Patent ID: 11867339
Assignee: GENERAL ELECTRIC COMPANY
Field: Mechanical elements (Mechanical engineering)
Classification: CPC F | IPC F

Claim 11:
12. A method for maintaining a pipe having a sidewall defining an interior cavity, said method comprising:
positioning a motorized apparatus within the interior cavity, the motorized apparatus including:
a body assembly extending along a longitudinal axis;
at least one maintenance device coupled to the body assembly;
a plurality of leg assemblies coupled circumferentially around the body assembly; and
a plurality of drive mechanisms coupled to the plurality of leg assemblies, wherein the plurality of drive mechanisms are configured to interact with the sidewall, the plurality of drive mechanisms including at least two wheels;

sending instructions to the motorized apparatus to operate the plurality of drive mechanisms;
moving the motorized apparatus through the interior cavity using the plurality of drive mechanisms, wherein the plurality of drive mechanisms are arranged to move the body assembly in a first direction parallel to the longitudinal axis, move the body assembly in a second direction perpendicular to the longitudinal axis, and rotate the body assembly around the longitudinal axis; and
transitioning at least one of the at least two wheels between a plurality of positions, wherein each of the at least two wheels is a mecanum wheel.