plurality of substantially elongated body parts.

[0020] The one or more substantially elongated body parts of the device may be substantially hollow body members. In embodiments, the passage for light transmission is, or is of, an internal cavity of the one or more body parts, such as the one or more substantially hollow body members.

[0021] In embodiments, the body of the device of the first aspect comprises a second body part, such as a second substantially hollow body member, engaged with a first body part, such as a first substantially hollow body member. The second or front end of the body may be of the second body part; and the first or rear end of the body may be of the first body part.

[0022] In embodiments, the body of the device is extendible. In embodiments wherein the body is extendible, the body may comprise the first substantially elongated body part and the second substantially elongated body part, wherein the second body part is extendibly engaged with the first body part. In embodiments, the second body part is slidably engaged with the first body part.

[0023] In embodiments wherein the body of the device is extendible, suitably, the body can be stabilised at a desired extension. The extendible body may comprise a locking or stopping mechanism for stabilising the body at a desired extension.

[0024] In embodiments, the body comprises the first substantially hollow body member; the second substantially hollow body member; and the locking mechanism, wherein the first substantially hollow body member is engaged with, such as slidably engaged with, the second substantially hollow body member, and the lockingmechanism can stabilise the first substantially hollow member at a desired extension relative to the second substantially hollow body member.

[0025] Suitably, the calibrator of the device of the first aspect is for calibrating alignment of construction material with which the alignment device is connected, such as installed within. In embodiments, the calibrator of the device is for calibrating alignment of pipe in which the alignment device is installed.

[0026] Suitably, the calibrator of the device of the first aspect is for determining a position or orientation of the body of the device, and / or the passage thereof, relative to light transmitted through the passage.

[0027] Suitably, the calibrator of the device comprises one or more targets for calibrating position or orientation of a light beam transmitted through the passage of the body.

[0028] In embodiments, the calibrator comprises a substantially opaque target, wherein a light beam transmitted through the passage of the body is substantially prevented from passing through the target.

[0029] In embodiments, the calibrator comprises a substantially non-reflective target, wherein a light beam transmitted through the passage of the body can pass into or through the target without substantial reflection.

[0030] In embodiments, the calibrator comprises a substantially transparent or translucent target, wherein at least a part of a light beam transmitted through the passage of the body can pass through the target.

[0031] In embodiments, the calibrator of the device comprises a target at, near, or towards the second end of the body. Suitably, the target is at near, or towards a second end of the passage of the body.

[0032] In embodiments, the calibrator of the device comprises a target at, near, or towards the first end of the body. Suitably, the target is at, near, or towards a first end of the passage of the body

[0033] In embodiments, the target at, near, or towards the second end of the body is a substantially opaque target.

[0034] In embodiments, the target at, near, or towards the first end of the body is a substantially transparent or translucent target.

[0035] The target(s) at, near, or towards the first and / or second ends of the body may be substantially non-reflective target(s).

[0036] The calibrator of the device may comprise the substantially opaque target, near, or towards the second end of the body; and, optionally, the substantially transparent or translucent target at, near, or towards the first end of the body, wherein at least a part of a light beam transmitted through the passage of the body is substantially prevented from passing through the target at near, or towards the second end of the body and, optionally, wherein at least a part of the light beam passes through the target at, near, or towards the first end of the body, and wherein position and / or orientation of the light beam relative to the target at, near, or towards the second end of the body and, optionally, the target at, near, or towards the first end of the body can be used to calibrate orientation of the body and / or the passage relative to the light beam.

[0037] Suitably, the support of the device of the first aspect is an adjustable support, wherein adjustment of the support can adjust alignment of the body of the device relative to construction material, such as to a longitudinal axis of a section of pipe. Suitably, the adjustable support comprises one or more adjustable braces for contact with an inner surface of the construction material, such as the section of pipe.

[0038] The support of the device may comprise a first support part; and a second support part. In embodiments, the first support part is at, near, or towards the first end of the body of the device; and the second support part is at, near, or towards the second end of the body of the device.

[0039] In embodiments, the first support part and the second support part of the support of the device of the first aspect are adjustable support parts, wherein adjustment of the first and second support parts can adjust alignment of the elongated body and / or the passage thereof relative to construction material, such as to a longitudinal axis of a section of pipe.

[0040] The first support part and the second support part of the support may comprise respective adjustable braces for contact with an inner surface of construction material, such as a section of pipe. In embodiments, the adjustable braces of the first support part and the second support part comprise one or more extendible legs. In embodiments, the adjustable brace of the first support part and the adjustable brace of the second support part each comprise a plurality of extendible legs.

[0041] Suitably, the plurality of extendible legs of the first support part and the plurality of extendible legs of the second support part are for contact with an innersurface of construction material, to adjust alignment of the elongated body of the device to the construction material, such as to a longitudinal axis of a section of pipe.

[0042] The device of the first aspect may comprise one or more wheels or rollers or the like, for rolling of the device against construction material with which the device is connected. In embodiments, the wheels or rollers are adapted for rolling of the device against an inner surface of a section of pipe.

[0043] The device of the first aspect may comprise one or more caps or stops or the like, for constraining movement of the device against construction material with which the device is connected. In embodiments, the caps or stops are adapted for constraining movement of the device against an inner surface of a section of pipe.

[0044] In embodiments, the one or more wheels or rollers or the like are of the support of the device. In embodiments, the first support part of the support of the device comprises one or more wheels or rollers. In embodiments, the second support part of the support of the device comprises one or more wheels or rollers.

[0045] In embodiments, the one or more caps or stops or the like are of the support of the device. In embodiments, the first support part of the support of the device comprises one or more caps or stops. In embodiments, the second support part comprise one or more caps or stops.

[0046] In embodiments, at least one of (a) the plurality of extendible legs of the first support and (b) the plurality of extendible legs of the second support comprises one or more wheels or rollers, or the like.

[0047] In embodiments, at least one of (a) the plurality of extendible legs of the first support and (b) the plurality of extendible legs of the second support comprises one or more caps or stops, or the like.

[0048] In embodiments, one or more, or each, of the plurality of extendible legs of the first support part comprise a wheel or roller for rolling against the inner surface of the construction material, such as the industrial pipe. Suitably, the wheels or rollers are at or near an outer end of the legs of the first support part.

[0049] In embodiments, one or more, or each, of the plurality of extendible legs of the first support part comprises a cap or stop for contact with the inner surface of the construction material, such as the industrial pipe. Suitably, the caps or stops are at or near an outer end of the legs of the first support part.

[0050] In embodiments, one or more, or each, of the plurality of extendible legs of the second support part comprise a wheel or roller for rolling against the inner surface of the construction material, such as the industrial pipe. Suitably, the wheels or rollers are at or near an outer end of the legs of the second support part.

[0051] In embodiments, one or more, or each, of the plurality of extendible legs of the second support part comprise a cap or stop for contact with the inner surface of the construction material, such as the industrial pipe. Suitably, the caps or stops are at or near an outer end of the legs of the second support part.

[0052] The device of the first aspect may comprise one or more sensors. The one or more sensors may be wired or wireless sensors. In embodiments, one or more of the sensors are connected to the body of the device.

[0053] Suitably, the one or more sensors of the device of the first aspect comprise one or more sensors for detecting signal from the calibrator of the device. In embodiments, the one or more sensors for detecting signal from the calibrator comprise visual sensor(s), such as camera(s).

[0054] In embodiments, the one or more sensors comprise one or more cameras for detecting signal from the one or more targets of the calibrator of the device. Suitably, the one or more cameras are for detecting position and / or orientation of a light beam transmitted through the passage of the body of the device relative to the one or more targets.

[0055] In embodiments, the one or more sensors of the device comprise a camera for detecting position and / or orientation of a light beam transmitted through the passage of the body of the device relative to the target at, near, or towards the second end of the body.

[0056] The camera may be at, near, or towards the second end of the body of the device. The camera may be at least partly within the passage of the body of the device, wherein signal from the target at, near, or towards the second end of the body is detected within the passage.

[0057] In embodiments, the one or more sensors of the device comprise a camera for detecting position and / or orientation of a light beam transmitted through the passage of the body of the device relative to the target at, near, or towards the first end of the body.

[0058] The camera may be at, near, or towards the first end of the body of the device. The camera may be at least partly within the passage of the body of the device, wherein signal from the target at, near, or towards the second end of the device is detected within the passage.

[0059] In embodiments, the one or more sensors comprise a camera for detecting a position or orientation of a section or part of construction material, such as a section of pipe, within which the device is installed.

[0060] Suitably, the camera is for detecting a position or orientation of the section or part of construction material, such as pipe, relative to another section or part of construction material, such as pipe, with which the section or part of construction material is to be connected.

[0061] In embodiments, the one or more sensors of the device of the first aspect include one or more directional sensors and / or one or more proximity sensors.

[0062] The one or more sensors of the device of the first aspect may be for connection, such as wireless connection, with one or more user interfaces.

[0063] In embodiments, position and / or orientation of a light beam transmitted through the passage of the body of the device relative to the target at, near, or towards the second end of the device can be visualised with a user interface connected to a camera of the device.

[0064] In embodiments, position and / or orientation of a light beam transmitted through the passage of the elongated body of the device relative to the target at, near, or towards the first end of the device can be visualised with a user interface connected to a camera of the device.

[0065] In embodiments, position and / or orientation of a section or part of construction material, such as pipe, within which the device is installed, relative to another section or part of construction material, such as pipe, with which the section or part of construction material is to be connected, can be visualised with a user interface connected to a camera of the device.

[0066] In embodiments, the device of the first aspect comprises a power source for powering the one or more sensors of the device, such as the one or more cameras. The power source may comprise a battery, such as an exchangeable battery. The battery may be a rechargeable battery. The exchangeable and / or rechargeable battery may be a lithium-ion battery, or the like.

[0067] In embodiments, the device of the first aspect comprises a light for illuminating at least a part of a section or part of construction material, such as pipe, within which the device is installed. In embodiments, the light is a torch, flashlight, or spotlight or the like.

[0068] In embodiments, the light is connected to the power source of the device.

[0069] In embodiments, the light is connected to the body of the device.

[0070] In embodiments, the light, is at, near, or towards the first end of the body of the device.

[0071] In embodiments, the light is for illuminating at least a part of a section or part of construction material, such as pipe, with which the section or part of construction material in which the device is installed is to be connected.

[0072] In embodiments, the power source of the device for powering the one or more sensors of the device is for powering the light of the device. Additionally or alternatively, the light may comprise a separate power source, such as comprising a separate battery, for powering the light.

[0073] A second aspect of the invention provides a system or kit comprising the alignment device of the first aspect; and a light emitting device for transmission of light through the passage of the body of the device of the first aspect.

[0074] In embodiments, the light emitting device of the system or kit of the second aspect is a laser device.

[0075] A third aspect of the invention provides a system or kit comprising the alignment device of the first aspect; and construction material for alignment using the alignment device.

[0076] In embodiments, the construction material of the system or kit of the third aspect is a section of pipe, such as industrial pipe.

[0077] A fourth aspect of the invention provides a system or kit comprising the alignment device of the first aspect; and a user interface for connection with one or more sensors of the alignment device.

[0078] In embodiments, the user interface of the system or kit of the fourth aspect comprises a screen for display of video from one or more of the camera(s) of the one or more sensor(s) of the alignment device.

[0079] A fifth aspect of the invention provides a system or kit comprising the alignment device of the first aspect; and a device for automated handling of construction material.

[0080] In embodiments, the device for automated handling of construction material is a pipe handling device.

[0081] A sixth aspect of the invention provides a method of aligning construction material, including steps of: connecting a body comprising a passage for light transmission to a section of construction material with a support; and determining an orientation of the body and / or the passage relative to light transmitted through the passage with a calibrator, to thereby align the construction material.

[0082] In embodiments, the body according to the method of the sixth aspect is a substantially elongated body.

[0083] In embodiments, the passage of the body according to the method of the sixth aspect is a substantially elongated passage.

[0084] In embodiments, the method of the sixth aspect includes a step of transmitting a beam of light through the passage of the body. In embodiments, the beam of light is a laser beam. Suitably, the orientation of the body and / or the passage is determined relative to the beam of light, such as the laser beam, with the calibrator.

[0085] In embodiments, the step of determining the orientation of the body and / or the passage relative to the beam of light with the calibrator includes a step of determining position and / or orientation of the beam of light relative to a target of the calibrator, the target at, near, or towards a second end of the passage; and, optionally, determining position and / or orientation of the beam of light relative to a target of the calibrator, the target at, near, or towards a first end of the passage.

[0086] In embodiments, the steps of determining position and / or orientation of the beam of light relative to the target(s) includes displaying the position and / or orientation of the beam of light relative to the target at, near, or towards the second end of the passage and, optionally, displaying the position and / or orientation of the beam of light relative to the target at, near, or towards the first end of the passage, with one or more user interface(s) connected to the camera(s).

[0087] In embodiments, the step of connecting the body to the section of construction material with the support is a step of connecting the body to an inner surface of a substantially hollow section of construction material. In embodiments, the substantially hollow section of construction material is a section of pipe.

[0088] In embodiments, the method of the sixth aspect includes a step of adjusting alignment of the body and / or the passage relative to the section of construction material, such as the section of pipe.

[0089] The step of adjusting alignment of the body and / or the passage relative to the section of construction material may be a step of adjusting the alignment relative to a longitudinal axis of the section of construction material, such as a longitudinal axis of the section of pipe.

[0090] The step of adjusting the alignment of the body and / or the passage relative to the section of construction material may include a step of substantially aligning the body to, or parallel to, a longitudinal axis of the section of construction material, such as to, or parallel to, a longitudinal axis of a section of pipe.

[0091] The step of adjusting the alignment of the body and / or the passage relative to the section of construction material may include a step of substantially aligning the passage of the body to, or parallel to, a longitudinal axis of the section of construction material, such as to, or parallel to, a longitudinal axis of a section of pipe.

[0092] In embodiments, the step of connecting the body to the section of construction material with the support includes connecting the body to the construction material with a first support part and a second support part of the support, the first support part at, near, or towards a first end of the body and the second support part at, near or towards a second end of the body.

[0093] In embodiments, the step of adjusting alignment of the body and / or the passage relative to the section of construction material includes adjusting the first support part and / or the second support part, to thereby adjust alignment of the body and / or the passage relative to the section of construction material.

[0094] In embodiments, the step of adjusting alignment of the body and / or the passage relative to the section of construction material includes adjusting extension of one or more extendible legs of the first support part and / or the second support part, to thereby adjust alignment of the elongated body and / or the passage relative to the section of construction material.

[0095] The method of the sixth aspect may be a method of aligning the section of construction material with another section of construction material. In embodiments, the method of the sixth aspect includes a step of connecting the section of construction material with the other section of construction material.

[0096] In embodiments, the method of the sixth aspect includes a step of visualising position and / or orientation of the construction material relative to another section or part of construction material with a sensor, such as a camera.

[0097] In embodiments, the method of the sixth aspect includes a step of illuminating at least a part of the construction material with a light, such as a torch or spotlight. The step of illuminating at least a part of the construction material may be a step of illuminating an end of the construction material for connection with another section or part of construction material.

[0098] In embodiments, the method of the sixth aspect includes a step of illuminating at least a part of another section or part of construction material, for connection with the construction material, with a light, such as a torch or spotlight. The step of illuminating at least a part of the other section or part of construction material may be a step of illuminating an end of the other section or part of construction material for connection with the construction material.

[0099] In embodiments, the method of the sixth aspect is a method of aligning pipe, including steps of: connecting the body comprising the passage for light transmission to an inner surface of a first section of pipe with the support; adjusting alignment of the body and / or the passage relative to a longitudinal axis of the first section of pipe, to substantially align the body and / or the passage thereof to, or parallel to, the longitudinal axis of the first section of pipe; and substantially aligning, with a calibrator, the body and / or the passage thereof relative to a laser beam transmitted through the passage, to align the first section of pipe to a second section of pipe, to thereby align the pipe.

[0100] In embodiments, the method includes a step of visualising, with a camera, position and / or orientation of the first section of pipe relative to the second section of pipe.

[0101] In embodiments, the method includes a step of illuminating, with a light, an end of the first section of pipe for connection with the second section of pipe and / or an end of the second section of pipe for connection with the first section of pipe.

[0102] In embodiments, the body, the support, the calibrator, the camera, and / or the light according to the method of the sixth aspect is of the device of the first aspect.BRIEF DESCRIPTION OF THE DRAWINGS

[0103] The invention will be described hereinafter with reference to typical embodiments illustrated in the drawings, wherein:

[0104] Figure 1 sets forth an exploded, perspective view of an embodiment of an alignment device according to an aspect of the invention, device 100A.

[0105] Figure 2 sets forth a side view of the device of Figure 1 , wherein a body of the device is in a retracted configuration.

[0106] Figure 3 sets forth a top view of the device of Figure 1 , wherein a body of the device is in a retracted configuration.

[0107] Figure 4 sets forth a top view of the device of Figure 1 , wherein a body of the device is in an extended configuration.

[0108] Figure 5 sets forth a rear perspective view of the device of Figure 1 , wherein a body of the device is in a retracted configuration.

[0109] Figure 6 sets forth a close-up perspective view of a rear portion of the device of Figure 1. In Figure 6, a wheel has been removed from one extendible leg of the device.

[0110] Figure 7 sets forth a front perspective view of the device of Figure 1 , wherein a body of the device is in a retracted configuration.[01 1 1 ] Figure 8 sets forth a close-up perspective view of a front portion of the device of Figure 1 .

[0112] Figure 9 sets forth a close-up perspective view showing a power source of the device of Figure 1 .

[0113] Figure 10 sets forth a schematic front view of the device of Figure 1 , showing a retracted configuration of legs of a front support of the device.

[0114] Figure 1 1 sets forth a schematic front view of the device of Figure 1 , showing an extended configuration of legs of a front support of the device.

[0115] Figure 12 sets forth an exploded, perspective view of another embodiment of an alignment device according to an aspect of the invention, device 100B.

[0116] Figure 13 sets forth a side view of the device of Figure 12.

[0117] Figure 14 sets forth a top view of the device of Figure 12.

[0118] Figure 15 sets forth a front perspective view of the device of Figure 12.

[0119] Figure 16 sets forth a rear perspective view of the device of Figure 12.

[0120] Figure 17 sets forth a top view of the device of Figure 12, showing an extended configuration of legs of the device.

[0121] Figure 18 sets forth a schematic rear view of the device of Figure 12, showing a retracted configuration of legs of the device.

[0122] Figure 19 sets forth a schematic rear view of the device of Figure 12, showing an extended configuration of legs of the device.

[0123] Figure 20 sets forth an exploded, perspective view of another embodiment of an alignment device according to an aspect of the invention, device 100C.

[0124] Figure 21 sets forth a side view of the device of Figure 20.

[0125] Figure 22 sets forth a top view of the device of Figure 20.

[0126] Figure 23 sets forth a front perspective view of the device of Figure 20.

[0127] Figure 24 sets forth a rear perspective view of the device of Figure 20.

[0128] Figure 25 sets forth a schematic rear view of the device of Figure 20, showing a retracted configuration of legs of the device.DETAILED DESCRIPTION

[0129] Figures 1 -1 1 illustrate an embodiment of an alignment device according to an aspect of the invention, alignment device 100.

[0130] Alignment device 100 is for use in installation of construction material. Alignment device 100 is particularly adapted to assist with accurate alignment of sections of industrial pipe for connection to form a pipeline.

[0131] The particular embodiment of device 100 as depicted in Figures 1 -1 1 may be referred to as alignment device 100A.

[0132] Alignment device 100A comprises body 200A; calibrator 300A; support 400A; sensor 500A; and power source 600A.

[0133] Body 200A of alignment device 100A is an elongated, extendable body comprising first body part 210A; second body part 220A; body passage 230A; and body lock 240A.

[0134] First body part 210A and second body part 220A of body 200A are hollow, elongated members. More particularly, first body part 210A and second body part 220Aare substantially rectangularly prismatic, hollow, elongated members, comprising rear ends 211 A, 221 A; front ends 212A, 222A; top surfaces 213A, 223A; bottom surfaces 214A, 224A; right side surfaces 215A, 225A; and left side surfaces 216A, 226A. Rear end 211 A of first body part 21 OA; and front end 222A of second body part 220A respectively form rear and front ends of body 200A.

[0135] First body part 21 OA of body 200A is slidably inserted into second body part 220A of body 200A, wherein passage 230A of body 200A extends through first body part 21 OA and second body part 220A, from rear end 211 A of body 200A to front end 222A of body 200A. Passage seal 231 A seals a join between second body part 220A and first body part 21 OA inserted therein.

[0136] Body lock 240A of body 200A comprises handled bolt 241 A inserted into threaded aperture 242A of second body part 220A. Locking end 2411 A of bolt 241 A can be brought into contact with first body part 21 OA through threaded aperture 242A of second body part 220A.

[0137] Calibrator 300A of alignment device 100A comprises first calibrator 31 OA; and second calibrator 320A.

[0138] First calibrator 31 OA of calibrator 300A comprises first calibrator frame 311 A; and first calibrator target 312A. Second calibrator 320A of calibrator 300A comprises second calibrator frame 321 A; and second calibrator target 322A.

[0139] First calibrator frame 311 A is mounted to rear end 211 A of body 200A; and second calibrator frame 321 A is mounted to front end 222A of body 200A. First calibrator frame 311 A and second calibrator frame 321 A comprise upper frame slots 3111 A, 3211 A; and lower frame slots 3112A, 3212A.

[0140] First calibrator target 312A is mounted to first calibrator frame 311 A; and second calibrator target 322A is mounted to second calibrator frame 321 A, wherein first calibrator target 312A and second calibrator target 322A overlie ends of passage 230A at rear end 211 A of body 200A and front end 222A of body 200A, respectively.

[0141] First calibrator target 312A and second calibrator target 322A comprise respective inner faces 3121 A, 3221 A; and respective outer faces 3122A, 3222A.

[0142] Inner face 3121 A and, optionally, outer face 3122A of first target 312A typically comprises a substantially standard target marking in the form of concentric circles and straight lines identifying a central target point or ‘bullseye’ or, more simply, straight lines (such as a crosshair pattern) identifying a central target point.

[0143] Inner face 3221 A and, optionally, outer face 3222A of second target 322A typically comprises either substantially standard target markings in the form of concentric circles and straight lines identifying a central target point or ‘bullseye’ or, more simply, straight lines (such as a crosshair pattern) identifying a central target point.

[0144] First target calibrator target 312A is a substantially transparent target, wherein light can pass therethrough between outer target face 3122A and inner target face 3121 A.

[0145] Second calibrator target 322A is a substantially opaque target, wherein light is substantially prevented from passing therethrough between inner target face 3221 A and outer target face 3222A.

[0146] Support 400A of alignment device 100A comprise first support 410A; and second support 420A.

[0147] First support 410A and second support 420A of support 400A are adjustable braces, comprising extendable support legs 41 1 A, 421 A. Extendible support legs 411 A and 421 A comprise support locks 41 1 1 A, 421 1 A; and support wheels 41 12A, 4212A.

[0148] Extendible legs 41 1 A of first support 410A are mounted to first calibrator frame 31 1 A with respective support leg mounts 31 13A. Extendible legs 421 A of second support 420A are mounted to second calibrator frame 321 A with respective support leg mounts 3213A.

[0149] More particularly, first support 410A comprises three extendible legs 411 A mounted to calibrator frame 31 1 A with respective leg mounts 3113A; and second support 420A comprises three extendible legs 421 A mounted to calibrator frame 321 A with respective leg mounts 3213A. One of the three extendible legs 41 1 A, 421 A is mounted for extension upwards relative to top surfaces 213A, 223A of first and second body parts 210A, 220A. One of the three extendible legs 411 A, 412A is mounted for extension outwards and downwards relative to right side surfaces 215A, 225A. One of the three extendible legs 41 1 A, 421 A is mounted for extension outwards and downwards relative to left side surfaces 216A, 226A.

[0150] Each extendible leg 41 1 A, 421 A of first support 410A and second support 420A, respectively, comprises support lock 41 1 1 A, 4211 A in the form of a handled bolt inserted through a threaded aperture of respective leg mount 31 1 1 A, 3211 A.

[0151] Each extendible leg 41 1 A, 421 A of first support 410A and second support 420A, respectively, comprises wheel 41 12A, 4212A rotatably mounted towards an outer end of the extendible leg, such that the wheel extends slightly beyond the outer end.

[0152] Sensor 500A of alignment device 100A comprise first camera 510A; and second camera 520A. First camera 510A and second camera 520A are typically wireless digital cameras with video function.

[0153] First camera 510A of sensor 500A is mounted to an inner face of left side surface 216A of second body part 210A towards rear end 21 1 A of elongated body 200, wherein a line of sight of first camera 510A extends to inner surface 3121 A of first target 312A within passage 230A.

[0154] Second camera 520A of sensor 500A is mounted to an inner face of left side surface 226A of first body part 220A towards front end 222A of elongated body 200A, wherein a line of sight of second camera 520A extends to inner surface 3221 A of second target 322A within passage 230A.

[0155] Power source 600A of alignment device 100A comprises battery 610A; and housing 620A. Power source 600A is typically in wired connection (not shown) with first camera 510A and second camera 520A.

[0156] Battery 620A of power source 600A is typically an exchangeable, rechargeable battery, such as a lithium-ion battery.

[0157] Housing 620A of power source 600A comprises housing body 621 A, housing lock 622A, and housing interface 623A.

[0158] Housing body 621 A of housing 620A is a pivotally openable housing body for containing power source battery 520A. Housing body 621 A is pivotally mounted to top surface 213A of first body part 210A of body 200A, near to rear end 21 1 A of body 200.

[0159] Housing lock 622A of housing 620A comprises a removable catch or pin for releasably closing hinged housing body 621 A.

[0160] Housing interface 623A of housing 620A comprises power switch 6231 A; power light 6232A; and charge monitor 6233A.

[0161] Figures 12-19 illustrate another embodiment of alignment device 100. This embodiment may be referred to as alignment device 100B.

[0162] Figures 20-25 illustrate yet another embodiment of alignment device 100. This embodiment may be referred to as alignment device 100C.

[0163] Structure of alignment devices 100A, 100B, and 100C is broadly similar. However, it will be appreciated that certain consequential differences exist among devices 100A, 100B, and 100C, with reference to detail provided hereinbelow.

[0164] It will be understood that components of alignment device 100A, alignment device 100B, and alignment device 100C may be referred to more generally without the ‘A’, ‘B’, or ‘C’ suffixes. For example, alignment device 100A, alignment device 100B, and alignment device 100C respectively comprise: body 200A, 200B, 200C (body 200); calibrator 300A, 300B, 300C (calibrator 300); support 400A, 400B, 400C (support 400); sensor 500A, 500B, 500C (sensor 500); and power source 600A, 600B, 600C (power source 600).

[0165] Certain notable features of alignment devices 100B and 100C, with reference also to description of alignment device 100A hereinabove, will be dealt with specifically as follows.

[0166] As hereinabove described, body 200A of alignment device 100A is an extendable body comprising first body part 210A slidably inserted into second body part 220A.

[0167] In contrast to body 200A of alignment device 100A, body 200B and body 200C of alignment device 100B and alignment device 100C, respectively, are ‘unitary’ or ‘one piece’ bodies. Bodies 200B, 200C comprise rear end 21 1 B, 21 1 C; front end 212B, 212C; top surface 213B, 213C; bottom surface 214B, 214C; right side surface 215B, 215C; and left side surface 216B, 216C. Body passages 230B, 230C of alignment device 100B and 100C, respectively, extend through respective unitary bodies 200B, 200C.

[0168] It will be understood that, given the unitary structure of body 200B and body 200C, and in contrast to body 200A, body 200B and body 200C are not extendible bodies.

[0169] It will be further understood that, although body 200B of alignment device 100B and body 200C of alignment device 100C can be considered substantially elongated bodies, bodies 200B, 200C can also be considered shorter or ‘less elongated’ bodies 200 as compared to body 200A. That is, body 200B of alignment device 100B and body 200C of alignment device 100C of a given scale will besubstantially shorter than body 200A of alignment device 100A of a corresponding scale, even when body 200A is in a fully retracted configuration.

[0170] Calibrator 300B of alignment device 100B comprises calibrator frame 320B comprising second calibrator frame 321 B and second calibrator target 322B. Calibrator 300B further comprises first calibrator frame 31 1 B and, optionally, first calibrator target 312B (although first calibrator target 312B is not shown in the figures).

[0171] Second calibrator target 322B of second calibrator 320B of alignment device 300B comprises inner face 3221 B and outer face 3222B. Inner face 3221 B of second target 322B comprises a target marking in the form of concentric circles and straight lines identifying a central target point of bullseye. Outer face 3222B of second target 322B typically comprises a crosshair pattern identifying a central target point.

[0172] Second calibrator target 322B is a substantially opaque target, wherein light is substantially prevented from passing therethrough between inner target face 3221 B and outer target face 3222B.

[0173] Where present, first calibrator target 312B of calibrator 300B of alignment device 100B comprises inner face 3121 B and outer face 3122B. Inner face 3121 B and, optionally, outer face 3122B of first target 312B comprises a target marking in the form of concentric circles and straight lines identifying a central target point or ‘bullseye’.

[0174] Where present, first target calibrator target 312B is a substantially transparent target, wherein light can pass therethrough between outer target face 3122B and inner target face 3121 B.

[0175] Calibrator 300C of alignment device 100C comprises first calibrator 310C comprising first calibrator frame 31 1 C; and second calibrator 320C comprising second calibrator frame 321 C.

[0176] Second calibrator frame 321 C of calibrator 300C of alignment device 100C comprises calibrator target 322B. Notably, first calibrator frame 31 1 C of alignment device 100C does not comprise a calibrator target such that calibrator 300C of alignment device 100C may be considered a ‘single target’ or ‘one target’ calibrator.

[0177] Calibrator target 322C of calibrator 320C of alignment device 300C comprises inner face 3221 C and outer face 3222C. Inner face 3221 C of target 322C comprises a target marking in the form of concentric circles and straight lines identifying a central target point or ‘bullseye’. Outer face 3222C of target 322C typically comprises a crosshair pattern identifying a central target point.

[0178] Calibrator target 322C is a substantially opaque target, wherein light is substantially prevented from passing therethrough between inner target face 3221 C and outer target face 3222C.

[0179] Similarly to support 400A of alignment device 100A, support 400B of alignment device 100B and support 400C of alignment device 100C comprise first support 41 OB, 410C comprising extendible support legs 411 B, 41 1 C mounted to calibrator frame 31 1 B, 31 1 C with respective leg mounts 31 13B, 3113C; and second support 420B, 420C comprising extendible support legs 421 B, 421 C mounted to calibrator frame 321 B, 321 C with respective leg mounts 3213B, 3213C.

[0180] Each extendible leg of first support 410B, 410C comprises support lock 41 1 1 B, 41 11 C. Each extendible leg of second support 420B, 420C comprises support lock 421 1 B, 421 1 C.

[0181] As hereinabove described, support locks 411 1 A, 421 1 A of extendible legs 41 1 A, 421 A of alignment device 100A are in the form of handled bolts inserted through threaded apertures of respective leg mounts 31 1 1 A, 321 1 A.

[0182] Support locks 41 11 B, 421 1 B of extendible legs 41 1 B, 421 B of alignment device 100B and support locks 41 1 1 C, 421 1 C of extendible legs 41 1 C, 421 C differ from support locks 41 11 A, 4211 A, being in the form of twist tighten locking mechanisms as are known in the art.

[0183] As hereinabove described, each extendible leg 411 A, 421 A of first support 410A and second support 420A, respectively, of alignment device 100A, comprises wheel 41 12A, 4212A.

[0184] Similarly to legs 41 1 A of alignment device 100A, legs 41 1 B of alignment device 100B and legs 41 1 C of alignment device 100C, respectively, comprise wheels 41 12B, 41 12C rotatably mounted towards outer ends of the extendible legs. As can be appreciated from the figures, wheels 41 12B of alignment device 100B and wheels 41 12C of alignment device 400C of a given scale will be of a substantially larger diameter as compared to wheels 41 12A, 4212A of alignment device 100A.

[0185] In contrast to legs 421 A of alignment device 100A, legs 421 B of alignment device 100B and legs 421 C of alignment device 100C do not comprise wheels. Rather, legs 421 B, 421 C comprise caps 4213B, 4213C at respective ends thereof.

[0186] As hereinabove described, first support 410A of alignment device 100A comprises three extendible legs 41 1 A; and second support 420A of alignment device 100A comprises three extendible legs 421 A.

[0187] Similarly as for alignment device 100A, first support 41 OB and second support 420B of alignment device 100B respectively comprise three extendible legs 41 1 B, 421 B.

[0188] Second support 420C of alignment device 100C comprises three extendible legs 421 C, similarly as for alignment device 100A and alignment device 100B.

[0189] In contrast to first support 410A of alignment device 100A and first support 41 OB of alignment device 100B, first support 410C of alignment device 100C comprises two extendible legs 41 1 C. One of the two extendible legs 41 1 C is mounted for extension outwards and downwards from right side surface 215C. One of the two extendible legs is mounted for extension outwards and downwards from left side surface 216A.

[0190] It will be appreciated that, as compared to the three extendible legs 41 1 A, 41 1 B of first supports 410A, 410B of alignment devices 100A, 100B, first support 410C of alignment device 100C has one less extendible leg, and more particularly, as compared to first supports 410A, 410B, can be considered to be ‘missing’ a corresponding extendible leg mounted for extension upwards from top surface 213C of body 200C.

[0191] Similarly to those of alignment device 100A, sensor 500B of alignment device 100B and sensor 500C of alignment device 100C comprise first camera 510B, 510C and second camera 520B, 520C, the cameras typically in the form of wireless digital cameras with video function.

[0192] Similarly to sensor 500A of alignment device 100A, second camera 520B, 520C of sensor 500B, 500C is mounted to right side surface 215B, 215C of body 200B, 200C towards front end 212B, 212C of body 200B, 200C, wherein a line of sight of second camera 520B, 520C extends to inner surface 3221 B, 3221 C of target 322B, 322C within passage 230B, 230C.

[0193] Similarly to sensor 500A of alignment device 100A, first camera 510B of sensor 500B is mounted to right side surface 215B of body 200B towards rear end 21 1 B, 21 1 C of body 200B, wherein a line of sight of first camera 510B extends to inner surface 3121 B of first target 312B within passage 230B.

[0194] In contrast to first camera 510A, 51 OB of alignment device 100A, 100B, first camera 51 OC of sensor 500C of alignment device 100C is mounted to housing body 621 C of power source 600C (hereinbelow described), wherein a line of sight of first camera 51 OC extends adjacent an outer edge of first calibrator frame 31 1 C as can be seen in Figure 25.

[0195] Similarly to power source 600A of alignment device 100A, power source 600B, 600C of alignment device 100B, 100C comprises battery 61 OB, 61 OC, typically an exchangeable, rechargeable, lithium-ion battery; and housing 620B, 620C, housing 620B, 620C comprising housing body 621 B, 621 C; housing lock 622B, 622C; and housing interface 623B, 623C.

[0196] Alignment device 100C further comprises light 700C for illuminating connecting portions of construction material, such as pipe, as hereinbelow described in further detail. Light 700C is in the form of a torch, spotlight, or flashlight or the like.

[0197] Light 700C comprises torch body 71 OC; torch lamp 720C; and torch mount 720C.

[0198] Light 700C is mounted to housing body 621 C of housing 620C of power source 600C, wherein a face of torch lamp 720C is laterally adjacent an outer edge of first calibrator frame 311 C as can be seen in Figure 25.

[0199] Any suitable material may be used for construction of alignment device 100. Typically, alignment device 100 is predominantly formed from metallic material, such as steel, stainless steel, and / or aluminium. Other durable materials such as plastics and various composites may also be suitable.

[0200] Typical use of alignment device 100 (100A, 100B, 100C) will now be described, by way of example.

[0201] In use, alignment device 100 is installed within a first section of pipe, the first section of pipe to be connected with a second section of pipe. Typically, the first and second sections of pipe are for connection in a trench to form part of an in-ground pipeline.

[0202] For installation of alignment device 100A within the first section of pipe, extendable body 200A is adjusted to a suitable length wherein, typically, rear end 21 1 A of body 200 is at or near to a second end of the first section of pipe, and front end 222A of body 200A is at or near to a first end of the first section of pipe. In use, body lock 240A secures extendable body 200A of alignment device 100 at the suitable length.

[0203] For installation of alignment device 100B, 100C within the first section of pipe, body 200B, 200C is typically placed within the pipe such that front end 212B, 212C of body 200B, 200C is at or near to the first end of the first section of pipe, body 200B, 200C extending into the first section of pipe wherein rear end 21 1 B, 21 1 C of body 200B, 200C is towards the second end of the first section of pipe.

[0204] To install alignment device 100 (100A, 100B, 100C) within the first section of pipe, extendable legs 41 1 (41 1 A, 41 1 B, 41 1 C), 421 (421 A, 421 B, 421 C) of support 400 (400A, 400B, 400C) of alignment device 100 are adjusted to a suitable length.

[0205] When legs 41 1 A, 421 A of alignment device 100A are adjusted to the suitable length, wheels 41 12A, 4212A contact an inner surface of the first section of pipe, and body 200A (and passage 230A thereof) of alignment device 100A is aligned to, or parallel to, a longitudinal axis of the first section of pipe. In use, support locks 41 1 1 A, 4211 A secure legs 41 1 A, 421 A at the suitable length.

[0206] When legs 41 1 B, 421 B of alignment device 100B are adjusted to the suitable length, wheels 41 12B and caps 4213B contact the inner surface of the first section of pipe, and body 200B (and passage 230B thereof) of alignment device 100B is aligned to, or parallel to, the longitudinal axis of the first section of pipe. In use, support locks 41 1 1 B, 421 1 B secure legs 411 B, 421 B at the suitable length.

[0207] When legs 41 1 C, 421 C of alignment device 100C are adjusted to the suitable length, wheels 4112C and caps 4213C contact the inner surface of the first section of pipe, and body 200C (and passage 230C thereof) of alignment device 100C is aligned to, or parallel to, the longitudinal axis of the first section of pipe. In use, support locks 41 1 1 C, 421 1 C secure legs 41 1 C, 421 C at the suitable length.

[0208] Figures 10 and 1 1 illustrate adjustment of second support part 420A of alignment device 100A such that legs 421 A can contact an inner surface of the first section of pipe, wherein the first section of pipe has exemplary circumferences labelled ‘i’, ii’, and ‘iii’.

[0209] Figures 18 and 19 illustrate adjustment of first support part 410B of alignment device 100B such that legs 41 1 B can contact an inner surface of the first section of pipe, wherein the first section of pipe has exemplary circumferences labelled T, ‘ii’, and ‘iii’.

[0210] In Figure 10, legs 421 A are substantially fully retracted, such that legs 421 A contact an inner surface of the first section of pipe wherein the first section of pipe is of the smallest circumference ‘i’.

[0211] In Figure 18, legs 41 1 B are substantially fully retracted, such that legs 41 1 B contact an inner surface of the first section of pipe wherein the first section of pipe is of a smallest circumference ‘i’.

[0212] In Figure 1 1 , legs 421 A are substantially fully extended, such that legs 421 A contact an inner surface of the first section of pipe wherein the first section of pipe is of a largest circumference ‘iii’.

[0213] In Figure 19, legs 421 B are substantially fully extended, such that legs 41 1 B contact an inner surface of the first section of pipe wherein the first section of pipe is of a largest circumference ‘iii’.

[0214] It will be appreciated that legs 41 1 A of alignment device 100A and legs 421 B of alignment device 100B can be adjusted in substantially the same manner as described above in relation to legs 421 A of alignment device 100A and legs 411 B of alignment device 100B.

[0215] It will be further appreciated that legs 41 1 A, 41 1 B and legs 421 A, 421 B can be partly extended, such that the legs contact an inner surface of the first section of pipe wherein the first section of pipe is of a medium circumference ‘ii’.

[0216] Figure 25 illustrates adjustment of first support part 410C of alignment device 100C such that legs 41 1 C can contact an inner surface of the first section of pipe, wherein the first section of pipe has exemplary circumferences labelled , ‘ii’.

[0217] As shown in Figure 25 and as hereinabove described, device 100C comprises two legs 41 1 C in contrast to the three legs 411 A, 411 B of alignment devices 100A, 100B. Notwithstanding this, it will be appreciated that legs 41 1 C of alignment device 100C can be adjusted in substantially the same manner as described above in relation to legs 41 1 A, 41 1 B of alignment device 100A, 100B.

[0218] In use, with alignment device 100 (100A, 100B, 100C) installed in the first section of pipe, alignment device 100 assists with alignment of the second section of pipe, for connection of the first and second sections of pipe. Typically, the first section of pipe is handled with a robotic pipe handling device for alignment and connection of the first and second sections of pipe. A preferred example of a robotic pipe handling device for with alignment device 100 is described in International ApplicationPCT / AU2023 / 050718 filed 1 August 2023 and published on 8 February 2024 as WO 2024 / 026532 A1 , the full disclosure of which is incorporated herein by reference.

[0219] Typical embodiments of the robotic pipe handling device disclosed in WO 2024 / 026532 A1 are for connection to a hydraulic arm of an excavator or the like, wherein a section of pipe can be handled for in-ground connection in a trench, without the need for personnel to enter the trench. Typically, sensors of the robotic pipe handling device are used to assist with handling the pipe for connection, typically including one or more cameras the cameras typically for displaying video on a user interface within a cab of the excavator for viewing by an operator of the excavator and the robotic handling device.

[0220] In typical use, with the second section of pipe placed in an in-ground trench and a laser aligned to, or parallel to, a longitudinal axis of the second section of pipe, and beaming out of a connection end of the second section of pipe for connection with the second end of the first section of pipe, the first section of pipe with alignment device 100 installed therein is moved into the trench using the automatic pipe handling device.

[0221] The skilled person will appreciate that, for the purpose of beaming the laser out of the connection end of the second section of pipe, any suitable laser device may be used. Non-limiting examples of suitable laser devices include the industrial alignment lasers manufactured by Imex, Leica, and Topcon, as at the priority date.

[0222] The skilled person will further appreciate that, for the purpose of beaming the laser out of the connection end of the second section pipe, the laser device may (but need not necessarily) be installed within the second section of pipe, such as using a suitable stand, support, or brace or the like. It will be appreciated that, where the laser device is installed within the second section of pipe such as using a suitable stand, support, or brace or the like, the stand, support, or brace or the like may facilitate substantially stable alignment of the laser to, or parallel to, the longitudinal axis of the second section of pipe.

[0223] In the trench, the first section of pipe is handled using the robotic pipe handling device such that the laser beaming out of the connection end of the second section of pipe passes into passage 230 (230A, 230B) of body 200 (200A, 200B) of alignment device 100 installed within the first section of pipe. In use, handling of the first section of pipe such that the laser passes into passage 230 can be guided using one or more cameras of the robotic pipe handling device.

[0224] With the laser beaming out of the connection end of the second section of pipe passing into passage 230 of body 200 of alignment device 100, at least one of calibrator target 322 (322A, 322B, 322C) of calibrator 300 (300A, 300B, 300C) and, optionally, calibrator target 312 (312A, 312B) and of calibrator 300 (300A, 300B) of alignment device 100 guide alignment of passage 230 with the laser, using the robotic pipe handling device.

[0225] It will be understood that target 322 and, optionally, target 312 are aligned with the laser beaming out of the connection end of the second section of pipe and passing into passage 230, to guide alignment of passage 230 with the laser. Typically, a central, ‘bullseye’, or ‘crosshair’ position of the target markings of calibrator target 322 is aligned with the laser at the rear end of passage 230 and, optionally, a central, ‘bullseye’, or ‘crosshair’ position of the target markings of calibrator target 312 is aligned with the laser at the front end of passage 230, to align passage 230 with the laser.

[0226] It will be understood that camera 520 (520A, 520B, 520C) connected to a user interface, the user interface comprising a display screen or monitor, is used to visualise position and / or orientation of the laser relative to the target markings of calibrator target 322.

[0227] In embodiments, camera 510 (520A, 520B) connected to a user interface, the user interface comprising a display screen or monitor, can be used to visualise position and / or orientation of the laser relative to the target markings of second calibrator target 312.

[0228] It will be further understood that, in embodiments, camera 510 (510C) connected to a user interface, the user interface comprising a display screen or monitor, can be used to visualise position and / or orientation of the second end of the first section of pipe relative to the connection end of the first section of pipe.

[0229] As hereinabove described, embodiments of device 100 (e.g. device 100C) comprise light 700 (700C). It will be understood that illumination from light 700 can assist with visualisation of position and / or orientation of the second end of the first section of pipe relative to the connection end of the first section of pipe with camera 510 (510C).

[0230] In some typical embodiments, the user interface(s) with which camera 520 and camera 510 are connected are the same user interface, such that:(i) position and / or orientation of the laser relative to the target markings of calibrator target 322 and calibrator 312; or(ii) position and / or orientation of the laser relative to the target markings of calibrator target 322 and position and / or orientation of the second end of the first section of pipe relative to the connection end of the first section of pipe, can be visualised with the same user interface, such as side by side on a single display screen or monitor

[0231] In embodiments wherein the first section of pipe is handled by a typical embodiment of the robotic pipe handling device as disclosed in WO 2024 / 026532 A1 , the robotic pipe handling device is typically connected to an excavator, and the user interface for visualising position and / or orientation of the laser relative to the target markings of first calibrator target 312 and second calibrator target 322 is typically in the cab of the excavator.

[0232] In typical embodiments of the robotic handling device as disclosed in WO 2024 / 026532 A1 , sensors of the robotic handling device, typically including cameras, are connected to a user interface located within the cab of an excavator to which the robotic handling device is connected. The user interface to which the sensors, such as cameras, of the robotic handling device is connected may be the same user interface or a different interface for visualising position and / or orientation of the laser relative to the target markings of first calibrator 312 and / or second calibrator target 322 of alignment device 100, and / or position and / or orientation of the second end of the first section of pipe relative to the connection end of the first section of pipe.

[0233] As hereinabove described, in use, alignment device 100 is installed within the first section of pipe such that body 200, and passage 230 thereof, are aligned to, or parallel to, the longitudinal axis of the first section of pipe; and the laser is aligned to, or parallel to, the longitudinal axis of the second section of pipe.

[0234] Accordingly, alignment of passage 230 of device body 200 of alignment device 100 with the laser, typically by aligning the central, ‘bullseye’, or ‘crosshair’ position of the target markings of calibrator target 322 with the laser at the second end of passage 230, and, optionally, aligning the central, ‘bullseye’, or ‘crosshair’ position of the target markings of second calibrator target 312 with the laser at the first end of passage 230, as hereinabove described, allows for alignment of the longitudinal axis of the first section of pipe with the longitudinal axis of the second section of pipe.

[0235] In some embodiments, alignment of the longitudinal axis of the first section of pipe with the longitudinal axis of the second section of pipe is assisted by visualising position and / or orientation of the second end of the first section of pipe relative to the connection end of the first section of pipe with camera 510 (510C) and, optionally, light 700 (700C).

[0236] With the longitudinal axis of the first section of pipe aligned with the longitudinal axis of the second section of pipe, the first section of pipe can be moved with the robotic pipe handling device to neatly insert the second end of the first section of pipe into the connection end of the second section of pipe. In use, neat insertion of the second end of the first section of pipe into the connection end of the second section of pipe can be visualised / further guided using cameras of the robotic pipe handling device, such as cameras of typical embodiments of the pipe handling device as disclosed in WO 2024 / 026532 A1 .

[0237] Although without limitation, typical pipe sections for alignment and connection using alignment device 100 include concrete industrial pipe sections. Typically, the second end of the first section of pipe that is a section of concrete industrial pipe will be fitted with a rubber or plastic seal or gasket, facilitating sealed connection when inserted into the connection end of the second section of pipe that is a section of concrete industrial pipe. It will be appreciated that neat insertion of the second end of the first section of concrete industrial pipe will include correct fitting of the seal or gasket.

[0238] It will be understood that, in typical use such as when used in conjunction with a robotic pipe handling device, and by way of particular example the device disclosed in WO 2024 / 026532 A1 , alignment device 100 can offer important advantages for neat insertion of sections of industrial pipe, such as a section of concrete industrial pipe fitted with a rubber or plastic seal or gasket, without the need for personnel to enter trenches.

[0239] It will be further understood that, when a section of pipe in which alignment device 100 is installed has been fitted to a forming pipeline, alignment device 100 will be removed from the section of pipe.

[0240] In some typical embodiments, a cord, chain, or lanyard or the like is connected to alignment device 100 to allow for device 100 to be conveniently removed from the first section of pipe within which it is installed, without the need for personnelto enter trenches. Suitably, the cord, chain, or lanyard or the like can be attached to second calibrator frame 321 (321 A, 321 B, 321 C) of calibrator 300 of alignment device 100, such as to upper and / or lower calibrator frame slots 321 1 (321 1 A, 321 1 B, 321 1 C), 3212 (3212A, 3212B, 3212C) of first calibrator frame 321 .

[0241] For alignment device 100A, by pulling on the cord, chain, or lanyard, typically using a suitable gripping tool, wheels 41 12A, 4212A of extendible support legs 41 1 A, 421 A of first and second supports 410A, 420A of support 400A can be steadily rolled along the inner surface of the pipe, wherein alignment device 100A is pulled out of the first section pipe, typically out of the first end of the first section of the pipe.

[0242] For alignment device 100B, 100C by pulling on the cord, chain, or lanyard, typically using a suitable gripping tool, wheels 41 12B, 41 12C of extendible support legs 41 1 B, 41 1 C of first support 410B, 410C can be steadily rolled along the inner surface of the pipe, wherein alignment device 100B, 100C is pulled out of the first section of pipe, typically out of the first end of the first section of the pipe. It will be appreciated that, as wheels 41 12B, 41 12C are rolled along the inner surface of the pipe, caps 4213B, 4213C of extendible legs 421 B, 421 C of second support 420B, 420C of alignment device 100B, 100C will typically be dragged across the inner surface of the pipe.

[0243] In some typical embodiments wherein alignment device is installed in a pipe for connection using a robotic pipe handling device, such as typical embodiments of the pipe handling device disclosed in WO 2024 / 026532 A1 , an excavator to which the pipe handling device is connected may be used to grip and firmly pull on the cord, chain, or lanyard connected to alignment device 100. In embodiments, the robotic pipe handling device may be exchanged (such as using a suitable quick change excavator connection) with a gripping connection for the hydraulic excavator arm, and the hydraulic excavator arm and gripping connection using to grip and firmly pull the cord, chain, or lanyard, to remove alignment device 100 from the section of pipe.

[0244] It will be understood generally that the above description of embodiments of the invention is provided for purposes of description to one of ordinary skill in the related art. It is not intended to be exhaustive or to limit the invention to a single disclosed embodiment. In some instances, well-known components and / or processes have not been described in detail, so as not to obscure the embodiments described herein.

[0245] Numerous alternatives and variations to the present invention will be apparent to those skilled in the art of the above teaching. Accordingly, other embodiments will be apparent or relatively easily developed by those of ordinary skill in the art. The invention is intended to embrace all alternatives, modifications, and variations that have been discussed herein, and other embodiments that fall within the spirit and scope of the invention.

[0246] To avoid doubt, it will be appreciated that suitable features of alignment device 100A, alignment device 100B, and alignment device 100C are interchangeable, such that various embodiments of alignment device 100 are available comprising some features as described (with reference to the specification and figures) for alignment device 100A, some features as described (with reference to the specification and figures) for alignment device 100B, and / or some features as described (with reference to the specification and figures) for alignment device 100C.

[0247] It is further noted, by way of one specific example, that it may be suitable or desirable to modify the placement and / or orientation of power source 600 (600A, 600B, 600C), and more particularly of housing interface 623 (623A, 623B, 623C) of housing 620 (620A, 620B, 620C) of power source 600, as compared to the embodiment of device 100 as shown in the figures.

[0248] More specifically, it may be suitable or desirable to modify housing 620 of power source 600 such that housing interface 623 is placed on the opposite end of substantially rectangularly prismatic housing 620 as shown in the figures.

[0249] It is noted, by way of another specific example, that it may be suitable or desirable to modify size (including diameter, in particular) of wheels 41 12, 4212, as compared to the embodiments of device 100 as shown in the figures. In some circumstances, larger size wheels 41 12, 4212 may be more durable and / or robust during typical use of device 100. Larger size wheels 41 12, 4212 may facilitate more stable engagement with inner pipe surfaces and / or may facilitate smoother or more even rolling against inner pipe surfaces.

[0250] It is noted, by way of another specific examples, that it may be suitable or even desirable to modify supports 400A of alignment device 100A to comprise a support (e.g. first support 410A) comprising wheeled legs and a support (e.g. second support 420A) comprising capped legs, similar to supports 400B, 400C of alignment device 100B. A ‘wheels and caps’ support arrangement, such as of supports 400B,400C may facilitate more stable installation of alignment device 100 within pipe as compared to the ‘wheels and wheels’ support arrangement of supports 400A.

[0251] In this specification, the use of the terms “suitable" and “suitably, and similar terms, is not to be read as implying that a feature or step is essential, although such features or steps may well be preferred.

[0252] In this specification, the indefinite articles “a” and “an" are not to be read as singular indefinite articles or as otherwise excluding more than one or more than a single subject to which the indefinite article refers. For example, “a” body includes one body, one or more bodies, and a plurality of bodies.

[0253] In this specification, the terms “comprises", “comprising, “includes", “including”, and similar terms, are intended to denote the inclusion of a stated integer or integers, but not necessarily the exclusion of another integer or other integers, depending on context. That is, a product, system, or method, etc., that comprises or includes stated integer(s) need not have those integer(s) solely, and may well have at least some other integers not stated, depending on context.

[0254] In this specification, the terms “consisting essentially of’ and “consists essentially of’ are intended to mean a non-exclusive inclusion only to the extent that, if additional elements are included beyond those elements recited, the additional elements do not materially alter basic and novel characteristics. That is, a product, system, or method that “consists essentially of’ one or more recited elements includes those elements only, or those elements and any additional elements that do not materially alter the basic and novel characteristics of the product, system, or method.

[0255] In this specification, terms such as “above" and “be / ow”; “front and “rea , “top” and “bottom”-, “left and “right’-, “horizontal’ and “vertical’, and the like, may be used for descriptive purposes. However, it will be understood that embodiments can potentially be arranged in various orientations, and that such relative terms are not limiting and may be interchangeable in appropriate circumstances.

[0256] In this specification, unless the context requires otherwise, the terms “connection", “connected’, “connecting, and the like, are not to be read as limited to direct connections and may also include indirect connections. For example, unless the context requires otherwise, a stated first component “connected’ to a stated second component may be connected via, through, or by, one or more unstated components.

Claims

CLAIMS1. An alignment device for installation of construction material, the device comprising a body comprising a passage for light transmission; a calibrator for receiving light transmitted through the passage of the body; and a support for connection of the body with the construction material to stabilise alignment of the body with the construction material.

2. The device of claim 1 , wherein the support is for connection with an inner surface of a section of pipe, to stabilise alignment of the body of the alignment device within the pipe.

3. The device of claim 1 or claim 2, wherein the body is an elongated body.

4. The device of any preceding claim, wherein the body is substantially rectangularly prismatic.

5. The device of any preceding claim, wherein the body is a unitary body.

6. The device of any one of claims 1 to 4, wherein the body is an extendible body.

7. The device of claim 6, wherein the body comprises a first body member and a second body member, wherein a first end of the body is of the first body member and a second end of the body is of the second body member.

8. The device of claim 7, wherein the passage for light transmission comprises internal cavities of the first body member and the second body member.

9. The device of claim 7 or claim 8, wherein the first body member is extendibly engaged, such as slidably engaged, with the second body member.

10. The device of any one of claims 6 to 9, wherein the device comprises a locking or stopping mechanism for stabilising the elongated body at a desired extension.1 1 . The device of any preceding claim, wherein the calibrator is for determining an orientation of the body and / or the passage thereof relative to light transmitted through the passage.

12. The device of any preceding claim, wherein the calibrator comprises one or more targets for calibrating position or orientation of a light beam transmitted through the passage of the body.

13. The device of any preceding claim, wherein the calibrator comprises a substantially opaque target, wherein a light beam transmitted through the passage of the body is substantially prevented from passing through the target.

14. The device of any preceding claim, wherein the calibrator comprises a substantially transparent or translucent target, wherein at least a part of a light beam transmitted through the passage of the body can pass through the target.

15. The device of any preceding claim, wherein the calibrator comprises a substantially non-reflective target, wherein a light beam transmitted through the passage of the elongated body can pass into or through the target without substantial reflection.

16. The device of any preceding claim, wherein the calibrator comprises a target at, near, or towards a second end of the body; and, optionally, a target at, near, or towards a first end of the body.

17. The device of any preceding claim, wherein the calibrator comprises a substantially opaque, substantially non-reflective target at or near one end of the body and, optionally, a substantially transparent or translucent, substantially non-reflective target at or near another end of the body, wherein a light beam transmitted through the passage of the elongated body is substantially prevented from passing through the substantially opaque target, and, optionally, wherein the light beam transmitted through the passage of the body substantially passes through the transparent or translucent target, wherein position and / or orientation of the light beam relative to the opaquetarget and, optionally, position and / or orientation of the light beam relative to the translucent target can be used to calibrate orientation of the body relative to the light beam.

18. The device of any preceding claim, wherein the support is an adjustable support, wherein adjustment of the support can adjust stabilised alignment of the body of the device relative to construction material, such as to a longitudinal axis of a section of pipe.

19. The device of claim 18, wherein the adjustable support comprises one or more adjustable braces for engagement with an inner surface of the construction material, such as a section of pipe.

20. The device of claim 19, wherein the adjustable support comprises a first support part comprising a first adjustable brace; and a second support part comprising a second adjustable brace, wherein each of the first adjustable brace and the second adjustable brace comprise a plurality of extendible legs, and wherein the plurality of extendible legs of the first adjustable brace and the second adjustable brace are for engagement with an inner surface of construction material to adjust and stabilise alignment of the body of the device to the construction material.

21. The device of any preceding claim, wherein the device or the support thereof comprises one or more wheels or rollers for rolling of the device against construction material with which the device is connected.

22. The device of claim 21 , wherein each of the plurality of extendible legs of the first adjustable brace and / or the second adjustable brace comprise a wheel or roller for rolling of the device against the construction material with which the device is connected.

23. The device of any preceding claim, wherein the device or the support thereof comprises one or more caps or stops for constraining movement of the device against construction material with which the device is connected.

24. The device of claim 23, wherein each of the plurality of extendible legs of the first adjustable brace and / or the second adjustable brace comprise a cap or stop for constraining movement of the device against construction material with which the device is connected.

25. The device of any preceding claim, wherein the device comprises one or more sensors selected from visual sensor(s), directional sensor(s), and proximity sensor(s).

26. The device of claim 25, wherein the sensors comprise one or more cameras for detecting position and / or orientation of a light beam transmitted through the passage of the body relative to one or more targets of the calibrator of the device.

27. The device of claim 26, wherein the sensors comprise a first camera for detecting position and / or orientation of a light beam transmitted through the passage of the body of the device relative to one target of the calibrator; and, optionally, a second camera for detecting position and / or orientation of a light beam transmitted through the passage of the body of the device relative to another target of the calibrator.

28. The device of any one of claims 25 to 27, wherein the sensors comprise a camera for detecting a position and / or orientation of a section or part of construction material, such as a section of pipe, within which the device is installed.

29. The device of any one of claims 25 to 28, comprising a power source for powering the one or more sensors.

30. The device of claim 29, wherein the power source comprises an exchangeable and / or rechargeable battery.31 . A system or kit comprising the alignment device of any preceding claim; and a light emitting device for transmission of light through the passage of the body of the alignment device.

32. The system or kit of claim 31 , wherein the light emitting device is a laser device.

33. A system or kit comprising the alignment device of any one of claims 1 to 30; and construction material for alignment using the alignment device.

34. The system or kit of claim 33, wherein the construction material is pipe.

35. A system or kit comprising the alignment device of any one of claims 1 to 30; and a user interface for connection with one or more sensors of the alignment device.

36. The system or kit of claim 35, wherein the user interface comprises a screen for display of video from first and / or second cameras of the one or more sensors of the alignment device.

37. A system or kit comprising the alignment device of any one of claims 1 to 30; and a device for automated handling of construction material.

38. The system or kit of claim 37, wherein the device for automated handling of construction material is a pipe handling device.

39. A method of aligning construction material, including steps of: connecting a body comprising a passage for light transmission to a section of construction material with a support; and determining an orientation of the body and / or the passage relative to light transmitted through the passage with a calibrator, to thereby align the construction material.

40. The method of claim 39, including a step of transmitting a beam of light through the passage of the body, wherein the orientation of the body and / or the passage is determined relative to the beam of light with the calibrator.41 . The method of claim 40, wherein the step of determining the orientation of the body and / or the passage relative to the beam of light with the calibrator includes a step of determining position and / or orientation of the beam of light relative to a target of the calibrator at or near one end of the passage, and, optionally, determining position and / or orientation of the beam of light relative to a target of the calibrator at or near a another end of the passage.

42. The method of claim 41 , wherein the step(s) of determining position and / or orientation of the beam of light relative to one or both of the targets includes displaying the position and / or orientation of the beam of light relative to the target(s) with a user interface connected to one or more cameras.

43. The method of any one of claims 39 to 42, wherein the step of connecting the body to the section of construction material with the support is a step of connecting the body to an inner surface of a section of pipe.

44. The method of any one of claims 39 to 43, including a step of adjusting the alignment of the body and / or the passage relative to the section of construction material.

45. The method of claim 44, wherein the step of adjusting the alignment of the body and / or the passage relative to the section of construction material includes substantially aligning the body and / or the passage to, or parallel to, a longitudinal axis of the section of construction material.

46. The method of any one of claims 39 to 45, wherein the step of connecting the body to the section of construction material with the support includes connecting the body to the construction material with a first support part and a second support part ofthe support, the first support part at or near one end of the body and the second support part at or near another end of the body.

47. The method of claim 46, including a step of adjusting the first support part and / or the second support part, to thereby adjust alignment of the body and / or the passage relative to the section of construction material.

48. The method of claim 47, including a step of adjusting extension of one or more extendible legs of the first support part and / or the second support part, to thereby adjust alignment of the body and / or the passage relative to the section of construction material.

49. The method of any one of claims 39 to 48, wherein the method is a method of aligning the section of construction material with another section of construction material.

50. The method of claim 49, including a step of connection the sections of construction material.51 . A method of aligning pipe, including steps of: connecting a body comprising a passage for light transmission to an inner surface of a first section of pipe with a support; adjusting alignment of the body and / or the passage relative to a longitudinal axis of the first section of pipe, to substantially align the body and / or the passage thereof to, or parallel to, the longitudinal axis of the first section of pipe; and substantially aligning the body and / or the passage thereof relative to a laser beam transmitted through the passage with a calibrator, to align the first section of pipe to a second section of pipe, to thereby align the pipe.

52. The method of claim 51 , including a step of connecting the first and second sections of pipe.

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