Pipe navigation apparatus with interior passageway for tool pass through

Abstract

Navigation apparatus (102) including a body (132) comprising a first and a second end. The body defines a passageway (104) extending through the body. The navigation apparatus includes a drive device (134) coupled to the body and configured to engage an interior wall of the pipe to propel the navigation apparatus and a passthrough guide (148) coupled to the body and configured to receive a tow line (152) therethrough. The navigation apparatus further includes an attachment feature (164) configured to releasably secure a tool (158) to the first end of the body. The passageway is sized to receive the tool on the tow line through the second end of the body and allow pass-through of the tool within the passageway from the second end to the first end for attaching the tool to the first end of the body.

Description

PIPE NAVIGATION APPARATUS WITH INTERIOR PASSAGEWAYFOR TOOL PASS THROUGHSTATEMENT REGARDING FEDERALLY SPONSORED RESEARCH AND DEVELOPMENT

[0001] This invention was made with Government support under contract number DE-AR0001328 awarded by the Advanced Research Projects Agency-Energy (ARPA-E). The Government has certain rights in this invention.BACKGROUND

[0002] The field of the disclosure relates to systems for navigating pipes, and more particularly to pipe navigation apparatus including an interior passageway for tool pass through.

[0003] Pipes are commonly used to transport fluids. For example, typical pipes include a cylindrical sidewall that defines an interior cavity. During operation, fluids are transported within the interior cavity of the pipes. Sometimes, the fluids that are transported through the pipes have characteristics that can cause wear, deterioration, or otherwise affect the properties of the pipes. As a result, the pipes may require routine inspection and repair. However, the interior cavity’ of the pipes may be difficult to access for routine maintenance. For example, at least some known pipes include complex geometric obstructions or sections which are difficult to maneuver through, such as comers, elbows, or bends. In addition, at least some known navigation apparatus carry additional payloads, such as cleaning tools, fluid treatment lines, sensors, and / or cameras thereon while traversing the pipes. These payloads increase the weight and size of the navigation apparatus, which require increased power for drive systems on the navigation apparatuses. Moreover, the weight and size of known apparatuses with such payloads are not well suited for traversing pipes with complex geometric sections.

[0004] Accordingly, it would be desirable to provide a system for navigating pipes including a navigation apparatus that facilitates transporting additional payloads to the navigation apparatus after it has navigated through the pipe.BRIEF DESCRIPTION

[0005] In one aspect, a navigation apparatus for use in navigating a pipe is provided. The navigation apparatus includes a body comprising a first end and a second end. The body defines a passageway extending through the first end and the second end of the body. The navigation apparatus further includes a drive device coupled to the body and configured to engage an interior wall of the pipe to propel the navigation apparatus through the pipe and a passthrough guide coupled to the body and configured to receive a tow line therethrough. The navigation apparatus further includes an attachment feature configured to releasably secure a tool to the first end of the body. The passageway is sized to receive the tool on the tow line through the second end of the body and allow pass-through of the tool within the passageway from the second end to the first end for attaching the tool to the first end of the body.

[0006] In another aspect, pipe navigation system for use in navigating a pipe is provided. The pipe navigation system includes a tow line, a fluid supply device comprising a fluid nozzle, wherein the fluid supply device is configured to be releasably coupled to the tow line, and a navigation apparatus. The navigation apparatus includes a body defining a passageway extending through the body, a drive device coupled to the body and configured to engage an interior wall of the pipe to propel the navigation apparatus through the pipe, and a passthrough guide coupled to the body and positioned at least partially within the passageway. The passthrough guide configured to receive the tow line thereon. The pipe navigation system further includes a latching assembly comprising a first attachment feature coupled to the body and a second attachment feature on the fluid nozzle. The latching assembly is configured to releasably secure the fluid nozzle to the body and the passageway is sized to receive the fluid nozzle on the tow line through the passageway to align the first attachment feature wi th the second attachment feature.

[0007] In yet another aspect a method for providing a fluid treatment to a pipe is provided. The method includes moving a navigation apparatus through an interior cavity of the pipe to a distal position within the pipe. The navigation apparatus including a body defining a passageway extending through the body, a drive device coupled to the body and configured to engage an interior wall of the pipe, and a passthrough guide coupled to the body and positioned at least partially within the passageway. The method further includes coupling a fluid nozzle to a tow line, the tow line extending from a position exterior of the pipe to the passthrough guide. The method further includes driving, after the moving, the tow line around the passthrough guide to move the fluid nozzle on the tow line from the position exterior of the pipe to the navigation apparatus and into the passageway and attaching the fluid nozzle to the body.BRIEF DESCRIPTION OF THE DRAWINGS

[0008] These and other features, aspects, and advantages of the present disclosure will become better understood when the following detailed description is read with reference to the accompanying drawings in which like characters represent like parts throughout the drawings, wherein:

[0009] FIG. 1 is a schematic diagram of a pipe treatment system including a navigation apparatus traveling underground in a first position;

[0010] FIG. 2 is a schematic diagram of the pipe treatment system of FIG. 1 showing a fluid supply system including a nozzle and the navigation apparatus traveling underground in a second position;

[0011] FIG. 3 is a schematic diagram of a portion of the navigation apparatus and the fluid supply system shown in FIG. 2. showing the nozzle attached to the navigation apparatus;

[0012] FIG. 4 is a schematic diagram of the pipe treatment system of FIG. 1, showing the navigation apparatus in the second position and applying a fluid treatment to the pipe;

[0013] FIG. 5 is a schematic diagram of the pipe treatment system of FIG. 1, showing the navigation apparatus in the first position and applying the fluid treatment to the pipe;

[0014] FIG. 6 is a perspective view of a portion of the navigation apparatus shown in FIG. 1 ; and

[0015] FIG. 7 is a flow chart of an example method of providing a fluid treatment to a pipe using the navigation apparatus shown in FIG. 1.

[0016] Unless otherwise indicated, the drawings provided herein are meant to illustrate features of embodiments of this disclosure. These features are believed to be applicable in a wide variety of systems including one or more embodiments of this disclosure. As such, the drawings are not meant to include all conventional features known by those of ordinary skill in the art to be required for the practice of the embodiments disclosed herein.DETAILED DESCRIPTION

[0017] In the following specification and the claims, reference will be made to a number of terms, which shall be defined to have the following meanings.

[0018] The singular forms “a”, "an". and “the’' include plural references unless the context clearly dictates otherwise.

[0019] “Optional” or “optionally” means that the subsequently described event or circumstance may or may not occur, and that the description includes instances where the event occurs and instances where it does not.

[0020] Approximating language, as used herein throughout the specification and claims, may be applied to modify any quantitative representation that could permissibly vary without resulting in a change in the basic function to which it is related. Accordingly, a value modified by a term or terms, such as “about”, “approximately”, and “substantially”, are not to be limited to the precise value specified. In at least some instances, the approximating language may correspond to the precision of an instrument for measuring the value. Here and throughout the specification and claims, range limitations may becombined and / or interchanged, such ranges are identified and include all the sub-ranges contained therein unless context or language indicates otherwise.

[0021] As used herein, the terms “processor” and “computer,” and related terms, e.g., “processing device,” “computing device,” and “controller” are not limited to just those integrated circuits referred to in the art as a computer, but broadly refers to a microcontroller, a microcomputer, an analog computer, a programmable logic controller (PLC), and application specific integrated circuit (ASIC), and other programmable circuits, and these terms are used interchangeably herein. In the embodiments described herein, “memory” may include, but is not limited to, a computer-readable medium, such as a random access memory' (RAM), a computer-readable non-volatile medium, such as a flash memory'. Alternatively, a floppy disk, a compact disc - read only memory (CD-ROM), a magnetooptical disk (MOD), and / or a digital versatile disc (DVD) may also be used. Also, in the embodiments described herein, additional input channels may be, but are not limited to, computer peripherals associated with an operator interface such as a touchscreen, a mouse, and a keyboard. Alternatively, other computer peripherals may also be used that may include, for example, but not be limited to, a scanner. Furthermore, in the example embodiment, additional output channels may include, but not be limited to, an operator interface monitor or heads-up display. Some embodiments involve the use of one or more electronic or computing devices. Such devices typically include a processor, processing device, or controller, such as a general purpose central processing unit (CPU), a graphics processing unit (GPU), a microcontroller, a reduced instruction set computer (RISC) processor, an ASIC, a PLC, a field programmable gate array (FPGA), a digital signal processing (DSP) device, and / or any other circuit or processing device capable of executing the functions described herein. The methods described herein may be encoded as executable instructions embodied in a computer readable medium, including, without limitation, a storage device and / or a memory device. Such instructions, when executed by a processing device, cause the processing device to perform at least a portion of the methods described herein. The above examples are exemplary only, and thus are not intended to limit in any way the definition and / or meaning of the term processor and processing device.

[0022] Embodiments described herein relate to a pipe navigation system including a navigation apparatus having an interior passageway. The system includes a tow line and a fluid nozzle that is able to be releasably coupled to the tow line. The navigation apparatus includes a body including a first end and a second end. with the passageway extending through the first end and the second end of the body. The apparatus further includes a drive device coupled to the body and configured to engage an interior wall of the pipe to propel the navigation apparatus through the pipe and a pulley coupled to the body that is configured to receive the tow line thereon. The system also includes a latching assembly that includes a first attachment feature coupled to the body and a second attachment feature coupled to the fluid nozzle that releasably secures the fluid nozzle to the body. The passageway is sized to receive the fluid nozzle on the tow line through the passageway to align the first attachment feature with the second attachment feature. As a result, the interior passageway allows for the nozzle, and a fluid supply line coupled to the nozzle, to be transported on the tow line to the navigation apparatus after the navigation apparatus travels through the pipe to a distal position where the fluid treatment is provided. Additionally, the tow line allows for other payloads that would otherwise be attached to the navigation apparatus to be transported through the pipe on the tow line after the navigation apparatuses travels through the pipe fluid.

[0023] FIG. 1 is a schematic diagram of a pipe navigation system 100, alternatively referred to herein as a “system'’ including a navigation apparatus 102. also referred to herein as a “crawler” having an interior passageway 104 and traveling underground. For example, navigation apparatus 102 is configured to travel through a pipe 106. Pipe 106 may be any enclosed path through a material. For example, pipe 106 may be a conduit or a tunnel and may have a circular or non-circular cross-section. Pipe 106 includes a sidewall 108 having an interior surface 110 defining an interior cavity 112.

[0024] System 100 includes a controller 116 communicatively coupled to navigation apparatus 102. In the example embodiment, controller 116 is configured to provide instructions to move navigation apparatus 102 through pipe 106 and / or to perform inspection or repair operations. Controller 116 includes a transceiver 124, a processor 126, and a memory 128. In some embodiments, controller 116 is positioned remotely from navigation apparatus 102, e.g., controller 116 is located at a base station that enables anoperator on an exterior of pipe 106 (shown in FIG. 1) to interact with navigation apparatus 102, and / or controller 116 can be at least partly incorporated into and located on board navigation apparatus 102. Transceiver 124 is communicatively coupled with navigation apparatus 102 and is configured to send information to and receive information from a transceiver of navigation apparatus 102. In some embodiments, transceiver 124 and a transceiver on navigation apparatus 102 communicate wirelessly. In alternative embodiments, navigation apparatus 102 and controller 116 communicate in any manner that enables system 100 to operate as described herein. For example, in some embodiments, controller 116 and navigation apparatus 102 exchange information through a wired link extending between navigation apparatus 102 and controller 116.

[0025] In addition, in some embodiments, controller 116 is at least partly located on board navigation apparatus 102 and is configured to execute instructions for controlling components of navigation apparatus 102, such as a maintenance tool and drive systems. For example, controller 116 executes instructions that cause navigation apparatus 102 to move in a selected direction. In alternative embodiments, navigation apparatus 102 includes any controller that enables system 100 to operate as described herein. In some embodiments, controller 116 is not located on board navigation apparatus 102.

[0026] In some embodiments, navigation apparatus 102 includes one or more sensors. An operator interface 130 is configured to display information relating to the characteristics detected by navigation apparatus 102 for interpretation by the operator. Operator interface 130 may be included on a remote computing device (not shown) and / or may be incorporated with controller 116. Operator interface 130 may include, among other possibilities, a web browser and / or a client application. For example, in some embodiments, operator interface 130 displays images of intenor surface 110 based on received signals. In some embodiments, operator interface 130 allows an operator to input and / or view information relating to control of navigation apparatus 102. In the example embodiment, operator interface 130 is configured to display information relating to the state of one or more of a maintenance tool and a power source for interpretation by the operator. For example, state information may include a position of navigation apparatus 102 along a length of pipe 106 (shown in FIG. 1).

[0027] In various embodiments, processor 126 translates operator inputs into steering, tool motion, camera control, sensor control, sensor motion, and / or any other commands and sends information via transceiver 124 to navigation apparatus 102 via a transceiver of navigation apparatus 102. In some embodiments, operator control of navigation apparatus 102 is in real time, such as through a joystick, a keyboard, a touchscreen, a remote motion capture system, and / or a wearable motion capture system or other interface having similar function. In other embodiments, navigation apparatus 102 is controlled partially or wholly according to a pre-programmed routine. In further embodiments, navigation apparatus 102 is at least partially automated. In some embodiments, an operator inputs information such as operation goals or conditional directions. In further embodiments, information, such as information received by controller 116 from navigation apparatus 102, control data sent to navigation apparatus 102, and additional operator inputs or state information (e.g., location, time, orientation, datalink quality, battery levels, repair material levels, failure mode indicators), is logged into memory 128.

[0028] Moreover, in the example embodiment, controller 116 is positioned on the exterior of pipe 106 and communicates with navigation apparatus 102 positioned within interior cavity 112 of pipe 106. For example, controller 116 is configured to send information to navigation apparatus 102 relating to the propulsion and / or steering of navigation apparatus 102 while navigation apparatus 102 is moving within interior cavity 112 of pipe 106 through a wireless connection and / or a tether. In alternative embodiments, controller 116 and navigation apparatus 102 are configured in any manner that enables system 100 to operate as described herein.

[0029] Navigation apparatus 102 includes a body 132 that is configured to fit within interior cavity 112 and travel along the length of pipe 106. Accordingly, navigation apparatus 102 facilitates inspection and / or repair of pipe 106. Moreover, navigation apparatus 102 includes a drive device 134 coupled to body 132. Navigation apparatus 102 is self-propelled by drive device 134, meaning that navigation apparatus 102 moves within interior cavity 112 without external propulsion (e.g., a mechanical push or pull force) acting on navigation apparatus 102. Drive device 134 includes a plurality of arms 136 extending from body 132 with a wheel 138 attached to distal ends of each arm 136. Arms 136 extendat least partially radially outward from body 132 such that wheels 138 engage interior surface 110 to propel navigation apparatus 102 along pipe 106. Arms 136 position body 132 of navigation apparatus 102 centrally within pipe 106, such that a central axis of navigation apparatus 102 is generally colinear with a central axis of pipe 106. In the example embodiment, navigation apparatus 102 includes six arms 136 each having a corresponding wheel (two shown in FIGS. 1-4). In other embodiments, navigation apparatus 102 includes any suitable number of arms 136 and wheels 138.

[0030] Body 132 includes a first or '‘distal’7end 140 and an opposed second or ‘'proximal” end 142. During operation, for example, navigation apparatus 102 may be positioned within interior cavity 112 through an opening 144 in pipe 106, with first end 140 oriented into opening 144 and second end 142 trailing first end 140. In the illustrated embodiment, navigation apparatus 102 travels in a travel direction 146 into pipe 106 from opening 144. In some embodiments, navigation apparatus 102 traverses complex geometries in pipe 106 such as bends, comers, curves, and / or junctions (e.g., “T” junctions) or size transitions.

[0031] Body 132 defines passageway 104, which extends centrally therein along an entire length of body 132 and through first end 140 and second end 142. A first pulley 148, or more broadly referred to herein as a “passthrough guide” is coupled to body 132 at first end 140 and is positioned at least partially within passageway 104. Optionally, a second pulley 150 is positioned outside of pipe 106. First pulley 148 receives a tow line 152, alternatively a “pilot cable”, thereon. Tow line 152 extends from outside of opening 144, through pipe 106 and into passagew ay 104 at second end 142 of body 132 of navigation apparatus 102, around pulley 148, and back out of opening 144, defining a cable circuit. In other embodiments, either one of first pulley 148 and second pulley 150 may be any suitable passthrough guide that is configured to receive and guide tow line 152 as described herein. For example, and without limitation, in one alternative embodiment, passthrough guide 148 does not include a pulley but is instead an aperture defined in and / or on a portion of body- 132 that receives towline 152 therethrough.

[0032] Tow line 152 may be used to move one or more tools (not shown) into pipe 106 and proximate navigation apparatus 102 by attaching the one or more tools to tow line 152 and pulling tow line 152 (e.g., manually or by a mechanical / electromechanicalwinch) around first pulley 148 to move the one or more tools into pipe 106. In the exemplary embodiment, tow line 152 is a lightweight cord having a high tensile strength and low- friction. Tow line 152 may include a cable, a rope, and / or a monofilament. In the exemplary7embodiment, tow line 152 is formed of a synthetic polymer, such as, but not limited to. nylon, polyethylene, poly vinylidene fluoride, or ultra-high molecular weight polyethylene. In other embodiments, tow line 152 may be made of any suitable material that enables tow line 152 to function as described herein.

[0033] FIG. 2 shows pipe navigation system 100 of FIG. 1 including a fluid supply system 154. Fluid supply system 154 includes a fluid supply 156, a nozzle 158, alternatively a “fluid tool” or “tool”, and a fluid supply line 160, alternatively a “fluid supply hose,” coupling fluid supply 156 to nozzle 158 and providing fluid communication between fluid supply 156 and nozzle 158. Fluid supply system 154 is configured to provide a flow of fluid to nozzle 158 for providing a fluid treatment, such as a liquid epoxy coating, to interior surface 110 of pipe 106. Fluid supply system 154 is configured to regulate pressurized fluid that is delivered to / removed from navigation apparatus 102 for operation of navigation apparatus 102.

[0034] In the example embodiment, tow line 152 is configured to move nozzle 158 and line 160 of fluid supply system 154 to navigation apparatus 102 within pipe 106. For example, for at least some fluid treatments, to properly treat interior surface 110 of pipe 106 the treatment is first applied to interior surface 110 and allowed to set for a given time period. Driving over such fluid treatments with wheels 138 on navigation apparatus 102 may disrupt such fluid treatments and / or lead to undesirable accumulations of the fluid treatment on navigation apparatus 102, causing wear and buildup of the treatment overtime. In the example embodiment, navigation apparatus 102 is configured to provide the treatment at first end, while navigation apparatus 102 is moved through pipe 106 in a retraction direction 178, shown in FIG. 4, to prevent wheels 138 of navigation apparatus 102 from traveling over or otherwise disrupting regions of pipe 106 immediately after they are treated.

[0035] During operation, navigation apparatus 102 travels along pipe 106, carrying tow line 152 to a distal point 162. After navigation apparatus 102 has reached distal point 162, navigation apparatus 102 clamps or anchors to pipe 106 at distal point 162, by driving arms 134, 136 radially outward to increase frictional forces between wheels 138 andpipe wall 106 and / or by an additional clamping mechanism (not shown) on navigation apparatus 102 that engages pipe wall 106. With navigation apparatus 102 anchored at distal point 162, nozzle 158 and fluid supply line 160 are run out to navigation apparatus 102 to apply the fluid treatment. Specifically, nozzle 158 and / or line 160 are coupled to tow line 152 at opening 144 and tow line 152 is fed to draw nozzle 158 and line 160 to navigation apparatus 102.

[0036] In some embodiments, tow line 152 may be used to transport other tools (not shown) to navigation apparatus 102 within pipe 106 such as, but not limited to, a camera, a communications and or power line, one or more sensors, and a cleaning tool. For example, in some embodiments, prior to treating pipe 106 and / or during treatments, a camera and associated power and communications wiring (not shown) may be fed by tow line 152 into pipe 106 proximate navigation apparatus 102. The camera may capture a video feed and / or one or more photos for visually inspecting a condition of pipe 106 and / or confirm a condition of navigation apparatus 102. In some embodiments, the camera is used to confirm that navigation apparatus 102 is properly clamped on pipe 106 prior to transporting nozzle 158 and fluid supply line 160 to navigation apparatus 102.

[0037] FIG. 3 shows a portion of navigation apparatus 102 as nozzle 158 is fed to navigation apparatus 102. In the example embodiment, navigation apparatus 102 includes a latching assembly 164 for removably coupling and securing nozzle 158 to body 132. Latching assembly 164 may include a mechanical and / or electromechanical latch that automatically secures nozzle 158 to body 132 as nozzle is moved through passageway 104 to first end 140.

[0038] During use, tow line 152 is used to transport nozzle 158 to navigation apparatus 102. As first pulley 148 is positioned within passageway 104, tow line 152 moves nozzle 158 into passageway 104 at second end 142 and to first end 140 of body 132. As nozzle 158 reaches first end 140, latching assembly 164 passively and automatically couples nozzle 158 to body 132 such that nozzle 158 is secured in position on body 132. When latching assembly 164 latches nozzle 158 to body 132, a spray tip 166 of nozzle 158 may protrude outward from (i.e., is positioned distally beyond) first end 140 of body 132.

[0039] Latching assembly 164 includes a first attachment feature 168 coupled to body 132 and a second attachment feature 170 coupled to nozzle 158 and / or line 160. In embodiments in which latching assembly 164 is a mechanical latch, latching assembly 164 includes any one of a biased or “spring loaded” latch, a hook latch, a cam latch, a compression latch, and a draw latch. In the example embodiment, latching assembly 164 is a biased latch, with first attachment feature 168 including a prong (not shown) that is biased radially inwards on body 132 and second attachment feature 170 including a slot (not shown), or other resisting structure, that receives at least a portion of the prong therein. When nozzle 158 is positioned such that first attachment feature 168 is aligned with second attachment feature 170, the prong is biased radially inward into the slot on nozzle 158 and locks nozzle 158 in position on body 132. In other embodiments, the prong may be provided on nozzle and the slot may be defined in body 132.

[0040] In embodiments in which latching assembly 164 includes an electromechanical latch, at least one of body 132 and nozzle and / or line 160 may include a permanent magnet. For example, in one embodiment, body 132 includes one or more permanent magnets (not shown) and nozzle 158 includes a magnetic material (e.g., a steel plate), and optionally a nullifying electromagnet positioned near the magnetic material. In such embodiments, as nozzle 158 is moved into alignment with the permanent magnets on body 132, the permanent magnets magnetically couple nozzle 158 to body 132. In other embodiments, the permanent magnets may be provided on nozzle 158 and the magnetic material may be provided on body 132. In some embodiments, latching assembly 164 includes a sensor (not shown), such as a proximity sensor, that detects when first attachment feature 168 and second attachment 170 feature are coupled. In such embodiments, the sensor may provide a signal to a controller and / or display indicator, positioned outside of pipe 106, to indicate to an operator that nozzle 158 is coupled to body 132. In other embodiments, a camera (e.g., run on tow line 152) is used to confirm whether nozzle 158 is coupled to body 132.

[0041] FIG. 4 shows pipe navigation system 100 with nozzle 158 coupled to navigation apparatus 102. In the example embodiment, after nozzle 158 is coupled to body 132, navigation apparatus 102 is released from the clamped or anchored position and fluid supply system 154 is controlled to deposit a spray of fluid 172 onto interior surface 110 ofpipe 106. As shown in FIG. 4, the spray of fluid 172 forms a coating 174 on pipe 106 that is distally positioned relative to navigation apparatus 102, and specifically wheels 138 of navigation apparatus 102.

[0042] In the example embodiment, pipe navigation system 100 further includes a winch 176 that engages fluid supply line 160 and is used to draw navigation apparatus 102 back inward in pipe 106 along a retraction direction 178, as the fluid treatment is applied to pipe 106. In other embodiments, a separate umbilical line (not shown) may be coupled to fluid supply line 160 and used for retracting navigation apparatus 102. In such embodiments fluid supply line 160 may not be directly engaged with winch 176. In further embodiments, navigation apparatus 102 may be retracted independently by drive device 134, with or without an external drive such as winch 176.

[0043] In some embodiments, one or more additional navigation apparatuses (not shown) may be used for providing tow line 152 and / or hose line 160 to navigation apparatus 102. For example, in some embodiments, an intermediary navigation apparatus, substantially similar to navigational apparatus 102, is used to guide tow line 152 and / or hose line 160 through a geometrically complex or high friction area of pipe 106 (e.g., a comer, a T-junction, or bend). In some such embodiments, the intermediary navigation apparatus 102 includes a third pulley (not shown) and tow line 152 is directed along the third pulley to first pulley 148.

[0044] FIG. 5 show s retraction of navigation apparatus 102 within pipe and treatment coating 174 lining interior surface 110 of pipe 106. In the example embodiment, navigation apparatus 102 is configured to navigate within pipe 106, and in some instances, apply the fluid treatment to pipe 106, while pipe 106 is active (i.e., filled with a fluid such as a liquid or gas). In particular, interior passageway 104 of navigation apparatus 102 allows for fluid within pipe to pass through navigation apparatus 102 while navigation apparatus is positioned within pipe 106.

[0045] FIG. 6 shows a perspective view of navigation apparatus 102 used with pipe navigation system 100 shown in FIGS. 1-5. In the example embodiment, navigation apparatus 102 includes body 132 defined by a first end plate 180 and a second end plate 182 spaced from first end plate 180. Second plate 182 is substantially identical tofirst end plate 180. First end plate 180 and second end plate 182 define first end 140 and second end 142 of navigation apparatus 102, respectively. End plates 180, 182 each define an end opening 184 centrally therein, providing access to an interior passageway 104. In some embodiments, body 132 further includes an interior sidewall (not shown) extending between first end plate 180 and second end plate 182 that at least partially defines interior passageway 104.

[0046] In this embodiment, navigation apparatus 102 includes six arms 136, with first arm 186, second arm 188, and third arms 190 shown in FIG. 6. Arms 136 each extend from a proximal arm end 192 to a distal arm end 194. Proximal arm ends 192 are pivotably coupled to a respective one of first end plate 180 and second end plate 182 by a hinge coupling 196. In the example embodiment, arms 136 are spaced substantially evenly circumferentially about navigation apparatus 102 and are each coupled to an opposed one of end plates 180, 182 from the immediately circumferentially adjacent arms 136. For example, second arm 188 is pivotably coupled to first end plate 180, with the corresponding wheel 138 being positioned adjacent to second end plate 182. First and third arms 186, 190 are each pivotably coupled to second end plate 182 with wheels 138 being positioned adjacent to first end plate 180.

[0047] In the example embodiment, arms 136 are each configured to pivot about hinge couplings 196 between a retracted position, as shown in Figure 6, and an extended position, similar to the position shown in FIGS. 1-5. Each of arms 136 includes a corresponding hinge motor 198 configured to drive the respective arm 136 between the retracted and extended positions. Arms 136 provide a radially outward force on pipe 106 in the extended position to provide traction to wheels 138. In other embodiments, navigation apparatus 102 may include fewer hinge motors (e.g., one) that are connected by a transmission to drive multiple arms 136 of navigation apparatus 102. In some embodiments, hinge motors 198 are each synchronized such that each motor 198 drives the corresponding arm 136 simultaneously with one another between the retracted and extended positions.

[0048] Each arm 136 further includes a pair of drive motors 200 for driving rotation of wheels 138 of the respective arms 136. In other embodiments, arms 136 may include any suitable number of drive motors 200. Each of drive motors 200 and hinge motors 198 are powered by a power source (not shown). In some embodiments, the power source isan onboard batten- coupled directly to navigation apparatus 102. In other embodiments, motors 198, 200 are powered by a power line connected to navigation apparatus 102 and extending out of pipe 106 (shown in FIGS. 1-5).

[0049] In other embodiments, navigation apparatus 102 may not include arms 136 and instead may instead include a plurality of wheels 138 mounted to a chassis (not shown) by one or more axles.

[0050] FIG. 7 is a flow chart of an example method 700 of providing a fluid treatment to a pipe 106 (shown in FIG. 1). In reference to FIGS. 1-6, method 300 includes moving 702 a navigation apparatus 102 through an interior cavity 112 of a pipe 106 to a distal position 162 within the pipe 106, the navigation apparatus 102 including a body 132 defining a passageway 104 extending through the body 132, a drive device 134 coupled to the body 132, and a pulley 148 coupled to the body 132 and positioned at least partially within the passageway 104. Method 700 further includes coupling 704 a fluid nozzle 158 to a tow line 152, the tow line 152 extending from a position exterior of the pipe 106 to the pulley 148.

[0051] Also, method 700 includes driving 706, after said moving 702, the tow7line 152 around the pulley 148 to move the fluid nozzle 158 on the tow line 152 from the position exterior of the pipe 106 to the navigation apparatus 102 and into the passageway 104. Method 700 also includes attaching 708 the fluid nozzle 158 to the body 132. For example, in some embodiments the body 132 includes a first attachment feature 168 and the fluid nozzle 158 includes a second attachment feature 170, and attaching 706 the fluid nozzle 158 to the body 132 includes aligning the first attachment feature 168 with the second attachment feature 170.

[0052] In some embodiments method further includes providing, after said attaching 708, a flow of fluid to the fluid nozzle to deposit a fluid treatment on the interior surface 110 of the pipe 106 and retracting, concurrent with the providing of the flow7of fluid, the navigation apparatus 102 within the pipe 106, where the fluid nozzle 158 extends beyond a trailing end 140 of the navigation apparatus 102 such that the drive device 134 is clear of the fluid treatment while being retracted.

[0053] An example technical effect of the methods, systems, and apparatus described herein includes at least one of: (a) reducing overall size and weight of navigation apparatuses; (b) improving travel distance of navigation apparatus; (c) improving ability of navigation apparatuses to traverse complex geometric pipe features; (d) improving pipe treatment quality by providing a removable fluid supply to a navigation apparatuses for applying the treatment while the drive device remains clear of the treatment coating; and (e) enabling maintenance operations and / or inspection and repair of an interior cavity7of a pipe when fluid is present within the interior cavity.

[0054] Example embodiments of systems and methods for use in pipe maintenance operations are described above in detail. The methods and systems are not limited to the specific embodiments described herein, but rather, components of systems and / or steps of the methods may be utilized independently and separately from other components and / or steps described herein. For example, the method may also be used in combination with other components, and are not limited to practice only with pipes as described herein. Rather, the example embodiment can be implemented and utilized in connection with many other applications.

[0055] Although specific features of various embodiments of the disclosure may be shown in some drawings and not in others, this is for convenience only. In accordance with the principles of the disclosure, any feature of a drawing may be referenced and / or claimed in combination with any feature of any other drawing.

[0056] This written description uses examples to disclose the embodiments, including the best mode, and also to enable any person skilled in the art to practice the embodiments, including making and using any devices or systems and performing any incorporated methods. The patentable scope of the disclosure is defined by the claims, and may include other examples that occur to those skilled in the art. Such other examples are intended to be within the scope of the claims if they have structural elements that do not differ from the literal language of the claims, or if they include equivalent structural elements with insubstantial differences from the literal language of the claims.

Claims

WHAT IS CLAIMED IS:

1. A navigation apparatus for use in navigating a pipe, said navigation apparatus comprising: a body comprising a first end and a second end, said body defining a passageway extending through said first end and said second end of said body; a drive device coupled to said body and configured to engage an interior wall of the pipe to propel said navigation apparatus through the pipe; a passthrough guide coupled to said body and configured to receive a tow line therethrough; and an attachment feature configured to releasably secure a tool to said first end of said body, wherein the passageway is sized to receive the tool on the tow line through said second end of said body and allow pass-through of the tool within the passageway from said second end to said first end for attaching the tool to said first end of said body.

2. The navigation apparatus of Claim 1. wherein said attachment feature comprises a mechanical latch configured to engage an additional attachment feature on the tool when the additional attachment feature of the tool is aligned with said mechanical latch.

3. The navigation apparatus of Claim 1. wherein said passthrough guide includes a pulley positioned adj acent to said first end of said body and at least partially within the passageway.

4. The navigation apparatus of Claim 1. wherein said passthrough guide is positioned such that, when the tool is secured to said first end of said body, the tool extends outward from said body beyond said first end.

5. The navigation apparatus of Claim 1, wherein said attachment feature comprises a permanent magnet coupled to said body, said permanent magnet configured to magnetically couple the tool to said body.

6. The navigation apparatus of Claim 1, wherein said drive device comprises a plurality of arms each pivotably coupled to said body and a corresponding wheel coupled to each arm of said plurality of arms, and wherein each arm of said plurality of arms is pivotable radially outward relative to said body between a retracted position and an extended position for engaging said wheels with an intenor wall of the pipe.

7. The navigation apparatus of Claim 6, wherein said drive device further comprises a hinge motor configured to move at least one arm of said plurality of arms between the extended position and the retracted position.

8. The navigation apparatus of Claim 1, wherein said body comprises a first end plate defining said first end and a second end plate defining said second end. said first end plate and said second end plate each defining an opening therein that provides access to the passageway.

9. The navigation apparatus of Claim 1 , wherein the tool is a fluid nozzle configured to apply a fluid treatment to the interior wall of the pipe.

10. The navigation apparatus of Claim 9, wherein the fluid nozzle includes an additional attachment feature, the attachment feature configured to engage the additional attachment feature of the fluid nozzle to releasably secure the fluid nozzle to said navigation apparatus.

11. A pipe navigation system for use in navigating a pipe comprising: a tow line; a fluid supply device comprising a fluid nozzle, wherein said fluid supply device is configured to be releasably coupled to said tow line; and a navigation apparatus comprising: a body defining a passageway extending through said body; a drive device coupled to said body and configured to engage an interior wall of the pipe to propel said navigation apparatus through the pipe; anda passthrough guide coupled to said body and positioned at least partially within the passageway, said passthrough guide configured to receive said tow line thereon; and a latching assembly comprising a first attachment feature coupled to said body and a second attachment feature on said fluid nozzle, said latching assembly configured to releasably secure said fluid nozzle to said body, wherein the passageway is sized to receive said fluid nozzle on said tow line through the passageway to align said first attachment feature with said second attachment feature.

12. The pipe navigation system of Claim 11, wherein said fluid supply device further comprises a fluid supply configured to be positioned exterior to the pipe and a supply hose coupled to said fluid nozzle for providing a flow of fluid from said fluid supply to said fluid nozzle, said supply hose extending at least partially into the passageway when said fluid nozzle is coupled to said body.

13. The pipe navigation system of Claim 11 further comprising an additional passthrough guide configured to be positioned outside of the pipe, wherein said tow line extends around said passthrough guide and said additional passthrough guide to provide a cable circuit for transporting one or more tools to said navigation apparatus when said navigation apparatus is positioned within the pipe.

14. The pipe navigation system of Claim 11 , wherein said first attachment feature comprises a spring-loaded latch, and said second attachment feature defines a slot in said nozzle, said spring-loaded latch configured to engage the slot to secure said fluid nozzle to said body.

15. The pipe navigation system of Claim 11, wherein said passthrough guide is positioned adjacent to a distal end of said body and at least partially within the passageway such that, when said fluid nozzle is secured to said body, said fluid nozzle extends outward from said body beyond said distal end.

16. The pipe navigation system of Claim 11 , wherein said first attachment feature comprises a permanent magnet coupled to said body and said second attachment feature comprises a magnetic material on said fluid nozzle, said permanent magnetconfigured to magnetically couple said fluid nozzle to said body.

17. The pipe navigation system of Claim 11, wherein said drive device comprises a plurality of arms each pivotably coupled to said body and a corresponding wheel coupled to each arm of said plurality of arms, wherein each arm of said plurality of arms is pivotable radially outward relative to said body between a retracted position and an extended position for engaging said wheels with an interior wall of the pipe, and wherein said drive device further comprises a hinge motor configured to move at least one arm of said plurality of arms between the extended position and the retracted position.

18. A method for providing a fluid treatment to a pipe, said method comprising: moving a navigation apparatus through an interior cavity of the pipe to a distal position within the pipe, the navigation apparatus including a body defining a passageway extending through the body, a drive device coupled to the body and configured to engage an interior wall of the pipe, and a passthrough guide coupled to the body and positioned at least partially within the passageway; coupling a fluid nozzle to a tow line, the tow line extending from a position exterior of the pipe to the passthrough guide; driving, after said moving, the tow line around the passthrough guide to move the fluid nozzle on the tow line from the position exterior of the pipe to the navigation apparatus and into the passageway; and attaching the fluid nozzle to the body.

19. The method of claim 18, wherein the body includes a first attachment feature, and the fluid nozzle includes a second attachment feature, wherein said attaching the fluid nozzle to the body includes aligning the first attachment feature with the second attachment feature.

20. The method of claim 18 further comprising: providing, after said attaching, a flow of fluid to the fluid nozzle to deposit a fluid treatment on the interior wall of the pipe: and retracting, concurrent with said providing, the navigation apparatus within the pipe, wherein the fluid nozzle extends beyond a trailing end of the navigation apparatus such that the drive device is clear of the fluid treatment during said retracting.

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