Systems and methods for generating and processing images captured while inspecting above-ground pipelines are disclosed. Embodiments may include a robotic crawler or other devices which carry imaging equipment and traverse a target pipe which are configured to capture image data simultaneously from a plurality of angles. Such systems may substantially reduce and in some cases overcome the need to take multiple traversals of a pipeline under inspection. Embodiments may also be directed toward control systems for such devices as well as image processing systems which process the multiple image sets to produce a composite imaging result.

Systems and methods for generating and processing images captured while inspecting above-ground pipelines are disclosed. Embodiments may include a robotic crawler or other devices which carry imaging equipment and traverse a target pipe which are configured to capture image data simultaneously from a plurality of angles. Such systems may substantially reduce and in some cases overcome the need to take multiple traversals of a pipeline under inspection. Embodiments may also be directed toward control systems for such devices as well as image processing systems which process the multiple image sets to produce a composite imaging result.

A controlled bending device in the form of an elongate member including a series of blocks configured to direct and/or control an extent of bending of the elongate member. The present invention further relates to a sealing packer for use in installing a flexible liner into a junction between a main pipe and a branch pipe, the sealing packer incorporating the bending device in a flexible lateral arm thereof to facilitate guidance of the flexible lateral arm into the branch pipe when the sealing packer is inserted (pushed or pulled) through the main pipe.

An air purging coater apparatus is disclosed for purging mixed components from the apparatus disposed in a pipeline at a pipeline site. The apparatus includes a remote-controlled apparatus for insertion within the pipeline at the pipeline site. The remote-controlled apparatus includes a drive for controllably moving the remote-controlled apparatus internally within the pipeline. A high-pressure mixing device defines a first and second inlet controllably connected to a pressurized and further pressurized source respectively of a first and second component. The high-pressure mixing device defines a high-pressure mixing chamber connected to the first and the second inlets for mixing together the first and second components. The high-pressure mixing device defines an outlet connected to the high-pressure mixing chamber for receiving a flow therethrough of the mixed components. A spin head defines an internal conical surface and a baffle so that the mixed components are applied to an inside surface of the pipeline. The high-pressure mixing device is controllably movable from an application disposition thereof to a purging disposition. In the purging disposition, the flow of the mixed components is terminated and a source of pressurized air flows into and through the first and second inlets and the high-pressure mixing chamber and the outlet for purging any residual mixed components from the high-pressure mixing device thereby avoiding any need for the use of a potentially hazardous solvent.

An air purging coater apparatus is disclosed for purging mixed components from the apparatus disposed in a pipeline at a pipeline site. The apparatus includes a remote-controlled apparatus for insertion within the pipeline at the pipeline site. The remote-controlled apparatus includes a drive for controllably moving the remote-controlled apparatus internally within the pipeline. A high-pressure mixing device defines a first and second inlet controllably connected to a pressurized and further pressurized source respectively of a first and second component. The high-pressure mixing device defines a high-pressure mixing chamber connected to the first and the second inlets for mixing together the first and second components. The high-pressure mixing device defines an outlet connected to the high-pressure mixing chamber for receiving a flow therethrough of the mixed components. A spin head defines an internal conical surface and a baffle so that the mixed components are applied to an inside surface of the pipeline. The high-pressure mixing device is controllably movable from an application disposition thereof to a purging disposition. In the purging disposition, the flow of the mixed components is terminated and a source of pressurized air flows into and through the first and second inlets and the high-pressure mixing chamber and the outlet for purging any residual mixed components from the high-pressure mixing device thereby avoiding any need for the use of a potentially hazardous solvent.

Methods and systems are provided for treating the tail gas stream of a sulfur recovery plant. The methods including generating a tail gas stream from a sulfur recovery plant, treating the tail gas stream with a hydrogen sulfide absorption unit and a hydrogen selective membrane unit, generating a stream low in hydrogen sulfide and a stream rich in hydrogen. The hydrogen sulfide rich stream is recycled to the sulfur recovery unit. The hydrogen selective membrane unit includes a glassy polymer membrane selective for hydrogen over hydrogen sulfide and carbon dioxide.

Methods and systems are provided for treating the tail gas stream of a sulfur recovery plant. The methods including generating a tail gas stream from a sulfur recovery plant, treating the tail gas stream with a hydrogen sulfide absorption unit and a hydrogen selective membrane unit, generating a stream low in hydrogen sulfide and a stream rich in hydrogen. The hydrogen sulfide rich stream is recycled to the sulfur recovery unit. The hydrogen selective membrane unit includes a glassy polymer membrane selective for hydrogen over hydrogen sulfide and carbon dioxide.

A caliper pig for detecting geometrical deformation of a pipeline is disclosed. The caliper pig includes a body and a first sensor arm assembly. The first sensor arm assembly includes a primary caliper sensor ring adapted to be mounted on the body. Further, the first sensor arm assembly includes a plurality of sensor arms adapted circumferentially distributed on the primary caliper sensor ring. Each of the plurality of sensor arms includes a sensing arm adapted to be in contact with an internal surface of the pipeline and a pair of magnets adapted to rotate along the sensing arm. Each of the plurality of sensor arms includes a sensing unit configured to detect a change in magnetic field based on the movement of the sensing arm. The sensing unit is configured to generate an output indicative of an angle of deflection of the sensing arm while traversing on the internal surface of the pipeline.

A method for restoring video data of a pipe based on computer vision is provided. The method includes: performing gray stretching on pipe image/video collected by a pipe robot; processing noise interference by smoothing filtering; extracting an iron chain from the center of a video image as a template for location; performing target recognition on the center of video data by an SIFT corner detection algorithm; detecting ropes on left and right sides of a target by Hough transform; performing gray covering on the iron chain at the center of the video image and the ropes on two sides; and restoring data by an FMM image restoration algorithm.

A method for restoring video data of a pipe based on computer vision is provided. The method includes: performing gray stretching on pipe image/video collected by a pipe robot; processing noise interference by smoothing filtering; extracting an iron chain from the center of a video image as a template for location; performing target recognition on the center of video data by an SIFT corner detection algorithm; detecting ropes on left and right sides of a target by Hough transform; performing gray covering on the iron chain at the center of the video image and the ropes on two sides; and restoring data by an FMM image restoration algorithm.