Autonomous Pipe Inspection Robot with Image Stitching
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Solution Overview
Problem
Current pipe inspection methods are inefficient and costly, requiring extensive operator interaction and specialized equipment, and are limited in their ability to simultaneously inspect multiple sections of pipe networks, leading to variability in defect classification and high costs due to the need for trenching and labor-intensive video analysis.
Innovation Solution
Autonomous robotic devices that navigate through pipes to capture image data, allowing for untethered operation and simultaneous inspection of multiple sections, with onboard sensors and imaging capabilities that enable automatic data collection and processing, segregating data collection from operator review, and utilizing computer software to stitch together images for a comprehensive pipe map.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If traditional remote controlled video capture systems are used with dedicated trucks, then pipe inspection can be performed, but the system cost exceeds $100,000 and requires highly specialized equipment
Solution Approach 1:
The patent replaces expensive, specialized dedicated inspection trucks with inexpensive, general-purpose robotic devices that can be easily deployed and retrieved. These robots use off-the-shelf components rather than custom-built specialized equipment, dramatically reducing system cost while maintaining inspection functionality.
Solution Approach 2:
The robotic inspection device is designed to be versatile and adaptable to different pipe configurations and inspection requirements. Rather than requiring specialized equipment for each inspection task, a single multi-functional robot can perform various inspection operations across different pipe networks.
2Measurement precision
If a single operator controls one robot at a time, then detailed manual classification can be performed, but the imaging throughput is limited and multiple pipe sections cannot be inspected simultaneously
Solution Approach 1:
The patent divides the inspection task into two separate functions: (1) autonomous data collection by multiple robots operating simultaneously in different pipe sections, and (2) centralized processing and classification by software. This segmentation allows parallel operation of multiple robots while maintaining quality control through automated analysis.
Solution Approach 2:
The system uses automated computer-based processing to perform defect classification and analysis without requiring continuous human intervention. The software autonomously processes images from multiple robots, enabling simultaneous inspection of multiple pipe sections while maintaining consistent classification standards.
3Loss of information
If operators continuously view and classify features during inspection, then real-time feedback is available, but the process is labor-intensive and results vary based on operator skill and experience
Solution Approach 1:
The system implements automated feedback loops where computer processing algorithms analyze captured images and provide consistent defect identification and classification. This automated feedback eliminates variability associated with human operators while maintaining comprehensive defect detection through systematic image analysis.
Solution Approach 2:
The system creates digital copies of pipe interior images and processes these copies computationally rather than requiring operators to directly view and classify every feature in real-time. This allows thorough analysis without the limitations of human fatigue and variability, while maintaining complete defect detection through automated image processing.
4Object-affected harmful factors
If trenchless methods are used with manual inspection, then road and land disruption is minimized, but the process remains costly and time-consuming due to labor-intensive video analysis
Solution Approach 1:
The autonomous robots continuously capture images as they navigate through pipe sections without requiring stopping or manual intervention. Multiple robots can operate simultaneously in parallel, continuously inspecting multiple pipe sections at the same time, dramatically reducing total inspection time while maintaining minimal surface disruption.
Data Source
AI summary
An autonomous inspector mobile platform robot that is used to inspect a pipe or network of pipes. The robot includes a locomotion device that enables the device to autonomously progress through the pipe and accurately track its pose and odometry during movement. At the same time, image data is autonomously captured to detail the interior portions of the pipe. Images are taken at periodic intervals using a wide angle lens, and additional video images may be captured at locations of interest. Either onboard or offboard the device, each captured image is unwarped (if necessary) and combined with images of adjacent pipe sections to create a complete image of the interior features of the inspected pipe. Optional features include additional sensors and measurement devices, various communications systems to communicate with an end node or the surface, and/or image compression software.