BACKGROUND

This invention relates to the field of remote pipe inspection by robots.

US5799743A to Inuktun discloses a tracked vehicle for pipe inspection.

US7600592B2 to Engineering Services also discloses a tracked vehicle for pipe inspection.

EP2352981 B1 to Redzone Robotics discloses another tracked vehicle for pipe inspection.

Pipe inspection by tracked robots requires a cumbersome but necessary precleaning step to ensure that the pipe walls are free of obstacles. Therefore there is need to provide robots that do not require such a precleaning step. Moreover, pipe diameters may vary. Therefore, there is a need to provide a robot that is fit for use for pipes with varying inner diameters.

SHORT DESCRIPTION OF THE INVENTION

The inventors now have surprisingly found that the combination of a wheeled rocker bogie (11 ) with a lateral extension system through linear cross-transversely arranged actuators (5) in a pipe inspection robot (100) allows for the inspection in spite of varying inner diameters of a pipe and in spite of obstacles in the pipe. Obstacles in the pipe are easily overcome through the rocker bogie (11 ). The extension system allows for lateral extension of the joint casings (7). Preferably the inspection robot (100) is used for the remote inspection of pipes.inspection robot (100)

Accordingly, the first object of the invention is a pipe inspection robot (100) having a) A central housing (10) comprising one or more of a camera, a sensor, an energy source, a processor, a control system and a data transmission system; b) a joint casing (7) having a first joint (1) and a second joint (3); the joint casing (7) being pivotably connected to the axis of rotation (6); c) wherein joints (1, 3) have a circular flange (4) mounted on joint casing (7); d) the circular flanges (4) each being pivotably connected to a rocker bogie

(11); e) the rocker bogie (11 ) having a bogie having a first end and a second end; wherein a rocker is mounted on the second end of the bogie so as to be pivotable about an axis of rotation extending transversely to the direction of travel; wherein the rocker bogie (11 ) further has wheels rotatably connected to the first and the second end of the rocker, and to the first end of the bogie, the wheel axis of rotation extending transversely to the direction of travel; f) wherein the joint casings (7) are connected through a link assembly (12); g) wherein the first actuator (5) and the second actuator (5) are cross- transversely arranged so as to laterally extend or retract the joint casing (7) when the first or the second actuator (5) are actuated.

In another aspect, the pipe inspection robot (100) further comprises an emitter and a receiver for remote control of the pipe inspection robot (100). In another aspect, the pipe inspection robot (100) has six wheels.

In another aspect, the first (5)or the second actuator (5) are electronically controlled.

In another aspect, the actuator is a hydraulic or a pneumatic system.

Another aspect of the invention is a method for remote inspection of pipes of varying inner diameter or containing obstacles comprising a. Placing the pipe inspection robot (100) according to any of the preceding claims in a pipe; b. Driving the pipe inspection robot (100) through the pipe; c. Expanding or contracting the joint casings (7) in function of the inner diameter of the pipe; d. T ransmitting the sensor and image information to a receiver; e. Processing the sensor and image information; and f. Providing the sensor and image information through a user interface to a user. Another aspect of the invention is a system for remote inspection of pipes of varying inner diameter or containing obstacles comprising a. A pipe inspection robot (100) of the invention; b. A data transmission system; and c. And a data processing and storage system.

Another aspect of the invention is the use of a pipe inspection robot (100) for remote inspection of pipes of varying inner diameter from 100 mm or more, preferably 300 mm or more and even more preferably 600 mm or more. In another embodiment, the pipe diameter is 3000 mm or less, preferably 2000 mm or less, or even more preferably 1200 mm or less. In other embodiment, the pipe contains obstacles. In another embodiment, the pipe is a sewer pipe.

SHORT DESCRIPTION OF THE DRAWINGS

Figure 1 shows a perspective view of the pipe inspection robot (100) in a contracted position.

Figure 2 shows a front view of the pipe inspection robot (100) in a contracted position.

Figure 3 shows a side view of the pipe inspection robot (100) in a contracted position.

Figure 4 shows a top view of the pipe inspection robot (100) in a contracted position.

Figure 5 shows a perspective view of the link assembly (12) and the linear actuators (5) in a contracted position.

Figure 6 shows a front view of the link assembly (12) and the linear actuators (5) in a contracted position.

Figures 7 and 8 show perspective views of the joint casing (7) interconnected by a differential mechanism in a contracted position. Figure 9 and 10 show a side view of the differential mechanism in a contracted position.

Figure 11 shows a perspective view of the pipe inspection robot (100) in an expanded position. Figure 12 shows a front view of the pipe inspection robot (100) in expanded position .

Figure 13 shows a perspective view of the pipe inspection robot (100) in expanded position

Figure 14 shows a top view of the pipe inspection robot (100) in an expanded position.

Figure 15 shows a perspective view of the link assembly (12) and the linear actuators (5) in an expanded position.

Figure 16 shows a front view of the link assembly (12) and the linear actuators (5) in an expanded position.

Figures 17 and 18 show perspective views of the joint casing (7) interconnected by a differential mechanism in an expanded position.

Figure 19 and 20 show a side view of the differential mechanism in a contracted position. Reference numerals used in the drawings:

1. First joint

2. Cable

3. Second joint

4. Circular flange

5. Linear actuator

6. Pivot axis

7. Joint casing

8. Cylinder end of cable

9. Clamped end of cable

10. Central housing

11. Rocker bogie

12. Link assembly

100 Sewer inspection robot DETAILED DESCRIPTION OF THE DRAWINGS

The pipe inspection robot (100) shown in Figures 1 , 2, 3, 4, 11, 12, 13, 14 has s central housing (10) comprising one or more of a camera, a sensor, an energy source, a processor, a control system and a data transmission system. The pipe inspection robot (100) shown in Figures 1, 2, 3, 4, 11 , 12, 13, 14 further has a joint casing (7) pivotably mounted on the axis of rotation (6). The joint casing (7) has a first joint (1 ) and a second joint (3); wherein joints (1 , 3) have a circular flange (4) pivotably mounted on joint casing (7). The circular flanges (4) are each pivotably connected to a rocker bogie (11). The rocker bogie (11 ) has a bogie having a first end and a second end; wherein a rocker is mounted on the second end of the bogie so as to be pivotable about an axis of rotation extending transversely to the direction of travel. The rocker bogie (11) further has wheels rotatably connected to the first and the second end of the rocker, and to the first end of the bogie. Th wheel axis of rotation extends transversely to the direction of travel. The joint casings (7) are connected through a link assembly (12). The link assembly is shown in Figures 5 and 6 in contracted position and in Figures 15 and 16 in expanded position. The joint casing (7) is pivotably connected to a first (5) and a second linear actuator (5). The first linear actuator (5) and the second linear actuator (5) are cross-transversely arranged so as to laterally move joint casing (7) when the first or the second actuator (5) are actuated.

In a preferred embodiment, the pipe inspection robot (100) shown in Figures 1 , 2, 3, 4, 11 , 12, 13, 14 further comprises an emitter and a receiver for remote control of the pipe inspection robot (100).

The pipe inspection robot (100) inspection robot (100) shown in Figures 1 , 2, 3, 4, 11 , 12, 13, 14 has six wheels. However, the skilled person will understand that additional wheels are possible, for example 8 or 10 wheels.

Preferably the first (5) or the second actuator (5) are electronically controlled.

The linear actuator (5) can be any force transmission system. In another embodiment, the linear the actuator is an hydraulic or a pneumatic system.

In a preferred embodiment, the pipe inspection robot (100) further has differential mechanism. The differential mechanism has a cable (2) fixed at the circular flange (4) with one end, and clamped to the circular flange (4) at the other end, wherein the opposite circular flange (4) has a guiding system for guiding the cable (2) and wherein the cable (2) is arranged tangentially from the circular flange (4) through the guiding system of the opposite circular flange (4) to the circular flange (4) so as to pull the opposite circular flange (4) when the fixed circular flange (4) is moved.. An embodiment of the differential mechanism is shown in Figures 7, 8, 9 and 10 in contracted position and in Figures 17, 18, 19 and 20 in expanded position of the pipe inspection robot (100).

A further object of the invention is a method for remote inspection of pipes of varying inner diameter comprising a. Placing the pipe inspection robot (100) of the invention in a pipe; b. Driving the pipe inspection robot (100) through the pipe to capture image or sensor information of the condition of the inner pipe wall; c. Expanding or contracting the joint casing (7) in function of the inner diameter of the pipe; d. T ransmitting the image or sensor information to a receiver; e. Processing the sensor and image information ; and f. Providing the sensor or image information to a user through a user interface

A further object of the invention is a system for remote inspection of pipes of varying inner diameter comprising a. A pipe inspection robot (100) according to the invention; b. A data transmission system; and c. And a data processing and storage system.

The pipe inspection robot (100) is preferably used for remote inspection of pipes of inner diameters ranging from 600 mm to 2000 mm. Accordingly, the pipe inspection robot (100) is preferably dimensioned to be drivable through pipe of an inner diameter of 600 mm in contracted position and of 1200 mm in expanded position.

Through the pipe inspection robot (100) may be used without the necessity of prior cleaning of the pipe with water. Thus, important amounts of water, energy and time may be saved through the pipe inspection robot (100) of the invention. Through its extendability, the pipe inspection robot (100) may be further used in pipes with bends and curves as well as for pipe with varying inner diameters.

The figures are for illustration purposes and represent a preferred embodiment. However, the skilled person will immediately understand that other embodiments are possible. Accordingly, the figures are not meant to limit the scope of protection.