Device for inspecting an underground pipe network from a manhole and associated method

Abstract

Device for inspecting an underground pipe network from a manhole and associated method The device (10) comprises a positioning system (24) and a longitudinal guide rod (26) intended to extend along the central axis of a manhole (20), to be introduced into the manhole (20). The device (10) comprises an inspection unit (30) intended to be engaged on the guide rod (26), the inspection unit (30) being movable relative to the positioning system (24) at least along the central axis, the inspection unit (30) comprising: at least one camera, and a projection system configured to project a specific pattern defining at least one characteristic distance onto an internal surface of the manhole, the specific pattern being intended to be positioned in an area visible by the at least one camera.The device (10) comprises a measuring system (28) configured to measure the height at which the inspection unit (30) is positioned along the central axis. Figure for abstract: Figure 2.

Description

Title of the invention: Device for inspecting an underground pipe network from a manhole and associated method

[0001] The present invention relates to a device for inspecting a network of underground pipes, the network comprising a manhole, the manhole extending around a central axis.

[0002] Such a device is used to inspect a network of underground pipes, in particular to determine specific measurements of the network, in particular depths, inclinations, diameters, orientations of pipes accessible from the inspection chamber and / or opening into it or even to take photos or videos inside the pipes.

[0003] The underground pipe network is, for example, a wastewater and / or rainwater sanitation network.

[0004] To carry out various maintenance and inspection operations, an underground pipe network includes inspection and operating manholes. The manhole is an orifice dug vertically between the surface and the network pipes opening into the manhole. The manhole then allows access to certain regions of the network and / or the connection of dwelling(s) to a collector. The inspection device mentioned above is intended to be introduced into a manhole of the network inspected.

[0005] The determination of specific measurements of an underground pipe network makes it possible, in particular, to precisely position and map the underground pipes and thus avoid potential damage caused, for example, during work carried out in the vicinity of said network. These measurements also make it possible to improve knowledge of the networks' assets.

[0006] Regulations in some countries are evolving. For example, in France, regulations will require project owners to provide class A network plans, i.e. with an accuracy of 40 cm, in 2026 for urban areas and in 2032 for rural areas.

[0007] Usually, the specific measurements are determined by measurement campaigns carried out by a surface operator introducing a measuring system into a manhole of the network inspected. The measuring system is for example a tape measure that the operator unrolls from outside the manhole and on which he reads a height between the surface of the manhole and a measurement point. From these measurements, calculations are possibly carried out in order to determine the desired specific measurements.

[0008] However, such a method is not entirely satisfactory. On the one hand, the uncertainty of the measurements is high, the measurement error coming mainly from the accuracy of the measuring system used and the determination of the measuring points by the operator from the surface.

[0009] On the other hand, in order to ensure that the measuring system has actually reached the desired measuring point, the operator is often forced to lean over the sight glass and therefore risks falling into the sight glass.

[0010] An aim of the invention is to propose an inspection device making it possible to very precisely determine characteristic measurements of an underground pipe network, while maximizing ergonomics and safety for the operator.

[0011] To this end, the invention relates to a device for inspecting a network of underground pipes comprising a manhole, the manhole extending around a central axis, the device being characterized by:

[0012] - a positioning system intended to be arranged outside and above the glance ;

[0013] - a longitudinal guide rod intended to extend along the central axis, the rod being intended to be introduced into the manhole and mounted on the positioning system, and;

[0014] - an inspection unit intended to be engaged on the guide rod, the unit inspection unit being movable relative to the positioning system at least along the central axis, the inspection unit comprising:

[0015] - at least one camera, and;

[0016] - a projection system configured to project a specific pattern defining at least one characteristic distance on an internal surface of the gaze, the specific pattern being intended to be positioned in an area visible by the at least one camera;

[0017] - a measuring system configured to measure the height at which is positioned the inspection unit along the central axis.

[0018] According to other advantageous aspects of the invention, the device comprises one or more of the following characteristics, taken in isolation or in all technically possible combinations:

[0019] - the guide rod is intended to be engaged on the positioning system;

[0020] - the inspection unit is mounted to move in translation on the rod along the axis central;

[0021] - the guide rod comprises a plurality of tubes assembled end to end;

[0022] - the processing unit comprises an input module configured to acquire input data entered by an operator via a human-machine interface;

[0023] - the device comprises a coordinate determination system geographical locations of the inspection unit, in particular by satellite;

[0024] - the device comprises a battery configured to electrically power the unit inspection;

[0025] - the guide rod is rotatably mounted relative to the positioning system around the central axis, the inspection unit being jointly movable in rotation around the central axis with the guide rod, the device advantageously comprising an angular measuring system configured to determine the angle of rotation of the inspection unit relative to the positioning system;

[0026] - the inspection unit further comprises at least one light source intended to illuminate the area visible to at least one camera;

[0027] - the projection system comprises at least one laser configured to project the specific pattern defining at least one characteristic distance on an internal surface of the gaze;

[0028] - the specific pattern comprises at least two parallel segments between them on the internal surface of the gaze;

[0029] - it comprises a processing unit, the processing unit comprising:

[0030] - an acquisition module configured to acquire the data recorded by the au minus one camera, and

[0031] - a screen, the screen being configured to display data recorded by the au less one camera including the specific pattern;

[0032] - the processing unit comprises a processing module configured to determine from the acquired data and the characteristic distance, at least one measurement representative of the view and / or of a defined region present in the view, in particular of a pipe opening into the view, the screen being advantageously configured to display the at least one representative measurement determined by the processing module;

[0033] - the processing module is configured to determine from the data acquired and the characteristic distance, information representative of a fouling rate of a pipe opening into the manhole;

[0034] - the inspection unit comprises a first camera and a second camera, the first camera being configured to capture near-field images and the second camera being configured to capture farther-field images inside the pipes opening into the manhole;

[0035] - the inspection unit comprises a lower region provided with a system depreciation.

[0036] The invention also relates to a method for inspecting an underground pipe network comprising a manhole, the manhole extending around a central axis, the method comprising the following steps:

[0037] - provision of an inspection device as defined above;

[0038] - installation of the positioning system;

[0039] - arrangement of the guide rod in the manhole along the central axis, and descent of the inspection unit along the central axis together with the guide rod or along the guide rod;

[0040] - projection by the projection system of the specific pattern onto an internal surface in the gaze,

[0041] - taking at least one image of the internal surface of the gaze on which the specific pattern using at least one camera.

[0042] According to other advantageous aspects of the invention, the method comprises one or more of the following characteristics, taken in isolation or in all technically possible combinations:

[0043] - the manhole comprises a buffer movable between a manhole closing position and an open position of the gaze, the step of arranging the guide rod being preceded by a step of placing the buffer in the open position of the gaze and the step of taking at least one image being followed by the following steps:

[0044] - removal of the guide rod from the manhole together with or after raising the unit inspection along the central axis,

[0045] - passage of the buffer into the position of closing the inspection chamber;

[0046] - it includes a step prior to the projection of the specific pattern, in which the at least one camera is activated when positioning the inspection unit opposite the internal surface;

[0047] - the taking of at least one image is followed by a step of determining at least a representative measurement of the view and / or a defined region present in the view, in particular of a pipe opening into the view, from the characteristic distance of the specific pattern.

[0048] The invention will appear more clearly on reading the description which follows, given solely by way of non-limiting example, and made with reference to the drawings in which:

[0049] [Fig-1] [Fig.l] is a schematic sectional view of a manhole in which a inspection device according to the invention is intended to be introduced,

[0050] [Fig.2] [Fig.2] is a partial perspective view of an inspection device according to the invention arranged above the viewport,

[0051] [Fig.3] [Fig.3] is a partial perspective view of the inspection unit of the device of [Fig.2],

[0052] [Fig.4] [Fig.4] is a schematic view of a processing unit of the device [Fig.2],

[0053] [Fig.5] [Fig.6] Figures 5 and 6 are photographs taken by a camera of the inspection unit of [Fig.3].

[0054] Figures 2 to 4 illustrate an example of an inspection device 10 according to the invention, used to inspect a network 12 of underground pipes 16, 18.

[0055] The network 12 is for example a sanitation network. It is advantageously of the unitary type, that is to say configured to carry both wastewater and rainwater. Alternatively, the network 12 is a separate network, the network 12 is then either a wastewater network or a rainwater network.

[0056] Preferably, the network 12 comprises a plurality of underground pipes 16, 18.

[0057] In particular, the network 12 comprises at least one main pipe 16 also called “collector” and secondary pipes 18.

[0058] The main pipe 16 opens, for example, into a treatment plant in the case of a wastewater or mixed water network or into a storm basin in the case of a rainwater network. The secondary pipes 18 allow, for example, the connection between a dwelling and the collector.

[0059] For example, the diameter of the main pipe 16 is greater than 100 mm and is generally between 200 mm and 300 mm.

[0060] The diameter of each secondary pipe 18 is smaller than that of the main pipe. It is generally between 60 mm and 200 mm.

[0061] Preferably, the network 12 is a gravity network. In other words, the driving force behind the flow of water in the pipes 16, 18 of the network 12 is gravity. The pipes 16, 18 are then slightly inclined relative to the horizontal.

[0062] The network 12 further comprises at least one inspection and operating manhole 20 separating the main pipe 18 into a plurality of sections. The manhole 20 will now be described, with reference to [Fig.l].

[0063] The manhole 20 is an orifice dug between the outer surface 21 and the main pipe 16. It generally extends vertically around a central axis. The outer surface 21 is, for example, the roadway or the sidewalk of a street.

[0064] Advantageously, the depth of the manhole 20 is between 1.5 m and 5 m.

[0065] The manhole 20 generally has a cross-section of round or in outline quadrilateral shape, especially square.

[0066] The viewport 20 provides access to the network 12.

[0067] At least one pipe 16, 18 of the network 12 opens into the manhole 20.

[0068] In the example of [Fig.l], the manhole 20 extends vertically to the main pipe 16 which then passes through the manhole 20 at its bottom (also called the “base”). A secondary pipe 18 opens into the manhole 20 above the main pipe 16, the secondary pipe 18 being called the “falling pipe”.

[0069] The manhole 20 comprises a buffer 22, movable between a position for closing the manhole 20 and an open position for the manhole 20.

[0070] In the closed position of the inspection chamber 20, the plug 22 covers the orifice forming the inspection chamber 20 and is arranged at the level of the external surface 21. In the open position of the inspection chamber 20, the plug 22 frees the orifice to allow intervention in at least one pipe 16, 18 in particular using the inspection device 10 according to the invention.

[0071] The inspection device 10 is configured to determine the coordinates of characteristic points of the manhole 20 and / or of the pipes 16, 18 opening into the manhole 20, for example points PO, PO', PI, PI', P2, P2', P3, and P3' shown in [Fig.l].

[0072] In the example of [Fig.l], the points PO and PO' are defined to calculate the depth Z0 of the manhole 20 along the central axis. In particular, the point PO corresponds to the intersection between the central axis and the outer surface 21 and the point PO' corresponds to the intersection between the central axis and the bottom of the manhole 20. The points PI, PI', P2, P2', P3, and P3' characterize the pipes 16, 18 opening into the manhole 20. For example, the points PI and PI' are defined to calculate the upstream diameter DI of the main pipe 16, the points P2 and P2' to calculate the downstream diameter D2 of the main pipe 16, and the points P3 and P3' to calculate the diameter D3 of the secondary pipe 18, at the manhole 20.

[0073] Here and hereinafter, the terms “downstream” and “upstream” are understood to mean the flow of water in the main pipe 16.

[0074] The inspection device 10 is used when the buffer 22 is in the open position of the inspection chamber 20.

[0075] With reference to [Fig. 2], the inspection device 10 comprises a positioning system 24, placed on the ground around the entrance of the manhole 20, a guide rod 26 inserted vertically into the manhole 20, an inspection unit 30 deployable along the guide rod 26 and a measuring system 28 configured to deploy the inspection unit 30 along the guide rod 26 and measure the height of the inspection unit 30.

[0076] The inspection device 10 further comprises a battery and a surface processing unit 32.

[0077] Alternatively, the inspection device 10 also comprises a system for determining the geographical coordinates of the inspection unit 30, in particular by satellite. The system for determining geographical coordinates makes it possible in particular to locate the geographical position of the inspected manhole 20.

[0078] The positioning system 24 is intended to be arranged outside and above the manhole 20.

[0079] The positioning system 24 comprises at least one positioning member 34 and an engagement mechanism 36 of the guide rod 26.

[0080] In the example of [Fig.2], the positioning system 24 comprises a tripod. The positioning members 34 are then three legs deployable from the engagement mechanism 36 between a folded position and a deployed position. In the deployed position, the legs are arranged to rest on the surface in the vicinity of the manhole 20. The legs are, for example, adjustable in length.

[0081] The positioning members 34 are configured to center the engagement mechanism 36 on the central axis of the manhole 20.

[0082] Alternatively, the positioning system 24 further comprises a fall prevention device. The fall prevention device is for example a grid or a net extending between the positioning members 34 and covering the manhole 20 to limit the risk of the operator falling.

[0083] The engagement mechanism 36 comprises a support 38 and a rotary guide 40 of the guide rod 26.

[0084] The rotary guide 40 is configured to be aligned with or parallel to the central axis of the manhole 20.

[0085] The rotary guide 40 is rotatably mounted on the support 38 around the central axis. The rotary guide 40 is for example connected to the support 38 by a pivot connection. The pivot connection is for example made by a ball bearing.

[0086] Advantageously, the engagement mechanism 36 comprises an angular measurement system configured to determine the angle of rotation of the rotary guide 40 relative to the support 38. The determined angle corresponds for example to the angle between an orientation of the rotary guide 40 and a reference orientation, for example the geographic or magnetic North.

[0087] The guide rod 26 is longitudinal and extends along the central axis of the manhole 20. The guide rod 26 is introduced vertically into the manhole 20.

[0088] The guide rod 26 is engaged in the rotary guide 40. Thus, the guide rod 26 is rotatably mounted relative to the positioning system 24 around the central axis by means of the rotary guide 40. The guide rod 26 is furthermore guided in translation along a vertical axis by the rotary guide 40.

[0089] In the example shown in [Fig.2], the guide rod 26 comprises a plurality of tubes 41 assembled end to end until reaching the bottom of the manhole 20. For this purpose, each tube 41 comprises at one end, a fixing mechanism configured to receive the opposite end of the following tube 41.

[0090] The measuring system 28 is fixed at at least one point to the guide rod 26 and extends along the guide rod 26 at least between the support 40 and the inspection unit 30 engaged on the rod 26.

[0091] The measuring system 28 is configured to measure a height along the central axis. In particular, the measuring system 28 is configured to measure the height of the inspection unit 30 along the central axis.

[0092] For example, the measuring system 28 is fixed to the inspection unit 30 and takes the inspection unit 30 as its origin. The height of the inspection unit 30 then corresponds to the distance between the support 40 and the inspection unit 30 along the central axis of the manhole 20. The measuring system 28 therefore makes it possible to determine at what depth the inspection unit 30 is located in the manhole 20.

[0093] For example, the measuring system 28 is graduated and the reading of the graduation is accessible from the outer surface 21.

[0094] According to one embodiment, the measuring system 28 comprises a roll-out tape measure. For this purpose, the measuring system 28 comprises, for example, an unwinder 42 and a crank 44. The rotation of the crank 44 in a first direction allows the unwinding of the tape measure along the guide rod 26 and at the same time the lowering of the inspection unit 30, the rotation of the crank 44 in a second direction, opposite to the first direction, allows the winding of the tape measure around the unwinder 42 and at the same time the raising of the inspection unit 30.

[0095] With reference to [Fig.3], the inspection unit 30 comprises a front half-shell 46 and a rear half-shell 48.

[0096] The front half-shell 46 and the rear half-shell 48 are slidably engaged around the guide rod 26. Thus, the inspection unit 30 is movable in translation relative to the rod 26 along the central axis.

[0097] With reference to [Fig.3], the inspection unit 30 comprises at least one camera 50A, 50B and a projection system 52.

[0098] In the example of [Fig.3], the inspection unit 30 further comprises at least one light source 54A, 54B.

[0099] Advantageously, the inspection unit 30 comprises a lower region provided with a damping system. The damping system is configured to limit damage to the inspection unit 30 in the event of a fall along the guide rod 26 or upon contact with the bottom of the manhole 20.

[0100] In [Fig.3], the inspection unit 30 comprises a first camera 50A and a second camera 50B.

[0101] Each camera 50A, 50B is here fixed to the front half-shell 46 and arranged so as to take images of an internal surface 56 of the manhole 20.

[0102] Preferably, each camera 50A, 50B is configured to take color digital images of the internal surface 56, and if necessary, videos.

[0103] For example, the first camera 50A is configured to capture near-field images and the second camera 50B is configured to capture farther-field images of the interior of the pipes 16, 18 opening into the manhole 20.

[0104] The projection system 52 is configured to project a specific pattern 58 defining at least one characteristic distance d onto the internal surface 56 of the viewport 20, the pattern 58 being visible by at least one camera 50A, 50B.

[0105] In [Fig.3], the projection system 52 is fixed to the front half-shell 46.

[0106] For example, the specific pattern 58 comprises at least two segments 60 parallel to each other on the internal surface 56. In this case, the characteristic distance d corresponds to the distance between two segments 60. The characteristic distance d is preferably measured perpendicular to the two said segments 60.

[0107] In the case where the specific pattern 58 comprises at least three segments 60, the distance between two successive segments 60 is preferably constant from one segment 60 to the next and is equal to the characteristic distance d.

[0108] In this example, when the inspection unit 30 is held vertically on the guide rod 26, the two segments 60 extend horizontally.

[0109] For example, the projection system 52 comprises at least one laser 62 configured to project the specific pattern 58.

[0110] In the example of [Fig. 3], the projection system 52 comprises a plurality of lasers 62, each laser 62 being configured to project a beam 63 forming a segment 60 onto the internal surface 56, the segments 60 being parallel to each other. For this purpose, each laser 62 is arranged opposite a Powell lens which is configured to diffract the laser beam 63 into a straight plane region with a homogeneous power distribution over the line.

[0111] Thus, the beams 63 projected by each laser 62 are parallel to each other and are separated from each other by the characteristic distance d which is equal to the known distance separating the lasers 62.

[0112] In the particular example of [Fig.3], the projection system 52 comprises five lasers 62, intended to project five parallel straight line segments, each separated by the characteristic distance d. Thus, the probability that two successive parallel straight line segments can be visible on a picture taken by one of the cameras 50A, 50B is maximized.

[0113] Each light source 54A, 54B is intended to illuminate the area visible by the at least one camera 50A, 50B.

[0114] Each light source 54A, 54B is for example a light-emitting diode (or “LED”, from the English Light Emitting Diodes).

[0115] Each light source 54A, 54B is here fixed to the front half-shell 46.

[0116] In the example of [Fig.3], the inspection unit 30 comprises two light sources 54B intended to illuminate a distant field and framing the second camera 50B and a light source 54A intended to illuminate the near field and arranged above the first camera 50A.

[0117] The battery (not visible) is configured to electrically power the inspection unit 30.

[0118] In particular, the battery is configured to power each camera 50A, 50B, the projection system 52 and each light source 54A, 54B, and advantageously the processing unit 32.

[0119] Preferably, the battery is configured to allow use of the device 10 for one day.

[0120] For example, the battery is located in the inspection unit 30.

[0121] The processing unit 32 is configured to interact with the inspection unit 30.

[0122] The processing unit 32 comprises a computer 64 and advantageously, a human-machine interface 66.

[0123] According to one embodiment, the computer 64 and the human-machine interface 66 are remote and communicate with the inspection unit 30 via a wireless transmission link. For example, the inspection unit 30 comprises an embedded system communicating via WiFi with the processing unit 32. For example, the inspection unit 30 comprises a “Raspberry Pi ®” processor.

[0124] In the example of [Fig.2], the processing unit 32 is formed by a portable electronic device, in particular by a tablet 68 or alternatively by a mobile phone or a laptop.

[0125] Advantageously, the inspection device 10 further comprises a desk (not shown) intended to receive the tablet 68. The desk is for example engaged on the guide rod 26 and movable in rotation around the rod 26.

[0126] Alternatively, the computer 64 is carried by the inspection unit 30 equipped with an on-board system and the human-machine interface 66 is remote from the inspection unit 30.

[0127] The computer 64 is configured to implement an acquisition module 70 configured to acquire the data recorded by the at least one camera 50A, 50B, an input module 72 configured to acquire input data entered by an operator via the human-machine interface 66, and a processing module 74 configured to determine at least one measurement representative of the manhole 20 and / or of a defined region present in the manhole 20, in particular of a pipe 16, 18 opening into the manhole 20, from the data received from the acquisition module 70 and possibly from the input module 72.

[0128] The computer 64 comprises for example at least one memory 76 and at least one processor 78 associated with the memory 76.

[0129] The acquisition module 70, the input module 72 and the processing module 74 are then produced in the form of one or more software programs, or a software brick, executable(s) by the processor 78. The memory 76 is then configured to store each software and the processor 78 is configured to execute each software.

[0130] In a variant not shown, the acquisition module 70, the input module 72 and the processing module 74 are produced in the form of a programmable logic component, such as an FPGA (Field Programmable Gate Array) or in the form of a dedicated integrated circuit, such as an ASIC (Application Specific Integrated Circuit).

[0131] When the acquisition module 70, the input module 72 and the processing module 74 are produced in the form of one or more software programs, that is to say in the form of a computer program, it is also capable of being recorded on a medium, not shown, readable by a computer. The computer-readable medium is, for example, a medium capable of storing electronic instructions and of being coupled to a bus of a computer system. For example, the readable medium is an optical disk, a magneto-optical disk, a ROM memory, a RAM memory, any type of non-volatile memory (for example EPROM, EEPROM, FLASH, NVRAM), a magnetic card or an optical card. A computer program comprising software instructions is then stored on the readable medium.

[0132] The acquisition module 70 is for example configured to acquire at least one digital image of the internal surface 56 comprising the specific pattern 58 taken by each camera 50A, 50B.

[0133] In another example, the acquisition module 70 is configured to acquire a digital video stream recorded by each camera 50A, 50B, which corresponds to a plurality of successive digital images.

[0134] The acquisition module 70 is further configured to transmit the acquired data to the processing module 74.

[0135] Alternatively, the acquisition module 70 is also configured to store the acquired data.

[0136] As indicated above, the input module 72 is configured to acquire input data entered by an operator via the human-machine interface 66.

[0137] The input data includes, for example, information concerning the operator carrying out the intervention, the network 12 inspected, the number of pipes 16, 18 opening into the manhole 20 and their configuration or measurements read by the operator on the inspection device 10, such as the height of the inspection unit 30 read on the measuring system 28 or the angle of rotation of the rotary guide 40 relative to the support 38 of the positioning system 24.

[0138] Alternatively, if the inspection device 10 comprises the system for determining geographic coordinates, in particular by satellite, certain input data concerning the position of the inspection chamber 20 and / or the network 12 inspected are transmitted by the geographic coordinate determination system to the input module 72.

[0139] The input module 72 is further configured to transmit the input data to the processing module 74.

[0140] The processing module 74 is configured to receive the data acquired by the acquisition module 70 and the input data acquired by the input module 72.

[0141] The processing module 74 is then configured to determine, from the received data and the characteristic distance d, at least one measurement representative of the manhole 20 and / or of a defined region present in the manhole 20, in particular of a pipe 16, 18 opening into the manhole 20.

[0142] In the example of [Fig.2], the representative measurements correspond to the coordinates X0, Z0, XI, Zl, X2, Z2, X3 and Z3 of the characteristic points PO, PO', PI, PI', P2, P2', P3, and P3' and / or to the diameters Dl, D2 and D3 of pipes 16, 18 opening into the manhole 20.

[0143] Each coordinate Xi corresponds to the distance between the central axis and the corresponding characteristic point Pi.

[0144] Each coordinate Zi corresponds to the depth of the corresponding characteristic point Pi. In other words, each coordinate Zi corresponds to the distance taken parallel to the central axis between the outer surface 21 and the corresponding characteristic point Pi.

[0145] The diameter D1 corresponds to the upstream diameter of the main pipe 16 measured at the level of the inspection chamber 20. Similarly, the diameter D2 corresponds to the downstream diameter of the main pipe 16 and the diameter D3 to the diameter of the secondary pipe 18.

[0146] For this purpose, the processing module 74 is configured to determine the scale of the data recorded by each camera 50A, 50B from the characteristic distance d of the specific pattern 58 which is previously known.

[0147] Thus, the processing module 74 is capable of converting a distance measured in number of pixels on an image or a video stream recorded by a camera 50A, 50B into a distance in the metric system.

[0148] The processing module 74 is for example configured to identify the specific pattern 58 and / or the presence of a pipe 16, 18 on an image.

[0149] According to another example, the specific pattern 58 and / or a pipe 16, 18 are identified by an operator from the human-machine interface 66 and the processing module 74 is then configured only to carry out the conversion.

[0150] Preferably, the processing module 74 is configured to determine each representative measurement with an accuracy of less than or equal to 5 cm.

[0151] Alternatively, the processing module 74 is further configured to determine, from the acquired data and the characteristic distance d, a data representative of a fouling rate of a pipe 16, 18 opening into the manhole 20. The fouling rate corresponds to the ratio between a fouling height at the pipe 16, 18 and the diameter of the pipe 16, 18. The processing module 74 is therefore configured to determine a fouling height of a pipe 16, 18 from the acquired data and the characteristic distance d.

[0152] The human-machine interface 66 comprises a screen 80 and a user interaction element 82.

[0153] The screen 80 is configured to display data recorded by the at least one camera 50A, 50B including the specific pattern 58 and / or the at least one representative measurement determined by the processing module.

[0154] The screen 80 provides the user with visual feedback on the operation and measurements made by the device 10.

[0155] For example, the screen 80 is capable of displaying a window for displaying the video stream recorded by each camera 50A, 50B, preferably instantaneously, and a window for presenting the representative measurements calculated by the processing module 74.

[0156] The interaction element 82 is connected to the processing unit 32, in particular to the input module 72.

[0157] The interaction element 82 is for example integrated into the screen 80 in the form of a touch screen. In this case, the screen 80 is for example capable of displaying a third window for entering input data.

[0158] According to another example, the interaction element 82 is a real or virtual keyboard or an operable cursor connected to the screen 80 and to the processing unit 32.

[0159] The interaction element 82 is for example configured to remotely activate and / or deactivate each camera 50A, 50B, the projection system 52 and / or each light source 54.

[0160] Alternatively, the interaction element 82 is also configured to control the longitudinal movement of the inspection unit 30 along the guide rod 26 and / or the rotation about the central axis.

[0161] In addition, the interaction element 82 allows the user to enter the input data and transmit them to the input module 72. The interaction element 82 is for example configured to allow the user to choose the configuration of the pipes 16, 18 in the manhole 20 from a list of proposed configurations or to type in a height read on the measuring system 28 or an angle of rotation.

[0162] A method for inspecting the network 12 of underground pipes 16, 18 will now be described. The inspection is carried out by an operator equipped with the inspection device 10 described above.

[0163] Initially, during a step of opening the buffer 22, the operator positions the buffer 22 in the open position of the manhole 20.

[0164] The operator lifts the buffer 20 and moves it in order to free access to the inspection chamber 20.

[0165] Next, the operator installs the positioning system 24. The system positioning 24 is arranged outside and above the manhole 20

[0166] For example, the positioning system 24 comprising a tripod, the operator deploys the legs of the tripod or the positioning members 34 and optionally the height of the legs is adjusted. The tripod is arranged at the periphery of the manhole 20.

[0167] The positioning system 24 is arranged so that the rotary guide 40 is aligned with the central axis of the manhole 20.

[0168] The installation of the positioning system 24 is followed by a step of arranging the guide rod 26. In this step, the tubes 41 forming the rod 26 are assembled end to end and the rod 26 is engaged in the rotary guide 40.

[0169] For example, a first tube 41 is engaged in the rotary guide 40 then a second tube 41 is fixed to the end of the first tube 41 using the fixing mechanism and so on until the rod 26 reaches the bottom of the manhole 20.

[0170] Alternatively, the tubes 41 are assembled end to end in a first step and the mounted guide rod 24 is in a second step engaged in the rotary guide 40.

[0171] Furthermore, the inspection unit 30 is also engaged on the guide rod 26 by the operator above the outer surface 21, by engaging the half-shells 46, 48 on either side of the rod 26.

[0172] The measuring system 28 is attached to the inspection unit 30 and extended along the guide rod 24 from the unwinder 42.

[0173] Afterwards, the inspection unit 30 is lowered along the central axis following the guide rod 26.

[0174] The lowering of the inspection unit 30 is for example carried out manually. Alternatively, it is controlled by the operator from the human-machine interface 66, more particularly from the interaction element 82.

[0175] In another example, the descent of the inspection unit 30 is generated by the unwinding of the tape from the measuring system 28 using the crank 44.

[0176] When the inspection unit 30 reaches a particular point located under the outer surface 21 in the manhole 20, the projection system 52 is activated, for example by activating a button on the human-machine interface 66.

[0177] The point is for example defined by the operator and corresponds for example to the instant at which the inspection unit is opposite a pipe 16, 18 opening into the manhole 20.

[0178] Activation of the projection system preferably triggers a predefined measurement sequence, including projection of a specific pattern 58 and activation of at least one camera 50A, 50B.

[0179] The projection system 52 then projects the specific pattern 58 onto the internal surface 56 of the viewport 20. At least one camera 50A, 50B is then activated.

[0180] As a variant, the activation of the camera(s) 50A, 50B is for example manually controlled by the operator from the human-machine interface 66, more particularly from the interaction element 82.

[0181] For example, the projection of the specific pattern 58 and the activation of the camera 50A, 50B are simultaneous.

[0182] Furthermore, each light source 54A, 54B is also activated.

[0183] After activation of the projection system 52 and at least one camera 50A, 50B, at least one image of the internal surface 56 of the manhole 20 is taken by the at least one camera 50A, 50B. Each image taken comprises the specific pattern 58 projected by the projection system 52.

[0184] A first image 84 and a second image 86 in the near field taken by the camera 50A are shown in Figures 5 and 6.

[0185] In [Fig.5], the first image 84 includes a secondary pipe 18 of diameter D3 arriving in fall in the manhole 20 and the specific pattern 58.

[0186] In [Fig.6], the second image 86 comprises a main pipe 16 of upstream diameter DI at the bottom of the manhole 20 and the specific pattern 58.

[0187] Alternatively, a video stream is recorded by each camera 50A, 50B. The video stream is for example retransmitted on the screen 80.

[0188] In an optional step, the operator enters the input data by means of the interaction element 82. The entered input data is acquired by the input module 72.

[0189] In another optional step, the geographic coordinate determination system transmits to the input module 72 data concerning the position of the processing unit 32, in particular information concerning the geographic position of the inspected manhole 20.

[0190] The image and / or the video stream are then acquired by the acquisition module 70 and subsequently transmitted to the processing module 74.

[0191] The processing module 74 determines at least one measurement representative of the manhole 20 and / or of a defined region present in the manhole 20, in particular of a pipe 16, 18 opening into the manhole 20, from the characteristic distance d of the specific pattern 58.

[0192] Depending on the case, the determination of at least one representative measurement further depends on the input data acquired by the input module 72, in particular the height of the inspection unit 30 read on the measuring system 28 or of the angle of rotation of the rotary guide 40 relative to the support 38.

[0193] For example, the processing module 74 receives the first image 84 of [Fig.5] and measures on the image 84 the number of pixels NP corresponding to the characteristic distance d, making it possible to calculate a resolution R in pixels per unit of distance by calculating the ratio between the number of pixels NP and the characteristic distance.

[0194] Then, the processing module 74 converts lengths in a number of NPD pixels measured on the image 84 into lengths L in the metric system, for example by the following equation:

[0195] [Math.l] T NPP L = —

[0196] The resolution R being in pixels per unit of distance, the length L is well determined in unit of distance, preferably in the metric system.

[0197] In the example shown in the figures, the processing module 74 detects whether the image 84 includes a pipe, for example the secondary pipe 18, using a detection algorithm. If so, it determines a diameter of the pipe in number of pixels. Then, the processing module 74 divides the diameter determined in number of pixels by the resolution R to obtain the diameter (for example the diameter D3) in the metric system.

[0198] When the inspection is finished, that is to say when all the desired representative measurements of the gaze 20 have been determined, each camera 50A, 50B is deactivated. Similarly, the projection system 52 and each light source 54A, 54B are deactivated.

[0199] The inspection unit 30 moves up along the central axis following the guide rod 26.

[0200] The raising of the inspection unit 30 is for example controlled manually by the operator, or alternatively, from the human-machine interface 66, more particularly from the interaction element 82.

[0201] In another example, the raising of the inspection unit 30 is generated by the winding of the measuring system 28 using the crank 44.

[0202] The inspection device 10 is then disassembled. In other words, the inspection unit 30 is disengaged from the guide rod 26, the guide rod 26 is removed from the manhole 20 and the rotary guide 40 and the positioning system 24 is uninstalled.

[0203] Finally, the buffer 22 is repositioned in the position for closing the inspection chamber 20.

[0204] In the example described above, the diameter calculation is automatically launched by the operator when the system is in front of the pipe. processing is done immediately and a diameter measured and proposed to the operator on his tablet, the latter can validate or correct it before recording the data.

[0205] As a variant, each image and / or video stream recorded by each camera 50A, 50B is stored and the determination of the at least one representative measurement is carried out after the inspection unit 30 has been raised and the inspection chamber 20 has been closed by the buffer 22.

[0206] Thanks to the inspection unit 30, the determination of representative measurements in the manhole 20 is more precise and less risky for the operator.

[0207] In a variant, prior to the projection of the specific pattern 58, at least one camera 50A, 50B is activated during the positioning of the inspection unit 30 opposite the internal surface 56, to facilitate the positioning.

[0208] In a variant, the inspection unit 30 is fixedly mounted on the guide rod 26. It is lowered through the manhole 20 together with the guide rod 26.

Claims

Claims

1. Device (10) for inspecting a network (12) of underground pipes (16, 18) comprising a manhole (20), the manhole (20) extending around a central axis, the device being characterized by: - ​​a positioning system (24) intended to be arranged outside and above the manhole (20), - a longitudinal guide rod (26) intended to extend along the central axis, the rod (26) being intended to be introduced into the manhole (20) and mounted on the positioning system (24), and - an inspection unit (30) intended to be engaged on the guide rod (26), the inspection unit (30) being movable relative to the positioning system (24) at least along the central axis, the inspection unit (30) comprising: • at least one camera (50A, 50B), and • a projection system (52) configured to project a specific pattern (58) defining at least one characteristic distance (d) on an internal surface (56) of the manhole (20),the specific pattern (58) being intended to be positioned in an area visible by the at least one camera (50A, 50B), - a measuring system (28) configured to measure the height at which the inspection unit (30) is positioned along the central axis.,

2. Device (10) according to claim 1, wherein the guide rod (26) is rotatably mounted relative to the positioning system (24) about the central axis, the inspection unit (30) being jointly movable in rotation about the central axis with the guide rod (26), the device (10) advantageously comprising an angular measuring system configured to determine the angle of rotation of the inspection unit (30) relative to the positioning system (24).

3. Device (10) according to any one of the preceding claims, wherein the inspection unit (30) further comprises at least one light source (54A, 54B) intended to illuminate the area visible by the at least one camera (50A, 50B).

4. Device (10) according to any one of the preceding claims, the projection system (52) comprises at least one laser (62) configured to project the specific pattern (58) defining at least one characteristic distance (d) onto an internal surface (56) of the gaze (20).

5. Device (10) according to any one of the preceding claims, in which the specific pattern (58) comprises at least two segments (60) parallel to each other on the internal surface (56) of the manhole (20).

6. Device (10) according to any one of the preceding claims, comprising a processing unit (32), the processing unit (32) comprising: - an acquisition module (70) configured to acquire the data recorded by the at least one camera (50A, 50B), and - a screen (80), the screen (80) being configured to display data recorded by the at least one camera (50A, 50B) including the specific pattern (58).

7. Device (10) according to claim 6, wherein the processing unit (32) comprises a processing module (74) configured to determine from the acquired data and the characteristic distance (d), at least one measurement representative of the view (20) and / or of a defined region present in the view (20), in particular of a pipe (16, 18) opening into the view (20), the screen (80) being advantageously configured to display the at least one representative measurement determined by the processing module (74).

8. Device (10) according to claim 7, in which the processing module (74) is configured to determine, from the acquired data and the characteristic distance (d), information representative of a fouling rate of a pipe opening into the manhole (20).

9. Device (10) according to any one of the preceding claims, wherein the inspection unit (30) comprises a first camera (50A) and a second camera (50B), the first camera (50A) being configured to capture near-field images and the second camera (50B) being configured to capture farther-field images inside the pipes (16, 18) opening into the manhole (20).

10. Device (10) according to any one of the preceding claims, wherein the inspection unit (30) comprises a lower region provided with a damping system.

11. A method of inspecting a network (12) of underground pipes (16, 18) comprising a manhole (20), the manhole (20) extending around a central axis, the method comprising the following steps: - providing a device (10) according to any one of claims 1 to 14, - installing the positioning system (24); - arranging the guide rod (26) in the manhole along the central axis, and lowering the inspection unit (30) along the central axis together with the guide rod (26) or along the guide rod (26), - projecting by the projection system (52) the specific pattern (58) onto an internal surface (56) in the manhole (20), - taking at least one image of the internal surface (56) of the manhole (20) on which the specific pattern (58) appears using the at least one camera (50A, 50B).

12. Method according to claim 11, comprising a step prior to the projection of the specific pattern (58), in which the at least one camera (50A, 50B) is activated when positioning the inspection unit (30) opposite the internal surface (56).

13. Method according to one of claims 11 or 12, in which the taking of at least one image is followed by a step of determining at least one measurement representative of the view (20) and / or of a defined region present in the view (20), in particular of a conduit (16, 18) opening into the view (20), from the characteristic distance (d) of the specific pattern (58).

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