Automated system for cleaning and inspection of straight hollow cylindrical objects

A system (100) for cleaning and inspecting straight hollow cylindrical objects, the system (100) comprising a robotic cleaning and inspection device (102) connected to a main controller unit (104);

• the robotic cleaning and inspection device (102) comprising:
• a drive assembly (202) comprising at least one motor and a plurality of wheels configured to move the robotic cleaning and inspection device (102) linearly along the length of the straight hollow cylindrical object while rotating the robotic cleaning and inspection device spirally on its longitudinal axis;
• a spray nozzle assembly (310F, 310R) connectable to a source of cleaning fluid, operably connected to the main controller unit (104), the spray nozzle assembly (310F, 310R) having outlet spray nozzles (704);
• a vision system (208) attached to the front end of the cleaning device (102) and operably connected to the main controller unit (106), the vision system (208) configured for capturing images and real time video footage of the inner wall of the straight hollow cylindrical object;
• a scrubbing assembly (204F, 204R), comprising at least one scrubbing brush (302) and a reciprocating mechanism (306) comprising a motor-driven mechanical linkage, wherein the reciprocating mechanism (306) is configured to move the scrubbing brush (302) forward and backward along the axis of the cleaning and inspection device (102);
• and
• a mopping assembly (206) comprising a plurality of radially movable mopping elements located towards the front end of the cleaning and inspection device (102) configured to selectively engage the internal bore surface;
• wherein
• the vision system (208) configured to capture image data corresponding to full circumferential (360°) view images and real time video footage of the inner wall of the straight hollow cylindrical object, and the vision system (208) comprises:
• at least one image sensing device (810, 906) pointing towards the inner wall of the straight hollow cylindrical object when in use, a linear distance sensor (814, 908) for measuring a distance between the vision system (208) and an end of the straight hollow cylindrical object when in use, an angular sensor for measuring an angular orientation of the vision system (208) about a longitudinal axis of the straight hollow cylindrical object when in use, relative to a reference orientation within the straight hollow cylindrical object;
• and
• an image processing module (912), the image processing module (912) comprising at least one processor configured to receive data from the at least one image sensing device (810, 906), the linear distance sensor (814, 908), and the angular sensor, and configured to process the received data into a single image depicting a 360° view of the inner wall of the straight hollow cylindrical object.