A method uses a flexible endoscope to inspect one or more hard-to-reach components of a gas turbine. The flexible endoscope has at least one image capture unit, which is configured to capture visual image information and associated 3D data, and which is located at a free end of the flexible endoscope. The method includes: introducing the flexible endoscope through an inspection opening; capturing the visual image information and the associated 3D data by the at least one image capture unit; comparing the captured 3D data to a 3D model of a component to be examined, and based on the comparison, ascertaining a relative pose of the at least one image capture unit in relation to the component; and texturing the 3D model with the visual image information captured by the at least one image capture unit, in accordance with the ascertained relative pose of the image capture unit.

A non-destructive testing device includes a tubular housing including a proximal end and a distal end. A conduit section is arranged at the proximal end, and a bendable articulation section secured to the conduit section and arranged at the distal end. A plurality of actuation systems each includes a control cable extending along the tubular housing and arranged at a respective circumferential position within the bendable articulation section, and an actuator disposed at the proximal end of the tubular housing and secured to the control cable.

An integral system for automated and non-intrusive of cleaning and non-destructive inspection (ultrasonic volumetric testing and visual testing) to detect, characterize and monitor with precision the level of internal and external damage (Cracks, deformations, corrosion, erosion, etc.) that may be present in coke drums throughout their life cycle is disclosed. Embodiments are disclosed that enable a condition of a coke drum to be estimated in a reliable manner for their fitness for service from the results obtained from the automated inspection with the non-destructive methods of ultrasound and visual testing.

An inspection system and method with a variable-diameter traveling robot for inspection of a natural gas pipeline. The inspection system includes a pipeline inspection robot, a cable reel, a hydraulic pump and an information acquisition control terminal. The pipeline inspection robot includes an electronic cabin and a traveling mechanism. The electronic cabin includes a first digital camera, a second digital camera, a first digital camera mounting plate, a second digital camera mounting plate, a drum, a printed circuit board, a magnetic flux leakage probe, and a backup battery. The traveling mechanism includes a first traveling part, a second traveling part, an inner ratchet, an inner ratchet base, a slider, a long shaft, a hydraulic cylinder, and a hydraulic pipe. The cable reel includes a power line, a conversion module, and a communication line. The information acquisition control terminal is a mobile terminal having an analysis module and a control module.

Systems and methods for robotic inspection of above-ground pipelines are disclosed. Embodiments may include a robotic crawler having a plurality of motors that are individually controllable for improved positioning on the pipeline to facilitate image acquisition. Embodiments may also include mounting systems to house and carry imaging equipment configured to capture image data simultaneously from a plurality of angles. Such mounting systems may be adjustable to account for different sizes of pipes (e.g., 2-40+ inches), and may be configured to account for traversing various pipe support structures. Still further, mounting systems may include quick-release members to allow for removal and re-mounting of imaging equipment when traversing support structures. In other aspects, embodiments may be directed toward control systems for the robotic crawler which assist in the navigation and image capture capabilities of the crawler.

Camera heads for use in pipe inspection systems are disclosed. In one embodiment a camera head includes a body, an image sensor disposed in the body for generating images of an interior of a pipe or cavity in which the camera head is inserted, and processing circuitry operatively coupled to the image sensor to automatically capture images or video frames by the camera head within the object.

A system for inspecting an interior surface of a girth weld region of a pipeline includes a robot that includes a scanner mounted on a carriage for scanning the interior surface of the girth weld region to generate surface profile data. A profile analyzer receives the surface profile data and outputs an indication of whether the interior surface of the girth weld region is suitable for being coated. In some embodiments, an imaging system captures images of the girth weld region as it is being scanned. In a method of coating the girth weld regions of a pipeline, the images of a girth weld region found to be unsuitable for being coated based on the scanning data are used to certify whether the girth weld region is suitable for being coated.

An exemplary embodiment provides a camera probe having an elongated housing provided with an external wall made of heat-resistant material enclosing an internal space. The housing has a forward opening covered by a window of heat-resistant radiation-transparent material and a position within the internal space for mounting a camera positioned to receive radiation from the window. At least one cooling channel is provided within or adjacent to the external wall, at least over a part of the external wall exposed to elevated temperatures during use of the probe. At least one gas exit port is provided adjacent the window and is oriented to cause gas leaving the gas exit port to sweep over an external surface of the window to keep it cool and free of debris.

A mount assembly includes a stage including a base and one or more sidewalls extending upward from the base to define an elongated channel, and a holder including an elongated body having a first end portion and a second end portion opposite the first end portion, a bracket extending upward from the elongated body at the first end portion, and a foot extending upward from the elongated body at the second end portion. The elongated body is positionable within the elongated channel. An inspection device is extendable between the bracket and the foot.

Pipe inspection systems are disclosed. In one embodiment a pipe inspection system includes a camera head, a push-cable, a cable storage drum, and a wireless transmitter configured to automatically capture images or video frames and transmit them to an external device.