A method and system for removing debris from drainage lines in high rise building uses a high pressure water line terminated by a head having one or more backwards-facing nozzles. The thrust force creates at the backward-facing nozzle(s) is sufficient to propel the head and water line vertically up a drainage line. An operates can control the head and, with the assistance of a video system used with the head, maneuver the head along the line, into single stack aerator fittings, and into and along horizontal lines connected to the single stack aerator fittings. The force of the water exiting the nozzle(s) on the head both dislodges debris in the drainage line and fittings, and urges it downstream back to the access point where the head was inserted into the drainage line.

The present invention is directed to a method of cleaning and inspection of drilling mud carrying flow lines, each flow line having an inner surface. The method includes affixing a fitting to the flow line, the fitting having a main flow channel and a branch flow channel extending at an angle from said main flow channel. A first end portion of the fitting can have an attachment that enables connection of the fitting to the flow line at one flow line end portion. A second end portion of the fitting can have one or more doors that can be moved between opened and closed positions, the door or doors providing an opening that is not closed when the doors are in the closed position. A suction line can be connected to the branch flow channel. A cleaning tool can be guided first into the fitting and then into the flow line using a fluid carrying cable. The cleaning tool and jetting fluid can be used to clean drilling mud and debris from the inner surface of the flow line. The jetting fluid can be removed via the branch flow channel using the suction line. The cable can extend through the door opening or openings when the door or doors are in the closed position. A camera can be guided into the flow line using a camera cable wherein the camera cable extends through the door opening or openings. The cleaning tool is preferably too small to fit through the door opening.

Pipe inspection systems including a push-cable, jetter, and camera assembly are disclosed. A jetter nozzle may be configured to spin and/or propel the camera head within a pipe or other cavity. A cutter line may be attached to the camera head to clean obstructions. A sonde may be coupled to a camera head to generate magnetic field signals for use with a buried utility locator to locate a pipe or other cavity into which the camera head is deployed.

A method for inspecting a nozzle includes producing a jet from the nozzle, moving the nozzle to cause the jet to approach a stylus of a touch probe, generating a contact signal under a force acting on the stylus, and determining that the jet is appropriate in response to a contact signal received first after the jet has an axis at a distance from the stylus that is equal to or less than a first normal distance calculated from a normal jet shape.

Systems, methods, and apparatus for acoustic inspection of a surface are described. An example system may include an inspection robot structured to traverse an inspection surface in a direction of travel. The inspection robot may include a payload having a plurality of arms, connected to the inspection robot, to rotate around respective ones of a plurality of axes while the inspection robot traverses the inspection surface, where each of the plurality of axes is in the direction of travel. A plurality of sleds may be connected to the plurality of arms, and a plurality of inspection sensors connected to the plurality of sleds. The plurality of inspection sensors may be spaced apart from each other at adjustable positions to inspect the inspection surface at an adjustable resolution.

Apparatus for cleaning a surface with a liquid jet, the apparatus having: a primary fluid conduit having a longitudinal axis and two ends, a fluid-intake end and a fluid-exit end; a first motor-driven drive assembly configured to engage the primary fluid conduit and turn the primary fluid conduit about the primary-fluid-conduit longitudinal axis; a first motor configured to engage the first motor-driven drive assembly; a section of the primary fluid conduit being inside of an adjacent penetration sleeve; a section of the penetration sleeve being inside of a piston sleeve; the piston sleeve configured to engage the penetration sleeve and move the penetration sleeve back and forth along a penetration-sleeve linear path over a primary-fluid-conduit exterior surface; an actuator configured to engage the piston sleeve and move piston sleeve back and forth along the piston-sleeve linear path; a penetration-sleeve end being attached to an extension sleeve that has a first end and a second end; the extension-sleeve second end being attached to a swivel rod that has a first end and a second end; the primary-fluid-conduit fluid-exit end being attached to a fixed nozzle having a first end and a second end; the fixed-nozzle second end being attached to a swivel nozzle; the swivel-rod second end being attached to the swivel nozzle; the swivel nozzle configured to pivot between a fully extended position and a fully retracted position as the swivel rod respectively extends and retracts as the penetration sleeve moves back and forth; the swivel nozzle being attached to a nozzle pipe; the nozzle pipe being attached to a nozzle configuration that is configured to open and close a flapper door having a fluid exit orifice; and a continuous fluid-flow channel that extends from the primary-fluid-conduit fluid-intake end through the swivel nozzle.

A method of prepping a cylindrical inner surface of a bore using a high-frequency forced pulsed waterjet apparatus entails generating a pressurized waterjet using a high-pressure water pump, generating a high-frequency signal using a high-frequency signal generator, applying the high-frequency signal to a transducer having a microtip to cause the microtip to vibrate to thereby generate the high-frequency forced pulsed waterjet, and rotating the rotatable ultrasonic nozzle inside the bore to prep the inner cylindrical surface of the bore using the high-frequency forced pulsed waterjets exiting from the angled exit orifices of the rotatable ultrasonic nozzle.

A pipe pig is provided with linked wheels, and at least a central wheel of the linked wheels is pivotally linked to adjacent wheels through a spring loaded connection that biases the central wheel out of straight line alignment with the adjacent wheels. The pipe pig may be used to negotiate tight bends in a pipe and carry sensing electronics.

A pipe pig is provided with linked wheels, and at least a central wheel of the linked wheels is pivotally linked to adjacent wheels through a spring loaded connection that biases the central wheel out of straight line alignment with the adjacent wheels. The pipe pig may be used to negotiate tight bends in a pipe and carry sensing electronics.

Modular components form a robotic assembly. the mod-components include modules and tools, each have a set of functions and capabilities, are rapidly configured-reconfigured to function cooperatively, creating a configurable robotic assemblage. Each mod-component incorporates a standardized connector mating with any other standardized connector in an interchangeable manner providing mechanical stability, power, and signals therebetween. Each mod-component incorporates a processor, data storage for mod-component identity, status, and programmable functionality, and for responding to commands. Storage is reprogrammed while the robot is operational, altering both commands and responses. After interconnection, inter-module power and communication are established and each modular component identifies itself and its functionality, thereby providing plug and play configuration.