A robotic in-pipe inspection system having a front that moves independently of the rear. The system comprises a center shaft that has a connector that allows a front portion of the shaft to be at a desired angle from a rear portion of the shaft. A front leg assembly is operatively coupled to the front portion of the shaft, while a rear leg assembly is operatively coupled to the rear portion of the shaft. The front leg assembly comprises front legs that can be positioned at various angles relative to each other, while the rear leg assembly comprises rear legs that can similarly be positioned at various angles relative to each other. The system also includes a shaft controller (for controlling the desired angle of the center shaft), a front controller (for controlling the front leg assembly), and a rear controller (for controlling the rear leg assembly).

The present invention provides a terrace detection device and a use method of the terrace detection device. The terrace detection device comprises a target vehicle, a measuring vehicle and a controller, wherein the target vehicle comprises a first mobile vehicle and a target, and the target is mounted on the first mobile vehicle; the measuring vehicle comprises a second mobile vehicle and a measuring head, and the measuring head is mounted on the second mobile vehicle; and The controller is electrically connected with the measuring vehicle and the target vehicle, respectively, and is used for controlling the first mobile vehicle and the second mobile vehicle to move from a first established measuring range to a second established measuring range. Therefore, the to-be-measured terrace is estimated integrally, so that the accuracy of the acquired terrace data is improved.

A method for positioning and/or communicating with a pig located in a hollow and elongate object is provided. The object is preferably a pipeline. At least one inner transducer of the pig is arranged on the inner side of a wall of the object. At least one outer transducer is arranged on an outer side of the wall of the object, and at least one ultrasound signal is generated in the wall. By means of an evaluation and/or communication device, and from the amplitude of the ultrasound signal preferably generated by the inner transducer, and in particular from a change of the amplitude, a relative position and/or a spacing A between the two transducers is derived and/or a communication is initiated via the transducers.

Devices, systems and methods for leak detection are provided herein. Also provided are devices, systems and methods for monitoring and/or measuring fluid usage. In some aspects, a system comprising a sensor, a processing system, and a platform are provided. In some aspects, the sensor may be coupled to a spinning device. The sensor can be configured to detect fluid data, which can comprise, for example, displacement data of liquid and/or movement data associated with the liquid in a container and/or flow data associated with a flow of fluid in a conduit. The processing system can be coupled with the sensor and configured to communicate the fluid data. The platform can comprise an application communicatively coupled to one or more databases storing evaluation data (e.g., known pattern data) and configured to receive the fluid data and determine if there is a leak.

The present invention provides a casing system for integration of modular internal intervention equipment in tubular lines, wherein the equipment comprises a plurality of modules (2), the casing system comprising a sleeve (1) encasing, in an integral manner, at least one module (2) of the plurality of modules (2) and at least one portion of at least one component upstream (3, 2) or downstream (2, 2a) of said at least one module (2). The integration casing system of the present invention guarantees the mechanical integration of all the modular internal intervention equipment, rendering viable the operation thereof inside tubular lines in a safer, more efficient and more advantageous manner.

A robot includes a first frame and a second frame. The first frame and the second frame each include a bearing module for bearing against a wall of a conduit, and at least one positioning system for the relative positioning of the first frame and the second frame, the robot where the positioning system includes at least a first pair of linear actuators disposed in a direction parallel to a longitudinal axis x of the robot, able to be independently actuated such that they move in translation, and free to rotate relative to at least one of either the first frame or the second frame, so as to position the first frame and the second frame relative to one another.

The present invention discloses a positioning device for pipeline detection, which comprises: a host machine and a detection part detachably connected to the host machine, wherein an accommodating cavity is formed in the host machine, a main control board is arranged in the accommodating cavity, the host machine is provided with a first connecting member, a buckling position is formed on the first connecting member, the first connecting member is provided with an ejector pin assembly, an antenna assembly is arranged in an inner cavity of the detection part, the detection part is provided with a second connecting member, the second connecting member is provided with a clamping hook, a part of the second connecting member passes into the accommodating groove and is in buckling connection with the first connecting member, and the detection part is electrically connected to the main control board through the ejector pin assembly.

Provided are methods and system for hydrocarbon exploration. The method may include using a downhole reconfigurable pipe inspection tool for electromagnetic logging. The method may also include using the electromagnetic pipe inspection tool for inspecting wellbore pipes. The tool may include at least two modules, a signal generator for exciting the transmitter coil; and a receiver circuitry for measuring voltage across the receiver coil, wherein at least one tool parameter is reconfigurable. The first module houses a transmitter coil, a first end, and a second opposing end, wherein the first and second ends each have a connector thereon. The second module houses a receiver coil, a first end, and a second opposing end, wherein the first and second ends of the second module each have a connector thereon.

Methods, systems, and apparatus are described for maintaining the interior cavities of pipes. In one aspect, a motorized apparatus includes a main body having a length extending along a longitudinal axis of the main body, where the main body comprises a first end and a second end opposite the first end. The motorized apparatus further includes at least one drive assembly coupled to at least one of the first end and the second end of the main body, where the at least one drive assembly comprises driven members that engage with an inner surface of the pipe and move the motorized apparatus through an interior cavity of the pipe. The motorized apparatus further includes a maintenance head movably coupled to the main body that moves along the length of the main body and rotates about the longitudinal axis of the main body, where the maintenance head comprises at least one tool configured to perform an action on the inner surface of the pipe.

An inline robotic detector for inspection of pipelines includes two groups of real time sensors at both front and rear to measure pressures, temperatures, and flows. The robotic detector further includes radial displacement sensors, acoustic sensors and a digital radiographic camera or Electromagnetic Acoustic Transducer (EMAT) at the head and front, and a rechargeable power system at the rear. A GPS positioning module and communicator communicate with an intelligent gateway. Real time data is obtained and associated with the geo-position of the robotic detector received from the intelligent gateway.