Passive position-controlled pipeline inspection equipment and related methods

Abstract

A pipe inspection device (10) is provided for inspecting a pipe when deployed into a pipe containing fluid. The device includes: an elongated body (12); one or more collapsible support structures (14a-14d) circumferentially mounted on the elongated body; and one or more counterweights (16) mounted on the one or more collapsible support structures to adjust the buoyancy of the device within the fluid in the pipe.

Description

[0001] Priority Statement This application claims the benefit and priority of U.S. Provisional Application No. 63 / 538,542, filed September 15, 2023, entitled Passive Position Controlled In-line Inspection Equipment, the contents of which are hereby incorporated by reference as if set forth in their entirety. Technical Field

[0002] This application relates generally to the inspection of pressurized pipes, and more particularly to methods and apparatus for inspecting pipes containing fluid. Background Technology

[0003] Using in-line inspection tools to inspect and assess the condition of pressurized pipelines presents a significant challenge for utility owners and operators, as the tools need to be able to navigate through all in-line features and appurtenances. A major risk to in-line inspection tools when inspecting pressurized pipelines is in-line butterfly valves (BFVs), such as concentric humpback and eccentric flat BFVs. Additionally, in-line tees and / or Y-fittings in pressurized pipelines also pose a risk to in-line inspection tools. In-line BFVs are used to isolate a section of pipeline for repair and maintenance, reducing the likelihood of having to shut down the entire pipeline, while in-line tees and Y-fittings are used throughout the pipeline network to manage and guide flow.

[0004] Inspecting and evaluating pressurized pipelines using free-floating tools typically requires the tool to be able to insert into the pipe, traverse all pipeline features, and be successfully removed from the pipe. Butterfly valve discs present a challenging obstacle for free-floating tools to traverse and can cause the inspection tool to become stuck in or on these valves. Traditional line inspection tools cannot be used to inspect water pipelines due to BFVs. When using traditional line inspection tools, it is often necessary to remove them upstream of the BFV and reinsert them downstream to avoid the BFV.

[0005] Even in-line inspection tools designed to travel in the center of the pipe can often pass through the in-line flowmeter (BFV). However, over time, they can easily become stuck at valves. When an inspection tool is stuck at a valve, purging the pipe and physically entering the pipe to retrieve the tool is costly. Because of this challenge, many pipe owners and operators are unable or unlikely to inspect their pipes.

[0006] In-line features used to manage and guide flow through piping networks (such as tees and Y-joints) pose a risk to in-line inspection tools because tools often fail to travel through the intended sections of the pipe. When a tool travels through an incorrect or unplanned section of the pipe, the pipe needs to be cleared of water, and technicians must physically enter the pipe to retrieve the tool. Therefore, due to at least these obstacles, many pipelines cannot or will not be inspected and / or will be inspected under conditions of significant risk to pipeline owners and operators. Summary of the Invention

[0007] Some embodiments of the inventive concept provide an apparatus for inspecting a tube containing fluid. The apparatus includes: an elongated body; one or more collapsible support structures circumferentially mounted on the elongated body; and one or more counterweights mounted on the one or more collapsible support structures to adjust the buoyancy of the apparatus within the fluid in the tube.

[0008] In another embodiment, the device may include at least one axial fin positioned on an elongated body. The at least one axial fin may be positioned on the front section of the elongated body. The at least one axial fin may include two axial fins.

[0009] In yet another embodiment, the foldable support structure may include a plurality of foldable support petals. One or more of the plurality of foldable support petals may be configured to movably contact the wall of the tube. The one or more counterweights may be mounted on one or more of the plurality of foldable support petals.

[0010] In some embodiments, at least one of the one or more counterweights may be mounted on an elongated body.

[0011] In another embodiment, the elongated body may include a front section, one or more modules, a rear section, and one or more connecting sections, each connecting section being configured to connect any two of the front section, the one or more modules, and the rear section. At least one of the one or more counterweights may be mounted on the one or more connecting sections for adjusting the buoyancy of the device within the fluid in the pipe.

[0012] In yet another embodiment, when the device is deployed within a fluid in a pipe, the central axis of the device may be configured to be located above or below the central axis of the pipe.

[0013] In some embodiments, the device may further include a plurality of sensors for sensing magnetic field signals from the pipe. The plurality of sensors may be configured to be distributed around the inner circumference of the pipe without contacting the surface of the inner wall of the pipe.

[0014] In another embodiment, the one or more modules may include: a processing module for receiving sensed data from the plurality of sensors; and one or more battery modules for providing power to the plurality of sensors and the processing module.

[0015] In yet another embodiment, the plurality of sensors may include a plurality of sensor arrays, each sensor array comprising a subset of the plurality of sensors. Each sensor array may be mounted on the tip of a sensor lobe, which is mounted on an elongated body.

[0016] In some embodiments, the sensor lobe may be pivotally mounted on an elongated body, and the sensor lobe may be configured in an expanded initial state.

[0017] In another embodiment, the plurality of sensor arrays may form a continuous circle.

[0018] In yet another embodiment, the sensor lobe may be foldable when the device passes through or around the tube feature.

[0019] In some embodiments, the one or more counterweights may be mounted on one or more of the plurality of foldable support flaps that are substantially located on a single plane.

[0020] In some embodiments, the one or more counterweights may be mounted on the elongated body and on one or more of the plurality of foldable support flaps that are substantially located on a single plane.

[0021] Another embodiment of the inventive concept provides a method for inspecting a pipe containing fluid. The method includes: adjusting the buoyancy of an inspection device based on the position of one or more features of the pipe to adjust the position of the inspection device within the pipe; arranging a plurality of sensors on the device relative to the inner circumference of the pipe without contacting the inner circumference; and sensing signals generated based on the wall of the pipe. Attached Figure Description

[0022] Reference will now be made to the accompanying drawings by way of example, which illustrate exemplary embodiments of this application, and in the drawings: Figure 1 It is a side plan view of a device illustrating some embodiments of the inventive concept.

[0023] Figure 2A These are graphics illustrating cross-sectional end views of a pipe and end views of equipment traveling through the pipe, according to some embodiments of the inventive concept.

[0024] Figure 2B These are graphic representations of a cross-sectional side view of a pipe and a side plan view of a device traveling through the pipe, according to some embodiments of the present invention.

[0025] Figure 3 This is a graphic image of an enlarged perspective partial view of the head section of a device according to some embodiments of the present invention.

[0026] Figure 4 This is a rear perspective view of a device according to some embodiments of the present invention, the device having a counterweight mounted on a foldable support flap.

[0027] Similar reference numerals have been used throughout the document in different figures to indicate similar components. Detailed Implementation

[0028] The inventive concept will be described more fully below with reference to the accompanying drawings, in which embodiments of the inventive concept are illustrated. However, the inventive concept may be embodied in many alternative forms and should not be construed as being limited to the embodiments set forth herein.

[0029] Therefore, while the inventive concept is readily adapted and modified in various ways, specific embodiments thereof are illustrated by way of example in the accompanying drawings and will be described in detail herein. However, it should be understood that the inventive concept is not intended to be limited to the specific forms disclosed, but rather, the inventive concept will cover all modifications, equivalents, and alternatives falling within the spirit and scope of the inventive concept as defined by the claims. Throughout the description of the accompanying drawings, similar numbers refer to similar elements.

[0030] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the inventive concept. As used herein, the singular forms “a,” “an,” and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that, when used in this specification, the terms “comprising,” “including,” “containing,” and / or “comprising” specify the presence of the stated features, integers, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof. Furthermore, when an element is referred to as “responsive to” or “connected to” another element, it is capable of directly responding to or being connected to the other element, or there may be intermediate elements present. In contrast, when an element is referred to as “directly responsive to” or “directly connected to” another element, there are no intermediate elements present. As used herein, the term “and / or” includes any and all combinations of one or more of the associated listed items and may be abbreviated to “ / .”

[0031] Unless otherwise defined, all terms used herein (including technical and scientific terms) shall have the same meaning as commonly understood by one of ordinary skill in the art to which the inventive concept pertains. It will be further understood that the terms used herein shall be interpreted as having the same meaning as they have in the context of this specification and related art, and shall not be interpreted in an idealized or overly formal manner unless expressly defined herein.

[0032] It will be understood that although the terms first, second, etc., may be used herein to describe various elements, these elements should not be limited by these terms. These terms are used only to distinguish one element from another. For example, without departing from the teachings of this disclosure, a first element may be referred to as a second element, and similarly, a second element may be referred to as a first element. Although some figures include arrows on communication paths to indicate the primary direction of communication, it will be understood that communication may occur in the opposite direction to the depicted arrows.

[0033] Now for reference Figure 1 This document discusses device 10, used for inspecting pipelines when deployed in pipelines containing fluids. As used herein, "pipeline" refers to one or more tubes that move, for example, a liquid, gas, or solid, a certain distance. Pipelines may be buried underground and are capable of carrying hazardous substances (such as oil and waste). Pipelines can be made of any material suitable for the substance being transported and typically have pumps, valves, and control systems to regulate flow. Furthermore, pipelines discussed herein may contain various features such as valves or BFVs, inline tees, and / or inline Y-joints.

[0034] When the pipeline contains fluid (such as, for example, water or wastewater), device 10 can be used to detect defects in the pipeline. As discussed above, the pipeline can be formed from any suitable material capable of carrying fluid, such as ductile iron pipe, cast iron pipe, steel pipe, pressed concrete cylinder pipe (PCCP), reinforced concrete pipe (RCP), embedded steel cylinder pipe (ECP), high-density polyethylene (HDPE) pipe, braided spiral wound pipe (BWP), etc.

[0035] Device 10 is configured to drift along the interior of the pipe, i.e., not in a fixed position within the pipe. In some embodiments, device 10 is foldable and can drift within the fluid in the pipe when transporting fluid within it. Device 10 provides a stable platform for sensors mounted on it to maintain a stable position close to but not in contact with the pipe wall while traversing the pipe.

[0036] like Figure 1As illustrated in the examples, in some embodiments, device 10 may include: an elongated body 12; collapsible support structures 14a-14d circumferentially mounted on the elongated body 12; and one or more counterweights 16 mounted on the body 12 and / or the collapsible support structures 14a-14d for adjusting the buoyancy of device 10. In some embodiments, the one or more counterweights 16 may be included on one or more of the plurality of collapsible support structures 14. The counterweights 16 affect the buoyancy of the device and may also act as ballast to maintain the proper orientation of the device as it deviates within the tube.

[0037] As used in this article, buoyancy refers to the tendency of an object to float or rise in a fluid (e.g., a liquid or gas) when submerged.

[0038] like Figure 1 , Figure 3 and Figure 4 As also illustrated, in some embodiments, device 10 may include one or more axial fins 17 located on the front section of an elongated body 12. For example, in Figure 1 , Figure 3 and Figure 4 In the illustrated embodiment, two axial fins 17 are shown. However, it will be understood that more or fewer axial fins 17 may be used in embodiments without departing from the inventive concept. Furthermore, while the one or more axial fins 17 are shown on the front section of the elongated body 12, it will be understood that in some embodiments, one or more fins may be positioned on other sections of the device 10. The one or more axial fins 17 may be coupled to a section (or multiple sections) of the elongated body 12 by any suitable method, or may be formed or molded as part of the section(s) themselves. Additionally and / or alternatively, springs and / or other materials may be used to support the one or more axial fins 17 to provide stiffness and / or flexibility. The one or more axial fins 17 are configured to utilize the lateral thrust from fluid flow within the conduit, thereby enabling the device 10 to traverse features within the conduit, such as in-line tees and Y-joints.

[0039] The elongated body 12 of device 10 may include one or more sensor array groups 20a and 20b for detecting defects on the pipe, one or more processing modules 30 for processing sensed data received from the sensor array groups 20, one or more battery modules 40a and 40b for supplying power to the processing modules 30 and the sensor array groups 20a and 20b, and one or more connection sections 50a and 50b. Each connection section 50a and 50b has two ends, each end for connecting to a module adjacent to the connection section 50a and 50b. Device 10 may also include a nose module 70 as a front section.

[0040] Each sensor array group 20a and 20b, as well as the device support structures 14a-14d, can be securely mounted on the elongated body 12. Figure 1 In the embodiment illustrated, support structures 14b and 14c are located at the two ends of the connecting section 50a, with 14a located at the end of the battery module 40a and 14d located at the end of the battery module 40b.

[0041] exist Figure 1 In the embodiments illustrated, each sensor array group 20a and 20b may have multiple sensor lobes 22. The sensor lobes 22 may be elongated plastic or metal rods or plates. Each sensor lobe 22 has a bottom end and a top end. The bottom end of each sensor lobe 22 has a lobe joint, which is molded together with a spring and a connector at the lobe plate for mounting the sensor lobe 22 onto the elongated body 12 of the device 10. Figure 1 In the embodiment illustrated, the sensor lobe 22 is circumferentially mounted at the end of the connection section 50b and at the end of the battery module 40b.

[0042] It will be understood that although the valve joint has been discussed above as being molded together with the spring and joint at the valve plate, embodiments of the inventive concept are not limited thereto. For example, in some embodiments, the spring / valve joint can be attached to the valve plate using a bracket, without the need for molding.

[0043] When the sensor lobe 22 is in the extended state, the spring (not shown) can bias each sensor lobe 22 relative to the central axis of the device 10 toward a vertical position.

[0044] As the device 10 traverses a pipe feature (such as a valve or BFV) within the pipe, the foldable sensor lobe 22 can be compressed by the pipe feature (e.g., by pressing the portion above the bottom end of the sensor lobe 22) to form a smaller angle (e.g., 0°-70°). Thus, the sensor array groups 20a, 20b can traverse through the pipe feature, such as a valve or BFV. When the sensor lobe 22 is compressed or folded, the spring is in a compressed state. After the sensor lobe 22 traverses the pipe feature, the spring biases the sensor lobe 22 back towards the extended state. Therefore, the sensor lobe 22 is foldable at the pipe feature and returns to the extended state after traversing the pipe feature due to the pivot mechanism and the biasing force of the spring.

[0045] The tip of sensor lobe 22 can securely hold one or more sensor arrays 20a, 20b. Sensor arrays 20a, 20b can be securely mounted on the tip of sensor lobe 22 or even more on the surface of sensor lobe 22, for example, by screws via screw holes in sensor lobe 22. In some embodiments, sensor arrays 20a, 20b can also be glued to one side of the tip of sensor lobe 22. In some embodiments, sensor arrays 20a, 20b may include multiple sensors. Sensor lobe 22 securely holds the sensor array near the surface of the inner wall of the tube without contacting the inner surface of the tube wall. In some embodiments, the distance between the sensor array and the surface of the inner wall of the tube is in the range of about 10 cm to about 0.5 cm.

[0046] The sensors contained in the sensor arrays 20a and 20b can be any suitable sensor for determining the condition of the tube, such as, for example, electromagnetic (EM) sensors, metal magnetic memory (MMM) sensors, cameras, or acoustic sensors, combinations of cameras, EM sensors and MMM sensors, etc.

[0047] In some embodiments, the one or more counterweights 16 may be included on one or more of the plurality of foldable sensor lobes 22.

[0048] Support structures 14a-14d may be arranged at the front and / or rear of the sensor lobe 22, and may include multiple support lobes 26. Therefore, when the device 10 travels within the tube, the support lobes 26 maintain the stability of the device 10. Figure 1 In the embodiment illustrated, device 10 includes four sets of support structures 14a-14d. These support structures 14a-14d improve the stability of device 10 as it travels within the tube. It will be understood that the embodiment is not limited to four sets of support structures.

[0049] Each set of support structures 14a-14d may include a plurality of support lobes 26, such as, for example, six (6) support lobes. Each support lobe 26 has a bottom end and a top end. Similar to the sensor lobe 22 described above, a lobe spring (not shown) may be configured to bias the support lobe 26 to an extended state. The support lobe 26 may have the same or similar structure as the sensor lobe 22. In some embodiments, the support lobe 26 may be longer than the sensor lobe 22. The support lobe 26 may be sized to allow the device 10 to drift in the pipe. In some embodiments, the support lobe 26 may be designed to be sized to the length of the pipe diameter. In some embodiments, the support lobes 26 in a set of support structures 14a-14d have the same length.

[0050] As the device 10 travels within the tube, the contact with the surface of the tube wall (such as the bottom or top surface) and the acute-angle arrangement between the support flaps 26 and the central axis of the rear end of the device 10 improve the stability of the device.

[0051] Similar to sensor lobe 22, when support lobe 26 traverses a tube feature (such as a valve in a BFV), the tube feature compresses a portion of support lobe 26 to cause support lobe 26 to fold or close toward the central axis of device 10 into a compressed state. In the compressed state, the spring is compressed, and support lobe 26 can pass through an opening in the tube feature. After support lobe(s) traverse the tube feature, the spring biases support lobe 26 to an initial extended state to contact the surface of the inner tube wall.

[0052] The processing module 30 is configured to acquire, record, and process data sensed by a sensor mounted on the sensor lobe 22. In some embodiments, the processing module 30 may be mounted on a sleeve by, for example, a fastener (such as a screw).

[0053] In some embodiments, processing module 30 may include, for example, a processor, memory, and interface circuitry. The processor, memory, and interface circuitry may be securely housed in a waterproof and corrosion-resistant plastic or metal housing. The interface circuitry receives sensed signals or data from the metal wall of the tube from sensors in a sensor array. Processing module 30 may store the measured signals or data in memory for processing. The processor controls the interface circuitry to receive measured signals and controls the memory to store the signals saved to memory. The processor may also process the sensed signals or data and determine defects in the tube. In some embodiments, the sensed data in memory may be exported to an external computer outside the tube for further analysis at a later time. In some embodiments, the sensed data in memory is processed by the processor in real time. The processor may be a central processing unit (CPU), and memory 44 may be random access memory (RAM), flash memory (used as secondary memory), and ROM, PROM, EPROM, and EEPROM memories, dynamic random access memory (DRAM), and fast CPU cache memory (such as static random access memory (SRAM)).

[0054] Battery modules 40a and 40b can supply power to the processing module 30 and the sensors in the sensor array via the PCB of the processing module 30. Battery modules 40a and 40b can be mounted on a sleeve by fasteners such as screws. Battery modules 40a and 40b may contain one or more batteries fixed in a waterproof and corrosion-resistant plastic or metal casing. The batteries can be, for example, lithium-ion (Li-ion) batteries, nickel-cadmium (Ni-Cd) batteries, nickel-metal hydride (Ni-MH) batteries, and lead-acid batteries.

[0055] Connection section 50a is configured to connect processing module 30 to battery module 40a, for example... Figure 1 As illustrated in the figure, connection section 50b is configured to connect processing module 30 to battery module 40b. In some embodiments, connection sections 50a and 50b may be waterproof and corrosion-resistant plastic or metal links. Connection sections 50a and 50b may accommodate cables connecting the sensor array to interface circuitry and provide electrical connection between processing module 30 and battery modules 40a and 40b. Each end of connection section 50a or 50b may be secured to a sleeve. Connection sections 50a and 50b are flexible and allow device 10 to traverse tube features with a certain curvature.

[0056] exist Figure 1 In the embodiment illustrated herein, device 10 may include a nose module 70 located at the front section of device 10 to assist device 10 in passing through tube features.

[0057] The device 10 may also include a rear section 80 located at the opposite end of the front section. Figure 1 In the embodiment illustrated herein, the rear section 80 may further include a drag chain for the pulling device 10.

[0058] like Figure 1 and Figure 4 As illustrated, one or more counterweights 16 may be mounted on the elongated body 12 of the device 10 to adjust the buoyancy of the pipe inspection device 10. Figure 1 and Figure 4 In the embodiment illustrated, one or more counterweights may be mounted on the connecting sections 50 (including 50a and 50b). Additionally and / or alternatively, one or more counterweights may also be mounted on one or more of the foldable support structures 14 (including 14a-14d). The one or more counterweights 16 may also be mounted on both the elongated body 12 and / or the support structures 14. The one or more counterweights 16 may also be mounted on other parts of the device 10 (including the elongated body 12), such as on the surface of the processing module 30, on the surface of the battery modules 40a and 40b, the nose module 70, the rear section 80, and / or the sensor flap 22.

[0059] The counterweight 16 can be made of any suitable material, such as, for example, brass, stainless steel, etc. Having a density higher than the fluid, the counterweight 16 provides additional gravity to the device 10 and causes the device to sink within the fluid toward the bottom surface of the tube. In these embodiments, the axis of the device 10 may be located below the axis of the tube.

[0060] Additionally and / or alternatively, extra buoyancy can be added to the device by using a material with a lower density than the fluid. This lower density provides additional buoyancy to the device 10 and causes it to float towards the top surface of the tube, such as... Figure 2A and Figure 2B As shown in the diagram. In these embodiments, the axis of device 10 may be located above the axis of the tube.

[0061] The location, number, and total mass and volume of the counterweight 16 mounted on the device 10 can be selected based on the counterweight distribution of the device 10 relative to its displacement and by balancing the device 10 in the fluid volume to verify its buoyancy. The position of the device relative to the fluid surface provides a reference for how the device 10 is positioned in the pipe. By selecting the appropriate mass and volume, quantity, and installation location of the counterweight 16, the buoyancy of the device 10 can be adjusted for a given application. For example, when the device 10 is deployed in a fluid within a pipe, due to the total weight of the device 10 (including the weight of the counterweight 16), the distribution of the counterweight, and the buoyancy generated by the fluid in the pipe, the device 10 can be positioned at an appropriate horizontal level in the pipe to pass through and / or bypass pipe features such as, for example, valves and / or BFVs. Figure 2A and Figure 2B In the embodiment illustrated, the central axis of device 10 may be located above the axis of the pipe. However, in some embodiments, the weight distribution and buoyancy of device 10 can be configured such that the central axis of device 10 substantially corresponds to or is located below the central axis of the pipe, wherein such selected positioning is based on the location and / or orientation of various features within the pipe.

[0062] In some embodiments, more weight 16 can be added to the device 10 to allow the device 10 to travel close to or at the bottom inner surface of the tube. For example, weight 16 can be added to the device 10 such that the central axis of the device 10 is below the central axis of the tube. In some embodiments, less weight can be added to allow the device 10 to travel near the top inner surface of the tube and / or above the central axis of the tube, such as... Figure 2A and Figure 2B As shown in the diagram. Device 10 without counterweight 16 can be configured to have an initial floating position where the central axis of device 10 is above the central axis of the pipe. By adjusting the buoyancy of device 10 (by installing a selected number of counterweights 16 at selected locations on device 10), the position of device 10 relative to the central axis of the pipe can be adjusted. Thus, the counterweights 16 enable device 10 to pass through and / or bypass features within the pipe, such as, for example, valves and BFVs.

[0063] like Figure 2A and Figure 2BAs illustrated, by intentionally controlling the position of device 10 to be above or below the orifice of a valve disc / plate or feature, device 10 can pass through and / or bypass features such as valves and BFVs. The position of device 10 within the pipe is controlled by passively controlling the buoyancy of device 10. Unlike conventional in-line inspection devices (which are in a fixed position and typically travel in the center of the pipe), device 10 is controlled by adjusting the buoyancy of the device (by adding an appropriate amount of counterweight 16 to device 10). Additionally and / or alternatively, device 10 can be configured to have positive buoyancy, i.e., float in the fluid. As device 10 travels within the pipe, its position is controlled by the amount of counterweight added to device 10. Thus, if the desired position is for device 10 to travel near the bottom of the pipe, more counterweight is added to device 10, and if the desired position is for device 10 to travel near the top of the pipe, less counterweight is added (or no counterweight is added).

[0064] Furthermore, by adding counterweights 16 to selected locations on the device 10, the counterweights 16 can collectively act as ballast to control the orientation of the device 10 and reduce its rotation. The counterweights 16 can be added to the device 10 such that the device 10 remains in a fixed circumferential position as it travels through the pipe. For example, the counterweights 16 can be added to selected support flaps 26 to control which side of the device 10 faces upwards, thus controlling the circumferential position or orientation of the device 10.

[0065] For example, the counterweight 16 may be mounted on the support petals 26 that are directed in substantially the same direction, or on the support petals 26 that are located in substantially the same plane. The counterweight 16 may also be mounted at substantially the same location on the support petals 26. Thus, when the device 10 is deployed in a pipe containing a fluid (such as water), in addition to adjusting the buoyancy of the device 10, the support petals 26 with the counterweight 16 mounted thereon automatically rotate toward the bottom portion of the device 10 to control the orientation of the device 10 due to the additional counterweight 16 mounted on the support petals 16.

[0066] In some embodiments, the counterweight 16 may also be mounted on one side of the body 12, such as on the connecting sections 50a and / or 50b, for example on a surface substantially in the same plane as the support petal 26 on which the counterweight 16 is mounted, to control the orientation of the device 10 and adjust the buoyancy.

[0067] With the use of counterweight 16, device 10 has the ability to control its position and orientation within a pipe containing fluid. Thus, regardless of the type of valve, device 10 is able to automatically traverse the BFV within the pipe. By utilizing counterweight 16 and controlling its position using foldable sensor flap 22 and support flap 26, device 10 is able to traverse and / or bypass pipe features without valve information and instructions from pipe owners and operators.

[0068] Additionally, the device 10 can travel stably within the pipe along with the fluid flow, adapting to different pipe sizes, materials, flow rates, and pressures. For example, the device 10 can pass through butterfly valves and provide pipeline condition sensing data, including electromagnetic data, video data, and so on.

[0069] The configuration of device 10 can be changed. For example, in some embodiments, Figure 1 The device 10 may include only two sets of support petals 14a and 14c, or only one of battery modules 40a or 40b, or only one of connection sections 50a or 50b. The device 10 may include additional grouped support structures, battery modules, and connection sections. Additional battery modules may extend the operating time of the device 10 during tube inspection.

[0070] To maintain the dynamic stability of device 10 within the pipe, in some embodiments, the total length of device 10 may be at least 1.5 times the pipe diameter. A greater total length of device 10 improves the stability of the device as it travels within the pipe. The total length of device 10 can be adjusted. In some embodiments, the lengths of individual modules, such as processing module 30, battery module 40a or 40b, connecting section module 50a or 50b, and nose module 70, can be adjusted. In some embodiments, additional battery modules and connecting section modules can be added to increase the total length of device 10.

[0071] As briefly discussed above, some embodiments of the inventive concept provide a device as a passive position-controlled in-line inspection tool (PPCIIT). This device is an in-line inspection tool configured to be position-controlled within one or more pipe sections as it traverses the pipe and passes through butterfly valves (BFVs).

[0072] In another embodiment, the device may be configured to have adjustable buoyancy, allowing it to pass through valves (including BFVs) without getting stuck. In some embodiments, the device may include one or more counterweights located at strategic locations within the device to provide buoyancy and act as ballast to maintain proper orientation within the pipe(s).

[0073] In yet another embodiment, counterweights may be added at one or more of the front (or head) section of the device, one or more connecting sections, the rear section, and / or on one or more foldable flaps mounted around the longitudinal axis of the device. These counterweights serve to adjust buoyancy and control the vertical position (negative or positive) of the device relative to the axial centerline of the pipe and the orientation of the device. The counterweights may be configured to ensure that the device remains in a fixed circumferential position as it travels through the pipe.

[0074] In some embodiments, one or more axial fin features may be added to the device to utilize the lateral thrust provided by fluid flow within the pipe, thereby assisting the device in entering features (such as tees and Y-joints) within the pipeline as it travels through one or more pipes. In some embodiments, the one or more axial fins may be adjusted based on pipe size. In some embodiments, the one or more axial fins are coupled to or otherwise formed on the front section of the device.

[0075] The benefits of the device according to the embodiments discussed herein may include (but are not limited to): (1) the device can be configured to avoid contact with valves, BFV discs or plates and / or become trapped in valves, BFV discs or plates, thereby increasing the likelihood that the device will successfully pass through valves or BFVs using only the product flow in the pipeline; (2) the device can be configured to pass through features within the pipeline, such as inline tees and inline Y-joints; (3) the device can reduce the cost of inline inspections of the pressurized main water line. The device allows utility owners and operators to conduct inspections without extensive planning and infrastructure modifications to accommodate inline inspections, such as, for example, removing water, cutting into the pipe to retrieve equipment, digging, etc.

[0076] In some embodiments, a pipe inspection device is provided for inspecting a pipe when deployed into a pipe containing fluid. The device includes: an elongated body; a plurality of foldable flaps circumferentially mounted on the elongated body, one or more of the plurality of foldable flaps being configured to movably contact a wall of the pipe; and one or more counterweights mounted on one or more of the plurality of foldable flaps for adjusting the buoyancy of the pipe inspection device.

[0077] In another embodiment, a pipe inspection device is provided for inspecting pipes when deployed into pipes containing fluid. The device includes: an elongated body comprising a front section, a plurality of modules, one or more connecting sections, and a rear section, each connecting section configured to connect two adjacent modules of the plurality of modules; and one or more counterweights mounted on the one or more connecting sections for adjusting the buoyancy of the pipe inspection device.

[0078] In yet another embodiment, a method for inspecting a pipe containing fluid is provided. The method includes: adjusting the buoyancy of a device based on the position of one or more features of the pipe to adjust the device's position within the pipe; arranging a plurality of sensors on the device around the inner circumference of the pipe without contacting the inner circumference; and sensing signals generated from the wall of the pipe.

[0079] Example embodiments of the inventive concept have been disclosed in the accompanying drawings and description. However, many variations and modifications can be made to these embodiments without substantially departing from the principles of the inventive concept. Therefore, although specific terms are used, they are used in a general and descriptive sense only and not for limiting purposes, and the scope of the inventive concept is defined by the following claims.

Claims

1. An apparatus for inspecting a pipe containing fluid, the apparatus comprising: Elongated body; One or more foldable support structures are circumferentially mounted on the elongated body; as well as One or more counterweights are mounted on the one or more foldable support structures to adjust the buoyancy of the device within the fluid in the tube.

2. The device according to claim 1, further comprising at least one axial fin positioned on the elongated body.

3. The device according to claim 2, wherein, The at least one axial fin is positioned on the front section of the elongated body.

4. The device according to claim 2, wherein, The at least one axial fin includes two axial fins.

5. The device according to claim 1, wherein, The foldable support structure includes a plurality of foldable support petals, one or more of which are configured to movably contact the wall of the tube, and wherein the one or more counterweights are mounted on one or more of the plurality of foldable support petals.

6. The device according to claim 1, wherein, At least one of the one or more counterweights is mounted on the elongated body.

7. The device according to claim 1, wherein, The elongated body includes a front section, one or more modules, a rear section, and one or more connecting sections, each connecting section being configured to connect any two of the front section, the one or more modules, and the rear section, wherein at least one of the one or more counterweights is mounted on the one or more connecting sections to adjust the buoyancy of the device within the fluid in the tube.

8. The device according to claim 1, wherein, When the device is deployed within the fluid in the pipe, the central axis of the device is configured to be located above or below the central axis of the pipe.

9. The device of claim 1, further comprising a plurality of sensors for sensing magnetic field signals from the pipe, the plurality of sensors being configured to be distributed around the inner circumference of the pipe without contacting the surface of the inner wall of the pipe.

10. The device according to claim 9, wherein the one or more modules comprise: A processing module is used to receive sensed data from the plurality of sensors; as well as One or more battery modules are provided for powering the plurality of sensors and the processing module.

11. The device according to claim 9, wherein, The plurality of sensors include a plurality of sensor arrays, wherein each sensor array includes a subset of the plurality of sensors.

12. The device according to claim 11, wherein, Each sensor array is mounted on the top of a sensor lobe, which is mounted on the elongated body.

13. The device according to claim 12, wherein, The sensor lobe is pivotally mounted on the elongated body, wherein the sensor lobe is configured in an extended initial state.

14. The device according to claim 11, wherein, The multiple sensor arrays form a continuous circle.

15. The device according to claim 12, wherein, The sensor lobe can be folded when the device passes through or around the tube feature.

16. The device according to claim 5, wherein, The one or more counterweights are mounted on one or more of the plurality of foldable support lobes that are substantially located on a single plane.

17. The device according to claim 5, wherein, The one or more counterweights are mounted on the elongated body and on one or more of the plurality of foldable support lobes that are substantially located on a single plane.

18. A method for inspecting a pipe containing fluid, the method comprising: The buoyancy of the inspection device is adjusted based on the position of one or more features of the tube to adjust the position of the inspection device in the tube; Multiple sensors are arranged on the device relative to the inner circumference of the tube without contacting the inner circumference of the tube; as well as The signal generated based on the wall of the tube is sensed.

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