AU2020277104A1

AU2020277104A1 - Remote Pipe Repair Apparatus and Method

Info

Publication number: AU2020277104A1
Application number: AU2020277104A
Authority: AU
Inventors: Michael Frost
Original assignee: Exca Pty Ltd
Current assignee: Exca Pty Ltd
Priority date: 2019-11-25
Filing date: 2020-11-23
Publication date: 2021-06-10

Abstract

C:\Usrs\kmh\AppData\Roamiing\iManage\Work\Recnt\3555 1077AU Reote pipe rpair apparaus and nthod\Abstract 3555I077(20920I56.I).docx-23/ 11 /2020 ABSTRACT Disclosed is an apparatus and method for remote repair of a pipe. The apparatus has a body with a propulsion means for moving along an inside of the pipe. A camera mount is configured for attachment of a video capturing device, a tool mount is configured for selective attachment of one of a range of tools, and a liquid dispenser is also provided. The tool mount may be adjustable for use in pipes with different internal diameters and can have an arm connected to a motor, such that the arm is rotatable about an axis. The arm may also be extendable, such as by using a ram. The method of repairing the pipe includes the steps of: (i) using a remote apparatus to access an internal portion of the pipe; (ii) dispensing a liquid from the apparatus; and (iii) spreading the liquid around a complete circumference of an inside surface of the pipe. The method may also include a step prior to step (ii) of identifying a crack or other discontinuity in a surface of the pipe and measuring the size of the discontinuity. 1/7 1o 0C

Description

1/7

1o

C REMOTE PIPE REPAIR APPARATUS AND METHOD

Background of the Invention

[0001] The present invention generally relates to methods and/or apparatus for investigation and/or repair of pipes.

Description of the Prior Art

[0002] Pipes and similar cavities are ubiquitous in modem infrastructure, including throughout urban environments, in industry, and various other areas. Pipes are typically fixed structures, meaning that they can be installed and used with relatively little maintenance over extended periods of time, typically decades. Periodic maintenance, including inspections and/or repair, will be required over this time, however.

[0003] One of the key advantages of pipes is that they can be hidden, buried, or may traverse difficult to access areas. A common example is sewerage pipes that are typically buried. However, when it is necessary to inspect and/or repair such pipes, this inaccessibility can make such maintenance difficult and therefore expensive.

[0004] Due to this lack of accessibility, when any problem or even suspected problem is detected, the only option may be to conduct extensive works to replace a section or all of a pipe. For example, inspection may reveal a crack, however without being able to accurately determine if this is in fact a significant problem or to repair the crack in situ, this pipe may be replaced as a precaution.

[0005] The reference in this specification to any prior publication (or information derived from it), or to any matter which is known, is not, and should not be taken as an acknowledgment or admission or any form of suggestion that the prior publication (or information derived from it) or known matter forms part of the common general knowledge in the field of endeavour to which this specification relates.

Summary of the Present Invention

[0006] In one broad form of the invention, there is provided an apparatus for remote repair of a pipe, including: a body with a propulsion means for moving along an inside of a pipe; a camera mount configured for attachment of a video capturing device; a tool mount configured for selective attachment of one of a range of tools; and a liquid dispenser.

[0007] In an embodiment, the tool mount is adjustable for use in pipes with different internal diameters.

[0008] In an embodiment, the tool mount includes an arm connected to a motor, such that the arm is rotatable about an axis.

[0009] In an embodiment, the arm is extendable.

[0010] In an embodiment, the arm is extended by a ram.

[0011] In an embodiment, the arm has multiple attachment points for adjustment of the tool mount in discrete intervals.

[0012] In an embodiment, the location of the axis is adjustable.

[0013] In an embodiment, the motor is mounted on a parallelogram linkage for height adjustment of the axis without tilting of the axis.

[0014] In an embodiment, the tool mount is configured for attachment of a brush, trowel, spatula, or other similar spreading device.

[0015] In an embodiment, the tool mount is configured for attachment of a measurement device.

[0016] In an embodiment, the tool mount is configured for attachment of a spray device.

[0017] In an embodiment, the spray device is in fluid communication with the liquid dispenser.

[0018] In an embodiment, the apparatus further includes a liquid reservoir mounted to the body and in fluid communication with the liquid dispenser.

[0019] In an embodiment, the liquid dispenser is configured to dispense a liquid chosen from the group including: an epoxy; a sealant; a resin; a cement compound; and a glue.

[0020] In an embodiment, the liquid dispenser is configured to mix a plurality of liquids to be dispensed simultaneously.

[0021] In an embodiment, the apparatus further includes a cable connected to the body, the cable providing connectivity to an input device located outside the pipe.

[0022] In an embodiment, the cable includes a conduit for supply of liquid to the liquid dispenser.

[0023] In an embodiment, the apparatus further includes a communication device for wireless communication with an input device.

[0024] In an embodiment, the apparatus further includes an anchor point for attachment of a chain or other tether.

[0025] In an embodiment, the apparatus is configured to dispense a sealant from the liquid dispenser and to spread the sealant about a complete internal circumference of the pipe using a spreading tool attached to the tool mount.

[0026] In an embodiment, the body is configured for traversing a pipe with less than 600mm internal diameter.

[0027] In an embodiment, the body is configured for traversing pipes with an internal diameter in the range of 300mm to 600mm.

[0028] In an embodiment, the propulsion means includes wheels.

[0029] In an embodiment, the propulsion means includes continuous tracks.

[0030] In another broad form of the invention, there is provided a method of repairing a pipe, the method including the steps of: (i) using a remote apparatus to access an internal portion of the pipe; (ii) dispensing a liquid from the apparatus; and (iii) spreading the liquid around a complete circumference of an inside surface of the pipe.

[0031] In an embodiment, the method further includes a step prior to step (ii) of identifying a crack or other discontinuity in a surface of the pipe and measuring the size of the discontinuity.

[0032] In an embodiment, the remote apparatus used in the method is substantially as defined herein.

[0033] It will be appreciated that the broad forms of the invention and their respective features can be used in conjunction and/or independently, and reference to separate broad forms is not intended to be limiting. Furthermore, it will be appreciated that features of the method can be performed using the system or apparatus and that features of the system or apparatus can be implemented using the method.

Brief Description of the Drawings

[0034] Various examples and embodiments of the present invention will now be described with reference to the accompanying drawings, in which:

[0035] Figure 1 is an upper left side perspective view of apparatus according to an embodiment of the invention with a brush secured to a tool mount;

[0036] Figure 2 is right side perspective view of the apparatus from Figure 1;

[0037] Figure 3 is a top view of the apparatus from Figure 1;

[0038] Figure 4 is a front perspective view of the apparatus from Figure 1;

[0039] Figure 5 is a rear perspective view of the apparatus from Figure 1;

[0040] Figure 6 is a rear perspective view of the apparatus from Figure 1 with a cable, reel, power, and input device also shown; and

[0041] Figure 7 is an upper right side view of a front portion of the apparatus from Figure 1 with a grinder secured to the tool mount.

Detailed Description of the Preferred Embodiments

[0042] An example of apparatus for remote repair of a pipe will now be described. The apparatus includes a body with a propulsion means for moving along an inside of a pipe. The propulsion means may include any suitable drivetrain, including components such as an electric motor, wheels or continuous track, gearbox and/or chain/belt drive, and any other relevant components as will be known to those skilled in the art.

[0043] A camera mount can be configured for attachment of a video capturing device. For example, this may be a small video recorder that captures video and stores it on a storage medium, or may be a device that transmits the recorded video to a remote location, such as where an operator may be located. The video capturing device may record and/or transmit video, still images or a combination of the two. The video capturing device may also have a light for illuminating the area, or a lighting device may be provided on some other part of the apparatus.

[0044] A tool mount may be configured for selective attachment of one of a range of tools and a liquid dispenser may also be provided that can dispense a liquid to or near a region where the tool operates. Depending on the particular tool attached to the tool mount, this may be used independently or may be used together with the liquid dispenser.

[0045] The reference to a pipe will be understood to include any structure suitable for conveying a fluid, such as but not limited to drinking water such as a town water supply, sewerage, grey water, natural gas, industrial chemicals, and a wide variety of other fluids. The size of the pipe may vary widely, as will be discussed in more detail below. The pipe may be in any location, including underground, underwater or in other remote locations.

[0046] The apparatus is advantageous because it allows remote sections of pipe to be accessed, investigated and repaired if necessary. For example, video of an internal surface of a pipe may be captured and analysed to see if there is any damage or cracks. The extent of the damage may even potentially measured, such as using a measurement device attached to the tool mount.

[0047] Rather than simply identifying damage and replacing the section of pipe, an accurate determination may be made and the pipe may in fact not require repair at all. If repair is required, however, this can also be achieved using the same apparatus with other tools that can be secured to the tool mount, together with the liquid dispenser.

[0048] Various example embodiments of apparatus for remote repair of a pipe will now be described.

[0049] In one embodiment, the tool mount could be adjustable for use in pipes with different internal diameters. Pipe sizes vary significantly, so allowing a single machine to be used across a wide range of sizes is particularly advantageous. For example, the apparatus may be suitable for use in pipes with internal diameter anywhere in the range of 300mm to 600mm, or any other suitable range as may be appropriate.

[0050] As well as being adjustable, the apparatus may be made small enough to fit within small diameter pipes, such as those with internal diameter that is less than 600mm, less than 500mm, less than 400mm, or any other suitable value as may be desired.

[0051] In one advantageous embodiment, the tool mount may have an arm connected to a motor, such that the arm is rotatable about an axis. This allows a tool that is attached to the arm to be rotated about a full circumference of the pipe.

[0052] For example, the tool mount may be configured for attachment of a brush, spatula, trowel, or other similar spreading device. Rotation of the motor can then allow the tool to be used for spreading a substance around the full circumference of the pipe. This can ideally be used in conjunction with the liquid dispenser, where the apparatus can dispense an epoxy or sealant from the liquid dispenser, for example, and spread this about a complete internal circumference of the pipe using a spreading tool attached to the tool mount.

[0053] Preferably, the arm is also extendable in a direction away from the axis, thereby allowing use of the apparatus in a range of pipe sizes. The extension of the arm may be achieved manually, such as using a slide and a clamp, or may be more automated using a ram, such as a pneumatic, hydraulic or electric ram, for example.

[0054] Alternatively, the arm may have multiple attachment points for adjustment of the tool mount in discrete intervals. These different attachment points can be used to locate the tool closer or further from the axis, again allowing use of the apparatus in pipes of varying sizes.

[0055] To further assist with the use of the apparatus in different sized pipes, the location of the axis may be adjustable. This allows the axis to be moved so that it is situated at a centre of the pipe even when used in different sized pipes. By locating the axis at the centre of the pipe is helps the tool to easily access the full circumference of the pipe.

[0056] In one example, the motor may be mounted on a parallelogram linkage for height adjustment of the axis without tilting of the axis. This linkage may also include a ram to adjust the position, or may use any other suitable adjustable locking mechanism for changing the position of the linkage and in turn the position of the axis.

[0057] The tool mount can be configured for attachment of a wide range of tools, devices or other equipment. In one example, a measurement device may be attached to the tool mount. This device may be a calliper, for example, to allow the size of a crack to be measured, either independently or together with the video capturing device.

[0058] In another example, the tool mount is configured for attachment of a spray device. This device may be operated independently or could be in fluid communication with the liquid dispenser. The spray device may allow application of the liquid directly to the full circumference of the pipe, removing the need for a spreading tool.

[0059] The apparatus may include a liquid reservoir mounted to the body and in fluid communication with the liquid dispenser. A pump, valve, and any other relevant components may also be used for controlled release of the liquid as desired.

[0060] The liquid dispenser may be used to dispense any suitable liquid, such as but not limited to an epoxy, a sealant, a resin, a cement compound, a glue, or any other liquid or compound that might be useful in preparing, repairing, or otherwise treating a pipe. A number of different liquids may also be dispensed simultaneously, and may be mixed by the liquid dispenser. For example, a resin and a hardener may be mixed together as they are required.

[0061] The apparatus can be operated remotely. To achieve this, the apparatus may have a cable connected to the body, where the cable provides connectivity to an input device located outside the pipe. This allows the apparatus to be lowered into the pipe and driven along the pipe as required, all while being controlled by an operator located outside the pipe.

Advantageously, the cable may also include a conduit for supply of liquid to the liquid dispenser.

[0062] Alternatively, the apparatus may have a communication device for wireless communication with an input device, or some combination of wired and wireless communication. This can ideally achieve the same level of functionality as the version with the cable, but without the difficulty and limitations imposed by the necessary cable management.

[0063] In one embodiment, the apparatus may have an anchor point for attachment of a chain or other tether. This can assist with retrieval of the apparatus in the event that it becomes stuck, or may also help with placing the apparatus into a pipe, such as by lowering through an inspection port, for example.

[0064] An example of a method of repairing a pipe will now be described. This method can include the steps of using a remote apparatus to access an internal portion of the pipe, such as that described above for example, dispensing a liquid from the apparatus, and spreading the liquid around a complete circumference of an inside surface of the pipe.

[0065] Covering the complete circumference is advantageous, potentially even if not strictly necessary in all cases, as it can ensure a complete cover and repair of damage is achieved while also reducing the presence of steps or edges to repair work that can then create a weak point for new wear and/or damage to occur.

[0066] Advantageously, prior to repair, a step is performed of identifying a crack or other discontinuity in a surface of the pipe and measuring the size of the discontinuity. Accurate determination of the size may in fact indicate that repair is not required, however repair can be conducted if it is determined to be necessary.

[0067] An example embodiment of apparatus for remote repair of a pipe will now be described with reference to the Figures.

[0068] Referring to Figure 1, a vehicle 10 for traversing a pipe is shown, where the vehicle 10 includes a body 12 with wheels 13 for propelling the vehicle 10 along an inside of a pipe. A camera mount 15 is located towards a front end of the vehicle and is configured for attachment of a video capturing device.

[0069] A tool mount 16 is also located at the front of the vehicle 10 and is configured for selective attachment of one of a range of tools. In Figures 1 to 5, a brush 17 is secured to the tool mount 16, but it will be appreciated that in alternative embodiments various other spreading devices could be used.

[0070] As shown most clearly in Figure 2, an arm 18 extends from a motor 20, such that the arm 18 is rotatable about an axis. The arm 18 has an angular bracket 22 with an extension 23 that can slide within the bracket 22 and be locked in place using a bolt 24. This setup allows the position of the brush 17 to be adjusted relative to the axis, allowing use of the brush 17 in various sized pipes.

[0071] A liquid dispenser 26 is also located near the front of the vehicle 10 and includes a conduit 27 and a nozzle 28. Liquid, such as an epoxy for example, can be dispensed from the nozzle 28 before being spread by the brush 17. Rotation of the motor 20 allows the brush 17 to be moved about the full circumference of the pipe, thereby allowing the liquid dispensed to be spread around the full circumference. As shown in Figure 5, the vehicle 10 has a liquid reservoir 29 mounted to the body 12 and connected to the conduit 27 for storage and supply of the liquid.

[0072] The motor 20, camera mount 15, and liquid dispenser 26 are all mounted on a frame 30 that is connected to the body using a parallelogram linkage 31. This linkage 31 includes a front member 32 that has an upper pivot connection 33 with the frame 30 and a lower pivot connection 34 with the body 12. Similarly, a rear member 36 has an upper pivot connection 37 with the frame 30 and a lower pivot connection 38 with the body 12.

[0073] Tilting of the parallelogram linkage 31 in a forward direction causes the axis of the motor 20 and other related components to be lowered, while moving the linkage 31 backwards causes the axis to be raised. This adjusting of the position of the axis together with the adjustability of the tool mount 16 allows the vehicle 10 to be used in pipes across a range of sizes. The parallelogram linkage 31 is particularly advantageous because it allows this adjustment in height of the axis without any tilting of the axis.

[0074] The position of the parallelogram linkage 31 is adjusted using an electric ram 40. In alternative embodiments, however, other suitable adjustment devices could be used, including a pneumatic or hydraulic ram, or a manual device.

[0075] Referring to Figure 5, the vehicle 10 has an anchor point 42 for attachment of a cable or some other suitable tether. The cable is typically used to recover the vehicle 10 if it becomes stuck or there is a malfunction. It can also be used to lower the vehicle 10 into a pipe.

[0076] Referring to Figure 6, the vehicle 10 has a cable 44 that extends to a power supply 45 and an input device 46. Excess cable is managed using a reel 47. The input device 46 remains outside the pipe and can be used to control any or all of the functions of the vehicle 10, including driving the vehicle 10, operation of the tool, operation of the liquid dispenser 26, and/or raising and lowering the linkage 31.

[0077] In alternative embodiments, the cable 44 could also include a conduit for supply of liquid to the liquid dispenser 26 and/or any other necessary supply line for a tool that is attached to the tool mount 16.

[0078] Referring to Figure 7, an embodiment of the vehicle 10 is shown where a grinder 50 is secured to the arm 18 using an alternative tool mount 52. The tool mount 52 includes a number of attachment points 53 for connecting to the arm 18, allowing the grinder 50 to be positioned at varying distances from the axis of the motor 20. This adjustment can be used in combination with the linkage 31 to allow use in a wide variety of pipe sizes.

[0079] In yet another alternative embodiment of the vehicle 10, the tool mount is configured for attachment of a spray device. The spray device is in fluid communication with the liquid dispenser and can be rotated to spray the supplied liquid directly onto the inner surface of the pipe. This may reduce or even remove the need for a spreading tool, for example.

[0080] In yet another alternative embodiment, the tool mount is configured for attachment of a measurement device, such as a pair of callipers. The callipers have a gauge that can be read using the video capturing device, allowing accurate measurements of cracks or other features to be obtained.

[0081] In the foregoing description of preferred embodiments, specific terminology has been resorted to for the sake of clarity. However, the invention is not intended to be limited to the specific terms so selected, and it is to be understood that each specific term includes all technical equivalents which operate in a similar manner to accomplish a similar technical purpose. Terms such as "front" and "rear", "inner" and "outer", "above" and "below" and the like are used as words of convenience to provide reference points and are not to be construed as limiting terms.

[0082] Throughout this specification and claims which follow, unless the context requires otherwise, the word "comprise", and variations such as "comprises" or "comprising", will be understood to imply the inclusion of a stated integer or group of integers or steps but not the exclusion of any other integer or group of integers. As used herein and unless otherwise stated, the term "approximately" means 20%.

[0083] Persons skilled in the art will appreciate that numerous variations and modifications will become apparent. All such variations and modifications which become apparent to persons skilled in the art, should be considered to fall within the spirit and scope that the invention broadly appearing before described.

Claims

THE CLAIMS DEFINING THE INVENTION ARE AS FOLLOWS: 1) Apparatus for remote repair of a pipe, comprising: a) a body with a propulsion means for moving along an inside of a pipe; b) a camera mount configured for attachment of a video capturing device; c) a tool mount configured for selective attachment of one of a range of tools; and d) a liquid dispenser. 2) Apparatus according to claim 1, wherein the tool mount is adjustable for use in pipes with different internal diameters. 3) Apparatus according to any one of the preceding claims, wherein the tool mount comprises an arm connected to a motor, such that the arm is rotatable about an axis. 4) Apparatus according to claim 3, wherein the arm is extendable. ) Apparatus according to claim 4, wherein the arm is extended by a ram. 6) Apparatus according to any one of claims 3 to 5, wherein the arm has multiple attachment points for adjustment of the tool mount in discrete intervals. 7) Apparatus according to any one of claims 3 to 6, wherein the location of the axis is adjustable. 8) Apparatus according to claim 7, wherein the motor is mounted on a parallelogram linkage for height adjustment of the axis without tilting of the axis. 9) Apparatus according to any one of the preceding claims, wherein the tool mount is configured for attachment of a brush, trowel, spatula, or other similar spreading device. )Apparatus according to any one of the preceding claims, wherein the tool mount is configured for attachment of a measurement device. 11)Apparatus according to any one of the preceding claims, wherein the tool mount is configured for attachment of a spray device. 12)Apparatus according to claim 11, wherein the spray device is in fluid communication with the liquid dispenser. 13)Apparatus according to any one of the preceding claims, wherein the apparatus further comprises a liquid reservoir mounted to the body and in fluid communication with the liquid dispenser.

14)Apparatus according to any one of the preceding claims, wherein the liquid dispenser is configured to dispense a liquid chosen from the group comprising: an epoxy; a sealant; a resin; a cement compound; and a glue. )Apparatus according to any one of the preceding claims, wherein the liquid dispenser is configured to mix a plurality of liquids to be dispensed simultaneously. 16)Apparatus according to any one of the preceding claims, wherein the apparatus further comprises a cable connected to the body, the cable providing connectivity to an input device located outside the pipe. 17)Apparatus according to claim 16, wherein the cable comprises a conduit for supply of liquid to the liquid dispenser. 18)Apparatus according to any one of the preceding claims, wherein the apparatus further comprises a communication device for wireless communication with an input device. 19)Apparatus according to any one of the preceding claims, wherein the apparatus further comprises an anchor point for attachment of a chain or other tether. )Apparatus according to any one of the preceding claims, wherein the apparatus is configured to dispense a sealant from the liquid dispenser and to spread the sealant about a complete internal circumference of the pipe using a spreading tool attached to the tool mount. 21)Apparatus according to any one of the preceding claims, wherein the body is configured for traversing a pipe with less than 600mm internal diameter. 22)Apparatus according to any one of the preceding claims, wherein the body is configured for traversing pipes with an internal diameter in the range of 300mm to 600mm. 23)Apparatus according to any one of the preceding claims, wherein the propulsion means comprises wheels. 24)Apparatus according to any one of the preceding claims, wherein the propulsion means comprises continuous tracks. )A method of repairing a pipe, the method comprising the steps of: i) using a remote apparatus to access an internal portion of the pipe; ii) dispensing a liquid from the apparatus; and iii) spreading the liquid around a complete circumference of an inside surface of the pipe.

26) The method according to claim 25, further comprising a step prior to step (ii) of identifying a crack or other discontinuity in a surface of the pipe and measuring the size of the discontinuity. 27)The method according to any one of claims 25 or 26, wherein the remote apparatus is defined in accordance with any one of claims 1 to 24.

15 1/7

12 16 13

FIG. 1

26 15 20 18

22 24 23

16 2/7

33 32 28 31 37 30 38 36 34 12 17

FIG. 2

15 3/7

26 17 12

FIG. 3

28 12 4/7

FIG. 4 15