DE102017108053A1 - Device for inspection and / or maintenance in walk-in or walk-in sewer systems with a digital camera - Google Patents

Abstract

In a device for inspecting and / or maintaining walk-in sewer systems with a digital camera that provides a quasi-spherical digital image of a channel region for real-time observation and / or downstream evaluation, the camera is a compact camera with a variety of all around arranged distributed and all spatial directions detecting digital camera modules synchronously from the images of the individual camera modules capture a full spherical 360 ° × 360 ° angle for the generation of distortion-free overall images in high resolution accuracy.

Description

The invention relates to a device for inspection and / or maintenance work in sewer systems with a camera that provides a quasi-spherical digital image of a channel region for real-time observation and / or a post-stored documentation or evaluation.

Inaccessible or walk-in sewer pipes are inspected by sliding rods, carriages or carriages equipped with a camera and lighting through the pipe or pipe system. If a cleaning or refurbishment requirement arises in evaluation of the inspection work, appropriate robots, such as a milling robot mounted on a trolley and under camera observation, are used.

Known technical solutions are, for example, the following: In WO 2001/092852 A9 discloses a trolley for a channel having on its front side a digital 360 ° camera with a light ring. However, the view cone only allows a hemispherical view to the front, which means that for a reliable inspection, in particular a detected damaged area of the relevant carriage must be moved back and forth several times.

From the DE 201 01 642 U1 and DE 201 04 092 U1 Furthermore, panorama camera dolly for inspecting sewer pipes are known, consisting of a chassis, a lighting device and a pivoting digital camera. The camera is associated with two oppositely directed wide-angle lenses, so-called fisheye lenses. Each wide-angle lens allows the illumination of a hemispherical space, from which almost fully spherical digital panoramic images can be assembled from the image data. With the help of the stored image data, you can even later virtually travel through the channel and view critical sections from different perspectives. A disadvantage of such a system with two wide-angle lenses are the strong optical image distortion especially at the edges, so that a true-scale channel image is not really given even with an intelligent image evaluation and a more or less large gap between the two image acquisition sectors arises. Another problem is the provision of useful overview recordings for documentation purposes.

Similarly, a channel camera car works to create spherical panoramas after the DE 199 92 542 C1 with a first camera mounted at the front end of the camera dolly facing forward, and a second, different camera at the rear end of the dolly looking backwards.

The DE 10 2011 014 884 B3 describes a pipe inspection unit with a control body formed for connection to a push bar, a camera unit which is pivotable relative to the control body about an axis transverse to the feed direction, and a movement bar coupled to the camera unit. In a first movement, the camera is pivoted by means of the steering rod and pivoted in an opposite movement, regardless of the steering rod transversely to the feed direction. Thus, with the camera and a normal lens at a 90 ° angle, you can look across the pipe wall or into a branch, but not into it.

Another pivotable slide camera with similar disadvantages is in the technical solution according to the DE 20 2007 013 416 U1 disclosed.

The DE 20 2009 003 388 U1 discloses a trolley for sewer inspection / rehabilitation, at the front-end camera module, a supply cable is connected and wherein the camera module for insertion and removal in a channel can be pivoted vertically.

In a device for testing cavities after the DE 43 28 575 C2 a satellite test head equipped with a camera and a lighting device and resting in the interior of a test device movable in a sewer pipe, following a supply line, moves into a branch of the relevant pipeline system to be inspected.

The pan of the camera after the DE 20 2004 004 836 U1 contains on the other hand on its front side in addition to a normal / zoom lens at least in addition a fisheye lens. So is also equipped with two lenses.

From the DE 20 2004 018 174 U1 and the DE 10 2012 022 489 A1 Further stereo camera lenses for a sewer inspection are known, which are also mounted on the front of a feed bar or a carriage, but can only look directly forward.

According to DE 10 2010 055 045 A1 a camera with a lighting unit sits structurally directly behind a milling head and looks through it. Therefore, this camera arranged in this way can only detect and document the milling work at a limited angle to the front.

A camera for pipe work, which is always aimed at a milling tool and is pivoting with the swiveling milling head, is also used in the DE 197 14 463 A1 described. However, only the damaged area to be processed can be viewed and documented.

To DE 10 2007 052 915 A1 a video camera is provided at the head of a plastic refiner to be pulled into a pipe, wherein an arranged ring of light-emitting diodes in the receiving area of the video camera serves to illuminate the pipe.

In the EP 1 639 405 B1 A digital camera system for capturing image data for use in generating a model of a three-dimensional scene is described, wherein a plurality of digital cameras in a fixed geometry each have a field of view, with one camera overlapping at least one image field of at least one other of the cameras to create a stereoscopic image field. A controller simultaneously activates the cameras to capture image data for a horizontal stereoscopic 360-degree image field. Further, this digital camera system is equipped with a mass storage device for storing pixel vector maps for the majority of these digital cameras.

The WO 2012/149926 A1 and WO 2016/059470 A1 each disclose a camera system for taking pictures and associated method, according to which individual cameras are arranged in different directions so that they take a gapless overall picture, the overall image comprising the individual images of the individual cameras and a central control unit is arranged, with at least the movement profile of the Camera system is detected. The camera system serves as a flying-through camera in the form of a throwing ball.

A combination of a fully spherical images delivering compact camera while avoiding the use of fisheye lenses with a pipe inspection or Saniergerät is not yet known.

The invention has for its object to provide a known device for inspection and / or maintenance in walk-in or walk-in sewer systems with a compact camera system, which is able to the operator during the work a distortion-free and crisp 3D 360-degree all-round view to provide for a variety of tasks of sewer pipe systems universally applicable, and using image memory data to allow the operator a downstream virtual tour of the channel along with a proper documentation of the condition before and after completion of the work and also possible possible documentation of side channels.

The object is achieved according to the main claim by the inventive device for inspection and / or maintenance in walk-in or walk-in sewer systems with a digital camera that provides a quasi-spherical digital image of a channel area for real-time observation and / or downstream evaluation, with a carriage 1, a tow cable 2 a camera head 5, at least one milling tool 6 and a cleaning device 17 is formed. The camera is a special compact camera 5 with a large number of distributed around all arranged and all spatial directions detected, digital camera modules synchronously from the images of the individual camera modules a full spherical 360 ° × 360 ° angle for the generation of distortion-free 2-D or Capture 3-D images in high resolution and if necessary, each camera module can be controlled individually. Advantageous developments and further developments are specified in the dependent subclaims.

In a preferred embodiment of the invention, the compact camera 5 has a spheroidal shape or approximated to the spherical shape polyhedron shape with a diameter of 4 - 16 cm, the number of distributed around the camera modules at least 3 to any, but preferably for example 6 to 36 camera modules ,

The compact camera 5 is advantageously equipped as a digital video camera with single image function. The image information and metadata are processed and / or stored according to a variant in the compact camera 5 itself. In addition, they can also be wired separately (LAN), via Bluetooth or via WiFi (W-LAN) / Internet wirelessly or by cable to a mobile surface unit or into a cloud ("cloud").

The data processed and stored single or total images or - the recorded videos of a channel area can be in a development of the invention on a normal screen, touchscreen monitor, such as notebook, tablet or smartphone by simple move, touch or virtually approach the mouse pointer from different perspectives , view, enlarge and zoom and save on the corresponding electronic device for documentation purposes three-dimensional or as 2-D images.

In a further embodiment of the invention, a number of spherically directed LED spots 16 are distributed on the surface of the compact camera 5 for illuminating the sewer pipe interior between the camera modules arranged distributed.

In a first device variant, the compact camera 5 at the free end of a displaceable d. H. extendable and retractable trained handlebar 4 is arranged. By means of this displaceable handlebar 4, the compact camera 5 is movable as needed in certain applications and corresponding cavity formation in the milling carriage 1 in a protected parking position within the milling carriage 1.

In a second embodiment of the device, the compact camera 5 is designed as a kind of camera head 5, wherein the compact camera 5 is arranged at the free end of an extendable and retractable push rod or a sliding cable 7 and the push rod 7 connected at its other end to the carriage 1 in this stored and is movable by this.

For particular applications, in the device, when the compact camera 5 is formed as a retractable and retractable camera head 5, one or more UV emitters are arranged and / or along the push bar 7, a retractable or retractable UV light chain 14 is arranged and fixed. Thus, for example, incorporated UV-curing plastics or resins or resin-impregnated liners can be cured. Thus, for example, a separate suitable resin applicator (for example an independently controllable and movable nozzle) with a resin reservoir can be arranged on the carriage, which acts on or closes damaged areas with a correspondingly viscous resin and which can then be cured immediately with UV light.

In a further variant, the compact camera 5 is mounted on a cleaning device 17, such as a jet nozzle or a spray head. Also, the compact camera 5 according to another variant, a tool, such as a milling tool 6 can be grown watching. Likewise, it can be attached to a carriage 1 or carriage of a sewer pipe system and be deflected and controlled by this. To save costs, it may be expedient according to a further embodiment to design the compact camera 5 as a universally movable attachment camera for Rohrbefahrsysteme.

Furthermore, it is also possible that 5 differently colored LED are arranged on or in the surface of the compact camera to perform false color recordings. Using false-color images, it is possible in particular to document damaged areas, small cracks, small surface differences or the type of deposits better than before with light having wavelengths that correspond to daylight. In general, it is also useful for individual applications when in or on the surface of the compact camera 5 or on or in the carriage 1 in addition a path measuring device for accurate position determination in the channel or pipe, measured from the point of entry and optionally can be put into operation. Furthermore, suitable additional sensors for other material testing can also be arranged on the compact camera or on the vehicle 1. For example, an ultrasound sensor with a recording unit on site in a simple manner can detect visible cracks and make them visible for the evaluation.

The solution according to the invention for a compact camera 5 for tube inspection and monitoring of canal work allows both real-time and subsequently on a monitor a distortion-free panorama highest resolution and sharpness. According to the distribution of the camera modules over the surface of the compact camera 5 results in a uniform, detail-faithful and exactly subdivided spherical detection of a pipe section in high image quality. Therefore, there are only small or no blind spots in the monitoring and hardly interpretable distorted image edge zones are largely avoided. The use of the electronic compact camera 5 for live monitoring purposes during tube work, all-around still images and / or video sequences allow almost universal use to subsequent virtual trips using a mobile device or any suitable computer. By suitable control software, the viewer can, for example, simply by pivoting a paired smartphone or tablet or tapping a touch-sensitive notebooks look in all directions, ie longitudinal, transverse or at any angle to the pipe wall or on the attached working tool, which of course also enlargements or reductions of the image section are possible at any time. The full all-round view of the inner surface of a monitored channel or pipe, so z. As well as the view back a certain distance, allows a very effective, time-saving work, without constant forward and backward or constant correction of the camera position. In addition, if a controllable lighting integrated into the compact camera 5, so there are further advantages in terms of a full object illumination and drop shadow avoidance. In a preferred manner, LED spots can be arranged distributed between the individual camera modules and on This way also illuminate all spatial directions.

An ideal spherical distribution of the camera modules on the compact camera 5 allows all image edges of the individual images of the modules, taking into account the lens optics used, to be combined to form a digitally based overall image by means of internal or external connected electronics and associated image processing software Overall picture no annoying cut edges or edge distortions arise. With 10, 12, 20, 36 or more camera modules, installed in a compact camera 5, can be very detailed high-resolution overall shots of the respective space to be observed on site, or to carry out the work to be done, but for many tasks, for example, 6 or 8 camera modules are quite sufficient. For example, disposable CCD camera modules in the dimensions of 1 cm ³ or smaller, together with their internal customized basic image data processing software from smartphones, camera phones or spy cameras known, inexpensive and easy, as well as with a variety of lenses available in the electronics market and applicable. In particular, for documentation tasks, meta tags such as time, date, location or location, camera orientation, etc., can be included in data collection and storage. The compact camera 5 itself can be built very small in diameter with little space requirements and, above all, protect well against environmental pollution, such as dirt, water, temperature and vibrations with little effort.

list of figures

• 1 einen Fahrwagen 1 für eine videobasierte Kamerainspektion eines Kanalrohrs,
• 2 einen Fahrwagen 1 mit einem Bearbeitungswerkzeug unter Kamerabeobachtung,
• 3 einen Fahrwagen 1 für eine Kamerainspektion eines vertikalen Schachts von einem horizontal Kanalrohr aus,
• 4 eine aus- und einziehbare Kompaktkamera 5 angeordnet an einer Schiebstange 14,
• 5 das Aushärten eines in ein Rohr eingebrachten mit Harz getränkten UV-Liners in unter Kamerabeobachtung mittels des Fahrwagens 1
• 6 eine mögliche Kompaktkameraausführung mit mehren Kameramodulen und verteilt angeordneten LED-Spots

The invention will be explained in more detail with reference to embodiments. Show:

• 1 a carriage 1 for a video-based camera inspection of a sewer pipe,
• 2 a carriage 1 with a machining tool under camera observation,
• 3 a carriage 1 for a camera inspection of a vertical shaft from a horizontal sewer pipe,
• 4 a retractable and retractable compact camera 5 arranged on a push rod 14,
• 5 the curing of a introduced into a tube resin-impregnated UV liner in under camera observation by means of the trolley. 1
• 6 a possible compact camera version with several camera modules and distributed LED spots

According to 1 becomes the interior of a pipe from a known carriage 1 for inspection purposes. The carriage 1 can be self-propelled or otherwise pulled or pushed with autonomous power supply if required or pulls a connected trailing cable or push cable 2 for the supply of the trolley 1 himself and his equipment after. A light source 3 (Shown schematically) provides the necessary brightness in the tube, thus one at the front end of a steering rod 4 fixed digital compact camera 5 take detailed pictures, because the area to be documented is sufficiently illuminated. The compact camera 5 can either permanently with the steering rod 4 be connected or is advantageously connected via an adapter removable or replaceable. Remote control of the tube under continuous monitoring of the daytime allows remote or automatically controlled storage of both single frames and video sequences. In both cases, each 2-D or also, if desired, 3-D all-round image of the inner surface of the tube from the whole of the camera modules 5 synchronously photographed individual images by means of a suitable image processing software composed, which in each case a fully spherical field of view is detected. The image processing and image storage can be both in the compact camera 5 itself, as well as in the carriage 1 , be done in a special control and storage electronics, overground or by means of a cloud wireless or wired. The compact camera 5 or their surface can also be designed impact-resistant, scratch-resistant and waterproof.

In 2 is a carriage 1 with a tube processing tool in the form of a known milling tool 6 shown in a very schematic way. The full spherical compact camera 5 can by means of the arranged steering rod 4 to be adjusted only in the position opposite the pipe wall to allow a complete all-round imaging of the required details. An additional Kameraverschwenkung or rotation is not required. This means that a relatively simple mechanism is sufficient for camera movement and positioning. It can also work with the cutter arm of the cutter tool 6 be moved or coupled to this. Depending on the situation, the operator can initially focus on the track, so look forward, and, once the working position is reached, with complete camera observation without any camera experience the milling tool 6 bring to use.

It is also conceivable that the entire compact camera 5 if by means of a handlebar 4 extendable and retractable is formed (opposite the carriage 1 moved automatically), during the milling process in a shelter, ie, for example, in a closable with a lamella cavity within the trolley 1 can be moved to prevent contamination during the milling process. It is equally possible during a milling process, the compact camera 5 apply a targeted stream of air or intermittently with a stream of water or other liquid to remove dirt or keep away. This can be done in a simple manner by means of one or more arranged jet nozzles (not shown). Of course, the compact camera 5 or the light source 3 be arranged at a different location than the symbolically drawn. But always allows the compact camera 5 at any time a panoramic view of the entire just started work on the inner surface of the tube and its complete documentation by means of digital storage. With the recorded still images or video recordings can be stored at the same time for documentation Meta information and recorded, such. Date, time, exposure program, sensor sensitivity, focal length, flash usage, information on pinpoint location and the exact position in the tube, ie it can be centimeter accurate comprehensive documentation before, during and after processing done. For illumination is at least one suitable light source 3 on, in the on the carriage 1 arranged. It can also be designed to be movable and ensures adequate illumination of the area of the inner circumferential surface to be documented.

The illustrated carriage equipment after 3 is preferably for inspecting branching upwardly or obliquely upwardly directed wells of a pipe from a carriage 1 out determined. At the shaft is using a push bar 7 , a guide frame 8th and leadership roles 9 the compact camera 5 drove centric into the shaft. As a special feature is the compact camera 5 itself equipped with a lighting device distributed between the plurality of camera modules 5 ie between the individual lenses 15 a plurality of, for example, high-power LED lights 16 is arranged. The compact camera 5 is equipped with a roll-out fiber optic cable and can be connected to the milling tool via an eyelet 6 or be deflected by means of the movable and controllable Fräsarmes itself.

Such an advantageous camera configuration with integrated light sources not only simplifies the handling of the inspection unit, but in particular avoids drop shadows. The brightness of the arranged spots can preferably be changed camera-internally or software-controlled for always optimal recording conditions. For example, you can also take individual flash shots. For communication between the carriage 1 and the compact camera 5 In a preferred variant, hollow push rods can be used through which the power supply, such as electrical, optical or optoelectronic lines run. To overcome greater heights can be a pull rope 10 to the compact camera 5 be connected.

Often, before a real pipe rehabilitation, the sewer pipes by means of a push bar or a sliding cable 7 inspected, which of a drum 11 can be unrolled. This procedure is particularly useful for longer pipe sections. The 4 shows purely schematically such an apparatus. The drum 11 can be overground or in a manhole or for short distances directly on the vehicle 1 be arranged. In the spherical compact camera 5 In turn, the lighting is integrated. Communication to the control unit 12 and / or in a radio network using an antenna 13 again via suitable lines on or within the push bar or within a sliding cable 7 , It is a matter of course that the necessary lines also separately with the compact camera 5 can be connected or that suitable wireless connections such as Bluetooth can be used.

In 5 is the curing of a UV, infrared or light-curing liner in a tube by means of a distributed on a cable light source chain as another possible application example of a panoramic all-round compact camera 5 shown. On a train cable 2 becomes a UV lighting train 14 Computer-controlled slowly drawn through the light curing UV liner at the edge of the pipe, at the end of a panoramic all-round compact camera 5 coupled, which controls the redevelopment result and recorded, if necessary, documentary. In the example, once again distributed in the compact camera all around light sources for illumination of the camera image.

6 shows schematically and by way of example another advantageous form of a compact camera 5 , The camera modules 15 in the compact camera 5 are aligned in all spatial directions and installed in such a number that, by software, a complete overall picture can be calculated from all single images. The outer shape of the compact camera 5 is therefore expediently a sphere or a regular polyhedron, such as an octahedron or dodecahedron with rounded corners and or edges or, for example, a truncated octahedron where in the eight hexagons eight camera modules and in the six Squares six light sources are arranged. It is also possible to use other Vielflächner with an approximate spherical shape for the arrangement of camera modules and light sources. In detail, it depends on the required price-performance ratio. It is understood that using wide-angle lenses and corresponding loss of image quality results in a lower number of camera modules 5 can build up. The compact camera 5 according to the 6 the special feature on that between the camera modules 15 distributes LED lights 16 are arranged, which provide the necessary illumination of the inner jacket of a channel or pipe. This saves not only one of the usual lighting devices and their tracking, but it is a shadow-free illumination throughout the camera field of view achieved. In the example according to 6 are ten camera modules 15 and eight light sources, such as LED spots 16 in the compact camera 5 installed. But it can be much more, especially in recent years, the size and price of the camera modules 15 have dramatically decreased with improved recording and image processing characteristics. That's how compact cameras can be used today 5 with, for example, 36 camera modules and more in golf ball size. The number of installed LED spots depends on the purpose, the light intensity of the LEDs and the surface shape of the compact camera.

For external control of the compact camera 5 can z. B. control lines through the steering rod 4 passed through and arranged to a first control module, the z. B. in the carriage 1 located. But it is also a wireless control via a suitable radio interface possible.

LIST OF REFERENCE NUMBERS

1

trolley

2

trailing cable

3

light source

4

steering rod

5

Compact camera, camera head

6

milling tool

7

Push bar or push rope

8th

guide frame

9

guide rollers

10

dragline

11

Push rod or sliding wire drum

12

control

13

antenna

14

UV light string

15

Lens of a camera module

16

LED Spot

17

cleaning device

QUOTES INCLUDE IN THE DESCRIPTION

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

Cited patent literature

• WO 2001/092852 A9 [0003]
• DE 20101642 U1 [0004]
• DE 20104092 U1 [0004]
• DE 19992542 C1 [0005]
• DE 102011014884 B3 [0006]
• DE 202007013416 U1 [0007]
• DE 202009003388 U1 [0008]
• DE 4328575 C2 [0009]
• DE 202004004836 U1 [0010]
• DE 202004018174 U1 [0011]
• DE 102012022489 A1 [0011]
• DE 102010055045 A1 [0012]
• DE 19714463 A1 [0013]
• DE 102007052915 A1 [0014]
• EP 1639405 B1 [0015]
• WO 2012/149926 A1 [0016]
• WO 2016/059470 A1 [0016]

Claims (15)

Device for inspection and / or maintenance in inaccessible or walk-in sewer systems with a digital camera providing a quasi-spherical digital image of a channel area for real-time observation and / or downstream evaluation, with a carriage (1), a trailing cable (2) a camera head (5),) at least one milling tool (6) and a cleaning device (17), characterized in that the camera arranged a compact camera (5) with a plurality of circumferentially distributed on the spherical surface or polyhedral surface and all spatial directions of the inner surface of a pipe or channel detecting digital camera modules (15) which synchronously from the images of the individual camera modules (15) capture a full spherical 360 ° × 360 ° viewing angle for the generation of distortion-free overall images in high resolution. Device after Claim 1 , characterized in that the compact camera (5) has a spherical surface or an approximated to the spherical shape polyhedral surface with a diameter of 4 - 16 cm and that the number of distributed around the camera modules (15) is 3 to 36. Device according to at least one of Claims 1 and 2 , characterized in that the compact camera (5) is a digital video camera with single image function and / or zoom function. Device according to at least one of the preceding claims, characterized in that the image information and metadata in the compact camera (5) itself processed and / or stored and / or wired (LAN), via Bluetooth or via WiFi (W-LAN) / Internet to be transmitted to a mobile surface unit. Device according to at least one of the preceding claims, characterized in that the data processed digitally and stored overall image of a channel area on a touchscreen monitor, such as notebook, tablet or smartphone, by moving, touching or the mouse pointer, viewed from different perspectives virtually, considered, can be zoomed and / or logged. Device according to at least one of the preceding claims, characterized in that a number of spherulitic LED light spots (16) are distributed on the compact camera (5) between the camera modules (15). Device according to at least one of the preceding claims, characterized in that the compact camera (5) at the free end of extendable and retractable steering the rod (4) is arranged. Device according to at least one of the preceding claims, characterized in that the compact camera (5) on an extendable and retractable camera head (5) with one or more UV lamps and / or along the handlebar (4) with a retractable or retractable UV Fairy lights (14) is attached. Device according to at least one of the preceding claims, characterized in that the compact camera (5) to a cleaning device (17) is fitted or is fitted with a cleaning device. Device according to at least one of the preceding claims, characterized in that the compact camera (5) a milling tool (6) is arranged observing on the carriage (1). Device according to at least one of the preceding claims, characterized in that the compact camera (5) from the carriage (1) can be decoupled and connected to a separate carriage movable and remotely controllable. Device after Claim 6 , characterized in that in or on the surface of the compact camera (5) different colored LED are arranged to perform false color recordings can. Device after Claim 1 , characterized in that in or on the surface of the compact camera (5) or on or in the carriage (1) a displacement measuring device or sensors for material testing are arranged. Device after Claim 1 , characterized in that a second camera head (5) is arranged on the milling carriage (1). Device after Claim 1 , characterized in that the milling tool (6) a separate camera (buttonhole camera) is arranged.

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