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.

The present disclosure relates to a device for assessing the condition of a pipeline containing a liquid, the device comprising an actuatable maneuvering means configured to generate a force sufficient to move the device from one side to another side along a horizontal plane and to move the device from top to bottom along a vertical plane, or any combinations thereof, so as to maneuver the device. The present disclosure relates to a method for maneuvering a device comprising transmitting an electronic signal, receiving the signal, and actuating maneuvering means on the device to generate a force sufficient to alter the path of the device in a direction around the pipeline feature based on information related by the received signal. In aspects, the method comprising identifying a pipeline feature by directing one or more of a camera, sonar sensor, or time of flight sensor disposed on a device towards the intended path.

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.

There is provided a pig for inspecting a tubular object. The pig is configured for travel along an interior of the tubular object. The pig comprises a transducer body. The transducer body includes at least one transducer for detecting a condition of the tubular object. The or each transducer is configured to, in use, move in a plane that is perpendicular or substantially perpendicular to a direction of travel of the pig along the interior of the tubular object.

There is provided a pig for inspecting a tubular object. The pig is configured for travel along an interior of the tubular object. The pig comprises a transducer body. The transducer body includes at least one transducer for detecting a condition of the tubular object. The or each transducer is configured to, in use, move in a plane that is perpendicular or substantially perpendicular to a direction of travel of the pig along the interior of the tubular object.

A self-propelled device for locomotion through a lumen, comprising a set of serially arranged inflatable chambers, adjacent chambers being fluidly connected, and a fluid source attached to one end of the set, such that the chambers inflate sequentially. The chambers are constructed of an elastic material and have a wall thickness and dimensions such that they have a characteristic with a non-monotonous relationship between the inflation pressure within the chamber and the chamber's inflated size. The characteristic is such that after an initial inflation pressure peak, the non-monotonous relationship adopts a negative slope, such that the volume of the chamber increases more rapidly than the volume of fluid flowing into it, and the inflation pressure of the chamber falls. This effect causes the chamber to inflate and anchor rapidly, while essentially slowing down the inflation of the succeeding chamber until inflation of the first is complete.

A self-propelled device for locomotion through a lumen, comprising a set of serially arranged inflatable chambers, adjacent chambers being fluidly connected, and a fluid source attached to one end of the set, such that the chambers inflate sequentially. The chambers are constructed of an elastic material and have a wall thickness and dimensions such that they have a characteristic with a non-monotonous relationship between the inflation pressure within the chamber and the chamber's inflated size. The characteristic is such that after an initial inflation pressure peak, the non-monotonous relationship adopts a negative slope, such that the volume of the chamber increases more rapidly than the volume of fluid flowing into it, and the inflation pressure of the chamber falls. This effect causes the chamber to inflate and anchor rapidly, while essentially slowing down the inflation of the succeeding chamber until inflation of the first is complete.

A pressure medium-operated pipe cleaning device for streak-free cleaning of the pipe and duct wall and simultaneously a video recording of the entire cleaning process. The device includes a nozzle module and a camera module. The nozzle module includes a plurality of thrusters and a plurality of cleaning nozzles, and the camera module has at least one camera, an illuminating device, control electronics, a memory, a transmitter and an accumulator, so that the camera module can be controlled from outside by the control electronics. The nozzle module and camera module separately designed in terms of location and construction, and mounted on a carriage spaced linearly apart from each other in the direction of a longitudinal axis by a distance, wherein a stator part has the thrusters of the nozzle module and the camera module is rotationally and linearly immovably fastened to the carriage, while the rotor part on which the plurality of cleaning nozzles are arranged can be rotated around the longitudinal axis.

A pressure medium-operated pipe cleaning device for streak-free cleaning of the pipe and duct wall and simultaneously a video recording of the entire cleaning process. The device includes a nozzle module and a camera module. The nozzle module includes a plurality of thrusters and a plurality of cleaning nozzles, and the camera module has at least one camera, an illuminating device, control electronics, a memory, a transmitter and an accumulator, so that the camera module can be controlled from outside by the control electronics. The nozzle module and camera module separately designed in terms of location and construction, and mounted on a carriage spaced linearly apart from each other in the direction of a longitudinal axis by a distance, wherein a stator part has the thrusters of the nozzle module and the camera module is rotationally and linearly immovably fastened to the carriage, while the rotor part on which the plurality of cleaning nozzles are arranged can be rotated around the longitudinal axis.

A pressure medium-operated pipe cleaning device for streak-free cleaning of the pipe and duct wall and simultaneously a video recording of the entire cleaning process. The device includes a nozzle module and a camera module. The nozzle module includes a plurality of thrusters and a plurality of cleaning nozzles, and the camera module has at least one camera, an illuminating device, control electronics, a memory, a transmitter and an accumulator, so that the camera module can be controlled from outside by the control electronics. The nozzle module and camera module separately designed in terms of location and construction, and mounted on a carriage spaced linearly apart from each other in the direction of a longitudinal axis by a distance, wherein a stator part has the thrusters of the nozzle module and the camera module is rotationally and linearly immovably fastened to the carriage, while the rotor part on which the plurality of cleaning nozzles are arranged can be rotated around the longitudinal axis.