Internal pipe coating inspection robot

摘要

There is provided herein a robot-based electrical system for locating holidays within coated pipe that does not utilize a grounding wire. In a preferred arrangement, the robot will carry a metal rotating brush/capacitive pad combination and changes in the capacitance in the brush/pad circuit will be used to identify imperfections in the interior coating of the pipe and especially those located proximate a girth weld. In another preferred embodiment, a circumferential brush will be used that allows testing of the integrity of the internal coating throughout the length of the pipe as the robot travels the pipeline.