Systems and methods for maintaining pipes

A motorized apparatus for use in maintaining a pipe having a sidewall defining an 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 the longitudinal axis of said body assembly;
• a second leg member coupled to said body assembly and said first leg member;
• and
• a drive mechanism coupled to at least one of said first leg member and said second leg member and configured to interact with the sidewall as said body assembly travels along the pipe;
• and
• 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 to adjust a position of each said leg assembly of said plurality of leg assemblies;
• and
• at least one sensor configured to collect information associated with a position of said second end of each said leg assembly of said plurality of leg assemblies and provide the information to a controller for determining at least one of a pipe diameter and a pitch of said body assembly.

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 said body assembly;
• positioning, using an actuator assembly coupled to each said leg assembly of said plurality of leg assemblies, 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, wherein said actuator assembly is configured to independently actuate each said leg assembly of said plurality of leg assemblies;
• collecting information associated with a position of said leg assemblies from at least one sensor coupled to the body assembly;
• and
• mapping an orientation of the motorized apparatus based on the information from the at least one sensor.