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1. WO2021062175 - PIPE TRAVERSING APPARATUS, SENSING, AND CONTROLS

Publication Number WO/2021/062175
Publication Date 01.04.2021
International Application No. PCT/US2020/052753
International Filing Date 25.09.2020
IPC
F16L 55/48 2006.01
FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
16ENGINEERING ELEMENTS OR UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
LPIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
55Devices or appurtenances for use in, or in connection with, pipes or pipe systems
26Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
48Indicating the position of the pig or mole in the pipe or conduit
F16L 5/02 2006.01
FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
16ENGINEERING ELEMENTS OR UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
LPIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
5Devices for use where pipes, cables or protective tubing pass through walls or partitions
02Sealing
F16L 55/00 2006.01
FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
16ENGINEERING ELEMENTS OR UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
LPIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
55Devices or appurtenances for use in, or in connection with, pipes or pipe systems
F16L 55/18 2006.01
FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
16ENGINEERING ELEMENTS OR UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
LPIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
55Devices or appurtenances for use in, or in connection with, pipes or pipe systems
18Appliances for use in repairing pipes
F16L 55/26 2006.01
FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
16ENGINEERING ELEMENTS OR UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
LPIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
55Devices or appurtenances for use in, or in connection with, pipes or pipe systems
26Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
CPC
B25J 5/007
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
5Manipulators mounted on wheels or on carriages
007mounted on wheels
B25J 5/02
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
5Manipulators mounted on wheels or on carriages
02travelling along a guideway
B25J 9/162
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
1615characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
162Mobile manipulator, movable base with manipulator arm mounted on it
B25J 9/1664
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
1656characterised by programming, planning systems for manipulators
1664characterised by motion, path, trajectory planning
B25J 9/1694
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
1694characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
F16L 55/18
FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
LPIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
55Devices or appurtenances for use in, or in connection with, pipes or pipe systems
18Appliances for use in repairing pipes
Applicants
  • ARIX TECHNOLOGIES, INC. [US]/[US]
Inventors
  • WEHLIN, Karl, Petter
  • DUERFELDT, Bryan, R.
  • GEORGE, Connor, S.
  • ZARGARZADEH, Hassan
  • LIU, Dianna D.
Agents
  • BASILE, Todd, C.
  • DYKEMAN, David, J.
Priority Data
17/032,77125.09.2020US
62/906,91027.09.2019US
63/042,88623.06.2020US
63/063,76910.08.2020US
Publication Language English (EN)
Filing Language English (EN)
Designated States
Title
(EN) PIPE TRAVERSING APPARATUS, SENSING, AND CONTROLS
(FR) COMMANDES, DÉTECTION ET APPAREIL DE TRAVERSÉE DE TUYAU
Abstract
(EN)
A system for detecting radial movement of a robotic apparatus on a pipe, comprising distance sensors configured to measure a distance between their respective fixed positions and a surface of the pipe, and a processor configured to detect a change and determine whether the change is indicative of radial movement. A system for tracking a position of a robotic apparatus on a pipe, comprising mirrored, freely-rotating mecanum wheels, a sensor(s) configured to measure rotation of the mecanum wheels, and a processor configured to calculate a linear displacement of each mecanum wheel and resulting axial and circumferential positions of the robotic apparatus. A method for navigating a bend or curve of a pipe, comprising generating computer models of the robotic apparatus and the pipe, performing a computer simulation to identify a combination of wheel speeds that keeps the wheels in constant contact with the pipe, and operating the wheels accordingly.
(FR)
L'invention concerne un système pour détecter un mouvement radial d'un appareil robotique sur un tuyau, comprenant des capteurs de distance conçus pour mesurer une distance entre leurs positions fixes respectives et une surface du tuyau et un processeur configuré pour détecter un changement et déterminer si le changement indique un mouvement radial. L'invention concerne également un système de suivi d'une position d'un appareil robotique sur un tuyau, comprenant des roues omnidirectionnelles à rotation libre et à symétrie par miroir, un ou plusieurs capteurs conçus pour mesurer la rotation des roues omnidirectionnelles, et un processeur configuré pour calculer un déplacement linéaire de chaque roue omnidirectionnelle et des positions axiales et circonférentielles résultantes de l'appareil robotique. L'invention concerne également un procédé de navigation dans un coude ou une courbe d'un tuyau, comprenant la génération de modèles informatiques de l'appareil robotique et du tuyau, la réalisation d'une simulation informatique pour identifier une combinaison de vitesses de roue qui maintiennent les roues en contact constant avec le tuyau, et l'actionnement des roues en conséquence.
Also published as
Latest bibliographic data on file with the International Bureau