METHOD FOR AUTOMATICALLY EXPOSING A BRANCH-OFF POINT IN A LINE SYSTEM

Abstract

The present invention relates to a method for automatically uncovering a branch of a pipe system that is renovated with a lining tube, comprising the following steps, in particular in this sequence: a) providing an uncovering device, including a data processing unit, in the renovated pipe and arranging the uncovering device in front of the branch to be uncovered; b) inputting by means of an input unit a geometric shape to be uncovered; c) uncovering the branch by means of automatic milling, controlled by the data processing unit, of sections of the lining tube along the input geometric shape, using an uncovering unit of the uncovering device.

Claims

1. A method for automatically uncovering a branch of a pipe system that is renovated with a lining tube, comprising the following steps, in particular in this sequence: a) providing an uncovering device, including a data processing unit, in the renovated pipe and arranging the uncovering device in front of the branch to be uncovered; b) inputting by means of an input unit a geometric shape to be uncovered; c) uncovering the branch by means of automatic milling, controlled by the data processing unit, of sections of the lining tube along the input geometric shape, using an uncovering unit of the uncovering device.

2. The method according to claim 1, further comprising the following steps, in particular in parallel or subsequent to step b): d) inputting the geometric shape by selecting the geometric shape from a shape library of geometric figures stored in the data processing unit, in particular including circles, ellipses, rectangles, and/or polygons, or e) drawing the geometric shape freehand and reading the stated shape into the data processing unit by means of an image detection unit, in particular a scanner or a camera device, or f) drawing the geometric shape freehand by means of the input unit, in particular by means of a Trackpack or a mouse, wherein in particular at least one of the parameters is selected or selectable from a group of parameters including a length, a width, a height, and a diameter of the geometric shape.

3. The method according to claim 1, further comprising the following steps, in particular in parallel or subsequent to step b): g) inputting a position of the geometric shape relative to the inner wall of the lining tube by means of the input unit, in particular an angular position of the geometric shape based on a midpoint of the radius of the lining tube and/or a distance based on the deepest point of the lining tube, and/or h) detecting the position of the free end of the uncovering unit and automatically arranging the geometric shape, beginning at the detected position of the free end of the uncovering unit, and i) subsequently optionally turning, rotating, tilting, and/or displacing the geometric shape by means of the input unit.

4. The method according to claim 1, characterized in that the uncovering device is designed in the form of a mobile robot having a chassis, and in particular includes a drive unit and/or is movable by means of a cable, in particular a cable that includes Kevlar fibers and/or at least one traction cable, and/or a traction cable, and a drive unit that is externally connected to the cable and/or the traction cable.

5. The method according to claim 4, characterized in that the data processing unit is designed and configured for controlling or regulating the position of the uncovering device in the lining tube, in particular also during the uncovering of the branch.

6. The method according to claim 1, characterized in that the uncovering unit of the uncovering device is situated on a movable end of a robot arm that is movable in at least two, in particular three, spatial axes, and that is in particular retractable and/or includes at least one telescoping arm element.

7. The method according to claim 1, further comprising the following steps, in particular before step b): j) manually or automatically uncovering a segment of the branch that is in particular spaced apart from the edge of the branch, preferably in the area of the midpoint of the branch, by means of an uncovering unit; and k) manually or automatically uncovering an elongated segment, beginning from the first uncovered segment in the direction of an inner wall of the branch, in particular directed downwardly.

8. The method according to claim 1, further comprising the following steps, in particular before step a): l) detecting a position of a branch, in particular by means of a measuring device, before a lining tube is drawn into the pipe to be renovated, and storing the position in the data processing unit, or m) inputting the position of a branch in the data processing unit, and n) subsequently manually or automatically moving the uncovering device to the position of the branch that is stored in the data processing unit.

9. The method according to claim 1, characterized in that the automated uncovering takes place in sections, and the length of the sections is settable by the user, preferably in the form of circular segment-shaped sections, wherein in particular after each of the sections, manual uncovering of the subsequent section takes place.

10. The method according to claim 1, characterized in that the automated uncovering may be superimposed by manual inputting by the user for controlling the uncovering device by means of the input unit, so that manual uncovering takes place in sections, wherein after the manual intervention ends, the uncovering is automatically continued along the specified geometric shape.

Description

[0061] In the figure:

[0062] FIG. 1: shows a schematic flow chart of one exemplary embodiment of a method according to the invention.

[0063] One embodiment of a method according to the invention is described below. In a first optional method step 100, a position of a branch may initially be detected before a lining tube is drawn into the pipe to be renovated, wherein the detected position is detected in particular by means of a measuring device and subsequently stored in a data processing unit. Alternatively, the position of the branch may be input into the data processing unit by the user.

[0064] In the next method step 120, an uncovering device is provided, and in a method step 130 the uncovering device is subsequently manually or automatically moved to the position of the branch that is stored in the data processing unit.

[0065] In a method step 140, manual or automatic uncovering of a segment of the branch, in particular spaced apart from the edge of the branch, preferably in the area of the midpoint of the branch, may now take place, once again optionally, by means of an uncovering unit of the uncovering device. This may optionally be followed by manual or automatic uncovering of an elongated section, beginning from the first uncovered segment in the direction of an inner wall of the branch, in particular directed downwardly (see method step 150).

[0066] In a step 160, a position of a geometric shape relative to the inner wall of the lining tube is now input by means of an input unit, or in a method step 170 the position of the free end of the uncovering unit is detected and the geometric shape is arranged, beginning at the detected position of the free end of the uncovering device. Turning, rotating, tilting, and/or displacing the geometric shape by means of the input unit then optionally take(s) place in a method step 180.

[0067] Before or after steps 160 through 180, in a step 190 either the geometric shape to be uncovered is input by selecting the geometric shape from a shape library of geometric figures stored in the data processing unit, or in a method step 200 the geometric shape is drawn freehand and the stated shape is read into the data processing unit by means of an image detection unit, or in a method step 210 the geometric shape is drawn freehand by means of the input unit, in particular by means of a Trackpack or a mouse, in each case followed by an optional selection of at least one parameter of the geometric shape, such as a length, a width, a height, and a diameter of the geometric shape, in step 220.

[0068] Lastly, uncovering of the branch by means of automatic milling of sections of the lining tube, controlled by the data processing unit, along the input geometric shape is carried out with an uncovering unit of the uncovering device in a method step 230.

[0069] The features of the invention disclosed in the preceding description and in the claims may be important, alone or also in any given combination, for implementing the invention in its various embodiments.