US 8,464,642 B2 · Self-orienting, two-wheel pipe crawler

Abstract

An apparatus for conveying a payload through a pipe having the ability to automatically self-stabilize and orient itself inside the pipe by controlling two pipe tracking contactors so as to maintain contact between the pipe tracking contactors and the pipe wall and maintain the apparatus in a functional orientation. The apparatus includes tilt sensor arrays for continuously monitoring the position of the apparatus with respect to the pipe wall, variable speed drive motors operably connected with the pipe contactors for rotating the contactors, tilt motors operably connected with the pipe tracking contactors to enable movement of the contactors between a non-functional orientation and a functional orientation, and a controller for controlling the motors based upon information provided by the tilt sensor arrays.

Claims13

Dependent claims

An apparatus for payload transport inside a substantially horizontal pipe, the apparatus comprising:

two pipe tracking contactors relationally pivotably connected with opposite sides of a main body and aligned to provide a functional orientation as said apparatus travels inside said substantially horizontal pipe;
and
said main body comprising relational pivot means for pivotably connecting said pipe tracking contactors with said main body;
and
stabilization means for maintaining said apparatus in said functional orientation as said apparatus travels inside said substantially horizontal pipe.

2 more elements

An apparatus for transporting a payload inside a substantially horizontal pipe, the apparatus comprising:

a first rollable pipe tracking contactor relationally pivotably connected with a second reliable pipe tracking contactor, each of said first rollable pipe tracking contactor and said second rollable pipe tracking contactor positioned on a main body, said main body comprising relational pivot means for pivotably connecting each of said first rollable pipe tracking contactor and said second rollable pipe tracking contactor with said main body whereby pivoting of one of said pipe tracking contactors in one direction around a longitudinal axis of said apparatus results in pivoting of said other pipe tracking contactor in an opposite direction around said longitudinal axis of said apparatus;
control means for maintaining a functional orientation of said apparatus in said pipe;
and
restoration means for mechanically restoring said apparatus to said functional orientation from a non-functional orientation.

1 more element

Dependencies are inferred from the claim text.

Self-orienting, two-wheel pipe crawler

Life of this patent

Self-orienting, two-wheel pipe crawler

Life of this patent

Abstract

Claims13