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.

A pig for use in a pipeline is provided for determining the material of the pipeline in the context of an inline inspection. The pig includes a position determination unit and at least one braking arrangement for immobilizing the pig at a certain position in the pipeline. The pig also includes an X-ray fluorescence sensor.

A pig for use in a pipeline is provided for determining the material of the pipeline in the context of an inline inspection. The pig includes a position determination unit and at least one braking arrangement for immobilizing the pig at a certain position in the pipeline. The pig also includes an X-ray fluorescence sensor.

Systems, methods, and apparatus for tracking location of an inspection robot are disclosed. An example apparatus for tracking inspection data may include an inspection chassis having a plurality of inspection sensors configured to interrogate an inspection surface, a first drive module and a second drive module, both coupled to the inspection chassis. The first and second drive module may each include a passive encoder wheel and a non-contact sensor positioned in proximity to the passive encoder wheel, wherein the non-contact sensor provides a movement value corresponding to the first passive encoder wheel. An inspection position circuit may determine a relative position of the inspection chassis in response to the movement values from the first and second drive modules.

An autonomous robotic active gas-carrying pipeline testing system includes a remotely controlled robot assembly movable within the stream of gas flowing in the pipeline, wherein said gas flow exhibits dynamic flow energy, a miniature rotary turbine responsive to the gas flow, an electrical generator responsive to the turbine, a battery responsive to the generator, drive tow means responsive to the generator for moving the assembly, wherein the system is capable of harvesting said dynamic flow energy for either or both charging the battery and/or operating the drive tow means.

An autonomous robotic active gas-carrying pipeline testing system includes a remotely controlled robot assembly movable within the stream of gas flowing in the pipeline, wherein said gas flow exhibits dynamic flow energy, a miniature rotary turbine responsive to the gas flow, an electrical generator responsive to the turbine, a battery responsive to the generator, drive tow means responsive to the generator for moving the assembly, wherein the system is capable of harvesting said dynamic flow energy for either or both charging the battery and/or operating the drive tow means.

The invention is embodied in a crawler that measures alignment, distance, grade, and vertical deflection of underground conduits (pipelines). The crawler drives through the conduit and collects data that can be used to inspect and evaluate whether the construction meets the grade and alignment according to the construction documents and specifications and spot locations of culvert deflections from material defect and/or bedding deficiencies.

The preferred crawler can be moved into and out of a conduit via remote control. The preferred crawler comprises a deck for carrying electronic sensors, a battery, and other devices. A computer located on the deck communicates with the electronic sensors and the other devices. Most importantly, the preferred crawler comprises at least one wheel that rides on the invert of the conduit. The guide wheel is a key element of the invention because having at least one wheel ride on the invert provides a referential location for other measurements.

The invention is embodied in a crawler that measures alignment, distance, grade, and vertical deflection of underground conduits (pipelines). The crawler drives through the conduit and collects data that can be used to inspect and evaluate whether the construction meets the grade and alignment according to the construction documents and specifications and spot locations of culvert deflections from material defect and/or bedding deficiencies.

The preferred crawler can be moved into and out of a conduit via remote control. The preferred crawler comprises a deck for carrying electronic sensors, a battery, and other devices. A computer located on the deck communicates with the electronic sensors and the other devices. Most importantly, the preferred crawler comprises at least one wheel that rides on the invert of the conduit. The guide wheel is a key element of the invention because having at least one wheel ride on the invert provides a referential location for other measurements.

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.

A method and apparatus is disclosed for additive manufacturing and three-dimensional printing, and specifically for extruding tubular objects. A print head extrudes a curable material into a tubular object, while simultaneously curing the tubular object and utilizing the interior of the cured portion of the tubular object for stabilizing and propelling the print head.