Tire drive motor / electric vehicle for pipeline and grade inspection

Abstract

The present invention is implemented in a tire motor / electric vehicle that measures the alignment, distance, grade and vertical deflection of underground pipes (pipelines). The tire motor / electric vehicle drives through the pipe and collects data that can be used to check and evaluate whether the construction complies with the grade and alignment according to the construction documents and specifications, as well as the location of the culvert deflection caused by material flaws and / or bedding defects. The preferred tire motor / electric vehicle can be moved into and out of the pipe via remote control. The preferred tire motor / electric vehicle includes a deck for carrying electronic sensors, batteries and other devices. A computer located on the deck communicates with the electronic sensors and other devices. Most importantly, the preferred tire motor / electric vehicle includes at least one wheel that rides on the inner bottom of the pipe. The guide wheels are a key element of the present invention because having at least one wheel ride on the inner bottom provides a reference location for the other measurements.

Description

TECHNICAL FIELD

[0001] The present invention relates to an apparatus for inspecting a pipeline. More particularly, the present invention relates to a tire motor / electric vehicle that measures the alignment, distance, grade, and vertical deflection of an underground pipeline (piping). BACKGROUND

[0002] A construction project typically involves four parties: the owner, the general contractor, the engineer, and the third-party independent inspector. The construction of underground piping must comply with the design plans and specifications prepared by the engineer. After clearing the ground, the contractor first sends its survey crew to stake out the site according to the design plans.

[0003] The contractor's survey crew stakes out the ground at the offset of the piping ("offset stakes") as instructed by the design plans, and the contractor can then properly excavate the site along the designated piping route. Typical surveying for gravity piping installation requires a high degree of accuracy. For example, a flow line station is staked at ± 0.2 feet, aligned at ± 0.1 feet, and staked at elevation at ± 0.01 feet every 25' along a tangent and every 10' along a curve.

[0004] Open trench construction is a common practice for piping installation, especially in open undeveloped areas. Construction in developed areas and / or areas under development requires minimal construction impact. The trench dug for the placement of the piping is typically the width of the outside diameter of the piping plus one foot on each side of the piping. Thus, a deep and narrow trench is most desirable. This type of construction makes achieving accurate piping installation more difficult and time consuming because the contractor must use trench boxes and / or other shoring equipment to safely construct the deep and narrow trench. See, for example, FIG. 1.

[0005] Piping made of concrete and metal (except for special corrosion-resistant stainless steel alloys) for conveying wastewater is susceptible to corrosion by hydrogen sulfide gas produced by septic tank biological waste in the wastewater. Thus, PVC and HDPE are the preferred materials for piping because they are resistant to corrosion by hydrogen sulfide gas. Also, concrete pipes lined with PVC, steel pipes coated with an epoxy coating, and clay pipes are used for conveying wastewater. Nonetheless, low-cost PVC piping is the most widely used for sewer line installation.

[0006] To build and install the piping, the contractor's survey crew first stakes out the piping offset as instructed by the design plans so that the contractor can use a backhoe excavator to dig along the designated piping route while moving the trench box. See, for example, FIG. 2. Trench boxes come in several sizes, which are limited by the weight of the trench and the particular depth. For a 30-foot deep trench, three trench boxes must be stacked vertically, see, for example, FIG. 3.

[0007] Trenching, laying, and stacking of the trench boxes are simultaneous operations. After the trench is dug to the depth of the offset stakes, the pipe is installed at the design elevation, and a layer of bedding material is placed and compacted to the pipe spring line elevation (approximately one-half the diameter of the pipe).

[0008] During this process, the contractor's surveyor and the third-party surveyor should measure the inside bottom of each pipe laid immediately after the placement of a layer of bedding material and compacted to the pipe spring line elevation and before the compacted soil fill is placed in the trench and covers the pipe. If the line and grade are not checked immediately after each new pipe (20 feet long) is installed, the mislaid pipe can cause the completed line to zigzag up and down due to the characteristics of flexible pipe such as PVC. Even the most experienced installer can install a pipe that deviates from the design due to (1) the deflection of the PVC pipe at the joint (201) and (2) the flexible longitudinal deflection (202) and the vertical deflection (203) of the PVC pipe. For example, the deflection of the pipe joint can reach 5°. When two pipe sections are joined together, the deflection can cause up to 8% of the grade deviation in the 360° direction. In a 20 feet long new pipe installation, 1% of the grade deviation can cause up to 2.4 inches of elevation deviation.

[0009] Flexible pipes have different stiffness, where stiffness indicates the ability of the pipe to resist deflection. However, the pipe-soil interaction is a major structural component of the design of flexible pipes. As the load on the flexible pipe increases, the flexible pipe becomes elliptical with a decrease in the vertical diameter and an increase in the horizontal diameter. This decrease in the vertical diameter is called deflection, which is usually expressed in percentage.

[0010] The verification measurements at each pipe installed have a significant impact on the construction cost and schedule.

[0011] The increase in construction cost is due to the fact that the field surveyor needs to measure the inside bottom of each pipe, and the contractor's pipe installer must stop work for the surveyor to take the measurements. This not only reduces the installation speed but also requires the contractor's surveyor to be on site at all times. Most contractor's project budgets cannot afford the cost of a backup surveyor. Therefore, the contractor takes the risk and relies on the pipe installer to lay the pipe better from the offset stakes with or without the use of a laser pen. This is usually done without measuring after each pipe is laid to confirm that the alignment, grade, and other characteristics of the pipe conform to the design.

[0012] The third-party inspector verifies the as-built documents for each pipe section installed after the surveyor has surveyed or at least after the pipe installer has laid the pipe, which extends the project schedule. The use of a third-party inspector adds to the construction time and significantly reduces the contractor’s daily output. As a result, a pipe as-built inspection is not typically performed on every pipe installed and is typically only performed at the fixed elevation manholes, which has minimal to no impact on the intermediate pipe construction. As a result, there are no comprehensive alignment and grade measurements performed on every pipe installed. If the sewer line is built slightly downhill or uphill, it can compromise the flow characteristics of the designed pipe.

[0013] When the contractor suspects that such compromise has occurred, the contractor rarely removes the installed pipe to reinstall the pipe at the correct grade and angle. Instead, the contractor often adjusts the angle or grade of the remaining pipe to be installed so that the pipe will connect to the next manhole at the correct elevation and location. This results in a pipe with an incorrect grade, which will either accumulate waste deposits on the convex or concave side. At best, this requires frequent and costly cleaning and maintenance, and at worst, it can result in backup service to the end user and surges at the manhole.

[0014] Another problem occurs when utility lines are to be relocated and / or new utility lines are to be added. There can be potential underground conflicts with other utilities and branch pipes. For example, when a branch pipe crosses an underground utility, such as water, sewer, storm, cable, gas, and other utilities, it is critical to know how the branch pipe was constructed to avoid conflicts with other utilities and where the branch pipe intersects the main line.

[0015] The location of the utility can be verified from the original design drawings and / or as-built drawings. If there are no as-built drawings, a pit run can be performed to verify the location and elevation of the utility. However, pit running the elevation of the branch pipe is very complex and costly to repair.

[0016] Branch pipes that can cause changes and / or modifications during construction that have a great deal of concern and / or uncertainty can also be constructed by inserting a probe from a cleanout and using the two-antenna depth method and / or the 70% method. However, this method only provides 95% accuracy. In areas with a high amount of other utilities, the error and deviation are much higher.

[0017] For structural inspection of pipelines, various sensors and measuring devices can be loaded on a tire-driven motorized vehicle. Currently, many pipeline inspection tire-driven motorized vehicles are available. These inspection tire-driven motorized vehicles focus on the structural integrity of the pipeline, whether deformed and / or corroded. While some of these tire-driven motorized vehicles provide a pipeline profile, none of the tire-driven motorized vehicles meet the inspection needs of line and grade construction. Most advanced tire-driven motorized vehicles use a laser conic emitter, which is an image camera that captures a laser conic shape in front of the tire-driven motorized vehicle to detect changes in the ellipticity of the pipe with millimeter level accuracy and resolution. This provides good information about the integrity of the pipe, but lacks verification of the line and design grade of the pipeline construction.

[0018] There is a need for a better method to inspect the alignment, distance, grade, and vertical deflection of underground pipelines and to ensure that the as-built structure meets the design specifications. SUMMARY

[0019] The present invention solves the important problem of pipeline construction quality control by providing a precise and cost-effective method to measure the line and grade of underground pipelines without the need for third-party inspection to interrupt construction. The present invention provides the third-party inspector with as-built site data so that the third-party inspector can compare the constructed pipeline to the design specifications. The present invention allows the construction of underground pipelines to proceed largely uninterrupted by third-party inspectors.

[0020] The present invention is implemented in a tire-driven motorized vehicle that measures the alignment, distance, grade, and vertical deflection of underground pipelines (pipelines). After the underground pipeline has been constructed, the tire-driven motorized vehicle is placed into the pipeline. The tire-driven motorized vehicle drives through the pipeline and collects data that can be used to inspect and evaluate whether the construction meets the grade and alignment according to the construction documents and specifications, as well as the location of culvert deflection caused by material flaws and / or bedding defects.

[0021] The preferred tire-driven motorized vehicle can be moved into and out of the pipeline via remote control. The preferred tire-driven motorized vehicle includes a deck for carrying electronic sensors, batteries, and other devices. A computer located on the deck communicates with the electronic sensors and other devices. Most importantly, the preferred tire-driven motorized vehicle includes at least one wheel that rides on the inner bottom of the pipeline (“a guide wheel”). The guide wheel is a key element of the present invention because having at least one wheel ride on the inner bottom provides a reference location for other measurements.

[0022] The guide wheel is preferably connected to the tire motor / electric vehicle by a guide wheel assembly mounted at the front of the deck. The guide wheel assembly preferably includes a rod rotatably connected to the deck, a fork connected to the distal end of the rod, and a guide wheel rotatably connected to the fork, as shown in Figure 8

[0023] The preferred tire motor / electric vehicle has at least two wheels. In the two-wheel embodiment, it is important that the front wheel (guide wheel) and the rear wheel (power wheel) be aligned. One way to keep them aligned is to use a pair of laser alignment devices to indicate when the guide wheel is aligned and misaligned with the power wheel.

[0024] In the five-wheel embodiment (see Figure 19 ), it is preferred that the guide wheel assembly be connected to the deck via a spring hinge, where the spring hinge is biased to cause the front support to rotate toward the four wheels (i.e., the ground). This keeps the guide wheel traveling on the inner bottom, while the other four wheels travel higher on the pipe wall, as shown in Figure 18

[0025] While the two-wheel tire motor / electric vehicle and the five-wheel tire motor / electric vehicle will be discussed in more detail below, other wheel combinations can work as long as there is at least one guide wheel and one power wheel. The guide wheel and the power wheel can be the same, but it is preferred that the guide wheel and the power wheel are different.

[0026] To keep the guide wheel traveling on the inner bottom 39, the preferred tire motor / electric vehicle uses a first sensor combination. The first sensor combination preferably includes a steering motor configured to control the rotation of the rod. Typically, the steering motor is a stepper motor. Additionally, a horizontal proximity sensor is mounted on the deck and is configured to check the distance to the pipe sidewall. Preferably, the horizontal proximity sensor is a bi-directional sensor. In this way, the computer can detect when the distance to the sidewall changes and then re-orient the tire motor / electric vehicle back into the center of the pipe.

[0027] ​​To accumulate spatial data as the tire-mounted motor / electric vehicle moves along the inner bottom, a preferred tire-mounted motor / electric vehicle utilizes a second sensor assembly. This preferred second sensor assembly includes a biaxial inclinometer configured to measure the pipe's inclination, a distance sensor configured to measure the distance traveled by the tire-mounted motor / electric vehicle, a digital compass for measuring the orientation of the tire-mounted motor / electric vehicle, and a vertical proximity sensor configured to measure the distance to the inner top surface of the pipe. In cases where the tire-mounted motor / electric vehicle travels through curves and / or bends that obstruct the distance sensor's reach to the starting reflector, the distance traveled can be measured by Hall effect sensors on the drive wheels. This second sensor assembly enables the tire-mounted motor / electric vehicle to collect X, Y, and Z coordinates, the distance traveled from the origin, and other data as it traverses the pipe. The collected data is processed, analyzed, and used for CAD drawing to provide an accurate comparison between the actual construction and design schemes.

[0028] Importantly, some components, such as the biaxial inclinometer, can be adjusted independently in the x and y directions. This allows these components to be adjusted relative to the deck in both directions, regardless of uneven wear or other variations in the tires of the motor / electric vehicle. A preferred method to achieve this is by adding a sensor deck connected to the deck via adjustable rods that run in both the x and y directions. This allows the sensor deck to be kept level in both the x and y directions before being placed into the piping.

[0029] The following will discuss three embodiments of the invention. The first embodiment is a two-wheeled (bicycle-type) embodiment, wherein the wheels of the tire-type motor / electric vehicle abut against the inner bottom of the tube (in direct contact with the inner bottom). The second embodiment is a five-wheeled car-type embodiment, wherein four wheels of the "car" abut against the inner bottom of the tube, and a fifth wheel (guide wheel) abuts against the inner bottom. The third embodiment is a serpentine embodiment, designed for positioning branch pipes and other connecting sections. Attached Figure Description

[0030] Figure 1 illustrates the existing diagonal bracing deep groove.

[0031] Figure 2 illustrates a prior art backhoe excavator for digging and moving existing trench boxes.

[0032] Figure 3 illustrates three prior art trench boxes stacked on top of each other.

[0033] Figure 4 illustrates an example of prior art axial tube deflection at the joint.

[0034] Figure 5 illustrates an example of longitudinal deflection in the prior art.

[0035] Figure 6 illustrates an example of vertical pipe deformation caused by insufficient bedding and backfilling.

[0036] Figure 7 A tirebot motorized vehicle / electric car and its base station are illustrated running inside a sewer pipe between two manholes. The tirebot motorized vehicle / electric car is remotely monitored by a hand-held controller at ground level.

[0037] Figure 8 A controller, sensors, and processors included in a two-wheeled bicycle-type tirebot motorized vehicle / electric car embodiment are illustrated.

[0038] Figures 9 to 14 A schematic diagram showing how a two-wheeled tirebot motorized vehicle / electric car maintains balance and direction using a stepper motor controller.

[0039] Figures 15 to 16 A tirebot motorized vehicle / electric car is illustrated how far off course it can go in a pipe before it tips over.

[0040] Figures 17 to 19 A schematic diagram illustrating how guide wheels added to the inner bottom of a four-wheeled and / or more wheeled tirebot motorized vehicle / electric car maintain direction using a stepper motor controller.

[0041] Figures 20 to 23 A schematic diagram illustrating the process of setting the sensor deck to the x-axis = 0 and y-axis = 0 position.

[0042] Figures 24 to 25 A serpentine tirebot motorized vehicle / electric car embodiment and a power-assisted serpentine tirebot motorized vehicle / electric car embodiment are illustrated.

[0043] Figure 26 A cross-sectional view of one end of a serpentine tirebot motorized vehicle / electric car is illustrated.

[0044] Figure 27 A serpentine tirebot motorized vehicle / electric car embodiment for large horizontal turns is illustrated.

[0045] Figure 28 A serpentine tirebot motorized vehicle / electric car embodiment for sudden vertical changes is illustrated.

[0046] Figure 29 An embodiment of system communication is illustrated. DETAILED DESCRIPTION

[0047] The key features of the present application can be readily appreciated, as the same becomes better understood by reference to the following drawings and description. Should be understood that these drawings depict only typical embodiments of the application and are therefore not to be considered limiting of its scope, as the application can admit to other equally effective embodiments.

[0048] In general terms, the present invention is embodied in a tire motor / electric vehicle that measures the alignment, distance, grade and vertical deflection of underground pipelines. The primary purpose of the present invention is to assess whether the constructed underground pipeline matches the designed plan and specifications. Referring now to the drawings Figure 7 The tire motor / electric vehicle 10 is preferably moved into and out of the pipeline 13 via remote control. The remote control device 16 is most preferably wireless and can be a smartphone, a dedicated radio frequency (RF) controller or other similar device. Typically, the remote control device 16 will be used to control the drive speed (rpm) of the tire motor / electric vehicle, the forward and reverse direction of movement and the start and stop of movement.

[0049] Typically, the remote control device 16 will communicate with the computer 19 carried by the tire motor / electric vehicle 10. One method of accomplishing this is through a wireless network such as wi-fi. Wi-fi can allow the computer 19 to communicate wirelessly with the remote control device 16 and / or through one or more repeaters 21. Other wireless network methods known in the art can also be used.

[0050] Preferably, the remote control device 16 receives sensor data, video and the distance traveled by the tire motor / electric vehicle for real-time monitoring. As the tire motor / electric vehicle moves inside the pipeline 13, data is collected by the sensors and transmitted to the computer 19. The information is then transmitted through the base station and ground Wi-Fi repeater 19 to the wireless handheld device 16 for real-time monitoring. Additionally, or alternatively, the data can be transmitted directly to an off-site office computer. The wireless handheld control device 16 can set the tire motor / electric vehicle 10 to run continuously or to move and stop for set periods of time. This allows the tire motor / electric vehicle 10 to collect data while stationary or in motion as needed for the inspection.

[0051] The base station 24 is preferably positioned at the beginning of the pipeline being inspected as shown in Figure 7 The base station 24 can provide several elements. It can provide a wireless repeater 19, a wireless router and a battery. It can also provide a retrieval winch 27 which is essentially a winch used to retrieve the tire motor / electric vehicle 10 at any time during the inspection. The retrieval winch 27 can be automatic or manual. Finally, the base station 24 is the preferred location for placement of a laser distance reflector 30 which will be discussed in more detail below. But in brief, the laser distance reflector 30 is part of a sensor package that can determine the distance of the tire motor / electric vehicle from its starting point.

[0052] In a preferred operation, a user will place the tracked motorized vehicle 10 into the underground conduit 13 from a manhole. The tracked motorized vehicle 10 travels through the conduit 13 and collects data that can be used to check and evaluate the grade, alignment, and conduit bedding for compliance with the construction documents and specifications. The tracked motorized vehicle 10 collects the data and stores it on board, and transmits the data to a base station 24 placed inside the manhole. The base station 24 routes the data to a ground wi-fi repeater 21, which transmits the data to a wireless handheld control device 16 held by the inspector. The on-board stored data of the tracked motorized vehicle can be downloaded and later plotted in the office. The as-built drawings can be checked against the design plans for certification.

[0053] Three embodiments of the present application will be discussed in greater detail below. The first embodiment is a two-wheeled bicycle type embodiment, where the tracked motorized vehicle wheels ride on (directly contact) the pipe interior bottom 39. The second embodiment is a car type embodiment, where a single front wheel rides on the interior bottom, and the four wheels of the “car” ride on the pipe interior bottom. The third embodiment is a snake type embodiment, which is best suited for locating branch pipes and other connected segments.

[0054] Typically, the two-wheeled embodiment and the five-wheeled embodiment are best suited for 8 inch and larger pipes, and the snake embodiment is best suited for pipes smaller than 8 inches. While the two-wheeled tracked motorized vehicle and the five-wheeled tracked motorized vehicle are discussed in detail below, other wheel combinations can be suitable as long as there is at least one guide wheel that can ride on the interior bottom and one powered wheel for controlling forward and backward movement. Preferably, the guide wheel and the powered wheel are different wheels, but they can also be the same wheel.

[0055] Two wheeled embodiment

[0056] Figure 8 A preferred two-wheeled embodiment is illustrated. As shown, the tracked motorized vehicle 10 includes a deck 33 for carrying electronic sensors, other equipment, and a battery 36. The deck 33 can have multiple layers and multiple walls as needed to accommodate the various equipment. A computer 19 can be positioned on the deck 33 and can be in communication with the electronic sensors and other equipment. The computer 19 is preferably a “single board computer.” Those skilled in the art will recognize that there are many suitable single board computers available that are suitable in terms of processing power, memory, and size. For example, single board computers like those sold under the names Rasberry Pi zero and PocketBeagle would be suitable.

[0057] The preferred tire-tread motorized vehicle 10 includes at least one wheel that rides on the inner bottom 39 of the pipe ("the guide wheel"). The guide wheel 42 is a key element of the present invention because having at least one wheel ride on the inner bottom 39 provides a reference position for other measurements. Additionally, keeping the guide wheel 42 on the inner bottom 39 ensures that the grade readings truly represent the grade being built. Given that pipes are often subjected to vertical deflection, using other parts of the pipe can provide inaccurate results, which would result in an elliptical or deformed cross-section.

[0058] The guide wheel 42 is preferably part of a larger guide wheel assembly that is mounted on a front frame 44 of the deck 33. The front frame 44 is a rigid support member that is attached to the deck 33. The guide wheel assembly preferably includes a rod 45 that is rotatably connected to the front frame 44 of the deck 33, a fork 48 that is connected to the distal end of the rod, and the guide wheel 42 that is rotatably connected to the fork 48.

[0059] The preferred tire-tread motorized vehicle 10 has at least two wheels. In addition to the front guide wheel 42, there is also a powered wheel 51. The powered wheel 51 and the guide wheel 42 can be the same wheel, but it is preferred that the guide wheel 42 is in the front and the powered wheel 51 is in the back. The preferred guide wheel 42 has a 4 inch (wheel diameter) x 2 inch (tire width). The tire is preferably solid rubber with a curvature that matches the arc of an 8 inch pipe.

[0060] The powered wheel 51 preferably has a power train that includes a motor, a motor controller 53, and receives power from the battery 36. The preferred motor is a low- rpm brushless hub motor. The powered wheel 51 moves the tire-tread motorized vehicle 10 like a motorcycle.

[0061] The tire-tread motorized vehicle deck 33 is preferably a 2 inch wide deck. The deck 33 is preferably 1 inch above the ground (the bottom of the wheel) so that when placed on the culvert inner bottom, the center of mass of the tire-tread motorized vehicle 10 is in the middle of the wheel (2 inches above the ground and 1 inch from both sides of the wheel so that the tire-tread motorized vehicle is in balance) when fully loaded. In this configuration, the tire-tread motorized vehicle can travel along the side of a pipe with a bank angle of up to 19° (see Figures 1 and 2). Figure 15 and Figure 16 For different tire-tread motorized vehicle deck width and tire width configurations, the center of mass position and the rollover angle should be calculated.

[0062] In the two-wheel embodiment, it is important that the front wheel (guide wheel 42) and the rear wheel (powered wheel 51) be aligned. One way to accomplish this is to employ a pair of laser alignment devices to indicate when the guide wheel is aligned with the powered wheel. Figure 8A laser alignment transmitter 54 is shown connected to the deck 33 near the power wheels 51. A laser alignment receiver 56 is shown connected to the guide wheel assembly. The laser alignment transmitter 54 and the laser alignment receiver 56 together form a pair of laser alignment devices. Other alignment checkers such as photoelectric checkers can also be used.

[0063] Balancing and directional control is handled by the guide wheels 42 mounted on a Y-shaped fork 48 which is connected to the guide wheel frame by a 360° bearing 40. The stem 45 of the fork 48 is threaded to a bearing mounted on the tracked motorized vehicle frame allowing the guide wheels 42 to rotate freely. A steering motor 57 is also mounted on the tracked motorized vehicle frame 34 above the guide wheels 43 with the motor shaft connected to the stem 45 by a threaded coupling.

[0064] To keep the guide wheels 42 traveling on the inner bottom 39, the preferred tracked motorized vehicle 10 uses a first sensor combination. The first sensor combination preferably includes a steering motor 57 configured to control the rotation of the stem 45. Preferably, the steering motor 57 will be a sensor guided stepper motor. An algorithm on the computer 19 will process the sensor data and keep the center of gravity of the guide wheels 42 balanced and keep the guide wheels 42 traveling on a course along the center of the pipe.

[0065] Additionally, the first sensor combination will also preferably include a horizontal proximity sensor 60. The horizontal proximity sensor 60 is mounted on the deck and is configured to check the distance to the pipe sidewall. Preferably, the horizontal proximity sensor 60 is a bi-directional sensor mounted on an adjustable plate. Using the adjustable plate, the horizontal proximity sensor 60 can be positioned at an elevation of half the depth of the pipe to measure the distance to both sidewalls. Like the stepper motor, the computer 19 tracks the distance to the sidewalls. In this way, the computer 19 can detect when the distance to the sidewalls changes and then re-orient the tracked motorized vehicle 10 back onto the inner bottom 39 and thus to the center of the pipe 13.

[0066] Alternatively, a pair of kickout wheels like bicycle kickstands can be added to keep the two wheeled tracked motorized vehicle 10 upright.

[0067] To accumulate spatial data as the tracked motorized vehicle moves along the inner bottom 39, the preferred tracked motorized vehicle 10 uses a second sensor combination. The preferred second sensor combination includes a dual axis inclinometer 63 configured to measure the slope of the pipe 13, a distance sensor 66 configured to measure the distance traveled by the tracked motorized vehicle 10, a digital compass 69 for measuring the orientation of the tracked motorized vehicle 10, and a vertical proximity sensor 72 configured to measure the distance to the inner top surface of the pipe.

[0068] In the event that the tire drive motorized vehicle / electric vehicle travels through curves and / or bends that obstruct the distance sensor from reaching the start reflector 30 on the base station 24, the distance traveled by the tire drive motorized vehicle / electric vehicle can be measured by the Hall sensor 57 on the drive wheel 51. While there are many alternative methods of recording distance traveled, it is preferred to add a software program to the motor controller 53 to monitor how many times a tire drive motorized vehicle / electric vehicle wheel turns. In this way, the distance traveled can be calculated by multiplying the number of turns of the wheel by the circumference of the wheel. It is known in the art how to use magnets mounted on the wheel to set up Hall sensors to count the number of turns of the wheel.

[0069] It is preferred that the dual axis inclinometer 63 (or tilt sensor) be as accurate as possible, as its readings affect the resulting X, Y coordinate data. A preferred resolution is at least 0.0002" / ft 05 5 arc seconds (0.001° or 0.020 mm / meter), and a preferred accuracy is at least ±0.0004" / ft or 0.002°, 0° to 0.5° and ±0.004° at other angles. One example of a suitable dual axis inclinometer has been found to be sold under the name Digi-Pas, Model DWL-1500XY or higher.

[0070] At the same time, the second sensor package enables the tire drive motorized vehicle / electric vehicle 10 to collect X, Y, Z coordinates and distance traveled from the origin, as well as other data as it travels through the pipe. The collected data is processed, analyzed and CAD plotted to provide an accurate comparison of the as-built to the design plan. Additionally, the data can also be used to control the stepper motors of the guide wheels to align the guide wheels and the tire drive motorized vehicle / electric vehicle wheels on the pipe invert.

[0071] Additionally, the vertical proximity sensor 72 indicates when vertical deflection occurs. As shown in FIG. 6, vertical deflection can occur in the pipe when the vertical load has exceeded the design limit. By placing the vertical proximity sensor 72 and keeping the guide wheels 42 traveling on the invert 39, any decrease in the distance to the bottom of the pipe 13 indicates deflection. This decrease in vertical distance can then be converted to a percentage of deflection.

[0072] Optionally, the tire drive motorized vehicle / electric vehicle 10 can also be equipped with a video camera 77 and lights 79, preferably mounted on the front of the tire drive motorized vehicle / electric vehicle 10.

[0073] Automotive type tire motor / electric vehicle

[0074] In the five-wheel embodiment, it is preferred that the guide wheel assembly be connected to the deck via a torsion spring 80 (or spring hinge), where the torsion spring 80 is biased to cause the front support to rotate towards the four wheels. This causes the guide wheels to travel on the invert, while the other four wheels travel higher on the pipe wall.

[0075] The car-type wheeled motorized vehicle 82 can use the same electronics package as the bicycle-type wheeled motorized vehicle 10. For example, as with the two-wheeled embodiment, a miniature stepper steering motor 57 is preferably used to adjust the guide wheels 42 and the main deck 33 and to align them with the alignment of the pipe-insole 39. Likewise, the embodiments of the car-type guide wheels 42, stepper steering motor 57, horizontal proximity sensor 60, LED lights and camera, height-adjustable plate, and laser receiver for alignment checks are the same as for the bicycle-type wheeled motorized vehicle. The powertrain, instrument array, and laser emitter for alignment checks are also preferably the same as for the bicycle-type wheeled motorized vehicle 10.

[0076] One major difference is that the four wheels of the car-type wheeled motorized vehicle 82 do not rest on the pipe-insole 39 (do not contact the pipe-insole). Instead, the guide wheels 42 with long pole yokes 48 at the front of the wheeled motorized vehicle 82 rest on the pipe-insole 39. This enables direct measurement of the insole and improves the accuracy of the data collected.

[0077] The guide wheels 42 for the car-type wheeled motorized vehicle 82 are the same as for the two-wheeled wheeled motorized vehicle 10, except that the guide wheel deck frame 44 (or "front frame 44") is preferably connected to the deck 33 by an object that causes the deck frame 44 to rotate toward the four wheels (i.e., the ground). In this way, the guide wheels 42 are biased against the insole 39. This connection can be achieved in various ways known in the art. Preferably, the guide wheel deck frame 44 is connected to the deck 33 by one or more torsion springs 80. The torsion springs 80 press the guide wheels 42 against the pipe-insole 39 regardless of the pipe size, while the main deck's multiple wheels are on the curved side of the pipe 13 and thus are higher and above the pipe-insole 39.

[0078] Keeping tire motor / electric vehicle embodiment on centerline of pipe

[0079] Preferably, the horizontal proximity sensor 60 is mounted on a vertically placed height-adjustable plate 75. The sensor 60 should be set at an elevation equal to half the diameter of the pipe, but this is not essential. It is best if the sensor measures the distance to both sides of the pipe wall. This measurement helps to control the guide wheels 42 to align with the pipe-insole crown line.

[0080] Figure 9 The guide wheels 42 and power wheels 51 are shown running on the insole 39 in a straight pipe 13. Figure 10 The guide wheels 42 are shown changing direction in the case of a change in pipe course. Figure 11It is illustrated that when the tire electric machine / motorcycle 10 leaves the inner bottom 39 of the pipe 13, the guide wheel 42 pulls the drive wheel 51 towards the inner bottom 39.

[0081] The two-wheeled bicycle type tire electric machine / motorcycle deck 33 and guide wheel frame 44 are a one-piece unit. The guide wheel is mounted on the unit body through a bearing. In the five-wheeled car type, the drive wheel frame and tire electric machine / motorcycle deck are connected through a torsion spring 80.

[0082] The y-axis reading of the two-axis sensor indicates the inclination of the tire electric machine / motorcycle deck and the drive wheel hub (if any).

[0083] The two-way proximity sensor indicates whether the guide wheel is on the inner bottom. The algorithm will constantly compare the difference (AS) between the distance of the tire electric machine / motorcycle to the right side wall and the distance of the tire electric machine / motorcycle to the left side wall and the y-axis inclination (β) of the tire electric machine / motorcycle deck.

[0084] Maintaining the balance of the tire electric machine / motorcycle is the primary task. An algorithm is preferably used to maintain the y-axis (β) in the horizontal plane to be zero. For β>0, the tire electric machine / motorcycle deck is closed to the left, then the step motor is turned to the right by an angle γ, which is equal to the adjustable unit angle of the micro step motor (in degrees or minutes according to the specifications of the step motor), the duration of travel T=Hb / (v*SIN(γ)), where v is the speed of the motor wheel. The step motor will reset the drive wheel rod to the initial position. The same applies to the right tilt.

[0085] Hc=height of the center of mass from the inner bottom

[0086] Hb=distance of the tire electric machine / motorcycle center of mass line to the gutter line at the wheelbase

[0087] Hb=Hc*TAN(β)

[0088] Second, an algorithm is used to keep the drive wheel aligned with the gutter line of the inner bottom. For AS>0, the drive wheel is closed to the left, then the step motor is turned to the right by an angle α, which is equal to the adjustable unit angle of the micro step motor (in degrees or minutes according to the specifications of the step motor), the duration of travel T=AS / (2*v*SIN(α)), where v is the speed of the motor wheel. The step motor will reset the drive wheel rod to the initial position. Similarly, the drive wheel deviates to the right.

[0089] Example: Algorithm for adjusting tire motor / electric vehicle deck balance and undertray guide wheels (in plain language, not machine language) Collecting pipe data

[0090] Step 1: Start

[0091] Step 2: Declare variables

[0092] 1. Dual axis sensor readings x and y,

[0093] a. x axis represents longitudinal, zero represents level height, negative values represent downhill, positive values represent uphill; slope readings Sxi = Sx1, Sx2, … Sxn.

[0094] b. y axis represents lateral, zero represents level height, negative values represent lean to the left, positive values represent lean to the right; slope readings Syi = Sy1, Sy2, … Syn.

[0095] 2. Dual proximity sensors Lr and Ll

[0096] a. The algorithm will constantly compare the difference (AS) between the distance of the tracked vehicle to the right wall and the distance of the tracked vehicle to the left wall and the y axis tilt of the tracked vehicle deck (β).

[0097] b. Pipe diameter Cd

[0098] c. Dual proximity sensor Ap accuracy percentage

[0099] d. Distance to left wall Ll

[0100] e. Distance to right wall Lr

[0101] f. AS = Lr - Ll

[0102] g. Input acceptable left to right wall deviation percentage

[0103] h. Define acceptable length left to right deviation, ASok = ABS(Lr - Ll) / Cd * Ap

[0104] 3. Time

[0105] a. Sensor refresh time Ts (milliseconds)

[0106] b. Tracked vehicle travel time from start Ti (milliseconds)

[0107] c. Algorithm calculation check time Tx, initially set equal to 0

[0108] d. Duration of tracked vehicle steering wheel adjustment controlled by stepper motor - Tc

[0109] 4. Motorized wheels

[0110] a. Wheel diameter = Dw

[0111] b. Power wheel rpm setting

[0112] c. Set motorized wheel rpm = rpms

[0113] d. Adjusted Power Wheel rpm, nrpm = 1, 2, 3, …, 10; nrpm is user defined denominator for adjusting rpm

[0114] e. Speed - v, where v = π * Dw * rpm / 60 (in fps)

[0115] f. Motor Wheel Mode, Forward, Reverse, and Stop

[0116] 5. Stepper Motor Angle γ

[0117] a. Γ = 0, original position aligned with drive wheel and tire motor / electric vehicle deck.

[0118] b. Subsequence Γ1, Γ2, … Γn Stepper Motor Turn Angles.

[0119] c. Γmicro, adjustable unit angle of stepper motor (in degrees or minutes depending on stepper motor specifications)

[0120] d. # = unit of stepper motor turns

[0121] 6. Tire Motor / Electric Vehicle Center of Mass

[0122] a. Hc = Center of Mass elevation from inner bottom

[0123] b. Hb = Distance from tire motor / electric vehicle center of mass line to gutter line at wheelbase

[0124] c. βok = 1°, acceptable y-axis tilt angle, if y-axis sensor reading is below said value, no stepper motor adjustment will be made, degrees input by user

[0125] d. βtipa = 14° or βtips = 24.93%, calculated per tire motor / electric vehicle center of mass tip; angle percentage = tan(angle degrees) * 100%

[0126] 7. Tire Motor / Electric Vehicle Position

[0127] a. Travel Distance Lti = Lt1, Lt2, … Ltn

[0128] Step 3: Read variables from sensors and inputs on single board computer.

[0129] WHILE condition (loop)

[0130] Step 4: Check if bending at pipe or pipe bending

[0131] 4.1 If Ti = Tx or > Tx (Step 5 directs wheel adjustment completion), go to 4.2

[0132] Else return to 4.1

[0133] 4.2 If (Sxi > 0 and Sxi-1 < 0) or (Sxi < 0 and Sxi-1 > 0), go to step 7

[0134] Otherwise

[0135] Step 5: Keep the y axis of the tracked motor / electric vehicle deck in a horizontal position.

[0136] If ABS(β) < βok, go to step 6

[0137] Hb = Hc * TAN(β)

[0138] # = INT(β / Γmicro)

[0139] Γ = # * Γmicro

[0140] Tc = Hb / (v * SIN(Γ))

[0141] Otherwise

[0142] If β > 0, turn the micro step motor Γ degrees to the right.

[0143] Otherwise

[0144] If β < 0, turn the micro step motor Γ degrees to the left.

[0145] Then

[0146] Tx = Ti + Tc

[0147] Step 6: Keep the driving wheel aligned with the inner bottom groove line.

[0148] 6.1 If Ti = Tx or > Tx (the tracked motor / electric vehicle deck balance adjustment is completed), go to 6.2

[0149] Otherwise, go back to 6.1

[0150] 6.2 If ABS(β) > βok, go to step 4

[0151] ΔS = Lr - Ll

[0152] ΔSok = ABS(Lr - Ll) / Cd * Ap

[0153] If ABS(ΔS) < ΔSok, go to step 5

[0154] Tc = ΔS / (2 * v * SIN(Γmicro))

[0155] If ΔS > 0, turn the step motor Γmicro degrees to the right,

[0156] Else

[0157] If ΔS < 0, turn micro stepper motor Γmicro degrees to the left.

[0158] Else

[0159] Tx = Ti + Tc

[0160] ENDWHILE (go back to step 4)

[0161] Step 7 - Turn guide wheels at curves, bends and reverse grades

[0162] At curves, bends and reverse grades; where the x-axis changes, (Sxi > 0 and Sxi-1 < 0) or (Sxi > 0 and Sxi-1 < 0)

[0163] 7.1 Set rpm = 0, stop, time stamp Tts = Ti

[0164] 7.2 Loop right, i = 1 to (INT(MaxA / Γmicro) + 10)

[0165] Turn stepper motor Γmicro degrees to the right, read Lr and Ll, ΔSr1 = Lr - Ll

[0166] End right loop

[0167] Reset stepper motor to original position 1

[0168] 7.3 Loop left, i = 1 to (INT(MaxA / Γmicro) + 10)

[0169] Turn stepper motor Γmicro degrees to the left, read Lr and Ll, ΔSl1 = Lr - Ll

[0170] End left loop

[0171] Find the minimum of (ΔSri and ΔSl1)

[0172] Set stepper motor to the angle corresponding to the minimum of (ΔSri and ΔSl1)

[0173] Set motor speed to nrpm

[0174] Let the tire motor / electric car advance Li + 3 inches

[0175] If (Sxi > 0 and Sxi-1 < 0) or (Sxi > 0 and Sxi-1 < 0), go to 7.1

[0176] Else go to 4.1

[0177] Step 8: Stop

[0178] Inclinometer calibration

[0179] The single board computer 19 processes the data collected from the dual axis inclinometer 63 and the level proximity sensor 60 and controls the rotation of the guide wheel 42 through the steering motor 57.

[0180] There are three important conditions for obtaining accurate pipe grade measurements from the dual axis inclinometer 63:

[0181] 1. For the two wheel embodiment, it is critical that the guide wheel and drive wheel are aligned. This can be verified via the laser alignment transmitter 54 connected to the deck 33 and the laser alignment receiver 56 connected to the guide wheel assembly.

[0182] 2. For all embodiments, it is critical that the guide wheel is traveling on the inner bottom 39. This can be verified by the level proximity sensor 60 reading equal distances on either side of the tracked vehicle. Alternatively, if there is only a one way proximity sensor 60, it is calibrated to a distance that keeps the guide wheel 42 on the inner bottom 39.

[0183] 3. For all embodiments, it is critical that the y axis reading of the inclinometer is level when the pipe is level. This can be verified by ensuring that the dual axis inclinometer 63 is calibrated before starting the tracked vehicle.

[0184] Figures 19 to 21

[0185] The dual axis inclinometer 63 is factory calibrated. Preferably, the base of the dual axis inclinometer 63 is adjusted to the (0,0) position before starting the tracked vehicle 10 when the tracked vehicle is standing on a flat surface. Preferably, the base of the dual axis inclinometer 63 can be adjusted independently in the x direction and the y direction. This way, regardless of uneven wear and other differences in the tracked vehicle wheels, these elements can be adjusted in the x direction and the y direction relative to the deck. The preferred way to accomplish this is by adding a sensor deck 83 (base) that is connected to the tracked vehicle deck by adjustable bars running in the x direction and the y direction. This allows the sensor deck to be kept level in the x direction and the y direction before it is placed in the pipe.

[0186] Taking into account uneven tire wear and metal expansion and contraction of tire motor / electric vehicleOne embodiment of a sensor deck 83 that can be leveled independently in both the x and y directions is illustrated. For the purposes of this specification, the x axis is the axis that is transverse to the tube length, and the y axis is parallel to the tube length. As shown, the x-direction bar 86 is connected between the deck walls 89. The y-direction bar 92 is connected to the x-direction bar 86. Both the x-direction bar 86 and the y-direction bar 92 have at least two modes: a fixed non-rotating mode and a rotating mode. These two modes allow the user to rotate the bars, respectively, until the sensor deck 83 reaches the desired orientation, and then fix them to prevent rotation. In this way, the sensor deck 83 can be calibrated before the tirebot 10 is launched.

[0187] Adjusting the sensor deck 83 can be done manually or automatically. The preferred way to manually adjust the sensor deck 83 is to first secure the dual-axis clinometer 63 to the sensor deck 83. Next, the sensor deck X axis is then adjusted by turning the x-direction tube 86. Once the sensor deck is oriented in the desired position, the x-axis adjustable lock 103 is locked to prevent rotation. Next, the sensor deck Y axis is adjusted by rotating the y-direction bar 92. Once the sensor deck is oriented in the desired position, the y-axis lock 106 is locked to prevent rotation. The x-direction and y-direction bars (86, 92) are preferably stainless steel tubes that can be locked in place. For example, a tube lock 103 can be mounted to the outer wall 89 of the tirebot, where the x-direction bar 86 can be locked in place. Also, a hole in the middle of the x-direction bar 86 can accommodate a threaded stainless steel coupler for fastening the y-direction bar 92 via a bolt end with a cross-screwdriver imprint. Thus, the user can use a screwdriver to lock and unlock the y-axis lock (106) of the y-direction bar 92. Also, the user can use the lockable bolt 103 to manually adjust the sensor deck 83 along the x axis.

[0188] The preferred way to automatically adjust the sensor deck 83 is to lock the knob of the y-direction bar 92 with a micro-stepper motor, and to lock one of the x-axis locks of the x-direction bar 86 with a micro-stepper motor. An algorithm in the single-board computer 19 can read the x and y axes of the two-dimensional clinometer during tirebot setup, and lock the dual-axis clinometer in the (0, 0) position. However, the addition of micro-stepper motors can change the position of the tirebot's center of mass, which must be accounted for in the control algorithm of the micro-stepper motors of the guide wheels. A sponge can be placed between the clinometer deck and the tirebot deck to minimize vibrations.

[0189] Figure 20

[0190] In addition to setting up the sensor deck 83, it is also preferred to calibrate the tirebot 10 in the event of uneven wheel wear. The preferred way to calibrate the sensor deck 83 is as follows:

[0191] 1. Place the tracked motorized vehicle 10 as shown on a leveling pad 95. The leveling pad 95, with leveling pad inclinometer 98, preferably a two-way inclinometer; Example of preferred tire motor / electric vehicle for acquiring relevant data (e.g., using a bicycle type tire motor / electric vehicle)

[0192] 2. Adjust leveling screws 100 until the leveling pad inclinometer 98 reaches a reading of (0,0);

[0193] 3. Place the tracked motorized vehicle 10 on the calibrated leveling pad 95;

[0194] 4. Adjust the x-direction bar 86 and the y-direction bar 92 until the sensor deck 83 reaches the (0,0) position. In this way, the tracked motorized vehicle’s dual axis inclinometer 63 can read the pipe grade regardless of the wear on the tracked motorized vehicle’s wheels.

[0195] Snakelike tire motor / electric vehicle embodiment Figures 24 to 28

[0196] The tracked motorized vehicle 10 can be launched into the pipe 13 from a manhole. The base station 24 is placed at the bottom of the manhole and the wireless Wi-Fi repeater 21 is placed on the ground near the manhole so that wireless communication can be relayed to the wireless handheld device 16.

[0197] Perform an inspection:

[0198] 1. Turn the tracked motorized vehicle 10 on wirelessly by activating a physical switch on the tracked motorized vehicle or using the remote control device 16;

[0199] 2. Turn on the tracked motorized vehicle’s sensors (this can be automatic when a separate switch on the tracked motorized vehicle or a setting on the remote control device is activated);

[0200] 3. Enter data settings, which can include the designed pipe diameter, grade, and coordinates so that the tracked motorized vehicle can plot actual data for as-built comparison to the design. The data can be stored on the tracked motorized vehicle or a separate processing computer;

[0201] 4. Set the tracked motorized vehicle’s movement to (a) continuous movement or (b) intermittent stop movement so that data is collected without movement vibration;

[0202] 5. Set the motorized wheel rpm and drive direction (forward or reverse) to start moving the tracked motorized vehicle.

[0203] ​The tracked vehicle passes through the pipeline to collect and record data from the on-board sensors, including a digital compass 69 to measure the orientation of the tracked vehicle, a distance sensor 66 to measure the distance traveled by the tracked vehicle 10, a dual axis inclinometer 63 to measure the x and y axis of the tracked vehicle deck and the inclination of the pipeline 13, a hall sensor 57 to measure the rpm of the motorized wheels, and a vertical proximity sensor 72 to measure the distance between the tracked vehicle and the bottom (inner top) of the pipe for vertical deflection. The single board computer 19 records and processes the data. By processing and analyzing the collected data, an as-built map of the pipeline can be drawn.

[0204] Accuracy of the data collected - depends on:

[0205] 1. Accuracy of the sensors

[0206] 2. Alignment of the instrument room to the inner bottom of the pipeline

[0207] 3. Vibration of the motorized power wheels

[0208] 4. Wheel deformation, pipeline irregularities and debris

[0209] Data collection, processing and analysis - the preferred embodiment of the present invention contains the sensor array described herein, but is not limited to these sensors. Likewise, embodiments containing a limited array of these sensors are also covered by the present invention. The sensor data is collected continuously on a time stamp at a frequency of once every 10 ms.

[0210] Sensing, verifying and calculating the pipeline route - the dual axis inclinometer 63 and laser range sensor 66 track the orientation of the tracked vehicle and the inner bottom of the pipeline.

[0211] Pipeline deflection measurement - the vertical proximity sensor 72 measures the distance from the sensor to the bottom of the pipeline, which measures the pipeline deflection by the following equation.

[0212] Pipeline deflection = pipeline diameter - proximity reading - sensor to the bottom of the wheel height.

[0213] The position and distance traveled by the tracked vehicle 10 is measured by one or more devices, including (1) the dual axis inclinometer 63 provides the inclination, and (2) the laser range finder 66 measures the distance traveled by the tracked vehicle from the starting point.

[0214] On-board data storage and processing - the single board microcomputer 19 and microprocessor for storing and processing all of the collected sensor data.

[0215] Visual inspection and recording - As the tracked vehicle passes through the pipe, camera 77 can provide a video recording of the pipe and lights 79 can provide illumination.

[0216] The collected data is also stored on the single board computer 19 and can later be downloaded, processed, analyzed and plotted against the design. This allows third party inspectors to determine where deviations exist and to check the accuracy of the lines and slopes specified by the design engineer, as well as the location and degree of vertical deflection of the constructed pipe.

[0217] It is particularly important to know the location of other utility mains and sewer or drain branch pipes. Branch pipes are typically less than 8 inches in diameter and less than 100 feet in length. Branch water service pipes tend to be steeper in slope and can have large point slopes and / or horizontal direction changes to accommodate other utility mains.

[0218] To work in branch pipes, the previously described tracked vehicle embodiments are preferably scaled down. This is preferably accomplished by removing many of the instruments and reducing the wheel diameter from 4 inches to 2 inches. The preferred scaled down version uses instruments including dual axis clinometer 63 (preferably a micro electro-mechanical system ("MEM") (0.22 ounces), compass 69 (also preferably a MEM (1 ounce)), camera 77 and lights 79. The installation of branch pipes can be accompanied by sharp horizontal and vertical changes and wireless transmission will typically not work well. The tracked vehicle is preferably connected to base station 24 with hard wired power and data lines.

[0219] Figure 24

[0220] If the vertical and horizontal alignment changes of a branch water service pipe are too great for the scaled down bicycle or car type tracked vehicle to operate, a serpentine tracked vehicle such as the one shown Figure 25 can provide as-built details for the branch water service pipe.

[0221] Turning now to Figure 24 and Figure 25 , the preferred serpentine tracked vehicle 120 includes four separate decks: a first deck 123, a second deck 126, a third deck 129 and a fourth deck 132. Each deck is preferably 3 inches wide. Figure 28 The unpowered embodiment is illustrated, and Figure 27The powered embodiment is illustrated. The unpowered embodiment would be used from the uphill side of the pipe and utilizes gravity to lower the tirebot down the pipe 13. This can be accomplished by attaching a tether to the front end of the tirebot 120 and using the tether to lower and retrieve the tirebot. The powered embodiment can be used from the downhill side of the pipe 13.

[0222] With respect to the unpowered embodiment, the first, second, third and fourth decks (123, 126, 129 and 132) are all supported by omni-directional ball type casters, commonly referred to as ball transfer units 135. Preferably, the ball transfer units employ 1.5 inch diameter stainless steel balls and allow omni-directional movement. Also preferably, the ball transfer units 135 are connected to a double hole flange for mounting to the underside of the deck.

[0223] The first and second decks (123, 126) are preferably connected by a horizontally oriented hinge 138. Likewise, the hinge 138 also connects the third and fourth decks (129, 132). A sliding hinge, preferably a plastic sliding hinge, has been found to work well. This hinged connection allows the tirebot 120 to move through large vertical changes as shown. Figure 28

[0224] As shown, the second and third decks (126, 129) are preferably connected with a spherical joint 141. The in-line spherical joint connection allows up to 45° of rotation in all directions, which enables the tirebot to move in the horizontal direction along x-y-z axis changes as shown Figure 26 ​ and vertical changes as shown. In this manner, the tirebot can move with large grade and line changes.

[0225] A light weight instrument, preferably 1 to 3 ounces in weight, should be placed in the center of the deck respectively. A 1.5 inch stainless steel ball weighs 8 ounces, so the center of mass of the ball mounting flange keeps the ball on the inner bottom of the circular branch pipe without the risk of flipping or inverting as shown. ​

[0226] In the powered embodiment, the second deck 126 is supported by powered wheels 51 instead of by ball transfer units 135. A single brushless hub motor wheel is preferably used.

[0227] ​​​The serpentine-tired electric motorized vehicle base station 24 is similar to the base station 24 for the bicycle-tired electric motorized vehicle. It can include a power take-off spool 27 for taking off power from the electric motorized vehicle, a Wi-Fi transmitter for transmitting data to a wireless handheld control device, and the other items described above. However, for the serpentine-tired electric motorized vehicle 120, it is preferred that the battery 36 not be placed on the electric motorized vehicle itself. Rather, the battery 36 can be located in the base station 24 and connected via power lines to the electronic components and power wheels 51 of the electric motorized vehicle 120.

[0228] Preferably, the serpentine-tired electric motorized vehicle 120 is equipped with a single board computer 19, a camera 77, a light 79, a micro-electro-mechanical system ("MEM") dual-axis inclinometer 63, a MEM compass 69, and a line length measuring mechanism. Preferably, the line length measuring system is a digital line length measuring system. An example of such a system is sold under the trademark Rapala Digital Line Counter. But other systems can be used as well, so long as they can identify how far the electric motorized vehicle 120 is from the starting location. These items are mounted on the decks (123, 126, 129, 132). These electronic components can be connected to the base station 24 at the service portal with power and data lines.

[0229] The present invention enables cost-effective quality control of pipe installation according to design specifications. The present invention enables construction quality required under traditional and current practices to be implemented, minimizes construction delays and costs, reduces uncertainties, and mitigates the risk of disputes arising from construction that deviates from the contract.

[0230] While the present invention has been described in terms of specific embodiments and applications, which are illustrative of the broader principles of the application, it is to be understood that the application is not limited to any such embodiments and applications, and that many alternatives, modifications and variations are possible in light of the teachings herein without departing from the spirit of the application.

Claims

1. A tire-mounted motor / electric vehicle for inspecting pipes, the tire-mounted motor / electric vehicle comprising: The deck, which includes a horizontal platform and a forward support member, A drive wheel, rotatably connected to the rear of the deck. Guide wheel assembly, the guide wheel assembly being connected to the front support member, the guide wheel assembly comprising: A rod, which is rotatably connected to the front support member. A fork-shaped component, the fork-shaped component being connected to the distal end of the rod. A guide wheel, which is rotatably connected to the fork-shaped member. A computer, supported by the deck, including a processor and memory, configured to record data and communicate with a base station; A first sensor assembly, configured to maintain the guide wheel's movement along the inner bottom of the pipe, the first sensor assembly being supported by the deck and communicating with the computer, the first sensor assembly comprising: A steering motor, configured to control the rotation of the lever. A horizontal proximity sensor, configured to detect sidewall distances. A second sensor assembly, used to accumulate spatial data as the tire-driven motor / electric vehicle moves along the inner bottom, is supported by the deck and connected to the computer. The second sensor assembly includes: A biaxial inclinometer, configured to measure the inclination of the pipe. A distance sensor configured to measure the distance traveled by the tire-mounted motor / electric vehicle. A digital compass, used to measure the orientation of the tire-mounted motor / electric vehicle. A vertical proximity sensor, configured to measure the distance to the inner top surface of the pipe. A battery for powering the drive wheel, the computer, the first sensor assembly, and the second sensor assembly.

2. The tire-type motor / electric vehicle according to claim 1, wherein, The guide wheel and the drive wheel can travel simultaneously on the inner bottom.

3. The tire-type motor / electric vehicle according to claim 2, wherein, The drive wheel includes four wheels, and the front support member is connected to the horizontal platform via a spring hinge, which is biased to cause the front support member to rotate toward the four wheels.

4. The tire-type motor / electric vehicle according to claim 1, wherein the tire-type motor / electric vehicle further comprises... A first laser alignment unit is mounted to the guide wheel assembly, and a second laser alignment unit is mounted to the deck. The first and second laser alignment units are connected to the computer and are oriented to indicate when the guide wheel is aligned with the drive wheel.

5. The tire-type motor / electric vehicle according to claim 1, wherein, The drive wheel includes four wheels, and the horizontal platform is supported by the four wheels that are rotatably connected to the horizontal platform.

6. The tire-type motor / electric vehicle according to claim 1, further comprising a sensor deck mounted to the deck, the sensor deck being adjustable in the x and y directions.

7. The tire-type motor / electric vehicle according to claim 6, wherein, A y-direction bar is connected between the sensor deck and an x-direction bar, the x-direction bar being rotatably connected to the opposite deck wall.

8. The tire-type motor / electric vehicle according to claim 7, wherein, The y-axis bar allows the sensor deck to rotate relative to the x-axis bar.

9. The tire-type motor / electric vehicle according to claim 1, wherein, The deck includes: The first deck, supported by the first ball transfer unit, The second deck, supported by the second ball transfer unit, The third deck, supported by the third ball transfer unit, and The fourth deck, supported by the fourth ball transfer unit, The first deck and the second deck are connected by a hinge. The second deck and the third deck are connected by a ball joint, and The third deck and the fourth deck are connected by hinges.

10. The tire-type motor / electric vehicle according to claim 9, wherein, The first ball transfer unit includes a metal ball with a diameter of no more than 1.5 inches.

11. The tire-type motor / electric vehicle according to claim 9, wherein, The second deck is supported by a power wheel.

12. The tire-type motor / electric vehicle according to claim 9 further includes a camera, a lamp, a microelectromechanical system biaxial inclinometer, and a microelectromechanical system compass.

13. The tire-type motor / electric vehicle according to claim 9, further comprising a tether connected to one end of the tire-type motor / electric vehicle.

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