The present invention discloses a pipeline patrol inspection robot having variable tracks and a control method therefor. The pipeline patrol inspection robot of the present invention includes a robot body, track assemblies symmetrically disposed on a left side and a right side of the robot body, and a movement driving mechanism. The robot body is connected to the track assemblies on the left side and the right side by track fixtures, and track angle adjusting mechanisms are respectively connected between the robot body and the track assemblies on the left side and the right side. By means of the present invention, a track camber angle can be adjusted. In addition, each track angle adjusting mechanism is independent, and has desirable flexibility to adapt to different pipeline environments.

A spray coating system includes a spraying robot sized to fit within a conduit. The spraying robot includes arms that extend outward and retract inward to maintain contact with an interior surface of the conduit. The spraying robot is configured to be coupled with hoses that separately supply different fluids to the spraying robot. The spraying robot includes a spray head from which a compound formed from the fluids is sprayed onto the interior surface of the conduit. The spraying robot is configured to be pulled through the conduit and/or self-propel in the conduit to spray the compound onto the interior surface of the conduit and form a coating thereon.

A spray coating system includes a spraying robot sized to fit within a conduit. The spraying robot includes arms that extend outward and retract inward to maintain contact with an interior surface of the conduit. The spraying robot is configured to be coupled with hoses that separately supply different fluids to the spraying robot. The spraying robot includes a spray head from which a compound formed from the fluids is sprayed onto the interior surface of the conduit. The spraying robot is configured to be pulled through the conduit and/or self-propel in the conduit to spray the compound onto the interior surface of the conduit and form a coating thereon.

An inspection robot, and methods and a controller thereof are disclosed. An inspection robot may include an inspection chassis including a plurality of inspection sensors and coupled to at least one drive module to drive the robot over an inspection surface. The inspection robot may also include a controller including an inspection data circuit to interpret inspection base data, an inspection processing circuit to determine refined inspection data, and an inspection configuration circuit to determine an inspection response value in response to the refined inspection data. The controller may further include an inspection response circuit to, in response to the inspection response value, provide an inspection command value while the inspection robot is interrogating the inspection surface.

A system for use in maintaining a pipe having a sidewall is provided. The system includes a motorized apparatus sized to fit within the pipe and configured to travel along the pipe through an interior cavity. The motorized apparatus includes a plurality of leg assemblies each including a first leg portion, a second leg portion, and a joint rotatably coupling the first leg portion to the second leg portion. A drive mechanism coupled to the joint is configured to interact with the sidewall. The system also includes an actuator assembly configured to independently position each leg assembly relative to a body assembly to adjust a radial position of the joint of the associated leg assembly relative to the body assembly. The system also includes a controller configured to send instructions to the actuator assembly based at least in part on at least one of a dimension of the interior cavity and a desired force on the sidewall.

A system for use in maintaining a pipe having a sidewall is provided. The system includes a motorized apparatus sized to fit within the pipe and configured to travel along the pipe through an interior cavity. The motorized apparatus includes a plurality of leg assemblies each including a first leg portion, a second leg portion, and a joint rotatably coupling the first leg portion to the second leg portion. A drive mechanism coupled to the joint is configured to interact with the sidewall. The system also includes an actuator assembly configured to independently position each leg assembly relative to a body assembly to adjust a radial position of the joint of the associated leg assembly relative to the body assembly. The system also includes a controller configured to send instructions to the actuator assembly based at least in part on at least one of a dimension of the interior cavity and a desired force on the sidewall.

Various embodiments of an amphibious submersible vehicle for use in non-destructive testing of pipe interiors and walls are disclosed herein. In one aspect, the vehicle is operable for amphibious submersible operation such that pipes of various diameters can be inspected under full, partially full, and dry conditions. In another aspect, the vehicle is equipped with a plurality of propellers for travel when fully or partially submerged in water and a plurality of wheels for traveling when in contact with a pipe wall or for traveling over debris. In some embodiments, the vehicle is equipped with a plurality of sensors configured for imaging and navigation which enable the vehicle for pipe inspection and identification of problem areas.

Various embodiments of an amphibious submersible vehicle for use in non-destructive testing of pipe interiors and walls are disclosed herein. In one aspect, the vehicle is operable for amphibious submersible operation such that pipes of various diameters can be inspected under full, partially full, and dry conditions. In another aspect, the vehicle is equipped with a plurality of propellers for travel when fully or partially submerged in water and a plurality of wheels for traveling when in contact with a pipe wall or for traveling over debris. In some embodiments, the vehicle is equipped with a plurality of sensors configured for imaging and navigation which enable the vehicle for pipe inspection and identification of problem areas.

A system and method for coating marine pipeline weld joints and wet inspection of the applied coating is provided. The coating system includes an anti-corrosion coating including a fluorescent pigment to enhance inspection of the applied coating. The system also includes a robotic crawler for traversing inside the pipe and carrying a coating apparatus and inspection apparatus respectively configured to apply the coating on the weld joints and facilitate inspection of the wet coating. The coating apparatus comprises a spraying nozzle provided on a forward end of the robotic crawler and configured to spray coating onto on the surrounding circumferential pipe surface. The inspection apparatus includes an ultraviolet radiation emitter for activating the fluorescent pigment in the coating and a camera for providing a live image feed of the coated weld joint area to an operator computing station for inspection of the applied coating.

A system and method for coating marine pipeline weld joints and wet inspection of the applied coating is provided. The coating system includes an anti-corrosion coating including a fluorescent pigment to enhance inspection of the applied coating. The system also includes a robotic crawler for traversing inside the pipe and carrying a coating apparatus and inspection apparatus respectively configured to apply the coating on the weld joints and facilitate inspection of the wet coating. The coating apparatus comprises a spraying nozzle provided on a forward end of the robotic crawler and configured to spray coating onto on the surrounding circumferential pipe surface. The inspection apparatus includes an ultraviolet radiation emitter for activating the fluorescent pigment in the coating and a camera for providing a live image feed of the coated weld joint area to an operator computing station for inspection of the applied coating.