Robotic apparatus and method for treatment of conduits
View Patent ↗A robotic apparatus and method for treatment of system of conduits and lateral sub-conduits comprising a remotely controlled robotic vehicle which navigates main conduits which delivers a series of tools to locations within the conduit. The mule's tools comprise a variety of devices including a tape head and a transport housing for a second remotely controlled robotic vehicle, or mouse which can be deployed for traversing and treating sub-conduits. Further, a method to install one or more small diameter flexible elongate members, such as conductors or sheathes to the inside of the system of conduits comprises advancing an elongate member through the conduit system with the mule or mouse, anchoring the elongate member and then taping the elongate member with the taping head while retreating out of the conduit. Preferably the tape is pre-shaped to minimize wrinkling upon application and more preferably, greater security and tape bonding strength is achieved by spraying over the tape and elongate member.
1. A method for treating a system of conduits having at least one main conduit and having one or more intersecting sub-conduits comprising:
providing a robotic mouse vehicle suitable for traversing the one or more sub-conduits and conducting treatment;
providing a robotic mule vehicle suitable for traversing the main conduit;
transporting the mouse to the sub-conduit using the mule;
deploying the mouse into the sub-conduit; and
treating the conduits and sub-conduits using the mouse and mule;
wherein the mule transports the mouse in a housing capable of aligning with the sub-conduit.
2. The method of claim 1 wherein the intersecting sub-conduits are smaller in diameter than the main conduits.
3. The method of claim 1 wherein the mouse has at least one plug deployment device capable of deploying and releasing expandable plugs into the sub-conduit, further comprising the steps of:
deploying an expandable plug into the sub-conduit so as to block up-stream effluent and thereby preventing the effluent from interfering with the treatment of the conduits and sub-conduits; and
recovering the expandable plug after treatment of the sub-conduit.
4. The method of claim 1 wherein the housing is pivotally rotatable to align with the sub-conduit.
5. The method of claim 1 wherein the housing comprises an articulated arm capable of aligning with the sub-conduit.
6. The method of claim 5 further comprising the step of spraying the protective coating from the mouse.
7. The method of claim 1 wherein the conduits and sub-conduits are treated comprising the step of spraying a protective coating to the inside of the conduits and sub-conduits.
8. The method of claim 7 further comprising the step of spraying a plural component polyurethane to the inside of the conduits and sub-conduits.
9. The method of claim 8 further comprising the step of transporting heated plural component polyurethane coating compounds to the mouse through a flexible umbilical.
10. The method of claim 9 where at least a portion of the umbilical contains heating device to heat the plural component polyurethane.
11. The method of claim 10 where the heating device is an electrical wire heating element.
12. The method of claim 10 where the heating device comprises hot oil circulation channels.
13. The method of claim 9 further comprising the step of pulling the umbilical through the main conduit using the mule.
14. The method of claim 13 further comprising the step of pulling the umbilical through the sub-conduits using the mouse.
15. The method of claim 14 further comprising the step of feeding the umbilical from the mule to the mouse so as to assist the mouse in pulling the umbilical through the sub-conduits.
16. The method of claim 8 further comprising purging the spray head with nitrogen when not spraying.
17. The method of claim 1 wherein the system of conduits is treated by installing a flexible elongate member having an end to an inside wall of the conduits further comprising the steps of:
advancing the end of the flexible member through the conduits using the mule and mouse;
anchoring the end of the flexible member; and
taping the flexible member to the inside wall of the conduits while withdrawing the mule and mouse.
18. The method of claim 17 where the flexible member is a conductor.
19. The method of claim 18 where the flexible member is a fiber-optic cable.
20. The method of claim 19 wherein the mouse has at least one nozzle for spraying a coating, further comprising the step of spraying coating over the flexible member, tape and at least a portion of the conduit using the spray nozzle while withdrawing the mouse for further securing the tape to the conduit.
21. The method of claim 20 wherein at least a portion of the tape is porous for permitting penetration of the spray coating therethrough for further securing the tape to the conduit.
22. The method of claim 20 wherein the tape has a non-adhesive middle portion for supporting the flexible member and has adhesive edge portions so that the flexible member is substantially unconstrained a by the tape when secured to the conduit.
23. The method of claim 20 wherein at least a portion of the adhesive edge portions of the tape are porous for permitting penetration of the spray coating therethrough for further securing the tape to the conduit.
24. The method of claim 18 where the flexible member is a coaxial cable.
25. The method of claim 17 where the flexible member is a hollow sheath capable of housing a conductor.
26. The method of claim 1 , wherein the main conduit is accessible through an intersecting access shaft further comprising the steps of:
placing the mule and mouse in a housing;
lowering the housing down the shaft to align the mule with the main conduit;
securing the housing to the main conduit at the shaft; and
deploying the mule and mouse into the main conduit.
27. The method of claim 26 wherein the housing is telescopically expandable, wherein the housing is secured to the main conduit at the intersecting access shaft further comprising the step of telescopically expanding the housing to bridge the main conduit across the shaft.
28. The method of claim 26 wherein the housing is a clam-shell configuration, capable of increasing and decreasing in lateral dimension, further comprising the steps of:
minimizing the housing's diameter prior to lowering the housing and the mule down the intersecting access shaft; and
increasing the housing's diameter after the housing is secured so as enable deployment of the mule.
29. A method for installing a flexible member to an inside wall of a conduit, comprising the steps of:
providing a robotic vehicle for traversing the conduit;
advancing an end of the flexible member through the conduit using the robotic vehicle being fitted with a tape head;
anchoring the advanced end of the flexible member; and
taping the flexible member to the inside wall using the tape head while withdrawing the robotic vehicle.
30. The method of claim 29 wherein the advanced end of the flexible member is anchored manually by a person having access to the conduit.
31. The method of claim 29 , wherein the robotic vehicle has a guiding device suitable for placing and aligning the flexible member against the inside wall, further comprising the step of placing and aligning the flexible member along a designated path using the guiding device, so as to assist in taping the flexible member to the inside wall.
32. The method of claim 31 wherein the conduit is interrupted by at least one intersecting shaft, further comprising the step of:
placing telescoping members across the intersecting shafts; and
aligning the telescoping members with the inside wall of the conduit, so as to provide continuity for the said designated path.
33. The method of claim 29 wherein the robotic vehicle comprises at least two linked robotic vehicles where at least one robotic vehicle is a guiding device and at least one robotic vehicle is a taping device.
34. The method of claim 29 further comprising the steps of spraying a coating over the flexible member and tape after taping the flexible member to the inside wall while withdrawing the robotic vehicle in order to further secure the flexible member and tape.
35. The method of claim 34 wherein the sprayed coating comprises a polyurethane.
36. The method of claim 35 wherein the polyurethane comprises plural components, further comprising the step of:
providing the plural components through an umbilical.
37. The method of claim 36 further comprising the step of:
heating the polyurethane plural components along at least a portion of the umbilical.
38. The method of claim 33 wherein the tape is porous allowing for penetration of the adhesive spray, in order to further secure the flexible member and tape to the inside wall.
39. The method of claim 34 wherein at least a portion of the tape is porous for permitting penetration of the spray coating therethrough for further securing the tape to the conduit.
40. The method of claim 39 wherein the tape has a non-adhesive middle portion for supporting the flexible member and has adhesive edge portions so that the flexible member is substantially unconstrained axially by the tape when secured to the conduit.
41. The method of claim 40 wherein at least a portion of the adhesive edge portions of the tape are porous for permitting penetration of the spray coating therethrough for further securing the tape to the conduit.
42. The method of claim 41 where the flexible member is a conductor.
43. The method of claim 42 where the conductor is a fiber-optic cable.
44. The method of claim 42 where the conductor is a coaxial cable.
45. The method of claim 41 where the flexible member is a hollow sheath capable of housing conductors.
46. An apparatus for treating a system of conduits having at least one main conduit and having one or more intersecting sub-conduits comprising:
a robotic mouse suitable for traversing the one or more sub-conduits;
a device carried by the mouse for treating the one or more conduits;
a robotic mule suitable for traversing the main conduit and for transporting said mouse;
a transport housing supported by the mule and for carrying the mouse; and
means for aligning the transport housing with a sub-conduit.
47. The apparatus of claim 46 wherein the means for aligning the transport housing with a sub-conduit is a tubular housing pivotally mounted to the mule.
48. The apparatus of claim 46 wherein the means for aligning the transport housing with a sub-conduit is an articulated tubular arm supported from the mule.
49. The apparatus of claim 48 wherein the articulated tubular arm comprises:
a plurality of tubular rings pivotally connected together with alternating horizontal and vertical pivots; and
means for actuating the arm to articulate at least laterally.
50. The apparatus of claim 46 wherein the treating device is a spray nozzle for dispensing a coating.
51. The apparatus of claim 50 wherein the spray nozzle dispenses polyurethane.
52. The apparatus of claim 50 further comprising an umbilical for supplying the spray nozzle with components for dispensing polyurethane.
53. The apparatus of claim 46 wherein the treating device comprises a tape head mounted to the mouse for taping a flexible elongated member to the inside wall of sub-conduits while withdrawing the mule and mouse therefrom.
54. The apparatus of claim 53 wherein the tape head further comprises:
a supply of tape having a normally fiat cross-section, the tape having at least one working face having a flexible member supporting portion and bounding peripheral edges, the working face having adhesive on at least a portion of its working face;
at least one pair of rollers for shaping the supporting portion of the cross-section of the fiat tape into one or more concave shapes which correspond with the one or more cross-sections of the flexible member;
one or more tertiary rollers for guiding the flexible member into the concave supporting portion of the tape and pressing the flexible member and tape into engagement with the inner wall of the conduit.
55. The apparatus of claim 54 wherein the supporting portion of the tape is substantially free of adhesive.
56. The apparatus of claim 54 wherein the peripheral edges of the tape are porous, the apparatus further comprising:
a source of a fluid coating; and
a nozzle for spraying the coating over the tape once engaged to the inner wall of the conduit, the coating penetrating the porous edges of the tape for adhering to the inner wall of the conduit.
57. The apparatus of claim 56 wherein the spray nozzle dispenses polyurethane.
58. The apparatus of claim 57 further comprising an umbilical for supplying the spray nozzle with components for dispensing polyurethane.
59. The apparatus of claim 58 further comprising a source of heat extending along at least a portion of the umbilical for heating the polyurethane components.
60. An apparatus for installing a flexible elongate member to an inside wall of a conduit, comprising:
a robotic vehicle for traversing the conduit for advancing an end of the flexible member through the conduit;
a tape head mounted to the robotic vehicle for taping the flexible member to the inside wall while withdrawing the robotic vehicle;
a supply of tape having a normally flat cross-section, the tape having at least one working face having a flexible member supporting portion and bounding peripheral edges, the working face having adhesive on at least a portion of its working face;
at least one pair of rollers for shaping the supporting portion of the cross section of the flat tape into one or more concave shapes which correspond with the one or more cross-sections of the flexible member; and
one or more tertiary rollers for guiding the flexible member into the concave supporting portion of the tape and pressing the flexible member and tape into engagement with the inner wall of the conduit.
61. The apparatus of claim 60 wherein the supporting portion of the tape is substantially free of adhesive.
62. The apparatus of claim 60 wherein the peripheral edges of the tape are porous, the apparatus further comprising:
a source of a fluid coating; and
a nozzle for spraying the coating over the tape once engaged to the inner wall of the conduit, the coating penetrating the porous edges of the tape for adhering to the inner wall of the conduit.
63. The apparatus of claim 60 wherein the taping head is mounted to a robotic mouse which is transported by the robotic vehicle in a transport housing, the housing being rotatable for alignment with sub-conduits extending laterally from the conduit, the robotic mouse being independently mobile of the robotic vehicle.
64. The apparatus of claim 63 wherein the transport housing is pivotally mounted to the robotic vehicle.
65. The apparatus of claim 63 wherein the transport housing is an articulated tubular arm supported from the robotic vehicle.
66. The apparatus of claim 65 wherein the articulated tubular arm comprises:
a plurality of tubular rings pivotally connected together with alternating horizontal and vertical pivots; and
means for actuating the arm to curve at least laterally.