US 12,436,545 B2
System and method for autonomously positioning a camera of a sewer inspection and/or maintenance system
Fabrizio Tozzo, Wolfertschwenden (DE); Rajeesh Kumar, Kempten (DE); and Muhammad Talha, Durach (DE)
Assigned to iPEK International GmbH, Sulzberg (DE)
Filed by iPEK International GmbH, Sulzberg (DE)
Filed on May 8, 2024, as Appl. No. 18/658,566.
Claims priority of application No. 10 2023 112 077.8 (DE), filed on May 9, 2023.
Prior Publication US 2024/0377844 A1, Nov. 14, 2024
Int. Cl. G05D 1/689 (2024.01); G05D 105/80 (2024.01); H04N 23/695 (2023.01)
CPC G05D 1/6895 (2024.01) [H04N 23/695 (2023.01); G05D 2105/89 (2024.01)] 10 Claims
OG exemplary drawing
 
1. A sewer inspection and/or maintenance system, comprising:
a sensor system (S), which is adapted to detect at least three distances (d1; d2; d3) between a predetermined first point (P) in a sewer pipe and a sewer wall (W) of the sewer pipe, wherein the at least three distances are detected starting from the predetermined first point in different directions relative to the sewer wall,
a processing unit (VE), which is adapted for:
determining a diameter (d) of the sewer pipe and a predetermined second point (C) in the sewer pipe, preferably a center point of the sewer pipe, based on the distances (d1; d2; d3) detected by the sensor system, and
determining a horizontal offset (ΔX) and a vertical offset (ΔY) between the predetermined first point (P) and the predetermined second point (C) of the sewer pipe based on the determined diameter (d) and the detected distances (d1; d2; d3), and
a positioning unit (H), which is operatively coupled to the processing unit and which is adapted to correct the position of an inspection unit in the sewer pipe by the horizontal offset (ΔX) and by the vertical offset (ΔY).