DE102006036416A1 - Channel locating system, has acceleration sensors producing position finding signal corresponding to actual position in channel, where curve progression of adjacent channel is detected from angle values of sensors deviating from one another - Google Patents

Abstract

The system has a position detection sensor that is formed as acceleration sensors to produce a one dimensional or multi-dimensional position finding signal during movement through a channel, corresponding to an actual position in the channel. The sensor is arranged at a front end of a feed unit, which is retractable in adjacent branch channels (6, 6`) branching off from a main channel (1). A curve progression of the adjacent channel is detected from angle values of the sensors, where values deviate from one another temporally and locally. An independent claim is also included for a method for operating a channel locating system.

Description

object The invention is a channel locating system with position detection sensors according to the preamble of claim 1.

With the going back to the same applicant DE 100 57 373 A1 For example, a method for detecting deposits in channels has become known, in which the channel is scanned with various sensors, which are brought along in contact with each other along the channel sole. In addition to the mechanically contacting sensors, non-contact scanning methods are also described. However, such a method is not suitable for detecting a line profile of a channel and transmitting it to a detection device arranged outside the channel.

With your own DE 203 13 252 U1 is a channel locating system known compass, in which a measuring head is arranged on a feed channel displaceably arranged in a main channel, which is inserted into secondary channels branching from the main channel, wherein a compass, inter alia in the form of an acceleration sensor, is arranged at the front end of the measuring head ,

To the For the purposes of pipe measurement there will be a system based on Sensors with inertial navigation described, the three-dimensional work. It is so far, however have not been able to minimize such sensors so that they even in small side channels (up to a nominal width from 10 down) can be used. In addition, the accuracy of this leaves Sensors to be desired.

Especially it is not known, a historical measurement of branch and side pipes - as a branch from a main channel - make. Of the The invention is therefore based on the object, a channel location system of the aforementioned type so that with essential higher Accuracy and simpler effort an accurate gradient survey Branch and side lines and a georeferencing is possible.

to solution the task is the invention by the technical teaching of claim 1.

essential Feature of the invention is that a possible curve of a Secondary channels from differing angle values of acceleration sensors is detected.

For this is in a preferred embodiment a so-called measuring cord used, the z. B. one meter long is and in which every 10 to 20 cm an acceleration sensor arranged is. The measuring cord only has a diameter of about 15 to 50 mm and the diameter is much smaller than the diameter of the secondary channel. Each of the (eg 10) sensors arranged there Outputs a 3D signal that exactly matches its position in the channel.

by virtue of of difference considerations from one sensor to the other can now determined exactly one side deviation of the sensors to each other and from this the curvature of the to be calculated pipe to be calculated. For this, the distance must be unchangeable between the sensors and be known.

It are preferably six-axis sensors that are both static as well as dynamic accelerations up to + - 2g. It will thus always on movement of the respective sensor from this sensor generated three-dimensional signal in the X, Y and Z directions, so that the respective spatial coordinate of each sensor can be detected at any time is.

In addition, can when using 3-axis sensors a direction detection built in, each zero crossing along each of the 3 axes signals, so that quickly the direction of movement of the sensors recognize, still before the actual calculations begin.

One preferred method of application for said locating sensors is that at the front end of a push rod the measuring cord is arranged, which is preferably arranged in a quiver or in a protective cover is so that they can easily and without damage to the place of measurement can be spent. The quiver is then opened or the sensor unit let out of the quiver and pulled back with a rope through the channel. After the Sensor cord adapts to any bend and curvature of the channel is thus a stepless, continuous and very accurate detection the curvature of the channel to be detected electronically via the sensors to the outside Processing unit transmitted.

Around For example, it can not overwhelm the measurement and evaluation electronics also be provided only in increments of about 20 to 100 cm one to make such a measurement of the position of the sensor cord.

The The invention is not based on the arrangement in several sensors on one Sensor cord limited.

As well can in another embodiment The invention provides that only a single sensor is also used in a protective quiver or a receiving device is spent at the place of measurement and then from the receiving device is dismissed.

Also this sensor is intended to be in contact with any curvature of the duct wall follow so the curvature to capture the channel wall.

After this this sensor at each pulling movement due to the acceleration applied to it transmits a three-dimensional position coordinate to the knife holder, it is enough for the realization of the teaching of the invention, at short intervals, the in the pipeline moving sensor to interrogate, by comparison the temporally successive paging signals, the change of location of the sensor and thus to detect the position of the pipe.

Out For this reason it makes sense to use the still flexible guide sleeve equip inflatable rubber elements. Thus, the hose can best Press against the duct wall of the secondary duct.

Of the one (or more) sensor will then be inside this guide tube (or sleeve) moved back and forth or pulled. This is per movement and per Time unit detects movement in X, Y and Z direction. aid a special software is thus the channel history from the detected 3D data calculated.

Instead of Inflatable rubber elements can Other spacers or centering z. B. brushes used or be mounted.

In a development of the present invention, it is provided directly on the sensor itself or over an elastic link with the sensor to use a camera which transmits a digital video image from the channel. In this way can the measured values are better interpreted.

Of the Subject of the present invention does not arise only from the subject matter of the individual claims, but also from the combination the individual claims among themselves.

All in the documents, including Summary of information and features, in particular the spatial training shown in the drawings as claimed essential to the invention, as far as they individually or in Combination opposite the prior art are new.

in the Below, the invention will be described with reference to only one embodiment illustrative drawings closer explained. Here are more from the drawings and their description Essential to the invention features and advantages of the invention.

It demonstrate:

1 : Schematically schematized from a main channel bypass system

2 : schematizes the introduction of a measuring cord from the main channel into the secondary channel whose position is to be detected

3 : schematizes the structure of the measuring cord 2

4 : schematizes the representation of the measuring principle

5 : another illustration of the measuring principle

6 : the arrangement of the position detection sensors in a protective tube

7 : the arrangement of a single sensor in a receiving quiver in the feed phase and in the measurement phase

In 1 illustrates the fundamental problem of the present invention, namely the exact location of several of a main channel 1 to detect branching secondary channels. In particular, in 1 a sewage house network 8th which is essentially one of a main shaft 3 of the main channel 1 branching side channel 6 that exists in a service bay 7 empties.

From this service bay 7 go another line 9 made up in the form of several branches 10 in secondary lines 11 and 12 branched.

It is not shown that in the main channel 1 other main shafts 4 are present, of which also branches off the home network described above.

The invention is now the exact location of this secondary channel 6 Geographically record with the attached house network and evaluate it as digital data.

The 1 shows a known error possibility such that it is essential to the exact angle of the secondary channel 6 to capture and exclude that the minor channel 6 not in the form of an angled secondary channel 6 ' from the main shaft 8th and the connection opening arranged there 5 branches. If such an error of an angling minor channel were not detected, accurate geographic location detection could not be performed. Accordingly, such angle errors should also be detected and evaluated.

In accordance with the exact location of the secondary channel 6 or secondary channels 6 ' to detect the locating system according to the invention is used.

Incidentally, the same applies to the exact location of the at the service entrance shaft 7 attaching branches 10 with the secondary lines 11 and 12 ,

In the embodiment of the 2 to 6 becomes a locating unit 13 used in the direction of the arrow 14 through the main channel via, for example, a push bar 2 in the connection opening 5 in the direction of the arrow 14 is inserted. The locating unit 13 consists of several consecutively spaced sensors 16 . 17 . 18 , wherein according to 4 also other sensors 19 - 21 can be provided.

It is preferred here if at the front end of the locating unit 13 a camera 15 is arranged. This can be pivotable and / or rotatable.

The measuring cord thus formed 22 (please refer 4 ) is now in the form of a curve, for example 23 inserted into a curved secondary line. It should now be detected with the locating system according to the invention exactly this curve. This shows the 5 that on the measuring cord 22 arranged sensors 16 - 18 at any time of their sliding movement a three-dimensional signal X, Y, Z give off and thus by looking at the difference of the three-dimensional signals of the sensors 16 - 18 exactly the curve arc can be determined.

The 6 shows as a further embodiment that it is possible, the locating unit 13 with the sensors 16 - 20 in the interior of a protective tube 25 in the direction of movement 24 to spend the place of the measurement.

This may be the camera 15 either on the protective tube 25 or at the front end of the measuring cord 22 be arranged.

Once the protective tube 25 is spent on the place of measurement, the measuring cord 22 out of the protective tube in the direction of the arrow 24 ' pulled out and the measurement begins. The entire measuring cord 22 follows now touching and due to the elastic, arranged therebetween links 27 the entire course of the canal.

The connecting links 27 are designed so slippery that they no elastic bending moment on the measuring cord 22 exercise. The measuring cord is thus guided by the dead weight of the sensors touching the inner wall of the channel to be measured along. Of course, it is possible to increase the dead weight of the assembly by additional weights in order to ensure an inner wall-contacting entrainment.

The 7 shows a further embodiment, wherein a single sensor 16 in a quiver 26 is arranged and in the illustration after 7 (left) is spent at the place of measurement.

The sensor 16 will then be in the direction of the arrow 24 from the quiver 26 pushed out and then follows along with the quiver 26 also touching the line to be measured. All information given above for the measuring cord also applies to this single sensor.

Again, it is crucial that the link 27 limp is formed to ensure that no unwanted elastic restoring moments on the sensor 16 act.

With the tracking unit shown 13 (in the form of the measuring cord 22 or the single sensor 16 ) is thus a stepless, highly accurate detection of the geographical location of any home access networks possible. The data is entered directly into a georeferencing system, so that due to the digitally recorded data, a digital survey map of all secondary channels branching off from a main channel can be produced with the domestic connections starting there.

1

 main channel

2

 push bar

3

 main shaft

4

 main shaft

5

 port opening

6

secondary channel 6 '

7

 House connection manhole

8th

 home network

9

 management

10

 branch

11

 secondary line

12

 secondary line

13

 locating unit

14

 arrow

15

 camera

16

 sensor

17

 sensor

18

 sensor

19

 sensor

20

 sensor

21

 sensor

22

 measuring line

23

 curve bow

24

movement direction 24 '

25

 thermowell

26

 quiver

27

 link

Claims (11)

Channel location system having at least one position detection sensor, which is formed as an acceleration sensor when moving through the channel a one- or multi-dimensional detection signal (X, Y, Z) corresponding to the current position in the channel, wherein the sensor is arranged at the front end of a feed unit, in the Main channel branching secondary channels is inserted, characterized in that the curve of the secondary channel from temporally and spatially divergent angle values of the at least one acceleration sensor ( 16 - 21 ) is detected. Channel location system according to claim 1, characterized in that a location unit ( 13 ) of a plurality of spaced sensors ( 16 . 17 . 18 ) consists. Channel location system according to claim 1 or 2, characterized in that a plurality of sensors ( 16 - 21 ) at a distance one behind the other on a measuring cord ( 22 ), which pass through the channel ( 8th ) is moved by pulling or pushing. Channel location system according to one of claims 1 to 3, characterized in that at the front end of the locating unit ( 13 ) a camera ( 15 ) is arranged. Channel location system according to one of claims 1 to 4, characterized in that the locating unit ( 13 ) with the sensors ( 16 - 20 ) in the interior of a protective tube or hose ( 25 ) is arranged. Channel location system according to one of claims 1 to 6, characterized in that the sensors ( 16 - 20 ) via flexible connecting links ( 27 ) are mechanically interconnected. Channel location system according to one of claims 1 to 6, characterized in that the measuring cord ( 22 ) from a single sensor ( 16 ) is formed. Channel location system according to one of claims 1 to 7, characterized in that the sensor ( 16 ) in a quiver ( 26 ) is arranged, from which it can be pulled out. Channel location system according to one of claims 1 to 7, characterized in that the sensor ( 16 ) in a quiver ( 26 ) is arranged, in which it is movable. Method for operating a channel location system according to one or more of Claims 1 to 9, characterized in that the at least one sensor ( 16 - 20 ) in a sensor enclosing the sensor at least radially ( 25 . 26 ) is brought to the place of measurement that the sensor ( 16 - 20 ) at the place of measurement from the protective device ( 25 . 26 ) and that after that the sensor ( 16 - 20 ) along the channel to be measured ( 8th ) is moved (pulled or pushed). Method for operating a channel location system according to one or more of Claims 1 to 9, characterized in that the at least one sensor ( 16 - 20 ) in a sensor enclosing the sensor at least radially ( 25 . 26 ) is brought to the location of the measurement, and that the sensor ( 16 - 20 ) at the place of measurement in the protective device ( 25 . 26 ) is moved.