Systems and methods for an amphibious submersible for pipe interior and wall inspection

Patent metadata

Field	Value
Publication number	US-11499665-B2
Application number	US-202117201616-A
Country	US
Kind code	B2
Filing date	Mar 15, 2021
Priority date	Mar 13, 2020
Publication date	Nov 15, 2022
Grant date	Nov 15, 2022

Abstract

Various embodiments of an amphibious submersible vehicle for use in non-destructive testing of pipe interiors and walls are disclosed herein. In one aspect, the vehicle is operable for amphibious submersible operation such that pipes of various diameters can be inspected under full, partially full, and dry conditions. In another aspect, the vehicle is equipped with a plurality of propellers for travel when fully or partially submerged in water and a plurality of wheels for traveling when in contact with a pipe wall or for traveling over debris. In some embodiments, the vehicle is equipped with a plurality of sensors configured for imaging and navigation which enable the vehicle for pipe inspection and identification of problem areas.

First claim

What is claimed is:

1. A vehicle, comprising:
an elongated body defining a first side, an opposite second side, a front side, and a rear side;
a set of horizontally oriented propellers associated with the front side of the elongated body;
a respective set of vertically oriented propellers associated with the front side and the rear side of the elongated body;
a respective plurality of wheels engaged with the first side and the opposite second side of the elongated body, wherein each wheel of the plurality of wheels includes a plurality of spokes, wherein one or more of the plurality of spokes includes a pair of claws configured for providing traction to the vehicle; and
a sensor array associated with the vehicle, wherein the sensor array is operable for imaging and navigation of the vehicle.

2. The vehicle of claim 1 , wherein one or more of the plurality of spokes includes a single member.

3. The vehicle of claim 1 , wherein one or more of the plurality of spokes is an anchor member, and wherein each anchor member defines the pair of claws, wherein each claw of the pair of claws is defined at a distal end of the associated anchor member.

4. The vehicle of claim 1 , wherein the sensor array comprises one or more sonar sensors.

5. The vehicle of claim 1 , wherein the sensor array comprises a spectrometer.

6. The vehicle of claim 1 , wherein the sensor array comprises one or more navigation sensors.

7. The vehicle of claim 1 , wherein the set of vertically oriented propellers is configured to propel the vehicle in an upward direction or a downward direction within a liquid surrounding the vehicle.

8. The vehicle of claim 7 , wherein each vertically oriented propeller of the set of vertically oriented propellers is associated with a respective vertical propeller motor.

9. The vehicle of claim 7 , wherein each respective vertical propeller motor is in operative communication with a controller such that each respective vertical propeller motor is operable for rotation independent of one another by the controller.

10. The vehicle of claim 1 , wherein the set of horizontally oriented propellers is configured to propel the vehicle in a first horizontal direction or an opposite second horizontal direction within a liquid surrounding the vehicle.

11. The vehicle of claim 10 , wherein each horizontally oriented propeller of the set of horizontally oriented propellers is associated with a respective horizontal propeller motor.

12. The vehicle of claim 11 , wherein each respective horizontal propeller motor is in operative communication with a controller such that each respective horizontal propeller motor is operable for rotation independent of one another by the controller.

13. The vehicle of claim 1 , wherein each wheel of the plurality of wheels is associated with a respective wheel motor of a plurality of wheel motors for operating each wheel of the plurality of wheels.

14. The vehicle of claim 13 , wherein each wheel motor of the plurality of wheel motors is in operative communication with a controller such that each respective wheel motor is operable for rotation independent of one another.

15. The vehicle of claim 1 , wherein the sensor array is in operative communication with a controller.

16. The vehicle of claim 1 , further comprising a ballast system, wherein the ballast system is operable for increasing or decreasing the buoyancy of the vehicle relative to an external environment of the vehicle.

17. The vehicle of claim 16 , wherein the ballast system includes at least one of an air ballast tank and a water ballast tank, wherein the air ballast tank and the water ballast tank are each associated with a respective air pump and water pump, and wherein the air pump and water pump are each in operative communication with a controller.

18. A method for maneuvering a vehicle within a pipe, comprising:
providing a vehicle, comprising:
an elongated body defining a first side, an opposite second side, a front side, and a rear side;
a set of horizontally oriented propellers associated with the front side of the elongated body, wherein each horizontally oriented propeller of the set of horizontally oriented propellers is in operative association with a respective horizontal propeller motor of a set of horizontal propeller motors;
a set of vertically oriented propellers associated with the front side and the rear side of the elongated body, wherein each vertically oriented propeller of the set of vertically oriented propellers is in operative association with a respective vertical propeller motor of a set of vertical propeller motors;
a plurality of wheels engaged with the first side and the opposite second side of the elongated body, wherein each wheel of the plurality of wheels comprises a plurality of spokes, wherein one or more of the plurality of spokes includes a pair of claws operable for providing traction to the vehicle, and wherein each wheel of the plurality of wheels is in operative association with a respective wheel motor of a plurality of wheel motors; and
a sensor array associated with the vehicle, wherein the sensor array is operable for imaging and navigation of the vehicle;

actuating at least one of the horizontal propeller motors such that the vehicle is propelled in either a forward direction or backward direction;
actuating at least one of the vertical propeller motors such that the vehicle is propelled in an upward direction or a downward direction;
actuating at least one of the wheel motors such that the vehicle is propelled in either the forward direction or the backward direction;
generating a spectral image of an interior of a pipe by employing a spectroscope of the sensor array; and
generating a sonar image of an interior of a pipe by employing one or more sonar sensors of the sensor array.

19. The method of claim 18 , further comprising:
increasing or decreasing a buoyancy of the vehicle by increasing or decreasing a weight of the vehicle.

20. The method of claim 19 , wherein the weight of the vehicle is increased by pumping water into a water ballast tank located onboard the vehicle or by releasing air from an air ballast tank located onboard the vehicle.

21. The method of claim 19 , wherein the weight of the vehicle is decreased by releasing water from a water ballast tank located onboard the vehicle or by pumping air into an air ballast tank located onboard the vehicle.

22. The method of claim 18 , further comprising:
orienting the sensor array in 3-dimensional space by actuating one or more arm motors associated with a robotic arm of the vehicle, wherein the sensor array is located at a distal end of the robotic arm.

Assignees

• Marvi Hamidreza
• Beigzadeh Borhan
• Bagheri Hosain
• Lee Tae Woo
• Univ Arizona State

Inventors

• Marvi Hamidreza
• Beigzadeh Borhan
• Bagheri Hosain
• Lee Tae-Woo

Classifications

• B60F3/0061 Primary

  Amphibious vehicles specially adapted for particular purposes or of a particular type · CPC title

• F16L55/40

  of the body · CPC title

• B60F3/0038

  Flotation, updrift or stability devices · CPC title

• F16L55/30

  of the propulsion means, e.g. towed by cables · CPC title

• F16L55/32 Primary

  being self-contained · CPC title