EP3966486A1 - Vorrichtung zur sanierung von leitungen mit einem neigungssensor - Google Patents
Vorrichtung zur sanierung von leitungen mit einem neigungssensorInfo
- Publication number
- EP3966486A1 EP3966486A1 EP20746542.8A EP20746542A EP3966486A1 EP 3966486 A1 EP3966486 A1 EP 3966486A1 EP 20746542 A EP20746542 A EP 20746542A EP 3966486 A1 EP3966486 A1 EP 3966486A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- exposing
- uncovering
- line
- transmitter
- exposure
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000003801 milling Methods 0.000 claims description 9
- 238000000034 method Methods 0.000 claims description 7
- 238000011156 evaluation Methods 0.000 claims description 6
- 238000005553 drilling Methods 0.000 claims description 5
- 239000000463 material Substances 0.000 claims description 2
- 239000011347 resin Substances 0.000 description 5
- 229920005989 resin Polymers 0.000 description 5
- 238000001514 detection method Methods 0.000 description 3
- 239000000835 fiber Substances 0.000 description 3
- 230000005855 radiation Effects 0.000 description 3
- 238000005259 measurement Methods 0.000 description 2
- 239000000243 solution Substances 0.000 description 2
- IHPYMWDTONKSCO-UHFFFAOYSA-N 2,2'-piperazine-1,4-diylbisethanesulfonic acid Chemical compound OS(=O)(=O)CCN1CCN(CCS(O)(=O)=O)CC1 IHPYMWDTONKSCO-UHFFFAOYSA-N 0.000 description 1
- 229920000271 Kevlar® Polymers 0.000 description 1
- 239000007990 PIPES buffer Substances 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005670 electromagnetic radiation Effects 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 238000005470 impregnation Methods 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 239000004761 kevlar Substances 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 238000009418 renovation Methods 0.000 description 1
- 238000009987 spinning Methods 0.000 description 1
Classifications
-
- 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
- F16L55/16—Devices for covering leaks in pipes or hoses, e.g. hose-menders
- F16L55/179—Devices for covering leaks in pipes or hoses, e.g. hose-menders specially adapted for bends, branch units, branching pipes or the like
-
- 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
- F16L55/265—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means specially adapted for work at or near a junction between a main and a lateral pipe
-
- 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
- F16L55/48—Indicating the position of the pig or mole in the pipe or conduit
-
- 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
- F16L2101/10—Treating the inside of pipes
Definitions
- the present invention relates to a system for attaching a
- Device for localizing a mobile device by means of a radar system comprising a base station and an active transponder attached to the device.
- a flexible, curable layer impregnated with a curable resin which serves as a lining hose, also known as a liner, is introduced into the pipe system. After insertion, the lining tube is expanded so that it hugs the inner wall of the pipe system. The resin is then cured.
- Lining tube usually has an opaque outer protective film, an inner film that is permeable to at least certain wavelength ranges of electromagnetic radiation and a curable layer impregnated with a resin, which is arranged between the inner film and the outer film.
- the outer film tube is intended to prevent the resin used for impregnation from leaking out of the curable layer and into the environment got. This requires a good tightness and connection of the outer film tube to the resin-impregnated hardenable layer.
- a lining tube is known from WO 00/73692 A1
- the lining tubes are in the too before curing
- rehabilitating pipe system introduced and by means of a fluid, usually Compressed air, inflated.
- a fluid usually Compressed air
- a fluid usually Compressed air
- one opening end of the lining tube is acted upon by compressed air according to the prior art, and the opposite end
- Closure device a so-called packer, closed.
- This closure device comprises a hollow cylinder and a
- the amount of radiation energy depends on the power output of the radiation sources and the speed with which they are passed through the lining tube.
- line systems generally include feed lines or secondary channels. These must be exposed again after the lining tube has been drawn in and hardened.
- devices are generally used which comprise a robot arm with a drilling or milling device attached there.
- measuring devices For metrological detection of lines and in particular to determine the position of the branches, measuring devices according to the prior art are usually introduced into the line before the lining tube is pulled in, the
- Measuring device is moved either independently or with the help of a cable, in particular a cable comprising Kevlar fibers and / or at least one pull rope, and / or a pull rope through a line to be rehabilitated.
- a cable in particular a cable comprising Kevlar fibers and / or at least one pull rope, and / or a pull rope through a line to be rehabilitated.
- the measuring device detects, mostly via optical sensors, in particular camera recordings, the position of the branches before the lining tube is drawn in.
- branches should be understood broadly and side inlets, also as pipe inlets or pipe branches
- the position of the junction in the line is determined either by a speed sensor that counts the number of revolutions of the wheels of the measuring device, that the length of the cable or pull rope is measured, or by the curing device used tape measure.
- the position of the junction must not only be based on its distance from one or both opening ends of the line, but also be detected in its angular position. Come for this for example rotation angle sensors or gravitation sensors are used.
- Spinning wheels that prevent the device from moving even though the speed sensors detect propulsion, cables or traction ropes running at an angle, devices twisted relative to themselves, non-identical positioning with respect to the center point of the lines, etc.
- a signal is sent from a base station of the radar system to the transponder.
- the signal is frequency modulated in the transponder and, after modulation, sent back to the base station.
- the distance and the speed of the object can be evaluated.
- amplitude modulation is also known.
- DE 10 2005 059 507 A1 teaches a method for a radar system in which an unmodulated signal is sent from a base station to a transponder. This signal is phase modulated by the transponder and sent back to the base station in a passive manner. Such a method is strongly influenced by backscattering objects, so that the signal sent back has a high level of noise. In addition, the range of passive measurement systems is very limited.
- Accuracy can be determined, the inclination of the exposure device itself in the line may also have to be detectable.
- the object of the present invention is therefore to overcome the disadvantages of the prior art and, in particular, to enable a user to precisely expose branches in lines rehabilitated with lining hoses. For exposure, the angular position must also be approached exactly again, which means that the inclination of the device relative to the line must be detected in particular with respect to the milling head.
- an uncovering device for rehabilitating a line in particular for exposing a junction in a line system rehabilitated with a lining hose, comprising a system that is movably mounted in at least one degree of freedom
- Exposure device and an inclination sensor arranged on the exposure device Exposure device and an inclination sensor arranged on the exposure device.
- Uncovering devices are already known in the prior art, which have an angle of inclination in the base unit thereof and, for example, use angle sensors to calculate how the uncovering device is oriented relative to the ground.
- the invention was based on the surprising finding that an integration of the inclination sensor in the exposure device itself provides direct information about the angle at which it is arranged relative to the pipe to be rehabilitated.
- Sensor device for detecting the current position of the Exposing device is included relative to a base unit of the exposing device.
- Such an electronic sensor unit can serve, for example, to detect the horizontal and / or vertical position of the exposure device. This can be done indirectly from the calculated movement of the motors of the moving element, e.g. a robotic arm to which the
- Exposure device is attached, take place.
- a photosensitive device takes place.
- Distance sensor includes the vertical distance to the
- Evaluation device is included, which is used to evaluate the
- Inclination sensor and the electronic sensor device captured data is set up to determine a position of the exposure device in the line.
- a distance measuring device is included which measures the distance between the exposing device and a
- a point at or near the opening ends of the line is preferably selected as the reference point, which is used, as it were, for measuring the line and for subsequent renovation and exposure.
- first transmitter and receiver module is arranged on the exposure device and a second with the first transmitter and receiver module interacting transmitter and
- Receiver module is arranged in the line system at a reference point.
- the distance measuring device comprises a radar system, the radar system emitting a first signal from the second transmitter and receiver module, which is sent back in modulated form from the first transmitter and receiver module to the second transmitter and receiver module, from the position of the exposure device in the line is determined by the signal propagation time.
- the exposure device comprises or forms a milling or drilling tool.
- the base unit comprises wheels or chains that are driven by means of one or more electric motors.
- the invention provides one
- Exposure device in which the exposure device of Exposing device one in at least two, especially three
- Area of a line, in particular a branch of a line system rehabilitated with a lining hose which includes the following steps, in particular in this order: b) Providing an exposure device according to the invention in the
- Figure 1 a schematic sectional view of an exposing device in
- Uncovering device 1 for exposing a junction 9 in a line system 7 rehabilitated with a lining hose 5 is shown.
- the exposing device 1 comprises an exposing device 3 which comprises an inclination sensor which is arranged adjacent to its free end and which is designed and set up to detect the inclination of the exposing device 3. .
- a distance measuring device (not shown) can be provided which measures the distance between the
- the exposing device further comprises a milling tool 11 in order to expose the junction 9.
- the exposure device further comprises a robot arm 15 which is movable and rotatable about three spatial axes and at the free end of which the milling tool 11 is arranged.
- a milling tool mounted movably in one or two spatial axes can also be provided.
- a distance measuring device 19, 21 is also included, which is constructed in two parts.
- a first transmitter and receiver module 19 is arranged on the exposure device and a second transmitter and receiver module interacting with the first transmitter and receiver module
- the receiver module is arranged at a reference point in the line system.
- the second transmitting and receiving module 21 sends out a radar signal that is modulated by the first transmitting and receiving module
- Receiving module to determine the position of the exposure device 1 in the line is evaluated.
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Lining Or Joining Of Plastics Or The Like (AREA)
- Pipe Accessories (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102019111885.9A DE102019111885A1 (de) | 2019-05-07 | 2019-05-07 | Vorrichtung zum Sanierung von Leitungen mit einem Neigungssensor |
PCT/DE2020/100372 WO2020224723A1 (de) | 2019-05-07 | 2020-05-05 | Vorrichtung zur sanierung von leitungen mit einem neigungssensor |
Publications (1)
Publication Number | Publication Date |
---|---|
EP3966486A1 true EP3966486A1 (de) | 2022-03-16 |
Family
ID=71833088
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP20746542.8A Pending EP3966486A1 (de) | 2019-05-07 | 2020-05-05 | Vorrichtung zur sanierung von leitungen mit einem neigungssensor |
Country Status (4)
Country | Link |
---|---|
US (1) | US20230194037A1 (de) |
EP (1) | EP3966486A1 (de) |
DE (1) | DE102019111885A1 (de) |
WO (1) | WO2020224723A1 (de) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113280209B (zh) * | 2021-06-09 | 2023-02-14 | 中航华东光电(上海)有限公司 | 检测管道多余物的系统以及系统的使用方法、检测方法 |
Family Cites Families (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE3737301A1 (de) * | 1987-11-04 | 1989-05-18 | Hemscheidt Maschf Hermann | Verfahren und vorrichtung zum sanieren von abwasserkanalrohren |
DK113090D0 (da) * | 1990-05-08 | 1990-05-08 | Willy Palle Pedersen | Fremgangsmaade og robotsystem til udbedring af utaette grenindmundinger i kloakroer |
EP0712352B1 (de) | 1993-08-06 | 1997-10-08 | Brandenburger Patentverwertungsgesellschaft des bürgerlichen Rechts | Verfahren zum herstellen eines rohrförmigen auskleidungsschlauches |
DE19924251A1 (de) | 1999-05-27 | 2000-11-30 | Joachim Brandenburger | Auskleidungsschlauch mit auf Folienschlauch aufkaschierter Vliesschicht |
US7720570B2 (en) * | 2004-10-01 | 2010-05-18 | Redzone Robotics, Inc. | Network architecture for remote robot with interchangeable tools |
DE102005059507A1 (de) | 2004-12-13 | 2006-07-27 | Atmel Germany Gmbh | Verfahren zum Orten eines rückstreubasierten Transponders |
US8298613B2 (en) * | 2009-10-22 | 2012-10-30 | Quest Inspar LLC | Method of spray lining a pipe with an environmentally compatible impervious membrane |
DE102010044465A1 (de) * | 2010-09-06 | 2012-03-08 | I.S.T. Innovative Sewer Technologies Gmbh | Vorrichtung zum Sanieren eines Rohres |
DE102014104504A1 (de) * | 2014-03-31 | 2015-10-01 | Ims Robotics Gmbh | Rohr-Bearbeitungsvorrichtung und Anordnung und Verfahren zum Messen einer Entfernung von einer vorgegebenen Position zu einem Rohr-Bearbeitungsvorrichtung und Verfahren zum Bearbeiten mindestens einer Innenwand eines Rohrs |
DE102016105640A1 (de) * | 2016-03-24 | 2017-09-28 | Pipetronics Gmbh & Co. Kg | Freilegevorrichtung mit einem Kamerasystem zum Freilegen einer Abzweigung |
KR101974935B1 (ko) * | 2016-04-26 | 2019-05-07 | 재단법인대구경북과학기술원 | 하수관로 보수 장치 |
WO2020113125A1 (en) * | 2018-11-30 | 2020-06-04 | Ina Acqusition Corp. | Methods, systems, and apparatus for use in main pipes connected to branch conduits |
-
2019
- 2019-05-07 DE DE102019111885.9A patent/DE102019111885A1/de not_active Ceased
-
2020
- 2020-05-05 US US17/453,845 patent/US20230194037A1/en not_active Abandoned
- 2020-05-05 WO PCT/DE2020/100372 patent/WO2020224723A1/de unknown
- 2020-05-05 EP EP20746542.8A patent/EP3966486A1/de active Pending
Also Published As
Publication number | Publication date |
---|---|
DE102019111885A1 (de) | 2020-11-12 |
US20230194037A1 (en) | 2023-06-22 |
WO2020224723A1 (de) | 2020-11-12 |
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Legal Events
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Effective date: 20211207 |
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DAX | Request for extension of the european patent (deleted) | ||
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