Methods and devices for automated work in pipes based on impedance control

Methods and tools for automatically performing work within a pipe or pipe network based on sensed impedance information. A robot, which may be tethered or un-tethered, includes a computer controller and a work tool for performing work within the pipe. With or without impedance-based calibration, the...

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Bibliographische Detailangaben
Hauptverfasser:	GERBER ALAN, THAYER SCOTT M, VELAGAPUDI PRASANNA KUMAR, CLOSE ERIC C, GENISE RONALD, VALLAPUZHA SUBRAMANIAN, HUDSON EDISON, SALOTTI JOSEPH, SLIFKO ADAM, REVERTE CARLOS F, BALTUS GREGORY
Format:	Patent
Sprache:	eng
Schlagworte:	BLASTING CALCULATING COMPUTING CONTROL OR REGULATING SYSTEMS IN GENERAL CONTROLLING COUNTING DREDGING ELECTRIC DIGITAL DATA PROCESSING ENGINEERING ELEMENTS AND UNITS FIXED CONSTRUCTIONS FOUNDATIONS FUNCTIONAL ELEMENTS OF SUCH SYSTEMS GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVEFUNCTIONING OF MACHINES OR INSTALLATIONS HEATING HYDRAULIC ENGINEERING JOINTS OR FITTINGS FOR PIPES LIGHTING MEANS FOR THERMAL INSULATION IN GENERAL MECHANICAL ENGINEERING MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS PHYSICS PIPES REGULATING SOIL SHIFTING SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING THERMAL INSULATION IN GENERAL WEAPONS
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Beschreibung
Zusammenfassung:	Methods and tools for automatically performing work within a pipe or pipe network based on sensed impedance information. A robot, which may be tethered or un-tethered, includes a computer controller and a work tool for performing work within the pipe. With or without impedance-based calibration, the robot senses environmental and tool-based impedance characteristics and determines, using said software, ways in which the current work performance can be altered or improved based on the impedance information. The operation of the work tool is then altered in line with the control software. Many different types of work related to the inspection, cleaning and rehabilitation of pipes can be accomplished with the present robots including reinstating laterals after lining, cutting or clearing debris, sealing pipe joints and/or other heretofore manual pipe-based processes.