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.

A self-powered pipeline pig includes a housing defining a trailing end, a leading end and a longitudinal axis. The plurality of internal flow channels extend longitudinally through the housing between the trailing end and the leading end. A power generation device is disposed in a first one of the plurality of internal flow channels. The power generation device generates electric power from a pipeline fluid flowing through the first flow channel during a pigging operation. A battery is disposed on the self-powered pipeline pig to provide electric power during the pigging operation to operate one or more components installed on the self-powered pipeline pig. The power generation device is electrically coupled to the battery to recharge the battery using the generated electric power.

A device for use within pipelines, such as an inline inspection tool, includes a renewable power system. The renewable power system includes at least one of a thermoelectric generator or a pressure-based power generator. The thermoelectric generator produces electricity by consuming thermal energy from the heat of the product in the pipeline such as oil or gas. The pressure-based power generator operates by using a rotary connection axis for a turbine which drives an alternator to generate electrical energy. The device may combine both type of generators with a unified power system including regulators, high density batteries, battery chargers, cooling system.

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.

In embodiments, systems and methods include using a modular robotic inspection system to inspect a tubular of a vehicle or building. The modular robotic inspection system comprises a first modular robot and a second modular robot. Both the first modular robot and the second modular robot comprise a base, a plurality of wheels disposed around the base, wherein each of the plurality of wheels is coupled to the base through a set of extendable arms, wherein each one of the plurality of wheels is disposed at a distal end of one of the set of extendable arms, and a plurality of centralizing rollers disposed around the base, wherein each one of the plurality of centralizing rollers is disposed at a proximal end of one of the set of extendable arms. The first modular robot further comprises a motor operable to actuate the plurality of wheels of the first modular robot.

In embodiments, systems and methods include using a modular robotic inspection system to inspect a tubular of a vehicle or building. The modular robotic inspection system comprises a first modular robot and a second modular robot. Both the first modular robot and the second modular robot comprise a base, a plurality of wheels disposed around the base, wherein each of the plurality of wheels is coupled to the base through a set of extendable arms, wherein each one of the plurality of wheels is disposed at a distal end of one of the set of extendable arms, and a plurality of centralizing rollers disposed around the base, wherein each one of the plurality of centralizing rollers is disposed at a proximal end of one of the set of extendable arms. The first modular robot further comprises a motor operable to actuate the plurality of wheels of the first modular robot.

A motorized apparatus for use in maintaining a pipe includes at least one drive portion including a body assembly, a plurality of leg assemblies coupled circumferentially around the body assembly, a plurality of drive mechanisms coupled to the plurality of leg assemblies, and a drive portion coupling mechanism. The motorized apparatus also includes at least one maintenance portion including a body, at least one maintenance device coupled to the body, and a maintenance portion coupling mechanism configured to engage the drive portion coupling mechanism. The at least one drive portion is releasably coupled to the at least one maintenance portion by engaging the drive portion coupling mechanism with the maintenance portion coupling mechanism. The drive portion coupling mechanism and the maintenance portion coupling mechanism are each configured to engage another coupling mechanism when the drive portion coupling mechanism and the maintenance portion coupling mechanism are uncoupled from each other.

A motorized apparatus for use in maintaining a pipe includes at least one drive portion including a body assembly, a plurality of leg assemblies coupled circumferentially around the body assembly, a plurality of drive mechanisms coupled to the plurality of leg assemblies, and a drive portion coupling mechanism. The motorized apparatus also includes at least one maintenance portion including a body, at least one maintenance device coupled to the body, and a maintenance portion coupling mechanism configured to engage the drive portion coupling mechanism. The at least one drive portion is releasably coupled to the at least one maintenance portion by engaging the drive portion coupling mechanism with the maintenance portion coupling mechanism. The drive portion coupling mechanism and the maintenance portion coupling mechanism are each configured to engage another coupling mechanism when the drive portion coupling mechanism and the maintenance portion coupling mechanism are uncoupled from each other.