Abstract:
A pipe inspecting robot having a body, first and second independently articulating legs, and first and second leg motors for controlling the first and second articulating legs. The robot also has first and second pairs of wheels attached to the first and second legs at an opposite end of the legs from the body. The leg motors are configured so that when the first pair of wheels encounters an obstacle, the second leg motor rotates the second leg upward away from the surface of the pipeline and radially around the body until the second pair of wheels contacts the surface of the pipeline on an opposite side of the obstacle. Then the first leg motor rotates the first leg upward away from the surface of the pipeline and radially around the body until the first pair of wheels contacts the surface of the pipeline.

Description:
CROSS REFERENCE TO RELATED APPLICATIONS 
     This application claims priority to and the benefit of U.S. Provisional Application Ser. Nos. 61/729,697 and 61/773,685, which were filed Nov. 26, 2012 and Mar. 6, 2013, respectively, the fill disclosures of which are hereby incorporated herein by reference. 
    
    
     BACKGROUND OF INVENTION 
     1. Field of the Invention 
     The present technology relates to robotic inspection of outer pipe surfaces and to movement of a robotic inspection device past obstacles connected to outer pipe surfaces. 
     2. Description of the Related Art 
     Pipelines extending over long distances across land or open terrain are inspected externally by both manual human inspection and internally by pipeline pigs and other in-pipe tools. There exist a number of systems for inspecting various types of pipelines, including oil and gas pipelines extending over land, underground, undersea, and over other terrain. 
     Pipeline inspection gauges (pigs) typically pass through a pipeline by a flow of fluid that pushes the pig. The pigs often contain instrumentation that inspects the internal surface of the pipeline. Pigs also are used to push sediment or other obstacles through the pipeline to keep the line clear. Ultrasonic and electro-magnetic sensors have seen use on pipeline pigs to develop images of internal pipeline surfaces over long distances. This data can be visually reviewed or analyzed by computer algorithms to detect pipeline damage or sediment build-up within a pipeline. 
     SUMMARY OF THE INVENTION 
     One embodiment of the present technology provides a pipe inspecting robot for traveling along the surface of a pipeline. The robot includes a body, first and second independently articulating legs attached to the body, first and second leg motors in controlling communication with the first and second articulating legs, respectively, and first and second pairs of wheels attached to the first and second a articulating legs, respectively, at an opposite end of the legs from the body. In addition, the first and second leg motors are configured so that when the first pair of wheels encounters an obstacle, the second leg motor rotates the second leg upward away from the surface of the pipeline and radially around the body until the second pair of wheels contacts the surface of the pipeline on an opposite side of the obstacle, after which the first leg motor rotates the first leg upward away from the surface of the pipeline and radially around the body until the first pair of wheels contacts the surface of the pipeline, thereby causing the robot to pass over the obstacle. 
     In the pipe inspecting robot, the first and second pairs of wheels can be attached to the first and second articulating legs by first and second wheel hubs, respectively, and the wheel hubs can contain at least one wheel motor to power the wheels. Furthermore, each wheel can be powered by a separate wheel motor, and the course of the robot can be adjusted by increasing or decreasing the speed of each wheel with its corresponding wheel motor. 
     In addition, body of the robot can contain at least one device selected from the group consisting of a control circuit, a communication circuit, a global positioning system (GPS) circuit, a GPS antenna, a camera, a camera circuit, and a battery pack. The robot can also include a downward facing camera attached to the body for collecting data about the surface condition of the pipeline and for guiding the robot. In some embodiments, the robot can be autonomous. In other embodiments, it can be remote controlled. Furthermore, pins can be attached to the body and can have an extended and a retracted position. When in the extended position, the pins can lock the position of the legs relative to the body. When in the retracted position, the pins can allow the legs to articulate relative to the body. 
     The robot can further include a radial arm attached to the body and extending outward from the body around a portion of the circumference of the pipe, the radial arm having a camera for inspecting the surface of the pipe. In addition, the robot can have a radial arm extension slidably attached to the radial arm and configured to extend still further around the circumference of the pipe. 
     An alternate embodiment of the present technology provides a pipeline inspection robot having a body, first and second legs attached to the body, first and second wheels attached to the first and second legs, respectively, at an opposite end of the legs from the body, and a radial arm attached to the body and extending outward from the body around a portion of the circumference of the pipeline, the radial arm having a camera for inspecting the surface of the pipeline. The robot can also include a radial arm extension slidably attached to the radial arm and configured to extend further around the circumference of the pipeline than the radial arm. 
     In addition, the robot can have first and second leg motors in controlling communication with the first and second legs, respectively, the first and second leg motors configured so that when the first wheels encounters an obstacle the second leg motor rotates the second leg upward away from the surface of the pipeline and radially around the body until the second wheel contacts the surface of the pipeline on an opposite side of the obstacle, after which the first leg motor rotates the first leg upward away from the surface of the pipeline and radially around the body until the first pair of wheels contacts the surface of the pipeline, thereby causing the robot to pass over the obstacle. Furthermore, the first and second wheels can be attached to the first and second legs by first and second wheel hubs, respectively, wherein the wheel hubs contain a separate wheel motor for each wheel, and wherein the course of the robot can be adjusted by increasing or decreasing the speed of each wheel with its corresponding wheel motor. 
     In certain embodiments, the robot can include a downward facing camera attached to the body for collecting data about the surface condition of the pipeline and for guiding the robot. In addition, the robot can be either autonomous or remote controlled. Furthermore, the robot can include pins attached to the body and having an extended and a retracted position, wherein when in the extended position the pins lock the position of the legs relative to the body, and when in the retracted position the pins allow the legs to articulate relative to the body. 
     Also disclosed herein is a method of inspecting a pipeline. The method includes providing a robot inspection device that has a body, and first and second wheel assemblies that articulate fully around a circumference of the body and have wheels on an end distal from the body. The method includes the steps of urging the device along the pipeline and adjacent to an obstacle on the pipeline so that one of the wheel assemblies is proximate the obstacle, articulating the body with respect to the proximate wheel assembly and articulating a wheel assembly distal from the obstacle with respect to the body so that wheels on the distal wheel assembly orbit over the pipeline and land onto the pipeline on a side of the obstacle opposite the proximate wheel assembly, and articulating the body with respect to the distal wheel assembly and articulating the proximate when assembly with respect to the body so that wheels on the proximate wheel assembly land on the pipeline on a side of the distal wheel assembly distal from the obstacle. In some embodiments, the method can include the step of detecting the obstacle using a device attached to the robot body and selected from the group consisting of a camera, a global positioning system (GPS), and a proximity sensor. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       So that the manner in which the above-recited features, aspects and advantages of the technology, as well as others that will become apparent, are attained and can be understood in detail, more particular description of the technology briefly summarized above can be had by reference to the embodiments thereof that are illustrated in the drawings that form a part of this specification. It is noted, however, that the appended drawings illustrate only preferred embodiments of the technology that are, therefore, not to be considered limiting of the technology&#39;s scope, for the technology can admit to other equally effective embodiments. 
         FIG. 1  is a perspective view of a pipeline inspection robot in accordance with an embodiment of the present technology; 
         FIG. 2  is an alternate perspective view of the pipeline inspection robot of  FIG. 1  sitting atop a pipeline; 
         FIG. 3  is a side elevation view of the pipeline inspection robot of  FIG. 1  on top of a pipe; 
         FIG. 4  is an enlarged perspective view of the pipeline inspection robot; 
         FIG. 5  are side elevation views of the pipeline inspection robot of  FIG. 2  in various positions of negotiating an obstacle on the pipeline; 
         FIG. 6  is a rear elevation partial sectional view of an example embodiment of a pipeline inspection robot having an optional multiple arm side extension camera system; 
         FIG. 7A  is a rear elevation view of the side extension camera system of  FIG. 6  with the lower camera extension arms in an extended position; 
         FIG. 7B  is a rear elevation view of the side extension camera system of  FIG. 6  with the lower camera extension arms in a retracted position; and 
         FIG. 8  is a rear elevation view of an example of the pipeline inspection robot with an optional multiple arm side extension camera system surveying a half-buried pipeline. 
     
    
    
     DETAILED DESCRIPTION 
       FIG. 1  illustrates an embodiment of a pipeline inspection system that includes a pipeline inspection robot  10 . The pipeline inspection robot  10  contains sub-systems to control the movement of the robot  10  and facilitate pipeline inspection. The robot  10  has a main external housing  12  that has a cut-out section  14  that provides for the central connection and movement of first and second articulating legs  16   a ,  16   b . Each leg  16   a ,  16   b  is elongated and articulates about the housing  12  by the power of an individual leg motor  18   a ,  18   b . Lower ends of the articulating legs  16   a ,  16   b  connect to elongate wheel hubs  20  that extend perpendicular to the legs  16   a ,  16   b . Each leg  16   a ,  16   b  articulates about its respective hub  20  by the power of an individual hub leg motor  19   a ,  19   b ). In one embodiment, the wheel hubs  20  can house wheel motors  22  to power a first and second set of wheels  24   a ,  24   b  that connect to the wheel hubs  20 . First and second set of wheels  24   a ,  24   b  correspond to first and second legs  16   a ,  16   b , respectively. In some embodiments, such as that shown in  FIG. 1 , each individual wheel  24   a ,  24   b  can have an individual wheel motor  22  that powers only that particular wheel. In other embodiments, each set of wheels  24  can share a wheel motor  22 . 
     The main external housing  12  of the robot  10  can house other components that facilitate the autonomous control or remote control of the robot  10 . For example, in an embodiment, the housing  12  can contain control circuitry  26 , communication circuitry  28 , GPS circuitry  30 , a communication antenna  32 , a GPS antenna  34 , a camera system  36 , camera circuitry  38 , and other camera connected hardware to store camera images. The housing  12  can contain one or more battery packs  40  to power the various robot motors and also the control, camera, OPS, and communication systems of the robot  10 . 
       FIG. 2  illustrates an alternative perspective view of the pipeline inspection system showing the pipeline inspection robot  10  sitting atop a pipeline  42  in accordance with an embodiment of the present technology. The wheels  24   a ,  24   b  are aligned in a direction that allows the robot  10  to travel on top of the pipeline  42 . The wheel hubs  20  are correspondingly positioned substantially perpendicular to the longitudinal axis of the pipeline  42 . The camera system  36  of the robot  10  has a downward facing camera. This camera allows the robot to collect data regarding the surface condition of the pipeline  42 , and also allows the robot  10  to make position adjustments as the robot  10  travels along the pipeline  42 . Position adjustments can be made by the robot  10  autonomously or under the control of a remote user. In one example, when under autonomous or self-control, the robot  10  monitors the position of the robot  10  on the pipeline  42  using the camera system  36 . Image data collected by the camera system  36  is analyzed by the control circuitry  26 , which can make position adjustments to the course the robot  10  is taking using the various wheel motors  22 . In some embodiments, selectively operating the housing leg motors  18   a ,  18   b , or hub leg motors  19   a ,  19   b , can also make position adjustments that change the course of the robot  10  on the pipeline  42 . In some embodiments, the GPS data received by the GPS circuitry  30  can also be used in autonomous positioning algorithms run by the control circuitry  26  of the robot  10 . The GPS location data determined by the GPS circuitry  30  can be compared to known pipeline location data in the storage medium of the control circuitry  26 . By comparing the current GPS position to a known pipeline position and contour, the robot&#39;s control circuitry  26  can plot a course that keeps the robot  10  moving down a central location on the pipeline  42  substantially parallel to the axis of the pipeline  42 . 
       FIG. 3  illustrates a side elevation view of the pipeline inspection system showing the pipeline inspection robot  110 , with one side of the main external housing  12  removed, and the robot  10  on top of a pipeline  42  in accordance with an embodiment of the present technology. In an embodiment, the robot  10  can have a set of retractable leg locking pins  44  that extend laterally from the main external housing  12  of the robot  10  and into selective interference with legs  16   a,    16   b . The retractable leg locking pins  44  can serve to lock the articulating legs  16   a ,  16   b  of the robot  10  into a traveling position, and to stabilize the legs  16   a ,  16   b  when the robot  10  is traveling along the pipeline  42 . The retractable leg locking pins  44  can be retracted back into the main external housing  12  of the robot  10  when the robot  10  encounters an obstacle that the robot  10  needs to flip around, as shown, for example, in  FIG. 5  and discussed below. Optionally, control circuitry  26  controls insertion and retraction of the locking pins  44 . 
       FIG. 4  illustrates an enlarged perspective view of the pipeline inspection system showing an upper portion of the pipeline inspection robot  10  with one side of the main external housing  12  removed in accordance with an embodiment of the present technology. In an embodiment, the retractable leg locking pins  44  can extend and retract electromagnetically, by mechanical means, or otherwise, The main external housing  12  can hold electromagnets (not shown) or a mechanical structure that connects to the locking pins  44 , and that can both extend and retract the pins  44 . The pins  44  can be housed in one side of the external housing  12  or can have, for example, some pins in one side of the housing  12  and some pins in the other side of the housing  12 . 
       FIG. 5  illustrates a side elevation view of an embodiment of the pipeline inspection system where the pipeline inspection robot  10  manifests various positions as it negotiates an obstacle on the pipeline  42 . As the robot  10  travels down the pipeline  42 , the robot  10  can encounter an obstacle such as a flange  46 , which introduces discontinuity on all outer surface of the pipeline  42 , and that prevents smooth forward movement of the robot  10 . The robot  10  can detect an obstacle or stalled movement in a number of ways, such as by using the camera system  36 , the GPS  30 , feedback from the wheel motors  22 , by sensing forces exerted on the wheels  24   a ,  24   b , or via proximity sensors. Proximity sensors can include optical/laser sensors or ultrasound sensors. The camera system  36 , along with the control circuitry  26 , can detect lack of forward progress of the robot  10  by using image analysis or alternatively by comparing GPS location data to anticipated location based on the speed of the robot  10 . The camera system  36  and GPS  30  can also be used in combination to detect that the robot has encountered an obstacle such as a flange  46 . Additionally, if locations of each obstacle on a pipeline are known, the robot  10  can anticipate each obstacle and prepare to move over it at the known locations along the pipeline  42 . 
       FIG. 5  shows multiple positions of the robot&#39;s articulating legs  16   a ,  16   b  as the robot  10  passes over a flange  46 . As shown in position  1  of  FIG. 5 , after the robot  10  detects the flange  46 , it can move the first wheels  24   a  against the flange  46 . Then, as shown in position  2 , the housing leg motor  18   b  attached to the second leg  16   b  rotates the second leg  16   b  counter clockwise up and away from the pipeline  42 . As this happens, the second wheels  24   b  will lift above the pipeline  42 . Meanwhile, the hub leg motor  19   a  attached to the first leg  16   a  rotates the first leg  16   a  in a counter clockwise direction. This simultaneous movement changes the robot  10  into an upright position, with the second leg  16   b  and the second wheels  24   b  directly above housing  12 , the first leg  16   a , and the first wheels  24   a , as shown in position  3 . 
     To flip over the flange  46  as shown in position  4 , the housing leg motor  18   b  attached to the second leg  16   b  will lower the second leg Mb by continuing to rotate the second leg  16   b  in a counter clockwise direction. The hub leg motor  19   a  attached to the first leg  16   a  rotates the first leg  16   a  until the second wheels  24   b  come into contact with the pipeline  42  on the side of the flange  46  opposite first wheels  24   a , as shown in position  5 , so the robot  10  is straddling the flange  46 . To finish clearing the flange  46 , and as shown in positions  6 - 9 , the robot repeats the steps outlined above until both the first and second wheels  24   a ,  24   b  are on the same side of the flange  46 . 
       FIG. 6  illustrates a rear elevation view of the pipeline inspection system showing the pipeline inspection robot  10  with an optional multiple arm side extension camera system  48 . The camera system includes a set of upper partially circular arms  50 , lower partially circular arm extensions  52 , a set of lower arm extension motors  54 , a set of upper arm cameras  56  and a set of lower arm cameras  58 . Each upper arm  50  can extend about 90 degrees from opposing lateral sides of housing  12 . The lower arm extensions  52  will typically extend less than 90 degrees as they normally will not extend completely to the lower side of pipeline  42 , but can extend to below pipeline  42 . In an embodiment, the upper circular arms  50  extend the upper arm cameras  56  along the sides of the pipeline  42  around an axis of pipeline  42 . The lower circular arm extensions  52  and extension motors  54  can position the lower arm cameras  58  in multiple locations between the upper arm cameras  56  and a medial lower portion of the pipeline  42 . Similar to the above described camera system  36 , the cameras  56 ,  58  can collect image data indicating the integrity of pipeline  42 . Also, the image data can be analyzed by the control circuitry  26  to make position adjustments to the course of the robot  10  using the wheel motors  22 . Additionally, the camera data can be analyzed in real time or collected and analyzed later to determine the condition of the pipeline  42  and if any repairs need to be made. 
       FIGS. 7A and 7B  illustrate a rear elevation view of the upper partially circular arms  50  and lower partially circular arm extensions  52 , along with the lower arm extension motors  54 , upper arm cameras  56 , and lower arm cameras  58 . In  FIG. 7A , the lower partially circular arm extensions  52  are fully extended, and in  FIG. 7B  the lower partially circular arm extensions  52  are fully retracted. Examples exist wherein arm extensions  52  are partially retracted so that cameras  58  can be selectively positioned at any angular position between the fully extended/retracted. positions of  FIGS. 7A and 7B . 
       FIG. 8  illustrates a rear elevation view of the pipeline inspection system showing the pipeline inspection robot  10  with the optional multiple arm side extension camera system  48  surveying a half-buried pipeline  42 . In this embodiment the camera system  48  can operate with the set of lower circular camera arms  52  in a partially retracted position relative to the upper circular camera arms  50 . In some embodiments, lower circular camera arms  52  can telescope with hollow interiors of upper circular camera arms  50 . This limits the amount of the pipeline  42  that can be surveyed but also maximizes the usefulness of the inspection robot  10  on other portions of the pipeline  42  where the pipeline  42  is not buried. When lower circular camera arms  52  are retracted, the lower cameras  58  can be turned off. The lower extension arms  52  can retract when needed and then extend again when the image analysis shows the pipeline  42  is not buried in a section. 
     In the event more than half of pipeline  42  is buried, the upper and lower camera arms  50 ,  52  can have a feature that allows the upper and lower camera arms  50 ,  52  to rotate about the connection with housing  12 . In that event, the upper and lower camera arms  50 ,  52  could lift cameras  56 ,  58  above the pipeline  42 , possibly even to a vertically upright position. Normally upper and lower camera arms  50 ,  52  would be retracted and cameras  56 ,  58  turned off when pivoted to an upward extending position. 
     While the technology has been described in conjunction with specific embodiments thereof it is evident that many alternatives, modifications, and variations will be apparent to those skilled in the art in light of the foregoing description. Accordingly, it is intended to embrace all such alternatives, modifications, and variations as fall within the spirit and broad scope of the appended claims. The present technology can suitably comprise, consist or consist essentially of the elements disclosed and can be practiced in the absence of an element not disclosed. Furthermore, language referring to order, such as first and second, should be understood in an exemplary sense and not in a limiting sense. For example, it can be recognized by those skilled in the art that certain steps can be combined into a single step. 
     The singular forms “a”, “an” and “the” include plural referents, unless the context clearly dictates otherwise. 
     Optional or optionally means that the subsequently described event or circumstances may or may not occur. The description includes instances where the event or circumstance occurs and instances where it does not occur. 
     Ranges can be expressed herein as from about one particular value, and/or to about another particular value. When such a range is expressed, it is to be understood that another embodiment is from the one particular value and/or to the other particular value, along with all combinations within said range.