An inspection device for examining pipelines is provided, and comprisesa sensor carrier which in operation is rollable through the pipeline. The sensor carrier has an at least essentially circular circumference in a cross section that runs transverse to an axis of rotation. The sensor carrier also has at least one sensor unit. The sensor carrier further comprises at least one stabilizing means, preferably a multitude disposed along the circumference.

An inspection device for examining pipelines is provided, and comprisesa sensor carrier which in operation is rollable through the pipeline. The sensor carrier has an at least essentially circular circumference in a cross section that runs transverse to an axis of rotation. The sensor carrier also has at least one sensor unit. The sensor carrier further comprises at least one stabilizing means, preferably a multitude disposed along the circumference.

A self-powered pipeline pig includes a housing defining a trailing end, a leading end and a longitudinal axis. The plurality of internal flow channels extend longitudinally through the housing between the trailing end and the leading end. A power generation device is disposed in a first one of the plurality of internal flow channels. The power generation device generates electric power from a pipeline fluid flowing through the first flow channel during a pigging operation. A battery is disposed on the self-powered pipeline pig to provide electric power during the pigging operation to operate one or more components installed on the self-powered pipeline pig. The power generation device is electrically coupled to the battery to recharge the battery using the generated electric power.

A self-powered pipeline pig includes a housing defining a trailing end, a leading end and a longitudinal axis. The plurality of internal flow channels extend longitudinally through the housing between the trailing end and the leading end. A power generation device is disposed in a first one of the plurality of internal flow channels. The power generation device generates electric power from a pipeline fluid flowing through the first flow channel during a pigging operation. A battery is disposed on the self-powered pipeline pig to provide electric power during the pigging operation to operate one or more components installed on the self-powered pipeline pig. The power generation device is electrically coupled to the battery to recharge the battery using the generated electric power.

The present invention proposes a solution for anchoring systems, which can be applied to connect a robotic system with its power supply structure (for example, umbilical cables), or then separate the same into several modules, each containing a pair of anchors.

The objective is achieved when the sleeve (4) is tensioned, by pulling the ring against its stop and, thus, performing a self-locking. The self-locking occurs because the friction force generated at the lace interface is greater than the sleeve tensioning force. Also, allied to this, so that there is an initial friction force, the mesh is tightened by threading the stop of the conventional ring in the house of the conventional ring.

The proposed solution takes up little space for the anchoring system, and can be applied in pipes of reduced internal diameter, still being a robust tension anchoring solution. It can be applied to any part of the robot and as many times as necessary, not being limited to the connection with the umbilical.

The present invention proposes a solution for anchoring systems, which can be applied to connect a robotic system with its power supply structure (for example, umbilical cables), or then separate the same into several modules, each containing a pair of anchors.

The objective is achieved when the sleeve (4) is tensioned, by pulling the ring against its stop and, thus, performing a self-locking. The self-locking occurs because the friction force generated at the lace interface is greater than the sleeve tensioning force. Also, allied to this, so that there is an initial friction force, the mesh is tightened by threading the stop of the conventional ring in the house of the conventional ring.

The proposed solution takes up little space for the anchoring system, and can be applied in pipes of reduced internal diameter, still being a robust tension anchoring solution. It can be applied to any part of the robot and as many times as necessary, not being limited to the connection with the umbilical.

A caliper pig for detecting geometrical deformation of a pipeline is disclosed. The caliper pig includes a body and a first sensor arm assembly. The first sensor arm assembly includes a primary caliper sensor ring adapted to be mounted on the body. Further, the first sensor arm assembly includes a plurality of sensor arms adapted circumferentially distributed on the primary caliper sensor ring. Each of the plurality of sensor arms includes a sensing arm adapted to be in contact with an internal surface of the pipeline and a pair of magnets adapted to rotate along the sensing arm. Each of the plurality of sensor arms includes a sensing unit configured to detect a change in magnetic field based on the movement of the sensing arm. The sensing unit is configured to generate an output indicative of an angle of deflection of the sensing arm while traversing on the internal surface of the pipeline.

An inline inspection vehicle includes an auto-adjustable, self-adaptive structure. The inline inspection vehicle includes a plurality of self-adjustable carrier racks carrying inspection device carts with positioning rollers, and self-adaptive driving turbine wheels at a front part and a back end for auto-adjustable driving speeds. The inline inspection vehicle also includes intelligent self-control mechanisms implemented using self-adaptive schema and algorithms for a finite set of control states to integrate the adaptive controller and actuators. Furthermore, it may conduct virtual pressure tests by carrying intelligent inline data acquisition devices to converge the Pipeline Integrity Management with SCADA monitoring system.

An inline inspection vehicle includes an auto-adjustable, self-adaptive structure. The inline inspection vehicle includes a plurality of self-adjustable carrier racks carrying inspection device carts with positioning rollers, and self-adaptive driving turbine wheels at a front part and a back end for auto-adjustable driving speeds. The inline inspection vehicle also includes intelligent self-control mechanisms implemented using self-adaptive schema and algorithms for a finite set of control states to integrate the adaptive controller and actuators. Furthermore, it may conduct virtual pressure tests by carrying intelligent inline data acquisition devices to converge the Pipeline Integrity Management with SCADA monitoring system.

A system and method for inspecting offshore and onshore tubular or piping assets is described. The system and method utilizes an inspection tool comprising a communication system, a sensor, a long distance travel system, and a localized travel system, allowing fast long distance travel until the inspection tool approximates an area of interest, followed by actuating the localized travel system to accurately inspect the area of interest.