Sensor based micro-cleaning of buried infrastructure
First Claim
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1. A method for cleaning a pipe, the method comprising the steps of:
- automatically cleaning a first portion of the pipe with a cleaning tool of a mobile platform in accordance with an initial cleaning plan, wherein the mobile platform is;
positioned in the pipe; and
configured to traverse through the pipe;
sensing a change in a characteristic of debris in the pipe with a sensor of the mobile platform; and
automatically adjusting said cleaning plan at the mobile platform based on the sensed change, wherein the step of automatically adjusting said cleaning plan comprises utilizing a controller communicatively connected to the cleaning tool and the sensor and configured to automatically adjust said cleaning plan based on the sensed change.
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Abstract
Methods and tools for cleaning pipes or pipe networks based on characteristics of pipes and debris in the pipes. A mobile platform includes a cleaning head and a sensor head. The platform implements a cleaning plan and senses characteristics of the pipe and debris. The cleaning plan is incrementally updated based on the sensed characteristics, and can be automatically updated using software. Many different cleaning tasks can be accomplished using the present platforms including agitation of sediment, pulverization of large debris, and movement of debris to facilitate removal.
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Citations
23 Claims
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1. A method for cleaning a pipe, the method comprising the steps of:
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automatically cleaning a first portion of the pipe with a cleaning tool of a mobile platform in accordance with an initial cleaning plan, wherein the mobile platform is; positioned in the pipe; and configured to traverse through the pipe; sensing a change in a characteristic of debris in the pipe with a sensor of the mobile platform; and automatically adjusting said cleaning plan at the mobile platform based on the sensed change, wherein the step of automatically adjusting said cleaning plan comprises utilizing a controller communicatively connected to the cleaning tool and the sensor and configured to automatically adjust said cleaning plan based on the sensed change. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 20, 21, 22, 23)
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17. A mobile platform for cleaning a pipe, comprising:
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a housing, wherein the housing is configured to traverse through the pipe; at least one cleaning tool attached to said housing; at least one sensor attached to said housing for gathering information regarding a characteristic of debris in the pipe; and a controller communicatively connected to each cleaning tool of the mobile platform, wherein the controller is configured to; automatically adjust a cleaning plan at the mobile platform based on the gathered information; and automatically calculate adjustments to operation of said mobile platform in accordance with the adjusted cleaning plan. - View Dependent Claims (18, 19)
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Specification