DE202012100128U1 - Detection system for obtaining information in tubular elements - Google Patents

Abstract

Acquisition system, set up to obtain information, in particular data, belonging to at least one pipe-like element (10), wherein several pipe-like elements can be connected to one another to form a pipe-like network (10, 12, 11, 13), such as a sewer system, a A supply line system, a ventilation line system or the like, the detection system comprising at least one aircraft (14) by means of which information can be detected inside the at least one tubular element (10).

Description

The present invention relates to a detection system adapted for obtaining information, in particular data belonging to at least one tubular element, wherein a plurality of tubular elements may be connected together to form a tubular network, such as a sewer system, a supply line system, a ventilation duct system or the like.

Pipe-like systems for supply and disposal require regular inspections, some of which can be carried out from the outside, but inspections from the inside are usually required. This applies to a variety of pipe systems, such as sewers, ventilation ducts, supply lines, pipelines and the like. For such inspections, in particular taking into account the pipe diameter, persons are sent through the pipe system or moving camera systems are moved through the pipe system, sometimes as robotic systems.

To obtain information that belongs to a tubular element, for example, moving equipment used in sewers, such as in the pamphlets DE 43 24 469 A1 . DE 299 00 544 U1 or DE 2004 048 170 A1 are described. These moving equipment usually have a high weight and require an intensive effort in their operation. Especially in a sewer, these devices come in contact with the transported in the channel medium or wastewater, which also contains different solids. The driving device must be able to bypass or clear away accumulations of foreign matter. The use of mobile equipment is usually limited to pipe systems that do not exceed a maximum inclination. It is not possible to collect data in steep, in particular vertical, pipes.

Furthermore, it is customary, in particular in sewers, for persons to climb into the sewers for an inspection in order to inform themselves about the state of the sewer and, if necessary, to carry out repairs or other measures. This work in the dirty water and the associated special atmosphere, which may contain harmful, possibly even life-threatening or even deadly gases, is associated with a considerable risk. Both the automated and self-conducted inspection of tubular elements or networks is a very labor-intensive and expensive activity. The need for such activities will continue to increase in the future in order to detect and remedy age-related changes, deposits or damage in such tubular elements or networks.

The object of the invention is to provide an improved detection system for tubular conduit systems. Preferably, costs should be saved and dangers for working people can be reduced. Further, increased automation of operations for obtaining information is also an objective of the present invention. Automation aims to capture improved data and improve the quality of documentation.

To solve this problem it is proposed that the detection system comprises at least one aircraft, by means of which information can be detected inside the at least one tubular element.

The aircraft can move without contact in a tubular element or a tubular network and comes in its movement usually not in contact with the tube walls or transported in the tube medium, such as wastewater. Since the aircraft does not have to move along the walls and at least partially in the medium, it can be made light and small, so that the conditions for rapid movement through the tubular element are given. As a result, inspection times can be shortened. Furthermore, the energy consumption for routine inspections can be reduced. The detection of information is preferably carried out in flight or during various phases of flight, which may include intermediate stops on the medium, on the pipe inner wall or on internals.

The aircraft is preferably designed such that it navigates autonomously or externally controlled in the tubular element. In an autonomous control is thought that the aircraft in the tubular element itself oriented, for example, based on evaluation of detected sensor values, a distance within the pipe system autonomously flies and then returns to the starting point of the flight or another access point in the pipe system abfliegt the aircraft can be removed from the pipe system again. For example, the aircraft could be introduced into the pipe system in a first access shaft and removed again at a second access shaft, wherein the two access shafts can be far apart.

It is further proposed that the aircraft comprises at least one preferably adjustable rotor, wherein it preferably as vertical launching and landing unmanned aerial vehicle is executed, in particular as a quadro, hexa, or octocopter or the like. The aircraft may also have shrouded rotors and be designed as a so-called flight platform. The adjustment of rotors is purely optional and in aircraft with multiple rotors is not necessarily required, since in such aircraft, the flight control by means of different speeds of the individual rotors takes place. Alternatively, the aircraft may be designed as a rigid wing aircraft or as a hovercraft. As vertical takeoff and landing aircraft not only substantially horizontally extending tubular elements can be inspected in flight, but also highly inclined, in extreme cases vertically standing tubular elements or wells.

The detection system is preferably designed such that the at least one aircraft remains in the at least one tubular element for a predetermined period of time, wherein the aircraft is repeatedly or permanently activated during the predetermined period of time.

The aircraft may comprise at least one sensor and / or at least one image acquisition device for acquiring information about the tubular element. It is particularly preferred if the aircraft comprises at least one gas sensor. An aircraft with a gas sensor can be used, for example, for an examination of the gases or gas concentrations present in a pipe system in advance of an inspection by inspectors. It is also conceivable that the aircraft and inspectors are at the same time in the pipe system, and the aircraft the inspection troop is ahead by a certain distance in order to issue warnings, if any points are found with increased, especially hazardous gas concentration.

The detection system preferably comprises at least one memory unit for storing acquired information, in particular digital data. Such a storage unit may be provided on the aircraft itself. Alternatively or additionally, a storage unit of the detection system but also outside of the aircraft at another point in the pipe system or outside the pipe system may be present and communicate with the aircraft in communication for the purpose of transmitting acquired data.

Furthermore, the detection system may comprise at least one evaluation unit, by means of which acquired information, in particular digital data, can be evaluated automatically or / and by an operator. Such an evaluation unit can be formed for example by an external computer unit, such as a notebook or the like.

It is also conceivable that on the aircraft itself an evaluation unit is provided for certain tasks, which is supplemented by an external evaluation unit. An evaluation unit on the aircraft can be used, for example, to identify when detecting a foreign body in the tubular element, this as an obstacle for the aircraft and to determine, for example, an evasive maneuver for the aircraft.

The detection system preferably has at least one interface which is set up for the transmission of information or data between the aircraft and the evaluation unit.

In order to support the autonomous movement of the aircraft or of several aircraft in the pipe system, it is proposed that the detection system comprises at least one pipe system arranged in the pipe-like element or pipe system, wherein the pipe system is preferably provided for data transmission and / or energy transmission.

For this purpose, it is further proposed that the detection system comprises at least one base station which is arranged inside or outside the tubular element, wherein the base station is preferably arranged such that at least one aircraft can be arranged on it.

The base station may be adapted to provide power to an aircraft disposed thereon, in particular to increase the amount of at least one energy source, such as electrical charge and / or fuel and / or compressed air and / or hydrogen, that of the base station supplied energy carrier in an associated mounted on the aircraft energy storage is receivable.

The at least one base station can be connected to the line system. In this case, it is conceivable, in particular, for data recorded and temporarily stored by the aircraft to be transmitted by means of a base station to an external evaluation unit. The base station can also be referred to as a kind of docking station which is set up both for the data exchange and for the power supply of the aircraft.

The aircraft may also be arranged to be placed on the inside of the tubular member or on the medium present in the tubular member, preferably by means of an associated approach procedure.

In order to increase the possibilities of using the aircraft still further, at least one implement may be attached to the aircraft, by means of which a desired action, such as taking a sample, grasping a foreign body, applying a sealant, opening / closing a valve or the like, is feasible ,

The detection system is further contemplated that multiple aircraft are simultaneously in a pipe system in use, wherein the plurality of aircraft are made similar or different.

In this case, the plurality of aircraft may be designed such that they support each other in carrying out tasks and / or give instructions, such that the plurality of aircraft form a swarm-like or / and hierarchical association.

The aircraft preferably comprises at least one control unit which is set up for the navigation and / or the acquisition of information and / or the storage of acquired information and / or the transmission of acquired information and / or the communication with other aircraft.

The aircraft may include at least one preferably adjustable energy source for actively irradiating the environment, such as light, lidar, radar, ultrasound, to at least partially illuminate or illuminate the interior of the tubular member as needed.

The detection system can also be implemented procedurally. For this purpose, a method for acquiring information, in particular data belonging to at least one tubular element, may be used, the method comprising the following steps: providing at least one aircraft in the tubular element; Performing at least one flight with the at least one aircraft inside the tubular element, during which information is detected inside the tubular element, preferably information about the tubular element and / or the present in the tubular member medium and / or foreign body in the tubular Element.

In such a method, information can be detected in particular in the form of digital or analog data, preferably by at least one sensor attached to the aircraft or / and by at least one image acquisition device attached to the aircraft.

The acquired information or data can be stored in a memory unit. The storage unit can be provided locally or remotely, in particular also in a cloud.

Furthermore, the stored information or data can be evaluated automatically or by an operator. An evaluation is also possible by means of a distributed and / or virtual computer system (cloud).

The acquired information or data from the aircraft can also be transmitted to an evaluation unit, preferably via at least one wireless or wired interface.

The aircraft can also navigate in the detection method autonomous or externally controlled in the tubular element. The navigation of the aircraft can be done by:
in the tubular element or pipe system visually recognizable landmarks and / or
in the tubular element or pipe system mounted radio transmitter, which are in communication with corresponding radio receivers on the aircraft, and / or
optical guide along the longitudinal profile of the tubular element or the pipe system, such as by laser lines or the like, and / or
Orientation to marks that are projected by the aircraft itself in the tubular element, and / or
Measuring the distance to the inner wall of the tubular element in at least one direction, in particular by electromagnetic waves, such as light, laser, lidar, radar, ultrasound or the like.

In order to acquire information, in particular by means of the image recording device, the interior of the tubular element may, if necessary, be irradiated by means of an energy source for actively irradiating the environment, such as light, lidar, radar, ultrasound, wherein the irradiation energy source is preferably mounted on the aircraft ,

Further, the detection method may include providing an energy source, such as electrical charge, fuel, compressed air, or the like, and transmitting the energy source to an energy storage device of the aircraft.

The detection method may also include placing the aircraft on the inside of the tubular member or on the medium present in the tubular member, preferably by means of an associated approach procedure.

It is also proposed to carry out a desired action by means of the Aircraft, such as taking a sample, seizing a foreign body, attaching a sealant, opening / closing a valve or the like, in particular by means of a mounted on the aircraft implement.

It is also conceivable that in the tubular element or in the pipe system several aircraft are simultaneously in use.

The multiple, in particular similar or differently executed aircraft can be controlled so that they support each other in performing tasks or measures and / or give instructions so that the plurality of aircraft form a swarming and / or hierarchy-like association.

During the detection process, the at least one aircraft may remain in the at least one tubular member for a predetermined period of time, the aircraft being repeatedly or permanently activatable for the predetermined period of time to autonomously or externally control a flight to obtain information.

The invention will be described below with reference to the attached figures by means of an exemplary and non-limiting embodiment.

1 shows in a simplified and schematic sectional view of a tube-like element with an associated access shaft and a moving therein aircraft.

2 shows a plan view (part of a) and a sectional view through the access shaft (part of Figure b).

3 shows in the subfigures a) and b) possible positions on which the aircraft can sit during a flight.

4 shows in the partial figures a) to c) is a simplified and schematic plan view, a side view and a front view of an embodiment of an aircraft.

5 shows a block diagram of the detection system.

6 shows very simplified and schematically a pipe system in which two aircraft inspect different sections of the pipe system.

1 shows a tube-like element or pipe 10 such as a sewer, a utility, a pipeline, a vent, or the like. The tubular element 10 has a vertical access shaft 12 on, over which the pipe 10 connected to the environment. It is in this example of an underground pipe 10 gone out, whose access shaft 12 the connection to the earth's surface produces, but this in no way represents a restriction to underground pipes or pipe system. Rather, above-ground pipe systems, such as ventilation shafts in a building, can be examined by means of the detection system and method according to the invention.

In the access shaft 12 and in the pipe 10 is an aircraft 14 represented by the access shaft 12 descending into the pipe 10 fly in, then in the pipe 10 oriented and in a substantially horizontal flight passes along the course of the pipe 10 ,

It should be noted that all representations are not to scale drawings, which are the size ratios between, for example, the aircraft 14 , the pipe 10 and the access shaft 12 reflect according to reality. Rather, all the drawings are schematic and simplified illustrations in order to explain the basic principle of the detection system and the detection method.

In the pipe 10 or in the access shaft may further on the pipe inner wall 16 or the shaft inner wall 18 a line 20 to be appropriate. This line 20 may be part of a larger line system and may, for example, serve as a type of antenna to be in wireless communication with the aircraft in order to transmit data. The administration 20 can also be used to transfer energy. It is also conceivable that the aircraft 14 based on the course of the line 20 in the pipe 10 can orient. With 22 is a type of base or docking station, preferably with the line 20 connected is. The base or docking station 22 can be designed so that the aircraft 14 can be dropped off on her, leaving the docking station 22 For example, data exchange and / or transmission of an energy source, such as electrical charge, on the aircraft 14 , In particular a non-illustrated energy storage of the aircraft 14 can be done. The administration 20 can with an outside of the pipe 10 arranged, not shown terminal to be connected, which is configured for example for data transmission and / or power supply. The detection system described can be in a pipe system several base stations 22 may be arranged, for example, at regular intervals along the pipe run. Conceivable is the arrangement of such base stations 22 also in the area of access shafts 12 so that an aircraft after completion of inspection can dock on a base station in an access shaft and can be removed if necessary through the access shaft from the pipe system.

In the 2 are already for the 1 parts of the detection system shown in other views, wherein 2a) a kind of top view of the cut pipe 10 shows and a view from the top into the access shaft 12 , 2 B) shows a vertical section of the access shaft 12 and a cross section through the pipe 10 with exemplarily positioned aircraft 14 ,

3 shows in the partial figure a) a situation in which the aircraft 14 at the base or docking station 22 is arranged. Such a discontinuation of the aircraft 14 at a base station 22 is preferably done by a special maneuver. Between the base station 22 and the aircraft 14 A connection can be made temporarily, leaving the aircraft 14 at the base station 22 is held. As explained above, the aircraft can 14 in docked condition at the base station 22 be energized, such as electrical charge. However, other types of energy carriers, such as fuels, compressed air or the like, are also conceivable.

In the docked state, as in 3a) implied, may also be a data transfer between the aircraft 14 and the base station 22 be possible, being on the base station 22 transmitted data over the line 20 can be forwarded to a not shown terminal. It is conceivable, for example, that the line 20 is present in a piping system and that it at respective entrances, such as the illustrated access shafts 12 , There are interfaces, for example, a notebook with the line 20 can be connected to data from base stations 22 or the aircraft arranged thereon 14 read. It is also possible that in the base stations 22 collected data via a mobile network or the like to an in 5 illustrated evaluation unit 64 be transmitted to the detection system.

3b) shows a situation in which the aircraft 14 on the in the pipe 10 existing medium 24 how sewage has put on. In such a situation, for example, a sample from the medium 24 be removed. It is also conceivable that the aircraft 14 from the medium 24 can be transported in order to save energy to its next job site, to a base station or to an access shaft. Furthermore, it is also possible that the aircraft 14 floating on the medium 24 can get out of the pipe system if it can not be actively moved flying due to a defect or due to lack of energy. The situation in 3b) but should also illustrate the possibility that the aircraft 14 on the sole 26 of the pipe 10 can put on, provided the level of the medium 24 does not exceed a certain height.

4 shows in the partial figures a) to c) different views of an embodiment of an aircraft 14 , The aircraft 14 is here shown in the form of an unmanned quadrocopter with 4 rotors 30-1 to 30-4 that are preferably adjustable to use with the aircraft 14 to perform desired maneuvers. The four rotors 30-1 to 30-4 are preferably at outer ends of respective arms 32-1 to 32-4 arranged. Of course, the booms shown here by way of example can also be replaced by other structural components which can usefully serve to support the rotors. Through the four rotors 30-1 to 30-4 For example, in this example, a rotor plane RE is set to be in the 4a) to c) is oriented substantially horizontally and in 4a) parallel to the plane of the drawing. Of course, the position of the rotor plane RE changes in space during flight or in special situations, such as in 3a) illustrated docked position of the aircraft 14 , The outriggers 32-1 to 32-4 are with a kind of body 34 connected here by way of example by two plate-like elements 36-1 and 36-2 is formed. The two plate-like elements 36-1 and 36-2 are interconnected, with a gap between them 38 is available. Furthermore, stand the two plate-like elements 36-1 and 36-2 orthogonal to the rotor plane RE. In the space 38 a housing can be accommodated, in which, for example, sensors 39 such as gas sensor, at least one image pickup device 40 , An unillustrated control unit for the aircraft 14 , Interfaces, an energy storage, energy sources for the illumination / irradiation of the environment and the like can be accommodated. The arrangement of sensors and image pickup device shown here is purely exemplary. It is also conceivable that sensors are arranged on the outer sides of the plate-like elements. Furthermore, it is also conceivable that the aircraft no image recording device is present, but only a sensor, such as gas sensor.

By means of the sensors 39 or the image pickup device shown here by way of example 40 , can the environment, especially the interior of the pipe 10 be recorded. This information collected usually in the form of digital data serve on the one hand, a corresponding maneuvering and localization of the aircraft 14 to support, wherein the flight control of the aircraft can be done manually or / and autonomously. The autonomous flying of the aircraft 14 in pipes 10 can be learned, for example, by manually performed (remotely controlled) learning flights. The flight through an access shaft in the pipe system can be learned in such a way from the aircraft. The type of sensors used for data acquisition and navigation, for example, can be selected according to the different requirements. It is conceivable, for example, that different sensors are provided for the navigation and the data acquisition. For example, for navigation, the resolution is secondary, while a high frame rate is required. For detection or documentation, it is preferable if a sensor provides a high resolution, the frame rate being less important.

In addition to collecting data on the condition of pipes 10 It is also conceivable by means of the aircraft 14 the course of pipes 10 of which there are no or inaccurate details of their location / course. In that regard, the aircraft in addition to the inspection of pipes 10 also be used for the initial acquisition of data on unknown pipe systems. This also results in opportunities to inspect or detect natural tubular structures, such as caves, crevasses or the like. And to document with high precision.

The aircraft shown here 14 10 illustrates only one exemplary embodiment, and the detection system or method is not limited to such a quadrocopter. Rather, other embodiments of the aircraft with more or less than 4 rotors or as an aircraft with rigid wings and an associated drive or hovercraft that floats only slightly above a surface, such as the medium or the sole are conceivable. The size of the aircraft 14 is adapted to the respective place of use. The size may also vary depending on the amount of sensors, cameras, and the like.

5 shows a simplified block diagram in which some so-called main and auxiliary functions and (interface) components of an aircraft 14 are shown.

Among the main functions of the aircraft 14 include flying 40 as well as capturing 42 of information or data. Both are via a central control 44 of the aircraft 14 allows. It will be from sensors 46 Recorded and provided sensor data ( 48 ). This sensor data can be stored in a data memory, for example 50 get saved. To control the flying in the pipe, the sensor data 48 through the central control 44 be evaluated, for example, to position the aircraft within the tube cross-section sufficiently far away from the pipe inner wall or to recognize mounted in the pipe orientation aids or the like. From the central control 44 also become components like actuators 52 , Energy sources for the environmental illumination 54 (Light, lidar, radar, ultrasound), means of communication 56 driven. The as actuators 52 For example, designated component may include tools with which desired actions may be performed, such as sampling or the like. Also the rotors 30-1 to 30-4 can act as actors 52 be designated. About the central control 44 will also be the energy feed 58 , Energy storage 60 regulated. About the means of communication 56 For example, data can be exchanged for a user interface and / or for a display interface, such as an external monitor. Via the communication interface 56 can also exchange data with other aircraft 14-2 (shown in dashed lines), for example, if they fly through a pipe system together. Furthermore, a higher-level control unit can also be used for the detection system 62 belong to the information from the aircraft 14 or of several aircraft 14 . 14-2 converge. A higher-level control unit may be, for example, a notebook, a central computer or the like. Such a higher-level control unit 62 can also be an evaluation unit 64 be assigned, by means of which detected / stored data / information can be evaluated. At the evaluation unit 64 is thought in particular of imaging methods, such as image display, image processing and the like, for example, to be able to combine single images or to be able to view image sections or to generate a sequence of images. It can also be a connection to the user interface / display 66 to be available. The evaluation unit 64 can be operated by an operator. Alternatively or additionally, automated image recognition steps can be provided in the evaluation unit in order, for example, to automatically recognize and mark certain patterns / shapes in the image. In this case, the evaluation unit can also be a distributed computer system (cloud) or it can be an evaluation of one or more people at remote locations (crowdsourcing).

In a detection system or method several similar and different aircraft can be used. In this case, the detection system by means of the parent control unit 62 the use of the aircraft 14 . 14-2 coordinate. Alternatively or additionally, a direct communication between aircraft 14 . 14-2 take place, as with the communication interface 56 is indicated. A communication between an aircraft and other robots, such as an additional mobile robot, or between the aircraft and channel equipment is conceivable, even if this is not explicitly shown.

Purely by way of example, such a situation is in 6 shown. This shows a pipe system very simplified 10 with two side branches 11 and 13 , in which at each access shafts 12-1 and 12-2 Aircraft 14-1 and 14-2 are located. For each of the aircraft 14-1 and 14-2 is a route 70-1 respectively. 70-2 (dotted line) is provided, which is to be flown to inspect various sections of the pipe system can. By way of example, it is shown here that the aircraft 14-1 and 14-2 after completing the respective route 70-1 respectively. 70-2 return to the starting point again. But it is equally conceivable that the inspection of the illustrated pipe system is performed by an aircraft alone, such as the aircraft 14-1 at the access shaft 12-1 starts and his inspection flight after departing both side branches 11 and 13 at the access shaft 12-2 completed. At the branch of the side branch 11 is an example of yet another aircraft 14-3 This is a relay function for data transmission or monitoring of other aircraft 14-1 and 14-2 can take over.

The detection system and associated method steps presented here show a basic principle of the contactless inspection of pipes or pipe systems by means of an aircraft that is remotely controlled or autonomous in the pipe system. It should be noted that the term tubular element or pipe system is representative of other components, such as channels, shafts, storage, branches, valves, etc. In general, the aircraft moves in a sewer between an upper limit of the medium in the pipe (level of the medium) and the apex of the tube.

In particular, the presented detection system or method gives rise to further possibilities and advantages:
As a rule, the aircraft does not come into contact with the medium carried in the pipe, such as sewage, during data acquisition. Thus, the aircraft can be made small and light and move quickly, in contrast to the previously known, moving inspection equipment. This reduces the energy required for routine inspections.

Due to its high speed and maneuverability, the aircraft can detect or inspect very large pipe sections in a short time. Furthermore, pipe sections can also be re-inspected at shorter intervals, whereby a high reproducibility of the data is made possible by the automated data acquisition. Due to such reproducible data also a differential diagnosis is possible, so an evaluation of the difference between different times of data acquisition of a same pipe section.

The aircraft can, in the event that it flies autonomously, according to a predetermined, but in principle random plan a fully automatic detection or inspection. These can then be followed by an automated data analysis (evaluation). As a result, the productivity of possibly still required for a manual check personnel is multiplied.

The aircraft may be adapted to the nature of the tubular member or channel to account for its specific characteristics and to verify compliance with certain characteristics typical of the particular types of pipe. It is also conceivable that an adaptation of the aircraft can be done dynamically.

An aircraft is inexpensive despite its equipment with sensors and control unit. It can therefore optionally remain permanently in a pipe system and fulfill its tasks there. As a result, it is possible to dispense with the time-consuming and personnel-requiring introduction of the aircraft in an access shaft and the removal of the aircraft from the shaft.

It is also conceivable that the detection system includes other tools that are monitored by an aircraft. Such implements may be, for example, cleaning robots that remove detected and localized foreign objects. Because of its maneuverability, the aircraft can capture the implementation of desired measures quickly and from different perspectives. As already mentioned, it is also conceivable that tools may be provided on the aircraft itself with which desired measures can be carried out.

Overall, the presented detection system or method offers cost-effective and novel possibilities for carrying out inspection or work steps in pipe systems.

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• DE 4324469 A1 [0003]
• DE 29900544 U1 [0003]
• DE 2004048170 A1 [0003]

Claims (20)

Detection system adapted to obtain information, in particular data which is to at least one tubular element ( 10 ), wherein a plurality of tubular elements to a tubular network ( 10 . 12 . 11 . 13 ), such as a sewer system, a utility line system, a ventilation duct system or the like, the detection system comprising at least one aircraft ( 14 ), by means of which information inside the at least one tubular element ( 10 ) are detectable. A detection system according to claim 1, wherein the aircraft ( 14 ) is designed such that it is autonomous or externally controlled in the tubular element ( 10 ) navigates. Detection system according to claim 1 or 2, wherein the aircraft ( 14 ) at least one preferably adjustable rotor ( 30-1 , ..., 30-4 ), preferably as a vertically take-off and landing unmanned aerial vehicle ( 14 ) is executed, in particular as a quadro, hexa, or octocopter or the like. Detection system according to claim 1 or 2, wherein the aircraft is designed as a rigid wing aircraft or as a hovercraft. Detection system according to one of the preceding claims, wherein it is designed such that the at least one aircraft ( 14 ) during a predetermined period of time in the at least one tubular element ( 10 ), the aircraft ( 14 ) is repeatedly or permanently activated during the predetermined period of time. Detection system according to one of the preceding claims, wherein the aircraft ( 14 ) at least one sensor ( 39 . 46 ) and / or at least one image acquisition device ( 40 ) for collecting information about the tubular element ( 10 ). A detection system according to claim 6, wherein the aircraft comprises at least one gas sensor. Detection system according to one of the preceding claims, wherein at least one memory unit ( 50 ) for storing captured information, in particular digital data. Detection system according to one of the preceding claims, wherein it further comprises at least one evaluation unit ( 44 ; 64 ), by means of which detected information, in particular digital data, can be evaluated automatically or / and by an operator. Detection system according to claim 9, wherein it has at least one interface ( 56 ) used to transmit information or data between the aircraft ( 14 ) and the evaluation unit ( 64 ) is set up. Detection system according to one of the preceding claims, further comprising at least one in the tubular element ( 10 ) or a pipe system arranged line system ( 20 ), the piping system ( 20 ) is preferably provided for data transmission and / or power transmission. Detection system according to one of the preceding claims, wherein it further comprises at least one base station ( 22 ) inside or outside the tubular element ( 10 ), the base station ( 22 ) is preferably set up such that at least one aircraft ( 14 ) can be arranged. A detection system according to claim 12, wherein the base station ( 22 ) is adapted to operate an aircraft ( 14 ), in particular the amount of at least one energy source, such as electrical charge and / or fuel and / or compressed air and / or hydrogen, to increase, which of the base station ( 22 ) supplied energy carrier in an associated on the aircraft ( 14 ) mounted energy storage is receivable. A detection system according to claim 11 and claim 12 or 13, wherein the at least one base station ( 22 ) with the pipe system ( 20 ) connected is. Detection system according to one of the preceding claims, wherein the aircraft ( 14 ) is further arranged such that it on the inside of the tubular element ( 10 ) or on the medium present in the tubular element ( 24 ), preferably by means of an associated approach procedure. Detection system according to one of the preceding claims, wherein at the aircraft ( 14 ) at least one working device is attached, by means of which a desired action, such as taking a sample, seizing a foreign body, applying a sealant, opening / closing a valve or the like, is feasible. Detection system according to one of the preceding claims, wherein a plurality of aircraft ( 14-1 . 14-2 . 14-3 ) simultaneously in a pipe system ( 10 . 11 . 12 . 13 ) are in use, with the several aircraft ( 14-1 . 14-2 . 14-3 ) are made similar or different. A detection system according to claim 17, wherein the plurality of aircraft ( 14-1 . 14-2 . 14-3 ) are executed in such a way that they assist each other in carrying out tasks and / or give instructions, such that the plurality of aircraft form a swarming or / and hierarchical association. Detection system according to one of the preceding claims, wherein the aircraft ( 14 ) at least one control unit ( 44 ) used for navigation ( 40 ) and / or the acquisition ( 42 ) of information and / or storage ( 50 ) of collected information and / or transmission ( 56 ) of collected information and / or communication ( 56 ) with other aircraft ( 14-1 . 14-2 . 14-3 ) is set up. Detection system according to one of the preceding claims, wherein the aircraft ( 14 ) at least one preferably adjustable energy source ( 54 ) for active irradiation of the environment, such as light, lidar, radar, ultrasound, in order, if necessary, the interior of the tubular element ( 10 ) at least partially irradiate or illuminate.

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