Systems, methods, and apparatus for tracking location of an inspection robot are disclosed. An example apparatus for tracking inspection data may include an inspection chassis having a plurality of inspection sensors configured to interrogate an inspection surface, a first drive module and a second drive module, both coupled to the inspection chassis. The first and second drive module may each include a passive encoder wheel and a non-contact sensor positioned in proximity to the passive encoder wheel, wherein the non-contact sensor provides a movement value corresponding to the first passive encoder wheel. An inspection position circuit may determine a relative position of the inspection chassis in response to the movement values from the first and second drive modules.

Cable handling devices, methods, and systems for securing and deploying or retracting one or more cables or hoses into or out of a pipe or cavity allowing inspection of the pipe or cavity. In an exemplary embodiment, a hand-held device with a housing for at least partially enclosing one or more cables or hoses, at least one coupling mechanism integrally attached to the housing, and a coupling control for coupling and decoupling the one or more cables or hoses is provided. The cable handling device and the one or more cables or hoses can be coupled and moved together, or decoupled enabling the cable handling device and the one or more cables or hoses to move independently of each other. One or more of the cables may be connected to a camera for facilitating inspection of a pipe or cavity.

A watertightness testing device (1) for performing a watertightness test of a joined section between joined pipes (2 and 3), the watertightness testing device (1) including a testing device body (21) and a moving operation rod (22) for moving the testing device body (21) in the pipes in a pipe axial direction (B) from outside an end section of the pipes, wherein the moving operation rod (22) is provided in the testing device body (21) and extends along the pipe axial direction (B), main supporting members (61 and 62) for supporting the moving operation rod (22) are provided on the moving operation rod (22) outside the pipe (2), and the main supporting members (61 and 62) have a rotatable main rolling member (75) in a lower end section, the main supporting members (61 and 62) are switchable between a supporting posture (K) in which the main supporting members (61 and 62) support the moving operation rod (22) outside of the pipes and a folded posture in which the main supporting members (61 and 62) are folded inside the pipes, and the main supporting members (61 and 62) are urged from the folded posture toward the supporting posture (K).

An autonomous robotic active gas-carrying pipeline testing system includes a remotely controlled robot assembly movable within the stream of gas flowing in the pipeline, wherein said gas flow exhibits dynamic flow energy, a miniature rotary turbine responsive to the gas flow, an electrical generator responsive to the turbine, a battery responsive to the generator, drive tow means responsive to the generator for moving the assembly, wherein the system is capable of harvesting said dynamic flow energy for either or both charging the battery and/or operating the drive tow means.

A compact inspection assembly comprising digital sensors and/or laser measurement systems to measure and validate attributes of pipe and associated threaded connections. A custom designed end-effector sensor assembly is selectively attached to a robotic arm having software and control systems. An automated sensor assembly, selectively positioned relative to a pipe section, measures data regarding the pipe and associated threaded connections. The measured and recorded data can be inspected for defects and/or compared to predetermined standards (such as, for example, original equipment manufacturer and/or end user specifications or requirements) to verify pipe/connection compliance with desired standards.

A robotic vehicle chassis is provided. The robotic vehicle chassis includes a first chassis section, a second chassis section, and a hinge joint connecting the first and second chassis sections such that the first and second chassis sections are capable of rotation with respect to each other in at least a first direction. The vehicle includes a drive wheel mounted to one of the first and second chassis sections and an omni-wheel mounted to the other of the first and second chassis sections. The omni-wheel is mounted at an angle orthogonal with respect to the drive wheel. The hinge joint rotates in response to the curvature of a surface the vehicle is traversing.

A system and method for determining orientation of a vehicle is provided. The method includes the steps of providing a vehicle having a hinge joint such that sections of the chassis are capable of rotation with respect to each other. A first and second wheel is mounted to one and the other of the chassis sections, respectively. Vehicle geometric data defining a distance between the hinge joint and the centers of the first and second wheels, respectively, and the diameter of the wheels is provided. Surface geometric data defining the curvature of the surface can be provided. The angle of rotation about the hinge joint is measured. An orientation of the vehicle relative to the surface based on the vehicle geometric date, the surface geometric data, and the measured angle of rotation can be determined. A system and method for determining the orientation of an object is also provided.

A method is provided for the autonomous assessment of pipelines. The apparatus combines commercially available mechanisms for pipeline assessment in a unique untethered pipeline assessment device that is propelled through the pipeline by the flow of liquid in the pipeline, thus allowing for the assessment of pipelines much cheaper, faster, safer and less disruptive to the community than the current assessment methods.

The invention is embodied in a crawler that measures alignment, distance, grade, and vertical deflection of underground conduits (pipelines). The crawler drives through the conduit and collects data that can be used to inspect and evaluate whether the construction meets the grade and alignment according to the construction documents and specifications and spot locations of culvert deflections from material defect and/or bedding deficiencies.

The preferred crawler can be moved into and out of a conduit via remote control. The preferred crawler comprises a deck for carrying electronic sensors, a battery, and other devices. A computer located on the deck communicates with the electronic sensors and the other devices. Most importantly, the preferred crawler comprises at least one wheel that rides on the invert of the conduit. The guide wheel is a key element of the invention because having at least one wheel ride on the invert provides a referential location for other measurements.

One embodiment provides a pipe inspection robot, including: a chassis configured to traverse through an interior of a water or sewer pipe; a water quality probe comprising a first end that couples to the chassis and a sensing end distal thereto; an electric motor configured to reposition the sensing end of the water quality probe with respect to the chassis; said electric motor acting to move the sensing end of the water quality probe to reposition the sensing end proximate to fluid containing water located proximate to a bottom part of the chassis; the sensing end configured to contact the fluid containing water for contact sensing of water quality data. Other aspects are described and claimed.