WO2018050968A1

WO2018050968A1 - Method and arrangement for monitoring sewer pipes

Info

Publication number: WO2018050968A1
Application number: PCT/FI2017/050659
Authority: WO
Inventors: Arvo Olavi Laitinen; Tero Olavi LAITINEN; Sakari Kuikka; Jussi KUIKKA; Jani KUIKKA; Janne Kallio
Original assignee: Underground City Oy
Priority date: 2016-09-19
Filing date: 2017-09-18
Publication date: 2018-03-22
Also published as: FI20165700A

Abstract

The invention relates to a solution for monitoring a sewer pipe system, the system comprising a multitude of sewer wells (102A, 104A, 106A) having covers (102B, 104B, 106B), where at least some of the wells being connected to each other with sewer pipes (100), and one or more measurement robots (120) configured to move within the sewer pipes. The measurement robot (120) performs autonomously measurements by utilising one or more sensors while moving in the sewer pipes and stores measurement results in a memory. The robot (120) detects that it has arrived to the coverage area (102D) of a communication apparatus (102C) attachable to a cover (102B) of a sewer well (102A), exchanges wirelessly messages with the communication apparatus (102C), the messages comprising the identification code of the measurement robot and the stored sensor measurement results from the measurement robot to the apparatus and control commands from the apparatus to the measurement robot.

Description

METHOD AND ARRANGEMENT FOR MONITORING SEWER PIPES Technical Field

The exemplary and non-limiting embodiments of the invention relate generally to monitoring sewer pipes.

Background

The following description of background art may include insights, discoveries, understandings or disclosures, or associations together with disclosures not known to the relevant art prior to the present invention but provided by the invention. Some of such contributions of the invention may be specifically pointed out below, whereas other such contributions of the invention will be apparent from their context.

Underground pipeline sewers for rainwater and waste water form typically extreme large and long pipeline networks with a multitude of sewer wells and long pipelines between the wells. For example, a town or city with the population of 100 000 may have typically sewer networks totalling about 1000 km, rain water sewers totalling about 450 km and drinking water pipes covering some 1100 km. In many cases sewer networks have been established and constructed over many years or decades. Thus, typically there are parts of the sewer networks which are very old and poorly documented while parts are relatively new and well documented.

The sewer networks are in need of continuous maintenance and restoration. Regular inspection and condition analysis is important to avoid leakages, accidents and service breaks. Obstructions, overflows, and collapses can cause challenging service breaks and expensive and large cleaning operations in buildings and environments. Forecasting and anticipation of loading in pipelines is becoming more and more important as resources and capacity of pipelines are becoming more critical. Continuous monitoring of the operation of sewer pipeline is difficult and expensive. Due to the varying age of sewer networks, data (including accurate location, condition, and change of condition) may not be available for all parts of pipelines.

Furthermore, examination of underground pipelines is a challenging task. Manual inspection is slow and expensive and in many cases impossible. Usage of robots moving in the pipelines is known. Typically the robots enter the pipeline from a well in the network and are controlled by a wire which is fed through the well to the robot. However, the length of the wire is limited. Radio control of robots is difficult to achieve due to poor propagation conditions.

In the context of this application, sewer pipes comprise at least pipes for waste water, rain water and floodwater. Brief description

An object of the present invention is thus to provide a solution with which monitoring sewer pipes may be realised cost effectively and versatilely.

The objects of the invention are achieved by methods as claimed in claims 1 and 4, and by the apparatus as claimed in claim 12 and the arrangement as claimed in claim 13. Some embodiments of the invention are disclosed in the dependent claims.

Brief description of the drawings

In the following the invention will be described in greater detail by means of preferred embodiments with reference to the accompanying drawings, in which

Figures 1A and IB illustrate examples of arrangements for monitoring a sewer pipe system;

Figure 2A illustrates an example of an apparatus attachable to a cover of sewer well of a sewer pipe system;

Figure 2B illustrates an example of a network server;

Figures 3, 4 and 5 are flowcharts illustrating embodiments of the invention;

Figure 6 illustrates an example of a measurement robot;

Figure 7 is a flowchart illustrating an embodiment of the invention; and

Figure 8 is a signalling chart illustrating an embodiment of the invention.

Detailed description of some embodiments

Embodiments are below described in connection with sewer pipes, but they may be applied to other types of pipes as well as one skilled in the art is aware. Embodiments may be applied to any pipeline system comprising wells connected with each other using pipes.

Figure 1A illustrates simplified example of a pipeline system comprising a pipeline 100 and a multitude of wells 102A, 104A, and 106A connected to each other with pipes. Only three wells are shown in this example but the actual number of wells may be greater. In some embodiments the system comprises of separate sections of pipelines each comprising a set of wells. Thus all wells of the system need not be connected to every other well of the system.

In the example of Figure 1A each well 102A, 104A, and 106A comprises a cover 102B, 104B, and 106B. Generally, covering of wells is necessary to prevent anyone falling into the well and also to protect the well.

In the example of figure 1A, the an arrangement for monitoring a sewer pipe system comprises at each well 102A, 104A, and 106A an apparatus 102C, 104C, and 106C attachable to a cover of a well 102B, 104B, and 106B of the sewer pipe system. Advantageously each well of the system comprises an apparatus attached to the cover of the well. However, this is not relevant regarding the embodiments of the invention. It is sufficient that a multitude of well covers comprise the apparatus.

The arrangement for monitoring a sewer pipe system of Figure 1A further comprises a network server or servers 110. The network server may be connected to Internet 114. The apparatuses 102C, 104C, and 106C attachable to a cover of a well may communicate 102D, 104D, 106D wirelessly with the network server 110. The communication may be realised using any suitable radio technology or protocol. Many different radio protocols to be used in communications systems exist. Some examples of different communication systems are the universal mobile telecommunications system (UMTS) radio access network (UTRAN or E-UTRAN), long term evolution (LTE, known also as E- UTRA), long term evolution advanced (LTE-A), Wireless Local Area Network (WLAN) based on IEEE 802.1 lstardard, worldwide interoperability for microwave ac-cess (WiMAX), Bluetooth®, personal communications services (PCS) and systems using ultra-wideband (UWB) technology. IEEE refers to the Institute of Electrical and Electronics Engineers.

In an embodiment, the apparatuses 102C, 104C, and 106C communicate with a suitable communication system which is connected to the Internet. The connection to the network server may be realised via the communication system and Internet.

The network server may also be connected to one or more data bases

112.

In an embodiment, the network server or servers 110 act as a controller to the apparatuses 102C, 104C, and 106C. Figure IB illustrates another simplified example of a pipeline system. The pipeline system of Figure IB is similar to the system of Figure 1A and common components will not be described here in detail for simplicity.

Like in the example of Figure 1A, in the example of figure IB the an arrangement for monitoring a sewer pipe system comprises at each well 102A, 104A, and 106A an apparatus 102C, 104C, and 106C attachable to a cover of a well 102B, 104B, and 106B of the sewer pipe system. The apparatus 102C, 104C, and 106C may be denoted as a communication apparatus.

The arrangement may further comprise one or more measurement robots 120 configured to move within the pipe line 100. In the example of Figure IB, the measurement robot is equipped with wheels, but other arrangements enabling the movement of the robot may be used as well.

In the example of Figure IB, each apparatus 102C, 104C, and 106C attachable to a cover of a well may be equipped with a radio transmitter creating a coverage area 102D, 104D, and 106D in the vicinity of the cover of the well. The measurement robot may comprise a radio transmitter enabling communication with a communication apparatus when the robot is within the coverage area of the communication apparatus.

Figure 2 A illustrates an example of a communication apparatus 102C attachable to a cover of sewer well of a sewer pipe system. The apparatuses 104C and 106C are of similar structure. It should be understood that the apparatus is depicted herein as an example illustrating some embodiments. It is apparent to a person skilled in the art that the apparatus may also comprise other functions and/or structures and not all described functions and structures are required. Although the apparatus has been depicted as one entity, different modules and memory may be implemented in one or more physical or logical entities.

The apparatus of the example includes a control circuitry 200 configured to control at least part of the operation of the apparatus.

The apparatus may comprise a memory 202 for storing data. Furthermore the memory may store software 204 executable by the control circuitry 200. The memory may be integrated in the control circuitry.

The apparatus comprises a transceiver 208. The transceiver is operationally connected to the control circuitry 200. It may be connected to an antenna arrangement (not shown). The transceiver may be configured to operate using a cellular communication system such as UMTS, GSM, LTE, for example. The transceiver may also be configured or operate using WiFi or WLAN or WiMAX, LoRaWAN (Long Range Wide Area Network), Sixfox, UWB (Ultra Wideband) or any other suitable communication system, or Bluetooth®.

The software 204 may comprise a computer program comprising program code means adapted to cause the control circuitry 200 of the apparatus to control the transceiver 606. The transceiver may enable the apparatus to communicate with the network server 110, for example.

In an embodiment, the apparatus comprises a transceiver 210. The transceiver is operationally connected to the control circuitry 200. The transceiver 210 may create the coverage area 102D and enable the apparatus to communicate with a measurement robot 120. The transceiver may utilise similar communication technologies as the transceiver 208. In an embodiment, communication with the measurement robot is enabled using transceiver 208 and transceiver 210 is thus not needed.

The apparatus may comprise a remote accessible memory unit 212 in which data may be stored. In an embodiment, the remote accessible memory unit is a radio frequency identification (RFID) tag or a tag utilising NFC (Near Field

Communication). An RFID tag typically comprises a memory circuit and a passive transmitter which is configured to respond to an external transmission query.

The remote accessible memory unit 212 may be read with a suitable communicating device such as an RFID reader.

The apparatus may comprise a power source 216, which may be a battery or an accumulator.

In an embodiment, the apparatus may comprise a satellite locationing device 210, such as a GPS (Global Positioning System) or Glonass (Globalnaja Navigatsionnaja Sputnikovaja Sistema) receiver with which the apparatus may determine its location.

The apparatus may further comprise one or more sensors 214. The sensor may be connected to the apparatus with a wired or a wireless connection.

Non-limiting examples of measurements which may be performed with the sensors are temperature of air in the well, temperature of liquid in the well, pressure in the well, level of liquid in the well, flow of liquid in the pipes connected to the well, amount and type of gases in the well or pipe connected to the well, position of the cover of the well, orientation of the cover, movement of the cover of the well, sound in the well, light type and amount in the well, vibration or shaking of the well, locking status of the cover of the well, condition of a pipe, image information of a pipe connected to the well, image information of the well, content and amount of sediment at the bottom of the well or pipe connected to the well, slope and/or dimensions of a pipe connected to the well.

In an embodiment, the apparatus may comprise an indicator 218 such as a lamp or a speaker or RF sender such as a beacon.

Figure 2B illustrates an embodiment. The figure illustrates a simplified example of a network server.

It should be understood that the apparatus is depicted herein as an example illustrating some embodiments. It is apparent to a person skilled in the art that the apparatus may also comprise other functions and/or structures and not all described functions and structures are required. Although the apparatus has been depicted as one entity, different modules and memory may be implemented in one or more physical or logical entities.

The apparatus 110 of the example includes a control circuitry 240 configured to control at least part of the operation of the apparatus.

The apparatus may comprise a memory 244 for storing data.

Furthermore the memory may store software 246 executable by the control circuitry 240. The memory may be integrated in the control circuitry.

The apparatus may further comprise an interface circuitry 248 configured to connect the apparatus to other devices. The interface may provide a wired or wireless connection. The apparatus may be configured to be in connection with Internet for example.

The apparatus may further comprise user interface 250 such as a display, a keyboard and a mouse, for example. In an embodiment, the apparatus does not comprise user interface but is connected to other devices providing access to the apparatus.

In some embodiments, the apparatus of Figure 2B may be realised with a mini- or microcomputer, a personal computer or a laptop or any suitable computing device.

Figures 3, 4 and 5 are flowcharts illustrating embodiments of the invention. The flowchart of Figure 3 illustrates an example of the operation of the network server in managing and monitoring a sewer pipe system, the system comprising a multitude of sewer wells having covers, where at least some of the wells are connected to each other with sewer pipes.

In step 300, the server 110 is configured to maintain a database 112 of at least part of the multitude of sewers, the database comprising identification of a well, the location of the well and maintenance data related to the well. In an embodiment, the well may be identified on the basis of the cover of the well or the communication apparatus attached to the cover.

In step 302, the server is configured to receive wirelessly reports from the sewer wells or the apparatuses attached to the cover of the well. The reports comprise identification of the well sending the report and sensor data related to the well. The sensor data may be the measurements performed by the sensors 214 of the apparatus 102C attached to the cover of the well.

In step 304, the server is configured to determine sewer maintenance actions based on the received reports.

In step 306, the server is configured to transmitting information on maintenance actions to the one or more wells.

In an embodiment, the server may indicate an alarm for the maintenance personnel of the system to check the operation of the well. The actions may be based on the reports received from more than one well. For example, is a well reports that it is filled with liquid but the next well in the pipe line reports that the well is empty, the server may be configured to determine that there is a blockage in the pipe between the wells and sound an alarm.

In an embodiment, the cover of the well may be configured to indicate an alarm with a sound, light or radio indicator on the basis of sensor data or control data from the network server.

In an embodiment, the server may combine the database information and received reports with other data. For example, the server may be configured to combine data on the locations of the multitude of wells with a street map of a desired area. This enables, for example, planning effective maintenance in the city area of pipelines and wells and smart covers based on the accessibility to the targets by a service car due to streets, traffic, etc.

Flowchart of Figure 4 illustrates an example embodiment.

In step 400, the server is configured to receive data affecting the load of pipe system in the area of the multitude of sewer wells. Examples of possible data affecting the load of pipe system are weather forecast, rain forecast, population count in the area of the multitude of sewer wells, clean water consumption in the area of the multitude of sewer wells, type of soil in the area of the multitude of sewer wells, condition of soil in the area of the multitude of sewer wells, water storing and/or flowing capacity of soil in the area of the multitude of sewer wells, flooding forecast, pollution forecast and leakage of harmful liquids in the area of the multitude of sewer wells. In step 402, the server is configured to compare or analyse the data with the sensor data received from the wells; and

In step 404, the server is configured to determine the performance of the sewer pipe system based on the comparison.

The operation of the pipe system may be forecasted on the basis of available information. For example, is a heavy rain is predicted on a given area, the maintenance may be alerted beforehand if the sensor reports from the wells have indicated that given wells are easily affected by heavy rains. For example, getting very local heavy rain may load only certain pipelines and wells; knowing the status of nearby pipelines, the heavy load can be managed by pumping or directing some amount rain water to other pipelines.

Likewise, if the amount of population on a given area at different time instants (weekdays and weekends, for example) may be estimated the effect of the change is population on the pipe line load may be taken into account.

Information on the type and condition of soil in a given area may be taken into account. For example, if it is known, that a heavy rain is affecting an area where the soil is hard material (asphalt or concrete, for example) around the wells, a lot of water is expected to flow into the well soon. On the other hand, if the soil is grass the amount of water entering the well may be smaller as part of the rain will be soaked into the ground, or the water will enter the well more gradually. Possible snow and ice on the ground may also be taken into account.

Likewise, network server may predict the situation at the pipe system based on previous sensor data related to similar situations in the past. For example, the sensor data obtained during a storm may be stored and analysed. When a similar storm is forecasted, the network server may be configured to determine an estimate of the operation of the pipe system based on the sensor data related to the earlier storm. The network server may perform actions or recommend actions to maintenance personnel based on the estimate.

Flowchart of Figure 5 illustrates an example embodiment. The flowchart of Figure 5 illustrates an example of the operation of the apparatus 102C, 104C, and 106C attachable to a cover of sewer well of a sewer pipe system, the system comprising a multitude of sewer wells having covers, where at least some of the wells being connected to each other with sewer pipes.

In step 500, the apparatus is configured to control one or more sensors 214 to measure data related to well operation. Non-limiting examples of possible data obtained using the sensors are: temperature of air in the well, temperature of liquid in the well, pressure in the well, level of liquid in the well, flow of liquid in the pipes connected to the well, amount and type of sound and light in the well, vibrations of the cover, amount and type of gases in the well or pipe connected to the well, position of the cover of the well, movement of the cover of the well, locking status of the cover of the well, condition of a pipe, image information of a pipe connected to the well, image information of the well, content and amount of sediment at the bottom of the well or pipe connected to the well, slope and/or dimensions of a pipe connected to the well.

In step 502, the apparatus is configured to transmit using a wireless transceiver 208 sensor data to a controller, such as the network server 110.

In step 504, the apparatus is configured to receiving using the wireless transceiver 208 control data from the controller, such as the network server 110. The control data may be related to sensors or it may be maintenance actions to be performed at the well. In an embodiment, the apparatus may be configured to initiate an alarm with a sound, light or radio indicator on the basis the control data. This way the maintenance personnel may find the well easier. The apparatus may also be configured to initiate the alarm also on the basis of the sensor data.

In step 506, the apparatus is configured to store at least some of the control data to a remote accessible memory unit, such as an RFID or NFC tag. For example, maintenance actions to be performed may be stored in the remote accessible memory unit for later review of the maintenance personnel.

In step 508, the apparatus is configured to receive a request to access the remote accessible memory unit. The maintenance personnel, having found the well, may access the stored data with a suitable reader device, which may be an RFID or NFC reader, for example.

In step 510, the apparatus is configured to performing authentication of the request. The authentication may be a password or user ID check, for example, but also more sophisticated authentication methods may be used.

In step 512, the apparatus is configured to allowing access to the memory unit on the basis of the authentication. Access may be reading or writing. In an embodiment, maintenance personnel may identify the well and find out what maintenance actions are scheduled to be performed at the well. Likewise, the maintenance personnel may store into the memory the actions they made. Also additional information may be stored. For example, the maintenance personnel may record audio or video data on site and store the data. The apparatus may detect the new data in the memory and transmit it to the network server.

In an embodiment, the apparatus also controls locking of the cover of the well. This prohibits cover thefts.

In an embodiment, maintenance performed to the wells may be analysed. For example, analysing service time or number of service or other service data related to each maintenance operator or certain period (for preparing invoicing) may be performed. In addition, controlling quality of service operation by following the next maintenance needed to the same pipeline/well may be performed.

As mentioned in connection with Figure IB, in an embodiment the arrangement for monitoring a sewer pipe system may further comprise one or more measurement robots 120 configured to move within the pipe line 100. Figure 6 illustrates an example of a measurement robot 120 configured to move within the pipe line 100. The figure illustrates the schematic structure of the robot. In the example of Figure IB, the measurement robot is equipped with wheels and an electrical motor, but other arrangements enabling the movement of the robot may be used as well. How the movement of the robot is realised is not relevant regarding the embodiments of the invention. It should be understood that the robot is depicted herein as an example illustrating some embodiments. It is apparent to a person skilled in the art that the robot may also comprise other functions and/or structures and not all described functions and structures are required. Although the robot has been depicted as one entity, different modules and memory may be implemented in one or more physical or logical entities.

The robot of the example includes a control circuitry 600 configured to control at least part of the operation of the robot.

The robot may comprise a memory 602 for storing data. Furthermore the memory may store software 604 executable by the control circuitry 600. The memory may be integrated in the control circuitry.

The robot comprises a transceiver 608. The transceiver is operationally connected to the control circuitry 600. It may be connected to an antenna arrangement (not shown). The transceiver may be configured to operate using any suitable communication protocol such as communication system such as UMTS, GSM, LTE, WiFi or WLAN or WiMAX, LoRaWAN, Sixfox, UWB or any other suitable communication system, or Bluetooth®. The software 604 may comprise a computer program comprising program code means adapted to cause the control circuitry 600 of the robot to control the transceiver 606. The transceiver enable the robot to communicate with a communication apparatus 102C, 104C, 106C attachable to a cover of sewer well of a sewer pipe system.

The robot may comprise a power source 610, which may be a battery or a chargeable accumulator. The robot may also comprise charging device or connectors to enable the charging of the power source. In an embodiment, the robot may comprise charging unit which generates energy from surrounding and charges the battery of the robot. For example, energy may be harvested from the flow or temperature of the liquid flowing in the pipes. In addition, the charging unit may be configured to receive energy wirelessly from a wireless charging station.

In an embodiment, the robot may comprise an indicator 218 such as a lamp or a speaker or RF beacon indicator.

The robot further comprises sensors 610 and a camera 618. The sensor and camera obtain information from the surrounding pipe of the robot. For example, following measurements mat be performed: temperature of air in the pipe, temperature of liquid in the pipe, pressure in the pipe, level of liquid in the pipe, flow of liquid in the pipes, amount and type of gases in the pipe, condition of a pipe, vibrations in the pipe, image or video information of a pipe, content and amount of sediment at the bottom of the pipe, slope and/or dimensions of the pipe, distance travelled since the previous reset of distance counter, other condition of the pipe and pipe wall, sound and light information in the pipe.

The robot further comprises apparatus 620 to enable the movement of the robot.

Flowchart of Figure 7 illustrates an example embodiment. The flowchart illustrates an example of the operation of the robot 120.

In step 700, the robot is configured to perform autonomously measurements utilising one or more sensors and camera while moving in the sewer pipes. Typically, while moving in the pipes the robot is outside the coverage area of any apparatus attached to a cover of a well. Thus, it receives no continuous control but performs measurements and moves according to the control data it received earlier when there was a connection to the system. Typically, the instructions were received from a communication apparatus 102C attached to a cover of a well which in turn had received the instructions from the network server 110.

In step 702, the robot is configured to store measurements results in memory 602. As there is no connection to the network server, the results are saved to a local memory.

In step 704, the robot is configured to detect that the robot has arrived to the coverage area of a communication apparatus attachable to a cover of a sewer well. The transceiver 608 of the robot may scan a determined frequency for a signal from the communication apparatus. Alternative solutions for detecting the coverage area may also be realised.

In step 706, the robot is configured to exchanging messages wirelessly with the apparatus, the messages comprising the identification code of the measurement robot and the stored sensor measurement results including possible image and/or video data. In addition, the robot may receive control commands from the apparatus.

In an embodiment, a well may comprise charging connections 122A, 124A, 126A with which charging of a robot may be performed. While being near the well, the robot may charge the power source of the robot in step 708 by connecting to the charging connections. In an embodiment, the apparatus attached to the cover of the well comprises circuitries 222 controlling the charging.

The data sent from the robot to the apparatus may include error messages indicating the robot is in need of maintenance. The control data received from the apparatus may comprise new measurement and movement instructions for the robot. It may also comprise command to stay and wait for maintenance if the communication apparatus or the network server to which the communication apparatus sends data determines that maintenance is needed. The control data received from the apparatus may also comprise locking the robot so that it may not be tampered with by an outside party.

In an embodiment, the robot, after arriving to a well, may charge the battery of the apparatus attached to the cover of the well.

In an embodiment, there may be wells having a cover equipped with an apparatus configured to measure the well conditions with sensors, communicate with robots and communicate with the network server. There may also be wells having a cover equipped with an apparatus configured to measure the well conditions with sensors and communicate with robots but without a connection to the network server. In such a case, a robot could receive the measurements stored in the apparatus attached to the cover of the well, store the results in a memory, and transmit these results along with the results made by the robot when arriving to the coverage area of a well having a connection to the network server. One of the advantages of the above arrangement is that the apparatuses without a connection to the network server need less power for operation.

The signalling chart of Figure 8 illustrates an example of the operation of the network server 110 and the communication apparatus 102C attached to a cover of a well in a sewer pipe system, the system comprising a multitude of sewer wells having covers, where at least some of the wells being connected to each other with sewer pipes, and one or more measurement robots configured to move within the sewer pipes and performing sensor measurements.

In step 800, the server 110 is configured to maintain a database of at least part of the multitude of sewer wells, the database comprising identification of a well, and the location of the well and a database of at least part of the one or more measurement robots, the database comprising identification of the one or more measurement robot.

In step 802, the apparatus 102C attached to a cover of a well is configured to detect that a measurement robot 120 has arrived to the coverage area of the communication apparatus.

In step 804, the apparatus 102C is configured to exchange messages wirelessly with the measurement robot. The messages may comprise the identification code of the measurement robot and sensor measurement results and control commands from the apparatus to the measurement robot.

In step 806, the apparatus 102C is configured to transmit wirelessly to the network server 110 a report, the report comprising identification of the apparatus or well sending the report and sensor data related to sensor measurements performed by the measurement robot and the identification code of the measurement robot.

In step 808, the server 110 is configured to determine the location of the measurement robot on the basis of the report.

In step 810, the server 110 is configured to compare the received sensor data to given thresholds.

In step 812, the server 110 is configured to determining one or more actions to be performed on the basis of the comparison. The server may be configured to analyse the sensor data, the quality of the sensor data and compare them to thresholds. For example, if the sensor data is outside given thresholds, it may be determined that the sensors may be damaged or dirty and in need on maintenance. Likewise, if the results and comparisons indicate there are damages in the measured pipe, maintenance personnel may be alarmed. The locations of measurements may be determined from the distance the robot has travelled between measurement reports and also the time instants of the measurements.

In step 814, the server 110 is configured to transmit a control message to the communication apparatus. The message may comprise the identification code of the measurement robot and instructions to the measurement robot related to the maintenance. The message may comprise control data for the communication apparatus which the apparatus is instructed to store to the remote accessible memory for the maintenance personnel to read in connection to the maintenance operation.

In an embodiment, the network server may be configured to monitor the measurement robot for example by detecting that a report related to a given measurement robot has not been received within a determined time interval. This may indicate that the robot has broken or stuck in the pipe between wells. In such a case the server may give an alarm on the basis of the detection.

In general, all data produced by the measurement robots may be utilised in a similar manner as the measurement data produced by the sensor in the well.

The network server may be configured to analysed data using statistical methods, and calculate predictions related to pipe system operation and maintenance. The sensor data may be mapped to a geographical map and combined with data affecting the load of pipe system in the area of the multitude of sewer wells.

The network server may comprise user interface or it may be connected to a device providing the user interface. The server may configure the user interface to display the sensor data and/or data produced by analysing the available data.

In an embodiment, the user interface is dynamically adaptive. For example, the server may be configured to display different information depending on the time of day or the person accessing the server. For example, in the morning the server may configure the user interface to display only relevant data registered as important data regarding the previous night. For example, the display may emphasise alarms of the previous night. The importance of data may be preconfigured and it may comprise dynamic and static data. Static data is slowly changing (population count, type and properties of soil or ground near wells or pipes). Dynamic data may change fast (water consumption, weather data, time of day, date).

The server may filter the data to be displayed according to different criteria, such as person accessing the system, time of day, day of week, date of input data, weather data, etc. For example, the server may be configured to display data related to areas having a flood or heavy rain.

The apparatuses or controlling circuitries able to perform the above- described embodiments may be implemented partly as an electronic digital computer, which may comprise a working memory (RAM), a central processing unit (CPU), and a system clock. The CPU may comprise a set of registers, an arithmetic logic unit, and a controller. The controller is controlled by a sequence of program instructions transferred to the CPU from the RAM. The controller may contain a number of microinstructions for basic operations. The implementation of microinstructions may vary depending on the CPU design.

As used in this application, the term 'circuitry' refers to all of the following: (a) hardware-only circuit implementations, such as implementations in only analog and/or digital circuitry, and (b) combinations of circuits and software (and/or firmware), such as (as applicable): (i) a combination of processor(s) or (ii) portions of processor(s)/software including digital signal processor(s), software, and memory(ies) that work together to cause an apparatus to perform various functions, and (c) circuits, such as a microprocessor(s) or a portion of a microprocessor(s), that require software or firmware for operation, even if the software or firmware is not physically present.

This definition of 'circuitry' applies to all uses of this term in this application. As a further example, as used in this application, the term 'circuitry' would also cover an implementation of merely a processor (or multiple processors) or a portion of a processor and its (or their) accompanying software and/or firmware.

The network server and databases may not be single standalone computers but they may be realised with a set of computers or processing devices connected to a network utilising distributed computing and accessible via the network. It will be obvious to a person skilled in the art that, as the technology advances, the inventive concept can be implemented in various ways. The invention and its embodiments are not limited to the examples described above but may vary within the scope of the claims.

Claims

1. A method for monitoring a sewer pipe system, the system comprising a multitude of sewer wells having covers, where at least some of the wells being connected to each other with sewer pipes, and one or more measurement robots configured to move within the sewer pipes,

the method comprising:

performing (700) autonomously measurements by a measurement robot utilising one or more sensors while moving in the sewer pipes;

storing (702) by the measurement robot measurement results in a memory;

detecting (704) by the measurement robot that the measurement robot has arrived to the coverage area of a communication apparatus attachable to a cover of a sewer well; characterised by

exchanging messages (706) wirelessly by the measurement robot with the apparatus, the messages comprising the identification code of the measurement robot and the stored sensor measurement results from the measurement robot to the apparatus and control commands from the apparatus to the measurement robot, the control commands comprising movement and measurement instructions from the apparatus to the measurement robot to the measurement robot.

2. The method as claimed in claim 1, wherein the sensor measurements comprise information on at least one of the following: temperature of air in the pipe, temperature of liquid in the pipe, pressure in the pipe, level of liquid in the pipe, flow of liquid in the pipes, amount and type of gases in the pipe, condition of a pipe, vibrations in the pipe, sound or light in the pipe, image or video information of a pipe, content and amount of sediment at the bottom of the pipe, slope and/or dimensions of the pipe, distance travelled since previous reset.

3. The method as claimed in any preceding claim 1 to 2, further comprising: the measurement robot connecting to a battery charger when arriving to the coverage area of the apparatus.

4. A method for monitoring a sewer pipe system, the system comprising a multitude of sewer wells having covers, where at least some of the wells being connected to each other with sewer pipes, and one or more measurement robots configured to move within the sewer pipes and performing sensor measurements, the method comprising:

maintaining (800) by a network server a database of at least part of the multitude of sewer wells, the database comprising identification of a well, and the location of the well;

maintaining (800) by the network server a database of at least part of the one or more measurement robots, the database comprising identification of the one or more measurement robot;

detecting (802) by a communication apparatus attachable to a cover of a sewer well that a measurement robot has arrived to the coverage area of the communication apparatus; ; characterised by

exchanging messages (804) wirelessly by the communication apparatus with the measurement robot, the messages comprising the identification code of the measurement robot and sensor measurement results from the measurement robot to the apparatus and control commands from the apparatus to the measurement robot, the control commands comprising movement and measurement instructions from the apparatus to the measurement robot to the measurement robot,

transmitting (806) wirelessly by the communication apparatus to the network server a report, the report comprising identification of the well sending the report and sensor data related to sensor measurements performed by the measurement robot and the identification code of the measurement robot;

determining (808) the location of the measurement robot on the basis of the report;

comparing (810) the received sensor data to given thresholds;

determining (812) one or more actions to be performed on the basis of the comparison.

5. The method as claimed in claim 4, further comprising:

determining by the network server from the sensor data that the sensors of the measurement robot are in need of maintenance; and

transmitting by the network server a control message to the communication apparatus, the message comprising the identification code of the measurement robot and instructions to the measurement robot related to the maintenance.

6. The method as claimed in claim 4 or 5, further comprising: detecting by the network server that a report related to a given measurement robot has not been received within a determined time interval;

indicating an alarm on the basis of the detection.

7. The method as claimed in any previous claim 4 to 6, further comprising:

transmitting by the network server a control message to the communication apparatus, the message comprising the identification code of the robot and additional data related to the measurement robot and instructions to the well to store the additional data for later retrieval of maintenance personnel.

8. The method as claimed in claim 7, further comprising:

storing by the communication apparatus the additional data to a remote accessible memory unit;

receiving a request to access the remote accessible memory unit;

performing authentication of the request; and

allowing the access to the memory unit on the basis of the authentication.

9. The method as claimed in claim 8, further wherein the access is either reading from the memory unit or writing to the memory unit.

10. The method as claimed in any preceding claim 8 or 9, wherein the remote accessible memory unit is a radio frequency identification (RFID) tag.

11. The method as claimed in any preceding claim 4 to 10, wherein the sensor measurements comprise information on at least one of the following: temperature of air in the pipe, temperature of liquid in the pipe, pressure in the pipe, level of liquid in the pipe, flow of liquid in the pipes, amount and type of gases in the pipe, condition of a pipe, vibrations in the pipe, sound or light in the pipe, image or video information of a pipe, content and amount of sediment at the bottom of the pipe, slope and/or dimensions of the pipe, distance travelled since previous reset.

12. An apparatus for monitoring a sewer pipe system, configured to perform the steps of any preceding claim 1 to 3.

13. An arrangement for monitoring a sewer pipe system, the system comprising a multitude of sewer wells (102A, 104A, 106A) having covers (102B, 104B, 106B), where at least some of the wells being connected to each other with sewer pipes (100) , the arrangement comprising:

at least one network server (110), a multitude of communication apparatuses (102C) attachable to a cover of a sewer well, and one or more measurement robots (120) configured to move within the sewer pipes and performing sensor measurements;

a communication apparatus (102C) being configured to

detect that a measurement robot (120) has arrived to the coverage area of the communication apparatus; characterised by the communication apparatus (102C) being further configured to

exchange messages wirelessly with the measurement robot, the messages comprising the identification code of the measurement robot and sensor measurement results from the measurement robot to the apparatus;

transmit wirelessly to the network server (110) a report, the report comprising identification of the apparatus sending the report and the sensor data received from the measurement robot and the identification code of the measurement robot and control commands from the apparatus to the measurement robot the control commands comprising movement and measurement instructions from the apparatus to the measurement robot to the measurement robot;

the at least one network server (110) configured to

maintain a database of at least part of the multitude of sewer wells, the database comprising identification of a well, and the location of the well, and a database of at least part of the one or more measurement robots, the database comprising identification of the one or more measurement robot;

determine the location of the measurement robot on the basis of the report;

compare the received sensor data to given thresholds; determine one or more actions to be performed on the basis of the comparison.

14. The arrangement as claimed in claim 13, wherein the network server is further configured to:

determine from the sensor data that the sensors of the measurement robot are in need of maintenance; and

transmit a control message to the communication apparatus, the message comprising the identification code of the measurement robot and instructions to the measurement robot related to the maintenance.

15. The arrangement as claimed in claim 13 or 14, wherein the network server is further configured to:

detect that a report related to a given measurement robot has not been received within a determined time interval; and

indicate an alarm on the basis of the detection.

16. The arrangement as claimed in any previous claim 13 to 15, wherein the network server is further configured to:

transmit a control message to the communication apparatus, the message comprising the identification code of the robot and additional data related to the measurement robot and instructions to the well to store the additional data for later retrieval of maintenance personnel.

17. The arrangement as claimed in claim 16, wherein the communication apparatus is further configured to:

store the additional data to a remote accessible memory unit; receive a request to access the remote accessible memory unit;

perform authentication of the request; and

allow the access to the memory unit on the basis of the authentication.

18. The arrangement as claimed in claim 16 or 17, wherein the remote accessible memory unit is a radio frequency identification (RFID) tag.

19. The arrangement as claimed in any preceding claim 13 to 19, wherein the sensor measurements comprise information on at least one of the following: temperature of air in the pipe, temperature of liquid in the pipe, pressure in the pipe, level of liquid in the pipe, flow of liquid in the pipes, amount and type of gases in the pipe, condition of a pipe, vibrations in the pipe, sound or light in the pipe, image or video information of a pipe, content and amount of sediment at the bottom of the pipe, slope and/or dimensions of the pipe, distance travelled since previous reset.