Pipe Anchoring Arms for Stable Underwater Robot Inspection
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Solution Overview
Problem
Existing in-fluid pipeline inspection and maintenance systems face challenges in deploying and retrieving inspection robots efficiently, managing power and data collection, and providing cost-effective visibility into aging infrastructure assets, leading to costly and reactive maintenance solutions.
Innovation Solution
An anchoring system for autonomous underwater robotic vehicles (AURs) with motorized actuators and extendable arms that stabilize the robots within pipes using non-invasive contact, integrated with a controller for precise positioning and force control, and a docking station for recharging and data transfer.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If motorized actuators with extendable arms are used to stabilize the AUR, then positioning precision and stability are improved, but device complexity increases
Solution Approach 1:
The anchoring arms are designed as motorized actuators that can dynamically extend and retract based on operational needs. The arms transition from a retracted state during navigation to an extended state during inspection operations, allowing the system to achieve high positioning precision only when needed while maintaining simplicity during movement.
Solution Approach 2:
The anchoring system is divided into multiple independent arms that can be controlled separately. Each arm operates independently to provide stable positioning, allowing the complex function of precise stabilization to be broken down into manageable segments that can be controlled individually.
2Stability of the object's composition
If extendable anchoring arms are deployed to stabilize the robot, then inspection stability is improved, but the risk of pipe surface damage increases
Solution Approach 1:
The anchoring arms are covered with soft, compliant materials that allow the rigid mechanical structure to interact gently with the pipe surface. This flexible covering distributes the contact pressure and prevents localized damage while maintaining the structural integrity needed for stable positioning.
Solution Approach 2:
The system dynamically adjusts the contact force parameters of the anchoring arms based on operational conditions. During inspection operations, the arms apply sufficient force for stability, but the force level is controlled to remain below damage thresholds for the pipe surface.
3Reliability
If multiple extendable arms with motorized actuators are added to the AUR, then anchoring capability is improved, but manufacturing complexity increases
Solution Approach 1:
The motorized actuators and anchoring arms are designed as multi-functional components that serve both as propulsion aids during navigation and as anchoring mechanisms during inspection. This universal design allows the same hardware to fulfill multiple roles, reducing the need for separate specialized components.
4Measurement precision
If compression control circuits are used to monitor applied force, then contact balance is improved, but device complexity increases
Solution Approach 1:
Compression control circuits continuously monitor the force applied by each anchoring arm and provide feedback to the control system. This real-time feedback enables automatic adjustment of arm extension to maintain balanced contact forces, ensuring stable positioning without requiring complex manual intervention.
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
Enables secure, stable, and efficient in-pipe inspections with real-time data collection and predictive maintenance, reducing costs and reactive measures by stabilizing AURs during operations and facilitating seamless data management.
Implementation Method 1
The motorized actuator may be electric, hydraulic, or pneumatic, and is capable of producing controlled linear motion for precise positioning.
Implementation Method 2
Each anchoring arm includes a soft or resilient end cap or pad that minimizes friction or surface abrasion. The arms may extend from a frame structure mounted to the top and bottom of the AUR and can be configured as sliding or telescoping members that adjust to varying pipe diameters.
Data Source
AI summary
An anchoring system for an autonomous underwater robotic (AUR) vehicle used in fluid pipe inspection is disclosed. The system includes one or more extending or anchoring arms positioned on upper and lower sides of the AUR and a motorized actuator configured to extend and retract the arms under control of an onboard controller. The arms apply a controlled compressive force against an interior pipe wall to secure the AUR while maintaining a non-invasive contact profile that prevents surface damage. Optional features include soft end pads, telescoping or sliding arm structures, compression feedback control, spring-biased retraction, and pressure-resistant housings for submerged use. The controller may automatically synchronize or independently operate the arms to compensate for varying pipe diameters. The anchoring system stabilizes the AUR during inspection, data transfer, or recharging operations within fluid-filled pipelines.