A pipeline inspection robot with crisscross structure-changeable crawler belts includes a robot main body, crawler belt tilt angle adjustment mechanisms symmetrically provided on left and right sides of the robot main body, and crisscross structure-changeable crawler belt assemblies provided on the crawler belt tilt angle adjustment mechanisms. The robot main body is connected to the crisscross structure-changeable crawler belt assemblies at the left and right sides thereof by means of the crawler belt tilt angle adjustment mechanisms. The crawler belt tilt angle adjustment mechanisms are adjusted by means of supporting sliding blocks at the bottom of the robot main body. The crisscross structure-changeable crawler belt assembly includes a primary traveling crawler belt, an auxiliary traveling crawler belt, and a crisscross structure-changeable sliding block. The primary traveling crawler belt and the auxiliary traveling crawler belt are connected by means of the crisscross structure-changeable sliding block.

The application relates to a measuring device for a casing of a deep boring, including at least one electrical measuring cable insertable into the casing and having a first cable end connectable to at least one measuring equipment of the measuring device and a further cable end, at least one measuring head arranged on the further cable end and having at least one electrically conductive connecting element having a contact end configured to contact an inner wall of the casing, and at least one ground contact element connectable to the measuring equipment. The measuring equipment is configured to measure at least one electrical parameter dependent on at least one electrical protection parameter applied to the casing.

A system and method for detecting blockages or leaks in a piping system. A water-resistant pill sensor is tracked while it travels through the piping system. The pill sensor's travel speed, travel time, movement, images, audio, and/or other data determines if a leak or blockage exists, and if so, an electronic notification detailing the blockage or leak, its location, and corrective action is sent.

Systems and methods for localizing a traveling device in a pipeline include a traveling device comprising a plurality of electromagnetic sensors and an inertial measurement unit; acquiring a plurality of measurements from the inertial measurement unit; estimating a velocity and an orientation of the traveling device based on the plurality of measurements from the inertial measurement unit; acquiring a plurality of measurements from the plurality of electromagnetic sensors; detecting a plurality of landmarks of the pipeline based on the plurality of measurements from the plurality of electromagnetic sensors; calculating an average velocity of the traveling device based on the detected plurality of landmarks; and determining a location and an orientation of the traveling device based on the estimated velocity, the estimated orientation, and the calculated average velocity.

Circumferential and axial magnetizers for a magnetic flux leakage pig. A magnet bar may comprise at least one magnet and may be configured to collapse radially inward to the shaft. Magnetizers may include a cushion disposed about the shaft and biasing the magnet bar against a pipe wall. A sensor head disposed between circuit poles at each polar end of the magnet monitors magnetic flux. The central shaft of a circumferential magnetizer or axial magnetizer may comprise a joint linking an additional smart pig module. One or more rotational elements may be disposed on the magnet bar.

An amphibious robot for in-service inspection of drainage pipelines and a control method thereof are provided. The robot includes a robot body, a detection module for detecting environmental state and pose information of robot itself, a propulsion module including a car-like propulsion module and a ship-like propulsion module for controlling robot movement, a structure conversion module for realizing the conversion between the two modes, a ground terminal controller for remote information monitoring and issuing instructions, a mobile terminal controller for receiving instructions and controlling robot movement and structure conversion, and a power module. The control method includes displaying data through the ground terminal controller, processing environmental information collected by the detection module, determining the robot's working mode and switching working mode through the structure conversion module, adopting the ship-like working mode in deep water, and adopting the car-like working mode in the waterless or shallow water environment.

A power apparatus for a pipeline endoscope device, a pipeline endoscope device, and a pipeline inspection system are provided. The pipeline endoscope device includes a power apparatus, and an endoscope assembly. The power apparatus includes a driven module, a driving module, and an elastic connector. The driven module includes a driven housing and multiple driven support wheel sets, the multiple driven support wheel sets are mounted on the driven housing, an opening angle of the driven support wheel set relative to the driven housing is adjustable. The driving module includes a driving housing, a driving wheel, and a driving support wheel set, the driving wheel is mounted on the driving housing, the driving support wheel set is mounted on the driving housing, and an opening angle of the driving support wheel set relative to the driving housing is adjustable.

A method is provided for the autonomous assessment of pipelines. The apparatus combines one or more conventional modes of pipeline assessment in a unique untethered and unconstrained pipeline assessment device that is deployed at an upstream sewer access point and then propelled through multiple pipeline segments by the flow of liquid in the pipeline, thus allowing for the assessment of several pipeline segments much cheaper, faster, safer and less disruptive to the community than the current assessment methods.

A unit that houses tracking electronics configured to be passed through a duct while the tracking electronics collect position information is provided. The information collected by the unit is used to map the duct. A method of mapping a duct is also provided.