Abrégé

A robotic apparatus having first and second wheels with rollers coupled by a frame, third and fourth wheels with rollers circumferentially offset from the first and second wheels, and a clamping assembly coupled to the frame and configured to apply a force for urging the third and fourth wheels towards the pipe to secure the robotic apparatus thereon. Another robotic apparatus having first and second wheels with rollers on a first side of a pipe, third and fourth wheels with rollers on a second, opposing side of the pipe, and a clamping member coupling the first and second wheels to the third and fourth wheels and configured to apply a force for urging the wheels towards the pipe to secure the robotic apparatus thereon. The robotic apparatuses may have a modular design in which different sized clamping members/assemblies can be swapped out to accommodate pipes of different diameters.

Classes IPC  ?

• B62D 61/10 - Véhicules à moteur ou remorques, caractérisés par la disposition ou le nombre de roues et non prévus ailleurs, p. ex. quatre roues disposées en losange avec plus de quatre roues
• B25J 5/00 - Manipulateurs montés sur roues ou sur support mobile
• F16L 55/00 - Dispositifs ou accessoires à utiliser avec, ou en liaison avec, les tuyaux ou les systèmes de tuyaux

Abrégé

A robotic apparatus for traversing the outer surface of a pipe, having: (i) first and second modules each having a clamping member coupling two wheels and positioning those wheels on first and second circumferential one-third portions of the pipe, and (ii) a third module connecting the first and second modules and positioning another wheel on a third circumferential one-third portion of the pipe; wherein the wheels are configured to permit movement of the modular robotic apparatus in axial, circumferential, and helical directions along the pipe. Another robotic apparatus having first and second wheel assemblies coupled by a clamping member and positioned on opposing circumferential half of the pipe, each wheel assembly having a wheel, a drive assembly for rotating the wheel about a driving axis, and a steering assembly for adjusting the direction in which the wheel is steered.

Classes IPC  ?

• B25J 9/08 - Manipulateurs à commande programmée caractérisés par des éléments de construction modulaires
• B25J 9/16 - Commandes à programme
• F16L 55/18 - Accessoires de réparation des tuyaux
• B25J 5/02 - Manipulateurs montés sur roues ou sur support mobile se déplaçant le long d'un chemin de guidage

Classes IPC  ?

• B25J 5/02 - Manipulateurs montés sur roues ou sur support mobile se déplaçant le long d'un chemin de guidage
• B25J 9/08 - Manipulateurs à commande programmée caractérisés par des éléments de construction modulaires
• B25J 9/16 - Commandes à programme
• F16L 55/18 - Accessoires de réparation des tuyaux

Abrégé

A robotic apparatus for traversing the outer surface of a pipe, having: (i) first and second modules each having a clamping member coupling two wheels and positioning those wheels on first and second circumferential one-third portions of the pipe, and (ii) a third module connecting the first and second modules and positioning another wheel on a third circumferential one-third portion of the pipe; wherein the wheels are configured to permit movement of the modular robotic apparatus in axial, circumferential, and helical directions along the pipe. Another robotic apparatus having first and second wheel assemblies coupled by a clamping member and positioned on opposing circumferential half of the pipe, each wheel assembly having a wheel, a drive assembly for rotating the wheel about a driving axis, and a steering assembly for adjusting the direction in which the wheel is steered.

Classes IPC  ?

• B25J 9/08 - Manipulateurs à commande programmée caractérisés par des éléments de construction modulaires
• B25J 5/00 - Manipulateurs montés sur roues ou sur support mobile
• B25J 11/00 - Manipulateurs non prévus ailleurs

Abrégé

A radiography system for use on a pipe traversing robot, including a mechanism configured to automatically adjust the position(s) of a radiation source and/or an imager thereof based on a diameter of the pipe. Another radiography system including a computer vision system configured to process radiography imagery to define a measured interface between the pipe and insulation surrounding the pipe, and a control system configured to automatically adjust a position(s) of a radiation source and/or an imager thereof based on a location of or non-presence of the measured interface in the radiography imagery. A computer vision system for detecting potential anomalies in a pipe's surface. A fail safe mechanism configured to prevent a robot from falling off a pipe while allowing the robot to traverse obstacles extending from or tangential to the pipe. A robot having one or more fail safe mechanisms configured to be selectably extended and retracted.

Classes IPC  ?

• G01N 23/18 - Recherche de la présence de défauts ou de matériaux étrangers
• G01N 23/04 - Recherche ou analyse des matériaux par l'utilisation de rayonnement [ondes ou particules], p. ex. rayons X ou neutrons, non couvertes par les groupes , ou en transmettant la radiation à travers le matériau et formant des images des matériaux
• G01N 23/083 - Recherche ou analyse des matériaux par l'utilisation de rayonnement [ondes ou particules], p. ex. rayons X ou neutrons, non couvertes par les groupes , ou en transmettant la radiation à travers le matériau et mesurant l'absorption le rayonnement consistant en rayons X

Abrégé

A system for detecting radial movement of a robotic apparatus on a pipe, comprising distance sensors configured to measure a distance between their respective fixed positions and a surface of the pipe, and a processor configured to detect a change and determine whether the change is indicative of radial movement. A system for tracking a position of a robotic apparatus on a pipe, comprising mirrored, freely-rotating mecanum wheels, a sensor(s) configured to measure rotation of the mecanum wheels, and a processor configured to calculate a linear displacement of each mecanum wheel and resulting axial and circumferential positions of the robotic apparatus. A method for navigating a bend or curve of a pipe, comprising generating computer models of the robotic apparatus and the pipe, performing a computer simulation to identify a combination of wheel speeds that keeps the wheels in constant contact with the pipe, and operating the wheels accordingly.

Classes IPC  ?

• B25J 9/16 - Commandes à programme
• B25J 5/00 - Manipulateurs montés sur roues ou sur support mobile
• B25J 5/02 - Manipulateurs montés sur roues ou sur support mobile se déplaçant le long d'un chemin de guidage

Abrégé

A robotic apparatus having first and second wheels with rollers coupled by a frame, third and fourth wheels with rollers circumferentially offset from the first and second wheels, and a clamping assembly coupled to the frame and configured to apply a force for urging the third and fourth wheels towards the pipe to secure the robotic apparatus thereon. Another robotic apparatus having first and second wheels with rollers on a first side of a pipe, third and fourth wheels with rollers on a second, opposing side of the pipe, and a clamping member coupling the first and second wheels to the third and fourth wheels and configured to apply a force for urging the wheels towards the pipe to secure the robotic apparatus thereon. The robotic apparatuses may have a modular design in which different sized clamping members/assemblies can be swapped out to accommodate pipes of different diameters.

Classes IPC  ?

• B62D 61/10 - Véhicules à moteur ou remorques, caractérisés par la disposition ou le nombre de roues et non prévus ailleurs, p. ex. quatre roues disposées en losange avec plus de quatre roues
• B25J 5/00 - Manipulateurs montés sur roues ou sur support mobile
• F16L 55/00 - Dispositifs ou accessoires à utiliser avec, ou en liaison avec, les tuyaux ou les systèmes de tuyaux

Classes IPC  ?

• B25J 5/02 - Manipulateurs montés sur roues ou sur support mobile se déplaçant le long d'un chemin de guidage
• B25J 15/08 - Têtes de préhension avec des éléments en forme de doigts
• F17D 5/06 - Prévention, interception ou localisation des pertes utilisant des moyens électriques ou acoustiques
• G01N 29/26 - Dispositions pour l'orientation ou le balayage

Abrégé

A robotic apparatus having first and second wheels with rollers coupled by a frame, third and fourth wheels with rollers circumferentially offset from the first and second wheels, and a clamping assembly coupled to the frame and configured to apply a force for urging the third and fourth wheels towards the pipe to secure the robotic apparatus thereon. Another robotic apparatus having first and second wheels with rollers on a first side of a pipe, third and fourth wheels with rollers on a second, opposing side of the pipe, and a clamping member coupling the first and second wheels to the third and fourth wheels and configured to apply a force for urging the wheels towards the pipe to secure the robotic apparatus thereon. The robotic apparatuses may have a modular design in which different sized clamping members/assemblies can be swapped out to accommodate pipes of different diameters.

Classes IPC  ?

• G01N 29/26 - Dispositions pour l'orientation ou le balayage
• B25J 5/02 - Manipulateurs montés sur roues ou sur support mobile se déplaçant le long d'un chemin de guidage
• B25J 11/00 - Manipulateurs non prévus ailleurs
• B25J 15/00 - Têtes de préhension
• B25J 15/08 - Têtes de préhension avec des éléments en forme de doigts
• B25J 18/00 - Bras
• F17D 1/00 - Systèmes de canalisation
• F17D 3/00 - Dispositions pour la surveillance ou la commande des opérations de fonctionnement
• F17D 5/06 - Prévention, interception ou localisation des pertes utilisant des moyens électriques ou acoustiques

Abrégé

A radiography system for use on a pipe traversing robot, including a mechanism configured to automatically adjust the position(s) of a radiation source and/or an imager thereof based on a diameter of the pipe. Another radiography system including a computer vision system configured to process radiography imagery to define a measured interface between the pipe and insulation surrounding the pipe, and a control system configured to automatically adjust a position(s) of a radiation source and/or an imager thereof based on a location of or non-presence of the measured interface in the radiography imagery. A computer vision system for detecting potential anomalies in a pipe's surface. A fail safe mechanism configured to prevent a robot from falling off a pipe while allowing the robot to traverse obstacles extending from or tangential to the pipe. A robot having one or more fail safe mechanisms configured to be selectably extended and retracted.

Classes IPC  ?

• G01N 23/18 - Recherche de la présence de défauts ou de matériaux étrangers
• G01N 23/04 - Recherche ou analyse des matériaux par l'utilisation de rayonnement [ondes ou particules], p. ex. rayons X ou neutrons, non couvertes par les groupes , ou en transmettant la radiation à travers le matériau et formant des images des matériaux
• G01N 23/083 - Recherche ou analyse des matériaux par l'utilisation de rayonnement [ondes ou particules], p. ex. rayons X ou neutrons, non couvertes par les groupes , ou en transmettant la radiation à travers le matériau et mesurant l'absorption le rayonnement consistant en rayons X

Abrégé

A radiography system for use on a pipe traversing robot, including a mechanism configured to automatically adjust the position(s) of a radiation source and/or an imager thereof based on a diameter of the pipe. Another radiography system including a computer vision system configured to process radiography imagery to define a measured interface between the pipe and insulation surrounding the pipe, and a control system configured to automatically adjust a position(s) of a radiation source and/or an imager thereof based on a location of or non-presence of the measured interface in the radiography imagery. A computer vision system for detecting potential anomalies in a pipe's surface. A fail safe mechanism configured to prevent a robot from falling off a pipe while allowing the robot to traverse obstacles extending from or tangential to the pipe. A robot having one or more fail safe mechanisms configured to be selectably extended and retracted.

Classes IPC  ?

• G01N 23/083 - Recherche ou analyse des matériaux par l'utilisation de rayonnement [ondes ou particules], p. ex. rayons X ou neutrons, non couvertes par les groupes , ou en transmettant la radiation à travers le matériau et mesurant l'absorption le rayonnement consistant en rayons X
• G01N 23/18 - Recherche de la présence de défauts ou de matériaux étrangers

Abrégé

A radiography system for use on a pipe traversing robot, including a mechanism configured to automatically adjust the position(s) of a radiation source and/or an imager thereof based on a diameter of the pipe. Another radiography system including a computer vision system configured to process radiography imagery to define a measured interface between the pipe and insulation surrounding the pipe, and a control system configured to automatically adjust a position(s) of a radiation source and/or an imager thereof based on a location of or non-presence of the measured interface in the radiography imagery. A computer vision system for detecting potential anomalies in a pipe's surface. A fail safe mechanism configured to prevent a robot from falling off a pipe while allowing the robot to traverse obstacles extending from or tangential to the pipe. A robot having one or more fail safe mechanisms configured to be selectably extended and retracted.

Classes IPC  ?

• G01N 23/18 - Recherche de la présence de défauts ou de matériaux étrangers
• G01N 23/04 - Recherche ou analyse des matériaux par l'utilisation de rayonnement [ondes ou particules], p. ex. rayons X ou neutrons, non couvertes par les groupes , ou en transmettant la radiation à travers le matériau et formant des images des matériaux
• G01N 23/083 - Recherche ou analyse des matériaux par l'utilisation de rayonnement [ondes ou particules], p. ex. rayons X ou neutrons, non couvertes par les groupes , ou en transmettant la radiation à travers le matériau et mesurant l'absorption le rayonnement consistant en rayons X

Abrégé

A radiography system for use on a pipe traversing robot, including a mechanism configured to automatically adjust the position(s) of a radiation source and/or an imager thereof based on a diameter of the pipe. Another radiography system including a computer vision system configured to process radiography imagery to define a measured interface between the pipe and insulation surrounding the pipe, and a control system configured to automatically adjust a position(s) of a radiation source and/or an imager thereof based on a location of or non-presence of the measured interface in the radiography imagery. A computer vision system for detecting potential anomalies in a pipe's surface. A fail safe mechanism configured to prevent a robot from falling off a pipe while allowing the robot to traverse obstacles extending from or tangential to the pipe. A robot having one or more fail safe mechanisms configured to be selectably extended and retracted.

Classes IPC  ?

• G01N 23/18 - Recherche de la présence de défauts ou de matériaux étrangers
• G01N 23/083 - Recherche ou analyse des matériaux par l'utilisation de rayonnement [ondes ou particules], p. ex. rayons X ou neutrons, non couvertes par les groupes , ou en transmettant la radiation à travers le matériau et mesurant l'absorption le rayonnement consistant en rayons X

Abrégé

A system for detecting radial movement of a robotic apparatus on a pipe, comprising distance sensors configured to measure a distance between their respective fixed positions and a surface of the pipe, and a processor configured to detect a change and determine whether the change is indicative of radial movement. A system for tracking a position of a robotic apparatus on a pipe, comprising mirrored, freely-rotating mecanum wheels, a sensor(s) configured to measure rotation of the mecanum wheels, and a processor configured to calculate a linear displacement of each mecanum wheel and resulting axial and circumferential positions of the robotic apparatus. A method for navigating a bend or curve of a pipe, comprising generating computer models of the robotic apparatus and the pipe, performing a computer simulation to identify a combination of wheel speeds that keeps the wheels in constant contact with the pipe, and operating the wheels accordingly.

Classes IPC  ?

• B25J 9/16 - Commandes à programme
• B25J 5/00 - Manipulateurs montés sur roues ou sur support mobile
• B25J 5/02 - Manipulateurs montés sur roues ou sur support mobile se déplaçant le long d'un chemin de guidage

Abrégé

A robotic apparatus comprising first, second, and third wheel assemblies, and a clamping mechanism configured to apply a force for urging the second wheel and the third wheel to pivot in opposing directions towards a plane of the first wheel for securing the first wheel, the second wheel, and the third wheel to the pipe, each wheel assembly including an alignment mechanism for adjusting an orientation of the wheels to allow the robotic apparatus to move along a straight path or a helical path on the pipe. A method for navigating an obstacle on a pipe comprising advancing the robotic apparatus along a helical pathway on the pipe to position an open side of the robotic apparatus in longitudinal alignment with the obstacle, and advancing the robotic apparatus along a straight pathway on the pipe such that the obstacle passes unobstructed through the open side of the robotic apparatus.

Classes IPC  ?

• F16L 55/34 - Moyens de propulsion autonomes portés par le hérisson ou le chariot le hérisson ou le chariot étant déplacé pas à pas
• B25J 9/16 - Commandes à programme
• B25J 5/00 - Manipulateurs montés sur roues ou sur support mobile
• B25J 5/02 - Manipulateurs montés sur roues ou sur support mobile se déplaçant le long d'un chemin de guidage
• B60K 7/00 - Disposition du moteur dans ou jouxtant une roue motrice
• G01N 29/265 - Dispositions pour l'orientation ou le balayage en déplaçant le capteur par rapport à un matériau fixe
• B60K 1/00 - Agencement ou montage des ensembles de propulsion électriques
• G01N 29/22 - Recherche ou analyse des matériaux par l'emploi d'ondes ultrasonores, sonores ou infrasonoresVisualisation de l'intérieur d'objets par transmission d'ondes ultrasonores ou sonores à travers l'objet Détails
• B25J 13/08 - Commandes pour manipulateurs au moyens de dispositifs sensibles, p. ex. à la vue ou au toucher
• F16L 55/18 - Accessoires de réparation des tuyaux
• F16L 101/30 - Vérification, mesure ou test

Abrégé

A system for detecting radial movement of a robotic apparatus on a pipe, comprising distance sensors configured to measure a distance between their respective fixed positions and a surface of the pipe, and a processor configured to detect a change and determine whether the change is indicative of radial movement. A system for tracking a position of a robotic apparatus on a pipe, comprising mirrored, freely-rotating mecanum wheels, a sensor(s) configured to measure rotation of the mecanum wheels, and a processor configured to calculate a linear displacement of each mecanum wheel and resulting axial and circumferential positions of the robotic apparatus. A method for navigating a bend or curve of a pipe, comprising generating computer models of the robotic apparatus and the pipe, performing a computer simulation to identify a combination of wheel speeds that keeps the wheels in constant contact with the pipe, and operating the wheels accordingly.

Classes IPC  ?

• F16L 55/48 - Indication de la position du hérisson ou du chariot dans le tuyau ou dans la conduite

Abrégé

A system for detecting radial movement of a robotic apparatus on a pipe, comprising distance sensors configured to measure a distance between their respective fixed positions and a surface of the pipe, and a processor configured to detect a change and determine whether the change is indicative of radial movement. A system for tracking a position of a robotic apparatus on a pipe, comprising mirrored, freely-rotating mecanum wheels, a sensor(s) configured to measure rotation of the mecanum wheels, and a processor configured to calculate a linear displacement of each mecanum wheel and resulting axial and circumferential positions of the robotic apparatus. A method for navigating a bend or curve of a pipe, comprising generating computer models of the robotic apparatus and the pipe, performing a computer simulation to identify a combination of wheel speeds that keeps the wheels in constant contact with the pipe, and operating the wheels accordingly.

Classes IPC  ?

• B25J 9/16 - Commandes à programme
• B25J 5/00 - Manipulateurs montés sur roues ou sur support mobile
• B25J 5/02 - Manipulateurs montés sur roues ou sur support mobile se déplaçant le long d'un chemin de guidage

Abrégé

A system for detecting radial movement of a robotic apparatus on a pipe, comprising distance sensors configured to measure a distance between their respective fixed positions and a surface of the pipe, and a processor configured to detect a change and determine whether the change is indicative of radial movement. A system for tracking a position of a robotic apparatus on a pipe, comprising mirrored, freely-rotating mecanum wheels, a sensor(s) configured to measure rotation of the mecanum wheels, and a processor configured to calculate a linear displacement of each mecanum wheel and resulting axial and circumferential positions of the robotic apparatus. A method for navigating a bend or curve of a pipe, comprising generating computer models of the robotic apparatus and the pipe, performing a computer simulation to identify a combination of wheel speeds that keeps the wheels in constant contact with the pipe, and operating the wheels accordingly.

Classes IPC  ?

• F16L 55/48 - Indication de la position du hérisson ou du chariot dans le tuyau ou dans la conduite
• F16L 5/02 - Scellement
• F16L 55/00 - Dispositifs ou accessoires à utiliser avec, ou en liaison avec, les tuyaux ou les systèmes de tuyaux
• F16L 55/18 - Accessoires de réparation des tuyaux
• F16L 55/26 - Hérissons ou chariots, c.-à-d. dispositifs pouvant se déplacer dans un tuyau ou dans une conduite et portant ou non un moyen de propulsion autonome

Produits et services

Mobile industrial robots for inspecting infrastructure; Mobile industrial robots for inspecting pipes and pipelines; Industrial robotic crawlers; Industrial robotic crawlers for inspecting infrastructure; Industrial robotic crawlers for inspecting pipes and pipelines Pipeline inspection services; Software as a service (SAAS) services featuring software for industrial facility asset management and analytics

Produits et services

Rental of industrial robots

Abrégé

A robotic apparatus comprising first, second, and third wheel assemblies, and a clamping mechanism configured to apply a force for urging the second wheel and the third wheel to pivot in opposing directions towards a plane of the first wheel for securing the first wheel, the second wheel, and the third wheel to the pipe, each wheel assembly including an alignment mechanism for adjusting an orientation of the wheels to allow the robotic apparatus to move along a straight path or a helical path on the pipe. A method for navigating an obstacle on a pipe comprising advancing the robotic apparatus along a helical pathway on the pipe to position an open side of the robotic apparatus in longitudinal alignment with the obstacle, and advancing the robotic apparatus along a straight pathway on the pipe such that the obstacle passes unobstructed through the open side of the robotic apparatus.

Classes IPC  ?

• F16L 55/34 - Moyens de propulsion autonomes portés par le hérisson ou le chariot le hérisson ou le chariot étant déplacé pas à pas
• B25J 9/16 - Commandes à programme
• B25J 5/00 - Manipulateurs montés sur roues ou sur support mobile
• B25J 5/02 - Manipulateurs montés sur roues ou sur support mobile se déplaçant le long d'un chemin de guidage
• B60K 7/00 - Disposition du moteur dans ou jouxtant une roue motrice
• G01N 29/265 - Dispositions pour l'orientation ou le balayage en déplaçant le capteur par rapport à un matériau fixe
• B60K 1/00 - Agencement ou montage des ensembles de propulsion électriques
• G01N 29/22 - Recherche ou analyse des matériaux par l'emploi d'ondes ultrasonores, sonores ou infrasonoresVisualisation de l'intérieur d'objets par transmission d'ondes ultrasonores ou sonores à travers l'objet Détails
• B25J 13/08 - Commandes pour manipulateurs au moyens de dispositifs sensibles, p. ex. à la vue ou au toucher
• F16L 55/18 - Accessoires de réparation des tuyaux
• F16L 101/30 - Vérification, mesure ou test

Abrégé

A robotic apparatus comprising first, second, and third wheel assemblies, and a clamping mechanism configured to apply a force for urging the second wheel and the third wheel to pivot in opposing directions towards a plane of the first wheel for securing the first wheel, the second wheel, and the third wheel to the pipe, each wheel assembly including an alignment mechanism for adjusting an orientation of the wheels to allow the robotic apparatus to move along a straight path or a helical path on the pipe. A method for navigating an obstacle on a pipe comprising advancing the robotic apparatus along a helical pathway on the pipe to position an open side of the robotic apparatus in longitudinal alignment with the obstacle, and advancing the robotic apparatus along a straight pathway on the pipe such that the obstacle passes unobstructed through the open side of the robotic apparatus.

Classes IPC  ?

• B25J 5/00 - Manipulateurs montés sur roues ou sur support mobile
• B25J 11/00 - Manipulateurs non prévus ailleurs
• F16L 55/00 - Dispositifs ou accessoires à utiliser avec, ou en liaison avec, les tuyaux ou les systèmes de tuyaux
• F16L 55/26 - Hérissons ou chariots, c.-à-d. dispositifs pouvant se déplacer dans un tuyau ou dans une conduite et portant ou non un moyen de propulsion autonome
• F16L 55/32 - Moyens de propulsion autonomes portés par le hérisson ou le chariot

Abrégé

A robotic apparatus comprising first, second, and third wheel assemblies, and a clamping mechanism configured to apply a force for urging the second wheel and the third wheel to pivot in opposing directions towards a plane of the first wheel for securing the first wheel, the second wheel, and the third wheel to the pipe, each wheel assembly including an alignment mechanism for adjusting an orientation of the wheels to allow the robotic apparatus to move along a straight path or a helical path on the pipe. A method for navigating an obstacle on a pipe comprising advancing the robotic apparatus along a helical pathway on the pipe to position an open side of the robotic apparatus in longitudinal alignment with the obstacle, and advancing the robotic apparatus along a straight pathway on the pipe such that the obstacle passes unobstructed through the open side of the robotic apparatus.

Classes IPC  ?

• B25J 5/00 - Manipulateurs montés sur roues ou sur support mobile
• B25J 11/00 - Manipulateurs non prévus ailleurs
• F16L 55/00 - Dispositifs ou accessoires à utiliser avec, ou en liaison avec, les tuyaux ou les systèmes de tuyaux
• F16L 55/26 - Hérissons ou chariots, c.-à-d. dispositifs pouvant se déplacer dans un tuyau ou dans une conduite et portant ou non un moyen de propulsion autonome
• F16L 55/32 - Moyens de propulsion autonomes portés par le hérisson ou le chariot
• F16L 101/10 - Traitement de l'intérieur des tuyaux
• F16L 101/30 - Vérification, mesure ou test

Abrégé

A robotic apparatus comprising first, second, and third wheel assemblies, and a clamping mechanism configured to apply a force for urging the second wheel and the third wheel to pivot in opposing directions towards a plane of the first wheel for securing the first wheel, the second wheel, and the third wheel to the pipe, each wheel assembly including an alignment mechanism for adjusting an orientation of the wheels to allow the robotic apparatus to move along a straight path or a helical path on the pipe. A method for navigating an obstacle on a pipe comprising advancing the robotic apparatus along a helical pathway on the pipe to position an open side of the robotic apparatus in longitudinal alignment with the obstacle, and advancing the robotic apparatus along a straight pathway on the pipe such that the obstacle passes unobstructed through the open side of the robotic apparatus.

Classes IPC  ?

• F16L 55/34 - Moyens de propulsion autonomes portés par le hérisson ou le chariot le hérisson ou le chariot étant déplacé pas à pas
• B25J 9/16 - Commandes à programme
• B25J 5/00 - Manipulateurs montés sur roues ou sur support mobile
• B25J 5/02 - Manipulateurs montés sur roues ou sur support mobile se déplaçant le long d'un chemin de guidage
• B60K 1/00 - Agencement ou montage des ensembles de propulsion électriques
• G01N 29/22 - Recherche ou analyse des matériaux par l'emploi d'ondes ultrasonores, sonores ou infrasonoresVisualisation de l'intérieur d'objets par transmission d'ondes ultrasonores ou sonores à travers l'objet Détails
• G01N 29/265 - Dispositions pour l'orientation ou le balayage en déplaçant le capteur par rapport à un matériau fixe
• B25J 13/08 - Commandes pour manipulateurs au moyens de dispositifs sensibles, p. ex. à la vue ou au toucher
• F16L 55/18 - Accessoires de réparation des tuyaux
• F16L 101/30 - Vérification, mesure ou test