Abstract: A pipe rehabilitation system and/or robot can be used inside a pipe to measure characteristics of branch conduits, install plugs into branch conduits before the pipe is lined with a liner, remove portions of plugs and liners after lining to restore fluid communication between the pipe and branch conduits, and/or install fittings into the branch conduits to connect the liner to the branch conduits. A probe can measure characteristics of a branch conduit. A tool can install plugs and/or fittings into the branch conduits. A linkage can connect a tool to a robotic tractor so that the connected elements can navigate through a main pipe. A visualization system can aid in aligning a robot with a branch conduit. Height-adjustable braces can support robotic tools in a pipe. A plug can include integrated locating features and/or movable parts that enable expanding the plug to seal with the branch conduit.

Abstract: An assembly and method for detecting cross bores and the location of underground pipe system assets includes an acoustic generator placed within an interior of the sewer system and an acoustic receiver placed within proximity of the lateral(s) of the pipe system. The acoustic generator generates an acoustic signal to transmit through the interior of a sewer pipe of the sewer system. A controller detects, in response to the acoustic receiver hearing the acoustic signal, a location of the underground pipe.

Abstract: A pipe rehabilitation system and/or robot can be used inside a pipe to measure characteristics of branch conduits, install plugs into branch conduits before the pipe is lined with a liner, remove portions of plugs and liners after lining to restore fluid communication between the pipe and branch conduits, and/or install fittings into the branch conduits to connect the liner to the branch conduits. A probe can measure characteristics of a branch conduit. A tool can install plugs and/or fittings into the branch conduits. A linkage can connect a tool to a robotic tractor so that the connected elements can navigate through a main pipe. A visualization system can aid in aligning a robot with a branch conduit. Height-adjustable braces can support robotic tools in a pipe. A plug can include integrated locating features and/or movable parts that enable expanding the plug to seal with the branch conduit.

Abstract: A fitting for connecting a branch conduit to a liner installed in a main pipe is configured to mechanically connect to the branch conduit as it is inserted into the branch conduit from inside the main pipe. The mechanical connection is established without rotating the fitting. The fitting can include a body having an outer shaft section for being received in the branch conduit and an inner flange section for opposing the liner within the main pipe. The fastener include one or more teeth that extend radially from the exterior of the shaft section. The teeth can be secured to the shaft section by deforming portions of the fitting body against the teeth. The flange section supports a gasket for sealing against the liner when the fitting is installed. The flange section can include a rim that maintains the gasket in the proper position.

Abstract: In one aspect, a bit for removing a plug from a branch conduit extending from a main pipe has a boring head at a distal end portion of a shaft configured to bore a pilot hole in the plug. A catch on the shaft is configured to pass through the pilot hole and then engage the plug after the pilot hole is bored for pushing the plug proximally. A burr proximal of the boring head is configured to remove a portion of the plug to separate a removable section from a durable section of the plug. In a method of restoring fluid communication between a main pipe and a branch conduit, the bit bores a pilot hole with the boring head, separates the removable section from the durable section with the burr, and then with the catch, withdraws the removable section only.

Abstract: A pipe rehabilitation system and/or robot can be used inside a pipe to measure characteristics of branch conduits, install plugs into branch conduits before the pipe is lined with a liner, remove portions of plugs and liners after lining to restore fluid communication between the pipe and branch conduits, and/or install fittings into the branch conduits to connect the liner to the branch conduits. A probe can measure characteristics of a branch conduit. A tool can install plugs and/or fittings into the branch conduits. A linkage can connect a tool to a robotic tractor so that the connected elements can navigate through a main pipe. A visualization system can aid in aligning a robot with a branch conduit. Height-adjustable braces can support robotic tools in a pipe. A plug can include integrated locating features and/or movable parts that enable expanding the plug to seal with the branch conduit.

Abstract: A pipe rehabilitation system and/or robot can be used inside a pipe to measure characteristics of branch conduits, install plugs into branch conduits before the pipe is lined with a liner, remove portions of plugs and liners after lining to restore fluid communication between the pipe and branch conduits, and/or install fittings into the branch conduits to connect the liner to the branch conduits. A probe can measure characteristics of a branch conduit. A tool can install plugs and/or fittings into the branch conduits. A linkage can connect a tool to a robotic tractor so that the connected elements can navigate through a main pipe. A visualization system can aid in aligning a robot with a branch conduit. Height-adjustable braces can support robotic tools in a pipe. A plug can include integrated locating features and/or movable parts that enable expanding the plug to seal with the branch conduit.

Abstract: A fitting for connecting a branch conduit to a liner installed in a main pipe is configured to mechanically connect to the branch conduit as it is inserted into the branch conduit from inside the main pipe. The mechanical connection is established without rotating the fitting. The fitting can include a body having an outer shaft section for being received in the branch conduit and an inner flange section for opposing the liner within the main pipe. The fastener include one or more teeth that extend radially from the exterior of the shaft section. The teeth can be secured to the shaft section by deforming portions of the fitting body against the teeth. The flange section supports a gasket for sealing against the liner when the fitting is installed. The flange section can include a rim that maintains the gasket in the proper position.

Abstract: A fitting for connecting a branch conduit to a liner installed in a main pipe is configured to mechanically connect to the branch conduit as it is inserted into the branch conduit from inside the main pipe. The mechanical connection is established without rotating the fitting. The fitting can include a body having an outer shaft section for being received in the branch conduit and an inner flange section for opposing the liner within the main pipe. The fastener include one or more teeth that extend radially from the exterior of the shaft section. The teeth can be secured to the shaft section by deforming portions of the fitting body against the teeth. The flange section supports a gasket for sealing against the liner when the fitting is installed. The flange section can include a rim that maintains the gasket in the proper position.

Abstract: A pipe rehabilitation system and/or robot can be used inside a pipe to measure characteristics of branch conduits, install plugs into branch conduits before the pipe is lined with a liner, remove portions of plugs and liners after lining to restore fluid communication between the pipe and branch conduits, and/or install fittings into the branch conduits to connect the liner to the branch conduits. A probe can measure characteristics of a branch conduit. A tool can install plugs and/or fittings into the branch conduits. A linkage can connect a tool to a robotic tractor so that the connected elements can navigate through a main pipe. A visualization system can aid in aligning a robot with a branch conduit. Height-adjustable braces can support robotic tools in a pipe. A plug can include integrated locating features and/or movable parts that enable expanding the plug to seal with the branch conduit.

Abstract: A fitting for connecting a branch conduit to a liner installed in a main pipe is configured to mechanically connect to the branch conduit as it is inserted into the branch conduit from inside the main pipe. The mechanical connection is established without rotating the fitting. The fitting can include a body having an outer shaft section for being received in the branch conduit and an inner flange section for opposing the liner within the main pipe. The fastener include one or more teeth that extend radially from the exterior of the shaft section. The teeth can be secured to the shaft section by deforming portions of the fitting body against the teeth. The flange section supports a gasket for sealing against the liner when the fitting is installed. The flange section can include a rim that maintains the gasket in the proper position.