| 摘要 |
A system 10 and method for pipeline maintenance includes a payload 38 and a transport module 12 having the payload 38 attached thereto. The transport module includes a plurality of movable arms 14,16,18,20 each having at least one respective wheel 30,32,34,36. At least some of the wheels 30,32,34,36 being drive wheels which are operable in a first orientation (figure.1) to drive the transport module linearly along a length of a pipeline, and a second orientation (figure.3) to drive the transport module circumferentially around an inner surface 82 of the pipeline 78. At least some of the arms 14,16,18,20 are operable to move the payload in a generally radial direction toward and away from an interior surface 82 of the pipeline 78. At least some of the arms 14,16,18,20 may be independently operable such that at least one can be moved away from the interior surface 82 while the others stay in contact. There may be a cable guide 40 attached to the transport module 12 for providing power and/or communications to the payload 38. They payload may comprise a sensor and/or a tool, the tool may be a drill system. |
