Underground pipe inspection device and method

1. A method for inspecting an underground pipe from the inside of said underground pipe comprising the steps of:

inserting an inspection apparatus comprising a circular planar platform having a plurality of lever arms having one end pivotably attached to one side of said platform and having a pipe inspection means connected to an opposite end and having pivot means for pivoting said lever arms into said underground pipe, said inspection apparatus oriented with said planar platform disposed perpendicular to a pipe axis;

pivoting said plurality of lever arms toward an inside wall of said pipe;

contacting said inside wall of said pipe with each said inspection means; and

conveying said apparatus axially along said inside of said underground pipe and maintaining contact between each said inspection means and said inside wall.

2. A method in accordance with claim 1 , wherein a maximum angle of pivoting for each said lever arm is 180°.

3. A method in accordance with claim 1 , wherein said plurality of lever arms are pivoted simultaneously.

4. A method in accordance with claim 1 , wherein said inspection apparatus is attached to a robot for conveyance through said underground pipe.

5. A method in accordance with claim 1 , wherein said inspection means are maintained at a constant angle with respect to said wall.

6. A method in accordance with claim 1 , wherein said inspection means comprises at least one electronic sensor suitable for non-destructive inspection of said underground pipe.

7. An apparatus for underground pipe inspection comprising:

a first circular planar platform having a first planar side and an opposite second planar side;

a plurality of lever arms disposed on said first planar side having a pivotable end pivotably connected with said first planar platform and an inspection end, said lever arms pivotable in a direction substantially parallel to said first planar side;

at least one pipe inspection means for inspecting an inside of said pipe connected with said inspection end; and

pivot means for pivoting said lever arms.

8. An apparatus in accordance with claim 7 , wherein each of said lever arms comprises an elongated rod having a plurality of angled segments, a first angled segment having a first planar side end and a second planar side end oriented perpendicular to said first and second platform sides and extending through a platform opening formed by said first planar platform proximate a periphery of said first planar platform, and a second angled segment connected end-to-end with said first planar side end of said first angled segment.

9. An apparatus in accordance with claim 8 , wherein said elongated rod comprises a third angled segment connected end-to-end at a second angle with a free end of said second angled segment and at an angle with respect to a plane of said first and second angled segments.

10. An apparatus in accordance with claim 8 , wherein said pivot means comprises a planetary gear attached with said second planar side end of said first angled segment and a sun gear pivotable around a center of said first planar platform pivotably attached with said second planar side and sized to engage said planetary gear.

11. An apparatus in accordance with claim 7 further comprising a centralized cylindrical lever arm stop having one end connected with said first planar side of said first planar platform.

12. An apparatus in accordance with claim 11 , wherein each of said lever arms comprises two planar angled segments.

13. An apparatus in accordance with claim 12 wherein said pivot ends of said lever arms are evenly distributed along a first 180° arc of a first periphery of said first planar platform.

14. An apparatus in accordance with claim 13 further comprising a second circular planar platform connected with an opposite end of said centralized cylindrical lever arm stop, said second planar platform having a second plurality of said lever arms pivotably connected with said second planar platform on a second planar platform side facing said first planar platform, said pivot ends of said second plurality of lever arms evenly distributed over a 180° arc complementary to said first 180° arc along a second periphery of said second planar platform.