Pipe-Crawling Robot Control for Obstacles, Bends, and Diameter Changes
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Solution Overview
Problem
Existing pipe crawling apparatuses are ineffective in navigating horizontal and vertical pipes, particularly around obstacles such as flanges, valves, and bends, and lack the ability to operate without magnets, vacuum, or aerodynamic forces, while also failing to perform tasks like corrosion detection and imaging independently of the pipe surface.
Innovation Solution
A robotic system equipped with distance sensors and a processor to detect radial movement and diameter changes, allowing it to navigate obstacles and perform tasks like corrosion detection and imaging by adjusting wheel speeds and orientations to maintain contact with the pipe surface.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a pipe crawling apparatus is designed to travel inside pipes, then it can perform inspection tasks, but it cannot navigate around obstacles on the outside of pipes
Solution Approach 1:
The robotic apparatus uses dynamically adjustable wheel assemblies that can change their orientation and position relative to the pipe surface. The wheels are mounted on articulated arms that can pivot and extend, allowing the robot to adapt its configuration when encountering obstacles such as flanges, valves, or bends, enabling reliable navigation around these obstacles while maintaining traversal capability
Solution Approach 2:
The robotic apparatus is divided into modular components including multiple independent wheel assemblies mounted on articulated arms. Each wheel assembly can operate independently and be positioned differently to handle various obstacle types, providing segmented functionality that enhances overall adaptability and navigation reliability
2Adaptability or versatility
If a pipe crawling apparatus uses magnets, vacuum or aerodynamic forces for travel, then it can attach to pipe surfaces, but it cannot operate independently of these external forces
Solution Approach 1:
The robotic apparatus replaces magnetic, vacuum, or aerodynamic attachment systems with a purely mechanical friction-based wheel system. The wheels are driven by motors and rely on friction with the pipe surface for both attachment and propulsion, enabling the robot to operate independently without external forces while maintaining energy efficiency through direct mechanical drive
3Measurement precision
If a pipe crawling apparatus is equipped with sensors for corrosion detection and imaging, then it can perform inspection tasks, but it cannot maintain stable operation when encountering obstacles
Solution Approach 1:
The robotic apparatus incorporates sensors that continuously monitor the robot's position, orientation, and contact forces with the pipe surface. This feedback is used by the control system to dynamically adjust wheel speeds, arm positions, and motor torques to maintain stable operation during traversal and obstacle navigation, ensuring consistent detection accuracy for corrosion and imaging tasks
Solution Approach 2:
The robotic apparatus dynamically changes operational parameters such as wheel speed, wheel orientation, and arm extension length in response to detected obstacles or pipe geometry changes. These parameter adjustments allow the robot to maintain stable contact with the pipe surface and consistent sensor positioning, preserving both operational stability and measurement precision
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 efficient traversal of complex piping systems, including horizontal and vertical pipes, and performs tasks like corrosion detection and imaging without external forces, ensuring stable operation and accurate data collection.
Implementation Method 1
at least one of the first distance sensor and the second distance sensor may be a laser or ultrasonic time-of-flight sensor
Data Source
AI summary
A system for detecting radial movement of a robotic apparatus on a pipe, comprising distance sensors configured to measure a distance between their respective fixed positions and a surface of the pipe, and a processor configured to detect a change and determine whether the change is indicative of radial movement. A system for tracking a position of a robotic apparatus on a pipe, comprising mirrored, freely-rotating mecanum wheels, a sensor(s) configured to measure rotation of the mecanum wheels, and a processor configured to calculate a linear displacement of each mecanum wheel and resulting axial and circumferential positions of the robotic apparatus. A method for navigating a bend or curve of a pipe, comprising generating computer models of the robotic apparatus and the pipe, performing a computer simulation to identify a combination of wheel speeds that keeps the wheels in constant contact with the pipe, and operating the wheels accordingly.