Untitled record

full description

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The present disclosure generally relates to the protection of underground assets, such as pipelines, from impact damage, and specifically an automated geothermal shock protection system to inject molten polymer at the required depth underground to protect the underground assets.

<p dir="rtl">5 Protect buried/subsurface infrastructure (for example, pipelines) from impact damage above ground without the need for trenching and backfilling which can be a difficult task. Encroachment of buried high pressure pipeline passages due to above ground construction activities significant risk to the safety of pipelines and vessels This encroachment can also result in loss of product from leaks from external damage, which can lead to problems</p>

<p dir="rtl">10 related to health, safety and the environment. Protecting buried pipeline networks from impact damage from impact is important to pipeline operators and other third parties with an interest in where the infringement occurred.</p>

In connection with these and other problems in the field, the present disclosure is directed to provide a technical solution for an effective robotic subsurface impact protection system to protect buried and subsurface structures from

<p dir="rtl">15 Damage is caused by impacting above ground without the need for trenching and backfilling.</p>

General description of the invention

According to one embodiment, a robotic means of moving above ground is provided during the manufacture of a subsurface polymer layer to protect the underground structure. The robotic vehicle includes: a body for moving over the ground; A rotating member coupled to the body and prepared to come into contact with the ground and move the body over the ground while making a layer

<p dir="rtl">20 subsurface polymer; A dismounting tool assembly that has a proximal end that is coupled to the body and conditioned to move</p>

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With the body, a distal tip coupled to a proximal end and a component to move underground with fabrication depth in response to movement of the proximal tip during the fabrication of the polymer layer; A ground penetrating radar (GPR) configured to determine and measure the depth of the subsurface subsurface structure during the fabrication of the polymer layer; And a computerized control system (CCS) configured to protect the underground structure by controlling the rotor

<p dir="rtl">5 , the distal end of the dislocation tool assembly, and GPR to move the body over the underground hull</p>

While tracing the location of the underground structure and fabricating the polymer layer at the fabrication depth and above the measured depth of the subsurface structure.

In one embodiment, the stripping tool assembly includes: The stripping tool blade at the distal end is conditioned to make the polymer layer by injecting compressed air and molten polymer into

<p dir="rtl">10 subsurface layer at fabrication depth; The stripping tool arm is coupled to the body at the proximal end and to the stripping tool blade at the distal end, and is configured to supply compressed air and molten polymer to the stripping tool blade during the manufacture of the polymer bed.</p>

In one embodiment: the stripping tool blade can be adjusted at longitudinal inclinations while traveling underground to change the machining depth during polymer bed fabrication; CCS is configured to control the fabrication of the polymer layer

<p dir="rtl">15 at the required height above the measured depth of the underground structure by controlling the longitudinal inclination angles of the stripping tool blade during the manufacture of the polymer layer.</p>

In one embodiment: the stripping tool blade can be set at lateral inclinations while traveling underground to change the direction of the polymer bed during the fabrication of the polymer bed; The distal end of the stripping tool assembly includes an infrared camera configured to image the orientation of the polymer layer during fabrication of the polymer layer.

<p dir="rtl">20 polymer; And the CCS is configured to control the fabrication of the polymer layer to obtain the desired orientation of</p>

By controlling the lateral inclination angle of the stripping tool blade while using infrared imaging for orientation during the fabrication of the polymer layer.

In one embodiment, the robotic vehicle also includes: a body-coupled polymer storage vessel configured to store a thermoplastic polymer; A polymer melter coupled to the body and configured to melt the polymer

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with thermoplasticity stored in molten polymer and supplying the arm of the dislocation tool with molten polymer; A compressed air storage vessel coupled to the body and conditioned to store compressed air and supply the stored compressed air to the removal tool arm; and a battery coupled to the body and configured to supply electric power to the robotic vehicle, whereby the robotic vehicle is self-contained and configured to manufacture the polymer film using the battery as a source

<p dir="rtl">5 key to capacity.</p>

In one embodiment: the distal end of the stripping tool assembly can be set deep below ground while moving underground to change the machining depth during polymer bed fabrication; The CCS is configured to control the fabrication of the polymer bed at the required height above the underground structure by adjusting the depth of the distal end of the stripping tool assembly during the fabrication of the polymer bed.

<p dir="rtl">10 In one embodiment: the distal end of the stripping tool assembly includes an ultrasonic sensor configured to measure the machining depth height above the underground structure during polymer layer fabrication; The CCS system controls the fabrication of the polymer layer at the required height above the underground structure using the height measured during the fabrication of the polymer layer.</p>

In one embodiment, the motorized craft also includes a depth gauge configured to measure machining depth

<p dir="rtl">15 During the manufacture of the polymer bed, where: the distal end of the stripper assembly includes an infrared camera configured to measure the polymer layer thickness during the fabrication of the polymer bed; The CCS is configured to control the fabrication of the polymer layer to obtain the desired thickness using the measured thickness of the polymer layer during the fabrication of the polymer layer; The CCS is configured to generate a profile of the polymer layer thickness variance by tracking the measured depth of fabrication and the measured thickness of the polymer layer over</p>

<p dir="rtl">20 time during the manufacture of the polymer layer.</p>

In one embodiment: GPR is initialized to create an elevation profile for subsoil feature layers during polymer layer fabrication, the elevation profile includes depth, thickness, and density measurements of the feature layers and the feature layers include the underground structure, the polymer layer, and a subsurface layer above the polymer layer; CCS is configured to estimate the subsurface load on the polymer layer during the fabrication of the polymer layer

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Using the measured thickness and density of the subsurface layer above the polymer layer; The CCS is configured to set the desired thickness of the polymer film during polymer film fabrication based on the estimated subsurface load on the polymer film.

In one embodiment, the robotic vehicle also has an infrared camera configured

<p dir="rtl">5 To image the thermal distribution of the top surface of the polymer film during the manufacture of the polymer film, the CCS is configured to use the imaged heat distribution of the top surface of the polymer film to check the thermal integrity of the polymer film or to adjust the fabrication of the polymer film to improve the thermal integrity of the polymer film.</p>

According to another embodiment, an automated method for protecting an underground structure is provided by fabricating a subsurface polymer layer using a moving robotic vehicle under the control of a computerized control system (CCS) of the robotic vehicle 10. The method includes: moving the body of the robotic vehicle above the ground by controlling, using a CCS, a rotating member of the robotic vehicle that is coupled to the body and in contact with the ground; Move the proximal end of the dislocation tool assembly of the robotic vehicle to the body, so that the proximal end is in contact with the body; moving the distal end of the dislocation tool assembly underground at a fabrication depth in response to moving the proximal end, whereby the distal end is coupled to the proximal end; Determine and measure the depth of the structure

<p dir="rtl">15 Underground using GPR of robotic vehicle; Moving object over underground structure by controlling, using CCS, a rotary member while tracking, using CCS, Underground structure location and fabrication, using far end of Underground dislocation tool set CCS control, with a polymer coating at the fabrication depth and above the measured depth of the underground structure.</p>

<p dir="rtl">20 In one embodiment, the manufacture of the polymer layer includes: injection, by means of a stripping tool blade of the stripping tool assembly at the distal end, compressed air and molten polymer into the subsurface layer at the fabrication depth; and supply, by means of the removal tool arm of the removal tool assembly coupled to the body at the proximal end and to the removal tool blade at the distal end, compressed air and molten polymer to the removal tool blade.</p>

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In one embodiment, the fabrication of the polymer bed involves: changing the machining depth of the polymer bed by adjusting the longitudinal inclination angles of the stripper blade while moving underground; and fabrication of the polymer layer to the required height above the measured depth of the underground structure by controlling, using CCS, the longitudinal inclination angles of the stripping tool blade.

<p dir="rtl">5 In one embodiment, the fabrication of the polymer bed involves: changing the direction of the polymer bed by adjusting the lateral tilt angles of the stripper blade while moving underground; Imaging, using an infrared camera, of the distal end of the dislocation instrument assembly, and the direction of the polymer layer; and fabricate the polymer layer to obtain the desired orientation by controlling, using CCS, the lateral inclination angles of the dislocation tool blade while using infrared imaging for the orientation.</p>

<p dir="rtl">10 In an embodiment, the method also includes: storing a thermoplastic polymer in a polymer storage vessel coupled to the body; Melt the stored thermoplastic polymer in the molten polymer and supply the molten polymer to the stripper arm using a polymer melter coupled to the body; Store compressed air and supply stored compressed air to the arm of the dislocation tool using a compressed air storage vessel coupled to the body; and supply electrical power to the robotic vehicle using a battery coupled to the body, where it is</p>

<p dir="rtl">15 The robotic vehicle is self-contained and makes the polymer layer using the battery as the main power source.</p>

In one embodiment, polymer bed fabrication involves: changing the fabrication depth of the polymer bed by adjusting the depth below ground from the distal end of the stripping tool assembly while moving underground; and fabricate the polymer layer to the required height above the underground structure by adjusting the depth of the distal end of the dislocation tool assembly, using CCS.

<p dir="rtl">20 In one embodiment, the fabrication of the polymer layer includes: measuring the height of the fabrication depth above the underground structure using an ultrasonic sensor of the distal end of the dislocation tool assembly; and control, using CCS, the fabrication of the polymer layer at the required height above the underground structure using the measured height.</p>

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In one embodiment, the fabrication of the polymer layer includes: measuring the depth of fabrication using a robotic vehicle depth gauge; Measure the thickness of the polymer layer using an infrared camera of the distal end of the dislocation tool assembly; Manufacture, under the control of the CCS, the polymer layer to obtain the desired thickness using the measured thickness of the polymer layer; and generate, using CCS, a shape for anisotropy

<p dir="rtl">5 Thickness of the polymer layer by tracking the measured depth of fabrication and the measured thickness of the polymer layer over time.</p>

In one embodiment, polymer layer fabrication includes: Generating, using GPR, elevation profiles of subterranean distinct layers The elevation profile includes depth, thickness, and density measurements of the distinct layers Characteristic layers include the subterranean structure, the polymer layer, and the subsurface layer above

<p dir="rtl">10 polymer layer; estimate, using CCS, the subsurface load on the polymer layer using the measured thickness and density of the subsurface layer over the polymer layer; Adjust, by means of CCS, the desired thickness of the polymer layer based on the estimated subsurface load on the polymer layer.</p>

In one embodiment, the fabrication of the polymer layer involves: Imaging the heat distribution of the top surface of the film

<p dir="rtl">15 polymer using an infrared camera; and validation, through CCS, of the thermal integrity of the polymer layer or modification of the fabrication of the polymer layer by CCS to improve the thermal integrity of the polymer layer using the imaged thermal distribution of the top surface of the polymer layer.</p>

Any combinations of the different models and applications disclosed here can be used. These and other aspects and features can be appreciated from the following description of some of the models together with the accompanying 20 drawings and safeguards.

Brief description of the drawings

Figure 1 is an example of a self-contained robotic subsurface impact protection system, according to an embodiment.

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Figure 2 is an illustration of a self-contained robotic subsurface impact protection system Figure 1 In an example of a deployment, inject a polymer at the required depth and shape underground to form a subsurface polymer layer protecting an underground hydrocarbon pipeline, according to an embodiment.

Figure 3 is an illustration of an example of a robotic subsurface impact protection system, according to one of 5 models.

Figure 4 is a longitudinal cross-section view of a representative environment for the deployment of a robotic subsurface impact protection system, according to a model.

Figure 5 is an example oblique view of an injected polymer layer formed by a robotic subsurface impact protection system, according to an embodiment.

<p dir="rtl">10 Figure 6 is a profile view of an example measured cross-section of injected polymer during polymer bed fabrication by a robotic subsurface impact protection system, according to an embodiment.</p>

Figure 7 is a profile view of another example measured in cross-section of an injected polymer during polymer bed fabrication by a robotic subsurface impact protection system, according to an embodiment.

Figure 8 is a longitudinal cross-section view of a representative injected polymer layer protecting an underground pipe, as constructed by a robotic subsurface impact protection system, according to an embodiment.

Figure 9a is a longitudinal cross-section view of a representative polymer layer fabricated by a 20 robotic subsurface impact protection system to protect an underground pipe, according to an embodiment.

Figure 9b is a side-section view of a representative cross-section of the injected polymer during the fabrication of the polymer layer in Figure 9a, according to a model.

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Figure 10 is a series of longitudinal cross-sectional views of a representative polymer layer fabricated by a robotic subsurface impact protection system to protect an underground pipe, together with cross-sectional views of a representative cross-sectional shape of the injected polymer during polymer layer fabrication, according to an embodiment .

<p dir="rtl">5 Figure 11a is a representative composite view of a longitudinal cross-section of the polymer layer injected into Fig. 10 for the underground pipe protection, made by a robotic subsurface impact protection system, according to an embodiment. Figure 11b is an enlarged view of the injected polymer layer and tube of Figure 11a.</p>

Figure 12 is a longitudinal cross-section view of an example injected polymer film fabricated by

<p dir="rtl">10 A robotic system for subsurface impact protection, together with different loading points and corresponding rated compressive forces, according to an embodiment.</p>

Figure 13 is a flowchart of a representative method for fabricating a subsurface polymer layer to protect an underground pipe using a robotic subsurface impact protection system, according to an embodiment.

It is noted that the drawings are illustrative and not necessarily measurable, and that the same or similar features 15 have the same or similar reference numbers throughout the specification.

Detailed description:

In various representative embodiments, a robotic subsurface impact protection system is provided to protect buried or subsurface assets (such as hydrocarbon pipelines) from above-ground impact damage, without the need for costly and invasive trenching and backfilling.

<p dir="rtl">20 The robotic system consists of a subsurface delivery device to deliver a thermoplastic polymer, such as high-density polyethylene (HDPE), over the structure to be protected (and below the surface), thereby effectively saving the structure and protecting it from impact damage above the ground. In some embodiments, Various technologies integrate intelligent systems (such as robots and sensors) into an automated robotic vehicle capable of delivering a continuous or near-continuous stream of molten polymer continuously and uniformly below the surface while providing</p>

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Information on the simultaneous structure/integrity of the precipitated polymer. The robotic systems and sensor systems integrated into the subsurface delivery system allow it to operate autonomously or in a self-contained manner over various smooth terrains with minimal outside input or interference.

As previously discussed, there are a number of issues associated with protecting underground structures from

<p dir="rtl">5 Impact damage above the ground. While digging and backfilling trenches can be used to secure protective structures, such as heavy-duty concrete slabs, over pipelines, this can be an expensive and invasive measure. Another option is to increase the thickness of the tube. However, this is also labor intensive and expensive. Precast HDPE panels can be used in place of concrete panels to provide similar protection, but they still require trenching and backfilling to secure to existing pipelines.</p>

<p dir="rtl">10 Accordingly, in representative models, robotic delivery systems are provided for the subsurface layer for injection</p>

A thermoplastic polymer over an underground structure to create a protective polymer layer for the subsurface layer and a lower carbon footprint than alternative methods. In some of these embodiments, continuous or semi-continuous injection of molten polymer is used to deliver the polymer through a mechanical delivery system located above the floor. The polymer is stored on or near a robotic vehicle and the crude polymer includes SBHI

<p dir="rtl">15 Figure in storage(s). The crude polymer is melted and mechanically injected or screwed into the subsurface layer above ground to create a shockproof barrier over the pipeline(s) to be protected. In one of these embodiments, the robotic vehicle is self-contained or It is self-controlled and includes a computerized control system (CCS), ground penetrating radar (GPR), cameras, sensors, height-adjustable take-off tool arm, tilt-adjustable take-off tool blade,</p>

<p dir="rtl">20 Capacity package, thermoplastic polymer storage tanks and compressed air, polymer melting unit. In a similar embodiment, the robotic vehicle is semi-autonomous or not fully autonomous, has similar design features to the autonomous model, and relies only on external connections (eg, umbilical cords and tubing) for compressed air and molten polymer supply as well as for electrical power supply.</p>

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As part of a thermoplastic polymer injection, the injected polymer is generally heated to a fluid state. Optionally, the polymer is heated beyond its melting point to remain initially molten despite contact with unheated ground materials. The melting point can vary greatly with the type of polymer. For example, the melting point can lie in a temperature range of 120°C

<p dir="rtl">5 Celsius (°C) and 260°C, which covers low melting point polymers such as polyethylene (PE) through to high melting point polymers such as polyethylene terephthalate (PET).</p>

In representative models, the use of robots and sensors includes managing and tracking the rate of polymer deposition, the direction of motion of the robotic vehicle, the speed of movement of the robotic vehicle, and the integrity of the polymer that has been

<p dir="rtl">10 connect it. The CCS is initialized by code to evaluate traceability and control synchronously (i.e. simultaneously) in real time, eg during fabrication of a polymer subsurface layer. The CCS is further initialized by code to adjust those variables depending on factors such as nature of the terrain, simultaneous feedback from on-board sensors, etc. In some of these models, built-in sensors feed their measurements back into</p>

<p dir="rtl">15 Robots, which are programmed or otherwise configured to adjust these variables independently, including individually or simultaneously as necessary. For ease of description, the concepts described relate entirely to buried pipelines, although they also apply to other buried assets such as storage tanks. These technologies use robots and sensors to track the direction of the pipeline to deposit a consistent and uniform layer of polymer in the x, y, and z directions below ground and above the pipeline.</p>

<p dir="rtl">20 Tracker pipe. Here, x denotes the longitudinal direction (or length of the pipeline), y denotes the lateral direction (or width of the pipeline), and z denotes the lateral direction (or height or thickness).</p>

In more detail, CCS includes one or more computers, processors, microprocessors, processing circuits, or other logic circuits that are configured (for example, by means of code, dedicated logic, or the like) to perform control of all other devices and systems.

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on the robotic vehicle. Embedded in the robotic vehicle, and under the control of the CCS, the GPR continuously locates and tracks the buried pipeline depth and direction using radar-driven positioning and navigation. This allows the robotic vehicle to operate and protect the pipeline without the need for pipeline diagrams, routing and documentation that is not always readily available. on this

<p dir="rtl">5 As such, combined GPR and CCS are initialized or customized (for example, via code) to evaluate and act upon factors or variables to locate and navigate a buried pipeline origin using an above-ground delivery system. For ease of description, CCS is usually described throughout Time is defined as a single computing device configurable by computer code (for example, a program) to carry out the tasks assigned to it, but its actual execution can extend to multiple configurable machines, however</p>

<p dir="rtl">10 For example, software, firmware, custom logic, or a combination thereof.</p>

In some embodiments, cameras (such as visible spectrum cameras) are embedded above and below the robotic vehicle to provide wireless visual direction to operators near or far from the robotic vehicle. In addition, infrared cameras are mounted below the surface (such as a dismounting tool blade). To provide thermographic confirmation that the manufactured polymer layer is spread appropriately and consistently

<p dir="rtl">15 In some embodiments, sensors are embedded in the robotic vehicle and a subsurface dressing tool blade that continuously assesses the amount of polymer being deposited below the surface to ensure evenness, consistency, and continuity in the deposited polymer layer. For example, some sensors measure the speed of a robotic vehicle and the rate of polymer deposition, with the CCS programmed to adjust these variables based on information retrieved from the embedded sensors.</p>

<p dir="rtl">20 In some embodiments, the robotic vehicle includes its own height-adjustable stripper arm, which adjusts in height to vary the fabrication depth of the polymer layer, such as maintaining a fixed height above an underground pipeline. On some of these embodiments, the CCS is initialized by code to adjust the height of the stripping tool arm based on real time data from the GPR. Here, the GPR continuously detects (for example, measurements or otherwise) the depth of the buried pipeline, and the CCS is initialized by</p>

<p dir="rtl">25 Code way to automatically adjust the height of the arm of the stripping tool in order to ensure that the polymer layer is deposited</p>

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approximately 0.5 m (or other combination) above the pipeline. In some embodiments, the robotic vehicle includes an adjustable take-off blade at the tip of the take-off tool arm. The take-off tool blade is adjustable (ie, can be tilted) in the x and x directions y and z based on real time data from the embedded GPR and other sensors.This facilitates the movement of the robotic vehicle to deliver a load

<p dir="rtl">5 its polymer in any direction depending on the direction of the buried pipeline.</p>

In some embodiments, the robotic vehicle (RV) itself is an autonomous or semi-autonomous vehicle that is robotically controlled and under CCS control with minimal or no human input. The RV control system features computer-controlled motion, speed, and polymer deposition rate. On some of these models, the computerized control system (CCS) is configured

<p dir="rtl">10 of the RV by code to link the GPR, on-board sensors, and CPU stripper control mechanisms with a feedback loop to ensure that all aspects of the system operate sequentially to deliver the subsurface polymer layer of the desired size, shape, and location. In some models, the RV includes a power pack (for example, a battery pack) to operate the entire system independently, including making it functionally independent or self-contained. However,</p>

<p dir="rtl">15 In some other models, the RV is discreetly powered from a mobile power unit or generator. In some models, the RV includes crude polymer and compressed air storage tanks. In some other embodiments, molten polymer and compressed air are fed through mobile tanks on trucks or other vehicles through umbilical cords directly to the robotic vehicle. For example, this could make room on the robotic vehicle itself for additional sensors or auxiliary equipment.</p>

<p dir="rtl">20 In some embodiments, the robotic system is self-deployed as a self-contained robotic vehicle, with all sensors, computers, mechanics, batteries, and raw materials located on or within the robotic vehicle itself. In these embodiments, potential limitations on the robotic vehicle system include the size of the battery pack and the quantities or values ​​of compressed air and raw polymer that the robotic vehicle can hold. These models are ideal for short distance pipelines or otherwise</p>

<p dir="rtl">25 A small buried asset where protection through rapid deployment is desirable or required. in</p>

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In some other models, the robotic system is deployed semi-autonomously or not as a self-contained robotic vehicle. For example, in some of these embodiments, the robotic vehicle includes all of the above features, except for the power source, compressed air supply, and crude polymer tanks. Here, electrical power, compressed air, and molten polymer are provided in form

<p dir="rtl">5 independent of the robotic vehicle, such as through umbilical cords from autonomous or mobile storage tanks or vehicles close to the robotic vehicle. These models are ideal for long pipelines where resources can be mobilized just in time to provide the required protection.</p>

For self-contained or non-self-contained models, the molten polymer is spread/deposited/injected below the surface through the delivery system on a continuous basis (eg, injection

<p dir="rtl">10 Compressed air is also injected or otherwise diffused underground, for example, to create cavities in the subsurface layer. surface of the molten polymer.</p>

Figure 1 is an illustration of an example of a stand-alone robotic substratum impact protection system

<p dir="rtl">15 Figure 1 is an illustration of a stand-alone robotic subsurface impact protection system 100 (or device) 100 (or device), depending on an embodiment. Figure 1 is an illustration of a simulated deployment, injecting a polymer at the required depth and shape underground 25 to form a subsurface polymer layer 75 protecting a hydrocarbon pipeline Underground 50, according to one model.</p>

Figure 1 shows the basic concept of the no-trench free polymer subsurface delivery system 20 or the device 100 in a fully independent or stand-alone position or configuration, while Figure 2 shows the device

100 It is running. Device 100 has a front on the right side of Figure 1, and a back on the left side of Figure 1 (similarly for Figure 2). Device 100 moves toward the front (as shown in Figures 2-1), with most of the device 25 above the ground while deployed. Subsurface polymer layer 75.

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System 100 in Figure 1 includes a polymer bead silo 130 for storage of raw polymer beads, such as commercially available HDPE beads. The beads can be transported to site, ready for use in the subsurface delivery system 100 by filling the polymer bead silo 130. Device 100 shown in Figure 1 is an autonomous mechanical robotic system 100 for subsurface delivery 5 without trenching for molten polymer. Once injected or propagated in a way

On the other hand, the polymer forms an effective shock-resistant barrier under the ground (eg Polymer layer 75) to buried structures (eg Hydrocarbon Pipeline 50), such as accidental damage to a third party (eg, by a mechanical excavator). Buried structures of any kind can be protected, such as Pipelines, electric cables, optical fibers, and the like from such a system 100. While 10 oil, gas, and petrochemical industries could benefit from such a system 100, anything buried would need to

3rd party impact damage protection above ground This system can be used by 100% of, for example, fiber optic cables, sewer lines, and gas/water pipes, to name a few. The system provides 100 speed saws to protect buried assets from impact damage above the ground.

<p dir="rtl">15 The Apparatus 100 as shown in Figure 1 includes the following basic parts: a silo 130 containing commercially available polymer beads, a compressed air reservoir 135, and a vehicle</p>

^ robotic equipped with mechanical equipment 110 (including the body 115 which moves from one position to another using one or more rotatable members, in this case two treads 105), a polymer melter 140, a height-adjustable stripping arm 120 below the surface (in scale Counter depth 20 (155") and 125" tilt-adjustable stripping tool blade, conveyor/feed system for feeding molten polymer

and compressed air to the Blade Ripper 125, Ground Penetrating Array 170, Rear Cams 160 and Front Cam 165, Blade Rigging Tool Sensors 180, Computerized Control System 150, Battery/Auxiliary Pack 145. The 100 includes a network of sensors. (Including an infrared camera 160, 170 GPR, and an ultrasonic sensor 180

<p dir="rtl">25 Built-in 110 robotic vehicle. Sensors do not operate, in conjunction with 150 CCS,</p>

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Valuable information and data not only on the structure/integrity of the polymer precipitator but also provide independent operation in a given environment. The 100 of Figure 1 is efficient and can be quickly deployed in most soft soil / soil / sandy environments, thus providing adequate protection to buried assets from third party impact damage.

<p dir="rtl">5 Referring to Figure 1, in a representative embodiment, a robotic vehicle (such as a robotic vehicle 110) to move over the ground (such as a ground 25) during the manufacture of a subsurface polymer layer (such as an HDPE sheet) is provided to protect an underground structure (a buried pipeline, for example, hydrocarbon tube 50). The robotic vehicle includes a body (eg body 115) for moving over the ground, and a rotating member (eg a cylinder, wheel or tread, as in tread 105) coupled to the body.</p>

<p dir="rtl">10 The earth rotating member and moving the object above the ground (for example, for propulsion and rotation, such as electric motors and actuators) during the manufacture of the subsurface polymer layer. That is, the polymer layer (such as a high-density polyethylene sheet, for example, an injected polymer sheet 75 (Manufactured as the body moves. In one embodiment, the polymer layer is manufactured as a series of polymer sheets or blocks, with gaps between the chain sheets or blocks.</p>

<p dir="rtl">15 Continuing with Figure 1, the robotic vehicle also includes a dismounting tool assembly (such as a tool arm).</p>

Dislocation 120 and Dislocation Tool Blade 125) which have a proximal end (such as the upper part of the Ripping Tool Arm 120) attached to the body above ground, and a distal end (such as the Ripping Tool Blade 125, or the lower part of the Ripping Tool Arm 120) underground. It moves The proximal end is with the body, while the distal end moves underground at fabrication depth in response to the movement of the proximal end during the fabrication of the polymer layer

<p dir="rtl">20 For example, the removal tool assembly can contain a walking body^{^}Fr, tapering to a leading edge in the direction of motion to cut through and move through subsurface layers. The expanding rear surface creates a volume (eg, triangular prism shape) useful for wiring, sensors, and conduits for transporting raw materials (such as compressed air and molten polymer) from the body to the rear of the distal end of the dismounting tool assembly, in order to form the polymer layer at a machining depth below the earth.</p>

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The robotic vehicle also includes a ground penetrating radar (GPR, such as the 170 GPR that locates and measures the depth of the subsurface structure underground during the manufacture of the polymer layer, and a Computerized Control System (CCS, such as the 150 CCS) configured by code to protect the subsurface structure by controlling 5 in the rotary member, at the distal end of the take-off tool assembly, and the GPR to move the body over the subsurface hull while tracking the hull's subsurface position

and fabrication of the polymer layer at the fabrication depth and above the measured depth of the subsurface structure. For example, with reference to Figure 1, the 150 CCS is configured by a tread control code 105 to actuate and steer the robotic vehicle 110 to stay and move in the direction of the buried pipeline (as defined by the 170 GPR) while the stripping tool blade 125 injects compressed air 10 and polymer molten in the ground at a manufacturing depth to form the polymer layer

Machining depth above the buried pipeline. For example, compressed air can be injected to form cavities in the subsurface layer, and molten polymer can be injected into the formed cavities to make the polymer layer.

In one embodiment, the stripping tool blade can be adjusted to longitudinal tilt angles while moving underground, 15 and to change the machining depth during polymer bed fabrication. Additionally, CCS is initialized by

Code to control the fabrication of the polymer layer at the required height above the measured depth of the subsurface structure by controlling the longitudinal inclination angles of the stripping tool blade during the fabrication of the polymer layer. For example, tilting the stripping tool blade downward moves the stripping tool blade (and machining depth) deeper below ground as the stripping tool blade moves through the ground, while tilting the stripping tool blade upwards has the opposite effect.

In one embodiment, the blade of the stripping tool can be adjusted by lateral inclination while moving underground, in order to change the direction of the manufactured polymer layer during the fabrication of the polymer layer. In addition, the distal end of the stripping tool assembly includes an infrared camera (such as the infrared camera 180 at the bottom of the stripping tool arm 120) that visualizes the direction of the layer

<p dir="rtl">25 polymer during the manufacture of the polymer layer. CCS is initialized by a layer manufacturing control code</p>

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The polymer to obtain the desired orientation by controlling the angle of lateral inclination of the tool blade while using infrared imaging for the orientation during the manufacture of the polymer layer. on this

, the CCS is initialized by code to correct for any lateral tilting of the fabricated polymer layer, for

Adjusting the lateral tilt of the stripper blade 125.

<p dir="rtl">5 In one embodiment, the robotic vehicle also includes a polymer storage vessel (eg Bead Silo 130) coupled to the body that stores a thermoplastic polymer (eg HDPE Beads), a polymer melter (eg Bead Melt 140) coupled to the body which melts the polymer Thermoplastic stored in molten polymer The molten polymer is supplied to the lever of the removal tool, a container for storing compressed air (eg compressed air storage 135) coupled to the body which stores</p>

<p dir="rtl">10 Compressed air supplies the stored compressed air to the removal tool arm, and a battery (such as a 145 battery pack) is coupled to the body and supplies electrical power to the robotic vehicle. Here, the robotic vehicle is self-contained, moving, and making the polymer layer using the battery as the main source of power. For example, a robotic vehicle that Electric powered, contains electric motor, electric fuse, electric air compressor, electronics (GPR, CCS, sensors)</p>

<p dir="rtl">15 It operates directly or indirectly off the battery. This does not preclude the availability of other relatively small sources of power, such as backup emergency batteries or small solar panels.</p>

In one embodiment, the distal end of the dislocation tool assembly can be set subsurface while moving underground to change the fabrication depth during polymer layer fabrication. For example, the lever of the stripping tool can be adjusted in length or extended (eg, gradually reduced in thickness), or

<p dir="rtl">20 It can be raised or lowered (for example, exposing more booms above the ground during hoisting, and burying more booms underground during lowering). In addition, the CCS is configured by code to control the fabrication of the polymer layer at the required height above the structure below the surface. ground by adjusting the depth of the distal end of the dislocation tool assembly during the fabrication of the polymer layer.To this end, in one embodiment, the distal end of the dislocation tool assembly incorporates a sensor above</p>

<p dir="rtl">25 acoustic (eg 180 ultrasonic sensor) that measures the height of the machining depth above</p>

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The subsurface structure during the manufacture of the polymer layer. Furthermore, the CCS is configured with a code to control the fabrication of the polymer layer at the desired height above the subsurface structure using the height measured during the fabrication of the polymer layer.

5 In one embodiment, the robotic vehicle also includes a depth gauge (such as the 155 depth gauge) that measures the depth of machining (for example, extending or lowering the dislocation tool arm, such as with an encoder) while

Fabrication of the polymer layer. In addition, the distal end of the stripping tool assembly includes an infrared camera (such as one or more 180 infrared sensors spread along the blade of the stripping tool) that measures the thickness of the polymer layer during the fabrication of the polymer layer. To this end At the end, the CCS is initialized by means of a code to control the fabrication of the polymer layer to obtain a desired thickness using the measured thickness of the polymer layer during the fabrication of the polymer layer.

The CCS is initialized by code to generate a figure for the polymer layer thickness variance by tracking the measured depth of fabrication and the measured thickness of the polymer layer over time during the fabrication of the polymer layer.

In one embodiment, GPR is configured to generate the shape of the rise of distinct subsoil layers during the manufacture of the polymer layer. Here, the height figure includes the depth, thickness, and density measurements of the layers

<p dir="rtl">15 Distinguished. There can be many distinct layers, including the subsurface structure, the polymer layer, one or more subsurface layers above the polymer layer, and one or more subsurface layers between the subsurface structure and the polymer layer. To this end, the CCS is initialized by a code to estimate the subsurface load on the polymer layer during the fabrication of the polymer layer using the measured thickness and density of each of the subsurface layers above</p>

<p dir="rtl">20 polymer layer. In addition, the CCS is initialized by code to set the desired thickness of the polymer layer during the fabrication of the polymer layer based on the estimated subsurface load on the polymer layer.</p>

In one embodiment, the robotic vehicle also includes an infrared camera (such as an infrared camera 160) that visualizes the thermal distribution of a top surface of the polymer layer during the fabrication of the polymer layer. In addition, the CCS is initialized by code to use the distribution Al-Hariri

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Photographer of the upper surface of the polymer layer in order to verify the thermal integrity of the polymer layer, or as a feedback to adjust the manufacture of the polymer layer in order to improve the thermal integrity of the polymer layer.

Figure 3 is an illustration of an example of a robotic subsurface impact protection system 300, according to an embodiment. System 300 is similar in structure and operation to Device 100 in Figure 1, in contrast

<p dir="rtl">5 Device 100 only, the System 300 is not a standalone system. Alternatively, the robotic vehicle includes the 310 Figure 3 Tread 305, Body 315, Ripper Arm 320, Ripper Blade 325, 350 CCS, 355 Depth Gauge, 360 Cam R, 365 GPR, 370 GPR, and 380 Sensors (all of which can The components of the device 100 shall be similar, including molten polymer, compressed air and power cable(s) 390. Umbilical cables 390 may be connected</p>

<p dir="rtl">10 With separate vehicles, stocks, or nearby sources, provide RV 310 with the molten polymer, compressed air, and electrical power required to operate RV 310 and manufacture the polymer layer underground at the required fabrication depth. The rest of the description of System 300 is similar to that of Device 100 in Figures 1-2, so it will not be repeated.</p>

According to different models, such as 100 and 300 subsurface robotic impact protection systems

<p dir="rtl">15 In Figures 1-3, the polymer substratum can be fabricated without the need for trench excavation and backfilling, as required with corresponding polymer concrete slab technologies. These systems can also be fully independent or self-contained (as in System 100) or they can be semi-independent or non-standalone (as in System 300). These systems can save costs and time (for example, from Not having to do excavation and backfilling), and it can be accomplished</p>

<p dir="rtl">20 Working with minimal human input, saving more costs and resources.</p>

According to some embodiments, the functions of the on-board sensors are primarily twofold: to track and locate a buried asset (pipeline) via GPR, and to assess the integrity of the deposited polymer layer through sensors mounted on it, for example, a stripping tool blade and Feed the removal tool.The CCS is initialized by code to use data from the 25 onboard sensors in order to determine the robotic vehicle's speed, polymer deposition rate,

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and the clearance for depositing the polymer layer above the pipeline. This allows the system or device to fabricate the polymer layer to the desired shape and location to protect underground assets, without trenching and backfilling.

In some embodiments, the robotic system for subsurface impact protection includes several

<p dir="rtl">5 Sensor systems or cameras installed and operated under the control of CCS, configured by code to assess and ensure the quality of the injected polymer layer. This validation system is designed to evaluate four primary target parameters: 1) positioning of the robotic vehicle, 2) shape and dimensions of the injected polymer, 3) strength of the polymer layer against ground loads, and 4) thermal deformation of the polymer layer.</p>

Figure 4 is a longitudinal cross-section (or elevation profile) view of a representative environment for a system deployment

<p dir="rtl">10 Robotic subsurface impact protection (such as Systems 100 or 300), depending on an embodiment. It should be noted in Figure 4 that the tube 50 to be protected differs in height from the surface 25, progressing longitudinally (in no length) along the tube 50. Figure 5 represents Oblique view (3D or 3D) of an example of an injected polymer layer 75 formed by a robotic subsurface impact protection system, according to an embodiment.</p>

<p dir="rtl">15 To better illustrate and describe these and other drawings, m reference 3D coordinates x, y, and z are selected as part of a unified reference system of coordinates to describe the dimensions related to the polymer layer 75 and their relationship to the surface 25 and the tube 50. Here, the z-direction is aligned with the thickness of the polymer layer 75 and the height of the objects above the surface 25 (for example, the direction of gravity), the x-direction is aligned with the length of the polymer layer 75 and the pipe 50 (longitudinal dimension), and the y-direction is aligned with the width of the layer</p>

20 Polymer 75 and tube 50 (side dimension).

The positioning of the SIC robotic vehicle (or robotic vehicle, for short) above ground must be aligned with the buried pipeline. To this end, it should be noted that there is usually data regarding the location and height of pipelines available prior to the construction and installation phases of any pipeline. specific pipes.As such, it is possible to use this data to identify

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Pipeline location and placement of the robotic vehicle over the pipes approx. However, the construction data is not in sufficient form or detail to provide precise guidance on where to deposit the polymer layer or to adjust the lever as the vehicle moves along the pipe. Accordingly, in some embodiments, a continuous checking system is used to ensure that the robotic vehicle is moving in the path along the pipe (eg

<p dir="rtl">5 For example, in line with the tube below the ground), with safety margins for adjusting the height of the dismounting arm. To this end, in some of these embodiments, a combination of GPR and ultrasonic sensors are installed in the robotic vehicle to provide guidance.</p>

For example, a GPR can be installed (as in the back of a robotic vehicle) to monitor and track the location of the underground pipe before the formation of the polymer layer and shortly after the formation of the

<p dir="rtl">10 polymer layer. In this way, GPR can be used to ensure that the polymer layer is formed in the correct location and to verify that it is formed into the desired shape and integrity in a continuous feedback approach under the control of CCS. Electromagnetic radiation from GPR is usually used in the geophysical field as a non-destructive method for detecting subsurface structures. However, this device is not only used in the robotic vehicle for tube detection, but also to communicate those signals to a processing system.</p>

<p dir="rtl">15 On-board computer (CPS, also referred to as Computerized Control System or CCS throughout). CPS is configured by code to monitor and control (for example, through treads, pulleys, wheels or other rotary motion members) the movement of the robotic vehicle To ensure that the robotic vehicle moves in line with the tube.</p>

In addition, ultrasonic sensors (such as the Fabrication Depth 20 of the Dislocation Tool Kit) can be fitted to detect objects by sending sound waves towards the objects (which are then reflected off targets) and then calculate distances to targets based on the time required to receive the reflected sound waves In general, ultrasonic sensors provide more accurate measurements than GPR devices.Furthermore, in some models, the ultrasonic sensor is mounted on the blade of the dislocation tool because it is closer to the location of the device in the vehicle

<p dir="rtl">25 to the underground structure (for example, a pipe) that is being protected. This helps in</p>

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Ensure that distance measurements are taken as accurately and completely as possible. This measurement data is then delivered to the on-board CPS, which is configured by code to calculate the required or desired height for the stripper blade to move and stay above the pipe, and below the surface.

The shape of the injected polymer and the dimensions of the polymer bed are subject to several factors, such as the shape of the injecting tool (eg

<p dir="rtl">5 (e.g., dislocation tool blade or distal end of the dislocation tool assembly), robotic vehicle speed, injection rate of the injector, soil type and conditions, to name a few. On some models, as manufactured by the robotic vehicle dressing assembly, the length of the The polymer is a function of the length and range of the robotic vehicle travel while manufacturing the same section of the polymer layer.However, the width and thickness dimensions are controlled differently.</p>

<p dir="rtl">10 Figure 6 is a profile view of a representative measured cross-section of the injected polymer during the fabrication of the polymer layer by a robotic subsurface impact protection system, according to an embodiment. Figure 6 shows an example of a potential polymer formation taken by an infrared camera.</p>

Regarding the dimensions, width and thickness of the polymer layer, since the objects below the surface do not

<p dir="rtl">15 If you are exposed to light, the use of infrared cameras can be useful. To this end, in some embodiments, an infrared video camera is attached to the arm of the dislocation tool at the point of injection in order to continuously capture the temperature of the polymer layer (cooling) while the molten polymer is injected into the subsurface layer. In some of these On models, several infrared cameras are distributed along the injection portion of the dislocation tool blade.</p>

<p dir="rtl">20 Because the polymer is injected at a different temperature than its surroundings, it is possible to capture</p>

its shape by recognizing temperature differences using infrared imaging. As such, the infrared camera(s) captures the frontal shape or cross-section of the polymer sheet, allowing the camera and CPS to determine the thickness and width of the sheet from the captured tomographic infrared images. This is fed into the CPS,

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which is initialized by a code to compare the imaged cross-section with the desired or ideal variables to determine the areas of excess or under-sampling. In some of these embodiments, the robotic vehicle does not move until the required cross-section of molten polymer has been injected and all unfilled areas have been dealt with.

<p dir="rtl">5 Figure 7 is a profile view of another example measured in cross-section of an injected polymer during the fabrication of the polymer bed by a robotic subsurface impact protection system, according to an embodiment. Figure 7 shows an example of the formation of a polymer layer taken by an infrared camera showing anomaly errors (lateral inclination).</p>

With respect to the orientation of the polymer sheet, the stripping tool blades are subject to angular change when operating the robotic vehicle stripping tool 10 set below ground and near pipes due to the flexible nature of the tool blades

dislocation In some embodiments, an infrared camera is placed centrally in the arm of the dislocation tool (fixed part), and is therefore not subject to the same angular contrast. Infrared imaging from this camera can be used to capture the anterior cross-section of the polymer layer (as shown above and shown in Figure 7) to specify the general orientation (eg, lateral slope) of a layer

<p dir="rtl">15 polymer.</p>

Referring to Fig. 7, this determination or verification can be made by comparing the angles of the captured infrared image to the projection of the boundaries of an idealized polymer layer (eg, without any tilt). The CPS is initialized by code to calculate the asymmetric difference and send commands to the code the stripping tool to adjust its angles accordingly.To this end, the stripping tool blade can be set to lateral tilt angles while moving under the ground in order to correct these divergence errors.As such, in some embodiments, the

CPS by code to minimize the movement of the robotic vehicle while controlling the blade of the stripping tool to adjust its lateral inclination in order to achieve the required cross-section and to fill any or most of the gaps caused by the spacing error with the molten polymer.

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Figure 8 is a longitudinal cross-section view of a representative injected polymer layer protecting an underground pipe, as constructed by a robotic subsurface impact protection system, according to an embodiment. Figure 8 shows an example of the arc change of the tube and the polymer layer.

With regard to the dimensions of the bed and to check the height profile of the manufactured polymer layer, it may be important

<p dir="rtl">5 Determine the shape of the height and shape change of the polymer layer, such as the change of height (in the Z direction) along the distance (in the X direction), after injection. In view of the robotic vehicle, especially the dislocation tool blade or other components of the dislocation tool assembly, this can be measured more easily and accurately During the manufacture of the polymer layer compared thereafter using surface equipment or tooling The shape of the elevation plays a major role when evaluating the strength of the polymer layer and the effect of the distributed loads acting on it For these purposes, in some cases</p>

<p dir="rtl">10 Models, GPR and an infrared video camera are used to determine the height and shape of the fabricated layer.</p>

For example, in some of these embodiments, GPR is used to detect all subsurface targets including the pipe structure and the protective polymer sheet. From this, the approximate shape, height and archetypes of the injected polymer plate can be determined by the robotic vehicle.

<p dir="rtl">15 By GPR under the control of CPS, as shown in Figure 8.</p>

Figure 9a is a longitudinal cross-section view of a representative polymer layer 75 fabricated by a robotic subsurface impact protection system to protect an underground tube 50, according to an embodiment. Figure 9b is a side-section view of a representative cross-section of the injected polymer during the fabrication of the polymer layer 75 of Figure 9a, according to an embodiment. Figures 9a-

<p dir="rtl">20 9b, together, the input data, i.e., the length H of the stripping tool arm 920 below the surface 25 (ie, the depth of fabrication) and the thickness T of the polymer layer 75, to create a figure for the arcial anisotropy of the polymer layer 75.</p>

Figure 10 is a series of longitudinal cross-sectional views of a representative polymer bed 75 made by a robotic subsurface impact protection system to protect an underground pipe 50

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, along with corresponding lateral cross-sectional views of a representative cross-section of the injected polymer during the fabrication of the polymer layer 75, according to an embodiment. Figure 11a is a composite view of an example longitudinal cross-sectional section of the injected polymer layer 75 of Fig. 10 to protect the underground tube 75, made by a robotic subsurface impact protection system, 5 according to an embodiment. Figure 11b is a magnified view of the injected polymer layer and tube

Figure 11a. Figure 10 shows a representative CPS methodology initialized by code to generate the arc anisotropy profile of the polymer layer 75 over time. Figures 11a-11b together show the resulting figure compiled by CPS from the individual data points obtained in Fig. 10. In particular, Fig. 11b shows a zoomed-in view of the general arc profile 10 generated for polymer layer 75 in drawing Illustration in Figure 11a.

In some embodiments, the CPS is initialized by code to track the trajectory of the injected polymer layer 75 (point by point) by taking real-time data of the adjustable arm length—of the injected polymer position in the z-direction (eg, as measured by a dipstick)—and of the thickness of the injected polymer. polymer 75 layer, as shown in Figures 9a-9b.In some of these embodiments, measurements of the 15 thickness of the polymer 75 layer as described above are estimated from images captured by an infrared camera

The red one. Furthermore, the adjustable boom length can be obtained directly from the vehicle control system, such as by using a depth gauge or other technology to maintain or measure the published length of the rip tool boom below ground (eg, fabrication depth). models, the CPS is initialized by code to acquire this data in different time steps, as shown in Figure 10 20 (five distinct time steps are shown), in order to connect the different thicknesses at points

various injections. This allows an approximate shape of the deposited layer 75 to be obtained, as shown in Figures 11a–11b. Breaking down continuous data into smaller time steps leads to greater predictive accuracy of the shape of the deposited layer.

Figure 12 is a longitudinal cross-section view of an example of an injected polymer 75 layer fabricated

25 By a robotic subsurface impact protection system, combined with various loading points

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and corresponding rated compressive forces, according to an embodiment. Figure 12 shows how different points on the polymer-75 layer can experience different ground forces from different combinations of subsurface layers (eg, subsurface anisotropy) over it.

With respect to the strength of the polymer layer 75, in some embodiments, GPR is used to mark the subsurface 5 layers above the protective polymer sheet 75 and assign an average weight or density to the corresponding layers above, as shown in Figure 12. These weights or densities are recognized by Map them as local points of load acting over the existing polymer protective layer, as shown in Figure 12. These loads are fed into a CPS finite element analysis model to estimate stress and bending moments on the polymer, providing reassurance of the strength of the structure over its lifetime.

<p dir="rtl">10 With regard to the thermal deformation of subsurface bodies, in some embodiments, infrared cameras are mounted above the angle-adjustable arms of the stripper that allow them to record the thermal distribution of the upper surface of the deposited polymer layer. These images are then fed continuously into a CPS finite element analysis model to evaluate the expansion and contraction potentials of the newly synthesized polymer layer. This is an additional assurance that the polymer layer will not undergo significant deformation that may hinder the system</p>

<p dir="rtl">15 protection. Additionally, the CPS is configured to incorporate feedback of potential deformation parts and adjust the polymer layer fabrication accordingly.</p>

Representative models provide pipeline protection and mitigate the risk of intrusion through automation. Representative models also protect pipelines/buried assets from impact damage above ground through automatic operation. Some of these models use various robotic technologies

<p dir="rtl">20 and related to sensing and computing embedded in a single robotic vehicle to provide a fully autonomous (and even stand-alone) or semi-autonomous solution to facilitate the protection of buried assets (for example, pipelines) from impact damage above ground. Some of these models include sensors on an automated robotic vehicle that can Delivery of a continuous or semi-continuous molten polymer stream below the surface from above without the need for trenching and backfilling Some of these models are provided for protective solution inspection</p>

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Prism and its monitoring as well as various variables to control the robotic vehicle, such as speed, angle / precipitation rate, depth, position, tracking, etc.

The techniques described here can be implemented using a combination of sensors, cameras, GPRs, and other devices including compute or other configured logic circuits (eg

<p dir="rtl">5 for example, programmed) to carry out the tasks assigned to it. These devices are located on or in (or near) the robotic vehicle or processing circuit to perform technologies. In some examples of models, the control logic is implemented as computer code configured to be executed on a computing circuit (such as a processor micro) to perform the control steps that are part of the technology. For ease of description, such processing logic (eg ASIC, FPGA, processor, custom circuit, etc.) is referred to as a control system</p>

<p dir="rtl">10 Computerized (CCS) or Computerized Processing System (CPS) all the time. For more ease of description, CCS or CPS can be programmed by code to carry out the processing logic (or otherwise customized for CCS or CPS to perform their intended purpose).</p>

Figure 13 is a flow diagram of a representative 1300 method for fabricating a subsurface polymer layer (eg Polymer 75) to protect a subsurface pipe (eg 50) using a robotic system

<p dir="rtl">15 For subsurface impact protection (eg Robotic Subsurface Impact Protection Systems 100 and 300) according to an embodiment.</p>

Some or all of Method 1300 can be implemented using the components and techniques shown in Figures 1 through 12. Portions of this implementation and the other methods disclosed herein can be performed on or using a dedicated or preprogrammed logic device, circuit, or processor, such as a logic circuit met him

<p dir="rtl">20 A programmable (PLC) computer, software, or other circuit (eg, FPGA, ASIC) configured by code or logic to carry out the task assigned to them. The device, circuit, or processor, for example, can be a dedicated or shared device. such as a laptop computer, single board computer (SBC), workstation, tablet computer, smartphone, server part, or dedicated hardware circuit, such as in an FPGA, ASIC, or similar), or</p>

<p dir="rtl">25 A computer server, or part of a server or computer system. The device, circuit, or</p>

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processor on non-temporary computer readable medium (CRM, such as a read-only memory (ROM), flash disk, or disk drive) to store instructions that, when executed on one or more processors, cause the method to occur in whole or in parts. Of these 1300 (or other detected method) to be executed. It should be noted that in other models, the order of

<p dir="rtl">5 Processes, some processes can be deleted. Some or all of Method 1300 may also be performed using the logic, circuits, or processors within it, or in electrical connection to a processing circuit configured to perform Method 1300.</p>

Method 1300 is an automated way to protect an underground structure (eg Hydrocarbon Pipeline 50) by fabricating a subsurface polymer layer (eg Polymer Layer 50) using a robotic vehicle

<p dir="rtl">10 A mobile vehicle (such as a 110 or 310 robotic vehicle) under the control of a computerized control system (CCS, such as a 150 CCS or 350) of a robotic vehicle that has been configured by code to perform or control the execution (or initiation of execution) of the steps of Method 1300. In Method 1300, it begins Processing by moving step 1310 of a body (such as body 115 or 315) of the robotic vehicle above ground (such as ground 25) by controlling, using CCS, a rotating member (such as tread 105 or 305) of the paired robotic vehicle</p>

<p dir="rtl">15 body and touch the ground. Method 1300 also includes the step of moving the 1320 proximal end (such as close to the body) of the dismounting tool assembly (such as dismounting tool arm 120 or 320) of the robotic vehicle to the body, where the proximal end is attached to the body.</p>

In addition, Method 1300 includes a moving step 1330 of a distal end (such as underground and away from the body) of a stripping tool assembly (such as a stripping tool blade 125 or 325) underground with a machining depth (such as a depth of ejection of polymer on a stripping tool blade 125 or 325 ( in response to move

The proximal end, where the far end is coupled to the proximal end (such as the stripper arm 120 or 320). The 1300 method also includes a step to locate the 1340 and measure the depth of the underground structure using a ground penetrating radar (GPR, such as the 170 GPR or 370) of the robotic vehicle. On it, the 1300 method involves the combined step of moving 1350 bodies over the existing structure

<p dir="rtl">25 Underground by control (eg steering), using CCS, rotary member while tracking,</p>

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Using CCS, the location of the underground structure and fabrication (such as injection of compressed air and molten polymer into the subsurface layer), using the distal end of the dislocation tool set under the control of the CCS, the polymer layer at the fabrication depth and above the measured depth of the underground structure.

<p dir="rtl">5 In addition, in Method 1300, the sub-step (from step 1350) of polymer bed fabrication step 1360 involves changing the machining depth of the polymer bed by adjusting the longitudinal inclination angles (such as adjusting the longitudinal inclination of the stripping tool blade 125 or 325) with the stripping tool blade while moving under Here, the longitudinal tilt of the stripping tool blade can be controlled (such as by CCS) to set it as directed. As such, this sub-step also includes a manufacturing step</p>

<p dir="rtl">10 of the polymer layer to the required height (eg 0.5 m) above the measured depth of the underground structure by controlling, using CCS, the longitudinal inclination angles of the stripping tool blade. To this end, the sub-step includes the step of measuring the height of the fabrication depth above the underground structure using a sensor above acoustic (such as a 180 or 380 sensor) at the distal end of the stripping tool assembly, controlling, using CCS, the fabrication of the polymer layer at the required height over the structure</p>

<p dir="rtl">15 underground using the measured height.</p>

In an exemplary embodiment, in Method 1300, the sub-step (from Step 1350) of manufacturing the polymer layer includes the steps of injection, by means of the stripping tool blade of the stripping tool assembly at the distal end, compressed air and molten polymer into the subsurface layer at fabrication depth, and supply, by means of an arm Ripping tool With the removal tool assembly, it is coupled to the body at the proximal end and to the blade of the removal tool

<p dir="rtl">20 At the distal end, compressed air and molten polymer toward the blade of the dislodgement tool. in a representative model</p>

In Method 1300, the sub-step (from Step 1350) of manufacturing the polymer bed includes the steps of changing the orientation (eg lateral tilt) of the polymer bed by adjusting the lateral tilt angles of the stripping tool blade while moving underground, and imaging, using an infrared camera ( such as the camera R160 or 360) at the distal end of the removal tool assembly, and guide the polymer layer,

<p dir="rtl">25 and fabrication of the polymer layer to obtain the required orientation (eg level with respect to gravity) by</p>

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Control, using CCS, the angle of lateral inclination of the dislocation tool blade while using infrared imaging for guidance.

In an exemplary embodiment, Method 1300 also includes steps for storing a thermoplastic polymer (eg HDPE beads) in a polymer storage vessel (eg polymer bead silo 130) associated with

<p dir="rtl">5 with the body, melting the thermoplastic polymer stored in the molten polymer and supplying the molten polymer to the dislocation tool arm using a polymer melter (such as a polymer melter 140) coupled to the body, storing compressed air and supplying the dislocation tool arm with stored compressed air using a compressed air storage vessel ( such as a compressed air tank 135) coupled to the body, and supplying electric power to the robotic vehicle using a battery (eg battery pack 145) attached to the body.</p>

<p dir="rtl">10 Here, the robotic vehicle is self-contained and makes the polymer layer using the battery as the main power source.</p>

In an exemplary embodiment, in Method 1300, the sub-step (from Step 1350) of polymer bed fabrication includes the steps of changing the depth of polymer bed fabrication by adjusting the depth underground at the distal end of the stripping tool assembly while moving underground, and fabricating the polymer bed to the desired height above the substructure ground by adjusting the depth of the distal end of the stripping tool assembly,

using CCS. To this end, the sub-step also includes steps such as measuring the fabrication depth height above the underground structure using an ultrasonic sensor (such as a 180 or 380 sensor) at the distal end of the stripping tool assembly, and controlling using CCS, fabricating the polymer layer at the desired height above the underground structure using measured height.

<p dir="rtl">20 In an exemplary embodiment, in Method 1300, the sub-step (from step 1350) of polymer layer fabrication includes the steps of measuring the fabrication depth using a depth gauge (such as a depth gauge 155 or 355) of a robotic vehicle, measuring the thickness of the polymer layer using an infrared camera (such as a Camera R 160 or 360) at the distal end of the stripping tool set, make the polymer layer under the control of CCS, to obtain the desired thickness using the measured measurement of the thickness of the polymer layer, and generate</p>

<p dir="rtl">25 , using CCS, a shape to vary the polymer layer thickness by tracking the measured fabrication depth</p>

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and the measured thickness of the polymer layer over time. To this end, the sub-step also includes the steps to create an elevation profile for distinct layers below ground, using GPR, an elevation figure including depth, thickness, and density measurements for distinct layers, and feature layers including subsoil structure, polymer layer, and subsurface layer above the polymer layer. , estimate, using

<p dir="rtl">5 CCS, the subsurface load on the polymer layer using the measured thickness and density of the subsurface layer over the polymer layer, and setting, by CCS, the desired thickness of the polymer layer based on the estimated subsurface load on the polymer layer.</p>

In an exemplary embodiment, in Method 1300, the sub-step (from step 1350) of polymer film fabrication includes the steps of photographing the heat distribution of the top surface of the polymer film using an infrared camera 10 (eg camera 160 or 360), and checking, by means of CCS , with the thermal integrity of the layer

Polymerization or modification by CCS, polymer layer fabrication to improve the thermal integrity of the polymer layer using the imaged thermal distribution of the top surface of the polymer layer.

The methods described herein may be partially or wholly implemented by software or firmware in machine-readable form on a tangible (eg, non-temporary) storage medium.

<p dir="rtl">15 Software or firmware is in the form of a computer program that includes code for a computer program that has been adapted to perform some or all of the steps of any of the methods described herein when the software is run on a computer or suitable device (for example, an FPGA), and where the computer program can be embodied on a medium that Computer-readable Examples of physical storage media include computer storage devices that contain computer-readable media such as discs and disk drives</p>

<p dir="rtl">20 flash memory and the like, and does not include spread signals. Scattered signals may be present in a physical storage medium, but scattered signals by themselves are not examples of tangible storage media. The program can be suitable for execution on a parallel processor or a serial processor so that the steps of the method can be executed in any convenient order or simultaneously.</p>

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You should also understand that similar or similar numbers in drawings represent similar or similar elements through multiple shapes, and that not all components or steps described and illustrated with reference to figures are required for all models or arrangements.

The terms used here are for the purpose of describing specific models only and are not intended to limit

<p dir="rtl">5 detection. As used here, forms denoting singular values ​​such as "a," "an," and "the" are intended to include plural forms as well, unless the context clearly indicates otherwise. It is also understood that the terms "include" and/or "include", when used in this specification, specify the existence of attributes, integers, steps, operations, elements and/or components, but do not preclude the presence or addition of one of the attributes, integers, steps, and operations,</p>

<p dir="rtl">10 and elements, components and/or other groups or more.</p>

15

Guidance terms are used here only for the purposes of the Agreement and of reference and are not to be construed as limiting. However, it is known that these terms can be used with reference to scenes. Accordingly, no limitations are implied or can be inferred. In addition, the use of ordinal numbers (for example, first, second, third) is for distinction, not for counting. For example, the use of 'third' does not imply that there is an opposite 'first' or 'second'. Also, the phrases and terms used herein They are for the purpose of description and should not be taken as limiting. The use of “including,” “includes,” “contains,” “contains,” and variations thereof herein is intended to include the items listed hereinafter and their equivalents.

In addition to additional items.

The subject matter described above is provided for illustrative purposes only and should not be construed as limiting.

<p dir="rtl">20 Various modifications and changes may be made to the subject matter described herein without following the embodiment examples and applications illustrated and described, and without departing from the true spirit and scope of the invention covered by the present disclosure, defined by the group of recitations in the following claims and by structures, functions or steps equivalent to these recitations.</p>

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