| 摘要 |
Title: System and method for pipeline entrapment prevention. Abstract System and method for travelling through a pipeline in a driving direction comprising a guide device having a carriage defining a longitudinal extent between a front end of the carriage and a rear end of the carriage. The guide device has at least three surface engagement members, mounted to the carriage for supporting and guiding the carriage along an inner surface of a pipeline in at least the driving direction extending from the rear end towards the front end of the guide device. The guide device has a detection unit, arranged on the carriage, arranged for being communicatively connected to a pipeline vehicle. Each of the at least three surface engagement members are arranged for being independently movable between a first retracted radial position, where the engagement member has a minimal radial distance to an axial axis of the guiding device, and an extended radial position, where the engagement member has a maximal radial distance to the axial axis of the guiding device. The device has a first biasing system for biasing each of the at least three surface engagement members, from the first retracted radial position, towards the extended radial position. The detection unit is arranged for detecting when at least one member of the at least three surface engagement members moves in the direction of and along a path extending from the first retracted radial position to the extended radial position into, or beyond, a detection radial position which lays between the first retracted radial position and extended radial position. |
