An inspection robot incudes a robot body, at least two sensors, a drive module, a stability assist device and an actuator. The at least two sensors are positioned to interrogate an inspection surface and are communicatively coupled to the robot body. The drive module includes at least two wheels that engage the inspection surface. The drive module is coupled to the robot body. The stability assist device is coupled to at least one of the robot body or the drive module. The actuator is coupled to the stability assist device at a first end, and coupled to one of the drive module or the robot body at a second end. The actuator is structured to selectively move the stability assist device between a first position and a second position. The first position includes a stored position. The second position includes a deployed position.

Disclosed herein is a rotational roller apparatus for use with a pipeline unit. The pipeline unit is received in a pipeline for welding and/or inspection. The rotational roller is attached to and is able to support at least a portion of the weight of the pipeline unit. The rotational roller unit also includes an extension member and a reduced friction base. The reduced friction base is attached to an end of the extension member so that the rotational roller has a retracted and an extended configuration. In the extended configuration, the reduced friction base contacts an interior of the pipeline and supports at least a portion of the weight of the pipeline unit and thereby allows the unit to be rotated about a longitudinal axis within the pipeline.

The invention proposed here discloses an instrumented PIG that uses a sufficient number of sensors for detecting the NORM of the scales, variation in the thickness of the scale deposit, internal diameter and detection of the internal position of the beginning and ending of these along the piping. The modular form of the NORM instrumented PIG (1) provides enough flexibility to the invention to allow the passage in curves and ability to tolerate variations in diameters. The system has a mechanical design in which the sensors are mounted on rubber modules, interconnected with each other, forming a mechanically flexible assembly.

The invention proposed here discloses an instrumented PIG that uses a sufficient number of sensors for detecting the NORM of the scales, variation in the thickness of the scale deposit, internal diameter and detection of the internal position of the beginning and ending of these along the piping. The modular form of the NORM instrumented PIG (1) provides enough flexibility to the invention to allow the passage in curves and ability to tolerate variations in diameters. The system has a mechanical design in which the sensors are mounted on rubber modules, interconnected with each other, forming a mechanically flexible assembly.

A device (1) for registering data and features of ducts includes at least one camera (3, 5), at least one distance measurement apparatus and at least one apparatus for measuring properties of the medium contained in the duct. Furthermore, provision can be made for an illumination apparatus (4), a tracking sensor (10), which emits data in relation to the current position of the device (1), and an inclination measurement device (inclinometer and gyroscopic compass 9). The device can have a passive or active drive for moving the device (1) along the duct. The device (1) can register a length recording of the duct with the aid of photo geometry or with sound, radar, acceleration sensors and/or mechanical distance measurements. Thus, after a duct has been inspected, each point can be assigned precisely in terms of length.

A device (1) for registering data and features of ducts includes at least one camera (3, 5), at least one distance measurement apparatus and at least one apparatus for measuring properties of the medium contained in the duct. Furthermore, provision can be made for an illumination apparatus (4), a tracking sensor (10), which emits data in relation to the current position of the device (1), and an inclination measurement device (inclinometer and gyroscopic compass 9). The device can have a passive or active drive for moving the device (1) along the duct. The device (1) can register a length recording of the duct with the aid of photo geometry or with sound, radar, acceleration sensors and/or mechanical distance measurements. Thus, after a duct has been inspected, each point can be assigned precisely in terms of length.

Provided is a pipe interior inspection robot that has characteristics of having an extremely simple device structure to easily achieve dustproof and waterproof properties, being able to pass through a pipe bent in any direction, and enabling the selection of the advancing direction.

A pipe interior inspection robot for inspecting the inside of a pipe branched from a pipe header, the robot including: 1) a moving means having a structure capable of being introduced from a pipe base, which is an inlet of the pipe header, and capable of moving in the pipe header and being fixed to a pipe wall inside the pipe header at a desired position; 2) a mechanism for specifying a position of a pipe to be inspected; and 3) a mechanism for inspecting a condition inside the pipe to be inspected.

A unit that houses tracking electronics configured to be passed through a duct while the tracking electronics collect position information is provided. The information collected by the unit is used to map the duct. A method of mapping a duct is also provided.

A unit that houses tracking electronics configured to be passed through a duct while the tracking electronics collect position information is provided. The information collected by the unit is used to map the duct. A method of mapping a duct is also provided.

A system includes an inspection robot having an input sensor comprising a laser profiler and a plurality of wheels structured to engage a curved portion of an inspection surface, wherein the laser profiler is configured to provide laser profiler data of the inspection surface; a controller, comprising: a profiler data circuit structured to interpret the laser profiler data; determine a feature of interest is present at a location of the inspection surface in response to the laser profiler data; and wherein the feature of interest comprises a shape description of the inspection surface at the location of the feature of interest.