FR3078498A1 - UNDERGROUND OR SEMI-VISITABLE UNDERGROUND SANITATION DRIVE INSPECTION APPARATUS - Google Patents

Abstract

The invention relates to an apparatus for inspection of visitable or semi-visitable, built-in or prefabricated type of underground sanitation pipes (20) and comprising: an inspection robot (30) comprising a frame (31) and rolling guide and driving members (8, 10) of said frame (31) on said flat bottom of said underground pipe in a main direction of advancement, said longitudinal direction; guide cameras (6) respectively arranged at each of the longitudinal ends of said frame; a 360 ° camera (32) mounted on a foot connected to said frame and extending perpendicularly to the rolling plane so as to be able to acquire images of said pipe (20) during the displacement of said robot on said flat bottom, and a mobile station control unit (40) of said inspection robot configured to be connected to said robot by connecting cables (44) and comprising a control console (41) of the rolling members of said robot; a display device (42) for images acquired by said guide cameras (6).

Description

VISITABLE OR SEMI-VISITABLE UNDERGROUND CONDUCT INSPECTION APPARATUS

1. Technical field of the invention

The invention relates to an apparatus for inspecting underground drainage pipes for wastewater networks, rainwater networks and / or runoff water networks, generally called “visitable collectors” or “semi-visitable collectors”. . The invention relates more particularly to an apparatus for inspecting prefabricated sanitation pipes, (of the ovoid pipe type), or non-prefabricated pipes (of the pipe type with a Romanesque window, pipe with cunette or pipe with a slab).

2. Technological background

There are different types of sewers for collecting and discharging rainwater, wastewater or runoff. These sewers are formed of pipes, designated throughout the text as underground sewerage pipes. Two types of prefabricated underground drainage pipes are prefabricated pipes: small diameter cylindrical pipes, i.e. between 150 mm and 12,000 mm, or prefabricated frames (rectangular concrete structure of different dimensions).

On the other hand, the old pipes installed since Roman times are built and have variable shapes. Most of these pipes are pipes of the cuneette pipe type, pipe with a Roman window or flat raft pipe. In what follows, we will designate by the terms “flat bottom pipe” or “built pipe” or “built visitable work” or “semi-visitable work”, a visitable or semi-visitable pipe having a relatively flat bottom, for example of ovoid shape, intended to allow the movement of an operator in the pipe.

The old networks of historic cities were generally built in a period spanning from the Roman period to the Second Empire. The age of these networks makes it necessary to be able to regularly inspect the condition of the built pipes of these networks. The inspection of these pipes is carried out manually, that is to say, operators who descend into the pipes by manholes fitted in the roads above the pipes and which generally have a diameter of 60 cm. The operators then move inside the pipe to identify any damaged areas requiring repair. These interventions are exhausting for operators because they have to move through pipes whose dimensions can range from 40 cm in width by 1 m in height to 2 m in width and 3 m in height. In addition, moving inside these pipes can be difficult due to fouling of the pipes and can present real dangers due to the presence of standing waste water, various wastes, dangerous gases, etc. In addition, operators sometimes find it difficult to accurately identify the condition of the pipes. In particular, taking pictures of the structure can be very complicated, especially in narrow pipes without sufficient recoil. The posterior analyzes of the acquired images can then be erroneous and lead to under-evaluating or over-evaluating the actual state of the pipeline.

In addition, in France, the National Technical Committee for the Water, Gas, Electricity, Book and Communication Industries (CTN C) adopted in November 2012 the obligation to all persons working in a confined space, and in particular for people operating in underground pipes of the visitable type and for discharging water, to present the CATEC certification (Certificate of Aptitude for Work in Confined Space).

It is therefore sometimes sometimes difficult to find certified operators and / or especially volunteers to inspect this type of structure under difficult conditions.

In addition, the inspections carried out, when they can, are often of poor quality and do not allow a proper assessment of the condition of the pipes.

There is therefore a need for a new solution to facilitate the inspection of these built-up sanitation pipes, which can adapt to the different shapes and dimensions of the pipes, as well as the fouling of these works.

3. Objectives of the invention

The invention aims to provide a non-circular, prefabricated or built underground pipe inspection apparatus, of different shapes and sizes, in particular for collecting and discharging water, which overcomes at least some of the drawbacks of known solutions.

The invention also aims to provide, in at least one embodiment of the invention, such an apparatus which limits human presence in the pipe as much as possible.

The invention also aims to provide, in at least one embodiment, such an apparatus which allows a quality inspection, whatever the state of the pipe.

The invention also aims to provide, in at least one embodiment of the invention, such an apparatus which allows rapid inspection of the pipes.

4. Statement of the invention

To do this, the invention relates to a visitable or semi-visitable flat bottom underground pipe inspection apparatus comprising:

- an inspection robot comprising:

a chassis and rolling members for guiding and driving said chassis on said flat bottom of said underground pipe in a main direction of advancement, called longitudinal direction, o guide cameras arranged respectively at each of the longitudinal ends of said chassis, a 360 ° camera mounted on a stand connected to said chassis and extending perpendicular to the rolling plane of said robot so as to be able to acquire images of said pipe when said robot moves on said flat bottom,

- a mobile control station for said inspection robot configured to be able to be connected to said robot by connection cables and comprising:

o a control console for the rolling parts of said robot, o a device for displaying the images acquired by said guidance cameras.

An apparatus according to the invention therefore makes it possible to carry out an inspection of a visitable or semi-visitable, non-circular, so-called flat-bottom sanitation pipe, without requiring the presence of an operator in the pipe. This inspection is carried out by an inspection robot controlled remotely by the operator. The robot is equipped with guidance cameras allowing the surface operator to control the movement of the robot in the pipe.

The robot is also equipped with a 360 ° camera to acquire images of the interior wall of the sanitation pipe. These images are not directly visible by the operator controlling the robot, but are saved, for example in the internal memory of the 360 ° camera or on a storage medium connected to the camera, for a detailed analysis later.

The operator, on the other hand, controls the movements of the robot by viewing the images of the guide cameras which are arranged at each of the longitudinal ends of the inspection robot. The images are projected on a display device which is for example a touch pad and which thus allow the operator to control the rolling guide and drive members of the robot on the flat bottom of the pipe.

In practice, the inspection robot is placed on the flat bottom of the pipe to be inspected by a manhole fitted on a road below which extends the pipe to be inspected. Depending on the type of pipe and the type of manhole, either an operator descends into the pipe to position the robot, then climbs to the surface to take control of the control station, or he deposits the robot directly from the surface, for example by straps passed under the inspection robot which it deploys to the flat bottom of the pipe.

Advantageously and according to the invention, said inspection robot further comprises lighting spots removably mounted on said chassis and each oriented in a separate direction so as to be able to illuminate the walls of said pipe during the movement of said robot inspection.

According to this advantageous variant, the interior wall of the pipe is lit by lighting spots. These spots can, according to a variant, be controlled by the control console or be actuated manually by the operator before the removal of the robot into the pipe. Preferably, these lighting spots are removable so that the spots can be dismantled if necessary to limit the overall size of the inspection robot when transporting the robot from a storage place to a place of use. These lighting spots can for example be powered by autonomous batteries.

Advantageously and according to the invention, said inspection robot further comprises a plurality of arches mounted on said chassis by at least partially surrounding said 360 ° camera so as to form an equipment separating the spider webs during the movement of the robot in said pipe in said longitudinal direction.

This advantageous variant makes it possible to free the field of vision of the 360 ° camera during the movement of the robot in the sanitation pipe during the inspection. In particular, it is common for old sewage pipes to be infested with cobwebs, especially when inspections of pipes are carried out at low frequencies. Also, the hoops form a spider web barrier device which allows to maintain a quality image regardless of the condition of the pipe.

Advantageously and according to the invention, said support leg of said 360 ° camera is telescopic so as to be able to adjust the image acquisition height relative to the rolling plane of the robot (and therefore relative to the flat bottom of the pipe ).

This advantageous variant makes it possible to make the optical center of the camera coincide with the central axis of the pipe, which allows a detailed and precise rendering of the work. In addition, this variant makes it possible to use the device according to the invention with different pipes while retaining a detailed and precise rendering of the pipe by the possibility of being able to adapt the position of the 360 ° camera to the dimensions of the pipe inspected.

Advantageously and according to the invention, said rolling guiding and driving members of the apparatus comprise a front axle comprising front driving wheels, one on each side, and a rear axle comprising rear non-driving wheels, one on each side. .

This advantageous variant makes it possible to move the robot in the pipe, including in non-straight pipes.

Advantageously and according to the invention, said inspection robot further comprises rechargeable batteries connected to said rolling guide and drive members so as to be able to drive them in rotation on command from the mobile control station, said batteries being connected to a charging socket accessible from the robot chassis.

Preferably, the batteries are batteries which deliver a voltage of 12 Volts, which limits the risk of electrocution, and respects the regulations according to which it is prohibited to use 220 Volts in works likely to present water stagnant.

Advantageously and according to the invention, said mobile control station further comprises a reel for winding the connection cables mounted on a chassis equipped with wheels allowing its movement.

According to this advantageous variant, the connection cables which make it possible to connect the control console to the inspection robot are wound on a reel, itself mounted on wheels, which makes it possible on the one hand to facilitate its movement by a place of storage at a place of use and on the other hand to facilitate the unwinding of the cable during the progression of the robot in the sanitation pipe during inspection. For example, the cables can have a length of 300 meters, which makes it possible to carry out inspections of the pipes in sections of 300 meters.

Advantageously and according to the invention, said connection cables are cables of the RJ45 type.

A device according to this variant makes it possible to convey the control information from the control console to the robot, and to convey the images acquired from the guide cameras to the display device in a simple, rapid manner and by limiting the size of the cables. In addition, these cables can be wound on the reel without risk of damaging the cables.

Advantageously and according to the invention, said inspection robot further comprises a connection socket combined with a connection plug mounted at one end of the connection cables, the other end being connected to said control console.

A device according to this variant facilitates the movement of the robot and the mobile station from a storage place to a place of use. The connection between the inspection robot and the mobile control station is only made when the robot is used.

Advantageously and according to the invention, said underground pipe with a flat bottom for collecting and discharging water is a collecting pipe for discharging rainwater, groundwater, used water or waste water. runoff.

Advantageously and according to the invention, said inspection robot has an overall cross section less than 60 cm so that it can be inserted into the underground pipe by a manhole of 60 cm in diameter.

A robot according to this variant can be easily inserted into the pipes by manholes of 60 cm in diameter which form most of the manholes of the flat-bottomed lines.

The invention also relates to an inspection apparatus characterized in combination by all or some of the characteristics mentioned above or below.

5. List of figures

Other objects, characteristics and advantages of the invention will appear on reading the following description given by way of non-limiting example and which refers to the appended figures in which:

FIG. 1 is a functional schematic view of an inspection robot of an inspection device according to an embodiment of the invention,

- Figure 2 is a schematic top view of an inspection apparatus according to an embodiment of the invention.

- Figure 3 is a schematic perspective view of an inspection apparatus according to an embodiment of the invention.

- Figure 4 is a schematic view of an inspection apparatus in use in an underground pipe.

6. Detailed description of an embodiment of the invention

In the figures, the scales and proportions are not strictly observed, for the purposes of illustration and clarity. In all the detailed description which follows with reference to the figures, unless otherwise indicated, each element of the device is described as it is arranged when the robot is moving in a sanitation pipe. This arrangement is shown in particular in FIG. 4.

In addition, identical, similar or analogous elements are designated by the same references in all the figures. Finally, the terms longitudinal, transverse and vertical are used without limitation with reference to the trihedron L, T, V as shown in Figure 3. The longitudinal direction corresponds to the main direction of advancement of the inspection robot in a sanitation pipe. The vertical direction is the direction defined by gravity. The transverse direction is the direction perpendicular to the longitudinal direction and to the vertical direction. The terms "right" and "left" are used to refer to the main direction of travel of the inspection robot in an underground pipe.

FIG. 4 schematically represents an apparatus for inspecting an underground drainage pipe 20 with a flat bottom. This pipe 20 is accessible by means of a manhole 21 arranged in a roadway 22 above the line 20. In general, such a manhole has a diameter of around 60 cm.

The inspection apparatus according to the invention comprises an inspection robot 30 and a mobile control station 40.

The inspection robot 30 comprises, as shown in FIGS. 2 and

3, a chassis 31 and rolling guide and drive members 8, 10 of the chassis 31 on the flat bottom of the underground pipe 20.

In the preferred embodiment of the invention shown in FIG. 1 in particular, the rolling guide and drive members of the apparatus comprise a front left drive shaft 7 comprising a left front drive wheel 8, a drive shaft 'drive front right 9 comprising a right front wheel 10 drive, and a rear axle 11 carried by bearings 12 and comprising rear wheels 13 non-drive, one on each side. According to other embodiments not shown, the rolling guide and drive members include tracks.

The inspection robot further comprises two electric motors 2 for driving the front wheels 8, 10 driving, one on each side, respectively for the independent driving of each of the front wheels. To do this, each front wheel has an internal toothing cooperating with a pinion driven by the drive shaft of the corresponding drive motor. According to another embodiment, each wheel is integral with the drive shaft which is directly driven by the electric motor. According to another embodiment, the robot comprises a single electric motor adapted to drive the two front drive wheels.

Preferably, the electric motors 2 are powered by rechargeable batteries. These batteries are recharged by means of a recharging socket 15 accessible from the chassis of the robot and shown diagrammatically in FIGS. 1 and 3.

The inspection robot 30 also comprises guide cameras 6 arranged respectively at each of the longitudinal ends of the chassis 31. Preferably, each guide camera is a camera equipped with integrated LED lighting. Each guidance camera is configured to be able to provide an operator with images of the areas arranged in front of and behind the inspection robot enabling it to control its movement in the pipe.

The robot also includes a camera 32 of the 360 ° camera type mounted on a stand 33 connected to the chassis 31 and extending perpendicular to the rolling plane so as to be able to acquire images of the internal wall of the pipe 20 when the robot is moving. on the flat bottom of the pipe 20. Preferably, this foot 33 is telescopic so as to be able to manually adjust the height of the camera relative to the rolling plane, before the start of the inspection.

The guide cameras 6 are only intended to guide the movements of the inspection robot in the pipe while the camera 32 is intended to acquire images of the internal wall of the pipe 20 making it possible to detect any deterioration.

The robot also comprises, as shown in FIGS. 2 and 3, lighting spots 34 removably mounted on the chassis 31. These lighting spots 34 are each oriented in a separate direction so as to be able to light the walls of the pipe 20 during the movement of the inspection robot 30, to allow acquisition of images of the wall of the pipe by the camera 32.

According to an alternative embodiment not shown in the figures, the robot also comprises a plurality of arches mounted on the chassis 31 at least partially surrounding said camera 32 so as to form an equipment separating the cobwebs during the movement of the robot in driving 20.

The mobile control station 40 comprises a console 41 for controlling the rolling parts of the robot and a display device 42 for the images acquired by the guiding cameras 6, which allows an operator to control the robot from the road surface .

This display device 42 can be of all types. It can be a laptop, touch pad, or a dedicated device that includes a display screen.

The mobile control station preferably comprises a drum 43 for winding cables 44 mounted on a chassis 45 fitted with wheels 46 allowing its movement.

According to a preferred embodiment, the connection cables 44 are cables of the RJ45 type. These cables are for example cables 300 meters long.

In addition, the cables include one end equipped with a connection plug 47 adapted to be able to be plugged into a connection socket 5 arranged on the upper surface of the chassis 31.

This connection socket 5 makes it possible to link the inspection robot and the mobile control device. Thus, it is possible to supply the various commands received from the mobile control device to the various organs of the inspection robot and to recover the images supplied by the guide cameras 6 to display them on the display device of the mobile control station. 40. In addition, this connection socket 5 is configured to allow it to withstand a tensile force induced by the movement of the robot in the pipe. In particular, during the movement of the robot in the pipe in the main direction of advance, the connection socket 5 acts as a point of traction of the cables 44 which causes the rotation of the drum 43. In other words, it is the movement of the inspection robot in the pipe which causes the cables 44 of the reel 43 to unwind. When the robot reverses, the reel can be driven manually by an operator who has remained on the surface or by means of an electric drive motor configured to be able to drive the reel in rotation.

Figure 1 schematically illustrates the various internal organs of the inspection robot. This figure illustrates in particular the internal wiring of the inspection robot making it possible to supply electricity to the electric motors, to control the electric motors to guide the robot in the pipe, and making it possible to recover the images of the guiding cameras 6.

FIG. 1 also illustrates the socket 15 for recharging a battery 4 supplying electric motors 2. This battery 4 is a rechargeable battery connected to an on / off switch 14 of the inspection robot.

This battery can be of any known type. Preferably, this battery is a Lithium, Iron, Phosphate battery which delivers a supply voltage of 12 Volts for 89.1 Ah.

According to the embodiment of FIG. 1, the robot comprises two electric motors 2, one for each front drive wheel 8, 10. According to a preferred embodiment, each electric motor 2 is an electric motor which has a power of 350 W and which is supplied by the voltage of 12 volts delivered by the battery 4. Thus, the robot according to this variant is compatible with the regulations according to which it is prohibited to use 220 Volts in works likely to present stagnant water .

The battery 4 supplies the two positive and negative terminals of each electric motor 2.

Figure 1 also illustrates the socket 5 for connection to the cable 44 of the mobile control station. Connection circuits 37, 38, 39 are arranged between the connection socket 5 and control cards 3 of each electric motor 2, and between the connection socket 5 and the guiding cameras 6.

According to one embodiment of the invention, the image acquisition camera 32 is independent of the control and command members of the inspection robot shown in FIG. 1. In particular, according to this embodiment, the camera 32 is not controlled by the mobile control station and is therefore not connected to the connection socket 5. The camera 32 is activated manually by an operator at the start of the inspection, for example by manually actuating a button for starting the recording of the images. The images acquired by the camera 32 are directly saved on an internal memory of the camera 32 and are not retransmitted to the mobile control station. The images are analyzed and interpreted by an operator after the pipe inspection to determine any deterioration requiring repair operations.

The invention is not limited to the single embodiments described in connection with the figures. In particular, according to other embodiments, the camera 32 is controlled from the mobile control station so that the recording of images is controlled from the turntable, which optionally makes it possible to modify the acquisition parameters as a function of the condition of the surfaces found.

An apparatus according to the invention allows the inspection of non-circular, prefabricated or built underground pipes, of different shapes and sizes, in particular for collecting and discharging water. A device according to the invention limits human presence in the inspected pipes as much as possible. In addition, an apparatus according to the invention allows rapid, quality inspection, whatever the condition of the pipe. Also, a device according to the invention is a new solution making it possible to respond to the technical problem of inspecting visitable or semi-visitable pipes, which has not presented satisfactory solutions to date.

Claims (11)

1. Inspection apparatus for pipe (20) underground sanitation visitable or semi-visitable flat bottom comprising: an inspection robot (30) comprising: o a chassis (31) and rolling guide and drive members (8, 10) of said chassis (31) on said flat bottom of said underground pipe (20) in a main direction of advance, called longitudinal direction, o guide cameras (6) respectively arranged at each of the longitudinal ends of said chassis (31), a 360 ° camera (32) mounted on a stand (33) connected to said chassis (31) and extending perpendicular to the rolling plane so as to be able to acquire images of said pipe (20) when said robot moves on said flat bottom, a mobile control station (40) of said inspection robot configured to be able to be connected to said robot by cables (44) of connection and including: o a control console (41) of the rolling parts of said robot, o a display device (42) of the images acquired by said guide cameras (6). 2. Apparatus according to claim 1, characterized in that said inspection robot (30) further comprises lighting spots (34) removably mounted on said chassis (31) and each oriented in a distinct direction so to be able to illuminate the walls of said pipe (20) during the movement of said inspection robot. 3. Apparatus according to one of claims 1 or 2, characterized in that said inspection robot (30) further comprises a plurality of arches mounted on said frame (31) at least partially surrounding said 360 ° camera ( 32) so as to form an equipment separating the cobwebs during the movement of the robot in said pipe (20) in said longitudinal direction. 4. Apparatus according to one of claims 1 to 3, characterized in that said foot (33) for supporting said 360 ° camera (32) is telescopic so as to be able to adjust the image acquisition height relative to the flat bottom. 5. Apparatus according to one of claims 1 to 4, characterized in that said rolling guide and drive members of the apparatus comprise a front axle comprising front driving wheels (8, 10), one on each side, and a rear axle comprising non-driving rear wheels (13), one on each side. 6. Apparatus according to one of claims 1 to 5, characterized in that said inspection robot (30) further comprises rechargeable batteries (4) connected to said rolling guide and drive members so as to be able to drive them in rotation on command from the mobile control station (42), said batteries (4) being connected to a charging socket (15) accessible from the chassis of the robot. 7. Apparatus according to one of claims 1 to 6, characterized in that said mobile control station (42) further comprises a drum (43) for winding the connection cables (44) mounted on a chassis (45) equipped with wheels (46) allowing its movement. 8. Apparatus according to one of claims 1 to 7, characterized in that said connection cables (44) are cables of the RJ45 type. 9. Apparatus according to one of claims 1 to 8, characterized in that said inspection robot (30) comprises a connection socket (5) combined with a connection plug (47) mounted at one end of the cables (44 ) connection, the other end being connected to said control console (42). 10. Apparatus according to one of claims 1 to 9, characterized in that said underground pipe (20) flat bottom sanitation is a pipe for collecting and discharging water, rainwater, groundwater, d wastewater or runoff. 11. Apparatus according to one of claims 1 to 10, characterized in that said inspection robot has an overall cross section less than 60 cm so that it can be inserted into the underground pipe by a look of 60 cm diameter.