Inspection tool and method for performing an inspection of an area of interest in a duct

Abstract

INSPECTION TOOL. A system and method for inspecting offshore and onshore tubular or pipeline assets are described. The system and method utilize an inspection tool comprising a communication system, a sensor, a long-distance displacement system, and a localized displacement system, allowing rapid long-distance displacement until the inspection tool approaches an area of ​​interest, followed by actuation of the localized displacement system to precisely inspect the area of ​​interest.

Description

1 / 24 INSPECTION TOOL AND METHOD FOR PERFORMING AN INSPECTION OF AN AREA OF INTEREST IN A PUTO RELATED PREVIOUS ORDERS

[001] This application claims priority for United States of America serial number 63 / 013.323, filed on April 21, 2020, which is incorporated by reference in its entirety for all purposes. FIELD OF INVENTION

[002] In general, the disclosure describes a system and methodology to facilitate the assessment of structural integrity, gain life extension or for verification in offshore and onshore tubular or pipeline assets. BACKGROUND OF THE INVENTION

[003] The oil and gas industry relies on onshore and offshore pipelines to transfer crude and refined products. These assets are susceptible to internal and external corrosion, stress, fatigue, fracture, and damage from foreign bodies. These irregularities are typically verified through in-line inspection (ILI) or external inspection of the pipelines.

[004] Offshore riser pipes and tubing are used by the oil and gas industry to transfer product from the seabed to the surface. These riser pipes and tubing consist of multiple sections of pipeline that are welded together and can currently reach water depths of over 2,438.4 meters (8,000 feet). The complete riser assembly is attached to a platform on the surface and transitions to an offshore pipeline after touching the seabed. On the production side, the pipeline connects to the equipment infrastructure. Petition 870260019336, dated 02 / 03 / 2026, page 10 / 67 2 / 24 submarines, such as a Pipeline End Termination (PLET). On the export side, the pipeline can connect to another fixed or floating offshore facility, an onshore terminal, or link to another offshore pipeline. There are several common riser system configurations, including but not limited to freely suspended and slow-wave steel catenary risers (SCRs).

[005] During their operational lives, offshore pipelines and risers are susceptible to internal and external corrosion from use and submersion. These systems are also subject to fatigue loads and stresses applied at various points in the system by ocean currents and wave-induced motion (WIM), vortex-induced vibration (VIV), vessel-induced motion (VIM), internal pressure, and the weight of the pipeline itself. Some critical areas of interest are concentrated in the hang-off and touchdown regions of the riser and specifically in the girth welds within these regions or critical locations identified along its length, as indicated in Figure 1 (Minerals Management Service, 2007).

[006] Circumferential welds are particularly susceptible to high stress, fatigue load, and fracture. Current methodologies for inspecting circumferential welds may involve any of the following: radiography, external or internal ultrasonic inspection, Magnetic Flux Leakage (MFL) or eddy current, acoustic emission, and computed tomography.

[007] Land pipeline systems are typically Petition 870260019336, dated 02 / 03 / 2026, page 11 / 67 3 / 24 assets that are easier to inspect and / or verify, but present their own challenges regarding physical location. Many pipelines are buried or located in other hard-to-reach places, requiring the operator to excavate the pipeline before external inspection or verification can occur. This presents difficulties when a pipeline passes under populated areas or infrastructure, as shown in Figure 2.

[008] Offshore riser strings, offshore pipelines, and buried onshore pipelines present some of the most challenging scenarios for non-destructive testing (NDT) inspection. A report from the Bureau of Safety and Environmental Enforcement's (BSEE) Technology Assessment and Research (TAR) program acknowledges that most operators maintain their riser string systems using risk-based integrity management approaches in addition to minimum federal safety standards (Minerals Management Service, 2007). Theoretical mathematical and software models are currently used to predict fatigue damage, but they do not help determine the actual state of a system.

[009] Existing NDT methods are largely unrealistic for in-service inspection of hard-to-reach piping systems. Radiography presents safety concerns both onshore and offshore and cannot cover all existing offshore piping, as these assets may operate in thousands of meters (feet) of seawater. External inspection of offshore assets may be impeded by floating modules or support pylons, and buried piping must be excavated before external inspection can occur. Visual or sonar inspections by a Petition 870260019336, dated 02 / 03 / 2026, page 12 / 67 4 / 24 remotely operated vehicles (ROVs) may not have the resolution of other inspection tools and may not capture internal corrosion. Current internal ultrasound and MFL methods rely on an ILI tool that continuously collects data as it traverses the pipeline. Many pipeline assets are considered unpiggable due to internal restrictions, wall thickness transitions or tight bends, and extreme operating conditions such as high pressure and temperature. The data resolution of traditional inspection methods also decreases as tool speed increases.

[0010] What is needed is an inspection method and system that solves these problems, allowing a tool to stop at an area or areas of interest to collect localized data. Because the inspection tool would have zero or near-zero speed while an active inspection is taking place, data resolution would be optimized and could provide a clearer picture of the area than existing inspection methods allow. SUMMARY

[0011] This summary is provided to introduce a selection of concepts that are further described below in the detailed description. However, many modifications are possible without departing materially from the teachings of this disclosure. Consequently, such modifications should be included within the scope of this disclosure as defined in the claims. This summary is not intended to identify the main or essential features of the subject matter claimed, nor is it intended to be used as an aid in Petition 870260019336, dated 02 / 03 / 2026, page 13 / 67 5 / 24 limited scope of the claimed subject matter.

[0012] One embodiment of the present disclosure provides an inspection tool for inspecting a localized area of ​​interest. The inspection tool comprises a communication system that provides communication between the inspection tool and a controller; a long-distance travel system; and a local travel system. The communication system controls the travel system of the inspection tool.

[0013] Another embodiment of the present disclosure provides a method for carrying out an inspection of an area of ​​interest in a pipeline. The method comprising the steps of: (a) transporting an inspection tool into the pipeline, the inspection tool comprising a communication system, a long-distance travel system and a local travel system; (b) activating the long-distance travel system until the inspection tool is near the area of ​​interest; and (c) activating the local travel system to carry out the inspection of the area of ​​interest. BRIEF DESCRIPTION OF THE FIGURES

[0014] Certain embodiments of the disclosure will be described below with reference to the accompanying drawings, where similar reference numerals denote similar elements. It should be noted that, in accordance with standard industry practice, several features are not designed to scale. In fact, the dimensions of several features may be arbitrarily increased or decreased for clarity of discussion. It should be understood, however, that the accompanying figures illustrate the various implementations described in this document. Petition 870260019336, dated 02 / 03 / 2026, p. 14 / 67 6 / 24 and are not intended to limit the scope of the various technologies described in this document and: Figure 1 is a schematic diagram of a typical subsea riser string connecting to a subsea production well; Figure 2 is an example of a land line; Figure 3 is a schematic of one embodiment of the inspection tool of this disclosure; Figure 4 illustrates one embodiment of the long-distance drive system of the present disclosure; Figure 5 illustrates one embodiment of the localized displacement drive system of the present disclosure; Figure 6 illustrates the ELF communication system of one embodiment of the present disclosure; Figure 7A-B illustrates the fiber optic wired communication system of one embodiment of the present disclosure; Figure 8A-B illustrates the pulsed / guided wave transducer communication system of one embodiment of the present disclosure; Figure 9A-B illustrates an iris-type expandable actuation seal of an embodiment of the present disclosure; Figure 10A-B illustrates the closed position of a variable pitch seal of an embodiment of the present disclosure; Figure 11 AB illustrates the open position of a variable pitch seal of an embodiment of the present disclosure; Figure 12 illustrates a clutch-driven wheel system of one embodiment of the present disclosure; Figure 13 illustrates the retracted position of a system of Petition 870260019336, dated 02 / 03 / 2026, page 15 / 67 Figure 7 / 24 shows a conveyor drive system of an embodiment of the present disclosure; and Figure 14 illustrates the extended position of a conveyor drive system of an embodiment of the present disclosure. DETAILED DESCRIPTION

[0015] In the following description, various details are presented to provide an understanding of some embodiments of the present disclosure. It should be understood that the following disclosure provides many different embodiments, or examples, for implementing different features of various embodiments. Specific examples of components and arrangements are described below for the sake of simplicity in the disclosure. These are obviously only examples and are not intended to be limiting. In addition, the disclosure may repeat reference numerals and / or letters in the various examples. This repetition is for the sake of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and / or configurations discussed. However, it will be understood by those skilled in the art that the system and / or methodology can be practiced without these details and that numerous variations or modifications of the embodiments described are possible.This description should not be taken in a limiting sense, but only for the purpose of describing the general principles of the implementations. The scope of the implementations described should be determined with reference to the claims made.

[0016] As used in this document, the terms connect, connection, connected, in connection with, and connecting are used to mean in direct connection. Petition 870260019336, dated 02 / 03 / 2026, page 16 / 67 8 / 24 with or in connection by means of one or more elements; and the term joint is used to mean one element or more than one element. Furthermore, the terms couple, coupling, coupled, coupled together, and coupled with are used to mean directly coupled together or coupled by means of one or more elements. As used herein, the terms up and down; high and low; top and bottom; and other similar terms indicating positions relative to a given point or element are used to describe some elements more clearly.

[0017] This disclosure describes modalities of a system and methodology for facilitating the assessment of structural integrity, gaining life extension or for verification of, but not limited to, offshore riser strings (production, export and drilling riser strings), offshore pipelines, flowlines, intake lines and injection lines, riser strings and flexible pipelines, restricted access onshore pipelines and other offshore and onshore tubular or pipeline assets. This is done by examining areas of critical interest on the unit under inspection and recording the measurements, inside or outside the system.

[0018] The method and system modalities allow a tool to stop at an area or areas of interest to collect localized data. Because the inspection tool has zero or near-zero speed while an active inspection is in progress, the data resolution is optimized and can provide a clearer picture of the area than existing inspection methods allow.

[0019] This disclosure describes a system and Petition 870260019336, dated 02 / 03 / 2026, p. 17 / 67 9 / 24 methodology used to detect, locate and perform detailed inspections in specific areas of critical interest in onshore and offshore pipelines, offshore risers (including, but not limited to, production, export and drilling risers) and other tubular or pipeline assets commonly used in the energy and oil and gas industries to provide relevant data needed to assess structural integrity, gain life extension or for proof of such assets.

[0020] Areas of interest include, but are not limited to, circumferential welds in or near the suspension and touch regions of a riser string (or other critical locations identified along the length of the riser string), other circumferential welds along the length of the piping (e.g., in free spans or bend locations), areas of corrosion, areas of high stress or fatigue-sensitive locations, areas with reduced wall thickness or deformities, any leak point, or any other area as prescribed by customers. These areas may be determined by other sources or inspections prior to employing embodiments of this disclosure, or may be found as part of the system and method of this disclosure.

[0021] Central to this disclosure is an inspection tool that is capable of navigating to these hard-to-reach areas. Example areas for offshore assets might include any point in the system from the top to the bottom of the sea and well bottom. Onshore areas would focus on points where excavation is impractical, such as under roads, buildings, railways, and others. Petition 870260019336, dated 02 / 03 / 2026, page 18 / 67 10 / 24 Critical Infrastructures. One embodiment of the inspection tool of this disclosure is shown schematically in Figure 3. The inspection tool is capable of performing a targeted inspection during which it collects high-intensity data in areas of interest. This data can be acquired using eddy current, ultrasonic, visual, MFL, magnetic, or other inspection technology. The inspection tool will be able to detect and differentiate between internal, buried, and external anomalies in areas of interest.

[0022] The verification and analysis of the data collected by this system and method produces a usable report. Each report presents an overview of the inspected asset and highlights the areas of interest found and analyzed. A detailed analysis is provided for each area of ​​interest, which will identify noteworthy features and the presence of any detected anomalies. An estimate of the remaining useful life of the system can be provided additionally.

[0023] The modalities of the inspection tool used to perform this type of localized inspection consist of several subsystems that work cognitively to provide high-intensity scans of areas of interest (AOI) previously identified by other inspection methods. The main subsystems in this case are: bidirectional communication, localized displacement to areas of interest, long-distance displacement between areas of interest, and sensor deployment and scanning.

[0024] One embodiment of the inspection tool of the present disclosure is a hybrid design between a flow-driven navigation system and a drive system. Petition 870260019336, dated 02 / 03 / 2026, page 19 / 67 11 / 24 self-propelled, as shown in Figures 4 and 5. In particular, Figure 4 shows the inspection tool as used in long-distance displacements, while Figure 5 shows the inspection tool used in localized displacements.

[0025] With reference to Figure 4, the inspection tool 400 is placed inside a pipe 420, wherein the inspection tool 400 comprises a communications module 401, a controller / power module 403, a sensor module 405, an actuator module 407, an adjustable seal 409, and a transmitter 411 signaling the area of ​​interest. The communications module 401, the sensor module 405, the actuator module 407, and the adjustable seal 409 are operatively coupled and controlled by the controller / power module 403. Specifically, the communications module 401 is capable of transmitting a start / stop signal to a remote controller 411. When long-distance displacement is desired, the communications module 401 transmits a start signal to the remote controller 411 to initiate fluid flow within the pipe 420.At the same time, the adjustable seal 409 is switched to full seal mode to take advantage of the resulting fluid flow, thus allowing high-speed transport between areas of interest. When localized displacement and scanning are desired, the communications module 401 transmits a stop signal to the remote controller 411 to interrupt the fluid flow within the pipe 420. At the same time, the adjustable seal 409 is switched to full bypass mode so that the inspection tool can perform the scanning. Petition 870260019336, dated 02 / 03 / 2026, page 20 / 67 12 / 24 minimum displacement due to any fluid flow within the piping. As discussed above, for the NDT to obtain ideal test results, it is important to reduce fluid flow within the piping using the adjustable seal. As shown in Figure 4, the adjustable seal 409 is an iris-type seal discussed below in relation to Figure 9. As shown in Figure 5, the adjustable seal 509 is a variable pitch seal discussed below in relation to Figures 10-11. The operation will be detailed further below.

[0026] The 401 communication module can use different communication technologies, such as cabling, pressure transducer, or extremely low frequency (ELF). The 401 communication module in Figure 4 uses ELF as a mode, while the 501 communication module in Figure 5 uses cabling as a mode. However, other communication technologies can also be used.

[0027] The 405 sensor module can be any known non-destructive testing sensor module or combinations thereof, depending on the intended conditions. As is known in the art, sensors using eddy current, ultrasonic, visual, MFL, or magnetic readings can be used. As seen in Figures 4 and 5, the 405 sensor module has a retracted position (Figure 4) and an extended position (Figure 5). In the long-distance travel configuration in Figure 4, the 400 inspection tool is traveling to its destination without the need for inspection and is therefore retracted to avoid any possible damage to the sensor module. In the travel mode shown in Figure 5, the inspection tool is approaching the Petition 870260019336, dated 02 / 03 / 2026, page 21 / 67 13 / 24 area of ​​interest and therefore sensor module 405 is adjusted to the extended position to make contact with the inner wall of pipe 420. This ensures that sensor module 405 is protected during long-distance travel and begins testing the pipe during slower, localized travel near the area of ​​interest.

[0028] In the present disclosure, there are several drive mechanisms that can be used to drive the tool once it has reached an area of ​​interest, including, but not limited to, clutch-controlled wheels, a tracked tank drive system, or roller-type drive. These are generally referred to as the drive module in the inspection tool and will be explained in more detail with reference to Figures 12-14.

[0029] The drive module 407 allows the inspection tool to engage with the inner wall of the pipe 420, to allow parking or movement in any direction via a motor. As further illustrated in relation to Figures 12-14, the drive module 407 can be a clutch-driven wheel system (Figure 12) or a self-propelled track drive (Figures 13-14).

[0030] With reference also to Figure 12, one embodiment of the clutch-driven wheel system comprises drive wheels 1201 that are coupled to a clutch-driven wheel 1203 by means of drive belts 1205 or other similar mechanisms, such as a drive chain. The clutch-driven wheel 1203 is driven by the motor 1207 via the drive shaft 1209. The tension pulleys 1211 are operatively Petition 870260019336, dated 02 / 03 / 2026, page 22 / 67 14 / 24 coupled to the drive belt to ensure proper operation of the drive belts 1205. Furthermore, the position shaft 1213 and return springs 1215 are provided in such a way that the drive wheels 1201 always come into contact with the pipe 1220 to ensure the correct axial position in the pipe. In addition, encoder sensors 1217 are also in place to track the rotation of the drive wheel 1201 to generate digital position and motion information, and confirm with the controller / power module 403.

[0031] In operation, when the inspection tool is being driven by the fluid within the pipeline during long-distance travel, the clutch is disengaged and the drive wheels 1201 can rotate freely. However, when the inspection tool moves near an area of ​​interest, the controller / power module 403 activates the motor 1205 and the clutch 1203, which engages the drive wheels 1201 via the drive belt 1209 to decelerate the inspection tool. Depending on the operating condition, the motor 1207 can then drive the inspection tool at a controlled rate, allowing the tool to move at a precise rate (both forward and backward) over the area of ​​interest. This allows the inspection tool to perform multiple scans if necessary.

[0032] With reference now to Figures 13 and 14, which illustrate an embodiment of a conveyor drive system. In Figure 13, the conveyor drive system is in a retracted position so that the conveyor does not touch the inner wall of the pipe, while in Figure 14, the system of Petition 870260019336, dated 02 / 03 / 2026, page 23 / 67 15 / 24 The conveyor drive is in an extended position and the conveyor makes contact with the inner wall of the pipe. In more detail, the conveyor drive system 1300 comprises two sets of conveyor drive wheels 1301, a track intermediate wheel 1302 and tracks 1303 on either side of the center of the inspection tool string 1308. The conveyor drive wheel 1301 is connected to the track intermediate wheel 1302 by a retainer 1304 and a groove 1305 is provided in the retainer 1304. Each set of conveyor drive wheels / intermediate wheel / tracks 1301 / 1302 / 1303 is operatively coupled to an extension / retraction motor 1307 by an adjustment arm 1306a,b, which are articulated in the middle at the pivot 1311c.The adjusting arm 1306a has one end 1311a articulatedly connected to a threaded nut actuator 1313a, which in turn actuates the right-hand threaded nut 1315a; the other end 1312a of the adjusting arm 1306a is articulatedly connected to the retainer 1304. Similarly, the adjusting arm 1306b has one end 1311b articulatedly connected to a threaded nut actuator 1313b, which in turn actuates the left-hand threaded nut 1315b; The other end 1312b of the adjusting arm 1306b is able to slide within the groove 1305 in the retainer 1304. Both the threaded nut actuators 1313a,b and the threaded nuts 1315a,b are connected to the extension / retraction motor 1307. The extension / retraction motor 1307 can move between an extended and a retracted position.

[0033] In Figure 13, the extension / retraction motor 1307 rotates the nuts 1315a,b, thus bringing the actuators closer together. Petition 870260019336, dated 02 / 03 / 2026, page 24 / 67 16 / 24 threaded nut 1313a,be drives the track drive system from the retracted position towards an extended position by pushing the adjustment arms 1306a,b radially outwards until the tracks 1303 touch the inner wall of the pipe 1320.

[0034] The diameter of the body 1309 of the conveyor drive system is smaller than the inner diameter of the pipe 1320 to facilitate maneuvering in it, and the centering material 1319 is added in an annular shape to keep the drive system in the center of the pipe.

[0035] To retract the drive module from the extended position, as shown in Figure 14, the extension / retraction motor 1307 is actuated to rotate in the opposite direction, thus actuating the more distant threaded nut actuators 1313a,b, which pulls the adjustment arms 1306a,b radially inward and pulls the tracks 1303 away from the inner wall of the pipe 1320. The mechanism works similarly to a scissor jack. However, other mechanisms can be used to accomplish the extension / retraction of the drive system.

[0036] Compared to the wheels in Figure 12, the track drive system in Figures 13-14 has a high contact area on the pipe wall and provides a very firm grip on the pipe. This allows the tool to make very precise movements along the line both forward and backward, enabling the tool to perform multiple scans of the area(s) of interest.

[0037] The flow-driven navigation system is used for high-speed, long-distance travel between areas of interest. The self-propelled drive system Petition 870260019336, dated 02 / 03 / 2026, page 25 / 67 17 / 24 is used to activate the inspection tool only in areas of interest and provides very precise speed and direction control within the area(s) of interest.

[0038] When using a hybrid drive system described above, communication with the pipeline pump operator is essential. The flow-driven system is partially dependent on the operator shutting off the flow when the tool approaches an area of ​​interest. There are several communication methods, but not limited to Extremely Low Frequency (ELF) communication, Fiber Optic Cable, Guided Wave, and pulsed transducer messages. This communication is bidirectional and used to send and receive commands from the inspection tool.

[0039] In addition, in the event of loss of communication, the tool will default to high-speed travel mode so that the tool can be easily recovered.

[0040] Figure 6 shows an embodiment of the present disclosure using an Extremely Low Frequency (ELF) communication method. Similar to Figure 4, an ELF communication module 601, an inspection module 605, and a drive module 607 are operatively connected to the power module 603 and the processor 604. If necessary, additional modules 613 can also be connected. Due to the fact that the ELF communication bandwidth is limited, only simple commands can be sent and received. In this case, an ELF transmitter / receiver box 611 is placed near the area of ​​interest. The box 611 is configured to continuously transmit a signal in the area of ​​interest. Once the Petition 870260019336, dated 02 / 03 / 2026, page 26 / 67 18 / 24 inspection tool enters the range of the ELF box 611, the communication module 601 will send its own ELF signal via an integrated transmitter to the ELF box, acknowledging that it is approaching the area of ​​interest and to interrupt the fluid flow in the pipeline. At this point, the tool drive module 607 and the inspection module 605 will be extended and will take over and scan the area of ​​interest. Multiple scans can be performed within the range of the ELF box 611 by reversing using the drive module 607. Once the scan is complete and the integrated drive module 607 and the inspection module 605 are retracted, the communication module 601 will transmit a resume command to the ELF box 611, which can be relayed to the pipeline operator. The fluid flow within the piping can be resumed to activate the 600 inspection tool for the next area of ​​interest.

[0041] Figure 7A-B illustrates another embodiment of the present disclosure that uses a fiber optic cable 717 from the communication module 701 for communication. The inspection tool 700 is placed inside a pipe 720 and the inspection tool 700 comprises a communication module 701, an inspection module 705, a drive module 707 and optional modules 713 that are operatively connected to the power / control module 703. Generally, if the fiber optic cable is deployed from a base station 719 inside a launcher 715, the cables limit the amount of distance a tool can travel based on the number of sockets the tool must pass through. In this case, the limit is generally around 270 degrees of sockets (e.g., Petition 870260019336, dated 02 / 03 / 2026, p. 27 / 67 19 / 24 three (3) 90-degree elbows or six (6) 45-degree bends). In this case, cable 717 is deployed from the tool itself, particularly from the communication module 701. This eliminates the restriction of fitting into the cable. The method allows constant communication between the inspection tool 700 and a remote computer 711, while also allowing the inspection tool 700 to measure the distance from the launch point. This method mitigates the problem of having to place an ELF box near the area of ​​interest, which can be difficult to do in many circumstances (e.g., ocean floor or under a road with high depth of coverage). The limitation in this case is how much cable can be stored integrated into the tool and how the cable is retrieved after inspection.

[0042] Figure 7B illustrates the fiber optic modality deployed from the inspection tool with detailed communication between the communication module 701 and the remote computer 711. The base station 719 is fluid-permissive so as not to block fluid flow within the piping 720. The remote computer 711 is connected, wired or wirelessly, to a fiber optic transmitter / receiver 721, which connects to the fiber optic cable 717. The cable 717 is released from the fiber optic cable reel 723 via the centralized guide 725 within the tool body 730. The tool body 730 encompasses the reel 723, a fiber optic transmitter / receiver 727, communication electronics 728, and an interface 729 connecting to other modules of the inspection tool 700. The reel 723 is also connected to a fiber optic transmitter / receiver 727 within the tool body. 730 to transmit or receive Petition 870260019336, dated 02 / 03 / 2026, page 28 / 67 20 / 24 signals via fiber optic cable. In this configuration, remote computer 711 can receive or send commands directly to inspection tool 700.

[0043] As discussed above, the cable can be deployed from base station 719, from reel 723 inside tool 700, or from both. In certain embodiments, the ability to deploy the cable from base station 719 and reel 723 may be necessary if reverse deployment of the tool is required to remove the tool from the piping. The use of a pre-coiled fiber optic cable allows the user to easily determine the tool's location should troubleshooting be necessary.

[0044] Figures 8A-B illustrate another embodiment of the present disclosure, which uses the fluid in the line itself to communicate with the tool. In this case, sound travels faster in fluids and solids than in a gas. By configuring a base station 819 on the launcher with a pressure transducer, a signal 840 can be sent through the fluid within the tubing itself in the form of a pressure wave. The signal can then be received by the pressure transducer 801 on the tool or vice versa.

[0045] With reference to Figure 8B, which shows the detailed configuration of this mode. The base station 819 comprises a pressure transducer 833 that is capable of transmitting a signal in the form of pressure waves 840. Similarly, the inspection tool also comprises an identical pressure transducer 801 to be able to receive and transmit commands back to the base station 819. The tool and the base station can be pre-programmed to recognize the number of pressure pulses as a command. Petition 870260019336, dated 02 / 03 / 2026, page 29 / 67 21 / 24 specific to allow bidirectional communication. The limitation of this method is the line length, as the signal will be attenuated as it progresses along the line. This method is useful in acoustically feasible products.

[0046] In this embodiment, the tool has an integrated capability to decelerate itself in the line to compensate for the time delay that may occur between sending a shutdown command to the pipeline operator and the actual shutdown of flow in the line. This involves, but is not limited to, the use of an iris-type seal (illustrated in Figure 9A-B) or a variable-pitch-type seal (illustrated in Figures 10 and 11) that can open and close to increase or decrease the deviation around the tool. The localized drive system, described above, can also be deployed to provide additional drag and control the tool's position as it approaches an area of ​​interest.

[0047] The iris-type seal illustrated in Figure 9A can expand or contract to control the amount of fluid deviation around the tool. This seal allows the tool to speed up or slow down based on a fixed flow rate in the piping. When the seal is fully expanded, the amount of deviation is minimal, providing the maximum amount of available fluid drive in the piping. When the iris seal contracts, it increases the deviation around the inspection tool and decreases the tool speed. Figure 9B is a side view of the iris-type seal. A control spindle 901 is coupled to a plurality of support plates 903 via rotation pins 905. The control spindle 901 has a series Petition 870260019336, dated 02 / 03 / 2026, page 30 / 67 22 / 24 of grooves 906 in which the actuating pins 905 are situated. These actuating pins 905 are fixed to the support plates 903. With the rotation of the control spindle 901, the actuating pins 905 follow the grooves 906 in the control spindle and rotate the support plates 903 inward or outward. The support plates 903 rotate around the corresponding shaft pins 907. The movement of the control spindle 901 around the bearing 909 pushes or pulls the support plates 903, expanding or contracting the surface area of ​​the seal.

[0048] The variable pitch type seal illustrated in Figures 10A-B and 11A-B is similar to a variable pitch propeller used in aircraft. Figure 10A-B shows the seal in the closed position and Figure 11A-B shows the seal in the open position. In the embodiment shown, the seal is made of eight (8) veins. Four static blades 1003 in this case are statically mounted in a static blade mount 1005 to keep the module centered in the duct and four variable blades 1007 are mounted in corresponding variable mounting rotary bases 1009. The pitch of the rotating blades 1007 can be changed by means of a set of bevel gears 1011, actuated by actuating gears 1015 at the end of an actuating rod 1013. The pitch can be changed from a fully open position (Figure 11, parallel to the direction of duct flow) or to a fully closed position (Figure 10, perpendicular to the direction of duct flow).When the seal is fully closed, the amount of bypass is minimal, providing the maximum amount of fluid drive available in the pipeline. When the seal is in the fully open position, the bypass is... Petition 870260019336, dated 02 / 03 / 2026, page 31 / 67 23 / 24 increased, decreasing the tool speed. Since the step can be easily varied, this can provide a very precise flow rate. This is very useful when approaching areas of interest and can help compensate for any delays in communication between issuing a shutdown command and the actual interruption of the flow.

[0049] With the inspection tool of this disclosure, it is possible to quickly send the inspection tool over a long distance using the fluid-driven displacement system, and when the inspection tool approaches the area of ​​interest, activate the localized displacement system to allow the inspection tool to accurately detect any defects in the pipelines.

[0050] Although some embodiments of the disclosure have been described in detail above, those skilled in the art will readily appreciate that many modifications are possible without departing materially from the teachings of this disclosure. Consequently, such modifications should be included within the scope of this disclosure as defined in the claims. The scope of the invention shall be determined only by the language of the claims that follow. The term comprising within the claims is intended to mean including at least so that the listing of elements cited in a claim is an open group. The terms a, an, and other singular terms are intended to include their plural forms unless specifically excluded. In the claims, the half-plus-function clauses are intended to cover the structures described herein as performing the recited function and not only structural equivalents but also structures Petition 870260019336, dated 02 / 03 / 2026, p. 32 / 67 24 / 24 equivalents. It is the express intention of the applicant not to invoke 35 USC § 112, paragraph 6 for any limitations of any of the claims contained herein, except those in which the claim expressly uses the words "means to" along with an associated function. Petition 870260019336, dated 02 / 03 / 2026, p. 33 / 67

Claims

1 / 4 CLAIMS 1. Inspection tool for inspecting an area of ​​interest located within a pipeline, comprising: (a) a communication module that provides communication between the inspection tool and a remote controller; (b) a sensor for detecting abnormalities within the located area of ​​interest; (c) a long-range displacement system; (d) a localized displacement system; and a controller configured to control the localized displacement system and the long-range displacement system of the inspection tool, characterized in that the long-range displacement system is a flow-driven navigation system.

2. Inspection tool, according to claim 1, characterized in that the communication module uses extremely low frequency (ELF), optical fiber, guided wave or pulsed transducer for communication.

3. Inspection tool according to claim 1, characterized in that the inspection tool further comprises an adjustable seal to allow variation of fluid flow through the adjustable seal.

4. Inspection tool according to claim 3, characterized in that the adjustable seal is an iris-type seal.

5. Inspection tool according to claim 3, characterized in that the adjustable seal is a variable pitch seal.

6. Inspection tool, according to claim 1, characterized in that the displacement system located is a self-propelled drive system.

7. Inspection tool, according to claim 6, characterized in that the localized displacement system is selected from clutch-controlled wheels, a track-driven tank system or a roller-type drive.

8. Inspection tool, according to claim 1, characterized in that the sensor is configured between an extended position to contact surfaces near the area of ​​interest and a retracted position without contacting surfaces near the area of ​​interest.

9. Inspection tool, according to claim 1, characterized in that the localized drive system is configured between an extended position to contact surfaces near the area of ​​interest and a retracted position without contacting surfaces near the area of ​​interest.

10. Inspection tool, according to claim 1, characterized in that the sensor detects the abnormality through radiography, external or internal ultrasonic inspection, Magnetic Flux Leakage (MFL) or eddy current, acoustic emission, computed tomography or combinations thereof.

11. Method for performing an inspection of an area of ​​interest in a pipeline, the method comprising the steps of: (a) transporting an inspection tool into the pipeline, the inspection tool comprising a communication module, a sensor, a long-range displacement system and a localized displacement system; (b) activating the long-range displacement system until the inspection tool is close to the area of ​​interest; and (c) activating the localized displacement system to perform the inspection of the area of ​​interest, characterized in that the long-range displacement system is a flow-driven navigation system.

12. Method according to claim 11, characterized in that in step (b) the sensor and / or the localized displacement system are configured in a retracted position without coming into contact with external surfaces.

13. Method according to claim 11, characterized in that in step (c) the sensor and / or the localized displacement system are configured in an extended position to come into contact with external surfaces close to the area of ​​interest.

14. Method, according to claim 11, characterized in that the communication system uses extremely low frequency (ELF), optical fiber, guided wave or pulsed transducer for communication.

15. Method according to claim 11, characterized in that the inspection tool further comprises an adjustable seal to allow variation of fluid flow through the adjustable seal, wherein the adjustable seal is an iris-type seal or a variable pitch seal.

16. Method according to claim 11, characterized in that the localized displacement system is a self-propelled drive system.

17. Method according to claim 16, Petition 870260019336, dated 02 / 03 / 2026, page 36 / 67 4 / 4 characterized in that the localized displacement system is selected from clutch-controlled wheels, a track-type tank drive system or a roller-type drive.

18. Method according to claim 16, characterized in that the sensor detects the abnormality by means of radiography, external or internal ultrasonic inspection, Magnetic Flux Leakage (MFL) or eddy current, acoustic emission, computed tomography or combinations thereof.

19. Method according to claim 11, characterized in that step (c) further comprises: (c-1) interrupting the flow of fluid within the duct. Petition 870260019336, dated 02 / 03 / 2026, p. 37 / 67

Images