Self-orienting, two-wheel pipe crawler
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United States of America Patent
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Jun 18, 2013
Grant Date -
Dec 15, 2011
app pub date -
Aug 25, 2011
filing date -
Sep 30, 2009
priority date (Note) -
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Abstract
An apparatus for conveying a payload through a pipe having the ability to automatically self-stabilize and orient itself inside the pipe by controlling two pipe tracking contactors so as to maintain contact between the pipe tracking contactors and the pipe wall and maintain the apparatus in a functional orientation. The apparatus includes tilt sensor arrays for continuously monitoring the position of the apparatus with respect to the pipe wall, variable speed drive motors operably connected with the pipe contactors for rotating the contactors, tilt motors operably connected with the pipe tracking contactors to enable movement of the contactors between a non-functional orientation and a functional orientation, and a controller for controlling the motors based upon information provided by the tilt sensor arrays.
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