Disclosed is a pipeline suspension inspecting gauge which comprises a mobile carrier and a power supply module, a primary controller, a positioning module, a vibration sensor, a variable-frequency excitation device, a secondary controller, and a data processing assembly which are arranged on the mobile carrier. The power supply module, the positioning module, and the secondary controller are all electrically connected with the primary controller; the variable-frequency vibration excitation device, the vibration sensor, and the data processing assembly are all electrically connected with the secondary controller. The pipeline suspension inspecting gauge is simple in structure and high in measurement sensitivity.

Disclosed is a pipeline suspension inspecting gauge which comprises a mobile carrier and a power supply module, a primary controller, a positioning module, a vibration sensor, a variable-frequency excitation device, a secondary controller, and a data processing assembly which are arranged on the mobile carrier. The power supply module, the positioning module, and the secondary controller are all electrically connected with the primary controller; the variable-frequency vibration excitation device, the vibration sensor, and the data processing assembly are all electrically connected with the secondary controller. The pipeline suspension inspecting gauge is simple in structure and high in measurement sensitivity.

A system and method for inspecting offshore and onshore tubular or piping assets is described. The system and method utilizes an inspection tool comprising a communication system, a sensor, a long distance travel system, and a localized travel system, allowing fast long distance travel until the inspection tool approximates an area of interest, followed by actuating the localized travel system to accurately inspect the area of interest.

A system and method for inspecting offshore and onshore tubular or piping assets is described. The system and method utilizes an inspection tool comprising a communication system, a sensor, a long distance travel system, and a localized travel system, allowing fast long distance travel until the inspection tool approximates an area of interest, followed by actuating the localized travel system to accurately inspect the area of interest.

A conduit inspection tool system includes a conduit inspection tool that includes a body that includes one or more wheels configured to move the body through and in contact with a conduit; at least two power generating sub-systems coupled to the body, each of the at least two power generating sub-systems configured to generate electrical power to operate the one or more wheels to move the body through and in contact with the conduit; and at least one energy storage device electrically coupled to the at least two power generating sub-systems, the at least one energy storage device configured to store electrical power generated by the at least two power generating sub-systems; and a control system communicably coupled to the at least two power generating sub-systems and the at least one energy storage device.

A conduit inspection tool system includes a conduit inspection tool that includes a body that includes one or more wheels configured to move the body through and in contact with a conduit; at least two power generating sub-systems coupled to the body, each of the at least two power generating sub-systems configured to generate electrical power to operate the one or more wheels to move the body through and in contact with the conduit; and at least one energy storage device electrically coupled to the at least two power generating sub-systems, the at least one energy storage device configured to store electrical power generated by the at least two power generating sub-systems; and a control system communicably coupled to the at least two power generating sub-systems and the at least one energy storage device.

Robotic tools, methods, and systems for repairing pipes in-situ are described. A robotic tool includes a body with an annular, cylindrical configuration with a first end and a second end opposite the first end, the body having an inner surface defining an axis; a printing arm attached to the inner surface of the robotic body using a track, the printing arm circumferentially movable along the inner surface of the body; a printing head attached to the printing arm, the printing head movable radially along the printing arm and axially relative to the printing arm; and a plurality of legs positioned at axial intervals around the robotic body, each leg pivotably attached to the robotic body at either the first end or the second end of the body and pivotable between an open position and a closed position.

Robotic tools, methods, and systems for repairing pipes in-situ are described. A robotic tool includes a body with an annular, cylindrical configuration with a first end and a second end opposite the first end, the body having an inner surface defining an axis; a printing arm attached to the inner surface of the robotic body using a track, the printing arm circumferentially movable along the inner surface of the body; a printing head attached to the printing arm, the printing head movable radially along the printing arm and axially relative to the printing arm; and a plurality of legs positioned at axial intervals around the robotic body, each leg pivotably attached to the robotic body at either the first end or the second end of the body and pivotable between an open position and a closed position.

Disclosed is a pipeline pulling tool having an elongate housing. First and second roller wheel sections have at least two freely rotating roller wheels extending out from a sidewall of the housing. An attachment for a tool string is fixed to one of the roller wheel sections. A main section with a retractable propulsion wheel and at least one actuator for actuating the propulsion wheel between an extended position, out from the sidewall of the housing, and a retracted position, inside the housing, is located between the first roller wheel section and the second roller wheel section. A method of actuating a pipeline pulling tool is also disclosed.

An aquatic in-pipe inspection robot is provided and comprises: means for determining the position of the robot within a pipe and means for adjusting the position of the robot within the pipe, whereby contact with the pipe wall can be avoided; and sensor means for inspecting a pipe.