# US 10,309,949 B2 · Method and apparatus for robotic, in-pipe water quality testing > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,309,949 B2 - Document ID: US10309949B2 - Status: Granted - Kind: B2 - Application number: 15/278,924 - Filed: 2016-09-28 - Published: 2018-03-29 - Granted: 2019-06-04 - Earliest claimed: 2016-09-28 - Assignees: RedZone Robotics, Inc. - Applicants: RedZone Robotics, Inc. - Inventors: Justin Starr; John Lettman; Todd Kueny; Foster J. Salotti; Galin Konakchiev - Web page: https://patentgrep.com/patent/US10309949B2 ## CPC - G01N 33/1886: {using probes, e.g. submersible probes, buoys} - F16L 55/34: the pig or mole being moved step by step - G01N 33/1813: {Specific cations in water, e.g. heavy metals} - F16L 2101/30: Inspecting, measuring or testing - G01S 15/88: Sonar systems specially adapted for specific applications (seismic or acoustic prospecting or detecting G01V1/00) - G01S 17/88: Lidar systems specially adapted for specific applications - Y10S 901/01: Mobile robot - Y10S 901/44: inspection - G01N: INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES (measuring or testing apparatus or processes other than immunoassay, involving enzymes or microorganisms C12M, C12Q) - F16L: PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL - G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES - Y10S: TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS ## Abstract One embodiment provides a pipe inspection robot, including: a powered track system providing movement to the pipe inspection robot; a sensor component comprising a water quality probe; and a processor; said processor configured to: operate the water quality probe to collect water quality data related to a fluid contained within a pipe; and communicate the water quality data collected over a network connection. Other aspects are described and claimed. ## Claims ### Claim 1 A pipe inspection robot, comprising: a chassis comprising one or more tracks; a sensor component coupled to the chassis; an extension piece that extends horizontally outward from a side of the sensor component; a water quality probe coupled to the side of the sensor component via the extension piece; an electric motor that imparts movement to the water quality probe to rotate the water quality probe about the extension piece such that an end of the water quality probe is repositioned from a horizontal position to a second position that is closer to a bottom part of the chassis; wherein, in the second position, the end of the water quality probe is able to contact fluid comprising water located in a bottom of the pipe proximate to a bottom of the one or more tracks; and a processor operatively coupled to the water quality probe; said processor configured to: operate the water quality probe to collect water quality data related to the fluid comprising water contained within the pipe; and communicate the water quality data collected over a network connection. ### Claim 2 (depends on 1) The pipe inspection robot of claim 1, wherein the water quality data comprises one or more of pH data, oxidation reduction potential data, and metal ion sensing data. ### Claim 3 (depends on 1) The pipe inspection robot of claim 1, wherein the processor is further configured to time stamp the water quality data. ### Claim 4 (depends on 3) The pipe inspection robot of claim 3, wherein the processor is further configured to output the time stamped water quality data over the network connection. ### Claim 5 (depends on 1) The pipe inspection robot of claim 1, wherein the sensor component comprises another sensor, and wherein the processor is further configured to combine the water quality data with other sensed data obtained by the another sensor. ### Claim 6 (depends on 5) The pipe inspection robot of claim 5, wherein: to combine the water quality data comprises overlaying the water quality data on the other sensed data. ### Claim 7 (depends on 5) The pipe inspection robot of claim 5, wherein the other sensed data is selected from the group consisting of video data, laser scan data, and sonar data. ### Claim 8 (depends on 1) The pipe inspection robot of claim 1, wherein the water quality probe comprises a pH probe. ### Claim 9 A method, comprising: positioning a pipe inspection robot within a pipe, the positioning comprising operating one or more tracks to move about a chassis of the pipe inspection robot; obtaining, from a sensor component of the pipe inspection robot comprising a camera, visual images of the interior of the pipe; collecting, using a water quality probe of the pipe inspection robot, water quality data; the collecting comprising operating an electric motor to rotate the water quality probe about an extension piece that extends horizontally outward from a side of the sensor component to contact a fluid comprising water within the pipe; wherein an end of the water quality probe is repositioned from a horizontal position to a second position that is closer to a bottom part of the chassis; and wherein, in the second position, the end of the water quality probe is able to contact the fluid located in a bottom of the pipe proximate to a bottom of the one or more tracks; and communicating, over a network connection, the water quality data to a remote device. ### Claim 10 (depends on 9) The method of claim 9, wherein the water quality data comprises one or more of pH data, oxidation reduction potential data, and metal ion sensing data. ### Claim 11 (depends on 9) The method of claim 9, further comprising applying a time stamp to the water quality data. ### Claim 12 (depends on 11) The method of claim 11, further comprising outputting the time stamped water quality data over the network connection. ### Claim 13 (depends on 9) The method of claim 9, further comprising combining the water quality data with the visual images. ### Claim 14 (depends on 13) The method of claim 13, wherein combining the water quality data comprises overlaying the water quality data on the visual images.