DESC:FIELD OF THE INVENTION:
This invention relates to the field of robotics.

Particularly, this invention relates to automated robotic inspection systems.

Specifically, this invention relates to an autonomous in-pipe inspection robotic system.

BACKGROUND OF INVENTION:
Robotics is one of the rapidly growing engineering disciplines. Robots are employed to pull out human beings from labour-intensive, and dangerous, work environments and are also used to travel to unreachable workplaces that are not accessed by human beings.

Over the last couple of decades, contemporary societies and modern industries have been growingly inclined to depend on pipelines. Thus, a pipeline, or a network of pipelines, has become an essential component of transportation in different kinds of fields. A variety of pipes are being used to build essential lifelines such as gas supply, water supply, and drainage system.

In India, pipes are used in power plants, food and beverage manufacturing industries, medicine industries, agriculture sector, petroleum industries, chemical industries, and so on. But, recently, it has been noticed that many damages have been occurring inside these pipelines due to reasons such as aging, corrosion, chemical rust, and quality problems.

Sometimes, defects have been taking place due to natural disasters and mechanical damage from unbiased observers.

Therefore, periodic inspection, maintenance, and cleaning of pipelines are needed for improving their security and efficiency.

If these activities are accomplished, manually, then a great amount of effort, labor, and time is required. Many times, pipes are installed in locations with limited access; such as underground or inside walls. Hence, it becomes laborious to search for defects and their locations inside such pipelines.

Also, it is very difficult to inspect these pipelines in case of complicated structures and hazardous surroundings inside a pipe.

Therefore, there is a need for in-pipe robots for inspection and maintenance tasks at a low cost.

PRIOR ART:
According to prior art, as proposed by Te Li, Shugen Ma et al., there was proposes a hybrid in-pipe robot; this is designed for vertical pipe and curved pipe of 209 mm diameter pipes only. Thus, diameter adaptability of that robot is very poor. Also, its propulsion mechanism of that robot is complicated.

According to prior art, as proposed by Ankit Nayak and S. Pradhan, there was proposed an in-pipe inspection robot which is a combination of screw type and wall pressed wheel type robot. However, flexibility, steerability, and adaptability of this prior art robot are poor.

Therefore, there is a need for an improved in-pipe robot system.

OBJECTS OF THE INVENTION:
An object of the invention is to provide an autonomous in-pipe robotic system for inspection, maintenance, and other possible tasks of various pipe elements for industrial and service sector/s; with complete modeling, experimentation, and post analysis.

SUMMARY OF THE INVENTION:
According to this invention, there is provided an autonomous in-pipe inspection robotic system.

This invention describes an autonomous in-pipe robotic system which works on the principle of a screw-driven wall pressed wheel type in-pipe inspection robot. This robot can be utilized for special tasks such as inspection, maintenance, and cleaning of various pipe types such as straight pipes, couplings, and bends in water pipelines, gas pipelines, oil pipelines, and sewage systems etc.

According to this invention, there is provided an autonomous in-pipe inspection robotic system comprising:
- a driving leg system consisting of a first central hub with three legs such that each leg is a leg which extrudes orthogonally outwards from said first central hub and such that each leg is framed at an angle of 120 degrees with reference to its adjacent two legs;
- a pair of supporting leg system consisting of second central hubs with three legs such that each leg is a leg which extrudes orthogonally outwards from said second central hub and such that each leg is framed at an angle of 120 degrees with reference to its adjacent two legs;
o said second central hub being coaxial and connected to said first central hub;
- a scrubber leg system consisting of a third central hub with three legs such that each leg is a leg which extrudes orthogonally outwards from said third central hub and such that each leg is framed at an angle of 120 degrees with reference to its adjacent two legs; and
o said third central hub being coaxial and connected to said second central hub.

In at least an embodiment, wheels of said driving leg system being hinged at a 15 degree angle with respect to hub axis and wheels of said supporting leg system being kept at 0 degree angle with respect to hub axis; in order to achieve bidirectional helical motion.

In at least an embodiment, each of said legs, of said driving leg system, consists of a lower element, an upper element extending from the lower element, a fork, a spring, and a wheel at a distal end of the upper element.

In at least an embodiment, each of said legs, of said driving leg system, consists of a lower element, an upper element extending from the lower element, a fork, a spring, and a wheel at a distal end of the upper element, in that, said wheels being connected to said upper element at an angle.

In at least an embodiment, each of said legs, of said scrubbing leg system, consists of a lower element, an upper element extending from the lower element, a fork, a spring, and a scrubber at a distal end of the upper element.

In at least an embodiment, wheels of said supporting leg systems being aligned straight to get a rolling motion.

In at least an embodiment, resilient elements being placed into said lower elements to facilitate easy travel, of said system, through pipes.

In at least an embodiment, said driving leg system’s operative front side comprising a drill.

In at least an embodiment, said scrubber leg system’s operative back side comprising a suction pump.

In at least an embodiment, said driving leg system and said supporting leg system forming an operative front leg system, in that, said front leg system consisting of:
- a first front sub-leg system being a driving leg system with inclined wheels; and
- a second front sub-leg system being a supporting leg system with straight wheels.

In at least an embodiment, said scrubber leg system and said supporting leg system forming an operative back leg system, in that, said back leg system consisting of:
- a first back sub-leg system being a scrubber leg system used to clean a pipeline from inside; and
- a second back sub-leg system being a supporting leg system with straight wheels.

In at least an embodiment, said driving leg system being mounted on a DC motor shaft whereas said supporting leg systems (being mounted on a motor casing.

DETAILED DESCRIPTION OF THE ACCOMPANYING DRAWINGS:
The invention will now be described in relation to the accompanying drawings, in which:
Figure 1 illustrates an isometric view of an autonomous in-pipe robotic system;
Figure 2 illustrates a side view of an autonomous in-pipe robotic system;
Figure 3 illustrates a top view of an autonomous in-pipe robotic system;
Figure 4 illustrates a front view of an autonomous in-pipe robotic system;
Figure 5 illustrates a back view of an autonomous in-pipe robotic system;
Figure 6 illustrates minimum compression of leg for 8 inches diameter pipe;
Figure 7 illustrates maximum expansion of leg for 10 inches diameter pipe; and
Figure 8 illustrates maximum expansion of leg.

DETAILED DESCRIPTION OF THE ACCOMPANYING DRAWINGS:
According to this invention, there is provided an autonomous in-pipe inspection robotic system.

Figure 1 illustrates an isometric view of an autonomous in-pipe robotic system.

Figure 2 illustrates a side view of an autonomous in-pipe robotic system.

Figure 3 illustrates a top view of an autonomous in-pipe robotic system.

Figure 4 illustrates a front view of an autonomous in-pipe robotic system.

Figure 5 illustrates a back view of an autonomous in-pipe robotic system.

In at least an embodiment, this system comprises at least a front leg system, at least a back leg system, and at least a body leg system. Each leg system comprises at least two sub-leg systems.

In at least an embodiment of the front leg system, a first front sub-leg system is a driving leg system (3) with inclined wheels (4) and a second front sub-leg system is a supporting leg system (2) with straight wheels.

In at least an embodiment of the back leg system, a first back sub-leg system is a scrubber leg system (6) which is used to clean a pipeline from inside and a second back sub-leg system is a supporting leg system (7) with straight wheels.

The driving leg system (3), of the front leg system, is mounted on a DC motor shaft whereas both the supporting leg systems (2, 7) [i.e. the supporting leg system (2) of the front leg system and the supporting leg system (7) of the back leg system] are mounted on a motor casing. All systems, including driving leg system (3), supporting leg system (2), and scrubber leg system (6), consist of three legs such that each leg is a leg which extrudes orthogonally outwards from corresponding first central hub, second central hub, third central hub, and such that each leg is framed at an angle of 120 degrees with reference to its adjacent two legs so as to pass through pipes of 8 inches to 10 inches diameter range. To achieve bidirectional helical motion, the wheels of the driving leg system (3) are hinged to the fork of an elastic arm at a 15O angle with respect to pipe axis, whereas the wheels of the supporting leg system (2) are kept at 0O with respect to pipe axis to achieve bidirectional rolling motion inside the pipe.

In both front and rear leg systems, the driving leg systems are mounted on the output shaft of the DC motor. When both the motors are turned on, the driving leg systems rotate and transmit the motor torque to the inclined wheels. This transmitted motor torque provides the driving force at the inclined wheels in a helical direction that helps the robot to propel through the pipe in a bidirectional way. Simultaneously, the supporting leg system acts as a stator and performs the bidirectional rolling motion inside the pipe. The wall-press (diameter adaptive) mechanism consists of a supporting arm, an elastic arm, and a spring. In this mechanism, the springs are used to generate the tractive force and to provide suspension for the driving and supporting leg systems. The springs are placed in the supporting arms of each leg. The elastic arms of the driving and supporting leg systems can freely move up and down with the help of the spring force to adjust themselves in 200mm, 225mm, and 250mm diameter pipes. The wheels of the driving leg systems are made wide to get better stability by avoiding slippage inside the pipe

Each leg, of the driving leg system (3) and the supporting leg system (2, 7), is comprised of a lower element (5), an upper element (1) extending from the lower element (5), a fork, a spring, and a wheel (4) at a distal end of the upper element (1).

Each leg, of the scrubber leg system (6), is comprised of a lower element, (5), an upper element (1) extending from the lower element (5), a fork, a spring, and a scrubber (8).

In at least an embodiment, a provision (16) for drill / cutter (not shown) is made on an operative front side of the driving leg system (3). Obstacle/s inside a pipe, where this system is deployed, would be removed by using that drill / cutter.

In at least an embodiment, a provision (19) for suction pump (not shown) is made on an operative back side of the scrubber leg system (6). This suction pump (not shown) would be used for collecting sludge sample/s from inside a pipe, where this system is deployed. To get better stability, inside a pipe, where this system is deployed, the wheels of the driving leg system (3) are made wide compared to the wheels of the supporting leg system (2, 7).

REFERENCE NUMERAL ELEMENT
1 Upper element of leg
2 Supporting front leg system
3 Driving leg system
4 Wheel
5 Lower element of leg
6 Scrubber leg system
7 Supporting back leg system
8 Scrubber
9 Micro camera array
10 Front micro camera
11 Front LED bulb
12 LED bulb array
13 Back micro camera
14 Back LED bulb
15 Motor driver
16 Provision for drill or cutter
17 Battery
18 Receiver
19 Provision for suction
20 Ultrasonic sensor

Figure 6 illustrates minimum compression of leg for 8 inches diameter pipe.

Figure 7 illustrates maximum expansion of leg for 10 inches diameter pipe

Figure 8 illustrates maximum expansion of leg.

To get the forward and backward motion, of the system of this invention, the wheels (4), of the driving leg system (3), are connected to the upper element (1), at an angle (preferably, 15 degrees), whereas wheels, of supporting leg systems (2, 7), are kept straight to get a rolling motion. The wheels, of the driving leg system (3), are made wide to get better stability in a vertical pipe. Resilient elements are placed into the lower elements (5), of each leg, which helps the system, of this invention, to travel easily through pipes (typically, of 8 inches to 10 inches diameter range).

TABLE I
SPECIFICATIONS OF IN-PIPE ROBOTIC SYSTEM
Sr. No. Parameter Dimension
1. Diameter (max) 0.25m
2. Diameter (min) 0.2m
3. Length 0.315m
4. Weight 2.2kg
5. Speed 0.034 m/s
6. Degree of Freedom 3
7. Drive Type Electrical

Two geared DC motors, with an encoder, is a prime mover of this robot system. For real time visibility of pipeline, two micro cameras (9, 13) and two LED bulbs (11, 14) are installed on driving leg system (3) and supporting leg system (2, 7), respectively. Also, micro camera array (9) and LED bulb array (12) are mounted on supporting front leg system. For inspection of pipe interior, an ultrasonic sensor array (20) is mounted on supporting back leg system. This robotic system is made autonomous by mounting motor driver (15), receiver (18), and battery (17) on its body. In this robot system, according to a preferred embodiment, aluminum is used as a structural material. The following table shows the specifications of in-pipe robotic system.

According to a non-limiting exemplary embodiment, in order to verify the efficacy of the propulsion mechanism and the diameter adaptability of the device, its trials (forward and backward motion) are conducted on a downward slope and upward slope through straight pipes of 200mm, 225mm, and 250mm in diameter at 0-degree, 45-degree, and 90-degree pipe inclinations for 10-degree, 15-degree, and 20-degree wheel angles. All experiments are conducted for PVC pipe elements of 750mm length.

All possible combinations of the factors and corresponding observed values of linear velocity are shown in the following table.

Sr. No. Wheel Angle a (Degree) Pipe Diameter d (mm) Pipe Inclination ? (Degree) Reading 1 Reading 2 Reading 3 Mean of Linear Velocity
v
(mm/s)
1 n10 200 0 35.2 36.3 33.01 34.8
2 10 200 45 37.02 35.11 36.1 36
3 10 200 90 39.07 37.5 35.51 37.3
4 10 225 0 49.7 49.45 47.18 48.7
5 10 225 45 53.57 50.6 48.88 51
6 10 225 90 51.75 54.67 53.57 53.3
7 10 250 0 64.5 68.18 62.5 65
8 10 250 45 73.4 75.62 77.52 75.5
9 10 250 90 83.33 82.03 76 80.4
10 15 200 0 45.9 44.88 43.12 44.6
11 15 200 45 47.88 44.72 50.2 47.6
12 15 200 90 50.1 47 52.57 49.9
13 15 225 0 70.2 76 75 73.7
14 15 225 45 86.33 84.7 84.83 85.2
15 15 225 90 83.33 86.75 88.05 86
16 15 250 0 100.75 99.75 107.14 102.5
17 15 250 45 107.14 95.75 98.33 100.4
18 15 250 90 109.75 110.84 114.45 111.6
19 20 200 0 75 83.33 74.66 77.6
20 20 200 45 90.33 94.55 93.75 92.8
21 20 200 90 97.75 107.14 107.14 104
22 20 225 0 109.5 106.14 107.14 107.6
23 20 225 45 125.46 127 126.71 126.3
24 20 225 90 151.25 147.2 150 149.4
25 20 250 0 128 140.1 143.2 137.1
26 20 250 45 161.5 157.53 158.56 159.2
27 20 250 90 164.4 166.5 162.6 164.5
Table 1: Experimental data of IPIR through straight pipes for forward motion on a downward slope

Sr. No. Wheel Angle a (Degree) Pipe Diameter d (mm) Pipe Inclination ? (Degree) Reading 1 Reading 2 Reading 3 Mean of Linear Velocity
v
(mm/s)
1 10 200 0 37.5 35.71 34.29 35.8
2 10 200 45 35.5 34.71 33.09 34.4
3 10 200 90 34.09 32.61 31.25 32.6
4 10 225 0 51.48 50 46.88 49.4
5 10 225 45 45.18 40.67 43.12 43
6 10 225 90 37.5 40.6 39.5 39.2
7 10 250 0 61.5 57.69 52.57 57.2
8 10 250 45 33.01 35.09 31.15 33
9 10 250 90 25.44 22.73 22.73 23.6
10 15 200 0 48.5 44.58 46.88 46.6
11 15 200 45 41.88 43.52 39.67 41.7
12 15 200 90 38.27 41.37 39.17 39.6
13 15 225 0 82.3 77.18 84.12 81.2
14 15 225 45 76.88 73.43 67.18 72.5
15 15 225 90 67.48 73 71.02 70.5
16 15 250 0 105.75 103.25 111.14 106.7
17 15 250 45 48.38 54.03 45.88 49.4
18 15 250 90 19.74 21.52 20.83 20.7
19 20 200 0 77.47 82.33 75.74 78.5
20 20 200 45 72.33 69.82 65.18 69.1
21 20 200 90 59.69 62.5 63.5 61.9
22 20 225 0 102.14 94.74 92.75 96.5
23 20 225 45 80.18 74.33 78.38 77.6
24 20 225 90 62.5 68.48 67.69 66.2
25 20 250 0 126.63 142.53 135.5 134.9
26 20 250 45 96.14 98.04 93.75 95.9
27 20 250 90 83.52 81.13 83.33 82.6
Table 2: Experimental data of IPIR through straight pipes for backward motion on an upward slope

Sr. No. Wheel Angle a (Degree) Pipe Diameter d (mm) Pipe Inclination ? (Degree) Reading 1 Reading 2 Reading 3 Mean of Linear Velocity
v
(mm/s)
1 10 200 0 35.31 36.1 34.09 35.1
2 10 200 45 36.5 37.5 35.71 36.5
3 10 200 90 37.09 38.21 36.21 37.1
4 10 225 0 50 48.28 49.88 49.3
5 10 225 45 59.5 57.1 56.39 57.6
6 10 225 90 54.57 57.69 56.57 56.2
7 10 250 0 71.6 68.38 63.8 67.9
8 10 250 45 93.75 95.2 91.86 93.6
9 10 250 90 84.54 82.75 85.63 84.3
10 15 200 0 48.84 44.82 46.58 46.7
11 15 200 45 48.01 46.42 46.88 47.1
12 15 200 90 47.88 48.92 50 48.9
13 15 225 0 68.38 71.03 72.4 70.6
14 15 225 45 83.74 85.85 84.83 84.8
15 15 225 90 93.13 86.81 87.43 89.1
16 15 250 0 87.95 85.33 106.14 93.1
17 15 250 45 104.75 107.74 106.75 106.4
18 15 250 90 107.14 122.8 94.75 108.2
19 20 200 0 75 74.3 80.33 76.5
20 20 200 45 93.75 99.14 84.33 92.4
21 20 200 90 93.75 103.14 85.2 94
22 20 225 0 97.75 99.33 99.33 98.8
23 20 225 45 120.12 109.54 107.29 112.3
24 20 225 90 93.75 107.14 117.56 106.1
25 20 250 0 125.56 148 127.14 133.5
26 20 250 45 157.25 175.4 165.25 165.9
27 20 250 90 170.21 187.2 187.5 181.6
Table 3: Experimental data of IPIR through couplings for forward motion on a downward slope

Sr. No. Wheel Angle a (Degree) Pipe Diameter d (mm) Pipe Inclination ? (Degree) Reading 1 Reading 2 Reading 3 Mean of Linear Velocity
v
(mm/s)
1 10 200 0 34.09 35.71 34.79 34.8
2 10 200 45 32.61 35.41 34.09 34
3 10 200 90 31.3 31.61 32.81 31.9
4 10 225 0 46.88 45.62 44.92 45.8
5 10 225 45 37.65 38.77 39.47 38.6
6 10 225 90 32.21 34.5 35.47 34
7 10 250 0 62.58 58.78 55.39 58.9
8 10 250 45 27.78 28.85 28.9 28.5
9 10 250 90 21.43 22.06 23.73 22.4
10 15 200 0 44.48 48.23 49.05 47.2
11 15 200 45 39.47 41.67 39.47 40.2
12 15 200 90 37.5 39.17 41.47 39.3
13 15 225 0 77.53 79.78 85.33 80.8
14 15 225 45 70.28 63.82 66.87 67
15 15 225 90 53.69 62.6 58.69 58.3
16 15 250 0 110.14 97.75 89.93 99.2
17 15 250 45 44.42 48.88 43.67 45.6
18 15 250 90 29.45 30.17 28.87 29.5
19 20 200 0 75.55 81.33 76.85 77.9
20 20 200 45 70.78 69.18 65.5 68.5
21 20 200 90 62.5 67.18 61.5 63.7
22 20 225 0 95.75 86.43 105.75 95.9
23 20 225 45 83.16 69.48 89.33 80.6
24 20 225 90 66.5 70.88 63.3 66.8
25 20 250 0 107.14 127.14 101.45 111.9
26 20 250 45 84.83 99.95 87.88 90.9
27 20 250 90 77.73 89.73 74.38 80.6
Table 4: Experimental data of IPIR through couplings for backward motion on an upward slope

Sr. No. Wheel Angle a (Degree) Pipe Diameter d (mm) Pipe Inclination ? (Degree) Reading 1 Reading 2 Reading 3 Mean of Linear Velocity
v
(mm/s)
1 10 200 0 27.86 25.61 24.19 25.8
2 10 200 45 27.78 26.79 26.73 27.1
3 10 200 90 26.79 27.78 28.85 27.8
4 10 225 0 37.5 34.71 34.11 35.4
5 10 225 45 39.7 37.5 36.5 37.9
6 10 225 90 39.47 37.4 37.2 38
7 10 250 0 48.12 46.48 52.47 49
8 10 250 45 60.5 55.39 51.57 55.8
9 10 250 90 62.8 59.5 54.69 59
10 15 200 0 42.95 38.77 36.5 39.4
11 15 200 45 42.67 39.45 38.78 40.3
12 15 200 90 43.12 46.88 41.12 43.7
13 15 225 0 68.18 61.55 59.69 63.1
14 15 225 45 78.8 64.5 70.18 71.1
15 15 225 90 75.18 69.18 64.5 69.6
16 15 250 0 97.75 83.13 89.33 90
17 15 250 45 109.14 99.75 95.95 101.6
18 15 250 90 91.75 102.14 107.4 100.4
19 20 200 0 56.69 62.74 52.77 57.4
20 20 200 45 62.8 66.38 59.5 62.9
21 20 200 90 62.3 68.18 70.07 66.8
22 20 225 0 62.5 70.18 65.5 66
23 20 225 45 77.78 65.1 70.18 71
24 20 225 90 78.2 69.38 65.18 70.9
25 20 250 0 107.14 97.75 94.25 99.7
26 20 250 45 125 107.34 93.75 108.7
27 20 250 90 107.14 124.7 115.14 115.6
Table 5: Experimental data of IPIR through 45-degree bend pipes for forward motion on a downward slope

Sr. No. Wheel Angle a (Degree) Pipe Diameter d (mm) Pipe Inclination ? (Degree) Reading 1 Reading 2 Reading 3 Mean of Linear Velocity
v
(mm/s)
1 10 200 0 28.85 27.48 24.79 27
2 10 200 45 26.98 26.86 23.66 25.8
3 10 200 90 24 25.56 25.86 25.1
4 10 225 0 44.52 41.67 41.67 42.6
5 10 225 45 41.47 37.72 37.5 38.9
6 10 225 90 40.47 37.3 38.4 38.7
7 10 250 0 60.77 53.69 49.6 54.7
8 10 250 45 54.2 47.88 44.12 48.7
9 10 250 90 47.58 45.12 42.12 44.9
10 15 200 0 43.67 39.87 37.67 40.4
11 15 200 45 37.82 36.1 34.71 36.2
12 15 200 90 35.91 35.02 32.09 34.3
13 15 225 0 75.63 67 64.18 68.9
14 15 225 45 69.18 62.5 57.69 63.1
15 15 225 90 59.55 64.18 52.69 58.8
16 15 250 0 95.55 89.33 83.13 89.3
17 15 250 45 73 81.63 76.33 76.9
18 15 250 90 70.38 66.3 78.55 71.7
19 20 200 0 62.84 57.69 54.69 58.4
20 20 200 45 55.61 50.41 53.57 53.2
21 20 200 90 53.6 48.88 46.28 49.6
22 20 225 0 70.74 75.33 86.75 77.6
23 20 225 45 75.5 69.18 80.12 74.9
24 20 225 90 68.18 75.8 62 68.6
25 20 250 0 107.14 125 108.34 113.5
26 20 250 45 93.79 109.44 96.75 100
27 20 250 90 93.75 83.33 79.33 85.4
Table 6: Experimental data of IPIR through 45-degree bend pipes for backward motion on an upward slope

Sr. No. Wheel Angle a (Degree) Pipe Diameter d (mm) Pipe Inclination ? (Degree) Reading 1 Reading 2 Reading 3 Mean of Linear Velocity
v
(mm/s)
1 10 200 0 23.93 22.16 21.73 22.6
2 10 200 45 25.1 24.19 22.44 23.9
3 10 200 90 24.3 26.36 25 25.2
4 10 225 0 18.75 18.49 18.29 18.5
5 10 225 45 19.74 19.33 19.73 19.6
6 10 225 90 21.23 20.27 19.74 20.4
7 10 250 0 16.67 16.67 16.26 16.5
8 10 250 45 17.76 17.44 17.05 17.4
9 10 250 90 17.75 18.75 17.59 18
10 15 200 0 33.40 33.61 33.85 33.6
11 15 200 45 37.71 36.81 36.75 37.1
12 15 200 90 40.47 38.86 38.89 39.4
13 15 225 0 31.09 31.25 30.15 30.8
14 15 225 45 32.91 32.95 31.9 32.6
15 15 225 90 35.51 34.09 32.09 33.9
16 15 250 0 28.55 26.59 26.79 27.3
17 15 250 45 30 28.85 27.78 28.8
18 15 250 90 31.35 30.15 28.85 30.1
19 20 200 0 52.47 50.8 48 50.4
20 20 200 45 53.85 55.69 60.55 56.7
21 20 200 90 69.1 63.63 58.69 63.8
22 20 225 0 48.23 46.88 44.42 46.5
23 20 225 45 50 48.88 50.2 49.7
24 20 225 90 55.69 54.5 53.95 54.7
25 20 250 0 41.47 39.47 37.56 39.5
26 20 250 45 42.67 41.67 41.67 42
27 20 250 90 44.12 48.81 46.88 46.6
Table 7: Experimental data of IPIR through 90-degree bend pipes for forward motion on a downward slope

Sr. No. Wheel Angle a (Degree) Pipe Diameter d (mm) Pipe Inclination ? (Degree) Reading 1 Reading 2 Reading 3 Mean of Linear Velocity
v
(mm/s)
1 10 200 0 22.73 23.44 22.22 22.8
2 10 200 45 21.43 22.16 21.83 21.8
3 10 200 90 21.43 20.59 21.27 21.1
4 10 225 0 18.75 18.89 18.47 18.7
5 10 225 45 19.81 19.72 19.6 19.7
6 10 225 90 18.75 18.63 19.03 18.8
7 10 250 0 15.96 16.67 16.37 16.3
8 10 250 45 17.86 16.97 17.94 17.6
9 10 250 90 16.87 17.1 17.05 17
10 15 200 0 32.61 31.25 32.1 32
11 15 200 45 28.85 30 29.95 29.6
12 15 200 90 27.68 26.79 26.66 27
13 15 225 0 30.25 28.95 29.35 29.5
14 15 225 45 26.83 25.86 26.82 26.5
15 15 225 90 24.6 25.79 25.86 25.4
16 15 250 0 25.86 25.2 26.4 25.8
17 15 250 45 25 25.25 24.19 24.8
18 15 250 90 23.44 22.53 23.06 23
19 20 200 0 53.52 56.69 53.3 54.5
20 20 200 45 48.3 51.57 46.88 48.9
21 20 200 90 45.28 43.12 44.22 44.2
22 20 225 0 48.13 46.48 47.37 47.3
23 20 225 45 43.87 42.9 44.67 43.8
24 20 225 90 38.05 40.17 39.12 39.1
25 20 250 0 38.47 40.67 37.85 39
26 20 250 45 34.39 35.71 36.47 35.5
27 20 250 90 32.71 32.85 31.95 32.5
Table 8: Experimental data of IPIR through 90-degree bend pipes for backward motion on an upward slope

From the experimental study of the robot, it has been concluded that the developed hybrid locomotive in-pipe inspection robot can move smoothly through straight pipes, curved pipes (45 degrees and 90 degrees), and couplings of 200mm to 250mm in diameter range at 0 degrees, 45 degrees, and 90 degrees inclinations. Following are the conclusions which are drawn from the experimentation:
1) The steerability, stability, and flexibility required for a robot to steer in curved pipes and other pipe elements of 200mm to 250mm diameter range at various pipe positions under consideration are achieved. This confirms the flexibility in navigation inside the different diameter pipes and the adaptivity of providing sufficient force necessary to supply the friction inevitably required for in-pipe navigation of this appropriately designed and successfully tested robot.
2) The adaptability in navigation for various pipe diameters of the robot has been significantly improved due to the appropriate spring design and material selection according to the design. The adaptability in navigation for various pipe diameters offered by the spring for this robot provides an appropriate tractive force to accommodate the various pipe elements ranging in diameter from 200mm to 250mm (8 inches to 10 inches).
3) In the present work, hybrid locomotive in-pipe robotic system has been developed which offers the modular design of the in-pipe robot and flexibility in navigation while accommodating a specific range of diameters. These are the key contributions of this research in the field of in-pipe inspection robotic applications.

The TECHNICAL ADVANCMENT, of this invention, lies in providing an autonomous in-pipe robotic system which works on the principle of a screw-driven wall pressed wheel type in-pipe inspection robot. This configuration provides good stability, more flexibility, better diameter adaptability, high tractive force, and the ability to move up in the vertical pipe. This robot can be utilized for special tasks such as inspection, maintenance, and cleaning of various pipe types such as straight pipes, couplings, and bends in water pipelines, gas pipelines, oil pipelines, and sewage systems etc.

The robot system, of this invention, is a simple driving mechanism which is a configuration of screw type, wall press type, and wheel type robot. This configuration provides good stability, more flexibility, better diameter adaptability, high tractive force, and the ability to move up in a vertical pipe. The advantage of this driving mechanism is that it can pass through the straight pipes, couplings, and bends. This robot has larger diameter adaptability with a varying pipe size of 8 inches to 10 inches diameter. The weight and power consumption of this robot is less as compared to the existing screw- driven wall-pressed wheel-type robot. Number of prime movers used, in this system, are less compared to existing pipe inspection robots. This robot can navigate autonomously through different pipe elements. This robot can be utilized for special tasks such as inspection, maintenance, and cleaning of various pipe types such as straight pipes, couplings, and bends in water pipelines, gas pipelines, oil pipelines, and sewage systems etc.

While this detailed description has disclosed certain specific embodiments for illustrative purposes, various modifications will be apparent to those skilled in the art which do not constitute departures from the spirit and scope of the invention as defined in the following claims, and it is to be distinctly understood that the foregoing descriptive matter is to be interpreted merely as illustrative of the invention and not as a limitation.

,CLAIMS:WE CLAIM,

1. An autonomous in-pipe inspection robotic system comprising:
- a driving leg system (3) consisting of a first central hub with three legs such that each leg is a leg which extrudes orthogonally outwards from said first central hub and such that each leg is framed at an angle of 120 degrees with reference to its adjacent two legs;
- a pair of supporting leg system (2, 7) consisting of second central hubs with three legs such that each leg is a leg which extrudes orthogonally outwards from said second central hub and such that each leg is framed at an angle of 120 degrees with reference to its adjacent two legs;
o said second central hub being coaxial and connected to said first central hub;
- a scrubber leg system (6) consisting of a third central hub with three legs such that each leg is a leg which extrudes orthogonally outwards from said third central hub and such that each leg is framed at an angle of 120 degrees with reference to its adjacent two legs; and
o said third central hub being coaxial and connected to said second central hub.

2. The system as claimed in claim 1 wherein, wheels of said driving leg system (3) being hinged at a 15 degree angle with respect to hub axis and wheels of said supporting leg system (2) being kept at 0 degree angle with respect to hub axis; in order to achieve bidirectional helical motion.

3. The system as claimed in claim 1 wherein, each of said legs, of said driving leg system (3), consists of a lower element (5), an upper element (1) extending from the lower element (5), a fork, a spring, and a wheel (4) at a distal end of the upper element (1).

4. The system as claimed in claim 1 wherein, each of said legs, of said driving leg system (3), consists of a lower element (5), an upper element (1) extending from the lower element (5), a fork, a spring, and a wheel (4) at a distal end of the upper element (1), in that, said wheels (4) being connected to said upper element (1) at an angle.

5. The system as claimed in claim 1 wherein, each of said legs, of said scrubbing leg system (6), consists of a lower element (5), an upper element (1) extending from the lower element (5), a fork, a spring, and a scrubber (b) at a distal end of the upper element (1).

6. The system as claimed in claim 1 wherein, wheels of said supporting leg systems (2, 7) being aligned straight to get a rolling motion.

7. The system as claimed in claim 1 wherein, resilient elements being placed into said lower elements (5) to facilitate easy travel, of said system, through pipes.

8. The system as claimed in claim 1 wherein, said driving leg system’s (3) operative front side comprising a drill (16).

9. The system as claimed in claim 1 wherein, said scrubber leg system’s (6) operative back side comprising a suction pump (19).

10. The system as claimed in claim 1 wherein, said driving leg system (3) and said supporting leg system (2) forming an operative front leg system, in that, said front leg system consisting of:
- a first front sub-leg system being a driving leg system (3) with inclined wheels (4); and
- a second front sub-leg system being a supporting leg system (2) with straight wheels.

11. The system as claimed in claim 1 wherein, said scrubber leg system (6) and said supporting leg system (2) forming an operative back leg system, in that, said back leg system consisting of:
- a first back sub-leg system being a scrubber leg system (6) used to clean a pipeline from inside; and
- a second back sub-leg system being a supporting leg system (7) with straight wheels.

12. The system as claimed in claim 1 wherein, said driving leg system (3) being mounted on a DC motor shaft whereas said supporting leg systems (2, 7) being mounted on a motor casing.

Dated this 13th day of July, 2022

CHIRAG TANNA
of INK IDÉE
APPLICANT’S PATENT AGENT
REGN. NO. IN/PA – 1785