Lined Pipe Branch Reopening With Sensor-Guided Robotic Cutting
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Solution Overview
Problem
Existing methods for inspecting and performing operations within enclosed or dangerous spaces, such as water and sewer pipes, are inefficient and prone to errors due to reliance on human intervention and the inability to accurately correlate disparate data sets.
Innovation Solution
A robotic system equipped with multiple sensors, including cameras, infrared recognizers, LIDAR, and motion sensors, that uses sensor fusion and artificial intelligence to create accurate digital maps of the environment and control operational actions, such as cutting, with high precision.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If automated detection systems are implemented, then productivity and accuracy are improved, but device complexity increases
Solution Approach 1:
The inspection system is divided into separate functional modules: a robotic platform for navigation, sensor arrays for data collection, and processing units for analysis. This segmentation allows each component to be optimized independently while working together to achieve high productivity and accuracy in pipeline inspection.
Solution Approach 2:
The robotic inspection system is designed with multi-functional capabilities, combining navigation, multiple sensing modalities (visual, infrared, LIDAR), and operational functions (cutting, grinding) into a single platform. This universality improves productivity by eliminating the need for multiple separate systems while managing complexity through integrated control.
2Measurement precision
If multiple sensors are used for accurate environmental mapping, then measurement precision is improved, but device complexity increases
Solution Approach 1:
Multiple sensor types (visual cameras, infrared sensors, LIDAR) are merged into a single integrated sensing platform. The sensors work in unison to capture complementary information about the pipeline environment, achieving high measurement precision through data fusion while managing complexity through unified processing architecture.
Solution Approach 2:
A central processing system acts as an intermediary that receives data from multiple sensors, correlates the disparate data sets, and integrates them into a coherent environmental model. This intermediary processing layer enables precise mapping while managing the complexity of handling multiple sensor inputs.
3Manufacturing precision
If real-time monitoring and adjustment of cutting operations is implemented, then manufacturing precision is improved, but device complexity increases
Solution Approach 1:
The cutting system incorporates real-time feedback mechanisms where sensors monitor the cutting process parameters (position, depth, material resistance) and this information is fed back to the control system. The control system continuously adjusts cutting parameters based on this feedback, achieving high precision while managing complexity through closed-loop control architecture.
Solution Approach 2:
The cutting system is designed with dynamic capabilities, allowing real-time adjustment of cutting speed, depth, and tool position based on monitored conditions. This dynamic adaptability enables precise cutting across varying material conditions while the modular control architecture manages the complexity of real-time adjustments.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The system enables accurate and efficient inspection and operation within enclosed spaces by providing a high degree of accuracy and reducing the risk of human error, while also allowing for real-time monitoring and adjustment of cutting operations.
Implementation Method 1
LIDAR, and motion sensors, that uses sensor fusion and artificial intelligence to create accurate digital maps
Implementation Method 2
infrared recognizers, LIDAR, and motion sensors
Data Source
AI summary
A method and system for re-establishing fluid communication between a main pipe and a branch conduit extending from the main pipe following lining of the main pipe with a liner includes moving a robot supporting a cutting tool down the lined main pipe to a location proximate to the branch conduit. The cutting tool is selectively extendable from the robot for cutting the liner. The cutting tool is extended from the robot toward the liner at a location where the branch conduit has an opening into the main pipe on an opposite side of the liner. The liner cuts at the location with the cutting tool. The cutting during said step of cutting the liner is monitored and the operation of the cutting is adjusted based on information acquired by monitoring the cutting tool.