Robotic Pipe Reinstatement With Sensor-Fused Branch Opening Mapping
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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 pipelines, due to reliance on manual observation and lack of automated detection methods that can correlate disjointed data sets.
Innovation Solution
A robotic system equipped with multiple sensors, including visual and infrared cameras, LIDAR, and IMUs, that uses sensor fusion and artificial intelligence to create accurate digital maps of the environment and control operational actions, such as cutting, within the pipeline.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If manual observation methods are used to detect pipeline features and defects, then the process is simple to implement, but the detection accuracy and efficiency are low and susceptible to errors
Solution Approach 1:
The patent creates a digital twin (virtual copy) of the pipeline by fusing data from multiple sensors including visual cameras, infrared cameras, LIDAR, and IMUs. This digital replica allows for accurate detection and analysis of pipeline features and defects without requiring direct human intervention in hazardous environments, thereby improving detection accuracy while maintaining manageable system complexity through automated processing.
Solution Approach 2:
The patent combines multiple disjointed data sets from different sensor types (visual, infrared, LIDAR, IMU) into a unified digital model of the pipeline. This merging of heterogeneous data sources enables comprehensive detection capabilities that overcome the limitations of individual sensor systems, achieving high detection accuracy through multi-modal data fusion.
2Measurement precision
If multiple sensors are deployed to create accurate digital maps, then the measurement precision improves, but the device complexity increases
Solution Approach 1:
The patent employs a multi-functional sensor system where a single integrated platform performs multiple functions: visual cameras for feature detection, infrared cameras for thermal anomalies, LIDAR for geometric mapping, and IMUs for positioning. This universal platform approach allows one system to accomplish what would otherwise require multiple separate devices, improving mapping accuracy while controlling overall system complexity through functional integration.
Solution Approach 2:
The patent utilizes real-time feedback from IMUs and other sensors to continuously update and refine the digital model during data collection. This feedback mechanism allows the system to adapt to changing conditions, correct positioning errors, and maintain high mapping accuracy dynamically, reducing the need for overly complex pre-planning and calibration systems.
3Productivity
If automated detection systems are implemented to perform operations within pipelines, then operational efficiency improves, but the ease of operation decreases
Solution Approach 1:
The patent implements an automated system that performs detection, mapping, and defect identification operations autonomously within the pipeline without requiring continuous human intervention. The system self-navigates using IMU data, self-corrects positioning errors, and automatically processes sensor data to generate the digital twin, thereby improving operational efficiency while reducing the operational burden on human operators.
Solution Approach 2:
The patent introduces a digital twin as an intermediary between the physical pipeline inspection process and human decision-making. This virtual representation allows operators to analyze pipeline conditions, plan interventions, and make decisions remotely without directly entering hazardous environments, improving both operational efficiency and safety while maintaining ease of operation through intuitive visualization and control interfaces.
Data Source
AI summary
A method and system for reestablishing fluid communication between a main pipe and a branch conduit includes moving a robot down the lined main pipe. Visual images of the liner in the main pipe are transmitted from a camera associated with the robot to a monitor outside of the main pipe for viewing by a human operator. An interior view of the lined main pipe from the transmitted visual images is displayed on the monitor. An image representing the location of the branch conduit opening is superimposed on the monitor so that the image appears on the monitor to be located on the liner as shown in the interior view.