Systems and methods for maintaining pipes

A system for use in maintaining a pipe having a sidewall defining an interior cavity, said system comprising:

• a motorized apparatus sized to fit within the interior cavity and configured to travel along the pipe through the interior cavity, said motorized apparatus comprising:
• a body assembly sized to fit within the interior cavity and configured to travel along the pipe through the interior cavity, said body assembly comprising a first end and a second end and extending along a longitudinal axis;
• a plurality of leg assemblies coupled circumferentially around said body assembly, wherein each leg assembly of said plurality of leg assemblies comprises:
• a first leg member comprising a first end, a second end, and a telescoping portion extending between said first end and said second end, wherein said second end of said first leg member is coupled to said body assembly and configured to move along said the longitudinal axis of said body assembly;
• a bias member coupled to said telescoping portion and configured to bias said telescoping portion longitudinally along said first leg member;
• a second leg member coupled to said body assembly and said first leg member;
• and
• at least one sensor configured to collect data associated with a force between the sidewall and said plurality of leg assemblies;
• an actuator assembly coupled to each said leg assembly of said plurality of leg assemblies and configured to independently actuate each said leg assembly of said plurality of leg assemblies;
• and
• a controller communicatively coupled to said motorized apparatus and configured to receive information from said at least one sensor relating to said force, wherein said controller is configured to determine the force between the sidewall and said plurality of leg assemblies based on the information from said at least one sensor.

A method for maintaining a pipe having a sidewall defining an interior cavity, said method comprising:

• positioning a motorized apparatus within the interior cavity, the motorized apparatus including a body assembly sized to fit within the interior cavity and configured to travel along the pipe through the interior cavity, and a plurality of leg assemblies coupled circumferentially around the body assembly;
• positioning, using an actuator assembly, each leg assembly of the plurality of leg assemblies relative to the body assembly, wherein each leg assembly of the plurality of leg assemblies includes a telescoping portion and a bias member coupled to the telescoping portion, wherein the bias member is configured to bias the telescoping portion longitudinally along the leg assembly;
• collecting data associated with a force between the sidewall and the plurality of leg assemblies using at least one sensor;
• and
• determining the force between the sidewall and the plurality of leg assemblies based on the data from the sensor.