Abstract: Methods, systems, and apparatus are described for maintaining the interior cavities of pipes. In one aspect, a motorized apparatus includes a main body having a length extending along a longitudinal axis of the main body, where the main body comprises a first end and a second end opposite the first end. The motorized apparatus further includes at least one drive assembly coupled to at least one of the first end and the second end of the main body, where the at least one drive assembly comprises driven members that engage with an inner surface of the pipe and move the motorized apparatus through an interior cavity of the pipe. The motorized apparatus further includes a maintenance head movably coupled to the main body that moves along the length of the main body and rotates about the longitudinal axis of the main body, where the maintenance head comprises at least one tool configured to perform an action on the inner surface of the pipe.

Abstract: A system for use in maintaining a pipe includes a motorized apparatus including a body assembly and at least one maintenance device. The at least one maintenance device includes a sprayer, a heater, and an infrared sensor. The system includes at least one controller configured to apply the at least one coating material to the interior surface of the pipe at a work location using the sprayer, heat the interior surface of the pipe at the work location using the heater to begin a cure of the at least one coating material, generate one or more infrared images of the work location using the infrared sensor while using the heater to cure the at least one coating material, and perform a non-destructive evaluation (NDE) of the work location based on the one or more infrared images.

Abstract: A system includes a navigation apparatus and controller. The navigation apparatus includes a body assembly that includes a plurality of pneumatic or artificial muscles that are configured to interact with a sidewall of the conduit and move the body assembly through the conduit. The plurality of pneumatic or artificial muscles are independently actuated to steer the body assembly. The navigation apparatus also includes a sensor array coupled to the body assembly. The sensor array is positioned to interact with the sidewall of the conduit and provide signals as the body assembly moves through the interior cavity. The controller is communicatively coupled to the sensor array and configured to determine a characteristic of the conduit based on the signals provided by the sensor array.

Abstract: A motorized apparatus for use in maintaining a pipe having a sidewall defining an interior cavity is provided. The motorized apparatus includes a body assembly extending along a longitudinal axis, at least one maintenance device coupled to the body assembly, and a plurality of leg assemblies coupled circumferentially around the body assembly. The motorized apparatus also includes a plurality of drive mechanisms coupled to the plurality of leg assemblies. The plurality of drive mechanisms are configured to interact with the sidewall. The plurality of drive mechanisms include at least two wheels. The plurality of drive mechanisms are arranged to move the body assembly in a first direction parallel to the longitudinal axis, move the body assembly in a second direction perpendicular to the longitudinal axis, and rotate the body assembly around the longitudinal axis.

Abstract: A motorized apparatus for use in maintaining a pipe having a sidewall defining an interior cavity is provided. The motorized apparatus includes a body assembly extending along a longitudinal axis, at least one maintenance device coupled to the body assembly, and a plurality of leg assemblies coupled circumferentially around the body assembly. The motorized apparatus also includes a plurality of drive mechanisms coupled to the plurality of leg assemblies. The plurality of drive mechanisms are configured to interact with the sidewall. The plurality of drive mechanisms include at least two wheels. The plurality of drive mechanisms are arranged to move the body assembly in a first direction parallel to the longitudinal axis, move the body assembly in a second direction perpendicular to the longitudinal axis, and rotate the body assembly around the longitudinal axis.

Abstract: A motorized apparatus includes a body assembly and a maintenance device mounted to the body assembly. The maintenance device is configured to perform a service operation on a surface. The maintenance device extends from the body assembly at an angle. The motorized apparatus also includes a plurality of leg assemblies coupled to the body assembly and configured to support the body assembly and the maintenance device at a distance from the surface. The motorized apparatus further includes at least one actuator assembly coupled to the plurality of leg assemblies and configured to independently actuate each leg assembly of the plurality of leg assemblies. The at least one actuator assembly is configured to receive instructions related to a position of the maintenance device and actuate the plurality of leg assemblies to adjust an orientation of the body assembly and the maintenance device relative to the surface.

Abstract: A system for use in maintaining a pipe having a sidewall is provided. The system includes a motorized apparatus sized to fit within the pipe and configured to travel along the pipe through an interior cavity. The motorized apparatus includes a plurality of leg assemblies coupled circumferentially around a body assembly. The body assembly includes an actuator assembly coupled to each leg assembly and configured to independently actuate each leg assembly to adjust a position of each leg assembly. The body assembly also includes at least one sensor configured to collect information associated with the position of each leg assembly. The body assembly also includes a controller communicatively coupled to the motorized apparatus and configured to receive the information from the sensor, and to determine at least one of a pipe diameter and a pitch of the motorized apparatus based on the information from the at least one sensor.

Abstract: A motorized apparatus includes a body assembly and a maintenance device mounted to the body assembly. The maintenance device is configured to perform a service operation on a surface. The maintenance device extends from the body assembly at an angle. The motorized apparatus also includes a plurality of leg assemblies coupled to the body assembly and configured to support the body assembly and the maintenance device at a distance from the surface. The motorized apparatus further includes at least one actuator assembly coupled to the plurality of leg assemblies and configured to independently actuate each leg assembly of the plurality of leg assemblies. The at least one actuator assembly is configured to receive instructions related to a position of the maintenance device and actuate the plurality of leg assemblies to adjust an orientation of the body assembly and the maintenance device relative to the surface.

Abstract: A motorized apparatus for use in maintaining a pipe having a sidewall defining an interior cavity is provided. The motorized apparatus includes a body assembly extending along a longitudinal axis, at least one maintenance device coupled to the body assembly, and a plurality of leg assemblies coupled circumferentially around the body assembly. The motorized apparatus also includes a plurality of drive mechanisms coupled to the plurality of leg assemblies. The plurality of drive mechanisms are configured to interact with the sidewall. The plurality of drive mechanisms include at least two wheels. The plurality of drive mechanisms are arranged to move the body assembly in a first direction parallel to the longitudinal axis, move the body assembly in a second direction perpendicular to the longitudinal axis, and rotate the body assembly around the longitudinal axis.

Abstract: A system for use in maintaining a pipe includes a motorized apparatus including a body assembly and at least one maintenance device. The at least one maintenance device includes a sprayer, a heater, and an infrared sensor. The system includes at least one controller configured to apply the at least one coating material to the interior surface of the pipe at a work location using the sprayer, heat the interior surface of the pipe at the work location using the heater to begin a cure of the at least one coating material, generate one or more infrared images of the work location using the infrared sensor while using the heater to cure the at least one coating material, and perform a non-destructive evaluation (NDE) of the work location based on the one or more infrared images.

Abstract: Methods, systems, and apparatus are described for maintaining the interior cavities of pipes. In one aspect, a motorized apparatus includes a main body having a length extending along a longitudinal axis of the main body, where the main body comprises a first end and a second end opposite the first end. The motorized apparatus further includes at least one drive assembly coupled to at least one of the first end and the second end of the main body, where the at least one drive assembly comprises driven members that engage with an inner surface of the pipe and move the motorized apparatus through an interior cavity of the pipe. The motorized apparatus further includes a maintenance head movably coupled to the main body that moves along the length of the main body and rotates about the longitudinal axis of the main body, where the maintenance head comprises at least one tool configured to perform an action on the inner surface of the pipe.

Abstract: A system for use in maintaining a structure includes a maintenance apparatus including a maintenance drive system and a maintenance device. The system includes a support apparatus configured to travel in proximity to the structure. The support apparatus includes a body including a first end and a second end and a tether support device coupled to the body. The tether support device includes a housing. The support apparatus also includes a support drive system coupled to the body. The support drive system is configured to propel the support apparatus. The system also includes a tether including a first tether end, a second tether end, and a tether body extending between the first tether end and the second tether end. The maintenance apparatus is operably coupled to the first tether end. The tether support device is coupled to the tether between the first tether end and the second tether end.

Abstract: A motorized apparatus for use in maintaining a pipe includes at least one drive portion including a body assembly, a plurality of leg assemblies coupled circumferentially around the body assembly, a plurality of drive mechanisms coupled to the plurality of leg assemblies, and a drive portion coupling mechanism. The motorized apparatus also includes at least one maintenance portion including a body, at least one maintenance device coupled to the body, and a maintenance portion coupling mechanism configured to engage the drive portion coupling mechanism. The at least one drive portion is releasably coupled to the at least one maintenance portion by engaging the drive portion coupling mechanism with the maintenance portion coupling mechanism. The drive portion coupling mechanism and the maintenance portion coupling mechanism are each configured to engage another coupling mechanism when the drive portion coupling mechanism and the maintenance portion coupling mechanism are uncoupled from each other.

Abstract: A system for use in maintaining a pipe having a sidewall is provided. The system includes a motorized apparatus sized to fit within the pipe and configured to travel along the pipe through an interior cavity. The motorized apparatus includes a plurality of leg assemblies each including a first leg portion, a second leg portion, and a joint rotatably coupling the first leg portion to the second leg portion. A drive mechanism coupled to the joint is configured to interact with the sidewall. The system also includes an actuator assembly configured to independently position each leg assembly relative to a body assembly to adjust a radial position of the joint of the associated leg assembly relative to the body assembly. The system also includes a controller configured to send instructions to the actuator assembly based at least in part on at least one of a dimension of the interior cavity and a desired force on the sidewall.

Abstract: A motorized apparatus for use in maintaining a pipe having a sidewall is provided. The motorized apparatus includes a body assembly sized to fit within and to travel along an interior cavity of the pipe. The body assembly includes a first end and a second end and extending along a longitudinal axis. The body assembly also includes a plurality of leg assemblies coupled circumferentially around the body assembly. Each leg assembly includes a telescoping portion, a bias member coupled to the telescoping portion, and a drive mechanism configured to interact with the sidewall as the body assembly travels along the pipe. The body assembly also includes at least one sensor configured to collect data associated with a force between the sidewall and the drive mechanism, and an actuator assembly coupled to each leg assembly and configured to independently actuate each the leg assembly.

Abstract: A motorized apparatus for use in maintaining a pipe includes at least one drive portion including a body assembly, a plurality of leg assemblies coupled circumferentially around the body assembly, a plurality of drive mechanisms coupled to the plurality of leg assemblies, and a drive portion coupling mechanism. The motorized apparatus also includes at least one maintenance portion including a body, at least one maintenance device coupled to the body, and a maintenance portion coupling mechanism configured to engage the drive portion coupling mechanism. The at least one drive portion is releasably coupled to the at least one maintenance portion by engaging the drive portion coupling mechanism with the maintenance portion coupling mechanism. The drive portion coupling mechanism and the maintenance portion coupling mechanism are each configured to engage another coupling mechanism when the drive portion coupling mechanism and the maintenance portion coupling mechanism are uncoupled from each other.

Abstract: A system for use in maintaining a pipe having a sidewall is provided. The system includes a motorized apparatus sized to fit within the pipe and configured to travel along the pipe through an interior cavity. The motorized apparatus includes a plurality of leg assemblies each including a first leg portion, a second leg portion, and a joint rotatably coupling the first leg portion to the second leg portion. A drive mechanism coupled to the joint is configured to interact with the sidewall. The system also includes an actuator assembly configured to independently position each leg assembly relative to a body assembly to adjust a radial position of the joint of the associated leg assembly relative to the body assembly. The system also includes a controller configured to send instructions to the actuator assembly based at least in part on at least one of a dimension of the interior cavity and a desired force on the sidewall.

Abstract: A system for use in maintaining a pipe having a sidewall is provided. The system includes a motorized apparatus sized to fit within the pipe and configured to travel along the pipe through an interior cavity. The motorized apparatus includes a plurality of leg assemblies coupled circumferentially around a body assembly. The body assembly includes an actuator assembly coupled to each leg assembly and configured to independently actuate each leg assembly to adjust a position of each leg assembly. The body assembly also includes at least one sensor configured to collect information associated with the position of each leg assembly. The body assembly also includes a controller communicatively coupled to the motorized apparatus and configured to receive the information from the sensor, and to determine at least one of a pipe diameter and a pitch of the motorized apparatus based on the information from the at least one sensor.

Abstract: A motorized apparatus for use in maintaining a pipe having a sidewall is provided. The motorized apparatus includes a body assembly sized to fit within and to travel along an interior cavity of the pipe. The body assembly includes a first end and a second end and extending along a longitudinal axis. The body assembly also includes a plurality of leg assemblies coupled circumferentially around the body assembly. Each leg assembly includes a telescoping portion, a bias member coupled to the telescoping portion, and a drive mechanism configured to interact with the sidewall as the body assembly travels along the pipe. The body assembly also includes at least one sensor configured to collect data associated with a force between the sidewall and the drive mechanism, and an actuator assembly coupled to each leg assembly and configured to independently actuate each the leg assembly.