GB2629007A - Robotic device - Google Patents

Abstract

A robotic device for surface investigation of a pipe, the robotic device comprising: a body comprising a series of articulated segments; a constricting means for tightening the segments of the body around the pipe. The constricting means allows the tension from the constricting means to hold the robot around a pipe. The articulated segments may conform to the shape and surface of the pipe. Aspects/embodiments include: the robotic device wherein at least one of the articulated segments comprises a central window, wherein the central window is configured for a payload to access the pipe through the central window; A module of a robotic device for surface investigation of a pipe, the module comprising: a frame; an attachment means for attaching the frame to a first neighbouring frame; wherein the attachment is configured such that the frame and the first neighbouring frame are articulated with respect to one another; A method for positioning a robotic device on a pipe, wherien the pipe is a subterranean pipe, the method comprising: removing a top layer of ground, excavating the earth around the pipe and lowering a robotic device and positioning the robotic device around the pipe; grasping the pipe with the robotic device.

Description

Robotic Device

Field of Invention

The present invention is in the field of robotic devices. Specifically, the invention relates to robotic devices for interaction with pipes and the like. Even more specifically these pipes may be utility pipes, such as water pipes, and in some examples may be subterranean.

Background

The maintenance of pipes, in particular water pipes, is a costly and complex operation. In part because of this difficulty it is estimated that 3 billion litres of clean water are wasted every single day in the UK alone. The majority of this wastage comes from leakages in pipes. This equates to a wastage of approximately 25%. This is an incredibly high percentage and adds significant cost to our water services.

One reason that there are so many leaks is that many of the water pipes are located underground and so are difficult to access. Indeed, as many pipes (in particular in built up urban locations) follow the course of roadways and the like, accessing these pipes can involve closing portions of roads, which in turn can lead to a high degree of congestion. Moreover, as trenches are required to reach these pipes, and these trenches must conform to health and safety legislation, the average small excavation, use of, and infilling of a trench costs approximately £15000 in the UK. However, where traffic management is required this can be as high as £25000.

In other technical fields, such as surgery, there has been a move to newer noninvasive techniques. In surgery for instance, rather than open surgery, so called "keyhole" surgery is used wherever possible. The aim of the present application is to provide a robotic device that can be used to provide non-invasive access to pipes such as water pipes that may either be in open areas, difficult to reach areas (such as under a bridge) or in subterranean environments.

In particular, the present application seeks to provide technical solutions to a plethora of technical problems, including how to construct/design such a robotic device in a cost effective manner, such that it may be used in a number of differently sized pipes, how to efficiently move across/along pipes, how to perform tasks on pipes remotely, such as monitoring, repair, and diagnosis.

Summary of the Invention

Aspects of the invention are set out in the independent claims. Optional features are set out in the dependent claims.

In accordance with a first aspect of the invention there is provided a robotic device 5 for surface investigation of a pipe, the robotic device comprising: a body comprising a series of articulated segments; a constricting means for tightening the segments of the body around the pipe. The constricting means may be highly advantageous. The constricting means may allow the tension from the constricting means to hold the robot around a pipe. Pipes are typically circular in cross section (or close approximations) and this tension may allow the robotic device to attach itself around the perimeter, or a portion of the perimeter, of the pipe. The articulated segments may conform to the shape of the surface of the pipe. This may work with pipes of any cross sectional shape or size.

Optionally, the series of articulated segments comprises three or more articulated segments. This may allow sufficient articulation to enable the constricting means to conform the robotic device to the shape of the surface of the pipe.

Optionally, wherein the segments are attached to one another to form a line of segments. This may allow the robotic device to be long and thin. This may allow the device to form a line along a portion of a perimeter of a pipe during use. This may minimise the devices weight and so reduce the load on the constricting means.

Optionally wherein the line is a straight line in two axes. For example in an X-Y plane the line may be straight, with curvature being introduced only in the Z-axis by the constricting means.

Optionally, the articulated segments are articulated such that the articulated segments pivot relative to one another in only one plane. This may the Z-plane to enable the robotic device to conform to the surface of the pipe.

Optionally, the segments are configured to pivot relative to one another in a direction perpendicular to the longitudinal axis of the line formed by the segments. The Z-axis in this Cartesian co-ordinate system is the axis about which the segments may pivot.

Optionally, the constricting means is a radial constricting means, and wherein the constricting means comprises one or more of: a wire or cable; a spring; a compressive or expansive force; a pneumatic or hydraulic means, a magnet or electromagnet arrangement; a mechanically biased arrangement comprising a pin and curved guide groove. Each of these may be advantageous in its own way or for specific applications.

Magnetism for instance may be used on metallic based pipes, but may be energy inefficient. A spring may be advantageous in that it is mechanical in nature. Pneumatic means are advantageous as they allow for fine adjustments, however maintenance has been found to be complex. A mechanical arrangement comprising a groove and pin may provide a constricting means that utilises the movement of a first segment to cause a pivoting movement of a second segment, hence leading to a constricting means with relatively low engineering difficulty. A wire or cable may be the most advantageous of these arrangements as it is simple, and effective.

Optionally, the constricting means is a wire or cable, wherein the wire or cable passes through a plurality of the articulated segments. This may advantageously simply transfer tension across the plurality of segments. Optionally wherein the plurality is the majority of the articulated segments, and further optionally wherein the majority is each of the articulated segments.

Optionally, the wire or cable is spooled around a bobbin attached to one of the segments. This may provide a simple mechanism for ease of maintenance. As the robotic device may be deployed underground this configuration may be simple to protect from the ingress of detritus.

Optionally wherein the segment that the bobbin is attached to is a central segment within the plurality of articulated segments. It has been found that in some embodiments this creates an even distribution of tension across the segments, and so provides an even (or relatively even) curvature.

Optionally wherein the bobbin is toothed. This may prevent the wire or cable being spooled or unspooled in an uncontrolled manner.

Optionally, wherein to constrict the robotic device the wire or cable is further spooled around the bobbin such that the segments become taut along the perimeter of the pipe.

Optionally wherein the wire passes through a frame of the segments. This may provide a robust manner of providing force on to each of the segments. As the frame is the strongest portion of each segment it is less prone to wear. It may be formed for instance from metal.

Optionally, the wire or cable and is an oversized wire or cable. This may allow a number of further segments to be added to enlarge the size of the robot for use on larger pipes.

Optionally, a plurality of the segments each comprise at least one protrusion, and the wire or cable is arranged to interweave with the protrusions on the segments. This may make assembly of the robot particularly simple, allowing enlargement of the robot with ease.

Optionally, further comprising a propulsion means for propelling the robotic device with respect to the pipe, and wherein the propulsion means is configured to provide a force on to the pipe. This may allow the robot to traverse the pipe.

Optionally, wherein the propulsion means comprises one or more wheels, and wherein the one or more wheels are each connected to an axle connected to at least one of the segments, and wherein the axle comprises the protrusion. This may simplify the design of the frame portion of the robotic device.

Optionally, the propulsion means are in accordance with the features set out in the second aspect.

Optionally, at least one of the articulated segments comprises a central window, wherein the central window is configured such that a payload accesses the pipe through the central window. This may allow the robotic device to perform a task on the pipe with ease of access to the pipe surface.

Optionally, wherein the payload is in accordance with the third aspect.

In accordance with a second aspect there is provided a robotic device for surface investigation of a pipe, the robotic device comprising: a body comprising a series of articulated segments; a propulsion means for propelling the robotic device with respect to the pipe, and wherein the propulsion means is configured to provide a force on to the pipe. The propulsion means may advantageously enable the robotic device to traverse along the pipe.

Optionally, the series of articulated segments comprises three or more articulated segments. This may allow sufficient articulation to enable the constricting means to conform the robotic device to the shape of the surface of the pipe.

Optionally, wherein the segments are attached to one another to form a line of segments. This may allow the robotic device to be long and thin. This may allow the device to form a line along a portion of a perimeter of a pipe during use. This may minimise the devices weight and so reduce the load on the constricting means.

Optionally wherein the line is a straight line in two axes. For example in an X-Y plane the line may be straight, with curvature being introduced only in the Z-axis by the constricting means.

Optionally, the articulated segments are articulated such that the articulated segments pivot relative to one another in only one plane. This may be the Z-plane to enable the robotic device to conform to the surface of the pipe.

Optionally, the segments are configured to pivot relative to one another in a direction perpendicular to the longitudinal axis of the line formed by the segments. The Z-axis in this Cartesian co-ordinate system.

Optionally, the propulsion means is powered by a motor. This may allow the power to be provided locally if required.

Optionally, the propulsion means is powered by energy provided through an umbilical cord type cable providing energy from a parent device. This may allow external powering for longer remote operations. This may reduce the weight of the robot by not requiring batteries.

Optionally, the propulsion means is configured to enable the robot to rotate around the pipe, and to move longitudinally along the pipe. This may provide freedom for the robot to reach any position along the pipe.

Optionally, the propulsion means comprises one of: wheels; tracks; a magnet or electromagnet. Magnets may be used on pipes that are metal, but not for a broader range of pipes. Wheels may be particularly advantageous for enabling a full set of motion without impeding one another.

Optionally, the propulsion device is formed of one or more wheels.

Optionally, the propulsion device is formed of a first wheel and a second wheel, wherein the first and second wheels are positioned perpendicularly to one another.

The first wheel may therefore provide propulsion in one axis (e.g. transverse along the pipe) and the second wheel may provide propulsion in another axis (e.g. circumferentially around the pipe).

Optionally, the first wheel is configured to provide circumferential travel around the pipe, and the second wheel is configured to provide transverse movement along the pipe.

Optionally, the first and second wheels are omni wheels, or the first and second wheels together form a single omni wheel, with rollers situated along the circumference of the wheel. Omni wheels may allow the first wheel to provide transverse motion, without the second wheel preventing said motion (as the rollers enable such motion transverse to the second wheel orientation). The rollers may in some instances be independently driven, and so may comprise the second wheels in and of themselves.

Optionally, the wheels are mecanum wheels, and are configured to enable the robot to rotate around the pipe, and to move longitudinally along the pipe. Mecanum wheels may enable circumferential and transverse travel, and the wheels may be in line with one another.

Optionally, the propulsion means are wheels, and the wheels are operable independently of one another. This may enable freedom of movement to reach any position of the surface of the pipe.

Optionally, the robotic device is configured to move in all three dimensions of a cylindrical polar co-ordinate system. This provides a robot with a high degree of manoeuvrability.

Optionally, wherein the propulsion means is configured to provide movement of the robotic device around the pipe, and along the pipe, and the robotic means further comprises a constricting means for tightening the segments of the body around the pipe, wherein the constricting means is configured to alter the radial the distance of the robot to the pipe. This therefore provides all three dimensions in a cylindrical polar co-ordinate system.

Optionally, the constricting means is in accordance with the features of the first aspect.

Optionally, at least one of the articulated segments comprises a central window, wherein the central window is configured such that a payload accesses the pipe through the central window. This may allow the surface of the pipe to be accessed such that the robot may perform tasks associated with the pipe.

Optionally, the central window is in accordance with the features of the third aspect.

In accordance with a third aspect there is provided a robotic device for surface investigation of a pipe, the robotic device comprising: a body comprising a series of articulated segments; wherein at least one of the articulated segments comprises a central window, wherein the central window is configured for a payload to access the pipe through the central window. The central window may be highly advantageous as it may allow access to the pipe for a payload. This means that the robot can simply perform tasks on the pipe, even in subterranean environments, whilst limiting ingress of detritus. The central window design also allows the robot segments to be modular, reducing manufacture costs.

Optionally, the series of articulated segments comprises three or more articulated segments. This may allow sufficient articulation to enable the constricting means to conform the robotic device to the shape of the surface of the pipe.

Optionally, wherein the segments are attached to one another to form a line of segments. This may allow the robotic device to be long and thin. This may allow the device to form a line along a portion of a perimeter of a pipe during use. This may minimise the devices weight and so reduce the load on the constricting means.

Optionally wherein the line is a straight line in two axes. For example in an X-Y plane the line may be straight, with curvature being introduced only in the Z-axis by the constricting means.

Optionally, the articulated segments are articulated such that the articulated segments pivot relative to one another in only one plane. This may be the Z-plane to enable the robotic device to conform to the surface of the pipe.

Optionally, the segments are configured to pivot relative to one another in a direction perpendicular to the longitudinal axis of the line formed by the segments. The Z-axis in this Cartesian co-ordinate system.

Optionally, the at least one articulated segment comprises the central window further comprises a mounting means for mounting a payload. This may allow the payload to be deployed at an appropriate position, e.g. for it to be raised/lowered to the pipe surface as required.

Optionally, the mounting means is configured to mount the payload to the window, or within the space of the window.

Optionally, further comprising the payload, wherein the payload comprises at least one of the following: an ultrasound generating and/or receiving device; a camera or video camera; a marking device; a cutting device; an adhesive emitting device; a fluid emitting device; an X-Ray emitting and or receiving device; a temperature measuring device; a pressure/stress/strain sensing device; a constricting means; a sensor mounting device; an abrasive device; a tape unspooling device. Each of these may be highly advantageous for enabling the pipe to be inspected, repaired, monitored, or otherwise adapted by the robotic device. It is noted that these elements may each comprise aspects in their own right without association with the robotic device itself.

Optionally, the payload is configured to perform at least one of the following procedures: performing an ultrasound measurement of the pipe; taking an image of the pipe; marking the pipe; cutting the pipe; adhering an element such as a sensor to the pipe; emitting a fluid onto the pipe; performing a x-ray of the pipe; measuring the temperature of the pipe and or surroundings; measuring the pressure/stress/strain of the pipe; constricting the robotic device around the pipe attaching a sensor to the pipe that is then left in situ; causing friction on the pipe to create a portion with greater adhesive properties attaching tape to the pipe. These procedures may be advantageous for the reasons highlighted above.

Optionally, wherein the payload comprises an abrasive device, wherein the abrasive device comprises an abrasive element configured to contact the pipe at a selected location. This may advantageously prepare an area for adhesive or sensor installation.

Optionally, wherein the abrasive element is an abrasive wheel, and further optionally where the abrasive wheel can be lowered or raised into or out of contact with the pipe. The abrasive wheel may allow the abrasion to be performed as the robot travels across the pipe. The raising and lowering may allow only selected portions of the pipe to be contacted by the abrasive element.

Optionally, wherein the payload comprises a marking device, and wherein the marking device is configured to mark the pipe, for example using ink or other medium, or by etching. This may provide an indication of where maintenance is to be carried out in the future, or where a monitoring device is to be deployed. For example one robotic device may mark a series of positions, and a following robotic device may then install monitoring sensors to the pipe at those locations.

Optionally, wherein the payload comprises a fluid emitting device, and wherein the fluid emitting device is configured to emit fluid, for example an impedance matching fluid. This may for example allow the robotic device to use ultrasound techniques to scan the pipe. Without fluid more of the ultrasound signal may be lost, and so the scan may be less clear. Additionally fluid may be use for cooling, friction reduction, or other suitable uses. Fluid may also be used as a jet for removing detritus around the pipe such that the robot can travel along the pipe unimpeded.

Optionally, the fluid emitting device is connected to a parent device by an umbilical cord, wherein the umbilical cord is configured to convey fluid from the parent device to the fluid emitting device. This may reduce the weight of the robot, and make the construction of the robot less specific to this individual use.

Optionally, the payload comprises an ultrasound device and a fluid emitting device such that the ultrasound is configured to contact the pipe via impedance matched fluid emitted from the fluid emitting device.

Optionally, the payload comprises an adhesive emitting device, and wherein the adhesive is configured to adhere a sensor/element to the wall of the pipe.

Optionally, the adhesive emitting device comprises a sensor positioning element to adhere the sensor to the adhesive on the wall of the pipe. This may allow a strain gauge or the like to be fitted to pipes so that they can be monitored once the robotic device is removed.

Optionally, the adhesive emitting device is configured to carry a first part of an adhesive mix and a second part of an adhesive mix separately. This may enable the adhesive created by combining these portions to have a greater adherence than if a pre-mixed mixture is carried by the robotic device.

Optionally, the adhesive mixing device is configured to mix the first part of the adhesive mix and the second part of the adhesive mix together prior to application of the adhesive. This may comprise a two part epoxy for adhesion of sensors to pipes.

Alternatively a single part adhesive may be used such as cyanoacrylate, or alternatively a gallant may be used to plug leaks in pipes. A couplant may be used for use with probes such as an ultrasound.

Optionally, wherein the adhesive emitting device emits the mixed adhesive comprising the mix of the first part of the adhesive mix and the second part of the adhesive mix, on to the pipe.

Optionally, the constricting means is the constricting means of the first aspect.

Optionally, further comprising a propulsion means for propelling the robotic device with respect to the pipe, and wherein the propulsion means is configured to provide a force on to the pipe. Advantageously this may allow the robot to traverse the pipe.

Optionally, the propulsion means are in accordance with the features set out in the second aspect.

In accordance with a fourth aspect there is provided a modular robotic device for surface investigation of a pipe, the modular robotic device comprising: a robotic device of any of the previous aspects; wherein the articulated segments are of modular construction. This may allow the robotic device to be constructed at minimal cost, and to be tailored to the size of pipe required. For example, additional modules can be added for larger pipes, or removed for smaller ones.

Optionally, the constricting means is a wire or cable and is oversized wire so additional modules can be added, and the robotic device still configured to be constricted around a pipe.

Optionally, each of the segments comprises an identical frame. This makes enlargement of the robotic device simple as no specific frames are required at specific positions along the robot.

Optionally, the segments comprise two types of frames. This may allow one particularly cheap and simple to manufacture frame to be used to lower costs of the robot.

Optionally, the first type is an active frame segment, and wherein the second type is a linking frame segment. Linking segments may reduce cost of manufacture.

Optionally, the active frame segment comprises a propulsion means. Optionally, the active frame segment comprises a window.

Optionally, the active frame segment comprises a payload.

In accordance with a fifth aspect of the invention there is provided a module of a modular robotic device for surface investigation of a pipe, the module comprising: a frame; an attachment means for attaching the frame to a first neighbouring frame; wherein the attachment is configured such that the frame and the first neighbouring frame are articulated with respect to one another. This may enable a robotic device to be built from modules quickly and efficiently. This may allow the robot to be extended/reduced in size to accommodate specific sizes of pipe.

Optionally, articulation comprises the frame and the first neighbouring frame pivoting relative to one another with at least one degree of freedom, and optionally only one degree of freedom. This may allow the robot to curve only along the perimeter of the pipe.

Optionally, wherein the articulation comprises the frame and the second neighbouring frame pivoting relative to one another with at least one degree of freedom, and optionally only one degree of freedom.

Optionally, the frame pivots relative to the first neighbouring frame and the second neighbouring frame, and wherein the at least one degree of freedom is in the same axis. This may allow the robot to curve only along the perimeter of the pipe. Constraint in the other axis may allow the robotic device to be readily controlled by a user.

Optionally, the frame and the first neighbouring frame are configured to join by a male/female connection.

Optionally, the connection between the frame and the first neighbouring frame comprises a barrel joint. This may be simple to efficiently add/remove modules to.

Optionally, a projection acts as a male element, and fits through the barrel joint acting as a female element to attach the frames together.

Optionally, the projection is configured to be an axle for a wheel.

Optionally, the frame and first neighbouring frame are configured to join by a hemaphroditic joint. This may allow both male and female elements to be used on each frame, and so may create a greater attachment.

Optionally, wherein the frame comprises a centrally located window.

Optionally, module comprises a propulsion means, such as a wheel.

Optionally, the module comprises a payload, such as the payload of the third aspect.

Optionally, the module comprises a constriction means, such as the constriction means of the first aspect.

Optionally, the module is a module of the robotic device of the fourth aspect.

In accordance with a sixth aspect there is provided a kit of parts for surface investigation of a pipe, the kit of parts comprising: a robotic device of any of the first four aspects; a payload configured for performing a procedure on the pipe. This may advantageously provide the function of the robotic device.

Optionally, the payload comprises at least one of the following: an ultrasound generating and/or receiving device; a camera or video camera; a marking device; a cutting device; an adhesive emitting device; a fluid emitting device; an X-Ray emitting and or receiving device; a temperature measuring device; a pressure/stress/strain measuring device; a constricting means. These have advantages as set out in relation to the third aspect.

Optionally, the payload is configured to perform at least one of the following procedures: performing an ultrasound measurement of the pipe; taking an image of the pipe; marking the pipe; cutting the pipe; adhering a sensor to the pipe; emitting a fluid onto the pipe; performing a x-ray of the pipe; performing a temperature measurement of the pipe and/or surroundings; measuring the pressures, stress, or strain of the pipe; constricting the robotic device around the pipe. The advantages of these procedures are set out above in relation to the third aspect.

Optionally, the payload comprises a marking device, and wherein the marking device is configured to mark the pipe, for example using ink or other medium.

Optionally, wherein the payload comprises a fluid emitting device, and wherein the fluid emitting device is configured to emit fluid, for example an impedance matching fluid.

Optionally, the fluid emitting device is connected to a parent device by an umbilical cord, wherein the umbilical cord is configured to convey fluid from the parent device to the fluid emitting device.

Optionally, wherein the payload comprises an ultrasound device and a fluid emitting device such that the ultrasound emitting device is configured to contact the pipe via the impedance matched fluid.

Optionally, the payload comprises an adhesive emitting device, and wherein the adhesive is configured to adhere a sensor/element to the wall of the pipe.

Optionally, the adhesive emitting device comprises a sensor positioning element to adhere the sensor to the adhesive on the wall of the pipe.

Optionally, the constricting means is the constricting means of the first aspect.

In accordance with a seventh aspect there is provided a method for positioning a robotic device on a pipe, wherein the pipe is a subterranean pipe, the method comprising: removing a top layer of the ground, wherein the pipe sits below the top layer of ground; excavating the earth below the top layer of ground to the top of the pipe; excavating the top layer of earth below a bottom surface of the pipe; excavating a rightmost layer of earth adjacent a rightmost surface of the pipe; excavating a leftmost layer of earth adjacent a leftmost surface of the pipe; lowering a robotic device and positioning the robotic device around the pipe; grasping the pipe with the robotic device. This allows a minimal excavation to be completed. Rather than an entire trench being constructed to provide access to the pipe there instead need only be a hole large enough for the robot to access the pipe. This may significantly reduce trench size, and cost, and the time taken to interact with a pipe. This may therefore reduce accompanying rod closures and the like. It is noted that the lowering of the robot may take place before some of the excavation steps, as the robot may comprise a jet wash type module to excavate a channel around the pipe itself.

Optionally, the top layer is a road surface.

Optionally, grasping is constricting the robotic device around the pipe.

Optionally, constricting the robotic device around a pipe comprises winding a wire or cable around a bobbin to tighten the wire or cable, such that articulated segments of the robotic device are constricted radially around the pipe.

Optionally, further comprising moving the robotic device is in accordance with the eight or ninth aspects of the invention.

Optionally, the robotic device is the robotic device of any of the first four aspects of the invention.

In accordance with an eight aspect there is provided a method of operating a robotic device to perform a surface investigation of a pipe, wherein the robotic device is the robotic device of any of any of the first four aspects of the invention, the method comprising the steps of: rotating the robotic device around the pipe by a first angle to reach a first location; performing a first procedure on the pipe at the first location, wherein the first procedure is performed by a payload of the robotic device. This may be advantageous as it may allow a procedure to be performed on a pipe.

Optionally, further comprising the steps of: rotating the robotic device around the pipe by a second angle to reach a second location; performing a second procedure on the pipe at the second location, wherein the second procedure is performed by the payload of the robotic device. This may be advantageous as it allows multiple procedures to be performed along a circumference.

For example this may determine where along the pipe is becoming weakest (e.g. top) which may be useful information in both treating the pipe and designing new pipes.

Optionally, the payload is in accordance with the third aspect, and is configured to perform a procedure in accordance with the third aspect.

Optionally, the robotic device comprises omni wheels, and rotating the device around the pipe comprises actuating the first wheel(s) only. This may advantageously enable the second wheels to slide across the surface whilst the first wheels propel the robotic device in a direction perpendicular to the orientation of the second wheels.

In accordance with a ninth aspect there is provided a method of operating a robotic device to perform a surface investigation of a pipe, wherein the robotic device is the robotic device of any of the first four aspects of the invention, the method comprising the steps of: positioning the robotic device at a first location on the pipe, wherein the robotic device is in an unconstricted configuration; constricting the robotic device around the pipe. This may advantageously secure the robotic device to the pipe such that the robotic device may perform a procedure on the pipe.

Optionally, further comprising propelling the robotic device from the first location to a second location, wherein the first location and second location are longitudinally separated along the longitudinal axis of the pipe. This may allow the robot to travel to separate locations along the pipe, thereby reducing the size of trench required in some instances.

Optionally, the robotic device around a pipe comprises winding a wire or cable around a bobbin to tighten the wire or cable, such that articulated segments of the robotic device are constricted radially around the pipe.

Optionally, the robotic device comprises omni wheels for propelling the robotic device, and wherein propelling the robotic device longitudinally along the pipe comprises actuating the second wheel(s). This may allow for the second wheels to propel the robot whilst the first wheels slide perpendicularly to their orientation.

In accordance with a tenth aspect there is provided a method of assembling a robotic device for performing a surface investigation, the method comprising the steps of: obtaining a first module in accordance with any of the fifth or sixth aspect of the invention; obtaining a second module in accordance with any of the fifth or sixth aspects of the invention; attaching the first module to the second module together. This may enable the user to enlarge/reduce in size the robot depending on the size of the pipe that is being investigated by the robotic device.

Optionally, attaching the first module to the second module comprises a male and female join being made between the first and second modules.

Optionally, a barrel joint is used as the female portion, and an axle through the barrel join is used as a male portion.

Optionally, further comprising fitting a propulsion means, such as wheels, to the first module.

Optionally, further comprising fitting a payload to the first module. Brief Description of Figures Figure la shows an embodiment of the present invention in which the robotic device is grasping a pipe. In a perspective view.

Figure lb shows the embodiment of Figure la, but is in cross section through the pipe.

Figure lc shows the embodiment of Figure la, but is a plan view from above. Figures 2a-2c shows an omni wheel.

Figures 3a-4e show the constriction element from various different views.

Figures 4a-4e show the abrasive element from various different views.

Figures 5a-5e show the sensor installation module from various different views.

Figures 6a-6e show the camera module from various different views. An ultrasound or other scanning module may have a similar structure.

Figure 7a shows a second embodiment of the robotic device in which the device is grasping a pipe. The pipe in Figure 2a is smaller than the pipe in Figure la.

Figure 7b shows the embodiment of Figure 2a, but is in cross section through the pipe.

Figure 7c shows the embodiment of Figure 2a, but is a plan view from above.

Figure 8 shows an alternative constriction means.

Figure 9 shows a flow chart of a method of applying the robotic device to an underground pipe.

Figure 10 shows a flow chart of a method of performing a surface investigation of a pipe.

Figure 11 shows a flow chart of a method of operating a robotic device to perform surface investigation of a pipe.

Figure 12 shows a flow chart of a method of assembling the robotic device.

Detailed Description of Figures

Figure 1 shows a robotic device for surface investigation of a pipe, the robotic device comprising a body comprising a series of articulated segments, and a constricting means for tightening the segments of the body around the pipe.

Figure 1 shows a robotic device for surface investigation of a pipe, the robotic device comprising a body comprising a series of articulated segments, and a propulsion means for propelling the robotic device with respect to the pipe, and wherein the propulsion means is configured to provide a force on to the pipe.

Figure 1 shows a robotic device for surface investigation of a pipe, the robotic device comprising a body comprising a series of articulated segments, wherein at least one of the articulated segments comprises a central window, wherein the central window is configured for a payload to access the pipe through the central window.

Figure 1 shows the robotic device 1 in a constricted position around the perimeter of a pipe 3. In a non-constricted arrangement the robotic device 1 may form a predominantly linear articulated structure with individually curved segments. However, since it is this constricted position that allows the robotic device 1 to attach onto the pipe 3 and constrain itself to the pipes exterior without 'falling/slipping off' the Figures and description passage mainly disclose the robotic device in this arrangement. It may be that only after the constriction has taken place can the desired surface investigation of the pipe pursue as intended.

In the embodiment shown, the robotic device 1 comprises a series of six articulated segments or modules. Four of these six modules have a designated function determined by the payload they accommodate. It is noted the robot may comprise any number of segments, and any number may contain a payload. One of these modules is a constriction module 30 that allows for the radial constriction of the robotic device 1 around the pipe 3. The remaining three functional modules aid in various types of pipe surface investigations and include: an abrasive element module 40, a sensor installation module 50 and a camera module 60. The two functionally undesignated modules in this embodiment increase the length of the robotic device which may aid in the constricting of the device 1 around a pipe 3, especially when the radius of a pipe 3 is larger, or they may be used as reserve modules to house additional payload should a need arise to expand investigations in the future. All of the segments contain a propelling means (wheels).

In the embodiment shown in Figure lb, the robotic device 1 overlies a majority of the perimeter of the pipe 3 that resides within its width. In such arrangement, the robotic device 1 is constrained to the pipe 3 surface such that it is free to rotate around the perimeter of the pipe 3 with a firm hold on the pipe 3 irrespective of its orientation. This is particularly useful when the exposed portion of the pipe's perimeter is the top portion of the pipe 3 and the robotic device 1 is largely located on the underside of the pipe 3 (not shown). This firm grasp is partly due to the length of the robotic device 1 extending beyond half the pipe's perimeter around a rearward portion of the pipe 3 from where its midpoint is located when in this constricted position.

Naturally, the amount of the pipe 3 perimeter covered by the robotic device 1 depends on the radius of the pipe 3 and the length of the robotic device 1. Therefore, in other embodiments, it may be that the robotic device 1 encompasses less than a majority of the perimeter of the pipe. In such instances, although there is no minimum length denoted to the length of the robotic device 1 with respect to pipe 3 radius, it is understood that the robotic device 1 may need to encompass enough of the perimeter of the pipe 3 such that a reasonable compression is provided onto the pipe 3, via the constricting means, to accommodate at least the robotic device's 1 weight. Should this occur the robotic device 1 may be functionally constrained to the pipe as shown in Figure 1. It may also be the case that the minimum number of segments/modules needed to achieve adequate constriction of the pipe 3 is three.

It is also seen in Figure lb that the articulated segments encircle the perimeter of the pipe 3 by virtue of pivoting relative to one another in the longitudinal plane of the robotic device 1. Figure lc confirms there is no pivoting in the transverse plane (i.e. the direction perpendicular to the length of the robotic device or parallel to the length of the pipe). The pivoting with respect to adjacent or neighbouring modules, and not through the centre of the module, allows the connection between the various payloads and the modules to which they are attached to be unaffected by the constriction of the robotic device 1. Hence, the module and the attached payload are kept relatively stationary during constriction.

Single planar pivoting in a Cartesian co-ordinate system), limited to this longitudinal plane of the robotic device 1, allows the robotic device 1 to readily move in its polar coordinate system without a need for complex calibration within its propulsion means 11. This particularly refers to the directional agreement between wheels of adjacent modules. This is because the propulsion means 11 in some embodiments may rely on the vector force produced by a collective arrangement of the wheels on the entire robotic device rather than that produced by a single module on the pipe 5, as will be discussed shortly. Therefore, this reduction in the amount of tilting about adjacent modules in the transverse plane negates additional complexity being added to the orientation of the propelling means.

Figure 1c shows each segment being aligned to one another in the longitudinal axis of the robotic device 1 and the transverse axes of each segment, i.e. each segment is parallel to one another in the lengthwise direction of the pipe too. Should the robotic device 1 be seen in a straight or un-constricted arrangement it would be apparent that the segments of the robotic device 1 are attached to form a straight line in two axes (the longitudinal axes and the transverse axes).

Having studied the arrangement of the robotic device in terms of a singular articulated entity, Figures la-c also provides means to closer inspect each module of the robotic device 1.

Each articulated segment as seen in Figures la-c is of modular construction comprised of identical frames 5. However, in alternative embodiments the frames may be of two distinct types with a first frame being an active frame comprising the payload and constricting means and a second frame being a linking frame (not shown) configured to accommodate an attachment means.

In the embodiment shown in Figure 1 each frame 5 comprises a propulsion means 11 and may comprise a payload, a constriction means 30 or a vacant central window 9 depending on its function (some linking frames may not comprise a central window).

Each frame also comprises a rear end with two projecting arms 7, wherein the front end portion of a second frame is configured to fit complementarily within the space between the projecting arms 7 of a first frame. In such arrangement both the front portion of a first frame 5 and the projecting arms 7 of a second frame may comprise a lumen (now shown) that align in the transverse direction of the robotic device. An axle (now shown), such as that of a wheel 11, may then pass through the aligned lumens and constrain the two neighbouring frames via this barrel joint arrangement. In such arrangement, the axle (or any other projection) would constitute a male element and the lumen of the barrel formed by the front and rear frame sections would constitute the female element.

Alternatively, other embodiments may utilise a hermaphroditic connection between neighbouring frames (not shown). In any case, such is the connection between adjacent frames that additional frames may be added or removed to vary the length of the robotic device 1. This complements the concept of a constricting means being an oversized wire or cable such that these additional modules may be accommodated and that the constriction means still operate as intended even with an excess of wire or cable. More will be discussed on the constriction means later in this section.

Each central window 9 seen in Figures la-c may be configured such that a payload is enabled access to the pipe 3 through it. It may also be the case that the central window 9 comprises a mounting means to accommodated a wide variety of investigatory equipment or other payload. Such mounting means may enable payload to be accommodated either within its cavity or on the perimeter of the central window 9 attaching to the frame 5. The central window 9 may also accommodate the apparatus needed for the constriction means. This along with the various types of payloads that may be used as part of a pipe surface investigation are described in Figures 3-6.

The propulsion means as mentioned above and shown in the embodiment of Figures la-c comprise a pair of perpendicularly separated mecanum wheels 11 at the every longitudinal end of a frame/module 5. The wheels 11 are connected via an axle that is accommodated within the female barrel joint as described above. These wheels 11 are configured to contact the external pipe surface and exert a force onto it in order to propel the robotic device 1 both rotationally around its perimeter, translationally along its length or to perform both movements simultaneously. Performing both movements simultaneously may result in a diagonal movement, which may be the most efficient path between two desired locations and therefore save time when compared to performing a rotational movement followed by a translational movement or vice versa. With the above described arrangement the robotic device can move in all three dimensions of a cylindrical polar co-ordinate system when combined with the radial movement (tightening and loosening) that arises from the constriction means.

The mecanum wheels 11 seen in Figures la-c are particularly useful in that they enable the robotic device 1 to rotate around the pipe 3 and to move longitudinally along it in its constricted position around the pipe 3. Although the circumferential movement of the robotic device 1 is relatively straightforward with simple rotation of the wheels 11, much like a normal wheel, it is the longitudinal movement along a pipe that gives rise to the motivation behind using such mecanum wheels 11.

Longitudinal motion (including diagonal motion) of the robotic device 1 along the pipe 3 requires the manipulation of the resultant vector force exerted onto the pipe 3 by the robotic device 1. Said resultant vector may be achieved in any given direction with no change in the orientation of the mecanum wheel 11 but instead by the velocity at which certain wheels 11 rotate with respect to others on the robotic device 1.

However, the manipulating of this resultant vector force involves independent control over the revolutions of each mecanum wheel 11 and calibration between all wheels 11 of the robotic device 1 to produce the desired force vector. Therefore, each wheel may be powered by one motor (not shown) that resides in the frame 5, payload or central window 9 of the module to ensure this independency between each wheel of the robotic device and be part of a control system (not shown) that ensures the correct orientation of each wheel 11. Such propulsion means may be powered by a motor battery (not shown) housed within a module (not shown) or via an umbilical cord type cable providing energy from a parent device (also not shown).

Other embodiments may also utilise other types of propulsion means 11, such as tracks, magnets or electromagnet, rollers, sliders (all not shown) and other forms of wheels such as omni wheels as shown in Figure 2.

Figure 2 shows an omni wheel 20 that may be used in place of the mecanum wheels 11 implemented in Figure 1. The omni wheel 20 shown in Figures 2a-c comprises of two distinct rotating elements, a main rotating element 21 and a series of rollers 23 placed along the circumference of the main rotating element. The main rotating element is configured to enable movement in a first direction and the rollers are configured to enable movement in a second direction, wherein these two direction are orthogonal to one another. The main rotating element 21 may be linked to the modular frame via an axle and is driven via motors (not shown). These motors may be attached individually to each wheel 20, to a pair of transversely separated wheels or via any other arrangement. The rollers 23 may also be driven, perhaps via a motor (not shown) accommodated within the wheel itself, or they may be dumb and merely enable motion rather than drive it.

Should the omni wheels be used with rollers 23 that are motor driven (not shown), the arrangement shown in Figure 1 with the mecanum wheels 11 may simply be replaced with the omni wheels 20. It may be preferred for the wheels to be passive (not driven) so that the robot is more energy efficient and less complex. As the robot may be operated in subterranean environments this may reduce maintenance.

However, in the embodiment shown in Figure 2, the rollers 23 are not driven directly and instead are passive as they merely enable motion in a second direction. For such embodiments, it may be that a second set of omni wheels placed at 90 degrees to a first arrangement of axles as that shown in Figure 1 may be implemented. This second set of orthogonally placed omni wheels provide the drive in a second direction i.e. the direction in line with the rollers 23 of the omni wheels 20 of a first set and hence enable travel in this direction. The arrangement may be that circumferential travel around a pipe 3 may be driven by a first set of omni wheels 20, and the longitudinal travel around a pipe 3 driven by a second set placed orthogonally to the first set or vice versa. In such arrangement, should the driving force onto the pipe 3 be provided by the main rotating elements 21 of a first set of omni wheels 20, the rollers 23 of said set of wheels may be redundant (other than simply providing contact onto the pipe) and it will be the rollers 23 on the second set of omni wheels 20 that are rotationally engaged. Naturally, this relationship is the same in the opposite direction. The two sets of omni wheels may not share an axle may double the axles present on a robotic device to that of the arrangement shown in Figure 1.

Diagonal motion may be achieved in such arrangement should the resultant force be manipulated in a particular direction by controlling the velocity of rotation of the main elements of both sets of omni wheels.

Figure 3 shows a closer view at the constriction module 30 seen in Figure 1 from a range of viewpoints. The constriction module 30 may be the central module/segment of the articulated structure in order to provide an evenly applied constriction force across both sides of the robotic device 1. The constriction module 30 seen in Figure 3 comprises a bobbin 31 that can be seen as being constructed of two distinct parts, a first part that is a first (toothed) gear 33 and a second part that is a spindle 35. The first gear 33 of the bobbin is engaged with a second gear 37. The second gear 37 is connected to a motor and can therefore drive the first gear 33 and cause rotation of the spindle 35 about its axis. It is this rotation of the spindle 35 that drives the constriction. It is noted that a wire/cable may be gathered/brought into tension in any suitable manner and a bobbin is in no way essential to the working of the constriction means.

Not shown in Figure 3 is a wire or cable that constitutes the main constricting means.

In use, the wire or cable will be configured to spool around the bobbin 31 and interweave through each of the articulated segments. Whereby, the rotating of the spindle 35 is configured to spool more of the wire or cable around itself and tighten it leading to the segments upon which the wire has passed through to be constricted and become taught around the perimeter of the pipe 3. Therefore, achieving the radial constriction required.

The wire may interweave through a segment by passing through a portion of its frame or any other protrusion (not shown) that the segment may comprise. In some instances, it may be that the wire or cable does not pass through every segment of the robotic device but a sufficient enough number to achieve the constriction needed.

The wire or cable, as mentioned, may be oversized such that additional segments may be added to the robotic device 1. Such an arrangement is also convenient as it does not require the wire or cable to be replaced should a different segment number be present (or if the number of segments is changed for use on a larger pipe).

There may be embodiments of the robotic device 1 wherein the wire or cable is replaced with an alternative constricting means (not shown). These alternative means may be any means that provides a compressive or expansive force in a radial direction along the articulated structure. This may be via hydraulic or pneumatic means or even via magnets and electromagnets (not shown).

Another alternative embodiment of the constriction means may simply be the attachment architecture between neighbouring segments (not shown). A mechanical arrangement whereby one module comprising a pin and a neighbouring module comprises a shaped or curved groove that follows the curvature of the pipe 3 may utilise the movement of the first module to pivot the second module via the guide groove. This pivoting, if applied to every module (bar the first one) of the robotic device 1 may lead to the constriction of the robotic device around the pipe 3.

Figures 4 to 6 show closer views of the functionally designated modules of Figure 1.

Figure 4 shows a closer view of the abrasive element 40 of Figure 1 from various different viewpoints. In the embodiment shown, the abrasive element 40 comprises a roller 41 in connection with a first gear 43. Here, the first gear 43 is in connection with a second gear 45 and the second gear 45 is in connection with a third gear 47.

This third gear 47 is driven by a spindle 49 connected to a motor (not shown) that may be housed within the module body or on the frame 5 itself. This driving means may then be transferred to the roller 41 to cause it to rotate. However, the roller 41 may driven by any suitable means.

In use, the roller 41 may be configured to contact the surface of the pipe 3 in order to mark/rub/graze against it whilst it is rotating. This abrasion or marking may be useful for various investigatory reasons. One of these reasons may be to texturize the otherwise shiny/slippery surface of the pipe 3 so that sensors can better adhere to the pipe 3 where it is texturized.

The length of the abrasion/mark may be dependant on the distance travelled by the robotic device 1 as a whole whilst the roller 41 is in contact with the external pipe 3 surface. The "height" of the roller 41 may be adjusted to vary the depth of the abrasion on the pipe 3 via the gears 43,45,47 or the height of the module 40 itself.

In other embodiments, the large roller 41 may be replaced with a cutting or etching tool (not shown) to cut or etch the surface of the pipe 3 via similar means. In fact, many replacement tools may be used in place of the large roller where there is a need to contact the surface of a pipe whilst rotating itself, for example, to buff the pipe surface or to clean it. Indeed, in some embodiments these functions may be incorporated into a single payload. For example, a cutting disc may be situated alongside the roller, and each may be lowered to the pipe surface independently in order to provide the requisite function.

Figure 5 shows the sensor installation module 50 of Figure 1 from various viewpoints. The sensor installation module 50 comprises a series of parallel positioned fluid emitting devices 51 or tubes that are configured to emit a fluid (not shown) onto a pipe 3 that may be used in adhering a sensor (not shown) to said pipe. Although not shown, the sensor installation module 50 may also comprise a positioning element 53 to vary the position of the sensor with respect to the pipe 3. The fluid may be an adhesive itself or a fluid that may become an adhesive when mixed with other fluids.

These fluid emitting devices 51 are present in a plurality on the sensor installation module to provide an even coverage of fluid being emitted around/below a sensor that may be used to attach a sensor onto a pipe 3 evenly. Alternative methods may only have one fluid emitting device to ease complexity of the module. In such single fluid emitting devices a gallant may be used to plug leaks in pipes.

A fluid emitting device 31 may only carry one particular type of an adhesive mix such that it is kept separate from another type of an adhesive mix. It may be that a mixture of more than one type of adhesive is needed for successful sensor attachment. Therefore, there may be a means present that is configured to mix a first part of an adhesive mix and second part of an adhesive mix prior to the application of the adhesive onto the pipe (not shown). This mixing means may then deliver this mix of the first and second adhesive types to the adhesive emitting device to emit it onto the pipe 3. Such a mixture may be two-part epoxy mix.

This arrangement, or other variations of fluid emitting device 51, may also be utilised to emit fluids such as an impedance matching fluid onto the pipe. It may be the case for such fluid emitting device that it is in connection with a parent device via an umbilical cord (not shown) that delivers the required liquid to the fluid emitting device.

The sensor-positioning element may be the underside 53 of the module shown. A sensor (not shown) may be coupled to this portion 53 of the module until contact is made between a sensor and a pipe 3 surface. This may be via a mechanical actuation (not shown) that lowers a sensor onto the pipe 3. Once contact is made, a de-coupling mechanism (not shown) may take place that leaves the sensor in situ on the pipe as it detaches from the sensor positioning element or the robotic device as a whole. This may be the main function of the sensor installation module 50 and may be its sole function, i.e., an embodiment without a fluid emitting device 51.

Alternative methods of attaching a sensor to a pipe exterior may involve taping it to the pipe (not shown). Such an arrangement may comprise a means/device, perhaps provided by a separate module, to detach an end of the tape (not shown) from its accommodating ring, attach it in a first location on a pipe, unspool it from said ring and then spool it around the pipe (and sensor) as the robotic device moves circumferentially around the pipe. Here, the sensor may be held in place on a pipe through the mechanical means (not shown) described above until it is taped. In such embodiments the tubes carrying adhesive may not be required.

In another embodiment the sensor may have adhesive coated on its underside such that it sticks to the pipe in and of itself. This may be prepared prior to the robotic device being attached to the pipe. Alternatively the adhesive may be sheathed via a covering that may be removed by an actuating mechanism prior to installation. Again in this embodiment the adhesive tubes and mixing means would not be required.

Another embodiment of a sensor mounting device may also be utilised (not shown).

Such a mounting device may have a similar infrastructure as that of the abrasion module as described or that of a camera module that is to be described. A similar means to that of a camera module may hold a sensor relatively stationary atop the pipe until it is attached via adhesive or taping. Alternatively, a means resembling the abrasion module may lightly compress a sensor onto the pipe (without the rotating aspect) to achieve the required mounting means. Alternatively, other mounting means or module may be utilised to simply hold a sensor atop a pipe similar to the sensor positioning element as described above.

A separate taping means is also envisaged. This may comprises a reel of tape housed along a spool. The end of the tape may be attached to an actuating means, such as a lever. The actuating means may actuate to move the end of the spool of tape into contact with the pipe. This may for example comprise a lever being moved into position in contact with the pipe. This contact point may be outside of the frame (e.g. not through the window). The robotic device may then rotate around the pipe (optionally moving laterally as well) until the spool of tape (or a portion thereof as deemed suitable) is adhered to the pipe and around it as warranted. This may help to fix minor leaks in the pipe itself, such that leaks can be directly fixed by the robotic device without human intervention.

Figure 6 shows a closer view of the camera module 60 of Figure 1 from various viewpoints. An ultrasound, or other scanning modules may have a similar structure (not shown).

In the embodiment shown in Figure 6, a camera 61 and torch housing 63 are seen attached onto a mount that attaches to a frame 5. In said embodiment, the camera 61 and torch 63 are provided with an unobstructed view through the central window 9 to the pipe 3. This is particularly beneficial to take pictures of the pipe 3 without interference from the frame itself or its shadow.

The embodiment shown in Figure 6 may easily be adapted to accommodate various other means such as an X ray emitting or receiving device, an ultrasound emitting device, a temperature measuring device or a pressure/stress/strain sensing device (all not shown). Such devices may require a height adjustable means, such as that provided by the vertical grooves 65 and/or spindles, so that the sensors are able to contact the surface of the pipe 3.

In a similar embodiment or an alternative one, an ultrasound generating or receiving device (not shown) may be implemented and be configured to contact the pipe via the impedance matching fluid provided by the fluid emitting device described above (the impedance matching fluid may be preferable but not essential). Such a device may require the height setting of the module to be lowered to achieve the contact with the pipe 3.

It is noted that each of the payloads described above, and those shown in the figures, may be considered to be aspects in and of themselves, regardless of the robotic device. That is these payloads independently address technical problems and provide technical solutions independently of the particular structure of the robotic device shown in Figure 1. Therefore, each of these payloads may be protected independently of the structure of the robotic device. These payloads may considered to be configured for attachment, or releasable attachment, to a robotic device, and optionally for investigating the properties of a pipe, optionally for investigating properties of a pipe that the robotic device is situated on/adjacent to. Of course, as described herein, there is clear synergy between the robotic device structure and these payloads as described.

Figure 7a-c show an alternative embodiment of the robotic device of Figure 1. Here, the pipe is seen to be of a smaller radius and therefore the robotic device only comprises four segments, with each segment being a functionally designated segment. It is possible to simply remove segments from the robotic device due to their modular nature. This allows the robotic device to be particularly adapted for use for each pipe diameter to be investigated.

Figure 8 shows an alternative constriction means. In this embodiment, the articulated robot 80 is a two-segment 81 structure that is brought together from either side of a pipe 3 via a pincer 83 type arrangement such that it encompasses the pipe. In such embodiments, a complete coverage of the perimeter of the pipe 3 may be achieved as the two semi-circular segments 81 of the robotic device meet. The segments of the robotic device are brought together via a mechanical actuation means resembling a pincer 83 type arrangement where a first segment of the robotic device is attached onto a distal end of a first arm of the pincer 83 and a second segment is attached to a distal end of second arm of the pincer 83. In the embodiment shown in Figure 8, the pincer and the segments of the robotic device 80 are of unitary construction. Each arm of the pincer 83 crosses at a distance above the pipe 3 and the robotic device 80 segments and the actuation of the robotic arms towards a pipe may be the result of the pincer 83 arms at a proximal end coming together-much like a tong/ scissor type configuration.

The two segments of the robotic device may be connected to a further pair of segments 85 via a linear actuation means 87 such that the distance between the first pair of the robotic device segments 81 and the second pair 85 may be varied along the length of the pipe 3. The second pair 85 may attach to one another around a pipe 3 concurrently with a first pair 81 as the pincer 83 beings the two opposing segments together.

A kit may be provided that includes one of a robotic device, single segment of the robotic device, or a plurality of segments of the robotic device, in combination with one or a plurality of modules.

Figure 9 outlines a method that may be used to position a robotic device, such as the one described above, onto a pipe 3. Initially, a top layer of the ground above a pipe may be removed 91. This top layer may be the surface of a road since a lot of pipes are found underneath them. Following this, the earth below this removed top layer and above the top of the pipe may be excavated 92. Further excavation may remove the earth above the bottom of the pipe 93, adjacent a rightmost surface of the pipe 94 and adjacent a leftmost surface of the pipe 95 such that enough of a pocket/cavity is dug for a robotic device to firstly reach the pipe and secondly move around the pipe. The next step may be to lower a robotic device and position the robotic device around the pipe 96, before the robotic device grasps the pipe 97. Alternatively, the robot may be lowered once only the top layer is removed, or even prior to it, and the robot may excavate the ground (or top layer) as described above as it is lowered.

This may be via an umbilical arrangement and with a specified excavating module or means such as a water jet.

Upon being lowered down the excavated hole, the robotic device may be in an unconstructed position wherein the side to be contacting the pipe is facing the pipe. The grasping of the pipe by the robotic means may be via a constriction module 30/constriction means as described above or any other alternative means that provides a radial constriction of the robotic device.

Figure 10 outlines a method that may be used to perform a surface investigation of a pipe with a robotic device 1 such as that described thus far. An initial step may involve rotating a robotic device 1 by a first angle around the pipe such that a desired first location is reached 101. The first position may be dependent on the procedure about to be undertaken and may involve a payload being directly above the position on a pipe 3 that it will be investigating. Upon arrival at the first location on a pipe 3 (the desired location), the payload may perform a first procedure 102. This process may be repeated any number of time with any number of payloads as described above on any number of locations on the pipe 103.

The rotation about the pipe to reach a first or desired location may be performed by a propulsion means as described above, in particular by the omni wheels 20 described in Figure 2, wherein only the omni wheels 20 with the main rotating element 21 in line with the rotational movement may be actuated.

A controller in the robotic device may be programmed to perform the above method. Alternatively, a controller/processor of the robotic device 1 can be configured a receive commands from an external commands module/processor.

Figure 11 outlines a method that may be used to operate a robotic device 1, such as that described in Figure 1, to perform a surface investigation of a pipe 3. The initial step may be to position the robotic device 1 at a first location on the pipe 3, wherein the robotic device 1 is in an un-constricted configuration 111. Naturally, the next step may be to constrict the robotic device 112 via a constrictions means as described above in Figure 3 showing the constriction module 30. Following the constricting, the robotic device may be propelled from the first location to a second location that are longitudinally separated on the pipe. At any position, constricted or un-constricted, the payload of the module may perform a task.

The rotation about the pipe to reach a first or desired location may be performed by a propulsion means as described above, in particular by the omni wheels described in Figure 2, wherein only the main rotating element 21 may be actuated.

The longitudinal movement along the pipe to reach a second location may be performed by a propulsion means as described above, in particular by the omni wheels 20 described in Figure 2, wherein only the omni wheels 20 with the main rotating element 21 in line with the longitudinal direction of the pipe may be actuated. This may engage the rollers lining the circumference of an orthogonally placed set of omni wheels 20. The payload or the module may perform a task during the longitudinal movement.

A controller in the robotic device may be programmed to perform the above method. Alternatively, a controller/processor of the robotic device can be configured a receive commands from an external commands module/processor.

Figure 12 outlines a method that may be used to assemble a robotic device, such as that described above in Figure 1, that may be used for performing a surface investigation of a pipe. Once a first and second module are obtained 121, 122 they may be attached together 123 via a male and female type arrangement such as a barrel joint. The male portion of this barrel joint may be a wheel axle of the propulsion means and the female portion may be a central lumen that is formed between the attached neighbouring elements. Further modules may be added to increase the length of the robotic device and any of the payloads as described above may be attached onto any of the modules.

The above embodiments are to be understood as illustrative examples. Further embodiments are also envisaged. It is to be understood that any feature described in relation to any one embodiment may be used alone, or in combination with other features described and may also be used in combination with one or more features of any other of the embodiments, or any combination of any other of the embodiments.

Furthermore, equivalents and modifications not described above may also be employed without departing from the scope of the invention, which is defined in the accompanying claims.

In some examples, one or more memory elements can store data and/or program instructions used to implement the methods described herein. Embodiments of the disclosure provide tangible, non-transitory storage media comprising program instructions operable to program a processor to said method and/or claimed herein.

The processor/controller of such apparatus (and any of the methods, activities or instructions outlined herein) may be implemented with fixed logic such as assemblies of logic gates or programmable logic such as software and/or computer program instructions executed by a processor. Other kinds of programmable logic include programmable processors, programmable digital logic (e.g. a field programmable gate array (FPGA), an erasable programmable read only memory (EPROM), an electrically erasable programmable read only memory (EEPROM), an application specific integrated circuit (ASIC) or any other kind of digital logic, software, code, electronic instructions, flash memory, optical disks, CD-ROMs, DVD ROMs, magnetic or optical cards, other types of machine-readable mediums suitable for storing electronic instructions, or any suitable combination thereof. Such data storage media may also provide the data storage of the manufacturing device.

Clauses 1. A robotic device for surface investigation of a pipe, the robotic device comprising: a body comprising a series of articulated segments; a constricting means for tightening the segments of the body around the pipe.

2. The robotic device of clause 1, wherein the series of articulated segments comprises three or more articulated segments.

3. The robotic device of clauses 1 or 2, wherein the segments are attached to one another to form a line of segments, optionally wherein the line is a straight line in 10 two axes.

4. The robotic device of any preceding clause, wherein the articulated segments are articulated such that the articulated segments pivot relative to one another in only one plane.

5. The robotic device of clause 4, when dependent on clause 3, wherein the segments are configured to pivot relative to one another in a direction perpendicular to the longitudinal axis of the line formed by the segments.

6. The robotic device of any preceding clause, wherein the constricting means is a radial constricting means, and wherein the constricting means comprises one or more of: a wire or cable; a spring; a compressive or expansive force; a pneumatic or hydraulic means, a magnet or electromagnet arrangement; a mechanically biased arrangement comprising a pin and curved guide groove.

7. The robotic device of clause 6, wherein the constricting means is a wire or cable, wherein the wire or cable passes through a plurality of the articulated segments, optionally wherein the plurality is the majority of the articulated segments, and further optionally wherein the majority is each of the articulated segments.

8. The robotic device of clause 7, wherein the wire or cable is spooled around a bobbin attached to one of the segments, optionally wherein the segment that the bobbin is attached to is a central segment within the plurality of articulated segments, optionally wherein the bobbin is toothed.

9. The robotic device of clause 8, wherein to constrict the robotic device the wire or cable is further spooled around the bobbin such that the segments become taut along the perimeter of the pipe.

10. The robotic device of any of clauses 6-9, wherein the wire passes through a 5 frame of the segments.

11. The robotic device of any of clauses 1-10, wherein the wire or cable and is an oversized wire or cable.

12. The robotic device of any of clauses 6-9, wherein a plurality of the segments each comprise at least one protrusion, and the wire or cable is arranged to interweave with the protrusions on the segments.

13. The robotic device of any preceding clause, further comprising a propulsion means for propelling the robotic device with respect to the pipe, and wherein the propulsion means is configured to provide a force on to the pipe.

14. The robotic device of clause 13, when dependent on clause 12, wherein the propulsion means comprises one or more wheels, and wherein the one or more wheels are each connected to an axle connected to at least one of the segments, and wherein the axle comprises the protrusion.

15. The robotic device of clause 13, wherein the propulsion means are in accordance with the features set out in clauses 23-31.

16. The robotic device of any preceding clause, wherein at least one of the articulated segments comprises a central window, wherein the central window is configured such that a payload accesses the pipe through the central window.

17. The robotic device of clause 16, wherein the payload is in accordance with clauses 40-49.

18. A robotic device for surface investigation of a pipe, the robotic device comprising: a body comprising a series of articulated segments; a propulsion means for propelling the robotic device with respect to the pipe, and wherein the propulsion means is configured to provide a force on to the pipe.

19. The robotic device of clause 18, wherein the series of articulated segments comprises three or more articulated segments.

20. The robotic device of clauses 18 or 19, wherein the segments are attached to one another to form a line of segments.

21. The robotic device of any of clauses 18-20, wherein the articulated segments are articulated such that the articulated segments pivot relative to one another in only one plane.

22. The robotic device of clauses 18-21, when dependent on clause 20, wherein the segments are configured to pivot relative to one another in a direction perpendicular to the longitudinal axis of the line formed by the segments.

23. The robotic device of any of clauses 18-22, wherein the propulsion means is 10 powered by a motor.

24. The robotic device of any of clauses 18-23, wherein the propulsion means is powered by energy provided through an umbilical cord type cable providing energy from a parent device.

25. The robotic device of clauses 18-24, wherein the propulsion means is configured to enable the robot to rotate around the pipe, and to move longitudinally along the pipe.

26. The robotic device of any of clauses 18-25, wherein the propulsion means comprises one of: wheels; tracks; a magnet or electromagnet.

27. The robotic device of clause 26, wherein the propulsion device is formed of one or more wheels.

28. The robotic device of clause 27, wherein the propulsion device is formed of a first wheel and a second wheel, wherein the first and second wheels are positioned perpendicularly to one another.

29. The robotic device of clause 28, wherein the first wheel is configured to provide circumferential travel around the pipe, and the second wheel is configured to provide transverse movement along the pipe.

30. The robotic device of either of clauses 28 or 29, wherein the first and second wheels are omni wheels with rollers situated along the circumference of the wheel.

31. The robotic device of clause 27, wherein the wheels are mecanum wheels, and are configured to enable the robot to rotate around the pipe, and to move longitudinally along the pipe.

32. The robotic device of any of clauses 26-31, wherein the propulsion means are wheels, and the wheels are operable independently of one another.

33. The robotic device of any of clauses 18-32, wherein the robotic device is configured to move in all three dimensions of a cylindrical polar co-ordinate system.

34. The robotic device of clause 33, wherein the propulsion means is configured to provide movement of the robotic device around the pipe, and along the pipe, and the robotic means further comprises a constricting means for tightening the segments of the body around the pipe, wherein the constricting means is configured to alter the radial the distance of the robot to the pipe.

35. The robotic device of clause 34, wherein the constricting means is in accordance with the features of clauses 6-13.

36. The robotic device of any of clauses 18-35, wherein at least one of the articulated segments comprises a central window, wherein the central window is configured such that a payload accesses the pipe through the central window.

37. The robotic device of clause 36, wherein the central window is in accordance with the features of clauses 38 to 62.

38. A robotic device for surface investigation of a pipe, the robotic device comprising: a body comprising a series of articulated segments; wherein at least one of the articulated segments comprises a central window, wherein the central window is configured for a payload to access the pipe through the central window.

39. The robotic device of clause 38, wherein the series of articulated segments comprises three or more articulated segments.

40. The robotic device of clauses 38 or 39, wherein the segments are attached to one another to form a line of segments.

41. The robotic device of any of clauses 38-40, wherein the articulated segments are articulated such that the articulated segments pivot relative to one another in only one plane.

42. The robotic device of clause 41, when dependent on clause 40, wherein the segments may pivot relative to one another in a direction perpendicular to the longitudinal axis of the line formed by the segments.

43. The robotic device of any of clauses 38-42, wherein the at least one articulated segment comprises the central window further comprises a mounting means for mounting a payload.

44. The robotic device of clause 43, wherein the mounting means is configured to mount the payload to the window, or within the space of the window.

45. The robotic device of any of clauses 38-44, further comprising the payload, wherein the payload comprises at least one of the following: an ultrasound generating and/or receiving device; a camera or video camera; a marking device; a cutting device; an adhesive emitting device; a fluid emitting device; an X-Ray emitting and or receiving device; a temperature measuring device; a pressure/stress/strain sensing device; a constricting means; a sensor mounting device; a tape unspooling device.

46. The robotic device of clause 45, wherein the payload is configured to perform at least one of the following procedures: performing an ultrasound measurement of the pipe; taking an image of the pipe; marking the pipe; cutting the pipe; adhering an element such as a sensor to the pipe; emitting a fluid onto the pipe; performing a x-ray of the pipe; measuring the temperature of the pipe and or surroundings; measuring the pressure/stress/strain of the pipe; constricting the robotic device around the pipe attaching a sensor to the pipe that is then left in situ; attaching tape to the pipe.

47. The robotic device of clause 45, wherein the payload comprises an abrasive device, wherein the abrasive device comprises an abrasive element configured to contact the pipe at a selected location.

48. The robotic device of clause 47, wherein the abrasive element is an abrasive wheel.

49. The robotic device of any of clauses 47 or 48, wherein the abrasive element can be lowered or raised into or out of contact with the pipe.

50. The robotic device of clause 45, wherein the payload comprises a marking device, and wherein the marking device is configured to mark the pipe, for example using ink or other medium, or by etching.

51. The robotic device of clause 45, wherein the payload comprises a fluid emitting device, and wherein the fluid emitting device is configured to emit fluid, for example an impedance matching fluid.

52. The robotic device of clause 51, wherein the fluid emitting device is connected to a parent device by an umbilical cord, wherein the umbilical cord is configured to convey fluid from the parent device to the fluid emitting device.

53. The robotic device of any of clauses 45-52, wherein the payload comprises an ultrasound device and a fluid emitting device such that the ultrasound is configured to contact the pipe via impedance matched fluid emitted from the fluid emitting 20 device.

54. The robot device of clause 45, wherein the payload comprises an adhesive emitting device, and wherein the adhesive is configured to adhere a sensor/element to the wall of the pipe.

55. The robotic device of clause 54, wherein the adhesive emitting device comprises a sensor positioning element to adhere the sensor to the adhesive on the wall of the Pipe.

56. The robot of clause 54 or 55, wherein the adhesive emitting device is configured to carry a first part of an adhesive mix and a second part of an adhesive mix separately.

57. The robot of clause 56, wherein the adhesive mixing device is configured to mix the first part of the adhesive mix and the second part of the adhesive mix together prior to application of the adhesive.

58. The robot of clause 57, wherein the adhesive emitting device emits the mixed adhesive comprising the mix of the first part of the adhesive mix and the second part of the adhesive mix, on to the pipe.

59. The robotic device of clause 45, wherein the constricting means is the constricting means of clauses 6-13.

60. The robotic device of any of clauses 38-59, further comprising a propulsion means for propelling the robotic device with respect to the pipe, and wherein the propulsion means is configured to provide a force on to the pipe.

61. The robotic device of clause 60, wherein the propulsion means are in accordance with the features set out in clauses 18-37.

62. A modular robotic device for surface investigation of a pipe, the modular robotic device comprising: a robotic device of any of clauses 1-61; wherein the articulated segments are of modular construction.

63. The robotic device of clause 62, wherein the constricting means is a wire or cable and is oversized wire so additional modules can be added, and the robotic device still configured to be constricted around a pipe.

64. The robotic device of clauses 62 or 63, wherein each of the segments comprises an identical frame.

65. The robotic device of clauses 62-64, wherein the segments comprise two types of frames.

66. The robotic device of clause 65, wherein the first type is an active frame segment, and wherein the second type is a linking frame segment.

69. The robotic device of clause 66, wherein the active frame segment comprises a propulsion means.

70. The robotic device of clauses 66 or 67, wherein the active frame segment comprises a window.

71. The robotic device of clauses 65-70, wherein the active frame segment comprises a payload.

72. A module of a modular robotic device for surface investigation of a pipe, the module comprising: a frame; an attachment means for attaching the frame to a first neighbouring frame; wherein the attachment is configured such that the frame and the first neighbouring frame are articulated with respect to one another.

73. The module of clause 72, wherein articulation comprises the frame and the first neighbouring frame pivoting relative to one another with at least one degree of freedom, and optionally only one degree of freedom.

74. The module of clauses 72 or 73, wherein the articulation comprises the frame and the second neighbouring frame pivoting relative to one another with at least one degree of freedom, and optionally only one degree of freedom.

75. The module of clause 74, when dependent on clause 73, wherein the frame pivots relative to the first neighbouring frame and the second neighbouring frame, and wherein the at least one degree of freedom is in the same axis.

76. The module of clauses 72-75, wherein the frame and the first neighbouring frame are configured to join by a male/female connection.

77. The module of clauses 73-76, wherein the connection between the frame and the first neighbouring frame comprises a barrel joint.

78. The module of clause 77, when dependent on 76, wherein a projection acts as a male element, and fits through the barrel joint acting as a female element to attach the frames together.

79. The module of clause 78, wherein the projection is configured to be an axle for a wheel.

80. The module of clauses 72-75, wherein the frame and first neighbouring frame are configured to join by a hemaphroditic joint.

81. The module of any of clauses 72-80, wherein the frame comprises a centrally located window.

82. The module of any of clauses 72-81, wherein the module comprises a propulsion means, such as a wheel.

83. The module of clauses 72-82, wherein the module comprises a payload, such as the payload of clauses 45-62.

84. The module of clauses 72-83, wherein the module comprises a constriction means, such as the constriction means of clauses 6-13.

85. The module of clauses 72-84, wherein the module is a module of the robotic device of clauses 62-71.

86. A kit of parts for surface investigation of a pipe, the kit of parts comprising: a robotic device of clauses 1-71; a payload configured for performing a procedure on the pipe.

87. The kit of parts of clause 86, wherein the payload comprises at least one of the following: an ultrasound generating and/or receiving device; a camera or video camera; a marking device; a cutting device; an adhesive emitting device; a fluid emitting device; an X-Ray emitting and or receiving device; a temperature measuring device; a pressure/stress/strain measuring device; a constricting means.

88. The kit of parts of clause 86, wherein the payload is configured to perform at least one of the following procedures: performing an ultrasound measurement of the pipe; taking an image of the pipe; marking the pipe; cutting the pipe; adhering a sensor to the pipe; emitting a fluid onto the pipe; performing a x-ray of the pipe; performing a temperature measurement of the pipe and/or surroundings; measuring the pressures, stress, or strain of the pipe; constricting the robotic device around the pipe.

89. The kit of parts of clauses 86-88, wherein the payload comprises a marking device, and wherein the marking device is configured to mark the pipe, for example using ink or other medium.

90. The kit of parts of clauses 86-89, wherein the payload comprises a fluid emitting device, and wherein the fluid emitting device is configured to emit fluid, for example an impedance matching fluid.

91. The kit of parts of clause 90, wherein the fluid emitting device is connected to a parent device by an umbilical cord, wherein the umbilical cord is configured to convey fluid from the parent device to the fluid emitting device.

92. The kit of parts of any of clauses 86-91, wherein the payload comprises an ultrasound device and a fluid emitting device such that the ultrasound emitting device is configured to contact the pipe via the impedance matched fluid.

93. The kit of parts of clauses 86-92, wherein the payload comprises an adhesive emitting device, and wherein the adhesive is configured to adhere a sensor/element to the wall of the pipe.

94. The kit of parts of clause 93, wherein the adhesive emitting device comprises a sensor positioning element to adhere the sensor to the adhesive on the wall of the pipe.

95. The kit of parts of clauses 86-94, wherein the constricting means is the constricting means of clauses 6-13.

96. A method for positioning a robotic device on a pipe, wherein the pipe is a subterranean pipe, the method comprising: removing a top layer of the ground, wherein the pipe sits below the top layer of ground; excavating the earth below the top layer of ground to the top of the pipe; excavating the top layer of earth below a bottom surface of the pipe; excavating a rightmost layer of earth adjacent a rightmost surface of the pipe; excavating a leftmost layer of earth adjacent a leftmost surface of the pipe; lowering a robotic device and positioning the robotic device around the pipe; grasping the pipe with the robotic device.

97. The method of clause 96, wherein the top layer is a road surface.

98. The method of clauses 96 or 97, wherein grasping is constricting the robotic device around the pipe.

99. The method of clause 98, wherein constricting the robotic device around a pipe comprises winding a wire or cable around a bobbin to tighten the wire or cable, such that articulated segments of the robotic device are constricted radially around the pipe.

100. The method of clauses 96-99, further comprising moving the robotic device is in accordance with clauses 102-109.

101. The method of clauses 96-100, wherein the robotic device is the robotic device of clauses 1-71.

102. A method of operating a robotic device to perform a surface investigation of a pipe, wherein the robotic device is the robotic device of any of clauses 1-60, the method comprising the steps of: rotating the robotic device around the pipe by a first angle to reach a first location; performing a first procedure on the pipe at the first location, wherein the first procedure is performed by a payload of the robotic device.

103. The method of clause 102, further comprising the steps of: rotating the robotic device around the pipe by a second angle to reach a second location; performing a second procedure on the pipe at the second location, wherein the second procedure is performed by the payload of the robotic device.

104. The method of clauses 102 or 103, wherein the payload is in accordance with clause 45, and is configured to perform a procedure in accordance with clause 46.

105. The method of clauses 102-104, wherein the robotic device comprises omni wheels, and rotating the device around the pipe comprises actuating the first wheel(s) only.

106. A method of operating a robotic device to perform a surface investigation of a pipe, wherein the robotic device is the robotic device of any of clauses 1-71, the method comprising the steps of: positioning the robotic device at a first location on the pipe, wherein the robotic device is in an unconstricted configuration; constricting the robotic device around the pipe.

107. The method of clause 106, further comprising propelling the robotic device from the first location to a second location, wherein the first location and second location are longitudinally separated along the longitudinal axis of the pipe.

108. The method of clauses 106 or 107, wherein constricting the robotic device around a pipe comprises winding a wire or cable around a bobbin to tighten the wire or cable, such that articulated segments of the robotic device are constricted radially around the pipe.

109. The method of clauses 106-107, wherein the robotic device comprises omni wheels for propelling the robotic device, and wherein propelling the robotic device longitudinally along the pipe comprises actuating the second wheel(s).

110. A method of assembling a robotic device for performing a surface investigation, the method comprising the steps of: obtaining a first module in accordance with any of clauses 72-85; obtaining a second module in accordance with any of clauses 72-85; attaching the first module to the second module together.

111. The method of clause 110, wherein attaching the first module to the second module comprises a male and female join being made between the first and second 15 modules.

112. The method of clause 111, wherein a barrel joint is used as the female portion, and an axle through the barrel join is used as a male portion.

113. The method of clause 110-112, further comprising fitting a propulsion means, such as wheels, to the first module.

114. The method of clauses 110-113, further comprising fitting a payload to the first module.

Claims (28)

1. Claims 1. A robotic device for surface investigation of a pipe, the robotic device comprising: a body comprising a series of articulated segments; a constricting means for tightening the segments of the body around the pipe.
2. 2. The robotic device of claim 1 or claim 10, wherein the series of articulated segments comprises three or more articulated segments.
3. 3. The robotic device of claims 1, 10 or 2, wherein the segments are attached to one another to form a line of segments, optionally wherein the line is a straight line in two axes.
4. 4. The robotic device of any preceding claim or claim 10, wherein the articulated segments are articulated such that the articulated segments pivot relative to one another in only one plane, optionally wherein the segments are configured to pivot relative to one another in a direction perpendicular to the longitudinal axis of the line formed by the segments.
5. 5. The robotic device of any preceding claim, wherein the constricting means is a radial constricting means, and wherein the constricting means comprises one or more of: a wire or cable; a spring; a compressive or expansive force; a pneumatic or hydraulic means, a magnet or electromagnet arrangement; a mechanically biased arrangement comprising a pin and curved guide groove.
6. 6. The robotic device of claim 5, wherein the constricting means is a wire or cable, wherein the wire or cable passes through a plurality of the articulated segments, optionally wherein the plurality is the majority of the articulated segments, and further optionally wherein the majority is each of the articulated segments, optionally wherein the wire or cable is spooled around a bobbin attached to one of the segments, optionally wherein the segment that the bobbin is attached to is a central segment within the plurality of articulated segments, optionally wherein the bobbin is toothed, optionally wherein to constrict the robotic device the wire or cable is further spooled around the bobbin such that the segments become taut along the perimeter of the pipe, optionally wherein the wire passes through a frame of the segments, optionally wherein the wire or cable and is an oversized wire or cable.
7. 7. The robotic device of claim 6, wherein a plurality of the segments each comprise at least one protrusion, and the wire or cable is arranged to interweave with the protrusions on the segments.
8. 8. The robotic device of any preceding claim or claim 10, further comprising a propulsion means for propelling the robotic device with respect to the pipe, and wherein the propulsion means is configured to provide a force on to the pipe.
9. 9. The robotic device of any preceding claim, wherein at least one of the articulated segments comprises a central window, wherein the central window is configured such that a payload accesses the pipe through the central window.
10. 10. A robotic device for surface investigation of a pipe, the robotic device comprising: a body comprising a series of articulated segments; wherein at least one of the articulated segments comprises a central window, wherein the central window is configured for a payload to access the pipe through the central window.
11. 11. The robotic device of claim 10, or claims 2-4 or 8 when dependent on claim 10, wherein the at least one articulated segment comprises the central window further comprises a mounting means for mounting a payload, optionally wherein the mounting means is configured to mount the payload to the window, or within the space of the window.
12. 12. The robotic device of any of claims 10-11, further comprising the payload, wherein the payload comprises at least one of the following: an ultrasound generating and/or receiving device; a camera or video camera; a marking device; a cutting device; an adhesive emitting device; a fluid emitting device; an X-Ray emitting and or receiving device; a temperature measuring device; a pressure/stress/strain sensing device; a constricting means; a sensor mounting device; a tape unspooling device.
13. 13. The robotic device of claim 12, wherein the payload is configured to perform at least one of the following procedures: performing an ultrasound measurement of the pipe; taking an image of the pipe; marking the pipe; cutting the pipe; adhering an element such as a sensor to the pipe; emitting a fluid onto the pipe; performing a x-ray of the pipe; measuring the temperature of the pipe and or surroundings; measuring the pressure/stress/strain of the pipe; constricting the robotic device around the pipe attaching a sensor to the pipe that is then left in situ; attaching tape to the pipe.
14. 14. The robotic device of claim 12, wherein the payload comprises an abrasive device, wherein the abrasive device comprises an abrasive element configured to contact the pipe at a selected location, optionally wherein the abrasive element is an abrasive wheel, optionally wherein the abrasive element can be lowered or raised into or out of contact with the pipe.
15. 15. The robotic device of claim 12, wherein the payload comprises a marking device, and wherein the marking device is configured to mark the pipe, for example using ink or other medium, or by etching.
16. 16. The robotic device of claim 12, wherein the payload comprises a fluid emitting device, and wherein the fluid emitting device is configured to emit fluid, for example an impedance matching fluid, optionally wherein the fluid emitting device is connected to a parent device by an umbilical cord, wherein the umbilical cord is configured to convey fluid from the parent device to the fluid emitting device.
17. 17. The robotic device of claim 12 or 16, wherein the payload comprises an ultrasound device and a fluid emitting device such that the ultrasound is configured to contact the pipe via impedance matched fluid emitted from the fluid emitting device.
18. 18. The robot device of claim 12, wherein the payload comprises an adhesive emitting device, and wherein the adhesive is configured to adhere a sensor/element to the wall of the pipe, optionally wherein the adhesive emitting device comprises a sensor positioning element to adhere the sensor to the adhesive on the wall of the pipe, optionally wherein the adhesive emitting device is configured to carry a first part of an adhesive mix and a second part of an adhesive mix separately, optionally wherein the adhesive mixing device is configured to mix the first part of the adhesive mix and the second part of the adhesive mix together prior to application of the adhesive, optionally wherein the adhesive emitting device emits the mixed adhesive comprising the mix of the first part of the adhesive mix and the second part of the adhesive mix, on to the pipe.
19. 19. A modular robotic device for surface investigation of a pipe, the modular robotic device comprising: a robotic device of any of claims 1-18; wherein the articulated segments are of modular construction.
20. 20. The robotic device of claim 19, wherein the constricting means is a wire or cable and is oversized wire so additional modules can be added, and the robotic device still configured to be constricted around a pipe.
21. 21. The robotic device of claims 19 or 20, wherein each of the segments comprises an identical frame, or wherein the segments comprise two types of frames, optionally wherein the first type is an active frame segment, and wherein the second type is a linking frame segment, optionally wherein the active frame segment comprises one of: a propulsion means; a window; and/or a payload.
22. 22. A module of a modular robotic device for surface investigation of a pipe, the module comprising: a frame; an attachment means for attaching the frame to a first neighbouring frame; wherein the attachment is configured such that the frame and the first neighbouring frame are articulated with respect to one another.
23. 23. The module of claim 22, wherein articulation comprises the frame and the first neighbouring frame pivoting relative to one another with at least one degree of freedom, and optionally only one degree of freedom; and/or wherein the articulation comprises the frame and the second neighbouring frame pivoting relative to one another with at least one degree of freedom, and optionally only one degree of freedom, optionally wherein the frame pivots relative to the first neighbouring frame and the second neighbouring frame, and wherein the at least one degree of freedom is in the same axis.
24. 24. The module of any of claims 22-23, wherein the frame comprises a centrally located window; and/or wherein the module comprises a propulsion means, such as a wheel; and/or wherein the module comprises a payload, such as the payload of claims 1218; and/or wherein the module comprises a constriction means, such as the constriction means of claims 5 or 6.
25. 25. A method for positioning a robotic device on a pipe, wherein the pipe is a subterranean pipe, the method comprising: removing a top layer of the ground, wherein the pipe sits below the top layer of ground; excavating the earth below the top layer of ground to the top of the pipe; excavating the top layer of earth below a bottom surface of the pipe; excavating a rightmost layer of earth adjacent a rightmost surface of the pipe; excavating a leftmost layer of earth adjacent a leftmost surface of the pipe; lowering a robotic device and positioning the robotic device around the pipe; grasping the pipe with the robotic device.
26. 26. A method of operating a robotic device to perform a surface investigation of a pipe, wherein the robotic device is the robotic device of any of claims 1-18, the method comprising the steps of: rotating the robotic device around the pipe by a first angle to reach a first location; performing a first procedure on the pipe at the first location, wherein the first procedure is performed by a payload of the robotic device.
27. 27. A method of operating a robotic device to perform a surface investigation of a pipe, wherein the robotic device is the robotic device of any of claims 1-18, the method comprising the steps of: positioning the robotic device at a first location on the pipe, wherein the robotic device is in an unconstricted configuration; constricting the robotic device around the pipe.
28. 28. A method of assembling a robotic device for performing a surface investigation, the method comprising the steps of: obtaining a first module in accordance with any of claims 22-24; obtaining a second module in accordance with any of claims 22-24; attaching the first module to the second module together.