An apparatus and method for performing inline inspections of pipelines of composite structure installed in a host pipeline or standing alone comprising a multiplicity of sensor/transducers located on or within the pipe structure to measure and record various pipeline properties, an activation/reading/storage device to activate read and collect measurement results from the sensor transducers, an automatic launch and recovery system for the activation/reading/storage device, and a database/storage/analytical device to receive, analyze and interpret results from collected data and transmit appropriate instructions to a pipeline operator or remotely activated system for action. The remote reading of sensor/transducers may be accomplished by a device running through the pipeline or passing over or near the pipeline, where ground-level handheld or wheeled vehicle mounted, fixed wing or rotary aircraft, hovercraft watercraft or satellite based instrumentation can record the location and condition of a pipeline.

A robotic apparatus comprising first, second, and third wheel assemblies, and a clamping mechanism configured to apply a force for urging the second wheel and the third wheel to pivot in opposing directions towards a plane of the first wheel for securing the first wheel, the second wheel, and the third wheel to the pipe, each wheel assembly including an alignment mechanism for adjusting an orientation of the wheels to allow the robotic apparatus to move along a straight path or a helical path on the pipe. A method for navigating an obstacle on a pipe comprising advancing the robotic apparatus along a helical pathway on the pipe to position an open side of the robotic apparatus in longitudinal alignment with the obstacle, and advancing the robotic apparatus along a straight pathway on the pipe such that the obstacle passes unobstructed through the open side of the robotic apparatus.

A crawler maps a structure by moving at least longitudinally or circumferentially on the structure. A probe scans the structure to generate scan data corresponding to the structure. A distance measuring unit measures a distance of the probe from a landmark extending circumferentially around the structure. An orientation sensor determines an orientation of the crawler on the structure. A processor generates a map of the scan data of the structure indexed by the distance and orientation.

A processing device is configured for use within a storage container with an interior surface. The processing device can include a chassis with one or more support assemblies. The chassis can support one or more motive assemblies, which can be configured to engage the interior surface for movement of the chassis relative to the interior surface. The one or more support assemblies can be configured to support one or more tools, with the one or more tools being configured to execute one or more processes on the interior surface when the processing device is within the storage container.

A magnetic frame mechanism including an outer frame, first drop center wheels, first brackets, a permanent magnet block. The outer frame includes a face plate, a first side plate, and a second side plate. The first side plate and the second side plate are vertically fixed on two ends of the face plate, respectively. The permanent magnet block is sandwiched between the first side plate and the second side plate. The first side plate and the second side plate include guide structures, and the guide structures include first guide rails. The first drop center wheels are fixed on the inner side of the face plate via the first brackets, respectively. The platform mechanism includes a platform plate, four magnetic travelling wheels, four second brackets, a second guide rail disposed on the surface of the platform plate, and a tension spring.

The present invention provides a robot which is suitable for travel through a pipeline. The inventive robot comprises at least one tracked drive means and at least one roller means that can swivel about an axis substantially normal to a rolling axis thereof, wherein said at least one tracked drive means and at least one roller means are provided with magnetic means for generating a magnetic adhesion force between the robot and an internal wall of the pipeline.

A magnet sensing portable autonomous device includes a platform. A plurality of wheel sets is coupled to the platform. A drive system is used for driving the plurality of wheels. An attachment mechanism is positioned on an underside of the platform for securing the device to a surface. A control board is used for controlling the operation of the device. In some embodiments, a drill spindle assembly is coupled to the platform. A drill feed assembly is coupled to the drill spindle assembly for raising and lowering the drill spindle assembly. A plurality of sensors are operable to sense one or more magnets disposed below the surface. A drive table is used for positioning the drill spindle assembly in an XY plane based on an output of said plurality of sensors.

A quick change system for carriage wheels comprising an axle adapter and a lock for axial locking of a wheel on the axle adapter, wherein the lock has at least one locking member and a release cooperating with the locking member, wherein the locking member axially locks the wheel on the axle adapter in a locking position, and the release and the locking member cooperate such that during moving of the release, the locking member can be brought from the locking position into a releasing position, in which the wheel is released axially.

A magnet sensing portable autonomous device includes a platform. A plurality of wheel sets is coupled to the platform. A drive system is used for driving the plurality of wheels. An attachment mechanism is positioned on an underside of the platform for securing the device to a surface. A control board is used for controlling the operation of the device. In some embodiments, a drill spindle assembly is coupled to the platform. A drill feed assembly is coupled to the drill spindle assembly for raising and lowering the drill spindle assembly. A plurality of sensors are operable to sense one or more magnets disposed below the surface. A drive table is used for positioning the drill spindle assembly in an XY plane based on an output of said plurality of sensors.

An apparatus and method for performing inline inspections of pipelines of composite structure installed in a host pipeline or standing alone comprising a multiplicity of sensor/transducers located on or within the pipe structure to measure and record various pipeline properties, an activation/reading/storage device to activate read and collect measurement results from the sensor transducers, an automatic launch and recovery system for the activation/reading/storage device, and a database/storage/analytical device to receive, analyze and interpret results from collected data and transmit appropriate instructions to a pipeline operator or remotely activated system for action. The remote reading of sensor/transducers may be accomplished by a device running through the pipeline or passing over or near the pipeline, where ground-level handheld or wheeled vehicle mounted, fixed wing or rotary aircraft, hovercraft watercraft or satellite based instrumentation can record the location and condition of a pipeline.