US 11,097,428 B2 · Underwater pipeline inspection crawler

Abstract

A system for underwater inspection including an inspection crawler are provided. The inspection crawler includes a housing having first and second sides, a power source, a controller, an inspection tool, at least two driving wheels, and a moveable center of gravity. A method for traversing a weld joint with the inspection crawler having a moving mass is also provided. In the method, the crawler is parked proximate to the joint, and the mass is slid along a slide rail to the second end of the crawler distal to the joint. The first end of the crawler is then propelled over the joint and the mass is slid to the center of the crawler. A center portion of the crawler is then propelled over the joint and the mass is slid to the first end of the crawler. The second end of the crawler is then propelled over the joint.

Claims15

Dependent claims

A system for underwater inspection, comprising:

an inspection crawler having:
a housing having a first side and an opposing second side, a power source, and a controller,
at least one inspection tool operatively connected to the housing,
at least two pairs of driving wheels attached to a bottom portion of the housing and being configured to propel the inspection crawler across a surface of a pipeline, and
a moveable center of gravity, wherein the moveable center of gravity is configured to selectively move along a sliding rail positioned within the housing during traverse across an obstacle on the surface of the pipeline,
wherein the obstacle is a weld joint and wherein a distance between one pair of the driving wheels and another pair of the driving wheels is longer than a width of the weld joint;
and
at least one remotely operated vehicle (ROV), wherein the inspection crawler is configured to operate as a docking station for the ROV or to connect to the ROV.

5 more elements

A method for traversing a weld joint along a surface of an underwater pipeline with an inspection crawler having a housing comprising a first end and a second end, a sliding rail located along the length of the housing from the first end to the second end and positioned within the housing, a moving mass configured to slide along the sliding rail to change the center of gravity of the inspection crawler, and at least two pairs of driving wheels operatively attached to a bottom surface of the inspection crawler, wherein a distance between one pair of the driving wheels and another pair of the driving wheels is longer than a width of the weld joint, the method comprising:

parking the inspection crawler at a location proximate to the weld joint;
sliding the mass along the slide rail to a position that is substantially at the second end of the inspection crawler, wherein the second end of the inspection crawler is distal to the weld joint relative to the first end of the inspection crawler;
propelling the first end of the inspection crawler over the weld joint;
sliding the mass along the sliding rail to a position that is substantially in the center of the inspection crawler;
propelling a center portion of the inspection crawler over the weld joint;
sliding the mass along the sliding rail to a position that is substantially at the first end of the inspection crawler;
and
propelling the second end of the inspection crawler over the weld joint.

5 more elements

Dependencies are inferred from the claim text.

Underwater pipeline inspection crawler

Life of this patent

Underwater pipeline inspection crawler

Life of this patent

Abstract

Claims15