DE202004013240U1 - Remote controlled pipe inspection unit for thermographic detection of closed-off transverse pipe connections, has both thermal infrared and video cameras mounted so that they can rotate about their own axes - Google Patents
Remote controlled pipe inspection unit for thermographic detection of closed-off transverse pipe connections, has both thermal infrared and video cameras mounted so that they can rotate about their own axes Download PDFInfo
- Publication number
- DE202004013240U1 DE202004013240U1 DE202004013240U DE202004013240U DE202004013240U1 DE 202004013240 U1 DE202004013240 U1 DE 202004013240U1 DE 202004013240 U DE202004013240 U DE 202004013240U DE 202004013240 U DE202004013240 U DE 202004013240U DE 202004013240 U1 DE202004013240 U1 DE 202004013240U1
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- 238000007689 inspection Methods 0.000 title claims abstract description 4
- 238000001514 detection method Methods 0.000 title description 4
- 238000011156 evaluation Methods 0.000 claims description 3
- 238000005259 measurement Methods 0.000 claims description 3
- 238000003801 milling Methods 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims 2
- 230000001133 acceleration Effects 0.000 claims 1
- 230000010259 detection of temperature stimulus Effects 0.000 claims 1
- 102000012498 secondary active transmembrane transporter activity proteins Human genes 0.000 claims 1
- 108040003878 secondary active transmembrane transporter activity proteins Proteins 0.000 claims 1
- 238000001931 thermography Methods 0.000 claims 1
- 239000010865 sewage Substances 0.000 description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 3
- 239000003822 epoxy resin Substances 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 229920000647 polyepoxide Polymers 0.000 description 2
- 238000009418 renovation Methods 0.000 description 2
- 239000002351 wastewater Substances 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 239000003365 glass fiber Substances 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 230000008595 infiltration Effects 0.000 description 1
- 238000001764 infiltration Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000011326 mechanical measurement Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000000246 remedial effect Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 229910052572 stoneware Inorganic materials 0.000 description 1
- 239000004753 textile Substances 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
- G01N21/954—Inspecting the inner surface of hollow bodies, e.g. bores
-
- E—FIXED CONSTRUCTIONS
- E03—WATER SUPPLY; SEWERAGE
- E03F—SEWERS; CESSPOOLS
- E03F7/00—Other installations or implements for operating sewer systems, e.g. for preventing or indicating stoppage; Emptying cesspools
- E03F7/12—Installations enabling inspection personnel to drive along sewer canals
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
- G01J5/0022—Radiation pyrometry, e.g. infrared or optical thermometry for sensing the radiation of moving bodies
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
- G01J5/02—Constructional details
- G01J5/04—Casings
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
- G01J5/02—Constructional details
- G01J5/04—Casings
- G01J5/047—Mobile mounting; Scanning arrangements
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
- G01J5/02—Constructional details
- G01J5/08—Optical arrangements
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
- G01J5/02—Constructional details
- G01J5/08—Optical arrangements
- G01J5/0846—Optical arrangements having multiple detectors for performing different types of detection, e.g. using radiometry and reflectometry channels
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
- G01J2005/0077—Imaging
Landscapes
- General Physics & Mathematics (AREA)
- Physics & Mathematics (AREA)
- Spectroscopy & Molecular Physics (AREA)
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Hydrology & Water Resources (AREA)
- Public Health (AREA)
- Water Supply & Treatment (AREA)
- General Health & Medical Sciences (AREA)
- Biochemistry (AREA)
- Mechanical Engineering (AREA)
- Analytical Chemistry (AREA)
- Investigating Or Analyzing Materials Using Thermal Means (AREA)
Abstract
Description
1 Technisches Gebiet1 technical field
Die vorhandenen, teilweise überalterten Kanalisationsnetze, sind oft nicht mehr in der Lage, die an sie gestellten Anforderungen zu erfüllen [1]. Grund dafür ist die jahrzehntelange permanente Vernachlässigung der Instandhaltung dieser Netze sowie ihre ständige Überlastung. Derzeit werden diese Netze entsprechend den ökologischen und ökonomischen Anforderungen durch Verlegung neuer bzw. Sanierung vorhandener Rohrleitungen modernisiert. Um Kosten für die Sanierung einzusparen und Verkehrsbehinderungen aufgrund von offenen Baugruben zu vermeiden, werden immer öfter mit Epoxidharz getränkte Textilschläuche, sogenannte Inliner, in den Abwasserkanal eingebracht und anschließend mit unterschiedlichen Verfahren ausgehärtet. Hierbei werden Hausanschlüsse und Seitenzuläufe dwch den Inliner verschlossen und müssen innerhalb weniger Stunden mechanisch, in der Regel mit einem ferngesteuertem Fräsroboter geöffnet. Hierbei kommt es gelegentlich zu Fehlbohrungen, die das soeben sanierte Rohr beschädigen.The existing, partially outdated Sewer networks are often no longer able to connect to them to meet the requirements [1]. the reason for this is the permanent neglect of maintenance for decades of these networks as well as their constant overload. Currently, these networks are in accordance with the ecological and economic requirements modernized by laying new or renovating existing pipes. At cost for to save the renovation and to restrict traffic due to To avoid open construction pits, so-called textile hoses soaked with epoxy resin are becoming more and more common Inliner, introduced into the sewer and then with different Process cured. Here are house connections and side inlets dwch locked the inliner and must be within a few hours mechanically, usually with a remote-controlled milling robot open. This occasionally leads to incorrect drilling, which has just been renovated Damage the pipe.
Die vorliegende Erfindung betrifft eine Vorrichtung zur Detektion von Seitenzuläufen und Hausanschlüssen hinter mit Inlinern sanierten Abwasserrohren mit thermischen Infrarotkameras und eine Auswertevorrichtung, die eine Signalverarbeitung hinsichtlich einer Zustandsklassifizierung enthält.The The present invention relates to a device for the detection of side inlets and house connections behind, sewage pipes rehabilitated with inliners with thermal infrared cameras and an evaluation device that has signal processing a state classification.
2 Stand der Technik2 State of the art
Aus z.B. Veroffentlichung [2] ist es bekannt, dass Abwassenohre mit TV-Kameras inspiziert werden bzw. inspiziert werden sollen. Hierzu wird die TV-Kamera in der Regel auf ein Trägerfahrzeug fest oder schwenkbar montiert. Es sind auch Vorrichtungen bekannt, bei denen der Kamerakopf auf einer Spindel sitzt und in die Wasser- oder Abwasserleitung geschoben wird [3]. Anhand der auf diese Art erhaltenen Information wird der Zustand des inspizierten Rohres von innen beurteilt. Auf diesem Weg erhält man Informationen über verschiedene, optisch sichtbare Schäden (Risse, Scherbenbildung, Korrosion des Rohrmaterials, Wurzeleinwuchs, Inkrustationen usw.). Weitere Sensorsysteme befinden sich in der Entwicklung, sind jedoch noch nicht als Stand der Technik anzusehen [4] bis [6].Out e.g. Publication [2] it is known to have drainage pipes with TV cameras are to be inspected or to be inspected. For this the TV camera is usually fixed or pivotable on a carrier vehicle assembled. Devices are also known in which the camera head sits on a spindle and into the water or sewage pipe is pushed [3]. Based on the information obtained in this way the condition of the inspected pipe is assessed from the inside. On this way to get information about various, optically visible damage (cracks, body formation, Corrosion of the pipe material, root ingrowth, incrustations, etc.). Other sensor systems are under development, but are not yet to be regarded as state of the art [4] to [6].
Aus z.B. [3] und [4] ist es bekannt, wie schadhafte nichtbegehbare Abwasserleitungen zur Sanierung, insbesondere Abdichtung gegen Ex- und Infiltration, mit sogenannten Inlinern, z.B. mit Epoxidharz getränkte Schlauchrelinern, ausgekleidet werden. Vor Auskleidung werden die vorhandenen seitlichen Zuläufe, auch Hausanschlüsse genannt, mechanisch eingemessen, um diese nach Auskleidung des Rohrabschnittes mit dem Inliner wieder zu finden und aufzufräsen, um eine Wasserwegigkeit wieder herzustellen.Out e.g. [3] and [4] it is known as defective non-accessible sewers for renovation, especially sealing against ex- and infiltration, with so-called inliners, e.g. tube liners impregnated with epoxy resin, to be lined. Before lining the existing side inlets, too house connections called, mechanically measured to this after lining the pipe section with the inliner again to find and mill it up to make it watery restore.
Nachteile der bestehenden Verfahrendisadvantage of existing procedures
Trotz sorgfältiger Arbeit, ist das mechanische Einmessen der seitlichen Zuläufe fehlerbehaftet, so dass es immer wieder zu Beschädigungen des gerade eben sanierten Rohrabschnittes kommt, die den Wert der soeben durchgeführten Sanierungsmaßnahme erheblich vermindert.Despite careful Work, the mechanical measurement of the lateral inlets is faulty, so that there is always damage of the pipe section that has just been refurbished, which has the value of just performed remedial measure significantly reduced.
3 Aufgabe der Erfindung3 object of the invention
Der Erfindung liegt die Aufgabe zugrunde, eine berührungslose Detektion der mit einem Inliner verschlossenen Hausanschlüsse zu gewährleisten.The The invention has for its object a non-contact detection of the to ensure house connections closed with an inliner.
4 Vorteile der Erfindung4 advantages of the invention
Die vorliegende Erfindung dient der schnellen und zuverlässigen Erfassung der bei einer Sanierung von Abwasserrohren verschlossenen Hausanschlüsse oder Seitenzuläufe, insbesondere der Schadensminimierung bei der Wiederherstellung der Wasserwegigkeiten im Kanalnetz. Nach der Einbringung des Inliners, muss dieser in der Regel mit heißem Wasser, heißem Wasserdampf oder UV-Licht ausgehärtet werden, so dass es zu einer Erhitzung des Inliners und der unmittelbaren Umgebung kommt. Nach Abschluss der Aushärtungsmaßnahme kühlt der Inliner wieder ab und es sind aufgrund der unterschiedlichen Wärmekapazitäten der dahinter befindlichen Materialien (Rohr aus Beton oder Steinzeug, Abwasser oder Luft) unterschiedliche Temperaturen auf der dem Rohr zugewandten Seite des Inliners feststellbar. Auch im stationären Zustand kann ein Unterschied aufgrund der Temperaturdifferenz zwischen Abwasser und Rohr mit der Infrarotkamera festgestellt werden. Damit kann unter günstigen Umständen das zeitaufwändige Einmessen der Hausanschlüsse ganz entfallen bzw. vor Auffräsen der Hausanschlüsse das Ergebnis des Einmessens überprüft und somit die Gefahr von Beschädigung des Rohres vermieden werden.The The present invention is used for fast and reliable detection the house connections closed during the rehabilitation of sewage pipes or side inlets, in particular minimizing damage when restoring waterways in the sewer network. After inserting the liner, it must be in usually with hot Water, hot Cured water vapor or UV light be so that there is a heating of the inliner and the immediate Environment is coming. After the curing measure has been completed, the inliner cools down again due to the different heat capacities, they are the ones behind Materials (pipe made of concrete or stoneware, waste water or air) different temperatures on the side facing the pipe of the inliner. There can be a difference even when stationary due to the temperature difference between waste water and pipe the infrared camera. This can be done under cheap circumstances the time consuming Measure the house connections completely eliminated or before milling of house connections checked the result of the measurement and thus the risk of damage of the pipe can be avoided.
Zeit- und Kostenersparnis sind die Folge.Time- and cost savings are the result.
5 Beschreibung der Zeichnungen und Ausführung der Erfindung5 Description of the drawings and execution of the invention
Eine
technische Ausgestaltung der Erfindung ist in
Eine
in ein Rohr (
7 Literatur7 literature
- [1] HAHN, H.H.; 2001: Zustand der Kanalisation in der BRD. Unterlagen zum Workshop der DFG-Forschergruppe Schadensdiagnose an Abwasserkanälen mit Multisensorsystemen (SAM). Karlsruhe (unveroffentlicht).[1] HAHN, H.H .; 2001: State of sewerage in the FRG. Documents for the workshop of the DFG research group damage diagnosis on sewers with multi-sensor systems (SAM). Karlsruhe (unpublished).
- [2] Gesetz zur Ordnung des Wasserhaushaltes (Wasserhaushaltsgesetz – WGH) vom 27.07.1957 (BGBL I S.1110) in der Fassung der Bek. vom 23.09.1986 (BGBL I 5.1529, ber. S. 1654) sowie Landeswassergesetze.[2] Law on the organization of the water balance (Wasserhaushaltsgesetz - WGH) of 27.07.1957 (BGBL I p.1110) in the version of the acquaintance from 23.09.1986 (BGBL I 5.1529, p. 1654) and state water laws.
- [3] STEIN, D. & NIEDEREHE, W.; (1992): lnstandhaltung von lnspektionskanälen. Verlag für Architektur und technische Wissenschaften, Ernst & Sohn, 2. Auflag; Berlin.[3] STEIN, D. & LIEDEE, W .; (1992): Maintenance of inspection channels. Publishing house for architecture and technical sciences, Ernst & Sohn, 2nd edition; Berlin.
- [4] Eiswirth, M.; 2000: Leckortung – künftige Herausforderungen und Lösungen. EntsorgungsPraxis 2000, 18 (6): S. 52–57.[4] Eiswirth, M .; 2000: Leak detection - future challenges and Solutions. Disposal Practice 2000, 18 (6): pp. 52-57.
- [5] Eiswirth M., Heske C., Hötzl H., Schneider T. and Burn L.S. (2000): Pipe defect characterisation by multi-sensor systems, Proceedings of the 18th Int. Conf. No-Dig 2000, 15–18 October 2000, Perth, Australia (on CD).[5] Eiswirth M., Heske C., Hötzl H., Schneider T. and Burn L.S. (2000): Pipe defect characterization by multi-sensor systems, Proceedings of the 18th Int. Conf. No-Dig 2000, 15-18 October 2000, Perth, Australia (on CD).
- [6] Eiswirth M., Frey C., Herbst J., Jacubasch A., Heske C., Hötzl H., Kuntze H.-B., Kramp J. and Munser R., Wolf L., (2001): Sewer Assessment by Multi-sensor Systems. IWA Berlin.[6] Eiswirth M., Frey C., Herbst J., Jacubasch A., Heske C., Hötzl H., Kuntze H.-B., Kramp J. and Munser R., Wolf L., (2001): Sewer Assessment by multi-sensor systems. IWA Berlin.
Claims (11)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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DE202004013240U DE202004013240U1 (en) | 2004-08-25 | 2004-08-25 | Remote controlled pipe inspection unit for thermographic detection of closed-off transverse pipe connections, has both thermal infrared and video cameras mounted so that they can rotate about their own axes |
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Application Number | Priority Date | Filing Date | Title |
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DE202004013240U DE202004013240U1 (en) | 2004-08-25 | 2004-08-25 | Remote controlled pipe inspection unit for thermographic detection of closed-off transverse pipe connections, has both thermal infrared and video cameras mounted so that they can rotate about their own axes |
Publications (1)
Publication Number | Publication Date |
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DE202004013240U1 true DE202004013240U1 (en) | 2004-12-30 |
Family
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DE202004013240U Expired - Lifetime DE202004013240U1 (en) | 2004-08-25 | 2004-08-25 | Remote controlled pipe inspection unit for thermographic detection of closed-off transverse pipe connections, has both thermal infrared and video cameras mounted so that they can rotate about their own axes |
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Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102012108500B3 (en) * | 2012-09-11 | 2014-03-13 | Ipek International Gmbh | Inspection system with temperature measuring device |
US9188472B2 (en) | 2013-05-21 | 2015-11-17 | Saudi Arabian Oil Company | Enhanced reference line tank calibration method and apparatus |
EP2639572A3 (en) * | 2012-03-12 | 2018-01-03 | The Boeing Company | Resin detection system |
DE102017101735A1 (en) | 2017-01-30 | 2018-08-02 | Ibak Helmut Hunger Gmbh & Co. Kg | Camera unit for the sewer pipe inspection |
-
2004
- 2004-08-25 DE DE202004013240U patent/DE202004013240U1/en not_active Expired - Lifetime
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2639572A3 (en) * | 2012-03-12 | 2018-01-03 | The Boeing Company | Resin detection system |
DE102012108500B3 (en) * | 2012-09-11 | 2014-03-13 | Ipek International Gmbh | Inspection system with temperature measuring device |
US9482582B2 (en) | 2012-09-11 | 2016-11-01 | Ipek International Gmbh | Inspection system with temperature measurement device |
US9188472B2 (en) | 2013-05-21 | 2015-11-17 | Saudi Arabian Oil Company | Enhanced reference line tank calibration method and apparatus |
DE102017101735A1 (en) | 2017-01-30 | 2018-08-02 | Ibak Helmut Hunger Gmbh & Co. Kg | Camera unit for the sewer pipe inspection |
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Legal Events
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R086 | Non-binding declaration of licensing interest | ||
R207 | Utility model specification |
Effective date: 20050203 |
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R156 | Lapse of ip right after 3 years |
Effective date: 20080301 |