A multifunctional light-duty soft robot includes paired wheel power mechanisms, soft contact mechanisms, buffer spring mechanisms and a middle frame deformation mechanism. Each of the paired wheel power mechanisms includes a wheel frame and a wheel rotatably connected thereto. The wheel frame is internally provided with a power mechanism connected with a wheel axis of the wheel. Each of the soft contact mechanisms includes a flexible cantilever and a soft transmission belt. The two paired wheel power mechanisms are respectively arranged at two ends of each of the flexible cantilevers. The wheel on one of the paired wheel power mechanisms is connected with the wheel on the other of the paired wheel power mechanisms. The buffer spring mechanisms are arranged between the wheel frames and the wheels. The middle frame deformation mechanism includes a connection unit and two movable units rotatably connected to the connection unit respectively.

Portable pipe inspection video systems are disclosed. The system may include a camera head, a push-cable, a cable reel, and a camera controller having a built-in transmitter for energizing a pipe-inspection cable for magnetic field tracing applications.

A system and method for coating marine pipeline weld joints and wet inspection of the applied coating is provided. The coating system includes an anti-corrosion coating including a fluorescent pigment to enhance inspection of the applied coating. The system also includes a robotic crawler for traversing inside the pipe and carrying a coating apparatus and inspection apparatus respectively configured to apply the coating on the weld joints and facilitate inspection of the wet coating. The coating apparatus comprises a spraying nozzle provided on a forward end of the robotic crawler and configured to spray coating onto on the surrounding circumferential pipe surface. The inspection apparatus includes an ultraviolet radiation emitter for activating the fluorescent pigment in the coating and a camera for providing a live image feed of the coated weld joint area to an operator computing station for inspection of the applied coating.

The present disclosure relates to technology configured to enable fault detection and condition assessment of underground stormwater and sewer pipes. Embodiments of the present disclosure have been developed to allow automated processing of video captured by pipe inspection robots and the like thereby to identify and categorize artefacts in pipes.

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.

A method for sealing fluid cooled conduits in-situ for a generator is provided. The fluid or liquid cooled conduits are located external to a stator of the generator and substantially outward of stator bars. The method includes draining coolant from the fluid cooled conduits, and drying interior surfaces of the fluid cooled conduits. In inserting step inserts a borescope and a sealant applicator through an opening in one of the fluid cooled conduits. A locating step locates a brazed joint in the fluid cooled conduit, and a positioning step positions the borescope and the sealant applicator near the brazed joint. An applying step applies a sealant to the inside of the fluid cooled conduit at the brazed joint A viewing step may be used to view the brazed joint with the borescope to confirm that the applying step has been successful.

An imaging system is for recording images of a raceway of a bearing ring, the ring having two opposing axial ends, a central axis extending between the axial ends, and inner and outer circumferential surfaces. The raceway is formed on the inner circumferential surface or the outer circumferential surface of the ring and has first and second ends spaced along the central axis. The imaging system includes a frame movably coupleable with the bearing ring and having a centerline. A drive is mounted to the frame and is configured to angularly displace the frame about the bearing central axis. An optical imager has a lens and an adjustable positioner is mounted on the frame and is configured to position the optical imager such that the lens is disposed axially between the raceway first and second ends and faces generally perpendicular to the bearing raceway.

The present disclosure relates to methods and apparatus for launch and recovery of a remote inspection device within a liquid storage tank. In one embodiment, the tank is accessed by opening an entrance hatch and then injecting a vapor suppression foam across a surface of a stored liquid mass to form a foam layer. A launching system having a remote inspection device is attached to the entrance hatch to define a launch and recovery space sealed from an external environment and isolated from the stored liquid mass in the tank via a valve and the foam layer. The launch and recovery space is purged of hazardous vapors by injection of an inert gas prior to launch and recovery of the remote inspection device. Prior to removal of the launching system, the surface of the stored liquid mass is re-coated with vapor suppression foam.

The tunnel lining surface inspection system capable of measuring the three dimensional shape of the surface of the tunnel lining surface to precisely determine whether cracking has a risk of leading to flaking, by the light section method using the photography means and the slit laser beam projecting means, mounted in the vehicle, while the vehicle is traveling in the tunnel, and the vehicle used in the system are proposed. Image processing is performed to obtain the image used for inspecting the tunnel lining surface, by using the result of the three dimensional shape measurement of one side face of the tunnel lining surface, measured while the photography means/slit laser beam projecting means arrangement means is fixed to the first measurement position, and the result of the three dimensional shape measurement of the other side face of the tunnel lining surface, measured while the photography means/slit laser beam projecting means arrangement means is fixed to the second measurement position.

A portable camera controller for use with a pipe inspection system is disclosed. The controller may include an onboard display, USB ports, wireless capability, and a built-in transmitter for energizing a pipe-inspection cable for tracing purposes. The camera controller may be configured to support auto-logging and automatic report generation of pipe inspection operations and associated locating operations. The camera controller may be self-grounding using conductive and/or capacitive grounding circuits and an associated transmitter may be used without a separate grounding stake through use of the conductive and/or capacitive grounding circuits.