Patent Publication Number: US-2022228693-A1

Title: Devices and methods for repairing pipes

Description:
RELATED U.S. APPLICATION DATA 
     The present application is a continuation of U.S. application Ser. No. 16/818,501, filed Mar. 13, 2020, which is a continuation of U.S. application Ser. No. 16/112,191, filed Aug. 24, 2018, which issued as U.S. Pat. No. 10,627,038 on Apr. 21, 2020, which claims the benefit of U.S. Provisional Application No. 62/563,189, filed on Sep. 26, 2017, each of which are hereby incorporated by reference in their entireties. 
    
    
     TECHNICAL FIELD 
     This disclosure relates to the field of pipe repair. More specifically, this disclosure relates to a leak detection and pipe repair device for repairing a pipe. 
     BACKGROUND 
     Piping systems, including municipal water systems, can develop breaks in pipe walls that can cause leaking. Example of breaks in a pipe wall can include radial cracks, longitudinal cracks, point cracks, etc. Leaking also commonly occurs at joints in the piping system. Locating and repairing a leak in a pipe wall often requires the piping system to be shut off, which can be inconvenient for customers and costly for providers. Furthermore, de-pressurizing the pipeline can increase of the risk of undesirable foreign objects (e.g., bacteria, dirt, etc.) entering the pipeline at the location of the leak. Additionally, locating the break site and repairing the break can necessitate grandiose construction, including the digging up of streets, sidewalks, and the like, which can be costly and time-consuming. 
     SUMMARY 
     It is to be understood that this summary is not an extensive overview of the disclosure. This summary is exemplary and not restrictive, and it is intended neither to identify key or critical elements of the disclosure nor delineate the scope thereof. The sole purpose of this summary is to explain and exemplify certain concepts off the disclosure as an introduction to the following complete and extensive detailed description. 
     Disclosed is a pipe repair device comprising a body; a sensor attached to the body for detecting the leak in the pipe; a transport mechanism attached to the body for transporting the pipe repair device along the pipe; and a repair mechanism comprising a repair material for repairing the leak. 
     Also disclosed is a method for repairing a pipeline comprising inserting a pipe repair device into the pipeline; detecting a leak at a leak region in the pipeline; transporting the pipe repair device through the pipeline to the leak region; and repairing the leak. 
     A method for repairing a pipe is also disclosed, the method comprising isolating a controlled volume around a leak region of the pipe; creating a fluid impermeable seal around the controlled volume; and inserting repair material into the controlled volume. 
     Disclosed is a pipe repair stent comprising a sealing layer comprising a flexible and compressible repair material; and a spring, wherein the sealing layer is wrapped around a circumference of the spring; wherein the stent is configurable in an expanded configuration and a compressed configuration, the spring biasing the stent to the expanded configuration. 
     Also disclosed is a pipe repair device comprising a body defining a first end, a second end, and a middle section therebetween; a stent attached to the body, the stent comprising a sealing layer and a spring, the stent configurable in a compressed configuration and an expanded configuration; a locomotion subsystem comprising at least one wheel, the locomotion subsystem configured to drive the pipe repair device through a pipe; and a power subsystem configured to supply electrical power and carry the electrical power to the locomotion subsystem. 
     A method for repairing a pipe is also disclosed, the method comprising providing a stent, the stent comprising a spring and a sealing layer, the stent configurable in an expanded configuration and a compressed configuration; transporting the stent in the compressed configuration to a leak in a pipe; expanding the stent to the expanded configuration within the pipe; and engaging the sealing layer with an inner surface of the pipe at the leak to repair the leak. 
     Additionally, disclosed is a pipe repair device comprising a body defining a first end and a second end opposite the first end; a stent configurable in a compressed configuration and an expanded configuration, the stent mounted to the body in the compressed configuration; and a locomotion subsystem configured to drive the pipe repair device through a pipe, the locomotion subsystem comprising a steering rod extending from the first end of the body and configured to engage an inner surface of the pipe. 
     Also disclosed is a pipe repair device comprising a body; a stent configurable in a compressed configuration and an expanded configuration, the stent mounted to the body in the compressed configuration; and a leak detection subsystem comprising at least one sensor, the at least one sensor configured to identify a position of a leak in a pipeline; wherein the pipe repair device is transportable through the pipeline to the leak, and wherein the stent is expandable to the expanded configuration to seal the leak. 
     Various implementations described in the present disclosure may include additional systems, methods, features, and advantages, which may not necessarily be expressly disclosed herein but will be apparent to one of ordinary skill in the art upon examination of the following detailed description and accompanying drawings. It is intended that all such systems, methods, features, and advantages be included within the present disclosure and protected by the accompanying claims. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       The features and components of the following figures are illustrated to emphasize the general principles of the present disclosure. Corresponding features and components throughout the figures may be designated by matching reference characters for the sake of consistency and clarity. 
         FIG. 1  is a front perspective view of a leak detection and pipe repair device, in accordance with one aspect of the present disclosure. 
         FIG. 2  is a front view of the leak detection and pipe repair device of  FIG. 1  within a pipe. 
         FIG. 3  is a back perspective view of the leak detection and pipe repair device of  FIG. 1  partially inserted into the pipe of  FIG. 2 . 
         FIG. 4  is a schematic representation of the subsystems of the leak detection and pipe repair device of  FIG. 1 , in accordance with another aspect of the present disclosure. 
         FIG. 5  is a cross-sectional side view of a pipe according to another aspect of the present disclosure. 
         FIG. 6  is a cross-sectional side view of the pipe of  FIG. 5  and a resurfacing mechanism of the leak detection and pipe repair device of  FIG. 1 . 
         FIG. 7  is a cross-sectional side view of the pipe of  FIG. 5  and a repair mechanism comprising a cap and repair material, according to another aspect of the present disclosure. 
         FIG. 8  is a perspective view of the pipe of  FIG. 2  and a repair mechanism comprising a stent, according to another aspect of the present disclosure. 
         FIG. 9  is a cross-sectional view of the pipe of  FIG. 5  and a leak evaluation mechanism, according to another aspect of the present disclosure. 
         FIG. 10  is a perspective view of the leak detection and repair device according to another aspect of the present disclosure. 
         FIG. 11  is a perspective view of the leak detection and repair device according to another aspect of the present disclosure. 
         FIG. 12  is a perspective view of the leak detection and repair device according to another aspect of the present disclosure. 
         FIG. 13  is a perspective view of the leak detection and repair device according to another aspect of the present disclosure. 
         FIG. 14  is a perspective view of the leak detection and repair device according to another aspect of the present disclosure. 
         FIG. 15  is a perspective view of the leak detection and repair device according to another aspect of the present disclosure. 
     
    
    
     DETAILED DESCRIPTION 
     The present disclosure can be understood more readily by reference to the following detailed description, examples, drawings, and claims, and the previous and following description. However, before the present devices, systems, and/or methods are disclosed and described, it is to be understood that this disclosure is not limited to the specific devices, systems, and/or methods disclosed unless otherwise specified, and, as such, can, of course, vary. It is also to be understood that the terminology used herein is for the purpose of describing particular aspects only and is not intended to be limiting. 
     The following description is provided as an enabling teaching of the present devices, systems, and/or methods in its best, currently known aspect. To this end, those skilled in the relevant art will recognize and appreciate that many changes can be made to the various aspects of the present devices, systems, and/or methods described herein, while still obtaining the beneficial results of the present disclosure. It will also be apparent that some of the desired benefits of the present disclosure can be obtained by selecting some of the features of the present disclosure without utilizing other features. Accordingly, those who work in the art will recognize that many modifications and adaptations to the present disclosure are possible and can even be desirable in certain circumstances and are a part of the present disclosure. Thus, the following description is provided as illustrative of the principles of the present disclosure and not in limitation thereof. 
     As used throughout, the singular forms “a,” “an” and “the” include plural referents unless the context clearly dictates otherwise. Thus, for example, reference to “an element” can include two or more such elements unless the context indicates otherwise. 
     Ranges can be expressed herein as from “about” one particular value, and/or to “about” another particular value. When such a range is expressed, another aspect includes from the one particular value and/or to the other particular value. Similarly, when values are expressed as approximations, by use of the antecedent “about,” it will be understood that the particular value forms another aspect. It will be further understood that the endpoints of each of the ranges are significant both in relation to the other endpoint, and independently of the other endpoint. 
     For purposes of the current disclosure, a material property or dimension measuring about X or substantially X on a particular measurement scale measures within a range between X plus an industry-standard upper tolerance for the specified measurement and X minus an industry-standard lower tolerance for the specified measurement. Because tolerances can vary between different materials, processes and between different models, the tolerance for a particular measurement of a particular component can fall within a range of tolerances. 
     As used herein, the terms “optional” or “optionally” mean that the subsequently described event or circumstance can or cannot occur, and that the description includes instances where said event or circumstance occurs and instances where it does not. 
     The word “or” as used herein means any one member of a particular list and also includes any combination of members of that list. Further, one should note that conditional language, such as, among others, “can,” “could,” “might,” or “may,” unless specifically stated otherwise, or otherwise understood within the context as used, is generally intended to convey that certain aspects include, while other aspects do not include, certain features, elements and/or steps. Thus, such conditional language is not generally intended to imply that features, elements and/or steps are in any way required for one or more particular aspects or that one or more particular aspects necessarily include logic for deciding, with or without user input or prompting, whether these features, elements and/or steps are included or are to be performed in any particular aspect. 
     Disclosed are components that can be used to perform the disclosed methods and systems. These and other components are disclosed herein, and it is understood that when combinations, subsets, interactions, groups, etc. of these components are disclosed that while specific reference of each various individual and collective combinations and permutation of these may not be explicitly disclosed, each is specifically contemplated and described herein, for all methods and systems. This applies to all aspects of this application including, but not limited to, steps in disclosed methods. Thus, if there are a variety of additional steps that can be performed it is understood that each of these additional steps can be performed with any specific aspect or combination of aspects of the disclosed methods. 
     Disclosed in the present application is a leak detection and pipe repair device and associated methods, systems, devices, and various apparatus. Example aspects of the leak detection and pipe repair device can comprise a locomotion subsystem, a leak detection subsystem, and a pipe repair subsystem. It would be understood by one of skill in the art that the disclosed leak detection and pipe repair device is described in but a few exemplary aspects among many. No particular terminology or description should be considered limiting on the disclosure or the scope of any claims issuing therefrom. 
       FIGS. 1-3  illustrates a first aspect of a leak detection and pipe repair device  100  (hereinafter, the “pipe repair device  100 ”), according to the present disclosure. Example aspects of the pipe repair device  100  can drive through a pressurized pipeline  270  (shown in  FIG. 2 ), detect a leak  580  (shown in  FIG. 5 ) in a pipe  272  (shown in  FIG. 2 ) of the pipeline  270 , and repair the damage to the pipe  272  at the location of the leak  580  (e.g., the leak region  582 , shown in  FIG. 5 ). Referring to the block diagram of  FIG. 4 , these functions can be performed by various subsystems of the pipe repair device  100 . Example aspects of the pipe repair device  100  can comprise a locomotion subsystem  200 , a leak detection subsystem  300 , and a pipe repair subsystem  400 , as will be described in further detail below. The pipe repair device  100  further can comprise a power subsystem  500  and a communications subsystem  600 . In some aspects, the pipe repair device  100  can also comprise a leak region preparation subsystem  700  and/or a repair evaluation subsystem  800 . According to the example aspects, the various subsystems of the pipe repair device  100  can be controlled by a control module  900 . In some aspects, the pipe repair device  100  can be used in municipal drinking water systems, while other aspects, the pipe repair device  100  can be used in other pipeline  270  systems, such as oil pipelines, gas pipelines, etc. 
     Control Module  900   
     Example aspects of the control module  900  can function to provide control instructions to the various subsystems of the pipe repair device  100 . The control module  900  can also function to generate control instructions in response to and/or based on sensor inputs. In example aspects, the control module  900  can be self-contained within the pipe repair device  100  and can comprise a processor (not shown) attached to the pipe repair device  100 . In a second aspect, the control module  900  can be implemented at a remote computing system (not shown) and can be connected to the pipe repair device  100  by a data link (e.g., a wired tether  302  (shown in  FIG. 3 ), a wireless link, etc.). However, the control module  900  can be otherwise suitably implemented in other aspects. 
     Power Subsystem  500   
     The power subsystem  500  can function to provide power to the various subsystems of the pipe repair device  100  in order to facilitate operation of the subsystems. In a first aspect, the power subsystem  500  can comprise the tether  302  that can carry electrical power from a surface generator (not shown) to the pipe repair device  100  within the pipeline  270 . In a second aspect, the power subsystem  500  can comprise a battery module (not shown) onboard the pipe repair device  100 . However, in other aspects, the power subsystem  500  can comprise any suitable energy storing and/or generating components. 
     Communications Subsystem  600   
     The pipe repair device  100  can also comprise the communications subsystem  600  in various aspects. The communications subsystem  600  can function to transmit and receive control instructions and sensor inputs. In one aspect, the communications subsystem  600  can comprise a serial data bus (not shown) connected to the tether  302  that directly connects the pipe repair device  100  to a computing system (not shown) outside of the pipeline  270  (e.g., providing a serial data connection). In another example, the communications subsystem  600  can comprise a wireless radio (not shown) that can be connected to the computing system by a wireless data link. In yet another example, the communications subsystem  600  can comprise an acoustic-data transducer (not shown) that can send and receive signals transmitted as vibrations through a wall of the pipeline  270  and/or the water within the pipeline  270 . In other aspects, the communications subsystem  600  can comprise any other suitable components for communicating between the pipe repair device  100  and the computing system. 
     Locomotion Subsystem  200   
     As shown in  FIGS. 1-3 , the pipe repair device  100  can comprise a body  110  defining a first end  112 , an opposite second end  114 , and a middle section  116  therebetween. Optionally, the body  110  can be formed from an NSF/ANSI 61 certified material that is approved as safe for use in drinking-water applications, such as, for example, stainless steel. In other aspects, the body  110  can be formed from another suitable material, such as, for example, aluminum, other metals, plastic, etc. As best seen in  FIG. 3 , the tether  302  can be attached to the second end  114  of the body  110 , such that the tether  302  trails behind the pipe repair device  100  as it moves in a forward direction through the pipeline  270 . 
     The locomotion subsystem  200  can function to transport the pipe repair device  100  within the pipeline  270  to the leak region  582 . As shown in  FIG. 1 , the locomotion subsystem  200  can comprise a transport mechanism  120  for transporting the pipe repair device  100  along an inner surface  274  (shown in  FIG. 2 ) of the pipeline  270 . In a specific example aspect, the transport mechanism  120  can comprise radially-repositionable continuous tracks  122  attached to the body  110  (e.g., six continuous tracks  122  positioned equidistant azimuthally about the pipe repair device  100 , as shown) that can be biased against the inner surface  274  of the pipeline  270 . In one aspect, each of the tracks  122  substantially spans a length of the middle region of the body  110 , from the first end  112  to the second end  114 . 
     In one aspect, as depicted, each the tracks  122  can be biased against the inner surface  274  of the pipeline  270  by a hydraulic cylinder (not shown). For example, an onboard pump  126  can pump fluid to the hydraulic cylinders, and the fluid can apply pressure to a piston  224  (shown in  FIG. 2 ) of the hydraulic cylinder. The piston  224  can force the respective track  122  outward against the inner surface  274  of the pipeline  270 . According to example aspects, the hydraulic cylinders can allow the pipe repair device  100  to accommodate for pipes of varying interior diameters because the tracks  122  can be radially repositionable relative to the body  110 . For example, in the depicted aspect, the pistons  224  can move into and out of the body  110  to adjust the distance between the tracks  122  and the body  110 . Furthermore, example aspects of the tracks  122  can have a certain degree of compliance, which can provide for improved maneuverability of the pipe repair device  100  around turns in the pipeline  270 . In some aspects, the locomotion subsystem  200  further can comprise a pressure sensor (not shown) in each of the hydraulic cylinders. The pressure sensors can be configured to measure the pressure applied by the fluid to the pistons  224 . The pressure data can be communicated to the control module  900 , and the control module can control adjustments to the pressure, as necessary, for improved maneuverability. 
     In another aspect, the tracks  122  can be biased against the inner surface  274  of the pipeline  270  by pneumatic cylinders. In such an aspect, compressed air can be used to force the tracks  122  outward against the inner surface  274  of the pipeline  270 . In still other aspects, the tracks  122  can be biased against the inner surface  274  of the pipeline  270  by other suitable biasing means, such as, for example, a compression spring or by a controllable scissor-jack mechanism. Moreover, in other aspects, the pipe repair device  100  can comprise alternative or additional mechanisms for rolling, sliding, gliding, or otherwise moving along the inner surface  274  of the pipeline  270 , such as, for example, wheels. 
     For example,  FIGS. 10-15  illustrate additional example aspects of the pipe repair device  100  and locomotion subsystem  200 . Each aspect of the pipe repair device  100  can comprise the body  110  and one or more wheels  1022  for engaging the inner surface  274  of the pipeline  270  (shown in  FIG. 2 ). As shown, the wheels  1022  can be connected to one or more pivotable arms  1021  that can allow the wheels  1022  to be radially repositioned to accommodate for varying pipe diameters. In some aspects, the pivotable arms  1021  can be biased outward by springs  1023 . Furthermore, as shown in  FIG. 15 , example aspects of the pipe repair device  100  can comprise a connector  1524  for physically connecting the pipe repair device  100  to the environment outside of the pipeline  270  (shown in  FIG. 2 ). For example, as shown, the connector  1524  can be a pushrod  1525  for pushing the pipe repair device  100  through the pipeline  270 . In other aspects, the connector  1524  can be a tether, wire, or any other suitable connection mechanism. 
     Referring back to  FIGS. 1-3 , example aspects of the tracks  122  can be driven by one or more electric motors (not shown) that are operable while the pipe repair device  100  is submerged in fluid flowing through the pipeline  270 . Optionally, the pipe repair device  100  can comprise at least two motors that can be differentially driven to facilitate maneuvering the pipe repair device  100  around turns in the pipeline  270 . For example, in one aspect, the pipe repair device  100  can comprise a first motor and a second motor (first and second motors not shown). When approaching a turn in the pipeline, the speed of the first motor can be slowed in order to slow the tracks  122  driving on the inside of the turn, to facilitate navigation around the turn. In other aspects, the locomotion subsystem  200  can additionally or alternatively comprise one or more impellers, propellers, synthetic flagella, and/or any other suitable mechanisms for locomotion within the pipeline  270 . In example aspects, the locomotion of the pipe repair device  100  can be remotely operated by a remote operator (e.g. a technician) outside of the pipeline  270  (e.g., above ground). 
     Example aspects of the locomotion subsystem  200  can comprise a steering rod  130  extending from the first end  112  of the body  110 . The steering rod  130  can be movable relative to the body  110  of the pipe repair device  100  and can serve to guide the pipe repair device  100  in a preferred direction at an intersection in the pipeline  270 . In one example aspect, the intersection can be a tee fitting (not shown) in the pipeline  270 , and the pipe repair device  100  can move in either a left direction into a left-side pipe segment or a right direction into a right-side pipe segment. The steering rod  130  can be pointed in the preferred direction (e.g., left or right) and the pipe repair device  100  can be driven forward. As the pipe repair device  100  is driven forward, the steering rod  130  can engage the inner surface  274  of the preferred pipe segment (e.g. the left-side segment or right-side segment), and the pipe repair device  100  will turn in the preferred direction. In example aspects, the steering rod  130  can be actuated mechanically or electronically by the remote operator. 
     Example aspects of the locomotion subsystem  200  can be configured to navigate bends, tees, and vertical sections of the pipeline  270 . The locomotion subsystem  200  can also allow for both forward and reverse movement through the pipeline  270 . For example, the pipe repair device  100  can drive in a forward direction through the pipeline  270  to the leak region  582 , and then drive in a reverse direction out of the pipeline  270  upon completion of repairs to the leak region  582 . In example aspects, the tether  302  can also allow a remote operator to manually pull the pipe repair device  100  out of the pipeline  270  in an instance where the pipe repair device  100  is unable to drive itself out of the pipeline  270 . Examples of such instances can include malfunctioning of the locomotion subsystem  200 , power subsystem  500 , or control module  900 . 
     Leak Detection Subsystem  300   
     Example aspects of the pipe repair device  100  can further comprise the leak detection subsystem  300 , which can function to identify the presence of the leak  580  and the position of the leak region  582  requiring repair relative to the pipe repair device  100 , in order to enable the pipe repair device  100  to suitably position itself relative to the leak region  582  for a repair. In a first aspect, the pipe repair device  100  can comprise an image sensor  132  (e.g., a camera  133 ) for visually identifying the leak region  582 . In an example of this aspect, the pipe repair device  100  can stream video data collected via the image sensor  132  to a remote operator in order to manually identify the leak region  582  based on the visibility of damage to the pipe  272 . As shown, the camera  133  can be disposed within a protective housing  131 . Some aspects of the pipe repair device  100  can also comprising a lighting mechanism (not shown) for illuminating the interior of the pipeline  270  for improved visibility. In a second aspect, the pipe repair device  100  can comprise an acoustic microphone  134  (e.g., a hydrophone  135 ) for aurally identifying the leak region  582 . For example, the pipe repair device  100  can comprise one or more hydrophones  135  that can identify the axial and azimuthal position of the leak region  582  based on triangulation of hydrophone-derived audio signatures corresponding to leakage out of the pipeline  270 . In some aspects, as shown in  FIG. 1 , the leak detection subsystem  300  can comprise both the image sensor  132  and the acoustic microphone  134  for improved detection of the leak region  582  and positioning of the pipe repair device  100  for repairing the leak region  582 . 
     Other example aspects of the pipe repair device  100  can comprise additional or alternative technologies for detecting a leak  580  within the pipeline  270 . For example, other technologies can include, but are not limited to, ultrasound, magnetic flux, lidar, sonar, laser, spectral aerial imaging, and light/infrared technologies. Yet another technology for detecting a leak  580  can include inserting dyes or gasses into the pipeline  270  and measuring for seepage through the leak  580 . 
     Upon detection of the leak  580 , the locomotion subsystem  200  can transport the pipe repair device  100  within the pipeline  270  to the leak region  582  and, using the leak detection subsystem  300 , position the pipe repair device  100  at an ideal location for repairing the leak region  582 . The locomotion subsystem  200  can transport the pipe repair device  100  to the leak region  582  after the leak  580  is identified, or can transport the pipe repair device  100  contemporaneously with locating the leak region  582  (e.g., transport the pipe repair device  100  though the pipeline  270  and identify the leak region  582  as the pipe repair device  100  traverses the pipeline  270 ). Moreover, in some aspects, other factors or mechanisms can additionally or alternatively aid in the movement of the pipe repair device  100  axially through the pipeline  270  to the leak region  582 . For example, a current of the fluid in the pipeline  270 , a water hammer introduced into the pipeline  270  to generate a pressure force, or, as noted above, a propulsion mechanism, such as an impeller, propeller, and/or any other suitable submersible propulsion mechanism can assist in moving the pipe repair device  100  to the leak region  582 . According to example aspects, the leak detection subsystem  300  can be used to locate additional leak regions  582  requiring repair before, during, or after repair of the first leak region  582 . 
     Leak Region Preparation Subsystem  700   
       FIG. 5  illustrates an example aspect of the pipe  272  of the pipeline  270  comprising the leak  580 . Example aspects of the leak  580  can be caused by a crack  584  in the pipe  272 . The crack  584 , and in some aspects the surrounding area, can define the leak region  582 . As shown in  FIG. 6 , some example aspects of the pipe repair device  100  can comprise the leak region preparation subsystem  700 . The leak region preparation subsystem  700  can comprise a resurfacing mechanism  638  that can, in variations, function to grind, ablate, scour, and/or otherwise suitably remove material from the inner surface  274  of the pipe  272  in the leak region  582 . In additional or alternative aspects, the resurfacing mechanism  638  can overlay additional material on the inner surface  274  (e.g., fill in uneven areas of the inner surface  274  with additional material to prepare a substantially smooth inner surface  274  at the leak region  582 ). In some aspects, the leak region preparation subsystem  700  can comprise a volume control mechanism (not shown) that functions to control a controlled preparation volume of the pipe  272  proximal the leak region  582 . Example aspects of the volume control mechanism can isolate the controlled preparation volume. The volume control mechanism can provide a suction force to the controlled preparation volume proximal the leak region  582  (e.g., to prevent removed pipe material and/or resurfacing material from being entrained in fluid flowing through the pipe  272  and carried downstream), a barrier to temporarily block and/or limit fluid flow passed the barrier (e.g., an inflatable bladder and/or balloon that can be expanded downstream of the leak region  582 ), or any other suitable mechanism for regulating the conditions of the controlled preparation volume proximal the leak region  582 . Other example aspects of the pipe repair device  100  may not comprise the leak region preparation subsystem  700 . 
     Pipe Repair Subsystem  400   
     The pipe repair device  100  can also comprise the pipe repair subsystem  400  for repairing the leak region  582  in the pipeline  270  detected by the leak detection subsystem  300  described above. The pipe repair subsystem  400  can function to reduce the leak rate through the leak region  582  of the pipe  272  to and/or below a leak rate threshold by applying a repair material to the leak region  582 . Applying the repair material functions to provide an impermeable mechanical barrier between the fluid (e.g., water) within the pipeline  270  and the environment external to the walls of the pipe  272  in order to repair the leak  580 . Example aspects of the repair material can be a NSF/ANSI 61 certified material that is approved as safe for use in drinking-water applications 
     The leak rate threshold can be a zero-leakage rate (e.g., completely reducing the leak rate), less than a known lowest leak rate of the piping system (e.g., to reduce the minimum leak rate of the piping system), less than a known average leak rate of the piping system (e.g., to reduce the average leak rate of the piping system), and/or any other suitable leak rate threshold. 
     In a first aspect, as shown in  FIG. 7 , the repair material can comprise a liquid-phase repair material. Specifically, the repair material can be epoxy reagents  740 . The epoxy reagents  740  can be, for example, an acrylic-based mixture, a polyester-based mixture, a resin-based mixture, or any other suitable epoxy mixture. In aspects wherein the repair material is a liquid-phase repair material, the repair material can comprise a binder. The binder can be an organic binder, an inorganic binder, a combination thereof, and/or any suitable binder. In examples, the repair material can comprise a water-insoluble cement, plaster, polymer compound (e.g., epoxy, thermoplastic, foam filler material, resin, etc.), and/or any other suitable material that can be applied to the leak region  582  in a liquid or semi-liquid phase. The repair material and/or components thereof can optionally comprise curable compounds (e.g., compounds that solidify upon curing). Such compounds can be curable via heat application, exposure to water, exposure to other compounds (e.g., a reagent that causes a phase-change in the curable compound), exposure to electromagnetic radiation (e.g., ultraviolet light), and/or curable in any other suitable manner. 
     As shown in  FIG. 7 , the pipe repair device  100  can comprise a flexible cap  742 . The flexible cap  742  can be pressed against the inner surface  274  of the pipe  272  at the leak region  582  to isolate a controlled volume  746  around the leak region  582 . The pressing force can be generated by the pipe repair subsystem  400 , be generated by the surrounding water pressure within the pipe  272  (e.g., leveraging the low-pressure region proximal the leak  580  to drive cap attachment), or be otherwise generated and applied. In example aspects, the flexible cap  742  can also function as the volume control mechanism of the leak region preparation subsystem  700 , such that the controlled volume  746  can also be the controlled preparation volume. However, in other aspects, the flexible cap  742  can be separate from the volume control mechanism. The flexible cap  742  can create a fluid-impermeable seal around the leak region  582 , such that fluid flowing through the pipe  272  cannot enter the controlled volume  746 , and such that the repair material cannot escape the controlled volume  746 . 
     The pipe repair subsystem  400  can pump the epoxy reagents  740  into the controlled volume  746  defined within the flexible cap  742  through an opening  744  in the flexible cap  742  In example aspect, the epoxy reagents  740  can be mixed within the controlled volume  746  (e.g., using an agitator, by modulating the in-flow of the reagents  740  to layer the reagents  740  within the controlled volume  746  such that passive diffusion processes result in mixing, etc.). Some aspects of the pipe repair subsystem  400  can comprise a mixing nozzle (not shown) for mixing the epoxy reagents  740 . 
     The injected volume of binder can be a predetermined amount, a dynamically determined amount (e.g., a small amount if the leak  580  is proximal the bottom or nadir of the pipe; the controlled volume  746  if the leak  580  is proximal the top or apex of the pipe), or be any suitable volume. In an example aspect, injecting the epoxy reagents  740  can displace fluid (not shown) that is isolated within the controlled volume  746  (e.g., through a one-way check valve embedded in the flexible cap  742 ). In another aspect, the epoxy can be injected through a nozzle that emerges into the controlled volume  746 . A bubble can be injected into the epoxy flow such that when the controlled volume  746  has been filled with the injected epoxy, the bubble can be liminal to the boundary between the controlled volume  746  and the nozzle (e.g., to create a discontinuous region between the epoxy inside the controlled volume  746  and the source of the epoxy). In still another aspect, ultraviolet light can be transmitted into the controlled volume  746  (e.g., via fiber-optic cabling, transparent walls of the flexible cap  742 , etc.) and can cure the epoxy. 
     In another aspect, the flexible cap  742  can be attached to the inner surface  274  of the pipe  272  by the epoxy (e.g., after curing and/or solidification of the epoxy), and can be left at the repaired leak region  582  (e.g., detached from the pipe repair device  100 ) after repairing the leak  580 . In a similar aspect, the epoxy reagents  740  can be contained within sub-compartments attached to an outside of the flexible cap  742 , and repairing the leak  580  can comprise compressing the cap  742  against the leak region  582  to simultaneously inject the epoxy reagents  740  from the sub-compartments into the controlled volume  746 , mixing the reagents  740  within the controlled volume  746 , and biasing the epoxy mixture against the leak region  582  to fill the leak  580  and repair the leak  580  upon solidification of the epoxy mixture. However, in other aspects, the flexible cap  742  can be reusable (e.g., withdrawn from the inner surface  274  of the pipe  272  after epoxy solidification and/or curing). 
     Some example aspects of the pipe repair subsystem  400  can further comprise a separating mechanism (not shown) for mechanically separating the solidified epoxy from the source of the epoxy (e.g., the nozzle). For example, the separating mechanism can be a blade, a scissor-like mechanism, or any other suitable mechanism for cutting the epoxy away from the source. 
     In a second aspect, as shown in  FIG. 8 , the pipe repair subsystem  400  can comprise a stent  850  for repairing the leak  580  at the leak region  582  (shown in  FIG. 5 ). Example aspects of the stent  850  can be expandable and compressible, such that the stent  850  can be oriented in an expanded configuration, as shown, and a compressed configuration (not shown). The stent  850  can comprise a spring  852  and a sealing layer  854  defining a substantially cylindrical structure. A void  856  can extend through a center of the cylindrical structure. The spring  852  can bias the stent  850  to the expanded configuration, as shown. In the present aspect, the spring  852  can comprise a metal wire  853  defining a wave pattern in the axial direction. However, other aspects of the spring  852  can comprise any other suitable material and define any other suitable spring pattern or design. The sealing layer  854  can wrap around a circumference of the spring  852 , engaging an outer surface of the spring  852 . Example aspects of the sealing layer  854  can comprise a flexible and compressible material, such as, for example, neoprene. In other aspects, the sealing layer  854  can be formed from foam, another rubber material, epoxy, silicone, or any other suitable flexible material for providing a watertight seat between the stent  850  and the inner surface  274  of the pipe  272  at the leak region  582 . Optionally, the spring  852  and sealing layer  854  can be formed from NSF/ANSI 61 certified materials that are approved as safe for use in drinking-water applications. 
     The stent  850  can be oriented in the compressed configuration for transport of the stent  850  by the pipe repair device  100  to the leak region  582 . The stent  850  can be compressed by a compression mechanism, such as a compression sleeve (not shown). In other aspect, a tensioning mechanism can be used to orient the stent  850  in the compressed configuration, such as, for example, a cable (not shown) configured to contract the stent  850  radially inward. As the stent  850  is driven through the pipeline  270  by the pipe repair device  100 , fluid in the pipeline  270  can continue to flow around and/or through the compressed stent  850 . As such, the flow of fluid in the pipeline  270  can continue uninterrupted as the stent  850  is navigated through the pipeline  270 . According to example aspects, the stent  850  can be positioned proximate the leak  580  and can be expanded within the pipe  272  by removing a compression force applied by the compression mechanism. In the expanded configuration, the sealing layer  854  can engage the inner surface  274  of the pipe  272  at the leak region  582 . The sealing layer  854  can press against the leak region  582  to create a watertight seal between the stent  850  and the inner surface  274  of the pipe  272  at the leak region  582  to repair the leak  580 . As such, the sealing layer  854  of the stent  850  can serve as the repair material. In example aspects, fluid pressure from the fluid flow in the pipeline  270  can also assist in pressing the stent  850  against the inner surface  274  of the pipe  272 . 
     With the stent  850  positioned in the pipe  272  in the expanded configuration, fluid in the pipeline  270  can flow through the void  856  in the stent  850 . Example aspects of the stent  850  can be sized and shaped to fit tightly within the pipeline  270  in the expanded configuration. For example, in one aspect, a diameter of the stent  850  in the expanded configuration can be slightly greater than a diameter of the inner surface  274  of the pipe  272 . The tight fit of the stent  850  within the pipe  272 , along with fluid pressure against the stent  850 , can aid in retaining the stent  850  in position at the leak region  582 . Some aspects of the stent  850  can also comprise an attachment mechanism (not shown), such as an adhesive, for attaching the stent  850  to the inner surface  274  of the pipe  272  at the leak region  582 . Whether an attachment mechanism is desired, and the type of attachment mechanism, can be determined based on the surface friction of inner surface  274  of the pipe  272  at the leak region  582  and the surface friction of the sealing layer  854 . 
     Example aspects of the pipe repair subsystem  400 , or portions thereof, can be attached to the body  110  of the pipe repair device  100  at any location. In one aspect, wherein the pipe repair subsystem  400  comprises the stent  850 , the stent  850  can be attached to the pipe repair device  100  at the second end  114  of the body  110 , such that the stent  850  trails behind the pipe repair device  100  as it moves forward through the pipeline  270 . Once the stent  850  has been positioned as desired and expanded to repair the leak  580 , the pipe repair device  100  can reverse out of the pipeline  270 , passing through the void  856  of the stent  850 . In other aspects, the stent  850  can be located elsewhere. 
     In a third aspect, the repair material can comprise metal compounds introduced into the leak region  582  to repair the leak  580 . For example, repairing the leak  580  can comprise spot-welding the leak  580 , and the repair material can comprise pipe material proximal the leak region  582  and/or additional metallic filler material that is melted into the leak region  582  (e.g., using a submersible welding head) and cooled (e.g., actively cooled, passively cooled) in situ to repair the leak  580 . 
     While the repair technologies of a stent  850 , an underwater liquid-phase epoxy injection, and spot-welding are discussed in detail in this application, other example aspects of the pipe repair device  100  can comprise additional or alternative technologies for repairing the leak  580  within the pipeline  270 . For example, other technologies and/or repair materials can include, but are not limited to, an inflatable sleeve, natural rubber, synthetic rubber such as EPDM rubber, cyanoacrylates, tape, epoxy putty, concrete, cement, resin, an epoxy or resin-soaked cloth, and magnets. Example aspects of the epoxy putty can be an acrylic-based epoxy putty, a polyester-based epoxy putty, a resin-based epoxy putty, or any other suitable epoxy putty. Furthermore, example aspects of the epoxy-soaked cloth can comprise an acrylic-based epoxy, a polyester-based epoxy, a resin-based epoxy, or any other suitable epoxy. Moreover, the repair material can comprise a compound of various materials (e.g., precursors, binders, catalysts, filler material, resins, etc.), be a single material (e.g., a unitary compound), or any other suitable material. Additionally, the repair material can be a liquid-phase repair material that is solidified in situ (e.g., an epoxy compound), a solid material (e.g., neoprene), a paste, a gas, a matrix, or can have any other suitable composition. 
     Evaluation Subsystem  800   
     According to example aspects, the pipe repair device  100  can also comprise an evaluation subsystem  800 . The evaluation sub-system can function to determine whether the repair successfully met a predetermined repair criteria (e.g., whether the leak  580  was stopped, whether the leak rate was reduced below a threshold leak rate, etc.). In example aspects, as shown in  FIG. 9 , the evaluation subsystem  800  can comprise a leak evaluation mechanism  957 . An example aspect of the leak evaluation mechanism  957  can comprise the hydrophone  135  and a processor  958 . In some example aspects, the processor  958  can be located on or within the pipe repair device  100 , while in other aspects, the processor  958  can be located remote from the pipe repair device  100 . The hydrophone  135  can extract a frequency power spectrum of noise in the pipe  272  proximal the leak region  582 , and the processor  958  can identify an audio signature corresponding to the leak  580  and determine a change in the signature (e.g., disappearance of the audio signature, reduction of the audio signature signal power below a threshold signal power) indicative of leak repair and/or satisfaction of the predetermined repair criteria. However, the evaluation subsystem  800  can comprise any suitable components for evaluating the leak repair. 
     Methods of Use 
     Various methods for repairing a pipeline  270  with the pipe repair device  100  are disclosed. In an example aspect, a method for repairing the pipeline  270  can comprise the steps of inserting the pipe repair device  100  into a pipeline  270 , detecting a leak  580  at a leak region  582  in the pipeline  270 , transporting the pipe repair device  100  through the pipeline  270  to the leak region  582 , and repairing the leak  580 . In some aspects, the steps of detecting the leak  580  and transporting the pipe repair device  100  through the pipeline  270  can be performed concurrently. Further, in some aspects, the method can further comprise the step of detecting a second leak at a second leak region in the pipeline  270  before, during, or after the step of repairing the leak  580 . Some methods can also comprise the steps of preparing the leak region  582  and/or evaluating the repaired leak  580 . 
     In example aspects, the pipe repair device  100  can be inserted into the pipeline  270  at an existing access point, such as, for example, a fire hydrant, a service entrance, or any other suitable point of entry that allows for easy insertion of the pipe repair device  100  into the pipeline  270 . Inserting the pipe repair device  100  into the pipeline  270  at an existing access point and remotely navigating the pipe repair device  100  through the pipeline  270  can eliminate the need to dig up the surrounding terrain to locate and repair the leak  580 , which can save time and costs when performing repairs. 
     Once inserted into the pipeline  270 , the leak detection subsystem  300  can detect a leak  580  in the pipeline  270  and can pinpoint the location of the leak  580  (e.g. leak region  582 ) in the pipeline  270 . In a first aspect, the step of detecting a leak  580  can comprise visually identifying the leak region  582 . Visually identifying the leak region  582  can comprise streaming video data collected via an image sensor  132  of the pipe repair device  100  to a remote operator in order to manually identify the leak region  582  based on the visibility of air bubbles entering the pipe  272  proximal the leak region  582  or by the visibility of damage to the pipeline  270 . In a second aspect, detecting the leak  580  can comprise aurally identifying the leak region  582 . Aurally identifying the leak region  582  can comprise tracking on or more hydrophones  135  proximal the inner surface  274  of the pipe  272  while transporting the pipe repair device  100  (e.g., using a locomotion subsystem  200 ), and identifying the axial and azimuthal position of the leak region  582  based on triangulation of hydrophone-derived audio signatures corresponding to leakage out of the pipeline  270 . 
     Upon detection of a leak  580 , the locomotion subsystem  200  can transport the pipe repair device  100  to the leak region  582 . In one aspect, transporting the pipe repair device  100  through the pipeline  270  can comprise rolling the pipe repair device  100  along the inner surface  274  of the pipeline  270 . Rolling along the inner surface  274  of the pipeline  270  can comprise biasing the one or more tracks  122  of the pipe repair device  100  against the inner surface  274  of the pipeline  270 , supplying power to one or more motors of the pipe repair device  100 , and driving the tracks  122  with the motors. In another aspect, transporting the pipe repair device  100  through the pipeline  270  can comprise propelling the pipe repair device  100  through the pipeline  270 . Propelling through the pipeline  270  can comprising supplying power to one or more motors of the pipe repair device  100 , and driving a propulsion mechanism with the motors. In example aspects, the propulsion mechanism can be an impeller, propeller, and/or any other suitable submersible propulsion mechanism. 
     In some aspects, a current of the fluid flowing in the pipeline  270  can assist in moving the pipe repair device  100  through the pipeline  270 . In other aspects, a water hammer can be introduced into the pipeline  270  to generate a pressure force to assist in moving the pipe repair device  100  through the pipeline  270 . As the pipe repair device  100  moves through the pipeline  270 , fluid in the pipeline  270  can continue to flow around and/or through the pipe repair device  100 . As such, the flow of fluid in the pipeline  270  can continue uninterrupted as the pipe repair device  100  is navigated through the pipeline  270 . Such a configuration prevents the need to shut off the fluid flow during repairs, which can save costs for the service provider and prevent interruption of service to customers. 
     The method can optionally comprise the step of preparing the leak region  582  before repairing the leak  580 . In one aspect, the step of preparing the leak region  582  can comprise preparing the inner surface  274  of the pipe  272  by removing material proximal the leak region  582 . For example, a resurfacing mechanism  638  can reduce the surface roughness to produce a suitable (e.g., substantially smooth) surface at which to repair the leak  580 . Preparing the inner surface  274  can comprise grinding, abrading, or otherwise mechanically preparing the inner surface  274 , compressing the inner surface  274 , chemically reacting the inner surface  274 , or otherwise preparing the inner surface  274 . 
     The step of preparing the leak region  582  can optionally comprise controlling a volume of the pipe  272  proximal the leak region  582  with a volume control mechanism. Preparing the leak region  582  can further comprise providing a suction force to the volume proximal the leak region  582  (e.g., to prevent removed pipe material and/or resurfacing material from contaminating the water flowing through the pipe  272 ) and/or providing a barrier to temporarily block and/or limit water flow passed the barrier (e.g., an inflatable bladder and/or balloon that can be expanded downstream of the leak region  582 ). However, in other aspects, a fire hydrant (not shown) can be opened downstream of the leak region  582 , and any contaminated water can be flushed out. 
     Upon preparing the leak region  582 , the leak  580  can be repaired. The step of repairing the leak  580  can comprise applying a repair material to the leak region  582  using a repair mechanism of the repair subsystem  400 . In one aspect, the repair material can be a liquid-phase repair material, and applying the repair material can comprise, for example, suffusing the leak region  582  with an epoxy compound. In another aspect, the repair material can be a solid material, applying the repair material can comprise, for example, affixing a patch to the leak region  582 . 
     Optionally, the repair material can comprise curable compounds. Thus, repairing the leak  580  can optionally comprise curing the curable compounds included in the repair material, such as by exposing the curable compounds to heat (e.g., heating the curable compounds using a heater of the repair subsystem  400 ), exposing the curable compounds to water (e.g., by introducing water into the controlled volume  746  proximal the leak region  582  and into which repair material has been applied), exposing the curable compounds to electromagnetic radiation (e.g., by shining ultraviolet light onto the leak region  582  at which repair material has been applied, using a light emitter of the repair subsystem  400 ), and/or by any other suitable mechanism or technique. 
     In one specific example aspect, repairing the leak  580  can comprise providing a stent  850  in a compressed configuration, the stent  850  comprising a spring  852  and a sealing layer  854 , reconfiguring the stent  850  from the compressed configuration to an expanded configuration, and pressing the sealing layer  854  of the stent  850  against the inner surface  274  of the pipe  272  at the leak region  582  to create a water-tight seal between the sealing layer  854  and the leak region  582 . Another example aspect of repairing the leak  580  can comprise spot-welding the leak  580 . Spot-welding the leak  580  can comprise melting pipe material proximal the leak region  582  and/or additional metallic filler material into the leak region  582  (e.g., using a submersible welding head) and cooling the material (e.g., actively cooled, passively cooled) in situ to repair the leak  580 . 
     Repairing the leak  580  can optionally comprise creating a controlled volume  746  surrounding the leak region  582 , which can function to isolate the controlled volume  746  proximal the leak region  582  from the remainder of the internal volume of the pipe  272 . The controlled volume  746  (e.g., repair lumen) can exhibit a flow rate through the controlled volume  746  that is less than a threshold flow rate (e.g., the background flow rate through the pipe  272 , a predetermined threshold flow rate, etc.), but can alternatively exhibit any suitable flow rate. The controlled volume  746  can comprise a liquid water level (e.g., volume of liquid water) less than a threshold water level (e.g., less than 100% liquid water, less than 50% water, less than 10% water, etc.), but can alternatively comprise any suitable water level. The pressure within the controlled volume  746  can be less than a threshold pressure (e.g., the background pressure within the pipe  272 , a predetermined fraction of the background pressure within the pipe  272 , etc.), but can alternatively be any suitable pressure. 
     In a first aspect, creating the controlled volume  746  can comprise pushing a concave structure defining an open lumen against the inner surface  274  of the pipe  272  proximal the leak region  582 . The concave structure can be a hemispherical structure, a conical structure, and/or any other suitable structure exhibiting any suitable degree of concavity. The open lumen can be transformed into a closed lumen upon arranging the concave structure adjacent to the inner surface  274 , wherein the inner surface  274  and the concave structure cooperatively define the controlled volume  746  about the leak region  582 . However, the controlled volume  746  can be otherwise suitable defined. The concave structure can comprise at least one orifice through which the repair material can be introduced (e.g., injected, pumped). 
     In a second aspect, creating the controlled volume  746  can comprise pushing an expandable bladder against the inner surface  274  of the pipe  272  proximal the leak region  582 . Repairing the leak  580  can comprise injecting repair material (e.g., binder) into the expandable bladder, and bursting the bladder adjacent to the leak region  582  to form a mound of repair material covering the leak region  582 . Bursting the bladder can be performed by utilizing the inner surface  274  (e.g., rough features of the inner surface  274 , sharp features of the inner surface  274 ) to puncture the surface of the bladder, utilizing an internal puncture mechanism to burst the bladder, or can be otherwise performed in any other suitable manner. 
     In a third aspect, creating the controlled volume  746  can comprise expanding a first balloon upstream of the leak region  582  to block upstream pipe flow (e.g., reduce the upstream flow below a threshold flow rate), and expanding a second balloon downstream of the leak region  582  to block flow downstream of the pipe repair device  100  and/or backflow (e.g., reduce the downstream flow and/or backflow below a threshold flow rate). This variation can optionally comprise pumping the water within the controlled volume  746  defined between the first and second balloon. In example implementations, the pipe repair device  100  can define a water flow path between the first and second balloon and can actively augment the flow rate (e.g., using an impeller, a reciprocating pump, etc.) between the first and second balloon along the flow path in order to reduce the upstream pressure rise caused by the first (upstream) balloon (e.g., matching the flow rate to the background flow rate through the pipe  272 .) The step of repairing the leak  580  can then be performed. 
     A specific aspect of repairing the leak  580  can comprise isolating the leak region  582  from the surrounding pipe  272  by pressing a flexible cap  742  against the inner surface  274  of the pipe  272 , creating a fluid-impermeable seal around the leak region  582 , and pumping epoxy reagents  740  into the repair lumen defined within the flexible cap  742  (e.g., proximal the isolated leak region  582 ). This example aspect can further comprise mixing the epoxy reagents  740  within the repair lumen (e.g., using an agitator, by modulating the in-flow of the reagents  740  to layer the reagents  740  within the lumen such that passive diffusion processes result in mixing, etc.). However, other aspects can comprise pre-mixing the reagents and subsequently pumping the epoxy reagents  740  into the repair lumen, and/or otherwise suitably mixing the epoxy reagents  740  (e.g., impregnating an inner surface  743  of the flexible cap  742  with an epoxy reagent  740  such that contact between an injected epoxy component and the inner surface  743  of the flexible cap  742  results in reagent mixing). 
     Another specific example aspect of repairing the leak  580  can comprise providing an epoxy applicator that can comprise a flexible tube (not shown) attached to a linear actuator, actuating the epoxy applicator proximal to the leak region  582 , wherein an outlet of the flexible tube is arranged adjacent to the leak region  582 , forcing a quantity of epoxy through the tube to create an epoxy bead that covers the leak region  582 , pausing for a predetermined time period (e.g., 10 seconds, 10 minutes, 1 hour, etc.) for the epoxy to transition to a solid state (e.g., a cured state), and mechanically separating the solidified epoxy bead from the tube (e.g., using a guillotine of the repair subsystem  400  such as a single bladed guillotine, a double bladed guillotine, etc.). In some aspects, as described above, the tube can be a mixing nozzle. 
     Example aspects of the method can also comprise the step of evaluating the repair. Evaluating the repair can be performed by the evaluation subsystem  800 . A first aspect of evaluating the repair can comprise visually evaluating the repair. Visually evaluating the repair can comprise collecting imagery data at an image sensor  132  of the pipe repair device  100  and transmitting the imagery data to a remote operator (e.g., wherein the remote operator views the imagery data rendered on a display outside the pipe) that can manually evaluate that the leak rate has been reduced below a threshold level. A second aspect of evaluating the repair can comprise sonically evaluating the repair. Sonically evaluating the repair can comprise collecting auditory data at a hydrophone  135  of the pipe repair device  100 , extracting auditory signatures from the auditory data, and determining that the auditory signatures are indicative of a reduced fluid leakage rate (e.g., reduced below a threshold leakage rate, reduced by a predetermined ratio relative to an initial leakage rate, etc.). 
     Advantages 
     In summation, the leak detection and pipe repair device  100  of the present disclosure and the associated methods can provide several benefits and advantages. First, aspects of the pipe repair device  100  and method can be used to perform in situ leak repair, without the need to break ground and expose leaking pipe(s) by opening a trench over the pipe location. Second, aspects of the pipe repair device  100  and method can enable pressurized pipe repair. The device can be inserted through existing access points (e.g., hydrants) that can be subsequently sealed and re-pressurized, such that the pipe does not require draining and/or isolation from the fluid distribution network. Third, aspects of the method do not contaminate pipes in which the method is performed, and therefore can be used in potable water piping system without the need for decommissioning and re-certifying water pipes to carry potable water. Fourth, aspects of the pipe repair device  100  can define a physically compact form factor, and thus can enable the repair of pipes having small diameters (e.g., as small as approximately four inches in diameter) and thus can vastly increase the fraction of the fluid distribution networks (e.g. water distribution network) that can be serviced by in situ pipe repair devices  100 . Fifth, aspects of the pipe repair device  100  and method can enable in situ identification of leak location, severity, and other leak characteristics. Instead of determining water or fluid loss in a sectional manner as in conventional methods (e.g., measuring flow rates between disparate positions along a pipe to infer that a leak is present at a location between the outlets), the leak region can be determined with high positional specificity from within the pipe itself using aspects of the method. Thus, leaks can be located and repaired more rapidly, efficiently, and effectively. Sixth, aspects of the pipe repair device  100  and method can enable in situ evaluation of leak repair. Conventional devices and methods often require re-pressurization of exposed pipes to identify leaks that have not been repaired and/or failed leak repairs; in addition to being expensive and inefficient, this can cause pipe damage. However, evaluation of leak repair(s) in situ can eliminate trenching costs and enhances efficiency, while avoiding the risk of further pipe damage through re-pressurization. The aspects described above and other aspects of the pipe repair device  100  and/or methods contemplated herein can comprise any other suitable benefits and/or advantages. 
     One should note that conditional language, such as, among others, “can,” “could,” “might,” or “may,” unless specifically stated otherwise, or otherwise understood within the context as used, is generally intended to convey that certain embodiments include, while other embodiments do not include, certain features, elements and/or steps. Thus, such conditional language is not generally intended to imply that features, elements and/or steps are in any way required for one or more particular embodiments or that one or more particular embodiments necessarily include logic for deciding, with or without user input or prompting, whether these features, elements and/or steps are included or are to be performed in any particular embodiment. 
     It should be emphasized that the above-described embodiments are merely possible examples of implementations, merely set forth for a clear understanding of the principles of the present disclosure. Any process descriptions or blocks in flow diagrams should be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps in the process, and alternate implementations are included in which functions may not be included or executed at all, may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present disclosure. Many variations and modifications may be made to the above-described embodiment(s) without departing substantially from the spirit and principles of the present disclosure. Further, the scope of the present disclosure is intended to cover any and all combinations and sub-combinations of all elements, features, and aspects discussed above. All such modifications and variations are intended to be included herein within the scope of the present disclosure, and all possible claims to individual aspects or combinations of elements or steps are intended to be supported by the present disclosure.