The present disclosure relates to an inspection apparatus for visually inspecting a substantially dark area. The inspection apparatus includes an inspection casing having a sidewall extending between a casing inspection end and a connecting end, an omnidirectional video camera mounted to the casing inspection end of the inspection casing; and a light-emitting assembly at least partially contained in the inspection casing. The sidewall of the inspection casing has a light-permeable section extending along 360 degrees and the light-emitting assembly is configured to emit light through the light-permeable section and from the casing inspection end, and away therefrom. An inspection system is also described.

Tunnel defect detecting method and system using unmanned aerial vehicle (UAV) are provided, and the UAV is equipped with a light-emitting diode (LED) module, a camera, a laser radar, an ultrasonic distance meter and an inertial measurement unit (IMU). The method includes: collecting images in a tunnel based on the LED module and the camera to obtain a training image set; training by using the training image set to obtain a defect detecting model, collecting real-time tunnel images, detecting suspected defects to the real-time tunnel images by the defect detecting model, obtaining pose information of the UAV based on the camera, the laser radar, the ultrasonic distance meter and the IMU to control the UAV to hover. The method can realize accurate pose estimation and defect detection in the tunnel with no GPS signals and highly symmetrical inside.

A method of retrieving a mobile platform from a tank at least partially filled with a non-conductive, energetic substance includes configuring the mobile platform to include at least a retrieval system including a buoyant body, an electrically conductive member, and a tether. The tether electrically isolates the buoyant body from the enclosure. The method further includes the steps of releasing the buoyant body to convey the tether toward a surface of the non-conductive, liquid energetic substance; conveying an electrically conductive cable to the electrically conductive member using the tether; electrically connecting a voltage neutralizing end of the electrically conductive cable to a voltage differential neutralizing body in a spark inhibiting ambient condition; electrically connecting a mobile platform end of the electrically conductive cable to the electrically conductive member of the mobile platform while the electrically conductive member is below the surface of the non-conductive, liquid energetic substance.

Embodiments disclosed herein are directed to systems and methods for locating an anomaly along an inside surface of a conveyance pipe containing two mediums separated by a two medium interface. The systems and methods include an assembly transportable within the conveyance pipe. The assembly includes an enclosure that is at least partially transparent and is positionable to be located both above and below the two medium interface. An upper camera and a lower camera enclosed within the enclosure are operable to capture images of the inside surface of the conveyance pipe above and below the two medium interface. A data acquisition unit is in electronic communication with the upper camera and the lower camera, and includes a processor programmed to determine a presence and a location of the anomaly by analyzing the captured images.

Cable handling devices, methods, and systems for securing and deploying or retracting one or more cables or hoses into or out of a pipe or cavity allowing inspection of the pipe or cavity. In an exemplary embodiment, a hand-held device with a housing for at least partially enclosing one or more cables or hoses, at least one coupling mechanism integrally attached to the housing, and a coupling control for coupling and decoupling the one or more cables or hoses is provided. The cable handling device and the one or more cables or hoses can be coupled and moved together, or decoupled enabling the cable handling device and the one or more cables or hoses to move independently of each other. One or more of the cables may be connected to a camera for facilitating inspection of a pipe or cavity.

An apparatus for modelling a shaft in 3D, includes a sensor head adapted to be axially moved within the shaft. The sensor head includes: image sensors placed along the circumference of the sensor head, adapted to take images along an inner circumference of the shaft; a measuring apparatus adapted to determine a measured height position of the sensor head within the shaft. A processing unit includes: a placement module configured to place the images in a virtual space, based on the measured height position and the positioning of the image sensors on the sensor head, a correction module configured to correct the placement, based on comparing overlapping images and/or based on a measured deviation of the sensor head with respect to a central axis of the shaft.

Methods, systems, devices, and products for evaluating a downhole fluid in a borehole intersecting an earth formation. Methods include using ultrasonic irradiation to produce sonoluminescence from cavitation in a volume of the fluid; obtaining spectral information from measurement of the sonoluminescence with a light-responsive device; and estimating a parameter of interest of the fluid from the spectral information. The parameter may be a composition of the fluid or concentration of: i) at least one chemical element in the volume; i) at least one molecular element in the volume. Methods include deconvolving a response spectrum by using one or more separately determined standard spectra, or estimating the parameter of interest using spectral lines represented by the spectral information. Methods may include using an optically transparent ultrasonic transducer to produce the cavitation at the interface of the transducer, with optically transparent ultrasonic transducer between the interface and the light-responsive device.

A guide system for repairing turbomachinery includes a housing; a guide tube have a hollow interior for accepting a working tool module; an axial motor for moving the guide tube axially with respect to the housing; a rotational motor for rotating the guide tube with respect to the housing; and an attachment for securing the housing with respect to a turbomachinery casing. A repair kit and method are also provided.

A device (1) for registering data and features of ducts includes at least one camera (3, 5), at least one distance measurement apparatus and at least one apparatus for measuring properties of the medium contained in the duct. Furthermore, provision can be made for an illumination apparatus (4), a tracking sensor (10), which emits data in relation to the current position of the device (1), and an inclination measurement device (inclinometer and gyroscopic compass 9). The device can have a passive or active drive for moving the device (1) along the duct. The device (1) can register a length recording of the duct with the aid of photo geometry or with sound, radar, acceleration sensors and/or mechanical distance measurements. Thus, after a duct has been inspected, each point can be assigned precisely in terms of length.

A drifting and measurement tool is disclosed. The tool includes a first portion configured to mount on a first end of a tubular segment, and a second portion configured to mount on a second end of the tubular segment. The first portion has a rotatable component configured to rotate about a longitudinal axis of the tubular segment. The rotatable component includes a laser device configured to emit light toward the second portion and receive reflected light.