Arix Technologies, Inc.

Bryan R Duerfeldt

Karl Petter Wehlin

Dianna D Liu

Conner S George

Gary E Van Deursen

Timothy D Foldy-Porto

Hassan Zargarzadeh

Gail Paulin Murray

Curtis Woods Belknap

Jakob R Salazar

A radiography system for use on a pipe traversing robot, including a mechanism configured to automatically adjust the position(s) of a radiation source and/or an imager thereof based on a diameter of the pipe. Another radiography system including a computer vision system configured to process radiography imagery to define a measured interface between the pipe and insulation surrounding the pipe, and a control system configured to automatically adjust a position(s) of a radiation source and/or an imager thereof based on a location of or non-presence of the measured interface in the radiography imagery. A computer vision system for detecting potential anomalies in a pipe's surface. A fail safe mechanism configured to prevent a robot from falling off a pipe while allowing the robot to traverse obstacles extending from or tangential to the pipe. A robot having one or more fail safe mechanisms configured to be selectably extended and retracted.

Radiography inspection and fail-safe mechanism for pipe traversing robots

A robotic apparatus having first and second wheels with rollers coupled by a frame, third and fourth wheels with rollers circumferentially offset from the first and second wheels, and a clamping assembly coupled to the frame and configured to apply a force for urging the third and fourth wheels towards the pipe to secure the robotic apparatus thereon. Another robotic apparatus having first and second wheels with rollers on a first side of a pipe, third and fourth wheels with rollers on a second, opposing side of the pipe, and a clamping member coupling the first and second wheels to the third and fourth wheels and configured to apply a force for urging the wheels towards the pipe to secure the robotic apparatus thereon. The robotic apparatuses may have a modular design in which different sized clamping members/assemblies can be swapped out to accommodate pipes of different diameters.

Modular pipe traversing apparatus

A system for detecting radial movement of a robotic apparatus on a pipe, comprising distance sensors configured to measure a distance between their respective fixed positions and a surface of the pipe, and a processor configured to detect a change and determine whether the change is indicative of radial movement. A system for tracking a position of a robotic apparatus on a pipe, comprising mirrored, freely-rotating mecanum wheels, a sensor(s) configured to measure rotation of the mecanum wheels, and a processor configured to calculate a linear displacement of each mecanum wheel and resulting axial and circumferential positions of the robotic apparatus. A method for navigating a bend or curve of a pipe, comprising generating computer models of the robotic apparatus and the pipe, performing a computer simulation to identify a combination of wheel speeds that keeps the wheels in constant contact with the pipe, and operating the wheels accordingly.

Pipe traversing apparatus, sensing, and controls

A robotic apparatus comprising first, second, and third wheel assemblies, and a clamping mechanism configured to apply a force for urging the second wheel and the third wheel to pivot in opposing directions towards a plane of the first wheel for securing the first wheel, the second wheel, and the third wheel to the pipe, each wheel assembly including an alignment mechanism for adjusting an orientation of the wheels to allow the robotic apparatus to move along a straight path or a helical path on the pipe. A method for navigating an obstacle on a pipe comprising advancing the robotic apparatus along a helical pathway on the pipe to position an open side of the robotic apparatus in longitudinal alignment with the obstacle, and advancing the robotic apparatus along a straight pathway on the pipe such that the obstacle passes unobstructed through the open side of the robotic apparatus.

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Houston, TX, United States of America

Bryan R Duerfeldt