GB2573757A - A pipe inspection apparatus, system and method - Google Patents
A pipe inspection apparatus, system and method Download PDFInfo
- Publication number
- GB2573757A GB2573757A GB1807800.6A GB201807800A GB2573757A GB 2573757 A GB2573757 A GB 2573757A GB 201807800 A GB201807800 A GB 201807800A GB 2573757 A GB2573757 A GB 2573757A
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- GB
- United Kingdom
- Prior art keywords
- time
- measurement
- pipe
- axis
- flight
- 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.)
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Classifications
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- 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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/08—Measuring arrangements characterised by the use of optical techniques for measuring diameters
- G01B11/12—Measuring arrangements characterised by the use of optical techniques for measuring diameters internal diameters
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/2408—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures for measuring roundness
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/255—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures for measuring radius of curvature
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/30—Measuring arrangements characterised by the use of optical techniques for measuring roughness or irregularity of surfaces
- G01B11/303—Measuring arrangements characterised by the use of optical techniques for measuring roughness or irregularity of surfaces using photoelectric detection means
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/30—Measuring arrangements characterised by the use of optical techniques for measuring roughness or irregularity of surfaces
- G01B11/306—Measuring arrangements characterised by the use of optical techniques for measuring roughness or irregularity of surfaces for measuring evenness
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
Abstract
An apparatus 1 for inspecting the inner surface of a pipe comprises one or more time of flight sensors 12 arranged to take a measurement of at least part of a circumference of the inner surface of the pipe such that it’s of the diameter, ovality or surface profile may be determined. The or each time of flight sensor is arranged to measure the distance between the apparatus and a plurality of different positions on a circumference of the inner surface of the pipe, a processing unit 22 being operable to receive the distance measurements and use them to determine the diameter, ovality or surface profile or the inner surface of the pipe. Preferably there are two or more sensors each mounted 13 for rotation about a measurement axis 24 at the end of an arm 4 forming part of a crawler 1, the arm further comprising a camera 9.
Description
Technical Field of the Invention
The present invention relates to a pipe inspection apparatus and system for and method of obtaining a measurement of a property of the inner surface of a pipe, in particular a diameter, ovality and/or surface profile measurement.
Background to the Invention
For water pipes, waste pipes and other pipes which carry a fluid the closer the circumference of the inside of the pipe is to a perfect circle the larger the pressure difference between the inside and outside of the pipe the pipe can withstand and the more efficient the flow through the pipe. While a pipe may be manufactured to be circular prior to installation into a utility system it can become non-circular after installation due to pressures applied to the pipe, for example due to the pipe being incorrectly bedded or changes to the surrounding environment. Therefore, it is useful to obtain diameter and/or ovality (or deformation) measurements for a pipe when carrying out an inspection.
It is common for an inspection of a pipe, given the relative inaccessibility of such pipes, to use a crawler. Crawlers are typically remote-controlled machines which move via a set of wheels and/or tracks and comprise a sensor mount which usually includes a camera. There are several methods currently available for such a crawler to measure the diameter and/or ovality of the pipe. One is for the sensor mount to emit laser light to form a visible ring along a circumference of the inside surface of the pipe, and then to capture an image of this ring. The crawler repeats this at various points along the pipe. The images are then processed to analyse the shape of the rings in the images to determine measurements along the length of the pipe. However, this method can be relatively inaccurate. In addition, in many pipes it is not possible to remove all of the fluid before running the crawler along them. Even in cases where all the fluid is removed, it is common for debris to be left at the bottom of the pipe. The presence of fluid and/or debris will disturb the ring and therefore result in an incorrect measurement. While the presence of the fluid and/or debris could possibly be detected and the relevant part of the ring then discounted, this requires additional processing power and isn’t guaranteed to work anyway. Finally, the laser light emitter must be substantially aligned with the centre of the pipe to function correctly, which can be difficult to achieve.
A second method is to attach a rod, which has a particular length, at one end to the crawler, the rod extending from the crawler parallel to the central axis of the pipe. The rod is rotatable around the central axis of the crawler and is movable from parallel with the central axis of the pipe to a position where it is at a right-angle with the central axis. In use the rod is moved towards the right-angle position until it contacts a pipe wall. A measurement of how far the rod has moved is taken, and the rod can then be brought back to parallel, rotated around the crawler and moved again at a different position around the crawler. Given the length of the rod is known, the angle between the rod (determined by how far the rod has turned) and the central axis of the pipe give a measurement of the distance between the central axis and the inner surface of the pipe. Repeated readings therefore build up a shape of the circumference of the inner surface and can be used to give an ovality measurement, and two readings for opposite sides of the crawler can give a diameter measurement. However, since the rod must be rotated and moved multiple times it can take a long time to make a single measurement, let alone multiple measurements along the pipe. Further to this, the method is still relatively inaccurate, and is affected by the presence of fluid and/or debris in the pipe.
Embodiments of the present invention are intended to at least partially solve the above-mentioned problems.
Summary of the Invention
According to a first aspect of the present invention there is provided an apparatus for inspecting the inner surface of a pipe, comprising one or more time of flight sensors and a processing unit, the time of flight sensors arranged to measure distances between the apparatus and a plurality of different positions on a circumference of the inner surface of the pipe and the processing unit operable to receive the distance measurements and use them to determine a measurement of a property of at least part of a circumference of the inner surface of the pipe.
The use of a time of flight sensor or sensors improves the accuracy of the measurement of a property over both the laser and rod prior art methods. In addition, it is faster to take the measurements with the time of flight sensor or sensors than to move a rod from parallel to in contact with the pipe. Finally, the use of time of flight sensors means the apparatus need not be centred in line with the centre of the pipe so as to achieve accurate readings.
The property may be any of the following: a diameter, the ovality or the surface profile.
The apparatus may comprise a measurement axis around which the time of flight sensors are operable to take the measurement of the property.
The or each time of flight sensor may be movable around the measurement axis of the apparatus from one position to at least one other position relative to the measurement axis, so as to be operable to measure distances between the apparatus and a plurality of different positions on a circumference of the inner surface of the pipe.
The or each time of flight sensor being movable around the measurement axis allows distance measurements from the apparatus to different positions on the circumference of the inner surface of the pipe to be made by one time of flight sensor. This reduces the number of time of flight sensors required to obtain an ovality measurement, which reduces manufacturing costs.
At least two positions to which the time of flight sensor is moveable may form a pair of positions, each position of a pair being opposite the other position of the pair around the measurement axis. The processing unit may be operable to determine one or more diameter measurements, each diameter measurement being determined using measurements from a respective pair of positions.
The time of flight sensor or time of flight sensors may be movable around the measurement axis of the apparatus in a plane which intersects and is substantially perpendicular to the measurement axis.
The or each time of flight sensor may be movable around the measurement axis such that the positions relative to the measurement axis trace at least a part of a circle. The angles between adjacent positions around the measurement axis, across the part of the circle, may all be substantially equal. The part of the circle may extend around the measurement axis from a first position at a predetermined angle to an upright axis extending from the measurement axis, through the upright axis to a second position at the predetermined angle to the upright axis. The upright axis may extend substantially vertically upwards. The predetermined angle may be less than 180 degrees. The predetermined angle may be 170 degrees or less. The predetermined angle may be 160 degrees or less.
Where all the adjacent positions of the or each time of flight sensor have substantially the same angle between them across a part of the circle, this results in an ovality and/or surface profile measurement determined being equally accurate across the entirety of the part of the circumference measured. Having positions across part of the circle allows a part of the circumference of the inner surface of a pipe to be excluded from the measurement. This allows areas in the pipe with water and/or debris to be excluded from the measurement, resulting in a more accurate measurement.
The apparatus may comprise a plurality of time of flight sensors, each time of flight sensor arranged in a different position around the measurement axis to every other time of flight sensor, such that the time of flight sensors are operable to measure distances between the apparatus and a plurality of different positions on a circumference of the inner surface of the pipe.
Having a plurality of time of flight sensors means measurements of the distance between the apparatus and a plurality of positions on the circumference of the inner surface of the pipe can be carried out simultaneously, which speeds up obtaining the property measurement. Further to this, since the time of flight sensors in such a setup need not be movable around the measurement axis of the apparatus, the apparatus can be smaller and therefore fit into smaller pipes.
At least two positions at which time of flight sensors are arranged may form a pair of positions, each position of a pair being opposite the other position of the pair around the measurement axis. The processing unit may be operable to determine one or more diameter measurements, each diameter measurement being determined using measurements from a respective pair of positions.
The time of flight sensors may be positioned on the boundary of the same cross section of the apparatus, the cross section intersecting and being substantially perpendicular to the measurement axis. The time of flight sensors may be positioned across a first part of the boundary of the cross section. Each time of flight sensor may be positioned such that the angles between adjacent time of flight sensors and around the measurement axis, across the first part, are all substantially equal. Across a second part of the boundary of the cross section no time of flight sensors are positioned. The first part of the boundary may extend around the measurement axis from a first position at a predetermined angle to an upright axis extending from the measurement axis, through the upright axis, to a second position at the predetermined angle to the upright axis. The upright axis may extend substantially vertically upwards. The second part of the boundary may extend around the measurement axis from the first position, through an axis extending from the measurement axis in a direction opposite to the upright axis, to the second position. The second axis may extend, in use, vertically in a downwards direction. The predetermined angle may be less than 180 degrees. The predetermined angle may be 170 degrees or less. The predetermined angle may be 160 degrees or less.
Where the time of flight sensors have the same angle between them across a first part of the boundary, this results in an ovality and/or surface profile measurement being equally accurate across the entirety of the part of the circumference measured.
Having the time of flight sensors positioned across a first part allows a part of the circumference of the inner surface of the pipe to be excluded from the property measurement. This allows areas in the pipe with water and/or debris to be excluded from the measurement, resulting in a more accurate measurement.
The or each time of flight sensor may be arranged such as to measure a distance which is substantially perpendicular to the measurement axis.
The apparatus may comprise a camera. The camera may be positioned on the measurement axis. The camera may comprise a lens. The lens may be positioned on the measurement axis. In particular, the centre of the lens may lie on the measurement axis. The camera may be rotatable around an axis which is substantially perpendicular to the measurement axis of the apparatus. The axis may run through the camera. In particular, the axis may run through the centre of the camera. The camera may be arranged to record in a direction away from the apparatus, substantially in the direction the measurement axis extends.
The camera allows a user to visually monitor the inside of the pipe and determine where the apparatus should be moved within the pipe. The camera being on the measurement axis means it remains in position even if the or each time of flight sensor move around the measurement axis. The camera being rotatable around an axis allows the user to adjust the view of the camera to study particular areas of the inner surface of the pipe. The light source allows the camera to operate in dark pipes.
The apparatus may comprise a sensor mount. The sensor mount may comprise the or each time of flight sensor. The sensor mount may be substantially cylindrical, comprising two faces and a side. The measurement axis may run through the faces of the sensor mount, substantially parallel to the side. In particular, the measurement axis may run through the centre of the faces of the sensor mount. The or each time of flight sensor may be positioned on the side of the sensor mount. The or each time of flight sensor may be positioned on the surface of the sensor mount. The or each time of flight sensor may be operable to measure in a direction substantially perpendicular to the measurement axis. In use, the measurement axis may be substantially parallel to the central axis of the pipe. In particular, the measurement axis may be substantially aligned with the central axis of the pipe.
The sensor mount may comprise the camera. The camera may lie on the measurement axis. The camera may be positioned on the surface of the sensor mount. Alternatively, the sensor mount may comprise two forks, wherein the camera is held between the two forks. The axis of the camera may run from one fork to the other fork.
The apparatus may comprise one or more light sources. In particular, the or each light source may be an LED light. The or each light source may be operable to illuminate the same direction as in which the camera records, substantially parallel to the direction the measurement axis extends. The sensor mount may comprise one or more of the light sources.
The or each time of flight sensor may be contained in a respective container. The container may be waterproof. The container may comprise an at least partially transparent panel positioned in front of the respective time of flight sensor. In particular, the at least partially transparent panel may be a glass panel. The container being waterproof allows the time of flight sensor to operate in a pipe without the risk of damage due to water present in the pipe.
The apparatus may comprise at one or more precision angle encoders and/or accelerometers. The or each container may contain a precision angle encoder and/or accelerometer. The or each precision angle encoder and/or accelerometer allow the angle at which the or each time of flight sensor is at relative to the measurement axis to be determined. Thus, the position at which a measurement is taken can be defined by the angle, and so the orientation of the property of the pipe to be known.
The apparatus may comprise a memory storage unit operable to store any of the following: measurements from the or each time of flight sensor, recordings from the camera, recordings from the or each precision angle encoder and/or accelerometer, desired angles with respect to the upright axis extending from the measurement axis which define the positions of the or each time of flight sensor relative to the measurement axis, the known distances from the or each time of flight sensor to the measurement axis and/or the predetermined angle. The known distances may be substantially perpendicular to the measurement axis. The processing unit may be operable to access the memory storage unit so as to store information on or read information from the memory storage unit.
The processing unit may be operable to determine a volume measurement using the distance measurements.
The or each time of flight sensor may be an infra-red sensor.
The apparatus may be a crawler. The sensor mount may be rotatably attached to the rest of the crawler, such that it may rotate around its measurement axis.
The apparatus may comprise a body with a set of wheels and/or tracks operable to move the apparatus. The body may be substantially cuboidal, with the set of wheels and/or tracks positioned on both of two opposite long sides.
The apparatus may comprise an arm extending from the body with the set of wheels and/or tracks to the sensor mount. The sensor mount may be rotatably attached to the arm. The sensor mount may be removably attached to the arm. The arm may be arranged to pivot relative to the body and/or the sensor mount. The arm may be arranged to pivot such that, in use in a pipe, the measurement axis of the sensor mount substantially aligns with a central axis of the pipe. The arm may comprise two bars forming a four-bar linkage between the bars, sensor mount and body, such that in use the alignment of the sensor mount relative to the body remains constant as the arm pivots.
The arm being arranged to pivot relative to the body allows the sensor mount to be raised and lowered within a pipe so as to inspect particular areas of the inner surface. Further to this, it allows the sensor mount to be moved to align the measurement axis through the sensor mount with the central axis of the pipe to improve the accuracy of the property measurement. The arm forming a four-bar linkage allows the sensor mount to remain level as it is moved up and down. The sensor mount being removably attached to the arm allows the sensor mount to be removed for repairs or replaced with an alternative sensor mount.
The apparatus may comprise one or more motors operable to move the or each time of flight sensors and/or rotate the sensor mount, pivot the arm and/or rotate the wheels and/or tracks. The apparatus may comprise a control unit operable to control the motors. The processing unit may be operable to direct the control unit to pivot the arm using the recordings from the camera. The processing unit may be operable to direct the control unit to rotate the wheels and/or tracks using recordings from the camera. The processing unit may be operable to direct the control unit to move the or each time of flight sensor and/or rotate the sensor mount using the desired angles and/or recordings from the or each precision angle encoder and/or accelerometer.
Recordings from the camera show where the centre of the pipe is, and so allow the processing unit to direct the wheels and/or tracks such that the measurement axis of the apparatus is positioned substantially parallel to or aligned with the central axis of the pipe. The recordings from the camera also allow the processing unit to direct the pivoting of the arm such that the measurement axis of the sensor mount substantially aligns with the central axis of the pipe.
The apparatus may comprise an energy storage device such as a battery for powering it. Alternatively or additionally, the apparatus may be connected to a power supply.
According to a second aspect of the present invention there is provided a pipe inspection system comprising an apparatus according to the first aspect of the present invention and a computer connected to the apparatus, the computer being operable by a user to direct the apparatus. The inclusion of a computer allows a user to remotely control the apparatus.
The second aspect of the present invention may comprise any and/or all of the features of the first aspect of the present invention, as desired and/or required.
The computer may be operable to direct the control unit. The computer may be connected to the apparatus by a wired and/or wireless connection. The computer may comprise the power supply for the apparatus.
According to a third aspect of the present invention there is provided a method of determining a measurement of a property of at least part of a circumference of the inner surface of a pipe, comprising the steps of providing any of an apparatus according to the first aspect of the present invention or a system according to the second aspect of the present invention, including any of their optional features, inserting the apparatus in a pipe, measuring distance between the apparatus and a plurality of positions on the circumference using the time of flight sensor or sensors and determining the property measurement via the processing unit receiving the distance measurements and using them to make the determination.
The property may be any of the following: a diameter, the ovality or the surface profile.
The method may include the step of moving the apparatus on the wheels and/or tracks such that the measurement axis of the apparatus is substantially parallel to the central axis of the pipe. The method may include the step of pivoting the arm such that the measurement axis of the apparatus is substantially aligned with the central axis of the pipe.
The method may include the step of moving the or each time of flight sensor around the measurement axis. The or each time of flight sensor may be moved prior to each distance measurement such that the or each time of flight sensor is positioned at a desired angle. In particular, the or each time of flight sensor may be moved such that each distance measurement is carried out by a time of flight sensor at a different desired angle.
According to a fourth aspect of the present invention there is provided an apparatus for inspecting the inner surface of a pipe comprising one or more time of flight sensors arranged to take a measurement of a property of at least part of a circumference of the inner surface of the pipe.
Detailed Description of the Invention
In order that the invention may be more clearly understood embodiments thereof will now be described, by way of example only, with reference to the accompanying drawings, of which:
Figure 1 shows a perspective view of a crawler according to a first embodiment;
Figure 2 shows a perspective view of a sensor mount for use on a crawler of the first embodiment;
Figure 3 is a schematic of an entire pipe inspection system according to the first embodiment;
Figure 4 shows a front view of a sensor mount for use on a crawler of the first embodiment; and
Figure 5 shows a perspective view of a sensor mount for use on a crawler of a second embodiment.
As shown in figure 1, an apparatus for inspecting a pipe is a crawler 1 which comprises a substantially cuboidal body 2. The two long sides of the body 2 have wheels attached, three wheels being on each side. The crawler 1 can move back and forth along a pipe using these wheels 3.
The crawler 1 also comprises an arm 4 attached at one end to the top of the body 2, the arm 4 comprising two substantially parallel bars both attaching via a respective pivot towards the back end of the body 2 within a channel 5 in the body 2. The arm 4 extends from this attachment point at an acute angle, with one component upwards and the other component in the direction of the front of the body 2. The groove 5 extends along the top of the body 2, from the back end of the body 2 to approximately a midpoint between the front and back ends. The free end of the arm 4 has a sensor mount 13 attached to it via a second set of pivots (each bar again attached via its own respective pivot), which is attached to the arm 4 so as to be rotatable relative to the arm 4 around its central longitudinal axis. The parallel bars, sensor mount 13 and body 2 form a fourbar linkage, such that as the arm 4 pivots the sensor mount 13 remains level. The sensor mount 13 extends from the arm 4 in a direction substantially parallel with the longitudinal axis of the body 2. The sensor mount 13 comprises a camera mount 6 and a camera body 8 mounted within the camera mount 6. The arm 4 is movable along the channel 5 and around its pivots. Each pivot operates in conjunction with the other to ensure the sensor mount 13 continues to extend parallel to the body 2 as the arm 4 moves.
The sensor mount 13 is shown in isolation in figure 2. The camera mount 6 comprises a cylindrical body with two forks 7 extending from it, each arm comprising an outer side and an, opposite, inner side. The inner side of one arm 7 opposes the other. A camera body 8 is attached between the inner sides of the two forks 7, one side of the camera body 8 attached to one arm 7 and the opposite side of the camera 8 attached to the other arm 7. The camera body 8 is attached to the forks 7 such that the camera 8 is rotatable relative to the camera mount 6 around an axis running through the two attachment points. The axis around which the camera body 8 is rotatable is therefore substantially perpendicular to the axis the entire sensor mount 13 is rotatable around. As shown in figure 3, the sensor mount 13 also comprises a processing unit 22 and a memory storage unit 23.
The camera body 8 is substantially spherical, except for one side flattened to form a circular face. The camera body 8 has a camera 9 situated within it, the circular face having an opening in its centre for the capture aperture of the camera 9. The centre of the lens of the camera 9 is situated on a measurement axis 24 of the sensor mount
13. Six LED lights 10 are arranged on the face around the camera 9 in a circle, with three towards the top of the face and three towards the bottom. The camera body 8 is positioned such that its centre (and therefore the centre of the camera 9) lies on the axis of rotation of the sensor mount 13.
On the outer side of each arm 7 a plate 11 is attached via screws, the plate 11 covering the attachment between the respective arm 7 and the camera body 8. Each plate 11 has a raised centre, and one of the plates 11 contains a time of flight sensor 12 within its raised centre. The time of flight sensor 12 faces away from the camera body 8, the sensor 12 being positioned such that its line of sight is substantially at a right angle to the line of sight of the camera 9 and is faces a direction substantially perpendicular to the measurement axis 24 of the sensor mount 13. The plate 11 comprises a glass panel over the sensor 12, the sensor’s line of sight being through the glass panel. The glass panel is built into the plate 11 such that the plate is water proof. The plate 11 is also attached to the respective arm 7 such that the seal between the two is waterproof. A precision angle encoder and accelerometer are contained by the plate 11 comprising the time of flight sensor 12. The position of the time of flight sensor 12 means that when the sensor mount 13 rotates the sensor 12 moves in a circular path in a plane which is substantially perpendicular to the measurement axis 24 of the sensor mount 13.
As shown in figure 3 the crawler 1 comprises a control unit 14, which connects to various motors within the crawler 1 including the motors for the wheels 3, arm 4 and sensor mount 13 so as to control the motion of these components. The control unit 14 is connected to an external computer 15, either by a wired connection running from the crawler 1 to the computer 15 or by a wireless connection. The computer 15 can provide power to the crawler via this connection, although the crawler also comprises a battery 16 to supply it with power. A user directs the crawler 1 via the computer 15, where instructions are inputted and then sent to the control unit 14 and processing unit 22 of the crawler 1. Signals from the crawler 1, including readings from the time of flight sensor 12 and images captured by the camera 9, are received by the computer 15 and can be displayed to the user.
In use the height of the sensor mount 13 is set using the arm 4. Ideally, the height will be set such that the measurement axis 24 substantially aligns with the central axis of the pipe once the crawler 1 is inserted into the pipe. However, accurate measurements can be achieved without these axes being aligned. The crawler is then inserted, and the user uses the computer 15 to instruct the processing unit 22 to start recording using the camera 9. Using the images recorded by the camera 9 and displayed by the computer 15 the user determines where the crawler 1 should move to in the pipe, and the crawler 1 moves to the desired location using its wheels 3. Once the user is happy with the position of the crawler 1 within the they will instruct the crawler 1 to take a measurement of the property of a circumference of the pipe. Such properties can include a diameter, the ovality and/or the surface profile. The control unit 14 will then instruct the sensor mount 13 to rotate until the time of flight sensor 12 is positioned at a specific position around the longitudinal axis (and therefore the camera 9) of the sensor mount 13, the specific position being the position at which the time of flight sensor 12 is at a desired angle with the horizontal. The specific position of the time of flight sensor 12 is determined by the processing unit 22 using readings from the angle encoder and accelerometer to determine the angle between the time of flight sensor 12 and the horizontal or vertical.
The time of flight sensor 12 then emits an infra-red pulse 17. The pulse 17 is reflected off the side of the pipe back towards the sensor 12, which detects the return of the pulse. The time of release of the pulse 17 and the time of the detection of its return to the sensor are recorded by the sensor 12 and sent to the computer 15. The processing unit 22 can use the information to determine the distance from the centre of the pipe to the side of the pipe using the known speed of light and the known distance from the time of flight sensor 12 to the central longitudinal axis of the sensor mount 13, the known distance being taken from the memory storage unit 23.
Once the return of the pulse 17 is detected, the sensor mount 13 is rotated such that the time of flight sensor 12 is at a new position around the longitudinal axis. The process of emitting a pulse 18 and detecting its return is then repeated. In this way the time of flight sensor 12 can take multiple readings at different positions around the circumference of the pipe. For diameter measurements, readings will be taken at two different positions around the circumference, the positions being opposite each other around the measurement axis 24. Multiple diameter measurements can be taken for the same circumference, each measurement between different pairs of positions around the measurement axis 24. For ovality and/or surface profile measurements, a plurality of readings will be taken around the majority of the circumference of the pipe, wherein each time the time of flight sensor 12 is moved it is moved by a set amount, such that every position (other than the first and the last) has substantially the same angle between it and its adjacent positions. The processing unit 22 will use the readings at all these positions to infer the curvature of the pipe between each position and therefore determine the ovality of the circumference, or to infer the surface profile between the positions and therefore determine the surface profile of the circumference. The property measurement is sent to the computer 15 for review and external storage. The crawler 1 can then be moved to a new position along the pipe, and the ovality measurement repeated.
The processing unit 22 can also determine volume measurements for the pipe from the time of flight sensor’s 12 measurements, in particular time of flight sensor’s 12 measurements across multiple circumferences of the pipe. These measurements can also be sent to the computer 15 for review and external storage.
It is common for pipes into which the crawler 1 is inserted to not be completely empty, either due to it being impossible to take out of commission completely or due to debris left in the pipe. This being the case, the crawler 1 is set up so that readings are only taken across a majority of the circumference of the pipe, the ‘measurement zone’
19. Given water and debris are usually found in the bottom of a pipe, the processing unit 22 is set start and stop readings at a predetermined angle around the measurement axis 24 and with respect to an upright axis 25 extending from the measurement axis 24, with the area below being the ‘exclusion zone’ 20. The processing unit 22 then either infers the property measurements of the circumference of the pipe across the exclusion zone 20 based on the readings, or only provides a property measurement or measurements of the measurement zone. If the ovality and/or surface profile of the circumference of pipe across the exclusion zone is inferred, the size of the exclusion zone 20 can also be determined by choosing the predetermined angle such that the angle being any less would render the measurement too inaccurate to be of use.
Figure 5 shows a second embodiment of the sensor mount 21. In this embodiment, there are a plurality of time of flight sensors 12 around the attachment 21, instead of just one. Each time of flight sensor 12 is placed at a specific desired angle relative to the upright axis 25 extending from the measurement axis 24, with every time of flight sensor 12 having the same angular distance between its adjacent sensors 12. All the time of flight sensors 12 are positioned on the boundary of the same cross section of the sensor mount 13, the cross section intersecting and being substantially perpendicular to the measurement axis 24 of the sensor mount 13. In use, the sensor mount 13 does not need to be rotated, since every time of flight sensor 12 is at a different position and can take a measurement. The sensor mount 21 can be designed so as to not take measurements in an exclusion zone 20. This is done by only having time of flight sensors 12 positioned on a first part of the boundary which extends from a first position at the predetermined angle to the upright axis 25, through the upright axis 25 and to a second position at the predetermined angle to the upright axis 25. No time of flight sensors 12 are therefore positioned on a second part of the boundary extending between the positions and through an axis extending vertically downwards from the measurement axis 24.
The above embodiments are described by way of example only. Many variations are possible without departing from the scope of the invention as defined in the appended claims.
Claims (25)
1. An apparatus for inspecting the inner surface of a pipe, comprising one or more time of flight sensors and a processing unit, the time of flight sensors arranged to measure distances between the apparatus and a plurality of different positions on a circumference of the inner surface of the pipe and the processing unit operable to receive the distance measurements and use them to determine a measurement of a property of at least part of a circumference of the inner surface of the pipe.
2. An apparatus according to claim 1 wherein the property is any of the following: a diameter, the ovality or the surface profile.
3. An apparatus according to either of claims 1 or 2 comprising a measurement axis around which the time of flight sensors are operable to take the measurement of the property.
4. An apparatus according to claim 3 wherein the or each time of flight sensor is movable around the measurement axis from one position to at least one other position relative to the measurement axis, so as to be operable to measure distances between the apparatus and a plurality of different positions on a circumference of the inner surface of the pipe.
5. An apparatus according to claim 4 wherein the time of flight sensor is or time of flight sensors are movable around the measurement axis of the apparatus in a plane which intersects and is substantially perpendicular to the measurement axis.
6. An apparatus according to claim 5 wherein the or each time of flight sensor is movable around the measurement axis such that the positions relative to the measurement axis trace at least a part of a circle.
7. An apparatus according to claim 6 wherein the part of the circle extends around the measurement axis from a first position at a predetermined angle to an upright axis extending from the measurement axis, through the upright axis to a second position at the predetermined angle to the upright axis.
8. An apparatus according to any of claims 3 to 7 comprising a plurality of time of flight sensors, each time of flight sensor arranged in a different position around the measurement axis to every other time of flight sensor such that the time of flight sensors are operable to measure distances between the apparatus and a plurality of different positions on a circumference of the inner surface of the pipe.
9. An apparatus according to claim 8 wherein the time of flight sensors are positioned on the boundary of the same cross section of the apparatus, the cross section intersecting and being substantially perpendicular to the measurement axis.
10. An apparatus according to claim 9 wherein the time of flight sensors are positioned across a first part of the boundary of the cross section.
11. An apparatus according to claim 10 wherein the first part of the boundary extends around the measurement axis from a first position at a predetermined angle to an upright axis extending from the measurement axis, through the upright axis, to a second position at the predetermined angle to the upright axis.
12. An apparatus according to any preceding claim comprising a sensor mount which is substantially cylindrical, comprising two faces and a side.
13. An apparatus according to claim 12 when dependent on claim 3 wherein the measurement axis runs through the centre of the faces of the sensor mount, substantially parallel to the side.
14. An apparatus according to either of claims 12 or 13 wherein the or each time of flight sensor is positioned on the side of the sensor mount.
15. An apparatus according to any preceding claim wherein the or each time of flight sensor is arranged to measure a distance substantially perpendicular to the measurement axis.
16. An apparatus according to any preceding claim comprising a camera.
17. An apparatus according to claim 15 wherein the camera is rotatable around an axis which is substantially perpendicular to the measurement axis.
18. An apparatus according to any preceding claim comprising at least one precision angle encoder and/or accelerometer.
19. An apparatus according to any preceding claim wherein the apparatus is a crawler.
20. An apparatus according to claim 19, when dependent on claims 3 and 11, wherein the sensor mount is rotatably attached to the rest of the crawler, such that it may rotate around the measurement axis.
21. A pipe inspection system comprising an apparatus according to any preceding claim and a computer connected to the apparatus, the computer being operable by a user to direct the apparatus.
22. A method of determining a measurement of a property of at least part of a circumference of the inner surface of a pipe, comprising the steps of providing any of an apparatus according to any of claims 1 to 20 or a pipe inspection system according claim 21, inserting the apparatus in a pipe, measuring distance
5 between the apparatus and a plurality of positions on the circumference using the time of flight sensor or sensors and determining the property measurement via the processing unit receiving the distance measurements and using them to make the determination.
23. A method according to claim 22 wherein the property is any of the following: a
10 diameter, the ovality or the surface profile.
24. A method according to either of claims 22 or 23 when an apparatus according to claim 3 is provided including the step of moving the or each time of flight sensor around the measurement axis prior to each distance measurement such that the or each time of flight sensor is positioned at a desired angle.
15
25. A method according to claim 24 wherein the or each time of flight sensor is moved such that each distance measurement is carried out by a time of flight sensor at a different desired angle.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| GB1807800.6A GB2573757A (en) | 2018-05-14 | 2018-05-14 | A pipe inspection apparatus, system and method |
| PCT/GB2019/051320 WO2019220100A1 (en) | 2018-05-14 | 2019-05-14 | A pipe inspection apparatus, system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| GB1807800.6A GB2573757A (en) | 2018-05-14 | 2018-05-14 | A pipe inspection apparatus, system and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| GB201807800D0 GB201807800D0 (en) | 2018-06-27 |
| GB2573757A true GB2573757A (en) | 2019-11-20 |
Family
ID=62623377
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| GB1807800.6A Withdrawn GB2573757A (en) | 2018-05-14 | 2018-05-14 | A pipe inspection apparatus, system and method |
Country Status (2)
| Country | Link |
|---|---|
| GB (1) | GB2573757A (en) |
| WO (1) | WO2019220100A1 (en) |
Cited By (3)
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| GB2593497A (en) * | 2020-03-25 | 2021-09-29 | Q Bot Ltd | A spray unit for a remotely operable spray apparatus and apparatus for spraying thermally insulative material |
| DE102020119135A1 (en) | 2020-07-21 | 2022-01-27 | Ibak Helmut Hunger Gmbh & Co Kg | Process for inspecting a sewer pipe |
| EP4206814A1 (en) * | 2021-12-29 | 2023-07-05 | RITEC Rohrinspektionstechnik GmbH | Pipe and channel inspection device |
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| US11433701B1 (en) | 2021-08-06 | 2022-09-06 | Cdp Diamond Products, Inc. | Wheel |
| CN114111678A (en) * | 2021-10-21 | 2022-03-01 | 芜湖优尼特精密制造有限公司 | Compressor control part survey device based on visual detection technique |
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| JPH08178907A (en) * | 1994-12-22 | 1996-07-12 | Sekisui Chem Co Ltd | Cavity searching device for embedded pipe |
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| GB2593497A (en) * | 2020-03-25 | 2021-09-29 | Q Bot Ltd | A spray unit for a remotely operable spray apparatus and apparatus for spraying thermally insulative material |
| GB2593497B (en) * | 2020-03-25 | 2022-06-15 | Q Bot Ltd | Robotic device for spraying a thermally insulating material |
| DE102020119135A1 (en) | 2020-07-21 | 2022-01-27 | Ibak Helmut Hunger Gmbh & Co Kg | Process for inspecting a sewer pipe |
| DE102020119135B4 (en) | 2020-07-21 | 2022-11-03 | Ibak Helmut Hunger Gmbh & Co Kg | Method and device for inspecting a sewer pipe |
| EP4206814A1 (en) * | 2021-12-29 | 2023-07-05 | RITEC Rohrinspektionstechnik GmbH | Pipe and channel inspection device |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2019220100A1 (en) | 2019-11-21 |
| GB201807800D0 (en) | 2018-06-27 |
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