Articulated Sewer Camera Control for Automatic Target-Point Alignment
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Solution Overview
Problem
Current sewer inspection and maintenance systems require operators to manually control joint systems with joysticks to align camera optics, which is time-consuming and can lead to mechanical damage due to the need for active correction during pivoting movements.
Innovation Solution
A system with an input device for specifying a target point and a control device that calculates and transmits joint angles to servomotors to automatically align the camera optics, allowing for faster and more precise alignment without manual correction.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If manual joystick control is used to align the camera, then the operator can control the camera direction, but the alignment process becomes time-consuming and requires continuous active correction
Solution Approach 1:
The control system automatically calculates the required joint angles and generates control signals for the actuators based on the target position, enabling the system to align the camera autonomously without requiring continuous manual correction. The system serves itself by computing the alignment trajectory and executing it through the articulated system's actuators.
Solution Approach 2:
The patent replaces manual mechanical joystick control with an automated computational control system. The control unit calculates joint angles using coordinate transformation algorithms and sends electronic control signals to the actuators, substituting the mechanical manual control process with an automated electro-mechanical system that reduces alignment time and operational complexity.
2Measurement precision
If manual correction during pivoting movement is performed, then the camera can be aligned accurately, but the risk of mechanical damage to the joint system increases
Solution Approach 1:
The control system autonomously computes the precise joint angles required for camera alignment and executes the movement without manual intervention. This self-service capability eliminates the risks associated with manual correction, including operator error and mechanical damage from improper handling, while maintaining high alignment precision through algorithmic calculation.
Solution Approach 2:
The system incorporates feedback mechanisms where the control unit receives information about the current joint positions and camera orientation, compares them with the target position, and automatically adjusts the control signals to achieve precise alignment. This closed-loop feedback control ensures accurate positioning while preventing mechanical damage through controlled, monitored movements.
3Productivity
If the operator controls actuators sequentially to pan the camera, then the mechanical limitations can be respected, but the alignment process becomes complex and time-consuming
Solution Approach 1:
The control system automatically manages the complexity of coordinating multiple actuators by computing the required joint angles and generating appropriate control signals. This self-service approach handles the mathematical transformations and actuator coordination internally, presenting a simple target-position interface to the operator while managing the complex multi-actuator control in the background.
Solution Approach 2:
The control unit acts as an intermediary between the simple target position input and the complex multi-actuator control system. It performs coordinate transformations and calculates the sequence of joint movements required, mediating between the operator's simple directional command and the complex mechanical coordination needed to execute the alignment while respecting mechanical limitations.
Data Source
Figure 1~1(b)
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AI summary
A sewer inspection and/or maintenance system is provided, comprising at least: - an image acquisition device arranged via a joint system on a carriage or on a sliding device of the sewer inspection and/or maintenance system, wherein the joint system is adapted to perform pivoting movements in at least two directions, for pivoting the image acquisition device in a predetermined direction, - an input device adapted to receive a target point for a pivoting movement of the joint system, and - a control device coupled to the input device and to the joint system, and adapted to: - receive the target point received from the input device, - calculate joint angles of the joint system corresponding to the target point of the pivoting movement to be performed.and - based on the current joint angles and the calculated joint angles, to determine control signals and transmit them to the joint system, whereby the control signals cause the joint system to perform the pivoting movement to be carried out until the target point.