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

Patent metadata

Field	Value
Publication number	US-11828401-B2
Application number	US-202217986205-A
Country	US
Kind code	B2
Filing date	Nov 14, 2022
Priority date	Mar 13, 2020
Publication date	Nov 28, 2023
Grant date	Nov 28, 2023

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;
one or more propellers and a plurality of wheels associated with the elongated body, the one or more propellers and the plurality of wheels being collectively operable for propelling the vehicle in at least one of a vertical direction and a horizontal direction; and
a sensor array associated with the vehicle, wherein the sensor array is operable for imaging and navigation of the vehicle;
wherein the one or more propellers include a vertically oriented propeller configured to propel the vehicle in the vertical direction, the vertically oriented propeller being associated with a respective vertically oriented propeller motor in operative communication with a controller.

2. The vehicle of claim 1 , wherein the sensor array includes at least one of:
one or more sonar sensors;
a spectrometer; and
one or more navigation sensors.

3. The vehicle of claim 1 , wherein the one or more propellers includes a horizontally oriented propeller configured to propel the vehicle in the horizontal direction within a liquid surrounding the vehicle, the horizontally oriented propeller being associated with a respective horizontally oriented propeller motor in operative communication with the controller.

4. 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 in operative communication with the controller such that each respective wheel motor is operable for rotation independent of one another.

5. 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.

6. The vehicle of claim 1 , wherein one or more sensors of the sensor array are positioned along a robotic arm extending from the elongated body and wherein the robotic arm is operable for motion along six degrees of freedom.

7. A vehicle, comprising:
an elongated body defining a first side, an opposite second side, a front side, and a rear side;
one or more propellers and a plurality of wheels associated with the elongated body, the one or more propellers and the plurality of wheels being collectively operable for propelling the vehicle in at least one of a vertical direction and a horizontal direction, wherein each wheel of the plurality of wheels includes a plurality of spokes, wherein at least two spokes of the plurality of spokes are coupled at a rocker and wherein the rocker includes at least one claw; and
a sensor array associated with the vehicle, wherein the sensor array is operable for imaging and navigation of the vehicle.

8. The vehicle of claim 7 , wherein the sensor array includes at least one of:
one or more sonar sensors;
a spectrometer; and
one or more navigation sensors.

9. The vehicle of claim 7 , wherein the one or more propellers includes a vertically oriented propeller configured to propel the vehicle in the vertical direction within a liquid surrounding the vehicle, the vertically oriented propeller being associated with a respective vertically oriented propeller motor in operative communication with a controller.

10. The vehicle of claim 7 , wherein the one or more propellers includes a horizontally oriented propeller configured to propel the vehicle in the horizontal direction within a liquid surrounding the vehicle, the horizontally oriented propeller being associated with a respective horizontally oriented propeller motor in operative communication with a controller.

11. The vehicle of claim 7 , wherein each wheel of the plurality of wheels is associated with a respective wheel motor of a plurality of wheel motors in operative communication with a controller such that each respective wheel motor is operable for rotation independent of one another.

12. The vehicle of claim 7 , 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.

13. The vehicle of claim 7 , wherein one or more sensors of the sensor array are positioned along a robotic arm extending from the elongated body and wherein the robotic arm is operable for motion along six degrees of freedom.

14. 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;
one or more propellers and a plurality of wheels associated with the elongated body, the one or more propellers and the plurality of wheels being collectively operable for propelling the vehicle in at least one of a vertical direction and a horizontal direction;
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 one or more propellers and the plurality of wheels resulting in propulsion of the vehicle in at least one of a horizontal direction and a vertical direction;
generating a spectral image of an interior of a pipe by a spectroscope of the sensor array; and
generating a sonar image of an interior of a pipe by one or more sonar sensors of the sensor array.

15. The method of claim 14 , further comprising:
actuating a vertically oriented propeller of the one or more propellers resulting in propulsion of the vehicle in the vertical direction.

16. The method of claim 14 , further comprising:
actuating a horizontally oriented propeller of the one or more propellers resulting in propulsion of the vehicle in the horizontal direction.

17. The method of claim 14 , further comprising:
activating one or more pumps of a ballast system of the vehicle resulting in an increase in buoyancy or a decrease in buoyancy of the vehicle.

18. The method of claim 14 , 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.

19. The method of claim 14 , further comprising:
actuating the one or more wheels when a collective force generated by one or more horizontally oriented propellers of the one or more propellers is insufficient to overcome one or more obstacles within an external environment of the vehicle.

Assignees

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

Inventors

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

Classifications

• F16L55/32 Primary

  being self-contained · CPC title

• B60F3/0038

  Flotation, updrift or stability devices · CPC title

• B60F3/0061 Primary

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

• F16L55/40

  of the body · CPC title

• F16L2101/30

  Inspecting, measuring or testing · CPC title