Provided herein are a pipeline inspection system for effectively managing a pipeline by inspecting a state of the pipeline while moving along the pipeline. Moreover, the pipeline inspection system and the maintenance method using the same can improve scale removal efficiency by removing scale accumulated on the inner wall of the pipeline with ultrasonic vibrations, and prevent water leakage due to the corrosion of the inner wall of the pipeline.

An apparatus for scanning a cylindrical part is provided. The apparatus includes an ultrasonic transducer operable to emit ultrasonic waves into and receive ultrasonic waves from the part, with the ultrasonic transducer connected to a translation stage to move it up and down the part and around the circumference of the part. The apparatus does not mechanically contact the cylindrical or maintains contact only with soft elements, such that the apparatus does not damage sensitive parts. The apparatus also contains no magnetic parts, nor any elements that rely on magnetic detection, such that the apparatus is capable of being used in the vicinity of a part exhibiting a strong magnetic field.

An apparatus for scanning a cylindrical part is provided. The apparatus includes an ultrasonic transducer operable to emit ultrasonic waves into and receive ultrasonic waves from the part, with the ultrasonic transducer connected to a translation stage to move it up and down the part and around the circumference of the part. The apparatus does not mechanically contact the cylindrical or maintains contact only with soft elements, such that the apparatus does not damage sensitive parts. The apparatus also contains no magnetic parts, nor any elements that rely on magnetic detection, such that the apparatus is capable of being used in the vicinity of a part exhibiting a strong magnetic field.

A system comprising a computer readable storage device readable by the system, tangibly embodying a program having a set of instructions executable by the system to perform the following steps for indication confirmation for detecting a sub-surface defect, the set of instructions comprising: an instruction to initialize a transducer starting location and a transducer orientation responsive to a prior determination of a potential flaw location; an instruction to optimize an observation point of the transducer responsive to the transducer starting location and the transducer orientation responsive to a flaw response model; an instruction to move the transducer to the observation point location and orientation; an instruction to collect the scan data at the observation point location and orientation; and an instruction to analyze the scan data to extract a measure of the flaw response model; and an instruction to update the flaw response model.

A system comprising a computer readable storage device readable by the system, tangibly embodying a program having a set of instructions executable by the system to perform the following steps for indication confirmation for detecting a sub-surface defect, the set of instructions comprising: an instruction to initialize a transducer starting location and a transducer orientation responsive to a prior determination of a potential flaw location; an instruction to optimize an observation point of the transducer responsive to the transducer starting location and the transducer orientation responsive to a flaw response model; an instruction to move the transducer to the observation point location and orientation; an instruction to collect the scan data at the observation point location and orientation; and an instruction to analyze the scan data to extract a measure of the flaw response model; and an instruction to update the flaw response model.

A system for detecting a sub-surface defect comprising a transducer fluidly coupled to a part located in a tank containing a liquid configured to transmit ultrasonic energy, the transducer configured to scan the part to create scan data of the scanned part; a pulser/receiver coupled to the transducer configured to receive and transmit the scan data; a processor coupled to the pulser/receiver, the processor configured to communicate with the pulser/receiver and collect the scan data; and the processor configured to detect the sub-surface defect and the processor configured to have a sub-surface defect confidence assessment and a prioritization for further human evaluation.

A system for detecting a sub-surface defect comprising a transducer fluidly coupled to a part located in a tank containing a liquid configured to transmit ultrasonic energy, the transducer configured to scan the part to create scan data of the scanned part; a pulser/receiver coupled to the transducer configured to receive and transmit the scan data; a processor coupled to the pulser/receiver, the processor configured to communicate with the pulser/receiver and collect the scan data; and the processor configured to detect the sub-surface defect and the processor configured to have a sub-surface defect confidence assessment and a prioritization for further human evaluation.

Provided is a self-propelled inspection device capable of improving efficiency of system introduction cost, setting, and update work necessary for self-propelling in a self-propelled inspection device expected to be operated outdoors for a long period of time. Therefore, there is provided the self-propelled inspection device that autonomously inspects an inspection object while autonomously traveling an inspection route, the self-propelled inspection device including: a self-position estimation unit that estimates a self-position; a map information database that manages map information for autonomous traveling; a traveling unit including a drive mechanism and a steering mechanism; a sensor that senses the inspection object; a map information update unit that updates the map information based on information sensed by the sensor; and a traveling unit control unit that controls the traveling unit based on the updated map information.

An apparatus includes a pipe crawler (100). The pipe crawler (100) includes one or more drive wheels (308) capable of moving along and around a pipe, and one or more instruments coupled to the one or more drive wheels (308). An instrument includes one or more of a sensor instrument and a maintenance instrument. The pipe crawler (100) includes a retention mechanism (4) that retains the one or more drive wheels (308) against an outer surface of the pipe. The retention mechanism (104) provides adjustable positions for the one or more drive wheels (308) for disposing the one or more drive wheels (308) against the outer surface of the pipe. The apparatus includes a controller (302) that communicates with the one or more drive wheels (308) to move the one or more drive wheels (308) on the outer surface of the pipe, and that operates the one or more instruments.

An apparatus includes a pipe crawler (100). The pipe crawler (100) includes one or more drive wheels (308) capable of moving along and around a pipe, and one or more instruments coupled to the one or more drive wheels (308). An instrument includes one or more of a sensor instrument and a maintenance instrument. The pipe crawler (100) includes a retention mechanism (4) that retains the one or more drive wheels (308) against an outer surface of the pipe. The retention mechanism (104) provides adjustable positions for the one or more drive wheels (308) for disposing the one or more drive wheels (308) against the outer surface of the pipe. The apparatus includes a controller (302) that communicates with the one or more drive wheels (308) to move the one or more drive wheels (308) on the outer surface of the pipe, and that operates the one or more instruments.