Pipe-Crawling Robot Control for Obstacles, Bends, and Radial Drift
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Solution Overview
Problem
Existing pipe crawling apparatuses are ineffective in navigating horizontal and vertical pipes, especially around obstacles like 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, allowing it to navigate complex pipe geometries and obstacles by adjusting wheel speeds and orientations, and featuring mecanum wheels for precise positioning and movement along pipes without losing contact.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If existing pipe crawling apparatuses are used, then they can travel inside pipes, but they cannot navigate around obstacles on the outside of pipes
Solution Approach 1:
The robotic apparatus uses dynamically adjustable wheel assemblies that can change orientation and position. The wheels are mounted on articulated arms that allow the apparatus to adapt its configuration when encountering obstacles, enabling it to maintain traction and continue traveling along the pipe exterior despite surface irregularities
Solution Approach 2:
The apparatus is divided into modular components including multiple independent wheel assemblies mounted on articulated arms. This segmentation allows individual wheel assemblies to be independently controlled and positioned, enabling the apparatus to navigate around obstacles by adjusting specific segments rather than requiring whole-apparatus reconfiguration
2Adaptability or versatility
If pipe crawling apparatuses are designed to travel on pipe exteriors, then they can access external surfaces, but they lack effective means to navigate horizontal and vertical pipes without magnets, vacuum or aerodynamic forces
Solution Approach 1:
The apparatus employs clamping mechanisms that apply normal forces perpendicular to the pipe surface to generate friction-based traction. The clamping force acts as a counterbalancing mechanism that enables the apparatus to maintain contact and propel itself along vertical and horizontal pipes without requiring magnets, vacuum, or aerodynamic forces
Solution Approach 2:
The invention replaces complex propulsion systems (magnets, vacuum, aerodynamic forces) with a simpler mechanical friction-based propulsion system. By using clamping mechanisms to generate normal forces and relying on friction between the wheels and pipe surface, the apparatus achieves versatile travel capability with reduced system complexity
3Measurement precision
If distance sensors are positioned on the robotic apparatus, then they can measure distance to pipe surface, but they cannot distinguish between pipe diameter changes and radial movement of the apparatus
Solution Approach 1:
The system uses multiple distance sensors positioned at different locations on the apparatus to continuously monitor distances to the pipe surface. The processor compares these measurements in real-time, and when it detects inconsistent changes that indicate radial movement rather than pipe diameter variation, it generates feedback signals to adjust wheel speeds and orientations, correcting the radial drift and maintaining proper positioning
4Reliability
If the robotic apparatus adjusts wheel speeds to navigate obstacles, then it can maintain contact with the pipe, but it may lose precise positioning control
Solution Approach 1:
The processor continuously monitors distance sensor readings and uses feedback control to adjust wheel speeds. When radial movement is detected, the system calculates the required speed adjustments for each wheel to correct the positioning error while maintaining contact. This feedback mechanism enables the apparatus to simultaneously maintain reliable contact and preserve precise positioning control during obstacle navigation
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 effective traversal of complex piping systems, including horizontal and vertical pipes, and performs tasks like corrosion detection and imaging by maintaining contact and adjusting to pipe diameters and obstacles, enhancing operational efficiency and versatility.
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.