Systems and methods for servicing conduits and conduits

Abstract

Systems and methods for servicing a pipe are described herein. In some cases, a system for positioning an umbilical cord supply line is provided herein. The system may include an umbilical supply line (62), a plurality of spaced-apart annular disk assemblies (61), an umbilical tether drive system, and a winding device. The umbilical cord tether drive system may include at least one drive element and a drive motor driving the drive element. Systems for controlling temperature and humidity conditions in a pipe are also described herein. The system may include: an air conditioning device configured to discharge air into a duct; at least one sensor configured to detect at least one of a temperature, an air velocity, and / or a position of the centralizer; and a control unit configured to adjust an air condition in the conduit based on data from the at least one sensor.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to U.S. Provisional Patent Application No. 63 / 329,470, filed on April 10, 2022, the entire disclosure of which is hereby incorporated by reference herein. Technical Field

[0003] Described herein are systems and methods for use in the field of conduits and pipes, including maintaining such conduits and pipes after they have been installed in a pipeline system. Background Art

[0004] Pipeline systems are widely used to transport water, sewage, petroleum products, and other materials that can be reduced to a flowable form. Typically, pipeline distribution is hidden, for example, placed underground, inside structures such as walls, or placed in other difficult-to-access areas. Over time, pipeline systems often require maintenance, such as cleaning to remove undesirable deposits that accumulate along the inner walls of the pipes, and in turn require access to the interior of the pipes. As another example, such maintenance may include treating the inner wall of the pipe with a protective coating, which again requires access to areas of the interior of the pipe that may be difficult to access. Summary of the invention

[0005] The present disclosure relates to a system for positioning an umbilical supply line, the system comprising: an umbilical supply line; a plurality of spaced-apart annular disc assemblies, wherein each annular disc assembly defines an aperture through which the umbilical supply line is positioned; an umbilical tether drive system comprising at least one drive element driven by a drive motor, the drive element having a plurality of protrusions; and a winding apparatus comprising a shaft around which the umbilical supply line is received.

[0006] The present disclosure further relates to a system for positioning an umbilical supply line, the system comprising: an umbilical supply line, comprising a plurality of locking structures, the plurality of locking structures being positioned on, adhered to and / or connected to the umbilical supply line; an umbilical tether drive system, comprising at least one drive element driven by a drive motor, the drive element having a plurality of protrusions, wherein each of the plurality of protrusions comprises a shape complementary to the plurality of locking structures positioned on, adhered to and / or connected to the umbilical supply line; and a winding device, comprising an axis, the winding device receiving the umbilical supply line around the axis, wherein when the drive motor drives the at least one drive element, the umbilical tether drive system unfolds and / or retracts the umbilical supply line from the winding device.

[0007] The present disclosure further relates to a system for controlling temperature and humidity conditions in a duct, the system comprising: an air conditioning device configured to discharge air into the duct; at least one sensor configured to detect at least one of temperature, air velocity and / or position of a centralizer; and a control unit configured to adjust air conditions in the duct based on data from the at least one sensor. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Figure 1 Demonstrates systems for cleaning and maintaining pipeline systems.

[0009] Figure 2 A partial view of a pipe is shown having a system for cleaning the pipe positioned therein.

[0010] Figure 3 A partial view of a pipe is shown having a portion of a system for cleaning the pipe positioned therein.

[0011] Figure 4 A partial view of a pipeline with a system for cleaning the pipeline is shown showing a centralizer positioned at an elbow in the pipeline.

[0012] FIG5 shows a photograph of the umbilical tether drive system.

[0013] Figure 6 Photo showing the umbilical tether drive system.

[0014] Fig. 7A Photo showing the umbilical tether drive system in the first position.

[0015] Figure 7B exhibit Fig. 7A Photo of the umbilical tether drive in the second position.

[0016] Figure 8 A block diagram showing an overview of a control system for maintaining a pipeline.

[0017] Fig. 9 A block diagram showing an overview of a control system for maintaining a pipeline.

[0018] Fig.10 A block diagram showing a control system for maintaining a pipeline.

[0019] Fig.11 A block diagram showing a control system for maintaining a pipeline.

[0020] Fig.12 A block diagram showing a control system for maintaining a pipeline.

[0021] Fig.13A block diagram showing a control system for maintaining a pipeline.

[0022] Fig.14 A block diagram showing a control system for maintaining a pipeline.

[0023] Fig.15 Schematic diagram of the straight section of the pipeline and the rotating disk.

[0024] Fig.16 Schematic diagram of the elbow section of the pipe and rotating disk.

[0025] Fig.17 A diagram showing the rotating disk and the measured dimensions shown in Table 1.

[0026] Fig.18 Shown is a centralizer positioned in a pipe with a rod and a rotating disk.

[0027] Fig.19 Shown is a centralizer positioned in a pipe with a rod and a rotating disk.

[0028] Fig. 20 A graph showing the calculation results for a 30-inch diameter pipe.

[0029] Fig.21 Schematic diagram showing duct sections and exemplary air flow distribution. DETAILED DESCRIPTION

[0030] Provided herein are systems, methods and apparatus for maintaining pipelines, such as for cleaning, inspecting, repairing and / or lining the interior of a pipeline system. As used herein, the terms "pipeline" and "conduit" are used interchangeably. The system and method may provide a platform for deploying pipe wall preparation and tools required for installing spray materials in pipelines of different diameters (e.g., pipelines with an inner diameter of six inches or more). Since pipeline systems are generally difficult to enter, such as being located underground or in an inner wall structure, and generally spanning long distances, embodiments of the systems and methods described herein may be used to avoid extensive excavation or disassembly of pipeline systems. In some cases, embodiments of the systems and methods described herein may provide systems that can operate effectively throughout complex pipeline geometries. The systems and methods described herein may also provide methods for controlling conditions within a pipeline, such as to optimize the application conditions of a lining material.

[0031] The systems and methods described herein may provide systems capable of navigating and processing complex pipe geometries. For example, the systems described herein include Figures 2 to 4umbilical supply line 62 shown in FIG. umbilical supply line 62 may contain and provide a number of different components, such as hydraulic fluid, camera, power, air, lining material, and other components. The systems and methods described herein may provide a system that minimizes the snagging or locking of the pipeline as it is pulled around a bend in the pipeline system. For example, in some cases, a plurality of annularly spaced discs 61 may enclose a plurality of annularly spaced discs 61 such as Figures 2 to 4 as well as Figures 6 to 7B umbilical supply line 62 is shown in FIG. Further description of such aspects of a system for maintaining a pipeline system is described in U.S. Patent No. 10,576,489, which is incorporated by reference in its entirety as if fully set forth in this application.

[0032] In some cases, the system may include a system for positioning an umbilical supply line. The system for positioning an umbilical supply line may include: an umbilical supply line; a plurality of spaced-apart annular disc assemblies, wherein each annular disc assembly defines an aperture through which the umbilical supply line is positioned; an umbilical tether drive system including at least one drive element driven by a drive motor, the drive element having a plurality of protrusions; and a winding apparatus including a shaft about which the winding apparatus receives the umbilical supply line.

[0033] In some cases, an umbilical drive system may be located on a horizontal wind stripping layer and may push an unpowered centralizer tool in and out of the pipeline system in a highly controlled manner. Such an umbilical drive system may allow the tool to be positioned to a specific location inside the pipeline. In some such cases, the system may allow the centralizer tool to be returned to a desired location in the pipeline, such as where an anomaly was found during an inspection, to facilitate a point repair.

[0034] As described herein, an umbilical tether drive can provide controlled motion during tool entry and exit of a pipe. For cleaning and lining applications in larger pipes using power tools, as well as smaller pipes where the centralizers can be propelled via an umbilical tether drive system, a smooth and even transition stroke of the centralizer is desired.

[0035] In some cases, when electric centralizers are employed, the winding equipment take-up and tool drive may operate in concert. In such cases, the entry or exit speed may be synchronized between the components. In such cases, digital encoders or other sensors may be utilized to assist in such synchronization. In some cases, in the event of slippage or momentary loss of drive tire engagement between the driven centralizer and the pipe wall, the umbilical tether drive system may eliminate the motion loss of the centralizer, since the umbilical travel is achieved by synchronized tool and reel take-up.

[0036] In some cases, upon moving the drive element, at least one of the plurality of protrusions engages with one of the spaced-apart annular disc assemblies to drive movement of the umbilical supply line. In some cases, upon moving the drive element, at least one of the plurality of protrusions engages with one of a plurality of locking structures positioned on the umbilical supply line. The plurality of protrusions of the drive element may include teeth, cleats, links, or other structures that may engage with the umbilical supply line and / or the plurality of spaced-apart annular disc assemblies. In some cases, the spaced-apart annular disc assemblies include a plurality of locking structures that include shapes that are complementary to the plurality of protrusions of the drive element, such as structures having a convex-concave complementary relationship. In some cases, the umbilical supply line may include a plurality of locking structures that are positioned on, adhered to, and / or connected to the umbilical supply line.

[0037] The umbilical tether drive system further includes a power source and a control unit. The control unit may communicate with the power source and at least one drive motor. The control unit may control at least one of: the position of the umbilical supply line, the speed of movement of the umbilical supply line, the direction of movement of the umbilical supply line, and / or the length or payout of the deployed umbilical supply line. In some cases, the umbilical tether drive system includes at least one sensor to detect at least one of: the position, speed, direction of movement, and / or length of the deployed umbilical supply line. At least one sensor may transmit data to the control unit so that the control unit may process and adjust appropriate inputs to adjust one of: the position of the umbilical supply line, the speed of movement of the umbilical supply line, the direction of movement of the umbilical supply line, and / or the length or payout of the deployed umbilical supply line.

[0038] Figure 1 An example of a system for maintaining a piping system is shown. As known to those of ordinary skill in the art, the trailer 16 may include various equipment to assist in maintaining the piping system, such as a winding device, a controller, materials for cleaning the pipe, etc. The pipe leaving the rear of the trailer 16 enters the delivery system 20. The delivery system 20 is shown as crossing a lawn. In other cases, the delivery system can be used to cross fields, cluttered construction sites, vegetation, mud, or other areas that prevent the trailer from being positioned near the insertion point 15. The delivery system 20 can also be deployed to travel through walls, fixed industrial equipment, fences, pipe racks, through stairwells or other difficult to navigate terrain or structures. The delivery system can help perform maintenance on the piping system. In some cases, the delivery system 20 may include equipment and systems to control the humidity and temperature within the pipe so that the centralizer does not travel through excessive moisture or other adverse conditions.

[0039] The centralizer 12 and umbilical supply line 11 are shown positioned below the pipe after rounding the 90 degree bend. Figure 4A closer view of an example of a centralizer is shown at Figure 2 and 3 Additional views showing the umbilical supply line and multiple spaced-apart annular disks.

[0040] In some cases, Figure 1 The system shown in FIG. 5A can utilize the same umbilical tether drive system as that shown in FIG. 5 to 7B . Figure 6 As shown in FIG. 1 , an umbilical cord tether drive system includes a drive element including a plurality of protrusions. One of the protrusions is Figure 6 The protrusion 31 is shown in FIG. The protrusion 31 is rotated via a chain and engages with a plurality of annular disk assemblies. Fig. 7A The umbilical supply line is shown in a first position, with a portion of the protrusion 31 being shown in the first position. As the protrusion 31 moves in a counter-clockwise direction, it contacts and engages the annular disc assembly, moving the entire umbilical supply system in a smooth and controlled manner. Figure 7B The protrusion is shown in a second position that causes movement of the umbilical supply line. The drive element includes a plurality of protrusions that rotate in both a clockwise and counterclockwise direction so that the umbilical supply line is deployed and retracted. Other drive elements may be utilized, such as teeth, protrusions, or links.

[0041] Figure 8 and 9 One embodiment of a system 1 for interior wall coating distribution within conduits and pipes in a pipeline system according to the present disclosure is depicted.

[0042] The system can be deployed from a mobile vehicle (e.g., a truck or trailer 2) having an equipment platform 3, such as with Figure 1 The same moving vehicle is shown in .

[0043] An auxiliary power supply 9 is provided to power all components of the system. The power may be in the form of electrical or hydraulic power, depending on the requirements of the particular components as will be appreciated by those skilled in the art.

[0044] The components of the system include a tool 5 for performing coating operations inside a conduit or pipe. The tool 5 has a mobility drive system that allows the tool to be moved through the pipe as needed to perform the coating operation. The tool 5 is attached to the end of an elongated umbilical 6 wound around a reel 7. The umbilical 6 is fed from the reel 7 as the tool 5 is advanced through the pipe by an umbilical feed / take-up reel motor 8, which is synonymous with the tool 5 mobility drive system. The reel motor 8 also cooperates to extract the tool 5 from the pipe.

[0045] In order to achieve the most effective and uniform coating of the interior layer of the pipe, the atmosphere inside the pipe must be brought to and maintained under ideal conditions during the coating operation. This is achieved by the HVAC system 4, which injects air into the pipe under controlled conditions. As described herein, the air conditions in the pipe can be controlled in a manner that is combined with the HVAC system by adjusting the temperature of the air discharged into the pipe, the humidity of the air discharged into the pipe, and / or the speed of the air in the pipe (for example, by adjusting the speed of the air discharged into the pipe and / or by adjusting the air speed using an orifice plate positioned in the pipe).

[0046] The coating material 12 is delivered to the tool 5 inside the pipe through feeder lines in the interior of the umbilical 6. Electricity 10 and hydraulic power 11 are also fed to the tool 5 through corresponding feeder lines in the interior of the umbilical 6.

[0047] A communication system gateway line 14 is also fed through the umbilical 6 for collecting sensor data and providing control signals from the control system to the tool 5 .

[0048] Fig. 9 The coating system of the present invention is shown with a tool 5 deployed inside the subterranean.

[0049] Figures 10 to 14 Drawing for control Figure 8 and 9 Control system for the coating system shown in FIG.

[0050] Fig.12 is a block diagram of a programmable logic controller 2100 (PLC) that can be used to implement the control logic functions of a control system.

[0051] The PLC 2100 includes a central processing unit (CPU) 2101 that executes a set of computer software instructions programmed into a program memory 2102 for controlling an external output device 2103 through an output module 2104 .

[0052] To perform its control functions, the PLC 2100 receives input data from an external input device 2105 via an input module 2106 .

[0053] The PLC 2100 also includes a human machine interface (HMI) 2107 that allows the PLC to communicate with a programming device 2108 for programming the PLC with the aforementioned computer software instruction set and for obtaining diagnostic data and system data.

[0054] like Fig.12As shown in FIG. 2 , the communication path between HMI 2107 and programming device 2108 may be in the form of wireless interface 2109, Ethernet interface 2110, USB interface 2111, or serial interface 2112. Each of these interfaces may be implemented as will be understood by one of ordinary skill in the art.

[0055] The internal power 2114 for the PLC may be provided by an external power source implemented by a voltage converter 2115. The converter 2115 is itself powered by the main power supply that powers the machine controlled by the PLC. The converter 2115 converts the main power supply voltage as required to provide power to the PLC.

[0056] As mentioned above, the input module 2106 receives input data from the input device 2105. The input device that provides this data is shown in FIG. Figures 9 to 14 middle.

[0057] Fig.10 A microcontroller unit 2200 is depicted. The microcontroller unit includes a central processing unit (CPU) 2201 which executes a set of computer software instructions programmed into memory 2202.

[0058] Coupled to the CPU 2201 is an Inter-Integrated Circuit (I2C) interface 2203 implementing the I2C protocol known in the art and a USB interface 2205 also known in the art. The I2C 2203 allows data to be passed from Hall effect sensor modules 2206 and 2207 to the CPU 2201, which measures the rotational speed of the aforementioned disk.

[0059] Power is supplied to the microcontroller unit 2200 through an external power source in the form of a voltage converter 2215. The converter 2215 obtains its power from the main power source, which is the PLC 2100 ( Fig.12 The converter 2215 converts the main power voltage as needed to provide power to the microcontroller unit 2200.

[0060] The RPM data collected by the microcontroller 2201 from the Hall Effect sensor modules 2206 and 2207 is sent to the serial interface 2209 which forwards the data to the system communication gateway. The communication gateway is the main communication path to which all system sensors and controls are ultimately connected, including the input module 2106 of the PLC 2100 via the input device 2105.

[0061] The disk rotation data from the Hall Effect sensor modules 2206 and 2207 is processed by the PLC 2110, and according to the process, the PLC 2110 sends a control signal for the drive motor of the disk back to the microcontroller unit 2200. The returned data triggers the microcontroller unit 2200 to control the relay 2210 to turn the disk motor on or off; control the relay 2211 to make the drive motor rotate the disk in a clockwise direction; and control the relay 2212 to make the drive motor rotate the disk in a counterclockwise direction.

[0062] In many cases, the machine operating inside the pipeline will have an inspection or observation camera and a lighting system to illuminate the area under inspection or observation. The PLC 2100 may also send a control signal to the microcontroller unit 2200 to control the relay 2214 for the purpose of turning the lighting system on and off. Fig.11 Depicted is a microcontroller unit 2300 having the same architecture and including the same components as described with respect to microcontroller unit 2200. This microcontroller captures data from a thermocouple sensor 2301 for measuring the temperature of the head of the rotating disk; captures data from a surface temperature sensor 2302 for measuring the temperature of the pipe wall to which the rotating disk is applying material; and captures data from a wind sensor 2303 for measuring the consumption of air movement in the working area inside the duct.

[0063] Data collected by microcontroller 2300 from thermocouple sensor 2301 , surface temperature sensor 2302 , and wind sensor 2303 is sent to serial interface 2304 , which forwards the data to the system communication gateway. PLC 2100 retrieves data from the gateway via input device 2105 and input module 2106 .

[0064] Power is supplied to the microcontroller unit 2300 by an external power supply in the form of a voltage converter 2305. The converter 2305 obtains its power from the main power supply, which is the PLC 2100 ( Fig.12 The converter 2305 converts the main power supply voltage as needed to provide power to the microcontroller unit 2300.

[0065] Fig.13 A microcontroller unit 2400 is depicted, having the same architecture and including the same components as described with respect to microcontroller unit 2200. This microcontroller captures data from an ISO pressure sensor 2401, a multi-way pressure sensor 2402, and a Hall Effect sensor module 2403.

[0066] This data is sent to the serial interface 2405 which forwards the data to the system communications gateway. The PLC 2100 retrieves the data from the gateway via the input device 2105 and the input module 2106 .

[0067] Power is supplied to the microcontroller unit 2400 by an external power source in the form of a voltage converter 2404. The converter 2404 obtains its power from the main power source, which is the PLC 2100 ( Fig.12 The converter 2305 converts the main power voltage as needed to provide power to the microcontroller unit 2400.

[0068] Fig.14 A microcontroller unit 2500 is depicted, having the same architecture and including the same components as described with respect to microcontroller unit 2200. This microcontroller captures data from orientation and temperature sensor 2504.

[0069] This data is sent to the serial interface 2401 which forwards the data to the system communications gateway. The PLC 2100 retrieves the data from the gateway via the input device 2105 and input module 2106 .

[0070] Power is supplied to the microcontroller unit 2500 by an external power supply in the form of a voltage converter 2503. The converter 2503 obtains its power from the main power supply, which is the PLC 2100 ( Fig.12 ) controls the machine. The converter 2503 converts the main power supply voltage as needed to provide power to the microcontroller unit 2500.

[0071] Reference again Fig.12 , the programming device 2108 can be a desktop computer, a laptop computer, a notebook or a similar computing device.

[0072] In addition to programming, the human machine interface 2107 allows a computing device running a corresponding software application to communicate remotely in real time or near real time with the PLC 2100. This allows system operators and / or other stakeholders to continuously monitor symptomatic operation remotely.

[0073] like Fig.12 As shown in FIG. 2 , PLC 2100 may be connected to the wireless Internet via wireless interface 2109, Ethernet interface 2110, USB interface 2111, or serial interface 2112. The specific interface to be used will depend on the bandwidth required to accommodate the degree of monitoring required by the operator or stakeholder.

[0074] In some cases, the systems described herein may include a system for controlling temperature and humidity conditions in a duct. The system may include: an air conditioning device configured to discharge air into the duct; at least one sensor configured to detect at least one of temperature, air velocity, and / or position of a centralizer; and a control unit configured to adjust the air condition in the duct based on data from the at least one sensor. In some cases, the control unit is configured to adjust at least one of: the temperature of the air discharged into the duct, the humidity of the air discharged into the duct, and / or the velocity of the air discharged into the duct. In some cases, the control unit is configured to adjust the air velocity in the duct by controlling the size of an orifice positioned in the duct.

[0075] In some cases, the system may control conditions at the location of the sprayer. In some cases, at least one sensor is positioned proximate to the centralizer. In some such cases, at least one sensor is positioned proximate to the rotating disk. At least one sensor may detect different conditions proximate to the point where the lining material is applied to the interior of the pipe. Such conditions (e.g., temperature, air velocity, and / or humidity) may affect the application of the lining material to the pipe. For example, since cleaning and lining are typically performed while the centralizer is retracted from its starting point while reversing to the entry point, the air velocity closest to the entry point may be greater than, for example, about 100 feet down the pipeline. As the tool approaches the insertion point, the air velocity may be reduced to minimize interference with the coating deposition area. The sensor may detect the air velocity throughout the retraction process, transmitting such data to a control unit, which may control and adjust the air conditioning to increase or decrease the airflow introduced by the air conditioning system. Examples of such air conditioning are described in Figure 1 Shown in the figure is an air conditioner 13, which is connected to the duct by a tube 14. The air conditioner can provide air to cool and / or heat the conditions inside the duct and / or can adjust the humidity inside the duct.

[0076] In some cases, the system can control the air velocity within the duct via a structure that defines an orifice through which the air flows. The structure can be an orifice plate or a restrictor plate. When the air flows toward the orifice plate upstream of the orifice, the orifice causes the air to converge and pass through the orifice. Fig.21 Examples of such structures are shown. In some cases, the structure can adjust the size of the orifice, such as increasing or decreasing the diameter of the orifice or adjusting the shape of the orifice (full circle to partial circle) to change and / or produce a desired air velocity in the duct. In some cases, the orifice has a circular size. In some cases, the orifice has a non-circular size. In some systems, the orifice plate can define a plurality of orifices to adjust the air velocity in the duct. Fig.21An example is shown that includes a differential pressure sensor that can be used to detect airflow (via differential pressure) so that the differential pressure sensor transmits a signal to a control unit. The control unit, upon receiving the signal, can adjust the airflow and / or orifice size to produce a desired air velocity at a downstream location.

[0077] In some cases, the system can control the air velocity in the duct by changing the speed of the motor or fan. The system can change the air velocity in the duct by changing the speed of the motor and using a combination of orifices.

[0078] Many conventional pipeline maintenance systems can supply set temperature conditions to the pipeline system during lining applications; however, many such systems introduce airflow with set temperature, humidity, and / or air velocity and do not adjust such conditions based on internal pipeline conditions at the centralizer. The system described herein can provide synchronized condition control of each tool via a board acquisition module such as those described herein.

[0079] As used herein, unless otherwise expressly provided, all numbers, such as numbers expressing values, ranges, amounts or percentages, may be read as if prefixed with the word "about", even if the term is not explicitly presented. Any numerical range described herein is intended to include all subranges contained therein. When a range is given, any endpoints within those ranges and / or numbers within those ranges may be combined within the scope of the present disclosure. The plural encompasses the singular and vice versa. When a range is given, any endpoints within those ranges and / or numbers within those ranges may be combined within the scope of the present disclosure. Including and similar terms mean "including but not limited to". The words "including" and the various forms of the word "including" used in this specification and claims do not limit the disclosure claimed to exclude any variants or additions.

[0080] As used herein, the terms "on" and "applied on / over" mean formed or provided on a surface, but not necessarily in contact with the surface. Each and every one of the features and examples described above and combinations thereof can be said to be encompassed by the present disclosure.

[0081] As used herein, the meanings of "a", "an", and "the" include both singular and plural references unless the context clearly dictates otherwise.

[0082] As used herein, the terms "invention," "the invention," "this invention," and "the present invention" are intended to refer broadly to all subject matter of this patent application and the claims that follow. Statements containing these terms should be understood as not limiting the subject matter described herein or as not limiting the meaning or scope of the patent claims that follow. Unless otherwise indicated, the terms "including," "having," "comprising," and "containing" should be understood as open-ended terms (i.e., meaning "including, but not limited to").

[0083] Although the present disclosure has been described as "comprising", "consisting essentially of" or "consisting of" are also within the scope of the present disclosure. In this context, "consisting essentially of" means that any additional components do not substantially affect the viscosity, drying time and / or scrub resistance of the composition.

[0084] Although the present specification describes a system deployed in a pipe or conduit positioned in the ground, one of ordinary skill in the art will appreciate that the system can be applied to other structures. Some non-limiting examples of structures include a seam between two wall structures, within a floor structure, or on a ceiling structure, or partially within such a structure. The systems described herein can also be used in pipes or conduits that are exposed to environmental conditions (e.g., not covered and not otherwise within a structure).

[0085] The present disclosure will be further described by reference to the following examples.

[0086] Notwithstanding that the numerical ranges and parameters setting forth the broad scope of the disclosure are approximations, the numerical values ​​set forth in the specific examples are reported as precisely as possible. Any numerical value, however, inherently contains certain errors necessarily resulting from the standard deviation found in their respective testing measurements.

[0087] Example 1

[0088] As described above, in some cases, the system can be used in piping systems having 90 degree angles and for applying linings to the inside of the pipe. For example, as the rotating disk travels through the pipe, it can apply the coating to the sidewall. When the pipeline follows a straight path, the coating is applied evenly to the wall because the velocity around the rotating disk is uniform relative to the wall. However, as the disk travels around the wall, the disk can move away from the center of the path due to the required length of the tool. In some cases, for a 30 inch pipe without an attached rotating disk, the minimum length of the tool or centralizer may be 35 inches long. In some cases, the maximum length of the entire tool including the rotating disk is 45 inches. The maximum straight length of the tool through the curve of the pipe is calculated as the pipe diameter multiplied by 1.5 times. As the tool moves along the path, the disk is centered along the path of the pipe, such as Fig.15 However, on curved pipes, due to the length of the tool, the disc is no longer centered on the path, but rather in a manner similar to Fig.16 As shown. Fig.16 As can be seen in Figure 1, as the tool travels around a curve, one side will be coated more than the other side as the tool travels through. In some cases, the goal for coating coverage is to have no more than a 15% difference in coating thickness between the two sides of the curve.

[0089] Two methods of analyzing the maximum length can be used. The first method measures the deflection distance of each side of the disk as it travels along a path in a simulated pipe and examines the deflection ratio (Method 1). The second method examines the angular velocity of the edge of the disk relative to its corresponding wall (Method 2).

[0090] Table 1 shows the measured data at different points from the SolidWorks model. Table 1 measures the distance from the edge of the disk 170 to the center path 173, all distances are in inches. Using this data, two analysis methods are presented below. Fig.17 A graph is shown with respect to measurements taken to calculate the data in Table 1, with the x-axis labeled 171, the y-axis labeled 172, and the center path labeled 173. Measurements based on the x-coordinate and the y-coordinate are used to calculate the actual measurement (or hypotenuse).

[0091] Table 1

[0092] Overall length xAbove y above Above Below x Below y Below 36 3.7375 3.3032 4.987989 3.0099 2.6562 4.014336 37 3.9136 3.4765 5.234722 2.8183 2.4813 3.754952 38 4.125 3.617 5.486193 2.312 2.5814 3.465396 39 4.3438 3.7828 5.76005 2.3824 2.1491 3.208498 40 4.5559 4.0033 6.064869 2.2097 1.9176 2.925742 40.5 4.667 4.1193 6.224911 2.0752 1.8536 2.782497 40.625 4.7018 4.1344 6.261005 2.0104 1.7846 2.688216

[0093] The test is simulated by placing the rod in a model that can be adjusted for different lengths (see Fig.18 ). The measurement is taken with the tool approximately 50% of the way inside the curve as this will be the area where the tool is furthest from the center axis.

[0094] Method 1 of Example 1 based on ratio disk offset.

[0095] Using the proposed 3:7 ratio to obtain a tool that coats the outer wall at the same rate as the inner wall, the corresponding ratio for a 9" diameter disc to obtain the same ratio is 2.7:6.3. These two ratios, when converted to decimals, yield 0.42857. Based on this method, for a 9" disc, as it passes through the short 90° elbow, a 2.7" disc is on one side and a 6.3" disc is on the other side. Comparing this to the measured data in Table 1, the ideal length is 40.625".

[0096] Method 2 of Example 1 based on angular velocity

[0097] Method 2 observes the angular velocity of the outer wall to the nearest edge of the disk, and similarly observes the velocity of the inner wall relative to the edge of the disk, Fig.19 This measurement is shown. The analysis determines the speed at which the outer wall moves relative to the disk and similarly the inner wall relative to the edge of the disk. The first step is to determine the mid-path, which for a 30-inch pipe is 60 inches. The tool speed, based on the predicted constant speed, is 9 ft / min or 108 in / min. The formula for angular velocity is shown below.

[0098]

[0099] The outer and inner walls will be held at a constant speed, while the tool will vary in length based on the position of the rotating disk. When conceptually comparing the data, the speed ratio from the edge of the disk to the inner / outer wall should be as low as possible. This indicates that the difference in coating thickness when traveling through the bend should not exceed 15%. The ratio can be calculated as follows:

[0100]

[0101] The ratio of η1 and η2 is the difference of the outer wall / inner wall and the edge of the disk. The radius of the outer disk / inner disk is calculated by the center radius ± the disk offset. The outer disk offset is added to the radius, while the inner disk radius is subtracted from the center radius. Example: With a center radius of 60 inches, an outer disk of 6.3 inches, and a lower disk of 2.7 inches, the inner will be 60-2.7 and the outer will be 60+6.3. Once the two ratios are calculated, the comparison is taken as the percentage of the difference between the two. Using this analysis, at 41 inches, using the same measurement system as before, the percentage difference between the two is only 8.4%. Based on the theoretical model, it can then be inferred that this 8.4% difference falls within the constraint of the 15% coating difference.

[0102] Mathematical formula

[0103] For any path involving a 90° elbow, the path can follow one of two equations. Standard 90° elbow:

[0104]

[0105] This formula specifies the path the tool will take based on the radius of the pipe. This is true for all pipes based on the minimum bend radius r. The standard minimum bend radius rule follows the 1.5*diameter rule. For example, if the pipe has a diameter of 30", then its minimum bend radius is 45". An example of a 30" diameter pipe is shown below, with the diagram shown at Fig. 20 Place.

[0106]

[0107] Using this method, the maximum length of the straight segment at any given point along the curve cannot exceed the maximum bend radius. If the maximum length exceeds the minimum bend radius, the tool will collide with the wall and be unable to make the turn. Since each centralizer may be a different size for each specific pipe, the overall length may vary.

[0108] The above calculation can be used to calculate the tool length. Based on the modeled data, the ideal length for the overall length of the tool must follow the following equation: 1.3125*D < Tool Length < 1.37*D, where "D" is the diameter of the pipe. Measure the length from the bottom of the tool to the top of the rotating disk. As long as this follows 1.5*D and standard 90 elbows and bevel joints greater than 3 bends, the tool should be able to traverse the path while keeping the rotating disk within the parameters given at the beginning.

[0109] For a 30 inch pipe, the ideal position of the top of the rotating disk relative to the end of the centralizer is between 40.625 inches and 41 inches, depending on which analytical method appears to be more accurate. This allows the spray head and centralizer shield to be in the proper position. When measuring sample liner centralizers in the shop, the existing design has the rotating disk approximately 2 inches closer to the unit. Based on this model, the two units, the physical model and the SolidWorks model, are relatively identical from a mathematical perspective and can be used to fit the ideal position of the tool for any size pipe.

[0110] Illustrative Embodiments of Suitable Systems

[0111] As used below, any reference to a method, product, or system is understood to be a reference to each of those methods, products, or systems individually (eg, "Illustrative Embodiments 1 through 4 are understood to be Illustrative Embodiments 1, 2, 3, or 4").

[0112] Illustrative embodiment 1 is a system for positioning an umbilical supply line, the system comprising: an umbilical supply line; a plurality of spaced-apart annular disc assemblies, each of which defines an aperture through which the umbilical supply line is positioned; an umbilical tether drive system comprising at least one drive element driven by a drive motor, the drive element having a plurality of protrusions; and a winding apparatus comprising a shaft around which the umbilical supply line is received.

[0113] Illustrative embodiment 2 is the system of any preceding or subsequent illustrative embodiment, wherein upon moving the drive element, at least one of the plurality of protrusions engages one of the spaced-apart annular disk assemblies to drive movement of the umbilical supply line.

[0114] Illustrative embodiment 3 is the system of any preceding or subsequent illustrative embodiment, wherein upon moving the drive element, at least one of the plurality of protrusions engages one of a plurality of locking structures positioned on the umbilical supply line.

[0115] Illustrative embodiment 4 is the system of any preceding or subsequent illustrative embodiment, wherein the umbilical tether drive system further comprises: a power source; and a control unit in communication with the power source and at least one drive motor.

[0116] Illustrative embodiment 5 is a system according to any preceding or subsequent illustrative embodiment, wherein the umbilical cord drive system further comprises at least one sensor, the at least one sensor detecting at least one of: a position of the umbilical supply line, a speed of movement of the umbilical supply line, a direction of movement of the umbilical supply line, and / or a length of the deployed umbilical supply line.

[0117] Illustrative embodiment 6 is a system according to any preceding or subsequent illustrative embodiment, wherein the control unit receives data from the at least one sensor, and wherein the control unit controls the power supply to direct the operation of the drive system based at least in part on the data received from the at least one sensor.

[0118] Illustrative embodiment 7 is a system according to any preceding illustrative embodiment or a subsequent illustrative embodiment, wherein the control unit receives data indicating the position of the umbilical supply line from the at least one sensor, such that the control unit is configured to control the drive system to position the umbilical supply line at a specific location based on the data indicating the position of the umbilical supply line in the second deployment.

[0119] Illustrative embodiment 8 is the system of any preceding or subsequent illustrative embodiment, wherein the system further comprises a centralizer.

[0120] Illustrative embodiment 9 is the system of any preceding or subsequent illustrative embodiment, wherein the centralizer includes a second power source.

[0121] Illustrative embodiment 10 is the system of any preceding or subsequent illustrative embodiment, wherein the centralizer does not include a separate power source.

[0122] Illustrative embodiment 11 is the system of any preceding or subsequent illustrative embodiment, wherein the centralizer comprises at least one drive roller and at least one rotating disk.

[0123] Illustrative embodiment 12 is the system of any preceding or subsequent illustrative embodiment, wherein the centralizer further comprises an application device for dispensing a fluid, such as a sprayer or nozzle.

[0124] Illustrative embodiment 13 is the system of any preceding or subsequent illustrative embodiment, wherein the system further comprises a second control unit configured to control movement of the centralizer.

[0125] Illustrative embodiment 14 is the system of any preceding or subsequent illustrative embodiment, wherein the control unit of the drive system and the second control unit are configured to synchronize deployment and retraction of the umbilical supply line and the centralizer.

[0126] Illustrative embodiment 15 is the system of any preceding or subsequent illustrative embodiment, wherein the plurality of spaced-apart annular disk assemblies further comprises a plurality of angularly spaced-apart rollers generally mounted on the periphery of each of the annular disk assemblies and extending radially therefrom.

[0127] Illustrative embodiment 16 is the system of any preceding or subsequent illustrative embodiment, wherein the plurality of spaced-apart annular disk assemblies are positioned along the length of the umbilical supply line.

[0128] Illustrative embodiment 17 is the system of any preceding or subsequent illustrative embodiment, wherein the system further comprises a plurality of flexible interconnecting links coupling two adjacent annular disk assemblies.

[0129] Illustrative embodiment 18 is a system according to any preceding illustrative embodiment or a subsequent illustrative embodiment, wherein the winding device is configured to rotate such that when the winding device is rotated in a first direction, the umbilical supply line unwinds during deployment of the umbilical supply line, and when the winding device is rotated in a second direction, the umbilical supply line is positioned around a reel during retraction of the umbilical supply line.

[0130] Illustrative embodiment 19 is the system of any preceding or subsequent illustrative embodiment, wherein the system positions the umbilical supply line in a pipeline.

[0131] Illustrative embodiment 20 is a system for positioning an umbilical supply line, the system comprising: an umbilical supply line, comprising a plurality of locking structures, the plurality of locking structures being positioned on, adhered to and / or connected to the umbilical supply line; an umbilical cord tether drive system, comprising at least one drive element driven by a drive motor, the drive element having a plurality of protrusions, wherein each of the plurality of protrusions comprises a shape complementary to the plurality of locking structures positioned on, adhered to and / or connected to the umbilical supply line; and a winding device, comprising an axis, the winding device receiving the umbilical supply line around the axis, wherein when the drive motor drives the at least one drive element, the umbilical cord tether drive system unfolds and / or retracts the umbilical supply line from the winding device.

[0132] Illustrative embodiment 21 is a system for controlling temperature and humidity conditions in a duct, the system comprising: an air conditioning device configured to discharge air into the duct; at least one sensor configured to detect at least one of temperature, air velocity and / or position of a stabilizer; and a control unit configured to adjust the air condition in the duct based on data from the at least one sensor.

[0133] Illustrative embodiment 22 is a system according to any preceding or subsequent illustrative embodiment, wherein the system comprises: an air conditioning device configured to discharge air into a duct; at least one sensor configured to detect at least one of temperature, air velocity, and / or position of a centralizer; and a control unit configured to adjust the air discharged into the duct based on the data from the at least one sensor.

[0134] Illustrative embodiment 23 is a system according to any preceding illustrative embodiment or subsequent illustrative embodiment, wherein the control unit is configured to adjust at least one of: the temperature of the air discharged into the duct, the humidity of the air discharged into the duct and / or the velocity of the air discharged into the duct.

[0135] Illustrative embodiment 24 is the system of any preceding or subsequent illustrative embodiment, wherein an orifice plate is deployed in the duct to control air velocity in the duct.

[0136] Illustrative embodiment 25 is the system of any preceding or subsequent illustrative embodiment, wherein the control unit is configured to adjust the air velocity in the duct by controlling a size of an orifice positioned in the duct.

[0137] Illustrative embodiment 26 is a system according to any preceding or subsequent illustrative embodiment, wherein the system further comprises: an air conditioning device configured to discharge air into the duct; a second sensor configured to detect at least one of temperature, air velocity, and / or position of a centralizer in the duct; and a second control unit configured to adjust air conditions in the duct based on data from the second sensor.

[0138] Although various examples of the present disclosure have been described in order to achieve various purposes of the present disclosure, it should be recognized that these examples are only illustrative of the principles of the present disclosure. Many modifications and adaptations of the embodiments will be apparent to those skilled in the art without departing from the spirit and scope of the present disclosure as defined in the following claims.

Claims

1. A system for locating an umbilical supply line, the system comprising umbilical supply line; a plurality of spaced-apart annular disk assemblies, wherein each annular disk assembly defines an aperture through which the umbilical supply line is positioned; An umbilical tether drive system comprising at least one drive element driven by a drive motor, the drive element having a plurality of protrusions; as well as A reeling apparatus includes a shaft around which the umbilical supply line is received.

2. The system of claim 1, wherein upon movement of the drive element, at least one of the plurality of protrusions engages one of the spaced-apart annular disk assemblies to drive movement of the umbilical supply line.

3. The system of claim 1, wherein upon moving the drive element, at least one of the plurality of protrusions engages one of a plurality of locking structures positioned on the umbilical supply line.

4. The system according to any one of claims 1 to 3, wherein the umbilical cord tether drive system further comprises Power supply; and A control unit is in communication with the power source and at least one drive motor.

5. The system of any one of claims 1 to 4, wherein the umbilical tether drive system further comprises at least one sensor that detects at least one of: a position of the umbilical supply line, a speed of movement of the umbilical supply line, a direction of movement of the umbilical supply line, and / or a length of the deployed umbilical supply line.

6. The system of claim 5, wherein the control unit receives data from the at least one sensor, and wherein the control unit controls the power supply to direct operation of the drive system based at least in part on the data received from the at least one sensor.

7. A system according to any one of claims 5 or 6, wherein the control unit receives data indicating the position of the umbilical supply line from the at least one sensor, so that the control unit is configured to control the drive system to position the umbilical supply line at a specific position based on the data indicating the position of the umbilical supply line in the second deployment.

8. The system according to any one of claims 1 to 7, further comprising an air conditioning device configured to discharge air into the duct; a second sensor configured to detect at least one of a temperature, an air velocity, and / or a position of a centralizer in the duct; as well as A second control unit is configured to adjust air conditions in the duct based on data from the second sensor.

9. The system of any one of claims 1 to 7, further comprising a centralizer.

10. The system of claim 9, wherein the centralizer comprises a second power source.

11. The system of any one of claims 9 to 10, wherein the centralizer comprises at least one drive roller and at least one rotating disk.

12. The system of any one of claims 9 to 11, wherein the centralizer further comprises an application device for dispensing a fluid.

13. The system of claim 9, further comprising a third control unit configured to control movement of the centralizer.

14. The system of claim 13, wherein the control unit of the drive system and the third control unit are configured to synchronize deployment and retraction of the umbilical supply line and the centralizer.

15. The system of any one of claims 1 to 14, wherein the plurality of spaced apart annular disk assemblies further comprises a plurality of angularly spaced apart rollers generally mounted on the periphery of each of the annular disk assemblies and extending radially therefrom.

16. The system of any one of claims 1 to 15, wherein the plurality of spaced apart annular disc assemblies are positioned along the length of the umbilical supply line.

17. The system of any one of claims 1 to 16, further comprising a plurality of flexible interconnecting links coupling two adjacent annular disk assemblies.

18. A system according to any one of claims 1 to 17, wherein the winding device is configured to rotate so that when the winding device is rotated in a first direction, the umbilical supply line is unwound during deployment of the umbilical supply line, and when the winding device is rotated in a second direction, the umbilical supply line is positioned around a reel during retraction of the umbilical supply line.

19. The system of any one of claims 1 to 18, wherein the system positions the umbilical supply line in a pipeline.

20. A system for locating an umbilical supply line, the system comprising an umbilical supply line comprising a plurality of locking structures positioned on, adhered to, and / or connected to the umbilical supply line; an umbilical tether drive system comprising at least one drive element driven by a drive motor, the drive element having a plurality of protrusions, wherein each of the plurality of protrusions comprises a shape complementary to the plurality of locking structures positioned on, adhered to, and / or connected to the umbilical supply line; as well as a winding device comprising a shaft around which the winding device receives the umbilical supply line, Wherein the umbilical tether drive system unwinds and / or retracts the umbilical supply line from the winding device when the drive motor drives the at least one drive element.

21. A system for controlling temperature and humidity conditions in a pipeline, the system comprising: an air conditioning device configured to discharge air into the duct; at least one sensor configured to detect at least one of temperature, air velocity, and / or position of the centralizer; as well as A control unit is configured to adjust air conditions in the duct based on data from the at least one sensor.

22. The system of claim 21, wherein the control unit is configured to adjust at least one of: a temperature of the air discharged into the duct, a humidity of the air discharged into the duct, and / or a velocity of the air discharged into the duct.

23. The system according to any one of claims 21 and 22, wherein the control unit is configured to adjust the air velocity in the duct by controlling the size of an orifice positioned in the duct.

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