Modular pipeline crossing device

Abstract

The present application relates to a robotic device having: a first wheel and a second wheel with rollers, the first wheel and the second wheel being connected by a frame; a third wheel and a fourth wheel with rollers, the third wheel and the fourth wheel being circumferentially offset from the first wheel and the second wheel; and a clamping assembly connected to the frame and configured to apply a force for urging the third wheel and the fourth wheel toward the pipe so as to secure the robotic device to the pipe. Another robotic device has: a first wheel and a second wheel with rollers on a first side of the conduit; the third wheel and the fourth wheel are provided with rollers and are arranged on the second opposite side of the pipeline; and a gripping member connecting the first and second wheels with the third and fourth wheels and arranged to apply a force for urging the wheels toward the pipe so as to secure the robotic device to the pipe. The robotic device may have a modular design in which clamping members / assemblies of different sizes can be replaced in order to accommodate pipes of different diameters.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims the benefit of and priority to U.S. Provisional Patent Application No. 63 / 342,840, filed May 17, 2022, and U.S. Provisional Patent Application No. 63 / 425,348, filed November 15, 2022, each of which is incorporated herein by reference in its entirety for all purposes. Background Art

[0003] Many existing pipeline crawling devices are designed to travel inside a pipeline, or are not equipped to travel around obstacles that it may encounter outside the pipeline. In view of the limitations of current technology, there remains a need for a pipeline crawling device that effectively drives on horizontal and vertical pipelines and guides around and / or over potential obstacles, such as obstacles that present a change in the effective diameter of the pipeline, a change in the effective curvature of the pipeline, and / or obstacles that protrude from the pipeline in one or more radial directions. More specifically, the pipeline crawling device needs to be effectively guided around and / or over flanges, valves, T-pieces, elbows, supports, etc.

[0004] Additionally, there remains a need for a pipeline crawling device that effectively moves relative to a pipeline without magnets, vacuum, or air power. Figure 1 , Figures 2 and 3, many existing robots utilize magnets (illustrated) to remain attached to the pipe. The reliance on magnets significantly increases the weight of the robot, which may increase power consumption because (i) stronger motors and more powerful batteries are used to move the robot along the pipe (both of which add even more weight), and (ii) robots utilizing electromagnets must use even more power to generate the additional magnetic force required to compensate for the increased weight of the larger motor and battery. Likewise, the increased weight of the magnets themselves requires the use of even larger magnets in order to generate sufficient magnetic force to keep the robot (including the weight of the magnets) fixed to the pipe. Magnets also do not work well (or at all) on insulated pipes because the insulators create gaps between the magnets and the metal pipe. Moreover, the increased weight of the magnets may make the robot more difficult to transport and install on the pipe. Also, the amount of magnetic force cannot be adjusted without replacing one magnet with another, which can be time-consuming and labor-intensive when it comes to transporting additional magnets.

[0005] There is also a need for a robot that can maintain substantially uniform contact with the pipe across the width of each wheel. For example, referring to FIG3 , many existing robots have wheels that are arranged to rotate about an axis perpendicular to the direction of travel, much like the wheels of a car. On the curved surface of the pipe, this causes the wheels to ride on their inner edges rather than contacting the pipe across the width of each wheel. This can lead to slippage and other negative conditions during operation.

[0006] Additionally, there remains a need for a pipeline crawling device and related systems that effectively perform desired functions relative to the pipeline itself, such as corrosion detection, wall thickness measurement, or based on traveling along a pathway but independently of the pipeline itself, such as imaging and / or sensing locations accessible by traveling along the pipeline. These and other needs are advantageously met by the devices and systems disclosed herein. Summary of the invention

[0007] The present invention relates to a robotic device for traversing the outer surface of a pipe. In various embodiments, the robotic device may include a first wheel and a second wheel, the first wheel and the second wheel are connected by a frame and are configured to be positioned on the outer surface of the pipe, each wheel includes a plurality of rollers arranged around the circumference of the wheel; a third wheel and a fourth wheel, the third wheel and the fourth wheel are configured to be positioned on the outer surface of the pipe at a position circumferentially offset from the first wheel and the second wheel, each wheel includes a plurality of rollers arranged around the circumference of the wheel; and a clamping assembly connected to the frame, the clamping assembly connecting the third wheel and the fourth wheel and configured to apply a force for pushing the third wheel and the fourth wheel toward the outer surface of the pipe for fixing the robotic device on the pipe. The plurality of rollers on each wheel are each configured to rotate freely around the axis of rotation of the corresponding roller.

[0008] In some embodiments, when the robotic device is secured to the pipe, the respective axes of rotation of the first wheel and the second wheel are each arranged perpendicular to the longitudinal axis of the pipe. The first wheel and the second wheel of such an embodiment may be arranged to contact the outer surface of the pipe at different longitudinal positions along the length of the pipe when positioned on the surface of the pipe, and to align at a common circumferential position along the outer surface of the pipe.

[0009] In some embodiments, when the robotic device is secured to the pipe, the respective axes of rotation of the first wheel and the second wheel are each arranged parallel to the longitudinal axis of the pipe. The first wheel and the second wheel of such an embodiment may be arranged to contact the outer surface of the pipe at a common longitudinal position along the length of the pipe and at different circumferential positions around the circumference of the outer surface of the pipe when positioned on the surface of the pipe.

[0010] In various embodiments, the first and second wheels may be arranged to contact a first third of the circumference of the pipe outer surface, and the third and fourth wheels may be arranged to contact the second and third thirds of the circumference of the pipe outer surface, respectively.

[0011] In some embodiments, when the robotic device is fixed on the pipe, the rotation axes of the third wheel and the fourth wheel are set to be parallel to the longitudinal axis of the pipe, while in other embodiments, when the robotic device is fixed on the pipe, the rotation axes of the third wheel and the fourth wheel are set to be perpendicular to the longitudinal axis of the pipe.

[0012] In various embodiments, the clamping assembly may include: a stationary component, the stationary component rigidly attached to the frame; and a first articulated arm component and a second articulated arm component, the first articulated arm component having a proximal end rotatably connected to the stationary component, and the second articulated arm component having a proximal end rotatably connected to the stationary component, wherein the first articulated arm component and the second articulated arm component are configured to extend around opposite sides of the pipe. A third wheel can be connected to the distal end of the first articulated component, and a fourth wheel can be connected to the distal end of the second articulated component. In various embodiments, the clamping component may also include one or more biasing components, the biasing components being configured to generate a torque on the first articulated arm component and the second articulated arm component about their respective rotatable connections to the stationary component, for urging the third wheel and the fourth wheel toward the outer surface of the pipe to secure the robotic device to the pipe. In various embodiments, the frame can be configured to position the first wheel and the second wheel on a first third of the circumference of the outer surface of the pipe, and the length of the first articulated arm member and the length of the second articulated arm member can be configured to position the third wheel and the fourth wheel on a second third and a third third of the circumference of the outer surface of the pipe, respectively. In some embodiments, the length of the first articulated arm member and the length of the second articulated arm member can be configured to be adjustable so as to adjust the position of the third wheel and the fourth wheel on the outer surface of the pipe.

[0013] In various embodiments, the rotation axes of the first wheel and the second wheel can be set to be perpendicular to the longitudinal axis of the pipe when the robotic device is fixed on the pipe, and the rotation axes of the third wheel and the fourth wheel can be set to be parallel to the longitudinal axis of the pipe when the robotic device is fixed on the pipe.

[0014] In various embodiments, the first wheel and the second wheel may be configured to contact the outer surface of the pipe at different longitudinal positions along the length of the pipe when positioned on the surface of the pipe and to be aligned at a common circumferential position along the outer surface of the pipe, and the rotational axis of the third wheel and the fourth wheel may be configured to be parallel to the longitudinal axis of the pipe when the robotic device is fixed to the pipe. In some embodiments, the first wheel and the second wheel may be configured to contact a first third of the circumference of the outer surface of the pipe, and the third wheel and the fourth wheel may be configured to contact a second and third third of the circumference of the outer surface of the pipe, respectively.

[0015] In various embodiments, the robotic device may further include: a fifth wheel and a sixth wheel, wherein the fifth wheel and the sixth wheel are configured to be positioned on the outer surface of the pipe at a position circumferentially offset from the first wheel and the second wheel; and a second clamping assembly, wherein the second clamping assembly is configured to apply a force for pushing the fifth wheel and the sixth wheel toward the outer surface of the pipe to fix the robotic device to the pipe.

[0016] In various embodiments, the first wheel, the second wheel, and the frame may define a first module; the third wheel, the fourth wheel, and the clamping assembly may define a second module; and the clamping assembly of the second module may be detachably connected to the frame of the first module. In various embodiments, the clamping assembly may include a first articulated arm member and a second articulated arm member, the first articulated arm member and the second articulated arm member are configured to extend around opposite sides of the pipe, and the third wheel may be connected to the distal end of the first articulated arm member, and the fourth wheel may be connected to the distal end of the second articulated arm member. In some embodiments, the length of the first articulated arm member and the length of the second articulated arm member may be configured to be adjustable so as to adjust the position of the third wheel and the fourth wheel on the outer surface of the pipe.

[0017] In various embodiments, the robotic device may further include a third module configured to be detachably connected to the first module. The third module may include a fifth wheel and a sixth wheel configured to be on the outer surface of a second pipe (the second pipe having a different diameter from the pipe) and at respective circumferential positions on the outer surface of the second pipe that are the same as the circumferential positions on the outer surface of the first pipe; and a second clamping assembly configured to apply a force for pushing the fifth wheel and the sixth wheel toward the outer surface of the pipe for fixing the robotic device on the pipe. The second module may be configured to be separated from the first module, and the third module may be configured to be detachably attached to the first module so as to adapt to the diameter of the second pipe.

[0018] Additionally or alternatively, in various embodiments, the robotic device may include a third module detachably connected to the first module, the third module including a fifth wheel and a sixth wheel configured to be positioned on the outer surface of the pipe at a position circumferentially offset from the first wheel and the second wheel, each wheel including a plurality of rollers arranged around the circumference of the wheel; and a second clamping assembly configured to apply a force for urging the fifth wheel and the sixth wheel toward the outer surface of the pipe for securing the robotic device to the pipe. In embodiments, the second module may be detachably attached to a first end of the first module, and the third module may be detachably attached to a second opposite end of the first module.

[0019] In various embodiments, the first module may further include a seventh wheel and an eighth wheel, each wheel including a plurality of rollers arranged around the circumference of the wheel. In some embodiments, the seventh wheel and the eighth wheel may be arranged to be positioned on the outer surface of the pipe at a position axially offset from the position of the first wheel and the second wheel. In an embodiment, the seventh wheel and the eighth wheel are also aligned with the first wheel and the second wheel at a common circumferential position.

[0020] In another aspect, the present invention relates to another robotic device configured to traverse an outer surface of a pipe. In various embodiments, the robotic device may include a first wheel and a second wheel configured to be positioned on the outer surface of a pipe on a first side of the pipe, each wheel including a plurality of rollers arranged around the circumference of the wheel; a third wheel and a fourth wheel configured to be positioned on the outer surface of the pipe on a second circumferentially opposite side of the pipe, each wheel including a plurality of rollers arranged around the circumference of the wheel; and a clamping member connecting the first wheel and the second wheel to the third wheel and the fourth wheel, the clamping member configured to apply a force for urging the first wheel, the second wheel, the third wheel and the fourth wheel toward the outer surface of the pipe for securing the robotic device to the pipe. The plurality of rollers on each wheel may each be configured to freely rotate about the axis of rotation of the respective roller.

[0021] In various embodiments, the first wheel and the second wheel may be configured to be axially offset from each other when positioned on the first side of the pipe, while in other embodiments, the first wheel and the second wheel may be configured to be circumferentially offset from each other when positioned on the first side of the pipe in various embodiments. Similarly, in various embodiments, the third wheel and the fourth wheel may be configured to be axially offset from each other when positioned on the second side of the pipe, while in other embodiments, the third wheel and the fourth wheel may be configured to be circumferentially offset from each other when positioned on the second side of the pipe. In an embodiment, the third wheel and the fourth wheel may be circumferentially offset from the first wheel and the second wheel on the outer surface of the pipe by approximately 180 degrees.

[0022] In various embodiments, the first, second, third, and fourth wheels can each be oriented so that each wheel is in substantially uniform contact with the outer surface of the pipe across the width of each wheel. In one such embodiment, when the robotic device is secured to the pipe, the first, second, third, and fourth wheels can each be disposed parallel to the longitudinal axis of the pipe.

[0023] In various embodiments, the first wheel and the second wheel may be connected to each other by a first structure configured to support and position the first wheel and the second wheel, and the first end of the clamping member may be connected to the first structure. The third wheel and the fourth wheel may be connected to each other by a second structure configured to support and position the third wheel and the fourth wheel, and the second end of the clamping member is connected to the second structure. In some embodiments, the first end of the clamping member may be configured to be detachably connected to the first structure, and the second end of the clamping member may be configured to be detachably connected to the second structure.

[0024] In various embodiments, the first end of the clamping member can be configured to support and position the first wheel and the second wheel, and the second end of the clamping member can be configured to support and position the third wheel and the fourth wheel. The first end of the clamping member can be configured to be detachably connected to the first wheel and the second wheel, and the second end of the clamping member can be configured to be detachably connected to the third wheel and the fourth wheel.

[0025] In various embodiments, the robotic device may further include a second clamping member configured to connect the first and second wheels to the third and fourth wheels, the second clamping member having at least one size or hardness characteristic different from the clamping member. The clamping member may be configured to be separate from the first, second, third, and fourth wheels, and the second clamping member may be configured to be removably connected to the first, second, third, and fourth wheels to accommodate pipes of different sizes and / or adjust the force of the first, second, third, and fourth wheels toward the outer surface of the pipe (for securing the robotic device to the pipe). In various embodiments, the clamping member may be configured to extend around a first portion of the circumference of the pipe, the first portion being less than the entire circumference of the pipe, so that the robotic device has an open side through which obstacles extending from the pipe can pass unimpeded.

[0026] In various embodiments, the robotic device may further include a mechanism configured to adjust the force used to push the first wheel, the second wheel, the third wheel, and the fourth wheel toward the outer surface of the pipe for securing the robotic device to the pipe. Additionally or alternatively, in various embodiments, the robotic device may include a mechanism configured to adjust the length of the gripping member to accommodate pipes of different sizes.

[0027] In various embodiments, the robotic device may further include a fifth wheel and a sixth wheel, each wheel including a plurality of rollers arranged around the circumference of the respective wheel, the fifth wheel and the sixth wheel being connected to the first wheel and the second wheel and configured to be positioned on the outer surface of the first side of the pipe; and a seventh wheel and an eighth wheel, each including a plurality of rollers arranged around the circumference of the respective wheel, the seventh wheel and the eighth wheel being connected to the third wheel and the fourth wheel and configured to be positioned on the outer surface of the second side of the pipe. In some embodiments, the first wheel and the second wheel may be circumferentially offset from each other, the fifth wheel and the sixth wheel may be circumferentially offset from each other, and the fifth wheel and the sixth wheel may be axially offset from the first wheel and the second wheel; the third wheel and the fourth wheel may be circumferentially offset from each other, the seventh wheel and the eighth wheel may be circumferentially offset from each other, and the seventh wheel and the eighth wheel may be axially offset from the third wheel and the fourth wheel. In some embodiments, the robotic device may further include a second clamping member, the second clamping member connecting the first wheel, the second wheel, the fifth wheel and the sixth wheel to the third wheel, the fourth wheel, the seventh wheel and the eighth wheel, the second clamping member having the same size and hardness characteristics as the clamping member. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The illustrated non-limiting example embodiments will be more clearly understood from the following detailed description taken in conjunction with the accompanying drawings.

[0029] Figure 1 2 and 3 show an existing robot that utilizes magnets to remain attached to a pipe;

[0030] Figure 4A , Figure 4B , Figure 4C , Figure 4D and Figure 4E Representative obstructions on or near the pipeline are shown;

[0031] Figure 5A is a perspective view of a robot apparatus according to an embodiment of the present invention;

[0032] Figure 5B The embodiment of the present invention is shown in FIG. Figure 5A Robotic devices;

[0033] Fig. 6A is a perspective view of another robotic device according to an embodiment of the present invention;

[0034] Figure 6B The embodiment of the present invention is shown in FIG. Fig. 6A Robotic devices;

[0035] Figure 7 is a perspective view of a representative drive platform of a robotic apparatus according to an embodiment of the present invention;

[0036] Fig. 8A , Figure 8B , Figure 8C and Fig.8D shows the difference in surface contact between a wheel oriented as described herein and a wheel oriented similar to that shown in FIG. 3 (prior art) when deployed on pipes of different diameters according to embodiments of the present invention;

[0037] Fig. 9 and Fig.10 Schematically illustrates an embodiment of a drive platform according to an embodiment of the present invention, the drive platform being arranged to allow adjustment of the longitudinal and lateral position of a wheel thereon;

[0038] Fig.11 1 shows a schematic diagram of a device equipped with various payloads according to an embodiment of the present invention. Figure 7 The driving platform;

[0039] Fig. 12A is a perspective view of a gripping member of a robot apparatus according to an embodiment of the present invention;

[0040] Fig. 12B shows a clamping member having a semicircular shape according to an embodiment of the present invention, the clamping member being dimensioned so that its ends are positioned at directly opposing circumferential positions around a pipe;

[0041] Fig.13A , Fig. 13B , Fig. 13C and Fig.13D Shown is a modular robotic device located on pipes of different sizes according to an embodiment of the present invention;

[0042] Fig.14 shows an end of a clamping member according to an embodiment of the present invention, the clamping member being shaped and dimensioned for connection with a component of a drive platform having complementary features;

[0043] Fig.15 A biasing mechanism in the form of an adjustment screw according to an embodiment of the present invention is shown;

[0044] Fig.16 A robotic device including a sensor assembly according to an embodiment of the present invention is shown;

[0045] Fig.17A and Fig. 17B A method for making Fig. 6A The eight-wheeled robotic device advances on the pipeline along an axial path with a combination of wheel motions;

[0046] Fig.18A and Fig.18B A method for making Fig. 6A A combination of wheel motions of an eight-wheeled robotic device advancing on a pipeline along a circumferential path;

[0047] Fig.19A , Fig.19B and Fig.19C shows a combination of motions suitable for causing a robotic device to travel forward at a 45 degree angle relative to the axis of a pipe that rotates in a counterclockwise direction when viewed from the front, according to an embodiment of the present invention;

[0048] Fig. 20A , Fig. 20B , Fig. 20C , Fig.20D and Fig.20E A representative method for navigating through a pipe that is in close proximity (i.e., in spite of the low profile configuration of the robotic device, so close that it would interfere with the gripping member and / or the drive platform), or even touching the pipe over which the robot is traveling, is shown in accordance with an embodiment of the present invention;

[0049] Fig.21A , Fig.21B , Fig. 21C , Fig.21D and Fig.21E A prototype of a robotic device at various circumferential locations on a pipeline is shown according to an embodiment of the present invention;

[0050] Fig.22A and Fig. 22B A combination of motions suitable for recovering a robotic device from a radial slip condition according to an embodiment of the present invention is shown.

[0051] Fig.23 is a perspective view of a representative embodiment of a robot apparatus according to an embodiment of the present invention;

[0052] Fig.24 is a perspective view of a representative central drive module according to an embodiment of the present invention;

[0053] Fig.25A and Fig.25B are perspective views of representative gripper drive modules for use on small diameter pipes and large diameter pipes, respectively, according to two embodiments of the present invention;

[0054] Fig.26 is a schematic diagram of forces used to secure an embodiment of a robotic device to a pipe according to an embodiment of the present invention;

[0055] Figures 27A-27E Shows some embodiments of the present invention, in various sizes (from Fig.27A 4.5" to Fig.27EEmbodiments of a robotic device on a pipeline (within a range of 11.5");

[0056] Fig.28 shows how the open side of the robotic device can allow the robotic device to pass through various obstacles on the pipeline according to an embodiment of the present invention;

[0057] Fig.29 is a perspective view of a representative embodiment of a robotic device on a pipeline according to an embodiment of the present invention;

[0058] Fig.30 A prototype robotic device on a pipeline according to an embodiment of the present invention is shown;

[0059] Fig.31A , Fig.32A and Fig.33A shows the directions in which the wheels need to be driven (for an example embodiment with a central drive module and two gripper drive modules) in order to drive the entire robotic device axially, circumferentially or helically around a pipe, respectively, according to an embodiment of the present invention;

[0060] Fig.31B , Fig.32B and Fig.33B shows the directions in which the wheels need to be driven (for an example embodiment having a central drive module and one gripper drive module) in order to drive the entire robotic device axially, circumferentially or helically around a pipe, respectively, according to an embodiment of the present invention;

[0061] Fig.34A and Fig.34B Shows side and front perspective views of another robotic device on a large diameter pipeline according to an embodiment of the present invention;

[0062] Fig.35 It shows an embodiment of the present invention. Fig.34A and Fig.34B The robotic device shown is provided with a smaller gripper drive module for use on smaller diameter pipes;

[0063] Fig.36A , Fig.36B and Fig.36C A representative fail-safe mechanism for a robotic device according to an embodiment of the present invention is shown;

[0064] Fig.37 A robot device according to an embodiment of the present invention is shown, the robot device having a fail-safe mechanism 250 fixed to each of its gripper drive modules;

[0065] Fig.38A perspective view of a spring loaded assembly for biasing a subset of wheels of a central drive module of a robotic device 200 toward a pipe surface is shown in accordance with an embodiment of the present invention;

[0066] Fig.39A and Fig.39B 1 and 2 respectively show first and second encoder wheels according to an embodiment of the present invention, the first and second encoder wheels being arranged to track circumferential and axial movement of a robotic device on a pipe; and

[0067] Fig.40 A prototype of a robotic device on a vertical pipeline according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0068] Embodiments of the present invention are directed to a robotic device for traversing the exterior of a piping system, such as those commonly found in chemical plants, power plants, manufacturing plants, and infrastructure. Piping systems can be complex and have various obstructions that can make it difficult to traverse the various pipes in an efficient and effective manner. For example, Figure 4A , Figure 4B , Figure 4C , Figure 4D and Figure 4E As shown, a representative obstacle may include a support 11 ( Figure 4A )、Connector 12( Figure 4B and Figure 4C )、Flange 13( Figure 4C )、Valve 14( Figure 4C ), vent or bleeder (similar to a smaller valve), diameter change section 15 ( Figure 4D ) and elbow 16 ( Figure 4E ) and other obstructions, such as nearby pipelines and other nearby structures (later in Figures 21 and Fig.22A , Fig. 22B 22C, 22D, and 22E). Various embodiments of the robotic device can be configured to traverse the pipeline 10 and navigate through such obstacles encountered through unique architectures and methods, as described in more detail below. The robotic device can also be used to traverse the exterior of other structures of similar shapes, such as structural cables (e.g., on a suspension bridge), structural beams, wires, underwater cables, and underwater piping systems.

[0069] Embodiments of the present invention may be advantageous in many applications, including but not limited to:

[0070] Pipeline inspection using cameras, non-destructive testing (NDT or NDI), or other sensors;

[0071] Check equipment near the piping system;

[0072] Perform maintenance on piping systems (e.g., cleaning exterior surfaces, removing insulation, applying patches / clamps to stop leaks);

[0073] Transporting tools or devices along a pipeline system (e.g. to facilitate installation of sensors on a pipeline).

[0074] Various embodiments of the robotic device may be able to traverse pipelines arranged in any orientation (including horizontal and vertical) and pipelines made of any material (e.g., steel, aluminum), even pipelines with insulation around the outside of the pipeline. The insulation is typically a semi-rigid material, such as mineral wool or calcium silicate, protected by a thin metal sheath (e.g., aluminum or stainless steel). For clarity, the outer surface of any insulation on the outside of the pipeline may be referred to as the outer surface of the pipeline for simplicity. Therefore, the robotic device referred to herein being positioned on the outer surface of the pipeline, fixed on the outer surface of the pipeline, contacting the outer surface of the pipeline, or otherwise interfacing with the outer surface of the pipeline should not be strictly interpreted as only involving interfacing with the metal exterior of the pipeline under such insulation, but may additionally or alternatively include the robotic device being positioned on the outer surface of the insulation outside the pipeline, fixed on the outer surface of the insulation outside the pipeline, contacting the outer surface of the insulation outside the pipeline, or otherwise interfacing with the outer surface of the insulation outside the pipeline. Simply put, when discussing a robotic device traversing an insulated pipeline in the context, the outer surface of the pipeline referred to should be interpreted as the outer surface of the insulation on the pipeline.

[0075] Generally, embodiments of the robotic device of the present invention can be attached to a pipe by applying a clamping force on opposite sides of the pipe. Various embodiments can be capable of maintaining a stationary position on a pipe and can support its own weight in any orientation (e.g., horizontal or vertical) over a range of pipe sizes. In various embodiments, the robotic device can be configured to be driven along a path in the longitudinal direction of the pipe (sometimes referred to herein as axial translation), along a path in the circumferential direction of the pipe (sometimes referred to herein as circumferential translation), along a spiral path (i.e., a combination of circumferential and longitudinal vectors), and various combinations thereof, on pipes of different sizes and orientations. This manipulation combined with the ability of the gripping arm to extend or retract around the pipe and the low profile and open side architecture of the robot can allow the robotic device to navigate through various bends and obstacles encountered along the length of the pipe. The low profile of the robotic device can enable it to be driven along a pipe that is adjacent to other pipes or nearby obstacles. The robotic device can also actively control the amount of gripping force it applies to the pipe, allowing the robot to selectively apply more gripping force when additional traction is needed (e.g., when climbing a vertical pipe or remaining stationary on a vertical pipe) and selectively apply less gripping force when less traction is needed (e.g., when traversing a horizontal pipe), which can help reduce power consumption, thereby reducing battery size, motor size, and associated weight. Active control of gripping force can also help ensure that the robotic device does not damage the pipe or insulation. Furthermore, the robotic device can actively sense whether the wheels are slipping on the pipe surface and actively control the wheels to steer the robotic device back to the centerline of the pipe.

[0076] In various embodiments, the robot can have a modular architecture in which various components can be added, removed, or replaced by similar components with different characteristics. Such modularity can allow the robotic device to be reconfigured in the field as needed to accommodate different operating conditions, such as for operating on pipes of different sizes (diameters) and orientations (e.g., horizontal, vertical), and carrying different payloads (e.g., inspection sensors, batteries).

[0077] In various embodiments, the robotic device can be configured to carry and deploy payloads along the pipeline, such as cameras (e.g., visible spectrum and IR cameras), various sensors such as NDT sensors (e.g., ultrasonic test probes, pulsed eddy current probes, digital radiography devices, acoustic sensors) and gas monitors for inspecting the pipeline system or devices near it, and / or other payloads such as tools and devices. In various embodiments, the robotic device can include an onboard power source (e.g., a battery) and operate through wireless communication with an operator, thereby eliminating the need for a power cord or tether. Of course, in various embodiments, the robotic device can utilize a power cord (or other suitable power source) and / or wired communication (or other suitable communication means). Such an arrangement may be advantageous in certain circumstances, such as when one or more components of a particular payload (e.g., an NDT instrument) are too large to be carried onboard while maintaining a low profile of the robot as described herein. In such an example, the NDT probe can be arranged on the robotic device and connected to the NDT instrument on the ground by the operator via a power cord and / or tether.

[0078] Robot device 100

[0079] High-level architecture

[0080] Figure 5A is a perspective view of a representative embodiment of the robotic device 100. In various embodiments, the robotic device 100 may generally include four or more wheels 111 having a plurality of rollers 112 arranged about its circumference. The wheels 111 are able to rotate (freely or under power), much like a conventional wheel, and the rollers 112 on each wheel 111 can freely rotate about their respective rotational axes on the main wheel portion itself. Generally, the rollers 112 allow the corresponding wheel 111 to slide laterally or with a lateral vector component (depending on the orientation of the rollers 112 about the circumference of the wheel 111) on the surface of the pipe 10 with minimal friction when the robotic device 100 is moving in a direction that is not completely aligned with the rotational direction of the corresponding wheel 111. In some embodiments, the rollers 112 have a rotational axis that is perpendicular to the main rotational axis of the main wheel portion (not shown), while in other embodiments, the rollers 112 may have a rotational axis that is angled (e.g., 45 degrees as shown) relative to the main rotational axis of the main wheel portion. Such wheels 111 with rollers 112 are generally known in the art, sometimes referred to as convergent wheels, omnidirectional wheels or Mecanum wheels, and the present invention will not be limited to any particular embodiment thereof unless specifically specified. Even when a particular embodiment is specified (e.g., a wheel with mirrored 45 degree angle rollers), one of ordinary skill in the art will recognize alternative configurations suitable for producing the same motion on the pipe 10.

[0081] In various embodiments, the diameter of the wheel 111 can be selected based on the size of certain obstacles encountered on the surface of the pipeline. Generally, it may be preferred to use a wheel 111 that is large enough to drive over these obstacles, but not larger, so as to minimize the amount of clearance required around the pipeline 10 for the robotic device 100 to travel. The diameter required to drive over these obstacles can vary based on many factors (e.g., traction, torque, speed), but testing has shown that a diameter of twice the height of these obstacles is sufficient. Those of ordinary skill in the art will be able to select an appropriate wheel diameter based on the teachings of the present invention without undue experimentation.

[0082] In various embodiments, the robotic device 100 may generally include four wheels 111, wherein half of the wheels 111 (e.g., the first and second wheels 111a, 111b in the illustrated four-wheel embodiment) are configured to be positioned on a first side of the pipe 10, and half of the wheels 111 (e.g., the third and fourth wheels 111c, 111d in the illustrated four-wheel embodiment) are configured to be positioned on a second, opposite side of the pipe 10. For clarity, unless otherwise specified herein, the terms "first side" and "second, opposite side" of the pipe both refer to the outer surface of the pipe (or the insulator on the pipe when the pipe is insulated), and more specifically, to circumferentially opposite halves thereof.

[0083] In various embodiments, the wheels 111a, 111b and the wheels 111c, 111d can be grouped onto respective drive platforms 110a, 110b (illustrated, but not labeled), particularly in modular embodiments of the robotic device 100, as described in more detail below. One or more clamping members 130 (two are shown here) can connect the first wheel 111a and the second wheel 111b with the third wheel 111c and the fourth wheel 111d, and are configured to apply a force for pushing the first wheel, the second wheel, the third wheel, and the fourth wheel 111 toward the outer surface of the pipe 10, for securing the robotic device 100 to the pipe 10. Figure 5B It shows the pipe 10 fixed to the Figure 5A A robotic device 100.

[0084] Fig. 6Ais a perspective view of another representative embodiment of the robotic device 100. In the representative embodiment, the robotic device 100 includes eight wheels 111, wherein (i) the first wheel 111a and the second wheel 111b and the fifth wheel 111e and the sixth wheel 111f are configured to be positioned on a first side of the pipe 10, and (ii) the second wheel 111c and the third wheel 111d and the seventh wheel 111g and the eighth wheel 111h are configured to be positioned on a second opposite side of the pipe 10. In various embodiments, the wheels 111a, 111b, 111e, 111f and the wheels 111c, 111d, 111g, 111h may be grouped onto respective drive platforms 110a, 110b (illustrated, but not labeled), particularly in modular embodiments of the robotic device 100, as described in more detail below. One or more clamping components 130 (two are shown here) can connect the first wheel 111a, the second wheel 111b, the fifth wheel 111e and the sixth wheel 111f with the third wheel 111c, the fourth wheel 111d, the seventh wheel 111g and the eighth wheel 111h, and are configured to apply a force for pushing the wheels 111 toward the outer surface of the pipe 10, so as to fix the robot device 100 on the pipe 10. Figure 6B It shows the pipe 10 fixed to the Fig. 6A A robotic device 100.

[0085] Of course, embodiments of the present invention may include any number of wheels 111 and gripping members 130 suitable for securing the robotic device 100 to the pipe 10 and enabling the movements described later herein. For ease of explanation only, embodiments of the present invention will be primarily described in the context of an eight-wheeled robot; however, based on the teachings of the present invention, one of ordinary skill in the art will recognize how to apply the concepts described herein to embodiments of the robotic device 100 having different numbers of wheels 111.

[0086] The various wheels 111 may be powered so that the robotic device 100 may travel along the pipe 10 in axial and circumferential directions, as well as various combinations thereof (e.g., along helical paths of varying pitches), thereby positioning the robotic device 100 to traverse specific portions of the pipe 10 and / or avoid obstacles extending from the surface of the pipe 10, as described in more detail below.

[0087] Drive platform 110

[0088] Figure 7 is a perspective view of a representative drive platform 110 of the robotic device 100. In e.g. Fig. 6AIn the eight-wheel embodiment shown, wheels 111a, 111b, 111e, 111f can be grouped on a first drive platform 110a, and wheels 111c, 111d, 111g, 111h can be grouped on a second drive platform 110b. Various embodiments of drive platform 110 can generally include a frame 113 on which wheels 111 and motor 125 are mounted.

[0089] Continue to refer Figure 7 , when the robotic device 100 is secured to the pipe 10, the wheels 111 may be oriented such that the axis of rotation of each wheel 111 is parallel to the longitudinal axis of the pipe 10. This orientation combined with the orientation of the rollers 112 of each respective wheel 111 allows the robotic device 100 to move along the pipe 10 in all directions while maintaining substantially uniform contact with the outer surface of the pipe 10 across the width of each wheel 111. For example, Fig. 8A , Figure 8B , Figure 8C and Fig.8D 3 (prior art) when arranged on pipes 10 of different diameters. By orienting the wheels 111 so that their axes of rotation are parallel to the longitudinal axis of the pipe, the wheels 111 of the present invention maintain substantially uniform contact with the pipe 10 across the width of each wheel, as shown in FIG. Figures 8A-8D In contrast, a robot with wheels oriented similar to FIG. 3 has substantially uniform contact only on a pipe of a particular diameter ( Figure 8B ), and the robot starts riding on the rims of its wheels over smaller or larger pipes.

[0090] In various embodiments, the wheels 111 may be grouped into pairs in which the orientation of the rollers 112 of one wheel 111 mirrors the orientation of the rollers 112 on the other wheel 111. Figure 5A In the illustrated four-wheel embodiment of the robotic device 100, the orientation of the rollers 112 of wheel 111a is a mirror image of the orientation of the rollers 112 of wheel 111b, and the orientation of the rollers 112 of wheel 111c is a mirror image of the orientation of the rollers 112 of wheel 111d. Fig. 6AIn the illustrated eight-wheel embodiment of the robotic device 100, the orientation of the rollers 112 of wheel 111a mirrors the orientation of the rollers 112 of wheel 111b, the orientation of the rollers 112 of wheel 111c mirrors the orientation of the rollers 112 of wheel 111d, the orientation of the rollers 112 of wheel 111e mirrors the orientation of the rollers 112 of wheel 111f, and the orientation of the rollers 112 of wheel 111g mirrors the orientation of the rollers 112 of wheel 111h. In the illustrated embodiment, such pairing is performed between wheels 111 that are circumferentially offset from one another at the same axial position on a given side of the pipe 10; however, it should be appreciated that such pairing may be performed between wheels 111 that are axially offset from one another at the same circumferential position on a given side of the pipe 10, particularly in an embodiment (not shown) where all wheels 111 on a given side of the pipe 10 are at the same circumferential position. Based on the teachings of the present invention, one of ordinary skill in the art will recognize roller orientation arrangements suitable for enabling the robotic device 100 to move in all directions along the pipeline 10, as described later herein.

[0091] The wheels 111 can be mounted on a frame 113 of the drive platform 110. In various embodiments, the frame 113 can be configured to position the wheels 111 in various configurations described herein. In various embodiments, the frame 113 can include one or more transverse frame members 114 configured to, for example, position the wheels 111a, 111b at locations circumferentially offset from one another on the pipe 10, and position the wheels 111e, 111f at locations circumferentially offset from one another on the pipe 10, such as Figure 710. In various embodiments, the transverse frame members 114 can have a curvature designed to match the curvature of the outer surface of the representative pipe 10 to which the robotic device 100 is to be secured. Additionally or alternatively, in various embodiments, the frame 113 can include one or more longitudinal frame members 115 configured to position the wheels 111a, 111b on the pipe 10 at a position axially offset from the wheels 111e, 111f. In various embodiments, the frame 113 can also support one or more motors 125 for powering one or more wheels 111. In the illustrated embodiment, each wheel 111 is individually powered by a corresponding motor 125; however, one of ordinary skill in the art will recognize that in various embodiments, fewer than all of the wheels 111 can be powered and / or multiple wheels 111 can be powered by one motor 125. In the latter case, it should be further appreciated that the robotic device 100 may also include a transmission (not shown) that allows multiple wheels powered by one motor 125 to selectively engage / disengage powered rotation, rotate at different speeds from one another, and / or rotate in different directions from one another. Thus, one of ordinary skill in the art will recognize various numbers and combinations of motors 125 (and, when applicable, corresponding transmission configurations) suitable for use with various numbers and configurations of wheels 111 without undue experimentation.

[0092] Fig. 9 and Fig.10 The schematic diagram shows an embodiment of a drive platform 110, which is arranged to allow the longitudinal and lateral position of a wheel 111 to be adjusted thereon. Fig. 9 In some embodiments, the longitudinal offset between the wheels 111 can be adjusted by repositioning the transverse frame members 114 on the longitudinal frame members 115. For smaller offsets, the transverse frame members 114 can be moved closer together on the longitudinal frame members 115, and for larger offsets, the transverse frame members 114 can be moved farther apart from each other on the longitudinal frame members 115. In the illustrated embodiment, the frame 113 can include adjustable mounting hardware (e.g., end caps 117, clamps 119, and adjustable length spacers 118 therebetween) to secure the transverse frame members 114 in the proper longitudinal position during adjustment. Fig.10 Additionally or alternatively, in some embodiments, the lateral offset between the wheels 111 can be adjusted by repositioning the wheels on the lateral frame member 114. In various embodiments, the lateral frame member 114 can include slots or other mounting features (not shown) that allow the wheels 111 (and corresponding motors 125) to be repositioned along the length of the lateral frame member 114.

[0093] The ability to adjust the relative positioning of the wheels 111 on some embodiments of the drive platforms 110 can allow the robotic device 100 to adapt to a variety of operating environments without having to replace one set of drive platforms 110 having one particular wheel configuration well suited for one operating environment with another set of drive platforms 110 having a different wheel configuration better suited for a different operating environment. For example, increasing the lateral offset between the wheels 111 on the drive platforms 113 (and thus increasing the circumferential positioning of the wheels 111 on the pipe 10) can provide additional stability to the robotic device 100 on the pipe 10, and conversely, decreasing the circumferential offset can increase the size of the open side 139 of the robotic device opposite the gripping member 130, as shown in FIG. Fig.10 As shown, the robotic device is allowed to navigate through larger obstacles on or near the pipeline 10. In many cases, it may be preferable to provide as large a lateral offset as possible (for increased stability) while still maintaining a sufficiently large open side 139 for navigating the expected obstacles. As another example, increasing the longitudinal offset between the wheels 111 on the drive platform 113 (and thus increasing the axial positioning of the wheels 111 on the pipeline 10) can allow more or larger electronics and batteries to be positioned between the longitudinally offset wheels 111 (later in FIG. Fig.11 ), while reducing the longitudinal offset can improve the ability of the robotic device 100 to traverse a pipeline 10 that has a combination of obstacles in different orientations and close together. In other words, when the pipeline 10 has two obstacles spaced 180 degrees (circumferentially) apart and two feet (axially) apart, a robotic device 100 with a longitudinal offset of less than two feet can traverse these obstacles, but a robotic device with a larger longitudinal offset may not be able to traverse these obstacles. A shorter robotic device 100 can, for example, (i) traverse a first obstacle by aligning the open side 139 with the first obstacle and axially advancing past the first obstacle until the robotic device 100 is positioned between the two obstacles, and (ii) traverse a second obstacle by maneuvering circumferentially so that the open side 139 is aligned with the second obstacle and then axially advancing to pass over the second obstacle. A robotic device 100 with a larger longitudinal offset may not be able to fit axially between the obstacles and therefore cannot perform such a maneuver to traverse two obstacles. Based on the present disclosure, one of ordinary skill in the art will recognize that longitudinal offset is suitable for balancing the need to accommodate certain sizes of payloads and the need to have sufficient axial clearance to navigate through obstacles that are axially positioned close together. Of course, as described in more detail below, the modularity provided by the ability to replace the drive platform 110 and the clamping member 130 is itself very beneficial and is not compromised. In some embodiments, the wheel position is also adjustable on the modular drive platform 110.

[0094] Fig.11126 and an electronic circuit board 127. Figure 7 The drive platform 110. The battery 126 can be a motor 125, electronic device hardware 127, sensor payload 140 (later in Fig.16 100) and other onboard electronics. The electronic hardware 127 may include components for operating the robotic device 100, such as a circuit board having a controller configured to drive the motor 125 according to executable instructions stored on a memory component. In some embodiments, the payload may be carried on one or more drive platforms 110, on the frame 113, or on any other suitable location on the robotic device 100. Of course, in various embodiments, the robotic device 100 may additionally or alternatively be powered by a power cord or other suitable power source.

[0095] As later in Fig.21A and 21D As shown in , a detachable steering cable can be used to connect various payloads (for power and / or electronic connectivity), which may be particularly convenient in modular embodiments in which the drive platform 110 can be replaced for use in various operating environments. In some embodiments, the detachable steering cable is external to the robotic device 100 and fixed so as not to swing back and forth, while in other embodiments, the body portion 131 of the clamping member 130 can be equipped with internal electronic wires (e.g., wires) that connect electronic contacts on the end 132. In the latter example, the drive platform 110 (or frame 113 or other suitable structure connected to the opposing wheel set) can also include electronic contacts that are positioned so that when the clamping member 130 is installed, the electronic contacts on the clamping member 130 are in electrical communication with the electronic contacts on the drive platform 110. When so configured, a simply installed clamping member 130 can place the drive platforms 110 in electronic communication with each other, thereby allowing power and electronic connectivity to be routed between them.

[0096] Although much of the present disclosure describes the wheel 111 and motor 125 as mounted on a modular drive platform 110, it should be appreciated that: (i) the wheel 111 may be mounted on any structure suitable for positioning and orienting the wheel 111 in at least one of the configurations described herein; (ii) the motor 125 may be mounted in any suitable location on any structure suitable for allowing the motor 125 to drive (either directly or through a transmission) the wheel 111; and (iii) the drive platform 110 need not be modular (i.e., selectively attachable to / detachable from the clamping member 130) but can be permanently secured to the clamping member 130.

[0097] Clamping member 130

[0098] Fig. 12A is a perspective view of a representative clamping member 130 of the robotic device 100. Generally, in various embodiments, the clamping member 130 may connect a wheel 111 located on a first side of the pipe 10 with a wheel 111 located on a second, opposite side of the pipe 10, and may be configured to apply a force for urging the wheel 111 toward the outer surface of the pipe 10 for securing the robotic device 100 to the pipe 10. For ease of explanation, the force may also be referred to herein as a “clamping force”.

[0099] The amount of clamping force required is primarily determined by the weight of the robotic device 100 and the friction of the wheels 111 on the surface of the pipe 10. Generally, the clamping force should be sufficient to provide the wheels 111 with sufficient normal force to generate friction sufficient to propel the weight of the robotic device 100. For example, when the robotic device 100 weighs 20 pounds and traverses a vertical pipe 10 with a coefficient of friction between the wheels 111 and the pipe 10 equal to 0.5, the total clamping force required may be at least 40 pounds-force. That is, when the clamping force is too great, the wheels 111 may deform some pipes with softer insulation, and the robotic device 100 will need to increase the driving force required to drive over obstacles on the surface of the pipe 10. Greater clamping forces also require the use of stronger components, which may increase the weight of the robotic device 100.

[0100] As shown throughout the figures, in some embodiments, the robotic device 100 may include two or more gripping components that are fixed at any given time. In yet another embodiment, the robotic device 100 may be provided as a kit of multiple gripping components having different properties, and each gripping component may be interchanged to customize the robotic device for use in corresponding operating conditions.

[0101] In various embodiments, the clamping member 130 can include a body portion 131 connecting first and second ends 132. In various embodiments, the curvature and dimensions of the body portion 131 can be designed to be substantially complementary to the curvature and diameter of a representative pipe 10 to which the robotic device 100 is to be secured. More specifically, in various embodiments, the curvature of the body portion 131 can be semicircular and sized such that the ends 132 are positioned on opposite sides of the pipe 10, and most preferably, at directly opposite circumferential locations around the pipe 10, such as Fig. 12BSuch positioning allows the clamping member 130 to apply a clamping force through the end 132 at directly opposing vectors passing through the centerline of the pipe 10, which can better secure the robotic device 100 to the pipe 10 than a configuration where the clamping force vectors at the end 132 are not directly opposing and may not pass through the centerline of the pipe 10. Of course, such a configuration is not necessary to securely couple the robotic device 100 to the pipe 10, and in many cases, the same clamping member 130 can be used on pipes 10 having relatively similar diameters and still adequately secure the robotic device to such pipes 10. Likewise, the clamping member 130 does not necessarily have to have a curvature that is directly complementary to the curvature of the outer surface of the pipe 10, as long as the shape of the clamping member 130 is capable of applying a clamping force suitable for securing the robotic device 100 to the pipe 10. Nonetheless, in various embodiments, it may be advantageous for the size and curvature of the gripping member 130 to be highly complementary to the size and curvature of the pipe 10 on which it will travel, such that the gripping member 130 can be positioned very close to the outer surface of the pipe 10 without causing interference. When so configured, the gripping mechanism can be provided with a very low profile, which allows it to have maximum clearance to pass through an operating environment in which obstacles (e.g., other pipes) are positioned very close to the pipe 10.

[0102] In various embodiments, the clamping member 130 may include any material and structure suitable for applying a clamping force when the robotic device is mounted on the pipe 10. In some embodiments, the clamping member 130 may be substantially rigid, while in other embodiments, the clamping member 130 may have a high hardness, but still be flexible enough to allow the body portion 131 to bend when the end portion 132 is pulled apart. In a rigid embodiment, the clamping member 130 may be used as a stop for a biasing mechanism (e.g., a spring or an adjustment screw) to push the drive platform 110 inwardly toward the pipe 10 and thereby provide a clamping force, as described in more detail below. The rigid but flexible structure may allow the clamping member 130 to be pried open to an extended state when the robotic device 100 is mounted on the pipe 10, and then released once the drive platform 110 is properly positioned on the pipe 10, thereby allowing the clamping member 130 to retract back to its neutral state, thereby applying a clamping force. Based on the present disclosure, a person of ordinary skill in the art should recognize various sizes, curvatures, materials, and structures suitable for providing a clamping member 130 with such rigidity or suitable hardness without undue experimentation.

[0103] In various embodiments, the end 132 of the gripping member 130 can be configured to be connected to the drive platform 110 (or to other structures of the support and positioning wheels 111; for simplicity, such connection will only be discussed in the context of connection to the drive platform 110). In some embodiments, the end 132 can be configured to be removably connected to the drive platform 110, thereby allowing a user to swap in and out different gripping members 130 and / or different drive platforms 110. The modular construction can allow a single robotic device 100 to be used (and in many cases optimized for such use) in different operating conditions, such as on pipes of various sizes (e.g., Fig.13A , Fig. 13B , Fig. 13C and Fig.13D as shown), in various pipe orientations (e.g., increased clamping force due to gravity when used on a vertical pipe compared to a horizontal pipe), and with different payloads.

[0104] refer to Fig.14 In one embodiment, the end 132 of the clamping member 130 may be shaped and sized to connect with a member of the drive platform 110 having complementary features. Here, the end 132 has a key shape, and each drive platform 110 has a keyhole recess 121 of similar shape and size into which the end 132 is inserted. A friction fit or a bottomed closed keyhole (not shown) may be sufficient to securely connect the end 132 to the drive platform 110 despite the clamping force being vectored downward (toward the pipe surface), while in other embodiments, connectors such as screws may be used to provide a removable connection. Fig.14 In the illustrated embodiment, the end portion 132 is provided with a hole 133 so that a screw can be used to securely connect the clamping member 130 to the driving platform 110 .

[0105] In various embodiments, the clamping member 130 may be provided with a biasing mechanism 135 configured to adjust the amount of clamping force generated by the clamping member 130. In some embodiments, such as embodiments where the clamping member 130 is rigid, the clamping member 130 acts as a stop against which the biasing mechanism 135 is supported while pushing the drive platform 110 inwardly toward the pipe 10 to increase the clamping force. In other embodiments, such as embodiments where the clamping member 130 is semi-rigid, the biasing member 135 may be used to pull the end 132 of the clamping member 130 outwardly (away from the pipe 10), thereby increasing the bend of the clamping member 130 and, therefore, increasing the corresponding clamping force applied by the clamping member 130. In both cases, reverse operation of the biasing mechanism 135 can reduce the amount of clamping force applied by the clamping member 130.

[0106] Fig.15One embodiment of a biasing mechanism 135 in the form of an adjustment screw 136 is shown. In the depicted embodiment, the adjustment screw 136 is inserted through the hole 122 in the end cap 117 of the drive platform 110 into the hole 133 in the end 132 of the clamping member 130. When so configured, when the clamping member 130 is rigid, the adjustment screw 136 can be turned to adjust the height of the drive platform 110 relative to the end 132 of the clamping member 130 until the drive platform 110 is firmly pressed downward against the surface of the pipe 10. Thus, the clamping member 130 provides a reaction force against the adjustment screw 136 so that the clamping force is inwardly toward the pipe 10. When the clamping member 130 is semi-rigid, turning the adjustment screw 136 causes the end 132 to be pulled upward toward the drive platform 110 and away from the pipe 10, thereby increasing the bend of the clamping member 130 and the corresponding clamping force applied. In both cases, the adjustment screw 136 can be turned in the other direction to reduce the bend in the clamping member 130, thereby reducing the clamping force.

[0107] In another embodiment, the biasing mechanism 135 may include a compression spring (not shown) located between the bottom of the end 132 and the upward facing surface of the drive platform 110. When so configured, when the clamping member 130 is rigid, the bottom of the end 132 of the clamping member 130 provides a reaction force against the compression spring, so that the end 132 pushes the drive platform 110 downwardly onto the surface of the pipe more forcefully.

[0108] In various embodiments, the biasing mechanism 135 may be configured for manual and / or automatic adjustment. Whether manually or automatically, the ability to adjust the clamping force can prove to be very beneficial, allowing the robot to be adjusted for pipes of various diameters and orientations, as well as for non-insulated pipes and insulated pipes, without having to replace the clamping member 130. Such adjustment not only enables the robotic device 100 to operate under changing conditions, but such adjustment can also optimize certain performance factors. For example, the robotic device 100 may not require as much clamping force to remain firmly attached to a horizontal pipe 10, and therefore may wish to use less clamping force when operating on a horizontal pipe in order to optimize drag (and therefore power consumption) and / or traverse the pipe 10 at a higher speed, and then adjust to a higher clamping force when traversing a vertical pipe 10. Similarly, a user may wish to use less clamping force when traversing an insulated pipe 10 to avoid damaging the insulation. Automated embodiments have the added benefit of being able to remotely adapt the robotic device 100 to changing conditions, without having to stop operation and manually perform adjustments.

[0109] Sensors and other payloads

[0110] Fig.16An embodiment of the robotic device 100 is shown that includes a sensor assembly 140. In various embodiments, the sensor assembly 140 may be configured for any suitable purpose, such as for performing a structural inspection of the pipeline 10 or tracking the movement of the robotic device 100 on the pipeline 10. In various embodiments, the sensor assembly 140 may include a sensor 141 and a support 142. Although only one sensor assembly 140 is shown, it should be appreciated that the robotic device 100 may be equipped with any number of sensor assemblies in any suitable configuration.

[0111] In various embodiments, the sensor 141 may include one of a variety of sensors suitable for inspecting or otherwise collecting information about the pipeline 10 and / or the surrounding environment. For example, in an embodiment, the inspection sensor 141 may include an ultrasonic sensor or other sensor suitable for non-destructive inspection (NDI) of structural aspects of the pipeline 10, such as measuring wall thickness or detecting cracks / corrosion. In another embodiment, the inspection sensor 141 may include a sensor configured to sample the air near the pipeline 10 for tracking fluid (e.g., natural gas, oil) that may have leaked from the pipeline 10. Such tracking may indicate cracks or corrosion in the pipeline 10 and may therefore be used for structural inspection purposes.

[0112] In various embodiments, the sensors 141 may include one or more sensors used by the robotic device 100 to assess its operating environment and / or position therein. For example, the sensors 141 may include one or more sensors configured to measure the diameter of the pipe 10, as shown and described in U.S. Patent No. 11154989 (titled “Pipe Traversing Apparatus, Sensing, and Controls”, issued on October 26, 2021, which is incorporated herein by reference in its entirety for all purposes). As another example, the sensors 141 may include one or more sensors configured to track the position of the robotic device 100 on the pipe 10, as shown and described in the incorporated patent reference.

[0113] In various embodiments, the support 142 may allow the sensor 141 to be coupled to the robotic device 100 and may be movable to position the sensor 141 relative to the surface of the pipe 10. Various embodiments of the support 142 are shown and described in the context of supports disclosed in the incorporated patent references, including but not limited to the movable and spring-loaded sensor support arms described therein.

[0114] One of ordinary skill in the art will recognize how to adapt these components for use with the robotic device 100 of the present invention without undue experimentation.

[0115] The sensor assembly 140 and other payloads can be attached to any suitable portion of the robotic device 100, including on the drive platform 110 and / or on the gripping member 130. The mounting location of the sensor assembly 140 may take into account the ease with which the gripping member 130 can be replaced and an attempt to keep the center of mass of the robotic device 100 as close as possible to the center of the pipe 10 in order to minimize the moments exerted on the robotic device 100 by gravity (particularly when driving on a horizontal pipe 10).

[0116] The robotic device 100 may also be provided with a fail-safe arm, such as shown and described in U.S. Patent Application No. 17 / 887,281, entitled “Radiography Inspection and Fail-Safe Mechanism for Pipe Traversing Robots,” filed on August 12, 2022, which is incorporated herein by reference in its entirety for all purposes. Such a fail-safe arm may be adapted for use with the robotic device 100 of the present invention in any suitable manner, including miniaturizing or making the fail-safe arm more compact so as to fit within a small gap. The fail-safe arm may also be provided with different tracks of different lengths and / or curvatures to fit different pipe sizes. These tracks may be modular, perhaps by mounting the fail-safe mechanism on a modular clamping component 130 of appropriate size, or modular separately.

[0117] Traverse pipes and avoid obstacles

[0118] In operation, the robotic device 100 may be mounted on the exterior surface of the pipeline 10 and traverse the pipeline 10 in order to deliver, perform, and / or support various functions, such as inspecting the pipeline 10 for structural defects or corrosion, and sampling the surrounding environment in order to track fluids that may have leaked from the pipeline 10. In doing so, the robotic device 100 may sometimes need to reposition itself circumferentially on the pipeline 10 in order to, for example, navigate through one or more obstacles extending from the pipeline 10, or inspect a particular side of the pipeline 10. Similarly, it may sometimes be preferable for the robotic device to spiral around the exterior of the pipeline 10 or otherwise follow a spiral pattern when attempting to inspect a large portion of the exterior of the pipeline 10 or the surrounding environment. Thus, the robotic device 100 of the present invention may be configured to traverse the pipeline 10 along straight, circumferential, and / or spiral paths (and any combination thereof). Generally, travel along these paths may be achieved by driving the wheels 111 in various combinations, as further described in more detail below.

[0119] To travel along the axial path, all wheels are driven at the same speed, with wheels 111 having a first roller 112 orientation driven in a first direction and wheels 111 having a second mirrored roller 112 orientation driven in a second opposite direction. The first and second rotational directions may be opposite to provide opposite axial travel directions.

[0120] Fig.17A and Fig. 17B This combination of wheel 111 motions is shown to enable Fig. 6A A representative eight-wheeled robotic device 100 of FIG. 1 is advanced along an axial path on a pipeline 10. Because the robotic device 100 does not necessarily have a "front" and a "rear" due to its symmetry, the front and rear have been arbitrarily designated for ease of explanation. Wheels 111a, 111f have a right-hand roller orientation and thus rotate counterclockwise when viewed from the front to generate traction along the pipeline 10 in a forward and counterclockwise direction when viewed from the front. Conversely, wheels 111b, 111e have a left-hand roller orientation and thus rotate clockwise when viewed from the front to generate traction along the pipeline 10 in a forward and clockwise direction when viewed from the front. The clockwise and counterclockwise vector components cancel each other, resulting in axial motion in the forward direction.

[0121] To travel along the circumferential path, all wheels are at the same speed and the wheels 111 are driven in the same direction. The direction of rotation may be reversed so that the direction of circumferential travel is reversed.

[0122] Fig.18A and Fig.18B This combination of wheel 111 motions is shown to enable Fig. 6A A representative eight-wheeled robotic device 100 of FIG. 1 is shown advancing along a circumferential path on a pipe 10. Because the robotic device 100 does not necessarily have a "front" and a "rear" due to its symmetry, the front and rear have been arbitrarily designated for ease of explanation. Wheels 111a, 111f have right-hand roller orientations and thus rotate counterclockwise when viewed from the front to generate traction along the pipe 10 in a forward and counterclockwise direction when viewed from the front. Conversely, wheels 111b, 111e have left-hand roller orientations and thus rotate counterclockwise when viewed from the front to generate traction along the pipe 10 in a rearward and counterclockwise direction when viewed from the front. The forward and rearward vector components cancel each other, resulting in circumferential motion in a rightward direction.

[0123] To follow a path having both axial and circumferential components, the relative wheel speeds and / or wheel rotation directions may be varied as necessary to produce the desired vector.

[0124] For example, Fig.19A , Fig.19B and Fig.19CA combination of motions suitable for advancing the robotic device 100 forward at a 45 degree angle relative to the axis of the pipeline 10, which rotates in a counterclockwise direction when viewed from the front, is shown. Those wheels 111 with right-hand roller orientations are driven at the same speed as each other, while those with left-hand roller orientations are not driven at all. The resulting traction vector is 45 degrees forward and to the right (assuming the rollers 112 are at a 45 degree angle), so the robotic device 100 follows a pure spiral path, which rotates in a counterclockwise direction when viewed from the front. Conversely, to follow a pure spiral path that rotates to the left, those wheels 111 with left-hand roller orientations are driven at the same speed as each other, while those with right-hand roller orientations are not driven at all. The resulting traction vector is 45 degrees forward and to the left (assuming the rollers 112 are at a 45 degree angle), so the robotic device 100 follows a pure spiral path, which rotates in a clockwise direction when viewed from the front. The corresponding rotation direction can be reversed so that the robotic device 100 travels backwards at a 45 degree angle relative to the axis of the pipe 10 rotating in the corresponding direction.

[0125] In order to travel along a spiral path with shorter turns (i.e., smaller pitch) or longer turns (i.e., larger pitch), all wheels 111 can be driven, although the wheels of one handedness rotate at a faster speed than the wheels of the other handedness. Which handedness is driven faster vs. which handedness is driven slower depends on the specific combination of wheel rotation directions adopted. Generally, in order to travel along a spiral path with shorter turns (i.e., a circumferential component that is larger than the axial component), it is possible to choose to adopt the wheel rotation setting for circumferential travel and change the wheel speed accordingly to achieve the desired smaller pitch. Similarly, in order to travel along a spiral path with longer turns (i.e., a axial component that is larger than the circumferential component), it is possible to choose to adopt the wheel rotation setting for axial travel and change the wheel speed accordingly to achieve the desired smaller pitch.

[0126] Of course, the robotic device 100 of the present invention need not be limited to traveling only along axial, circumferential and spiral paths - the above principles may be appropriately combined to move along any path on the pipeline 10. Likewise, while the present invention may involve driving all wheels 111 (similar to all-wheel drive in a car), in embodiments with more than two wheels 111, only two such wheels 111 need be driven (similar to two-wheel drive in a car), it being noted that the two wheels 111 selected for driving should be selected in accordance with the above teachings to produce the desired resultant traction force vector for the desired motion. The remaining wheels 111 may rotate freely.

[0127] In operation, the robotic device 100 can be maneuvered along various pathways for various purposes, including but not limited to following a desired inspection pattern or navigating past obstacles on or near the pipeline 10. As previously mentioned, in various embodiments, the robotic device 100 can be provided with an open side 139 through which obstacles can pass without interference. In various embodiments, the open side 139 is positioned opposite the gripping member 130, as shown. Fig. 20A , Fig. 20B , Fig. 20C , Fig.20D and Fig.20E A representative method for navigating through a pipe 10' that is positioned very close to the pipe 10 (i.e., so close that it would interfere with the gripping member 130 and / or the drive platform 110 despite the low profile configuration of the robotic device 100) or even contacting the pipe 10 is shown. Fig. 20A and Fig. 20B , the robotic device 100 is approaching the pipe 10'. The open side 139 is not axially aligned with the area where the pipe 10' abuts the pipe 10, so in the current orientation of the robotic device 100, the pipe 10' may interfere with the robotic device 100 as it attempts to pass through the pipe 10'. Fig. 20C In the embodiment, the robotic device is maneuvered in the circumferential direction so that the open side 139 is aligned with the area where the pipe 10' abuts against the pipe 10. Fig.20D In the embodiment shown in FIG. 1 , the robotic device 100 travels along the axial path so as to traverse the pipe 10 ′ to a position against the pipe 10 . Fig.20E The robotic device 100 is shown having passed through the pipeline 10'.

[0128] Fig.21A , Fig.21B , Fig. 21C , Fig.21D and Fig.21E A prototype of the robotic device 100 is shown at various circumferential locations on the pipeline 10 . Fig.21B The open side 139 is also particularly shown.

[0129] Fig.22A and Fig. 22B A combination of motions suitable for recovering the robotic device 100 from a radial slip condition is represented. The term radial slip as used herein refers to any slip between the wheels 111 and the pipe 10 that causes the robotic device 100 to exhibit uncontrolled radial motion.

[0130] To recover from a radial slip condition, all wheels are driven in the recovery direction. In the illustrated embodiment, the robotic device 100 has experienced radial slip, wherein the inner wheels of the robotic device 100 have disengaged from the pipe 10. By rotating all wheels in the recovery direction, traction force vectors are generated in the recovery direction, and the axial components of these vectors cancel each other out. When the radial slip is asymmetric, the wheel rotation speed and direction can be changed according to the present invention to accommodate.

[0131] Robotic sensing and control

[0132] In various embodiments, the robotic device 100 may include sensing and control capabilities similar to those shown and described in the "Robotic Sensing and Controls" section of the incorporated patent reference. One of ordinary skill in the art will recognize how to adapt such capabilities to the robotic device 100 of the present invention without undue experimentation.

[0133] Robot device 200

[0134] Embodiments of the present invention also relate to a robotic device 200 for traversing the exterior of a pipeline system, such as those commonly found in chemical plants, power plants, manufacturing plants, and infrastructure. Similar to the robotic device 100, the robotic device 200 of various embodiments clamps onto a pipeline 10, is capable of driving in any direction along the surface of the pipeline 10, requires very low clearance around the pipeline 10, and accommodates a wide range of different pipeline 10 sizes. In various embodiments, the robotic device 200 may have an increased ability to drive over small obstacles on the pipeline 10 (e.g., electrical tape), an increased ability to drive over obstacles tangential to the pipeline 10 (e.g., beams resting the pipeline 10), and increased stability on larger pipeline 10 sizes.

[0135] High-level architecture

[0136] Fig.232 is a perspective view of a representative embodiment of the robotic device 200. In various embodiments, the robotic device 200 may generally include a central drive module 210 and one or more gripping drive modules 220. Generally, the central drive module 210 and the gripping drive modules 220 may include a plurality of wheels 211, 221, which are powered by one or more motors 215, 225, respectively, to enable the robotic device 200 to move and turn along the pipeline 10, and each gripping drive module 220 may be configured to bias the wheels 211, 221 against the pipeline 10 to secure the robotic device 200 to the pipeline. Although the modules 210, 220 may be referred to herein as "drive" modules, the present invention shall not be limited to embodiments in which all modules 210, 220 include motors 215, 225, respectively, or embodiments in which all or any specific combination of wheels 211, 221 are powered. A person of ordinary skill in the art should recognize the appropriate configuration of the powered / unpowered wheels 211 , 221 in order to achieve the desired movement of the robotic device 200 on the pipeline 10 .

[0137] Embodiments of the robotic device 200 generally have many advantages over existing or alternative solutions, including:

[0138] Clearance. The design is very compact compared to other pipe crawling robots. For example, the embodiment shown in the figures requires no more than 2.4" in any direction around the pipe 10. For comparison, the most compact robots known to the inventors on the market require approximately 2.75" of clearance. The main reason for this low clearance is the gripper drive module 220 design, in which the gripper assembly 230 is customized for a specific pipe size. This allows for a more compact design compared to robot designs designed to handle a wide range of pipe sizes with the same components.

[0139] Lightweight. The design is also very light. The design in the figure weighs approximately 15 pounds. Similar to the gap, the design of the gripper drive module 220 also helps to reduce the weight of the robot. Since the robot does not rely on magnets to attach to the pipe, it is able to avoid the weight associated with magnets.

[0140] Maneuverability. Due to the driven wheels 211, 221, the robot can be driven in any direction along the pipeline surface, including pure axial or circumferential motion. Since there are no constraints on the direction of travel, the robot can be driven in a straight line from its current position to any suitable point on the pipeline surface. This simplifies the control of the robot, improving its efficiency and ability to navigate through different potential obstacles along the pipeline.

[0141] Wide Range of Pipe Sizes. Due to the modular gripper drive modules 220, the robot can be configured to fit a wide range of different pipe sizes (e.g., between 4.5" and 14" in diameter for the example embodiment). One set of gripper drive modules 220 will be used for one specific pipe size, but using the optional adjustment mechanism 235, one set of gripper drive modules 220 can work with a range of pipe sizes. This will reduce the total number of different gripper drive modules 220 that an operator would need in order to use the robot on any pipe size across the robot's full range. Additionally or alternatively, the modular design also allows the operator to replace gripper drive modules 220 of various sizes to accommodate different pipe sizes.

[0142] Vertical and horizontal pipes. The robot is able to drive on both horizontal and vertical pipes. Unlike some designs that rely on gravity by balancing on top of a horizontal pipe, the robot uses a clamping force to attach to the pipe and is therefore able to drive on both vertical and horizontal pipes.

[0143] Bare and insulated pipes. The robot is able to drive on both bare and insulated pipes. Unlike some designs that rely on magnets to attach to the pipe, the robot uses a clamping force to attach to the pipe and can therefore drive on both bare and insulated pipes.

[0144] Open side to pass obstacles. The robot has open sides through which obstacles can pass when the robot traverses the pipeline 10.

[0145] Central drive module 210

[0146] Fig.24 2 is a perspective view of a representative central drive module 210. In various embodiments, the central drive module 210 may generally include one or more wheels 211 powered by one or more motors 215, which are similar to the wheels 111 and motors 125 of the robotic device 100, respectively. In the illustrated embodiment, the central drive module 210 includes four independently powered wheels 211, wherein two wheels 211a, 211b are mounted on a first end of a frame 213 on a first side of the central drive module 210, and two wheels 211c, 211d are mounted on a second end of the frame 213 on a second side of the central drive module 210. In some embodiments, the frame 213 may be rigid, while in other embodiments, those "arm" portions to which the wheels 211 are mounted may be articulated upward / downward relative to the central portion and biased (e.g., spring loaded) toward the pipeline 10 (i.e., downward) to more effectively distribute the normal forces, traction forces, and loads generated more evenly between the wheels 211, and to allow the robotic device 200 to more easily drive over small obstacles on the surface of the pipeline 10.

[0147] In various embodiments, the wheels 211 may be grouped into pairs where the orientation of the rollers 212 of one wheel 211 mirrors the orientation of the rollers 212 on the other wheel 211. Fig.24 In the illustrated four-wheel embodiment of the central drive module 210, the orientation of the rollers 212a of wheel 211a mirrors the orientation of the rollers 212b of wheel 211b, and the orientation of the rollers 212c of wheel 211c mirrors the orientation of the rollers 212d of wheel 211d. As with the similar mirrored roller configuration of the robotic device 100, travel along various pathways on the pipeline 10 can be achieved by driving the wheels 211 (alone or in combination with wheels 221) in various combinations, as further described in more detail below.

[0148] In various embodiments, such as Fig.24 As shown, when the robotic device 200 is fixed to the pipeline 10, the primary rotation axis of each wheel 211 can be oriented perpendicular to the longitudinal axis of the pipeline 10 (e.g., oriented in a transverse direction on the frame 213). In other words, the wheels 211 are oriented so that they rotate along the pipeline 10 in the axial direction of travel, much like the wheels of a car rotate in the direction of travel of the car on the road. Compared to wheels oriented in the longitudinal direction on the frame 213, this configuration tends to maintain greater traction between the wheels 211 and the pipeline 10 when driving over small obstacles (such as electrical tape) on the surface of the pipeline 10, because it is able to use the circular cross-section of the wheel 211 to gradually lift itself over the obstacle, while the wheel oriented in the longitudinal direction on the frame 213 will have a rectangular cross-section in the direction of travel, which does not tend to lift itself over the obstacle.

[0149] In a configuration where the primary rotational axis of each wheel 211 is oriented perpendicular to the longitudinal axis of the pipe 10 (e.g., oriented in a transverse direction on the frame 213) when the robotic device 200 is secured to the pipe 10, the wheels 211 are preferably mounted along the centerline of the central drive module 210 so that the wheels 211 contact the pipe 10 at different longitudinal locations along the length of the pipe 10 and at a common circumferential location around the circumference of the pipe 10, as shown. Positioning the wheels 211 in this manner helps ensure that the primary rotational axis of the wheels 211 remains parallel to the contact surface of the pipe 10, thereby maximizing the contact area between the wheels 211 and the surface of the pipe 10. In contrast, when the wheels 211 are circumferentially offset from one another, the primary rotational axis of the wheels 211 is not directly parallel to the contact surface of the pipe 10, thereby causing the wheels 211 to ride partially along its "rim," thereby reducing the contact area between the wheels 211 and the surface of the pipe 10. This is illustrated in FIG8.

[0150] In an alternative embodiment (not shown), the primary axis of rotation of each wheel 211 may be oriented parallel to the longitudinal axis of the pipe 10 (e.g., in a longitudinal direction on the frame 213). In other words, the wheels 211 are oriented so that they rotate in the direction of circumferential travel along the pipe 10. This configuration tends to maintain greater traction between the wheels 211 and the pipe 10 when driving in a circumferential direction around the pipe 10, but may experience reduced traction when traveling over small obstacles (e.g., electrical tape) on the surface of the pipe 10, for reasons similar to those explained above. In this configuration, the wheels 211 are preferably mounted offset from the centerline of the central drive module 210 so that the wheels 211 contact the pipe 10 at different circumferential locations around the circumference of the pipe 10. Since the clamping force can be applied from four directions (compared to three directions), the circumferential spacing between a given pair of wheels 211 can provide additional stability to the robotic device 200 on the pipe 10. The circumferentially offset wheels 211 of a given pair may be arranged at a common longitudinal position on the pipe 10.

[0151] Various electronics 217 may be mounted on a central portion of the frame 213 between the two sets of wheels 211. For example, the electronics 217 may include components for operating the robotic device 200, such as a circuit board having a controller configured to drive the motors 215, 225 according to executable instructions stored on a memory component. In some embodiments, the payload may be carried on one or more drive platforms 110, on the frame 113, or at any other suitable location on the robotic device 100. Of course, in various embodiments, the robotic device 100 may additionally or alternatively be powered by a power cord or other suitable power source.

[0152] Clamping drive module 220

[0153] Fig.25A and Fig.25B1 and 10 are perspective views of a representative gripping drive module 220 for use on a small diameter pipe and a large diameter pipe, respectively. The gripping drive module 220 may generally include: two or more wheels 221, the two or more wheels 221 being powered by two or more motors 225; and a gripping assembly 230. Typically, the gripping drive module 220 is sized and shaped to wrap around a portion of the circumference of the pipe 10. Similar to the gripping component 130 of the robotic device 100, the gripping assembly 230 may be configured to apply a force for pushing the wheels 211, 221 toward the outer surface of the pipe 10, for securing the robotic device 200 to the pipe 10. However, here, the gripping drive module 220 may be configured to position the wheels 221 not on the directly opposite side of the pipe 10, but closer together than it, preferably in a manner that forms a triangular arrangement with the wheels 211 around the circumference of the pipe 10 when the robot device 200 is viewed from the front, so that the normal forces applied by the circumferentially offset wheels are balanced, so as to provide stability and fix the robot device 200 on the pipe 10, as described later. Fig.26 as shown in .

[0154] Still reference Fig.25A and Fig.25BIn various embodiments, the clamp assembly 230 may include a stationary component 231 and two articulated arm components 232. The stationary component 231 may be rigidly attached to the central drive module 210 (e.g., the wheel 211 contacts the pipe 10 somewhere in the top third of the pipe 10), and the articulated arm components 232 may extend around opposite sides of the pipe 10 (e.g., so that the wheels 221 contact the pipe 10 somewhere in the bottom two-thirds of the pipe 10, respectively, to provide mechanical stability). The stationary component 231 and the articulated arm components 232 may be rotatably connected to form an articulated joint between the stationary component 231 and each articulated arm component 232. A biasing component 233 (e.g., a torsion spring) may be configured to apply a force that pushes each articulated arm 232 toward the pipe 10. The torque will be adjusted so that the normal force generated on the wheel 221 is sufficient (based on the coefficient of friction) for the wheel 221 to gain traction without slipping on the pipe 10. However, excessive torque can begin to deform some insulating materials (e.g., mineral wool) commonly used on industrial pipelines, place excessive loads on various structural components of the robotic device 200, and / or increase the power required to drive the robotic device 200 along the pipeline 10. When so configured, the clamping assembly 230 "hugs" against the pipeline 10, thereby pulling the wheels 221 and 211 against the pipeline 10 to secure the clamping drive module 220 and the central drive module to the pipeline 10. It should be noted that in various embodiments, the clamping drive module 220 does not completely bound the pipeline 10, but leaves an open side 239 opposite the central drive module 210, through which obstacles can pass when the robotic device 200 traverses the pipeline 10, as described later in Figures 27 and 28. Fig.28 as shown in .

[0155] refer to Fig.25B In some embodiments, the length of the articulated arm member 232 can be adjustable. In one such embodiment, the articulated arm member 232 can include a first member 233 and a second member 234 connected together by an adjustable connection 235 (e.g., the slot-screw connection shown). For a shorter articulated arm member 232, the screw can be loosened and the second member 234 can be moved upward to increase the amount of overlap between the proximal end of the second member 234 and the distal end of the first member 233, so that the screw can be retightened. Conversely, for a longer articulated arm member 232, the screw can be loosened and the second member 234 can be moved downward to reduce the amount of overlap between the proximal end of the second member 234 and the distal end of the first member 233, so that the screw can be retightened. These length adjustments can be made to help best fit a particular pipe size.

[0156] Figures 27A-27E Indicates that from Fig.27A 4.5'' to Fig.27EIn various embodiments, the robotic device 200 has a modular construction, wherein a given gripper drive module 220 can be removed from the central drive module 210 and replaced with a gripper drive module 220 of a different size, thereby allowing the robotic device 200 to operate on pipes 10 of various sizes. For example, a smaller gripper drive module 220 is shown as Fig.27A The larger clamping drive module 220 is shown as being used on the smaller pipe of Fig.27E Typically, a suitably sized gripper drive module 220 may have a stationary portion 231 and an articulated arm portion 232 having a radius of curvature similar to or slightly greater than the radius of curvature of the pipe 10, and the length of the articulated arm portion 232 may be configured to position the wheels 221 in the arrangement previously described. It is generally undesirable to use a gripper drive module 220 that is larger than necessary because the additional size will increase the amount of clearance around the pipe 10 required for the robotic device 200 to traverse the pipe 10 without interfering with nearby obstacles, may reduce the size of the open side 239, and may disadvantageously position the wheels 221 from a stability perspective.

[0157] Additionally or alternatively, in various embodiments, the robotic device 200 has a modular construction in the sense that the articulated arm member 232 can be extended or shortened to accommodate various pipe sizes. One set of gripper drive modules 220 will be used for one specific pipe size, but with the optional adjustment mechanism 235, one set of gripper drive modules 220 can work with a range of pipe sizes. This will reduce the total number of different gripper drive modules 220 that an operator would need in order to use the robot on any pipe size within the full range of the robot.

[0158] In various embodiments, the rollers 222 of one wheel 221 on a given clamping drive module 220 may have the same orientation as the rollers 222 of another wheel 221, as shown. In various other embodiments, the orientation of the rollers 222 of one wheel 221 on a given clamping drive module 220 may mirror the orientation of the rollers 222 on another wheel 221. Traveling along various paths on the pipe 10 may be achieved by driving the wheels 221 (alone or in combination with the wheels 211) in various combinations, as further described in more detail below.

[0159] In various embodiments, for example Fig.25A and Fig.25BIn the embodiment shown in , the main rotation axis of each wheel 221 can be oriented parallel to the longitudinal axis of the pipe 10. In other words, the wheels 221 are oriented so that they rotate along the circumferential travel direction of the pipe 10. Positioning the wheels 211 in this way will ensure that the entire width of the wheels 221 contacts the pipe 10, thereby ensuring traction in the circumferential direction of the pipe 10 under all conditions. In contrast, when the main rotation axis of the wheels 221 is oriented perpendicular to the longitudinal axis of the pipe 10, the mismatch between the length of the articulated clamping arm 232 and the diameter of the pipe 10 may cause the main rotation axis of the wheels 221 to not be directly parallel to the contact surface of the pipe 10, thereby causing the wheels 221 to ride partially along its "rim", thereby reducing the contact area between the wheels 221 and the surface of the pipe 10.

[0160] In an alternative embodiment (not shown), the primary axis of rotation of each wheel 221 may be oriented perpendicular to the longitudinal axis of the pipe 10. In other words, the wheels 221 are oriented so that they rotate along the pipe 10 in the axial direction of travel. This configuration tends to maintain greater traction between the wheels 221 and the pipe 10 when driving along the pipe 10 in the axial direction, and thus will perform well when traveling over small obstacles (such as electrical tape) on the surface of the pipe 10, for reasons similar to those explained above. That is, as described above, this configuration requires a precise match between the length of the articulated clamping arm 232 and the diameter of the pipe 10 in order to ensure uniform contact across the width of the wheel 221, rather than the wheel 221 riding locally along its "rim".

[0161] Fig.29 is a perspective view of a representative embodiment of a robotic device 200 on a pipe 10. In this preferred embodiment, the primary rotation axes of the wheels 211 of the central drive module 210 are oriented perpendicular to the longitudinal axis of the pipe 10 so that they rotate along the pipe 10 in an axial direction of travel, and the primary rotation axes of the wheels 221 of the gripping drive modules 220 are oriented parallel to the longitudinal axis of the pipe 10 so that they rotate along the pipe 10 in a circumferential direction of travel. This particular combination ensures good traction in both the axial and circumferential directions, wherein the central drive module 210 provides the best traction for traveling in the axial direction and the gripping drive modules 220 provide the best traction for traveling in the circumferential direction. It should be noted that neither suffers from mismatch problems that could cause its respective wheels to ride on their rims or not have uniform contact across the width of the wheel.

[0162] Various payloads can optionally be added to the robotic device 200 (in some embodiments, on the gripper drive module 220) to enable the robotic device 200 to perform different tasks. These payloads can be attached to either end of the robotic device 200. For example, Fig.29A probe is shown attached to a clamping member 220. Representative payloads include, but are not limited to, cameras and non-destructive inspection devices such as pulsed eddy current devices and ultrasonic testing devices.

[0163] Crossing pipelines and avoiding obstacles

[0164] for Fig.29 An example embodiment of (having a central drive module and two clamping drive modules), Fig.31A , Fig.32A and Fig.33A It shows the directions in which the wheels 211, 221 need to be driven in order to drive the entire robotic device axially, circumferentially or helically around the pipe, respectively.

[0165] First reference Fig.31A , the robotic device 200 can be advanced in an axial direction by (i) rotating the wheels 211a, 211b, 211c, 211d simultaneously in the same direction as each other at equal speeds, and (ii) rotating the wheels 221a, 221b in a first direction and the wheels 221c, 221d in a second, opposite direction at equal speeds simultaneously. Of course, this example assumes that all wheels 211, 221 are powered. In various embodiments, less than all wheels 211, 221 can be powered and the robotic device 200 can still be advanced in an axial direction. For example, in some embodiments, the wheels 211a, 211b can be powered while the wheels 211c, 211d can be unpowered, or vice versa; in either case, the opposite handedness of any pair of rollers 212 ensures that the robotic device 200 is advanced in an axial direction. Likewise, in some embodiments, only one wheel of the wheel pair 221a, 221b and only one wheel of the wheel pair 221c, 221d can be powered. Many different combinations of powered and non-powered wheels can be implemented to propel the robotic device 200 in an axial direction. Based on the teachings of the present invention, one of ordinary skill in the art can infer how to change the wheel drive direction when any wheel handedness (left or right hand) or wheel orientation changes.

[0166] refer to Fig.32A, the robotic device 200 can move forward in a circumferential direction by (i) rotating (a) wheels 211a, 211b in opposite directions and (b) wheels 211c, 211d in opposite directions at equal speeds simultaneously; and (ii) rotating wheels 221a, 221b, 221c, 221d in the same direction as each other at equal speeds simultaneously. Of course, this example assumes that all wheels 211, 221 are powered. In various embodiments, less than all wheels 211, 221 can be powered, but the robotic device 200 can still move forward in a circumferential direction. Based on the teachings of the present invention, one of ordinary skill in the art can infer how to change the wheel drive direction when any wheel handedness (left or right hand) or wheel orientation changes.

[0167] refer to Fig.33A , the robotic device 200 can advance in a spiral direction by (i) rotating wheels 211a, 211c simultaneously in the same direction at an equal speed, and (ii) rotating wheels 221a, 221b simultaneously in the same direction at an equal speed. Here, wheels 211b, 211d and 221c, 221d can be allowed to rotate freely, as shown. In various embodiments, less than all wheels 211, 221 can be powered, but the robotic device 200 can still advance in a circumferential direction. Based on the teachings of the present invention, one of ordinary skill in the art can infer how to change the wheel drive direction when any wheel handedness (left-handed or right-handed) or wheel orientation changes.

[0168] Fig.31B , Fig.32B and Fig.33B It indicates that for Fig.29 Another example embodiment of (but with a central drive module and only one gripping drive module) the wheels 211, 221 need to be driven in different directions in order to drive the entire robotic device axially, circumferentially or helically around the pipe, respectively.

[0169] First reference Fig.31B , the robot device 200 can advance in the axial direction by (i) rotating the wheels 211a, 211b simultaneously in the same direction at an equal speed, and (ii) rotating the wheels 221a, 221b simultaneously in opposite directions at an equal speed. Fig.32B, the robotic device 200 can advance in a circumferential direction by (i) rotating the wheels 211a, 211b simultaneously in opposite directions at equal speeds, and (ii) rotating the wheels 221a, 221b simultaneously in the same direction as each other at equal speeds. Referring to FIG. 33C , the robotic device 200 can advance in a spiral direction by (i) rotating the wheel 211a in a first direction, and (ii) rotating the wheels 221a, 221b simultaneously in the same direction as each other at equal speeds. Based on the teachings of the present invention, one of ordinary skill in the art can infer how to change the wheel drive direction when any wheel handedness (left-handed or right-handed) or wheel orientation changes.

[0170] Furthermore, it should be appreciated that as the robotic device 200 advances along the spiral path, the pitch of the spiral path may be determined based on the rotational speed of the wheel 211 relative to the rotational speed of the wheel 221. For example, rotating the wheel 221 faster may impart a tighter pitch, while rotating the wheel 221 slower may impart a looser pitch.

[0171] Robotic sensing and control

[0172] In various embodiments, the robotic device 200 may include sensing and control capabilities similar to those shown and described in the "Robotic Sensing and Controls" section of the incorporated patent references. One of ordinary skill in the art will recognize how to adapt such capabilities for use with the robotic device 200 of the present invention without undue experimentation.

[0173] Additional components

[0174] Fig.34A and Fig.34B Side and front perspective views of another embodiment of a robotic device 200 on a large diameter pipe 10 are shown. Generally, this particular embodiment of the robotic device 200 is similar in architecture to the previously described embodiments, but may include one or a combination of additional components, such as an additional cover 214 for the wheel 211, a handle 216, an additional wheel 221, a buffer wheel 223, one or more reinforcing rods 2264, a sensor payload 240, a camera 244, one or more encoder wheels 246, a fail-safe assembly 250, and a spring-loaded assembly 260 for the wheel 211. Although this embodiment is shown as equipped with all of these components, the present invention will not be limited to such a fully equipped embodiment; rather, one of ordinary skill in the art will recognize that various embodiments of the robotic device 200 may include any one or a combination of these components. Fig.35 A similar embodiment of the robotic device 200 is shown on a smaller diameter pipe 10.

[0175] Additional wheel 221'

[0176] like Fig.34A As shown, in various embodiments, the robotic device 200 may also include an additional wheel 221' on the clamping drive module 220. The additional wheel 221' may be mounted adjacent to the wheel 221 at the same or similar circumferential position to ensure good contact with the pipe 10 and to evenly balance the normal force (due to clamping) between the wheel 221 and the wheel 221'. In the illustrated embodiment, the wheel 221' is mounted at an axially offset position from the wheel 221 toward the center of the robotic device 200 so as not to increase the overall length of the robotic device 200. In the case where the wheel 221 has an angled roller 222, the roller 222' of the wheel 221' may mirror the orientation of the roller 222 of the adjacent wheel 221, as shown. The addition of the additional wheel 221' may have the following benefits:

[0177] (1) Reduce the local pressure on the surface of the pipe 10. A relatively high clamping force may be required to generate sufficient traction between the wheel 221 and the pipe 10, such as when the robot 200 lifts its own weight (and the weight of potential cables) to drive up a vertical pipe 10. When the clamping force is divided among more wheels (e.g., between wheels 221, 221'), the pressure from each wheel is reduced, and the robot 200 is less likely to damage the pipe 10, for example, denting the jacket of the insulating pipe.

[0178] (2) Cancellation of unwanted forces. Unwanted forces are offset locally, so there is less twisting and bending of the structural components of the robotic device 200. The wheels 221 with angled rollers 222 can work in pairs, and together they can provide forces along the surface of the pipe 10 in any desired direction, in part by offsetting forces in unwanted directions. However, when a pair of wheels 221 are located at opposite ends of the robotic device 200, the structure between the wheels 221 may bend and twist as it transfers those loads. When a pair of wheels 221, 221' are mounted close to each other, the structure between them will not deform as much because the lever arm is shorter and the connecting structure can be stiffer.

[0179] (3) Greater thrust. More drive wheels allow for greater thrust. When the thrust of the robotic device 200 is not limited by traction, the maximum thrust (force) that the robotic device 200 can apply when it is driving will depend on the maximum torque of each drive wheel 221 and the number of drive wheels 221. When powered (e.g., by a motor 225', not shown), the wheel 221' allows the robotic device 200 to apply greater thrust.

[0180] Buffer wheel 223

[0181] Still reference Fig.34A, embodiments of the robotic device 200 may include two free-spinning buffer wheels 223 with free-spinning rollers 224 on each gripping drive module 220. Ideally, with equal biasing forces (e.g., from the biasing member 233) and without friction, the arm member 232 should self-center on the pipe 10 by driving the two pivot points at the respective connections of the articulated arm member 232 and the stationary member 231 by equal amounts. In practice, however, the robotic device may be able to shift to one side without self-centering, which reduces the amount of clearance inside the robotic device 200 to the point where the robotic device 200 may begin to scrape the pipe 10. In various embodiments, the buffer wheels 223 may be used to mitigate the effects of any side-to-side shifting by contacting and rolling along the pipe 10 as the side-to-side shifting occurs. The precise distance from the pipe 10 to the surface of the buffer wheel 223 can be adjusted so that the buffer wheel 223 does not contact the pipe 10 when the robotic device 200 is properly centered, but when the robotic device 200 begins to shift side to side, the buffer wheel 223 will contact the pipe 10 and ensure that a certain amount of clearance is maintained between the articulated arm member 232 and the surface of the pipe 10. In the illustrated embodiment, the buffer wheel 223 has a roller 224 whose axis of rotation is oriented perpendicular to the main axis of rotation of the main wheel portion (an "omni-directional wheel" design) so that the buffer wheel 223 can move freely axially and circumferentially along the pipe 10 without adding significant friction.

[0182] Fail-safe kit 250

[0183] The robotic device 200 may also be provided with a fail-safe arm, such as shown and described in U.S. Patent Application No. 17 / 887,281, entitled “Radiography Inspection and Fail-Safe Mechanism for Pipe Traversing Robots,” filed on August 12, 2022, which is incorporated herein by reference in its entirety for all purposes. Such a fail-safe arm may be adapted for use with the robotic device 200 of the present invention in any suitable manner, including miniaturizing the fail-safe arm or making it more compact so as to fit within a small gap. The fail-safe arm may also be provided with different tracks of different lengths and / or curvatures to accommodate different pipe sizes.

[0184] Fig.36A , Fig.36B and Fig.36CA representative fail-safe mechanism 250 for the robotic device 200 is shown. In various embodiments, the fail-safe mechanism 250 can include a flexure arm 252, a guide 254, and a motor 256, the motor 256 being configured to advance and retract the flexure arm 252 via the guide 254. As shown, in various embodiments, the guide 254 can include three rotating elements positioned to guide the flexure arm 252 along the intended path. The rotating elements are located inside the flexure arm 252, which has an inner surface designed for bearings and spur gears to move against. This allows for a more compact design. The movement of the arm 252 can be driven by the motor 256, such as by a spur gear configured to match the toothed track of the flexure arm 252. Similar to the embodiment of the clamping assembly 230, the size and curvature of the arm 252 can be selected to complement the diameter of the pipe 10 (on which the robotic device 200 will be fixed). In an embodiment, the fail-safe mechanism 250 can be considered part of the associated clamp drive module 220 so that to switch to a significantly smaller or larger pipe 10, the user only needs to switch the clamp drive modules 220 and they will automatically have the correctly sized fail-safe arms 252 already attached.

[0185] Fig.37 An embodiment of a robotic device 200 is shown having a fail-safe mechanism 250 secured to each of its gripper drive modules 220. The fail-safe mechanism 250 on the left side of the figure is shown in a closed configuration, while the fail-safe mechanism 250 on the right side of the figure is shown in an open configuration. Typically, when traversing a pipeline 10, the fail-safe mechanism 250 is closed to prevent the robotic device 200 from falling in the event of its slipping; however, the fail-safe mechanism 250 can be opened when traversing an obstacle to allow the obstacle to pass through the open side of the robotic device 200.

[0186] Spring loaded wheel assembly 260

[0187] Fig.38A perspective view of a spring loaded assembly 260 for biasing a subset of the wheels 211 of the central drive module 210 toward the surface of the pipe 10 is shown. Instead of rigidly mounting all of the wheels 211 on the frame 213 of the central drive module 210, a spring loaded wheel assembly 260 may be included so that a subset of the wheels 211 (here, two of the four wheels 211) are biased against the pipe 10, thereby allowing the biased wheels 211 to travel downward and upward relative to the surface of the pipe 10. Biasing the subset of wheels 211 ensures that all of the wheels 211 remain in contact with the pipe 10 even when the robotic device 200 is traversing obstacles or driving over uneven surfaces, thereby improving traction. In some embodiments, it may be preferred to bias only a subset of the wheels 211 in order to maintain a specific distance between the central drive module 210 and the pipe 10. This can be achieved by biasing all of the wheels 211; however, such a configuration would require very precise balancing of the biasing force generated by the clamp drive module 220 for all pipe sizes. In the example shown, the two outermost wheels 211 are rigidly mounted and determine the distance from the pipe 10. The two innermost wheels 211 are biased using a spring loaded wheel assembly 260, as it will keep the center drive module 210 more stable and reduce the amount of tilting due to obstacles and uneven surfaces. The biasing force can be selected based on the expected normal force, which depends on the clamping force from the clamping module 220. The normal force from the center drive module 220 can be ideally evenly distributed between the four wheels 211 to enable a larger total clamping force without causing excessive pressure from a single wheel 211 that could damage the pipe.

[0188] The spring-loaded assembly 260 may be connected to the frame 213 or share a component of the frame 213. In various embodiments, the spring-loaded assembly 260 may generally include a stationary component 261 and a traveling component 262 below the stationary component 261, the stationary component 261 and the traveling component 262 being separated by a biasing component 263 (e.g., a spring). The wheel 211 may be mounted on the traveling component 262, and when so configured, the biasing component pushes away from the stationary component to push the traveling component 262 (and thus the wheel 211) toward the surface of the pipe 10. In various embodiments, the traveling component 262 may be mounted on a track 265 or other structure, the track 265 or other structure being configured to guide the movement of the traveling component 262 in an up-down direction (i.e., radially relative to the pipe 10). Based on the teachings of the present invention, one of ordinary skill in the art will recognize alternative mechanisms that can bias certain wheels 211 toward the surface of the pipe 10, and the present invention will not be limited to any particular embodiment.

[0189] Encoder wheel 246

[0190] Fig.39A and Fig.39BFirst and second encoder wheels 246 are shown respectively, which are arranged to track the circumferential and axial movement of the robotic device 200 on the pipeline 10. Fig.39A The encoder wheel 246 is mounted so that its main axis of rotation is parallel to the longitudinal axis of the pipe 10 so that the encoder wheel 246 rotates when it moves circumferentially around the pipe 10. Fig.39B The encoder wheel 246 is mounted so that its main axis of rotation is perpendicular to the longitudinal axis of the pipe 10 so that the encoder wheel 246 rotates when moving axially along the pipe 10. The encoder wheel measures the number of times the wheel rotates, so the distance traveled in a particular direction can be calculated based on the known diameter of the encoder wheel. In various embodiments, the encoder wheel 246 can be connected to the central drive module 210 (e.g., as shown, connected to its frame 213), rather than to the clamping module 220, so that they remain unchanged when the clamping drive module 220 is replaced.

[0191] Each encoder wheel 246 includes a plurality of rollers 247 around the circumference of the main wheel along the contact surface. In the illustrated embodiment, the rollers 247 rotate in a direction perpendicular to the direction of rotation of the main wheel portion (e.g., an "omni-wheel" design), thereby allowing the encoder wheel 246 to slide along the surface of the pipe 10 with minimal friction in a direction that is not necessarily aligned with the direction of rotation of the main wheel portion. In various embodiments, the encoder wheel 246 can have conical end caps, as shown, so that the overall shape of the encoder wheel 246 approaches a double cone. The inclined sides of these end caps act as ramps and easily pass over various obstacles along the pipe surface.

[0192] In various embodiments, the encoder wheel 246 may include a biasing mechanism (e.g., a torsion spring and hinge, as shown) 248 for biasing the encoder wheel 246 toward the surface of the pipe 10. Biasing the encoder wheel 246 in this manner ensures good contact between the encoder wheel 246 and the surface of the pipe 10 over the entire range of pipe sizes that the robotic device 200 is designed to use.

[0193] other

[0194] Refer to Fig.34A , Fig.34B 34C , in various embodiments, a camera 244 may be mounted to a side of the robotic device 200, e.g., the opposite side of the robotic device 200 to which the sensor 240 is mounted. In embodiments, the camera 244 may be pointed in an axial direction along the pipe 10 to help a user (or an automated control system with computer vision) navigate as it traverses the pipe 10. In embodiments, a mirror may be mounted at the end of the camera to redirect the field of view to look down at the surface of the pipe 10.

[0195] In various embodiments, in addition or alternatively, the robotic device 200 may include one or more reinforcing rods 226. The reinforcing rods 226 may extend between and connect the clamping drive modules 220 and serve to increase the rigidity of the overall structure of the robotic device 200, thereby minimizing bending of the clamping drive modules 220 under various loads. In the illustrated embodiment, the reinforcing rods 226 extend between the distal ends of the stationary components 231 of the clamping assembly 230, so that each reinforcing rod 226 is circumferentially offset from the central drive module 210 to better offset the moment on the clamping assembly 230. The ends of the reinforcing rods 226 may be detachable from the clamping assembly 230 to allow the clamping drive modules 220 to be easily swapped in and out. In various embodiments, the reinforcing rods 226 may also be used as handles for carrying and / or manipulating the robotic device 200 when installed on the pipe 10.

[0196] In various embodiments, the robotic device 200 may additionally or alternatively include covers 214 for covering the wheels 211 of the central drive module 210. These covers 214 can help protect the cables and improve the aesthetics of the robotic device 200.

[0197] In various embodiments, the robotic device 200 may additionally or alternatively include one or more handles 216 for carrying the robotic device 200 and / or manipulating the robotic device 200 when mounted on the pipeline 10. Although only one is seen, the robotic device 200 may include two handles 216 - one on each end of the central drive module 210.

[0198] Fig.40 A prototype of a robotic device 200 on a vertical pipeline 10 is shown.

[0199] Although the present invention and its advantages have been described in detail, it should be understood that various changes, substitutions and modifications can be made herein without departing from the spirit and scope of the present invention as defined by the appended claims. In addition, the scope of the present application will not be limited to the specific embodiments of the processes, machines, manufactures, material compositions, devices, methods and steps described in the specification. As those of ordinary skill in the art can easily understand from the content of the present invention, according to the content of the present invention, currently existing or later developed processes, machines, manufactures, material compositions, devices, methods or steps that perform substantially the same functions as the corresponding embodiments described herein or achieve substantially the same results can be utilized. Therefore, the appended claims will include these processes, machines, manufactures, material compositions, devices, methods or steps within their scope.

Claims

1. A robot device, comprising: a first wheel and a second wheel, the first wheel and the second wheel being connected by a frame and configured to be positioned on an outer surface of a pipe, each of the first wheel and the second wheel comprising a plurality of rollers arranged around a circumference of the wheel; a third wheel and a fourth wheel arranged to be positioned on the outer surface of the pipe at a position circumferentially offset from the first wheel and the second wheel, each of the third wheel and the fourth wheel including a plurality of rollers arranged around the circumference of the wheel; as well as A clamping assembly connected to the frame, the clamping assembly is connected to the third wheel and the fourth wheel, and is configured to apply a force for pushing the first wheel, the second wheel, the third wheel and the fourth wheel toward the outer surface of the pipeline to fix the robot device on the pipeline.

2. The robotic device according to claim 1, wherein: The plurality of rollers on each wheel are each arranged to rotate freely about the axis of rotation of the respective roller.

3. The robotic device according to claim 1, wherein: When the robotic device is secured to the pipe, the respective rotational axes of the first wheel and the second wheel are each arranged perpendicular to the longitudinal axis of the pipe.

4. The robotic device according to claim 3, wherein: The first wheel and the second wheel are arranged to contact the outer surface of the pipe at different longitudinal positions along the length of the pipe and are aligned at a common circumferential position along the outer surface of the pipe when positioned on the outer surface of the pipe.

5. The robotic device according to claim 1, wherein: When the robotic device is secured to the pipe, the respective rotational axes of the first wheel and the second wheel are each arranged parallel to the longitudinal axis of the pipe.

6. The robotic device according to claim 5, wherein: The first and second wheels are arranged to contact the outer surface of the pipe at a common longitudinal position along the length of the pipe and at different circumferential positions around the circumference of the outer surface of the pipe when positioned thereon.

7. The robotic device according to claim 1, wherein: The first wheel and the second wheel are arranged to contact a first third portion of the circumference of the outer surface of the pipe, and the third wheel and the fourth wheel are arranged to contact a second third portion and a third third portion of the circumference of the outer surface of the pipe, respectively.

8. The robotic device according to claim 1, wherein: When the robotic device is fixed to the pipeline, the rotation axes of the third and fourth wheels are arranged parallel to the longitudinal axis of the pipeline.

9. The robotic device according to claim 1, wherein: When the robotic device is fixed to the pipeline, the rotation axes of the third and fourth wheels are arranged perpendicular to the longitudinal axis of the pipeline.

10. The robotic device according to claim 1, wherein: The clamping assembly includes: a stationary component rigidly attached to the frame, and a first articulated arm member having a proximal end rotatably connected to the stationary member; and a second articulated arm member having a proximal end rotatably connected to the stationary member, wherein the first articulated arm member and the second articulated arm member are configured to extend around opposite sides of the pipe; The third wheel is connected to the distal end of the first articulated arm component, and the fourth wheel is connected to the distal end of the second articulated arm component.

11. The robotic device according to claim 10, wherein: The clamping assembly also includes one or more biasing members, which are configured to generate a torque on the first articulated arm member and the second articulated arm member about their respective rotatable connections with the stationary member, for urging the third wheel and the fourth wheel toward the outer surface of the pipe for fixing the robotic device on the pipe.

12. The robotic device according to claim 10, wherein: The frame is configured to position the first wheel and the second wheel over a first third of the circumference of the outer surface of the pipe, and The length of the first articulated arm member and the length of the second articulated arm member are configured to position the third wheel and the fourth wheel on the second third and third third portions of the circumference of the outer surface of the pipe, respectively.

13. The robotic device according to claim 10, wherein: The length of the first articulated arm member and the length of the second articulated arm member are configured to be adjusted to adjust the position of the third wheel on the outer surface of the pipe and the position of the fourth wheel on the outer surface of the pipe.

14. The robotic device according to claim 1, wherein: When the robotic device is fixed to the pipeline, the rotation axis of the first wheel and the rotation axis of the second wheel are arranged perpendicular to the longitudinal axis of the pipeline, and When the robotic device is fixed to the pipeline, the rotation axis of the third wheel and the rotation axis of the fourth wheel are arranged parallel to the longitudinal axis of the pipeline.

15. The robotic device according to claim 1, wherein: When positioned on the outer surface of the pipe, the first wheel and the second wheel are arranged to contact the outer surface of the pipe at different longitudinal positions along the length of the pipe and are aligned at a common circumferential position along the outer surface of the pipe, and When the robotic device is fixed to the pipeline, the rotation axis of the third wheel and the rotation axis of the fourth wheel are arranged parallel to the longitudinal axis of the pipeline.

16. The robotic device according to claim 15, wherein: The first wheel and the second wheel are arranged to contact a first third portion of the circumference of the outer surface of the pipe, and the third wheel and the fourth wheel are arranged to contact a second third portion and a third third portion of the circumference of the outer surface of the pipe, respectively.

17. The robotic device according to claim 1, further comprising: a fifth wheel and a sixth wheel, the fifth wheel and the sixth wheel being arranged to be positioned on the outer surface of the pipe at a position circumferentially offset from the first wheel and the second wheel; as well as A second clamping assembly is configured to apply a force for pressing the fifth wheel and the sixth wheel toward the outer surface of the pipe for fixing the robotic device on the pipe.

18. The robotic device according to claim 1, wherein: The first round, the second round and the framework determine the first module, The third wheel, the fourth wheel and the clamping assembly define a second module, and The clamping assembly of the second module is detachably connected to the frame of the first module.

19. The robotic device according to claim 18, wherein: The clamp assembly includes a first articulated arm member and a second articulated arm member, the first articulated arm member and the second articulated arm member are configured to extend around opposite sides of the pipe, and The third wheel is connected to the distal end of the first articulated arm component, and the fourth wheel is connected to the distal end of the second articulated arm component.

20. The robotic device according to claim 19, wherein: The length of the first articulated arm member and the length of the second articulated arm member are configured to be adjusted to adjust the position of the third wheel and the fourth wheel on the outer surface of the pipe.

21. The robotic device of claim 18, further comprising: A third module, the third module is configured to be detachably connected to the first module, and the third module includes: a fifth wheel and a sixth wheel arranged to be positioned on the outer surface of a second pipe having a diameter different from the diameter of the pipe at a circumferential position on the outer face of the second pipe corresponding to the outer surface of the first pipe, each of the fifth and sixth wheels comprising a plurality of rollers arranged around the circumference of the wheel; and a second clamping assembly configured to apply a force for pushing the fifth wheel and the sixth wheel toward the outer surface of the pipe for fixing the robotic device on the pipe, The second module is configured to be separated from the first module, and the third module is configured to be detachably attached to the first module so as to adapt to the diameter of the second pipe.

22. The robotic device of claim 18, further comprising: A third module, the third module being detachably attached to the first module, the third module comprising: a fifth wheel and a sixth wheel arranged to be positioned on the outer surface of the pipe at a position circumferentially offset from the first wheel and the second wheel, each of the fifth wheel and the sixth wheel including a plurality of rollers arranged around the circumference of the wheel; and A second clamping assembly is configured to apply a force for pressing the fifth wheel and the sixth wheel toward the outer surface of the pipe for fixing the robotic device on the pipe.

23. The robotic device according to claim 21 or 22, wherein: The first module also includes a seventh wheel and an eighth wheel, each of the seventh wheel and the eighth wheel including a plurality of rollers arranged around the circumference of the wheel, and The seventh wheel and the eighth wheel are arranged to be positioned on the outer surface of the pipe at a position axially offset from the positions of the first wheel and the second wheel.

24. A robotic device, comprising: a first wheel and a second wheel, the first wheel and the second wheel being configured to be positioned on an outer surface of the pipe at a first side of the pipe, each of the first wheel and the second wheel comprising a plurality of rollers arranged around a circumference of the wheel; third and fourth wheels arranged to be positioned on the outer surface of the pipe on a second circumferentially opposite side of the pipe, each of the third and fourth wheels comprising a plurality of rollers arranged around the circumference of the wheel; and A clamping component connects the first and second wheels with the third and fourth wheels, and the clamping component is configured to apply a force for pushing the first, second, third and fourth wheels toward the outer surface of the pipe to fix the robot device on the pipe.

25. The robotic device of claim 24, wherein: The plurality of rollers on each wheel are each arranged to rotate freely about the axis of rotation of the respective roller.

26. The robotic device of claim 24, wherein: The first wheel and the second wheel are arranged axially offset from each other when positioned on the first side of the pipe.

27. The robotic device of claim 24, wherein: When positioned on the first side of the pipe, the first wheel and the second wheel are arranged circumferentially offset from each other.

28. The robotic device of claim 24, wherein: The third wheel and the fourth wheel are arranged axially offset from each other when positioned on the second side of the pipe.

29. The robotic device of claim 24, wherein: When positioned on the second side of the duct, the third wheel and the fourth wheel are arranged circumferentially offset from each other.

30. The robotic apparatus of claim 24, wherein: The third and fourth wheels are circumferentially offset from the first and second wheels by approximately 180 degrees on the outer surface of the pipe.

31. The robotic apparatus of claim 24, wherein: The first wheel, the second wheel, the third wheel, and the fourth wheel are each oriented such that each wheel contacts the outer surface of the pipe substantially uniformly across the width of each wheel.

32. The robotic apparatus of claim 24, wherein: When the robotic device is fixed to the pipeline, the rotation axis of each of the first wheel, the second wheel, the third wheel and the fourth wheel is arranged parallel to the longitudinal axis of the pipeline.

33. The robotic apparatus of claim 24, wherein: The first wheel and the second wheel are connected to each other by a first structure configured to support and position the first wheel and the second wheel, a first end of the clamping member is connected to the first structure, and The third wheel and the fourth wheel are connected to each other through a second structure configured to support and position the third wheel and the fourth wheel, and the second end of the clamping member is connected to the second structure.

34. The robotic apparatus of claim 33, wherein: The first end of the clamping member is configured to be detachably connected to the first structure, and the second end of the clamping member is configured to be detachably connected to the second structure.

35. The robotic apparatus of claim 24, wherein: The first end of the clamping member is configured to support and position the first wheel and the second wheel, and the second end of the clamping member is configured to support and position the third wheel and the fourth wheel.

36. The robotic apparatus of claim 35, wherein: The first end of the clamping member is configured to be detachably connected to the first wheel and the second wheel, and the second end of the clamping member is configured to be detachably connected to the third wheel and the fourth wheel.

37. The robotic device of claim 24, further comprising: a second clamping member, the second clamping member being arranged to couple the first and second wheels with the third and fourth wheels, the second clamping member having at least one size or hardness characteristic different from that of the clamping member; as well as The clamping component is configured to be separated from the first wheel, the second wheel, the third wheel and the fourth wheel, and the second clamping component is configured to be detachably connected to the first wheel, the second wheel, the third wheel and the fourth wheel so as to adapt to pipes of different sizes and / or adjust the force of the first wheel, the second wheel, the third wheel and the fourth wheel toward the outer surface of the pipe, so as to fix the robot device on the pipe.

38. The robotic apparatus of claim 24, wherein: The gripping member is arranged to extend around a first portion of the circumference of the pipe, the first portion being less than the entire circumference of the pipe, so that the robotic device has an open side through which obstacles extending from the pipe can pass unimpeded.

39. The robotic device of claim 24, further comprising: A mechanism is provided to adjust the force for urging the first wheel, the second wheel, the third wheel and the fourth wheel toward the outer surface of the pipe for securing the robotic device to the pipe.

40. The robotic device of claim 24, further comprising: A mechanism is provided to adjust the length of the clamping member to accommodate pipes of different sizes.

41. The robotic device of claim 24, further comprising: a fifth wheel and a sixth wheel, each of the fifth wheel and the sixth wheel including a plurality of rollers arranged around a circumference of the respective wheel, the fifth wheel and the sixth wheel being connected to the first wheel and the second wheel and configured to be positioned on an outer surface of the first side of the pipe; as well as The seventh wheel and the eighth wheel each include a plurality of rollers arranged around the circumference of the corresponding wheel, the seventh wheel and the eighth wheel are connected to the third wheel and the fourth wheel, and are configured to be positioned on the outer surface of the second side of the pipe.

42. The robotic apparatus of claim 41, wherein: The first wheel and the second wheel are circumferentially offset from each other, the fifth wheel and the sixth wheel are circumferentially offset from each other, and the fifth wheel and the sixth wheel are axially offset from the first wheel and the second wheel, and The third wheel and the fourth wheel are circumferentially offset from each other, the seventh wheel and the eighth wheel are circumferentially offset from each other, and the seventh wheel and the eighth wheel are axially offset from the third wheel and the fourth wheel.

43. The robotic device of claim 41, further comprising: A second clamping member connects the first wheel, the second wheel, the fifth wheel and the sixth wheel with the third wheel, the fourth wheel, the seventh wheel and the eighth wheel, and the second clamping member has the same size and hardness characteristics as the clamping member.

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