CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] The priority of U.S. Provisional Application No. 62/884,350, filed August 8, 2019, is hereby claimed and the specifications thereof are incorporated herein by reference.

FIELD OF THE DISCLOSURE

[0002] The following disclosure generally relates to a device that autonomously travels through piping systems, cleans away dirt and debris or performs other tests, adapted to travel through a range of pipe diameter, and may transmit data on pipe conditions to the end user.

BACKGROUND

[0003] Piping is used to transmit various fluids and is often stored prior to use without end caps. Whether in use or in storage, foreign contaminants can become deposited or adhered to the pipe. Similarly, piping systems may suffer intrusion from foreign objects, such as plant life and unintended foreign construction items, such as nails or stakes.

[0004] For example, during construction of liquefied natural gas plants, pipes and tubes are delivered and stored according to the appropriate calendar, which may require them to be stored on site and open to the elements. As a result, even the newest of pipes may have rust, dirt, sand, or water therein before use. However, because any debris or contaminants will be undesirable, it is essential that each pipe be clean. Cleaning and inspection of pipe interiors is necessary before use.

[0005] Absent such cleaning and inspection, newly manufactured pipe may have rust, dirt, sand, or water remaining inside during the installation process. These unexpected fluids and debris particles may cause problems with sensitive processes that require clean fluids. Many power generation systems, including turbines and compressors, require very clean fluids in order to operate. Any debris that exists within the working fluid may represent itself as an abrasive or constricting particle within the system. These unexpected fluids and debris particles can also result in rework and delayed production.

[0006] Various devices have been contemplated to clean and inspect piping interiors. Among these is the remotely-operated Developing Water Loss Prevention (DeWaLoP) device with its power tools, such as grinding tools, wet and dry vacuum cleaners, and sealing applicators. However, the device requires contact at six independent points for stability. Another device is a pigging device, which is driven by fluid pressure, and which scrapes against the pipe walls, and which is subject to limited control. Crawler robots are also known, which include a series of driven and free-wheeling wheels that provide a point of contact and control, however, the spaces between points of contact restrict the capability of the device to navigate joints.

[0007] It would therefore be advantageous to provide a device that autonomously travels through piping systems, cleans away dirt and debris, travels through a range of pipe diameters, and relays cleanliness and quality information to the end user.

BRIEF DESCRIPTION OF THE DRAWINGS

[0008] The detailed description is described with reference to the accompanying drawings, in which like elements are referenced with like reference numbers, and in which:

[0009] FIG. 1 is an isometric view of the pipeline-transiting device.

[0010] FIG. 2 is a side view of the main body of the pipeline-transiting device with one of the three track bodies in FIG. 1.

[0011] FIG. 3 is an end view of the pipeline-transiting device in FIG. 1.

[0012] FIG. 4 is a side view of the main body of the pipeline-transiting device in FIG. 1.

[0013] FIG. 5 is a top view of the interior top of one of the track bodies of the pipeline- transiting device in FIG. 1.

[0014] FIG. 6 is a top view of the interior bottom of one of the track bodies of the pipeline- transiting device in FIG. 1.

[0015] FIG. 7 is a top view of one side of the main body of the pipeline-transiting device in FIG. 1

[0016] FIG. 8 is an isometric view of a portion of the track body of the pipeline-transiting device in FIG. 1.

[0017] FIG. 9 is a top view of an alternative interior bottom of one of the track bodies of the pipeline-transiting device in FIG. 1.

DETAILED DESCRIPTION OF THE ILLUSTRATIVE EMBODIMENTS

[0018] The subject matter disclosed herein is described with specificity, however, the description itself is not intended to limit the scope of the disclosure. The subject matter thus, might also be embodied in other ways, to include different structures, steps and/or combinations similar to and/or fewer than those described herein, in conjunction with other present or future technologies. Although the term “step” may be used herein to describe different elements of methods employed, the term should not be interpreted as implying any particular order among or between various steps herein disclosed unless otherwise expressly limited by the description to a particular order. Other features and advantages of the disclosed embodiments will thus, be or become apparent to one of ordinary skill in the art upon examination of the following figures and detailed description. It is intended that all such features and advantages be included within the scope of the disclosed embodiments. Further, the illustrated figures are only exemplary and are not intended to assert or imply any limitation with regard to the environment, architecture, design, or process in which different embodiments may be implemented. [0019] The apparatus and methods disclosed herein overcome one or more of the prior art disadvantages of pipe inspection and cleaning devices by providing a device that autonomously travels through piping systems, cleans away dirt and debris, travels through a range of pipe diameters, and relays cleanliness and quality information to the end user.

[0020] In one embodiment, the present disclosure includes a pipeline-transiting device, comprising: i) a main body; ii) three track bodies; iii) each track body having an articulated track about a track body platform, a driven wheel and a freewheeling wheel; iv) three scissor mechanisms; v) each scissor mechanism coupled to the main body and a respective track body platform; and vi) three biasing devices, each of the three biasing devices adapted to extend the respective scissor mechanism to adjust a distance from the respective track body platform to the main body in response to a change in dimensions of the pipeline.

[0021] In another embodiment, the present disclosure includes a pipeline-transiting device, comprising: i) a main body having an elongated hollow equilateral triangular profile, a main body first side, a main body second side, and a main body third side; ii) three track bodies, each track body having a driven wheel at a track body platform first end of a track body platform and a freewheeling wheel at a track body platform second end of the track body platform, each track body having an articulated track about the track body platform, the driven wheel and the freewheeling wheel; iii) three scissor mechanisms, each scissor mechanism coupled to the main body and a respective track body platform, each scissor mechanism having a pair of first links pivotally attached to the main body at a first link second end and attached to a slide pin, the slide pin slidably positioned through the respective track body platform at a first link first end, each scissor mechanism having a pair of second links attached to a second slide pin at a second link first end, the second slide pin slidably positioned through the main body at a main body first end and pivotally attached to the respective track body platform at a second link second end, each of the second links pivotally coupled at a second link midpoint to a respective first link at a first link midpoint; and iv) three springs, each spring selected from one of the spring assembly group consisting of a spring coupled to a respective slide pin and to the respective track body platform, a torsion spring coupled to the main body and each of the pair of first links, and a torsion spring coupled to each of the pair fo second links and each of the track bodies.

[0022] In yet another embodiment, the present disclosure includes a method for inspection of a pipeline, comprising: i) providing a transiting device, the transiting device having three track bodies, coupled by a main body by a scissor mechanism, each of the track bodies being maintained equally distant the main body by a biasing device adapted to extended the respective scissor mechanism in response to a change in dimension of the pipeline; ii) positioning the transiting device in a pipeline; iii) extending each scissor mechanism until each of the track bodies contacts an interior wall of the pipeline; iv) engaging the track bodies to move the transiting device along a portion of a length of the pipeline; and v) adjusting each scissor mechanism to maintain contact with the interior wall of the pipeline in response to a change in dimension.

[0023] Referring to FIGS. 1 and 6, an isometric view of the pipeline-transiting device 100 and a top view of the interior bottom of one of the track bodies of the pipeline-transiting device in FIG. 1, respectively, are illustrated. The pipeline-transiting device 100 may include a main body 102, three track bodies 106, 162, 172, and three scissor mechanisms 130, and the three biasing devices 606. Each track body 106, 162, 172 has an articulated track 118 about a track body platform 108, a driven wheel 110 and a freewheeling wheel 114. Each scissor mechanism 130 is coupled to the main body 102 and a respective track body platform 108. Each biasing device 606 is adapted to extend the respective scissor mechanism 130 to adjust a distance from the respective track body platform 108 to the main body 102 in response to a change in dimension, such as diameter, of the pipeline. The biasing device 606 may be pneumatic, hydraulic or mechanical. The pipeline-transiting device 100 may also be constructed with a main body 102, three track bodies 106, 162, 172, and with three spring-loaded scissor mechanisms 130 as the biasing device

606

[0024] Referring to FIG. 1, to FIG. 2, a side view of the main body 102 with one of the three track bodies 106 of FIG. 1 is illustrated, 162, 172, and to FIG. 3, an end view of the pipeline- transiting device of the present disclosure of FIG. 1 is illustrated.

[0025] The main body 102 has an elongated hollow equilateral triangular profile, providing a triangular box or prism. The main body 102 thus has a main body first side 104, a main body second side 302, and a main body third side 160, each with a main body side height 314. A triangular profile provides beneficial strength and rigidity because a triangular structure subject to strong forces only collapses due to material fatigue and not to geometric distortion. An equilateral triangle distributes a force applied to a vertex to both sides and the base and ensures each of the associated three spring-loaded scissor mechanisms 130 position the associated track body 106, 162, 172 equidistant the circumference of the pipe being transited. The hollow construction of the main body 102 provides a volume for locating of control systems, rotary drives, and orifices. To provide an elongated profile, the main body 102 may have a main body length 220 at least three times the main body side height 314. The main body 102 may be constructed of Aluminum 6061 as it may be easily manufactured and is lightweight. Beneficially as AL 6061 may be welded by standard commercial methods, including by use of AL 6061 filler rod. The three track bodies 106, 162, 172 ensure a strong point of contact regardless of pipe interior, including crimps, and, because of its elongated point of contact, functions irrespective of pipe joints and changes in direction. Each track body 106, 162, 172 has a driven wheel 110 at a track body platform first end 112 and a freewheeling wheel 114 at a track body platform second end 116.

[0026] Referring to FIG. 5, a top view of the interior top of one of the track bodies 106, 162, 172 of the pipeline-transiting device 100 of FIG. 1 is illustrated. The driven wheel 110 may be coupled to a transmission 502, which in turn may be coupled to a motor 504. When desired, the transmission may be integrated with the motor 504 or the motor 504 directly coupled to the driven wheel 110. Because the pipeline-transiting device 100 may autonomously transit a pipe, the motor 504 may be a direct current motor associated with a microcontroller and a radio frequency controller. The speed and direction of rotation of each driven wheel 110 may be independently controlled, which may be particularly beneficial where the course of the pipeline- transiting device 100 is curved, such as due to bends in piping or due pipeline joints. The motor 504 may be a 12V DC motor coupled to a 1:264 transmission to provide the necessary torque, actual pulling force, and ability to resist the thrust of the sewer nozzle. Such a system may be configured to clean pipe at 20 ft/min.

[0027] Referring again to FIGS. 1, 2, and 3, each track body 106, 162, 172 has an articulated track 118 about a track body platform 108, the driven wheel 110 and the freewheeling wheel 114. Additionally, to aid in maintaining contact with the wall of the pipe, the pipeline- transiting device 100 may include a second freewheeling wheel 516 intermediate the driven wheel 110 and the freewheeling wheel 114. The articulated track may be characterized as a caterpillar track system. When desired, each track body 106, 162, 172 may have a track body length 222 equivalent to a main body length 220 and each track body platform 108 may have a track body platform width 312. The driven wheel 110 has a driven wheel width 310 which is equal to a freewheeling wheel width 514 of the freewheeling wheel 114 and which is less than the track body platform width 312.

[0028] Referring again to FIGS. 1, 2 and 3, each driven wheel 110 and each freewheeling wheel 114 may include external gears, i.e., be a sprocket 1002, 1004, to engage the articulated track 118 without slipping. The articulated track 118 thus has a corresponding opening in each link of the track to mate to the driven wheel 110 and the freewheeling wheel 114. The surface of the articulated track 118 is selected to provide sufficient friction to the internal pipe surface to resist the forces applied longitudinally or laterally from any cleaning devices and any fluid flow about the pipeline-transiting device 100.

[0029] Referring to FIG. 8, an isometric view of a portion of the track body 106 of the pipeline-transiting device 100 of FIG. 1 is illustrated. The relationship of the motor 504, transmission 502 and driven wheel 110, as a sprocket 1002, is shown, as are the freewheeling wheel 114 as a sprocket 1004. The track platform 108, the track body slot passage 156 and its relationship to the slide pin 190, to the pair of first links 132 and the pair of second links 134 is also illustrated.

[0030] Referring to FIGS. 1, 2, and 3, each track body 106, 162, 172 is maintained against a pipe wall and distant the main body 102 by a spring-loaded scissor mechanism 130. Each scissor mechanism 130 is coupled to the main body 102 and to a respective track body platform 108. Each scissor mechanism 130 has a pair of first links 132 pivotally attached to the main body 102 at a first link second end 136 and attached to a slide pin 190 at a first link first end 138. Each slide pin 190 is slidably positioned through the respective track body platform 108 in a track body slot passage 156. Each scissor mechanism 130 has a pair of second links 134 attached to a second slide pin 192 at a second link first end 140 and pivotally attached to the respective track body platform 108 at a second link second end 142. The second slide pin 192 is slidably positioned through the main body 102 at the main body first end 150. To provide scissor action, each of the second links 134 is pivotally coupled at a second link midpoint 144 to a respective first link 132 at a first link midpoint 146. The relationship of the main body 102 to each track body 106, 162, 172 is maintained as the pivoting attachment to the main body 102 at the first link second end 136 and the pivoting attachment to the track body 106, 162, 172 at the second link second end 142 are at a second end 1008 of the pipeline-transiting device 100 while the slide pins 190 and the second slide pins 192 are at a first end 1006 of the pipeline-transiting device 100. The pair of first links 132 and the pair of second links 134 may be positioned on opposite sides of a respective track body platform 108 as illustrated in FIGS. 1 and 8, or may be on the same side of the track body platform 108 as illustrated in FIGS. 2, 3, 6 and 7.

[0031] Referring to FIG. 6, a top view of the interior bottom of one of the track bodies 106, 162, 172 of the pipeline-transiting device 100 of FIG. 1 is illustrated. Each track body 106, 162, 172 includes a biasing spring 602 coupled to a slide pin 190 and to a respective track body platform 108. Each spring 602 may be provided in tension, where the spring 602 resists the slide pin 190 being distant, drawing the slide pin 190 towards the center of the track body 106, 162, 172, and therefore causing the scissor mechanism 130 to extend, causing the track body 106, 162, 172 to adopt a position distant the main body 102. The adjusting force of the scissor mechanism 130 caused by the spring 602 is resisted by the walls of the associated pipeline, regardless of the pipe diameter, facilitating the operation of the pipeline transiting device 100 through various sized- pipes and pushing the articulated track 118 against the most protruding surface along the length of the track body 106, 162, 172. The spring 602 may alternatively be a torsion spring anchored to the pair of first links 132 and the main body 102 or to the pair of second links 134 and the track bodies

106, 162, 172 [0032] Referring to FIG. 9, a top view of an alternative interior bottom of one of the track bodies of the pipeline-transiting device in FIG. 1 is illustrated. When desired, the force applied by the spring 602 may be altered by the imposition of a linear actuator 904 coupled to the spring 602 and either the slide pin 190 or the track body platform 108.

[0033] Referring now to FIGS. 1, 2, 6, and to FIG. 7, a top view of one of the main body first side 104, the main body second side 302, and the main body third side 160 of the pipeline- transiting device 100 of FIG. 1 is illustrated. When the spring 602 causes the scissor mechanism 130 to extend, the scissor motion of the scissor mechanism 130 is made possible by the second slide pin 192 moving closer to the second end 1008 of the main body 102.

[0034] Referring to FIGS. 1, 2, and 3, and to FIG. 4, a side view of the main body 102 of the pipeline-transiting device 100 is illustrated. The pipeline-transiting device 100 may include three pairs of rails 154 with each pair of rails 154 positioned on one of the main body first side 104, the main body second side 302, and the main body third side 160. Each of the rails 154 may have a rail pivot passage 402 at a main body second end 148 and a rail slot passage 404 at a main body first end 150. Each first link 132 may therefore be pivotally attached to the main body 102 at the first link second end 136 at the rail pivot passage 402 and slideably attached to the respective track body platform 108 at a first link first end 138 via a slide pin 190 through a track body slot 156. Likewise, the second link 134 may therefore be pivotally attached to the respective track body platform 108 at the second link second end 142 and slideably attached to the main body 102 at a second link first end 140 at the rail slot passage 404.

[0035] Referring to FIG. 1, the platform provided by the main body 102 provides for mounting of various tools and devices. A camera 1010 may be coupled to the main body at the main body first end 150. A second camera 1012 may additionally or alternatively be coupled to the main body at the main body second end 148. The camera 1010 and/or the second camera 1012 may be used for inspection analysis of the pipeline interior, including the effectiveness of any cleaning regime, and/or may be used in connection with steering and overcoming any obstacles. The camera 1010 and/or the second camera 1012 may transmit data to a user, viewable on a monitor, or for data storage by wire or wirelessly. Additionally, a rotary nozzle 152 may be coupled to the main body at a main body first end 150 and associated with a pump and a fluid supply. When desired one or more additional tools, such as a rotating high pressure jetting nozzle, a rotating scrubber, and a non-destructive testing device tool may be coupled to the main body at a main body first end 150. A high-pressure water pump, hose, and rotating nozzle, such as a rotating sewer nozzle, is a particularly beneficial method of cleaning the piping system, with the high pressure water supplied external the pipe with a hose connected to the pipeline-transiting device 100, such as at a pressure of 3,000 psi at a flow rate of 2.0 to 2.9 GPM.

[0036] Referring to FIG. 7, the main body 102 may be made sealed against the surrounding environment, providing a location to position control equipment, power supplies, and communications devices. The main body 102 may be provided free of any open perforations and a main body first end cap 704 may be sealed against the main body 102 at the main body first end 150 with a main body second end cap 706 sealed against the main body 102 at the main body second end 148. Communication with the pipeline-transiting device 100 may be wireless, or may be accomplished by communication lines, and power supply, positioned within the main body 102 and sealed. Onboard systems may be programmed to identify location via GPS or via relationship to local transmitters and may provide user control of the tools and speed/direction of the track bodies 106, 162, 172. Cleaning protocols may be instituted which may be stored in onboard processors for autonomous operation, particular where visual inspection can be provided by the camera 1010 and/or the second camera 1012 and/or by any non-destructive testing device.

[0037] In use, the pipeline-transiting device 100 is provided for cleaning, inspection or other purpose within a pipeline. A transiting device provided where the transiting device has three track bodies 106, 162, 172 coupled by a main body 102 by a scissor mechanism 130, where each of the track bodies 106, 162, 172 being maintained equally distant the main body 102 by a biasing device 606 adapted to extend the respective scissor mechanism 130 in response to a change in dimension of the pipeline. The transiting device 100 is positioned in a pipeline. Each scissor mechanism 130 is extended until each of the track bodies 106, 162, 172 contacts an interior wall of the pipeline. The track bodies 106, 162, 172 engaged to move the transiting device along a portion of a length of the pipeline. Each scissor mechanism 130 then adjusts to maintain contact with the interior wall of the pipeline in response to a change in dimension.

[0038] While the present disclosure has been described in connection with presently preferred embodiments, it will be understood by those skilled in the art that it is not intended to limit the disclosure to those embodiments. It is therefore, contemplated that various alternative embodiments and modifications may be made to the disclosed embodiments without departing from the spirit and scope of the disclosure defined by the appended claims and equivalents thereof.