Pipe-Crawling Robot Sensing for Radial Movement and Obstacle Traversal
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Solution Overview
Problem
Existing pipe-crawling apparatuses struggle to effectively navigate horizontal and vertical pipes and obstacles such as changes in pipe diameter, curvature, and protruding elements, and lack functionality for corrosion detection and imaging without relying on magnets, vacuum, or aerodynamic forces.
Innovation Solution
A robotic apparatus equipped with distance sensors and a processor to detect radial movement on a pipe's exterior, adjusting wheel orientation and clamping force to navigate obstacles and changes in pipe diameter, and perform tasks like corrosion detection and imaging.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a robotic apparatus uses magnets, vacuum, or aerodynamic forces to travel on pipes, then it can maintain stable contact with the pipe surface, but it cannot be used on pipes where these forces are ineffective or unavailable
Solution Approach 1:
The patent replaces magnetic, vacuum, and aerodynamic attachment systems with a mechanical friction-based attachment system. The robotic apparatus uses wheeled or tracked mechanisms that rely on friction between the wheels/tracks and the pipe surface to maintain attachment and propel themselves along the pipe, making them applicable to any pipe regardless of material or surface conditions.
Solution Approach 2:
The patent employs distance sensors to detect changes in pipe diameter and adjusts operational parameters such as wheel orientation and clamping force accordingly. This allows the robotic apparatus to adapt to varying pipe conditions including bends, elbows, and diameter changes while maintaining stable mechanical attachment.
2Adaptability or versatility
If the robotic apparatus navigates around and over obstacles like flanges, valves, and bends, then it can traverse complex piping systems, but it requires complex navigation and adjustment mechanisms
Solution Approach 1:
The patent employs dynamically adjustable wheel assemblies that can change their orientation and positioning in response to detected obstacles. The wheels are mounted on articulated arms or mechanisms that allow them to pivot and adjust their contact points with the pipe surface, enabling the robot to navigate bends, elbows, and protruding obstacles without requiring complex overall reconfiguration.
Solution Approach 2:
The patent uses distance sensors and other detection devices to continuously monitor the pipe surface conditions and obstacle positions. This feedback information is processed by a control system that adjusts the wheel orientation, motor speeds, and overall robot positioning in real-time to successfully navigate around and over obstacles such as flanges, valves, and bends.
3Measurement precision
If distance sensors are used to detect radial movement and pipe diameter changes, then accurate navigation and inspection can be achieved, but the system complexity increases
Solution Approach 1:
The patent employs distance sensors that serve multiple functions: detecting pipe diameter changes, measuring radial movement of the robot, identifying obstacles, and providing feedback for navigation control. This multi-functionality reduces the need for separate specialized sensors for each measurement task, thereby limiting the increase in system complexity while achieving high 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 obstacles, while performing inspections and maintenance tasks without magnets or vacuum, ensuring stable contact and minimizing damage to pipes.
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
Figure 1A~1E
Figure 2
Figure 3A
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.