DE60205353D1 - Robotersystem zur inspektion von gasleitungen - Google Patents

Robotersystem zur inspektion von gasleitungen

Info

Publication number
DE60205353D1
DE60205353D1 DE60205353T DE60205353T DE60205353D1 DE 60205353 D1 DE60205353 D1 DE 60205353D1 DE 60205353 T DE60205353 T DE 60205353T DE 60205353 T DE60205353 T DE 60205353T DE 60205353 D1 DE60205353 D1 DE 60205353D1
Authority
DE
Germany
Prior art keywords
modules
module
train
power
electronics
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.)
Expired - Lifetime
Application number
DE60205353T
Other languages
English (en)
Other versions
DE60205353T2 (de
Inventor
Hagen Schempf
Edward Mutschler
Vitaly Goltsberg
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.)
Carnegie Mellon University
Original Assignee
Carnegie Mellon University
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 Carnegie Mellon University filed Critical Carnegie Mellon University
Publication of DE60205353D1 publication Critical patent/DE60205353D1/de
Application granted granted Critical
Publication of DE60205353T2 publication Critical patent/DE60205353T2/de
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
    • G01N29/22—Details, e.g. general constructional or apparatus details
    • G01N29/225—Supports, positioning or alignment in moving situation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M3/00—Investigating fluid-tightness of structures
    • G01M3/005—Investigating fluid-tightness of structures using pigs or moles
    • 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
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
    • G01N29/22—Details, e.g. general constructional or apparatus details
    • G01N29/26—Arrangements for orientation or scanning by relative movement of the head and the sensor
    • G01N29/265—Arrangements for orientation or scanning by relative movement of the head and the sensor by moving the sensor relative to a stationary material
    • 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
    • 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
    • F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
    • F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
    • 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
    • F16L55/40—Constructional aspects of the body
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2291/00—Indexing codes associated with group G01N29/00
    • G01N2291/26—Scanned objects
    • G01N2291/263—Surfaces
    • G01N2291/2636—Surfaces cylindrical from inside
DE60205353T 2001-03-07 2002-03-07 Robotersystem zur inspektion von gasleitungen Expired - Lifetime DE60205353T2 (de)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US27384501P 2001-03-07 2001-03-07
US273845P 2001-03-07
PCT/US2002/009054 WO2002070943A2 (en) 2001-03-07 2002-03-07 Gas main robotic inspection system

Publications (2)

Publication Number Publication Date
DE60205353D1 true DE60205353D1 (de) 2005-09-08
DE60205353T2 DE60205353T2 (de) 2006-04-20

Family

ID=23045646

Family Applications (1)

Application Number Title Priority Date Filing Date
DE60205353T Expired - Lifetime DE60205353T2 (de) 2001-03-07 2002-03-07 Robotersystem zur inspektion von gasleitungen

Country Status (7)

Country Link
US (1) US6917176B2 (de)
EP (1) EP1373783B1 (de)
AT (1) ATE301264T1 (de)
CA (1) CA2440344C (de)
DE (1) DE60205353T2 (de)
ES (1) ES2249599T3 (de)
WO (1) WO2002070943A2 (de)

Families Citing this family (237)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10210746C1 (de) * 2002-03-12 2003-10-16 Ndt System & Services Ag Segment für einen Sensorträgerkörper eines Molches
US20040006448A1 (en) * 2002-07-02 2004-01-08 Penza G. Gregory Apparatus and method for pipeline inspection
JP3870864B2 (ja) * 2002-07-16 2007-01-24 村田機械株式会社 管内探査装置
US7137465B1 (en) * 2002-10-02 2006-11-21 The Charles Stark Draper Laboratory, Inc. Crawler device
DE10251823B4 (de) * 2002-11-07 2007-04-12 Zlatković, Ljubiša Gerät zur Dichtheitsprüfung und/oder optischen Inspektion von Rohrabschnitten, insbesondere von Rohrverbindungen
US20040138780A1 (en) * 2002-11-15 2004-07-15 Lewis Murray Anthony Certain principles of biomorphic robots
US7127326B2 (en) * 2002-11-15 2006-10-24 Iguana Robotics, Inc. Certain principles of biomorphic robots including foot placement selection using non-geometric visual properties
US7415321B2 (en) * 2002-12-12 2008-08-19 Matsushita Electric Industrial Co., Ltd. Robot controller
US7143659B2 (en) * 2002-12-17 2006-12-05 Pinnacle West Capital Corporation Pipe-inspection system
US7044245B2 (en) * 2003-06-17 2006-05-16 Science Applications International Corporation Toroidal propulsion and steering system
US7126303B2 (en) * 2003-07-08 2006-10-24 Board Of Regents Of The University Of Nebraska Robot for surgical applications
US7042184B2 (en) * 2003-07-08 2006-05-09 Board Of Regents Of The University Of Nebraska Microrobot for surgical applications
US20080058989A1 (en) * 2006-04-13 2008-03-06 Board Of Regents Of The University Of Nebraska Surgical camera robot
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
WO2005028166A1 (ja) * 2003-09-22 2005-03-31 Matsushita Electric Industrial Co., Ltd. 弾性体アクチュエータの制御装置及び制御方法
US20050103538A1 (en) * 2003-11-18 2005-05-19 Radiodetection Limited Vehicle for inspecting a pipe
US7747352B2 (en) * 2004-04-20 2010-06-29 Massachusetts Institute Of Technology Physical modeling system for constructing and controlling articulated forms with motorized joints
JP4594663B2 (ja) * 2004-06-30 2010-12-08 本田技研工業株式会社 警備ロボット
KR100662341B1 (ko) * 2004-07-09 2007-01-02 엘지전자 주식회사 디스플레이 장치 및 그의 색 재현 방법
DE102004043086B3 (de) * 2004-09-07 2005-10-20 Hunger Ibak H Gmbh & Co Kg Kanalrohrinspektionsgerät
US7345757B2 (en) * 2004-09-28 2008-03-18 Penza G Gregory Inspection apparatus for pipelines
US20070022935A1 (en) * 2005-04-11 2007-02-01 Griffith Ian E Unmanned submersible vehicle with on-board generating capability
KR20080032111A (ko) * 2005-06-21 2008-04-14 올리버 크리스핀 로보틱스 리미티드 복수개의 관절 요소와 암 형상을 결정하기 위한 수단을구비한 로봇 암
US7551197B2 (en) * 2005-09-08 2009-06-23 Ulc Robotics, Inc. Pipeline inspection system
WO2007130723A1 (en) * 2006-02-02 2007-11-15 Itrobotics, Inc. System and method for inline inspection of pipelines
KR100811076B1 (ko) 2006-02-15 2008-03-18 (주)비웨이 천연가스를 매체로 한 무선통신 시스템 및 방법
NO326438B1 (no) * 2006-05-05 2008-12-08 Wellbore Solutions As Trekkeverktoy til bruk i olje- og gassbronner
CA3068216C (en) 2006-06-22 2023-03-07 Board Of Regents Of The University Of Nebraska Magnetically coupleable robotic devices and related 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
US7683611B2 (en) * 2006-06-23 2010-03-23 Southwest Research Institute Pipeline inspection using variable-diameter remote-field eddy current technology
US7768270B2 (en) * 2006-08-24 2010-08-03 Itrobotics, Inc. In-pipe coating integrity monitor for very long pipes
CN100462884C (zh) * 2006-11-02 2009-02-18 上海交通大学 海底管道内爬行器智能控制器
JP5411702B2 (ja) 2006-11-13 2014-02-12 レイセオン カンパニー 可動アームを有するロボット式無限軌道車
US8002365B2 (en) 2006-11-13 2011-08-23 Raytheon Company Conformable track assembly for a robotic crawler
WO2008076192A2 (en) * 2006-11-13 2008-06-26 Raytheon Sarcos Llc Versatile endless track for lightweight mobile robots
WO2008091157A1 (en) * 2007-01-23 2008-07-31 Wellbore Solutions As Device for transport of tools in wellbores and pipelines
DE102007007970B4 (de) * 2007-02-17 2009-11-26 Wirtgen Gmbh Baumaschine, insbesondere Straßenbaumaschine
NO326592B1 (no) * 2007-03-13 2009-01-19 Aker Well Service As Wirelinetraktor med forskyvbar hjulforstillingsmekanisme
US20080231698A1 (en) * 2007-03-20 2008-09-25 Alan Edward Kaplan Vehicle video control system
WO2008122997A1 (en) * 2007-04-04 2008-10-16 Scuola Superiore Di Studi Universitari E Di Perfezionamento Sant'anna Teleoperated endoscopic capsule
US20080245258A1 (en) * 2007-04-06 2008-10-09 General Electric Company Pressure-balanced electric motor wheel drive for a pipeline tractor
EP2144659A1 (de) 2007-05-07 2010-01-20 Raytheon Sarcos, LLC Verfahren zur herstellung einer komplexen struktur
WO2009009673A2 (en) 2007-07-10 2009-01-15 Raytheon Sarcos, Llc Modular robotic crawler
JP5591696B2 (ja) 2007-07-12 2014-09-17 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 生検要素、アーム装置、および医療装置
CN100461057C (zh) * 2007-08-09 2009-02-11 上海交通大学 海底管道检测机器人仿真系统
WO2009023851A1 (en) 2007-08-15 2009-02-19 Board Of Regents Of The University Of Nebraska Modular and cooperative medical devices and related systems and methods
US20090076536A1 (en) 2007-08-15 2009-03-19 Board Of Regents Of The University Of Nebraska Medical inflation, attachment, and delivery devices and related methods
US10427290B2 (en) 2017-07-18 2019-10-01 General Electric Company Crawler robot for in situ gap inspection
US8567449B2 (en) * 2008-02-01 2013-10-29 John A. Cain Systems and methods for locating and restoring service lines in pipeline rehabilitation
WO2009129496A2 (en) * 2008-04-17 2009-10-22 The Travelers Indemnity Company A method of and system for determining and processing object structure condition information
US20090292418A1 (en) * 2008-05-23 2009-11-26 Kuykendal Robert L Trip logger
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
TWI396802B (zh) * 2008-11-28 2013-05-21 Hon Hai Prec Ind Co Ltd 萬向關節
US8392036B2 (en) 2009-01-08 2013-03-05 Raytheon Company Point and go navigation system and method
WO2010126669A2 (en) * 2009-03-25 2010-11-04 Massachusetts Institute Of Technology Cellular automotion digital material
WO2010144813A1 (en) 2009-06-11 2010-12-16 Raytheon Sarcos, Llc Method and system for deploying a surveillance network
US8317555B2 (en) 2009-06-11 2012-11-27 Raytheon Company Amphibious robotic crawler
KR101103805B1 (ko) 2009-08-06 2012-01-06 한전케이피에스 주식회사 착탈가능한 탐촉자를 구비한 검사장치
EP2290190A1 (de) 2009-08-31 2011-03-02 Services Petroliers Schlumberger Verfahren und Vorrichtung für gesteuerte bidirektionale Bewegungen eines Ölfeldwerkzeugs in einer Bohrlochumgebung
US8365822B2 (en) 2009-08-31 2013-02-05 Schlumberger Technology Corporation Interleaved arm system for logging a wellbore and method for using same
US8390278B2 (en) * 2009-10-20 2013-03-05 Westinghouse Electric Company Llc Eddy current inspection probe for inspecting the interior of a tubular member
DK179473B1 (en) 2009-10-30 2018-11-27 Total E&P Danmark A/S A device and a system and a method of moving in a tubular channel
DK177946B9 (da) 2009-10-30 2015-04-20 Maersk Oil Qatar As Brøndindretning
DK178339B1 (en) 2009-12-04 2015-12-21 Maersk Oil Qatar As An apparatus for sealing off a part of a wall in a section drilled into an earth formation, and a method for applying the apparatus
WO2011075693A1 (en) 2009-12-17 2011-06-23 Board Of Regents Of The University Of Nebraska Modular and cooperative medical devices and related systems and methods
US8561646B2 (en) * 2009-12-23 2013-10-22 Wpw, Llc System and methods for multiple service line plug deployment
TWI407791B (zh) * 2009-12-30 2013-09-01 Vtc Electronics Corp 智能化功能的監控攝影系統及其監控攝影之方法
CN101776418B (zh) * 2010-01-15 2013-08-14 南京理工大学 炮管内壁擦洗机器人
US8333116B2 (en) 2010-06-30 2012-12-18 Westinghouse Electric Company Llc Inspection vehicle for a turbine disk
EP2600758A1 (de) 2010-08-06 2013-06-12 Board of Regents of the University of Nebraska Verfahren und systeme zur handhabung oder abgabe von materialien für natürliche körperöffnungschirurgie
KR101020944B1 (ko) * 2010-08-30 2011-03-09 한국원자력연구원 전열관 검사케이블 및 이의 삽입력 해석방법
US8464791B2 (en) 2010-08-30 2013-06-18 Schlumberger Technology Corporation Arm system for logging a wellbore and method for using same
US8485253B2 (en) 2010-08-30 2013-07-16 Schlumberger Technology Corporation Anti-locking device for use with an arm system for logging a wellbore and method for using same
CH703891A1 (de) * 2010-09-20 2012-03-30 Alstom Technology Ltd Roboterplattform zur ferngesteuerten und/oder selbständigen inspektion von technischen einrichtungen.
JP4677595B1 (ja) * 2010-09-30 2011-04-27 国立大学法人東京工業大学 配管検査装置
US8468882B2 (en) 2010-11-30 2013-06-25 Schlumberger Technology Corporation Method and apparatus for logging a wellbore
US8805579B2 (en) 2011-02-19 2014-08-12 Richard Arthur Skrinde Submersible robotically operable vehicle system for infrastructure maintenance and inspection
DK177547B1 (da) 2011-03-04 2013-10-07 Maersk Olie & Gas Fremgangsmåde og system til brønd- og reservoir-management i udbygninger med åben zone såvel som fremgangsmåde og system til produktion af råolie
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 (de) 2011-06-10 2020-09-30 Board of Regents of the University of Nebraska Chirurgisches greifinstrument
EP2732344B1 (de) 2011-07-11 2019-06-05 Board of Regents of the University of Nebraska Robotisches chirurgisches system
KR101255674B1 (ko) * 2011-11-02 2013-04-17 연세대학교 산학협력단 관 내 이동용 로봇
CN102338764A (zh) * 2011-11-03 2012-02-01 中国地质大学（武汉） 一种基于片上系统的环境信息采集车
JP6377530B2 (ja) 2012-01-10 2018-08-22 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 外科的挿入装置
US8774716B2 (en) * 2012-03-29 2014-07-08 Auden Techno Corp. Mobile terminal extension case
EP2844181B1 (de) 2012-05-01 2021-03-10 Board of Regents of the University of Nebraska Robotische einzelstandortvorrichtung sowie entsprechende systeme
CO6790240A1 (es) * 2012-05-11 2013-11-14 Univ Ind De Santander Plataforma robótica para inspección interna de tuberias
US8393422B1 (en) 2012-05-25 2013-03-12 Raytheon Company Serpentine robotic crawler
US9010214B2 (en) 2012-06-22 2015-04-21 Board Of Regents Of The University Of Nebraska Local control robotic surgical devices 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
EP2882331A4 (de) 2012-08-08 2016-03-23 Univ Nebraska Robotische chirurgische vorrichtungen, systeme und entsprechende verfahren
US9031698B2 (en) 2012-10-31 2015-05-12 Sarcos Lc Serpentine robotic crawler
CN103836299A (zh) * 2012-11-24 2014-06-04 哈尔滨市三和佳美科技发展有限公司 拖拽式管道检查机器人
AU2012394996B2 (en) * 2012-11-26 2016-08-11 Halliburton Energy Services, Inc. Well runner
RU2602731C1 (ru) 2012-12-10 2016-11-20 Арселормитталь Инвестигасьон И Десарролло Сл Способ и устройство для определения состояния и остающегося срока службы труб риформера из аустенитной стали и т.п.
CO6980129A1 (es) * 2012-12-19 2014-06-27 Ecopetrol Sa Herramienta inteligente para la detecci{on de perforaciones , cascotas y abolladuras en tuberias de transporte
CN103009379B (zh) * 2012-12-24 2014-04-09 北京信息科技大学 可伸缩轮式蛇形机器人
US9743987B2 (en) 2013-03-14 2017-08-29 Board Of Regents Of The University Of Nebraska Methods, systems, and devices relating to robotic surgical devices, end effectors, and controllers
US9728817B2 (en) * 2013-03-14 2017-08-08 Invodane Engineering Ltd. Apparatus and method for in-line charging of a pipeline tool
WO2014152418A1 (en) 2013-03-14 2014-09-25 Board Of Regents Of The University Of Nebraska Methods, systems, and devices relating to force control surgical systems
CA2906772C (en) 2013-03-15 2021-09-21 Board Of Regents Of The University Of Nebraska Robotic surgical devices, systems and related methods
US20140338139A1 (en) * 2013-05-17 2014-11-20 Benton Frederick Baugh Pipeline Service Pig with Floating Seal Carriers
US10040141B2 (en) 2013-05-23 2018-08-07 Crc-Evans Pipeline International, Inc. Laser controlled internal welding machine for a pipeline
US10480862B2 (en) 2013-05-23 2019-11-19 Crc-Evans Pipeline International, Inc. Systems and methods for use in welding pipe segments of a pipeline
US10589371B2 (en) 2013-05-23 2020-03-17 Crc-Evans Pipeline International, Inc. Rotating welding system and methods
US9821415B2 (en) 2014-03-28 2017-11-21 Crc-Evans Pipeline International, Inc. Internal pipeline cooler
US10695876B2 (en) 2013-05-23 2020-06-30 Crc-Evans Pipeline International, Inc. Self-powered welding systems and methods
US11767934B2 (en) 2013-05-23 2023-09-26 Crc-Evans Pipeline International, Inc. Internally welded pipes
DE102013106424A1 (de) 2013-06-19 2014-12-24 Rosen Swiss Ag Molchsegment und Molch
CN103273981A (zh) * 2013-06-20 2013-09-04 北京信息科技大学 具有多运动步态的变形搜救机器人
CN103273815B (zh) * 2013-06-20 2014-04-30 北京信息科技大学 一种两栖蛇形子母机器人的桨身融合子模块
CN103273978B (zh) * 2013-06-20 2014-04-23 北京信息科技大学 一种蛇形机器人六向内嵌独立伸缩式轮腿躯干模块
CN103273986B (zh) * 2013-06-20 2014-04-09 北京信息科技大学 一种搜救机器人的躯干分体装置
RU2635016C2 (ru) * 2013-07-02 2017-11-08 Бейкер Хьюз Инкорпорейтед Внутритрубный снаряд с системой беспроводной передачи данных
CA2918531A1 (en) 2013-07-17 2015-01-22 Board Of Regents Of The University Of Nebraska Robotic surgical devices, systems and related methods
KR101486017B1 (ko) * 2013-09-12 2015-01-26 (주)케이엔알시스템 긴급 구조가 가능한 언피거블 배관 탐상 로봇, 언피거블 배관 탐상 로봇의 긴급 구조 방법 및 언피거블 배관 탐상 로봇의 구조 로봇
KR101486019B1 (ko) * 2013-09-12 2015-01-27 (주)케이엔알시스템 인휠 모터를 구비한 언피거블 배관 탐상 로봇
US9409292B2 (en) 2013-09-13 2016-08-09 Sarcos Lc Serpentine robotic crawler for performing dexterous operations
AT14204U1 (de) 2013-11-28 2015-06-15 Marko Taferner Vorrichtung zum Prüfen von Leitungen
CN103728369B (zh) * 2013-12-31 2016-04-06 湛江师范学院 一种基于金属水管的多功能全方位可拉伸涡流探测车装置
CN103751924B (zh) * 2014-01-10 2016-11-23 湘潭大学 一种多关节易拆分易重构式搜救杆
US9566711B2 (en) 2014-03-04 2017-02-14 Sarcos Lc Coordinated robotic control
CN103950030B (zh) * 2014-04-28 2015-11-04 东北大学 一种四足攀爬移动机器人
CN104565675B (zh) * 2014-06-20 2018-06-08 北京石油化工学院 管道检测机器人
WO2016014566A1 (en) * 2014-07-21 2016-01-28 Robotic Pipe Repair, LLC Modular robotic assembly
GB201414206D0 (en) * 2014-08-11 2014-09-24 Advanced Eng Solutions Ltd Pipeline leak detection apparatus
EP3186025A4 (de) 2014-08-29 2018-06-20 CRC-Evans Pipeline International, Inc. Verfahren und system zum schweissen
CA2961213A1 (en) 2014-09-12 2016-03-17 Board Of Regents Of The University Of Nebraska Quick-release end effectors and related systems and methods
CN104251381B (zh) * 2014-09-19 2016-08-17 中国船舶重工集团公司第七一九研究所 基于水下无人航行器的海底输油管道泄漏检测系统和方法
GB2531707A (en) * 2014-10-19 2016-05-04 Nat Grid Gas Plc Apparatus and method
EP3217890B1 (de) 2014-11-11 2020-04-08 Board of Regents of the University of Nebraska Robotische vorrichtung mit kompaktem gelenkentwurf
KR101533973B1 (ko) * 2014-11-13 2015-07-07 성균관대학교산학협력단 능동 조인트 모듈 및 이를 구비하는 배관 탐사용 로봇
CN104564129B (zh) * 2014-12-25 2017-01-18 中国科学院合肥物质科学研究院 一种具有掘进功能的矿难环境探测救援机器人及其控制方法
KR101563458B1 (ko) * 2015-02-02 2015-10-27 성균관대학교산학협력단 다중 출력 차동모듈을 이용한 배관 탐사용 로봇
CA2976796A1 (en) * 2015-02-23 2016-09-01 Source 1 Environmental, Llc Pipe repair apparatus and method
WO2016138529A1 (en) 2015-02-27 2016-09-01 Abb Technology Ag Localization, mapping and haptic feedback for inspection of a confined space in machinery
JPWO2016152987A1 (ja) * 2015-03-25 2018-01-18 ソニー・オリンパスメディカルソリューションズ株式会社 医療用観察装置、手術用観察装置及び医療用観察システム
US9927060B2 (en) 2015-04-22 2018-03-27 The Johns Hopkins University Vehicle for navigating within an enclosed space
GB2538747B (en) * 2015-05-27 2022-04-13 Airbus Operations Ltd A measuring apparatus for measuring properties of a surface
CN105003791B (zh) * 2015-06-16 2017-06-23 北京石油化工学院 一种支撑轮式管道机器人驱动装置
US10782161B2 (en) * 2015-06-17 2020-09-22 Berkeley Springs Instruments, Llc Ultrasonic transducer mounting apparatus for attaching a transducer block to a pipeline
JP6562345B2 (ja) * 2015-06-23 2019-08-21 学校法人立命館 管内走行装置
CA2994823A1 (en) 2015-08-03 2017-02-09 Board Of Regents Of The University Of Nebraska Robotic surgical devices, systems and related methods
US10071303B2 (en) 2015-08-26 2018-09-11 Malibu Innovations, LLC Mobilized cooler device with fork hanger assembly
US20170085064A1 (en) * 2015-09-18 2017-03-23 Brandon Cassimere Local Electrical/Instrumentation Room
CN105158009B (zh) * 2015-10-25 2017-09-12 衢州图艺工业设计有限公司 一种缠绕攀爬探测取样车
NO341849B1 (no) * 2016-01-08 2018-02-05 Well Conveyor As Trekkeverktøy benyttet i et borehull og/eller rørledning og en drivmodul for et trekkeverktøy
CN105682005B (zh) * 2016-01-26 2019-03-01 西安文理学院 一种管道内超细缆驿站式通信系统及通信方法
CN105619418B (zh) * 2016-03-02 2017-02-01 广东振兴建设工程有限公司 可定位高压电缆检测机器人
CN105538286B (zh) * 2016-03-02 2017-03-01 重庆润泰电气有限公司 高压电缆检测机器人
CN105563452B (zh) * 2016-03-02 2017-03-08 哈尔滨讯达广智能科技发展有限公司 一种高压电缆检测机器人
US11125378B2 (en) * 2016-03-04 2021-09-21 Herve' X. Bronnert Aseptic high temperature heat exchanger inspection system
JP7176757B2 (ja) 2016-05-18 2022-11-22 バーチャル インシジョン コーポレイション ロボット手術装置、システム及び関連する方法
US10807659B2 (en) 2016-05-27 2020-10-20 Joseph L. Pikulski Motorized platforms
US10894323B2 (en) * 2016-06-17 2021-01-19 Wuhan Easy-Sight Technology Co., Ltd. Pipeline robot, pipeline video-signal acquisition and transmission device and pipeline detection system and method
US11458571B2 (en) 2016-07-01 2022-10-04 Crc-Evans Pipeline International, Inc. Systems and methods for use in welding pipe segments of a pipeline
CN105953028B (zh) * 2016-07-07 2018-03-30 西南石油大学 一种适用于多分支管网检测的管道机器人
CN105927820B (zh) * 2016-07-07 2018-03-30 西南石油大学 一种可主动转向的管道机器人
CN106051375A (zh) * 2016-07-12 2016-10-26 北京石油化工学院 一种管道机器人的主动转向装置
CA3034671A1 (en) 2016-08-25 2018-03-01 Shane Farritor Quick-release tool coupler and related systems and methods
EP3507065A4 (de) 2016-08-30 2020-04-29 Board of Regents of the University of Nebraska Robotische vorrichtung mit kompaktem gelenkdesign und einem zusätzlichen freiheitsgrad sowie entsprechende systeme und verfahren
US10668577B2 (en) 2016-09-01 2020-06-02 Crc-Evans Pipeline International Inc. Cooling ring
USD876281S1 (en) * 2016-10-13 2020-02-25 The Chillafish Company, N.V. Trailer fitting
CN115337111A (zh) 2016-11-22 2022-11-15 内布拉斯加大学董事会 改进的粗定位装置及相关系统和方法
EP3548773A4 (de) 2016-11-29 2020-08-05 Virtual Incision Corporation Benutzersteuergerät mit benutzerpräsensdetektion sowie zugehörige systeme und verfahren
WO2018112199A1 (en) 2016-12-14 2018-06-21 Virtual Incision Corporation Releasable attachment device for coupling to medical devices and related systems and methods
US20180175772A1 (en) * 2016-12-21 2018-06-21 Rockwell Automation Technologies, Inc. Motor drive with multi-function high speed communications interface
US10808534B2 (en) 2017-02-08 2020-10-20 General Electric Company Reconfigurable maintenance apparatus
LU100131B1 (fr) * 2017-03-02 2018-09-07 Robotic Solutions & Consulting Sprl Vèhicule pour conduite de transport tubulaire
CN106870872A (zh) * 2017-03-30 2017-06-20 西安长庆科技工程有限责任公司 一种管道内窥检测机器人
CN106974613B (zh) * 2017-04-26 2018-04-10 常州信息职业技术学院 一种微型胃肠道机器人
DE202017102821U1 (de) * 2017-05-10 2017-05-19 Ipek International Gmbh Inspektions- und/oder Wartungssystem mit elektrischer Schnittstelle
CN107138569B (zh) * 2017-05-27 2019-07-23 浙江大学 主动同步弯曲的抗皱裂芯棒装置
CN107237957A (zh) * 2017-06-08 2017-10-10 陕西蓝法电子智能科技有限公司 用于管道内涂层的视频检查车
US10427734B2 (en) * 2017-07-18 2019-10-01 General Electric Company Omnidirectional traction module for a robot
US10434641B2 (en) 2017-07-18 2019-10-08 General Electric Company In situ gap inspection robot system and method
US10603802B2 (en) 2017-07-18 2020-03-31 General Electric Company End region inspection module and method for in situ gap inspection robot system
US10596713B2 (en) * 2017-07-18 2020-03-24 General Electric Company Actuated sensor module and method for in situ gap inspection robots
CN107322635B (zh) * 2017-08-25 2020-01-14 哈尔滨工业大学 用于模块化机器人的非接触式连接与关节驱动机构
CN107363819B (zh) * 2017-08-25 2020-01-14 哈尔滨工业大学 利用磁力连接的模块化球形软体机器人
CN107588174B (zh) * 2017-09-21 2020-02-07 重庆理工大学 管道机器人三轴差动机构
EP3687370A4 (de) 2017-09-27 2021-06-30 Virtual Incision Corporation Robotische chirurgische vorrichtungen mit verfolgungskameratechnologie und verwandte systeme und verfahren
US10769684B1 (en) 2017-10-03 2020-09-08 Wells Fargo Bank, N.A. Property assessment system with buoyancy adjust device
TWI639988B (zh) * 2017-10-05 2018-11-01 行政院原子能委員會核能研究所 移動機器人地圖創建系統和方法
DE102017126916B4 (de) * 2017-11-15 2020-03-12 Samson Aktiengesellschaft Verfahren zum verschlüsselten Kommunizieren in einer prozesstechnischen Anlage, prozesstechnische Anlage, Feldgerät und Kontrollelektronik
WO2019113488A1 (en) * 2017-12-09 2019-06-13 Oceaneering International, Inc. Maintenance of drilling risers
EP3732346B1 (de) 2017-12-29 2022-02-09 Saudi Arabian Oil Company Bohrlochmobilitätsmodul zur messung und intervention in bohrlöchern mit vergrösserter reichweite
CN117140580A (zh) 2018-01-05 2023-12-01 内布拉斯加大学董事会 具有紧凑型关节设计的单臂机器人装置及相关系统和方法
CN108489442B (zh) * 2018-03-20 2023-10-20 华北理工大学 一种可变径管道旋转检测装置
US10730179B2 (en) * 2018-05-29 2020-08-04 General Electric Company Robotic arm assembly construction
FR3082136B1 (fr) * 2018-06-12 2020-09-04 Safran Aircraft Engines Robot mobile d'inspection d'une turbomachine
NO345438B1 (no) * 2018-06-19 2021-02-01 Well Conveyor As Rørledningstrekkeverktøy og en fremgangsmåte for aktivering av et rørledningstrekkeverktøy
CN108548048A (zh) * 2018-06-27 2018-09-18 中国石油大学(北京) 可变径自动爬行隔水管内检测器
AU2019316502A1 (en) * 2018-08-02 2021-03-04 Petróleo Brasileiro S.A. - Petrobas Casing system for integration of modular internal intervention equipment in tubular lines
GB2579540B (en) * 2018-11-16 2022-10-05 Turnbull Infrastructure & Utilities Ltd Pipe repair
US11903658B2 (en) 2019-01-07 2024-02-20 Virtual Incision Corporation Robotically assisted surgical system and related devices and methods
CN109780370B (zh) * 2019-01-21 2020-05-26 深圳大学 一种管道三维曲线测量机器人及其实现方法
CN109780369B (zh) * 2019-03-11 2020-07-10 河海大学常州校区 一种管道爬行机器人及其爬行方法
WO2020196014A1 (ja) * 2019-03-22 2020-10-01 株式会社Ihi 渦流探傷プローブ及び渦流探傷システム
WO2020196016A1 (ja) * 2019-03-22 2020-10-01 株式会社Ihi 渦流探傷プローブ及び渦流探傷システム
CN110014430B (zh) * 2019-05-22 2022-05-03 中科瑞启机器人科技(山东)有限公司 一种机器人的控制装置
CN110220972A (zh) * 2019-05-25 2019-09-10 中海油能源发展股份有限公司 一种长输管道压电超声波探伤内检测器
CN110260881B (zh) * 2019-06-14 2022-07-12 中国地质大学（武汉） 一种浮动式螺旋行走计程装置
US11585480B2 (en) 2019-07-23 2023-02-21 General Electric Company Systems and methods for maintaining pipes
CN110397820B (zh) * 2019-08-05 2021-03-16 南京师范大学中北学院 一种多节式螺旋双驱动可变径管道检测机器人
CN110486571B (zh) * 2019-09-03 2021-03-02 哈尔滨工业大学 一种管道机器人
CN110529692A (zh) * 2019-09-06 2019-12-03 泰安市诺润嘉环保有限公司 一种多功能管道机器人
CN110566753B (zh) * 2019-10-05 2024-04-02 河北工业大学 一种自适应自主转向的轮式管道机器人
US11415260B2 (en) 2019-11-06 2022-08-16 Saudi Arabian Oil Company Robotic inspection device for tank and pipe inspections
US11526168B2 (en) 2019-11-14 2022-12-13 Saudi Arabian Oil Company Robotic inspection of in-service tanks through lower wall
US11781698B2 (en) 2019-11-19 2023-10-10 South Dakota Board Of Regents Modular robotic crawler with hybrid locomotion for inspection of small diameter pipe
JP7426811B2 (ja) * 2019-12-10 2024-02-02 株式会社ディスコ 自己発電型漏水検知器
DE102020203453A1 (de) * 2020-03-18 2021-09-23 Siemens Aktiengesellschaft Inspektionseinrichtung
US11581714B1 (en) 2020-04-14 2023-02-14 Allen Brown System for pulling wire through a conduit
CN111570442B (zh) * 2020-05-22 2021-06-29 重庆嘉利华食品有限公司 一种用于食品工业中多弯管可回收的管道作业机器人
NO345947B1 (en) * 2020-06-03 2021-11-08 Well Innovation As Pulling tool
TWI777178B (zh) * 2020-06-17 2022-09-11 臺灣塑膠工業股份有限公司 防爆區之高架式自走巡檢系統
US11788934B2 (en) 2020-07-01 2023-10-17 Saudi Arabian Oil Company In-line fluid and solid sampling within flowlines
JP7227394B2 (ja) * 2020-07-31 2023-02-21 広州海洋地質調査局 天然ガスパイプにおける水化物を検出して溶解させる装置及び方法
CN112178355B (zh) * 2020-09-27 2022-05-10 中国地震局工程力学研究所 螺旋行进式管道检测器
US11118719B1 (en) * 2021-02-22 2021-09-14 Kakivik Asset Management, LLC Pipeline inspection device
CN112934872A (zh) * 2021-03-31 2021-06-11 通威太阳能(眉山)有限公司 管内清理机器人
CA3173116A1 (en) 2021-04-20 2022-10-20 Edward A. Bryner Flexible inspection robot
JP7104440B1 (ja) 2021-04-30 2022-07-21 章雄 長澤 配管洗浄装置及び配管洗浄システム
CN113419104B (zh) * 2021-06-30 2022-04-26 兴化市永安电力工具有限公司 一种特高压直流非接触智能验电器
IT202100023972A1 (it) * 2021-09-17 2023-03-17 Wefuture S R L Apparato per l'ispezione interna di tubazioni
US20230128262A1 (en) * 2021-10-26 2023-04-27 Lockheed Martin Corporation Modular Robotic Inspection System
US11865928B2 (en) * 2021-11-24 2024-01-09 Saudi Arabian Oil Company Generating power with a conduit inspection tool
CN114278808B (zh) * 2021-12-15 2022-07-15 安徽大学绿色产业创新研究院 一种基于球形关节的变刚度管道检测机器人
CN114280270B (zh) * 2021-12-22 2024-03-15 山西三合盛智慧科技股份有限公司 一种基于图像识别的智能煤矿用瓦斯气检测机器人
CN114458863A (zh) * 2022-01-19 2022-05-10 云南文山铝业有限公司 一种可调张力轮式管道检测爬行系统
US11867339B2 (en) * 2022-02-01 2024-01-09 General Electric Company Motorized apparatus including wheels
CN114484148B (zh) * 2022-02-15 2024-01-02 河海大学常州校区 一种地下管道检测机器人检测系统及检测方法
CN114888843A (zh) * 2022-05-13 2022-08-12 华中科技大学 一种基于摩擦锁死的关节变刚度方法及装置
CN116519788B (zh) * 2023-04-19 2023-11-21 北京市燃气集团有限责任公司 用于城市燃气管道的远场涡流内检测系统

Family Cites Families (57)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US406359A (en) * 1889-07-02 Tube for steam-boilers
US2774323A (en) * 1955-05-18 1956-12-18 Everett S Kirk Audio road signal
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
US3681811A (en) 1970-11-20 1972-08-08 Ernst Amelung Apparatus for cleaning iron moulds
US3899734A (en) * 1973-05-14 1975-08-12 Vetco Offshore Ind Inc Magnetic flux leakage inspection method and apparatus including magnetic diodes
US3875720A (en) * 1974-03-04 1975-04-08 Kennedy M Russell Resilient mounting for sign post
US3967194A (en) 1974-03-15 1976-06-29 Vetco Offshore Industries Method for flaw location in a magnetizable pipeline by use of magnetic markers positioned outside of said pipeline
US3949292A (en) 1974-03-15 1976-04-06 Vetco Offshore Industries, Inc. Pipeline inspection device with pivotal support structure
US4290712A (en) * 1979-04-02 1981-09-22 Hayes Norman J Plastic post apparatus and methods
US4252152A (en) 1979-08-14 1981-02-24 Martin Luther W Motorized crawler for gas main
DE3017979A1 (de) 1980-05-10 1981-11-12 Institut Dr. Friedrich Förster Prüfgerätebau, 7410 Reutlingen Verfahren und anordnung zum auswerten einer fehlersignalspannung
DE3139691A1 (de) 1981-10-06 1983-04-21 Kraftwerk Union AG, 4330 Mülheim Reinigungsvorrichtung fuer die innenumfangsflaechen von rohrleitungen oder hohlzylindrischen behaeltern, insbesondere an rohrinnen-manipulatoren
GB2119296B (en) 1982-03-29 1986-03-26 Ian Roland Yarnell Remote-control travelling robot for performing operations eg cutting within a pipe
DE3236947A1 (de) * 1982-10-06 1984-04-12 Rainer 6074 Rödermark Hitzel Rohrmanipulator fuer das durchfahren von rohrleitungen
FR2552346B1 (fr) * 1983-09-23 1986-06-20 Gaz De France Appareil a deplacement autonome pour sa progression a l'interieur d'une canalisation, notamment pour son exploration et/ou son traitement, et/ou son tubage a distance
US4563841A (en) * 1984-06-22 1986-01-14 Resource Engineering & Manufacturing Company Internal grit blast weld joint cleaner
US4645168A (en) * 1985-03-12 1987-02-24 Sea Hawk Corporation Reinforced support structure for upright highway marker
DE3612498A1 (de) * 1986-04-14 1987-10-29 Norske Stats Oljeselskap Selbstfahrendes fahrzeug fuer rohrleitungen
NO174785C (no) 1986-07-09 1994-07-06 Norske Stats Oljeselskap Anordning med ventilfunksjon
CA1292704C (en) * 1987-04-07 1991-12-03 Douglas C. Campbell Pipeline packer
US4843320A (en) 1987-12-17 1989-06-27 Atlantic Richfield Company Transient electromagnetic method for detecting corrosion on conductive containers
US4839593A (en) 1987-12-17 1989-06-13 Atlantic Richfield Company Transient electromagnetic method for directly detecting corrosion on conductive containers
US4843319A (en) 1987-12-17 1989-06-27 Atlantic Richfield Company Transient electromagnetic method for detecting corrosion on conductive containers having variations in jacket thickness
US4862823A (en) * 1988-05-05 1989-09-05 Flexstake, Inc. Bendable marker and method of marking
US4862808A (en) * 1988-08-29 1989-09-05 Gas Research Institute Robotic pipe crawling device
GB8827655D0 (en) * 1988-11-26 1988-12-29 Spicer Hardy Ltd Constant velocity ratio universal joints
FR2667519B1 (fr) * 1990-10-05 1993-01-08 Inspectronic Dispositif pour vehiculer a l'interieur de conduit ou analogue un ensemble de travail.
US5156486A (en) * 1991-01-02 1992-10-20 Davidson Carl E Traffic control marker and method of making the same
US5172639A (en) * 1991-03-26 1992-12-22 Gas Research Institute Cornering pipe traveler
SE502348C2 (sv) 1991-08-19 1995-10-09 Sven Eriksson Anordning för invändig rengöring av långsträckta kanaler
US5284096A (en) * 1991-08-06 1994-02-08 Osaka Gas Company, Limited Vehicle for use in pipes
US5550953A (en) * 1994-04-20 1996-08-27 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration On-line method and apparatus for coordinated mobility and manipulation of mobile robots
CA2112271A1 (en) * 1992-12-28 1994-06-29 Kiichi Suyama Intrapipe work robot apparatus and method of measuring position of intrapipe work robot
US5363935A (en) * 1993-05-14 1994-11-15 Carnegie Mellon University Reconfigurable mobile vehicle with magnetic tracks
CA2121311C (en) 1993-06-15 2002-06-25 Kiichi Suyama Method of inspecting abnormality occurring inside pipe and apparatus for practicing the method
US5461313A (en) * 1993-06-21 1995-10-24 Atlantic Richfield Company Method of detecting cracks by measuring eddy current decay rate
US6087830A (en) * 1994-07-07 2000-07-11 Hydroscope Canada Inc. Flexible device for remote field eddy current inspection of ferrous pipeline containing turns
US5528789A (en) 1994-12-23 1996-06-25 Steamatic, Inc. Robotic duct cleaning apparatus
US5704838A (en) * 1995-05-18 1998-01-06 Drilex Systems, Inc. Down-hole motor universal joint
GB2301187B (en) * 1995-05-22 1999-04-21 British Gas Plc Method of and apparatus for locating an anomaly in a duct
DE19624275A1 (de) 1995-06-19 1997-01-09 Siemens Ag Schreitwerk
US5788405A (en) * 1996-05-13 1998-08-04 Lucy Caroline Beard Vertical highway marker
ATE313699T1 (de) * 1996-09-23 2006-01-15 Halliburton Energy Serv Inc Unabhängiges bohrlochwerkzeug für die erdölindustrie
US5899795A (en) 1996-12-19 1999-05-04 Penza; G. Gregory Multi-function pipeline weld removal apparatus
JPH10318478A (ja) 1997-05-14 1998-12-04 Tokyo Gas Co Ltd 管内走行装置
CA2294605C (en) 1997-06-26 2005-04-12 Gas Research Institute System for inspecting in-service gas distribution mains
JP3375539B2 (ja) * 1997-07-14 2003-02-10 ペンタックス株式会社 画像圧縮装置および画像伸張装置
US6031294A (en) * 1998-01-05 2000-02-29 Capstone Turbine Corporation Turbogenerator/motor controller with ancillary energy storage/discharge
DE19746510C2 (de) * 1997-10-22 2003-03-06 Pii Pipetronix Gmbh Vorrichtung zum Durchfahren von Rohrleitungen
US6243657B1 (en) * 1997-12-23 2001-06-05 Pii North America, Inc. Method and apparatus for determining location of characteristics of a pipeline
KR19990085830A (ko) * 1998-05-22 1999-12-15 김덕우 자가 전원공급이 가능한 원격 검침기
WO2000061988A2 (en) 1999-04-12 2000-10-19 Carnegie Mellon University Pipe inspection and repair system
US6553322B1 (en) * 1999-09-29 2003-04-22 Honeywell International Inc. Apparatus and method for accurate pipeline surveying
DE20002929U1 (de) 2000-02-20 2000-10-05 Dreier Gerhard Gerät für die optische Inspektion von Rohrleitungen
US6260501B1 (en) * 2000-03-17 2001-07-17 Arthur Patrick Agnew Submersible apparatus for transporting compressed gas
US6450104B1 (en) * 2000-04-28 2002-09-17 North Carolina State University Modular observation crawler and sensing instrument and method for operating same

Also Published As

Publication number Publication date
CA2440344C (en) 2007-06-26
WO2002070943A2 (en) 2002-09-12
WO2002070943A3 (en) 2003-05-01
US20020190682A1 (en) 2002-12-19
ATE301264T1 (de) 2005-08-15
EP1373783B1 (de) 2005-08-03
DE60205353T2 (de) 2006-04-20
CA2440344A1 (en) 2002-09-12
US6917176B2 (en) 2005-07-12
WO2002070943A9 (en) 2003-01-30
EP1373783A2 (de) 2004-01-02
ES2249599T3 (es) 2006-04-01

Similar Documents

Publication Publication Date Title
DE60205353D1 (de) Robotersystem zur inspektion von gasleitungen
EP2144467A3 (de) Systeme und Verfahren zur Leistungsregelung im Mehrstreckenkommunikationssystem
ATE505863T1 (de) Akustisches kommunikationssystem zwischen einer tragbaren einheit und einer kommunikationsstation
WO2003003672A3 (en) Electronic data communication system
WO2002069565A3 (en) Network documentation system with electronic modules
ATE165179T1 (de) System zur kontaktlosen energie- und datenübertragung
SE0302210L (sv) System för överföring av kortmeddelanden (SMS) mellan mobila terminaler och på avstånd belägna servrar
EP1435435A3 (de) Unterstützungssystem für ein Kraftwerk
EP0910026A3 (de) Gerät zum Verarbeiten von Messdaten
EP1701559A3 (de) Drahtgebundenes Kommunikationsverfahren und Vorrichung mit einer einfachen Konfiguration der Geräte durch Reduktion der Zahl der Geräteanschlussdrähte
ATE400854T1 (de) Benutzerschnittstelle und verfahren für fahrzeugsteuersystem
NO20076438L (no) Tildelingskvittering for et system for tradlos kommunikasjon
ATE429102T1 (de) Übertragung von datenpaketen an mehrere zieladressen
DE60335353D1 (de) Kopplung zur mechanischen und elektrischen verbindung von beleuchtungseinrichtungen
DE60305896D1 (de) Repeater für versorgungsleitungssystem
ATE450964T1 (de) Kommunikationsverfahren und vorrichtung
SE0004804D0 (sv) Method and arrangement relating to data transmission
DE60236795D1 (de) Verfahren und System zur Funkzugangwahl
ATE369733T1 (de) Fernbedienung
DE602004023867D1 (de) Skalierbare verbindungen von einrichtung zu einrichtung
ATE323887T1 (de) Radiofrequenzstromerzeugung und leistungsmessung
DE60201910D1 (de) Optisches verbindersystem
ATE357686T1 (de) Diagnostisches verfahren für ein gesteuertes gerät und entsprechendes diagnostiksystem
AU2002311569A1 (en) Method and circuitry for processing data
DE50009659D1 (de) Verfahren und system zur datenübertragung von inhaltsdaten

Legal Events

Date Code Title Description
8364 No opposition during term of opposition