US-12624788-B2 - Pipe navigation apparatus with bypass fluid channel

Abstract

A navigation apparatus for use in navigating a pipe having a sidewall defining an interior cavity is provided. The navigation apparatus includes a body assembly having a first end and a second end and configured to move through the interior cavity of the pipe. The navigation apparatus also includes a channel defining a fluid passageway extending at least partly between the first end and the second end of the body assembly, an inlet for fluid from the interior cavity of the pipe to enter the fluid passageway, and an outlet for the fluid to exit the fluid passageway and return to the interior cavity of the pipe. The channel is configured to allow the fluid to flow through the fluid passageway and from the first end of the body assembly to the second end of the body assembly as the body assembly moves through the interior cavity of the pipe.

Inventors

• Deepak Trivedi
• Andrew Thomas Cross
• Christopher Walter Falcone

Assignees

• GENERAL ELECTRIC COMPANY

Dates

Publication Date

20260512

Application Date

20221107

Claims (20)

1. 1 . A navigation apparatus for use in navigating a pipe having a sidewall defining an interior cavity, said navigation apparatus comprising: a body assembly configured to move through the interior cavity of the pipe, said body assembly comprising: a first end; a second end; a body section positioned between said first end and said second end, said body section having an outer surface and a plurality of protrusions arranged on said outer surface and extending in a radial direction outward therefrom, said body section configured to selectively expand and contract said outer surface in the radial direction between a first configuration, in which said plurality of protrusions interact with the sidewall of the pipe, and a second configuration, in which said plurality of protrusions are spaced from the sidewall of the pipe; a channel defining a fluid passageway extending at least partly between said first end and said second end of said body assembly, said fluid passageway extending between said plurality of protrusions when said body section is in the first configuration; an inlet for fluid from the interior cavity of the pipe to enter the fluid passageway; and an outlet for the fluid to exit the fluid passageway and return to the interior cavity of the pipe, wherein said channel is configured to allow the fluid to flow through the fluid passageway and from said first end of said body assembly to said second end of said body assembly as said body assembly moves through the interior cavity of the pipe.
2. 2 . The navigation apparatus in accordance with claim 1 , wherein said body assembly comprises a plurality of body sections including the body section, the plurality of body sections each being configured to interact with the sidewall of the pipe and move said body assembly through the pipe, and wherein said channel is configured to allow the fluid to flow through the fluid passageway when said plurality of body sections interact with the sidewall.
3. 3 . The navigation apparatus in accordance with claim 1 , wherein said plurality of protrusions are spaced circumferentially about said outer surface, wherein the fluid passageway is defined between circumferentially adjacent protrusions of said plurality of protrusions.
4. 4 . The navigation apparatus in accordance with claim 3 , wherein said fluid passageway comprises a plurality of distinct paths defined between said plurality of protrusions.
5. 5 . The navigation apparatus in accordance with claim 1 , wherein said channel is coupled to and/or incorporated into the outer surface.
6. 6 . The navigation apparatus in accordance with claim 1 , wherein said channel extends along an entire length of said body assembly from said first end to said second end.
7. 7 . The navigation apparatus in accordance with claim 1 , wherein said body assembly comprises a plurality of pneumatic or hydraulic artificial muscles having elastomeric membranes, and wherein said channel is coupled to and/or incorporated into said elastomeric membranes.
8. 8 . The navigation apparatus in accordance with claim 1 , wherein said body assembly further comprises: an additional body section having an additional outer surface and an additional plurality of protrusions arranged on said additional outer surface and extending in the radial direction outward therefrom, said additional body section configured to selectively expand and contract said additional outer surface in the radial direction between a first configuration, in which said additional plurality of protrusions interact with the sidewall of the pipe, and a second configuration, in which said additional plurality of protrusions are spaced from the sidewall of the pipe.
9. 9 . The navigation apparatus in accordance with claim 8 , wherein said body section is positioned between said first end and said additional body section in an axial direction.
10. 10 . A system for use in navigating a pipe having a sidewall defining an interior cavity, said system comprising: a navigation apparatus comprising: a body assembly comprising a plurality of body sections configured to interact with the sidewall of the pipe and move said body assembly through the pipe, said plurality of body sections comprising a first body section having an outer surface and a plurality of protrusions arranged on said outer surface and extending in a radial direction outward therefrom, said body section configured to selectively expand and contract said outer surface in the radial direction between a first configuration, in which said plurality of protrusions interact with the sidewall of the pipe, and a second configuration, in which said plurality of protrusions are spaced from the sidewall of the pipe; and a channel defining a fluid passageway, wherein said channel is configured for fluid from the interior cavity of the pipe to flow through the fluid passageway and bypass said body assembly as said body assembly moves through the interior cavity of the pipe, the fluid passageway extending between said plurality of protrusions when said body section is in the first configuration; and a controller communicatively coupled to said navigation apparatus and configured to send instructions to said navigation apparatus to cause said body assembly to move through the interior cavity of the pipe.
11. 11 . The system in accordance with claim 10 , wherein said plurality of protrusions are spaced apart about a circumference of said body assembly, wherein the fluid passageway is defined between circumferentially adjacent protrusions of said plurality of protrusions.
12. 12 . The system in accordance with claim 10 , wherein said channel is coupled to and/or incorporated into said outer surface.
13. 13 . The system in accordance with claim 10 , wherein said channel extends along an entire length of said body assembly.
14. 14 . The system in accordance with claim 10 , wherein said plurality of body sections comprises pneumatic or hydraulic artificial muscles having elastomeric membranes, and wherein said channel is coupled to and/or incorporated into said elastomeric membranes.
15. 15 . The system in accordance with claim 10 , wherein said navigation apparatus further comprises: an inlet for the fluid from the interior cavity of the pipe to enter the fluid passageway; and an outlet for the fluid to exit the fluid passageway and return to the interior cavity of the pipe.
16. 16 . A method for moving a navigation apparatus through a pipe having a sidewall defining an interior cavity, said method comprising: moving a body assembly of the navigation apparatus through the interior cavity of the pipe, the body assembly having a first end, a second end, and a body section positioned between the first end and the second end, the body section having an outer surface and a plurality of protrusions arranged on the outer surface and extending in a radial direction outward therefrom, the navigation apparatus including a channel defining a fluid passageway extending at least partly between the first end and the second end of the body assembly; expanding the outer surface in the radial direction to a first configuration, in which the plurality of protrusions interact with the sidewall of the pipe, from a second configuration, in which the plurality of protrusions are spaced from the sidewall of the pipe; and directing fluid from the interior cavity of the pipe to flow through the fluid passageway, between the plurality of protrusions, and from the first end of the body assembly to the second end of the body assembly as the body assembly moves through the interior cavity of the pipe.
17. 17 . The method in accordance with claim 16 , wherein moving the body assembly of the navigation apparatus through the interior cavity of the pipe comprises contacting the sidewall of the pipe with a plurality of body sections of the body assembly and changing a size of at least one section of the plurality of body sections, the plurality of body sections including the body section, wherein the channel is configured to allow the fluid to flow through the fluid passageway when the plurality of body sections contact the sidewall.
18. 18 . The method in accordance with claim 16 , further comprising: directing the fluid to flow into the fluid passageway from within the interior cavity of the pipe through an inlet; and directing the fluid to exit the fluid passageway through an outlet to return to the interior cavity of the pipe.
19. 19 . The method in accordance with claim 16 , wherein the channel extends along an entire length of the body assembly from the first end to the second end, and wherein directing fluid from the interior cavity of the pipe to flow through the fluid passageway and from the first end of the body assembly to the second end of the body assembly comprises directing the fluid to flow through fluid passageway within the channel along the entire length of the body assembly.
20. 20 . The method in accordance with claim 16 , wherein the plurality of protrusions are spaced circumferentially about the body assembly.

Description

This invention was made with Government support under contract number D19AC00018 awarded by the Defense Advanced Research Projects Agency (DARPA). The Government has certain rights in this invention. BACKGROUND The field of the disclosure relates to systems for navigating pipes, and more particularly to pipe navigation apparatus including a bypass fluid channel. Pipes are commonly used to transport fluids. For example, typical pipes include a cylindrical sidewall that defines an interior cavity. During operation, fluids are transported within the interior cavity of the pipes. Sometimes, the fluids that are transported through the pipes have characteristics that can cause wear, deterioration, or otherwise affect the properties of the pipes. As a result, the pipes may require routine inspection and repair. However, the interior cavity of the pipes may be difficult to access for routine maintenance. For example, at least some known pipes are used to transport fluids having high temperatures, pressures, and/or other properties that create conditions which are inhospitable for at least some known navigation apparatus. Moreover, at least some pipes are difficult for at least some known apparatus to travel through because of the pipes' size, shape, and obstacles within the interior cavity. In addition, at least some known navigation apparatus cannot travel through pipes and/or perform a maintenance operation if the fluid is within the interior cavity of the pipe. As a result, the fluid must be removed from the interior cavity of the pipe and the pipe placed out-of-service while the navigation apparatus is within the interior cavity of the pipe. Accordingly, it would be desirable to provide a system for navigating pipes including a navigation apparatus with a bypass fluid channel that facilitates operation of the navigation apparatus when fluid is within the interior cavity of the pipes. BRIEF DESCRIPTION In one aspect, a navigation apparatus for use in navigating a pipe having a sidewall defining an interior cavity is provided. The navigation apparatus includes a body assembly having a first end and a second end and configured to move through the interior cavity of the pipe. The navigation apparatus also includes a channel defining a fluid passageway extending at least partly between the first end and the second end of the body assembly, an inlet for fluid from the interior cavity of the pipe to enter the fluid passageway, and an outlet for the fluid to exit the fluid passageway and return to the interior cavity of the pipe. The channel is configured to allow the fluid to flow through the fluid passageway and from the first end of the body assembly to the second end of the body assembly as the body assembly moves through the interior cavity of the pipe. In another aspect, a system for use in navigating a pipe having a sidewall defining an interior cavity is provided. The system includes a navigation apparatus including a body assembly with a plurality of sections configured to interact with the sidewall of the pipe and move the body assembly through the pipe. The navigation apparatus also includes a channel defining a fluid passageway. The channel is configured for fluid from the interior cavity of the pipe to flow through the fluid passageway and bypass the body assembly as the body assembly moves through the interior cavity of the pipe. The system also includes a controller communicatively coupled to the navigation apparatus and configured to send instructions to the navigation apparatus to cause the body assembly to move through the interior cavity of the pipe. In yet another aspect, a method for moving a navigation apparatus through a pipe having a sidewall defining an interior cavity is provided. The method includes moving a body assembly of the navigation apparatus through the interior cavity of the pipe. The body assembly has a first end and a second end. The navigation apparatus includes a channel defining a fluid passageway extending at least partly between the first end and the second end of the body assembly. The method also includes directing fluid from the interior cavity of the pipe to flow through the fluid passageway and from the first end of the body assembly to the second end of the body assembly as the body assembly moves through the interior cavity of the pipe. BRIEF DESCRIPTION OF THE DRAWINGS These and other features, aspects, and advantages of the present disclosure will become better understood when the following detailed description is read with reference to the accompanying drawings in which like characters represent like parts throughout the drawings, wherein: FIG. 1 is a schematic diagram of a system including a navigation apparatus traveling underground, the navigation apparatus including a bypass fluid channel; FIG. 2 is a perspective view of a portion of the navigation apparatus shown in FIG. 1; FIG. 3 is a side view of a portion of an alternative embodiment of a navigation apparatus