A set of radial springs to bias the sensor arms of an inline pipeline inspection tool radially outward towards the pipe wall. The springs are resilient clips typically made of metal which bias adjacent sensor arms away from one another and radially outward. There are two sets of springs, a forward set and a rearward set which operate independent of each other. Each set of springs operates on a plane which is perpendicular to the axis of the body of the tool and perpendicular to the planes upon which the sensor arms extend.

The present application discloses a pipeline radar and television inspection robot which includes a robot body, a directional drilling lifting device, a directional drilling rotary device, a directional drilling swing device, a radar, cameras and a driving apparatus; wherein the directional drilling lifting device is on a front part of the robot body; the directional drilling rotary device is on the directional drilling lifting device; the directional drilling swing device is on the directional drilling rotary device; the radar and the cameras are on the directional drilling swing device; the driving apparatus are on a bottom of the robot body. The directional drilling lifting device, the radar and the cameras are plugged in the robot body. The robot body electrically connects to cables which electrically connect to a control system. The cameras and the radar are able to be adjusted and the components are connected as modules.

The present application discloses a pipeline radar and television inspection robot which includes a robot body, a directional drilling lifting device, a directional drilling rotary device, a directional drilling swing device, a radar, cameras and a driving apparatus; wherein the directional drilling lifting device is on a front part of the robot body; the directional drilling rotary device is on the directional drilling lifting device; the directional drilling swing device is on the directional drilling rotary device; the radar and the cameras are on the directional drilling swing device; the driving apparatus are on a bottom of the robot body. The directional drilling lifting device, the radar and the cameras are plugged in the robot body. The robot body electrically connects to cables which electrically connect to a control system. The cameras and the radar are able to be adjusted and the components are connected as modules.

An assembly is provided that includes first and second end plates adapted to be coaxially aligned when in use. One or more members extend from the end plates or an annular ring, the annular ring provided between the end plates, the other of the end plates or annular ring comprising one or more first slots at one end thereof to be aligned with and for receiving the one or more members of the first end plate, and one or more second slots at the other end thereof to be aligned with and for receiving the one or more members. Resilient sealing members are provided around the one or more members between the end plates and annular ring, and an urging mechanism urges the first and second end plates towards the annular ring to deform the first and second resilient sealing members to engage the inner wall of the pipe.

An assembly is provided that includes first and second end plates adapted to be coaxially aligned when in use. One or more members extend from the end plates or an annular ring, the annular ring provided between the end plates, the other of the end plates or annular ring comprising one or more first slots at one end thereof to be aligned with and for receiving the one or more members of the first end plate, and one or more second slots at the other end thereof to be aligned with and for receiving the one or more members. Resilient sealing members are provided around the one or more members between the end plates and annular ring, and an urging mechanism urges the first and second end plates towards the annular ring to deform the first and second resilient sealing members to engage the inner wall of the pipe.

Apparatus, systems, and methods for pipeline condition assessment using phased array ultrasonic transducers are disclosed. A sensing module for assessing pipeline condition comprises a body; and one or more phased array ultrasonic transducers (PAUTs) assembled on the surface of the body, each PAUT configured to emit multi-channel ultrasonic waves for scanning a pipe wall.

Systems and methods for efficient on-line pigging of a coker furnace without interruption of the delayed coking process, which will save time and money during the delayed coking process. This system can be retrofitted to existing coker furnaces.

Systems and methods for efficient on-line pigging of a coker furnace without interruption of the delayed coking process, which will save time and money during the delayed coking process. This system can be retrofitted to existing coker furnaces.

A device for mapping an inlet into a tubular pipe, the device including a pipe robot including a base unit including a chassis configured for driving in the tubular pipe, a pivot arm arranged at the base unit, an indicator arranged at the pivot arm, a camera arranged at the pivot arm with a viewing direction towards the indicator, a control device; and a conductor arranged between the control device and the base unit and configured to transmit control signals of the control unit for positioning the base unit in the pipe, for pivoting the pivot arm about a longitudinal axis of the base unit and for pivoting the indicator relative to the inlet and to transmit an original image of the indicator that is captured by the camera to the control device. The invention also relates to a method for using the device.

A device for mapping an inlet into a tubular pipe, the device including a pipe robot including a base unit including a chassis configured for driving in the tubular pipe, a pivot arm arranged at the base unit, an indicator arranged at the pivot arm, a camera arranged at the pivot arm with a viewing direction towards the indicator, a control device; and a conductor arranged between the control device and the base unit and configured to transmit control signals of the control unit for positioning the base unit in the pipe, for pivoting the pivot arm about a longitudinal axis of the base unit and for pivoting the indicator relative to the inlet and to transmit an original image of the indicator that is captured by the camera to the control device. The invention also relates to a method for using the device.