Description:Object of the invention:
Main object of the invention is to provide a device for inspection of borewell and pipelines.
Another object of the invention is to provide method for inspection of borewell and pipelines.
Yet another object of the invention is to provide a device having remote operation capabilities for inspection in remote or hazardous environments.
Other object of the invention is to provide a device to collect comprehensive data for accurate assessment of borewell and pipelines with respect blockages and damages.
Another object of the invention is to provide a device and method for inspection of borewell and pipelines which is cost-effective, efficient, easy to handle and saves time and resources.
Yet another object of the invention is to provide a device with increased safety of human by eliminating entry into hazardous and confined spaces.

SUMMARY OF THE INVENTION
A device (100) for inspection of borewell and/or pipelines, the device (100) comprising
i. a head unit (101) comprising an inflatable actuators (104), one or more sensors (105);
ii. a body unit (102) comprising an inflatable actuators (104); and
iii. a tail unit (103) comprising an inflatable actuators (104), a bendable conduit (106);
wherein the head unit (101), the body unit (102) and the tail unit (103) are connected to each other with inflatable actuators (104) through a solid frame (107);
wherein the device (100) is linked to an external air compressor through the bendable conduit (106) for modulating the air towards the actuators (104) to ensure a coordinated locomotion;
wherein the actuators (104) are inflated and contracted/deflated sequentially when air is pumped in and pumped out respectively, wherein the inflated actuator (104) exerts pressure against the inner surface of the borewell and/or pipelines for facilitating the movement of the device (100) in desired direction;
wherein the sensors (105) collect and transmit data for inspection.
Furthermore the invention provides a method for inspecting borewell and/or pipelines by using the device (100), the method comprising
i. passing the air through the bendable conduit (106) from external air compressor to tail unit (103) of the device (100);
ii. modulating the air in the device (100) by the control system;
iii. pumping the air sequentially in and out to inflate and deflate the actuators (104);
iv. exerting the pressure on inner surface of the borewell and/or and pipelines by mechanical grips of the suction unit to facilitate movement of the device (100); and
v. collecting and transmitting the data from one or more sensors (105) in the head unit (101) for inspection.

BRIEF DESCRIPTION OF FIGURES
Figure 1 shows the side view of device of with various components
Figure 2 depicts front view of the device with sensor/s
Figure 3 illustrates perspective view of the device with sensor/s
Figure 4 shows deflated view of the device when air is pumped in
Figure 5 shows inflated/contracted view of the device when air is pumped out
Figure 6 depicts the head unit of the device with multiple sensors.
Figure 7 illustrates Borewell and Pipeline Inspection. Figure 7(A) shows Borewell inspection; Figure 7(B) shows Device Submerged in Pipeline and Figure 7(C) shows device moving across 4 inch Borewell Pipe.
Figure 8 depicts images captured inside the borewell. Figure 8(A) shows Crack in Borewell Pipe; Figure 8(B) shows Underwater Imaging and Figure 8(C) shows Algae Detection inside borewell pipe.
DETAILED DESCRIPTION OF THE PRESENT INVENTION
Definitions:
The term ‘Borewell’ used in present invention is defined as a deep, narrow well for water that is drilled into the ground and has a pipe fitted as a casing in the upper part of the borehole, typically equipped with a pump to draw the water to the surface. The term borewell in general used for water resource.
The term ‘Pipe’ used herein refers to the tubing that carries liquid or gas. Term ‘pipe’ and ‘pipelines’ and ‘borewell’ can be used interchangeably.
The term ‘Robot’ used in present invention refers to a machine capable of carrying out series of actions automatically as per the instruction.
The term ‘Device’ used herein refers to the device of the present invention.
The term ‘Biomimicry’ in present invention refers to the design and production of materials, structures, and systems that are modelled on biological entities and processes. Device of the present invention is biomimicry of the snail and operates similar to the it.
The term ‘Actuator’ herein refers to a device that converts the signals into the physical events or characteristics.
The term ‘Inflatable actuators’ used in present invention refers to the actuators which can be inflated and/or deflated/contracted. When air is pumped in and out the actuators are inflated and deflated/contracted respectively.
The term ‘actuators’ and ‘inflatable actuators’ are same and can be used interchangeably.
The term ‘Sensor’ herein refers to a device used for the conversion of physical events or characteristics i.e. inputs into the output signals.
The term ‘Conduit, used herein refers to tubing used in the device to pump air in and out. The term ‘conduit’ and ‘foldable conduit’ are same and can be used interchangeably.
The term ‘Suction unit’ used in present invention refers to the grip which holds the inner surface of borewell or pipelines. The term ‘Suction unit’ and ‘mechanical grips’ can be used interchangeably in present invention.
The term ‘Air compressor’ herein refers to the machine that takes in air at atmospheric pressure and delivers it at a higher pressure. The term’ air compressor’ and ‘compressor’ can be used interchangeably in the preset invention.
The term ‘Data collection’ used in present invention refers to information collected by the sensors for inspection of the borewell or pipelines .The term data collection’ and ‘data’ can be used interchangeably in present invention.
Term ‘Desired direction’ used in present invention refers to the desired movement in forward direction or backward direction or of the device i.e. direction in which movement of the device is allowed to carried out. Term ‘Desired direction’ and ‘direction’ can be used interchangeably in the present invention.
The term ‘microcontroller’ used herein refers to Arduino microcontroller which helps in managing the entire system.
The term ‘motor driver’ used herein refers to the motor that drove the linear actuator and play an essential role in maneuvering the robot's movements.
The term ‘software’ used herein refers to image processing.
The term ‘Coordinated locomotion’ used in the present invention refers to sequential movement of the device, wherein the actuators in the device are inflated and deflated/contracted sequentially to create pressure on inner surface of the borewell/pipelines causing movement of the device.

Description:
Present invention describes a device and method of inspection of the borewell and/or pipelines. Below mentioned embodiments particularly describes the invention and the manner in which it is to be performed.
An embodiment of thee present invention provides a device (100) for inspection of borewell and/or pipelines, the device (100) comprising
i. a head unit (101) comprising an inflatable actuators (104), one or more sensors (105);
ii. a body unit (102) comprising an inflatable actuators (104); and
iii. a tail unit (103) comprising an inflatable actuators (104), a bendable conduit (106);
wherein the head unit (101), the body unit (102) and the tail unit (103) are connected to each other with inflatable actuators (104) through a solid frame (107);
wherein the device (100) is linked to an external air compressor through the bendable conduit (106) for modulating the air towards the actuators (104) to ensure a coordinated locomotion;
wherein the actuators (104) are inflated and contracted/deflated sequentially when air is pumped in and pumped out respectively, wherein the inflated actuator (104) exerts pressure against the inner surface of the borewell and/or pipelines for facilitating the movement of the device (100) in desired direction;
wherein the sensors (105) collect and transmit data for inspection.
Another embodiment of the present invention provides a control system for monitoring function of the device (100). The control system utilizes air for compression and rarefaction movement. An air compressor/decompressor served as an integral part of the system, inflating and deflating air sacs to mimic snail's foot muscle movements and thereby moving the actuator. Pressure sensors are employed to monitor the air sacs' pressure, the data from which was relayed back to the control unit to confirm desired movements. The heart of the control unit is a microcontroller, an Arduino, which processes sensor inputs and dispatched commands to the actuator and the air compressor/decompressor for necessary pressure and movement adjustments. A motor driver is required to supply the appropriate current to the motor that propelled the linear actuator. The power supply provided the necessary energy for the microcontroller, sensors, motor driver, and air compressor/decompressor. Finally, software embedded within the system contained control algorithms that responded to sensor inputs. These could be as simple as a PID controller or more complex, based on the robot's specific requirements.
Another embodiment of the present invention provides the device (100) for inspection of borewell and/or pipelines, with microcontroller, wherein the microcontroller is known for its versatility and simplicity and plays a crucial role in managing the entire system. The microcontroller is Arduino microcontroller. It functioned as an embedded system, collecting data from pressure sensors, analyzing the air pressure within the robot's air sacs, and making informed decisions to maintain the required balance of movement and pressure. Upon interpreting the sensor data, the Arduino microcontroller transmitted commands to the motor driver and the air compressor/decompressor, directing them to modify their operations as needed. If the pressure within an air sac was determined to be low, the Arduino provides instruction to the air compressor to inflate the sac slightly. Conversely, if the pressure is too high, it provides command to release some air. The Arduino's utility was amplified due to the vast availability of sensor modules, libraries, and the robust developer community that surrounded the platform. The software embedded within the Arduino, written in a variation of C++, housed an image processing algorithm that analyzed visual sensor data to identify obstacles or scrutinize terrain, guiding the robot's movement accordingly.
Further embodiment of the invention provides a device (100) for inspection of borewell and/or pipeline, comprising 'motor driver'. Motor driver plays important role in maneuvering the robot's movements. It functioned as a bridge between the Arduino microcontroller and the motor that drive the linear actuator. Upon receiving commands from the Arduino microcontroller, the motor driver controls the electric motor's operations, such as adjusting the direction, speed, and sometimes the torque of the motor. When the Arduino detects low pressure in an air sac, for instance, it would command the motor driver to supply the appropriate current to the motor, thus controlling the locomotion of the robot. Conversely, if the pressure is too high, it will direct the motor driver to lessen the motor's drive, facilitating the decompression process. The motor driver's operation is crucial in maintaining the desired pressure balance and seamless locomotion of the robot.
Yet another embodiment of the invention provides device (100) for inspection of borewell and/or pipelines, with software. The software component, particularly focusing on image processing, served a key role in facilitating intelligent navigation. Housed within the Arduino microcontroller, the software implemented an algorithm that processed data from the robot's visual sensors. The software was programmed using a variation of C++, which was compatible with the Arduino platform. This image processing algorithm was responsible for enhancing, analyzing, and extracting information from the captured images, providing crucial insights about the robot's environment. These insights might include identifying obstacles, analyzing the terrain for navigation, or even recognizing specific objects or patterns. Based on these processed image data, the Arduino microcontroller could then make informed decisions to guide the robot's movement, adjusting its locomotion according to the conditions detected in the environment. The image processing software was integral to the robot's operation, enabling it to interact effectively with its surroundings.
Other embodiment of the present invention provides a suction unit. The Suction units. Suction units provides mechanical grip to hold the inner surface of the borewell and/or pipelines. The Suction unit holds the surface firmly enabling proper movement of the device in the desired direction. These grips are built-in to provide proper support during the movement of the device. Further the mechanical grips can be attached separately as per the requirement.
Another embodiment of the present invention provides one or more sensors (105). The sensors are selected from thermal sensor, radar sensor, optical sensor, smoke sensor, gas sensor, proximity sensor, infrared sensor, ultrasonic sensor, light sensor, touch sensor, pressure sensor. These sensors collect the information and transmit or transfer it as data for inspection of the device. Thermal sensor is used to measure the temperature; radar sensor is used to measure different parameters such as distance, weather forecast, movement, vehicle system; optical sensor is used for visual purpose to get clear view inside the borewell and/or pipelines; smoke sensor or smoke detectors are used to detect smoke or fire thereby giving signal of danger; gas sensor are used to detect leakage of any gas or presence of gas in particular region; light sensor are used to provide light; other sensors such as ultrasonic sensor, proximity sensor, infrared sensor, touch sensor are used for specific purposes. These sensors collect the information and transmit or transfer it as data for inspection of the device.
Yet another embodiment of the present invention provides optical sensors are camera which records or provides live video inside the borewell and/or pipelines. Further cameras can be provided with led light arrangement to get better view in dark area.
Other embodiment of the invention provides one or more sensors, which enables the detection of anomalies, moisture levels, rust, pipe roughness calculations, and monitoring of overall pipe conditions.
Yet another embodiment of the present invention provides actuators (104). Actuators are inflatable actuators and adapt with the movement of the device. When air is pumped in the actuators are inflated and when air is pumped out the actuators are deflated. This inflation and deflation occurs sequentially and leads to movement of the device Furthermore actuators (104) are adapted to the inner surface of borewell and/or pipelines.
Further embodiment of the present invention provides actuators (104) with linear movement of the device (100) on inner surface of borewell and/or pipelines. The movement of the actuator is inspired by bio-mimicry. Actuators sequentially inflate and deflate in a rhythmic pattern, reminiscent of a snail's pedal wave.
Other embodiment of the present invention provides solid frame to which is connected to head unit, tail unit and body unit. Furthermore solid frame is made up from a material selected from Polymethylene, Polyethylene, Polyethylene Terephthalate, Polyethylene Terephthalate Glycol, Polypropylene, Polyvinylchloride, Polystyrene, Polyacrylate, polyamide.
Another embodiment of the present invention provides external compressor to pump the air. The air is pumped sequentially in and out to inflate and deflate the actuators (104).
Yet another embodiment of the invention provides conduit to carry pumped air in and out from the tail unit of the device. The conduit is tubing used for airflow, wherein conduit is bendable condit enabling ease in operating the device.
Further embodiment of the present invention collects data by the sensors (105) and transmitted for inspection. The collected data is used to analyse defects or errors in the borewell or pipelines.
In other embodiment of the present invention the device is operated by remote control. The device can be operate in remote area.
Yet another embodiment of the present invention device (100) for inspection of borewell and/or pipelines is a robot.
Other embodiment of the present invention provides a method for inspecting borewell and/or pipelines by using the device (100), the method comprising
i. passing the air through the bendable conduit (106) from external air compressor to tail unit (103) of the device (100);
ii. modulating the air in the device (100) by the control system;
iii. pumping the air sequentially in and out to inflate and deflate the actuators (104);
iv. exerting the pressure on inner surface of the borewell and/or and pipelines by mechanical grips of the suction unit to facilitate movement of the device (100); and
v. collecting and transmitting the data from one or more sensors (105) in the head unit (101) for inspection.
Another embodiment of the present invention provides snail-inspired borewell inspection robot which is structured into several linked parts, each embedded with an inflatable actuator. For the purpose of data collection, the robot's head was equipped with thermal, radar, and optical sensors.
Yet another embodiment of the present invention provides inflatable Actuators wherein the actuators are operated by swelling/inflating when air was pumped in and contracting/deflating when the air was expelled. The actuator's expansion exerted pressure against the borewell's inner walls, facilitating the advancement of the device.
Another embodiment of the present invention provides utilization of an innovative air power compression rarefaction mechanism.
Another embodiment of the present invention provides controlled air supply.
Further embodiment of the present invention provides the control system which is engineered to sequentially inflate and deflate the actuators in a rhythmic pattern, reminiscent of a snail's pedal wave. This generated a series of movements that steered the robot forward.
Other embodiment of the present invention provides attachment with inner surface of borewell: To move efficiently, each segment of the robot was designed to secure a firm grip on the borewell wall. This was made possible through built-in mechanical grips or suction units. Alternatively, owing to their flexible property, the inflatable actuators could adapt to the borewell's surface, akin to how a snail's body contours to its environment.
Another embodiment of the present invention provides management of air Supply. The device is linked to an outside compressed air source through a bendable conduit. The control system of the robot was responsible for modulating the air flow to the actuators, ensuring a coordinated locomotion.
Yet another embodiment of the present invention provides data accumulation/collection. The head-mounted thermal sensor monitored temperature fluctuations within the borewell, the radar sensor gauged distances and detected obstacles, and the optical sensor provided visual information. This ensemble of sensors offered a comprehensive examination of the borewell's internal conditions, aiding in precise analysis and evaluation.
The Biomimicry-Inspired Linear Actuator Robot for Borewell and Pipeline Inspection introduces novel features and benefits by drawing inspiration from the movement of a snail. Incorporating biomimicry principles, it efficiently navigates complex structures. Designed for fully pressurized water pipelines, its waterproof construction ensures reliable performance in submerged and high-pressure environments. The robot eliminates the need for manual labor, reducing logistical complexities and improving efficiency. Operating without pipeline shutdowns, it delivers cost savings of up to 75% compared to traditional methods. With its unique features, this device revolutionizes borewell and pipeline inspection, enhancing efficiency, safety, and cost-effectiveness.
Advantages:
Increased safety through the elimination of human entry into hazardous and confined spaces
Enhanced efficiency in navigating complex borewell and pipeline structures
Remote operation capabilities for inspection in remote or hazardous environments
Comprehensive data collection using advanced sensors and imaging devices
Accurate assessment of borewell integrity, blockages, and damages
Cost-effectiveness through reduced manual labor and minimized errors
Time and resource savings by eliminating the need for dewatering or pipeline shutdowns
Versatile movement capabilities and adaptability to pipe curvatures
Rust-proof construction ensuring durability and longevity of the device
Ability to handle overhead weights up to 15 kg
Utilization of an innovative air power compression rarefaction mechanism
Substantial cost savings of up to 75% compared to traditional inspection methods.
, C , Claims:We claim:

1. A device (100) for inspection of borewell and/or pipelines, the device (100) comprising
i. a head unit (101) comprising an inflatable actuators (104), one or more sensors (105);
ii. a body unit (102) comprising an inflatable actuators (104); and
iii. a tail unit (103) comprising an inflatable actuators (104), a bendable conduit (106);
wherein the head unit (101), the body unit (102) and the tail unit (103) are connected to each other with inflatable actuators (104) through a solid frame (107);
wherein the device (100) is linked to an external air compressor through the bendable conduit (106) for modulating the air towards the actuators (104) to ensure a coordinated locomotion;
wherein the actuators (104) are inflated and contracted/deflated sequentially when air is pumped in and pumped out respectively, wherein the inflated actuator (104) exerts pressure against the inner surface of the borewell and/or pipelines for facilitating the movement of the device (100) in desired direction;
wherein the sensors (105) collect and transmit data for inspection.
2. The device (100) as claimed in claim 1, further comprises control system for monitoring function of the device (100) having microcontroller.
3. The device (100) as claimed in claim 1, further comprises optionally a suction unit.
4. The device (100) as claimed in claim 1, wherein one or more sensors (105) are selected from thermal sensor, radar sensor, optical sensor, smoke sensor, gas sensor, proximity sensor, infrared sensor, ultrasonic sensor, light sensor, touch sensor.
5. The device (100) as claimed in claim 1, wherein the suction unit provides mechanical grip to hold/attach the inner surface of borewell and/or pipelines firmly.
6. The device (100) as claimed in claim 1, wherein inflatable actuators (104) are adapted to the inner surface of borewell and/or pipelines through the mechanical grips of the suction unit.
7. The device (100) as claimed in claim 1, wherein the inflatable actuators (104) provides linear movement of the device (100) on inner surface of borewell and/or pipelines.
8. The device (100) as claimed in claim 1, wherein solid frame is made up from a material selected from Polymethylene, Polyethylene, Polyethylene Terephthalate, Polyethylene Terephthalate Glycol, Polypropylene, Polyvinylchloride, Polystyrene, Polyacrylate, polyamide.
9. The device (100) as claimed in claim 1, wherein the air is pumped sequentially in and out to inflate and deflate the actuators (104).
10. The device (100) as claimed in claim 1, wherein data collected by the sensors (105) is transmitted for inspection.
11. The device (100) as claimed in claim 1, wherein the device (100) is operated by remote control.
12. A device (100) for inspection of borewell and/or pipelines is a robot.
13. A method for inspecting borewell and/or pipelines by using the device (100) of claim 1, the method comprising
i. passing the air through the bendable conduit (106) from external air compressor to tail unit (103) of the device (100);
ii. modulating the air in the device (100) by the control system;
iii. pumping the air sequentially in and out to inflate and deflate the actuators (104);
iv. exerting the pressure on inner surface of the borewell and/or and pipelines by mechanical grips of the suction unit to facilitate movement of the device (100); and
v. collecting and transmitting the data from one or more sensors (105) in the head unit (101) for inspection.