The invention relates to a cleaning device for the dry cleaning of a tunnel, comprising a feeding device for feeding a flow of air to a surface being cleaned, wherein the feeding device has an exit opening, through which the flow of air emerges from the feeding device, and a removal device comprising at least one removal pipe with a free end with an opening for suctioning away direct or trash from the surface with the opening of the free end in a first direction. The feeding device is arranged such that the flow of air from the exit opening emerges from the feeding device in a second direction toward the opening of the free end of the removal pipe and impinges on the surface. The first direction is oriented at an angle between 45 and 80 to the second direction.

A method assisting the movement of a tool within a pipeline to a distal direction with respect to the point of entry to provide remediation within the pipeline by pumping a volume of fluid into the front of tool through a motor and having the motor drive a pump which removes more volume from the front of the pig than was pumped into it, thereby causing a relative vacuum in front of the tool.

A method assisting the movement of a tool within a pipeline to a distal direction with respect to the point of entry to provide remediation within the pipeline by pumping a volume of fluid into the front of tool through a motor and having the motor drive a pump which removes more volume from the front of the pig than was pumped into it, thereby causing a relative vacuum in front of the tool.

A system includes an inspection robot having a plurality of input sensors, the plurality of input sensors distributed horizontally relative to an inspection surface and configured to provide inspection data of the inspection surface at selected horizontal positions; a controller, comprising: a position definition circuit structured to determine an inspection robot position of the inspection robot on the inspection surface; a data positioning circuit structured to interpret the inspection data, and to correlate the inspection data to the inspection robot position on the inspection surface; and wherein the data positioning circuit is further structured to determine position informed inspection data in response to the correlating of the inspection data with the inspection robot position.

A system including an inspection robot having a plurality of sensors, a further sensor, and a controller. The controller having circuitry to receive inspection data with a first resolution from the plurality of sensors, determine a characteristic on the inspection surface based on the inspection data, and provide an inspection operation adjustment in response to the characteristic, wherein the inspection operation adjustment includes a change from the first resolution to a second resolution. The change from the first resolution to the second resolution includes enabling the further sensor where the further sensor is at least one of: horizontally distributed with or vertically displaced from the plurality of sensors relative to a travel path of the plurality of sensors, and at least one of: offset in alignment from the travel path of the plurality of sensors, or operated out of phase with the plurality of sensors.

A system includes an inspection robot comprising a plurality of sensor sleds; a plurality of ultra-sonic (UT) sensors; a couplant chamber mounted to each of the plurality of sleds, each couplant chamber comprising: a cone, the cone comprising a cone tip portion at an inspection surface end of the cone; a sensor mounting end opposite the cone tip portion; a couplant entry fluidly coupled to the cone at a position between the cone tip portion and the sensor mounting end; and wherein each of the UT sensors is mounted to the sensor mounting end of one of the couplant chambers.

A system includes an inspection robot having a plurality of input sensors comprising a plurality of magnetic induction sensors and configured to provide inspection data of an inspection surface, wherein the inspection data comprises electromagnetic (EM) induction data, and wherein the plurality of input sensors are distributed horizontally relative to the inspection surface; wherein at least a portion of the inspection surface comprises a ferrous substrate having a non-ferrous coating thereupon; a controller, comprising: an EM data circuit structured to interpret the EM induction data, and to determine a substrate distance value in response to the EM induction data; and a thickness processing circuit structured to determine a thickness value in response to the EM induction data, the thickness value comprising a thickness of the non-ferrous coating.

A system includes an inspection robot comprising a lead inspection sensor providing lead inspection data, and a trailing inspection sensor; a controller, comprising: an inspection data circuit structured to interpret the lead inspection data; a sensor configuration circuit structured to determine a trailing sensor configuration change for the trailing inspection sensor in response to the lead inspection data; and a sensor operation circuit structured to adjust a trailing sensor configuration for the trailing inspection sensor in response to the trailing sensor configuration change.

A system includes an inspection robot having a plurality of input sensors, the plurality of input sensors distributed horizontally relative to an inspection surface and configured to provide inspection data of the inspection surface at selected horizontal positions; a controller, comprising: a position definition circuit structured to determine an inspection robot position of the inspection robot on the inspection surface; a data positioning circuit structured to interpret the inspection data, and to correlate the inspection data to the inspection robot position on the inspection surface; and wherein the data positioning circuit is further structured to determine position informed inspection data in response to the correlating of the inspection data with the inspection robot position.

A system includes an inspection robot having mounted sleds, and a number of sensors each mounted to a sled. A couplant chamber is disposed within at least two of the sleds, each couplant chamber between a transducer of the sensor and an inspection surface. Each couplant chamber includes a cone, the cone having a cone tip portion at an inspection surface end, and a senor mounting end opposite the cone tip portion. A couplant entry for each couplant chamber is at a vertically upper side of the cone in the intended orientation of the inspection robot on the inspection surface.