Passive positionally controlled inline inspection apparatus and related methods

Abstract

A pipeline inspection apparatus (10) is provided for inspecting a pipeline when deployed into the pipeline containing a fluid. The apparatus includes an elongated body (12), one or more collapsible supporting structures (14a-14d) circumferentially mounted on the elongated body, and one or more weights (16) mounted on the one or more collapsible supporting structures for adjusting buoyancy of the apparatus within the fluid of the pipeline.

Description

PASSIVE POSITIONALLY CONTROLLED INLINE INSPECTION APPARATUS AND RELATED METHODSCLAIM OF PRIORITY

[0001] The present application claims the benefit of and priority to United States Provisional Application No. 63 / 538,542, filed on September 15, 2023, entitled Passive Positionally Controlled Inline Inspection Apparatus, the content of which is hereby incorporated by reference as if set forth in its entirety.FIELD

[0002] The present application relates generally to pressurized pipe inspection, and, in particular, to methods and apparatus for inspecting a pipe containing a fluid.BACKGROUND

[0003] Inspecting and assessing conditions of pressurized pipelines with inline inspection tools represents a major challenge for utilities owners and operators due to the tool’s ability to navigate through all the inline features and appurtenances. A big risk for inline inspection tools when inspecting pressurized pipelines are inline butterfly valves (BFVs), for example, concentric humpback and eccentric flat plate BFVs. Additionally, inline tees and / or wyes in the pressurized pipeline also create risks for inline inspection tools. Inline BFVs are used to isolate a section of pipelines for repair and maintenance reducing the likelihood of having to take the whole pipeline out of service, and inline tees and wyes are used to manage and direct flow throughout the pipeline network.

[0004] Conducting pipeline inspection and assessment of pressurized pipelines using free- swimming tools generally requires that the tool can be inserted into the pipe, navigate through all inline features, and be successfully extracted from the pipe. Butterfly valve discs present a challenging obstacle for free-swimming tools to navigate and can cause inspection tools to become stuck in or on these valves. Due to BFVs, traditional inline inspection tool cannot be used to inspect water pipelines. When traditional inline inspection tool is used, it is often required to be extracted upstream of the BFVs and reinserted downstream to avoid the BFVs.1RECTIFIED SHEET (RULE 91) ISA / EP

[0005] Even inline inspection tools designed to travel in the center of the pipeline can often pass inline BFVs. Over time, however, they are susceptible to becoming trapped at the valves. When an inspection tool is trapped at a valve, it is costly to dewater the pipeline and physically enter the pipe to retrieve the tool. Because of this challenge, many pipeline owners and operators cannot or will not inspect their pipelines.

[0006] Inline features such as tees and wyes used to manage and direct flow through pipeline network represent a risk for inline inspection tool because often the tool is not able to travel through the desired section of the pipe. When the tool travels through the wrong or unplanned section of the pipe, the pipeline needs to be dewatered, and technicians must physically enter the pipe to retrieve the tool. Accordingly, due to at least these obstacles, many pipelines cannot or will not be inspected and / or are inspected at great risk to the pipeline owners and operators.SUMMARY

[0007] Some embodiments of the present inventive concept provide an apparatus for inspecting a pipe containing a fluid. The apparatus includes an elongated body; one or more collapsible supporting structures circumferentially mounted on the elongated body; and one or more weights mounted on the one or more collapsible supporting structures for adjusting buoyancy of the apparatus within the fluid of the pipe.

[0008] In further embodiments, the apparatus may include at least one axial fin positioned on the elongated body. The at least one axial fin may be positioned on a front section of the elongated body. The at least one axial fin may include two axial fins.

[0009] In still further embodiments, the collapsible supporting structures may include a plurality of collapsible supporting petals. One or more of the plurality of collapsible supporting petals may be configured to moveably contact a wall of the pipe. The one or more weights may be mounted on one or more of the plurality of collapsible supporting petals.

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

[0011] In further embodiments, the elongated body may include a front section, one or more modules, a rear section, and one or more connecting sections each configured to connect any two of the front section, the one or more modules, and the rear section. At least one of the one ormore weights may be mounted on the one or more connecting sections for adjusting buoyancy of the apparatus within the fluid of the pipe.

[0012] In still further embodiments, a central axis of the apparatus may be configured to be above or below a central axis of the pipe when the apparatus is deployed within the fluid in the pipe.

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

[0014] In further embodiments, the one or more modules may include a processing module for receiving sensed data from the plurality of the sensors; and one or more battery module for electrically powering the plurality of sensors and the processing module.

[0015] In still further embodiments, the plurality of sensors may include a plurality of sensor arrays, each including a subset of the plurality of sensors. Each sensor array may be a mounted on a top end of a sensor petal mounted on the elongated body.

[0016] In some embodiments, the sensor petal may be pivotably mounted on the elongated body and the sensor petal may be configured in an extended initial state.

[0017] In further embodiments, the plurality of sensor arrays may form a continuous circumference.

[0018] In still further embodiments, the sensor petal may be collapsible when the apparatus passes through or around a pipe feature.

[0019] In some embodiments, the one or more weights may be mounted on one or more of the plurality of collapsible supporting petals substantially on a plane.

[0020] In some embodiments, the one or more weights may be mounted on the elongated body and one or more of the plurality of collapsible supporting petals substantially on a plane.

[0021] Further embodiments of the present inventive concept provide methods for inspecting a pipe containing a fluid. The method includes adjusting buoyancy of an inspection apparatus to adjust a position of the inspection apparatus in the pipe based on positions of one or more features of the pipe; arranging a plurality of sensors on the apparatus relative to an inner circumference of the pipe without contacting the inner circumference of the pipe; and sensing signals generated based on a wall of the pipe.BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Reference will now be made, by way of example, to the accompanying drawings which show example embodiments of the present application, and in which:

[0023] FIG. l is a diagram illustrating a side plan view of an apparatus in accordance with some embodiments of the present inventive concept.

[0024] FIG. 2A is a diagram illustrating a cross-sectional end view of a pipeline and an end view of an apparatus traveling through the pipeline in accordance with some embodiments of the present inventive concept.

[0025] FIG. 2B is a diagram of a cross-sectional side view of the pipeline and a side plan view of an apparatus traveling through the pipeline in accordance with some embodiments of the present inventive concept.

[0026] FIG. 3 is a diagram of an enlarged perspective partial view of a head section of the apparatus in accordance with some embodiments of the present inventive concept.

[0027] FIG. 4 is a rear perspective view of the apparatus with weights mounted on the collapsible supporting petals in accordance with some embodiments of the present inventive concept.

[0028] Similar reference numerals may have been used in different figures to denote similar components throughout.DESCRIPTION OF EXAMPLE EMBODIMENTS

[0029] The present inventive concept will be described more fully hereinafter with reference to the accompanying figures, in which embodiments of the inventive concept are shown. This inventive concept may, however, be embodied in many alternate forms and should not be construed as limited to the embodiments set forth herein.

[0030] Accordingly, while the inventive concept is susceptible to various modifications and alternative forms, specific embodiments thereof are shown by way of example in the drawings and will herein be described in detail. It should be understood, however, that there is no intent to limit the inventive concept to the particular forms disclosed, but on the contrary, the inventive concept is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the inventive concept as defined by the claims. Like numbers refer to like elements throughout the description of the figures.

[0031] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of 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 the terms "comprises", "comprising," "includes" and / or "including" when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof. Moreover, when an element is referred to as being "responsive" or "connected" to another element, it can be directly responsive or connected to the other element, or intervening elements may be present. In contrast, when an element is referred to as being "directly responsive" or "directly connected" to another element, there are no intervening 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 as " / ".

[0032] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this inventive concept belongs. It will be further understood that terms used herein should be interpreted as having a meaning that is consistent with their meaning in the context of this specification and the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

[0033] 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 only used to distinguish one element from another. For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element without departing from the teachings of the disclosure. Although some of the diagrams include arrows on communication paths to show a primary direction of communication, it is to be understood that communication may occur in the opposite direction to the depicted arrows.

[0034] Referring now to FIG. 1, an apparatus 10 for inspecting a pipeline when it is deployed in the pipeline containing a fluid will be discussed. As used herein, a “pipeline” refers to one or more pipes that move, for example, liquids, gases, or solids, over a distance. Pipelines may be buried underground and can carry hazardous substances, such as oil and waste. Pipelines can be made from any material that is appropriate for the substance being transported and generallyhave pumps, valves, and control systems to regulate the flow. Furthermore, pipelines discussed herein may contain various features such as valves or BFVs, inline tees, and / or inline wyes.

[0035] The apparatus 10 may be used to detect flaws in a pipeline when the pipeline contains a fluid, such as, for example, water or wastewater. As discussed above, the pipeline may be formed of any appropriate material capable of carrying fluids, for example, ductile iron pipe, cast iron pipe, steel pipe, pressed concrete cylinder pipe (PCCP), reinforced concrete pipe (RCP), embedded cylinder pipe (ECP), high density polyethylene (HDPE) pipe, bar-wrapped pipe (BWP), and the like.

[0036] The apparatus 10 is configured to drift along the interior of a pipeline, i.e. is not in a fixed position within the pipe. In some embodiments, the apparatus 10 is collapsible and may drift in the fluid within the pipe when the fluid is transported within the pipe. The apparatus 10 provides a stable platform for sensors mounted on the apparatus 10 to maintain a stable position close to but without contacting the pipe wall while traversing the pipeline throughout the inspection.

[0037] As illustrated in the example of FIG. 1, in some embodiments, the apparatus 10 may include an elongated body 12; a collapsible supporting structure 14a-14d circumferentially mounted on the elongated body 12; one or more weights 16 mounted on the body 12 of the apparatus and / or on the collapsible supporting structure 14a-14d, for adjusting buoyancy of the apparatus 10. In some embodiments, the one or more weights 16 may be included on the one or more of the plurality of collapsible supporting structures 14. The weights 16 affect buoyancy of the apparatus and may also act as a ballast to maintain appropriate orientation of the apparatus 10 as it drifts within the pipe.

[0038] As used herein, buoyancy refers to the tendency of an object to float or to rise in a fluid (e.g. liquid or gas) when submerged.

[0039] As also illustrated in FIGS. 1, 3, and 4, in some embodiments, the apparatus 10 may include one or more axial fins 17 on a front section of the elongated body 12. For example, in the embodiments shown in FIGS. 1, 3, and 4, two axial fins 17 are shown. However, it will be understood that more or fewer axial fins 17 may be utilized without departing from embodiments of the present 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 one or more fins may be positioned on other sections of the apparatus 10 in some embodiments. The one or more axial fins 17 may be coupled to the section (or sections) of the elongated body 12 by any appropriatemethod, or may be formed or molded as part of the section(s) themselves. Additionally, and / or alternatively, the one or more axial fins 17 may be supported using springs and / or other materials to provide rigidity and / or flexibility. The one or more axial fins 17 are configured to take advantage of the lateral thrust from the fluid flow within the pipeline, enabling the apparatus 10 to traverse inline features such as inline tees and wyes.

[0040] The elongated body 12 of the apparatus 10 may include one or more sensor array sets 20a and 20b for detecting defects on the pipeline, one or more processing modules 30 for processing the sensed data received from the sensor array sets 20, one or more battery modules 40a and 40b for supplying power to processing modules 30 and the sensor array sets 20a and 20b, and one or more connecting sections 50a and 50b. Each connecting section 50a and 50b has two ends, each end for connecting a module adjacent to the connecting section 50a and 50b. The apparatus 10 may also include a nose module 70 as the front section.

[0041] Each sensor array set 20a and 20b and the apparatus supporting structures 14a-14d may be securely mounted on the elongated body 12. In the embodiments illustrated in FIG. 1, the supporting structures 14b and 14c are at both ends of the connecting section 50a, and 14a is at an end of battery module 40a, and 14d is at an end of battery module 40b.

[0042] In the embodiments illustrated in FIG. 1, each sensor array set 20a and 20b may have a plurality of sensor petals 22. The sensor petal 22 may be an elongated plastic or metallic bar or plate. Each sensor petal 22 has a bottom end and a top end. The bottom end of each sensor petal 22 has a petal joint, and the petal joint is molded with spring and joint at a petal plate for mounting the sensor petal 22 on the elongated body 12 of the apparatus 10. In the embodiments illustrated in FIG. 1, the sensor petals 22 are circumferentially mounted at an end of the connecting section 50b, and at an end of the battery module 40b.

[0043] It will be understood that although the petal joint is discussed above as being molded with spring and joint at a petal plate, embodiments of the present inventive concept are not limited thereto. For example, in some embodiments, the spring / petal joint can be attached to the petal plate using brackets and need not be molded.

[0044] When the sensor petal 22 is an extended state, a spring (not shown) may bias each sensor petal 22 toward a perpendicular position relative to the central axis of the apparatus 10.

[0045] When the apparatus 10 traverses over a pipe feature within the pipe, such as a valve or a BFV, the collapsible sensor petal 22 may be compressed by the pipe feature, for example bypressing a portion above the bottom end of the sensor petal 22, to form a smaller angle, such as Oo -70o. As such, the sensor array sets 20a, 20b may traverse through pipe features such as valves or BFVs. When the sensor petal 22 is compressed or collapsed, the spring is in a compressed state. After the sensor petal 22 traverses the pipe feature, the spring biases the sensor petal 22 back toward the extended state. Therefore, the sensor petal 22 is collapsible at a pipe feature and resumes to the extended state after it traverses the pipe feature due to the pivotal mechanism and the biasing force of the spring.

[0046] The top end of the sensor petal 22 may securely retain one or more sensor arrays 20a, 20b. The sensor arrays 20a, 20b may be securely mounted on the top end of the sensor petals 22 or more the surface of the sensor petal 22, for example, by screws via the screw holes on the sensor petal 22. In some embodiments, the sensor arrays 20a, 20b may also be glued on one side of the top end of the sensor petals 22. In some embodiments, the sensor arrays 20a, 20b may include a plurality of sensors. The sensor petals 22 securely retain the sensor array in proximity of the surface of the inner wall of a pipe without contacting the inner surface of the pipe wall. In some embodiments, the distance between the sensor arrays and the surface of the inner wall of the pipe is in the range of from about 10 cm to about 0.5 cm.

[0047] The sensors contained in a sensor arrays 20a, 20b may be any appropriate sensors used for determining the condition of a pipe such as, for example, electromagnetic (EM) sensors, metal magnetic memory (MMM) sensors, cameras, or a combination of EM sensors and MMM sensors, acoustic sensors, cameras, and the like.

[0048] In some embodiments, the one or more weights 16 may be included on the one or more of the plurality of collapsible sensor petals 22.

[0049] The supporting structures 14a-14d may be arranged at a front side and / or a rear side of the sensor petals 22 and may comprise a plurality of supporting petals 26. Therefore, the supporting petals 26 maintain stability of the apparatus 10 when the apparatus 10 travels within the pipe. In embodiments illustrated in FIG. 1, the apparatus 10 includes four sets of the supporting structures 14a-14d. The supporting structures 14a-14d increase the stability of the apparatus 10 when the apparatus 10 travels within the pipe. It will be understood that embodiments are not limited to four sets of supporting structures.

[0050] Each set of supporting structures 14a-14d may include a plurality of supporting petals 26, such as, for example, six(6) supporting petals. Each supporting petal 26 has a bottom end and atop end. Similar to the sensor petal 22 described above, a petal spring (not shown) may be configured to bias a supporting petal 26 to an extended state. The supporting petals 26 may have the same or a similar structure as the sensor petals 22. In some embodiments, the supporting petals 26 may be longer than the sensor petals 22. The supporting petals 26 may be dimensioned for the apparatus 10 to drift in the pipe. In some embodiments, the supporting petals 26 may be sized to the length as per pipeline diameter. In some embodiments, the supporting petals 26 in a set of supporting structures 14a-14d have the same length.

[0051] Contact with the surface, such as bottom surface or top surface, of the inner wall of the pipe and an acute angle arrangement between the supporting petal(s) 26 and the central axis of the rear end of apparatus 10 improves stability of the apparatus 10 as it travels within the pipe.

[0052] Similar to the sensor petals 22, when the supporting petals 26 traverse a pipe feature, such as a valve of BFV, the pipe feature presses a portion of the supporting petals 26 to cause the supporting petal 26 to collapse or fold toward the central axis of the apparatus 10 to a compressed state. In a compressed state, the spring is compressed and the supporting petals 26 may pass the opening of the pipe feature. After the supporting petal(s) 26 has traversed the pipe feature, the spring biases the supporting petal 26 to the initial extended state to contact a surface of the inner pipe wall.

[0053] The processing module 30 is configured to acquire, record and process sensed data from the sensors mounted on the sensor petals 22. In some embodiments, the processing module 30 may be mounted on a sleeve by, for example, fasteners such as screws.

[0054] In some embodiments, the processing module 30 may include, for example, a processor, a memory, and an interface circuit. The processor, a memory, and an interface circuit may be securely placed in a waterproof and corrosion-resistant plastic or metal case. The interface circuit receives the sensed signals or data from the metal wall of a pipe from the sensors of the sensor arrays. The processing module 30 may store the measured signals or data in the memory for processing. The processor controls the interface circuit to receive the measured signals and controls the memory to store the signals saved to the memory. The processor may also process the sensed signals or data and determine the defects of the pipe. In some embodiments, the sensed data in the memory may be exported to an external computer outside the pipe for further analysis at a later time. In some embodiments, the sensed data in the memory is processed by the processor in real time. The processor may be a central processing unit (CPU) and the memory 44may be a random -access memory (RAM), flash memory (used as secondary memory) and ROM, PROM, EPROM and EEPROM memory, dynamic random-access memory (DRAM), and fast CPU cache memory, such as static random-access memory (SRAM).

[0055] The battery modules 40a, 40b may supply electrical power to the processing module 30, and to the sensors in the sensor arrays via a PCB of processing module 30. The battery modules 40a, 40b may be mounted on a sleeve by, for example, fasteners such as screws. The battery modules 40a, 40b may contain one or more batteries secured in a waterproof and corrosionresistant plastic or metal case. The batteries may be, for example, Lithium-ion (Li-ion) battery, Nickel Cadmium(Ni-Cd) battery, Nickel-Metal Hydride(Ni-MH) battery, and Lead-Acid battery.

[0056] The connecting section 50a is configured to connect the processing module 30 with the battery modules 40a as illustrated in, for example, FIG. 1. The connecting section 50b is configured to connect the processing module 30 with the battery modules 40b. In some embodiments, the connecting sections 50a and 50b may be waterproof and corrosion-resistant plastic or metal chain links. The connecting sections 50a and 50b may house cables connected the sensor arrays to the interface circuit and provide electrical connections between the processing module 30 with the battery modules 40a and 40b. Each end of a connecting section 50a or 50b may be secured to a sleeve. The connecting sections 50a and 50b are flexible and allow the apparatus 10 to traverse pipe features with a curvature.

[0057] In the embodiments illustrated in FIG. 1, the apparatus 10 may include a nose module 70 at the front section of the apparatus 10 for assisting the apparatus 10 passing through pipe features.

[0058] The apparatus 10 may also include a rear section 80 at the opposite end of the front section. In the embodiments illustrated in FIG. 1, the rear section 80 may also include a tow link for pulling the apparatus 10.

[0059] As illustrated in FIGS. 1 and 4, one or more weights 16 may be mounted on the elongated body 12 of the apparatus 10 for adjusting buoyancy of the pipeline inspection apparatus 10. In the embodiments illustrated in FIGS. 1 and 4, one or more weights may be mounted on the connecting sections 50, including 50a and 50b. Additionally and / or alternatively, one or more weights may also be mounted on one or more of the collapsible supporting structures 14, including 14a-14d. The one or more weights 16 may also be mounted on both the elongated body 12 and the supporting structure(s)14. The one or more weights 16 may also be mounted to otherportions of apparatus 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 petals 22.

[0060] The weights 16 may be made of any appropriate material such as, for example, brass, stainless steel, and the like. The weights 16 with a higher density than the fluid provides additional gravity to the apparatus 10 and make the apparatus sink toward the bottom surface of the pipe within the fluid. In these embodiments, the axis of the apparatus 10 may be below the axis of the pipe.

[0061] Additionally, and / or alternatively, extra buoyancy may be added to the apparatus by using materials that have a lower density than the fluid. Such lower density provides additional buoyancy to the apparatus 10 and make the apparatus 10 float toward the top surface of the pipe, as is shown in FIGS. 2A and 2B. In these embodiments, the axis of the apparatus 10 may above the axis of the pipe.

[0062] The positions of the weights 16 mounted on the apparatus 10, the number of the weights, and the overall mass and volume of the weight of the weights 16 may be selected based on the weight distribution of the apparatus 10 relative to its displacement and by balancing the apparatus 10 in a body of fluid to verify the buoyancy of the apparatus 10. The apparatus’ position relative to the fluid surface provides a reference for how the apparatus 10 is positioned in the pipe. By selecting appropriate mass and volume, amount, and mounting locations of the weights 16, the buoyancy of the apparatus 10 can be adjusted for a given application. For example, when the apparatus 10 is deployed in the fluid in the pipe, due to the total weight of the apparatus 10, including the weight of the weights 16, the weights’ distribution, and the buoyancy generated by the fluid in the pipe, the apparatus 10 may be positioned at an appropriate level in the pipe to pass through and / or around the features of the pipe such as, for example, valves and / or BFVs. In the embodiments illustrated in FIGS. 2A and 2B, the central axis of the apparatus 10 may be above the axis of the pipe. However, in some embodiments, the weight distribution and buoyancy of the apparatus 10 can be configured such that the central axis of the apparatus 10 substantially corresponds with the central axis of the pipe, or is below the central axis of the pipe, with this selected positioning being based on the location and / or positioning of various features within the pipeline.

[0063] In some embodiments, more weights 16 can be added to the apparatus 10 for the apparatus 10 to travel close to or at the bottom inner surface of the pipe. For example, weights 16 can be added to the apparatus 10 so that the central axis of the apparatus 10 is below the central axis of the pipe. In some embodiments, fewer weights may be added for the apparatus 10 to travel near the top inner surface of the pipe and / or above the central axis of the pipe, as shown in FIGS. 2 A and 2B. The apparatus 10 without weights 16 mounted may be configured to have an initial floating position where the central axis of the apparatus 10 is above the central axis of the pipe. By adjusting the buoyancy of the apparatus 10 by mounting selected number of weights 16 at the selected positions on the apparatus 10, the position of apparatus 10 in the pipeline can be adjusted in relation to the central axis of the pipe. As such, the weights 16 enable the apparatus 10 to pass through and / or around features within the pipe such as, for example, valves and BFVs.

[0064] As illustrated in FIGS. 2A and 2B, by purposefully controlling the position of the apparatus 10 to be above or below the valve discs / plates, or apertures of the features, the apparatus 10 can navigate through and / or around features such as valves and BFVs. Controlling the position of the apparatus 10 inside the pipe is achieved by passively controlling the buoyancy of the apparatus 10. Unlike traditional inline inspection apparatus, which travels in a fixed position and typically in the center of the pipe, apparatus 10 is controlled by adjusting the apparatus’s buoyancy by adding appropriate amount of weights 16 to the apparatus 10. Additionally and / or alternatively, the apparatus 10 can be configured to be positively buoyant, i.e., floating in fluid. The position of the apparatus 10 when it travels inside the pipe is controlled by the amount of weight added onto the apparatus 10. Therefore, more weight is added to the apparatus 10 if the desired position is for the apparatus 10 to travel at the bottom of the pipe and less (or no) weight is added if the desired position is for the apparatus 10 to travel near the top of the pipe.

[0065] Furthermore, by adding the weights 16 in selected locations on the apparatus 10, the weights 16 may act collectively as a ballast to control the orientation and to reduce rotation of the apparatus 10. The weights 16 may be added on the apparatus 10 so that the apparatus 10 stays in a fixed circumferential position as the apparatus 10 travels through the pipe. For example, weights 16 may be added to selected supporting petals 26 to control which side of the apparatus 10 is facing upward, therefore controlling the circumferential position or orientation of the apparatus 10.

[0066] For example, the weights 16 may be mounted on the supporting petals 26 directed to substantially the same direction, or supporting petals 26 are on substantially the same plane. The weights 16 may also be mounted at substantially the same positions of the supporting petals 26. As such, when the apparatus 10 is deployed in the pipe with fluid such as water, the supporting petals 26 mounted with the weights 16, in addition to adjusting the buoyancy of the apparatus 10, automatically rotate towards the bottom potion of the apparatus 10 to control the orientation of the apparatus 10 due the additional weights 16 mounted on the supporting petals 16.

[0067] In some embodiments, the weights 16 may also be mounted on a side of the body 12, such as on connecting sections 50a and / or 50b, for example, on the surface substantially in the same plane as the supporting petal 26 mounted with the weights 16, to control the orientation of the apparatus 10 and to adjust the buoyancy.

[0068] With the weights 16, the apparatus 10 has the ability to control the position and its orientation in a pipe with the fluid. As such, the apparatus 10 can automatically navigate through inline BFVs in the pipe, regardless of the type of valves. By controlling its position with weights 16, and with the collapsible sensor petals 22 and supporting petals 26, the apparatus 10 can navigate through and / or around the features of the pipe without valve information and specification from pipeline owner and operators.

[0069] Additionally, the apparatus 10 may travel in the pipe stably with the flow of the fluid for different pipe sizes, materials, flow rates, pressures. For example, the apparatus 10 can navigate butterfly valves as well as providing pipeline condition sensing data, including electromagnetic data, video data, and the like.

[0070] The configuration of apparatus 10 may be varied. For example, in some embodiments, the apparatus 10 in FIG. 1 may only include two sets of supporting petals 14a and 14c, or only one of the battery modules 40a or 40b, or only one of the connecting section s 50a or 50b. The apparatus 10 may include additional sets of supporting structures, battery modules, and connecting sections. The additional battery module may extend the runtime of the apparatus 10 in inspecting pipes.

[0071] To maintain dynamic stability of the apparatus 10 in the pipe, in some embodiments, the overall length of apparatus 10 may be at least 1.5 times of the pipe diameter. A greater overall length of the apparatus 10 may improve the stability of the apparatus 10 when it travels within the pipe. The overall length of the apparatus 10 may be adjusted. In some embodiments, thelength of the individual modules may be adjusted, such as the processing module 30, the battery module 40a or 40b, the connecting section module 50a or 50b, and the nose module 70. In some embodiments, additional battery modules and connecting section modules may be added to increase the overall length of the apparatus 10.

[0072] As discussed briefly above, some embodiments of the present inventive concept provide an apparatus that is a Passive Positionally Controlled Inline Inspection Tool (PPCIIT). The apparatus is an inline inspection tool configured to be positionally controlled inside one or more pipelines as the apparatus traverses the pipelines and navigates through butterfly valves (BFVs).

[0073] In further embodiments, the apparatus may be configured to have adjustable buoyancy to enable the apparatus to pass through valves, including BFVs, without getting stuck. In some embodiments, the apparatus may include one or more weights at strategic position(s) of the apparatus to effect buoyancy and to act as a ballast to maintain appropriate orientation within the pipeline(s).

[0074] In still further embodiments, weights may be added at one or more of the front (or head) section, one or more connecting sections, the rear section of the apparatus, and / or on one or more of collapsible petals mounted around the longitudinal axis of the apparatus, with the weights acting to adjust buoyancy and to control the vertical position of the apparatus relative to the axial centerline of the pipe (negative or positive) and orientation of the apparatus. The weights may be configured to ensure that the apparatus stays in a fixed circumferential position when it travels through the pipeline.

[0075] In some embodiments, one or more axial fin features may be added to the apparatus to harness lateral thrust provided by the fluid flow inside the pipe, thereby assisting the apparatus with turning into inline features such as tees and wyes as the apparatus travels through the pipeline(s). In some embodiments, the one or more axial fins may be adjusted based on the pipe size. In some embodiments, the one or more axial fins are coupled to or otherwise formed on the front section of the apparatus.

[0076] The benefits of the apparatus in accordance with embodiments discussed herein may include (but are not limited to): (1) the apparatus may be configured to avoid contacting and / or becoming trapped on valves, BFV discs, or plates, thereby increasing the likelihood that the apparatus will successfully navigate through the valves or BFVs using only the product flow in the pipeline; (2) the apparatus may be configured to navigate through inline features such asinline tees and inline wyes. (3) The apparatus may reduce the cost of conducting inline inspections of pressurized watermains. The apparatus allows utilities owners and operators to conduct inspections without the need of extensive planning and infrastructure modification to accommodate an inline inspection such as, for example, dewatering, cutting into the pipes to retrieve the apparatus, excavation, and the like.

[0077] In some embodiments, a pipeline inspection apparatus is provided for inspecting a pipeline when deployed into the pipeline containing a fluid. The apparatus includes an elongated body; a plurality of collapsible petals circumferentially mounted on the elongated body, one or more of the plurality of collapsible petals configured to moveably contact a wall of the pipeline; and one or more weights mounted on one or more of the plurality of collapsible petals for adjusting buoyance of the pipeline inspection apparatus.

[0078] In further embodiments, a pipeline inspection apparatus is provided for inspecting a pipeline when deployed into the pipeline containing a fluid. The apparatus includes an elongated body comprising a front section, a plurality of modules, one or more connecting sections each configured to connect two adjacent modules of the plurality of modules, and a rear section; and one or more weights mounted the one or more connecting sections for adjusting buoyance of the pipeline inspection apparatus.

[0079] In still further embodiments, a method for inspecting a pipe containing a fluid is provided. The method includes adjusting buoyance of the apparatus to adjust a position of the apparatus in the pipe based on positions of one or more features of the pipe; arranging a plurality of sensors on the apparatus around an inner circumference of the pipe without contacting the inner circumference of the pipe; and sensing signals generated from the wall of the pipe.

[0080] In the drawings and specification, there have been disclosed example embodiments of the inventive concept. However, many variations and modifications can be made to these embodiments without substantially departing from the principles of the present inventive concept. Accordingly, although specific terms are used, they are used in a generic and descriptive sense only and not for purposes of limitation, the scope of the inventive concept being defined by the following claims.

Claims

WHAT IS CLAIMED IS:

1. An apparatus for inspecting a pipe containing a fluid, the apparatus comprising: an elongated body; one or more collapsible supporting structures circumferentially mounted on the elongated body; and one or more weights mounted on the one or more collapsible supporting structures for adjusting buoyancy of the apparatus within the fluid of the pipe.

2. The apparatus of Claim 1, further comprising at least one axial fin positioned on the elongated body.

3. The apparatus of Claim 2, wherein the at least one axial fin is positioned on a front section of the elongated body.

4. The apparatus of Claim 2, wherein the at least one axial fin comprises two axial fins.

5. The apparatus of Claim 1, wherein the collapsible supporting structures comprises a plurality of collapsible supporting petals, one or more of the plurality of collapsible supporting petals configured to moveably contact a wall of the pipe, and wherein the one or more weights are mounted on one or more of the plurality of collapsible supporting petals.

6. The apparatus of Claim 1, wherein at least one of the one or more weights is mounted on the elongated body.

7. The apparatus of Claim 1 , wherein the elongated body comprising a front section, one or more modules, a rear section, and one or more connecting sections each configured to connect any two of the front section, the one or more modules, and the rear section, and wherein at least one of the one or more weights is mounted on the one or more connecting sections for adjusting buoyancy of the apparatus within the fluid of the pipe.

8. The apparatus of Claim 1 , wherein a central axis of the apparatus is configured to be above or below a central axis of the pipe when the apparatus is deployed within the fluid in the pipe.

9. The apparatus of Claim 1, further comprising a plurality of sensors for sensing magnetic field signal from a pipeline, the plurality of sensors configured to be distributed around an inner circumference of the pipe without contacting a surface of an inner wall of the pipeline.

10. The apparatus of Claim 9, the one or more modules comprising: a processing module for receiving sensed data from the plurality of the sensors; and one or more battery module for electrically powering the plurality of sensors and the processing module.11 . The apparatus of Claim 9, wherein the plurality of sensors comprises a plurality of sensor arrays, and wherein each sensor array includes a subset of the plurality of sensors.

12. The apparatus of Claim 11, wherein each sensor array is mounted on a top end of a sensor petal mounted on the elongated body.

13. The apparatus of Claim 12, wherein the sensor petal is pivotably mounted on the elongated body, wherein the sensor petal is configured in an extended initial state.

14. The apparatus of Claim 11, wherein the plurality of sensor arrays form a continuous circumference.

15. The apparatus of Claim 12, wherein the sensor petal is collapsible when the apparatus passes through or around a pipe feature.

16. The apparatus of Claim 5, wherein the one or more weights are mounted on one or more of the plurality of collapsible supporting petals substantially on a plane.

17. The apparatus of Claim 5, wherein the one or more weights are mounted on the elongated body and one or more of the plurality of collapsible supporting petals substantially on a plane.

18. A method for inspecting a pipe containing a fluid, comprising: adjusting buoyancy of an inspection apparatus to adjust a position of the inspection apparatus in the pipe based on positions of one or more features of the pipe; arranging a plurality of sensors on the apparatus relative to an inner circumference of the pipe without contacting the inner circumference of the pipe; and sensing signals generated based on a wall of the pipe.

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