CA2221379A1 - Pipeline vehicle - Google Patents

Pipeline vehicle

Info

Publication number
CA2221379A1
CA2221379A1 CA002221379A CA2221379A CA2221379A1 CA 2221379 A1 CA2221379 A1 CA 2221379A1 CA 002221379 A CA002221379 A CA 002221379A CA 2221379 A CA2221379 A CA 2221379A CA 2221379 A1 CA2221379 A1 CA 2221379A1
Authority
CA
Canada
Prior art keywords
vehicle
pipe
service
modules
junction
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CA002221379A
Other languages
French (fr)
Other versions
CA2221379C (en
Inventor
Andrew Smart
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Lattice Intellectual Property Ltd
Original Assignee
British Gas Plc
Andrew Smart
Bg Plc
Transco Plc
Bg Transco Plc
Lattice Intellectual Property Ltd.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by British Gas Plc, Andrew Smart, Bg Plc, Transco Plc, Bg Transco Plc, Lattice Intellectual Property Ltd. filed Critical British Gas Plc
Priority to CA002341321A priority Critical patent/CA2341321C/en
Publication of CA2221379A1 publication Critical patent/CA2221379A1/en
Application granted granted Critical
Publication of CA2221379C publication Critical patent/CA2221379C/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
    • G01V3/00—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation
    • G01V3/18—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation specially adapted for well-logging
    • G01V3/26—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation specially adapted for well-logging operating with magnetic or electric fields produced or modified either by the surrounding earth formation or by the detecting device
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
    • F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
    • F16L55/28—Constructional aspects
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N27/00—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means
    • G01N27/72—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables
    • G01N27/82—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables for investigating the presence of flaws
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N27/00—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means
    • G01N27/72—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables
    • G01N27/82—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables for investigating the presence of flaws
    • G01N27/90—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating magnetic variables for investigating the presence of flaws using eddy currents
    • G01N27/9013—Arrangements for scanning
    • G01N27/902—Arrangements for scanning by moving the sensors
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
    • G01V3/00—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation
    • G01V3/15—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation specially adapted for use during transport, e.g. by a person, vehicle or boat
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L2101/00—Uses or applications of pigs or moles
    • F16L2101/30—Inspecting, measuring or testing

Abstract

An in-pipe vehicle for carrying out at least one operation in a pipeline. The vehicle comprises a train of modules (11-16) interlinked by suspension units (17) to allow serpentine movement through pipe bends. The vehicle train has its own internal power supply and drive mechanism in respective modules. A detector module (14) determines the presence of a service junction using magnetic field information and a manipulative module (13) allows the vehicle to be temporarily wedged in the pipeline whilst providing rotational movement to facilitate the desired operation at the junction. This can include drilling and welding of a service pipe to the main using appropriate modules. A remote probe typically containing a magnetic field generator can be used to assit in service junction location by the vehicle.
CA002221379A 1995-05-22 1996-05-21 Pipeline vehicle Expired - Fee Related CA2221379C (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CA002341321A CA2341321C (en) 1995-05-22 1996-05-21 Pipeline vehicle

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
GB9510434A GB2301187B (en) 1995-05-22 1995-05-22 Method of and apparatus for locating an anomaly in a duct
GB9510434.5 1995-05-22
PCT/GB1996/001214 WO1996037727A1 (en) 1995-05-22 1996-05-21 Pipeline vehicle

Related Child Applications (1)

Application Number Title Priority Date Filing Date
CA002341321A Division CA2341321C (en) 1995-05-22 1996-05-21 Pipeline vehicle

Publications (2)

Publication Number Publication Date
CA2221379A1 true CA2221379A1 (en) 1996-11-28
CA2221379C CA2221379C (en) 2001-09-18

Family

ID=10774908

Family Applications (2)

Application Number Title Priority Date Filing Date
CA002173193A Abandoned CA2173193A1 (en) 1995-05-22 1996-04-01 Pipeline vehicle
CA002221379A Expired - Fee Related CA2221379C (en) 1995-05-22 1996-05-21 Pipeline vehicle

Family Applications Before (1)

Application Number Title Priority Date Filing Date
CA002173193A Abandoned CA2173193A1 (en) 1995-05-22 1996-04-01 Pipeline vehicle

Country Status (9)

Country Link
US (4) US5878783A (en)
EP (1) EP0840869B1 (en)
JP (2) JP3561276B2 (en)
CA (2) CA2173193A1 (en)
DE (1) DE69619678T2 (en)
ES (1) ES2174070T3 (en)
GB (2) GB2301187B (en)
HK (2) HK1010904A1 (en)
WO (1) WO1996037727A1 (en)

Families Citing this family (157)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6857486B2 (en) * 2001-08-19 2005-02-22 Smart Drilling And Completion, Inc. High power umbilicals for subterranean electric drilling machines and remotely operated vehicles
GB2301187B (en) * 1995-05-22 1999-04-21 British Gas Plc Method of and apparatus for locating an anomaly in a duct
BR9610373A (en) 1995-08-22 1999-12-21 Western Well Toll Inc Traction-thrust hole tool
GB9614761D0 (en) 1996-07-13 1996-09-04 Schlumberger Ltd Downhole tool and method
US6198277B1 (en) 1997-06-26 2001-03-06 Gas Research Institute Sensor module for use in system for inspecting in-service gas distribution mains
CA2218436A1 (en) * 1997-10-15 1999-04-15 Consolidated Edison Company Of New York, Inc. Device for repairing pipes
US6240965B1 (en) * 1998-04-24 2001-06-05 Link-Pipe (H.K.), Ltd. Apparatus for repair of high temperature and pressure conduits, method for repairing high temperature and pressure conduits, and a sealing device for repairing high temperature and pressure conduits
AR018459A1 (en) * 1998-06-12 2001-11-14 Shell Int Research METHOD AND PROVISION FOR MOVING EQUIPMENT TO AND THROUGH A VAIVEN CONDUCT AND DEVICE TO BE USED IN SUCH PROVISION
US6347674B1 (en) * 1998-12-18 2002-02-19 Western Well Tool, Inc. Electrically sequenced tractor
GB2351308B (en) 1998-12-18 2003-05-28 Western Well Tool Inc Electro-hydraulically controlled tractor
FR2790087B1 (en) * 1999-02-19 2001-04-20 Coflexip METHOD AND DEVICE FOR IN SITU MEASURING THE DISTANCE BETWEEN TWO GIVEN ELEMENTS IN A TUBULAR PIPE
NO320782B1 (en) * 1999-03-22 2006-01-30 Aatechnology As Progress mechanism for long voids and rudders
US6820653B1 (en) * 1999-04-12 2004-11-23 Carnegie Mellon University Pipe inspection and repair system
US9586699B1 (en) 1999-08-16 2017-03-07 Smart Drilling And Completion, Inc. Methods and apparatus for monitoring and fixing holes in composite aircraft
NO311100B1 (en) * 1999-10-26 2001-10-08 Bakke Technology As Apparatus for use in feeding a rotary downhole tool and using the apparatus
US6626447B2 (en) * 2000-01-28 2003-09-30 Barnard Construction Co., Inc. Pipeline patch trolley
US6464003B2 (en) 2000-05-18 2002-10-15 Western Well Tool, Inc. Gripper assembly for downhole tractors
US6450104B1 (en) * 2000-04-28 2002-09-17 North Carolina State University Modular observation crawler and sensing instrument and method for operating same
FR2808491B1 (en) * 2000-05-04 2002-08-09 Cie Du Sol A SELF-PROPELLED TROLLEY CAPABLE OF MOVING IN A CYLINDRICAL GALLERY
FR2812067B1 (en) * 2000-07-18 2003-05-16 Commissariat Energie Atomique MOBILE ROBOT ABLE TO WORK IN PIPES OR OTHER NARROW PASSAGES
US7121364B2 (en) * 2003-02-10 2006-10-17 Western Well Tool, Inc. Tractor with improved valve system
US8245796B2 (en) * 2000-12-01 2012-08-21 Wwt International, Inc. Tractor with improved valve system
GB2389135B (en) * 2000-12-01 2005-11-30 Western Well Tool Inc Tractor with improved valve system
CA2354226A1 (en) 2001-01-31 2002-07-31 Cal Holland Robotic apparatus and method for non-destructive maintenance of intersecting conduits
US20020113870A1 (en) * 2001-02-16 2002-08-22 Mueckl Gareth J. Pipeline televising apparatus with wireless remote controller
DE60205353T2 (en) * 2001-03-07 2006-04-20 Carnegie Mellon University ROBOT SYSTEM FOR INSPECTION OF GAS LINES
WO2002093761A1 (en) * 2001-05-11 2002-11-21 Wildseed, Ltd. Method and system for playing boradcasts with a mobile telecommunication device that includes multiple tuners
US6431291B1 (en) 2001-06-14 2002-08-13 Western Well Tool, Inc. Packerfoot with bladder assembly having reduced likelihood of bladder delamination
US6427602B1 (en) 2001-07-02 2002-08-06 Westinghouse Savannah River Company, Llc Pipe crawler apparatus
US9625361B1 (en) 2001-08-19 2017-04-18 Smart Drilling And Completion, Inc. Methods and apparatus to prevent failures of fiber-reinforced composite materials under compressive stresses caused by fluids and gases invading microfractures in the materials
US8515677B1 (en) 2002-08-15 2013-08-20 Smart Drilling And Completion, Inc. Methods and apparatus to prevent failures of fiber-reinforced composite materials under compressive stresses caused by fluids and gases invading microfractures in the materials
US7182025B2 (en) 2001-10-17 2007-02-27 William Marsh Rice University Autonomous robotic crawler for in-pipe inspection
US7210364B2 (en) * 2001-10-17 2007-05-01 Fathi Hassan Ghorbel Autonomous robotic crawler for in-pipe inspection
US6832164B1 (en) 2001-11-20 2004-12-14 Alfred Stella Sewerage pipe inspection vehicle having a gas sensor
US6715559B2 (en) 2001-12-03 2004-04-06 Western Well Tool, Inc. Gripper assembly for downhole tractors
DE10210746C1 (en) * 2002-03-12 2003-10-16 Ndt System & Services Ag Segment for a sensor carrier body of a pig
US7498796B2 (en) * 2002-05-09 2009-03-03 The Boeing Company Magnetic indexer for high accuracy hole drilling
US7137465B1 (en) * 2002-10-02 2006-11-21 The Charles Stark Draper Laboratory, Inc. Crawler device
US7143659B2 (en) * 2002-12-17 2006-12-05 Pinnacle West Capital Corporation Pipe-inspection system
US6891477B2 (en) 2003-04-23 2005-05-10 Baker Hughes Incorporated Apparatus and methods for remote monitoring of flow conduits
US7960935B2 (en) * 2003-07-08 2011-06-14 The Board Of Regents Of The University Of Nebraska Robotic devices with agent delivery components and related methods
US7042184B2 (en) * 2003-07-08 2006-05-09 Board Of Regents Of The University Of Nebraska Microrobot for surgical applications
US7126303B2 (en) * 2003-07-08 2006-10-24 Board Of Regents Of The University Of Nebraska Robot for surgical applications
NZ529182A (en) * 2003-12-20 2007-02-23 Colin Brian Nicholson Self-propelled vehicle for use in a conduit
US7143843B2 (en) * 2004-01-05 2006-12-05 Schlumberger Technology Corp. Traction control for downhole tractor
US7392859B2 (en) * 2004-03-17 2008-07-01 Western Well Tool, Inc. Roller link toggle gripper and downhole tractor
KR100662341B1 (en) * 2004-07-09 2007-01-02 엘지전자 주식회사 Display apparatus and method for reappearancing color thereof
US7720570B2 (en) * 2004-10-01 2010-05-18 Redzone Robotics, Inc. Network architecture for remote robot with interchangeable tools
CA2595453C (en) * 2005-01-18 2016-02-23 Redzone Robotics, Inc. Autonomous inspector mobile platform
US8170715B1 (en) 2005-01-25 2012-05-01 Redzone Robotics, Inc. Methods and devices for automated work in pipes based on impedance control
US7624808B2 (en) * 2006-03-13 2009-12-01 Western Well Tool, Inc. Expandable ramp gripper
US8974440B2 (en) * 2007-08-15 2015-03-10 Board Of Regents Of The University Of Nebraska Modular and cooperative medical devices and related systems and methods
US9579088B2 (en) * 2007-02-20 2017-02-28 Board Of Regents Of The University Of Nebraska Methods, systems, and devices for surgical visualization and device manipulation
US8679096B2 (en) 2007-06-21 2014-03-25 Board Of Regents Of The University Of Nebraska Multifunctional operational component for robotic devices
EP2034922B1 (en) * 2006-06-22 2017-03-15 Board of Regents of the University of Nebraska Magnetically coupleable robotic devices
US20080217024A1 (en) * 2006-08-24 2008-09-11 Western Well Tool, Inc. Downhole tool with closed loop power systems
US20080053663A1 (en) * 2006-08-24 2008-03-06 Western Well Tool, Inc. Downhole tool with turbine-powered motor
WO2008034144A2 (en) * 2006-09-15 2008-03-20 Redzone Robotics, Inc. Manhole modeler
DE602007013793D1 (en) * 2006-11-13 2011-05-19 Raytheon Co ADJUSTABLE TRACK ARRANGEMENT FOR A RAILROAD ROBOT
WO2008076193A2 (en) * 2006-11-13 2008-06-26 Raytheon Sarcos Llc Tracked robotic crawler having a moveable arm
DE602007007807D1 (en) * 2006-11-13 2010-08-26 Raytheon Sarcos Llc VERSATILE USEFUL BAND FOR LIGHTWEIGHT MOBILE ROBOTS
EP2092265B1 (en) * 2006-11-13 2013-04-10 Raytheon Company Unmanned ground robotic vehicle having an alternatively extendible and retractable sensing appendage
US7748476B2 (en) 2006-11-14 2010-07-06 Wwt International, Inc. Variable linkage assisted gripper
US20080245258A1 (en) * 2007-04-06 2008-10-09 General Electric Company Pressure-balanced electric motor wheel drive for a pipeline tractor
EP2144659A1 (en) 2007-05-07 2010-01-20 Raytheon Sarcos, LLC Method for manufacturing a complex structure
WO2008150630A2 (en) * 2007-05-08 2008-12-11 Raytheon Sarcos, Llc Variable primitive mapping for a robotic crawler
FR2916852B1 (en) * 2007-05-30 2009-09-11 Snecma Sa REPORTING POINTS OF INTEREST ON A AREA OF THE SURFACE OF A WORKPIECE AND APPLICATION TO THE OPTIMIZATION OF THE TRACK AND ANGULATION OF FUEL CURRENT PROBES
GB0712205D0 (en) * 2007-06-23 2007-08-01 Oliver Crispin Robotics Ltd Improvements in and relating to robotoc arms
CN101778756B (en) * 2007-07-10 2013-01-23 雷神萨科斯公司 Serpentine robotic crawler having a continuous track
US8571711B2 (en) 2007-07-10 2013-10-29 Raytheon Company Modular robotic crawler
EP3673855B1 (en) 2007-07-12 2021-09-08 Board of Regents of the University of Nebraska Systems of actuation in robotic devices
WO2009023839A1 (en) * 2007-08-15 2009-02-19 Board Of Regents Of The University Of Nebraska Medical inflation, attachment, and delivery devices and related methods
US20090091278A1 (en) * 2007-09-12 2009-04-09 Michael Montois Downhole Load Sharing Motor Assembly
US8020460B1 (en) 2008-02-11 2011-09-20 Hoyt Philip M Sensor housing and mount for in-line inspection tool
US7733085B2 (en) * 2008-02-11 2010-06-08 Electromechanical Technologies, Inc. Flangeless canister for in-line inspection tool
US20090307891A1 (en) * 2008-06-17 2009-12-17 Ge-Hitachi Nuclear Energy Americas Llc Method and apparatus for remotely inspecting and/or treating welds, pipes, vessels and/or other components used in reactor coolant systems or other process applications
US8525124B2 (en) * 2008-11-03 2013-09-03 Redzone Robotics, Inc. Device for pipe inspection and method of using same
US8392036B2 (en) * 2009-01-08 2013-03-05 Raytheon Company Point and go navigation system and method
WO2010144813A1 (en) * 2009-06-11 2010-12-16 Raytheon Sarcos, Llc Method and system for deploying a surveillance network
EP2440448B1 (en) * 2009-06-11 2015-09-30 Sarcos LC Amphibious robotic crawler
US8653811B2 (en) * 2009-06-26 2014-02-18 Tdw Delaware Inc. Pipeline inspection tool with oblique magnetizer
CZ2009480A3 (en) 2009-07-24 2010-11-24 Ceské vysoké ucení technické v Praze - Fakulta elektrotechnická Robot for cleaning and inspection of piping and control unit for controlling thereof
US8485278B2 (en) * 2009-09-29 2013-07-16 Wwt International, Inc. Methods and apparatuses for inhibiting rotational misalignment of assemblies in expandable well tools
JP2013514835A (en) * 2009-12-17 2013-05-02 ボード オブ リージェンツ オブ ザ ユニバーシティ オブ ネブラスカ Modular and collaborative medical devices and related systems and methods
US8215844B1 (en) 2010-05-17 2012-07-10 Pure Technologies (U.S.) Inc. Debris resistant bearing system and method
US9326663B2 (en) 2010-06-17 2016-05-03 Covidien Lp Endoluminal crawler
EP2600758A1 (en) 2010-08-06 2013-06-12 Board of Regents of the University of Nebraska Methods and systems for handling or delivering materials for natural orifice surgery
KR101014346B1 (en) * 2010-08-11 2011-02-15 (주)엔티렉스 Snake shape robot
KR101020944B1 (en) * 2010-08-30 2011-03-09 한국원자력연구원 Cable for inspecting heat tubes and insertion force analysis method
KR101215539B1 (en) * 2010-09-03 2013-01-09 삼성중공업 주식회사 Pipe inner inspecting mobile robot and apparatus for moving the same
DE102010044465A1 (en) * 2010-09-06 2012-03-08 I.S.T. Innovative Sewer Technologies Gmbh Device for rehabilitating a pipe
EP2668704A1 (en) 2011-01-25 2013-12-04 Jelcer-IP B.V. A pipe travelling apparatus and use thereof
CN102182895B (en) * 2011-03-14 2013-11-20 中国石油大学(华东) Rotating propulsion system for gas pipeline online internal detector
WO2012130318A1 (en) * 2011-03-31 2012-10-04 The Safer Plug Company Limited A pipeline tool
WO2012130319A1 (en) * 2011-03-31 2012-10-04 The Safer Plug Company Limited A propulsion device
EP3714821A1 (en) 2011-06-10 2020-09-30 Board of Regents of the University of Nebraska Surgical end effector
CA2841459C (en) 2011-07-11 2020-07-28 Board Of Regents Of The University Of Nebraska Robotic surgical devices, systems, and related methods
US9447648B2 (en) 2011-10-28 2016-09-20 Wwt North America Holdings, Inc High expansion or dual link gripper
WO2013106569A2 (en) 2012-01-10 2013-07-18 Board Of Regents Of The University Of Nebraska Methods, systems, and devices for surgical access and insertion
US9791089B2 (en) 2012-03-23 2017-10-17 Lmk Technologies, Llc Method and apparatus for repairing a pipe junction
EP4357083A2 (en) 2012-05-01 2024-04-24 Board of Regents of the University of Nebraska Single site robotic device and related systems and methods
US8393422B1 (en) 2012-05-25 2013-03-12 Raytheon Company Serpentine robotic crawler
US9395390B2 (en) * 2012-06-19 2016-07-19 Westinghouse Electric Company Llc Eddy current inspection probe
EP2864086B1 (en) 2012-06-22 2017-04-19 Board of Regents of the University of Nebraska Local control robotic surgical devices
US8402911B1 (en) 2012-07-19 2013-03-26 Quest Inspar, LLC Multi-segmented apparatus for lining pipe with multiple convoluted bends and varied orientations with a structural membrane
EP2882331A4 (en) 2012-08-08 2016-03-23 Univ Nebraska Robotic surgical devices, systems, and related methods
US9770305B2 (en) 2012-08-08 2017-09-26 Board Of Regents Of The University Of Nebraska Robotic surgical devices, systems, and related methods
US9031698B2 (en) 2012-10-31 2015-05-12 Sarcos Lc Serpentine robotic crawler
EP2921367A4 (en) * 2012-11-15 2016-09-28 Hibot Corp Intratubular travel device and travel body
US9728817B2 (en) 2013-03-14 2017-08-08 Invodane Engineering Ltd. Apparatus and method for in-line charging of a pipeline tool
US9888966B2 (en) 2013-03-14 2018-02-13 Board Of Regents Of The University Of Nebraska Methods, systems, and devices relating to force control surgical systems
CA2905948C (en) 2013-03-14 2022-01-11 Board Of Regents Of The University Of Nebraska Methods, systems, and devices relating to robotic surgical devices, end effectors, and controllers
EP2996545B1 (en) 2013-03-15 2021-10-20 Board of Regents of the University of Nebraska Robotic surgical systems
WO2015009949A2 (en) 2013-07-17 2015-01-22 Board Of Regents Of The University Of Nebraska Robotic surgical devices, systems and related methods
JP6301078B2 (en) * 2013-07-26 2018-03-28 株式会社ハイボット Pipe moving device
GB2516981A (en) * 2013-08-09 2015-02-11 Pipeline Induction Heat Ltd Mould equipment for pipeline section coating and methods for coating of pipeline sections with moulds
US9409292B2 (en) 2013-09-13 2016-08-09 Sarcos Lc Serpentine robotic crawler for performing dexterous operations
US9488020B2 (en) 2014-01-27 2016-11-08 Wwt North America Holdings, Inc. Eccentric linkage gripper
US9566711B2 (en) 2014-03-04 2017-02-14 Sarcos Lc Coordinated robotic control
GB2588361B (en) 2014-05-01 2022-02-16 Ulc Robotics Inc System and method for pipeline maintenance
NL2012839C2 (en) * 2014-05-19 2014-12-17 Rüntgen Technische Dienst B.V. Tool, method, and system for in-line inspection or treatment of a pipeline.
JP6710199B2 (en) 2014-09-12 2020-06-17 ボード オブ リージェンツ オブ ザ ユニバーシティ オブ ネブラスカ Quick release end effector and related systems and methods
GB2531708A (en) * 2014-10-19 2016-05-04 Nat Grid Gas Plc Apparatus and method
US10376322B2 (en) 2014-11-11 2019-08-13 Board Of Regents Of The University Of Nebraska Robotic device with compact joint design and related systems and methods
EP3331453A4 (en) 2015-08-03 2019-04-24 Board of Regents of the University of Nebraska Robotic surgical devices systems and related methods
CN109069937A (en) * 2016-04-20 2018-12-21 米耶公司 It is configured to pass through the automatic gravity auxiliary maneuvering racing car of non-rectilinear tube-like piece section mail
EP4353182A2 (en) 2016-05-18 2024-04-17 Virtual Incision Corporation Robotic surgical devices and systems
CA3034671A1 (en) 2016-08-25 2018-03-01 Shane Farritor Quick-release tool coupler and related systems and methods
CN114872081A (en) 2016-08-30 2022-08-09 内布拉斯加大学董事会 Robotic devices with compact joint design and additional degrees of freedom and related systems and methods
US10378992B2 (en) 2016-10-19 2019-08-13 Ulc Robotics, Inc. System and method for pipeline inspection
CN115337111A (en) 2016-11-22 2022-11-15 内布拉斯加大学董事会 Improved coarse positioning apparatus and related systems and methods
EP3548773A4 (en) 2016-11-29 2020-08-05 Virtual Incision Corporation User controller with user presence detection and related systems and methods
WO2018112199A1 (en) 2016-12-14 2018-06-21 Virtual Incision Corporation Releasable attachment device for coupling to medical devices and related systems and methods
US10247657B2 (en) * 2017-05-04 2019-04-02 Allen Ventures, Llc Fire tube scanner and method of use
GB201713277D0 (en) * 2017-08-18 2017-10-04 Rolls Royce Plc Hyper-redundant manipulators
US10627038B2 (en) 2017-09-26 2020-04-21 Mueller International, Llc Devices and methods for repairing pipes
US11051894B2 (en) 2017-09-27 2021-07-06 Virtual Incision Corporation Robotic surgical devices with tracking camera technology and related systems and methods
DE102017122472B4 (en) * 2017-09-27 2021-05-27 Axel Spering Method for driving or rehabilitating a tubular sewer
US11949989B2 (en) * 2017-09-29 2024-04-02 Redzone Robotics, Inc. Multiple camera imager for inspection of large diameter pipes, chambers or tunnels
RU2666930C1 (en) * 2017-10-05 2018-09-13 Роберт Радилович Саттаров Self-moving device for moving inside pipelines
US10683959B2 (en) 2017-10-17 2020-06-16 Lmk Technologies, Llc Method and apparatus for repairing a length of pipe or a main/lateral pipe junction
CN117140580A (en) 2018-01-05 2023-12-01 内布拉斯加大学董事会 Single arm robotic device with compact joint design and related systems and methods
CN109612366A (en) * 2018-11-21 2019-04-12 山东里能鲁西矿业有限公司 A kind of novel recyclable roof separation indicator
CN109854861B (en) * 2018-12-21 2021-07-13 苏州经贸职业技术学院 PCCP pipe flaw detection system
EP3908171A4 (en) 2019-01-07 2022-09-14 Virtual Incision Corporation Robotically assisted surgical system and related devices and methods
CN110154008B (en) * 2019-06-12 2022-06-10 杭星辰 Snake-shaped/quadruped robot based on mimicry
US11796116B2 (en) 2019-07-23 2023-10-24 General Electric Company Systems and methods for maintaining pipes
US11340132B2 (en) 2019-09-18 2022-05-24 Saudi Arabian Oil Company Dual slider mechanism
US11047179B2 (en) 2019-09-18 2021-06-29 Saudi Arabian Oil Company In-pipe passive centering mechanism with radial probe or tool deployment mechanism
US11371319B2 (en) 2020-03-12 2022-06-28 Saudi Arabian Oil Company Robotic pigging tool
JP7227394B2 (en) 2020-07-31 2023-02-21 広州海洋地質調査局 Apparatus and method for detecting and dissolving hydrates in natural gas pipes
CN111878663B (en) * 2020-07-31 2021-05-25 广州海洋地质调查局 Device and method for detecting and melting hydrate in natural gas pipeline
CN112026953B (en) * 2020-10-12 2021-09-28 山东大学 Modular self-reconstruction hexapod robot
CN112178357B (en) * 2020-10-16 2022-03-01 重庆科技学院 Postweld data acquisition device of high-strength long-distance pipeline steel
NO346680B1 (en) * 2020-12-17 2022-11-21 Pipesnake As Apparatus for propulsion and operations inside a cylindrical body
BR102020027057A2 (en) * 2020-12-30 2022-07-12 Petróleo Brasileiro S.A. - Petrobras SYSTEM FOR TRACTION INSIDE PIPES WITH FLEXIBLE RESERVOIR AND MOTOR PUMP FOR HYDRAULIC POWER
US11947362B1 (en) 2023-07-31 2024-04-02 United Arab Emirates University Transformable swarm robots for pipe inspection and maintenance

Family Cites Families (56)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2104643A (en) * 1934-12-13 1938-01-04 Pittsburgh Dry Stencil Company Method of testing and apparatus therefor
US2104644A (en) * 1935-05-31 1938-01-04 Pittsburgh Dry Stencil Company Methods of testing and apparatus therefor
US2104645A (en) * 1935-06-20 1938-01-04 Pittsburgh Dry Stencil Company Means for testing boiler staybolts
US3201975A (en) * 1960-04-25 1965-08-24 C W Fuelling Inc Method for locating pipe joints
US3238448A (en) * 1961-06-06 1966-03-01 American Mach & Foundry Pipeline flaw detector and marker
US3261934A (en) * 1963-12-04 1966-07-19 Schlumberger Well Surv Corp Pressure balanced hydraulic timedelay borehole switch
GB1131295A (en) * 1966-05-27 1968-10-23 Svu Materialu Improvements in and relating to flaw detectors
US4006359A (en) * 1970-10-12 1977-02-01 Abs Worldwide Technical Services, Inc. Pipeline crawler
US3718978A (en) * 1970-10-16 1973-03-06 Koevering B Van Pipeline survey vehicle
US3753766A (en) * 1971-01-06 1973-08-21 Southern Line Cleaning Inc Method for sealing pipelines
US3949292A (en) * 1974-03-15 1976-04-06 Vetco Offshore Industries, Inc. Pipeline inspection device with pivotal support structure
GB1516307A (en) * 1974-09-09 1978-07-05 Babcock & Wilcox Ltd Apparatus for conveying a device for inspecting or performing operations on the interior of a tube
IT1115746B (en) * 1977-11-15 1986-02-03 Siargas PROCEDURE FOR THE REALIZATION OF WATERPROOF JOINTS IN UNDERGROUND PIPES
IT1089087B (en) * 1977-12-27 1985-06-10 Saipem Spa SEMI-SUBMERSIBLE PIPELINE SHIP EQUIPPED FOR LAYING PIPES ON DEEP SEA BOTTOMS AND RELATED METHOD OF USE
US4218923A (en) * 1979-02-07 1980-08-26 Triad & Associates, Inc. System for monitoring the condition of a pipeline
US4252152A (en) * 1979-08-14 1981-02-24 Martin Luther W Motorized crawler for gas main
GB2086051B (en) * 1980-10-17 1984-07-25 British Gas Corp Pipeline inspection vehicle
GB2088059B (en) * 1980-11-11 1985-02-06 British Gas Corp Pig monitors internal surface of pipeline
US4481816A (en) * 1982-03-24 1984-11-13 British Gas Corporation Pipeline gauging vehicles
FR2526532A1 (en) * 1982-05-07 1983-11-10 Intercontrole Sa APPARATUS FOR CHECKING THE TUBES OF A HEAT EXCHANGER AT A DISTANCE GIVEN FROM THE END OF THESE TUBES
US4491018A (en) * 1983-06-17 1985-01-01 F. H. Maloney Company Pig detector
GB8322385D0 (en) * 1983-08-19 1983-09-21 Europa Eng Salford Ltd Prepairing ducts
FR2552346B1 (en) * 1983-09-23 1986-06-20 Gaz De France APPARATUS WITH AUTONOMOUS MOVEMENT FOR ITS PROGRESSION WITHIN A PIPELINE, IN PARTICULAR FOR ITS EXPLORATION AND / OR ITS PROCESSING, AND / OR ITS REMOTE TUBING
DE3413294C1 (en) * 1984-04-09 1985-08-29 Wiik & Höglund GmbH, 2400 Lübeck Method and device for installing plastic pipe pieces in sewage pipes
JPH0736988B2 (en) * 1984-05-18 1995-04-26 東京瓦斯株式会社 Mobile robot in pipe and its control system
JPS60248256A (en) * 1984-05-25 1985-12-07 Shinichi Matsuda Apparatus for lining pipe
GB2159954A (en) * 1984-06-06 1985-12-11 British Gas Corp Apparatus, system and method for detecting a discontinuity in a pipe or conduit
US4581938A (en) * 1984-07-30 1986-04-15 Combustion Engineering, Inc. Tool for scanning the inner surface of a large pipe
EP0204694B1 (en) * 1984-12-14 1989-07-05 Kunststoff-Technik AG Himmler Device for carrying out improvement work on a damaged pipeline which is no longer accessible
US4675604A (en) * 1985-08-28 1987-06-23 Exxon Production Research Co. Computerized and motorized electromagnetic flux leakage internal diameter tubular inspection device
DE3612498A1 (en) * 1986-04-14 1987-10-29 Norske Stats Oljeselskap SELF-DRIVING VEHICLE FOR PIPELINES
NO174785C (en) * 1986-07-09 1994-07-06 Norske Stats Oljeselskap Device with valve function
US5197540A (en) * 1987-04-14 1993-03-30 Ashimori Kogyo Kabushiki Kaisha Boring device for lining material in branched portions of lined conduit
JPH01222807A (en) * 1988-03-01 1989-09-06 Nemoto Kikaku Kogyo Kk Device for opening hole
US5115196A (en) * 1988-06-01 1992-05-19 Atlantic Richfield Company Girth weld detection system for pipeline survey pig
GB8913200D0 (en) * 1989-06-08 1989-07-26 Woodbridge Electronics Limited Method and device for locating branches in drains
US5025215A (en) * 1989-08-16 1991-06-18 Westinghouse Electric Corp. Support equipment for a combination eddy current and ultrasonic testing probe for inspection of steam generator tubing
US4995761A (en) * 1989-08-23 1991-02-26 Barton Kenneth S Method and apparatus for repairing ruptures in underground conduits
GB2236065A (en) * 1989-09-22 1991-03-27 Subocean Projects & Equipment High pressure rotary cutting tool
US5105882A (en) * 1990-01-25 1992-04-21 Trb Specialty Rehabilitation, Inc. Lateral cutter device
GB9007719D0 (en) * 1990-04-05 1990-06-06 Subterra Ltd Lining conduits
DE4024926A1 (en) * 1990-08-06 1992-02-13 Otto Schlemmer Gmbh Lining process for pipelines repair - sealing side ducts with position indicating caps for location by liner cutting equipment after lining main pipe
CH681905A5 (en) * 1990-09-14 1993-06-15 Leo Corazza
FR2668605B1 (en) * 1990-10-31 1994-03-18 Commissariat A Energie Atomique HOSE TUBE INSPECTION PROBE WITH ROTATING CONTROL HEAD.
GB2252807B (en) * 1991-02-12 1994-12-07 Barriquand & Fils C Device for fluidic cutting within conduit
GB2255040B (en) * 1991-04-24 1995-02-08 British Gas Plc Method of forming a welded joint between polyolefinic members
GB2258901B (en) * 1991-07-31 1995-01-04 Heat Pipeline Induction Ltd Pipe coating machine
US5284096A (en) * 1991-08-06 1994-02-08 Osaka Gas Company, Limited Vehicle for use in pipes
AU2448892A (en) * 1991-08-30 1993-04-05 Alfred Morgenegg Inner treatment process and device for inaccessible pipes
US5253956A (en) * 1992-03-02 1993-10-19 American Pipeline Supply, Corp. Method of lining branch line
US5396800A (en) * 1993-03-17 1995-03-14 Westinghouse Electric Corporation Apparatus and method for inspecting a control rod drive mechanism penetration tube for degradation
US5309844A (en) * 1993-05-24 1994-05-10 The United States Of America As Represented By The United States Department Of Energy Flexible pipe crawling device having articulated two axis coupling
JP3428734B2 (en) * 1994-08-01 2003-07-22 東京瓦斯株式会社 Metal tube flaw detector and metal tube flaw detection method
GB2301187B (en) * 1995-05-22 1999-04-21 British Gas Plc Method of and apparatus for locating an anomaly in a duct
US5551349A (en) * 1995-06-29 1996-09-03 The United States Of America As Represented By The Secretary Of The Navy Internal conduit vehicle
US5864232A (en) * 1996-08-22 1999-01-26 Pipetronix, Ltd. Magnetic flux pipe inspection apparatus for analyzing anomalies in a pipeline wall

Also Published As

Publication number Publication date
GB2301187B (en) 1999-04-21
HK1015154A1 (en) 1999-10-08
US6031371A (en) 2000-02-29
HK1010904A1 (en) 1999-07-02
CA2221379C (en) 2001-09-18
US6084402A (en) 2000-07-04
GB9610622D0 (en) 1996-07-31
US6107795A (en) 2000-08-22
GB2301414B (en) 1999-08-11
JP3561276B2 (en) 2004-09-02
JP2002327889A (en) 2002-11-15
EP0840869B1 (en) 2002-03-06
GB9510434D0 (en) 1995-07-19
JPH10509236A (en) 1998-09-08
ES2174070T3 (en) 2002-11-01
DE69619678D1 (en) 2002-04-11
GB2301414A (en) 1996-12-04
DE69619678T2 (en) 2002-09-26
GB2301187A (en) 1996-11-27
US5878783A (en) 1999-03-09
WO1996037727A1 (en) 1996-11-28
EP0840869A1 (en) 1998-05-13
CA2173193A1 (en) 1996-11-23

Similar Documents

Publication Publication Date Title
CA2221379A1 (en) Pipeline vehicle
US7210364B2 (en) Autonomous robotic crawler for in-pipe inspection
CA2312394A1 (en) Monitoring pipes
ES2155558T3 (en) DRIVING DEVICE FOR AN AUTOMOBILE VEHICLE.
AU2371995A (en) Current-driven ferrous pipe inspection system
CA2401587A1 (en) Apparatus for deploying a load to an underwater target position with enhanced accuracy and a method to control such apparatus
EP1306305A3 (en) Method and system for assisting the aircraft maintenance
ZA945334B (en) An inspection system for a conduit
CA2341321A1 (en) Pipeline vehicle
AU5146199A (en) Method for welding tubes and device for carrying out said method
EP0847051A3 (en) Optical storage medium duplicating system
GB2334318B (en) Pipeline vehicle & probe
AU2144495A (en) Pipe repair device
GB2213276B (en) A method and apparatus for reproducing the conditions required for welding an underwater pipeline which is in service with a fluid flowing therealong
FR2724453B1 (en) WELDING DETECTOR DEVICE IN PARTICULAR FOR SELF-MOVING ENDO-TUBULAR VEHICLE FOR PIPE INSPECTION
EP0300696A3 (en) Sound generating system
FR2724458B1 (en) DRIVE MODULE FOR ENDO-TUBULAR VEHICLE WITH AUTONOMOUS MOVEMENT FOR PIPE INSPECTION
CA2490839A1 (en) Apparatus for deploying a load to an underwater target position with enhanced accuracy and a method to control such apparatus
DE69620544T2 (en) Compact gas turbine with a closed circuit for driving a vehicle
DE9312095U1 (en) Shut-off device for a gas pipe
FR2696956B1 (en) LAMINATION TOOL FOR COLD PIPELINE COLD PIT LAMINATION.
AU1395095A (en) Device for inspection of a reactor vessel and a method for inspection by means of the device
GB9208510D0 (en) Apparatus for use in testing the surroundings of a buried pipe
DE29502689U1 (en) Tapping device for pipes
DK0563528T3 (en)

Legal Events

Date Code Title Description
EEER Examination request
MKLA Lapsed