A device for mapping an inlet into a tubular pipe, the device including a pipe robot including a base unit including a chassis configured for driving in the tubular pipe, a pivot arm arranged at the base unit, an indicator arranged at the pivot arm, a camera arranged at the pivot arm with a viewing direction towards the indicator, a control device; and a conductor arranged between the control device and the base unit and configured to transmit control signals of the control unit for positioning the base unit in the pipe, for pivoting the pivot arm about a longitudinal axis of the base unit and for pivoting the indicator relative to the inlet and to transmit an original image of the indicator that is captured by the camera to the control device. The invention also relates to a method for using the device.

A system and method for measuring an inside diameter of a pipe to determine if it exceeds a predetermined value using a plurality of fingers operatively connected to a spring. When in a fully extended position, the distance between opposite fingers is the predetermined value. The fingers are pivotable between a starting position, through the fully extended position, and to a failing position. In the starting position, an outer end of each finger engages an inside surface of the pipe to compress the spring. If the diameter exceeds the predetermined value as the system moves through the pipe, the pipe inside surface will no longer engage the fingers, which releases the spring causing the fingers to pivot to the failing position, where they remain until the system is removed from the pipe and manually reset.

Provided herein are a pipeline inspection system for effectively managing a pipeline by inspecting a state of the pipeline while moving along the pipeline. Moreover, the pipeline inspection system and the maintenance method using the same can improve scale removal efficiency by removing scale accumulated on the inner wall of the pipeline with ultrasonic vibrations, and prevent water leakage due to the corrosion of the inner wall of the pipeline.

A hydrocarbon production field layout comprising a first pipeline (1) with a first inner diameter and a second pipeline (2) with the first inner diameter. A cut off valve (20) with an inner bore with the first diameter, is arranged in a connecting arrangement between an end of the first pipeline (1) and an end of the second pipeline (2). At least one dual main header manifold (3) is in fluid connection with at least one hydrocarbon well (8, 9). A first branch pipe (16, 18) with a first valve (5, 6) is branched off from the first pipeline (1) and a second branch pipe (17, 19) with a second valve (5, 7) is branched off from the second pipeline (2). The branch pipes are connected to the at least one manifold (3, 4).

Described is a robotic apparatus (10) for investigating a confined area comprising: an articulated robot (20) for insertion into a confined area, the robotic apparatus further comprising a robot control system (30) for controlling the articulated robot. Further, the robot control system comprises a control unit (50), a robot driving means, a seal (70) for isolating the confined area from the external environment and at least one transmission member (80), wherein the control unit is configured to send control signals to the robot driving means, and the at least one transmission member extends from the robot driving means to connect to the articulated robot, the at least one transmission member extending through the seal.

The invention discloses an NDT device for pipeline, belonging to the field of NDT, including a mobile carrier, which moves with fluid in pipeline or is moved by an actuator; a probe testing assembly, which includes a testing component installed on the mobile carrier and having a testing element in which testing probe is encapsulated; a data processing unit, a first signal conditioning unit and a second signal conditioning unit, wherein the testing probe includes an excitation coil, a receiving coil and a passive resonance coil between the excitation coil and the receiving coil. For the invention, no more magnetizing treatment device is needed for testing, so that the system volume is greatly reduced, thereby reducing the requirement of the testing system of the invention on the internal cleanliness of a pipeline, improving flexibility of equipment in the pipeline of the testing system, and greatly reducing the system cost.

Systems and methods are disclosed for protecting a tether line within a pressurized pipe. As the tether line is extended and retracted, portions of the tether line are prevented from directly engaging jagged profiles formed in the pressurized pipe.

A sensor interface module for an inspection robot includes a scissor lift for varied radial positioning of, and a universal sensor mount for mounting, a selected one of a plurality of different sensors. A visual inspection module for the robot includes an inspection unit for simultaneously visually inspecting a first surface facing a first direction and a spaced, second surface facing an opposing, second direction toward the first surface. The inspection unit includes a first visual sensor and a second visual sensor, each visual sensor facing in a direction different than the first and second directions. A first reflector reflects an image of the first surface to the first visual sensor, and a second reflector reflects an image of the second surface to the second visual sensor. A robot system may include the sensor interface module and the inspection unit.

Disclosed herein is a submersible having one or more sensors configured to collect a signal from an interior area of a liquid carrying channel, and a processor configured to obtain the signal from the one or more sensors, calculate a diameter and a circumference of the liquid carrying channel according to the signal. determine whether an irregularity is present on an inner surface of the liquid carrying channel according to the diameter and the circumference, and generate a notification to notify an irregularity has been detected on the inner surface.

A non-motorized inspection device for inspecting a fluid pipeline, includes a monitoring device capable of generating at least one representation of the pipeline, an inertial unit capable of determining orientation data relating to the inspection device, and a means for preventing distortion of the at least one representation.