WO2003034158A3 - Autonomous robotic crawler for in-pipe inspection - Google Patents

Autonomous robotic crawler for in-pipe inspection Download PDF

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Publication number
WO2003034158A3
WO2003034158A3 PCT/US2002/033169 US0233169W WO03034158A3 WO 2003034158 A3 WO2003034158 A3 WO 2003034158A3 US 0233169 W US0233169 W US 0233169W WO 03034158 A3 WO03034158 A3 WO 03034158A3
Authority
WO
WIPO (PCT)
Prior art keywords
module
drive
power
robot
driver
Prior art date
Application number
PCT/US2002/033169
Other languages
French (fr)
Other versions
WO2003034158A2 (en
Inventor
Fathi Hassan Ghorbel
James Bruster Dabney
Original Assignee
Univ Rice William M
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Univ Rice William M filed Critical Univ Rice William M
Priority to EP02801767A priority Critical patent/EP1442278A4/en
Priority to AU2002356817A priority patent/AU2002356817A1/en
Priority to CA002462816A priority patent/CA2462816A1/en
Priority to JP2003536827A priority patent/JP2005514213A/en
Publication of WO2003034158A2 publication Critical patent/WO2003034158A2/en
Publication of WO2003034158A3 publication Critical patent/WO2003034158A3/en

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
    • F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
    • F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
    • F16L55/28—Constructional aspects
    • F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
    • F16L55/38—Constructional aspects of the propulsion means, e.g. towed by cables driven by fluid pressure

Abstract

A robot (10) for inspection adapted to travel virtually unlimited distances through small-diameter enclosed spaces such as pipes, conduits or ducts, preferably using a fluid-driven turbine power generation and storage system (80) supplying power to wheel drive modules. The robot preferably includes a drive module (20) having a plurality of wheels (30) inclined at an angle greater than zero degrees and less than ninety degrees to the longitudinal axis of the pipe, a driver module (50) having a plurality of wheels (30) aligned parallel to the longitudinal axis of the pipe, and a power module (80). The driver module is preferably connected to the drive module such that the drive and driver modules are capable of providing the locomotive motion of the robot. The power module preferably provides the power to the drive and driver modules.
PCT/US2002/033169 2001-10-17 2002-10-17 Autonomous robotic crawler for in-pipe inspection WO2003034158A2 (en)

Priority Applications (4)

Application Number Priority Date Filing Date Title
EP02801767A EP1442278A4 (en) 2001-10-17 2002-10-17 Autonomous robotic crawler for in-pipe inspection
AU2002356817A AU2002356817A1 (en) 2001-10-17 2002-10-17 Autonomous robotic crawler for in-pipe inspection
CA002462816A CA2462816A1 (en) 2001-10-17 2002-10-17 Autonomous robotic crawler for in-pipe inspection
JP2003536827A JP2005514213A (en) 2001-10-17 2002-10-17 Autonomous robot crawler for in-pipe inspection

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US32986201P 2001-10-17 2001-10-17
US60/329,862 2001-10-17

Publications (2)

Publication Number Publication Date
WO2003034158A2 WO2003034158A2 (en) 2003-04-24
WO2003034158A3 true WO2003034158A3 (en) 2003-07-31

Family

ID=23287328

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2002/033169 WO2003034158A2 (en) 2001-10-17 2002-10-17 Autonomous robotic crawler for in-pipe inspection

Country Status (6)

Country Link
US (1) US7210364B2 (en)
EP (1) EP1442278A4 (en)
JP (1) JP2005514213A (en)
AU (1) AU2002356817A1 (en)
CA (1) CA2462816A1 (en)
WO (1) WO2003034158A2 (en)

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CN102392926A (en) * 2011-10-18 2012-03-28 南京航空航天大学 Pipe robot

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EP1442278A2 (en) 2004-08-04
US20030089267A1 (en) 2003-05-15
US7210364B2 (en) 2007-05-01
CA2462816A1 (en) 2003-04-24
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JP2005514213A (en) 2005-05-19
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