According to one embodiment, a holding apparatus holds a moving body and changes a position of the moving body in a second direction perpendicular to a surface of a columnar body. The surface of the columnar body extends in the first direction. The moving body is movable along the first direction. The apparatus includes first and second holders separated from each other. The first holder includes first and second portions separated from each other, and a third portion. The second holder includes fourth and fifth portions separated from each other, and a sixth portion. The moving body is held by the first and second holders in a state in which the moving body is at a hold position. The hold position is where the moving body opposes the third and sixth portions and is between the first and second portions and between the fourth and fifth portions.

Non-destructive evaluation optical inspection systems include video cameras or other reflective-photonic optical instruments, such as laser profilometers or 3D white light laser dimensional scanners, which are incorporated in a camera head. The camera head is coupled to a distal end of a self-supporting and shape-retaining elongate deformable deployment tether. The deployment tether is bendable, for insertion through cavities of power generation machines and orientation of the camera head field of view on the internal area of interest. The deployment tether is capable of being deformed repeatedly, for inspection of different areas of interest. In some embodiments, interchangeable camera heads are selectively coupled to the deployment tether, so that a kit or family of different optical inspection instruments are available to carry out multiple types of inspections within a single or multiple types of power generation machinery.

Internal components of power generation machinery, such as gas turbine engines, are inspected with a spherical, optical-camera inspection system, mounted within a camera housing on a distal end of a compact diameter, single-axis inspection scope. The inspection scope includes nested, non-rotatable telescoping tubes, which define an extension axis. Circumscribing, telescoping tubes have anti-rotation collars, which are in sliding engagement with extension tracks on a circumferential surface of an opposing, nested tube, for ease of extension and retraction of the camera during visual inspections of power generation machinery. The camera is advanced and/or retracted along a scope extension axis by nested, drive tubes, which incorporate at least one external drive screw on a circumscribed drive tube and corresponding female threads formed in a circumscribing drive tube. The spherical camera has a 360-degree field of view, and captures images without rotation about the scope extension axis.

Internal components of power generation machinery, such as gas turbine engines, are inspected with a spherical, optical-camera inspection system, mounted within a camera housing on a distal end of a compact diameter, single-axis inspection scope. The inspection scope includes nested, non-rotatable telescoping tubes, which define an extension axis. Circumscribing, telescoping tubes have anti-rotation collars, which are in sliding engagement with extension tracks on a circumferential surface of an opposing, nested tube, for ease of extension and retraction of the camera during visual inspections of power generation machinery. The camera is advanced and/or retracted along a scope extension axis by nested, drive tubes, which incorporate at least one external drive screw on a circumscribed drive tube and corresponding female threads formed in a circumscribing drive tube. The spherical camera has a 360-degree field of view, and captures images without rotation about the scope extension axis.

A multi-arm robot used for tunnel lining inspection and defect diagnosis in an operation period, including a moving platform, where an environment detection device and a defect infection device are disposed on the moving platform, the defect infection device is disposed on the moving platform by using a multi-degree-of-freedom mechanical arm, and an attitude detection module is disposed on each multi-degree-of-freedom mechanical arm; a controller receives environmental data and mechanical arm attitude data sensed by the environment detection device and the attitude detection module, and sends a control instruction to the moving platform and the multi-degree-of-freedom mechanical arm according to the environmental data, to implement movement of the robot; and the controller receives tunnel lining structural data sensed by the defect infection device, and performs defect diagnosis. Overall automatic inspection can be implemented both on the surface and inside of the tunnel lining.

According to one embodiment, a holding apparatus holds a moving body and changes a position of the moving body in a second direction perpendicular to a surface of a columnar body. The surface of the columnar body extends in the first direction. The moving body is movable along the first direction. The apparatus includes first and second holders separated from each other. The first holder includes first and second portions separated from each other, and a third portion. The second holder includes fourth and fifth portions separated from each other, and a sixth portion. The moving body is held by the first and second holders in a state in which the moving body is at a hold position. The hold position is where the moving body opposes the third and sixth portions and is between the first and second portions and between the fourth and fifth portions.

A probe driver may include a coupling that interfaces with a conduit section at a first position of the conduit section. A probe driver may also have one or more positioning elements to reposition the conduit section to interface with the coupling at a second position of conduit section in response to one or more commands based on a recorded inspection, where through completing the one or more commands is configured to initiate a second inspection identical to the recorded inspection.

A method of performing a selected task in a tank at least partially filled with an energetic substance includes, in part, configuring a mobile platform to be inherently safe by positioning spark-generating components in either or both of: (i) an inherently safe enclosure that prevents a spark occurring inside the inherently safe enclosure from passing to an exterior of the inherently safe enclosure, and (ii) a spark-neutralizing body formed of at least one non-flammable substance and positioned inside an enclosure, the spark-neutralizing body blocking direct contact between a spark from the enclosed spark-generating component and an energetic substance from occurring inside the at least one enclosure. The method also includes positioning at least one spark-generating component not inside any inherently safe enclosure that prevents a spark occurring inside the inherently safe enclosure from passing to an exterior of the inherently safe enclosure. The sparks are capable of igniting the energetic substances.

A system for performing multiple operations on one or more weld joints of a pipe string includes a robotic scanning device that is configured to controllably travel inside of the pipe string and detect, scan and uniquely identify each weld joint within the pipe string. The system further includes a plurality of secondary robotic devices that are each configured to controllably travel inside of the pipe string and perform one or more specific operations on the one or more weld joints of the pipe string. The robotic scanning device includes a processor that is configured to generate a work plan for the plurality of secondary robotic devices. The robotic scanning device transmits work plan commands to each of the plurality of secondary robotic devices and receive transmissions from the plurality of secondary robotic devices.

A drifting and measurement tool is disclosed. The tool includes a first portion configured to mount on a first end of a tubular segment, and a second portion configured to mount on a second end of the tubular segment. The first portion has a rotatable component configured to rotate about a longitudinal axis of the tubular segment. The rotatable component includes a laser device configured to emit light toward the second portion and receive reflected light.