# US 12,007,058 B2 · Robotic in-pipe inspection

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- Number: US 12,007,058 B2
- Document ID: US12007058B2
- Status: Granted
- Kind: B2
- Application number: 17/682,480
- Filed: 2022-02-28
- Published: 2022-09-08
- Granted: 2024-06-11
- Earliest claimed: 2021-03-02
- Applicants: Plitzie LLC
- Inventors: Amul D. Tevar; Saeedeh Ziaeefard; Manish Pandya; Jacob Snedeker
- Web page: https://patentgrep.com/patent/US12007058B2

## CPC

- F16L 55/44: expandable
- B25J 5/007: {mounted on wheels}
- B25J 19/023: {including video camera means}
- F16L 2101/30: Inspecting, measuring or testing
- F16L: PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50})

## Abstract

A robotic in-pipe inspection system having a front that moves independently of the rear. The system comprises a center shaft that has a connector that allows a front portion of the shaft to be at a desired angle from a rear portion of the shaft. A front leg assembly is operatively coupled to the front portion of the shaft, while a rear leg assembly is operatively coupled to the rear portion of the shaft. The front leg assembly comprises front legs that can be positioned at various angles relative to each other, while the rear leg assembly comprises rear legs that can similarly be positioned at various angles relative to each other. The system also includes a shaft controller (for controlling the desired angle of the center shaft), a front controller (for controlling the front leg assembly), and a rear controller (for controlling the rear leg assembly).

## Claims

### Claim 1

A robotic in-pipe inspection system, comprising:
a center shaft comprising:
a shaft front portion;
a shaft rear portion; and
a shaft connector mechanically coupling the shaft front portion to the shaft rear portion at a shaft angle, the shaft angle ranging from ninety degrees (90°) to one-hundred-and-eighty degrees (180°);
a front leg assembly operatively coupled to the shaft front portion, the front leg assembly comprising:
a front leg connector mechanically coupled to the shaft front portion;
a first front leg comprising a proximal end and a distal end, the proximal end of the first front leg being mechanically and pivotally coupled to the front leg connector at a first front angle, the first front leg being at a first front azimuthal position;
a first front contact means for contacting an inner surface of a pipe, the first front contact means being mechanically coupled to the distal end of the first front leg;
a front slider slidably coupled to the shaft front portion; and
a first front lever arm pivotally coupled to the first front leg, the first front lever arm further being pivotally coupled to the front slider;
a second front leg comprising a proximal end and a distal end, the proximal end of the second front leg being mechanically and pivotally coupled to the front leg connector at a second front angle, the second front leg being at a second front azimuthal position;
a second front contact means for contacting the inner surface of the pipe, the second front contact means being mechanically coupled to the distal end of the second front leg;
a second front lever arm pivotally coupled to the first front leg, the first front lever arm further being pivotally coupled to the front slider;
a rear leg assembly operatively coupled to the shaft rear portion, the rear leg assembly comprising:
a rear leg connector mechanically coupled to the shaft rear portion;
a first rear leg comprising a proximal end and a distal end, the proximal end of the first rear leg being mechanically and pivotally coupled to the rear leg connector at a first rear angle, the first rear leg being at a first rear azimuthal position;
a first rear contact means for contacting the inner surface of the pipe, the first rear contact means being mechanically coupled to the distal end of the first rear leg;
a rear slider slidably coupled to the shaft rear portion; and
a first rear lever arm pivotally coupled to the first rear leg, the first rear lever arm further being pivotally coupled to the rear slider;
a second rear leg comprising a proximal end and a distal end, the proximal end of the second rear leg being mechanically and pivotally coupled to the rear leg connector at a second rear angle, the second rear leg being at a second rear azimuthal position;
a second rear contact means for contacting the inner surface of the pipe, the second rear contact means being mechanically coupled to the distal end of the second rear leg;
a second rear lever arm pivotally coupled to the first rear leg, the first rear lever arm further being pivotally coupled to the rear slider;
a shaft controller operatively coupled to the shaft front portion and the shaft rear portion, the shaft controller for controlling the shaft angle;
a front controller operatively coupled to the front leg assembly, the front controller for controlling the first front angle, the front controller further for controlling the second front angle; and
a rear controller operatively coupled to the rear leg assembly, the rear controller for controlling the first rear angle, the rear controller further for controlling the second rear angle;
a targeted field-of-view inspection camera for visually inspecting an area of interest within the pipe; and
a robot-body-facing camera for visually examining the robotic in-pipe inspection system.

### Claim 2

The first front contact means being one selected from a group consisting of:
a foot;
a wheel;
a tread; and
a sensor.

### Claim 3 (depends on 2)

The robotic in-pipe inspection system of claim 2, wherein the first front contact means is detachable.

### Claim 4 (depends on 1)

The robotic in-pipe inspection system of claim 1, wherein at least one of the shaft controller, the front controller, and the rear controller is controlled remotely.

### Claim 5 (depends on 1)

The robotic in-pipe inspection system of claim 1, wherein the inner surface of the pipe comprises a material that is selected from the group consisting of:
iron;
wood;
plastic;
glass;
polymer;
ceramic;
composite; and
a coating material.

### Claim 6 (depends on 1)

The robotic in-pipe inspection system of claim 1, further comprising a data transmitter operatively coupled to the targeted field-of-view inspection camera, the data transmitter for transmitting data that is collected by the targeted field-of-view inspection camera.

### Claim 7 (depends on 1)

The robotic in-pipe inspection system of claim 1, further comprising a data transmitter operatively coupled to the robot-body-facing camera, the data transmitter for transmitting data that is collected by the robot-body-facing camera.

### Claim 8 (depends on 1)

The robotic in-pipe inspection system of claim 1, further comprising a power supply mounted on the robotic in-pipe inspection system.

### Claim 9 (depends on 1)

The robotic in-pipe inspection system of claim 1, wherein the robotic in-pipe inspection system is a parasitically powered system that is powered by flow fields surrounding the system.

### Claim 10

A robotic in-pipe inspection system, comprising:
a center shaft;
a front assembly operatively coupled to the center shaft;
a rear assembly operatively coupled to the center shaft;
a shaft controller operatively coupled to the center shaft, the shaft controller for controlling the center shaft;
a front controller operatively coupled to the front assembly, the front controller for controlling the front assembly independently of the center shaft;
a rear controller operatively coupled to the rear assembly, the rear controller for controlling the rear assembly independently of the center shaft, the rear controller further for controlling the rear assembly independently of the front assembly;
a targeted field-of-view inspection camera for visually inspecting an area of interest within a pipe; and
a robot-body-facing camera for visually examining the robotic in-pipe inspection system.

### Claim 11 (depends on 10)

The robotic in-pipe inspection system of claim 10, wherein the robot-body-facing camera visually captures a part of the robotic in-pipe inspection system.

### Claim 12 (depends on 10)

The robotic in-pipe inspection system of claim 10, wherein the robot-body-facing camera visually captures the robotic in-pipe inspection system in its entirety.

### Claim 13 (depends on 10)

The robotic in-pipe inspection system of claim 10, wherein the robot-body-facing camera is one selected from the group consisting of:
an infrared (IR) camera;
an ultraviolet (UV) camera;
a remotely controllable camera;
a high-resolution camera;
a forward-facing rear camera;
a backward-facing front camera;
a camera with a wide-angle lens;
a camera with a fish-eye lens; and
a camera with a rectilinear lens.

### Claim 14 (depends on 10)

The robotic in-pipe inspection system of claim 10, wherein the targeted field-of-view inspection camera is one selected from the group consisting of:
a forward-facing front camera;
a backward-facing rear camera;
a high-resolution camera;
an infrared (IR) camera;
an ultraviolet (UV) camera; and
a remotely controllable camera.

### Claim 15 (depends on 10)

The robotic in-pipe inspection system of claim 10, wherein the targeted field-of-view inspection camera visually captures an environmental context within the pipe.

### Claim 16 (depends on 10)

The robotic in-pipe inspection system of claim 10, wherein the targeted field-of-view inspection camera visually detects conditions within the pipe.

### Claim 17 (depends on 10)

The robotic in-pipe inspection system of claim 10, wherein the targeted field-of-view inspection camera visually detects obstacles within the pipe.

### Claim 18 (depends on 10)

The robotic in-pipe inspection system of claim 10, wherein the robot-body-facing camera permits remote monitoring of the robotic in-pipe inspection system.

### Claim 19 (depends on 10)

The robotic in-pipe inspection system of claim 10 being configured for remote manual control.

### Claim 20 (depends on 10)

The robotic in-pipe inspection system of claim 10, further comprising a tether for remote manual control.