A motorized apparatus for use in maintaining a pipe having a sidewall is provided. The motorized apparatus includes a body assembly sized to fit within and to travel along an interior cavity of the pipe. The body assembly includes a first end and a second end and extending along a longitudinal axis. The body assembly also includes a plurality of leg assemblies coupled circumferentially around the body assembly. Each leg assembly includes a telescoping portion, a bias member coupled to the telescoping portion, and a drive mechanism configured to interact with the sidewall as the body assembly travels along the pipe. The body assembly also includes at least one sensor configured to collect data associated with a force between the sidewall and the drive mechanism, and an actuator assembly coupled to each leg assembly and configured to independently actuate each the leg assembly.

A motorized apparatus for use in maintaining a pipe having a sidewall is provided. The motorized apparatus includes a body assembly sized to fit within and to travel along an interior cavity of the pipe. The body assembly includes a first end and a second end and extending along a longitudinal axis. The body assembly also includes a plurality of leg assemblies coupled circumferentially around the body assembly. Each leg assembly includes a telescoping portion, a bias member coupled to the telescoping portion, and a drive mechanism configured to interact with the sidewall as the body assembly travels along the pipe. The body assembly also includes at least one sensor configured to collect data associated with a force between the sidewall and the drive mechanism, and an actuator assembly coupled to each leg assembly and configured to independently actuate each the leg assembly.

The invention relates to a system (10) for curing and/or inspecting a pipeline lining (30) positioned in a pipeline (20), the pipeline lining (30) comprising an outer plastics material layer and an inner fiber composite layer, the fiber composite layer comprising a plastics material which is to be cured and/or which is at least partially cured. In accordance with the invention, the system (10) comprises at least one high-frequency unit (40) which comprises at least one microwave-generator unit (41) and at least one microwave-transmitting antenna (42) for curing a plastics material which is to be cured, at least the at least one microwave-transmitting antenna (42) being movable in the pipeline (20) by means of a transporting device (60).

Systems and methods of the present disclosure relate to non-intrusive tracking of objects in a conduit from a single location. A system comprises a component positioned to control flow into or out of the conduit to induce pressure waves in the conduit; a pressure transducer in fluid communication with the conduit, the pressure transducer positioned to measure pressure responses in the conduit due to contact of the pressure waves with the object; and a system controller operable to: receive pressure data from the pressure transducer, wherein the pressure data includes the pressure responses to the pressure waves; and determine a distance of the object in the conduit, relative to the component or the pressure transducer, based on the pressure responses.

Systems and methods of the present disclosure relate to non-intrusive tracking of objects in a conduit from a single location. A system comprises a component positioned to control flow into or out of the conduit to induce pressure waves in the conduit; a pressure transducer in fluid communication with the conduit, the pressure transducer positioned to measure pressure responses in the conduit due to contact of the pressure waves with the object; and a system controller operable to: receive pressure data from the pressure transducer, wherein the pressure data includes the pressure responses to the pressure waves; and determine a distance of the object in the conduit, relative to the component or the pressure transducer, based on the pressure responses.

A system for use in maintaining a structure includes a maintenance apparatus including a maintenance drive system and a maintenance device. The system includes a support apparatus configured to travel in proximity to the structure. The support apparatus includes a body including a first end and a second end and a tether support device coupled to the body. The tether support device includes a housing. The support apparatus also includes a support drive system coupled to the body. The support drive system is configured to propel the support apparatus. The system also includes a tether including a first tether end, a second tether end, and a tether body extending between the first tether end and the second tether end. The maintenance apparatus is operably coupled to the first tether end. The tether support device is coupled to the tether between the first tether end and the second tether end.

A system for use in maintaining a structure includes a maintenance apparatus including a maintenance drive system and a maintenance device. The system includes a support apparatus configured to travel in proximity to the structure. The support apparatus includes a body including a first end and a second end and a tether support device coupled to the body. The tether support device includes a housing. The support apparatus also includes a support drive system coupled to the body. The support drive system is configured to propel the support apparatus. The system also includes a tether including a first tether end, a second tether end, and a tether body extending between the first tether end and the second tether end. The maintenance apparatus is operably coupled to the first tether end. The tether support device is coupled to the tether between the first tether end and the second tether end.

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.

Provided herein are a pipeline inspection system for effectively managing a pipeline by inspecting a state of the pipeline while moving along the pipeline. Moreover, the pipeline inspection system and the maintenance method using the same can improve scale removal efficiency by removing scale accumulated on the inner wall of the pipeline with ultrasonic vibrations, and prevent water leakage due to the corrosion of the inner wall of the pipeline.