An autonomous robotic vehicle is capable of detecting, identifying, and locating the source of gas leaks such as methane. Because of the number of operating components within the vehicle, it may also be considered a robotic system. The robotic vehicle can be remotely operated or can move autonomously within a jobsite. The vehicle selectively deploys a source detection device that precisely locates the source of a leak. The vehicle relays data to stakeholders and remains powered that enables operation of the vehicle over an extended period. Monitoring and control of the vehicle is enabled through a software interface viewable to a user on a mobile communications device or personal computer.

Composite sensors that exhibit four deformation modes decoupled from each other are disclosed. The modes include tension, compression, bending, and torsion. In one exemplary embodiment, the sensor includes a substrate and six unit sensors. The unit sensors are paired such that each pair includes two unit sensors disposed on opposite surfaces of the substrate, the sensors being substantially opposed to each other. Two of the pairs include longitudinal axes that are substantially parallel to each other, and the third pair includes a longitudinal axis that is substantially perpendicular to the other two longitudinal axes. The substrate is constrained along one of its edges. The composite sensors can be used in many contexts, such as part of a flow-driven, soft robot that passes through a pipe and detect links. Methods of detecting leaks are also described.

In a method for detecting the presence of water or additional water, which exists because of a leak, the following steps are carried out: attaching at least one pair of electrodes to/in an object, to/in the presence of water is to be determined; applying an electrical voltage between the electrodes; testing whether electrical current or electrical current that is increased relative to a basic current flows between the electrodes; and detecting the presence of water in the case of flowing current. When implementing the method, at least two electrodes are used, wherein one electrode can be a ground. The electrodes are arranged separated from one another. DC or AC voltage is applied to the electrodes by a device. The device detects a measured value corresponding to the intensity of the current flowing between the electrodes.

The present invention is directed to a method of cleaning and inspection of drilling mud carrying flow lines, each flow line having an inner surface. The method includes affixing a fitting to the flow line, the fitting having a main flow channel and a branch flow channel extending at an angle from said main flow channel. A first end portion of the fitting can have an attachment that enables connection of the fitting to the flow line at one flow line end portion. A second end portion of the fitting can have one or more doors that can be moved between opened and closed positions, the door or doors providing an opening that is not closed when the doors are in the closed position. A suction line can be connected to the branch flow channel. A cleaning tool can be guided first into the fitting and then into the flow line using a fluid carrying cable. The cleaning tool and jetting fluid can be used to clean drilling mud and debris from the inner surface of the flow line. The jetting fluid can be removed via the branch flow channel using the suction line. The cable can extend through the door opening or openings when the door or doors are in the closed position. A camera can be guided into the flow line using a camera cable wherein the camera cable extends through the door opening or openings. The cleaning tool is preferably too small to fit through the door opening.

Sewer line and lateral inspections are made in order to detect leaks and improper connections, using steam injected into a section of sewer line. Thermal imaging of the vicinity indicates leaks and illegal connections.

Described is a robotic apparatus (10) for investigating a confined area comprising: an articulated robot (20) for insertion into a confined area, the robotic apparatus further comprising a robot control system (30) for controlling the articulated robot. Further, the robot control system comprises a control unit (50), a robot driving means, a seal (70) for isolating the confined area from the external environment and at least one transmission member (80), wherein the control unit is configured to send control signals to the robot driving means, and the at least one transmission member extends from the robot driving means to connect to the articulated robot, the at least one transmission member extending through the seal.

A non-motorized inspection device for inspecting a fluid pipeline, includes a monitoring device capable of generating at least one representation of the pipeline, an inertial unit capable of determining orientation data relating to the inspection device, and a means for preventing distortion of the at least one representation.

A system is provided that includes a dart, a pressure sensor, and a controller communicatively coupled with the sensor. The dart is disposed in a fluidic channel. The dart has a main body and a flange extending from the main body and has a diameter greater than or equal to a diameter of the fluidic channel. When the dart translates within the fluidic channel and passes a location of a variation in the fluidic channel, the flange creates a pressure pulse. The pressure sensor measures the pressure pulse within the fluidic channel created by the dart. The controller determines the location of the variation based on the measured pressure pulse.

Systems, methods, and devices for fluid conduit inspection using absolute velocity of a sensor device are provided. The method includes: receiving sensor data collected by a sensor device during a measurement run from an interior of the fluid conduit while traveling along a length of the fluid conduit, the sensor device including a first magnetometer and a second magnetometer each having a fixed position in the sensor device, the fixed positions defining a separation distance between the first magnetometer and second magnetometer, the sensor data including magnetic flux data comprising first magnetic flux data collected by the first magnetometer and second magnetic flux data collected by the second magnetometer; determining a time delay between when a magnetic signal is present in the first magnetic flux data and when the magnetic signal is present in the second magnetic flux data; determining an absolute velocity of the sensor device.

An approach for collecting disparate data within a pipe involves a sensor arrangement configured to be deployed within the pipe. The sensor arrangement includes a plurality of sensors configured to detect disparate data related to the pipe. Each sensor of the plurality of sensors is coupled to a respective collection computer on the sensor arrangement. A synchronization module is configured to synchronize the disparate data. A database is configured to store the synchronized data. A processor is configured to process the synchronized data. A user interface configured to present the synchronized data to a user.