CA2369714C - Robotic apparatus and method for treatment of conduits - Google Patents
Robotic apparatus and method for treatment of conduits Download PDFInfo
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- CA2369714C CA2369714C CA 2369714 CA2369714A CA2369714C CA 2369714 C CA2369714 C CA 2369714C CA 2369714 CA2369714 CA 2369714 CA 2369714 A CA2369714 A CA 2369714A CA 2369714 C CA2369714 C CA 2369714C
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Abstract
A robotic apparatus and method for treatment of system of conduits and lateral sub-conduits comprising a remotely controlled robotic vehicle which navigates main conduits which delivers a series of tools to locations within the conduit. The mule's tools comprise a variety of devices including a tape head and a transport housing for a second remotely controlled robotic vehicle, or mouse which can be deployed for traversing and treating sub-conduits. Further, a method to install one or more small diameter flexible elongate members, such as conductors or sheathes to the inside of the system of conduits comprises advancing an elongate member through the conduit system with the mule or mouse, anchoring the elongate member and then taping the elongate member with the taping head while retreating out of the conduit. Preferably the tape is pre-shaped to minimize wrinkling upon application and more preferably, greater security and tape bonding strength is achieved by spraying over the tape and elongate member.
Description
1 "ROBOTIC APPARATUS AND METHOD
2 FOR TREATMENT OF CONDUITS"
The present invention relates to a robotic system for inspecting, 6 rehabilitating, expanding and upgrading conduits of various sizes including in-situ 7 polyurethane/urea application and epoxy spray-liner application for pipeline 8 rehabilitation. In another aspect the invention relates to a process and apparatus 9 for accessing lateral sub-conduits. In yet another aspect the invention relates to a process for attaching a cable or sheath to the inside wall of a conduit.
13 The deteriorating underground infrastructure of water, sewer, gas and 14 other pipelines is creating an ever increasing demand for quick and efficient treatment methods and devices. There are generally two approaches to treat this 16 infrastructure; open trench and trenchless repair. Since many of the existing 17 underground infrastructure is located in congested or urban areas, conventional 18 open trench methods cause significant disruption of service.
19 There are a variety of known trenchiess technologies. Slip lining involves inserting a new pipe (typically HDPE) into an existing pipe. The annular 21 space is grouted. The annular space between the host pipe and the liner can be 22 used to carry sewage from laterals until they have been reinstated to the slip liner.
23 Segments are commonly heat fused which provides for a joint-less pipe.
Although 24 this method is technically trenchless, excavations are needed at the insertion pit 1 and at each lateral location. A further disadvantage of this method is that with the 2 insertion of a liner, there can be significant loss of hydraulic capacity.
3 Cured-in-place pipe consists of a flexible fabric tube impregnated with 4 a thermosetting resin. The tube is inserted into an existing pipe and injected steam or hot water cures the resin and shapes the tube into the form of the existing pipe.
6 No excavation is needed as the tube can be inserted through an existing manhole 7 and laterals are reinstated robotically. However, the cost of this method is 8 expensive (equal or greater than pipe replacement, and greater than slip lining).
9 Fold-and-form pipe consists of a preformed polyethylene or polyvinyl chloride pipe formed into a U-shape, that after insertion is expanded by steam or 11 hot water, to fit snuggly against the host pipe. This method is typically used for 12 pipes with a diameter greater than 48". There is no excavation necessary as the 13 liner can be inserted through an existing manhole, and laterals are reinstated 14 robotically. This method is less costly than the cured-in-place pipe method.
Deform / reform pipe involves the construction of a profiled wall pipe 16 fabricated at the bottom of a manhole, access shaft or man-entry. A PVC
strip is 17 pulled through a winding machine which incorporates a series of rollers that form a 18 circular pipe. The pipe is literally wound into the host pipe.
19 Epoxy spray coating may be used to extend the life of an existing pipe by increasing its strength and protecting it from corrosion or abrasion.
Coatings are 21 difficult to apply if infiltration is present, and most coatings cannot be successfully 22 applied to active water leaks or areas where ponding occurs.
1 Pipe bursting involves working pits and excavations adjacent to 2 manholes. A pipe is fused on site to make a seamless section. The pipe is then 3 fastened to a bursting tool that breaks the existing pipe and compacts the soil. The 4 new pipeline can be of the same or larger diameter. New watertight fittings are installed at every lateral connection. However, lateral connections have to be 6 excavated so there is more surface disruption than with the cured-in-place or fold-7 and-form methods.
8 Trenchiess technologies, where underground conduits are installed, 9 repaired and modified using robotic methods address the need of efficient rehabilitation without disruption of services caused by excavations. As such, there 11 exist a number of robotic vehicles to conduct trenchiess repairs. For example, U.S.
12 Patents 5,878,783 and 6,107,795 to Smart discloses a pipeline vehicle for carrying 13 out operations in a gas pipeline such as drilling and welding of a service pipe which 14 branches off from a main pipe. Another robotic device, for use in sewer pipes and capable of grinding off uneven portions or mending cracks, is disclosed in U.S.
16 Patent 6,101,951 to Sigel. A third example of a robotic pipeline vehicle is the one 17 disclosed in U.S. Patent 4,986,314 to Himmler which is capable of carrying a milling 18 tool and other rotating tools such as wire brushes and polishing or metal cutting 19 wheels.
One disadvantage of the robotic devices identified above is that they 21 are incapable of controlled, small radius turns to move into lateral subconduits 22 which usually intersect a main pipeline or conduit at a sharp angle. The modular 23 train vehicle described by Smart, although able to negotiate bends in the pipe, is ~...>~
1 unable to actually enter into the lateral branch lines, or pipe take-offs.
The robotic 2 vehicles disclosed by Siegel and Himmier face a similar limitation, i.e.
they are 3 restricted to navigating the main conduits only.
4 Other robotic vehicles are capable of small radius turns into intersecting conduits. For example, U.S. patent 5,497,707 to Box discloses robotic 6 vehicle for travel through a conduit or pipe which is able to execute turns and 7 navigate extreme bends. However, this vehicle is slow due to its inchworm-like 8 movement resulting from the repeated inflation and deflation of the bladders and the 9 repeated extension and contractions of the bellow members. Furthermore, to travel through conduits of varying sizes Box's vehicle has to be disassembled and then 11 reassembled into a different sized vehicle; effectively preventing it from navigating 12 into intersecting conduits of smaller diameter.
13 In addition to the robotic devices, other apparatus and methods have 14 also been developed to assist in the treatment of conduits. For example, U.S.
patent 6,301,414 to Liese et al. discloses a communications cable network for use 16 in a duct or tube system wherein the communications cables are mounted on the 17 walls of the duct or pipe system inside a rigid sheath and attached by numerous 18 fastening elements. By installing communications cables inside underground 19 conduits, such as sewers, the cables can be installed in a simple efficient manner all the way to individual buildings without costly earthwork.
21 However, using individual fasteners to attach a cable or sheath to the 22 inside of a conduit is associated with a number of disadvantages. Generally the 23 fasteners are hooks or loops which are screwed into the conduit wall. The fastening 1 itself, or corrosion at the interface, can eventually- damage the pipe, hooks or loops 2 and are slow to install.
3 In published German Patent application DE 19701787A1 to Hecht, 4 one method of installing fibre-optic cable is disclosed which includes directing a robotic vehicle to periodically place semi-circular cable supporting clips which 6 expand to engage the inside of a conduit. Another alternate method is to introduce 7 a hose along the conduit and inflate it to sandwich a cable therebetween, the hose 8 being induced to harden once deployed - this is believed to be similar to the cured-9 in-place process described above. No apparatus is specifically disclosed which is capable of placing the clips or for introducing a hose and cable to a conduit.
11 Further, there is no suggested solution for adapting to laterally intersecting and 12 extending conduits. The prior art may still be associated with disadvantages in both 13 speed and economy.
14 Ideally, a device designed to navigate underground pipelines and conduits would also be able to extend into smaller diameter intersecting branch 16 lines or conduits, adjust to different diameter size pipes and still navigate quickly for 17 production of high throughput and economy.
13 The deteriorating underground infrastructure of water, sewer, gas and 14 other pipelines is creating an ever increasing demand for quick and efficient treatment methods and devices. There are generally two approaches to treat this 16 infrastructure; open trench and trenchless repair. Since many of the existing 17 underground infrastructure is located in congested or urban areas, conventional 18 open trench methods cause significant disruption of service.
19 There are a variety of known trenchiess technologies. Slip lining involves inserting a new pipe (typically HDPE) into an existing pipe. The annular 21 space is grouted. The annular space between the host pipe and the liner can be 22 used to carry sewage from laterals until they have been reinstated to the slip liner.
23 Segments are commonly heat fused which provides for a joint-less pipe.
Although 24 this method is technically trenchless, excavations are needed at the insertion pit 1 and at each lateral location. A further disadvantage of this method is that with the 2 insertion of a liner, there can be significant loss of hydraulic capacity.
3 Cured-in-place pipe consists of a flexible fabric tube impregnated with 4 a thermosetting resin. The tube is inserted into an existing pipe and injected steam or hot water cures the resin and shapes the tube into the form of the existing pipe.
6 No excavation is needed as the tube can be inserted through an existing manhole 7 and laterals are reinstated robotically. However, the cost of this method is 8 expensive (equal or greater than pipe replacement, and greater than slip lining).
9 Fold-and-form pipe consists of a preformed polyethylene or polyvinyl chloride pipe formed into a U-shape, that after insertion is expanded by steam or 11 hot water, to fit snuggly against the host pipe. This method is typically used for 12 pipes with a diameter greater than 48". There is no excavation necessary as the 13 liner can be inserted through an existing manhole, and laterals are reinstated 14 robotically. This method is less costly than the cured-in-place pipe method.
Deform / reform pipe involves the construction of a profiled wall pipe 16 fabricated at the bottom of a manhole, access shaft or man-entry. A PVC
strip is 17 pulled through a winding machine which incorporates a series of rollers that form a 18 circular pipe. The pipe is literally wound into the host pipe.
19 Epoxy spray coating may be used to extend the life of an existing pipe by increasing its strength and protecting it from corrosion or abrasion.
Coatings are 21 difficult to apply if infiltration is present, and most coatings cannot be successfully 22 applied to active water leaks or areas where ponding occurs.
1 Pipe bursting involves working pits and excavations adjacent to 2 manholes. A pipe is fused on site to make a seamless section. The pipe is then 3 fastened to a bursting tool that breaks the existing pipe and compacts the soil. The 4 new pipeline can be of the same or larger diameter. New watertight fittings are installed at every lateral connection. However, lateral connections have to be 6 excavated so there is more surface disruption than with the cured-in-place or fold-7 and-form methods.
8 Trenchiess technologies, where underground conduits are installed, 9 repaired and modified using robotic methods address the need of efficient rehabilitation without disruption of services caused by excavations. As such, there 11 exist a number of robotic vehicles to conduct trenchiess repairs. For example, U.S.
12 Patents 5,878,783 and 6,107,795 to Smart discloses a pipeline vehicle for carrying 13 out operations in a gas pipeline such as drilling and welding of a service pipe which 14 branches off from a main pipe. Another robotic device, for use in sewer pipes and capable of grinding off uneven portions or mending cracks, is disclosed in U.S.
16 Patent 6,101,951 to Sigel. A third example of a robotic pipeline vehicle is the one 17 disclosed in U.S. Patent 4,986,314 to Himmler which is capable of carrying a milling 18 tool and other rotating tools such as wire brushes and polishing or metal cutting 19 wheels.
One disadvantage of the robotic devices identified above is that they 21 are incapable of controlled, small radius turns to move into lateral subconduits 22 which usually intersect a main pipeline or conduit at a sharp angle. The modular 23 train vehicle described by Smart, although able to negotiate bends in the pipe, is ~...>~
1 unable to actually enter into the lateral branch lines, or pipe take-offs.
The robotic 2 vehicles disclosed by Siegel and Himmier face a similar limitation, i.e.
they are 3 restricted to navigating the main conduits only.
4 Other robotic vehicles are capable of small radius turns into intersecting conduits. For example, U.S. patent 5,497,707 to Box discloses robotic 6 vehicle for travel through a conduit or pipe which is able to execute turns and 7 navigate extreme bends. However, this vehicle is slow due to its inchworm-like 8 movement resulting from the repeated inflation and deflation of the bladders and the 9 repeated extension and contractions of the bellow members. Furthermore, to travel through conduits of varying sizes Box's vehicle has to be disassembled and then 11 reassembled into a different sized vehicle; effectively preventing it from navigating 12 into intersecting conduits of smaller diameter.
13 In addition to the robotic devices, other apparatus and methods have 14 also been developed to assist in the treatment of conduits. For example, U.S.
patent 6,301,414 to Liese et al. discloses a communications cable network for use 16 in a duct or tube system wherein the communications cables are mounted on the 17 walls of the duct or pipe system inside a rigid sheath and attached by numerous 18 fastening elements. By installing communications cables inside underground 19 conduits, such as sewers, the cables can be installed in a simple efficient manner all the way to individual buildings without costly earthwork.
21 However, using individual fasteners to attach a cable or sheath to the 22 inside of a conduit is associated with a number of disadvantages. Generally the 23 fasteners are hooks or loops which are screwed into the conduit wall. The fastening 1 itself, or corrosion at the interface, can eventually- damage the pipe, hooks or loops 2 and are slow to install.
3 In published German Patent application DE 19701787A1 to Hecht, 4 one method of installing fibre-optic cable is disclosed which includes directing a robotic vehicle to periodically place semi-circular cable supporting clips which 6 expand to engage the inside of a conduit. Another alternate method is to introduce 7 a hose along the conduit and inflate it to sandwich a cable therebetween, the hose 8 being induced to harden once deployed - this is believed to be similar to the cured-9 in-place process described above. No apparatus is specifically disclosed which is capable of placing the clips or for introducing a hose and cable to a conduit.
11 Further, there is no suggested solution for adapting to laterally intersecting and 12 extending conduits. The prior art may still be associated with disadvantages in both 13 speed and economy.
14 Ideally, a device designed to navigate underground pipelines and conduits would also be able to extend into smaller diameter intersecting branch 16 lines or conduits, adjust to different diameter size pipes and still navigate quickly for 17 production of high throughput and economy.
2 In its preferred form, the present invention enables treatment of 3 conduits and intersecting sub-conduits alike. Beyond spray coating rehabilitation 4 and such other treatments, the apparatus and methods of the present invention enable installation of a network of cabling or cable sheathing.
6 In one apparatus aspect, apparatus' is provided for treating a system 7 of conduits having at least one main conduit and having one or more intersecting 8 sub-conduits comprising: a robotic mouse suitable for traversing the one or more 9 sub-conduits; a device carried by the mouse for treating the one or more conduits; a robotic mule suitable for traversing the main conduit and for transporting said 11 mouse.
12 In another aspect, apparatus is provided for installing a flexible 13 elongate member to an inside wall of a conduit, comprising: a robotic vehicle for 14 traversing the conduit for advancing an end of the flexible member through the conduit; and a tape head mounted to the robotic vehicle for taping the flexible 16 member to the inside wall while withdrawing the robotic vehicle.
17 The described apparatus enables implementation of novel methods 18 for the treatment system of conduits having at least one main conduit and having 19 one or more intersecting sub-conduits comprising: providing a robotic mouse vehicle suitable for traversing the one or more sub-conduits and conducting 21 treatment; providing a robotic mule vehicle suitable for traversing the main conduit;
22 transporting the mouse to a sub-conduit using the mule; deploying the mouse into 23 the sub-conduit; treating the conduits and sub-conduits using the mouse and mule.
1 In another aspect a method is provided for installing a flexible member 2 to an inside wall of a conduit, comprising the steps of: providing a robotic vehicle for 3 traversing the conduit; advancing an end of the flexible member through the conduit 4 using the robotic vehicle being fitted with a tape head; anchoring the advanced end of the flexible member; and taping the flexible member to the inside wall using the 6 tape head while withdrawing the robotic vehicle.
9 Figures 1 a and lb are schematic side views of a system of conduits (Fig. 1 a) and lateral intersecting sub-conduits (Fig. 1 b) being spray coating treated 11 using one embodiment of the invention;
12 Figure 2 is a perspective view of the mouse engaged in treating a 13 lateral sub-conduit while the mule waits in the main conduit;
14 Figure 3 illustrates a cross sectional view of a control vehicle suitable for deploying the mule and mouse in the system of conduits and sub-conduits;
16 Figure 4 is a perspective detailed view of a tri-track mule according to 17 one embodiment of the invention;
18 Figure 5 is a perspective view of the mule according to Fig. 4 with a 19 tape head and articulating arm;
Figure 6 is a perspective detailed view of the head assembly of the 21 mule of Fig. 4 adaptable for devices such as a tape head and articulating arm 22 according to Fig. 5;
. ~~ ~, 1 Figure 7 is a partial perspective, cutaway view of the portion of an 2 umbilical according to one embodiment of the invention;
3 Figure 8 is a perspective view of another embodiment of a tri-track 4 mule with an articulating housing having a mouse supported therein for transport and further having a tape head attached to the mule;
6 Figure 9 illustrates three stages of., pre-shaping normally flat profile 7 tape for application to the conduit; dispensing from the roll, pre-froming the tape, 8 and guiding the pre-formed tape to the conduit;
9 Figure 10 illustrates the operation of a guide roller pressing tape and an elongate member into position against the conduit;
11 Figure 11 illustrates the an optional application of a coating over an 12 elongate member, tape having porous lateral edges and of a least a portion of 13 inside wall of a conduit;
14 Figure 12 is a perspective view of a tri-track mule according to a third embodiment of the invention;
16 Figure 13 is a perspective view of a tri-track mule according to Fig. 12 17 wherein the mouse transport housing is extended prior pivoting to align with a sub-18 conduit;
19 Figure 14 is a perspective view of a tri-track mule according to a forth embodiment of the invention deployed inside a main conduit;
21 Figures 15a and 15b are top and side views respectively of an 22 articulated arm according to one embodiment of the invention;
1 Figure 16 is a perspective front view of the articulated arm of the 2 embodiment shown in Figs. 15a,15b, attached to and extending from a mule 3 according to Fig. 4;
4 Figure 17 is a perspective view of the articulated arm of the embodiment shown in Fig. 15a,15b, shown actuated to one side, such as for 6 alignment to a sub-conduit;
7 Figure 18 is a perspective view of a plurality of linked mouse robots 8 adapted for taping;
9 Figure 19 illustrates another embodiment of a plurality of linked mouse robots placing and taping a flexible member inside a sub-conduit;
11 Figure 20 illustrates the plurality of linked mouse robots of Fig. 19 12 navigating a curve or branch in the sub-conduit while placing and taping a flexible 13 member;
14 Figures 21 a- 21g illustrate a selected sequence of operations for spray coating rehabilitation treatment of a system of conduits, more particularly:
16 introduction of the mule and a mouse, spray coating or cleaning, coating, coating on 17 a curve, aligning with a sub-conduit, deployment of the mouse with a plug, actuation 18 of a plug; spray coating a subconduit;
19 Figures 22a - 22c illustrate a selected sequence of operations for taping conductors or sheaths in a system of conduits, namely: running in of one or 21 more flexible members, initiation of taping of the members to the conduit;
and taping 22 of the flexible members to the conduit;
1 Figures 23a - 23h illustrate a selected sequence of operations for 2 taping flexible members in a system of conduits using an articulated arm and a 3 plurality of mouse robots according to Fig. 19, namely: the mule arriving at a sub-4 conduit, actuating the arm to align the mouse with the sub-conduit, running the flexible members with the mouse robots, negotiation of a curve, capture and 6 initiation of taping of the member to the conduit; and taping of the flexible member 7 to the conduit as the plurality of mouse robots retreats from the sub-conduit;
8 Figure 24 is a perspective view of a telescoping member configured 9 for bridging an interruption in a conduit so as to provide a contiguous taping path;
and 11 Figures 25a and 25b are cross-sectional and front views of a 12 conventional nitrogen purging spray nozzle, Fig. 25a having a schematic 13 representation of the plural component, nitrogen purge and optional heated fluid 14 circulation connections.
2 Having reference to Figures 1 - 3, in a first embodiment, a system of 3 conduits comprising one or more main conduits 1 and one or more sub-conduits 2, 4 is navigated by a robotic vehicle or a mule 10. The mule 10 is capable of negotiating the conduits for delivering and deploying a series of devices or tools, 6 such as polyurethane coating spray nozzles, to remote locations in the conduit or 7 sub-conduits. The mule 10 is remote controlled from surface and is provided with 8 data and control communications, a power source and consumables as required.
9 Another robotic vehicle or mouse 13 is optionally provided which is particularly useful in traversing and treating sub-conduits. As shown in Fig. 3, at surface, a 11 control vehicle 3 is typically provided for delivering the mule 10, the mouse 13 and 12 the associated controls to the site of the conduits 1 and sub-conduits 2.
The control 13 vehicle 3 comprises: power sources such as electrical, hydraulics, and pneumatics;
14 remote computer controls, reel storage for umbilicals for delivery and support of various systems.
16 Turning to Fig. 4 in greater detail, the mule 10 has a centralized main 17 body 11 and a rotatable head assembly 12. The mule 10 is propelled by a drive 20 18 comprising three track assemblies 20a, 20b, 20c, each of which comprises an oval 19 track housing 30, a loop of track 32 fitted around the perimeter of said housing 30, a drive motor 34 and gear mechanism 36. The drive motor 34 drives the gear 21 mechanism 36, which in turn drives the track 32. Suitable drive motors 34 include 22 those powered through electrical, pneumatic or by hydraulic means.
1 Each of the track assemblies 20a, 20b, 20c are attached to the main 2 body 11 via expandable linkage assemblies 22. The linkage 22 acts to substantially 3 center the body 11 within a predetermined range of conduit diameters. The 4 illustrated parallelogram linkages 22 connect to the track assemblies via a standoff or connector 24 comprising a rectangular plate having sides extending radially 6 outwardly about the track loop 32 and attaching to the track housing 30. The 7 linkages 22 are expanded and retracted radially using a centering means including 8 a screw jack, air cylinders or as illustrated, air diaphragms 25.
9 To aid in centering the mule's body 11, air diaphragms 25 are fixed to the body 11 and are sandwiched between the body 11 and each track connector 24.
11 A push-plate 27 engages the connector 24 for manipulating each track assembly's 12 radial position.
13 Applying increasing compressed air, the diaphragms 25 are 14 expanded, thereby pushing the push-plate 27 against the connector 24 and pivoting the track assembly 20a, 20b, 20coutward and forward relative to the main body 11.
16 Reduction in the air pressure in the diaphragms 25 results in a pivoting of the track 17 assembly 20a, 20b, 20c inward and backward relative to the main body 11 due to 18 the force of gravity. The amount of pressure in each individual diaphragm 25 can 19 be individually controlled, but are more preferably interconnected using a closed pneumatic circuit so as to controlled the diaphragms as one unit, ensuring that each 21 of the track assemblies 20a, 20b, 20c is spaced substantially the same distance 22 from the main body 11 and thereby centering the main body 11 in a conduit.
The 1 range of the centering means determines the range of diameters of conduit which 2 can be serviced by the same mule 10.
3 To assist in navigating the mule 10 through a conduit 1,2 a number of 4 small conventional video cameras can be mounted to the mule 10. A digital CCD
camera with a built in light source is the preferable type of video camera, but other 6 types and other light sources canbe used.
7 An advantageous arrangement of cameras comprises three forward-8 facing cameras on the front of the mule 10 and two backward-facing cameras on 9 the back. The forward-facing cameras are preferably placed either on each track assembly 20a, 20b, 20c or equal distance from each other around the front of the 11 main body's 11 outside pefimeter so that they are approximately 120 from each 12 other. The backward-facing cameras are preferably placed at either side of the 13 main body 11 so that they are approximately 180 from each other.
14 As shown in Figs. 5 and 6, the head assembly 12 supports a variety of devices, including a tape head 15 or an articulated deployment arm 18. The 16 rotating aspect of the head assembly 12 assists in the positioning of an attached 17 device when the mule 10 is inside the conduit. The head can be optionally 18 restricted to 270 degrees; being 135 clockwise A and 135 counterclockwise B and 19 thereby can avoid over-rotating the articulated arm 18. The rotation of the head, and control of its position, is accomplished by means of a motorized gear assembly 21 (not shown).
1 While the mule 10 can be fitted with its own power source and remote 2 communications, the mule's range can be increased while reducing its size and 3 weight by supplying all via an umbilical.
4 Having reference to Fig. 7 an umbilical or umbilicals 5, suitable for remote robotic controls and delivery of plural component polyurethane coating, 6 comprises a plurality of specialized conduits embedded within a protective cover 6.
7 A typical 1-13/16" diameter umbilical capable of manufacture in lengths of up to 8 2750 ft long is be capable of a plural component delivery flow rate of about 0.5 9 gallons/min at a working pressure of 3000 Ibs, and having a bursting pressure of 5000 lbs. The umbilical comprises plural component conduits including an 11 isocyanate conduit 26a and a resin conduit 26b. The isocyanate and resin are kept 12 warm using a heat source such as electrical heat trace elements (not shown) 13 extending through at least a portion of the length of the umbilical or using hot heat 14 transfer fluid circulation (a feed line 27a and return line 27b). If used, heat tracing can comprise 18 gauge wire carrying 480 volt and 2.5 amps, (1200 watts). Such a 16 heating element would typically be present in only the first 400 feet or so of 17 umbilical. At high enough plural component flow rates, the remainder of the 18 umbilical would not need to be additionally heated as the plural components should 19 retain sufficient heat. A temperature control line 28a would report on umbilical temperature or termination temperature. Data control cables 28b, such as 6 wire, 21 20 gauge conductors can be encased in insulation, triad sheath, a neoprene jacket, 22 armor and a poly outer coating. Up to three electrical cables 29 provide power for a 23 variety of devices at the mule 10 or mouse 13. Particularly useful with plural 1 component sprays is the need for purging the spray nozzle when the flow of 2 isocyanate and resin terminate. Accordingly, it is also useful also to provide a 3 pressurized nitrogen supply in a liner-wrapped hose 31a. Pneumatics can be 4 powered using a pressurized air supply hose 31 b.
All of the various conduits are wrapped in an insulation layer and 6 housed in a durable outer coating 6.
7 Preferably any heat transfer fluid can be used, but for maximum 8 versatility hydraulic fluid which is food grade (such as canola oil) is used to allow for 9 conduit treatment in potable water systems. The working temperature of the umbilical ranges from 130 F to 160 F. The umbilical 5 is coated 6 both inside and 11 outside with Teflon to decrease the drag coefficient. Any joints are tapered and 12 molded creating a one piece umbilical 5.
13 Referring to Figs. 25a,25b, other devices that can be used with the 14 mule and mouse arrangement include a spray nozzle 90, most preferably a nitrogen (N2) purging spray head. Generally the N2 purging spray nozzles 90 are designed 16 to spray plural component polyurethane (Pur). A typical configuration for a purging 17 spray nozzle has inlets 91 a,91 b for each of the ioscyanate and resin components 18 which are offset so that they mix in a static mixer tube 92, and not at their respective 19 valves 93a,93b. A nitrogen purge 94 blows the tube 92 clean before the Pur can set. The valves 93a,93b always remain charged with single component materials 21 and thus will not set up. The mixing tube 92 is designed so that there are no 22 cavities and thus, during purging, the components are forced away from the inlet 1 valves. Nitrogen purging occurs automatically each time the valves 93a,93b are 2 closed.
3 Various nozzle head designs include single, dual (shown) and quad 4 nozzles and applying the spray at prescribed fan angles (e.g. single nozzle at 45 , dual nozzle at 22.5 and quad nozzle each at 11.25 ). The nozzle heads are 6 designed such that there are no cavities in which the polyurethane components can 7 mix and set. A typical flow rate of the components is about 0.5 gallons /
min for 8 each head. The working pressure of the nozzles is 3000 lbs. The temperature at 9 the heads will vary, depending on the design, and ranges from 135 F to 160 F.
Having reference to Figs. 5 and 8 a tape device, dispenser or head 15 11 can be adapted for mounting directly to the mule 10 (Fig. 5) or as an extension from 12 additional devices. The tape head 15 comprises a roll supply of tape 15b having at 13 least one working face bearing adhesive, a pivoting linkage 15c, guiding rollers 15d, 14 and two pneumatic air-rams 16. Typically, the tape head 15 is used to tape small gauge conduit, cable or other flexible elongate members 21, to the inside of the 16 main conduit 1 or sub-conduit 2. As the mule 10 retreats from a conduit 1,2, the 17 rollers 15d simultaneously guide the tape and sandwich the flexible member }
18 between the tape 15b and the conduit 1,2. As shown in Figs. 8 and 9, the roll of 19 adhesive tape 15b feeds as a normally flat profile through a pair of pre-shaping rollers 15e,15f for concave dimpling 15h of the middle portion of the tape 15b. The 21 concave dimpling 15h forms as concave receiver or support portion for the flexible 22 member 21. Pre-shaping the tape 15b minimizes wrinkling when ultimately applied 23 to the inside of the conduit 1,2. Referring also to Fig. 10, a final guide and placing x~ -1 roller 15g presses the tape 15b and flexible member 21 into position 2 against the conduit 1,2. The air rams 16 ensure sufficient adhesive bonding 3 pressure is applied to the tape 15b.
4 Referring to Fig. 11, in a preferred embodiment, additional security and tape bonding strength is achieved using a post polyurethane spray step. As the 6 flexible member 21 is taped to the conduit 1,2, plural component coating 7 (polyurethane) 35 can also be sprayed over the elongate member 21, the tape 15b 8 and the inside wall of the conduit 1,2. Additional advantage is obtained if at least 9 the bounding peripheral lateral edges 15i,15i of the tape 15c are perforated or otherwise porous so as to enable penetration of the polyurethane 35 through the 11 peripheral edges of the tape 15b and to better enable direct bonding of the 12 polyurethane and the tape to the conduit 1,2, thereby only relying for a short 13 duration upon the adhesive of the tape. Further, by producing tape having porous 14 lateral edges and also having an adhesive-free and spray impervious middle portion, the flexible member is then merely supported in a tape pocket 37 but is not 16 otherwise constrained. The tape pocket enables the flexible member 21 to move 17 somewhat along the conduit 1,2 such as is the case with longitudinal expansion and 18 contraction of the member 21 which differs from that of the conduit 1,2. In this way, 19 members 21 such as sensitive communications cables and the like are not subject to tensile loads which could threaten the integrity of the cable.
21 In another embodiment, as shown in Figs. 8,12 and 13, the mule 10 is 22 fitted with an additional and smaller robotic vehicle or mouse 13, transported by the 23 mule. The mouse 13 is particularly adaptable to accessing laterally intersecting . . . - .. . f . .
1 sub-conduits. In this embodiment each track assembly 20a, 20b, 20c is attached to 2 the main body 11 via a pair of pivotable scissors-like linkage assemblies 23. These 3 linkage assemblies 23 are pivotally connected to the main body 11 as well as to the 4 track housing 30, and allow for an outward displacement of the track assemblies 20a, 20b, 20c without the accompanying the forward displacement that results in 6 the first parallelogram-like embodiment of the mule 10 as described in the previous 7 embodiment.
8 The track assemblies 20a, 20b, 20c can again be displaced radially 9 using screws, pneumatic cylinders or a combination including air diaphragms 25.
Alternatively, it clear to a skilled person that many different centering means can be 11 employed including a reverse scissors-like linkage assembly and screw (not shown) 12 such as that found in a common car jack design.
13 Having reference to Figs 12 and 13, the mouse 13 is transported in an 14 articulated housing 19 extending from the mule 10, the housing comprising a tubular transport housing 19a supported from the head assembly 12 by connecting 16 brackets 19b. Referring to Fig. 12, the connecting brackets 19b are attached to the 17 head assembly 12 and also to the transport housing 19a at two pivot points 19c, 18 19d. The pivoting of the transport housing 19a 'is accomplished by an actuating 19 cable or a motor (not shown).
The housing 19a supports the mouse for transport to and for 21 subsequent deployment into sub-conduits. The mouse 13 is a self-centering robotic 22 vehicle like the mule 10 and employs similar tri-track apparatus 20a-20c to provide 23 mobility. For transport, the tracks of the mouse 13 are driven to their collapsed or 1 radially compressed state for fitting within the transport housing 19a.
Preferably the 2 housing 19a and supported mouse 13 are supported close to the head assembly 3 so as to position the mouse's cantilevered center of gravity close to the mule 10 4 during transport. For deployment, the housing 19a is extended outwardly and axially in linear guides 19e until the housing 19a can be pivoted or rotated.
The 6 extension of the transport housing 19a is aided with cooperation between the pivots 7 19c,19d and the guides 19e. at least one of the pivots 19c or 19d has linear edges 8 which engage closely with the guides 19e and thus the transport housing 19a is 9 unable to pivot. However, at the furthest extent of the guides 19e they are locally widened to permit rotation of the pivots 19c,19d and thus enable rotation.
11 To deploy the mouse 13 into a sub-conduit 2, the transport housing 12 19a is aligned with the sub-conduit by pivoting the housing about pivot points 19c, 13 19d. =
14 Preferably, where the mouse 13 is not entirely self-contained for performing its tasks, a second umbilical 5b connects the mouse 13 to remote 16 power, supply and control sources. The mouse 13 must drag the umbilical 5b along 17 the sub-conduit 2. Normally the mule 10, being a more robust robot pulls the first 18 and second umbilicals 5a,5b down the main conduit 1, however, for deployment 19 along sub-conduits 2, the mouse 13 continues to demand umbilical 5b from the supply or from surface. As the mouse 13 is typically less capable for pulling the 21 necessary loads at deep conduit locations, the mule 10 feeds the second umbilical 22 to the mouse 13, via opposing and driven umbilical drive rollers 13a,13b (one roller 23 shown) attached at the rear of the main body 11, `and a guide tube 11 a through the CA 02369714 2002-01-30 .
1 mule's main body 11 and to the mouse 13. The guide rollers 13a, 13b are driven by 2 motors (not shown).
3 Two opposing notches 19f are present at the back of the transport 4 housing 19a, which enable rotation of the housing 19a despite the presence of the umbilical 5b but also aid in the guiding and support of this second umbilical 5b when 6 the housing 19a is aligned and the mouse 13 is deployed.
7 Returning to Fig. 8, a tape head 15, suitable for taping cable, 8 conductors, or small diameter conduits to the inside of a larger conduit 1,2, can also 9 be attached to the housing's connecting bracket 19b by means of a spacing bracket 15a. It is well understood by the skilled person that a cable, conductor or small 11 diameter sheath or conduit are all flexible, elongated members which can 12 reasonably be taped to the inside of a larger conduit. The tape head 15 is spaced 13 far enough from the transport housing 19a so as not to interfere with its pivoting 14 action and lateral deployment of the mouse 13 into sub-conduits 2. The tape head 15 further comprises a roll supply of tape 15b, a pivoting linkage 15c, pre-forming 16 and guiding rollers 15d, and two pneumatic air-rams 15e.
17 Returning to Fig. 14, the mule 10, a transport housing 19a and a 18 mouse 13 are shown deployed inside a main conduit 1.
19 A first umbilical 5a connects the mule 10 to a remote control, supply and power source (not shown). The second umbilical 5b similarly connects the 21 mouse 13 to a remote control, supply and power source. The second umbilical 5b 22 passes through the hollow main body 11 to the mouse robot 13. Two opposing 23 notches 19f are present at the back of the holding cylinder 19a which avoid .~~~.., 1 interference when pivoting and aid in the guiding of the second umbilical 5b when 2 the transport housing 19a is aligned and the mouse 13 is deployed.
3 In some cases, it is difficult to anticipate the elongated dimensions of 4 the transport housing 19a necessary for either housing the mouse 13 or for bridging and guiding the mouse 13 from the mule in the main conduit 1 to the sunb-conduit.
6 Accordingly, an articulated arm 18 can be provided for adapting and accessing sub-7 conduits 2 substantially independent of the diameter of the main conduit 1.
Having 8 reference to Figs. 15a and 15b, the moveable arm 18 is illustrated in plan and in 9 side views.
Having reference to Figures 5, 15a-17, such an articulated arm 18 is 11 capable of aligning with an intersecting sub-conduit and guiding the mouse from the 12 transport housing to deploy the mouse into the sub-conduit. The arm 18 comprises 13 a generally segmented cylindrical body 50 having a plurality of pivotally-connected 14 chevron-shaped ring-like segments 51.
Shown in an unactuated state in Figs. 15a,15b, the chevron-shaped 16 ring segments 51 are arranged in an altemating vertical and horizontal pivots which 17 pass through the arm's axis; unlike a conventional herringbone arrangement having 18 a plurality of vertical pivots. While vertical pivots enable a lateral curving 19 movement, the addition of alternating horizontal pivots also enable vertical curving movement. To minimize the chance of jamming of the arm against the bottom of a 21 conduit, the vertical curving movement is limited by stops at the bottom of altemate 22 segments, preventing free downward rotation of the alternating segments.
This 1 arrangement provides a good range of motion and allows the arm 18 to articulate as 2 is further described below.
3 As shown in Fig. 16, the arm 18 attaches to the mule 10, at a first end 4 50a which acts also as the transport housing 19a for the mouse. At a second end 50b of the transport housing 19a, a first segment 51a is pivotally connected at two 6 lateral and opposing pivot points 54a 54b. The outside diameter of the first 7 segment 51 a is slightly smaller than the inside diameter of the cylindrical body 50, 8 and by virtue of the lateral pivot points 54a 54b, the first segment 51a is capable of 9 articulating in an up and down plane relative to the cylindrical body 50.
As there are rarely sub-conduits which intersect below the mid-point of 11 a main conduit 1, it is typically unnecessary to actuate the arm below the axis of the 12 cylindrical body 50; actually it is desirable to prevent the arm 18 from downward 13 articulation. To prevent such downward articulation, stops 56 and notch 58 14 arrangements are used. A stop 56 projects upward from the bottom of the cylindrical body 50 at the second end 50b and from each alternate segment 51.
16 The notch 58 at the bottom of the first segment 51 a fits around and engage the stop 17 56 when the first segment 51a is articulated to align with the horizontal plane of the 18 cylindrical body 50; thereby preventing the first segment 51a from articulating 19 downward past the horizontal plane, yet without impeding lateral movement.
As there is no stop and groove arrangement on the top side of the body 50 and first 21 segment 51a, the segment 51a is free to articulate upwards relative to the 22 cylindrical body 50.
1 A second segment 51 b, with the same inside and outside diameter as 2 the cylindrical body 50, fitting over top of the first segment 51 a, is pivotally 3 connected to the segment 51 a at a top 62 and bottom (not shown) pivot point. The 4 second segment 51 b is therefore capable of articulating in side to side plane relative to both the cylindrical body 50 and first segment 51 a. As both left and right side-to-6 side articulation is desirable no stop and notch arrangements are provided between 7 the first 51 a and second 51 b segments. The side-to-side articulation will therefore 8 only be constrained by the exact shape of the chevron peaks; with steeper peaks 9 providing a greater range of motion.
Additional and alternating segments 51 a,51 b,51 a, ... are connected 11 together in the manner described above, with additional and alternating stop 56 and 12 notch 58 arrangements to prevent downward articulation. The embodiment shown 13 in Figures 6 and 7 have five additional segments 51 providing the arm 18 with a 90 14 degree range of motion in the up and down plane and a 180 degree range of motion in the side-to-side plane.
16 Turning to Fig. 17, the articulation of the arm 18 is controlled by 17 means of cables 70a 70b extending along the outside of the arm 18. A first cable 18 70a connects at a connecting point 74, runs along the top of the arm, through a 19 guides 72 on the top of each second segment, and winds around a first spool (not shown) driven by a first reversible motor (not shown). To articulate the arm 21 upwards from its horizontal resting position, the motor turns the spool to wind the 22 cable 70a up around it, thereby exerting a pulling force at connection point 74 and 1 raising the segments 51. To lower the arm 18, the motor reverses, unwinding the 2 cable 70a from the spool and the segments 51 lower due to the force of gravity.
3 A second endless cable 70b connects at a connecting point 76 on one 4 side of the last segment 51 c, runs along the sides of the arm 18 through loops 78a on each second segment, {oops ; around a first guide 80, winds around a second 6 spool (not shown) driven by a second reversible motor (not shown), loops around a 7 second guide 82 runs along the opposite side of the arm 18 through a loop on each 8 second segment 78b and connects at a connecting point 84 on the opposite side of 9 the last segment 51c. To articulate the arm 18 side-to-side, the second motor tums the second spool. Depending on the direction of rotation of the spool a pulling force 11 is exerted at either connection point 76 or connection point 84 while at the same 12 time an equal reduction in pulling force is experienced at the opposite connection 13 point 84 or 76 as the case may be. The two sets of motors and spool may be 14 located either on the cylindrical body 50 or on the mule 10.
Having reference to Fig. 18, the length of the articulated arm is also 16 particularly well adapted for transporting a mouse of longer and enhanced design.
17 A plurality of mouse robots 13,13,13 are configured in combination as a series of 18 drive and taping vehicles for deployment into a sub-conduit. The mouse robot 13 19 comprises a plurality of linked sub-units 100 each with at least one track assembly 101. The sub-units include at least one drive unit 100a, one guide unit 100b and 21 one tape unit 100c. The guide unit 100b has a rolling guide 110 mounted on a 22 flexible arm 112. The rolling guide 110 is kept in contact with the inner wall of the 23 sub-conduit by means of a spring 114 which presses the arm 112 upward. The 1 tape unit 100c holds a roll of tape 120 which is dispensed, through a series of rollers 2 122 and guides 124, to the inside wall of the sub-conduit. Multiple guide 100b and 3 tape units 100c are desirable when taping inside a long section of sub-conduit and 4 one roll of tape 120 would carry an insufficient amount of tape to tape the entire , length of sub-conduit (the size of tape roll 120 being constrained by the small inside 6 diameter of the sub-conduit).
7 The drive unit houses a motor 104 which connects to the other sub-8 units 100 by means of a flexible, discontinuous drive shaft 106. The drive shaft 106 9 passes the torque from the motor 104 to a gear box 108 in each guide unit 100b while passing through each tape unit 100c in order to connect to the gear box 108 in 11 a subsequent guide unit 100b. The gear box 108 in each guide unit 100b, using the 12 torque supplied to it from the motor 104 via the drive shaft 106, powers a drive 13 wheel 130 which in tum powers its track assemblies 101. The track assemblies 101 14 on the guide units 100b in turn drive the entire linkage of sub-units 100.
The track assemblies 101 of the other sub-unit types 100a, 100c therefore simply move in 16 response to the force created by the guide units 100b.
17 Figures 19 and 20 show a second embodiment of a plurality of mouse 18 robots 13,13 configured as a taping vehicle for deployment into a sub-conduit 2.
19 This second embodiment is similar to the first embodiment described above in that it comprises at least one drive unit 1 OOa, one guide unit 100b and one tape unit 100c.
21 Unlike the first embodiment described above, the sub-units 100 in this 22 mouse robot 13 have at least six track assemblies 101 each, arranged as two pairs 23 of three track assemblies 101 to provide further support and stability to the unit.
1 As an alternate method to transport a sufficient length of tape through 2 the small-diameter sub-conduit 2, the tape 130 is constrained to the size of the roll 3 as in the first embodiment, but instead is supplied as an endless elongated band 4 wrapped around two rollers 132 spaced some distance apart on the taping unit 100c. The tape is fed through a roller 122 to a rolling guide 134 which applies it to 6 the inside of the sub-conduit 2.
7 The drive unit 1OOa in this embodiment has a rolling guide 110 like 8 that on the guide-unit 100b which assists in placing and aligning a flexible member 9 140 along a designated path of the inside wall of the sub-conduit 2, prior to being taped.
12 Apparatus Examples:
13 Mule 14 The mule as illustrated in Figs. 4-6 was configured to pack or transport a mouse through a main conduit and had the following general specifications 16 including: a tri-track drive, each track assembly being 28" long by 4.5"
wide, 17 hydraulically or electrically driven straight run unit, fitting inside conduits from 16" up 18 to 24", with a maximum pressure of 120 lbs/sq. in. on the inner surface of the 19 conduit and having variable and reversible speeds of up to 120 ft/min. The tracks could traverse a minimum side bend of 16" radius. For pulling umbilicals, the mule 21 has a unit line pull of 1000 pounds at maximum drive track torque. Optional 22 attachments included up to six digital video cameras (3 forward facing and 3 rear 23 facing), pressure sensors for monitoring track pressure and umbilical tension, . ----~-~ ----1 multiple wash head assemblies, drill head assemblies, grout form packer 2 assemblies, taping head assemblies, and lateral line grinder/cutter assemblies.
4 Mouse In the case of a mouse 13, the specifications for each mouse 6 generally included: a tri-track drive 3" long, .75" wide, electrically driven, with a 7 maximum pressure of 20 lb/sq. in. on inner-surface of pipe, a variable travel speed 8 of up to 10 ft/min, and an umbilical:unit line pull at maximum torque of 250 lbs. The 9 line pull varied depending on the number of inline mouse units deployed.
Optional attachments included: up to two digital cameras (one forward facing, one rear 11 facing), pressure sensors for track pressure and line pull, wash head assemblies, 12 taping head assemblies, and lateral line packer head assemblies.
13 Increased tape supply and umbilical pulling capability was provided by 14 providing a chain of seven mouse robotic vehicles, which were configured as a fibre optic (conductor) placing, aligning and taping unit. Enhanced specifications for the 16 taping unit embodiment included: ability to carry multiple rolls of tape, handling tape 17 rolls up to 6" wide, carrying and deploying up to 2500' of tape on a single pass, 18 installing up to 4 conductors in a singie pass, and pulling up to 1000 pounds of 19 conductors in a single pass.
Clearly, other embodiments of the taping vehicle can have different 21 specifications. For instance, another smaller embodiment might carry only 100' of 22 2" tape, and would only pull 1/4" diameter conductor up to 350'.
1 Operational Examples:
2 Spray Coating Rehabilitation 3 An average rehabilitation job for a system of conduits (main conduits 4 and sub-conduits) such as wastewater or storm sewer lines typically includes the following steps. A vacuum truck is used for cleaning the main pipeline conduits.
6 The work done by this unit is only on the main conduit. A wash-and-vacuum unit 7 works with the vacuum truck to wash and clean the lateral pipeline sub-conduits and 8 also does a post-wash of the main conduits. Then all conduits are vacuumed dry.
9 At this stage diaphragm plugs are placed in the lateral sub-conduits, which keep effluent from re-entering the cleaned pipes. ' The wash-and-vacuum unit is 11 connected to the vacuum truck. This unit is equipped with a video and data 12 monitoring system, and also controls a mouse which accesses to lateral sub-13 conduits for cleaning. This unit also carries supplemental spray components in 14 totes or magazines. The material in the magazines are transferred to the main spray system as necessary. High air flow fans are placed to blow air through the 16 cleaned sections of pipe which helps control humidity and further dries the pipe.
17 Spray washing of the conduit walls may also be conducted using a 18 suitable washing tool affixed to the mouse which is supportably retained in the 19 transport housing with the wash and polyurethane spray nozzles extending substantially axially along the conduit.
21 The rehabilitation process is typically conducted when the system of 22 conduits is already cleaned and dried using the wash and vacuum unit or an 23 adapted mule and mouse. Each section can be cleaned, spray coated, and back in 1 operation within a few short hours, even for sections of conduit in the order of 2700 2 feet having a conventional residential frequency of lateral sub-conduits.
3 Once clean, typically there are two and sometimes three robotic 4 vehicles employed to rehabilitee the system of conduits. The lead unit or mouse carries the majority of the monitoring and videp equipment and can enter sub-6 conduits from 8" to 20". A trailing unit or mule carries the mouse in and out of larger 7 conduit and enables deployment of the mouse into the lateral sub-conduits .
A
8 typical mule configuration can enter pipes from 12" to 60". An optional tertiary unit 9 can be employed merely to pull umbilicals through the conduits. It would generally not be required to transport monitoring or video equipment.
11 The mule and mouse are driven as far into the pipe as required to 12 commence rehabilitation of the system of conduits. The mouse is adapted to carry 13 nozzles capable of dispensing plural part polyurethane coatings. A heated umbilical 14 trails behind the mouse and behind the mule for conducting the two parts of the polyurethane along with the communications, controls and power supplies.
Setting 16 up for receiving the mouse spray unit and mule includes placing bridging track units 17 in the pipe, setting up the pumps, and correlating the computer data, and start 18 recording of the data. Measurements of the pipe and recording of data include the 19 density of pipe, laser measurement of the interior diameter of the pipe, the humidity inside the pipe, and a video record of the pipe to check for irregularities, water 21 intrusion.
22 There are four variables that determine thickness of the sprayed 23 components: the speed at which the mouse is extracted, the fluid temperature, the 1 nozzle pressure, and the flow rate. The plural part spray compound is typically 2 composed of resin and isocyanate. The resin consists of urethane and urea.
3 Depending on data collected (ie. humidity and wall dampness) a balance between 4 the two compounds is adapted as is known to those skilled in the art. BASF
and Uniroyal are well known suppliers which aid in selecting ratios for particular 6 conditions. Typically, the sprayed compound takes 3 to 10 seconds to set with a 7 total cure time of 15-30 minutes.
8 In order to spray the lateral sub-conduits, the spray units can either be 9 re-inserted after complete treatment and curing of the main line or the main conduit is only sprayed in retreat up to a lateral sub-conduit at which time the lateral is 11 rehabilitated before resuming rehabilitation of the main conduit.
12 For each lateral, position and conduit condition measurements and 13 video recording can be performed as was perFormed the main conduits.
14 In cases where discharge waste or effluent may be anticipated down the laterals, it is preferably to temporarily block the lateral, usually at a property line 16 boundary to avoid issues regarding trespass. Accordingly, the mouse extracts a 17 packer or plug from a magazine mounted off of the mule before deploying down the 18 lateral. The mouse advances to the property line and engages the plug.
19 The mouse then retreats and spray coats the lateral as the mouse spray unit is extracted. Upon completing the lateral sub-conduits, the plugs are 21 removed.
22 Having reference to Figs. 21 a-21 f, a selected sequence of operations 23 is illustrated for spray coating rehabilitation treatment of a system of conduits. One 1 approach is to initially perform a cleaning and data acquisition pass (laser, GPS, 2 and sonic dimensional and location data) is made. At the conclusion of one or more 3 passes of the cleaning, the mule and mouse are left at a distant position and are 4 ready for conducting treatment. In this case, a protective coating is applied.
In Figs. 21 a-21 g, conduits 1 and sub-conduits 2 are being cleaned 6 and coated. In more detail, the mule and mouse are introduced to the system of 7 conduits 1,2. Typically in the case of a manhole access to an underground conduit, 8 the conduit is interrupted and the mule and mouse are lowered down an access 9 shaft 150 inside a temporary and expandable housing 155 as necessary to bridge the interruption in the main conduit and act as a launch off point for the mule. One 11 end of the expandable housing 155 is directed to catch on an exposed edge of the 12 conduit 1, at a contact point 160, which aids in aligning the housing 155 with the 13 entrance of the conduit 1. The housing 155 is telescopically expanded lengthwise 14 so as to wedge across the shaft 150 in alignment with the conduit 1 thereby allowing the mule 10 to deploy along the conduit 1.
16 The mouse 13 is transported along the conduit 1 by the mule 10 inside 17 its articulating transport housing 19a. Both robots 10, 13 are connected to a remote 18 supply, power and control source via umbilicals 5a, 5b respectively. The umbilical 19 cable 5b connected to the mouse 13 passes through the mule robot 10 which aides in the subsequent deployment of the umbilical to the mouse 13 as it traverses sub-21 conduits 2.
1 Fig. 21 b can represent a cleaning pass traveling forwards and 2 backwards, or can represent the final protective coating spray 34 before retrieval of 3 the mule 10 and mouse 13.
4 Turning to Figs. 21 c- 21g, the coating process is conducted as the mule 10 is retrieved.
6 Fig. 21c illustrates spraying of a coating 34 in the main conduit 1. The 7 nitrogen purging nozzle 90, carried by the mouse, is used to apply polyurethane 8 coating 34 to the conduit 1. As shown in Fig. 21 d, when traversing standard bends 9 in the conduit, the transport housing 19a is pivoted to align the mouse 13 and spray nozzle 90 substantially with the center of the conduit 1. In Fig. 21 e, when a lateral 11 sub-conduit 2 is reached, the coating spray is purged, and the transport housing is 12 pivoted to align with the sub-conduit 2. The mouse 13 is directed into the sub-13 conduit 2. If not already cleaned, the mouse 13 can traverse the sub-conduit 2 to 14 clean and condition the sub-conduit 2.
Referring to Figs. 21 e-21 g, if there is a fear of an effluent discharge 16 during or prior to the spraying process, an expandable plug 89 can be temporarily 17 deployed to block the sub-conduit, such a deployment perhaps being combined with 18 the cleaning step. At Fig. 21 e a plug 39 is transported by the mouse 13 to a safe 19 position in the sub conduit and the mouse is retrieved as shown in Fig.
21f.
Referring to Fig. 21g, on a separate trip, or on the return trip to the mule after 21 placing the plug 89, the coating 34 can be sprayed on the sub-conduit 2.
Once the 22 coating is sufficiently set, the mouse 13 runs up the sub-conduit 2 to retract and 23 retrieve the plug 89 and replace it in the magazine carried by the mule.
2 Ta in 3 Figures 22a - 22c illustrate use of the mule 10 to tape several flexible 4 elongated members 21 inside a main conduit 1. While the mouse 13 is illustrated as being transported, it is also inactive, the taping head 15 being operated 6 independently of the mouse 13. The flexible members 21 can be conductors or 7 sheaths for housing conductors in a system of conduits 1,2. As shown in Fig.
22a, 8 the mule runs in one or more flexible members 21 (two shown) and long a conduit 9 1. As shown in Fig. 22b, at a predetermined termination of the conduit 1, the members 21 are anchored or otherwise secured for initiation prior to taping the 11 members. At Fig. 22c, the mule is retrieved form the conduit 1 while guiding and 12 taping the flexible members 21 to the inside wall (roof) of the conduit 1.
13 An example of operations in sub-conduits 2 and even those extending 14 into a building are shown in Figures 23a - 23f. A flexible member 21 is taped in a system of conduits 1,2 using an articulated arm 18 and a plurality of mouse robots 16 13 according to Fig. 19, namely. In Fig. 23, the mouse 13 is transported by the 17 mule 10 in the transport housing 19a, which in this case is the arm 18. The desired 18 sub-conduit 2 is located. At Fig. 23b, the arm is aligned with the sub-conduit 2. At 19 Fig. 23c, the mouse 13 is run into the sub-conduit, pulling the flexible member 21.
At Fig. 23d, the plurality of mouse robots 13 negotiate a curve in the sub-conduit 2.
21 The flexible member 21 is captured and anchored at the termination of the sub-22 conduit 2. The taping head 15 on the mouse 13 initiates of taping of the member 21 23 to the conduit 2.
1 For taping, at Fig. 23f, as the mouse 13 retreats to the mule 10 and 2 the main conduit 1, the mouse 13 guides the flexible member 21 onto the sub-3 conduit 2 and secures it thereto with the tape 15b. As the mouse exits the sub-4 conduit 2, the arm 18 can be rotated in coordination with the taping action of the tape head to tape the flexible member 21 on the curved roof of the main conduit 1.
6 As shown in Fig. 23h, as the mule 10 retreats in the main conduit, the mouse's 7 taping head continue to tape of the flexible member 21 to the main conduit 1.
8 As shown in Fig. 24, in situations where a manhole or other access 9 interrupts the main conduit, a telescoping member 99 is extended across the interruption. Accordingly, as shown in Fig. 23h, the flexible member and tape 15b 11 have a continuous and contiguous path.
12 In another aspect, apparatus is provided for installing a flexible 13 elongate member to an inside wall of a conduit, comprising: a robotic vehicle for 14 traversing the conduit for advancing an end of the flexible member through the conduit; and a tape head mounted to the robotic vehicle for taping the flexible 16 member to the inside wall while withdrawing the robotic vehicle.
17 The described apparatus enables implementation of novel methods 18 for the treatment system of conduits having at least one main conduit and having 19 one or more intersecting sub-conduits comprising: providing a robotic mouse vehicle suitable for traversing the one or more sub-conduits and conducting 21 treatment; providing a robotic mule vehicle suitable for traversing the main conduit;
22 transporting the mouse to a sub-conduit using the mule; deploying the mouse into 23 the sub-conduit; treating the conduits and sub-conduits using the mouse and mule.
1 In another aspect a method is provided for installing a flexible member 2 to an inside wall of a conduit, comprising the steps of: providing a robotic vehicle for 3 traversing the conduit; advancing an end of the flexible member through the conduit 4 using the robotic vehicle being fitted with a tape head; anchoring the advanced end of the flexible member; and taping the flexible member to the inside wall using the 6 tape head while withdrawing the robotic vehicle.
9 Figures 1 a and lb are schematic side views of a system of conduits (Fig. 1 a) and lateral intersecting sub-conduits (Fig. 1 b) being spray coating treated 11 using one embodiment of the invention;
12 Figure 2 is a perspective view of the mouse engaged in treating a 13 lateral sub-conduit while the mule waits in the main conduit;
14 Figure 3 illustrates a cross sectional view of a control vehicle suitable for deploying the mule and mouse in the system of conduits and sub-conduits;
16 Figure 4 is a perspective detailed view of a tri-track mule according to 17 one embodiment of the invention;
18 Figure 5 is a perspective view of the mule according to Fig. 4 with a 19 tape head and articulating arm;
Figure 6 is a perspective detailed view of the head assembly of the 21 mule of Fig. 4 adaptable for devices such as a tape head and articulating arm 22 according to Fig. 5;
. ~~ ~, 1 Figure 7 is a partial perspective, cutaway view of the portion of an 2 umbilical according to one embodiment of the invention;
3 Figure 8 is a perspective view of another embodiment of a tri-track 4 mule with an articulating housing having a mouse supported therein for transport and further having a tape head attached to the mule;
6 Figure 9 illustrates three stages of., pre-shaping normally flat profile 7 tape for application to the conduit; dispensing from the roll, pre-froming the tape, 8 and guiding the pre-formed tape to the conduit;
9 Figure 10 illustrates the operation of a guide roller pressing tape and an elongate member into position against the conduit;
11 Figure 11 illustrates the an optional application of a coating over an 12 elongate member, tape having porous lateral edges and of a least a portion of 13 inside wall of a conduit;
14 Figure 12 is a perspective view of a tri-track mule according to a third embodiment of the invention;
16 Figure 13 is a perspective view of a tri-track mule according to Fig. 12 17 wherein the mouse transport housing is extended prior pivoting to align with a sub-18 conduit;
19 Figure 14 is a perspective view of a tri-track mule according to a forth embodiment of the invention deployed inside a main conduit;
21 Figures 15a and 15b are top and side views respectively of an 22 articulated arm according to one embodiment of the invention;
1 Figure 16 is a perspective front view of the articulated arm of the 2 embodiment shown in Figs. 15a,15b, attached to and extending from a mule 3 according to Fig. 4;
4 Figure 17 is a perspective view of the articulated arm of the embodiment shown in Fig. 15a,15b, shown actuated to one side, such as for 6 alignment to a sub-conduit;
7 Figure 18 is a perspective view of a plurality of linked mouse robots 8 adapted for taping;
9 Figure 19 illustrates another embodiment of a plurality of linked mouse robots placing and taping a flexible member inside a sub-conduit;
11 Figure 20 illustrates the plurality of linked mouse robots of Fig. 19 12 navigating a curve or branch in the sub-conduit while placing and taping a flexible 13 member;
14 Figures 21 a- 21g illustrate a selected sequence of operations for spray coating rehabilitation treatment of a system of conduits, more particularly:
16 introduction of the mule and a mouse, spray coating or cleaning, coating, coating on 17 a curve, aligning with a sub-conduit, deployment of the mouse with a plug, actuation 18 of a plug; spray coating a subconduit;
19 Figures 22a - 22c illustrate a selected sequence of operations for taping conductors or sheaths in a system of conduits, namely: running in of one or 21 more flexible members, initiation of taping of the members to the conduit;
and taping 22 of the flexible members to the conduit;
1 Figures 23a - 23h illustrate a selected sequence of operations for 2 taping flexible members in a system of conduits using an articulated arm and a 3 plurality of mouse robots according to Fig. 19, namely: the mule arriving at a sub-4 conduit, actuating the arm to align the mouse with the sub-conduit, running the flexible members with the mouse robots, negotiation of a curve, capture and 6 initiation of taping of the member to the conduit; and taping of the flexible member 7 to the conduit as the plurality of mouse robots retreats from the sub-conduit;
8 Figure 24 is a perspective view of a telescoping member configured 9 for bridging an interruption in a conduit so as to provide a contiguous taping path;
and 11 Figures 25a and 25b are cross-sectional and front views of a 12 conventional nitrogen purging spray nozzle, Fig. 25a having a schematic 13 representation of the plural component, nitrogen purge and optional heated fluid 14 circulation connections.
2 Having reference to Figures 1 - 3, in a first embodiment, a system of 3 conduits comprising one or more main conduits 1 and one or more sub-conduits 2, 4 is navigated by a robotic vehicle or a mule 10. The mule 10 is capable of negotiating the conduits for delivering and deploying a series of devices or tools, 6 such as polyurethane coating spray nozzles, to remote locations in the conduit or 7 sub-conduits. The mule 10 is remote controlled from surface and is provided with 8 data and control communications, a power source and consumables as required.
9 Another robotic vehicle or mouse 13 is optionally provided which is particularly useful in traversing and treating sub-conduits. As shown in Fig. 3, at surface, a 11 control vehicle 3 is typically provided for delivering the mule 10, the mouse 13 and 12 the associated controls to the site of the conduits 1 and sub-conduits 2.
The control 13 vehicle 3 comprises: power sources such as electrical, hydraulics, and pneumatics;
14 remote computer controls, reel storage for umbilicals for delivery and support of various systems.
16 Turning to Fig. 4 in greater detail, the mule 10 has a centralized main 17 body 11 and a rotatable head assembly 12. The mule 10 is propelled by a drive 20 18 comprising three track assemblies 20a, 20b, 20c, each of which comprises an oval 19 track housing 30, a loop of track 32 fitted around the perimeter of said housing 30, a drive motor 34 and gear mechanism 36. The drive motor 34 drives the gear 21 mechanism 36, which in turn drives the track 32. Suitable drive motors 34 include 22 those powered through electrical, pneumatic or by hydraulic means.
1 Each of the track assemblies 20a, 20b, 20c are attached to the main 2 body 11 via expandable linkage assemblies 22. The linkage 22 acts to substantially 3 center the body 11 within a predetermined range of conduit diameters. The 4 illustrated parallelogram linkages 22 connect to the track assemblies via a standoff or connector 24 comprising a rectangular plate having sides extending radially 6 outwardly about the track loop 32 and attaching to the track housing 30. The 7 linkages 22 are expanded and retracted radially using a centering means including 8 a screw jack, air cylinders or as illustrated, air diaphragms 25.
9 To aid in centering the mule's body 11, air diaphragms 25 are fixed to the body 11 and are sandwiched between the body 11 and each track connector 24.
11 A push-plate 27 engages the connector 24 for manipulating each track assembly's 12 radial position.
13 Applying increasing compressed air, the diaphragms 25 are 14 expanded, thereby pushing the push-plate 27 against the connector 24 and pivoting the track assembly 20a, 20b, 20coutward and forward relative to the main body 11.
16 Reduction in the air pressure in the diaphragms 25 results in a pivoting of the track 17 assembly 20a, 20b, 20c inward and backward relative to the main body 11 due to 18 the force of gravity. The amount of pressure in each individual diaphragm 25 can 19 be individually controlled, but are more preferably interconnected using a closed pneumatic circuit so as to controlled the diaphragms as one unit, ensuring that each 21 of the track assemblies 20a, 20b, 20c is spaced substantially the same distance 22 from the main body 11 and thereby centering the main body 11 in a conduit.
The 1 range of the centering means determines the range of diameters of conduit which 2 can be serviced by the same mule 10.
3 To assist in navigating the mule 10 through a conduit 1,2 a number of 4 small conventional video cameras can be mounted to the mule 10. A digital CCD
camera with a built in light source is the preferable type of video camera, but other 6 types and other light sources canbe used.
7 An advantageous arrangement of cameras comprises three forward-8 facing cameras on the front of the mule 10 and two backward-facing cameras on 9 the back. The forward-facing cameras are preferably placed either on each track assembly 20a, 20b, 20c or equal distance from each other around the front of the 11 main body's 11 outside pefimeter so that they are approximately 120 from each 12 other. The backward-facing cameras are preferably placed at either side of the 13 main body 11 so that they are approximately 180 from each other.
14 As shown in Figs. 5 and 6, the head assembly 12 supports a variety of devices, including a tape head 15 or an articulated deployment arm 18. The 16 rotating aspect of the head assembly 12 assists in the positioning of an attached 17 device when the mule 10 is inside the conduit. The head can be optionally 18 restricted to 270 degrees; being 135 clockwise A and 135 counterclockwise B and 19 thereby can avoid over-rotating the articulated arm 18. The rotation of the head, and control of its position, is accomplished by means of a motorized gear assembly 21 (not shown).
1 While the mule 10 can be fitted with its own power source and remote 2 communications, the mule's range can be increased while reducing its size and 3 weight by supplying all via an umbilical.
4 Having reference to Fig. 7 an umbilical or umbilicals 5, suitable for remote robotic controls and delivery of plural component polyurethane coating, 6 comprises a plurality of specialized conduits embedded within a protective cover 6.
7 A typical 1-13/16" diameter umbilical capable of manufacture in lengths of up to 8 2750 ft long is be capable of a plural component delivery flow rate of about 0.5 9 gallons/min at a working pressure of 3000 Ibs, and having a bursting pressure of 5000 lbs. The umbilical comprises plural component conduits including an 11 isocyanate conduit 26a and a resin conduit 26b. The isocyanate and resin are kept 12 warm using a heat source such as electrical heat trace elements (not shown) 13 extending through at least a portion of the length of the umbilical or using hot heat 14 transfer fluid circulation (a feed line 27a and return line 27b). If used, heat tracing can comprise 18 gauge wire carrying 480 volt and 2.5 amps, (1200 watts). Such a 16 heating element would typically be present in only the first 400 feet or so of 17 umbilical. At high enough plural component flow rates, the remainder of the 18 umbilical would not need to be additionally heated as the plural components should 19 retain sufficient heat. A temperature control line 28a would report on umbilical temperature or termination temperature. Data control cables 28b, such as 6 wire, 21 20 gauge conductors can be encased in insulation, triad sheath, a neoprene jacket, 22 armor and a poly outer coating. Up to three electrical cables 29 provide power for a 23 variety of devices at the mule 10 or mouse 13. Particularly useful with plural 1 component sprays is the need for purging the spray nozzle when the flow of 2 isocyanate and resin terminate. Accordingly, it is also useful also to provide a 3 pressurized nitrogen supply in a liner-wrapped hose 31a. Pneumatics can be 4 powered using a pressurized air supply hose 31 b.
All of the various conduits are wrapped in an insulation layer and 6 housed in a durable outer coating 6.
7 Preferably any heat transfer fluid can be used, but for maximum 8 versatility hydraulic fluid which is food grade (such as canola oil) is used to allow for 9 conduit treatment in potable water systems. The working temperature of the umbilical ranges from 130 F to 160 F. The umbilical 5 is coated 6 both inside and 11 outside with Teflon to decrease the drag coefficient. Any joints are tapered and 12 molded creating a one piece umbilical 5.
13 Referring to Figs. 25a,25b, other devices that can be used with the 14 mule and mouse arrangement include a spray nozzle 90, most preferably a nitrogen (N2) purging spray head. Generally the N2 purging spray nozzles 90 are designed 16 to spray plural component polyurethane (Pur). A typical configuration for a purging 17 spray nozzle has inlets 91 a,91 b for each of the ioscyanate and resin components 18 which are offset so that they mix in a static mixer tube 92, and not at their respective 19 valves 93a,93b. A nitrogen purge 94 blows the tube 92 clean before the Pur can set. The valves 93a,93b always remain charged with single component materials 21 and thus will not set up. The mixing tube 92 is designed so that there are no 22 cavities and thus, during purging, the components are forced away from the inlet 1 valves. Nitrogen purging occurs automatically each time the valves 93a,93b are 2 closed.
3 Various nozzle head designs include single, dual (shown) and quad 4 nozzles and applying the spray at prescribed fan angles (e.g. single nozzle at 45 , dual nozzle at 22.5 and quad nozzle each at 11.25 ). The nozzle heads are 6 designed such that there are no cavities in which the polyurethane components can 7 mix and set. A typical flow rate of the components is about 0.5 gallons /
min for 8 each head. The working pressure of the nozzles is 3000 lbs. The temperature at 9 the heads will vary, depending on the design, and ranges from 135 F to 160 F.
Having reference to Figs. 5 and 8 a tape device, dispenser or head 15 11 can be adapted for mounting directly to the mule 10 (Fig. 5) or as an extension from 12 additional devices. The tape head 15 comprises a roll supply of tape 15b having at 13 least one working face bearing adhesive, a pivoting linkage 15c, guiding rollers 15d, 14 and two pneumatic air-rams 16. Typically, the tape head 15 is used to tape small gauge conduit, cable or other flexible elongate members 21, to the inside of the 16 main conduit 1 or sub-conduit 2. As the mule 10 retreats from a conduit 1,2, the 17 rollers 15d simultaneously guide the tape and sandwich the flexible member }
18 between the tape 15b and the conduit 1,2. As shown in Figs. 8 and 9, the roll of 19 adhesive tape 15b feeds as a normally flat profile through a pair of pre-shaping rollers 15e,15f for concave dimpling 15h of the middle portion of the tape 15b. The 21 concave dimpling 15h forms as concave receiver or support portion for the flexible 22 member 21. Pre-shaping the tape 15b minimizes wrinkling when ultimately applied 23 to the inside of the conduit 1,2. Referring also to Fig. 10, a final guide and placing x~ -1 roller 15g presses the tape 15b and flexible member 21 into position 2 against the conduit 1,2. The air rams 16 ensure sufficient adhesive bonding 3 pressure is applied to the tape 15b.
4 Referring to Fig. 11, in a preferred embodiment, additional security and tape bonding strength is achieved using a post polyurethane spray step. As the 6 flexible member 21 is taped to the conduit 1,2, plural component coating 7 (polyurethane) 35 can also be sprayed over the elongate member 21, the tape 15b 8 and the inside wall of the conduit 1,2. Additional advantage is obtained if at least 9 the bounding peripheral lateral edges 15i,15i of the tape 15c are perforated or otherwise porous so as to enable penetration of the polyurethane 35 through the 11 peripheral edges of the tape 15b and to better enable direct bonding of the 12 polyurethane and the tape to the conduit 1,2, thereby only relying for a short 13 duration upon the adhesive of the tape. Further, by producing tape having porous 14 lateral edges and also having an adhesive-free and spray impervious middle portion, the flexible member is then merely supported in a tape pocket 37 but is not 16 otherwise constrained. The tape pocket enables the flexible member 21 to move 17 somewhat along the conduit 1,2 such as is the case with longitudinal expansion and 18 contraction of the member 21 which differs from that of the conduit 1,2. In this way, 19 members 21 such as sensitive communications cables and the like are not subject to tensile loads which could threaten the integrity of the cable.
21 In another embodiment, as shown in Figs. 8,12 and 13, the mule 10 is 22 fitted with an additional and smaller robotic vehicle or mouse 13, transported by the 23 mule. The mouse 13 is particularly adaptable to accessing laterally intersecting . . . - .. . f . .
1 sub-conduits. In this embodiment each track assembly 20a, 20b, 20c is attached to 2 the main body 11 via a pair of pivotable scissors-like linkage assemblies 23. These 3 linkage assemblies 23 are pivotally connected to the main body 11 as well as to the 4 track housing 30, and allow for an outward displacement of the track assemblies 20a, 20b, 20c without the accompanying the forward displacement that results in 6 the first parallelogram-like embodiment of the mule 10 as described in the previous 7 embodiment.
8 The track assemblies 20a, 20b, 20c can again be displaced radially 9 using screws, pneumatic cylinders or a combination including air diaphragms 25.
Alternatively, it clear to a skilled person that many different centering means can be 11 employed including a reverse scissors-like linkage assembly and screw (not shown) 12 such as that found in a common car jack design.
13 Having reference to Figs 12 and 13, the mouse 13 is transported in an 14 articulated housing 19 extending from the mule 10, the housing comprising a tubular transport housing 19a supported from the head assembly 12 by connecting 16 brackets 19b. Referring to Fig. 12, the connecting brackets 19b are attached to the 17 head assembly 12 and also to the transport housing 19a at two pivot points 19c, 18 19d. The pivoting of the transport housing 19a 'is accomplished by an actuating 19 cable or a motor (not shown).
The housing 19a supports the mouse for transport to and for 21 subsequent deployment into sub-conduits. The mouse 13 is a self-centering robotic 22 vehicle like the mule 10 and employs similar tri-track apparatus 20a-20c to provide 23 mobility. For transport, the tracks of the mouse 13 are driven to their collapsed or 1 radially compressed state for fitting within the transport housing 19a.
Preferably the 2 housing 19a and supported mouse 13 are supported close to the head assembly 3 so as to position the mouse's cantilevered center of gravity close to the mule 10 4 during transport. For deployment, the housing 19a is extended outwardly and axially in linear guides 19e until the housing 19a can be pivoted or rotated.
The 6 extension of the transport housing 19a is aided with cooperation between the pivots 7 19c,19d and the guides 19e. at least one of the pivots 19c or 19d has linear edges 8 which engage closely with the guides 19e and thus the transport housing 19a is 9 unable to pivot. However, at the furthest extent of the guides 19e they are locally widened to permit rotation of the pivots 19c,19d and thus enable rotation.
11 To deploy the mouse 13 into a sub-conduit 2, the transport housing 12 19a is aligned with the sub-conduit by pivoting the housing about pivot points 19c, 13 19d. =
14 Preferably, where the mouse 13 is not entirely self-contained for performing its tasks, a second umbilical 5b connects the mouse 13 to remote 16 power, supply and control sources. The mouse 13 must drag the umbilical 5b along 17 the sub-conduit 2. Normally the mule 10, being a more robust robot pulls the first 18 and second umbilicals 5a,5b down the main conduit 1, however, for deployment 19 along sub-conduits 2, the mouse 13 continues to demand umbilical 5b from the supply or from surface. As the mouse 13 is typically less capable for pulling the 21 necessary loads at deep conduit locations, the mule 10 feeds the second umbilical 22 to the mouse 13, via opposing and driven umbilical drive rollers 13a,13b (one roller 23 shown) attached at the rear of the main body 11, `and a guide tube 11 a through the CA 02369714 2002-01-30 .
1 mule's main body 11 and to the mouse 13. The guide rollers 13a, 13b are driven by 2 motors (not shown).
3 Two opposing notches 19f are present at the back of the transport 4 housing 19a, which enable rotation of the housing 19a despite the presence of the umbilical 5b but also aid in the guiding and support of this second umbilical 5b when 6 the housing 19a is aligned and the mouse 13 is deployed.
7 Returning to Fig. 8, a tape head 15, suitable for taping cable, 8 conductors, or small diameter conduits to the inside of a larger conduit 1,2, can also 9 be attached to the housing's connecting bracket 19b by means of a spacing bracket 15a. It is well understood by the skilled person that a cable, conductor or small 11 diameter sheath or conduit are all flexible, elongated members which can 12 reasonably be taped to the inside of a larger conduit. The tape head 15 is spaced 13 far enough from the transport housing 19a so as not to interfere with its pivoting 14 action and lateral deployment of the mouse 13 into sub-conduits 2. The tape head 15 further comprises a roll supply of tape 15b, a pivoting linkage 15c, pre-forming 16 and guiding rollers 15d, and two pneumatic air-rams 15e.
17 Returning to Fig. 14, the mule 10, a transport housing 19a and a 18 mouse 13 are shown deployed inside a main conduit 1.
19 A first umbilical 5a connects the mule 10 to a remote control, supply and power source (not shown). The second umbilical 5b similarly connects the 21 mouse 13 to a remote control, supply and power source. The second umbilical 5b 22 passes through the hollow main body 11 to the mouse robot 13. Two opposing 23 notches 19f are present at the back of the holding cylinder 19a which avoid .~~~.., 1 interference when pivoting and aid in the guiding of the second umbilical 5b when 2 the transport housing 19a is aligned and the mouse 13 is deployed.
3 In some cases, it is difficult to anticipate the elongated dimensions of 4 the transport housing 19a necessary for either housing the mouse 13 or for bridging and guiding the mouse 13 from the mule in the main conduit 1 to the sunb-conduit.
6 Accordingly, an articulated arm 18 can be provided for adapting and accessing sub-7 conduits 2 substantially independent of the diameter of the main conduit 1.
Having 8 reference to Figs. 15a and 15b, the moveable arm 18 is illustrated in plan and in 9 side views.
Having reference to Figures 5, 15a-17, such an articulated arm 18 is 11 capable of aligning with an intersecting sub-conduit and guiding the mouse from the 12 transport housing to deploy the mouse into the sub-conduit. The arm 18 comprises 13 a generally segmented cylindrical body 50 having a plurality of pivotally-connected 14 chevron-shaped ring-like segments 51.
Shown in an unactuated state in Figs. 15a,15b, the chevron-shaped 16 ring segments 51 are arranged in an altemating vertical and horizontal pivots which 17 pass through the arm's axis; unlike a conventional herringbone arrangement having 18 a plurality of vertical pivots. While vertical pivots enable a lateral curving 19 movement, the addition of alternating horizontal pivots also enable vertical curving movement. To minimize the chance of jamming of the arm against the bottom of a 21 conduit, the vertical curving movement is limited by stops at the bottom of altemate 22 segments, preventing free downward rotation of the alternating segments.
This 1 arrangement provides a good range of motion and allows the arm 18 to articulate as 2 is further described below.
3 As shown in Fig. 16, the arm 18 attaches to the mule 10, at a first end 4 50a which acts also as the transport housing 19a for the mouse. At a second end 50b of the transport housing 19a, a first segment 51a is pivotally connected at two 6 lateral and opposing pivot points 54a 54b. The outside diameter of the first 7 segment 51 a is slightly smaller than the inside diameter of the cylindrical body 50, 8 and by virtue of the lateral pivot points 54a 54b, the first segment 51a is capable of 9 articulating in an up and down plane relative to the cylindrical body 50.
As there are rarely sub-conduits which intersect below the mid-point of 11 a main conduit 1, it is typically unnecessary to actuate the arm below the axis of the 12 cylindrical body 50; actually it is desirable to prevent the arm 18 from downward 13 articulation. To prevent such downward articulation, stops 56 and notch 58 14 arrangements are used. A stop 56 projects upward from the bottom of the cylindrical body 50 at the second end 50b and from each alternate segment 51.
16 The notch 58 at the bottom of the first segment 51 a fits around and engage the stop 17 56 when the first segment 51a is articulated to align with the horizontal plane of the 18 cylindrical body 50; thereby preventing the first segment 51a from articulating 19 downward past the horizontal plane, yet without impeding lateral movement.
As there is no stop and groove arrangement on the top side of the body 50 and first 21 segment 51a, the segment 51a is free to articulate upwards relative to the 22 cylindrical body 50.
1 A second segment 51 b, with the same inside and outside diameter as 2 the cylindrical body 50, fitting over top of the first segment 51 a, is pivotally 3 connected to the segment 51 a at a top 62 and bottom (not shown) pivot point. The 4 second segment 51 b is therefore capable of articulating in side to side plane relative to both the cylindrical body 50 and first segment 51 a. As both left and right side-to-6 side articulation is desirable no stop and notch arrangements are provided between 7 the first 51 a and second 51 b segments. The side-to-side articulation will therefore 8 only be constrained by the exact shape of the chevron peaks; with steeper peaks 9 providing a greater range of motion.
Additional and alternating segments 51 a,51 b,51 a, ... are connected 11 together in the manner described above, with additional and alternating stop 56 and 12 notch 58 arrangements to prevent downward articulation. The embodiment shown 13 in Figures 6 and 7 have five additional segments 51 providing the arm 18 with a 90 14 degree range of motion in the up and down plane and a 180 degree range of motion in the side-to-side plane.
16 Turning to Fig. 17, the articulation of the arm 18 is controlled by 17 means of cables 70a 70b extending along the outside of the arm 18. A first cable 18 70a connects at a connecting point 74, runs along the top of the arm, through a 19 guides 72 on the top of each second segment, and winds around a first spool (not shown) driven by a first reversible motor (not shown). To articulate the arm 21 upwards from its horizontal resting position, the motor turns the spool to wind the 22 cable 70a up around it, thereby exerting a pulling force at connection point 74 and 1 raising the segments 51. To lower the arm 18, the motor reverses, unwinding the 2 cable 70a from the spool and the segments 51 lower due to the force of gravity.
3 A second endless cable 70b connects at a connecting point 76 on one 4 side of the last segment 51 c, runs along the sides of the arm 18 through loops 78a on each second segment, {oops ; around a first guide 80, winds around a second 6 spool (not shown) driven by a second reversible motor (not shown), loops around a 7 second guide 82 runs along the opposite side of the arm 18 through a loop on each 8 second segment 78b and connects at a connecting point 84 on the opposite side of 9 the last segment 51c. To articulate the arm 18 side-to-side, the second motor tums the second spool. Depending on the direction of rotation of the spool a pulling force 11 is exerted at either connection point 76 or connection point 84 while at the same 12 time an equal reduction in pulling force is experienced at the opposite connection 13 point 84 or 76 as the case may be. The two sets of motors and spool may be 14 located either on the cylindrical body 50 or on the mule 10.
Having reference to Fig. 18, the length of the articulated arm is also 16 particularly well adapted for transporting a mouse of longer and enhanced design.
17 A plurality of mouse robots 13,13,13 are configured in combination as a series of 18 drive and taping vehicles for deployment into a sub-conduit. The mouse robot 13 19 comprises a plurality of linked sub-units 100 each with at least one track assembly 101. The sub-units include at least one drive unit 100a, one guide unit 100b and 21 one tape unit 100c. The guide unit 100b has a rolling guide 110 mounted on a 22 flexible arm 112. The rolling guide 110 is kept in contact with the inner wall of the 23 sub-conduit by means of a spring 114 which presses the arm 112 upward. The 1 tape unit 100c holds a roll of tape 120 which is dispensed, through a series of rollers 2 122 and guides 124, to the inside wall of the sub-conduit. Multiple guide 100b and 3 tape units 100c are desirable when taping inside a long section of sub-conduit and 4 one roll of tape 120 would carry an insufficient amount of tape to tape the entire , length of sub-conduit (the size of tape roll 120 being constrained by the small inside 6 diameter of the sub-conduit).
7 The drive unit houses a motor 104 which connects to the other sub-8 units 100 by means of a flexible, discontinuous drive shaft 106. The drive shaft 106 9 passes the torque from the motor 104 to a gear box 108 in each guide unit 100b while passing through each tape unit 100c in order to connect to the gear box 108 in 11 a subsequent guide unit 100b. The gear box 108 in each guide unit 100b, using the 12 torque supplied to it from the motor 104 via the drive shaft 106, powers a drive 13 wheel 130 which in tum powers its track assemblies 101. The track assemblies 101 14 on the guide units 100b in turn drive the entire linkage of sub-units 100.
The track assemblies 101 of the other sub-unit types 100a, 100c therefore simply move in 16 response to the force created by the guide units 100b.
17 Figures 19 and 20 show a second embodiment of a plurality of mouse 18 robots 13,13 configured as a taping vehicle for deployment into a sub-conduit 2.
19 This second embodiment is similar to the first embodiment described above in that it comprises at least one drive unit 1 OOa, one guide unit 100b and one tape unit 100c.
21 Unlike the first embodiment described above, the sub-units 100 in this 22 mouse robot 13 have at least six track assemblies 101 each, arranged as two pairs 23 of three track assemblies 101 to provide further support and stability to the unit.
1 As an alternate method to transport a sufficient length of tape through 2 the small-diameter sub-conduit 2, the tape 130 is constrained to the size of the roll 3 as in the first embodiment, but instead is supplied as an endless elongated band 4 wrapped around two rollers 132 spaced some distance apart on the taping unit 100c. The tape is fed through a roller 122 to a rolling guide 134 which applies it to 6 the inside of the sub-conduit 2.
7 The drive unit 1OOa in this embodiment has a rolling guide 110 like 8 that on the guide-unit 100b which assists in placing and aligning a flexible member 9 140 along a designated path of the inside wall of the sub-conduit 2, prior to being taped.
12 Apparatus Examples:
13 Mule 14 The mule as illustrated in Figs. 4-6 was configured to pack or transport a mouse through a main conduit and had the following general specifications 16 including: a tri-track drive, each track assembly being 28" long by 4.5"
wide, 17 hydraulically or electrically driven straight run unit, fitting inside conduits from 16" up 18 to 24", with a maximum pressure of 120 lbs/sq. in. on the inner surface of the 19 conduit and having variable and reversible speeds of up to 120 ft/min. The tracks could traverse a minimum side bend of 16" radius. For pulling umbilicals, the mule 21 has a unit line pull of 1000 pounds at maximum drive track torque. Optional 22 attachments included up to six digital video cameras (3 forward facing and 3 rear 23 facing), pressure sensors for monitoring track pressure and umbilical tension, . ----~-~ ----1 multiple wash head assemblies, drill head assemblies, grout form packer 2 assemblies, taping head assemblies, and lateral line grinder/cutter assemblies.
4 Mouse In the case of a mouse 13, the specifications for each mouse 6 generally included: a tri-track drive 3" long, .75" wide, electrically driven, with a 7 maximum pressure of 20 lb/sq. in. on inner-surface of pipe, a variable travel speed 8 of up to 10 ft/min, and an umbilical:unit line pull at maximum torque of 250 lbs. The 9 line pull varied depending on the number of inline mouse units deployed.
Optional attachments included: up to two digital cameras (one forward facing, one rear 11 facing), pressure sensors for track pressure and line pull, wash head assemblies, 12 taping head assemblies, and lateral line packer head assemblies.
13 Increased tape supply and umbilical pulling capability was provided by 14 providing a chain of seven mouse robotic vehicles, which were configured as a fibre optic (conductor) placing, aligning and taping unit. Enhanced specifications for the 16 taping unit embodiment included: ability to carry multiple rolls of tape, handling tape 17 rolls up to 6" wide, carrying and deploying up to 2500' of tape on a single pass, 18 installing up to 4 conductors in a singie pass, and pulling up to 1000 pounds of 19 conductors in a single pass.
Clearly, other embodiments of the taping vehicle can have different 21 specifications. For instance, another smaller embodiment might carry only 100' of 22 2" tape, and would only pull 1/4" diameter conductor up to 350'.
1 Operational Examples:
2 Spray Coating Rehabilitation 3 An average rehabilitation job for a system of conduits (main conduits 4 and sub-conduits) such as wastewater or storm sewer lines typically includes the following steps. A vacuum truck is used for cleaning the main pipeline conduits.
6 The work done by this unit is only on the main conduit. A wash-and-vacuum unit 7 works with the vacuum truck to wash and clean the lateral pipeline sub-conduits and 8 also does a post-wash of the main conduits. Then all conduits are vacuumed dry.
9 At this stage diaphragm plugs are placed in the lateral sub-conduits, which keep effluent from re-entering the cleaned pipes. ' The wash-and-vacuum unit is 11 connected to the vacuum truck. This unit is equipped with a video and data 12 monitoring system, and also controls a mouse which accesses to lateral sub-13 conduits for cleaning. This unit also carries supplemental spray components in 14 totes or magazines. The material in the magazines are transferred to the main spray system as necessary. High air flow fans are placed to blow air through the 16 cleaned sections of pipe which helps control humidity and further dries the pipe.
17 Spray washing of the conduit walls may also be conducted using a 18 suitable washing tool affixed to the mouse which is supportably retained in the 19 transport housing with the wash and polyurethane spray nozzles extending substantially axially along the conduit.
21 The rehabilitation process is typically conducted when the system of 22 conduits is already cleaned and dried using the wash and vacuum unit or an 23 adapted mule and mouse. Each section can be cleaned, spray coated, and back in 1 operation within a few short hours, even for sections of conduit in the order of 2700 2 feet having a conventional residential frequency of lateral sub-conduits.
3 Once clean, typically there are two and sometimes three robotic 4 vehicles employed to rehabilitee the system of conduits. The lead unit or mouse carries the majority of the monitoring and videp equipment and can enter sub-6 conduits from 8" to 20". A trailing unit or mule carries the mouse in and out of larger 7 conduit and enables deployment of the mouse into the lateral sub-conduits .
A
8 typical mule configuration can enter pipes from 12" to 60". An optional tertiary unit 9 can be employed merely to pull umbilicals through the conduits. It would generally not be required to transport monitoring or video equipment.
11 The mule and mouse are driven as far into the pipe as required to 12 commence rehabilitation of the system of conduits. The mouse is adapted to carry 13 nozzles capable of dispensing plural part polyurethane coatings. A heated umbilical 14 trails behind the mouse and behind the mule for conducting the two parts of the polyurethane along with the communications, controls and power supplies.
Setting 16 up for receiving the mouse spray unit and mule includes placing bridging track units 17 in the pipe, setting up the pumps, and correlating the computer data, and start 18 recording of the data. Measurements of the pipe and recording of data include the 19 density of pipe, laser measurement of the interior diameter of the pipe, the humidity inside the pipe, and a video record of the pipe to check for irregularities, water 21 intrusion.
22 There are four variables that determine thickness of the sprayed 23 components: the speed at which the mouse is extracted, the fluid temperature, the 1 nozzle pressure, and the flow rate. The plural part spray compound is typically 2 composed of resin and isocyanate. The resin consists of urethane and urea.
3 Depending on data collected (ie. humidity and wall dampness) a balance between 4 the two compounds is adapted as is known to those skilled in the art. BASF
and Uniroyal are well known suppliers which aid in selecting ratios for particular 6 conditions. Typically, the sprayed compound takes 3 to 10 seconds to set with a 7 total cure time of 15-30 minutes.
8 In order to spray the lateral sub-conduits, the spray units can either be 9 re-inserted after complete treatment and curing of the main line or the main conduit is only sprayed in retreat up to a lateral sub-conduit at which time the lateral is 11 rehabilitated before resuming rehabilitation of the main conduit.
12 For each lateral, position and conduit condition measurements and 13 video recording can be performed as was perFormed the main conduits.
14 In cases where discharge waste or effluent may be anticipated down the laterals, it is preferably to temporarily block the lateral, usually at a property line 16 boundary to avoid issues regarding trespass. Accordingly, the mouse extracts a 17 packer or plug from a magazine mounted off of the mule before deploying down the 18 lateral. The mouse advances to the property line and engages the plug.
19 The mouse then retreats and spray coats the lateral as the mouse spray unit is extracted. Upon completing the lateral sub-conduits, the plugs are 21 removed.
22 Having reference to Figs. 21 a-21 f, a selected sequence of operations 23 is illustrated for spray coating rehabilitation treatment of a system of conduits. One 1 approach is to initially perform a cleaning and data acquisition pass (laser, GPS, 2 and sonic dimensional and location data) is made. At the conclusion of one or more 3 passes of the cleaning, the mule and mouse are left at a distant position and are 4 ready for conducting treatment. In this case, a protective coating is applied.
In Figs. 21 a-21 g, conduits 1 and sub-conduits 2 are being cleaned 6 and coated. In more detail, the mule and mouse are introduced to the system of 7 conduits 1,2. Typically in the case of a manhole access to an underground conduit, 8 the conduit is interrupted and the mule and mouse are lowered down an access 9 shaft 150 inside a temporary and expandable housing 155 as necessary to bridge the interruption in the main conduit and act as a launch off point for the mule. One 11 end of the expandable housing 155 is directed to catch on an exposed edge of the 12 conduit 1, at a contact point 160, which aids in aligning the housing 155 with the 13 entrance of the conduit 1. The housing 155 is telescopically expanded lengthwise 14 so as to wedge across the shaft 150 in alignment with the conduit 1 thereby allowing the mule 10 to deploy along the conduit 1.
16 The mouse 13 is transported along the conduit 1 by the mule 10 inside 17 its articulating transport housing 19a. Both robots 10, 13 are connected to a remote 18 supply, power and control source via umbilicals 5a, 5b respectively. The umbilical 19 cable 5b connected to the mouse 13 passes through the mule robot 10 which aides in the subsequent deployment of the umbilical to the mouse 13 as it traverses sub-21 conduits 2.
1 Fig. 21 b can represent a cleaning pass traveling forwards and 2 backwards, or can represent the final protective coating spray 34 before retrieval of 3 the mule 10 and mouse 13.
4 Turning to Figs. 21 c- 21g, the coating process is conducted as the mule 10 is retrieved.
6 Fig. 21c illustrates spraying of a coating 34 in the main conduit 1. The 7 nitrogen purging nozzle 90, carried by the mouse, is used to apply polyurethane 8 coating 34 to the conduit 1. As shown in Fig. 21 d, when traversing standard bends 9 in the conduit, the transport housing 19a is pivoted to align the mouse 13 and spray nozzle 90 substantially with the center of the conduit 1. In Fig. 21 e, when a lateral 11 sub-conduit 2 is reached, the coating spray is purged, and the transport housing is 12 pivoted to align with the sub-conduit 2. The mouse 13 is directed into the sub-13 conduit 2. If not already cleaned, the mouse 13 can traverse the sub-conduit 2 to 14 clean and condition the sub-conduit 2.
Referring to Figs. 21 e-21 g, if there is a fear of an effluent discharge 16 during or prior to the spraying process, an expandable plug 89 can be temporarily 17 deployed to block the sub-conduit, such a deployment perhaps being combined with 18 the cleaning step. At Fig. 21 e a plug 39 is transported by the mouse 13 to a safe 19 position in the sub conduit and the mouse is retrieved as shown in Fig.
21f.
Referring to Fig. 21g, on a separate trip, or on the return trip to the mule after 21 placing the plug 89, the coating 34 can be sprayed on the sub-conduit 2.
Once the 22 coating is sufficiently set, the mouse 13 runs up the sub-conduit 2 to retract and 23 retrieve the plug 89 and replace it in the magazine carried by the mule.
2 Ta in 3 Figures 22a - 22c illustrate use of the mule 10 to tape several flexible 4 elongated members 21 inside a main conduit 1. While the mouse 13 is illustrated as being transported, it is also inactive, the taping head 15 being operated 6 independently of the mouse 13. The flexible members 21 can be conductors or 7 sheaths for housing conductors in a system of conduits 1,2. As shown in Fig.
22a, 8 the mule runs in one or more flexible members 21 (two shown) and long a conduit 9 1. As shown in Fig. 22b, at a predetermined termination of the conduit 1, the members 21 are anchored or otherwise secured for initiation prior to taping the 11 members. At Fig. 22c, the mule is retrieved form the conduit 1 while guiding and 12 taping the flexible members 21 to the inside wall (roof) of the conduit 1.
13 An example of operations in sub-conduits 2 and even those extending 14 into a building are shown in Figures 23a - 23f. A flexible member 21 is taped in a system of conduits 1,2 using an articulated arm 18 and a plurality of mouse robots 16 13 according to Fig. 19, namely. In Fig. 23, the mouse 13 is transported by the 17 mule 10 in the transport housing 19a, which in this case is the arm 18. The desired 18 sub-conduit 2 is located. At Fig. 23b, the arm is aligned with the sub-conduit 2. At 19 Fig. 23c, the mouse 13 is run into the sub-conduit, pulling the flexible member 21.
At Fig. 23d, the plurality of mouse robots 13 negotiate a curve in the sub-conduit 2.
21 The flexible member 21 is captured and anchored at the termination of the sub-22 conduit 2. The taping head 15 on the mouse 13 initiates of taping of the member 21 23 to the conduit 2.
1 For taping, at Fig. 23f, as the mouse 13 retreats to the mule 10 and 2 the main conduit 1, the mouse 13 guides the flexible member 21 onto the sub-3 conduit 2 and secures it thereto with the tape 15b. As the mouse exits the sub-4 conduit 2, the arm 18 can be rotated in coordination with the taping action of the tape head to tape the flexible member 21 on the curved roof of the main conduit 1.
6 As shown in Fig. 23h, as the mule 10 retreats in the main conduit, the mouse's 7 taping head continue to tape of the flexible member 21 to the main conduit 1.
8 As shown in Fig. 24, in situations where a manhole or other access 9 interrupts the main conduit, a telescoping member 99 is extended across the interruption. Accordingly, as shown in Fig. 23h, the flexible member and tape 15b 11 have a continuous and contiguous path.
Claims (42)
1. A method for treating a system of conduits having at least one main conduit and having one or more intersecting sub-conduits comprising:
providing a robotic mouse vehicle suitable for traversing the one or more sub-conduits and conducting treatment;
providing a robotic mule vehicle suitable for traversing the main conduit;
transporting the mouse to the sub-conduit using the mule;
deploying the mouse into the sub-conduit; and treating the conduits and sub-conduits using the mouse and mule;
wherein the mule transports the mouse in a housing capable of aligning with the sub-conduit.
providing a robotic mouse vehicle suitable for traversing the one or more sub-conduits and conducting treatment;
providing a robotic mule vehicle suitable for traversing the main conduit;
transporting the mouse to the sub-conduit using the mule;
deploying the mouse into the sub-conduit; and treating the conduits and sub-conduits using the mouse and mule;
wherein the mule transports the mouse in a housing capable of aligning with the sub-conduit.
2. The method of claim 1 wherein the intersecting sub-conduits are smaller in diameter than the main conduits.
3. The method of claim 1 wherein the mouse has at least one plug deployment device capable of deploying and releasing expandable plugs into the sub-conduit, further comprising the steps of deploying an expandable plug into the sub-conduit so as to block up-stream effluent and thereby preventing the effluent from interfering with the treatment of the conduits and sub-conduits; and recovering the expandable plug after treatment of the sub-conduit.
4. The method of claim 3 wherein the housing is pivotally rotatable to align with the sub-conduit.
5. The method of claim 3 wherein the housing comprises an articulated arm capable of aligning with the sub-conduit.
6. The method of claim 1 wherein the conduits and sub-conduits are treated comprising the step of spraying a protective coating to the inside of the conduits and sub-conduits.
7. The method of claim 6 further comprising the step of spraying the protective coating from the mouse.
8. The method of claim 6 further comprising the step of spraying a plural component polyurethane to the inside of the conduits and sub-conduits.
9. The method of claim 8 further comprising the step of transporting heated plural component polyurethane coating compounds to the mouse through a flexible umbilical.
10. The method of claim 9 where at least a portion of the umbilical contains heating device to heat the plural component polyurethane.
11. The method of claim 10 where the heating device is an electrical wire heating element.
12. The method of claim 10 where the heating device comprises hot oil circulation channels.
13. The method of claim 9 further comprising the step of pulling the umbilical through the main conduit using the mule.
14. The method of claim 13 further comprising the step of pulling the umbilical through the sub-conduits using the mouse.
15. The method of claim 14 further comprising the step of feeding the umbilical from the mule to the mouse so as to assist the mouse in pulling the umbilical through the sub-conduits.
16. The method of claim 8 further comprising purging the spray head with nitrogen when not spraying.
17. The method of claim 1 wherein the system of conduits is treated by installing a flexible elongate member having an end to an inside wall of the conduits further comprising the steps of advancing the end of the flexible member through the conduits using the mule and mouse;
anchoring the end of the flexible member; and taping the flexible member to the inside wall of the conduits while withdrawing the mule and mouse.
anchoring the end of the flexible member; and taping the flexible member to the inside wall of the conduits while withdrawing the mule and mouse.
18. The method of claim 17 where the flexible member is a conductor.
19. The method of claim 18 where the flexible member is a fiber-optic cable.
20. The method of claim 18 where the flexible member is a coaxial cable.
21. The method of claim 17 where the flexible member is a hollow sheath capable of housing a conductor.
22. The method of claim 19 wherein the mouse has at least one nozzle for spraying a coating, further comprising the step of spraying coating over the flexible member, tape and at least a portion of the conduit using the spray nozzle while withdrawing the mouse for further securing the tape to the conduit.
23. The method of claim 22 wherein at least a portion of the tape is porous for permitting penetration of the spray coating therethrough for further securing the tape to the conduit.
24. The method of claim 22 wherein the tape has a non-adhesive middle portion for supporting the flexible member and has adhesive edge portions so that the flexible member is substantially unconstrained axially by the tape when secured to the conduit.
25. The method of claim 22 wherein at least a portion of the adhesive edge portions of the tape are porous for permitting penetration of the spray coating therethrough for further securing the tape to the conduit.
26. The method of claim 1, wherein the main conduit is accessible through an intersecting access shaft further comprising the steps of:
placing the mule and mouse in a housing;
lowering the housing down the shaft to align the mule with the main conduit;
securing the housing to the main conduit at the shaft; and deploying the mule and mouse into the main conduit.
placing the mule and mouse in a housing;
lowering the housing down the shaft to align the mule with the main conduit;
securing the housing to the main conduit at the shaft; and deploying the mule and mouse into the main conduit.
27. The method of claim 26 wherein the housing is telescopically expandable, wherein the housing is secured to the main conduit at the intersecting access shaft further comprising the step of telescopically expanding the housing to bridge the main conduit across the shaft.
28. The method of claim 26 wherein the housing is a clam-shell configuration, capable of increasing and decreasing in lateral dimension, further comprising the steps of:
minimizing the housing's diameter prior to lowering the housing and the mule down the intersecting access shaft; and increasing the housing's diameter after the housing is secured so as enable deployment of the mule.
minimizing the housing's diameter prior to lowering the housing and the mule down the intersecting access shaft; and increasing the housing's diameter after the housing is secured so as enable deployment of the mule.
29. An apparatus for treating a system of conduits having at least one main conduit and having one or more intersecting sub-conduits comprising:
a robotic mouse suitable for traversing the one or more sub-conduits;
a device carried by the mouse for treating the one or more conduits;
a robotic mule suitable for traversing the main conduit and for transporting said mouse;
a transport housing supported by the mule and for carrying the mouse; and means for aligning the transport housing with a sub-conduit.
a robotic mouse suitable for traversing the one or more sub-conduits;
a device carried by the mouse for treating the one or more conduits;
a robotic mule suitable for traversing the main conduit and for transporting said mouse;
a transport housing supported by the mule and for carrying the mouse; and means for aligning the transport housing with a sub-conduit.
30. The apparatus of claim 29 wherein the means for aligning the transport housing, with a sub-conduit is a tubular housing pivotally mounted to the mule.
31. The apparatus of claim 29 wherein the means for aligning the transport housing with a sub-conduit is an articulated tubular arm supported from the mule.
32. The apparatus of claim 31 wherein the articulated tubular arm comprises:
a plurality of tubular rings pivotally connected together with alternating horizontal and vertical pivots; and means for actuating the arm to articulate at least laterally.
a plurality of tubular rings pivotally connected together with alternating horizontal and vertical pivots; and means for actuating the arm to articulate at least laterally.
33. The apparatus of claim 29 wherein the treating device is a spray nozzle for dispensing a coating.
34. The apparatus of claim 33 wherein the spray nozzle dispenses polyurethane.
35. The apparatus of claim 33 further comprising an umbilical for supplying the spray nozzle with components for dispensing polyurethane.
36. The apparatus of claim 29 wherein the treating device comprises a tape head mounted to the mouse for taping a flexible elongated member to the inside wall of sub-conduits while withdrawing the mule and mouse therefrom.
37. The apparatus of claim 36 wherein the tape head farther comprises:
a supply of tape having a normally flat cross-section, the tape having at least one working face having a flexible member supporting portion and bounding peripheral edges, the working face having adhesive on at least a portion of its working face;
at least one pair of rollers for shaping the supporting portion of the cross-section of the flat tape into one or more concave shapes which correspond with the one or more cross-sections of the flexible member;
one or more tertiary rollers for guiding the flexible member into the concave supporting portion of the tape and pressing the flexible member and tape into engagement with the inner wall of the conduit.
a supply of tape having a normally flat cross-section, the tape having at least one working face having a flexible member supporting portion and bounding peripheral edges, the working face having adhesive on at least a portion of its working face;
at least one pair of rollers for shaping the supporting portion of the cross-section of the flat tape into one or more concave shapes which correspond with the one or more cross-sections of the flexible member;
one or more tertiary rollers for guiding the flexible member into the concave supporting portion of the tape and pressing the flexible member and tape into engagement with the inner wall of the conduit.
38. The apparatus of claim 37 wherein the supporting portion of the tape is substantially free of adhesive.
39. The apparatus of claim 37 wherein-the peripheral edges of the tape are porous, the apparatus further comprising:
a source of a fluid coating; and a nozzle for spraying the coating over the tape once engaged to the inner wall of the conduit, the coating penetrating the porous edges of the tape for adhering to the inner wall of the conduit.
a source of a fluid coating; and a nozzle for spraying the coating over the tape once engaged to the inner wall of the conduit, the coating penetrating the porous edges of the tape for adhering to the inner wall of the conduit.
40. The apparatus of claim 39 wherein the spray nozzle dispenses polyurethane.
41. The apparatus of claim 40 further comprising an umbilical for supplying the spray nozzle with components for dispensing polyurethane.
42. The apparatus of claim 41 further comprising a source of heat extending along at least a portion of the umbilical for heating the polyurethane components.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CA002683355A CA2683355A1 (en) | 2001-01-31 | 2002-01-30 | Robotic apparatus and method for treatment of conduits |
| CA 2369714 CA2369714C (en) | 2001-01-31 | 2002-01-30 | Robotic apparatus and method for treatment of conduits |
Applications Claiming Priority (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US26510901P | 2001-01-31 | 2001-01-31 | |
| US60/265,109 | 2001-01-31 | ||
| CA2,354,226 | 2001-07-27 | ||
| CA002354226A CA2354226A1 (en) | 2001-01-31 | 2001-07-27 | Robotic apparatus and method for non-destructive maintenance of intersecting conduits |
| CA 2369714 CA2369714C (en) | 2001-01-31 | 2002-01-30 | Robotic apparatus and method for treatment of conduits |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA002683355A Division CA2683355A1 (en) | 2001-01-31 | 2002-01-30 | Robotic apparatus and method for treatment of conduits |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CA2369714A1 CA2369714A1 (en) | 2002-07-31 |
| CA2369714C true CA2369714C (en) | 2010-03-30 |
Family
ID=27171582
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA 2369714 Expired - Fee Related CA2369714C (en) | 2001-01-31 | 2002-01-30 | Robotic apparatus and method for treatment of conduits |
Country Status (1)
| Country | Link |
|---|---|
| CA (1) | CA2369714C (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2012012899A1 (en) * | 2010-07-26 | 2012-02-02 | Shawcor Ltd. | Internal girth weld liquid coating cart |
-
2002
- 2002-01-30 CA CA 2369714 patent/CA2369714C/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CA2369714A1 (en) | 2002-07-31 |
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