WO2025058643A1

WO2025058643A1 - Movable inspection system for a pipe

Info

Publication number: WO2025058643A1
Application number: PCT/US2023/074123
Authority: WO
Inventors: Antonio C.F. CRITSINELIS; Sid A. MEBARKIA; Yiannis Constantinides; Menno Patrick Jonker VAN DER HORST; Baha Tulu TANJU; Richard Clark MCNEALY
Original assignee: Chevron USA Inc
Current assignee: Chevron USA Inc
Priority date: 2023-09-13
Filing date: 2023-09-13
Publication date: 2025-03-20
Anticipated expiration: 2026-03-13

Abstract

An inspection system for inspecting a pipe is configured to be attached to an exterior of the pipe and to move along a length of the pipe collecting data. The inspection system includes a sensor system with one or more sensors that collect the data from the pipe. The inspection system further includes a propulsion system that moves the inspection system along the length of the pipe. Additionally, the inspection system includes a control system that controls the operation of the propulsion system and the operation of the sensor system.

Description

MOVABLE INSPECTION SYSTEM FOR A PIPE

TECHNICAL FIELD

[0001] Embodiments of the technology relate generally to inspecting and monitoring a pipe environment using a movable inspection system.

BACKGROUND

[0002] Pipelines are commonly used to transport fluids, including water, gasses, and petroleum products on land as well as underwater. Pipelines include tubular pipe components that can include straight and bent sections of pipe, as well as sections with more complex geometries such as reducers, expanders, elbow joints, and tee joints. In subsea pipelines that transport hydrocarbons, the pipelines typically include horizontal sections as well as risers which are pipe components engineered to transport fluids vertically between the seafloor and facilities at the water’s surface such as drilling or production facilities.

[0003] Pipelines typically are manufactured from steel and are subject to wear on their internal and external surfaces from erosion and/or corrosion. Erosion and corrosion can be caused by fluids flowing within the pipeline as well as environmental conditions surrounding the exterior of the pipeline. This wear caused by erosion and corrosion reduces the thickness of the wall of the pipeline over time. In the production of hydrocarbons, pipelines are critical infrastructure components. Therefore, the ability to regularly monitor and inspect the integrity of pipelines improves the process of producing hydrocarbons and reduces safety hazards. However, inspecting and monitoring pipelines to assess wear is an expensive and challenging task.

[0004] In order to maintain the integrity of pipelines, a variety of techniques are available to monitor and inspect sections of the pipe systems and detect internal wear of the pipe sections. One approach uses an intelligent pipeline inspection gauge (“PIG”), also referred to as an in-line inspection tool, that travels along the inside of the piping system and uses sensors, such as ultrasonic sensors or magnetic flux leakage sensors, to measure the wall thickness of the pipeline. The PIG can travel the length of the pipeline mapping the wall thickness of the pipeline so that areas of wear can be identified. Usually, inspections with a PIG are required to be performed with a frequency that will enable monitoring and tracking the integrity of the pipeline over an extended time. However, using a PIG to inspect a pipeline has several disadvantages. First, placing the PIG within the pipeline for an inspection interrupts the production process and typically requires many months of advance planning. This interruption of production and the use of the PIG device results in substantial expenses. There can be technical challenges associated with deploying the PIG device at substantial subsea depths where hydrostatic pressure and temperatures are extreme. Additionally, the PIG device can become stuck in the pipeline creating additional engineering challenges and associated risks.

[0005] In light of the foregoing disadvantages, the PIG device cannot be used frequently to inspect a pipeline. Given the limited ability to regularly inspect the pipeline with a PIG device, operators use conservative predictions of the service lifetime for the pipeline resulting in replacement of pipeline components well before excessive wear can occur. However, replacing pipeline components prematurely adds to the expense of the hydrocarbon production process.

[0006] Aside from a PIG device, other approaches to inspecting pipelines have their own limitations. For example, in the context of subsea pipelines, devices have been used to inspect a pipeline from the exterior of the pipeline. However, such devices can be difficult to operate and can require that they be tethered to other equipment at the water’s surface.

[0007] Accordingly, there is a need for an improved technique for inspecting pipelines and detecting defects or anomalies in pipeline walls with non-intrusive devices and methods. There is a further need for improved techniques that facilitate collection of data regarding characteristics of a pipeline at many points along the pipeline. Moreover, techniques that enable collection of a variety of data relating to the pipeline and around the pipeline environment would improve the operation of hydrocarbon pipelines.

SUMMARY

[0008] The present disclosure is directed to apparatus and methods for inspecting and monitoring pipe using a movable inspection system. In one aspect, an inspection system for inspecting a pipe can comprise an inspection device and a propulsion system. The inspection device can comprise a sensor system and a control system, wherein the sensor system can comprise at least one sensor selected from: a magnetometer, an accelerometer, an ocean current sensor, and a thermometer; and wherein the control system can comprise a power supply. The propulsion system can be coupled to the inspection device and the propulsion system can comprise a motor operated by the control system, a wheel system driven by the motor, and a rail system, wherein the rail system can be secured to the pipe, and wherein the wheel system engages one of the rail system and an exterior of the pipe to move the inspection device along the pipe.

[0009] In another aspect, a method for measuring a characteristic associated with a pipe can comprise: (i) installing the inspection system on an exterior of the pipe; (ii) detecting, by a sensor of the inspection system, first measured data associated with a first location of the pipe, wherein the sensor is one of: a magnetometer, an accelerometer, an ocean current sensor, and a thermometer; (iii) driving the sensor along a rail system of the inspection system to a second location on the exterior of the pipe, the driving performed by a propulsion system comprising a motor operated by a control system, and a wheel system, wherein the wheel system engages one of the rail system and the exterior of the pipe to move the sensor along the pipe; and (iv) detecting, by the sensor, second measured data associated with a second location of the pipe.

[0010] In yet another aspect, an inspection system for inspecting a pipe can comprise an inspection device and a propulsion system. The inspection device can comprise a clamp device and a sensor system, wherein the clamp device secures the inspection device to the pipe and wherein the sensor system can comprise at least one sensor selected from: a magnetometer, an accelerometer, an ocean current sensor, and a thermometer. The propulsion system can comprise a locomotive device, an attachment device, and a control system, wherein the attachment device secures the locomotive device to the pipe, and wherein the locomotive device comprises a motor operated by the control system, wherein the motor drives the locomotive device along the pipe so that the locomotive device moves the inspection device along the pipe.

[0011] In yet another aspect, a method for measuring a characteristic associated with a pipe can comprise: (i) installing the inspection system at a first location on an exterior of the pipe, the inspection system comprising an inspection device and a propulsion system; (ii) detecting, by a sensor of the inspection device, measured data associated with the pipe, wherein the sensor is one of: a magnetometer, an accelerometer, an ocean current sensor, and a thermometer; (iii) moving a locomotive device of the propulsion system along the pipe so that it engages the inspection device; (iv) opening a clamp device of the inspection device with an engagement device of the locomotive device; (v) driving the inspection device along the pipe to a second location using the locomotive device, the driving performed by a motor operated by a control system of the locomotive device; and (vi) closing the clamp device of the inspection device with the engagement device of the locomotive device to secure the inspection device to the pipe at the second location.

[0012] The foregoing embodiments are non-limiting examples and other aspects and embodiments will be described herein. The foregoing summary is provided to introduce various concepts in a simplified form that are further described below in the detailed description. This summary is not intended to identify required or essential features of the claimed subject matter nor is the summary intended to limit the scope of the claimed subject matter.

BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The accompanying drawings illustrate only example embodiments of a movable inspection system for inspecting and monitoring a pipe and therefore are not to be considered limiting of the scope of this disclosure. The principles illustrated in the example embodiments of the drawings can be applied to alternate methods and apparatus. Additionally, the elements and features shown in the drawings are not necessarily to scale, emphasis instead being placed upon clearly illustrating the principles of the example embodiments. Certain dimensions or positions may be exaggerated to help visually convey such principles. In the drawings, the same reference numerals used in different embodiments designate like or corresponding, but not necessarily identical, elements.

[0014] Figure 1A illustrates an inspection system that uses a rail system for inspecting a pipe in accordance with an example embodiment of the disclosure.

[0015] Figure IB illustrates an alternate rail on which an inspection device can be mounted in accordance with an example embodiment of the disclosure. [0016] Figure 2 illustrates a view of another side of the inspection system of Figure 1 in accordance with an example embodiment of the disclosure.

[0017] Figure 3 illustrates components of a control system and a sensor system in accordance with an example embodiment of the disclosure.

[0018] Figure 4 is a flowchart illustrating a method of using a pipe inspection system in accordance with an example embodiment of the disclosure.

[0019] Figure 5 illustrates an inspection system that uses a locomotive device for inspecting a pipe in accordance with an example embodiment of the disclosure.

[0020] Figure 6 illustrates an inspection system that uses a propulsion system comprising a propeller and treads for inspecting a pipe in accordance with an example embodiment of the disclosure.

[0021] Figure 7 illustrates an enlarged view of the inspection system of Figure 6 in accordance with an example embodiment of the disclosure.

[0022] Figure 8 illustrates an inspection system that uses a propulsion system comprising a propeller for inspecting a pipe in accordance with an example embodiment of the disclosure.

[0023] Figure 9 illustrates an enlarged view of the inspection system of Figure 8 in accordance with an example embodiment of the disclosure.

[0024] Figure 10 illustrates an inspection system that uses a propulsion system comprising a spring for inspecting a pipe in accordance with an example embodiment of the disclosure.

[0025] Figure 11 illustrates another example of an inspection system that uses a propulsion system comprising a spring for inspecting a pipe in accordance with an example embodiment of the disclosure.

[0026] Figure 12 illustrates an inspection system that uses a propulsion system comprising rollers for inspecting a pipe in accordance with an example embodiment of the disclosure.

[0027] Figure 13 illustrates a side view of the inspection system of Figure 12 in accordance with an example embodiment of the disclosure.

DETAILED DESCRIPTION OF EXAMPLE EMBODIMENTS [0028] The example embodiments discussed herein are directed to apparatus and methods for an inspection system for detecting conditions in the environment of a pipeline. The conditions detected with the inspection system can include but are not limited to wear in the wall of the pipeline, vibrations in the pipeline, ocean currents around the pipeline, and temperature and pressure around the pipeline. The example apparatus and methods described herein are particularly beneficial in the oil and gas industry where fluids are often transported through lengthy networks of pipelines. The examples described herein improve upon prior approaches to inspecting a pipeline because they can be deployed more easily in remote locations, including remote subsea locations.

[0029] In particular, the inspection systems described herein can attach to the exterior of a pipeline and move autonomously along a length of the pipeline. The ability to move an inspection system autonomously along a length of pipeline facilitates the collection of data from the pipeline environment by reducing the manual work of installing and removing stationary inspection devices along a pipeline. An autonomous movable inspection system also can continue to monitor a length of pipeline over a duration of time. Accordingly, an autonomous movable inspection system allows for the collection of more information about conditions along a pipeline. As such, an autonomous movable inspection system can improve the operation and safety of the pipeline, while being less expensive than prior approaches to inspecting and monitoring a network of pipelines. While many of the embodiments herein are described as autonomous, autonomous movement is not a requirement for embodiments encompassed by the disclosure. For example, the movement of certain embodiments of the inspection devices described herein could be manually controlled by a remote device operated by a person that is in communication with the inspection device.

[0030] The embodiments described herein offer the ability to place an autonomous movable inspection system at strategic locations, which may be vulnerable to corrosion and erosion, to collect data regarding the characteristics of the pipeline along a length of the pipeline with greater ease and greater frequency. Such an inspection system can identify areas of unexpectedly rapid deterioration in the pipeline so that they can be addressed at the right timing (not too late, not too early). Additionally, an autonomous movable inspection system can provide a more accurate assessment of the pipeline potentially extending the service lifetime of pipeline components. Thus, this non-invasive, less expensive, and less risky pipeline inspection solution is an improvement over existing stationary inspection devices that are attached to the exterior of a pipeline. Additionally, the autonomous movable inspection systems described herein can eliminate or reduce the frequency with which pipeline operations must be interrupted to insert a PIG in line inspection device along the interior of a pipeline for inspection or monitoring.

[0031] While examples of inspection systems used to inspect subsea pipelines are described herein, the systems and methods described herein also can be applied to pipelines located on land. As will be described, the approaches disclosed herein address one or more of the challenges associated with the costs and complexity of assessing conditions along and around a pipeline. Obtaining an accurate assessment of the condition of a pipeline is beneficial in that service interruptions and unplanned downtime for the pipeline can be reduced. Additionally, improved wear assessment reduces premature and unnecessary replacement of pipe sections in which wear is not yet a problem. The foregoing benefits will be evident from the following description of example embodiments for a clamping inspection device.

[0032] In the following paragraphs, particular embodiments will be described in further detail by way of example with reference to the drawings. In the description, well- known components, methods, and/or processing techniques are omitted or briefly described. Furthermore, reference to various feature(s) of the embodiments is not to suggest that all embodiments must include the referenced feature(s). The following examples are illustrative and in alternate embodiments the inspection systems can take other forms. In alternate embodiments, certain of the features of the inspection systems described herein may be modified or omitted or additional features may be added to the alternative embodiments. Furthermore, among the example embodiments described herein, certain features from one embodiment can be combined with other embodiments to provide alternate inspection systems.

[0033] Figures 1A and 2 illustrate one type of autonomous movable inspection system that attaches to an exterior of a pipeline. Figures 1A and 2 illustrate opposite sides of an autonomous movable inspection system 100 attached to a section of pipe 102 of a subsea pipeline. The pipe 102 has a central axis of symmetry passing along the longitudinal center of the pipe. The inspection system 100 comprises an inspection device 103 that can include a sensor system 130 and a control system 140. The inspection system 100 also includes a propulsion system 120. The inspection system 100 of Figures 1A and 2 has been placed on the pipe 102 with a remotely operated vehicle 160, which will be described further below. In other examples, the inspection systems described herein can be installed on pipelines using other equipment or installed manually by personnel.

[0034] The propulsion system 120 can include a rail system 122, a wheel system 128, and a motor 126. The rail system 122 can include rail clamps 124, 125 located at each end of a rail 123 that secure the rail system to the pipe 102. As illustrated in Figures 1A and 2, the rail clamps 124, 125 can each include a pair of opposing arms that can be actuated to open and close allowing for placement and removal of the rail system with respect to the pipe 102. In other embodiments, the rail system can be attached to the pipes using other types of clamps or other attachment mechanisms such as straps, magnetic attachment, or adhesive attachment. The wheel system 128 can comprise one or more wheels that are attached to the rail 123. The wheel system is driven by the motor 126.

[0035] While the rail 123 shown in Figure 1 A is a linear rail, in other embodiments the rail on which the inspection device travels can have a variety of other configurations. For example, the rail may be curved in one or more dimensions as illustrated in the example of Figure IB. Figure IB illustrates a pipe 152 located along a seabed 151 and attached to subsea equipment. As shown in Figure IB, the rail 153 curves in the vertical dimension corresponding to a curvature in the pipe 152. In yet other embodiments, the rail can comprise segmented portions that are attached at joints to provide flexibility in the rail and to facilitate installation along the pipe. The rail can be made from a variety of materials, including polymers, composites, and metallic materials such as aluminum. As another example, the rail can provide a variety of functions in addition to the path on which the inspection device travels. As one example, the rail can provide one or more storage compartments to store batteries or power supplies to power the inspection system. Such a storage compartment could also contain a data storage device.

[0036] Referring again to Figures 1A and 2, the inspection device 103 is attached to the wheel system 128. The wheel system 128 driven by the motor 126 moves the inspection device 103 along the rail 123 so that the inspection device 103 can collect measurements along a length of the pipe 102. The inspection device 103 can include one or more inspection device arms 106 that extend and curve around a portion of the pipe 102 so that an inner surface of the inspection device arm 106 faces toward and is proximate to the outer surface of the pipe 102, while the outer surface of the inspection device arm 106 faces away from the pipe 102. The sensor system 130 can be attached to or located adjacent to the inner surface of the inspection device arm 106 so that the sensor system 130 is located proximate to the pipe 102 to optimize the collection of data from the pipe 102. However, in other embodiments, the sensor housing can be located on other portions of the inspection device 103 or there can be multiple sensor housings distributed among different locations on the inspection device 103.

[0037] As illustrated in Figures 1A and 2, the inspection device arm 106 can be curved so that it can be actuated to open and close for placing and removing the inspection device 103 with respect to the pipe 102. The inspection device arm 106 can have an opposing inspection device arm on the opposite side of the inspection device 103 as illustrated in Figures 1 A and 2. In certain embodiments, the pair of inspection device arms can serve as an actuatable clamp that secures and releases the inspection device 103 with respect to the pipe 102. However, the clamping of the inspection device arms is optional because the inspection device 103 also can be secured to the wheel system 128, which in turn is secured to rail system 122.

[0038] The sensor system 130 can include one or more sensors that measure conditions in and around the pipe 102. Examples of the types of sensors in the sensor housing include, a magnetometer, an accelerometer, a GPS radio, a temperature gauge, and a pressure gauge. In the case of measuring wear of the pipe wall, the magnetometer can be used. The pipe 102 is typically made of steel and, therefore, has an inherent magnetic field that can be detected with a magnetometer. Alternatively, one or more magnets or electromagnets can be placed on, within, or proximate to the pipe to induce a magnetic field in the wall of the pipe that can be measured by the inspection system. When used herein, the term “pipe” should be interpreted broadly and can encompass any pipe or related pipe components, including a pipe fitting, a weld, a flange, a pipe elbow, a pipe tee, a connector, and a valve. Similarly, references to pipe wall thickness and wear should be interpreted broadly to encompass any defects or anomalies associated with the pipe wall that can be detected with the magnetic field measurements, including cracks, pits, erosion, and changes in the thickness of the wall of the pipe.

[0039] The control system 140 can control the operation of the inspection system 100. The control system 140 can comprise a power supply, a processor, a data storage device, and a communications interface. The control system 140 and the sensor system 130 will be described further in connection with Figures 3 and 4.

[0040] In the example of Figures 1A and 2, the inspection system 100 has been placed on the pipe 102 using a subsea remotely operated vehicle (ROV) 160. It should be understood that in alternate embodiments, ROV 160 can be replaced by an autonomous underwater vehicle (AUV). The ROV 160 is one example of a piece of equipment that can be used to attach the inspection system 100 to the pipe 102, as well as remove the inspection system from the pipe. In other examples, the inspection system 100 can be attached to and removed from the pipe using other subsea equipment, using divers who attach or remove the system manually, or the device can be attached to the pipe before the pipe is positioned underwater. The example ROV 160 includes a communication system 162 that allows data signals, including control commands, to be communicated between the ROV 160 and other equipment located at the surface or underwater. The communication system 162 can support communications of a variety of types, including optical signals, radio signals, and audio signals. A remote data collection device 163 onboard the ROV can store data collected from the inspection system 100 as will be described further below. The ROV 160 also includes a navigation system 164 used to direct the ROV 160 in the desired direction and a propulsion system 166 that drives the ROV 160 towards the desired destination. Lastly, the ROV 160 includes a manipulator 167 that can be controlled with the received control commands and that can be used to actuate other devices, including lifting and turning other devices. In the example of Figure 1 A, the ROV’s manipulator 167 can be used to place the inspection system 100 on the pipe 102, and to manipulate the rail clamps 124, 125, the inspection device arms 106, and other components of the inspection system 100.

[0041] Figure 3 illustrates further details of the control system 140 and the sensor system 130 of the inspection device 103. The control system 140 and the sensor system 130 can be located in separate vessels designed to withstand the high pressures encountered at subsea depths. As described previously, the sensor system 130 and additional sensor systems can be located in the inspection device arms 106 to facilitate taking measurements from the pipe. Alternatively, in other embodiments, the control system 140 and the sensor system 130 can be integrated into a single housing.

[0042] The control system 140 can control the operations of the inspection system, including the inspection device 103 and the propulsion system 120. The control system can include a power source 144, such as a battery. The power source 144 can include a power supply that modulates the power to deliver power and communication signals for the inspection system 100. The battery can take a variety of forms and in other embodiments can be other types of power sources, such as a fuel cell, a thermoelectric generator, or a kinetic power source that relies upon motion such as the motion of the sea to drive a turbine. Advances in the miniaturization and power consumption of electronic components as well as the capacity of batteries enable sensors to be deployed and to operate for years before requiring maintenance or replacement.

[0043] The power and communication signals are provided via a signal interface 146 and a link 134 between the control system 140 and the sensor system 130 as well as other sensors of the inspection device 103. The link can be wired or wireless, but in the example of inspection device 103, wired links 134 pass through the device 103 to connect the control system 140 to each of the sensor systems. The wired link 134 can be a single wire on which power and communication signals pass or it can represent multiple wires connecting the controller to the sensors. The signal interface 146 also can support a wireless link 147 for transmitting data between the control system 140 and a remote device such as a remotely operated vehicle or other equipment. The wireless link 147 can send and receive signals via known communication techniques, including optical (e.g., via an LED indicator), radio, acoustic, magnetic, or magneto-quasistatic signals, as described in U.S. Patent Application Publication No. US20210135769, which is incorporated by reference herein in its entirety. The data transmitted via wireless link 681 can include sensor data such as magnetic field measurements, indicator data as determined by a processor such as an indicator of pipe wall thickness, or control signals.

[0044] The control system 140 also can include data storage device and memory 149 and one or more processors 148. The data storage device 149 can comprise algorithms and instructions that can be executed by the processor 148 to enable operations of the propulsion system 120 and the sensor system 130. As one example, the processor can execute instructions that generate power signals that are transmitted via interface 146 to the motor 126 causing the wheel system 128 to move the inspection device 103 a certain distance along the rail 123. As another example, the processor 148 can execute instructions that retrieve sensor data stored in storage device 149 and transmit the sensor data via interface 146 and wireless link 147 to a nearby ROV or other subsea equipment. Additional operations of the control system 140 will be apparent to those of skill in the art.

[0045] Figure 3 also illustrates components of the sensor system 130. Other sensor systems of the inspection device 103 can have similar components. As illustrated in Figure 3, the sensor system 130 can include a sensor signal interface 136 that sends and receives power and communication signals via link 134. As an alternative to wired link 134, power signals can be transmitted to sensor system 130 via induction and communication signals can be transmitted via any of the previously described wireless communication methods. Power signals received at sensor signal interface 136 from control system 140 can be used to power the sensors 135, 137 of the sensor system 130. The sensors can include one or more magnetometers. As one example, magnetometers can be used to make passive measurements of the magnetic field about the pipe and changes in the magnetic field can indicate changes in the characteristics (e.g., wall thickness, cracks, pits, corrosion) of the wall of the pipe. Alternatively, as illustrated in the example of Figure 3, active measurements can be made using magnetometer 137 and a corresponding coil 138. A power signal to the coil 138 generates a magnetic field that is applied to the wall of the pipe 102 adjacent to the sensor system 130. In response to the applied magnetic field, the wall of the pipe generates a response magnetic field that is measured by the magnetometer 137.

[0046] Magnetic field measurements from the magnetometer 137 are communicated via sensor signal interface 136 and link 134 to the control system 140. The storage device 149 at the control system 140 can store the magnetic field measurements gathered from sensor system 130 and other sensors of the inspection device 103. Processor 148 can use algorithms stored in the storage device 149 to analyze the magnetic field measurements to generate an indicator or indicators of wall thickness. As examples, the indicator can be a wall thickness, a volume of material in the pipe wall, a change over time in wall thickness or the volume of pipe wall material, or an alert when pipe wall thickness or volume or change therein exceeds a predetermined threshold. As described previously, the control system 140 can transmit data comprising the measurements or indicators via wireless link 147 to other equipment or an ROV.

[0047] Figure 3 also illustrates other optional components of sensor system 130. As one example, it may be advantageous for the sensor system 130 to have its own power supply 131, such as a battery. In addition to or as an alternative to a magnetometer and a coil, the sensor system 130 can include one or more other types of sensors 135, such as an accelerometer, a GPS radio, a temperature gauge, or a pressure gauge. In certain embodiments, it can be advantageous to include a processor 132 and a data storage device 133 in the sensor system 130. For example, the processor 132 can executes algorithms stored in storage device 133 to analyze the sensor measurements and generate selected data or indicators to be transmitted to the control system 140. In certain examples, the algorithms executed by the processor can analyze measurements gathered over time to determine changes over time in one or more characteristics of the pipe. One advantage of including the processor 132 and storage device 133 is that it can reduce the volume of data that is communicated to the control system 140. Such an approach can reduce the power requirements for the batteries on the inspection device 103. In yet another alternative, the sensor system 130 can bypass the control system 140 and transmit measurement data via signal interface 136 directly to a passing ROV or other nearby equipment.

[0048] Referring now to Figure 4, an example method 400 is illustrated for using a pipe inspection system for inspecting at least one condition associated with a pipe. It should be understood that method 400 is a non-limiting example and in alternate embodiments certain steps of method 400 may be modified, combined, performed in parallel, or omitted.

[0049] Beginning with operation 405, an inspection system is installed on a section of pipe in a pipeline. The inspection system can be installed using the ROV 160 or using other equipment. The inspection system can comprise an inspection device that can measure conditions associated with the pipe and a propulsion system that can move the inspection device along the pipe. As one example, the inspection system can be a system such as that described in connection with Figures 1A and 2. Alternatively, the inspection system can be a system similar to those described in the other examples illustrated in Figures 5 through 12.

[0050] In the case of an inspection system similar to that illustrated in Figures 1 and 2, the entire inspection system can be installed as a single unit on the pipe or the components of the inspection system can be attached individually. The propulsion system can be attached to the pipe by opening the rail clamps of the rail system and closing the rail clamps around the pipe. In other embodiments, the rail system can be attached to the pipe by other mechanisms such as straps, magnetic systems, or adhesives. The wheel system and the motor are secured to the rail allowing the motor to drive the wheel system along the length of the rail without the wheel system detaching from the rail. The inspection device attaches to the wheel system and the motor thereby securing the inspection device to the rail system.

[0051] Once the propulsion system is in place on the section of pipe, the control system and the sensor system of the inspection device can be activated. In operation 410, the one or more sensors of the sensor system can begin collecting data regarding conditions in the environment of the pipe at the beginning location of the inspection device, which can be referred to as the first location. For example, a magnetometer of the sensor system can detect magnetic field measurements from the walls of the pipe. The measurements can be gathered at predetermined intervals over a certain period of time. As one example, the inspection device can remain at the first location on the pipe for days, weeks, or months gathering data periodically to determine whether the wall thickness is changing over time. [0052] When data is detected by the sensor, a signal interface of the sensor system can communicate the data to the control system, as referenced in operation 415, where the data can be stored in a storage device. The data can be communicated at the time it is collected or at some other interval. As explained previously, these communications can be via link 134 which can be a wired or wireless communication link.

[0053] Operation 420 is an optional step for those examples in which a processor is included in the control system. Software executing on the processor can filter the data as needed and, in certain cases, determine a particular condition for the pipe environment such as a wall thickness indicator. Processing the measured data from the sensor at the control system can reduce the amount of data that must be transmitted from the control system.

[0054] In operation 425, data is transferred from the data storage device of the control system so that the data can be used in maintaining the pipeline. The data transfer can occur in a variety of ways. As one example, the ROV 160 or another piece of equipment can navigate to the inspection device and gather the data from the inspection device. In one case, the ROV can remove the data storage device from the control system on the inspection device and return the data storage device to a platform at the surface where the magnetic field measurements can be further analyzed and used in managing the pipeline.

[0055] As another alternative, the ROV can gather the measurement data from the data storage device without removing the data storage housing. In other words, when in proximity to the clamping inspection device, the ROV can receive wireless communications from the control system providing a copy of the measurement data that can be stored in a remote data collection device onboard the ROV. The ROV can return to the surface with the copy of the measurement data for further use in managing the pipeline. As yet another example, the control system can transmit the data from the storage device to another inspection device or another piece of subsea equipment.

[0056] In operation 430, the propulsion system can move the inspection device to a second location along the pipe to collect data from that second location. In the example of Figures 1 A and 2, the propulsion system can move the inspection device a distance along the rail. The distance may be a predetermined distance based upon particular conditions that need to be monitored. Once the inspection device is at the second location, operations 410 through 425 can be repeated for collecting and using new data measured by the one or more sensors of the sensor system.

[0057] Operations 410 through 430 can be repeated numerous times until it is desired to move the inspection system to another section of pipe along the pipeline. For example, if the desired data has been collected from the first section of pipeline, an ROV can move the entire inspection system to another section of the pipeline where the inspection system would be attached to the pipeline and operations 410 through 430 can be repeated. Referencing the example of Figures 1A and 2, the ROV can decouple the inspection system from the pipe by opening the rail clamps and then moving the entire inspection system to the new section of pipe along the pipeline. In embodiments employing a propulsion system other than the rail system where the length of travel is not limited by the length of the rail, the propulsion system of the inspection system can move the inspection system to numerous other locations along the pipeline without the assistance of an ROV

[0058] Figure 5 illustrates another example embodiment of an autonomous movable inspection system that can be deployed along a pipeline. The inspection system 500 of Figure 5 can be generally referred to as a locomotive type of inspection system. Inspection system 500 includes aspects similar to the inspection system of Figures 1A-3 in that it includes a propulsion system 520 and an inspection device 503. The inspection device 503 can include a clamp 506 and a sensor system 530. The clamp 506 can secure the inspection device 503 to the pipe 502 and can be opened partially to allow the inspection device 503 to slide along the pipe 502. The sensor system 530 can be similar to the sensor system 130 of Figures 1 A-3 and can include one or more sensors, such as a magnetometer, an accelerometer, a GPS radio, a pressure gauge, or a temperature gauge, that collects data regarding the pipe environment. Accordingly, the description of the sensor system 130 of Figures 1A-3 applies to analogous components of the sensor system 530.

[0059] The propulsion system 520 includes a locomotive 522 that is attached to the pipe 502 with an attachment device 507. The attachment device 507 can be a clamp that secures the locomotive 522 to the pipe 502 while also opening partially to allow the locomotive to slide along the pipe 502. As one example, similar to the propulsion system of Figures 1A-3, a motor and wheel system (not shown) of the locomotive 522 can drive the locomotive 522 along the pipe. The locomotive 522 also can include a control system 540 similar to the control system of Figures 1A-3. Accordingly, the description of the control system 140 of Figures 1A-3 applies to analogous components of the control system 540. Additionally, the locomotive 522 can include an engagement device 523 that engages the inspection device 503 to push the inspection device 503 along the pipe 502.

[0060] In contrast to the embodiment of Figures 1A-2, the embodiment of Figure 5 does not require a rail on which the inspection device travels. Put another way, the pipe itself can be thought of as a rail on which the inspection device travels. [0061] Referring to the steps illustrated in Figure 5, step 1 illustrates the locomotive 522 when it begins at an initial position towards the right side of the pipe 502 and illustrates the locomotive 522 after it has moved to the left to engage the inspection device 503. The control system 540 can determine when it is time to move the inspection device 503 and can provide control signals to the power supply, the motor, and the wheel system of the locomotive 522 to move the locomotive towards to the inspection device 503. In step 1, the clamp 506 of the inspection device 503 is in a closed state as indicated by the “C” on the inspection device 503.

[0062] In step 2 of Figure 5, the locomotive 522 can open the clamp 506 of the inspection device 503 (as indicated by the “O” on the inspection device) so that the inspection device 502 can be moved along the pipe 502. As one example, the engagement device 523 of the locomotive 522 can open the clamp 506 by engaging and turning a clamping rod of the clamp 506. The clamp 506 can be opened partially so that the clamp retains the inspection device 503 on the pipe 502 but allows the inspection device 503 to slide along the pipe 502.

[0063] In step 3 of Figure 5, control system 540 provides control signals to the power supply, the motor, and the wheel system to drive the locomotive toward the left in Figure 5 thereby moving the inspection device 503 to a second location along the pipe 502. In step 4 of Figure 5, the engagement device 523 can close the clamp 506 of the inspection device 503 (as indicated by the “C” on the inspection device). Thus, the inspection device 503 is now secured at the second location on the pipe 502.

[0064] Lastly, in step 5 of Figure 5, the control system can provide control signals to the power supply, the motor, and the wheel system to move the locomotive 522 toward the right on the pipe 502 so that it is positioned a distance away from the inspection device 503. Step 5 can be performed so that the locomotive 522 and its components do not interfere with the measurements gathered by the sensor system 530 of the inspection device 503.

[0065] Once the inspection device 503 is in position at the second location on the pipe 502 and the locomotive 522 has moved away as shown in step 5, the sensor system 530 of the inspection device 503 can collect measurements for one or more conditions relating to the pipe environment. For example, a magnetometer in the sensor system 530 can gather magnetic field data providing information about the wall thickness of the pipe. As another example, other sensors can gather motion, position, pressure, or temperature measurements at the second location on the pipe 502. As one example, the sensor system can perform operations such as operations 410 through 425 of Figure 4. Once the inspection device 503 has collected the desired data over the time period of interest at the second location on the pipe 502, steps 1 through 5 of Figure 5 can be repeated so that the locomotive 522 can move the inspection device 503 to a third location along the pipe 502 where the inspection device can collect additional data.

[0066] Figures 6 and 7 illustrate another example embodiment of an autonomous movable inspection system that can be deployed along a pipeline. As illustrated in Figure 6, autonomous movable inspection systems can be placed at various locations along the pipe 602. The inspection systems of Figures 6 and 7 provide enhanced flexibility allowing the inspection systems to be placed at various locations along a pipe and moved to other locations as needed to gather data. In contrast to the embodiment of Figures 1A-2, the embodiment of Figures 6-7 does not require a rail on which the inspection device travels. Put another way, the pipe itself can be thought of as a rail on which the inspection device travels. As described previously, in certain example embodiments, multiple inspection systems placed along a pipeline can communicate between each system for purposes of transferring measurement data, operating commands, or other information. Additionally, the sensors and other equipment on each inspection system can vary such that certain inspection systems can perform distinct tasks from other inspection systems.

[0067] Similar to the previously described inspection systems, inspection system 600 includes a propulsion system 620 and an inspection device 603. The inspection device 603 can include a clamp 606, a sensor system 630, and a control system 640. The clamp 606 can secure the inspection device 603 to the pipe 602 and can be opened partially to allow the propulsion system 620 to move the inspection device 603 along the pipe 602. The sensor system 630 can be similar to the sensor system 130 of Figures 1A-3 and can include one or more sensors, such as a magnetometer, an accelerometer, a GPS radio, a pressure gauge, or a temperature gauge, that collects data regarding the pipe environment. Accordingly, the description of the sensor system 130 of Figures 1 A-3 applies to analogous components of the sensor system 630. The control system 640 can be similar to the control system 140 of Figures 1 A- 3 and can include a power supply, a signal interface, a processor, and a data storage device. Accordingly, the description of the control system 140 of Figures 1-3 applies to analogous components of the control system 640.

[0068] The propulsion system 620 includes a motor 626, propellers 627, and a wheel system 628. The motor 626 and propellers 627 can be located in an upper housing of the inspection system 600, while the wheel system 628 is attached to inspection device 603 and engages the pipe 602. When moving the inspection system 600 along the pipe, the control system 640 can provide a control signal to the clamp 606 to loosen the clamp 606 so that the inspection system can slide along the pipe 602. The control system 640 also can provide control signals to the motor 626 for turning the propellers 627, thereby providing a driving force that moves the inspection system 600 along the pipe while the wheel system 628 facilitates movement along the pipe 602. In certain embodiments, components of the control system 640, such as a power supply/ battery can be placed in the upper housing with the motor 626.

[0069] When the inspection system 600 is placed in a first location on the pipe 602, the sensor system 630 of the inspection device 603 can collect measurements for one or more conditions relating to the pipe environment. Sensors of the sensor system 630 can gather a variety of data, including magnetic field, motion, position, pressure, or temperature measurements at the first location on the pipe 602. As one example, the sensor system can perform operations such as operations 410 through 425 of Figure 4. Once the inspection device 603 has collected the desired data over the time period of interest at the first location on the pipe 602, the control system 640 can loosen the clamp 606 and provide control commands to the propulsion system to move the inspection system to a second location on the pipe 602. Once at the second location, the inspection system can collect new data associated with the second location. At a certain time after collecting data from one or more locations, the collected data and any analysis performed by onboard processors can be transferred to the surface via a remote device where the data can be used to manage the pipeline. For example, actions based upon the collected data can includes schedule further monitoring, performing maintenance on a section of pipe, or replacing a section of pipe.

[0070] Figures 8 and 9 illustrate another example embodiment of an autonomous movable inspection system 800 that can be deployed along a pipeline. Inspection system 800 is similar to inspection system 600 of Figures 6 and 7, except for a modified propulsion system. As illustrated in Figure 8, multiple autonomous movable inspection systems 800 can be placed at various locations along the pipe 802 for gathering data. The inspection systems of Figures 8 and 9 provide enhanced flexibility allowing the inspection systems to be placed at various locations along a pipe and moved to other locations as needed to gather data.

[0071] Similar to the previously described inspection systems, inspection system 800 includes a propulsion system 820 and an inspection device 803. The inspection device 803 can include a clamp 806, a sensor system 830, and a control system 840. The clamp 806 can secure the inspection device 803 to the pipe 802 and can be opened to allow the propulsion system 820 to move the inspection device 803 along the pipe 802. The sensor system 830 can be similar to the sensor system 130 of Figures 1-3 and can include one or more sensors, such as a magnetometer, an accelerometer, a GPS radio, a pressure gauge, or a temperature gauge, that collects data regarding the pipe environment. Accordingly, the description of the sensor system 130 of Figures 1A-3 applies to analogous components of the sensor system 830, The control system 840 can be similar to the control system 140 of Figures 1A-3 and can include a power supply, a signal interface, a processor, and a data storage device. Accordingly, the description of the control system 140 of Figures 1A-3 applies to analogous components of the control system 840.

[0072] The propulsion system 820 includes a motor 826 and propellers 827. The motor 826 and propellers 827 can be located in an upper housing of the inspection system 800, while the inspection device 803 and clamp 806 engage the pipe 802. When moving the inspection system 800 along the pipe, the control system 840 can provide a control signal to the clamp 806 to loosen the clamp 806 so that the inspection system can slide along the pipe 802. Alternatively, the clamp can open sufficiently so that that inspection system moves completely away from the pipe 802 as illustrated with inspection system 850 of Figure 8. The control system 840 also can provide control signals to the motor 826 for turning the propellers 827, thereby providing a driving force that moves the inspection system 800 along the pipe. In certain embodiments, components of the control system 840, such as a power supply/ battery can be placed in the upper housing with the motor 826.

[0073] When the inspection system 800 is placed in a first location on the pipe 802, the sensor system 830 of the inspection device 803 can collect measurements for one or more conditions relating to the pipe environment. Sensors of the sensor system 830 can gather a variety of data, including magnetic field, motion, position, pressure, or temperature measurements at the first location on the pipe 802. As one example, the sensor system can perform operations such as operations 410 through 425 of Figure 4. Once the inspection device 803 has collected the desired data over the time period of interest at the first location on the pipe 802, the control system 840 can loosen the clamp 806 and provide control commands to the propulsion system 820 to move the inspection system to a second location on the pipe 802. Once at the second location, the inspection system 800 can collect new data associated with the second location. At a certain time after collecting data from one or more locations, the collected data and any analysis performed by onboard processors can be transferred to the surface via a remote device where the data can be used to manage the pipeline. For example, actions based upon the collected data can includes schedule further monitoring, performing maintenance on a section of pipe, or replacing a section of pipe.

[0074] Referring now to Figure 10, another example embodiment is illustrated of an autonomous movable inspection system 1000 that can be deployed along a pipeline. Inspection system 1000 has similar aspects to inspection system 500 of Figure 5 as well as certain of the other example embodiments described herein. Similar to the previously described inspection systems, inspection system 1000 includes a propulsion system 1020 and an inspection device 1003. The inspection device 1003 can include a start clamp 1006, an end clamp 1007, and a sensor system 1030. While not required in inspection system 1000, components of the previously described control systems may be incorporated into the sensor system 1030. The sensor system 1030 can be similar to the sensor system 130 of Figures 1-3 and can include one or more sensors, such as a magnetometer, an accelerometer, a GPS radio, a pressure gauge, or a temperature gauge, that collects data regarding the pipe environment. Accordingly, the description of the sensor system 130 of Figures 1-3 applies to analogous components of the sensor system 1030.

[0075] The propulsion system 1020 is passive in that it requires no motor to drive the inspection device 1003. Instead, the propulsion system 1020 comprises a locomotive in the form of a spring 1022 and a rail 1023 to which the inspection device 1003 is mounted. As one example, the spring 1022 can be a polymer spring that expands relatively slowly as it moves along the rail 1023. The inspection system 1000 is secured on the pipe 1002 by the start clamp 1006 and the end clamp 1007. As illustrated in step 1 of Figure 10, when the start clamp 1006 is attached to the pipe 1002, the spring 1022 is activated and begins to expand along the rail 1023. As illustrated in step 2, as the spring 1022 expands along the rail 1023 it slowly pushes the inspection device 1003 along the rail 1023 and down a length of the pipe 1002. As the inspection device 1003 moves along the rail 1020, the sensor system 1030 uses one or more sensors to collect data relating to the pipe 1002. Lastly, as illustrated in step 3 of Figure 10, the inspection device 1003 continues moving along the rail 1023 due to the expansion of the spring 1022 until it reaches the end clamp 1007. After step 3, the spring 1022 and the inspection device 1003 can be reset by retracting them to the start clamp 1006 so that steps 1-3 can be repeated and additional data can be collected. Alternatively, the inspection system 1000 can be removed and placed at another section of pipe where steps 1-3 can be repeated to collect additional data. After collecting the data, the data can be transferred from the sensor system 1030 to a remote device for use in managing the maintenance of the pipeline.

[0076] Figure 11 illustrates an alternative embodiment of the inspection system 1000 described in connection with Figure 10. As illustrated in Figure 11, the speed with which the spring 1022 expands can be adjusted for constant resistance or varying resistance. The resistance can be controlled by modifying the rail 1023 as illustrated in Figure 11. Alternatively, materials can be used for the spring 1022 that expand in a nonlinear manner if desired.

[0077] Figures 12 and 13 illustrate yet another embodiment of an inspection system 1200. Similar to the previously described inspection systems, inspection system 1200 includes a propulsion system 1220 and an inspection device 1203. The inspection device 1203 can include a sensor system 1230 and a control system 1240. The sensor system 1230 can be similar to the sensor system 130 ofFigures 1-3 and can include one ormore sensors, such as a magnetometer, an accelerometer, a GPS radio, a pressure gauge, or a temperature gauge, that collects data regarding the pipe environment. Accordingly, the description of the sensor system 130 ofFigures 1-3 applies to analogous components of the sensor system 830. The control system 1240 can be similar to the control system 140 ofFigures 1-3 and can include a power supply, a signal interface, a processor, and a data storage device. Accordingly, the description of the control system 140 of Figures 1-3 applies to analogous components of the control system 1240. The inspection system 1200 also can include a clamping rod that allows for removing the inspection system 1200 from the pipe 1202.

[0078] The propulsion system 1220 is somewhat different from the prior propulsion systems in that the propulsion system 1220 is a clamping device that can roll along a section of pipe. Specifically, the propulsion system comprises a plurality of arms with respective motors and rollers that propel the inspection system along the pipe 1202. First arm 1227a has a first motor 1226a that turns a first roller 1228a, second arm 1227b has a second motor 1226b that turns a second roller 1228b, third arm 1227c has a third motor 1226c that turns a third roller 1228c, and fourth arm 1227d has a fourth motor 1226d that turns a fourth roller 1228d. The base of the first arm 1227a and the base of the second arm 1227b are joined by a first base rod. Similarly, the base of the third arm 1227c and the base of the fourth arm 1227d are joined by a second base rod. The control system 1240 can send appropriate control signals to the motors of each arm and each motor turns the respective roller attached to its respective arm. The turning of the rollers drives the inspection system 1200 along the pipe 1202. The differential control of the propulsion system enables the clamp to maneuver around the pipe while moving in the axial direction of the pipe.

[0079] When the inspection system 1200 is placed in a first location on the pipe 1202, the sensor system 1230 of the inspection device 1203 can collect measurements for one or more conditions relating to the pipe environment. Sensors of the sensor system 1230 can gather a variety of data, including magnetic field, motion, position, pressure, or temperature measurements at the first location on the pipe 1202. As one example, the sensor system can perform operations such as operations 410 through 425 of Figure 4. Once the inspection device 1203 has collected the desired data over the time period of interest at the first location on the pipe 1202, the control system 1240 can provide control commands to the propulsion system 1220 to move the inspection system to a second location on the pipe 1202. Specifically, the control system 1240 can provide control commands to the motors 1226a, 1226b, 1226c, and 1226d to rotate the rollers 1228a, 1228b, 1228c, and 1228d thereby moving the inspection system to a second location on the pipe 1202. Once at the second location, the inspection system 1200 can collect new data associated with the second location. At a certain time after collecting data from one or more locations, the collected data and any analysis performed by onboard processors can be transferred to the surface via a remote device where the data can be used to manage the pipeline. For example, actions based upon the collected data can includes schedule further monitoring, performing maintenance on a section of pipe, or replacing a section of pipe.

[0080] The magnetometer(s) and other sensors used in the sensor systems described herein are commercially available devices. As one example, the magnetometer can be a micromechanical device with low power requirements that maximizes the life of the battery in the sensor housing. Similarly, the processor(s) described herein can be commercially available hardware processors such as an integrated circuit, a central processing unit, a multi-core processing chip, an SoC, a multi-chip module including multiple multi-core processing chips, or another hardware processor as known to those of skill in this field. The transmitters and receivers described herein can include signal transfer links that transmit and receive communications via known communication protocols. Lastly, the data storage devices described herein can be persistent storage devices, such as flash memory, that can store software instructions and data.

[0081] Example Embodiments

[0082] The following are illustrative example embodiments. Other example embodiments beyond those listed below also are within the scope of the disclosure.

[0083] Embodiment A: Propeller and wheel propulsion system (Figs. 6-7)

[EE1] An inspection device for inspecting a pipe, the inspection device comprising: a clamp device that secures the inspection device to the pipe; a sensor housing coupled to the clamp device, the sensor housing comprising at least one sensor selected from: a magnetometer, an accelerometer, an ocean current sensor, and a thermometer; a control system, the control system comprising a power supply; and a propulsion system coupled to the clamp device, the propulsion system comprising a motor operated by the control system, at least one propeller, and a wheel system, wherein the wheel system engages the pipe and wherein motion of the at least one propeller drives the inspection device along the pipe. [EE2] The inspection device of EE1, wherein the wheel system comprises treads.

[EE3] The inspection device of EE1, wherein the control system controls opening and closing of the clamp device via a clamp rod.

[EE4] The inspection device of EE1, further comprising a buoyancy device for controlling an orientation of the inspection device.

[EE5] The inspection device of EE1, further comprising a communication module that wirelessly communicates data from the inspection device, the data comprising at least one of: sensor data gathered by the at least one sensor and status data regarding an operation of the inspection device.

[EE6] A method for measuring a characteristic associated with a pipe using an inspection device, the method comprising: installing the inspection device at a first location on an exterior of the pipe; detecting, by a sensor, measured data associated with the pipe, wherein the sensor is one of: a magnetometer, an accelerometer, an ocean current sensor, and a thermometer; opening a clamp device to release the inspection device from the pipe; autonomously driving the inspection device to a second location on the exterior of the pipe, the autonomous driving performed by a propulsion system comprising a motor operated by a control system, at least one propeller, and a wheel system, wherein the wheel system engages the pipe and wherein motion of the at least one propeller drives the inspection device along the pipe; and closing the clamp device to secure the inspection device to the pipe at the second location.

[EE7] The method of EE6, wherein the wheel system comprises treads.

[EE8] The method of EE6, wherein the control system controls the opening and closing of the clamp device via a clamp rod.

[EE9] The method of EE6, further comprising inflating, by the control system, a buoyance device to alter an orientation of the inspection device.

[EE 10] The method of EE6, further comprising transmitting, via a wireless communication module, data from the inspection device, the data comprising at least one of: the measured data gathered by the sensor and status data regarding an operation of the inspection device.

[0084] Embodiment B: Propeller propulsion system (Figs. 8-9

[EE11] An inspection device for inspecting a pipe, the inspection device comprising: a clamp device that secures the inspection device to the pipe; a sensor housing coupled to the clamp device, the sensor housing comprising at least one sensor selected from: a magnetometer, an accelerometer, an ocean current sensor, and a thermometer; a control system, the control system comprising a power supply; and a propulsion system coupled to the clamp device, the propulsion system comprising a motor operated by the control system, and at least one propeller, wherein motion of the at least one propeller drives the inspection device along the pipe after opening the clamp device.

[EE12] The inspection device of EE11, wherein the at least one propeller comprises a forward propeller and an aft propeller.

[EE13] The inspection device of EE11, wherein an angle of the at least one propeller is adjustable by the control system.

[EE14] The inspection device of EE11, wherein the control system controls opening and closing of the clamp device via a clamp rod.

[EE15] The inspection device of EE11, further comprising a communication module that wirelessly communicates data from the inspection device, the data comprising at least one of: sensor data gathered by the at least one sensor and status data regarding an operation of the inspection device.

[EE 16] A method for measuring a characteristic associated with a pipe using an inspection device, the method comprising: installing the inspection device at a first location on an exterior of the pipe; detecting, by a sensor, measured data associated with the pipe, wherein the sensor is one of: a magnetometer, an accelerometer, an ocean current sensor, and a thermometer; opening a clamp device to release the inspection device from the pipe; autonomously driving the inspection device to a second location on the exterior of the pipe, the autonomous driving performed by a propulsion system comprising a motor operated by a control system, and at least one propeller, wherein motion of the at least one propeller drives the inspection device along the pipe; and closing the clamp device to secure the inspection device to the pipe at the second location.

[EE17] The method of EE16, wherein the at least one propeller comprises a forward propeller and an aft propeller.

[EE 18] The method of EE16, wherein the control system controls the opening and closing of the clamp device via a clamp rod.

[EE19] The method of EE16, further comprising adjusting, by the control system, an angle of the at least one propeller to alter an orientation of the inspection device. [EE20] The method of EE16, further comprising transmitting, via a wireless communication module, data from the inspection device, the data comprising at least one of: the measured data gathered by the sensor and status data regarding an operation of the inspection device.

[0085] Embodiment C: Spring propulsion system (Figs. 10-11)

[EE21] An inspection system for inspecting a pipe, the inspection system comprising: a start clamp that attaches to a first position on the pipe; an end clamp that attaches to a second position on the pipe; an inspection device comprising a clamp device and a sensor housing, wherein the clamp device secures the inspection device to the pipe and wherein the sensor housing comprises at least one sensor selected from: a magnetometer, an accelerometer, an ocean current sensor, and a thermometer; and a spring device attached to the inspection device and attached to at least one of the start clamp and the end clamp, wherein the spring device drives the inspection device along the pipe from the start clamp to the end clamp, and wherein the at least one sensor collects data associated with the pipe as the inspection device moves along the pipe.

[EE22] The inspection system of EE21, further comprising an encapsulating cover joining the start clamp and the end claim and encapsulating the inspection device.

[EE23] The inspection system of EE21, wherein the spring device provides a constant driving force to the inspection device.

[EE24] The inspection system of EE21, wherein the spring device provides a variable driving force to the inspection device.

[EE25] The inspection system of EE21, further comprising a communication module that wirelessly communicates data from the inspection device, the data comprising at least one of: the data collected by the at least one sensor and status data regarding an operation of the inspection device.

[EE26] A method for measuring a characteristic associated with a pipe using an inspection system, the method comprising: installing the inspection system on an exterior of the pipe, the inspection system comprising a start clamp, an end clamp, and an inspection device, wherein the inspection device is at a first location between the start clamp and the end clamp; detecting, by a sensor of the inspection device, first measured data associated with the pipe at the first location, wherein the sensor is one of: a magnetometer, an accelerometer, an ocean current sensor, and a thermometer; moving the inspection device from the first location toward the end clamp, the moving of the inspection device performed by a spring device attached to the inspection device and attached to at least one of the start clamp and the end clamp; detecting, by the sensor, second measured data associated with the pipe at a second location between the first location and the end clamp; and storing, by the inspection device, the first measured data and the second measured data.

[EE27] The method of EE26, wherein the spring device provides a constant driving force to the inspection device. [EE28] The method of EE26, wherein the spring device provides a variable driving force to the inspection device.

[EE29] The method of EE26, further comprising transmitting, via a wireless communication module, the first measured data and the second measured data from the inspection device.

[EE30] The method of EE26, further comprising transmitting, via a wireless communication module, status data regarding an operation of the inspection device.

[0086] Embodiment D: Roller clamp propulsion system (Figs. 12-13)

[EE31] An inspection device for a pipe, the inspection device comprising: a first arm comprising a first roller at a bottom end of the first arm and a first motor that drives the first roller; a second arm comprising a second roller at a bottom end of the second arm and a second motor that drives the second roller; a third arm comprising a third roller at a bottom end of the third arm and a third motor that drives the third roller; a fourth arm comprising a fourth roller at a bottom end of the fourth arm and a fourth motor that drives the fourth roller; a first base rod coupled to the first arm and the second arm; a first linear actuator rod coupled to the first arm, the second arm, and to a drive rod; a second base rod coupled to the third arm and the fourth arm; a second linear actuator rod coupled to the third arm, the fourth arm, and to the drive rod; a pivot rod coupled to the first arm, the second arm, the third arm, and the fourth arm, wherein the first arm, the second arm, the third arm, and the fourth arm pivot about the pivot arm to secure the inspection device to the pipe; and at least one sensor coupled to the pivot rod.

[EE32] The inspection device of EE31, wherein the first roller, the second roller, the third roller, and the fourth roller rotate to move the inspection device along a longitudinal axis of the pipe. [EE33] The inspection device of EE31, wherein the first, second, third, fourth motors are one of step motors or hydraulic motors.

[EE34] The inspection device of EE31, further comprising a power supply and a control system that supply power to the first, second, third, and fourth motors.

[EE35] The inspection device of EE31, further comprising a control system having a communication module that wirelessly communicates data from the inspection device, the data comprising at least one of: sensor data gathered by the at least one sensor and status data regarding an operation of the inspection device.

[EE36] A method for measuring a characteristic associated with a pipe using an inspection device, the method comprising: installing the inspection device at a first location on an exterior of the pipe; detecting, by a sensor, measured data associated with the pipe, wherein the sensor is one of: a magnetometer, an accelerometer, an ocean current sensor, and a thermometer; actuating a clamping rod to pivot a first arm, a second arm, a third arm, and fourth arm to unclamp the inspection device from the pipe; autonomously driving the inspection device to a second location on the exterior of the pipe, the autonomous driving performed by a propulsion system comprising a motor attached to each of the first arm, the second arm, the third arm, and the fourth arm; and actuating the clamping rod to pivot the first arm, the second arm, the third arm, and the fourth arm to clamp the inspection device to the pipe at the second location.

[EE37] The method of EE36, wherein a controller controls the actuating of the clamping rod.

[EE38] The method of EE36, wherein the clamping rod is actuated by a remotely operated vehicle.

[EE39] The method of EE36, wherein the sensor detects second measured data associated with the pipe at the second location

[EE40] The method of EE39, further comprising transmitting, via a wireless communication module, data from the inspection device, the data comprising the measured data and the second measured data gathered by the sensor.

[0087] For any figure shown and described herein, one or more of the components may be omitted, added, repeated, and/or substituted. Additionally, it should be understood that in certain cases components of the example systems can be combined or can be separated into subcomponents. Accordingly, embodiments shown in a particular figure should not be considered limited to the specific arrangements of components shown in such figure. Further, if a component of a figure is described but not expressly shown or labeled in that figure, the label used for a corresponding component in another figure can be inferred to that component. Conversely, if a component in a figure is labeled but not described, the description for such component can be substantially the same as the description for the corresponding component in another figure.

[0088] With respect to the example methods described herein, it should be understood that in alternate embodiments, certain steps of the methods may be performed in a different order, may be performed in parallel, or may be omitted. Moreover, in alternate embodiments additional steps may be added to the example methods described herein. Accordingly, the example methods provided herein should be viewed as illustrative and not limiting of the disclosure.

[0089] Terms such as “first”, “second”, “top”, “bottom”, “side”, “distal”, “proximal”, and “within” are used merely to distinguish one component (or part of a component or state of a component) from another. Such terms are not meant to denote a preference or a particular orientation, and are not meant to limit the embodiments described herein. In the example embodiments described herein, numerous specific details are set forth in order to provide a more thorough understanding of the invention. However, it will be apparent to one of ordinary skill in the art that the invention may be practiced without these specific details. In other instances, well-known features have not been described in detail to avoid unnecessarily complicating the description.

[0090] The terms “a,” “an,” and “the” are intended to include plural alternatives, e.g., at least one. The terms “including”, “with”, and “having”, as used herein, are defined as comprising (i.e., open language), unless specified otherwise. [0091] When Applicant discloses or claims a range of any type, Applicant's intent is to disclose or claim individually each possible number that such a range could reasonably encompass, including end points of the range as well as any sub-ranges and combinations of sub-ranges encompassed therein, unless otherwise specified. Numerical end points of ranges disclosed herein are approximate, unless excluded by proviso.

[0092] Values, ranges, or features may be expressed herein as “about”, from “about” one particular value, and/or to “about” another particular value. When such values, or ranges are expressed, other embodiments disclosed include the specific value recited, from the one particular value, and/or to the other particular value. Similarly, when values are expressed as approximations, by use of the antecedent “about,” it will be understood that the particular value forms another embodiment. It will be further understood that there are a number of values disclosed therein, and that each value is also herein disclosed as “about” that particular value in addition to the value itself. In another aspect, use of the term “about” means ±20% of the stated value, ±15% of the stated value, ±10% of the stated value, ±5% of the stated value, ±3% of the stated value, or ±1% of the stated value.

[0093] Although embodiments described herein are made with reference to example embodiments, it should be appreciated by those skilled in the art that various modifications are well within the scope of this disclosure. Those skilled in the art will appreciate that the example embodiments described herein are not limited to any specifically discussed application and that the embodiments described herein are illustrative and not restrictive. From the description of the example embodiments, equivalents of the elements shown therein will suggest themselves to those skilled in the art, and ways of constructing other embodiments using the present disclosure will suggest themselves to practitioners of the art. Therefore, the scope of the example embodiments is not limited herein.

Claims

CLAIMS What is claimed is:

1. An inspection system for inspecting a pipe, the inspection system comprising: an inspection device comprising a sensor system and a control system, wherein the sensor system comprises at least one sensor selected from: a magnetometer, an accelerometer, an ocean current sensor, and a thermometer; wherein the control system comprises a power supply; and a propulsion system coupled to the inspection device, the propulsion system comprising a motor operated by the control system, a wheel system driven by the motor, and a rail system, wherein the rail system is secured to the pipe, and wherein the wheel system engages one of the rail system and an exterior of the pipe to move the inspection device along the pipe.

2. The inspection system of claim 1, wherein the rail system comprises a rail and the rail provides a compartment for one or more of a battery and a data storage device.

3. The inspection system of claim 1, wherein the inspection device comprises at least one inspection device arm to which the sensor system is coupled.

4. The inspection system of claim 1, wherein the rail system is secured to the exterior of the pipe by at least two rail clamps.

5. The inspection system of claim 1, further comprising a signal interface that wirelessly communicates data from the inspection device, the data comprising at least one of: sensor data gathered by the at least one sensor and status data regarding an operation of the inspection device.

6. A method for measuring a characteristic associated with a pipe using an inspection system, the method comprising: installing the inspection system on an exterior of the pipe; detecting, by a sensor of the inspection system, first measured data associated with a first location of the pipe, wherein the sensor is one of: a magnetometer, an accelerometer, an ocean current sensor, and a thermometer; driving the sensor along a rail system of the inspection system to a second location on the exterior of the pipe, the driving performed by a propulsion system comprising a motor operated by a control system, and a wheel system, wherein the wheel system engages one of the rail system and the exterior of the pipe to move the sensor along the pipe; and detecting, by the sensor, second measured data associated with a second location of the pipe.

7. The method of claim 6, further comprising: opening an inspection device arm to release the sensor from the pipe; opening a rail clamp device to release the rail system from the pipe.

8. The method of claim 7, further comprising: attaching the rail system to a new location on the exterior of the pipe; attaching the sensor to the rail system; and detecting, by the sensor, new measured data associated with the new location, the new measured data collected as the sensor is driven along the rail system by the propulsion system.

9. The method of claim 6, wherein the control system controls the opening and closing of the inspection device arm.

10. The method of claim 6, further comprising transmitting, via a wireless signal interface, the first measured data and the second measured data from the inspection device.

11. An inspection system for inspecting a pipe, the inspection system comprising: an inspection device comprising a clamp device and a sensor system, wherein the clamp device secures the inspection device to the pipe and wherein the sensor system comprises at least one sensor selected from: a magnetometer, an accelerometer, an ocean current sensor, and a thermometer; and a propulsion system comprising a locomotive device, an attachment device, and a control system, wherein the attachment device secures the locomotive device to the pipe, and wherein the locomotive device comprises a motor operated by the control system, wherein the motor drives the locomotive device along the pipe so that the locomotive device moves the inspection device along the pipe.

12. The inspection system of claim 11, wherein the locomotive device further comprises an engagement device, wherein the engagement device opens the clamp device of the inspection device when the locomotive device engages the inspection device.

13. The inspection device of claim 12, wherein the engagement device closes the clamp device of the inspection device after the locomotive device moves the inspection device to a new position.

14. The inspection device of claim 11, wherein the locomotive device further comprises a wheel system that is driven by the motor.

15. The inspection device of claim 11, further comprising a signal interface that wirelessly communicates data from the inspection device, the data comprising at least one of: sensor data gathered by the at least one sensor and status data regarding an operation of the inspection device.

16. A method for measuring a characteristic associated with a pipe using an inspection system, the method comprising: installing the inspection system at a first location on an exterior of the pipe, the inspection system comprising an inspection device and a propulsion system; detecting, by a sensor of the inspection device, measured data associated with the pipe, wherein the sensor is one of: a magnetometer, an accelerometer, an ocean current sensor, and a thermometer; moving a locomotive device of the propulsion system along the pipe so that it engages the inspection device; opening a clamp device of the inspection device with an engagement device of the locomotive device; driving the inspection device along the pipe to a second location using the locomotive device, the driving performed by a motor operated by a control system of the locomotive device; and closing the clamp device of the inspection device with the engagement device of the locomotive device to secure the inspection device to the pipe at the second location.

17. The method of claim 16, further comprising autonomously driving the locomotive device away from the inspection device after the inspection device is positioned at the second location.

18. The method of claim 16, wherein the locomotive device further comprises a wheel system that is driven by the motor.

19. The method of claim 16, further comprising detecting, by the sensor of the inspection device, second measured data at the second location.

20. The method of claim 16, further comprising transmitting, via a wireless signal interface, data from the inspection device, the data comprising at least one of: the measured data gathered by the sensor and status data regarding an operation of the inspection device.