Method and apparatus for pipe imaging with chemical analysis

1. A pipe inspection robot, comprising:

a powered track system providing movement to the pipe inspection robot to traverse through the interior of a water or sewer pipe;

a sensor component attached to the powered track system; and

a processor;

said sensor component comprising: a terahertz (THz) beam source, a receiver; and a visual camera;

said processor configured to:

operate the sensor component to collect THz data and visual image data related to an interior surface of the water or sewer pipe as the pipe inspection robot traverses through the water or sewer pipe;

associate the THz data with visual image data; and

communicate the THz data and the visual image data collected over a network connection.

2. The pipe inspection robot of claim 1 , wherein the THz data comprises spectral data.

3. The pipe inspection robot of claim 2 , wherein the spectral data comprises one or more peaks.

4. The pipe inspection robot of claim 1 , wherein the processor is further configured to identify one or more peaks in the THz data.

5. The pipe inspection robot of claim 4 , wherein the processor is further configured to compare the one or more peaks to one or more known spectra for a predetermined set of water or sewer pipe interior wall materials.

6. The pipe inspection robot of claim 5 , wherein the processor is further configured to compare the one or more peaks to one or more known spectral peaks using a neural network.

7. The pipe inspection robot of claim 5 , wherein:

the THz beam source directs a THz beam to a target object of the pipe wall; and

the processor is further configured to identify the target object.

8. The pipe inspection robot of claim 1 , wherein the THz source comprises a laser.

9. The pipe inspection robot of claim 1 , wherein the receiver comprises a charge-coupled device.

10. A method for identifying a target object of a pipe wall, comprising:

positioning a pipe inspection robot within a water or sewer pipe to traverse through the interior of the water or sewer pipe;

receiving, using a visual camera of the pipe inspection robot, visual image data related to an interior surface of the water or sewer pipe as the pipe inspection robot traverses through the water or sewer pipe;

emitting, using a terahertz (THz) beam source of the pipe inspection robot, a laser beam towards a target object of the interior surface of the water or sewer pipe;

receiving, using a THz receiver of the pipe inspection robot, THz data related to the target object as the pipe inspection robot traverses through the water or sewer pipe;

associating, using a processor, the THz data with the visual image data and pipe network mapping data;

analyzing, using a processor, the THz data;

determining, based on the analyzing, an identity of the target object; and

providing the identity of the target object in a visual display comprising one or more of the pipe network data, a visual image, and a THz image.

11. The method of claim 10 , wherein the THz data comprises spectral data.

12. The method of claim 10 , wherein the spectral data comprises one or more peaks.

13. The method of claim 12 , wherein the determining comprises using the one or more peaks in the THz data.

14. The method of claim 13 , wherein the one or more peaks are compared to one or more known spectra for a predetermined set of water or sewer pipe interior wall materials.

15. The method of claim 14 , wherein the one or more peaks are compared to one or more known spectral peaks using a neural network.

16. The method of claim 14 , wherein the emitting comprises directing the laser beam toward the target object of the pipe wall.

17. The method of claim 10 , further comprising obtaining, using a sensor component of the pipe inspection robot, additional inspection data.

18. The method of claim 17 , further comprising combining, using a processor, the additional inspection data with the THz data.

19. A method, comprising:

traversing, with a pipe inspection robot, through an interior of a water or sewer pipe;

receiving, using a visual camera of the pipe inspection robot, visual image data related to a target object of an interior surface of the water or sewer pipe;

receiving, using a THz receiver of the pipe inspection robot, THz data related to the target object;

associating, using a processor, the THz data with the visual image data;

analyzing, using a processor, the THz data;

determining, based on the analyzing, an identity of the target object; and

providing the identity of the target object in a visual display comprising the visual image data and the THz data.

20. The method of claim 19 , comprising overlaying the THz data with visual image data in a combined image, wherein the combined image comprises THz data aligned with visual data of the target object in the combined image.