11-03-2021 дата публикации
Номер: US20210071801A1
Принадлежит:
An apparatus includes a pipe crawler (). The pipe crawler () includes one or more drive wheels () capable of moving along and around a pipe, and one or more instruments coupled to the one or more drive wheels (). An instrument includes one or more of a sensor instrument and a maintenance instrument. The pipe crawler () includes a retention mechanism () that retains the one or more drive wheels () against an outer surface of the pipe. The retention mechanism () provides adjustable positions for the one or more drive wheels () for disposing the one or more drive wheels () against the outer surface of the pipe. The apparatus includes a controller () that communicates with the one or more drive wheels () to move the one or more drive wheels () on the outer surface of the pipe, and that operates the one or more instruments. 1. An apparatus comprising: one or more drive wheels capable of moving along and around a pipe;', 'one or more instruments coupled to the one or more drive wheels, an instrument comprising one or more of a sensor instrument and a maintenance instrument;', 'a retention mechanism that retains the one or more drive wheels against an outer surface of the pipe, the retention mechanism providing adjustable positions for the one or more drive wheels for disposing the one or more drive wheels against the outer surface of the pipe; and', 'a controller that communicates with the one or more drive wheels to move the one or more drive wheels on the outer surface of the pipe, and that operates the one or more instruments., 'a pipe crawler, the pipe crawler comprising2. The apparatus of claim 1 , wherein the pipe crawler further comprises an obstacle sensor that detects obstacles along the pipe and communicates with the controller claim 1 , wherein the controller controls the drive wheels to avoid the obstacles.3. The apparatus of claim 1 , wherein at least one of the one or more drive wheels comprises one or more of an omni wheel and a mecanum wheel.4. The ...
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