Inspection assembly for imaging a pipeline

Abstract

An inspection assembly comprises an imaging module including a camera for capturing images of an internal surface of a pipeline and a light source to illuminate the internal surface of the pipeline; a control module including circuitry for handling image data from the camera; a power module; first and second sub-assemblies each having a longitudinal axis and each comprising one or more of the imaging module, control module and power module; and a coupling connecting and permitting relative movement of the first sub-assembly and the second sub-assembly such that an angle between the longitudinal axes of the first and second sub-assemblies may be greater than zero. At least one of the first and second sub-assemblies includes a sealing member to seal against the internal surface of the pipeline such that fluid flowing along the pipeline applies a force to the inspection assembly to propel it along the pipeline.

Description

[0001] Inspection Assembly for Imaging a Pipeline

[0002] FIELD OF THE INVENTION

[0003] This disclosure relates to an inspection assembly for viewing an internal surface of a pipeline and more particularly to a modular inspection assembly. This disclosure further relates to a modular kit for forming an inspection assembly. This disclosure provides a method of inspecting a pipeline using an inspection assembly, and more particularly to a method of capturing images of an internal surface of a pipeline using an inspection assembly.

[0004] BACKGROUND TO THE INVENTION

[0005] Pipeline Inspection Gauges (Pigs) are known for use in pipeline cleaning and inspection. Typically a Pig is inserted into a pipeline at a particular point (a launching station), is propelled along the pipeline by the flow of fluid through the pipeline and is then removed from the pipeline at a specific point further downstream (a receiving station). The use of Pigs allows pipes to be cleaned and the condition of the pipes to be inspected without stopping the flow of fluid through the pipe.

[0006] An intelligent Pig, or Smart Pig, can be used to collect data, typically about the condition of the pipeline, while it is travelling along the pipeline. Some prior art devices, for example, have incorporated sensors to detect pipe defects and corrosion. Data from these sensors are then analysed once the Pig has been retrieved from the pipeline. In order to determine the position of any defect within the pipeline, Pigs often also incorporate some form of location monitoring system, or the location of the Pig is monitored by sensors located above-ground or external to the pipeline.

[0007] Pipelines often contain fluids at a high temperature, and the fluids may be highly acidic or basic. For these reasons it may be necessary to carefully protect any sensors and electronics that are contained within the Pig. It some circumstances it is desirable to capture images of the internal wall of a pipeline or conduit. Prior art systems have been developed that can travel along a length of pipeline or conduit and which incorporate a video camera.

[0008] In some of these prior art systems the camera is mounted on a wheeled apparatus, or tractor, to enable the speed of passage of the camera through the pipeline or conduit to be controlled to capture images of sufficient quality for subsequent analysis. Additionally, these systems may incorporate a line or tether linking the camera tractor back to a base station. The tether permits a user to control movement of the camera tractor, permits video images to be streamed back to the base station for observation and permits the camera tractor to be retrieved from the pipeline after use.

[0009] GB 2502839 A describes a pipeline inspection apparatus that includes sealing means to allow the inspection apparatus to be propelled along a pipeline by a flow of fluid in the pipeline. The inspection apparatus includes an imaging module and a light source to enable images of the internal surface of the pipeline to be captured.

[0010] It is an object of the present invention to provide an improved conduit inspection assembly that overcomes a disadvantage of prior art devices, whether referred to herein or otherwise.

[0011] SUMMARY OF THE INVENTION

[0012] According to a first aspect of this disclosure there is provided an inspection assembly for viewing an internal surface of a conduit, such as a pipeline, the inspection assembly comprising: an imaging module including a camera and a light source, the light source being arranged to illuminate said internal surface of said conduit, and the camera being arranged such that, in use, the camera captures image data of said internal surface of said conduit; a control module including circuitry for handling image data captured by the camera; a power module comprising a power supply; a first sub-assembly comprising one or more of the imaging module, control module and power module, the first sub-assembly having a longitudinal axis extending between first and second ends of the first sub-assembly; a second sub-assembly comprising one or more of the imaging module, control module and power module, the second sub-assembly having a longitudinal axis extending between first and second ends of the second sub-assembly; and a coupling connecting the second end of the first sub-assembly to the first end of the second sub-assembly, the coupling permitting movement of the first subassembly relative to the second sub-assembly such that, in use, an angle between the longitudinal axis of the second sub-assembly and the longitudinal axis of the first sub-assembly may be greater than zero, wherein, each of the first and second sub-assemblies includes a sealing member arranged to seal against said internal surface of the conduit such that, in use, a fluid flowing along said conduit applies a driving force to the inspection assembly to propel the inspection assembly along said conduit.

[0013] Handling of image data by the circuitry of the control module may include storing image data in a memory, transmitting image data to a location remote from the inspection assembly, and / or processing the image data.

[0014] In some examples the inspection assembly further comprises a third sub-assembly including a sealing member arranged to seal against said internal surface of the conduit. Each of the first, second and third sub-assemblies preferably includes a different one of the power module, control module and imaging module. In these examples the coupling connecting the second end of the first sub-assembly to the first end of the second sub-assembly is a first coupling and the inspection assembly preferably comprises a second coupling connecting the second end of the second sub-assembly to the first end of the third sub-assembly. The second coupling permits movement of the third sub-assembly relative to the second sub-assembly such that, in use, an angle between the longitudinal axis of the second subassembly and a longitudinal axis of the third sub-assembly may be greater than zero. In some examples the first sub-assembly comprises the power module, the second sub-assembly comprises the control module and the third sub-assembly comprises the imaging module.

[0015] The inspection assembly can therefore be considered to be modular with distinct sub-assemblies that are coupled together to form the complete inspection assembly. The provision of power, control and imaging modules within these sub-assemblies allows a user to select the required modules and sub-assemblies dependent on the particular application for which the inspection assembly is being used.

[0016] The modules and sub-assemblies may be connected in any desired order relative to a direction of travel along a conduit. Preferably suitable electrical power and / or data connections are made between the modules and the sub-assemblies in the inspection assembly.

[0017] In some examples the coupling, or each of the first and second couplings, comprises a universal joint.

[0018] In some examples the sealing members are in the form of sealing discs. Each subassembly preferably includes two sealing discs. Furthermore, in each subassembly, the sealing discs are preferably spaced apart longitudinally such that a distance between the sealing discs in the longitudinal direction is greater than a diameter of each of the sealing discs. This helps to prevent the sub-assemblies tilting as the inspection assembly travels through the conduit. It is desirable if the longitudinal axis of each of the sub-assemblies remains generally coaxial with a centreline of the conduit as the inspection assembly travels through the conduit. This allows a more consistent distance between the camera and the internal surface of the conduit to be maintained. In other embodiments each module and / or subassembly may comprise a single sealing disc. Each module and / or sub-assembly may comprise a centraliser.

[0019] In some examples each sealing member is part of a sealing assembly. Preferably, in each sub-assembly, a first sealing assembly is disposed at the first end of the sub-assembly and a second sealing assembly is disposed at the second end of the sub-assembly. Each sub-assembly may include a housing or main body disposed between the first and second sealing assemblies. The sealing assemblies may include a securing element to attach the sealing disc to the module or sub-assembly.

[0020] In some examples the first sealing assembly is removably connected to the first end of the sub-assembly and the second sealing assembly is removably connected to the second end of the sub-assembly. This may allow a user to replace a damaged sealing assembly. This may also allow a user to select a required sealing assembly based on the diameter of the conduit through which the inspection assembly is to be deployed. Sets of sealing assemblies may include sealing members having different diameters to correspond with conduits having different internal diameters.

[0021] In some examples an optical axis of the camera extends in a direction transverse to the longitudinal axis of the sub-assembly within which the imaging module is disposed. A direction transverse to the longitudinal axis may extend at any angle between 45° and 90° to the longitudinal axis. In preferred embodiments the transverse direction is perpendicular to the longitudinal axis, i.e. extending at about 90° to the longitudinal axis. In some examples the imaging module comprises a plurality of cameras, and the cameras are arranged such that the fields of view of the cameras overlap to capture a 360° circumferential view of the internal surface of the conduit. The optical axis of each of the plurality of cameras preferably extends at an angle of 90° to the longitudinal axis.

[0022] The imaging module may comprise a first light source disposed between the camera or each camera and the first end of the sub-assembly and a second light source disposed between the camera or each camera and the second end of the subassembly.

[0023] According to a second aspect of this disclosure there is provided an inspection assembly kit, the inspection assembly being suitable for viewing an internal surface of a pipeline, and the kit comprising: an imaging module including a camera and a light source, the light source being arranged to illuminate said internal surface of said conduit, and the camera being arranged such that, in use, the camera captures image data of said internal surface of said conduit; a control module including circuitry for handling image data captured by the camera; a power module comprising a power supply; a first sub-assembly comprising one or more of the imaging module, control module and power module, the first sub-assembly having a longitudinal axis extending between first and second ends of the first sub-assembly; a second sub-assembly comprising one or more of the imaging module, control module and power module, the second sub-assembly having a longitudinal axis extending between first and second ends of the second sub-assembly; a coupling connecting the second end of the first sub-assembly to the first end of the second sub-assembly, the coupling permitting movement of the first subassembly relative to the second sub-assembly such that, in use, an angle between the longitudinal axis of the second sub-assembly and the longitudinal axis of the first sub-assembly may be greater than zero; first and second smaller sealing assemblies, each smaller sealing assembly comprising a sealing member having a first diameter; and first and second larger sealing assemblies, each larger sealing assembly comprising a sealing member having a second diameter larger than the first diameter, wherein each of the first and second smaller sealing assemblies and each of the first and second larger sealing assemblies includes an attachment element for securing the respective sealing assembly to one of the first and second subassemblies.

[0024] According to a third aspect of this disclosure there is provided a method of capturing images of an internal surface of a conduit comprising: deploying an inspection assembly according to the first aspect of this disclosure in a conduit through which a fluid is flowing; and capturing images of the internal surface of the conduit using the camera of the inspection assembly as the inspection assembly moves through the conduit. In some examples the method may further comprise storing the images captured by the camera in a memory of the inspection assembly.

[0025] According to a fourth aspect of this disclosure there is provided an inspection apparatus or inspection assembly for viewing an internal surface of a conduit, the inspection apparatus comprising: a main body having a longitudinal axis extending, in use, generally parallel to a direction of travel of the inspection apparatus through said conduit, the main body including a camera and a light source, the light source being arranged to illuminate said internal surface of said conduit within a field of view of the camera, and an optical axis of the camera extending in a direction transverse to the longitudinal axis of the main body; and a first sealing member attached to the main body, the first sealing member forming a seal against said internal surface of the conduit such that, in use, a fluid flowing along said conduit applies a driving force to the inspection apparatus to propel the apparatus along said conduit.

[0026] In some examples the first sealing member is disposed forward of the camera along the longitudinal axis of the main body relative to said direction of travel of the inspection apparatus through said conduit.

[0027] The inspection apparatus may further comprise a second sealing member attached to the main body, the second sealing member forming a seal against said internal surface of the conduit such that, in use, a fluid flowing along said conduit applies a driving force to the inspection apparatus to propel the apparatus along said conduit. The first and second sealing members are preferably spaced apart along the longitudinal axis of the main body, and the camera and the field of view of the camera are preferably disposed between the first and second sealing members.

[0028] The main body generally has a first or front end and a second or rear end relative to a direction of travel of the inspection apparatus through the conduit in use. The first sealing member is preferably disposed between the first end of the main body and the camera. The second sealing member is preferably disposed between the second end of the main body and the camera.

[0029] In some examples the camera is disposed closer to the rear end than to the front end of the main body. It has been found that positioning the camera closer to the rear end of the inspection apparatus may reduce the turbulence of the fluid within the field of view of the camera such that higher quality images of the internal surface of the conduit may be obtained.

[0030] In some examples the camera includes a global shutter.

[0031] In some examples the inspection apparatus includes more than one camera. Each of the plurality of cameras may be disposed between the first and second sealing members. The cameras are preferably spaced apart around a circumference of the main body. In some examples the cameras lie in a single plane perpendicular to the longitudinal axis of the main body. Preferably, the fields of view of the cameras cover a full 360° view of said internal surface of said conduit around the inspection apparatus.

[0032] In some examples the light source is disposed between the first and second sealing members. The light source may comprise a first array of light emitters on a first side of the camera or cameras and a second array of light emitters on a second side of the camera or cameras. In some examples the light emitters of the first and second arrays are angled such that the centre lines or optical axes of the beams of light emitted by the light emitters of the first array and the beams of light emitted by the light emitters of the second array are convergent.

[0033] The first sealing member may be part of a first sealing assembly and the second sealing member may be part of a second sealing assembly. In some examples the light emitters of the first array are angled such that a fraction of the light emitted by the light emitters of the first array impinges and is reflected by a surface of the first sealing assembly, and the light emitters of the second array are angled such that a fraction of the light emitted by the light emitters of the second array impinges and is reflected by a surface of the second sealing assembly. The surface of the first sealing assembly impinged by light emitted by the light emitters of the first array may have a reflective coating. Similarly, the surface of the second sealing assembly impinged by light emitted by the light emitters of the second array may have a reflective coating.

[0034] In some examples the optical axis of the camera, or each one of the plurality of cameras, extends in a direction perpendicular to the longitudinal axis of the main body.

[0035] According to a fifth aspect of this disclosure there is provided an inspection apparatus or inspection assembly for viewing an internal surface of a conduit, such as a pipeline, the inspection apparatus comprising: a main body having a longitudinal axis extending, in use, generally parallel to a direction of travel of the inspection apparatus through said conduit, the main body including a camera and a light source, the light source being arranged to illuminate said internal surface of said conduit within a field of view of the camera, and an optical axis of the camera extending in a direction transverse to the longitudinal axis of the main body or in a radial direction generally perpendicular to the longitudinal axis of the main body; a lighting window made of an optically clear material extending over the light source such that light emitted by the light source passes through the lighting window before illuminating the field of view of the camera, the lighting window having a front surface furthest from the light source in said radial direction; and an imaging window made of an optically clear material extending over the camera such that light from the field of view passes through the imaging window before entering a lens of the camera, the imaging window having a front surface furthest from an image sensor of the camera in said radial direction, wherein the front surface of the imaging window protrudes radially outwardly from the front surface of the lighting window along the radial direction.

[0036] In some examples the optical axis of the camera extends in a direction perpendicular to the longitudinal axis of the main body. A thickness of the imaging window in the radial direction may be greater than a thickness of the lighting window in the radial direction.

[0037] In some examples the main body includes a plurality of cameras spaced apart around a circumference of the main body and the light source comprises an array of light emitters spaced apart around the circumference of the main body. In some examples the imaging window is an annular window extending around and over the plurality of cameras and the lighting window comprises an annular window extending around and over the array of light emitters. In these examples an outer diameter of the imaging window is larger than an outer diameter of the lighting window. One or both of the lighting window and imaging window may be tubular. In some examples an annular seal is disposed between the lighting window and the imaging window.

[0038] In some examples the plurality of cameras may lie in a single plane perpendicular to the longitudinal axis of the main body. Preferably, the fields of view of the cameras cover a full 360° view of said internal surface of said conduit around the inspection apparatus.

[0039] In some examples the light source comprises a first array of light emitters on a first side of the camera or cameras and a second array of light emitters on a second side of the camera or cameras. The light emitters of the first and second arrays may be angled such that the centre lines or optical axes of the beams of light emitted by the light emitters of the first array and the beams of light emitted by the light emitters of the second array are convergent.

[0040] In some examples the inspection apparatus further comprises a first reflection surface disposed between the first array of light emitters and a first end of the inspection apparatus and a second reflection surface disposed between the second array of light emitters and a second end of the inspection apparatus. In these examples the light emitters of the first array may be angled such that a fraction of the light emitted by the light emitters of the first array impinges and is reflected by the first reflection surface to illuminate the field of view of the camera or cameras, and the light emitters of the second array may be angled such that a fraction of the light emitted by the light emitters of the second array impinges and is reflected by the second reflection surface to illuminate the field of view of the camera or cameras.

[0041] In some examples a first lighting window extends over the first array of light emitters such that light emitted by the first array of light emitters passes through the first lighting window before illuminating the field of view of the camera, and a second lighting window extends over the second array of light emitters such that light emitted by the second array of light emitters passes through the second lighting window before illuminating the field of view of the camera. Preferably, the imaging window is disposed between the first and second lighting windows. An outer diameter of the imaging window is preferably larger than outer diameters of both of the first and second annular lighting windows.

[0042] In some examples the inspection assembly further comprises a sealing member attached to the main body, the sealing member forming a seal against said internal surface of the conduit such that, in use, a fluid flowing along said conduit applies a driving force to the inspection apparatus to propel the apparatus along said conduit.

[0043] In some examples the inspection assembly further comprises first and second sealing members attached to the main body, each of the first and second sealing members forming a seal against said internal surface of the conduit such that, in use, a fluid flowing along said conduit applies a driving force to the inspection apparatus to propel the apparatus along said conduit. Preferably, the first sealing member is part of a first sealing assembly disposed between the first array of light emitters and the first end of the inspection apparatus, and the second sealing member is part of a second sealing assembly disposed between the second array of light emitters and a second end of the inspection apparatus. In these examples, the first reflection surface may be provided by a surface of the first sealing assembly and the second reflection surface may be provided by a surface of the second sealing assembly.

[0044] Each of the first reflection surface and second reflection surface preferably has a reflective coating.

[0045] Preferred and / or optional features of each aspect described above may also be used, alone or in appropriate combination, in the other aspects also.

[0046] BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The invention will now be further described by way of example only and with reference to the accompanying drawings, in which like reference signs are used for like features, and in which:

[0048] Figure 1 is a perspective view of a conduit inspection assembly according to a preferred embodiment of the invention;

[0049] Figure 2 is a further perspective view of the conduit inspection assembly of Figure 1 ;

[0050] Figure 3 is a side view of the conduit inspection assembly of Figure 1 ;

[0051] Figure 4 is a cross-sectional view of the conduit inspection assembly of Figure 1 ;

[0052] Figure 5 is a perspective view of a further sub-assembly of the conduit inspection assembly of Figure 1 including a control module;

[0053] Figure 6 is a perspective view of a sub-assembly of the conduit inspection assembly of Figure 1 including an imaging module;

[0054] Figure 7 is a sectional view along the line VII-VII of Figure 3 showing a camera and light source of the imaging module;

[0055] Figure 8 is a side view of a conduit inspection assembly according to a second embodiment of the present invention; and Figure 9 is a second view of a conduit inspection assembly according to a further embodiment of the present invention.

[0056] DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0057] The present invention provides an inspection assembly 10 for inspecting an internal surface of a conduit. The inspection assembly 10 includes at least one sealing member 74 for sealing against the internal surface of the conduit such that a flow of fluid through the conduit applies a driving force to the sealing member 74 to drive or propel the inspection assembly 10 through the conduit. A longitudinal axis 12 of the inspection assembly is preferably generally parallel to a direction of movement of the inspection assembly 10 through the conduit during use.

[0058] The inspection assembly 10 is configured to capture images of the internal surface as the inspection assembly 10 travels or moves through the conduit. The inspection assembly 10 preferably includes a side view camera 42. The side view camera 42 is oriented such that an optical axis of the camera 42 extends in a direction transverse to the longitudinal axis 12 of the inspection assembly 10. In preferred embodiments the optical axis of the camera 42 is substantially perpendicular to the longitudinal axis.

[0059] Figures 1 to 4 illustrate a conduit inspection assembly 10 according to a preferred embodiment of the present invention. The conduit inspection assembly 10 comprises a plurality of modules 20, 30, 40 coupled together along a longitudinal direction of the inspection assembly 10. The inspection assembly further comprises a plurality of sealing members 74. The inspection assembly 10 is configured to be deployed through a conduit to inspect an internal surface of the conduit. The sealing members 74 are dimensioned to seal against the internal surface of the conduit such that a flow of fluid through the conduit applies a force to the sealing members 74 to propel the inspection assembly 10 through the conduit.

[0060] In the illustrated embodiment the conduit inspection assembly 10 comprises an imaging module 40, a control module 30, and a power module 20. The power module 20 comprises a power supply 22 for the inspection assembly 10, which in this embodiment is in the form of a battery 22. The imaging module 40 comprises a camera 42 arranged to image the internal surface of the conduit and a light source 46 configured to illuminate the internal surface of the conduit across the field of view of the camera 42. The control module 30 comprises circuitry 32 configured to control power supplied from the power module 20 to the imaging module 40. The circuitry 32 is preferably also configured to handle image data captured by the camera 42. The circuitry 32 may store the image data in a memory of the control module 30. The circuitry 32 may additionally process the image data before saving in the memory. In other embodiments the control module 30 may include a transmitter arranged to transmit image data from the inspection assembly 10 to a location remote from the inspection assembly 10.

[0061] Each of the imaging module 40, the control module 30, and the power module 20 preferably includes at least one sealing member 74. The sealing member 74 is preferably in the form of a sealing disc 74 having a generally circular circumferential edge.

[0062] In this embodiment the power module 20 comprises a housing 24 that surrounds and protects the power supply 22. The housing 24 is preferably tubular, having an internal space within which the power supply 22 is mounted. The housing 24 extends between first and second ends 26, 28, and a longitudinal axis of the housing 24 is defined by and extends between the first and second ends 26, 28.

[0063] In this embodiment a first sealing assembly 70 is disposed at or proximate the first end 26 of the housing 24 and a second sealing assembly 72 is disposed at or proximate the second end 28 of the housing 24. Each of the first and second sealing assemblies 70, 72 preferably includes a sealing member 74 in the form of a flexible sealing disc 74, a guide disc 76, and a spacer 78 disposed between the sealing disc 74 and the guide disc 76.

[0064] The sealing disc 74 is a generally planar disc having a circular cross-sectional shape. An outer diameter of the sealing disc 74 is preferably selected to be approximately the same as an internal diameter of the conduit through which the inspection assembly 10 is to be deployed. In this way, in use, the outer edge of the sealing disc 74 contacts and seals against the internal surface of the conduit. To allow the sealing disc 74 to accommodate roughness of the internal surface of the conduit, and other features that may protrude from the internal surface into the bore of the conduit, the sealing disc 74 is preferably flexible to allow the disc 74 to deform or bend around these features. It some embodiments it may be preferable for the outer diameter of the sealing disc 74 to be slightly greater than the internal diameter of the conduit, such that deflection of the sealing disc 74 occurs and increases the tightness of the seal between the sealing disc 74 and the internal surface of the conduit.

[0065] The guide disc 76 is preferably in the form of a toothed disc, having a plurality of radially extending protrusions. Notches or gaps between the protrusions around the circumferential edge of the guide disc 76 allow a flow of fluid past the guide disc 76 when the inspection assembly 10 is disposed in the conduit. The guide disc 76 preferably has a smaller diameter than the sealing disc 74. The guide disc 76 may be more rigid than the sealing disc 74. In some embodiments the guide disc 76 may be made of the same material as the sealing disc 74, but may be thicker than the sealing disc 74. In other embodiments the guide disc 76 may be made of a different material to the sealing disc 74.

[0066] In use, as the inspection assembly 10 is travelling through the conduit, the guide discs 76 may help to retain the inspection assembly 10 centrally within the conduit such that a longitudinal axis of the inspection assembly 10 is generally or substantially co-axial with a centreline of the conduit. The guide discs 76 help to maintain the correct location of the inspection assembly 10 within the conduit even if significant deflection of the sealing discs 74 occurs.

[0067] The spacer 78 defines and maintains a gap between the sealing disc 74 and the guide disc 76 in a longitudinal direction.

[0068] Each sealing assembly 70, 72 further comprises a pair of flanges 80 between which the sealing disc 74, guide disc 76 and spacer 78 are clamped. In some embodiments the flanges 80, and sealing assembly 70, 72, are permanently attached to the housing 24 of the power module 20. In preferred embodiments, however, the sealing assembly 70, 72 is, at least partially, removeable and replaceable with a different sealing assembly 70, 72. This might be required, for example, if a sealing disc 74 is damaged. In some embodiments the complete sealing assembly 70, 72 including the flanges 80 may be removably secured to the housing 24. In other embodiments, a first one of the flanges 80 may be permanently secured to the housing 24, and mechanical fasteners, such as bolts, may be used to secure the sealing disc 74, guide disc 76, spacer 78 and a second one of the flanges 80 to the first flange 80.

[0069] In the illustrated embodiment the first sealing assembly 70 is arranged such that the sealing disc 74 is further from the first end 26 of the housing 24 and the guide disc 76 is closer to the first end 26 of the housing 24. Similarly, the second sealing assembly 72 is arranged such that the sealing disc 74 is further from the second end 28 of the housing 24 and the guide disc 76 is closer to the second end 28 of the housing 24.

[0070] In this embodiment a power connector 60 is provided at the second end 28 of the housing 24 for forming an electrical power connection to the control module 30.

[0071] Referring additionally to Figure 5, the control module 30 comprises circuitry 32 for controlling the operation of the imaging module 40. The circuitry 32 may comprise circuitry configured to control functions of the camera 42 and circuitry configured to control functions of the light source 46. The control module 30 preferably comprises memory for storing images captured by the camera 42. The memory may also store pre-determined or pre-configured control data. In some embodiments the control data may be accessed, for example by means of a lookup table, to select settings for the camera 42 and light source 46 dependent on input data. The input data may be acquired from a sensor and the input data may be a position of the inspection assembly 10 or a speed of movement of the inspection assembly 10. The input data may be user input data, for example specifying a diameter of the conduit or the type of fluid in the conduit. The control module 30 may also comprise image processing software. The image processing software may be configured to perform some initial processing of the images captured by the camera 42 before the processed images are stored in the memory.

[0072] The circuitry 32, memory and other components of the control module 30 are housed within a housing 34 of the control module 30. The housing 34 is preferably tubular, having an internal space within which the circuitry 32 is mounted. The housing 34 extends between first and second ends 36, 38, and a longitudinal axis of the housing 34 is defined by and extends between the first and second ends 36, 38. In preferred embodiments an external diameter of the housing 34 of the control module 30 is equal to an external diameter of the housing 24 of the power module 20.

[0073] The housing 34 may include a removable cover 35 extending over an aperture in the housing 34. The aperture may provide access to a port 33 providing a data connection. In use, a user may detach the cover 35 and make a suitable connection to the port 33 to allow a transfer of image data (and other data) between the control module 30 and an external computer or similar. Image data may be downloaded from the memory of the control module 30 to an external data storage medium when the inspection assembly 10 has completed its journey through the conduit. This allows the image data to be further processed at a remote location as required.

[0074] In this embodiment a first sealing assembly 70 is disposed at or proximate the first end 36 of the housing 34 and a second sealing assembly 72 is disposed at or proximate the second end 38 of the housing 34. Each of the first and second sealing assemblies 70, 72 of the control module 30 is identical to the respective first or second sealing assembly 70, 72 described above in relation to the power module 20.

[0075] In the illustrated embodiment the first sealing assembly 70 is arranged such that the sealing disc 74 is further from the first end 36 of the housing 34 and the guide disc 76 is closer to the first end 36 of the housing 34. Similarly, the second sealing assembly 72 is arranged such that the sealing disc 74 is further from the second end 38 of the housing 34 and the guide disc 76 is closer to the second end 38 of the housing 34.

[0076] In this embodiment a power connector 62 is provided at the first end 36 of the housing 34 for forming an electrical power connection to the power module 20. Although not illustrated, a power cable preferably connects the power connector 60 at the second end 28 of the housing 24 of the power module 20 to the power connector 62 at the first end 36 of the housing 34 of the control module 30. In this embodiment a power connector 64 and a data connector 65 are provided at the second end 38 of the housing 34 of the control module 30.

[0077] Referring additionally to Figures 6 and 7, the imaging module 40 comprises a main body 48 to which the camera 42 and the light source 46 is mounted. The main body 48 is preferably elongate, extending along a longitudinal axis between first and second ends 50, 52.

[0078] In this embodiment the imaging module 40 comprises a plurality of side view cameras 42 forming a camera array 44. The side view cameras 42 are spaced apart around a circumference of the main body 48. In the illustrated example the cameras 42 are aligned along the longitudinal axis of the main body 48. The side view cameras 42 are each oriented such that an optical axis of the camera 42 extends in a direction transverse to the longitudinal axis of the main body 48. In preferred embodiments the optical axis of each camera 42 is substantially perpendicular to the longitudinal axis.

[0079] Preferably the cameras 42 each have a wide angle of view. In some embodiments the cameras 42 have an angle of view of greater than 100°, and more preferably greater than 120°. The camera positions and the angle of view of each of the cameras 42 are selected such that the cameras 42 are able to cover a full 360° view of the internal surface of the conduit. In particular, the fields of view of the cameras 42 preferably overlap to allow stitching of the images from the cameras 42 during processing of the images to create a full 360° view of the internal surface of the conduit. In this embodiment the imaging module 40 comprises four cameras 42 spaced 90° apart around the circumference of the main body 48.

[0080] The imaging module 40 is preferably arranged to be able to capture a full 360° view of the internal surface of conduits having different internal diameters. The imaging module 40 may be arranged to image an internal surface between 5 cm and 20 cm away from the image sensor of the camera 42. More preferably the imaging module 40 is arranged to image an internal surface between 7 cm and 15 cm away from the image sensor of the camera 42.

[0081] The cameras 42 are preferably video cameras capturing a series of images at a specified frame rate. The images captured by the cameras 42 may be colour or greyscale.

[0082] In this embodiment the light source 46 comprises a first lighting array 54 and a second lighting array 56. The first lighting array 54 is disposed between the camera array 44 and the first end 50 of the main body 48, and the second lighting array 56 is disposed between the camera array 44 and the second end 52 of the main body 48. Each of the first and second lighting arrays 54, 56 preferably comprises a plurality of light emitters 58 spaced around a circumferential surface of the main body 48.

[0083] The light source 46 is arranged to illuminate the field of view of each of the cameras 42. Accordingly, the light emitters 58 may be angled such that a centre line or optical axis of a beam of light emitted by each light emitter 58 is at an angle of less than 90° to the longitudinal axis of the main body 48. In embodiments including a first lighting array 54 on a first side of the camera array 44 and a second lighting array 56 on a second side of the camera array 44, the light emitters 58 of the first and second lighting arrays 54, 56 are preferably angled such that the centre lines or optical axes of the beams of light emitted by the light emitters 58 of the first lighting array 54 and the beams of light emitted by the light emitters 58 of the second lighting array 56 are convergent. Each of the first lighting array 54, second lighting array 56 and camera array 44 are preferably covered and protected by an optical window 90. A first lighting window 92 preferably surrounds the first lighting array 54, such that light emitted by the first lighting array 54 passes through the first lighting window 92 before illuminating the field of view of the camera array 44. Similarly, a second lighting window 94 preferably surrounds the second lighting array 58, such that light emitted by the second lighting array 58 passes through the second lighting window 94 before illuminating the field of view of the camera array 44. An imaging window 96 surrounds the camera array 44, such that light from the field of view passes through the imaging window 96 before entering a lens of the camera 42. Each optical window 90 (first lighting window 92, second lighting window 94, imaging window 96) is made of an optically transparent or translucent, or optically clear, material. Each optical window 90 may be made of acrylic, glass or sapphire.

[0084] In preferred embodiments each of the first lighting window 92, second lighting window 94 and imaging window 96 are tubular, having an annular cross-section. Preferably a first circumferential sealing element 98 is disposed between the first lighting window 92 and a first side of the imaging window 96 and a second circumferential sealing element 98 is disposed between the second lighting window 94 and a second side of the imaging window 96. Additional sealing elements are preferably present between the main body 48 of the imaging module 40 and each of the first lighting window 92, second lighting window 94 and imaging window 96.

[0085] It will be appreciated that the circumferential sealing elements 98 act to block light emitted from the lighting arrays 54, 56 entering the imaging window 96 directly, before being reflected by the internal surface of the conduit or other feature within the field of view of the camera array 44.

[0086] In other embodiments the first lighting window, second lighting window and imaging window may be parts of a single, or unitary, optical window. The unitary optical window preferably extends over and surrounds the camera array and the light source. The unitary optical window may be tubular. In this embodiment a first sealing assembly 70 is disposed at or proximate the first end 50 of the main body 48 and a second sealing assembly 72 is disposed at or proximate the second end 52 of the main body 48. Each of the first and second sealing assemblies 70, 72 of the imaging module 40 is identical to the first and second sealing assemblies 70, 72 described above in relation to the power module 20.

[0087] In the illustrated embodiment the first sealing assembly 70 is arranged such that the sealing disc 74 is closer to the first end 50 of the main body 48 and the guide disc 76 is further from the first end 50 of the main body 48. Similarly, the second sealing assembly 72 is arranged such that the sealing disc 74 is closer to the second end 52 of the main body 48 and the guide disc 76 is further from the second end 52 of the main body 48.

[0088] In this embodiment a power connector 66 and a data connector 67 are provided at the first end 50 of the main body 48 of the imaging module 40. Although not illustrated, a power cable preferably connects the power connector 66 at the first end 50 of the main body 48 of the imaging module 40 to the power connector 64 at the second end 38 of the housing 34 of the control module 30 for forming an electrical power connection between the control module 30 and the imaging module 40. Similarly, a data cable preferably connects the data connector 67 at the first end 50 of the main body 48 of the imaging module 40 to the data connector 65 provided at the second end 38 of the housing 34 of the control module 30 to provide a connection for data transfer between the control module 30 and the imaging module 40.

[0089] The power module 20, control module 30 and imaging module 40 are connected end-to-end to form the complete inspection assembly 10. In this embodiment the first end 36 of the control module 30 is connected to the second end 28 of the power module 20, and the first end of the imaging module 40 is connected to the second end 38 of the control module 30. In other embodiments the modules 20, 30, 40 may be arranged in any desired order. It will be appreciated that this end-to-end arrangement of the modules 20, 30, 40 results in the length of the complete inspection assembly 10 being significantly greater than a maximum outer diameter (defined by the outer diameter of the sealing discs 74). A length of the inspection assembly 10, in the longitudinal direction, may be at least five times greater than the outer diameter.

[0090] To allow the inspection assembly 10 to travel through a conduit including bends, the inspection assembly 10 is preferably divided into a first sub-assembly 100 and a second sub-assembly 102. A coupling 110 between the first and second subassemblies 100, 102 permits movement of the first sub-assembly 100 relative to the second sub-assembly 102 such that, in use, an angle between a longitudinal axis of the second sub-assembly 102 and a longitudinal axis of the first sub-assembly 100 may be greater than zero.

[0091] The first sub-assembly 100 comprises one or more of the imaging module 40, control module 30 and power module 20, and the second sub-assembly 102 comprises one or more of the imaging module 40, control module 30 and power module 20. For example, the first sub-assembly 100 may include the power module 20 and the control module 30 and the second sub-assembly 102 may include the imaging module 40. Such an embodiment is illustrated in Figure 8. Alternatively, the first sub-assembly 100 may include the power module 20 and the second subassembly 102 may include the imaging module 40 and the control module 30.

[0092] In the embodiment illustrated in Figures 1 to 7 the inspection assembly 10 comprises a first sub-assembly 100, a second sub-assembly 102 and a third sub-assembly 104. The first sub-assembly 100 comprises the power module 20. In this embodiment the first sub-assembly 100 also comprises first and second sealing assemblies 70, 72. The second sub-assembly 102 comprises the control module 30. In this embodiment the second sub-assembly 102 also comprises first and second sealing assemblies 70, 72. The third sub-assembly 104 comprises the imaging module 40. In this embodiment the third sub-assembly 104 also comprises first and second sealing assemblies 70, 72. A first coupling 110 is disposed between and connects the first sub-assembly 100 to the second sub-assembly 102. A second coupling 112 is disposed between and connects the second sub-assembly 102 to the third sub-assembly 104. The first coupling 110 permits movement of the first sub-assembly 100 relative to the second sub-assembly 102 such that, in use, an angle between a longitudinal axis of the second sub-assembly 102 and a longitudinal axis of the first sub-assembly 100 may be greater than zero. The second coupling 112 permits movement of the second sub-assembly 102 relative to the third sub-assembly 104 such that, in use, an angle between a longitudinal axis of the second sub-assembly 102 and a longitudinal axis of the third sub-assembly 104 may be greater than zero. The first coupling 110 and the second coupling 112 are independent of each other such that an angle between the longitudinal axes of the first and second sub-assemblies 100, 102 may be different to an angle between the longitudinal axes of the second and third subassemblies 102, 104.

[0093] It will, therefore, be understood that each sub-assembly of the inspection assembly 10 is defined between an end of the inspection assembly 10 and a coupling, or between two couplings. The sub-assemblies therefore correspond to rigid sections of the inspection assembly 10 each having a defined longitudinal axis.

[0094] Each coupling 110, 112 in the inspection assembly 10 is preferably a variable angle coupling permitting 360° rotation. Each coupling 110, 112 may comprise a universal joint.

[0095] In the embodiment illustrated in Figures 1 to 7 each of the first lighting window 92, second lighting window 94 and imaging window 96 are annular and have a radially inner surface and a radially outer surface. The radially outer surface defines an outer diameter of each of the windows 92, 94, 96. In this embodiment the outer diameter of each of the first lighting window 92, second lighting window 94 and imaging window 96 is the same such that the outer surfaces of each of the first lighting window 92, second lighting window 94 and imaging window 96 are aligned.

[0096] Preferably a thickness of each of the first lighting window 92, second lighting window 94 and imaging window 96, i.e. a distance between the inner surface and the outer surface in the radial direction, is the same. In other embodiments a thickness of the imaging window 96’ in a radial direction may be greater than a thickness of each of the first lighting window 92 and second lighting window 94.

[0097] A further embodiment of an inspection assembly is illustrated in Figure 9. In this embodiment the outer diameter of the imaging window 96’ is greater than the outer diameter of the light windows 92, 94. In this way, an outer surface of the imaging window 96’ furthest from the camera 42 is disposed in front of outer surfaces of the lighting windows 92, 94 in a direction parallel to the optical axis of the camera 42. In other words, the outer surfaces of the lighting windows 92, 94 are offset rearwardly from the outer surface of the imaging window 96’ in a direction parallel to the optical axis of the camera 42. In these embodiments the image sensors of the cameras 42 may be disposed at a greater radial distance from the longitudinal axis of the main body than the light emitters 58.

[0098] Such an increase in the outer diameter of the imaging window 96’ may be advantageous if the inspection assembly 10 is used to inspect a conduit through which non-optically clear fluid is flowing. In these instances the imaging window 96’ would displace a volume of fluid that would otherwise be disposed in front of the camera array 44, thereby reducing the distance through the fluid that light travels from the internal surface of the conduit within the field of view of the camera to the camera 42.

[0099] Accordingly, in embodiments in which the outer diameter of the imaging window 96’ is greater than an outer diameter of each of the first lighting window 92 and second lighting window 94, the imaging window 96’ protrudes radially outwards from the first and second lighting windows 92, 94. In some embodiments, therefore, at least a part of the first and second sides of the imaging window 96’ may be exposed. In these embodiments, in use, a fraction of the light emitted by the first lighting array 54 will strike the exposed first side of the imaging window 96’ and be reflected in a direction generally away from the field of view of the camera 42, and a fraction of the light emitted by the second lighting array 56 will strike the exposed second side of the imaging window 96’ and be reflected in a direction generally away from the field of view of the camera 42.

[0100] In some embodiments in which the outer diameter of the imaging window 96’ is greater than an outer diameter of the first and second lighting windows 92, 94 it may be advantageous to angle the light emitters 58 so that the centre lines or optical axes of the beams of light emitted by the light emitters 58 of the first lighting array 54 and the beams of light emitted by the light emitters 58 of the second lighting array 56 diverge. The first lighting array 54 will, therefore, preferably emit light in a direction generally towards the first sealing assembly 70, and the second lighting array 56 will, therefore, preferably emit light in a direction generally towards the second sealing assembly 72.

[0101] It may, therefore, be advantageous if each of the first and second sealing assemblies 70, 72 include a reflective surface towards which the emitted light from each of the first and second lighting arrays 54, 56 respectively could be directed. In some embodiments each of the guide discs 76 includes a reflective surface.

[0102] As described above, the first and second sealing assemblies 70, 72 of the imaging module 40 are preferably arranged such that the sealing discs 74 are disposed closer to the first and second ends 50, 52 of the imaging module 40 and the guide discs 76 are closer together than the sealing discs 74. First surfaces of the guide discs 76 face towards each other and opposite second surfaces of the guide discs 76 face away from each other and in a direction towards the respective end 50, 52 of the imaging module 40.

[0103] In embodiments in which the light emitters 58 of the first lighting array 54 are angled to emit light in a direction generally towards the first sealing assembly 70, a fraction of the light from the first lighting array 54 is incident on and is reflected by the first surface of the guide disc 76 of the first sealing assembly 70. Similarly, in embodiments in which the light emitters 58 of the second lighting array 72 are angled to emit light in a direction generally towards the second sealing assembly 72, a fraction of the light from the second lighting array 56 is incident on and is reflected by the first surface of the guide disc 76 of the second sealing assembly 72. In some embodiments, therefore, it may be desirable to provide a reflective coating on the first surface of each of the guide discs 76 of the imaging module 40. The reflective coating may be in the form of a layer of paint or a metallic layer formed on the surface of the guide disc 76.

[0104] It is advantageous to arrange the sealing assemblies 70, 72 of the imaging module 40 in this way, such that the guide discs 76 are disposed closer than the sealing discs 74 to the first and second lighting arrays 54, 56, because light from the light emitters 58 will be reflected by a surface of the guide discs 76 rather than a surface of the sealing discs 74. This is advantageous because the guide discs 76 are preferably less flexible than the sealing discs 74 and are not deflected through contact with the internal surface of the conduit. This means that the reflection of light by the guide discs 76 will be more consistent and invariable, resulting in more even and predictable illumination of the fields of view of the cameras 42.

[0105] In some embodiments it may be desirable to angle the first and second lighting arrays such that a centreline of the emitted light extends in a direction towards a respective one of the sealing assemblies and light is reflected by a surface of the sealing assembly even if the outer surfaces of the first lighting window 92, second lighting window 94 and imaging window 96 are aligned. This may allow more even illumination of the field of view of the camera array. This may be advantageous if the inspection assembly 10 is deployed in a fluid in which a lot of particles are suspended.

[0106] In use, the inspection assembly 10 of the present invention is deployed in a conduit through which a fluid is flowing. The fluid may be a liquid or a gas. The fluid may be optically clear, or may have poor fluid clarity. The fluid may include suspended particles or other matter.

[0107] As described above, the diameter of the sealing discs 74 are selected so that they form a seal against an internal surface of the conduit. Each sealing disc 74 may form part of a replaceable sealing assembly 70, 72, allowing a user to attach the correct sealing assembly 70, 72 having a sealing disc 74 with the correct diameter, dependent on the size of the conduit to be inspected. Accordingly, a kit may be provided that includes first and second smaller sealing assemblies, and first and second larger sealing assemblies. Each smaller sealing assembly preferably comprises a sealing member having a first diameter, and each larger sealing assembly preferably comprises a sealing member having a second diameter, larger than the first diameter. Each of the first and second smaller sealing assemblies and each of the first and second larger sealing assemblies preferably includes an attachment element for securing the respective sealing assembly to one of the first and second sub-assemblies.

[0108] In preferred embodiments the inspection assembly 10 is deployed through the conduit with the imaging module 40, and therefore the camera 42, towards a rear of the inspection assembly 10. Preferably the camera 42 is disposed closer to a rear end than to a front end of the inspection assembly 10 relative to a direction of travel of the inspection assembly 10 through the conduit. It has been found that turbulence of the fluid within the field of view of the camera 42 is reduced if the camera 42 is disposed towards the rear of the inspection assembly 10 compared to the camera 42 being disposed at the front of the inspection assembly 10.

[0109] While in the above description each module and each sub-assembly of the inspection assembly 10 included two sealing assemblies, in other embodiments each module or each sub-assembly may only include a single sealing assembly or sealing disc. In particular, it may be advantageous if each sub-assembly includes a single sealing disc. Each sub-assembly may further include a centraliser for maintaining the correct orientation and positioning of the inspection assembly as it travels through the conduit.

[0110] In some embodiments the imaging module may include a single sealing disc. The single sealing disc of the imaging module is preferably disposed forwards of the camera with respect to a direction of travel of the imaging module through the conduit. A centraliser may be disposed rearward of the camera with respect to a direction of travel of the imaging module through the conduit. Although in the preceding description the imaging window and lighting windows were described as surrounding the camera array and lighting arrays respectively, it will be appreciated that in some embodiments the imaging module includes a single camera and a single light source (which may be a single light emitter). In these embodiments the imaging window and lighting window may be of any suitable size and shape. Importantly the size and shape of the lighting window is such that light emitted by the light source passes through the lighting window before illuminating the field of view of the camera. Similarly, the size and shape of the imaging window is such that light from the field of view passes through the imaging window before entering a lens of the camera.

[0111] References to conduit in the preceding description will include any conduit through which a fluid flows, suitable for receiving an inspection assembly 10. The conduit may otherwise be referred to as a pipe, pipeline, tube, channel, borehole, oil well, gas well, casing or cased-hole. The conduit may extend generally horizontally or generally vertically. The conduit may be above-ground, below-ground, or below sea level. The internal surface of the conduit may comprise natural materials such as rock, or other materials such as metals, ceramics or polymers.

[0112] The inspection assembly 10 of the present invention may be used to inspect conduits, for example pipelines, during routine inspections, during decommissioning operations, during cleaning of the conduit, or if a defect in the conduit is suspected or has been identified through other techniques, for example. The camera 42 of the inspection assembly 10 may be used to visualise, in or on an internal surface of a conduit, scale, corrosion, or other defects. In one exemplary example, the inspection apparatus may be used to visualise the extent of scale within a pipeline and the cleanliness of a pipeline during a decommissioning and repurposing operation.

[0113] Other modifications and variations not explicitly disclosed above may also be contemplated without departing from the scope of the invention as defined in the appended claims.

Claims

CLAIMS1. An inspection assembly for viewing an internal surface of a pipeline comprising: an imaging module including a camera and a light source, the light source being arranged to illuminate said internal surface of said pipeline, and the camera being arranged such that, in use, the camera captures image data of said internal surface of said pipeline; a control module including circuitry for handling image data captured by the camera; a power module comprising a power supply; a first sub-assembly comprising one or more of the imaging module, control module and power module, the first sub-assembly having a longitudinal axis extending between first and second ends of the first sub-assembly; a second sub-assembly comprising one or more of the imaging module, control module and power module, the second sub-assembly having a longitudinal axis extending between first and second ends of the second sub-assembly; and a coupling connecting the second end of the first sub-assembly to the first end of the second sub-assembly, the coupling permitting movement of the first subassembly relative to the second sub-assembly such that, in use, an angle between the longitudinal axis of the second sub-assembly and the longitudinal axis of the first sub-assembly may be greater than zero, wherein, at least one of the first and second sub-assemblies includes a sealing member arranged to seal against said internal surface of the pipeline such that, in use, a fluid flowing along said pipeline applies a driving force to the inspection assembly to propel the inspection assembly along said pipeline.

2. An inspection assembly according to Claim 1 , wherein, each of the first and second sub-assemblies includes a sealing member arranged to seal against said internal surface of the pipeline such that, in use, a fluid flowing along said pipeline applies a driving force to the inspection assembly to propel the inspection assembly along said pipeline.

3. An inspection assembly according to Claim 1 or Claim 2, further comprising a third sub-assembly including a sealing member arranged to seal against said internal surface of the pipeline, wherein each of the first, second and third subassemblies includes a different one of the power module, control module and imaging module, and wherein the coupling connecting the second end of the first sub-assembly to the first end of the second sub-assembly is a first coupling and the inspection assembly comprises a second coupling connecting the second end of the second sub-assembly to the first end of the third sub-assembly, the second coupling permitting movement of the third sub-assembly relative to the second sub-assembly such that, in use, an angle between the longitudinal axis of the second subassembly and a longitudinal axis of the third sub-assembly may be greater than zero.

4. An inspection assembly according to Claim 3, wherein the first sub-assembly comprises the power module, the second sub-assembly comprises the control module and the third sub-assembly comprises the imaging module.

5. An inspection assembly according to Claim 3 or Claim 4, wherein the third sub-assembly includes a sealing member arranged to seal against said internal surface of the pipeline such that, in use, a fluid flowing along said pipeline applies a driving force to the inspection assembly to propel the inspection assembly along said pipeline.

6. An inspection assembly according to any one of Claims 1 to 5, in which the coupling, or each of the first and second couplings, comprises a universal joint.

7. An inspection assembly according to any one of Claims 1 to 6, in which the sealing members are in the form of sealing discs, and wherein each sub-assembly includes two sealing discs.

8. An inspection assembly according to Claim 7, in which, in each subassembly, the sealing discs are spaced apart longitudinally and a distance betweenthe sealing discs in the longitudinal direction is greater than a diameter of each of the sealing discs.

9. An inspection assembly according to any one of Claims 1 to 6, in which each sealing member is part of a sealing assembly, wherein in each sub-assembly a first sealing assembly is disposed at the first end of the sub-assembly and a second sealing assembly is disposed at the second end of the sub-assembly, and wherein each sub-assembly includes a housing or main body disposed between the first and second sealing assemblies.

10. An inspection assembly according to Claim 9, in which the first sealing assembly is removably connected to the first end of the sub-assembly and the second sealing assembly is removably connected to the second end of the subassembly.

11. An inspection assembly according to any one of Claims 1 to 10, in which an optical axis of the camera extends in a direction transverse to the longitudinal axis of the sub-assembly within which the imaging module is disposed.

12. An inspection assembly according to Claim 11 , wherein the imaging module comprises a plurality of cameras, and the cameras are arranged such that the fields of view of the cameras overlap to capture a 360° circumferential view of said internal surface of said pipeline.

13. An inspection assembly according to Claim 11 or Claim 12, in which the imaging module comprises a first light source disposed between the camera or each camera and the first end of the sub-assembly and a second light source disposed between the camera or each camera and the second end of the sub-assembly.

14. A kit for providing an inspection assembly for viewing an internal surface of a pipeline, the kit comprising: an imaging module including a camera and a light source, the light source being arranged to illuminate said internal surface of said pipeline, and the camerabeing arranged such that, in use, the camera captures image data of said internal surface of said pipeline; a control module including circuitry for handling image data captured by the camera; a power module comprising a power supply; a first sub-assembly comprising one or more of the imaging module, control module and power module, the first sub-assembly having a longitudinal axis extending between first and second ends of the first sub-assembly; a second sub-assembly comprising one or more of the imaging module, control module and power module, the second sub-assembly having a longitudinal axis extending between first and second ends of the second sub-assembly; a coupling connecting the second end of the first sub-assembly to the first end of the second sub-assembly, the coupling permitting movement of the first subassembly relative to the second sub-assembly such that, in use, an angle between the longitudinal axis of the second sub-assembly and the longitudinal axis of the first sub-assembly may be greater than zero; first and second smaller sealing assemblies, each smaller sealing assembly comprising a sealing member having a first diameter; and first and second larger sealing assemblies, each larger sealing assembly comprising a sealing member having a second diameter larger than the first diameter, wherein each of the first and second smaller sealing assemblies and each of the first and second larger sealing assemblies includes an attachment element for securing the respective sealing assembly to one of the first and second subassemblies.

15. A method of capturing images of an internal surface of a pipeline comprising: deploying an inspection assembly according to any one of Claims 1 to 13 in a pipeline through which a fluid is flowing; and capturing images of the internal surface of the pipeline using the camera of the inspection assembly as the inspection assembly moves through the pipeline.

16. A method according to Claim 15, further comprising storing the imagescaptured by the camera in a memory of the inspection assembly.

Images