DEVICE FOR PIPE INSPECTION AND METHOD OF USING SAME

• US 20100218624A1
• Filed: 11/03/2009
• Published: 09/02/2010
• Est. Priority Date: 11/03/2008
• Status: Active Grant

• Current Assignee: RedZone Robotics, Inc.
• Original Assignee: RedZone Robotics, Inc.
• Inventors: KRATZER, ERIC, JOHNS, PHILIP JAKE, ATWOOD, CHRISTOPHER C., SLIFKO, ADAM, JUCHNIEWICZ, RICHARD P.
• Granted Patent: US 8,525,124 B2
• Time in Patent Office: Days
• US Class Current: 73/865.800
• CPC Class Codes: B62D 55/12 Arrangement, location, or adaptation of driving sprockets
• CPC Class Codes: B62D 55/244 Moulded in one piece, with either smooth surfaces or surfaces having projections, e.g. incorporating reinforcing elements
• CPC Class Codes: E03F 7/12 Installations enabling inspection personnel to drive along sewer canals
• CPC Class Codes: G01M 99/00 Subject matter not provided for in other groups of this subclass
• CPC Class Codes: G01N 35/00 Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
• CPC Class Codes: Y10S 901/44 inspection

Abstract

A device. The device includes a sensor portion and a chassis portion. The sensor portion includes a plurality of sensing devices. The chassis portion is connected to the sensor portion and includes a first track and a second track. The second track is positioned adjacent the first track. The first and second tracks cooperate to substantially cover an entire width of the chassis portion.

Claims

1. A device, comprising:

a sensor portion, wherein the sensor portion comprises a plurality of sensing devices; and

a chassis portion connected to the sensor portion, wherein the chassis portion comprises;

a first track; and

a second track positioned adjacent the first track, wherein the first and second tracks cooperate to substantially cover an entire width of the chassis portion.

2. The device of claim 1, wherein the plurality of sensing devices comprise at least two of the following:

a camera;

a radar device;

a sonar device;

an infrared device; and

a laser device.

3. The device of claim 1, wherein:

the first track defines a first plurality of openings therethrough; and

the second track defines a second plurality of openings therethrough.

4. The device of claim 1, wherein:

at least one surface of the first track is substantially smooth; and

at least one surface of the second track is substantially smooth.

5. The device of claim 1, wherein:

the at least one surface of the first track has a static coefficient of friction which is at least 0.8; and

the at least one surface of the second track has a static coefficient of friction which is at least 0.8.

6. The device of claim 1, wherein the chassis portion further comprises:

a first drive assembly, wherein the first drive assembly is in contact with the first track; and

a second drive assembly positioned adjacent the first drive assembly, wherein the second drive assembly is in contact with the second track.

7. The device of claim 6, wherein the first drive assembly comprises:

a motor;

a speed reduction gear train connected to the motor; and

a drive pulley connected to the speed reduction gear train.

8. The device of claim 7, wherein the drive pulley defines a plurality of studs.

9. The device of claim 7, wherein the drive pulley defines at least one groove around a circumference of the drive pulley.

10. The device of claim 9, wherein the at least one groove is positioned between a first stud defined by the drive pulley and a second stud defined by the drive pulley.

11. The device of claim 8, wherein the plurality of studs are configured to mate with a plurality of openings defined by the first track.

12. The device of claim 1, further comprising a riser portion connected to the sensor portion and the chassis portion.

13. A device, comprising:

a sensor portion, wherein the sensor portion comprises a plurality of sensing devices; and

a chassis portion connected to the sensor portion, wherein the chassis portion comprises;

a tether;

a winch assembly in contact with the tether;

a payout assembly in contact with the tether; and

a spindle assembly in contact with the tether.

14. The device of claim 13, wherein the winch assembly comprises:

a drive motor;

a clutch; and

a capstan drum in contact with the tether and coupled to the drive motor via the clutch.

15. The device of claim 13, wherein the payout assembly comprises:

an encoder magnet;

a roller in contact with the tether and magnetically coupled to the encoder magnet; and

an encoder chip magnetically coupled to the encoder magnet.

16. The device of claim 13, wherein the spindle assembly comprises:

a drive motor;

a levelwind system in contact with the tether; and

a tether spindle in contact with the tether and coupled to the drive motor.

17. A method, implemented by a device, for inspecting an interior of a pipe, the method comprising:

a) traversing the pipe; and

b) capturing data associated with an interior of the pipe while the pipe is being traversed, wherein steps (a)-(b) are performed by the device while a manhole through which the device gained access to the pipe is closed.

18. The method of claim 17, wherein the traversing is performed automatically by the device.

19. The method of claim 17, wherein the capturing is performed automatically by the device.

20. The method of claim 17, wherein the traversing and capturing are performed by an autonomous mobile robot.

21. The method of claim 17, wherein the traversing starts a period of time after the device gained access to the pipe.