US 6,917,176 B2 · Gas main robotic inspection system · patentgrep

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Abstract

The present invention provides a long-range, untethered, live, in-pipe inspection system that includes a self-propelled train having a plurality of modules; joint members for interconnecting adjacent modules, data collection components, and wireless communication components for transmitting collected data and receiving control messages. The module-train includes, generally, at least one, and preferably two drive modules, at least one power module and an electronics module. The train may additionally include at least one support module, which may be interposed between the power and electronics modules. In one embodiment of the invention, there are two drive modules, one at each terminal end of the train, two power modules, one adjacent to each drive module, two support modules, one adjacent to each power module, and one central electronics and computing module.

Claims108

Dependent claims

A system for inspection of selective conditions in a pipeline comprising:

a self-propelled train comprising:
a plurality of modules, at least one of said modules having a drive mechanism for effecting locomotion of said train;
at least one joint member for interconnecting adjacent modules in said train, said joint member configured to allow articulation of said modules relative to each other through multiple planes and angles;
data collection components;
and,
communication components for transmitting collected data;
wherein said plurality of modules further comprises:
two terminal modules, one positioned at each end of the train, and a plurality of mid train modules positioned between the terminal modules;
wherein the at least one joint members of the system further comprise:
a double-axis steerable interconnect joint positioned between each terminal module and the mid-train module adjacent thereto, said double-axis interconnect joint being movable about two axes of rotation;
a single-axis steerable interconnect joint positioned between adjacent mid-train modules, said single-axis interconnect joint being movable about a single axis or rotation;
each of said double-axis interconnect joints rotate about both a pitch axis and a roll axis, and each of said single-axis interconnect joints rotate about a pitch axis;
wherein said modules each comprise a motor for driving the movement of said double-axis and single-axis interconnect joints;
wherein each of said double-axis and single-axis interconnect joints include a rotatable gear mounted on each module of the joint for engagement with the rotatable gear on the adjacent module;
wherein each module has a central axis and the motor in each said terminal modules is offset from the central axis of that module and each terminal module comprises:
a first mounting member positioned on an end of said terminal module adjacent one of said mid-train modules;
one of said rotatable gears;
and,
a first gear assembly driven by the motor for imparting rotation to said rotatable gear.

16 more elements

A system for inspection of selective conditions in a pipeline comprising:

a self-propelled train comprising:
a plurality of modules, at least one of said modules having a drive mechanism for effecting locomotion of said train;
at least one joint member for interconnecting adjacent modules in said train, said joint member configured to allow articulation of said modules relative to each other through multiple planes and angles, said at least one joint member comprising a double-axis steerable interconnect joint comprised of a first interconnect unit positioned on one of said modules and rotatably and pivotally connected to a second interconnect unit positioned on an adjacent one of said modules and
wherein said a first interconnect unit comprises:
a first mounting member positioned on an end of a module in facing relationship to an end of an adjacent module;
a first steering motor assembly;
a first gear assembly operatively connected to said first steering motor assembly;
and,
a portion of said first gear assembly positioned for rotation about a first axis of rotation.

6 more elements

A system for inspection of selective conditions in a pipeline comprising:

a self-propelled train comprising:
a plurality of modules comprising at least one support module having a support arm mechanism for supporting said train, and at least one of said plurality of modules having a drive mechanism for effecting locomotion of said train;
at least one joint member for interconnecting adjacent modules in said train, said joint member configured to allow articulation of said modules relative to each other through multiple planes and angles;
data collection components;
and,
communication components for transmitting collected data;
wherein said support arm mechanism comprises:
a plurality of passive arms, each said passive arm having a wheel rotatably attached to a free end thereof;
and,
an idler motor assembly;
an extension shaft operatively connected to and driven by said idler motor assembly;
a linkage assembly operatively connected to said extension shaft and to each of said plurality of passive arms for extending and collapsing said passive arms relative to said support module for supporting and centering said train within the pipeline as the train moves.

9 more elements

A system for inspection of selective conditions in a pipeline comprising:

a self-propelled train comprising:
a plurality of modules comprising an electronics module, said electronics module including a portion of a joint member, said portion comprising at least one single axis interconnect unit for interconnecting said electronics module to an adjacent one of said plurality of modules;
at least one of said plurality of modules having a drive mechanism for effecting locomotion of said train;
at least one joint member for interconnecting adjacent modules in said train, said joint member configured to allow articulation of said modules relative to each other through multiple planes and angles;
data collection components;
and,
communication components for transmitting collected data said one single axis interconnect unit comprises:
a mounting unit configured for pivotally connecting to a pair of clevis mounts of said adjacent module;
and,
a gear assembly mounted for rotation on said mounting unit about an axis of rotation;
said gear assembly having a portion thereof configured for complementary rotational engagement with a gear assembly on said adjacent module.

8 more elements

A system for inspection of selective conditions in a pipeline comprising:

a self-propelled train comprising:
a plurality of modules, at least one of said modules having a drive mechanism for effecting locomotion of said train;
at least one joint member for interconnecting adjacent modules in said train, said joint member configured to allow articulation of said modules relative to each other through multiple planes and angles;
data collection components;
and,
communication components for transmitting collected data;
wherein said plurality of modules comprise:
two drive modules, one positioned at each end of said train;
two power modules, each power module being positioned adjacent to a different one of said drive modules;
and,
two support modules, each support module being positioned adjacent to a different one of said power modules;
and,
an electronics module positioned between said two support modules;
and,
wherein one of said plurality of joint members is positioned between each said drive module and an adjacent said power module, said joint member comprising a drive interconnect unit and a power interconnect unit, said drive interconnect unit comprising:
a pair of opposing clevis mounts spaced from each other;
a steering motor assembly;
a first gear assembly operatively connected to said steering motor assembly;
and,
a portion said first gear assembly positioned for rotation about an axis of rotation between the pair of clevis mounts.

17 more elements

A system for inspection of selective conditions in a pipeline comprising:

a self-propelled train comprising:
data collection components;
communication components for transmitting collected data;
a plurality of modules, comprising
two drive modules, one positioned at each end of said train for effecting locomotion of said train;
two power modules, each power module being positioned adjacent to a different one of said drive modules;
two support modules, each support module being positioned adjacent to a different one of said power modules, and each said support module having a housing having first and second end caps, a support arm mechanism positioned within said housing of said support module for supporting said train, and electronic components for communication of electrical signals to and from said support module to at least one other module within said train;
and,
an electronics module positioned between said two support modules,
at least one joint member for interconnecting adjacent modules in said train, said joint member configured to allow articulation of said modules relative to each other through multiple planes and angles;
wherein said support arm mechanism comprises:
a plurality of passive arms, each said passive arm having a wheel rotatably attached to a free end thereof;
an idler motor assembly in said support module housing;
an extension shaft in said support module housing operatively connected to and driven by said idler motor assembly;
and,
a linkage assembly operatively connected to said extension shaft and to each of said plurality of passive arms for extending said passive arms outwardly from said support module housing and collapsing said passive arms into said support module housing.

13 more elements

Dependencies are inferred from the claim text.

Facts

Application: 10/094,353Filed 7 Mar 2002 · us provisional application
Priority: 7 Mar 2001
Published: US 2002/0190682 A119 Dec 2002
Granted: 12 Jul 2005
Term ends: Not estimatedThe source records don’t support an estimate.

Classification12 codes

G01N 29/225
Details , e.g. general constructional or apparatus details: supports, positioning or alignment in moving situation
G01M 3/005
Investigating fluid-tightness of structures: using pigs or moles
G01N 27/902
Arrangements for scanning: by moving the sensors
G01N 29/265
Arrangements for orientation or scanning by relative movement of the head and the sensor: by moving the sensor relative to a stationary material

Family

Application60/273,845Us provisional application · filed 7 Mar 2001
US 2002/0190682 A1Pre-grant publication · published 19 Dec 2002
US 6,917,176 B2This patent

From the US filing history. Foreign family members aren’t listed.

Timeline

Citations

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