Pipe Robot Sensor Fusion for Precise In-Pipe Positioning
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Solution Overview
Problem
Existing systems lack the ability to accurately and efficiently perform operations within enclosed or dangerous spaces, such as cutting pipes, due to reliance on manual observation and lack of correlation between disjointed data sets from visual and infrared cameras.
Innovation Solution
The use of a robotic system equipped with multiple sensors, including cameras, infrared recognizers, LIDAR, and motion sensors, to create a coherent 3D representation of the environment through sensor fusion, enabling precise mapping and automated execution of operations like cutting within these spaces.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If manual observation is used to detect features within the scanned environment, then the system structure remains simple, but the detection accuracy and efficiency deteriorate
Solution Approach 1:
The patent replaces manual observation with automated sensor systems including visual cameras, infrared cameras, and LIDAR. These electronic detection systems automatically capture and process environmental data, eliminating the need for human operators to physically inspect pipelines while significantly improving detection accuracy and efficiency.
Solution Approach 2:
The robotic system performs self-detection and self-navigation through the pipeline environment. The integrated sensors automatically detect features, defects, and temperature variations without external assistance, and the robot autonomously processes this data to map the environment and identify targets for operational tasks.
2Loss of information
If visual cameras and infrared cameras are used separately to detect features and temperature variations, then each sensor type remains simple, but the ability to correlate data and create accurate digital maps deteriorates
Solution Approach 1:
The patent merges multiple sensor types (visual cameras, infrared cameras, LIDAR, motion sensors) into a single integrated robotic system. This combination allows the system to simultaneously capture diverse data types and correlate them spatially and temporally, creating comprehensive digital maps that combine visual, thermal, and spatial information from multiple sources.
Solution Approach 2:
The robotic system serves multiple functions through its multi-sensor configuration: it detects visual features, measures temperature variations, creates 3D spatial maps, and identifies operational targets all within a single platform. This multi-functional approach eliminates the need for separate systems while improving overall data correlation and environmental understanding.
3Productivity
If automated detection systems are implemented to improve efficiency and accuracy, then productivity increases, but the device complexity and cost increase
Solution Approach 1:
The patent replaces manual inspection processes with an automated robotic system that navigates pipelines, collects data, and performs operations without human intervention. This substitution dramatically improves inspection efficiency and productivity while reducing the need for human operators to work in dangerous environments, justifying the increased system complexity through safety and efficiency gains.
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
This approach allows for accurate digital mapping and automated execution of operations within enclosed spaces, reducing errors and increasing efficiency, while also enabling real-time adjustments and adaptability to different materials and conditions.
Implementation Method 1
The robot includes a LIDAR sensor configured to generate a three-dimensional mapping of the enclosed environment
Implementation Method 2
Other systems utilize infrared cameras to detect temperature variations within the scanned environment
Data Source
AI summary
A robot sized and shaped for reception in a pipe includes a chassis configured for movement of the robot on the pipe, a tool supported by the chassis for movement relative to the chassis, a plurality of sensors including an inertial measurement unit (IMU), an encoder and a light detection and ranging sensor (LIDAR) associated with the robot, and a sensor fusion system operable to combine readings from the IMU, the encoder and LIDAR to determine a position of the robot within the pipe.