Devices, systems, and methods for precise data collection and survey level infrastructure assessment by handability, carbon neutralization, and minimally invasive robots

Abstract

Disclosed herein is a robot configured to inspect a pipe. The robot may include a housing, a sensing device coupled to the housing, a carbon neutralization power source positioned within the housing, a plurality of wheels rotatably coupled to the housing, and a computing device communicatively coupled to the sensing device and the carbon neutralization power source. The computing device may include a processing unit and a memory to store a software stack that, when executed by the processing unit, causes the computing device to: receive a signal from the sensing device, detect a condition of the pipeline based on the received signal, generate a contextual alert based on the detected condition, and transmit the contextual alert to the computing device. And transmitting the contextual alert to a user of the robot.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application is related to U.S. Provisional Patent Application No. 63 / 373,765, filed on August 29, 2022, entitled "ADISPOSABLE, CARBON NEUTRAL, AND MINIMALLY INVASIVE ROBOTICS SYSTEM WITH MEANSFOR PRECISION DATA COLLECTION AND METHODS FOR ENGINEERING AND SURVEY GRADEINFRASTRUCTURE ASSESSMENT," the disclosure of which is incorporated herein by reference in its entirety. Summary of the invention

[0003] In one aspect, the present disclosure provides a robot configured to inspect a pipeline. The robot may include a housing, a sensing device coupled to the housing, a carbon-neutral power source positioned within the housing, a plurality of wheels rotatably coupled to the housing, and a computing device communicatively coupled to the sensing device and the carbon-neutral power source. The computing device may include a processing unit and a memory for storing a software stack, which, when executed by the processing unit, causes the computing device to: receive a signal from the sensing device, detect a condition of the pipeline based on the received signal, generate a situational alert based on the detected condition, and transmit the situational alert to a user of the robot.

[0004] In another aspect, the present disclosure provides a system for inspecting a pipeline. The system may include: a tether, the tether including a housing and an internal wire coil; a deployment garage, the deployment garage including a frame and a bracket, wherein the frame can be selectively coupled to the wire of the tether; and a robot, the robot being configured to be positioned within the bracket of the deployment garage, wherein the robot includes: a plurality of wheels; a housing, the housing being selectively coupled to the wire of the tether; a carbon-neutral power source, the carbon-neutral power source being positioned within the housing; a sensing device, the sensing device being configured to selectively engage with the housing; and a computing device, the computing device being communicatively coupled to the sensing device and the carbon-neutral power source, wherein the computing device includes a processing unit and a memory, the memory being used to store a software stack, the software stack when executed by the processing unit causes the computing device to: receive a signal from the sensing device; detect a condition of the pipeline based on the received signal; generate a situational alert based on the detected condition; and transmit the situational alert to an end user of the robot.

[0005] In still another aspect, the present disclosure provides a computer-implemented method for inspecting a pipeline. The method may include: training an artificial intelligence model using training data, the training data including information associated with the pipeline; receiving a signal from a sensing device of a robot deployed in the pipeline by a processor; transmitting information associated with the received signal to the artificial intelligence model by the processor; generating an output based on the information associated with the received signal by the artificial intelligence model, wherein the generated output includes a determined condition of the pipeline; generating a situational alert based on the generated output by the processor; and transmitting the situational alert to an end user of the robot deployed in the pipeline by the processor. BRIEF DESCRIPTION OF THE DRAWINGS

[0006] The novel features of the aspects described herein are set forth with particularity in the appended claims. However, the various aspects, both organization and method of operation, may be better understood by reference to the following description taken in conjunction with the accompanying drawings.

[0007] Figure 1 illustrating a perspective view of a disposable carbon neutral minimally invasive robot in accordance with at least one non-limiting aspect of the present disclosure;

[0008] Figure 2 Shown Figure 1 Side view of the disposable carbon neutral minimally invasive robot;

[0009] Figure 3 Shown Figure 1 Another perspective of a disposable, carbon-neutral, minimally invasive robot;

[0010] Figure 4A and 4B They were shown Figure 1 Front and back views of the disposable carbon neutral minimally invasive robot;

[0011] Figure 5 illustrating a perspective view of another disposable carbon neutral minimally invasive robot according to at least one non-limiting aspect of the present disclosure;

[0012] Figure 6 Shown Figure 5 Side view of the disposable carbon neutral minimally invasive robot;

[0013] Figure 7 Shown Figure 5 Rear view of the disposable carbon neutral minimally invasive robot;

[0014] Figure 8 illustrating a perspective view of another disposable carbon neutral minimally invasive robot according to at least one non-limiting aspect of the present disclosure;

[0015] Fig. 9 Shown Figure 8 Side view of the disposable carbon neutral minimally invasive robot;

[0016] Fig.10 shows a Figure 8 A perspective view of the accessories used with the disposable carbon neutral and minimally invasive robot;

[0017] Fig.11A and 11B showing a perspective view and a side view, respectively, of another accessory configured for use with the disposable carbon neutral minimally invasive robot disclosed herein in accordance with at least one non-limiting aspect of the present disclosure;

[0018] Fig. 12A -C illustrates a perspective view, a front view, and a side view, respectively, of another accessory configured for use with the disposable carbon-neutral minimally invasive robot disclosed herein in accordance with at least one non-limiting aspect of the present disclosure;

[0019] Figure 13-15 showing, respectively, a perspective view, a front view, a side view, and a top view of another accessory configured for use with the disposable carbon neutral minimally invasive robot disclosed herein in accordance with at least one non-limiting aspect of the present disclosure;

[0020] Figure 16-18showing, respectively, a perspective view, a front view, and a top view of another accessory configured for use with the disposable carbon neutral minimally invasive robot disclosed herein in accordance with at least one non-limiting aspect of the present disclosure;

[0021] Fig.19 A block diagram illustrating a hardware architecture configured for use with the disposable carbon neutral minimally invasive robot disclosed herein in accordance with at least one non-limiting aspect of the present disclosure;

[0022] Fig. 20 presents a software stack configured for use with the disposable carbon neutral minimally invasive robot disclosed herein in accordance with at least one non-limiting aspect of the present disclosure; and

[0023] Fig.21 An improved pipeline inspection system configured to facilitate operation of a disposable carbon neutral minimally invasive robot disclosed herein is presented in accordance with at least one non-limiting aspect of the present disclosure; and

[0024] Fig. 22 A human-machine interface configured for use with a disposable carbon-neutral minimally invasive robot disclosed herein is presented in accordance with at least one non-limiting aspect of the present disclosure;

[0025] Fig.23 presents a logic flow diagram depicting a method 1200 of generating and transmitting a situational alert by a disposable carbon neutral minimally invasive robot disclosed herein in accordance with at least one non-limiting aspect of the present disclosure; and

[0026] Fig.24 A flow chart depicting a computational method for detecting pipeline conditions performed by an artificial intelligence model according to at least one non-limiting aspect of the present disclosure is presented. DETAILED DESCRIPTION

[0027] It should be understood that at least some of the drawings and descriptions of the present invention have been simplified to show elements relevant to a clear understanding of the present invention, while for clarity, other elements that will be understood by those of ordinary skill in the art may also comprise a portion of the present invention, but, because such elements are well known in the art and because the elements do not promote a better understanding of the present invention, a description of such elements is not provided herein.

[0028] Reference is made to the accompanying drawings in the following detailed description. In the drawings, similar symbols and reference characteristics generally identify similar components throughout the several views, unless the context indicates otherwise. The illustrative aspects described in the detailed description, drawings, and claims are not intended to be limiting. Other aspects may be utilized, and other changes may be made, without departing from the scope of the technology described herein.

[0029] The following description of certain examples of the technology should not be used to limit its scope. Other examples, features, aspects, embodiments and advantages of the technology will become apparent to those skilled in the art from the following description, which is one of the best modes contemplated for implementing the technology by way of illustration. As will be appreciated, the technology described herein can achieve other different and obvious aspects without departing from the technology. Therefore, the drawings and description should be regarded as illustrative rather than restrictive in nature.

[0030] It is further understood that any one or more of the teachings, expressions, aspects, embodiments, examples, etc. described herein may be combined with any one or more of the other teachings, expressions, aspects, embodiments, examples, etc. described herein. Therefore, the teachings, expressions, aspects, embodiments, examples, etc. described below should not be viewed in isolation from each other. In view of the teachings herein, one of ordinary skill in the art will readily see various suitable ways in which the teachings herein may be combined. Such modifications and variations are intended to be included within the scope of the claims.

[0031] In explaining the minimally invasive disposability robots 100, 200, 300 ( Figure 1 , 5 Before describing the various aspects of the present invention, it should be noted that the various aspects disclosed herein are not limited in their application or use to the details of the construction and arrangement of the parts shown in the drawings and description. On the contrary, the various aspects disclosed may be positioned or incorporated in other aspects, embodiments, variations and modifications thereof, and may be practiced or performed in various ways. Therefore, the various aspects of the fall protection devices, systems and methods disclosed herein are illustrative in nature and are not meant to limit their scope or application. In addition, unless otherwise stated, the terms and expressions used herein are selected for the purpose of facilitating the reader to describe the various aspects and are not intended to limit their scope. In addition, it should be understood that any one or more of the disclosed various aspects, expressions of various aspects and / or their examples may be combined with any one or more of the other disclosed various aspects, expressions of various aspects and / or their examples without limitation.

[0032] Furthermore, in the following description, it should be understood that terms such as inward, outward, upward, downward, above, top, below, bottom, left, right, side, inside, outside, etc. are convenient terms and should not be construed as limiting terms. The terms used herein are not meant to be limiting, as the devices described herein or portions thereof may be attached or utilized in other orientations. Various aspects will be described in more detail with reference to the accompanying drawings.

[0033] The present invention relates to the inspection of pipelines by remote or autonomous robotic devices; the purpose is to perform general condition assessments, engineering assessments (including operational and structural analysis), infrastructure surveys and precise geo-location. More specifically, the present invention relates to general condition assessments of drinking water, storm water and wastewater pipelines ranging in size from 6" to 18" inches in diameter. The present invention can be used by the 22,000 small or underserved municipalities and rural water departments in the United States who cannot afford to own their own inspection equipment and are therefore forced to pay high fees for emergency and small-volume inspections.

[0034] As of 2021, the wastewater infrastructure in the United States consists of more than 800,000 miles of public sewers and 500,000 miles of private lateral sewers. Currently, these lines carry approximately 61.5 billion gallons of wastewater per day. This large amount of untreated wastewater generated daily is then treated by 16,000 publicly owned wastewater treatment plants (WWTPs) and discharged back into the environment. 80% of the U.S. population relies on this system, while another 20% use septic tanks.

[0035] The 1.3 million miles of public and private sewers in the United States come in a range of sizes. Public sewers, which make up approximately 80% of U.S. sanitary sewer lines, are 8 inches, 10 inches, or 12 inches in diameter. The remainder are large-diameter sanitary sewers, which range in size from 15 inches to 240 inches or larger. Private lateral sewers are typically smaller in size (6 inches to 12 inches) because they connect homes and businesses to the public sewer.

[0036] The average lifespan of a wastewater pipe in the United States is 45 years, with some specific systems averaging 100 years or more. As a side note, the expected lifespan of a wastewater pipe is 50 to 100 years. In 2021, the American Society of Civil Engineers (ASCE) released a report card on the nation’s infrastructure. In this assessment, ASCE gave the nation’s wastewater infrastructure a grade of D+. The report states that the poor condition rating is a direct result of rising operating and maintenance costs coupled with an $81 billion annual water infrastructure spending gap. On the positive side, the increasing use of assessment management programs (enabled by efficient and cost-effective inspection programs) has enabled 62% of surveyed utilities to be proactive in infrastructure management. It should be noted that municipalities that are able to perform proactive asset management are typically larger and better funded municipalities. Smaller, underserved rural water systems that do not have access to affordable inspection and asset management technologies are left to react reactively to pipeline and equipment failures.

[0037] Robotic pipeline inspections have been common since the advent of the first closed-circuit television (CCTV) inspection platforms in the early 1960s. Until recently, the technology available for such pipeline inspections involved small inspection platforms connected to a dedicated box truck via a bulky electromechanical tether. The purpose of the box truck was to house the tether reel and the operator workstation, as well as the control electronics and human-machine interface.

[0038] While these systems are relatively effective at pipeline inspection tasks and have a 60-year track record of use in the pipeline inspection market, they do have serious limitations that prevent widespread adoption of state-of-the-art condition assessment technology. The most fundamental limitation is cost. With an average price range of $125,000 to over $350,000, these systems are well beyond the capital budgets of nearly all small municipalities and rural water associations across the country. A second limitation is the complexity of use due to the antiquity of the technology. These systems require operators to undergo expensive custom training for operating the robots, inspection software, and standard safety and confined space training. Due to both the prohibitive cost and the complexity of use, these underfunded and neglected agencies have been forced to pay a premium for inspection services. This can be due to a variety of reasons, such as a smaller inspection area or high mobilize-disarm fees, which are unfortunately common and required by the industry to support its own financial footprint.

[0039] Advances in electronics, advanced communications, robotics, sensing, and perception technologies have driven advances in CCTV inspection platforms and have made it possible to perform robotic pipeline inspections without the need for an attached truck, tether, and in some cases, an operator. For example, U.S. Patent Application Publication No. 2006 / 0290779 discloses a small pipeline inspection robot featuring an autonomous, truckless inspection system with a self-contained tether. While the robot is a leap forward in wastewater inspection technology and has paved the way for many fast followers, the technology has limited adaptability. The adoption of this technology is low for the same reasons as standard CCTV inspection equipment (primarily cost), which has deterred small and underserved municipalities. While this new robotic mechanism does reduce the logistical footprint and includes a range of integrated technologies, it is still too costly, too complex, expensive to maintain, and difficult to operate effectively to be widely adopted.

[0040] Improved pipeline inspection systems are needed to make state-of-the-art condition assessment tools accessible to small and underserved municipalities. While such technologies should maintain the reduced logistical complexity and technological sophistication of the current state of the art, new inspection technologies should also reduce the total cost of ownership (including capital, operating, and maintenance expenses) by at least an order of magnitude. Therefore, there is a need for apparatus, systems, and methods for accurate data collection and survey-grade infrastructure assessment via disposable, carbon-neutral, and minimally invasive robotics.

[0041] For example, the robots 100, 200, 300 ( Figure 1 , 5 and 8) optimized for the inspection of small diameter pipelines, these robots are built for the precise collection of condition assessment data and subsequent engineering analysis. Disposable robots can provide underserved municipalities and rural water authorities with the ability to perform easy-to-use, carbon-neutral, and high-quality condition assessments with low operational risk and minimal operational impact, and complete affordable inspections.

[0042] Small municipalities and rural water authorities lack access to high-quality condition assessments and engineering services, primarily due to economic and geographic limitations. These organizations cannot afford to own their own inspection equipment and often do not have personnel with sufficient experience and training to deploy such systems. Additionally, these smaller organizations do not have the scale to effectively operate and maintain these systems. These limitations, coupled with budgetary constraints across the industry, necessitate a disruptive new approach to pipeline inspection systems that are reliable, economical, require limited maintenance, and can be effectively deployed with minimal training.

[0043] To produce improved pipeline inspection systems that meet the unique needs of small and underserved municipalities, a radical change in the design of these systems is needed. The new designs should increase the level of technological sophistication but significantly reduce the cost. These types of changes, both increasing technological capabilities and reducing technological costs by orders of magnitude, have only recently been possible. This is thanks to a convergence of technological advances that have revolutionized high-performance computing at the edge, the availability of miniaturized sensors and effectors, and great strides in manufacturing low-cost and reliable components at an industrial scale in small batches of 1,000 and 10,000 units.

[0044] Key technology advances for improved pipeline inspection systems include: low-cost manufacturing, high-intensity and low-power LED lighting, edge computing, artificial intelligence, computational imaging, and miniaturized electronics. While these advances are necessary, they are insufficient if they are not integrated together in an agile design process that merges the individual technologies into a functional pipeline inspection device / system.

[0045] The improved pipeline inspection robot utilizes four design pillars that serve as engineering design guideposts to produce a pipeline inspection system best suited for use by small or underserved municipalities and rural water authorities. These design pillars are (a) disposability, (b) carbon neutrality, (c) minimal intrusiveness, and (d) collection of engineering-grade infrastructure assessment data.

[0046] The following sections describe how these design principles relate to various aspects of an improved pipeline inspection system.

[0047] Disposability. The first thing to address is disposability, as it is traditionally associated with disposable or limited-use products. In other words, products with high disposability are designed to be used for a certain period of time or a specific number of uses or duration. When the expected shelf life of the product expires or the product has been used to its limit, this product is discarded and must be systematically repaired or replaced. Daily disposable contact lenses are a classic example of a highly disposable product. These lenses are intended for a single use and then discarded. A second example is disposable batteries, which last for a certain amount of time. What all highly disposable product designs have in common is that they intentionally use a low-cost bill of materials. This can be achieved through manufacturing at a relevant scale. In the case of daily disposable contact lenses and batteries, the scale is huge and driven by annual consumer numbers measured in millions or billions of units sold.

[0048] In the case of pipeline inspection, manufacturing volumes are much lower, typically in the range of thousands of units. To maintain critical performance, disposable products require more than just manufacturing scale. They also require a combination of diverse low-cost materials, sensors, effectors, and computing power, all carefully engineered to reliably deliver high performance over the expected lifetime of the product. This more traditional definition of disposable, while necessary, is insufficient to explain the key aspects of the improved pipeline inspection system described in this article.

[0049] Every aspect of the Improved Pipeline Inspection System includes disposability at the bill of materials and manufacturing level like contact lenses and batteries. However, the concept of disposability of the Improved Pipeline Inspection System goes beyond that. Likewise, every aspect of the Improved Pipeline Inspection System is designed for use with a robotic device in a confined environment. Disposability in this case means that the device is intentionally designed to be destroyed by high-pressure sewer jetting equipment. This allows the operator of the device to intentionally destroy the device to prevent backups, spills, or extremely expensive excavation and removal operations (device recalls).

[0050] Minimally Intrusive. Conventional sewer inspection techniques are intrusive on multiple levels. Examples of this multi-scale intrusiveness are (a) the size and cost of standard line inspection equipment, (b) the large and heavy nature of such equipment which can disrupt traffic, (c) the loud noises that standard equipment can make when not used properly, and (d) the damage that standard equipment can cause to associated infrastructure such as roads, sidewalks, and property owner driveways, and (e) the need to generate electricity for conventional equipment which can contribute to air pollution and have a large carbon footprint. These disruptions are common and occur when the system is functioning properly and used properly. If a standard inspection system becomes stuck or abandoned within a line, both the municipal owner and the contractor or municipal employee responsible for performing these operations are faced with a myriad of new problems. These new problems include sewage overflows, EPA fines, sewer backups affecting private property owners, and inevitable litigation.

[0051] Every aspect of the Improved Pipeline Inspection System is specifically designed to minimize the impact of its use on the pipeline and surrounding private and municipal infrastructure. This minimal intrusiveness is superior to standard industry offerings that typically rely on large box trucks, heavy equipment rolls, and external generators for power. With the Improved Pipeline Inspection System, everything the operator needs to operate is provided as part of a compact package specifically designed to: (a) minimize the operating footprint (the entire system can be easily transported by hand and easily fits inside a small Pelican case), reduce environmental pollution (including noise pollution), and eliminate accidental private property damage (which occurs when entering private property to provide right-of-way for inspection).

[0052] Carbon neutral. In addition to construction and design, one of the most outstanding features of the improved pipeline inspection system is that it is optimized to be minimally invasive. In other words, it does not pollute the environment by consuming fossil fuels or generating large amounts of byproduct waste (standard inspection equipment generates byproduct waste during routine cleaning and maintenance). Standard CCTV inspection systems come with a diesel generator that provides power independent of the vehicle (usually a box truck or sprinter van). During a typical pipeline inspection operation, both the generator and the vehicle's engine are running, which doubles greenhouse gas emissions. For every aspect of the improved pipeline inspection system, greenhouse gas emissions end when the system arrives at the construction site. In addition, no disposable waste streams are generated during use. In addition, even at the end of the product's useful life, it can be simply replaced with a new product, and the old product can be refurbished and put back into service.

[0053] Engineering-grade data collection. Every aspect of the improved pipeline inspection system includes accurate data collection suitable for engineering and survey-grade assessments and general condition assessments. There are significant differences between these two types of assessments. Standard data collection platforms provide general condition assessment information for calculating the remaining service life of the pipeline and planning operational maintenance, such as removing or root systems, sediments, or obvious pipeline repairs. Engineering and survey-grade assessment operations typically require specialized equipment. Such equipment is more expensive, more complex, and less reliable than standard equipment, produces more greenhouse gas emissions, is more invasive, and can be more damaging to the surrounding environment. The various aspects described herein include the ability to collect accurate assessment data, including high-quality images, point clouds, methods for obtaining precise positioning, methods for edge processing and analysis - including absolute geolocation and reference to municipal coordinate systems. This is done without relaxing design requirements for minimal intrusion, carbon neutrality, or disposability. In addition, all external processing is done in a cloud-based platform that does not require end users to carry out large data collection and processing computers. All information and reporting products, including raw data, standard condition assessment reports and engineering reports, are delivered electronically, eliminating the outdated and costly paper-based reporting scheme prevalent in the industry.

[0054] Reference now Figure 1 , depicting a perspective view of a disposable carbon neutral minimally invasive robot 100 in accordance with at least one non-limiting aspect of the present disclosure. Figure 1 In non-limiting aspects of the present invention, the robot 100 may include a machine block housing 102, one or more wheels 104 (as the primary means of movement of the robot 100), and one or more sensing devices 106 (e.g., cameras, structured lights, microphones, optical sensors, radio navigation and ranging ("RADAR") sensors, sound navigation and ranging ("SONAR") sensors, light detection and ranging ("LiDAR") sensors, acoustic sensors, environmental sensors (including temperature sensors, gas sensors, humidity sensors, etc.), multi-spectral sensors, etc.). Although in Figure 1 , but the wheels 104 and at least one sensing device 106 can be modular such that either can be replaced using a quickly hot-swappable connector. According to some non-limiting aspects, the modularity of the wheels 104 can be particularly useful for enhancing mobility because the wheels 104 can be selected based on predetermined wheel 104 parameters (e.g., diameter, weight, thickness, texture, etc.) and can be optimally selected for a particular operating environment (e.g., a pipeline). For example, the wheels 104 can include or otherwise be equipped with pre-made weights, which can improve mobility through the pipeline by increasing the amount of traction between the wheels 104 and the bottom of the pipeline. Such weights will refer to Figure 2 Further detailed description and depiction.

[0055] Although according to Figure 1 In accordance with non-limiting aspects, the robot 100 is depicted as having four wheels 104, but it should be understood that according to other non-limiting aspects, the robot 100 may include any number of wheels 104 selected based on user preference and / or intended application. For example, alternative aspects of the improved pipeline inspection system may include six wheels 104. Additionally, according to some non-limiting aspects, one or more of the wheels 104 may be tracked wheels with pedals, and / or a combination of tracked and non-tracked wheels 104 may have specialized inspection applications. Furthermore, according to Figure 1 In a non-limiting aspect of the present invention, the robot 100 may include a four-wheel 104 housing 102 that is configured to be independently driven, which can provide the robot 100 with full skid-steering capabilities. In other words, each motor within the housing 102 can be independently controlled by a separate motor, so that each motor and therefore each wheel can move independently, thereby providing enhanced control and mobility to the user. However, as will be described herein, according to other non-limiting aspects, the robot 100 can be tracked by encoders, IMUs, tethers, and / or other means of determining the positioning of the robot 100, and therefore, the robot 100 itself can be tracked by the self-perception module 920 ( Fig. 20 ) tracks its own mobility, and the self-awareness module is configured to identify the mobility configuration and optimize the control to fully utilize the capabilities of the prime mover configuration.

[0056] Still refer to Figure 1 , the modularity of one or more sensors 106 can be particularly useful for selecting specific sensors to sense environmental parameters and / or intended applications for a specific operating environment. For example, the modularity of the sensors 106—e.g., through quickly replaceable connectors (e.g., quick connectors, bolts, screws, threads, press fits, etc.)—can support a variety of sensors and combinations of sensors, including LiDAR, structured light, microphones, SONAR, RADAR, and environmental sensor kits. Alternatively, the modularity of one or more sensors 106 can be particularly useful for maintenance and repair of the robot 100. For example, if the sensor 106 includes a camera, cracked and damaged lenses, the most common form of damage that the robot 106 may encounter, can be quickly and efficiently replaced in the field. In addition, the above-mentioned modularity is not limited to interchange with the same device because Figure 1 The sensors 106 and the robot 100 may be interchangeable as components or kits of systems.

[0057] Further references Figure 1, the robot 100 may further include a multiplexed cable 108 configured to transmit signals and / or power to and from the robot 100. For example, the cable 108 may be configured to transmit signals generated by the one or more sensors 106 to a computing device (e.g., a personal computer, a laptop computer, a tablet computer, a smart phone, a server, etc.) that is accessible to a user of the robot 100 located upstream of the robot. Alternatively or additionally, the cable 108 may be configured to transmit control signals from a computing device (e.g., a personal computer, a laptop computer, a tablet computer, a smart phone, a server, etc.) to the robot 100 so that the robot 100 can be remotely controlled using the computing device. The computing device may, for example, include a display configured to display information associated with the signals generated by the one or more sensors 106, thereby providing the user with real-time information generated by the robot 100 as it passes through the operating environment. It should be understood that according to some non-limiting aspects, the robot 100 may include an onboard power source (e.g., a lithium-ion battery), or may receive power from a power source located upstream of the robot 100 via the cable 108 when in use. According to the non-limiting aspect wherein the robot 100 includes an onboard power source, it should be understood that Figure 1 The robot 100 can be carbon neutral compared to conventional robots, which means that it does not require a cable 108 or any external power source to provide electricity. Conventional robots rely on, for example, gasoline engine-driven vehicles or generators to provide electricity, which can be expensive and produce a lot of carbon dioxide when used. However, Figure 1 The robot 100, including the accessories disclosed herein, can be powered by internal batteries, thereby eliminating harmful carbon dioxide emissions and reducing the need for significant vehicle engine running time. Figure 1 The robot 100 is more compact and more efficient than conventional robots.

[0058] Reference now Figure 2 , depicting at least one non-limiting aspect of the present disclosure Figure 1 104 , thereby increasing the weight of the wheel 104 assembly and, therefore, the amount of traction between the wheel 104 and the bottom of the pipeline. Thus, the weights 110 may provide the robot 100 with enhanced mobility through the pipeline. However, according to some non-limiting aspects, the wheels 104 themselves may be manufactured to a predetermined weight, thereby eliminating the need for prefabricated weights 110. Figure 2 According to still other non-limiting aspects, the wheel 104 may include other predetermined wheel 104 parameters, including a specific diameter, thickness, or texture, etc. It should be appreciated how the wheel 104 can increase the amount of friction and / or traction generated, thereby enhancing the mobility of the robot 100, by selecting a wheel with increased thickness or a wheel with texture on the outer surface of the wheel 104.

[0059] For example, a non-limiting aspect of the present disclosure is shown. Figure 1 Another perspective on disposability, carbon neutrality, and minimally invasive robotics Figure 3 One such textured surface 112 of one or more wheels 104 is depicted. Figure 3 In a non-limiting aspect of the present invention, the robot 100 has been modularly equipped with one or more alternative wheels 114, each of which has a textured surface 112 on its outer surface. Therefore, the textured surface 112 of the wheel 114 can increase the amount of friction and / or traction generated between the wheel 114 and the surface of the operating environment (e.g., pipeline), thereby increasing the friction and / or traction generated between the wheel 114 and the surface of the operating environment (e.g., pipeline). Figure 1 Compared to the mobility provided by the wheels 104 , the mobility of the robot 100 is improved.

[0060] according to Figure 1-3 In a non-limiting aspect of the present invention, the robot 100 may include a prior art odometer system derived from encoders positioned on (or within) one or more of the wheels 104. For example, it may be preferred to employ four independent wheel 104 encoders, which may include an internal inertial measurement unit ("IMU") and / or a visual odometry system, configured to produce an optimally fused linear positioning estimate of the robot 100's positioning within an operating environment (e.g., a pipeline). The positioning estimates generated by the encoders may be configured to comply with certain requirements, including those imposed by the Pipeline Assessment Certification Program ("PACP"). For example, by Figure 1-3 The encoders employed by the wheels 104 of the robot 100 can generate positioning estimates with an error less than or equal to one percent as a function of the linear distance traveled by the robot 100. According to some non-limiting aspects, a similarly configured encoder 318 can be positioned on the exterior of the wheel 110 and mechanically coupled to a side of the robot 100, as will be described with reference to FIG. Figure 8 The robot 300 is described in further detail.

[0061] Reference Figure 4A and 4B , respectively describe at least one non-limiting aspect of the present disclosure Figure 1Front and back views of a disposable carbon neutral minimally invasive robot. For example, Figure 4A A front view of the robot 100 is depicted, including four electromechanical connections 116 configured to secure one or more modular sensors 106 to the robot 100. For example, the electromechanical connections 116 may include threaded holes, bolts, "quick connects," and / or any other means by which one or more sensors 106 may be mechanically coupled to the robot 100. However, while the sensors 106 are mechanically coupled to the robot 100, electrical communication will also be established between the sensors 106 and a power source of the robot 100. Figure 4B As depicted, the back side of the robot 100 may also include such electromechanical connections 116 .

[0062] according to Figure 4A and 4B In a non-limiting aspect of the present invention, it should be understood that the sensor 106 can be replaced on-site using, for example, only an Allen wrench. Therefore, selectively removing and reattaching the sensor 106 to the robot 100 does not require any electrical work to be performed on-site, such as establishing electrical connections or performing welding, thereby improving the efficiency of use of the robot 100. In addition, as will be described in further detail herein, the self-perception module 902 of the system will recognize the addition of any new and potentially different sensor 106 and configure the sensor 106 to appropriately collect data, as will be referenced Fig. 20 This can be accomplished without requiring any intervention and / or interaction from a user, and without requiring physical replacement of the sensor 106 itself. However, it should be appreciated that, according to other non-limiting aspects, one or more of the electromechanical connectors 116 can be specifically used to mechanically secure and / or power one or more of the accessories, as will be described in further detail herein.

[0063] Reference now Figure 5 , depicting a perspective view of another disposable carbon neutral minimally invasive robot 200 in accordance with at least one non-limiting aspect of the present disclosure. Figure 1 Similar to the robot 100, Figure 2 The robot 200 may include a machine block housing 202, one or more wheels 204 (as the main moving means of the robot 200), and one or more sensing devices 206 (e.g., cameras, structured lights, microphones, optical sensors, RADAR sensors, SONAR sensors, LiDAR sensors, etc.). However, according to Figure 5 In a non-limiting aspect, the robot 200 may further include a precise positioning system 220. Figure 1The encoders employed by one or more wheels 104 of the robot 100 may generate positioning estimates that are configured to comply with certain requirements (including those imposed by PACP), but may still require enhanced accuracy depending on user preferences and / or intended applications. Figure 1 Estimates generated by encoders deployed on the wheels 104 of the robot 100 may not provide survey-grade linear positioning estimates, nor may such encoders provide three-dimensional positioning and estimation (“pose”) information associated with the robot 100 . Figure 5 The precise positioning system 220 of the robot 200 may remedy this shortcoming by further improving the accuracy of the pose estimate generated by the robot 200 .

[0064] and Figure 1 The encoders used in the wheels 104 of the robot 100 are similar, for example, Figure 5 The precise positioning system 220 of the robot 200 may include a prior art odometry system derived from four independent wheel encoders, an internal IMU, and a visual odometry system to produce a best-in-class fused linear positioning estimate. However, Figure 5 The precise positioning system 220 may include additional sensors in addition to the odometer (e.g., IMU, LiDAR, RADAR, SONAR, camera, etc.), including being further configured to provide additional accuracy for linear positioning estimates, including three-dimensional pipeline attitude information suitable for precise engineering repair analysis and survey-level positioning. Figure 5 In a non-limiting aspect of the invention, the precise positioning system 220 can be configured as a cart that can be moved by a similar Figure 4A and 4B One or more of the electromechanical connectors 116 of the robot 500, or mechanically coupled to the front or rear side of the robot 200 by a recall ring 222 mechanically coupled to the front or rear side of the robot 500, as will be referred to in Figure 8 The robot 300 is further described in detail. Figure 6 and 7 Further described in the accompanying drawings, the accompanying drawings respectively depict Figure 5 Disposability Carbon neutral Minimally invasive Robotics Figure 5 Side and back views of the disposability carbon neutral and minimally invasive robot.

[0065] like Figure 5-7As depicted, the precise positioning system 220 can be configured to act as a passive mobility device. In other words, the precise positioning system 220 can include its own dedicated wheels 214 that can be configured to be dragged behind the robot 200 while performing inspections. Passive mobility is important because the differential odometry on the precise positioning system 220 can suffer less wheel slip because its wheels 204 rotate freely without interference from encoders located within a housing 218 coupled to the wheels 214 of the precise positioning system 220. Figure 1 The robot 100 is the opposite. Figure 5-7 The robot 200 is much less likely to experience wheel 204 slippage. Therefore, the precise positioning system 220 can provide a more accurate odometry estimate accordingly. This odometry estimate can be fused with IMU data generated by an IMU positioned on the robot 200 (such as within the housing 218), thereby significantly improving the linear positioning estimate. In addition, the precise positioning system 220 can be used to detect slippage of the wheels 204 on the robot 200, which has other benefits besides positioning, including advanced proprioceptive sensing and other features of the self-awareness and pipeline perception module.

[0066] For example, as described previously, accurate linear positioning alone is a minimum requirement for a PACP inspection. However, for many remediation projects, accuracy alone may not be sufficient because positional accuracy alone does not provide enough information to perform plan view positioning (e.g., 2D) or comprehensive 3D pipeline geolocation work. Therefore, in situations where 3D information is required, Figure 5-7 The precise positioning system 220 of the robot 200 can provide a low-cost, accurate component to perform three-dimensional pipeline location. This capability can be provided by an advanced inertial navigation system ("INS") and / or odometry system configured to create a fused position estimate in three-dimensional space, as will be described in further detail below. For example, when coupled with the location of the bottom of the pipeline of upstream and downstream manholes generated by the global positioning system ("GPS"), advanced survey-grade geo-positioning of the entire pipeline (including the precise location of the manholes) can be provided as part of the inspection service. In other aspects, the precise positioning cart can be configured with additional sensors, including a sonde locator for locating shallow pipelines using traditional components, radar, sonar or other non-destructive sensors or testing equipment.

[0067] Reference now Figure 8 , depicting a perspective view of another disposable carbon neutral minimally invasive robot 300 in accordance with at least one non-limiting aspect of the present disclosure. Figure 1 and 5 Similar to robots 100 and 200, Figure 8The robot 300 may include a machine block housing 302, one or more wheels 304 (as the main moving means of the robot 300), and one or more sensing devices 306 (e.g., cameras, structured lights, microphones, optical sensors, RADAR sensors, SONAR sensors, LiDAR sensors, etc.). However, according to Figure 8 In a non-limiting aspect of the present invention, the robot 300 may further include an accessory in the form of a sidecar 318. As previously explained, the sidecar 318 may include an encoder, similar to Figure 1 The wheels 104 of the robot 100 and Figure 5 The encoder used in the precise positioning system 220 of the robot 200. However, if more Figure 1 The encoders in the wheels 104 of the robot 100 provide a higher accuracy and may not be deployed due to pipeline conditions (e.g., due to accumulated sediment) Figure 5 The precise positioning system 220 of the robot 200, Figure 8 The sidecar 318 of the Robot 300 is an ideal choice.

[0068] and Figure 5 Similar to the precise positioning system 220 of the robot 200, Figure 8 The sidecar 318 of the robot 300 may be in a passive configuration so that it can provide superior linear odometry via the passive wheels 314. However, according to Figure 8 In a non-limiting aspect of the invention, the sidecar 318 may further include a tensioning mechanism 322 that is specifically configured to apply a reverse pressure to the passive wheel 314 so that the passive wheel 314 is pressed into the surface of the pipe when the robot 300 passes through the pipe. Fig. 9 and 10 The sidecar 318 is further depicted in the drawings, which show Figure 8 A side view of the disposable carbon neutral minimally invasive robot 300 and a perspective view of the sidecar 310. Additionally, Figure 8 The non-limiting aspects of the present invention further describe the recall loop 320 of the robot 300 in detail. Figure 5 Similar to the recall ring 222 of the robot 200, the recall ring 320 can be configured to be mechanically coupled to one or more accessories described herein. However, the recall ring 320 can be further configured with a ring assembly positioned at the proximal end of the robot 300 so that the robot can be "recalled" as needed, i.e., fished out of the operating environment with an auxiliary tool. In addition, Figure 8300 disclosed herein may include one or more mechanical connections 324 by which an accessory, such as a recall ring 320, may be mechanically coupled to the robot 100, 200, 300 disclosed herein. Thus, it should be understood that the accessories disclosed herein may be modularly configured to be compatible with the robot 100, 200, 300 disclosed herein. Figure 1 , 5 Any one of the robots 100, 200 and 300 of and 8 is selectively engaged.

[0069] according to Fig. 9 and 10 , further details are depicted on the sidecar 318 of the robot 300. Specifically, the passive wheel 314, which is specifically configured for odometer, is shown relative to the other wheels 304 and the housing 302 of the robot 300. Fig.10 As depicted, the tensioning mechanism 322 of the sidecar 318 may include two whiskers 326 that may be pre-tensioned to provide the necessary force to hold the passive wheel 314 firmly against the bottom of the pipe as the robot 300 traverses the operating environment. According to some non-limiting aspects, the whiskers 326 may be mechanically coupled to a motor internal or external to the robot such that the tension provided by the whiskers 326 may be adjusted in real time. It should be appreciated that according to some non-limiting aspects, the tension of the whiskers 326 should be such that the passive wheel 314 may "slide" so that debris or obstacles do not unduly constrain the robot 300 during movement. In other words, if the robot 300 encounters debris, the sliding of the passive wheel 314 may enable the passive wheel 314 to press upward toward the top of the pipe, thereby increasing the effective ground clearance of the robot 300 and significantly improving the mobility of the robot 300 compared to a fixed linear positioning.

[0070] although Figure 8-10 The non-limiting aspects of the present invention illustrate a single sidecar 318 employed by the robot 300, but it should be understood that according to other non-limiting aspects, the robot 300 may include two or more sidecars 318. For example, the robot 300 may be similarly configured in the present disclosure. Fig. 9 The robot 300 is depicted with a second sidecar 318 on the opposite side. Alternatively or additionally, according to some non-limiting aspects, one or more sidecars 318 may be used Figure 5-7 The robot 200 can be supplemented by the precise positioning system 220, which can be selectively coupled to the recall ring 320. This can provide the user with the ability to improve the accuracy of the spatial indexing of the inspection data to meet the requirements of general condition assessment, engineering level assessment or survey level positioning, and provide a simple, easy to interface supplemental positioning system.

[0071] Reference Fig.11A and 11B , respectively depicting a disposable carbon neutral minimally invasive robot 100, 200, 300 ( Figure 1 , 5 A perspective view and a side view of another accessory for use with 8). Fig.11A and 11B In a non-limiting aspect of the invention, the accessory may include an intelligent or "smart" tether 400. The tether 400 may be "smart" by using markers to track the linear positioning of the robot through the pipe, as will be described in further detail herein. This may be accomplished by combining the determination of the pose with the wheels 104, 204, 304 ( Figure 1 , 5 and 8) the possibility of sliding to further improve the accuracy of the generated attitude information. Similarly, because the line 404 of the tether 400 can be made of optical fiber material, it can be multi-purpose. For example, transmitting an optical signal through the line 404 can be used to measure whether the tether is curled through backscattering on the optical fiber or a birefringence pattern produced by the line 404. The optical fiber of the line 404 can also be used to monitor loud noises and other environmental conditions in the operating environment. Knowing the tension on the cable, combined with the use of a marker (such as an RFID tag disclosed herein), can provide a lot of enhanced positioning information.

[0072] Fig.11A and 11B The tether 400 can be configured to fit into a standard industrial application-less barrel. Specifically, the barrel shape of the tether 400 is provided by an outer housing 402 covering a wire 404, which can be wound around an inner coil 410, including a slip ring and / or an electronics assembly 406 of the tether 400. For example, the electronics assembly 406 may include a computing device, a radio and / or associated transceiver, a power source (e.g., a battery), and / or an external power source assembly (e.g., shore power, such as a wall outlet, etc.) configured to provide power when other power sources are not available.

[0073] According to some non-limiting aspects, Fig.11A and 11B The tether 400 may further include a motor and a motor controller that can automate some tether functions, such as the robot 100, 200, 300 ( Figure 1 , 5and 8), management and tensioning of autonomous wires 404, and support for multi-segment jumps and rapid replacement capabilities of tethers 400. In various aspects, the physical medium of wires 404 can include optical fiber, but can also be any combination of copper (e.g., for power, communications, etc.) and optical fiber (e.g., higher speed communications relative to copper, etc.). For example, a multi-segment configuration can involve multiple tethers 400 and a single robot 100, 200, 300 ( Figure 1 , 5 and 8), so that robots 100, 200, 300 ( Figure 1 , 5 and 8) can be disconnected from the first tether 400 and reconnected to the second tether 400 in the field, thereby eliminating the need for multiple deployment missions. According to some non-limiting aspects, this can be achieved by the robot 100, 200, 300 ( Figure 1 , 5 and 8) or deploy garage 600, 700 ( Fig.11A and 12A ) actuators for robotic automation. According to other non-limiting aspects, line 404 can be configured to include a transport layer that supports relatively high-speed Ethernet communications (e.g., via optical fiber, copper, coaxial cable, and / or a combination thereof).

[0074] Still refer to Fig.11A and 11B , the tether 400 may further include a hand crank 408. For example, the hand crank 408 may be configured to manually reel the line 404 of the tether 400 back into the housing 402 as the master robot 100, 200, 300 ( Figure 1 , 5 and 8) recall and cable management. However, as previously described, according to some non-limiting aspects, the tether 400 can further include a motor that is used to supplement or replace the automatic recall function of the hand crank 408, thereby reducing the required user physical effort. According to these aspects, the motor can be combined with the robot 100, 200, 300 ( Figure 1 , 5 and 8) to provide the robot 100, 200, 300 ( Figure 1 , 5 and 8) provide mobility assistance. In addition, Fig.11A and 11B As depicted, housing 402 of tether 400 may be configured to be mechanically secured to a foundation, such as by bolting through one or more holes defined by housing 402 or other standard connectors, thereby improving ergonomics and site safety.

[0075] See in detail the side or cross-sectional view of the tether 400. Fig. 11BIt should be understood that the wire 404 may include a quick connector 405 at the distal end, wherein the quick connector 405 may be specifically configured to mechanically couple to the robot 100, 200, 300 ( Figure 1 , 5 and 8). In this view, the line 404 and quick connector 405 are shown extending from the mouth of the housing 402, which contains an internal reel 410 or line 404 spool. Fig.11A and 11B The tether 400 can be provided alone, or in combination with the robot 100, 200, 300 ( Figure 1 , 5 and 8), and according to some non-limiting aspects, can be configured to support up to 500 linear feet of shielded reinforcement wires 404 (e.g., structural, optical, electrical communications, etc.).

[0076] Reference Fig. 12A -C, respectively depicting a disposable carbon neutral minimally invasive robot 100, 200, 300 ( Figure 1 , 5 and 8). Fig.11A and 11B Similar in non-limiting aspects to, Fig. 12A -C accessories may include an intelligent or "smart" tether 500, which may include Fig.11A and 11B Any or all features of the tether 400 may be included. For example, the tether 500 may include an outer housing 502 covering a wire 504, which may be wound around an inner coil 510, including a slip ring and / or an electronics assembly 506 of the tether 500. However, according to Fig. 12A In a non-limiting aspect of -C, the tether 500 may include key upgrades to improve the overall reliability, cable management, performance, and field safety provided by the tether 500. For example, in addition to the hand crank, Fig. 12A -C tether 500 can be powered and can support a longer line 504 to reach a longer distance. The tether 500 can further include additional support functions to meet the customer's more demanding usage requirements. For example, Fig. 12A The -C tether 500 may be more suitable for contractors or larger municipalities that require higher performance and can afford a higher price point.

[0077] Fig.11A and 11B as well as Fig. 12A-C tethers 400, 500 can provide highly accurate distance measurements (e.g., in millimeters) over any length of line 504. Thus, the tether 500 can eliminate drift by placing absolute positioning markers on the line 504 that are fused to specific, quantifiable, known positions of the line 504. For example, these markers can include passive radio frequency identifier ("RFID") tags that are fused to the line 504 at standard intervals (e.g., every one, two, five meters, etc.). The unique identifier of each tag can be associated with its absolute fused position on the cable, which means that every time the line 504 with the RFID tag passes through a receiver loop (including an active RFID scanner on the tether 500 or housing 502), all accumulated errors are zeroed out at that point.

[0078] Reference Figure 13-15 , respectively depicting a disposable carbon neutral minimally invasive robot 100, 200, 300 ( Figure 1 , 5 and 8) for use with another accessory in perspective, front, side and top views. Figure 13-16 In a non-limiting aspect of the invention, the accessories may include a deployment garage 600 configured to deploy the robots 100, 200, 300 (disclosed herein) within an operating environment. Figure 1 , 5 and 8). It should be understood that by mechanically coupling to the recall ring 222, 320 ( Figure 5 and 8 ) of tether 400, 500( Fig.11A , 11B and 12A-C) to lower the robots 100, 200, 300 ( Figure 1 , 5 and 8) may damage the robot 100, 200, 300 ( Figure 1 , 5 and 8) of one or more sensors 106, 206, 306. For example, according to non-limiting aspects, one or more sensors 106, 206, 306 ( Figure 1 , 5 and 8) include a robot 100, 200, 300 ( Figure 1 , 5 and 8) a camera at the front, which may have a high risk of colliding with the bottom of the pipeline during deployment. Although the present disclosure further contemplates non-limiting aspects, wherein the recall ring 222, 320 ( Figure 5 and 8 ) are alternately positioned on robots 100, 200, 300 ( Figure 1 ,5 and 8), which can be deployed to lower the sensors 106, 206, 306 ( Figure 1 , 5 and 8) risk of damage. In the absence of Figure 13-16 In the case of a deployment garage 600, robots 100, 200, 300 ( Figure 1 , 5 and 8) may be damaged during deployment, including lens cracks, camera damage, and water ingress.

[0079] according to Figure 13-15 The deployment garage 600 may include a frame 604 configured to accommodate the robots 100, 200, 300 ( Figure 1 , 5 The frame 604 may include one or more mechanical connectors 610 to which one or more wires 612 may be coupled so that the wires 612 may be used to deploy the garage 600 and thus the robots 100, 200, 300 ( Figure 1 , 5 and 8). The frame 604 and at least one end of the bracket 606 can be configured to define a hole 608, the robot 100, 200, 300 ( Figure 1 , 5 and 8) can leave the garage 600 through the hole when deployed. The garage 600 can further include a computing device 602, which can be similarly configured with the robots 100, 200, 300 ( Figure 1 , 5 and 8) sensors and modules to communicate with robots 100, 200, 300 ( Figure 1 , 5 and 8) or a computing device of a ground control station, sensing robots 100, 200, 300 ( Figure 1 , 5 and 8), tether or operating environment. In other words, Figure 13-15 The deployment garage 600 is specially configured to protect the robots 100, 200, 300 ( Figure 1 , 5 and 8), including protecting one or more sensors 106, 206, 306 ( Figure 1 , 5 and 8), the sensor may include a camera lens that is extremely fragile.

[0080] It should be understood that Figure 13-15 The deployment garage 600 may be part of an improved pipeline inspection system, but may also be considered a supplemental or optional component depending on the specifics of the inspection operation. Figure 13-15The deployment garage 600 of the present invention can provide several important benefits to the operator, the inspection device, and the overall inspection operation. In addition, the deployment garage 600 can be configured to act as a multi-functional support device, which is provided to improve the safety and efficiency of the inspection operation, as well as to protect the inspection device during deployment. In addition, by including the computing device 602, the deployment garage 600 is not configured to act as just a mechanical device. Instead, the computing device 602 of the deployment garage 600 can be configured to store artificial intelligence algorithms or models, similar to the robots 100, 200, 300 ( Figure 1 , 5 and 8), as will be referred to Fig. 20 Thus, as described below, the deployment garage 600 can be intelligently configured to provide additional support functions that are very useful in certain types of inspection operations.

[0081] Reference Figure 16-18 , depicting a perspective view, a front view, and a top view, respectively, of another accessory configured for use with the disposable carbon neutral minimally invasive robot disclosed herein in accordance with at least one non-limiting aspect of the present disclosure. Figure 16-18 In a non-limiting aspect of the invention, the accessories may include a deployment garage 700 configured to deploy the robots 100, 200, 300 (disclosed herein) within an operating environment. Figure 1 , 5 and 8). Figure 13-16 Similar to the deployment garage 600 of FIG. 1 , the deployment garage 700 may include a frame 704 configured to accommodate the robots 100, 200, 300 ( Figure 1 , 5 The frame 704 may include one or more mechanical connectors 710 to which one or more wires 712 may be coupled so that the wires 712 may be used to deploy the garage 700 and, therefore, the robots 100, 200, 300 ( Figure 1 , 5 and 8). The frame 704 and at least one end of the bracket 706 can be configured to define a hole 708, the robot 100, 200, 300 ( Figure 1 , 5 and 8) being able to exit the garage 700 through the aperture when deployed.

[0082] However, with Figure 13-15 The deployment library is 600 different. Figure 16-18 The deployment garage 700 of FIG. 700 does not include the computing device 602. Although according to some non-limiting aspects, it may include a computing device similar to Figure 13-15 The computing device 602 shown, but Figure 16-18The deployment garage 700 more specifically depicts the weakened structural configuration of the deployment garage 700. For example, Figure 16-18 The deployment garage 700 includes mechanical connections 710 that are vertically offset relative to each other, thereby balancing the load weight of the deployment garage 700. Figure 16-18 The deployment garage 700 may also be configured to protect the robots 100, 200, 300 ( Figure 1 , 5 and 8), including protecting one or more sensors 106, 206, 306 ( Figure 1 , 5 and 8), the sensor may include a camera lens that is extremely fragile.

[0083] It should be understood that although the deployment garage (including Figure 13-18 The deployment garages 600, 700 depicted are manually operated robots 100, 200, 300 ( Figure 1 , 5 and 8) are not required, but they can be used for untethered operation. For example, Figure 13-18 The deployment garage 600, 700 may include an electronic communication relay (e.g., embedded within the computing device 602) that may be configured to act as a robot 100, 200, 300 ( Figure 1 , 5 and 8) with respect to robots 100, 200, 300 ( Figure 1 , 5 and 8) a remotely located human-machine interface (e.g., at an entry and / or exit manhole). However, according to the robot 100, 200, 300 ( Figure 1 , 5 and 8) are non-limiting aspects of autonomous configuration, deploying garages 600, 700 (such as Figure 13-18 those depicted) may also be considered optional.

[0084] Reference now Fig.19 , depicting a disposable carbon neutral minimally invasive robot 100, 200, 300 ( Figure 1 , 5 and 8) are used together with a block diagram of a hardware architecture 800. Fig.19 In non-limiting aspects of the present invention, the architecture 800 may include a physical odometer 802, an IMU 804, a GPS 806, or a SONDE 808, any of which may be implemented by the robots 100, 200, 300 ( Figure 1 , 5For example, according to some non-limiting aspects, the physical odometer 802, IMU 804, GPS 806 and / or SONDE 808 may be an encoder ( Figure 1 )、Precise Positioning System 220( Figure 5 ) and Sidecar 318( Figure 8 )'s internal components, as discussed previously.

[0085] Fig.19 The architecture 800 may further include a radio 810, a digital computer 812, and / or one or more motors 814 configured to rotate the robot 100, 200, 300 ( Figure 1 , 5 For example, the digital computer 812 can be configured to autonomously command the motor 814 to rotate the wheels 104, 204, 304, thereby autonomously controlling the robots 100, 200, 300 ( Figure 1 , 5 Alternatively, the signal received by the radio 810 from the remote computing device can be used to command the motor 814 to rotate the wheels 104, 204, 304, thereby achieving remote control of the robot 100, 200, 300 ( Figure 1 , 5 and 8). According to some non-limiting aspects, a graphical user interface ("GUI") 816 may be displayed by the digital computer 812 and / or a remote computing device to facilitate such control.

[0086] Further references Fig.19 , the architecture 800 may further include a processing unit, which may include a microcontroller unit ("MCU") 818, a graphics processing unit ("GPU") 820, a vision processing unit ("VPU") 822, and / or a portable computing unit ("PCU") 824, any of which may be located on the robot 100, 200, 300 ( Figure 1 , 5 and 8), or alternatively relative to the robot 100, 200, 300 ( Figure 1 , 5 Importantly, these processing units 818, 820, 822, 824 only need to be communicatively coupled to at least a portion of the system architecture 800 via conventional wireless or wired communication means. For example, according to some non-limiting aspects, any of the above processing units 818, 820, 822, 824 may require a remote location from the robot 100, 200, 300 ( Figure 1 , 5and 8), wherein the system includes a LiDAR laser 826, a front camera 828, a rear camera 830, a side camera 834, a RADA GPR 836, and / or a gas sensor 840, so that the system can be based on the robot 100, 200, 300 ( Figure 1 , 5 and 8) one or more sensors generate signals generating information. Architecture 800 may further include a tether system 832, as previously described with reference to Figures 11A-12B The disclosed and / or acoustic transmitter and / or receiver 838 is configured to characterize the operating environment and identify the robot 100, 200, 300 ( Figure 1 , 5 and 8) positioning threats.

[0087] Reference now Fig. 20 , depicting a disposable carbon neutral minimally invasive robot 100, 200, 300 ( Figure 1 , 5 and 8) for use with a software stack 900. Fig. 20 In non-limiting aspects of the present invention, the software stack 900 may include a presentation and reporting manager 902, a cloud, portal and social media manager 904, a pipeline analysis AI core 906, a positioning analysis core 908, a pipeline perception core 910, an integrated video and sensory analysis module 912, a LiDAR analysis module 914, a RADAR analysis module 916, an environmental analysis module 918, and a self-perception module 920, any of which may be stored in the above-mentioned robot 100, 200, 300 (disclosed herein) that is communicatively coupled to the robot 100, 200, 300 (disclosed herein) Figure 1 , 5 and 8) in any of the computing devices. For example, Fig. 20 Any portion of the software stack 900 may be implemented by the system's digital computer 812 ( Fig.19 ) stored and accessed, and / or by the processing units 818, 820, 822, 824 ( Fig.19 ) are performed. Additionally, according to some non-limiting aspects, Fig. 20 Any part of the software stack 900 can be relative to the robot 100, 200, 300 ( Figure 1 , 5 and 8) are stored remotely, but still deployed by the system to facilitate the robot robots 100, 200, 300 ( Figure 1 , 5 and 8).

[0088] It should be understood that according to some non-limiting aspects, Fig.19 and 20 Any of the above hardware or software components of the architecture 800 and / or stack 800 can be organized into a robot 100, 200, 300 ( Figure 1 , 5 and 8) one or more subsystems. For example, according to Fig.21 In a non-limiting aspect of the invention, the improved pipeline inspection system 1000 may include a plurality of independent and discrete subsystems 1002, 1004, 1006, 1008 configured to work in coordination. Fig.21 In non-limiting aspects of the present invention, system 1000 may include an inspection subsystem 1002, a tether management subsystem 1004, a deployment garage subsystem 1006, and / or a human-machine interface subsystem 1008. As previously described, tether management subsystem 1004 and / or deployment garage subsystem 1006 may be optional, depending on user preference and / or intended application.

[0089] Based on the above description, the present disclosure obviously considers an improved pipeline inspection system 1000 ( Fig.21 ), the pipeline inspection system is configured to act as a modular platform design, which draws on the hardware architecture 800 ( Fig.19 ) and software stack 900( Fig. 20 ), both of which may be selectively implemented and / or activated to customize system 1000 ( Fig.21 ) use. Improved pipeline inspection system 1000 ( Fig.21 ) is implemented in this manner. In other words, hardware architecture 800 ( Fig.19 ) and software stack 900( Fig. 20 ) is conceived in such a way that the improved pipeline inspection system 1000 ( Fig.21 ) different implementations. The functionality required for a given implementation can be assembled from core platform components in a modular manner. The core platform consists of hardware architecture 800 ( Fig.19 ) and software stack 900( Fig. 20 ) which resides in the required robots 100, 200, 300 ( Figure 1 , 5 and 8) on and control the robot, providing power for modular functional implementation driven by a given platform.

[0090] If you can Fig. 20 As seen in the software stack 900 ( Fig. 20) may include twelve components that are engineered and performance optimized to implement the small wastewater and stormwater data collection and analysis system of the present invention, which can collect engineering and survey-grade data in a carbon-neutral form factor while being disposable, minimally invasive and carbon-neutral. The twelve components may include a presentation and reporting agent 902, a cloud, portal and social media agent 904, a self-awareness AI core 920, a pipeline-awareness AI core 910; a positioning analysis AI core 908, and a pipeline analysis AI core 906. However, according to other non-limiting aspects, the software stack 900 may further include integrated guidance and control (standard), a 360 square video perception module, integrated power management, a multi-segment inspection module with a quick-replacement or smart tether, an integrated smart deployment garage, and a drift-free electromagnetic positioning measurement system.

[0091] Improved pipeline inspection system 100 ( Fig.21 ) can be performed according to the software stack 900 ( Figure 2 ) The order of the increase in the amount of AI services deployed has increased from Fig. 20 At the top, this includes standard machine learning, deep learning neural networks, and in some cases quantum machine learning techniques. The hardware edge computing infrastructure at the core of the platform approach enables advanced capabilities driven by artificial intelligence. In addition to traditional microcontrollers and computers, this embedded computing infrastructure also relies heavily on advanced computing technologies such as compact GPU 820 ( Fig.19 ) and VPU 822( Fig.19 )processor.

[0092] The edge computing components of the improved pipeline inspection system are typically associated with traditional programmable computing and communication services on a modern central processing unit ("CPU"). Fig.21 ) in the case of traditional services and integrated MCU 818 ( Fig.19 )、GPU 820( Fig.19 )、VPU 822( Fig.19 ) and in some aspects a quantum processing unit (“QPU”), which can be simulated or real. Fig.19 Each of these components except the QPU is shown. The edge computing components, along with the exteroceptive and proprioceptive sensor arrays, as well as perception and mobility support for most of the hardware components, build all aspects of the improved pipeline inspection system.

[0093] As mentioned previously, software and software-driven services are deployed in Fig. 20In the software stack 900 of the improved pipeline inspection system 1000, the software stack is arranged in a hierarchical structure, indicating its relative level of support for dynamic adaptation, which is the main driving force for infusing artificial intelligence into these types of systems. Fig.21 ), there are four main AI support layers in the form of specific software packaging for their level of artificial intelligence: 1) modules; 2) core; 3) manager (or engine); and 4) XXX. Platform packages include the following:

[0094] Modules. Modules can be viewed as standard computing services built using traditional software development methods, with minimal AI components. Platform modules can be as simple as firmware and device drivers, or as complex as a complete middleware solution. One of the patterns in this platform description architecture is that it typically lacks learning capabilities.

[0095] Core. As the name implies, these services represent core platform functionality and often contain significant levels of machine learning. Platform Core is the core functionality of the new generation of AI-driven devices and is at the heart of the platform-centric approach to improved pipeline inspection systems.

[0096] Managers (or engines). These blocks can be viewed as the integrative and functional brains of every aspect of the improved pipeline inspection system designed and implemented from both the software and hardware platforms. They can leverage any or all of the underlying functionality, including that provided by the models and cores, from which they can synthesize complex behaviors, and in some cases, even generate their own heuristics to solve problems. In addition to leveraging functionality from lower abstraction layers of the platform, these modules can also contain a lot of machine learning.

[0097] Reference now Fig. 22 , depicting a disposable carbon neutral minimally invasive robot 100, 200, 300 ( Figure 1 , 5 and 8) for use with a human-machine interface 1100. Fig. 22 In a non-limiting aspect of the present invention, the human-machine interface 1100 may include one or more controls 1102, through which various subsystems, software and hardware can be controlled, thereby providing a method for remotely controlling the robots 100, 200, 300 ( Figure 1 , 5and 8) feasible means. It should be understood that the operation of the improved pipeline inspection system 1000 includes interaction between a human operator and an integrated robotic system. This interface 1100 allows the operator to view real-time images / videos captured by the inspection device, individually control the movement of the inspection device and the LED lighting of all cameras, retrieve the inspection device status, set the odometer starting point, enter PACP inspection header information, start / stop inspection, and perform other related actions. The interface 1100 software operates to create an inspection data packet with recorded video, PACP header and other related inspection data (such as odometer), and uploads the inspection data packet to the "Pipe Dream" cloud for later processing without human intervention. The interface 1100 software maintains a local database in the inspection device and allows the operator to select the inspection date package to be uploaded. This allows only the required large data packets to be delivered and energy usage to be reduced. When used in conjunction with the sensors and local AI engine equipped in the inspection device, the interface 1100 software also provides situational alerts to the operator. The alarms include, but are not limited to, severe structural damage, abnormal environmental parameters (temperature, pressure, toxic / explosive gases, etc.), impassable conditions (drops, gaps, etc.), etc. When used in conjunction with the manipulators, actuators, and motors provided in the inspection device, the interface 1100 also allows the operator to perform maintenance operations in the pipeline.

[0098] The human machine interface 1100 can allow the user to log into the system and remotely view real-time images / video and system status. This opens up various possibilities, such as remote diagnosis and evaluation by experts without the need for expensive travel expenses. The software, along with other components in the system, supports location and usage history for asset management purposes. Utilizing the powerful AI engine in the inspection device, the system 1000 ( Fig.21 ) can be used on robots 100, 200, 300 ( Figure 1 , 5 and 8) locally process captured sensor data, including but not limited to images / video, and create an assessment summary including PACP coding and reporting. This edge computing and processing capability eliminates the need to move large amounts of data, making the system more efficient and environmentally friendly.

[0099] Therefore, the improved pipeline inspection system 1000 ( Fig.21 ), including the previously described software stack 900 ( Fig. 20 ) and hardware architecture 800( Fig.19 ), can be inspected by small pipeline inspection robots 100, 200, 300 ( Figure 1 , 5The small pipeline inspection robot has the main capabilities of disposability, minimal invasiveness and carbon neutrality. In addition, the improved pipeline inspection system will also generate the ability to collect engineering and survey-level inspection data and conduct subsequent analysis. The analysis includes AI-driven analysis, reporting and user engagement engines.

[0100] In at least one aspect, the improved pipeline inspection system 1000 ( Fig.21 ) includes a wheeled pipeline inspection robot 100, 200, 300 ( Figure 1 , 5 and 8). Such robots 100, 200, 300 ( Figure 1 , 5 and 8) can be configured to operate in small diameter wastewater lines, stormwater lines, or drainage pressure lines. Although the robots 100, 200, 300 ( Figure 1 , 5 and 8) are not limited in their operating diameter, but according to such non-limiting aspects, the robots 100, 200, 300 ( Figure 1 , 5 The operating radius of 8) can be optimized for pipelines from 6 inches to 18 inches.

[0101] Reference now Fig.23 , depicting a disposable carbon neutral minimally invasive robot 100, 200, 300 ( Figure 1 , 5 and 8) a logical flow chart of a method 1200 for generating and transmitting a situational alert. It should be understood that Fig.23 The method 1200 may be implemented by the software stack 900 ( Fig. 20 ) and through the hardware architecture 800 ( Fig.19 ) or can be communicatively coupled to the robot 100, 200, 300 ( Figure 1 , 5 and 8) are implemented by any of the above processing devices implemented by any other computing device. Fig.23 In a non-limiting aspect of the present invention, the method 1200 may include: Figure 1 , 5 and 8) of the sensing device 106, 206, 306 receiving 1202 the signal. The method 1200 may further include detecting 1204 the condition of the pipeline based on the received signal. According to some non-limiting aspects, detecting 1204 the condition of the pipeline may be performed by the software stack 900 ( Fig. 20 )'s artificial intelligence model is executed algorithmically, and the software stack is composed of hardware architecture 800 ( Fig.19) or can be communicatively coupled to the robot 100, 200, 300 ( Figure 1 , 5 and 8) any other computing device implemented by any of the above processing devices. For example, refer to Fig.24 An algorithmic implementation of the detection 1204 step is described in further detail.

[0102] Further references Fig.23 , the method 1200 may further include generating 1206 a situational alert based on the detected condition and transmitting 1208 the situational alert to an end user of the robot. For example, the detected condition may include at least one of the following: an indication of pipeline structural damage, an abnormal environmental parameter, or an unpassable condition, or a combination thereof. The abnormal environmental parameter may include at least one of the following: temperature, pressure, or harmful gas, or a combination thereof. The unpassable condition may include at least one of a drop or a gap. According to the robot 100, 200, 300 ( Figure 1 , 5 and 8) include non-limiting aspects of an encoder, the method 1200 may further include receiving a signal from the encoder, and generating a linear positioning estimate associated with the robot based on the signal received from the encoder. Figure 1 , 5 and 8) including non-limiting aspects of an IMU and a visual odometry system, the method 1200 may further include receiving a signal from the IMU, receiving a signal from the visual odometry system, and generating a fused linear positioning estimate associated with the robot based on the signal received from the encoder, the signal received from the IMU, and the signal received from the visual odometry system, wherein the fused linear positioning estimate is more accurate than the linear positioning estimate. It should be understood that the fused linear positioning estimate may be generated by the software stack 900 ( Fig. 20 ) is generated by a sensor fusion algorithm, the sensor fusion algorithm can be a combination of sensors from robots 100, 200, 300 ( Figure 1 , 5 and 8) mathematical techniques for combining data from multiple sensors to provide a more accurate and reliable estimate of the state of the system or environment.

[0103] Reference now Fig.24 , depicts a flow chart of a computational method for detecting 1204 a pipeline condition performed by an artificial intelligence model according to at least one non-limiting aspect of the present disclosure. Fig.24 In a non-limiting aspect of the present invention, detecting 1204 may include training 1210 an artificial intelligence model with training data containing information associated with the pipeline. Once the model training is complete, the method may further include detecting 1210 an artificial intelligence model with training data containing information associated with the pipeline. Figure 1 ,5 The sensing device of 8) receives 1212 the signal and transmits 1214 information associated with the received signal to the artificial intelligence model. The artificial intelligence model can then generate 1216 an output based on the information associated with the received signal, wherein the generated output includes the determined condition of the pipeline. The method can further include generating 1218 a situational alert based on the generated output and transmitting 1220 the situational alert to an end user of the robot deployed in the pipeline.

[0104] The display robots 100, 200, 300 ( Figure 1 , 5 and 8), accessories 400, 500, 600, 700 ( Fig.11A , 12A , 13 and 16) of various non-limiting aspects of the implementation details of the hardware architecture 800 ( Fig.19 ) and software stack 900( Fig. 20 ) is implemented as system 1000 ( Fig.21 ). Fig.21 As depicted, improved pipeline inspection system 1000 may include four separate subsystems that work in coordination. Fig.21 The four components (inspection device, tether management device, deployment garage, and human-machine interface) are presented in block diagram form. The functions of each of these components are described below.

[0105] Inspection device. One aspect of the inspection device or robot 100 is shown in Figure 1 For example, Figure 1 An isometric view of the robot 100 is provided, highlighting the machine block housing design with four wheels as the primary means of movement and two cameras (front and rear) as the primary sensing means 106. Although not explicitly shown in the figure, both the wheels 104 and the cameras are modular and can be replaced using quick hot swap connectors. In terms of mobility, this means that the wheels can be replaced in the field so that the wheel diameter of the robot 100 can be optimally sized for the specifics of each pipeline, such as the shape of the pipe, the material, and the current conditions within the pipe. The wheels can be equipped with prefabricated weights to provide additional traction to the robot 100. These prefabricated weights and the modular wheel design that accommodates them are shown in Figure 2 Alternative aspects of the improved pipeline inspection system include six-wheeled devices, tracked devices, and combinations of tracked and wheeled devices that have specialized inspection applications. Figure 2In the aspect shown, the four wheel hulls are independently driven, which means the platform has full skid-steer capability. In addition, it can be configured for tracked or a combination of wheeled and tracked mobility through a self-sensing module that identifies the mobility configuration and optimizes the device control to fully utilize the capabilities of the prime mover configuration.

[0106] For cameras, this means that cracked and damaged lenses (the most common form of damage that such devices will experience) can be quickly and efficiently replaced in the field. Additionally, these replacements are not limited to swapping with the same device. Instead, the quickly replaceable connectors can support a variety of sensors and sensor combinations, including LiDAR, structured light, microphones, SONAR, RADAR, and environmental sensor suites.

[0107] Figure 4A and 4B 1 shows a front view of the robot 100, clearly showing the four bolts that secure the modular sensor holder to the inspection device. This module can be replaced in the field using only an Allen wrench. It does not require any electrical work to be performed in the field, such as adding connectors or performing soldering. In addition, the system's self-awareness module will recognize the addition of any new and potentially different sensing device and configure the inspection device to collect data appropriately. This is all done without any interaction from the user (other than replacing the sensor).

[0108] The inspection device includes several other functions that can be inferred from the line drawing. For example, Fig.21 The system 1000 shows a deployment and emergency recall loop. This loop is used to deploy the system when the optional deployment garage is not used. In addition, if the robot is disabled and the tether fails during the main emergency recall mode, this loop acts as an anchor point for emergency recall. Other aspects of the inspection device that can be understood by direct observation of the line drawings are the various covers and pressure ports, which are sealed and pressurized external views of the internal components of the device, including batteries, power management, microcontrollers, computers, GPUs, VPUs, and some interoceptive sensors such as GNSS systems.

[0109] Inspection Device Positioning. As mentioned, the inspection device includes an advanced pipeline odometry that incorporates multiple sources of physical and image-derived positioning data. In addition to the native ability to collect engineering-level pipeline data (approximately 1 cm), the device also has some optional features that increase the accuracy of pipeline positioning to survey-level (approximately 1 mm). For current pipeline mileage measurement systems, the cable counter (in the best case) provides an error curve that is significant at approximately 1% of the travel distance. This means that when a 100-foot pipeline section is inspected using existing systems, the uncertainty of the positioning measurement at the endpoint is, in the best case, 1 foot, or 1% of 100 feet. In practice, the actual number is more likely to be 2%-5% due to distracted operators using improper tether control. While such current systems are suitable for general condition assessments, they are completely unsuitable for engineering-level or survey-level assessments.

[0110] For the improved pipeline inspection system, in addition to internal odometers consisting of an advanced GNSS / INS system supported by four independent wheel odometers and visual odometers, the inspection device can also host support devices that significantly improve the positioning accuracy of the collected data. These optional positioning support devices come in two basic forms: (1) a towed cart, and (2) a precision sidecar odometer wheel and a revolutionary error-free smart cable that eliminates the cable counter and odometer errors that plague current remote inspection systems. In both cases, the passive nature of the wheel (meaning it is not powered and therefore does not slip much) improves the accuracy of the system.

[0111] It is important to remember that the inspection device can be used with all aspects of the improved pipeline inspection system, including performing general inspections without said aspects. However, to achieve ultra-high precision positioning, multiple sidecars and towed carts can be used to maximize the accuracy of survey-grade inspection operations, such as lateral location, dig and replace, or general geo-location.

[0112] Accurately localize the cart. The inspection device has a prior art odometry system derived from four independent wheel encoders, an internal IMU, and a visual odometry system to produce a best-in-class fused linear localization estimate. While this estimate easily meets the requirements of PACP inspections (typically limited to an error of less than or equal to 1% over linear distance), it does not provide a survey-grade linear localization estimate, nor does it provide 3D pose information. Figure 5 The illustrated precise positioning cart 220 provides additional accuracy to linear position estimates and provides 3D pipeline positioning information suitable for precise engineering repair analysis and survey-grade positioning.

[0113] like Figure 5 and 6As shown in both, the Precision Positioning Cart (PPC) 220 is engaged to the platform via an emergency recall loop. The PPC is a passive mobility device (meaning that the inspection device drags it during inspection). This passive mobility is very important because the differential odometry on the PPC will suffer from less wheel slip (because the wheels are free to spin), thereby providing a more accurate odometry estimate. This odometry estimate can be fused with the IMU on the robot and will significantly improve the linear positioning estimate. In addition, the PPC can be used to detect wheel slip on the robot, which has other benefits besides positioning, including advanced proprioceptive sensing and other features of the self-awareness and pipeline perception modules.

[0114] Accurate linear positioning is a minimum requirement for PACP inspections; however, for many remediation projects this is far from sufficient and does not provide enough information to perform accurate plan view positioning (2D) or comprehensive 3D pipeline geolocation. In cases where 3D information is provided, PPC provides a low-cost, accurate way to perform 3D pipeline positioning. This functionality is provided by advanced INS and odometry systems that create 3D fused positioning estimates. When coupled with GPS locations of the bottom of the pipe in upstream and downstream manholes (most common), advanced survey-grade geolocation of the entire pipeline (including the precise location of manholes) can be provided as part of the inspection service. In other aspects, the precision positioning cart can be configured with additional sensors, including SONDE for locating shallow pipelines using traditional components, radar, sonar or other non-destructive sensors or test equipment.

[0115] Positioning Sidecar. In situations where a precision positioning cart cannot be deployed due to pipeline conditions (e.g., excessive sediment), there is another optional positioning device. Like the precision positioning cart, it is also passive and can therefore provide excellent linear odometry via passive wheels that are pressed into the bottom of the pipeline with a passive tensioning mechanism. Aspects of the positioning sidecar 318 are shown in Figure 8 In this figure, the odometer wheel is shown sitting on a linear slide that is supported by two flexible whiskers (in Fig.10 The passive tensioning mechanism provided by the wheel (shown more clearly in FIG) is pressed into the bottom of the pipe, and the two flexible whiskers provide the necessary force to keep the wheels firmly pressed against the bottom of the pipe. The slider is also passive, so debris or obstacles will not unduly bind the platform during movement. If the platform encounters debris, the passive slider allows the wheels to be pressed up toward the top of the pipe, thereby increasing the effective ground clearance of the device and significantly improving mobility compared to fixed linear positioning.

[0116] As can be inferred from the figure, a single-positioned sidecar (such as Figure 8The Precision Locate Cart can be used in a two-sided cart configuration (not shown) or a two-sided cart configuration (not shown). Additionally, and as previously mentioned, the Precision Locate Cart can also be used with various combinations of no-sided cart deployment, single-sided cart deployment, or two-sided cart deployment. This gives the user the ability to increase the accuracy of the spatial indexing of the inspection data to meet the requirements of general condition assessment, engineering-level assessment, or survey-level positioning, and provides a simple, easy to interface complementary positioning system.

[0117] Deployment garage. A deployment garage is part of an improved pipeline inspection system, but may also be considered a supplementary or optional component depending on the specific circumstances of the inspection operation. Figure 13-18 As shown, this device provides several important benefits to the operator, the inspection device, and the overall inspection operation.

[0118] The deployment garage is a multifunctional support device that is provided to improve the safety and efficiency of inspection operations, as well as to protect the inspection device during deployment. As can be inferred from the inspection device picture in Appendix A, lowering the inspection device directly from the recall hook into the manhole means that there is a high risk that the camera on the front of the device will hit the bottom of the pipe during insertion. Cracked lenses, damaged cameras, and water ingress to the robot are signs of failure in this type of deployment. Figure 13-18 Provides an illustration of how the deployment garage protects the robot and the highly fragile camera lenses during deployment operations.

[0119] The Deployment Garage is more than just a mechanical device. It is an AI-driven intelligent device, just like the Inspection Device, and provides several additional support functions that are very useful in certain types of inspection operations. These support functions are described below.

[0120] Communications Relay. This provides spread spectrum communications, primarily line-of-sight, via radios positioned within the deployment housing in such a way that it can send and receive communications from the inspection device during operation. This communications coverage can be from a single deployment garage (located at the deployment point), or two deployment garages (one at the entry point and one at the exit point) to cover longer pipeline runs where direct communications from a single access point are difficult.

[0121] Active Pipeline Odometry. This innovation allows improved pipeline inspection systems to spatially index data acquired within the pipeline to the accuracy required for engineering and survey-grade operations. This active odometry or wireless tether is achieved by transmitting and receiving supersonic information from a transmitter in the deployment garage to a receiver in the inspection device. In this case, if the garage and the inspection device are properly synchronized in time, the downstream distance of the pipeline can be inferred through time-of-flight calculations. In other configurations, both the deployment garage and the device have transmit and receive capabilities, and distance can be calculated based on time-of-flight. This is accomplished without the need for any time synchronization between the inspection and deployment garage devices. In other aspects, multiple deployment garages can be used to provide upstream and downstream (dual channel) communications and signaling for longer or more geometrically challenging inspection operations. In other aspects, the transmitted signals can be radio frequency waves, photons, or other types of signals suitable for time-of-flight distance calculations.

[0122] Multi-segment inspection support. The Deployment Garage supports multi-segment inspections, enabling operators to quickly and efficiently replace tethers at exit manholes. In various aspects, this replacement is done manually by the operator. In other aspects, it is done automatically by the Deployment Garage itself. Multi-segment leapfrog greatly improves operator efficiency and minimizes impact on the site by allowing the operator to "leap-frog" the Deployment Garage, replace the tether, and continue the inspection without having to withdraw the robot to an entry point and then manually move it to the next entry point.

[0123] Untethered Operation. While a deployment garage is not required when the device is operated manually, it can be used for untethered operation. The deployment garage can include an electronic communications relay that serves as the primary means of communication between the inspection device and the human machine interface of the entry or exit manhole (or both). In aspects where the inspection device is an autonomous device, the deployment garage can also be considered optional.

[0124] Tether Module. The improved pipeline inspection system can include one of two different tether modules with similar functionality and deployment levels. In both cases, the tether module is configured to provide reliable communication between the inspection device and the human-machine interface. According to various aspects, the communication medium is fiber optic Ethernet. Of course, according to other aspects, other media can be utilized.

[0125] Standard tether module. According to various aspects, the first tether module is a barrel tether, such as Fig.11A and 11BAs shown. In the figure, the barrel shape represents the outer housing, which covers the tether, tether reel, slip wring, electronic equipment (including computer, radio and associated transceiver), battery and shore power. The tether device includes additional optional motors and motor controllers, which can automatically perform some tether functions, such as inspection device retrieval, tether management and tensioning, and support multi-segment hopping and tether rapid replacement functions. In various aspects, the physical medium of the tether is optical fiber, but can also be any combination of copper (power and / or communications) and optical fiber (high-speed communications). According to various aspects, the transport layer is high-speed Ethernet over optical fiber or copper (including coaxial cable as an option).

[0126] The tether device may also include a standard hand crank handle. Fig.11A and 11B The hand crank can be used to reel the tether back into the barrel as the primary system recall and cable management component. As previously mentioned, the system can be upgraded with an optional motor to enable automated recall and reduce the amount of operator effort required. This motor can be configured in combination with the robot's motion to provide mobility assistance to the device during recall. Additionally, as can be seen from Fig.11A and 11B As learned in the invention, the device can be fixed with bolts using standard connectors to improve work efficiency and on-site safety.

[0127] Fig. 11B A cutaway view of the tether device is shown. In this view, the tether and quick connect are shown extending from the mouth of the tether reel. This rugged, low-cost deployment support is provided with the inspection device, where the system is capable of supporting up to 500 linear feet of shielded and reinforced cable accommodating optical or electrical communications support.

[0128] Industrial Tether Module. According to various aspects, the second tether module is an advanced deployment system that includes all of the features of the first tether module plus some key upgrades, including reliability, improved cable management, improved performance and field safety, and key additional support features for customers with more demanding usage requirements. Examples of such customers are contractors or larger municipalities that have higher performance requirements and can afford a higher price point.

[0129] Absolute linear distance measurement module. Cable counters, integrated wheel odometers and auxiliary positioning devices all contribute to and can improve the accuracy of distance measurement from the 1 meter level to a few centimeters, which is sufficient for most automated engineering analysis needs, such as accurately measuring the distance between pipeline joints. However, this is not enough for pipeline surveys and geolocation activities that require data with sub-centimeter accuracy.

[0130] Fig. 12A-C highlights one aspect of an improved pipeline inspection system that provides mm-level distance measurements over any length of tether. This solution is groundbreaking in that it eliminates drift by placing absolute positioning markers on the tether that are fused to specific locations on the tether. These markers are implemented by passive RFID tags (fused to the tether) at standard intervals (e.g., 1 meter, 2 meters, or 5 meters). The unique ID of each RF tag is associated with its absolute fused position on the cable. This means that every time a section of the tether with an RFID tag passes through the receiver loop, all accumulated errors are zeroed out at this point.

[0131] When used in combination with cable counters, individual and fused wheel odometry, visual odometry and other relative positioning methods, and the positioning components of the pipeline perception AI core, this capability provides users with the ability to locate a complete set of features and defects within a pipeline in an absolute 3D reference frame at the millimeter level. In addition, it provides advanced operating modes that other systems cannot provide. Such advanced operating modes are described below.

[0132] Independent and accurate inspection of pipe joints and pipe sticks. Compared to improved pipeline inspection systems, current condition assessment systems are unable to perform independent and accurate inspection of joints and pipe sticks due to accumulated cable measurement errors that corrupt any pipe segment length measurement and make it impossible to segment pipeline joint data from pipeline segment data. Segmenting joint data from pipeline segment data is important for remaining life analysis because most joints are designed to have offsets or depressions as part of the normal function of the pipeline. These can be mistaken for defects, especially when using non-video data such as LiDAR or sonar. Accurate inspection of pipeline joints through improved pipeline inspection systems enables the generation of new types of reports including pipe stick reports. These reports identify the pipe sticks that contain pipeline segments through joint recognition technology and break down the pipeline segments into their component sticks. For example, 200 linear feet of 12" VCP pipeline may be constructed from ten 20-foot VCP pipe sticks. During installation, these sticks are assembled underground (usually via bell and spigot joints) into 200-foot sections. The Pipe Stick Report breaks down the pipeline sections into individual sticks and separates the joint data from the pipeline data. This improves the accuracy of all analysis and provides more insight into the condition of the pipeline.

[0133] Human Machine Interface. It should be understood that the operation of the improved pipeline inspection system includes interaction between a human operator and an integrated robotic system. This interface allows the operator to view real-time images / video captured by the inspection device, individually control the movement of the inspection device and the LED lighting of all cameras, retrieve the inspection device status, set the odometer starting point, enter PACP inspection header information, start / stop inspection, and perform other related actions. The interface software operates to create an inspection data packet with recorded video, PACP header and other related inspection data (such as odometer), and uploads the inspection data packet to the "Pipe Dream" cloud for later processing without human intervention. The interface software maintains a local database in the inspection device and allows the operator to select the inspection date packet to be uploaded. This allows only the required large data packets to be transmitted and reduces energy usage.

[0134] When used in conjunction with the sensors and local AI engine in the inspection device, the interface software also provides situational alerts to the operator, including but not limited to severe structural damage, abnormal environmental parameters (temperature, pressure, toxic / explosive gases, etc.), and impassable conditions (drops, gaps, etc.).

[0135] In conjunction with the manipulators, actuators and motors included in the inspection device, the interface also allows the operator to perform maintenance operations in the pipeline.

[0136] The HMI allows the user to log into the system and view live images / video and system status remotely. This opens up possibilities such as remote diagnosis and evaluation by experts without the need for expensive travel.

[0137] The software, along with other components in the system, supports location and usage history for asset management purposes.

[0138] Leveraging the powerful AI engine in the inspection device, the system can process captured sensor data, including but not limited to images / videos, locally on the inspection device and create an assessment summary including PACP coding and reports. This edge computing and processing capability eliminates the need to move large amounts of data, making the system more efficient and environmentally friendly.

[0139] Environmental Impact Analysis. When comparing the Improved Pipeline Inspection System to a traditional inspection system / service (such as a van or truck pre-equipped with CCTV), it is clear that the Improved Pipeline Inspection System will significantly reduce the environmental impact of each workday. Based on average carbon emission data information for standard box truck models, the CCTV Sprinter van will emit an average of 89 pounds of CO2 per day, the CCTV truck will emit 207 pounds of CO2, and the Improved Pipeline Inspection System will emit only 40 pounds of CO2. This is equivalent to consuming 4.5 gallons, 10.5 gallons, and 2 gallons of gasoline per day, respectively. Note that the Improved Pipeline Inspection System does not directly emit C02 and does not consume fuel. However, the process of charging the battery requires electricity, and the process of generating electricity may produce emissions, depending on the source of the fuel used to generate the electricity.

[0140] These figures also take into account the average travel time to and from the site, as well as the operating time of the inspection system. A big factor in the relatively low emissions rate of the improved pipeline inspection system is that most truck / van inspections must idle the vehicle and run the generator during each inspection, which requires an average of 4.5 gallons to 6 gallons of gasoline per day. The improved pipeline inspection system does not require a generator to operate (it is powered by batteries), and this is also a big reason why the improved pipeline inspection system is safer for the environment. Aside from the drive to and from the job site, any carbon emissions from the improved pipeline inspection system come from charging the batteries, which only need to be charged once per inspection day and emits the equivalent of burning only 1 / 8 of a gallon of gasoline.

[0141] Since the improved pipeline inspection system is not directly connected to these large truck / van systems and the system can be easily deployed from any type of vehicle, the calculations for the above systems were made using data for the most widely owned box car (production costs are not included or taken into account in the figures).

[0142] Disposability analysis. The improved pipeline inspection system is almost entirely made of commodity components that can be sourced from multiple suppliers, making it robust to supply chain issues. In addition, it features an ultra-low-cost bill of materials (BOM) that roughly determines the equivalence between repair and replacement. This eliminates the need for customers to perform any maintenance on the core elements of the system.

[0143] Field Impact Analysis. The field analysis impact of the improved pipeline inspection system is relatively straightforward. The system can be hand-held or backpack-carried, weighs less than 10 pounds, and is designed to be very compact, allowing a small Pelican case to hold the robot, tether, controller, and interface to a laptop / tablet computer. The system can be easily carried on an airplane, or sent via standard or courier mail. In addition to being carbon neutral (as previously discussed), the system does not require a generator or support truck, is completely battery-powered, and is ergonomically designed (with support from a deployment garage) to be easily deployed into the most complex manhole structures.

[0144] Although various aspects of the improved pipeline inspection system have been described herein in conjunction with certain disclosed aspects, many modifications and variations of these aspects may be implemented. Moreover, where materials for certain components are disclosed, other materials may be used. Furthermore, according to various aspects, a single component may be replaced by multiple components, and multiple components may be replaced by a single component to perform one or more given functions. The foregoing description and the appended claims are intended to cover all such modifications and variations that fall within the scope of the disclosed aspects.

[0145] Although the invention has been described as having an exemplary design, the invention as described can be further modified within the spirit and scope of the present disclosure. Therefore, this application is intended to cover any variation, use, or adaptation of the invention using its general principles. For example, although the invention is described in the context of use in a sewage pipe, the general principles of the invention are equally applicable to the inspection of other types of pipelines (e.g., water pipes).

[0146] Any patent, patent application, publication, or other public material referred to as being incorporated herein by reference is incorporated in whole or in part only to the extent that the incorporated material does not conflict with existing definitions, statements, or other public materials set forth in this disclosure. As such, and to the extent necessary, the disclosure as expressly set forth herein supersedes any conflicting material incorporated by reference. Any material or portion thereof referred to as being incorporated herein but conflicting with existing definitions, statements, or other public materials set forth herein will be incorporated only to the extent that no conflict arises between the incorporated material and the existing public materials.

[0147] Examples of methods according to aspects of the present disclosure are provided in the following numbered clauses. One aspect of the method may include any one or more than one of the numbered clauses described below and any combination thereof.

[0148] Item 1. A robot configured to inspect a pipeline, the robot comprising: a shell; a sensing device coupled to the shell; a plurality of wheels rotatably coupled to the shell; a carbon-neutral power source positioned within the shell; and a computing device communicatively coupled to the sensing device and the carbon-neutral power source, wherein the computing device comprises a processing unit and a memory for storing a software stack which, when executed by the processing unit, enables the computing device to: receive a signal from the sensing device; detect a condition of the pipeline based on the received signal; generate a situational alert based on the detected condition; and transmit the situational alert to an end user of the robot.

[0149] Clause 2. The robot of clause 1, wherein the detected condition comprises at least one of: an indication of structural damage, an abnormal environmental parameter, or an inaccessible condition, or a combination thereof.

[0150] Clause 3. The robot according to any one of clauses 1 or 2, wherein the abnormal environmental parameters include at least one of the following: temperature, pressure or harmful gas or a combination thereof.

[0151] Clause 4. The robot according to any one of clauses 1 to 3, wherein the impassable condition comprises at least one of a drop or a gap.

[0152] Clause 5. A robot according to any one of clauses 1 to 4, further comprising an encoder, and wherein when executed by the processing unit, the software stack is further configured to cause the computing device to: receive a signal from the encoder; and generate a linear positioning estimate associated with the robot based on the signal received from the encoder.

[0153] Clause 6. The robot of any one of clauses 1 to 5, wherein the generated linear positioning estimate complies with requirements imposed by a pipeline assessment certification program.

[0154] Clause 7. The robot of any one of clauses 1 to 6, wherein the generated linear positioning estimate is survey grade.

[0155] Clause 8. A robot according to any one of clauses 1 to 7, further comprising an inertial measurement unit ("IMU") and a visual odometry system, and wherein when executed by the processing unit, the software stack is further configured to cause the computing device to: receive signals from the IMU; receive signals from the visual odometry system; and generate a fused linear positioning estimate associated with the robot based on the signals received from the encoder, the signals received from the IMU, and the signals received from the visual odometry system, wherein the fused linear positioning estimate is more accurate than the linear positioning estimate.

[0156] Clause 9. The robot of any one of clauses 1 to 8, further comprising a sidecar configured to selectively engage with the robot, wherein the IMU and the visual odometry system are positioned within the sidecar.

[0157] Clause 10. A robot according to any one of clauses 1 to 9, wherein the encoder further comprises a precise positioning system configured to selectively engage with the robot, wherein the IMU and the visual odometry system are positioned within the precise positioning system.

[0158] Clause 11. The robot of any one of clauses 1 to 10, further comprising a recall ring configured to selectively engage with a tether.

[0159] Clause 12. The robot of any one of clauses 1 to 11, wherein the tether is configured to transmit power and communications to and from the robot.

[0160] Clause 13. A robot according to any one of clauses 1 to 12, wherein the tether comprises a plurality of markers fused at predetermined intervals, wherein the absolute positioning of the robot can be calculated based on a marker of the plurality of markers passing through an active scanner positioned on the housing of the tether.

[0161] Clause 14. The robot of any one of clauses 1 to 13, wherein each wheel of the plurality of wheels is modular and interchangeably attachable to the housing via a quick connect connector.

[0162] Clause 15. The robot of any one of clauses 1 to 14, wherein the sensing device is one of a plurality of sensing devices configured to be interchangeably attached to the housing via an electromechanical connection.

[0163] Item 16. A system for inspecting a pipeline, the system comprising: a tether, the tether comprising a shell and an internal wire coil; a deployment garage, the deployment garage comprising a frame and a bracket, wherein the frame can be selectively coupled to the wire of the tether; and a robot, the robot configured to be positioned within the bracket of the deployment garage, wherein the robot comprises: a plurality of wheels; a shell, the shell can be selectively coupled to the wire of the tether; a carbon-neutral power supply, the carbon-neutral power supply positioned within the shell; a sensing device, the sensing device configured to selectively engage with the shell; and a computing device, the computing device communicatively coupled to the sensing device and the carbon-neutral power supply, wherein the computing device comprises a processing unit and a memory, the memory being used to store a software stack, which, when executed by the processing unit, enables the computing device to: receive a signal from the sensing device; detect a condition of the pipeline based on the received signal; generate a situational alert based on the detected condition; and transmit the situational alert to an end user of the robot.

[0164] Clause 17. A system according to clause 15, wherein the robot further includes an encoder, and wherein when executed by the processing unit, the software stack is further configured to cause the computing device to: receive a signal from the encoder; and generate a linear positioning estimate associated with the robot based on the signal received from the encoder.

[0165] Clause 18. A system according to any one of clauses 16 or 17, wherein the robot further includes an inertial measurement unit ("IMU") and a visual odometry system, and wherein when executed by the processing unit, the software stack is further configured to cause the computing device to: receive signals from the IMU; receive signals from the visual odometry system; and generate a fused linear positioning estimate associated with the robot based on the signals received from the encoder, the signals received from the IMU, and the signals received from the visual odometry system, wherein the fused linear positioning estimate is more accurate than the linear positioning estimate.

[0166] Clause 19. A system according to any one of clauses 16 to 18, wherein each of the plurality of wheels is modular and interchangeably attachable to the housing via a mechanical connector, and wherein the sensing device is one of a plurality of sensing devices configured to be interchangeably attachable to the housing via an electromechanical connector.

[0167] Clause 20. A computer-implemented method for inspecting a pipeline, the method comprising: training an artificial intelligence model using training data, the training data comprising information associated with the pipeline; receiving a signal from a sensing device of a robot deployed in the pipeline via a processor; transmitting information associated with the received signal to the artificial intelligence model via the processor; generating an output based on the information associated with the received signal via the artificial intelligence model, wherein the generated output comprises a determined condition of the pipeline; generating a situational alert based on the generated output via the processor; and transmitting the situational alert to an end user of the robot deployed in the pipeline via the processor.

[0168] Although various aspects of fall protection devices, systems, and methods have been described herein in conjunction with certain disclosed aspects, many modifications and variations of these aspects may be implemented. Moreover, where materials for certain components are disclosed, other materials may be used. Furthermore, according to various aspects, a single component may be replaced by multiple components, and multiple components may be replaced by a single component to perform one or more given functions. The foregoing description and the appended claims are intended to cover all such modifications and variations that fall within the scope of the disclosed aspects.

[0169] Although the invention has been described as having an exemplary design, the invention as described can be further modified within the spirit and scope of the present disclosure. Therefore, this application is intended to cover any variations, uses, or adaptations of the invention using its general principles. For example, although the invention is described in the context of use with aerial work lifts and other boom / basket lifting devices, the general principles of the invention are equally applicable to other types of workplace environments (e.g., in environments where ladders are used).

[0170] Any patent, patent application, publication, or other public material referred to as being incorporated herein by reference is incorporated in whole or in part only to the extent that the incorporated material does not conflict with existing definitions, statements, or other public materials set forth in this disclosure. As such, and to the extent necessary, the disclosure as expressly set forth herein supersedes any conflicting material incorporated by reference. Any material or portion thereof referred to as being incorporated herein but conflicting with existing definitions, statements, or other public materials set forth herein will be incorporated only to the extent that no conflict arises between the incorporated material and the existing public materials.

Claims

1. A robot configured to inspect a pipeline, the robot comprising: case; a sensing device coupled to the housing; a plurality of wheels rotatably coupled to the housing; a carbon-neutral power source positioned within the housing; as well as a computing device communicatively coupled to the sensing device and the carbon-neutral power source, wherein the computing device comprises a processing unit and a memory for storing a software stack that, when executed by the processing unit, causes the computing device to: receiving a signal from the sensing device; detecting a condition of the pipeline based on the received signal; Generate situational alerts based on detected conditions; and The situational alert is transmitted to an end user of the robot.

2. The robot of claim 1, wherein the detected condition comprises at least one of: an indication of structural damage, an abnormal environmental parameter, or an inaccessible condition, or a combination thereof. 3 . The robot according to claim 2 , wherein the abnormal environmental parameter comprises at least one of the following: temperature, pressure or harmful gas or a combination thereof.

4. The robot according to claim 2, wherein the impassable condition comprises at least one of a drop or a gap.

5. The robot of claim 1 , further comprising an encoder, and wherein when executed by the processing unit, the software stack is further configured to cause the computing device to: receiving a signal from the encoder; and A linear positioning estimate associated with the robot is generated based on the signals received from the encoders.

6. The robot of claim 5, wherein the generated linear positioning estimate complies with requirements imposed by a pipeline assessment certification program.

7. The robot of claim 5, wherein the generated linear positioning estimate is survey grade.

8. The robot of claim 5, further comprising an inertial measurement unit ("IMU") and a visual odometry system, and wherein when executed by the processing unit, the software stack is further configured to cause the computing device to: receiving a signal from the IMU; receiving a signal from the visual odometry system; and A fused linear positioning estimate associated with the robot is generated based on the signals received from the encoders, the signals received from the IMU, and the signals received from the visual odometry system, wherein the fused linear positioning estimate is more accurate than the linear positioning estimate.

9. The robot of claim 8, wherein the encoder further comprises a sidecar configured to selectively engage with the robot, wherein the IMU and the visual odometry system are positioned within the sidecar.

10. The robot of claim 8, wherein the encoder further comprises a precise positioning system configured to selectively engage with the robot, wherein the IMU and the visual odometry system are positioned within the precise positioning system.

11. The robot of claim 1 , further comprising a recall ring configured to selectively engage with a tether.

12. The robot of claim 11, wherein the tether is configured to transmit power and communications to and from the robot.

13. The robot according to claim 11, wherein the tether comprises a plurality of markers fused at predetermined intervals, wherein the absolute positioning of the robot can be calculated based on one marker of the plurality of markers passing through an active scanner positioned on the housing of the tether.

14. The robot of claim 1, wherein each wheel of the plurality of wheels is modular and interchangeably attachable to the housing via a quick connect connector.

15. The robot of claim 11, wherein the sensing device is one of a plurality of sensing devices configured to be interchangeably attached to the housing via electromechanical connections.

16. A system for inspecting a pipeline, the system comprising: a tether comprising a housing and an internal coil; a deployment garage comprising a frame and a bracket, wherein the frame is selectively coupleable to a line of the tether; as well as a robot configured to be positioned within the bracket of the deployment garage, wherein the robot comprises: Multiple wheels; a housing selectively coupleable to the line of the tether; a carbon-neutral power source positioned within the housing; a sensing device configured to selectively engage the housing; as well as a computing device communicatively coupled to the sensing device and the carbon-neutral power source, wherein the computing device comprises a processing unit and a memory for storing a software stack that, when executed by the processing unit, causes the computing device to: receiving a signal from the sensing device; detecting a condition of the pipeline based on the received signal; Generate situational alerts based on detected conditions; and The situational alert is transmitted to an end user of the robot.

17. The system of claim 16, wherein the robot further comprises an encoder, and wherein when executed by the processing unit, the software stack is further configured to cause the computing device to: receiving a signal from the encoder; and A linear positioning estimate associated with the robot is generated based on the signals received from the encoders.

18. The system of claim 17, wherein the robot further comprises an inertial measurement unit ("IMU") and a visual odometry system, and wherein when executed by the processing unit, the software stack is further configured to cause the computing device to: receiving a signal from the IMU; receiving a signal from the visual odometry system; and A fused linear positioning estimate associated with the robot is generated based on the signals received from the encoders, the signals received from the IMU, and the signals received from the visual odometry system, wherein the fused linear positioning estimate is more accurate than the linear positioning estimate.

19. A system according to claim 16, wherein each of the plurality of wheels is modular and interchangeably attachable to the housing via a mechanical connector, and wherein the sensing device is one of a plurality of sensing devices configured to be interchangeably attachable to the housing via an electromechanical connector.

20. A computer-implemented method of inspecting a pipeline, the method comprising: training an artificial intelligence model using training data, the training data comprising information associated with the pipeline; receiving, by a processor, a signal from a sensing device of a robot deployed within the pipeline; transmitting, by the processor, information associated with the received signal to the artificial intelligence model; generating, by the artificial intelligence model, an output based on the information associated with the received signal, wherein the generated output includes the determined condition of the pipeline; generating, by the processor, a contextual alert based on the generated output; as well as The situational alert is transmitted by the processor to an end user of the robot deployed within the pipeline.

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