Description:FIELD OF THE INVENTION

[0001] The present invention relates to an underground pipeline maintenance assistive device that efficiently inspects, diagnoses, and repairs pipelines autonomously, thereby ensures precise detection, effective material handling, and automated repair processes, all while preserving the structural integrity of the pipeline and minimizing disruptions during maintenance.

BACKGROUND OF THE INVENTION

[0002] Underground pipeline maintenance is essential to preserve the pipeline’s integrity, preventing leaks, blockages, and structural damage. Routine maintenance allows for early detection of potential problems, reducing costly repairs and environmental risks. The pipeline maintenance also ensures the smooth flow of water, gas, or oil, minimizing service interruptions.

[0003] Traditionally, underground pipeline repairs are carried out using devices like manual excavation tools, welding machines, and pipe relining kits. These methods often require significant human labor, involve disruption to the surrounding environment, and have limited precision. In terms of automation, these devices lack real-time monitoring and precise damage localization, which leads to inefficiency and increased repair times.

[0004] US9869420B2 discloses a system and method for pipeline maintenance may include a payload and a transport module having the payload attached thereto. The transport module may include a plurality of movable arms each having at least one respective wheel. At least some of the wheels may be drive wheels which are operable in a first orientation to drive the transport module linearly along a length of a pipeline, and are further operable in a second orientation to drive the transport module circumferentially around an inner surface of the pipeline. At least some of the arms are operable to move the payload in a generally radial direction toward and away from an interior surface of the pipeline.

[0005] US11590543B2 discloses a vehicle for performing operations on a subsea pipeline, such as a riser, carries one or more interchangeable modules and is configured to translate along the riser. The vehicle comprises an elongate support structure for carrying the modules Gripper arms hold the support structure a predetermined distance away from the elongate body and cause translation of the vehicle along the riser using a hand-over-hand action, so as to allow the vehicle to pass protuberances or obstacles, such as a clamp, on the riser.

[0006] Conventionally, many devices have been developed to assist in the repair of underground pipelines. These devices typically include means for detecting pipeline issues, tools for accessing damaged sections, and various methods for applying repair materials. However, existing solutions lack an integrated, real-time monitoring means that actively assess the condition of the pipeline and precisely guide repair processes.

[0007] In order to overcome the aforementioned drawbacks, there exists a need in the art to develop a device that not only detects and monitors pipeline issues, but also requires to provide precise repair solutions by continuously analyzing pipeline conditions, such as crack location, material type, and environmental factors. In addition, the developed device also needs to enhance repair efficiency through real-time intervention means, such as automated positioning means, dynamic material dispensing, and ensure an optimal condition for repairing.

OBJECTS OF THE INVENTION

[0008] The principal object of the present invention is to overcome the disadvantages of the prior art.

[0009] An object of the present invention is to develop a device that is capable of inspecting, diagnosing, and repairing underground pipelines, while ensuring high precision in detecting issues and performing repairs with minimal human intervention.

[0010] Another object of the present invention is to develop a device that is capable of real-time monitoring of underground pipe conditions for enabling quick identification of damage, leaks, or blockages, and facilitating effective and targeted repairs.

[0011] Another object of the present invention is to develop a device that is capable of detecting and localizing of pipeline cracks and damages, allowing for efficient and focused repair operations at the exact location of the issues.

[0012] Yet, another object of the present invention is to develop a device that is capable of cleaning and drying work environment during repairing of underground pipelines by effectively removing water and debris for allowing uninterrupted and efficient repairs to be carried out.

[0013] The foregoing and other objects, features, and advantages of the present invention will become readily apparent upon further review of the following detailed description of the preferred embodiment as illustrated in the accompanying drawings.

SUMMARY OF THE INVENTION

[0014] The present invention relates to an underground pipeline maintenance assistive device that is capable of inspecting, diagnosing, and repairing underground pipelines, while ensuring precise detection of issues. In addition, the device also capable of real-time monitoring for quick identification of damage, leaks, or blockages, and facilitating effective and targeted repairs.

[0015] According to an embodiment of the present invention, an underground pipeline maintenance assistive device, comprising a body developed to be positioned on a ground surface, multiple motorized wheels coupled with suction cups are arranged underneath the body for providing movement to the body on the surface, an artificial intelligence based imaging unit mounted on the body and integrated with a processor for capturing and processing images of surroundings, an inbuilt microcontroller evaluates a 3D (three-dimensional) mapping of the surroundings as well as determined presence of pipeline in proximity to the body, a user-interface inbuilt in a computing unit accessed by the user for displaying the evaluated mapping and also enabling the user to select a portion of the surroundings that required inspection and repairing of underground pipes, a cascading slider assembly provided on a bottom portion of the body to provide movement to an inspection module integrated with a free-end of the slider assembly, to carry out real-time analysis of pipe conditions underneath the surface, a multi-sectioned chamber arranged within the body and stored with repair materials, and each section is connected with a mixing container by means of a conduit arranged between each of the section and container, an iris lid is installed with each of the section to dispense a regulated amount of the repair material within the conduits that is transferred to the container, a motorized stirrer installed within the container to mix the dispensed repair materials to produce a mixture, a viscosity sensor is installed within the container to monitor viscosity of the mixture, an electronically controlled valve arranged beneath the container to dispense the mixture in a tube lined with the container, an ultrasonic sensor installed on the body to detect exact location of cracks over the pipes, a motorized scissor lift arrangement is mounted on upper section of the body to lift a cuboidal member attached with a free-end of the lift arrangement, allowing vertical adjustment to align repair tools with the specific location of pipe damage or leaks, an articulated robotic configuration mounted on the member, configured to position the tube directly over damaged section of pipe, an electronic nozzle integrated with a free-end of the tube to open and dispense epoxy material precisely over crack or damaged area, ensuring effective sealing and structural integrity, a wedge-shaped plate is mounted on the body via a robotic link, configured to facilitate to-and-fro motion, enabling rapid mechanical dislodging of rust or debris adhered to pipe’s surface, a vacuum cleaning unit is integrated with the body to efficiently collect and transport debris from pipe’s surface to a collection compartment integrated with the cleaning unit.

[0016] According to another embodiment of the present invention, the device further comprises of inspection module, including an acoustic sensor for detecting leakage sounds, IR (Infrared) sensor to detect temperature anomalies, a ground penetrating radar (GPR) system to identify presence and positioning of underground pipes, an ultrasonic flow sensor to measure flow rate within underground pipes, respectively enabling detection of irregularities indicative of potential damage, a pair of extendable links are mounted on front and rear sections of the body, each equipped with an air-inflating bag to isolate damaged or repaired sections of pipe by inflating the air bag to block water flow and allow uninterrupted repairs, a suction pump is provided on the links, operates to keep work area dry during repairs by extracting water and debris, maintaining optimal working condition, repair materials required for repairs, includes but not limit resin-coated flexible liners, solvent cement, epoxy injection, fiber-reinforced epoxy liners, and welding rods, a Peltier module coupled with a temperature sensor is provided inside the container to maintain an ideal temperature during the mixing process, a bar car hood assembly is installed at base of the scissor lift arrangement, configured to enable entire repairing module to tilt toward front or rear section of body, facilitating precise positioning for repair operations at bottom section of the pipe, a X-ray fluorescence sensor is integrated with the body to detect material type of the pipe, an L-shaped telescopic pole is installed on the member, configured to support an arc welding unit that facilitates welding of cracks in cast iron pipes, a motorized air blower is positioned adjacent to the L-shaped pole, configured to force-dry surrounding area of cracked section of pipe before initiating the maintenance process, an electronic sprayer is attached with a vessel stored with anti-rust solution and configured at the body for dispensing the anti-rust solution over the pipe for loosening the rust and preparing surface of pipe for effective maintenance.

[0017] While the invention has been described and shown with particular reference to the preferred embodiment, it will be apparent that variations might be possible that would fall within the scope of the present invention.

BRIEF DESCRIPTION OF THE DRAWINGS

[0018] These and other features, aspects, and advantages of the present invention will become better understood with regard to the following description, appended claims, and accompanying drawings where:
Figure 1 illustrates an isometric view of an underground pipeline maintenance assistive device.

DETAILED DESCRIPTION OF THE INVENTION

[0019] The following description includes the preferred best mode of one embodiment of the present invention. It will be clear from this description of the invention that the invention is not limited to these illustrated embodiments but that the invention also includes a variety of modifications and embodiments thereto. Therefore, the present description should be seen as illustrative and not limiting. While the invention is susceptible to various modifications and alternative constructions, it should be understood, that there is no intention to limit the invention to the specific form disclosed, but, on the contrary, the invention is to cover all modifications, alternative constructions, and equivalents falling within the spirit and scope of the invention as defined in the claims.

[0020] In any embodiment described herein, the open-ended terms "comprising," "comprises,” and the like (which are synonymous with "including," "having” and "characterized by") may be replaced by the respective partially closed phrases "consisting essentially of," consists essentially of," and the like or the respective closed phrases "consisting of," "consists of, the like.

[0021] As used herein, the singular forms “a,” “an,” and “the” designate both the singular and the plural, unless expressly stated to designate the singular only.

[0022] The present invention relates to an underground pipeline maintenance assistive device that is capable of detecting and localizing pipeline cracks and damages for enabling precise repair operations at the specific issue location. Additionally, the device also ensures a clean and dry work environment by efficiently removing water and debris for facilitating uninterrupted and effective repairs during the maintenance of underground pipelines.

[0023] Referring to Figure 1, an isometric view of an underground pipeline maintenance assistive device is illustrated, comprising, a body 101 developed to be positioned on a ground surface, multiple motorized wheels 102 coupled with suction cups 103 are arranged underneath the body 101, an artificial intelligence based imaging unit 104 mounted on the body 101, a cascading slider assembly 105 provided on a bottom portion of the body 101, an inspection module 106 integrated with a free-end of the slider assembly 105, a multi-sectioned chamber 107 arranged within the body 101, a mixing container 108 by means of a conduit 109 arranged between each of the section and container 108, an iris lid 110 is installed with each of the section, a motorized stirrer 111 installed within the container 108, an electronically controlled valve 112 arranged beneath the container 108, a tube 113 lined with the container 108, a motorized scissor lift arrangement 114 is mounted on upper section of the body 101, a cuboidal member 115 attached with a free-end of the lift arrangement 114, an articulated robotic configuration 116 mounted on the member 115, an electronic nozzle 117 integrated with a free-end of the tube 113, a wedge-shaped plate 118 is mounted on the body 101 via a robotic link 119.

[0024] Figure 1 further illustrates a vacuum cleaning unit 120 is integrated with the body 101, a collection compartment 121 integrated with the cleaning unit 120, a hose 122 integrated in between the vacuum unit and the collection compartment 121, a pair of extendable links 123 are mounted on front and rear sections of the body 101, each equipped with an air-inflating bag 124, a suction pump 125 is provided on the links 123, a containment chamber 126 linked with the each of the pump 125, a Peltier module 127 is provided inside the container 108, a bar car hood assembly 128 is installed at base of the scissor lift arrangement 114, an L-shaped telescopic pole 129 is installed on the member 115, an arc welding unit 130 configured with the pole 129, a motorized air blower 131 is positioned adjacent to the L-shaped pole 129 and an electronic sprayer 132 is attached with a vessel 133 configured at the body 101.

[0025] The device disclosed herein includes a body 101 is developed to be placed on a ground surface for the purpose of repairing underground pipelines. The body 101 is in cuboidal shape enhances the device's structural integrity, providing stability and support during the maintenance process. The design ensures that the device effectively withstand the stresses associated with the underground pipeline repair tasks, offering durability and reliability in challenging environments. Additionally, the robust structure allows for ease of handling and maneuverability, making the device ideal for use in a variety of field conditions.

[0026] An inbuilt microcontroller associated with the device to either power up or shut down the device. The microcontroller then activates an artificial intelligence based imaging unit 104 installed on the body 101 to capture multiple images in surrounding of the body 101 in view of assisting the microcontroller for generating 3D (three-dimensional) map of the surrounding.

[0027] The imaging unit 104 comprises of an image capturing module including a set of lenses that captures multiple images in surrounding of the body 101, and the captured images are stored within memory of the imaging unit 104 in form of an optical data. The imaging unit 104 also comprises of a processor that is encrypted with artificial intelligence protocols, such that the processor processes the optical data and extracts the required data from the captured images. The extracted data is further converted into digital pulses and bits and are further transmitted to the microcontroller. The microcontroller processes the received data to evaluates a 3D (three-dimensional) mapping of the surroundings as well as determined presence of pipeline in proximity to the body 101.

[0028] Once the body’s 101 surrounding map is successfully evaluated, the microcontroller activates a communication module for establishing a wireless connection, which is linked with the microcontroller for establishing a wireless connection between the microcontroller and a computing unit (includes, but not limited to smartphone, tablet or laptop) and inbuilt with a user-interface, to display the evaluated mapping on the computing unit that is accessed by the user to select a portion of the surroundings that required inspection and repairing of underground pipes. The communication module used herein includes, but not limited to Wi-Fi (Wireless Fidelity) module, Bluetooth module, GSM (Global System for Mobile Communication) module.

[0029] Post receiving the input commands from the computing unit, the microcontroller processes the input commands and activates multiple motorized wheels 102 (preferably in range 4-6) paired with suction cups 103 are installed underneath the body 101 to maneuver the body 101 over the surface towards the user specified portion of the surrounding. The motorized wheels 102, coupled with suction cups 103 work together to maneuver the body 101 over the surface. The motorized wheels 102 are powered by electric motors that enables precise control over the movement of the body 101 in any direction. These wheels 102 provide propulsion, allowing the device to move smoothly over the ground. The suction cups 103, strategically positioned beneath the body 101, create a strong vacuum seal when in use. This vacuum pulls the body 101 firmly against the surface, enhancing stability and preventing slippage, especially on uneven or inclined terrain. The coordination in the movement of the wheels 102 with the suction cups 103’ grip, the body 101 maneuver with accuracy and stability, suited for working for the delicate task of pipeline repairs in confined or hard-to-reach areas. The combination ensures smooth and controlled movement over the surface.

[0030] Once the body 101 is positioned near the user-specified portion, the microcontroller actuates a cascading slider assembly 105 located on the bottom portion of the body 101 to provide movement to an inspection module 106, which is integrated at the free end of the slider assembly 105 for conducting real-time analysis of the pipe conditions beneath the surface. The cascading slider assembly 105 operates by using a series of interconnected sliders that move in a controlled sequential manner to extend the inspection module 106 beneath the surface. When activated by the microcontroller, it sends an electrical signal to the first slider. This signal triggers a motor or actuator, typically a stepper motor or servo motor, which is connected to the first slider. The motor initiates the movement of the first slider along its designated track or rail, thus the first slider begins to move, triggering the next slider in the sequence, thus cascading the motion progressively. Each slider is developed to smoothly slide over the previous one for ensuring that the inspection module 106 moves with precision and stability. As the slider assembly 105 extends, the inspection module 106, mounted at the free end, is deployed into the underground pipeline of the user-specified portion for real-time analysis.

[0031] Once the inspection module 106 is deployed, the microcontroller activates the inspection module 106 to perform real-time analysis of pipe conditions underneath the surface. The module 106 includes but not limited to, an acoustic sensor for detecting leakage sounds, IR (Infrared) sensor to detect temperature anomalies, a ground penetrating radar (GPR) system to identify presence and positioning of underground pipes, and an ultrasonic flow sensor to measure flow rate within underground pipes, respectively enabling detection of irregularities indicative of potential damage. The module 106 coordinates the activation of these sensors to ensure precise real-time analysis of the pipe conditions beneath the surface. Initially, the module 106 activates the Ground Penetrating Radar (GPR) system to detect the presence and position of the underground pipes.

[0032] The Ground penetrating radar (GPR) system uses radar pulses for surveying the surface. The ground penetrating radar (GPR) system is a non-intrusive type of surveying the surface to investigate underground for detect presence and positioning of pipes. The GPR comprises of a transmitter and antenna. The transmitter emits electromagnetic radiation into the ground. When the energy encounters a pipeline, the radiation gets reflected or refracted or scattered back to the surface which are received by the antenna which further record the variations in the return signal. The return signal is then sent to the microcontroller by the inspection module 106. Upon receiving the signal from the inspection module 106, the microcontroller then processes the received signal to determine the presence and positioning of underground pipes.

[0033] Once the presence and positioning of underground pipes are detected, the microcontroller sends a signal to the inspection module 106 to initiate the real-time analysis of the detected pipe conditions beneath the surface. The module 106 then activates the acoustic sensor to detect leakage sounds within the underground pipe. The acoustic sensor, also known as a microphone or sound sensor, works by converting sound waves into electrical signals. The acoustic sensor is designed to detect variations in air pressure caused by sound in the surrounding of the pipe and transforming these pressure fluctuations into electrical signals that are processed, stored, or transmitted to the microcontroller.

[0034] When a leakage occurs in the pipe, it generates sounds such as hissing, dripping, or turbulence, creating a series of compressions and rarefactions in the surrounding medium, which form sound waves. The electrical signal generated by the acoustic sensor is amplified and converted into an analog electrical signal, which is sent to the microcontroller via the inspection module 106. The microcontroller processes the signal to determine the presence of a leakage in the pipe. Upon successful detection of a leakage in the pipe, the microcontroller signals the module 106 to activate the IR (Infrared) sensor, which detects temperature anomalies caused by high pressure inside the pipes. When the pressure inside the pipe becomes too high, it causes thermal patches or heat spots to form on the surface of the pipe.

[0035] The infrared (IR) sensor works by detecting infrared radiation emitted from objects, which is related to their temperature. When there’s a temperature difference caused by high pressure inside the pipe, it creates heat spots or thermal patches on the pipe's surface. The IR sensor detects these changes by measuring the infrared radiation emitted from the hot spots. The sensor typically consists of a lens that focuses the infrared radiation onto a detector, which then converts the radiation into an electrical signal. The data is then sent to the microcontroller for analysis, which helps to identify issues caused through temperature abnormalities like leaks or high-pressure conditions inside the pipe.

[0036] Upon successful analyzing the temperature abnormalities of the pipe, the microcontroller signals the module 106 to activate the ultrasonic flow sensor to measure flow rate of the leakage. The ultrasonic flow sensor measures the flow rate within underground pipes by using the principles of sound wave propagation. The sensor typically consists of two transducers, one acting as a transmitter and the other as a receiver. The transmitter sends ultrasonic sound waves through the pipe, which travel along the flow of the liquid inside. The receiver detects these sound waves after they pass through the fluid.

[0037] The sensor works by comparing the time it takes for the sound waves to travel downstream (with the flow) and upstream (against the flow). When the flow rate is higher, the downstream wave travels faster, and the upstream wave travels slower. By calculating the difference in the travel times of the sound waves, the sensor determines the flow velocity of the liquid inside the pipe. The microcontroller processes this data to calculate the flow rate for real-time monitoring of the fluid’s movement and enabling detection of intensity of leakages flow.

[0038] The microcontroller, in collaboration with the inspection module 106, processes the data detected by the acoustic sensor, IR (Infrared) sensor, ground penetrating radar (GPR) system, and ultrasonic flow sensor to identify irregularities indicative of potential damage. Once the irregularities are determined to be potential damage, the user inputs commands via the computing unit to specify the location of the underground pipe's opening. The microcontroller receives these commands, processes them, and actuates the wheels 102 to maneuver the body 101 toward the pipe opening. Once the body 101 is positioned near the opening, the user manually adjusts the body 101 to position the body 101 inside the pipe. At this point, the user manually halts the flow within the underground pipe to begin repairing the detected potential damage.

[0039] Once the body 101 is successfully positioned inside the pipe, the microcontroller activates an ultrasonic sensor mounted on the body 101, which works in sync with the imaging unit 104 to detect the exact location of cracks on the pipe. The ultrasonic sensor operates by emitting ultrasonic waves and measuring the time it takes for these waves to bounce back after hitting the pipe's surface. The sensor consists of two main components: a transmitter and a receiver, responsible for emitting and detecting the waves to identify the crack's location.

[0040] The transmitter sends a short ultrasonic pulse toward the pipe surface, which propagates through the air at the speed of sound. When the pulse encounters a crack, it reflects back as an echo to the transmitter. The transmitter detects this reflected echo, and the sensor calculates the time interval between sending the signal and receiving the echo to determine the distance to the crack. The data is then transmitted to the microcontroller as an electrical signal. The microcontroller processes this signal to pinpoint the exact location of the crack on the pipe. Once the location of the crack is determined, the microcontroller re-actuates the wheels 102 to maneuver the body 101 in proximity of the detected crack.

[0041] Once the body 101 is positioned near the detected crack, the microcontroller actuates a pair of extendable links 123 installed on front and rear sections of the body 101 to isolate damaged or repaired sections of pipe by inflating an air-inflating bag 124 equipped with each links 123, to block water flow and allow uninterrupted repairs. The extension/retraction of the extendable links 123 is powered pneumatically by the microcontroller by employing a pneumatic unit associated with the links 123, including an air compressor, air cylinders, air valves and piston which works in collaboration to aid in extension and retraction of the links 123. The pneumatic unit is operated by the microcontroller, such that the microcontroller actuates valve to allow passage of compressed air from the compressor within the cylinder, the compressed air further develops pressure against the piston and results in pushing and extending the piston. The piston is connected with the links 123 and due to applied pressure, the links 123 extends and similarly, the microcontroller retracts the links 123 by closing the valve resulting in retraction of the piston. Thus, the microcontroller regulates the extension/retraction of the links 123 in order to extend and position the air inflating bag 124 at an optimal distance from the body 101 in view of block water flow and allow uninterrupted repairs.

[0042] Once the air-inflating bag 124 is positioned, the microcontroller actuates a motorized air compressor associated within the air-inflating bag 124 to inflate the air-inflating bag 124 to block flow in the pipe. The motorized air compressor inflates the air-inflating bag 124 by compressing ambient air and delivering it through a controlled airflow means consists of air channels, valves, and pressure regulators that manage the flow of compressed air to the air-inflating bag 124. When activated by the microcontroller, an electric motor drives a piston or diaphragm within the compressor, reducing the volume of the air chamber and increasing air pressure. The compressed air is then directed through channels to the air-inflating bag 124 via an air valve. The valve regulates the airflow, allowing precise control of the inflation process.

[0043] After insulating working area, the microcontroller actuates a suction pump 125 is attached on the links 123 to keep the work area dry during repairs by extracting water and debris from the surroundings for maintaining optimal working condition. In an embodiment of the present invention, the extracted material is then transferred into a containment chamber 126 paired with each pump 125 to maintain optimal working conditions. The suction pump 125 works by extracting water and debris from the surroundings, keeping the work area dry during repairs. The pump 125 typically consists of a motor, an impeller, and a suction tube. The motor powers the impeller, which creates a vacuum inside the pump 125. This vacuum causes air, water, and debris to be drawn through the suction tube into the pump 125.

[0044] Once optimal working condition is achieved, the microcontroller activates an X-ray fluorescence sensor is installed on the body 101 to identify the material type of the pipe. The X-ray fluorescence (XRF) sensor works by emitting X-rays onto the surface of the pipe and analyzing the resulting fluorescent radiation to identify the material type. When the X-rays hit the pipe, they interact with the atoms of the material, causing the atoms to emit secondary X-rays, also known as fluorescent X-rays. These emitted X-rays have characteristic wavelengths that correspond to the elements present in the pipe material.

[0045] The XRF sensor includes a detector that captures these emitted X-rays and analyzes their energy levels. Each element in the pipe material has a unique X-ray fluorescence signature, allowing the sensor to identify the elements and their concentrations. The microcontroller processes this data and determines the material type of the pipe, whether it is PVC, cast iron, or another material.

[0046] A multi-sectioned chamber 107 is installed within the body 101, containing repair materials required for repairs, includes but not limit resin-coated flexible liners, solvent cement, epoxy injection, fiber-reinforced epoxy liners, and welding rods. Each section is connected to a mixing container 108 arranged inside the body 101, through a conduit 109 that links 123 each section to the container.

[0047] In case the detected pipe material to be the cement, the microcontroller activates an iris lid 110 positioned on each section of the chamber 107 to release a controlled amount of repair material such as solvent cement, into the conduits 109, which is then transferred to the container 108. The motorized iris lid 110 operates using a motor connected to an iris arrangement, which consists of overlapping, hinged blades that open and close in a circular motion. When activated by the microcontroller, the motor drives a gear that rotates the iris blades, adjusting the aperture size. The aperture controls the flow of manure, allowing an optimal amount to be dispensed based on pre-set parameters. The lid’s movement is precise for accurate control over the dispensing rate. The microcontroller monitors the flow and adjust the aperture dynamically for consistent output. Upon reaching the desired amount, the microcontroller stops the motor for sealing the aperture to prevent extra dispensing of the repair material into the mixing container 108.

[0048] Once the repair materials dispensed in the mixing container 108, the microcontroller actuates a motorized stirrer 111 arranged within the mixing container 108 to mix the dispensed repair materials to produce the mixture. The motorized stirrer 111 within the container 108 consists of a motor, a shaft, and mixing blades. The motor, powered by an electric supply, rotates the shaft, which is connected to the mixing blades. As the motor turns the shaft, the blades spin and move through the dispensed repair materials, thoroughly mixing them to create the mixture. The design of the blades ensures efficient stirring by agitating the repair materials from the bottom to the top, preventing clumps and promoting even consistency. The motor's speed and direction are controlled by the microcontroller to adjust the mixing intensity as needed for mixture formation.

[0049] While mixing the repair materials within the container 108 via the stirrer 111, the microcontroller activates a viscosity sensor arranged within the container 108 to monitor viscosity of the mixture. The viscosity sensor works to monitor the viscosity of the mixture while repair materials are being stirred within the container 108. The sensor typically consists of a piston and two coils, with the piston driven electromagnetically through the fluid. As the stirrer 111 mixes the repair materials, the fluid’s viscosity determines the resistance the piston faces while moving through the mixture. The coils apply a constant force to move the piston back and forth, and the internal circuitry of the sensor continuously monitors the piston’s movement.

[0050] When the mixture is more viscous, the piston encounters greater resistance and moves slower. Conversely, if the mixture is less viscous, the piston moves more freely. The internal circuitry converts the piston’s movement into an electrical signal, which is transmitted to the microcontroller. The microcontroller processes this signal and determines the viscosity of the mixture. This real-time data ensures that the mixture’s consistency remains optimal during the repair material mixing process and as soon the monitored viscosity matched with a threshold viscosity, the microcontroller stops the actuation of the motorized stirrer 111.

[0051] While preparing the mixture, the microcontroller activates a temperature sensor arranged inside the container 108 to detect temperature of the prepared mixture. The temperature sensor is composed of metal that generate an electrical voltage or resistance when experienced to temperature changes. The senor works by measuring the voltage across the diode terminals. The resistance of the diode is detected and transformed into readable values in order to measure the temperature of the mixture. The measured temperature is then converted into electrical signal which is received by the microcontroller. The microcontroller further processes the measured temperature and compare with a pre-fed value stored in a databased inked with the microcontroller. in case the detected temperature is not matches the pre-fed value, then the microcontroller actuates a Peltier module 127 installed in the container 108 and coupled with the temperature sensor, to maintain an ideal temperature during the mixing process.

[0052] The Peltier module 127 consists of two semiconductor plates, known as Peltier plates, connected in series and sandwiched between two ceramic plates. When an electric current is applied to the Peltier module 127, one side of the unit absorbs heat from its surroundings, while the other side releases heat, thereby maintain an ideal temperature during the mixing process.

[0053] Once the mixture is successfully prepared, the microcontroller activates a bar car hood assembly 128 located at the upper section of the body 101 to tilt a motorized scissor lift arrangement 114, which is configured over the bar car hood assembly 128, toward the crack, if the detected crack is located at the bottom section of the pipe. The bar car hood assembly 128 allows the body 101 to tilt forward or backward for ensuring precise positioning for repair operations at the bottom section of the pipe.

[0054] The bar car hood assembly 128 works by enabling precise tilting of the scissor lift arrangement 114 toward the detected crack. The bar car hood consists of a frame mounted at the upper section of the body 101, which supports the scissor lift arrangement 114. The assembly is equipped with actuators, often hydraulic or electric, that control the tilting motion. When the microcontroller receives a command to position the scissor lift, it activates the actuators within the bar car hood assembly 128. These actuators move the frame in a controlled manner, tilting the scissor lift arrangement 114 either forward or backward. The tilting motion allows the scissor lift to align with the crack, particularly when it is positioned at the bottom section of the pipe. The bar car hood assembly 128 provides stability and precision during this tilting process, ensuring that the scissor lift and attached tools are accurately directed towards the crack for repair.

[0055] Once the scissor lift arrangement 114 is tilted towards the crack, the microcontroller actuates the motorized scissor lift arrangement 114 to lift a cuboidal member 115 configured with a free-end of the lift arrangement 114 in order to provide vertical or horizontally adjustment to the cuboidal member 115 to align repair tools with the specific location of pipe damage or leaks. The motorized scissor lift arrangement 114 utilizes a scissor arrangement made of linked, crisscrossing metal supports resembling a pair of scissors. When extended, the scissor arms raise the cuboidal member 115, positioning it under the brush, and when retracted, the member 115 is lowered. This arrangement is powered hydraulically, with hydraulic jacks integrated into the body 101, which are connected to a hydraulic unit. The hydraulic unit consists of a hydraulic pump, solenoid valve, and hydraulic piston-cylinder.

[0056] Once the cuboidal member 115 is successfully positioned near the detected crack, the microcontroller actuates a robotic link 119 installed on the body 101 to provide to-and-fro motion to a wedge-shaped plate 118 configured with the link 119 for rapid mechanical dislodging of rust or debris adhered to pipe’s surface. The robotic link 119 is made of several segments that are attached together by joints also referred to as axes. Each joint of the segments contains a step motor that rotates and allows the robotic link 119 to complete a specific motion of the link 119. Upon actuation of the robotic link 119 by the microcontroller, the motor drives the movement of the link 119 to move the wedge-shaped plate 118 in to-and-fro motion for dislodging the rust or debris adhered to pipe’s surface.

[0057] As the rust or debris is dislodged, the microcontroller activates a vacuum cleaning unit 120 attached to the body 101 to efficiently collect and transport the debris from the pipe's surface to a collection compartment 121 integrated within the cleaning unit 120. The vacuum cleaning unit 120 works by creating suction to draw in debris from a surface. The cleaning unit 120 typically consists of a motor that generates a high-speed airflow, creating a vacuum (low-pressure) area inside the pipe. This suction pulls debris, such as rust or dirt, that are dislodged from the surface of the pipe. In an embodiment of the present invention, the debris is then directed through a hose 122 connected to the vacuum cleaning unit 120, towards the collection compartment 121. Once the debris is drawn in, it travels through a series of filters or screens that separate larger particles. The filtered debris is then deposited into the collection compartment 121. The vacuum cleaning unit 120 ensures that the cleaning process is efficient by maintaining strong suction power.

[0058] Upon successfully cleaning the pipe surface around the damaged section of the pipe, the microcontroller actuates an electronically controlled valve 112 arranged beneath the mixing container 108 to dispense the mixture in a tube 113 lined with the container 108. The electronically controlled valve 112 consists of a gate, nozzle and a magnetic coil which is energized by the microcontroller, on energizing the magnetic coil force is generated which pushes the gate to open thus allowing the mixture to flow out of its nozzle and dispense the mixture in the tube.

[0059] Once the mixture is dispensed in the tube 113, the microcontroller actuates an articulated robotic configuration 116 arranged on the member 115 to grip the tube 113 and position the tube 113 directly over damaged section of pipe. The articulated robotic configuration 116 works by using multiple joints and actuators to provide flexible and precise movement, enabling it to grip the tube 113 and position it directly over the damaged section of the pipe. The robotic configuration 116 consists of several segments connected by rotational joints, which allow the arm to extend, rotate, and maneuver with high precision. These joints are powered by electric motors or hydraulic actuators, controlled by a central microcontroller.

[0060] To grip the tube 113, the robotic configuration 116 is equipped with specialized end-effectors, such as grippers or clamps, that securely hold the tube 113. The microcontroller processes commands and adjusts the robotic arm's position and orientation, ensuring the tube 113 is aligned accurately over the damaged section of the pipe. The articulated design allows the robot to access hard-to-reach areas, providing flexibility and control to position the tube 113 with great precision directly over damaged section of the pipe.

[0061] Once the tube 113 is positioned over the damaged section of the pipe, the microcontroller automatically activates an electronic nozzle 117 attached to the tube 113’s free end to open and dispenses the mixture directly onto the crack or damaged area for ensuring precise sealing and maintaining the structural integrity of the pipe. The electronic nozzle 117 operates by using electrical energy to control the flow of the solution in a precise pattern. The nozzle 117 converts the fluid's pressure energy into kinetic energy, increasing the fluid's velocity. When the microcontroller activates the nozzle 117, the electric motor or pump pressurizes the incoming mixture, significantly boosting its pressure. This high pressure forces the solution out with great force, thus ensuring that the damaged area is effectively covered with the mixture.

[0062] In case the detected pipe material is identified as PVC, the microcontroller adjusts the mixing and selection of repair materials, using primer specifically designed for PVC pipes.

[0063] As the detected material of the pip to be the cast iron, then then microcontroller regulates mixing and selection of repair materials, using mixture of epoxy putty or an anti-corrosion primer for cast iron pipes and actuates a motorized air blower 131 installed on the member 115 to force-dry surrounding area of cracked section of pipe before initiating the maintenance process. The motorized air blower 131 works by generating a powerful stream of air to force-dry the surrounding area of the cracked pipe before initiating the maintenance process. The unit consists of a motor, a fan, and an air nozzle. The motor drives the fan, which spins at high speed to create a high-velocity airflow. The air is directed through the nozzle towards the area surrounding the crack.

[0064] As the blower 131 operates, the air stream helps evaporate any moisture, water, or condensation present around the crack, drying the area thoroughly. The high-velocity air also removes debris and dust, ensuring the surface is clean and ready for repair. The microcontroller typically regulates the blower’s 131 operation, adjusting air pressure and duration based on environmental conditions to ensure effective drying. This ensures that the pipe surface is dry and free from moisture before proceeding with welding, sealing, or other repair techniques, leading to a more effective and lasting repair.

[0065] Once the surrounding area of cracked section of pipe is dried, the microcontroller actuates an electronic sprayer 132 is configured with a vessel 133 stored with anti-rust solution and installed at the body 101, to dispense the anti-rust solution over the pipe for loosening the rust and preparing surface of pipe for effective maintenance. The electronic sprayer 132 works by dispensing an anti-rust solution over the pipe's surface to loosen rust and prepare the pipe for effective maintenance. The sprayer 132 consists of a reservoir to hold the anti-rust solution, a pump and a nozzle. The microcontroller regulates the flow and spray pattern, ensuring precise application of the solution.

[0066] When activated, the pump draws the anti-rust solution from the reservoir and pressurizes it. The pressurized solution is then pushed through the nozzle, which atomizes it into a fine mist, allowing for an even and controlled distribution over the pipe's surface. The sprayer’s 132 nozzle can often be adjusted for different spray patterns, ensuring coverage of the entire rusted area. The microcontroller typically controls the sprayer’s 132 operation, adjusting the spray rate and timing based on the level of rust or the surface area needing treatment. This ensures optimal rust loosening and surface preparation for subsequent maintenance procedures.

[0067] Once the surrounding area of cracked section of the iron pipe is prepared, the microcontroller actuates an L-shaped telescopic pole 129 arranged on the member 115 to position an arc welding unit 130 configured with the pole 129 over the detected crack. The extension/retraction of the L-shaped telescopic pole 129 is regulated by the microcontroller by in the same manner as the extendable links 123 as disclosed above, by employing the pneumatic unit, for positioning the welding unit 130 over the crack.

[0068] Once the welding unit 130 is positioned over the crack, the microcontroller actuates the welding unit 130 to weld the crack in the cast iron pipe. The arc welding unit 130 works by generating an electric arc between an electrode and the cast iron pipe to melt and fuse the materials together, effectively welding the crack. The unit consists of a power supply, an electrode holder, and a welding electrode, which is typically a metal rod coated with a flux material.

[0069] When the electrode is brought close to the pipe, an electric arc is created between the electrode and the crack area. The intense heat from the arc melts the electrode and the surface of the pipe at the crack, allowing the molten material to flow and fuse the crack together. The flux coating on the electrode forms a protective gas shield around the molten metal, preventing contamination and oxidation as the weld cools and solidifies. The microcontroller regulates the power and arc duration to ensure optimal welding conditions, creating a strong, durable bond to repair the cast iron pipe crack.

[0070] Although the field of the invention has been described herein with limited reference to specific embodiments, this description is not meant to be construed in a limiting sense. Various modifications of the disclosed embodiments, as well as alternate embodiments of the invention, will become apparent to persons skilled in the art upon reference to the description of the invention. , Claims:1) An underground pipeline maintenance assistive device, comprising:

i) a body 101 developed to be positioned on a ground surface, wherein multiple motorized wheels 102 coupled with suction cups 103 are arranged underneath said body 101 for providing movement to said body 101 on said surface;
ii) an artificial intelligence based imaging unit 104 mounted on said body 101 and integrated with a processor for capturing and processing images of surroundings, wherein based on said processed images, an inbuilt microcontroller generates a 3D (three-dimensional) map of said surroundings as well as determined presence of pipeline in proximity to said body 101;
iii) a user-interface inbuilt in a computing unit accessed by said user for displaying said generated map and also enabling said user to select a portion of said surroundings that requires inspection and repairing of underground pipes, wherein based on said user specified details, said microcontroller actuates said wheels 102 to maneuver said body 101 over said surface;
iv) a cascading slider assembly 105 provided on a bottom portion of said body 101 that is actuated by said microcontroller to provide movement to an inspection module 106 integrated with a free-end of said slider assembly 105, wherein said inspection module 106 is configured to carry out real-time analysis of pipe conditions underneath said surface;
v) a multi-sectioned chamber 107 arranged within said body 101 and stored with repair materials, and each section is connected with a mixing container 108 by means of a conduit 109 arranged between each of said section and container 108, wherein an iris lid 110 is installed with each of said section and actuated by said microcontroller to dispense a regulated amount of said repair material within said conduits 109 that is transferred to said container 108;
vi) a motorized stirrer 111 installed within said container 108 and actuated by said microcontroller to mix said dispensed repair materials to produce a mixture, wherein a viscosity sensor is installed within said container 108 to monitor viscosity of said mixture and as soon said monitored viscosity matched with a threshold viscosity, said microcontroller actuates an electronically controlled valve 112 arranged beneath said container 108 to dispense said mixture in a tube 113 lined with said container 108;
vii) an ultrasonic sensor installed on said body 101 and synced with said imaging unit 104 to detect exact location of cracks over said pipes, wherein a motorized scissor lift arrangement 114 is mounted on an upper section of said body 101 that is actuated by said microcontroller to lift a cuboidal member 115 attached with a free-end of said lift arrangement 114, allowing vertical adjustment to align repair tools with the specific location of pipe damage or leaks;
viii) an articulated robotic configuration 116 mounted on said member 115, configured to position said tube 113 directly over damaged section of pipe, wherein an electronic nozzle 117 integrated with a free-end of said tube 113 is dynamically actuated by said microcontroller to open and dispense epoxy material precisely over crack or damaged area, ensuring effective sealing and structural integrity; and
ix) a wedge-shaped plate 118 is mounted on said body 101 via a robotic link 119, configured to facilitate to-and-fro motion, enabling rapid mechanical dislodging of rust or debris adhered to pipe’s surface, wherein a vacuum cleaning unit 120 is integrated with said body 101 to efficiently collect and transport debris from pipe’s surface to a collection compartment 121 integrated with said cleaning unit 120.

2) The device as claimed in claim 1, wherein said inspection module 106 comprises of an acoustic sensor for detecting leakage sounds, IR (Infrared) sensor to detect temperature anomalies, a ground penetrating radar (GPR) system to identify presence and positioning of underground pipes, and an ultrasonic flow sensor to measure flow rate within underground pipes, respectively enabling detection of irregularities indicative of potential damage.

3) The device as claimed in claim 1, wherein a pair of extendable links 123 are mounted on front and rear sections of said body 101, each equipped with an air-inflating bag 124 to isolate damaged or repaired sections of pipe by inflating said air bag 124 to block water flow and allow uninterrupted repairs, and a suction pump 125 is provided on said links 123, operates to keep work area dry during repairs by extracting water and debris, maintaining optimal working condition.

4) The device as claimed in claim 1, wherein a Peltier module 127 coupled with a temperature sensor is provided inside said container 108 to maintain an ideal temperature during the mixing process.

5) The device as claimed in claim 1, wherein a bar car hood assembly 128 is installed at base of said scissor lift arrangement 114, configured to enable entire repairing module to tilt toward front or rear section of body 101, facilitating precise positioning for repair operations at bottom section of the pipe.

6) The device as claimed in claim 1, wherein an X-ray fluorescence sensor is integrated with said body 101 to detect material type of said pipe, in accordance to which said microcontroller regulates mixing and type of repair materials, utilizing solvent cement and primer for PVC pipes and mixture of epoxy putty or an anti-corrosion primer for cast iron pipes.

7) The device as claimed in claim 1, wherein an L-shaped telescopic pole 129 is installed on said member 115, configured to support an arc welding unit 130 that facilitates welding of cracks in cast iron pipes, thereby providing a permanent seal.

8) The device as claimed in claim 1, wherein a motorized air blower 131 is positioned adjacent to said L-shaped pole 129, configured to force-dry surrounding area of cracked section of pipe before initiating the maintenance process.

9) The device as claimed in claim 1, wherein an electronic sprayer 132 is attached with a vessel 133 stored with anti-rust solution and configured at said body 101, said microcontroller actuates said sprayer 132 for dispensing said anti-rust solution over said pipe for loosening the rust and preparing surface of pipe for effective maintenance.