# US 8,464,642 B2 · Self-orienting, two-wheel pipe crawler > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 8,464,642 B2 - Document ID: US8464642B2 - Status: Granted - Kind: B2 - Application number: 13/217,327 - Filed: 2011-08-25 - Published: 2011-12-15 - Granted: 2013-06-18 - Earliest claimed: 2009-09-30 - Assignees: Gas Technology Institute - Applicants: James Louis - Inventors: James Louis - Web page: https://patentgrep.com/patent/US8464642B2 ## CPC - F16L 55/28: Constructional aspects - F16L: PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL ## 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. ## Claims ### Claim 1 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. ### Claim 2 (depends on 1) The apparatus of claim 1, wherein said stabilization means comprises restoration means for restoring said apparatus to said functional orientation from a non-functional orientation. ### Claim 3 (depends on 2) The apparatus of claim 2, wherein said restoration means composes a contactor tilt motor connected with each said pipe tracking contactor and adapted to move said pipe tracking contactor from a retracted position to a deployed position. ### Claim 4 (depends on 3) The apparatus of claim 3, wherein said stabilization means comprises a variable speed drive motor operably connected with one of said pipe tracking contactors to drive said pipe tracking contactor. ### Claim 5 (depends on 1) The apparatus of claim 1, wherein said stabilization means comprises at least one tilt sensor mounted on said apparatus and adapted to sense deviation of said apparatus from said functional orientation. ### Claim 6 (depends on 5) The apparatus of claim 5, wherein said at last one tilt sensor comprises a sensor array having a substantially linear horizontal field of view perpendicular to a pipe axis when said apparatus is in said functional orientation and having a substantially linear vertical field of view perpendicular to said pipe axis when said apparatus is in said functional orientation. ### Claim 7 (depends on 1) The apparatus of claim 1, wherein said stabilization means comprises a variable speed motor operably connected with each said pipe tracking contactor to drive said pipe tracking contactor. ### Claim 8 (depends on 5) The apparatus of claim 5, wherein said stabilization means comprises a controller mounted on said apparatus, said controller controlling a speed of at least one of said pipe tracking contactors based on information provided by said at least one tilt sensor to said controller. ### Claim 9 (depends on 1) The apparatus of claim 1, wherein said pipe tracking contactors are one of wheels and balls. ### Claim 10 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. ### Claim 11 (depends on 10) The apparatus of Claim 10, wherein said control means comprises a variable speed drive motor operably connected with one of said pipe tracking contactors to drive said pipe tracking contactor, at least one tilt sensor arranged to detect deviation of said apparatus from said functional orientation, and a controller operably connected with said apparatus, said variable speed drive motor and said tilt sensor to control said variable speed drive motor based upon information provided by said tilt sensor to said controller. ### Claim 12 (depends on 10) The apparatus of claim 10, wherein said restoration means comprises a tilt motor connected with each said pipe tracking contactor and adapted to move said pipe tracking contactor from a retracted position to a deployed position. ### Claim 13 (depends on 11) The apparatus of claim 11, wherein said at last one tilt sensor comprises a sensor array having a substantially linear horizontal field of view perpendicular to a pipe axis when said apparatus is in said functional orientation and having a substantially linear vertical field of view perpendicular to said pipe axis when said apparatus is in said functional orientation.