WO2022194465A1 - A wheeled extendable pipe inspection robot with a rocker bogie and a method and a system for remotely inspecting pipes of varying inner diameters - Google Patents

A wheeled extendable pipe inspection robot with a rocker bogie and a method and a system for remotely inspecting pipes of varying inner diameters Download PDF

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Publication number
WO2022194465A1
WO2022194465A1 PCT/EP2022/053553 EP2022053553W WO2022194465A1 WO 2022194465 A1 WO2022194465 A1 WO 2022194465A1 EP 2022053553 W EP2022053553 W EP 2022053553W WO 2022194465 A1 WO2022194465 A1 WO 2022194465A1
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WO
WIPO (PCT)
Prior art keywords
inspection robot
pipe inspection
pipe
inner diameter
bogie
Prior art date
Application number
PCT/EP2022/053553
Other languages
French (fr)
Inventor
Wouter VIROUX
Suraj HIREMATH
Original Assignee
Infrastructure Management Services
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Infrastructure Management Services filed Critical Infrastructure Management Services
Publication of WO2022194465A1 publication Critical patent/WO2022194465A1/en

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
    • F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
    • F16L55/28—Constructional aspects
    • F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
    • B62D61/10—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with more than four wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D63/00—Motor vehicles or trailers not otherwise provided for
    • B62D63/02—Motor vehicles
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
    • F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
    • F16L55/28—Constructional aspects
    • F16L55/40—Constructional aspects of the body
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L2101/00—Uses or applications of pigs or moles
    • F16L2101/30—Inspecting, measuring or testing

Definitions

  • This invention relates to the field of remote pipe inspection by robots.
  • US5799743A to Inuktun discloses a tracked vehicle for pipe inspection.
  • EP2352981 B1 to Redzone Robotics discloses another tracked vehicle for pipe inspection.
  • Pipe inspection by tracked robots requires a cumbersome but necessary precleaning step to ensure that the pipe walls are free of obstacles. Therefore there is need to provide robots that do not require such a precleaning step. Moreover, pipe diameters may vary. Therefore, there is a need to provide a robot that is fit for use for pipes with varying inner diameters.
  • the extension system allows for lateral extension of the joint casings (7).
  • the inspection robot (100) is used for the remote inspection of pipes.inspection robot (100)
  • the first object of the invention is a pipe inspection robot (100) having a) A central housing (10) comprising one or more of a camera, a sensor, an energy source, a processor, a control system and a data transmission system; b) a joint casing (7) having a first joint (1) and a second joint (3); the joint casing (7) being pivotably connected to the axis of rotation (6); c) wherein joints (1, 3) have a circular flange (4) mounted on joint casing (7); d) the circular flanges (4) each being pivotably connected to a rocker bogie
  • the rocker bogie (11 ) having a bogie having a first end and a second end; wherein a rocker is mounted on the second end of the bogie so as to be pivotable about an axis of rotation extending transversely to the direction of travel; wherein the rocker bogie (11 ) further has wheels rotatably connected to the first and the second end of the rocker, and to the first end of the bogie, the wheel axis of rotation extending transversely to the direction of travel; f) wherein the joint casings (7) are connected through a link assembly (12); g) wherein the first actuator (5) and the second actuator (5) are cross- transversely arranged so as to laterally extend or retract the joint casing (7) when the first or the second actuator (5) are actuated.
  • the pipe inspection robot (100) further comprises an emitter and a receiver for remote control of the pipe inspection robot (100). In another aspect, the pipe inspection robot (100) has six wheels.
  • first (5)or the second actuator (5) are electronically controlled.
  • the actuator is a hydraulic or a pneumatic system.
  • Another aspect of the invention is a method for remote inspection of pipes of varying inner diameter or containing obstacles comprising a. Placing the pipe inspection robot (100) according to any of the preceding claims in a pipe; b. Driving the pipe inspection robot (100) through the pipe; c. Expanding or contracting the joint casings (7) in function of the inner diameter of the pipe; d. T ransmitting the sensor and image information to a receiver; e. Processing the sensor and image information; and f. Providing the sensor and image information through a user interface to a user.
  • Another aspect of the invention is a system for remote inspection of pipes of varying inner diameter or containing obstacles comprising a. A pipe inspection robot (100) of the invention; b. A data transmission system; and c. And a data processing and storage system.
  • Another aspect of the invention is the use of a pipe inspection robot (100) for remote inspection of pipes of varying inner diameter from 100 mm or more, preferably 300 mm or more and even more preferably 600 mm or more.
  • the pipe diameter is 3000 mm or less, preferably 2000 mm or less, or even more preferably 1200 mm or less.
  • the pipe contains obstacles.
  • the pipe is a sewer pipe.
  • Figure 1 shows a perspective view of the pipe inspection robot (100) in a contracted position.
  • Figure 2 shows a front view of the pipe inspection robot (100) in a contracted position.
  • Figure 3 shows a side view of the pipe inspection robot (100) in a contracted position.
  • Figure 4 shows a top view of the pipe inspection robot (100) in a contracted position.
  • Figure 5 shows a perspective view of the link assembly (12) and the linear actuators (5) in a contracted position.
  • Figure 6 shows a front view of the link assembly (12) and the linear actuators (5) in a contracted position.
  • Figures 7 and 8 show perspective views of the joint casing (7) interconnected by a differential mechanism in a contracted position.
  • Figure 9 and 10 show a side view of the differential mechanism in a contracted position.
  • Figure 11 shows a perspective view of the pipe inspection robot (100) in an expanded position.
  • Figure 12 shows a front view of the pipe inspection robot (100) in expanded position .
  • Figure 13 shows a perspective view of the pipe inspection robot (100) in expanded position
  • Figure 14 shows a top view of the pipe inspection robot (100) in an expanded position.
  • Figure 15 shows a perspective view of the link assembly (12) and the linear actuators (5) in an expanded position.
  • Figure 16 shows a front view of the link assembly (12) and the linear actuators (5) in an expanded position.
  • Figures 17 and 18 show perspective views of the joint casing (7) interconnected by a differential mechanism in an expanded position.
  • Figure 19 and 20 show a side view of the differential mechanism in a contracted position.
  • the pipe inspection robot (100) shown in Figures 1 , 2, 3, 4, 11, 12, 13, 14 has s central housing (10) comprising one or more of a camera, a sensor, an energy source, a processor, a control system and a data transmission system.
  • the pipe inspection robot (100) shown in Figures 1, 2, 3, 4, 11 , 12, 13, 14 further has a joint casing (7) pivotably mounted on the axis of rotation (6).
  • the joint casing (7) has a first joint (1 ) and a second joint (3); wherein joints (1 , 3) have a circular flange (4) pivotably mounted on joint casing (7).
  • the circular flanges (4) are each pivotably connected to a rocker bogie (11).
  • the rocker bogie (11 ) has a bogie having a first end and a second end; wherein a rocker is mounted on the second end of the bogie so as to be pivotable about an axis of rotation extending transversely to the direction of travel.
  • the rocker bogie (11) further has wheels rotatably connected to the first and the second end of the rocker, and to the first end of the bogie. Th wheel axis of rotation extends transversely to the direction of travel.
  • the joint casings (7) are connected through a link assembly (12).
  • the link assembly is shown in Figures 5 and 6 in contracted position and in Figures 15 and 16 in expanded position.
  • the joint casing (7) is pivotably connected to a first (5) and a second linear actuator (5).
  • the first linear actuator (5) and the second linear actuator (5) are cross-transversely arranged so as to laterally move joint casing (7) when the first or the second actuator (5) are actuated.
  • the pipe inspection robot (100) shown in Figures 1 , 2, 3, 4, 11 , 12, 13, 14 further comprises an emitter and a receiver for remote control of the pipe inspection robot (100).
  • the pipe inspection robot (100) inspection robot (100) shown in Figures 1 , 2, 3, 4, 11 , 12, 13, 14 has six wheels. However, the skilled person will understand that additional wheels are possible, for example 8 or 10 wheels.
  • the first (5) or the second actuator (5) are electronically controlled.
  • the linear actuator (5) can be any force transmission system.
  • the linear the actuator is an hydraulic or a pneumatic system.
  • the pipe inspection robot (100) further has differential mechanism.
  • the differential mechanism has a cable (2) fixed at the circular flange (4) with one end, and clamped to the circular flange (4) at the other end, wherein the opposite circular flange (4) has a guiding system for guiding the cable (2) and wherein the cable (2) is arranged tangentially from the circular flange (4) through the guiding system of the opposite circular flange (4) to the circular flange (4) so as to pull the opposite circular flange (4) when the fixed circular flange (4) is moved.
  • An embodiment of the differential mechanism is shown in Figures 7, 8, 9 and 10 in contracted position and in Figures 17, 18, 19 and 20 in expanded position of the pipe inspection robot (100).
  • a further object of the invention is a method for remote inspection of pipes of varying inner diameter comprising a. Placing the pipe inspection robot (100) of the invention in a pipe; b. Driving the pipe inspection robot (100) through the pipe to capture image or sensor information of the condition of the inner pipe wall; c. Expanding or contracting the joint casing (7) in function of the inner diameter of the pipe; d. T ransmitting the image or sensor information to a receiver; e. Processing the sensor and image information ; and f. Providing the sensor or image information to a user through a user interface
  • a further object of the invention is a system for remote inspection of pipes of varying inner diameter
  • the pipe inspection robot (100) is preferably used for remote inspection of pipes of inner diameters ranging from 600 mm to 2000 mm. Accordingly, the pipe inspection robot (100) is preferably dimensioned to be drivable through pipe of an inner diameter of 600 mm in contracted position and of 1200 mm in expanded position.
  • the pipe inspection robot (100) may be used without the necessity of prior cleaning of the pipe with water. Thus, important amounts of water, energy and time may be saved through the pipe inspection robot (100) of the invention. Through its extendability, the pipe inspection robot (100) may be further used in pipes with bends and curves as well as for pipe with varying inner diameters.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Manipulator (AREA)
  • Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)

Abstract

A wheeled extendable pipe inspection robot 100 with a rocker bogie (11) and method and system for the remote inspection of pipes of varying inner diameters This invention is directed at an extendable wheeled sewer inspection robot (100) with a rocker bogie (11). Further disclosed are methods and systems for the remote inspection of pipes with varying inner diameters. In a preferred embodiment the inner diameter is 600 mm to 1200 mm. Accordingly, the pipe inspection robot (100) is preferably dimensioned to be drivable through pipe of an inner diameter of 600 mm in contracted position and of 1200 mm in expanded position.

Description

A wheeled extendable pipe inspection robot with a rocker bogie and a method and a system for remotely inspecting pipes of varying inner diameters
BACKGROUND
This invention relates to the field of remote pipe inspection by robots.
US5799743A to Inuktun discloses a tracked vehicle for pipe inspection.
US7600592B2 to Engineering Services also discloses a tracked vehicle for pipe inspection.
EP2352981 B1 to Redzone Robotics discloses another tracked vehicle for pipe inspection.
Pipe inspection by tracked robots requires a cumbersome but necessary precleaning step to ensure that the pipe walls are free of obstacles. Therefore there is need to provide robots that do not require such a precleaning step. Moreover, pipe diameters may vary. Therefore, there is a need to provide a robot that is fit for use for pipes with varying inner diameters.
SHORT DESCRIPTION OF THE INVENTION
The inventors now have surprisingly found that the combination of a wheeled rocker bogie (11 ) with a lateral extension system through linear cross-transversely arranged actuators (5) in a pipe inspection robot (100) allows for the inspection in spite of varying inner diameters of a pipe and in spite of obstacles in the pipe. Obstacles in the pipe are easily overcome through the rocker bogie (11 ). The extension system allows for lateral extension of the joint casings (7). Preferably the inspection robot (100) is used for the remote inspection of pipes.inspection robot (100)
Accordingly, the first object of the invention is a pipe inspection robot (100) having a) A central housing (10) comprising one or more of a camera, a sensor, an energy source, a processor, a control system and a data transmission system; b) a joint casing (7) having a first joint (1) and a second joint (3); the joint casing (7) being pivotably connected to the axis of rotation (6); c) wherein joints (1, 3) have a circular flange (4) mounted on joint casing (7); d) the circular flanges (4) each being pivotably connected to a rocker bogie
(11); e) the rocker bogie (11 ) having a bogie having a first end and a second end; wherein a rocker is mounted on the second end of the bogie so as to be pivotable about an axis of rotation extending transversely to the direction of travel; wherein the rocker bogie (11 ) further has wheels rotatably connected to the first and the second end of the rocker, and to the first end of the bogie, the wheel axis of rotation extending transversely to the direction of travel; f) wherein the joint casings (7) are connected through a link assembly (12); g) wherein the first actuator (5) and the second actuator (5) are cross- transversely arranged so as to laterally extend or retract the joint casing (7) when the first or the second actuator (5) are actuated.
In another aspect, the pipe inspection robot (100) further comprises an emitter and a receiver for remote control of the pipe inspection robot (100). In another aspect, the pipe inspection robot (100) has six wheels.
In another aspect, the first (5)or the second actuator (5) are electronically controlled.
In another aspect, the actuator is a hydraulic or a pneumatic system.
Another aspect of the invention is a method for remote inspection of pipes of varying inner diameter or containing obstacles comprising a. Placing the pipe inspection robot (100) according to any of the preceding claims in a pipe; b. Driving the pipe inspection robot (100) through the pipe; c. Expanding or contracting the joint casings (7) in function of the inner diameter of the pipe; d. T ransmitting the sensor and image information to a receiver; e. Processing the sensor and image information; and f. Providing the sensor and image information through a user interface to a user. Another aspect of the invention is a system for remote inspection of pipes of varying inner diameter or containing obstacles comprising a. A pipe inspection robot (100) of the invention; b. A data transmission system; and c. And a data processing and storage system.
Another aspect of the invention is the use of a pipe inspection robot (100) for remote inspection of pipes of varying inner diameter from 100 mm or more, preferably 300 mm or more and even more preferably 600 mm or more. In another embodiment, the pipe diameter is 3000 mm or less, preferably 2000 mm or less, or even more preferably 1200 mm or less. In other embodiment, the pipe contains obstacles. In another embodiment, the pipe is a sewer pipe.
SHORT DESCRIPTION OF THE DRAWINGS
Figure 1 shows a perspective view of the pipe inspection robot (100) in a contracted position.
Figure 2 shows a front view of the pipe inspection robot (100) in a contracted position.
Figure 3 shows a side view of the pipe inspection robot (100) in a contracted position.
Figure 4 shows a top view of the pipe inspection robot (100) in a contracted position.
Figure 5 shows a perspective view of the link assembly (12) and the linear actuators (5) in a contracted position.
Figure 6 shows a front view of the link assembly (12) and the linear actuators (5) in a contracted position.
Figures 7 and 8 show perspective views of the joint casing (7) interconnected by a differential mechanism in a contracted position. Figure 9 and 10 show a side view of the differential mechanism in a contracted position.
Figure 11 shows a perspective view of the pipe inspection robot (100) in an expanded position. Figure 12 shows a front view of the pipe inspection robot (100) in expanded position .
Figure 13 shows a perspective view of the pipe inspection robot (100) in expanded position
Figure 14 shows a top view of the pipe inspection robot (100) in an expanded position.
Figure 15 shows a perspective view of the link assembly (12) and the linear actuators (5) in an expanded position.
Figure 16 shows a front view of the link assembly (12) and the linear actuators (5) in an expanded position.
Figures 17 and 18 show perspective views of the joint casing (7) interconnected by a differential mechanism in an expanded position.
Figure 19 and 20 show a side view of the differential mechanism in a contracted position. Reference numerals used in the drawings:
1. First joint
2. Cable
3. Second joint
4. Circular flange
5. Linear actuator
6. Pivot axis
7. Joint casing
8. Cylinder end of cable
9. Clamped end of cable
10. Central housing
11. Rocker bogie
12. Link assembly
100 Sewer inspection robot DETAILED DESCRIPTION OF THE DRAWINGS
The pipe inspection robot (100) shown in Figures 1 , 2, 3, 4, 11, 12, 13, 14 has s central housing (10) comprising one or more of a camera, a sensor, an energy source, a processor, a control system and a data transmission system. The pipe inspection robot (100) shown in Figures 1, 2, 3, 4, 11 , 12, 13, 14 further has a joint casing (7) pivotably mounted on the axis of rotation (6). The joint casing (7) has a first joint (1 ) and a second joint (3); wherein joints (1 , 3) have a circular flange (4) pivotably mounted on joint casing (7). The circular flanges (4) are each pivotably connected to a rocker bogie (11). The rocker bogie (11 ) has a bogie having a first end and a second end; wherein a rocker is mounted on the second end of the bogie so as to be pivotable about an axis of rotation extending transversely to the direction of travel. The rocker bogie (11) further has wheels rotatably connected to the first and the second end of the rocker, and to the first end of the bogie. Th wheel axis of rotation extends transversely to the direction of travel. The joint casings (7) are connected through a link assembly (12). The link assembly is shown in Figures 5 and 6 in contracted position and in Figures 15 and 16 in expanded position. The joint casing (7) is pivotably connected to a first (5) and a second linear actuator (5). The first linear actuator (5) and the second linear actuator (5) are cross-transversely arranged so as to laterally move joint casing (7) when the first or the second actuator (5) are actuated.
In a preferred embodiment, the pipe inspection robot (100) shown in Figures 1 , 2, 3, 4, 11 , 12, 13, 14 further comprises an emitter and a receiver for remote control of the pipe inspection robot (100).
The pipe inspection robot (100) inspection robot (100) shown in Figures 1 , 2, 3, 4, 11 , 12, 13, 14 has six wheels. However, the skilled person will understand that additional wheels are possible, for example 8 or 10 wheels.
Preferably the first (5) or the second actuator (5) are electronically controlled.
The linear actuator (5) can be any force transmission system. In another embodiment, the linear the actuator is an hydraulic or a pneumatic system.
In a preferred embodiment, the pipe inspection robot (100) further has differential mechanism. The differential mechanism has a cable (2) fixed at the circular flange (4) with one end, and clamped to the circular flange (4) at the other end, wherein the opposite circular flange (4) has a guiding system for guiding the cable (2) and wherein the cable (2) is arranged tangentially from the circular flange (4) through the guiding system of the opposite circular flange (4) to the circular flange (4) so as to pull the opposite circular flange (4) when the fixed circular flange (4) is moved.. An embodiment of the differential mechanism is shown in Figures 7, 8, 9 and 10 in contracted position and in Figures 17, 18, 19 and 20 in expanded position of the pipe inspection robot (100).
A further object of the invention is a method for remote inspection of pipes of varying inner diameter comprising a. Placing the pipe inspection robot (100) of the invention in a pipe; b. Driving the pipe inspection robot (100) through the pipe to capture image or sensor information of the condition of the inner pipe wall; c. Expanding or contracting the joint casing (7) in function of the inner diameter of the pipe; d. T ransmitting the image or sensor information to a receiver; e. Processing the sensor and image information ; and f. Providing the sensor or image information to a user through a user interface
A further object of the invention is a system for remote inspection of pipes of varying inner diameter comprising a. A pipe inspection robot (100) according to the invention; b. A data transmission system; and c. And a data processing and storage system.
The pipe inspection robot (100) is preferably used for remote inspection of pipes of inner diameters ranging from 600 mm to 2000 mm. Accordingly, the pipe inspection robot (100) is preferably dimensioned to be drivable through pipe of an inner diameter of 600 mm in contracted position and of 1200 mm in expanded position.
Through the pipe inspection robot (100) may be used without the necessity of prior cleaning of the pipe with water. Thus, important amounts of water, energy and time may be saved through the pipe inspection robot (100) of the invention. Through its extendability, the pipe inspection robot (100) may be further used in pipes with bends and curves as well as for pipe with varying inner diameters.
The figures are for illustration purposes and represent a preferred embodiment. However, the skilled person will immediately understand that other embodiments are possible. Accordingly, the figures are not meant to limit the scope of protection.

Claims

1. A pipe inspection robot (100) having a central housing (10) comprising one or more of a camera, a sensor, an energy source, a processor, a control system and a data transmission system; a joint casing (7) having a first joint (1) and a second joint (3); wherein joints (1 , 3) have a circular flange (4) mounted on the pivot axis (6); the circular flanges (4) each being pivotably connected to a rocker bogie (11); the rocker bogie (11) having a bogie having a first end and a second end; wherein a rocker is mounted on the second end of the bogie so as to be pivotable about an axis of rotation extending transversely to the direction of travel; wherein the rocker bogie (11) further has wheels rotatably connected to the first and the second end of the rocker, and to the first end of the bogie, the wheel axis of rotation extending transversely to the direction of travel; wherein the joint casings (7) are connected through a link assembly (12); and wherein a first linear actuator (5) and a second linear actuator (5) are cross- transversely arranged so as to laterally extend or contract the joint casing (7) when the first or the second actuator (5) are actuated.
2. The pipe inspection robot (100) according to claim 1 , wherein the pipe inspection robot (100) further comprise an emitter and a receiver for remote control of the pipe inspection robot (100).
3. The pipe inspection robot (100) according to any of the preceding claims, wherein the pipe inspection robot (100) has six wheels.
4. The pipe inspection robot (100) according to any of the preceding claims, wherein the first (5) or the second actuator (5) are electronically controlled.
5. The pipe inspection robot (100) according to any of the preceding claims, wherein the actuator is an hydraulic or a pneumatic system.
6. The pipe inspection robot (100) according to any of the preceding claims, wherein the pipe inspection robot (100) is dimensioned to inspect pipes with an inner diameter from 100 mm or more, preferably, 300 mm or more, even more preferably 600 mm or more.
7. The pipe inspection robot (100) according to any of the preceding claims, wherein the pipe inspection robot (100) is dimensioned to inspect pipes with an inner diameter from 3000 mm or less, preferably 2000 mm or less, even more preferably 1200 mm or less.
8. The pipe inspection robot (100) according to any of the preceding claims, wherein the pipe inspection robot (100) is dimensioned to inspect pipes with an inner diameter varying from 600 mm to 1200 mm.
9. Method for remote inspection of pipes of varying inner diameter comprising a. Placing the pipe inspection robot (100) according to any of the preceding claims in a pipe; b. Driving the pipe inspection robot (100) through the pipe to capture image or sensor information of the condition of the inner pipe wall; c. Expanding or contracting the robot (100) in function of the inner diameter of the pipe; d. T ransmitting the sensor and image information to a receiver; e. Processing the sensor and image information in a data processor; and f. Providing the sensor and image information through a user interface to a user .
10. System for remote inspection of pipes of varying inner diameter comprising a. A pipe inspection robot (100) according any of claims 1 to 7; b. A data transmission system; and c. And a data processing and storage system.
11. Use of a pipe inspection robot (100) according to any of claims 1 to 8 or a system according to claim 10 for the remote inspection of pipes of varying inner diameter from 100 mm to 3000 mm.
PCT/EP2022/053553 2021-03-13 2022-02-14 A wheeled extendable pipe inspection robot with a rocker bogie and a method and a system for remotely inspecting pipes of varying inner diameters WO2022194465A1 (en)

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BEBE2021/5191 2021-03-13
BE20215191A BE1028790B1 (en) 2021-03-16 2021-03-16 An extendable pipe inspection robot on wheels with a rocking bogie and a method and system for remotely inspecting pipes of different inner diameters

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5799743A (en) 1997-01-24 1998-09-01 Inuktun Services Ltd. Drive system
US7181985B2 (en) * 2005-05-27 2007-02-27 Breval Technical Services Limited Conduit inspection apparatus and method
US7600592B2 (en) 2005-08-04 2009-10-13 Engineering Services Inc. Variable configuration articulated tracked vehicle
CN102963455A (en) * 2012-11-12 2013-03-13 上海交通大学 Pull rod type suspended robot wheel leg walking mechanism
EP2352981B1 (en) 2008-11-03 2015-04-08 Redzone Robotics, Inc. Device for pipe inspection and method of using same
WO2021038301A1 (en) * 2019-08-23 2021-03-04 Peter Kessler Pipe inspection device with variable height control

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5799743A (en) 1997-01-24 1998-09-01 Inuktun Services Ltd. Drive system
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