Pipe Robot Inlet Mapping Using Gravity-Based Angle Reacquisition
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Solution Overview
Problem
Existing methods for reacquiring an inlet in a tubular pipe after repair with a liner are inefficient and prone to misalignment, lacking a straightforward and precise way to determine the original angle between the viewing direction and earth gravity.
Innovation Solution
A device and method incorporating a camera with a position sensor that detects the original angle between earth gravity and the viewing direction, combined with a pivot arm and milling head, allowing for intuitive mapping and reacquisition of the inlet, utilizing acceleration and turn rate sensors for precise orientation and a distance sensor for accurate positioning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a position sensor fixed at the base unit is used to detect angles relative to earth gravity, then the inlet mapping can be performed, but the device complexity increases and the alignment precision after liner repair is insufficient
Solution Approach 1:
An indicator is introduced as an intermediary element that serves as a visual reference for inlet positioning. The indicator is positioned at a known location relative to the base unit and provides a clear visual marker that can be easily identified in images, simplifying the inlet mapping and reacquisition process without requiring complex sensor systems
Solution Approach 2:
The position sensor creates a digital copy of the inlet's angular position relative to earth gravity. This angular position data is stored and used to guide the base unit back to the exact same position after liner repair, eliminating the need for complex physical alignment procedures
2Stability of the object's composition
If inclination sensors and position sensors are integrated in complex housings to prevent misalignment, then the alignment stability improves, but the ease of operation deteriorates
Solution Approach 1:
The system performs self-alignment by using the stored angular position data to automatically guide the base unit back to the original inlet position. The position sensor continuously monitors the angular orientation and compares it with the stored reference angle, enabling the system to self-correct without requiring complex external alignment procedures
Solution Approach 2:
The position sensor provides continuous feedback on the base unit's angular orientation relative to earth gravity. This feedback is used by the control system to adjust the base unit's position and maintain accurate alignment with the inlet, ensuring stable operation throughout the liner repair process
3Measurement precision
If multiple sensors and complex positioning systems are used to detect inlet position, then the measurement precision improves, but the loss of time increases
Solution Approach 1:
The essential function of inlet position detection is extracted and performed by a single position sensor that measures only the angular orientation relative to earth gravity. This simplified approach eliminates the need for multiple sensors and complex positioning systems, reducing the time required for inlet mapping while maintaining sufficient precision for accurate reacquisition
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables simplified and precise reacquisition of the inlet, facilitating efficient re-opening of the liner at the same position, improving alignment and reducing operational complexity by storing the original angle for later reference.
Implementation Method 1
capturing an original angle between earth gravity and the viewing direction with a position sensor
Implementation Method 2
utilizing acceleration and turn rate sensors for precise orientation
Data Source
AI summary
A device for mapping an inlet into a tubular pipe, the device including a pipe robot including a base unit including a chassis configured for driving in the tubular pipe, a pivot arm arranged at the base unit, an indicator arranged at the pivot arm, a camera arranged at the pivot arm with a viewing direction towards the indicator, a control device; and a conductor arranged between the control device and the base unit and configured to transmit control signals of the control unit for positioning the base unit in the pipe, for pivoting the pivot arm about a longitudinal axis of the base unit and for pivoting the indicator relative to the inlet and to transmit an original image of the indicator that is captured by the camera to the control device. The invention also relates to a method for using the device.