US20170307126A1 - Systems and methods for pipeline device propulsion - Google Patents
Systems and methods for pipeline device propulsion Download PDFInfo
- Publication number
- US20170307126A1 US20170307126A1 US15/625,588 US201715625588A US2017307126A1 US 20170307126 A1 US20170307126 A1 US 20170307126A1 US 201715625588 A US201715625588 A US 201715625588A US 2017307126 A1 US2017307126 A1 US 2017307126A1
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- United States
- Prior art keywords
- sealing device
- pipeline
- leak
- sealing
- fluid
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/16—Devices for covering leaks in pipes or hoses, e.g. hose-menders
- F16L55/162—Devices for covering leaks in pipes or hoses, e.g. hose-menders from inside the pipe
- F16L55/1645—Devices for covering leaks in pipes or hoses, e.g. hose-menders from inside the pipe a sealing material being introduced inside the pipe by means of a tool moving in the pipe
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/10—Means for stopping flow from or in pipes or hoses
- F16L55/12—Means for stopping flow from or in pipes or hoses by introducing into the pipe a member expandable in situ
- F16L55/128—Means for stopping flow from or in pipes or hoses by introducing into the pipe a member expandable in situ introduced axially into the pipe or hose
- F16L55/1283—Plugging pig
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/16—Devices for covering leaks in pipes or hoses, e.g. hose-menders
- F16L55/162—Devices for covering leaks in pipes or hoses, e.g. hose-menders from inside the pipe
- F16L55/165—Devices for covering leaks in pipes or hoses, e.g. hose-menders from inside the pipe a pipe or flexible liner being inserted in the damaged section
- F16L55/1652—Devices for covering leaks in pipes or hoses, e.g. hose-menders from inside the pipe a pipe or flexible liner being inserted in the damaged section the flexible liner being pulled into the damaged section
- F16L55/1654—Devices for covering leaks in pipes or hoses, e.g. hose-menders from inside the pipe a pipe or flexible liner being inserted in the damaged section the flexible liner being pulled into the damaged section and being inflated
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M3/00—Investigating fluid-tightness of structures
- G01M3/02—Investigating fluid-tightness of structures by using fluid or vacuum
- G01M3/04—Investigating fluid-tightness of structures by using fluid or vacuum by detecting the presence of fluid at the leakage point
- G01M3/24—Investigating fluid-tightness of structures by using fluid or vacuum by detecting the presence of fluid at the leakage point using infrasonic, sonic, or ultrasonic vibrations
- G01M3/243—Investigating fluid-tightness of structures by using fluid or vacuum by detecting the presence of fluid at the leakage point using infrasonic, sonic, or ultrasonic vibrations for pipes
- G01M3/246—Investigating fluid-tightness of structures by using fluid or vacuum by detecting the presence of fluid at the leakage point using infrasonic, sonic, or ultrasonic vibrations for pipes using pigs or probes travelling in the pipe
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M3/00—Investigating fluid-tightness of structures
- G01M3/02—Investigating fluid-tightness of structures by using fluid or vacuum
- G01M3/26—Investigating fluid-tightness of structures by using fluid or vacuum by measuring rate of loss or gain of fluid, e.g. by pressure-responsive devices, by flow detectors
- G01M3/28—Investigating fluid-tightness of structures by using fluid or vacuum by measuring rate of loss or gain of fluid, e.g. by pressure-responsive devices, by flow detectors for pipes, cables or tubes; for pipe joints or seals; for valves ; for welds
- G01M3/2807—Investigating fluid-tightness of structures by using fluid or vacuum by measuring rate of loss or gain of fluid, e.g. by pressure-responsive devices, by flow detectors for pipes, cables or tubes; for pipe joints or seals; for valves ; for welds for pipes
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M3/00—Investigating fluid-tightness of structures
- G01M3/02—Investigating fluid-tightness of structures by using fluid or vacuum
- G01M3/26—Investigating fluid-tightness of structures by using fluid or vacuum by measuring rate of loss or gain of fluid, e.g. by pressure-responsive devices, by flow detectors
- G01M3/28—Investigating fluid-tightness of structures by using fluid or vacuum by measuring rate of loss or gain of fluid, e.g. by pressure-responsive devices, by flow detectors for pipes, cables or tubes; for pipe joints or seals; for valves ; for welds
- G01M3/2807—Investigating fluid-tightness of structures by using fluid or vacuum by measuring rate of loss or gain of fluid, e.g. by pressure-responsive devices, by flow detectors for pipes, cables or tubes; for pipe joints or seals; for valves ; for welds for pipes
- G01M3/2823—Investigating fluid-tightness of structures by using fluid or vacuum by measuring rate of loss or gain of fluid, e.g. by pressure-responsive devices, by flow detectors for pipes, cables or tubes; for pipe joints or seals; for valves ; for welds for pipes using pigs or moles traveling in the pipe
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M3/00—Investigating fluid-tightness of structures
- G01M3/38—Investigating fluid-tightness of structures by using light
Definitions
- FIG. 6 is a side plan view of the sealing device of FIG. 5 according to one embodiment.
- FIG. 8 is a flow chart of a method for identifying a leak within the pipeline.
- pipeline 10 for transporting goods is shown according to one embodiment.
- pipeline 10 is elevated above the ground, but pipeline 10 may otherwise be positioned below or within the ground, or in any other arrangement as may be suitable for the particular application of pipeline 10 .
- pipeline 10 is used to transport fluid (e.g., gas, liquid, etc.) between two points.
- fluid e.g., gas, liquid, etc.
- pipeline 10 may be used to transport fuel, such as natural gas, between two or more sites (e.g., fuel refinery, fuel storage area, fueling station, etc.) as part of a fuel transportation system.
- pipeline 10 may be used to transport sewage, slurry, water, or any other fluid.
- block valves 12 include flow sensors 14 (i.e., fluid sensors, fluid flow sensors, flow velocity sensors, etc.) configured to monitor the flow of fluid through pipeline 10 .
- Flow sensors 14 may be configured to monitor a flow velocity of the fluid at a specific location within pipeline 10 (e.g., at block valve 12 , etc.), a volumetric flow rate of the fluid at a specific point or location within pipeline 10 , and/or another measure of fluid flow suitable for the particular application of flow sensors 14 and/or the leak sealing system.
- flow sensors 14 are included as part of sensor assembly 26 , which is described in further detail below and shown in FIG. 2 .
- Flow sensors 14 may be used to detect and/or locate a leak within pipeline 10 by detecting a reduced fluid flow (e.g., flow velocity, volumetric flow rate, etc.) at a particular location, which may indicate a loss of fluid through a leak in pipeline 10 .
- flow sensors 14 are configured to determine the location of the leak (i.e., the leak location) based on the fluid flow within pipeline 10 .
- flow sensors 14 are configured to send one or more signals representing the leak location to control module 50 (shown in FIG. 2 ).
- flow sensors 14 are configured to send one or more signals representing the fluid flow within pipeline 10 to control module 50 (e.g., controller), and control module 50 is configured (e.g., programmed) to determine the leak location based on the signals received from flow sensors 14 .
- control module 50 e.g., controller
- control module 50 is configured (e.g., programmed) to determine the leak location based on the signals received from flow sensors 14 .
- flow sensors 14 are positioned at block valves 12 in the illustrated embodiment of FIG. 1
- flow sensors 14 may be otherwise positioned within pipeline 10 in other embodiments.
- flow sensors 14 may be positioned on interior wall 16 (shown in FIG. 2 ) of pipeline 10 , coupled to sealing device 20 (shown in FIG. 2 ) or sealing device 60 (shown in FIGS. 5 and 6 ) as part of sensor assembly 26 , or positioned in another location suitable for monitoring a fluid flow within pipeline 10 .
- Pipeline 10 may include a plurality of flow sensors 14 as may be suitable for the particular application of flow sensors 14 and/or the leak sealing system, and flow sensors 14 may be positioned at more frequent intervals along pipeline 10 than the frequency of block valves 12 (i.e., there may be less distance between each flow sensor 14 within pipeline 10 than the distance between each block valve 12 along pipeline 10 ).
- sealing device 20 is shown within pipeline 10 according to one embodiment.
- sealing device 20 e.g., inflatable device, airbag device, airbag, etc.
- uninflated state i.e., uninflated or non-inflated configuration or arrangement
- inflating to an inflated state to seal a leak such as leak 18 (i.e., leak opening) on interior wall 16 of pipeline 10 (as shown in FIG. 3 ).
- sealing device 20 may be otherwise deployed in order to substantially cover a leak and limit the release of fluid from pipeline 10 .
- sealing device 20 includes a guide (e.g., rudder, fin, flag, etc.) (not shown) configured to steer or move sealing device 20 through pipeline 10 .
- the guide may be remotely controlled by an operator to move sealing device 20 through pipeline 10 , or the guide may be pushed or forced by the flow of fluid within pipeline 10 to move sealing device 20 through pipeline 10 .
- the guide is configured to receive a force from the fluid within pipeline 10 in order to move sealing device 20 through pipeline 10 .
- sealing device 20 is coupled to pipeline inspection gauge (PIG) 30 (shown in FIG. 4 ), and is moved or guided through pipeline 10 by PIG 30 .
- PIG 30 may be remotely controlled by an operator or configured to automatically move through pipeline 10 to find leak 18 .
- sealing device 20 is self-propelled, having one or more components configured to push, move, and/or guide sealing device 20 through pipeline 10 .
- sealing device 20 may be configured to move through pipeline 10 in another manner suitable for the particular application of sealing device 20 or for the conditions of pipeline 10 .
- Sealing device 20 is intended to prevent or limit the loss (i.e., release) of fluid from pipeline 10 through leak 18 by deploying (e.g., inflating) to cover leak 18 (as shown in FIG. 3 ).
- sealing device 20 has an outer diameter approximately equal to an inner diameter of pipeline 10 (e.g., an inner diameter of interior wall 16 ) when sealing device 20 is inflated, so that sealing device 20 provides a fluid seal against interior wall 16 .
- Sealing device 20 is configured to inflate in response to an inflation pressure.
- the inflation pressure is internally generated or provided by one or more components of sealing device 20 , such as a pyrotechnic reaction created within bag 22 of sealing device 20 .
- Sealing device 20 also includes actuator 34 (e.g., deployment device or inflation actuator).
- Actuator 34 is configured to be actuated or triggered, causing an inflation pressure sufficient to inflate sealing device 20 to be generated or provided.
- actuator 34 may cause or allow a pyrotechnic or chemical reaction when actuated, generating or providing the required inflation pressure to inflate sealing device 20 .
- actuator 34 exposes an oxidizing agent to a gaseous fuel within pipeline 10 when actuator 34 is actuated, causing a chemical reaction that generates the required inflation pressure to inflate sealing device 20 .
- Actuator 34 may be coupled to sealing device 20 , or actuator 34 may be otherwise positioned in order to cause a sufficient inflation pressure to inflate sealing device 20 .
- actuator 34 is electronically coupled to one or more components of sealing device 20 and/or the leak sealing system (e.g., sensor assembly 26 , control module 50 , I/O device 28 , etc.), receiving signals or commands to trigger or actuate actuator 34 .
- actuator 34 is configured to receive wireless signals or commands to trigger or actuate actuator 34 , such as through a wireless receiver coupled to sealing device 20 .
- actuator 34 may be physically triggered or actuated by one or more adjacent components of sealing device 20 and/or the leak sealing system, such as tether 32 described in further detail below.
- sealing device 20 includes bag 22 (e.g., inflatable envelope, cushion, inflatable bag, etc.) which is configured to expand rapidly (e.g., inflate) in response to the inflation pressure.
- bag 22 is sized and shaped to fit interior wall 16 , or to otherwise match one or more dimensions of pipeline 10 in order to fit snugly against the perimeter of interior wall 16 when sealing device 20 has been inflated.
- Bag 22 is configured to at least partially seal a leak within pipeline 10 .
- bag 22 is sized and shaped to fit and properly seal leak 18 or another type of leak typically found within pipeline 10 .
- bag 22 is made from a stretchable fabric, but in other embodiments, bag 22 may be made from another material suitable for the particular application of bag 22 and/or sealing device 20 .
- sealing device 20 includes a secondary inflatable bag (not shown) configured to selectively inflate in order to inhibit a movement of sealing device 20 or one or more of its components (e.g., bag 22 , structure 24 , etc.).
- Structure 24 applies a pressure (e.g., mechanical pressure) to bag 22 and/or interior wall 16 in order to substantially cover or seal leak 18 , limiting the release of fluid from pipeline 10 .
- a pressure e.g., mechanical pressure
- the inflation pressure pushes structure 24 outwardly from an approximate center of sealing device 20 , toward interior wall 16 .
- the inflation pressure forces structure 24 and bag 22 against interior wall 16 , generating a wall pressure or force acting on or against interior wall 16 .
- structure 24 is a single piece configured to apply pressure to bag 22 and/or interior wall 16 when sealing device 20 is inflated. In other embodiments, structure 24 includes two or more pieces or components configured to join together or otherwise couple to each other before, during, or after sealing device 20 has been inflated. In still other embodiments, structure 24 includes two or more pieces or components that remain de-coupled to apply pressure at multiple points on bag 22 and/or interior wall 16 , as may be suitable for the particular application of sealing device 20 . In one embodiment, structure 24 is configured to deploy into a static configuration to maintain or control a shape of sealing device 20 . In this embodiment, the static configuration may be selected to maintain a force applied by sealing device 20 to wall 16 of pipeline 10 .
- actuator 34 includes tether 32 (e.g., fixed-length tether).
- tether 32 is coupled on a first end to actuator 34 (directly or by another component of sealing device 20 ), and coupled on a second end to a reference point such as a stationary attachment point (not shown).
- tether 32 has a fixed tether length.
- the fixed tether length may be used to approximate the distance traveled by sealing device 20 through pipeline 10 in order to determine when sealing device 20 reaches a leak location.
- the fixed tether length may also be selected or cut to approximate the distance from the stationary attachment point to the leak location.
- tether 32 may be fully extended or taut such that tether 32 breaks or fails, applying a force that triggers actuator 34 , or otherwise causing actuator 34 to trigger such that sealing device 20 is inflated to seal the leak.
- sensor assembly 26 includes one or more position sensors (i.e., sealing device position sensors) configured to monitor a position of sealing device 20 (e.g., position relative to pipeline 10 , position relative to the leak, etc.).
- sensor assembly 26 is configured to send one or more signals representing the position of sealing device 20 to control module 50 , either directly or by way of I/O device 28 .
- Control module 50 may interpret the signals received from sensor assembly 26 to monitor the sealing device location.
- control module 50 is programmed to cause sealing device 20 to inflate based on the sealing device location.
- control module 50 may send a signal or command to actuator 34 , either directly or through I/O device 28 , when the sealing device location is approximately equal to the leak location (i.e., sealing device 20 is at or near leak 18 ), inflating sealing device 20 to seal leak 18 .
- sensor assembly 26 is configured to send a signal or command directly to actuator 34 , causing sealing device 20 to inflate based on the sealing device location.
- sensor assembly 26 is configured to send one or more signals representing the fluid flow at or near sensor assembly 26 to control module 50 , either directly or through I/O device 28 .
- Control module 50 is configured to interpret the signals to identify a potential leak and/or the leak location.
- Control module 50 may be programmed to send a signal or command to actuator 34 when sealing device 20 is at or near the leak location, causing actuator 34 to inflate sealing device 20 .
- sensor assembly 26 is configured to interpret the monitored fluid flow to determine the leak location.
- actuator 34 may be configured such that actuator 34 may only be triggered or actuated at a location just before sealing device 20 reaches the leak location and while sealing device 20 is moving, at a location just after sealing device 20 has reached the leak location and while sealing device 20 is moving, or under any other conditions as may be suitable for the particular application of sealing device 20 .
- the timing of the actuation of actuator 34 may be selected or determined such that sealing device 20 is inflated to substantially cover or seal the leak.
- Sealing device 60 may then impose a high friction force between outer surface 64 and interior wall 16 at the back portion while flexing forward portions of wall 66 (e.g., via internal structure 68 ), so as to move the front portion of sealing device 60 forwards. This process can be cyclically repeated to achieve an inchworm-like motion through pipeline 10 .
- Wall 66 is also configured to stop movement of sealing device 60 along pipeline 10 when sealing device 60 is deployed.
- sealing device 60 is configured to move along with the fluid within pipeline 10 , being driven by the fluid flow through pipeline 10 .
- Sealing device 60 is utilized similarly to sealing device 20 to seal one or more leaks within pipeline 10 .
- the embodiments and configurations described above in reference to sealing device 20 may also apply to sealing device 60 .
- sealing device 60 may be configured to communicate or interact with one or more communication components (e.g., control module 50 , I/O device 28 , or sensor assembly 26 , etc.) of the leak sealing system in a manner similar to the communication or interaction between sealing device 20 and the one or more communication components, and any embodiments or configurations describing any communications or interactions between sealing device 20 and the one or more communication devices apply accordingly to sealing device 60 .
- one or more communication components e.g., control module 50 , I/O device 28 , or sensor assembly 26 , etc.
- internal structure 68 is configured to receive one or more signals representing pipeline conditions directly from sensor assembly 26 .
- internal structure 68 may be configured to interpret the signals to determine if it is necessary or useful for internal structure 68 to move sealing device 60 and/or one or more components of sealing device 60 in order to fulfill a function or purpose of the leak sealing system. Internal structure 68 may then move or control sealing device 60 accordingly.
- sensor assembly 26 may be coupled to sealing device 60 so that sensor assembly 26 is able to monitor the conditions near sealing device 60 .
- sensor assembly 26 may be coupled to interior wall 16 of pipeline 10 , or may be positioned in another location suitable for monitoring one or more conditions within pipeline 10 .
- the outward force may also be applied to prevent the collapse of pipeline 10 across its diameter in instances where the structure of pipeline 10 is substantially harmed by the leak.
- the outward force may also be applied by internal structure 68 to prevent internal collapse of wall 66 .
- internal structure 68 includes plates or other accessories or components to increase the surface area over which the outward force is applied to wall 66 , more evenly distributing the wall pressure or outward force to obtain a better seal.
- wall 66 is made from a material configured to provide a water-tight seal over the leak.
- sealing devices may be selectively positioned and/or deployed within pipeline 10 .
- at least one sealing device is positioned between every block valve 12 within pipeline 10 .
- sealing devices may be positioned at lesser intervals within pipeline 10 in order to achieve greater coverage.
- the sealing devices may each have a designated area (i.e., pipe segment(s)) within pipeline 10 in which the sealing devices move in order to detect a leak condition.
- Sealing devices may be launched or moved continuously or intermittently through their designated pipe segment to provide substantially continuous coverage against leaks within pipeline 10 .
- the sealing devices may be launched every few minutes or in shorter or longer time intervals as may be suitable for the particular application of the sealing devices and/or the leak sealing system.
- Control module 50 may be used to control the movement and/or operation of either of the above described sealing devices (i.e., sealing device 20 or sealing device 60 ) or a similarly configured sealing device.
- Control module 50 includes processor 52 and memory 54 .
- Memory 54 stores programming instructions that, when executed by processor 52 , control the sealing device's movement, including the various components of the sealing device.
- Control module 50 is in electrical communication with structure 42 , sensor assembly 44 , and actuator 46 .
- a sealing device may include structures, sensor assemblies, and actuators. In such arrangements, control module 50 is in electrical communication with each of the components.
- Control module 50 receives operational electrical power from power supply 56 .
- Power supply 56 provides power to control module 50 and all components of the sealing device.
- Power supply 56 may be any suitable power source, including, but not limited to, a battery, a generator, a solar power source, grid power, or a combination thereof.
- the battery may be charged during operation through another power source (e.g., a generator, a solar panel, grid power, etc.) or through inductive charging (i.e., the sealing device can move over an inductive charger within pipeline 10 configured to charge the rechargeable battery).
- the leak location may be identified by flow sensors 14 or manually identified by an operator or technician and relayed to the sealing device (i.e., by control module 50 ), identified by one or more sensors of sensor assembly 26 , or identified by another method or component of the leak sealing system such as those described above.
- the sealing device may be moved through pipeline 10 by tether 32 , PIG 30 , or by another component or method of the leak sealing system.
- an inflation pressure is internally generated within the sealing device to inflate the sealing device, substantially covering the leak opening and limiting the release of fluid from pipeline 10 .
- the sealing device may be inflated by triggering actuator 34 or by causing a structure of the sealing device to apply an outward force to seal the leak opening.
- the sealing device and/or PIG may be embodied as or within a pipeline device configured to propel itself through the pipeline by, as also described above, using a portion of a fluid such as natural gas traveling within the pipeline.
- a pipeline device includes a combustion propulsion system configured to utilize natural gas traveling within the pipeline as a fuel, and an oxidizer from an oxidizer source.
- the oxidizer may comprise O 2 , H 2 O 2 , F 2 , HNO 3 , or the like.
- the oxidizer source may be or include a storage container or tank on board the pipeline device, or a remote storage container that may either travel with the pipeline device or be located exterior to the pipeline.
- propulsion system 124 is coupled to one or more traction members, shown as wheels 130 .
- the traction members may include a variety of tracks, treads, or other components configured to engage inner surface 112 of pipeline 110 to move pipeline device 116 within pipeline 110 .
- inner surface 112 of pipeline 110 may include guides, tracks, rails, or the like, to engage with the traction members.
- Accessory device 120 may be or include a variety of devices such as maintenance device 152 , sensor 154 , and/or storage device 152 .
- Maintenance device 152 is configured to perform one or more maintenance operations within pipeline 110 , include sealing leaks (e.g., similar to sealing device 20 ), welding cracks, removing debris, cleaning the interior walls of pipeline 110 , and the like.
- Sensor 154 may include a variety of sensors configured to acquire data regarding pipeline 110 and/or pipeline device 116 , including leaks, flow rates/stoppages, speed or location of pipeline device 116 , and so on.
- Storage device 156 is configured to provide storage for various materials to be transported within pipeline 110 . Storage device 156 may take any suitable size and shape according to various alternative embodiments.
- Tracking device 146 (e.g., a tracking module) is in one embodiment configured to track and store data regarding the movement and operation of pipeline device 116 .
- tracking device 146 may store speed/direction data for pipeline device 116 usable to determine a location of pipeline device 116 (e.g., in instances when pipeline 110 prevents location determination via global positioning or similar methods).
- Tracking device 146 may also store data related to conditions within pipeline 110 (e.g., leaks, etc.). Data from tracking device 146 may be downloaded or wirelessly communicated to one or more remote devices (e.g., after removal of pipeline device 116 from pipeline 110 ).
- machine-readable media can comprise RAM, ROM, EPROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to carry or store desired program code in the form of machine-executable instructions or data structures and which can be accessed by a general purpose or special purpose computer or other machine with a processor.
- a network or another communications connection either hardwired, wireless, or a combination of hardwired or wireless
- any such connection is properly termed a machine-readable medium.
- Machine-executable instructions include, for example, instructions and data which cause a general purpose computer, special purpose computer, or special purpose processing machines to perform a certain function or group of functions.
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Abstract
A method for sealing a leak in a pipeline used to transport fluid includes positioning a sealing device within the pipeline, moving the sealing device through the pipeline to a leak location, and internally generating an inflation pressure to inflate the sealing device to substantially cover a leak opening and limit release of the fluid from the pipeline.
Description
- The present application is a continuation of U.S. application Ser. No. 14/533,707, filed Nov. 5, 2014, which is a continuation-in-part of U.S. application Ser. No. 13/955,929, filed Jul. 31, 2013. Both applications are incorporated herein by reference in their entirety.
- Pipelines are used to transport fuels and other fluid goods between one or more locations. For instance, pipeline transport is often the most economical way to transport large quantities of oil or natural gas over land. A pipeline for transporting fluid goods is constructed to resist ruptures or leaks within the pipeline. However, the pipeline may develop a leak or rupture through which the fluid goods may escape, resulting in a loss of goods and potentially causing further damage to the pipeline if the rupture or leak is not patched or sealed within a reasonable time.
- A fluid pipeline may include block valves or block valve stations positioned at intervals (e.g., every 20 to 30 miles) along the pipeline. When a leak is identified within the pipeline, these block valves may be closed to isolate the leak to a particular segment between two block valves. However, the fluid goods within this particular segment, which may be a stretch of pipeline over a long distance, may be lost through the leak before the leak can be patched or sealed. Also, the closed block valves may prevent fluid from being transported through the pipeline until the leak is sealed, perhaps blocking the supply of the fluid goods to one or more locations for a prolonged period of time.
- An embodiment of the present disclosure relates to a method for sealing a leak in a pipeline used to transport fluid. The method includes positioning a sealing device within the pipeline, moving the sealing device through the pipeline to a leak location, and internally generating an inflation pressure to inflate the sealing device to substantially cover a leak opening and limit release of the fluid from the pipeline.
- Another embodiment of the present disclosure relates to a sealing device for sealing a leak within a pipeline for transporting fluid. The sealing device includes a frame, and an inflatable bag coupled to the frame and sized according to one or more dimensions of the pipeline. The frame and the inflatable bag are configured to move through the pipeline. The inflatable bag comprises a gas generator and is configured to at least partially seal the leak and to inhibit release of the fluid from the pipeline when the inflatable bag is inflated.
- Another embodiment of the present disclosure relates to a sealing device for sealing a leak within a pipeline for transporting fluid. The sealing device includes a closed flexible wall formed into a substantially tubular shape defining an opening, and an internal frame coupled to the closed flexible wall and configured to control a movement of the closed flexible wall by applying a force to the closed flexible wall. The movement of the closed flexible wall moves the sealing device through the pipeline, and the sealing device may be deployed in order to seal the leak.
- Another embodiment of the present disclosure relates to a system for sealing a leak within a pipeline for transporting fluid. The system includes a sealing device, which includes a flexible wall formed into a substantially tubular shape defining an opening, and an internal frame coupled to the flexible wall and configured to control a movement of the flexible wall by applying a force to the flexible wall. The movement of the flexible wall moves the sealing device through the pipeline, and the sealing device may be deployed in order to seal the leak. The system also includes a sensor assembly configured to monitor a pipeline condition, and a control module configured to receive a signal from the sensor assembly, and to control the force applied by the internal frame.
- Another embodiment relates to a method for sealing a leak in a pipeline used to transport fluid, including positioning a sealing device within the pipeline; directing a portion of the fluid in the pipeline to a propulsion device coupled to the sealing device; and moving the sealing device through the pipeline by combusting the fluid with an oxidizer within the propulsion device.
- Another embodiment relates to a sealing device for sealing a leak within a pipeline for transporting fluid, including a frame; an inflatable bag coupled to the frame; and an engine configured to use the fluid within the pipeline as fuel to propel the frame and inflatable bag through the pipeline.
- Another embodiment relates to a pipeline device configured to travel within a pipeline, including a housing; a propulsion system disposed at least partially within the housing and configured to combust a fuel and an oxidizer; an oxidizer source configured to provide the oxidizer to the propulsion system; and a fuel source configured to direct fuel travelling within the pipeline to the propulsion system.
- Another embodiment relates to a method of moving a pipeline device through a pipeline, including positioning a pipeline device within a pipeline, the pipeline device including a propulsion device; and propelling the pipeline device through the pipeline using the propulsion device by directing a portion of a fuel traveling through the pipeline to a combustion chamber of the propulsion device; and directing an oxidizer from an oxidizer source to the combustion chamber; and combusting the fuel with the oxidizer within the combustion chamber.
- Another embodiment relates to a method of moving a pipeline device through a pipeline, including directing a portion of a fuel traveling through a pipeline to a combustion engine of a pipeline device; directing an oxidizer from an oxidizer source to the combustion engine; and combusting the fuel with the oxidizer within the combustion engine to propel the pipeline device through the pipeline in an airborne manner.
- The foregoing summary is illustrative only and is not intended to be in any way limiting. In addition to the illustrative aspects, embodiments, and features described above, further aspects, embodiments, and features will become apparent by reference to the drawings and the following detailed description.
-
FIG. 1 is a side view of a fluid pipeline according to one embodiment. -
FIG. 2 is a perspective view of a sealing device for the leak sealing system in an uninflated state within the fluid pipeline according to one embodiment. -
FIG. 3 is a perspective view of the sealing device ofFIG. 2 in an inflated state within the fluid pipeline according to one embodiment. -
FIG. 4 is a schematic view of a sealing device and a pipeline inspection gauge within the fluid pipeline according to one embodiment. -
FIG. 5 is a perspective view of a sealing device for the leak sealing system according to one embodiment. -
FIG. 6 is a side plan view of the sealing device ofFIG. 5 according to one embodiment. -
FIG. 7 is a block diagram of a control module for a sealing device according to one embodiment. -
FIG. 8 is a flow chart of a method for identifying a leak within the pipeline. -
FIG. 9 is a schematic illustration of a pipeline device travelling within a pipeline according to another embodiment. -
FIG. 10 is a schematic illustration of the pipeline device ofFIG. 9 according to one embodiment. -
FIG. 11 is a schematic block diagram of a propulsion system of the pipeline device ofFIG. 9 according to one embodiment. -
FIG. 12 is a block diagram of a control system usable with the pipeline device ofFIG. 9 according to one embodiment. -
FIG. 13 is a method of using a pipeline device within a pipeline according to one embodiment. - In the following detailed description, reference is made to the accompanying drawings, which form a part hereof. In the drawings, similar symbols typically identify similar components, unless context dictates otherwise. The illustrative embodiments described in the detailed description, drawings, and claims are not meant to be limiting. Other embodiments may be utilized, and other changes may be made, without departing from the spirit or scope of the subject matter presented here.
- Referring generally to the figures, a leak sealing system is shown for sealing a leak within a fluid pipeline. The leak sealing system includes a sealing device configured to move to a leak location within the pipeline, deploying or inflating to seal a leak within the pipeline. The sealing device is sized and shaped such that fluid is able to flow past or through the sealing device when the sealing device is inflated, maintaining the transportation of fluid through the pipeline. The leak sealing system also includes a sensor assembly configured to monitor conditions of the pipeline in order to determine the location of the leak and the location of the sealing device as it moves through the pipeline. The sealing device may be sized and shaped to fit the pipeline in order to provide a fluid seal, inhibiting the release of fluid from the leak until the leak can be more permanently patched or repaired.
- Referring to
FIG. 1 ,pipeline 10 for transporting goods is shown according to one embodiment. In this embodiment,pipeline 10 is elevated above the ground, butpipeline 10 may otherwise be positioned below or within the ground, or in any other arrangement as may be suitable for the particular application ofpipeline 10. In some embodiments,pipeline 10 is used to transport fluid (e.g., gas, liquid, etc.) between two points. For instance,pipeline 10 may be used to transport fuel, such as natural gas, between two or more sites (e.g., fuel refinery, fuel storage area, fueling station, etc.) as part of a fuel transportation system. In other embodiments,pipeline 10 may be used to transport sewage, slurry, water, or any other fluid. - In the embodiment of
FIG. 1 ,pipeline 10 includesblock valves 12 positioned at intervals alongpipeline 10. The distance betweenblock valves 12 may vary depending upon the length ofpipeline 10 and other engineering considerations, but in various other embodiments the distance may range from a few meters to many kilometers.Block valves 12 are configured to selectively block fluid flow in one or both directions in order to isolate a segment ofpipeline 10 for maintenance or repair. In the event of a leak within a particular section or segment ofpipeline 10,block valves 12 may be closed (e.g., actuated) to block the flow of fluid through the particular section or segment ofpipeline 10 containing the leak. Whenblock valves 12 are closed, the flow of fluid throughpipeline 10 is halted, perhaps shorting or reducing a fuel supply to one or more fuel sites until the leak can be fixed or patched. The fluid within the particular segment having the leak (i.e., betweenblock valves 12 surrounding the leak) may exitpipeline 10 through the leak. - In an exemplary embodiment, block valves 12 (e.g., block valve stations) include flow sensors 14 (i.e., fluid sensors, fluid flow sensors, flow velocity sensors, etc.) configured to monitor the flow of fluid through
pipeline 10.Flow sensors 14 may be configured to monitor a flow velocity of the fluid at a specific location within pipeline 10 (e.g., atblock valve 12, etc.), a volumetric flow rate of the fluid at a specific point or location withinpipeline 10, and/or another measure of fluid flow suitable for the particular application offlow sensors 14 and/or the leak sealing system. In one embodiment,flow sensors 14 are included as part ofsensor assembly 26, which is described in further detail below and shown inFIG. 2 . -
Flow sensors 14 may be used to detect and/or locate a leak withinpipeline 10 by detecting a reduced fluid flow (e.g., flow velocity, volumetric flow rate, etc.) at a particular location, which may indicate a loss of fluid through a leak inpipeline 10. In one embodiment,flow sensors 14 are configured to determine the location of the leak (i.e., the leak location) based on the fluid flow withinpipeline 10. In this embodiment,flow sensors 14 are configured to send one or more signals representing the leak location to control module 50 (shown inFIG. 2 ). In another embodiment,flow sensors 14 are configured to send one or more signals representing the fluid flow withinpipeline 10 to control module 50 (e.g., controller), andcontrol module 50 is configured (e.g., programmed) to determine the leak location based on the signals received fromflow sensors 14. - While
flow sensors 14 are positioned atblock valves 12 in the illustrated embodiment ofFIG. 1 , flowsensors 14 may be otherwise positioned withinpipeline 10 in other embodiments. For instance, flowsensors 14 may be positioned on interior wall 16 (shown inFIG. 2 ) ofpipeline 10, coupled to sealing device 20 (shown inFIG. 2 ) or sealing device 60 (shown inFIGS. 5 and 6 ) as part ofsensor assembly 26, or positioned in another location suitable for monitoring a fluid flow withinpipeline 10.Pipeline 10 may include a plurality offlow sensors 14 as may be suitable for the particular application offlow sensors 14 and/or the leak sealing system, and flowsensors 14 may be positioned at more frequent intervals alongpipeline 10 than the frequency of block valves 12 (i.e., there may be less distance between eachflow sensor 14 withinpipeline 10 than the distance between eachblock valve 12 along pipeline 10). - Referring now to
FIGS. 2 and 3 , sealingdevice 20 is shown withinpipeline 10 according to one embodiment. In this embodiment, sealing device 20 (e.g., inflatable device, airbag device, airbag, etc.) is configured to move throughpipeline 10 in an uninflated state (i.e., uninflated or non-inflated configuration or arrangement) (as shown inFIG. 2 ), inflating to an inflated state to seal a leak such as leak 18 (i.e., leak opening) oninterior wall 16 of pipeline 10 (as shown inFIG. 3 ). In other embodiments, sealingdevice 20 may be otherwise deployed in order to substantially cover a leak and limit the release of fluid frompipeline 10.Sealing device 20 and the leak sealing system may be used for natural gas pipelines, or for pipelines carrying other fluids, such as water, oil, or any other fluid transported through a pipeline. In one embodiment, sealingdevice 20 is configured to move along with the fluid flow throughpipeline 10, being pushed or guided by the force of the fluid throughpipeline 10. In other embodiments, sealingdevice 20 is moved or guided throughpipeline 10 by one or more external forces. For instance, sealingdevice 20 may be configured such that one or more components of sealingdevice 20 are subject to remote control. In this embodiment, an operator or technician may be able to remotely control one or more components of sealingdevice 20 in order to guide sealingdevice 20 throughpipeline 10. For instance, in one embodiment, sealingdevice 20 includes a guide (e.g., rudder, fin, flag, etc.) (not shown) configured to steer or move sealingdevice 20 throughpipeline 10. In this embodiment, the guide may be remotely controlled by an operator to move sealingdevice 20 throughpipeline 10, or the guide may be pushed or forced by the flow of fluid withinpipeline 10 to move sealingdevice 20 throughpipeline 10. The guide is configured to receive a force from the fluid withinpipeline 10 in order to move sealingdevice 20 throughpipeline 10. In another embodiment, sealingdevice 20 is coupled to pipeline inspection gauge (PIG) 30 (shown inFIG. 4 ), and is moved or guided throughpipeline 10 byPIG 30.PIG 30 may be remotely controlled by an operator or configured to automatically move throughpipeline 10 to findleak 18. In other embodiments, sealingdevice 20 is self-propelled, having one or more components configured to push, move, and/or guide sealingdevice 20 throughpipeline 10. In still other embodiments, sealingdevice 20 may be configured to move throughpipeline 10 in another manner suitable for the particular application of sealingdevice 20 or for the conditions ofpipeline 10. -
Sealing device 20 is intended to prevent or limit the loss (i.e., release) of fluid frompipeline 10 throughleak 18 by deploying (e.g., inflating) to cover leak 18 (as shown inFIG. 3 ). In one embodiment, sealingdevice 20 has an outer diameter approximately equal to an inner diameter of pipeline 10 (e.g., an inner diameter of interior wall 16) when sealingdevice 20 is inflated, so that sealingdevice 20 provides a fluid seal againstinterior wall 16.Sealing device 20 is configured to inflate in response to an inflation pressure. In one embodiment, the inflation pressure is internally generated or provided by one or more components of sealingdevice 20, such as a pyrotechnic reaction created withinbag 22 of sealingdevice 20. In another embodiment, the inflation pressure is internally generated by an external force or component interacting with sealingdevice 20, such as a chemical reaction with the fluid withinpipeline 10. For instance, sealingdevice 20 may include or be made from an oxidizer (e.g., oxidizing agent) configured to react with a gaseous fuel present withinpipeline 10. The oxidizer may be exposed to the gaseous fuel as necessary or desired in order to create a chemical reaction sufficient to generate or provide the inflation pressure required to inflate sealingdevice 20. In another embodiment,bag 22 includes a gas generator and the inflation pressure is produced by the gas generator. In other embodiments, the inflation pressure may be internally generated or provided by another source suitable for generating or providing an inflation pressure sufficient to inflate sealingdevice 20. -
Sealing device 20 also includes actuator 34 (e.g., deployment device or inflation actuator).Actuator 34 is configured to be actuated or triggered, causing an inflation pressure sufficient to inflate sealingdevice 20 to be generated or provided. For instance,actuator 34 may cause or allow a pyrotechnic or chemical reaction when actuated, generating or providing the required inflation pressure to inflate sealingdevice 20. In one embodiment,actuator 34 exposes an oxidizing agent to a gaseous fuel withinpipeline 10 whenactuator 34 is actuated, causing a chemical reaction that generates the required inflation pressure to inflate sealingdevice 20. -
Actuator 34 may be coupled to sealingdevice 20, oractuator 34 may be otherwise positioned in order to cause a sufficient inflation pressure to inflate sealingdevice 20. In one embodiment,actuator 34 is electronically coupled to one or more components of sealingdevice 20 and/or the leak sealing system (e.g.,sensor assembly 26,control module 50, I/O device 28, etc.), receiving signals or commands to trigger or actuateactuator 34. In one embodiment,actuator 34 is configured to receive wireless signals or commands to trigger or actuateactuator 34, such as through a wireless receiver coupled to sealingdevice 20. In some embodiments,actuator 34 may be physically triggered or actuated by one or more adjacent components of sealingdevice 20 and/or the leak sealing system, such astether 32 described in further detail below. - Still referring to
FIGS. 2 and 3 , sealingdevice 20 includes bag 22 (e.g., inflatable envelope, cushion, inflatable bag, etc.) which is configured to expand rapidly (e.g., inflate) in response to the inflation pressure. In some embodiments,bag 22 is sized and shaped to fitinterior wall 16, or to otherwise match one or more dimensions ofpipeline 10 in order to fit snugly against the perimeter ofinterior wall 16 when sealingdevice 20 has been inflated.Bag 22 is configured to at least partially seal a leak withinpipeline 10. In other embodiments,bag 22 is sized and shaped to fit and properly sealleak 18 or another type of leak typically found withinpipeline 10. In one embodiment,bag 22 is made from a stretchable fabric, but in other embodiments,bag 22 may be made from another material suitable for the particular application ofbag 22 and/or sealingdevice 20. In one embodiment, sealingdevice 20 includes a secondary inflatable bag (not shown) configured to selectively inflate in order to inhibit a movement of sealingdevice 20 or one or more of its components (e.g.,bag 22,structure 24, etc.). -
Sealing device 20 may also include structure 24 (e.g., mechanical element, mechanical structure, internal structure, internal frame, etc.) coupled tobag 22. In one embodiment,structure 24 is made from metal or an otherwise rigid material to provide a frame (e.g., skeleton, framework, form) for sealingdevice 20.Structure 24 may be positioned on the inside of bag 22 (as shown in the illustrated embodiment ofFIGS. 2 and 3 ), on the outside ofbag 22, or in some embodiments is partially located withinbag 22.Structure 24 is configured to deploy when sealingdevice 20 is inflated (i.e., in response to the inflation of sealing device 20), pushing againstinterior wall 16 and/or bag 22 (depending on whetherstructure 24 is positioned inside or outside of bag 22).Structure 24 applies a pressure (e.g., mechanical pressure) tobag 22 and/orinterior wall 16 in order to substantially cover or sealleak 18, limiting the release of fluid frompipeline 10. According to the illustrated embodiment ofFIGS. 2 and 3 , whenactuator 34 is actuated to generate an inflation pressure, the inflation pressure pushesstructure 24 outwardly from an approximate center of sealingdevice 20, towardinterior wall 16. Asstructure 24 expands outwardly, the inflation pressure forcesstructure 24 andbag 22 againstinterior wall 16, generating a wall pressure or force acting on or againstinterior wall 16. - The inflation pressure may be controlled to limit the wall pressure, including to limit an impulse pressure (i.e. the dynamic or total pressure applied to interior wall 16) and to limit a static pressure (i.e., the pressure applied at a specific point on interior wall 16) acting on
interior wall 16. The inflation pressure, and therefore the wall pressure, may be controlled so thatinterior wall 16 is not compromised or damaged by the inflation pressure and/or wall pressure. The inflation pressure may be controlled bystructure 24 and/orbag 22. For instance, in one embodiment,bag 22 is staged (i.e., having more than one stage of inflation) to apply more than one pressure or force, so that the inflation pressure or wall pressure applied by sealingdevice 20 and/or the staged airbag may be controlled to depend on the magnitude or severity of the leak. In another embodiment,bag 22 includes breakable elements (not shown), or an at least partially breakable element, to reduce the wall pressure (e.g., impulsive load) applied tointerior wall 16 as may be necessary or suitable for the particular application of sealingdevice 20 and/or the conditions ofpipeline 10. For example, such breakable elements may comprise fibers attached to multiple sites on the surface ofbag 22, either extending from site to site insidebag 22, or along its surface. The length and strength of the fibers can be selected to govern their breakage (and hence braking of the bag expansion) during the expansion ofbag 22. In one embodiment,structure 24 is internal to a pressure containment portion (e.g., staged airbag, inflatable elements, etc.) of sealingdevice 20. In one embodiment,structure 24 is configured to “lock” (e.g., maintain a specific shape or formation) when sealingdevice 20 is inflated in order to hold sealingdevice 20 in place or to provide additional strength or wall pressure for sealingdevice 20. In another embodiment,structure 24 is configured to resist inflation of sealingdevice 20, such as to reduce a force applied by sealingdevice 20 to wall 16 ofpipeline 10. - In one embodiment,
structure 24 has an approximately cylindrical (e.g., substantially cylindrical) shape when sealingdevice 20 is inflated (as shown inFIG. 3 ), withsupport bag 22 forming an approximately cylindrical shape aroundstructure 24. In this embodiment,structure 24 andbag 22 may maintain an approximately (i.e., substantially) cylindrical shape before and after sealingdevice 20 has been inflated. In one embodiment, sealing device 20 (structure 24 and bag 22) has a substantially toroidal shape, having a shape similar to a toroidal cylinder when sealingdevice 20 is in the inflated state (similar to the shape ofFIG. 3 ). In this embodiment, fluid is able to flow through an open center (e.g., opening 38 shown inFIG. 3 ) of sealingdevice 20 after sealingdevice 20 has inflated, maintaining a fluid flow throughpipeline 10 in spite of the presence of sealingdevice 20. In other embodiments,structure 24 and/orbag 22 may be sized and/or shaped according to one or more dimensions ofpipeline 10.Structure 24 may have an approximately cylindrical shape before and/or after sealingdevice 20 has been inflated, andbag 22 may have an approximately cylindrical shape before and/or after sealingdevice 20 has been inflated. In other embodiments,structure 24 andbag 22 may have a non-cylindrical shape before and after sealingdevice 20 is inflated. In still other embodiments,structure 24 andbag 22 may be of another shape as may be suitable for the particular application of sealingdevice 20, including having shapes that are dissimilar from each other. - In some embodiments,
structure 24 is a single piece configured to apply pressure tobag 22 and/orinterior wall 16 when sealingdevice 20 is inflated. In other embodiments,structure 24 includes two or more pieces or components configured to join together or otherwise couple to each other before, during, or after sealingdevice 20 has been inflated. In still other embodiments,structure 24 includes two or more pieces or components that remain de-coupled to apply pressure at multiple points onbag 22 and/orinterior wall 16, as may be suitable for the particular application of sealingdevice 20. In one embodiment,structure 24 is configured to deploy into a static configuration to maintain or control a shape of sealingdevice 20. In this embodiment, the static configuration may be selected to maintain a force applied by sealingdevice 20 to wall 16 ofpipeline 10.Structure 24 may be deployed by a scissor action or another type of extension that is actuated by the inflation pressure or when the inflation pressure is generated (i.e., the inflation pressure can be used to force deployment of structure 24). In one embodiment,structure 24 is attached tobag 22, and is deployed by forces frombag 22 as it inflates. In other embodiments,structure 24 is explosively deployed by a separate energy release than that used to inflatebag 22, although both energy releases may be triggered in response to a common signal. In one embodiment, deployment ofstructure 24 is configured to control inflation of sealingdevice 20. Whether having a single piece or more than one component,structure 24 is configured to apply pressure tobag 22 and/orinterior wall 16 in order to cover and/or seal the leak. - According to the illustrated embodiment of
FIGS. 2 and 3 ,actuator 34 includes tether 32 (e.g., fixed-length tether). In this embodiment,tether 32 is coupled on a first end to actuator 34 (directly or by another component of sealing device 20), and coupled on a second end to a reference point such as a stationary attachment point (not shown). In some embodiments,tether 32 has a fixed tether length. The fixed tether length may be used to approximate the distance traveled by sealingdevice 20 throughpipeline 10 in order to determine when sealingdevice 20 reaches a leak location. The fixed tether length may also be selected or cut to approximate the distance from the stationary attachment point to the leak location. When sealingdevice 20 reaches the leak location,tether 32 may be fully extended or taut such thattether 32 breaks or fails, applying a force that triggersactuator 34, or otherwise causingactuator 34 to trigger such that sealingdevice 20 is inflated to seal the leak. - The leak sealing system for
pipeline 10 also includessensor assembly 26.Sensor assembly 26 is configured to monitor one or more conditions (i.e., pipeline condition(s)) related to sealingdevice 20,pipeline 10, and/or any other conditions relevant to the leak sealing system or its components (e.g., flow velocity withinpipeline 10, velocity of sealing device, dimensions ofpipeline 10, etc.). In the illustrated embodiment ofFIGS. 2 and 3 ,sensor assembly 26 is coupled to sealingdevice 20, but in otherembodiments sensor assembly 26 may be otherwise located or positioned withinpipeline 10, such as coupled tointerior wall 16 or positioned withinblock valve 12, in order to monitor the pipeline conditions.Sensor assembly 26 is configured to monitor the pipeline conditions and send one or more signals representing the pipeline conditions to one or more other components of the leak sealing system. - In one embodiment,
sensor assembly 26 is configured to electronically communicate withcontrol module 50, sending one or more signals representing the pipeline conditions to controlmodule 50.Control module 50 is configured to receive the signals and to create a response based on the signals. In one embodiment,control module 50 is programmed to use or interpret the signals to determine (i.e., calculate) other important characteristics or conditions of the leak sealing system, such as the leak location, the size and shape of the leak (e.g., the hole causing the leak), the position of sealing device 20 (i.e., sealing device location), or any other characteristics or conditions of the leak sealing system.Control module 50 may also be configured to send a response (e.g., signals, commands, etc.) to other components of the leak sealing system. For instance, in oneembodiment control module 50 is programmed to determine the leak location and the sealing device location, and to cause sealingdevice 20 to inflate based on the leak location and the sealing device location. In this embodiment,control module 50 is configured to send a signal or command toactuator 34 to generate the inflation pressure.Control module 50 may be programmed to send one or more signals to triggeractuator 34 when sealingdevice 20 is at or near the leak location (e.g., the leak location is approximately equal to the sealing device location), causing sealingdevice 20 to inflate in order to seal the leak. - In the illustrated embodiment of
FIGS. 2 and 3 , sealingdevice 20 includes I/O device 28 (input/output device) coupled to sealingdevice 20. I/O device 28 may be electronically connected tosensor assembly 26 and to controlmodule 50. I/O device 28 may relay signals or commands betweensensor assembly 26 andcontrol module 50. In one embodiment,sensor assembly 26 is configured to send one or more signals representing the pipeline conditions to I/O device 28, with I/O device 28 sending the signals or other data to controlmodule 50. I/O device 28 may be further configured to receive signals, commands, or data fromcontrol module 50, and to send signals or commands to other components of sealing device 20 (e.g., actuator 34) and/or the leak sealing system. For instance,control module 50 may interpret the pipeline conditions to determine a leak location and the sealing device location, sending a command through I/O device 28 toactuator 34 when sealingdevice 20 is near the leak location, inflating sealingdevice 20 to seal the leak. In an embodiment, I/O device 28 is used to “arm” actuator 34 (e.g., on remote determination of a leak, on the dispatch of sealingdevice 20, etc.), in effect authorizing its activation, but leaving the actual decision and timing of the activation up to onboard sensors (e.g., upon a local determination of sealingdevice 20's proximity to the leak). - In at least one embodiment,
sensor assembly 26 is programmed to interpret the pipeline conditions, and configured to send one or more signals or commands to at least one other component of sealingdevice 20 and/or the leak sealing system based on the pipeline conditions. For instance,sensor assembly 26 may interpret the pipeline conditions to calculate or determine the leak location and the sealing device location, sending a signal or command toactuator 34 when sealingdevice 20 is near (e.g., at or just upstream of) the leak location, inflating sealingdevice 20 and sealing the leak. - In one embodiment,
sensor assembly 26 includes one or more position sensors (i.e., sealing device position sensors) configured to monitor a position of sealing device 20 (e.g., position relative topipeline 10, position relative to the leak, etc.). In some embodiments,sensor assembly 26 is configured to send one or more signals representing the position of sealingdevice 20 to controlmodule 50, either directly or by way of I/O device 28.Control module 50 may interpret the signals received fromsensor assembly 26 to monitor the sealing device location. In some embodiments,control module 50 is programmed to cause sealingdevice 20 to inflate based on the sealing device location. For instance,control module 50 may send a signal or command toactuator 34, either directly or through I/O device 28, when the sealing device location is approximately equal to the leak location (i.e., sealingdevice 20 is at or near leak 18), inflating sealingdevice 20 to sealleak 18. In another embodiment,sensor assembly 26 is configured to send a signal or command directly toactuator 34, causing sealingdevice 20 to inflate based on the sealing device location. -
Sensor assembly 26 may also include one or more fluid sensors (e.g., flow sensors, flow meters, flow loggers, velocimeters, etc.) configured to monitor a fluid flow withinpipeline 10. In this embodiment, the flow sensors are coupled to sealingdevice 20 and configured to monitor a fluid flow (e.g., flow velocity, volumetric flow rate, etc.) in the area of sealingdevice 20. By monitoring the fluid flow, the flow sensors (and therefore sensor assembly 26) may be configured to detect the presence of a leak withinpipeline 10. In one embodiment,flow sensors 14 are positioned at intervals withinpipeline 10 in order to identify a leak or a leak location. In this embodiment, fluid sensors (which may be similar to flow sensors 14) are included as part ofsensor assembly 26 and coupled to sealingdevice 20. The flow sensors ofsensor assembly 26 are configured to monitor the fluid flow or fluid conditions in the area of sealingdevice 20 in order to identify or determine when sealingdevice 20 is at or near the leak location. - In one embodiment,
sensor assembly 26 is configured to send one or more signals representing the fluid flow at ornear sensor assembly 26 to controlmodule 50, either directly or through I/O device 28.Control module 50 is configured to interpret the signals to identify a potential leak and/or the leak location.Control module 50 may be programmed to send a signal or command toactuator 34 when sealingdevice 20 is at or near the leak location, causingactuator 34 to inflate sealingdevice 20. In one embodiment,sensor assembly 26 is configured to interpret the monitored fluid flow to determine the leak location.Sensor assembly 26 may be configured to send one or more signals representing the leak location to controlmodule 50, or to send a signal or command toactuator 34 when sealingdevice 20 is at or near the leak location, causingactuator 34 to inflate sealingdevice 20 in order to cover and/or sealleak 18. For instance,sensor assembly 26 may be configured to detect a flow disturbance (e.g., a change in volumetric flow rate or fluid flow velocity at or near sensor assembly 26), sending one or more signals toactuator 34 when a flow disturbance is detected near sensor assembly 26 (and thus sealing device 20), causingactuator 34 to inflate sealingdevice 20. -
Sensor assembly 26 may also include one or more light sensors (e.g., radiometric sensors, photometric sensors, etc.) configured to detect a light (e.g., a light source, a light source gradient) nearsensor assembly 26. The light sensors may be coupled to sealingdevice 20 as part ofsensor assembly 26 in order to determine whether a leak is present at or near sealingdevice 20. For instance, if a leak or rupture is present withinpipeline 10, a greater amount of ambient light may enterpipeline 10 through the leak or rupture. The light sensors ofsensor assembly 26 are configured to monitor or detect this ambient light to determine a leak location. - In one embodiment,
sensor assembly 26 is configured to send one or more signals representing the amount of light received or detected bysensor assembly 26 to controlmodule 50. In this embodiment,control module 50 is programmed to determine whether a leak condition is present based on the signals received fromsensor assembly 26. In some embodiments,control module 50 compares the amount of ambient light detected or received bysensor assembly 26 to a steady state light level (i.e., a steady state illumination) for whenpipeline 10 is substantially leak-free. The steady state light level may be manually programmed or entered intocontrol module 50, orcontrol module 50 may be programmed to calculate or estimate the steady state light level based on the particular conditions ofpipeline 10. If the ambient light detected or received bysensor assembly 26 is greater than the steady state light level,control module 50 may be programmed to send a signal or command toactuator 34, causingactuator 34 to inflate sealingdevice 20 to seal the leak. In another embodiment,sensor assembly 26 is configured to interpret the light received or detected bysensor assembly 26 to determine whether a leak is present at ornear sensor assembly 26. In this embodiment,sensor assembly 26 may send a signal or command toactuator 34 to inflate sealingdevice 20 and seal a potential leak.Sealing device 20 is configured to cover and/or seal the leak when inflated, limiting the release of fluid frompipeline 10. -
Sensor assembly 26 may also include one or more radio frequency (RF) sensors configured to detect a radio frequency signal or field. Whenpipeline 10 is structurally sound (i.e., having no leaks or ruptures), an RF field may not be present withinpipeline 10, orpipeline 10 may contain an RF field having a relatively low intensity. However, when a leak occurs withinpipeline 10, an ambient RF signal (e.g., from local radio, TV, or cellular phone systems) may enterpipeline 10 so that an RF field (e.g., ambient RF field) having a relatively higher intensity is present withinpipeline 10. The RF sensors ofsensor assembly 26 are configured to monitor the RF field (e.g., the presence and/or intensity of the RF field). In one embodiment,sensor assembly 26 is coupled to sealingdevice 20 and the RF sensors are configured to detect the RF field at or near sealingdevice 20, generating one or more signals representing the RF field at or near sealingdevice 20.Sensor assembly 26 may be configured to send the one or more signals to controlmodule 50, or to another component of sealingdevice 20 and/or the leak sealing system. In one embodiment,control module 50 is configured to receive the one or more signals, and is programmed to determine whether a leak condition is present near sensor assembly 26 (and thus near sealing device 20) based on the one or more signals.Control module 50 may be programmed to compare the RF field to a steady state RF field (e.g., an RF field typically associated with a substantially leak-free or structurally sound pipeline 10), and to determine whether a leak condition is presentnear sensor assembly 26 based on the relationship between the received or detected RF field and the steady state RF field. In one embodiment, a leak can be detected by generating an RF field withinpipeline 10 and then detecting it by an externally located sensor assembly (e.g., sensor assembly 26). In this embodiment, the generated RF field can be distinguished from ambient RF fields by generating it with distinctive frequency, timing, or encoding.Control module 50 may send a signal or command toactuator 34 to inflate sealingdevice 20 when a leak condition is present, such as when sealingdevice 20 is at or near a leak location. - In another embodiment,
sensor assembly 26 is configured or programmed to interpret the RF field detected or received bysensor assembly 26 in order to determine whether a leak condition is present at or near sensor assembly 26 (e.g., whethersensor assembly 26 is at or near a leak location), and to send a signal or command toactuator 34 to inflate sealingdevice 20 when sensor assembly 26 (and thus sealing device 20) is at or near the leak location. In order to determine whether a leak condition is present,sensor assembly 26 may compare the RF field received or detected bysensor assembly 26 to the steady state RF field. The steady state RF field may be determined based on data entered or programmed (through I/O device 28 or otherwise) to controlmodule 50 orsensor assembly 26 by an operator, or may be based on particular conditions ofpipeline 10. - In some embodiments, the leak sealing system is configured such that when sealing
device 20 is at or near a leak location, sealingdevice 20 is automatically (i.e., without operator or other manual intervention) inflated to seal or cover the potential leak. For instance,control module 50 may be programmed to automatically send a command or signal toactuator 34 when the leak sealing system determines that a leak is present withinpipeline 10 at or near sealingdevice 20, causingactuator 34 to generate the inflation pressure necessary to inflate sealingdevice 20. In other embodiments, the leak sealing system is configured to provide an alert when a leak condition is present. For instance,control module 50 may provide one or more audible, visual, or other sensory alerts or warnings (e.g. warning light, noise, alarm, haptic joystick, etc.), so that an operator or technician associated withpipeline 10 is able to perceive or sense the alert. The alert may continue until the operator or technician takes an appropriate or required action, such as inflating sealingdevice 20 at or near the leak location. In one embodiment,control module 50 is programmed or configured to close or actuateblock valves 12 surrounding the leak location when a leak is detected withinpipeline 10, blocking fluid flow through the segment or section ofpipeline 10 containing the leak. In this embodiment, blockvalves 12 may remain closed until an operator or technician takes an appropriate or required action. For instance, the operator may be required to remotely control sealingdevice 20, moving sealingdevice 20 to the leak location.Control module 50 may be configured to maintainblock valves 12 in a closed position until sealingdevice 20 reaches closedblock valve 12, at whichpoint control module 50 may openblock valve 12 so that the operator is able to remotely move sealingdevice 20 to the leak location, remotely inflating sealingdevice 20 to cover and/or seal the leak. -
Sealing device 20 may be inflated when sealingdevice 20 is stationary at the leak location, or sealingdevice 20 may be inflated as sealingdevice 20 moves toward or past the leak location. In one embodiment, the movement of sealingdevice 20 is controlled (i.e., bycontrol module 50, remote control, or otherwise) such that when a leak condition is present withinpipeline 10, sealingdevice 20 is moved to the leak location.Sealing device 20 is then stopped such that sealing device is substantially stationary at the leak location. In this embodiment,actuator 34 may be actuated only after sealing device is substantially stationary at or near the leak location.Sealing device 20 may be slowed or stopped at the leak location by inflation of a secondary airbag (e.g., secondary inflatable bag) to brake againstwall 16, by a magnetic anchor to gripwall 16, by an external tether (e.g., tether 32), or by stopping or reversing a propulsion system of sealingdevice 20. The position and/or movement of sealingdevice 20 may be relayed or determined bysensor assembly 26 and/orcontrol module 50 in this embodiment. In other embodiments,actuator 34 may be configured such thatactuator 34 may only be triggered or actuated at a location just before sealingdevice 20 reaches the leak location and while sealingdevice 20 is moving, at a location just after sealingdevice 20 has reached the leak location and while sealingdevice 20 is moving, or under any other conditions as may be suitable for the particular application of sealingdevice 20. For instance, the timing of the actuation ofactuator 34 may be selected or determined such that sealingdevice 20 is inflated to substantially cover or seal the leak. - In some embodiments, sealing
device 20 is moved throughpipeline 10 and to a leak site or location by rocket-type propulsion. In one embodiment, sealingdevice 20 includes a bi-propellant rocket having solid or liquid fuel and configured to propel sealingdevice 20 throughpipeline 10 as may be necessary for the leak sealing system. In another embodiment, sealingdevice 20 includes a mono-propellant rocket, jet, or engine (e.g., an on-board oxidizer reacting with natural gas or another gaseous fuel within pipeline 10) configured to propel sealingdevice 20 throughpipeline 10. - In some embodiments, sealing
device 20 is configured to attach to interior wall 16 (i.e., stick in place or stick to interior wall 16) once sealingdevice 20 is inflated. For instance, sealingdevice 20 may comprise a magnet designed to gripwall 16.Bag 22 may be coated with a sealant or adhesive in one embodiment, adhering tointerior wall 16 ofpipeline 10 after sealingdevice 20 is inflated. The sealant or adhesive may be contained withinbag 22 when sealingdevice 20 is in the uninflated state, and may be released or extruded frombag 22 upon inflation of sealingdevice 20. The sealant or adhesive may be a glue or some other type of material or compound configured to adhere tointerior wall 16 and substantially attachbag 22 and sealingdevice 20 tointerior wall 16. The sealant or adhesive may be used for inhibiting movement of sealingdevice 20 or one or more of its components relative topipeline 10. In another embodiment, sealingdevice 20 includes a gel or foam, or other rigidizing substance which forms in place after sealingdevice 20 has inflated. The gel or foam may be internal to bag 22 (or otherwise inside sealing device 20), forming in place withinbag 22 after inflation to rigidize and hence maintainbag 22's shape, or to modify the wall pressure applied by sealingdevice 20. The gel or foam may also be a type of adhesive extruded frombag 22 or another component of sealingdevice 20 to adhere sealingdevice 20 and/orbag 22 to interior wall, providing a stronger seal. - Referring now to
FIG. 4 , sealingdevice 20 is shown being moved withinpipeline 10 by pipeline inspection gauge 30 (PIG) according to one embodiment. In this embodiment,PIG 30 is configured to move throughpipeline 10, being sized and shaped to fitpipeline 10 and to crawl alonginterior wall 16.PIG 30 may be utilized to move sealingdevice 20 as necessary withinpipeline 10 asPIG 30 moves throughpipeline 10. In one embodiment,PIG 30 is positioned behind sealingdevice 20 and configured to push or move sealingdevice 20 to a leak location to cover or seal the leak.Sealing device 20 may also be coupled toPIG 30, moving withPIG 30 to a leak location in order to cover or seal the leak. Once sealingdevice 20 has been inflated,PIG 30 may be moved to another location withinpipeline 10 or removed frompipeline 10.PIG 30 may be remotely controlled by an operator or technician, or may automatically move to a leak location when a leak is identified withinpipeline 10. In one embodiment,control module 50 is configured to communicate withPIG 30, sending commands or instructions toPIG 30 in order to movePIG 30 to a desired location.PIG 30 may includelocation sensor 36 configured to monitor or detect a global location ofPIG 30 withinpipeline 10.Location sensor 36 may be configured to communicate withcontrol module 50, sending one or more signals representing the position or global location ofPIG 30 to controlmodule 50.Control module 50 may use or interpret signals received fromPIG 30 as part of the leak sealing system to cover or seal one or more leaks withinpipeline 10. - Referring now to
FIGS. 5 and 6 , sealingdevice 60 is shown for the leak sealing system.Sealing device 60 is similar to sealingdevice 20 and may be used to seal a leak withinpipeline 10. Sealing device 60 (e.g., tubular device, sealing device, etc.) is configured to move to the site of a leak in pipeline 10 (e.g., leak site, leak location, etc.), applying a force to the leak such that the leak is covered or sealed (i.e., fluid is prevented or inhibited from exitingpipeline 10 through the leak). When sealingdevice 60 is deployed or actuated at or near the leak location, sealingdevice 60 may expand or otherwise create a force or wall pressure that acts againstinterior wall 16 to cover and/or seal the leak. In some embodiments, sealingdevice 60 may include an actuator similar toactuator 34 for deployingsealing device 60. According to the illustrated embodiments ofFIGS. 5 and 6 , sealingdevice 60 has a substantially tubular (i.e., cylindrical, circular) shape, includingopening 62 that runs through the center of sealingdevice 60.Opening 62 is sized and shaped such that fluid is able to pass through sealingdevice 60 as sealingdevice 60 crawls or moves throughpipeline 10. Fluid is also able to pass through opening 62 when sealingdevice 60 is actuated or deployed, preserving the fluid flow throughpipeline 10 and past the leak location. In the illustrated embodiments ofFIGS. 5 and 6 , sealingdevice 60 includes wall 66 (e.g., flexible wall, closed flexible wall) forming a substantially tubular (e.g., toroidal)shape defining opening 62 and extending the length of sealingdevice 60.Wall 66 may enclose a pressurized volume of fluid (e.g., air) having a pressure that is less than that of the fluid withinpipeline 10. In one embodiment,wall 66 expands outward and towardinterior wall 16, applying a wall pressure or force tointerior wall 16 as may be necessary to seal the particular leak.Wall 66 includesinner surface 74 forming the interior surface of sealingdevice 60 andouter surface 64 forming the exterior surface of sealingdevice 60.Outer surface 64 andinner surface 74 may each have a tubular or cylindrical shape to match the overall shape of sealingdevice 60. In one embodiment,diameter 76 of sealing device 60 (i.e., the diameter of outer surface 64) may be approximately equal to the inner diameter of pipeline 10 (i.e., diameter of interior wall 16) in order to provide an adequate seal for a leak withinwall 16 ofpipeline 10. In other embodiments, sealingdevice 60 may be sized or shaped to fit another dimension ofpipeline 10. In still other embodiments, sealingdevice 60 and its components may have other dimensions suitable for the particular application of sealingdevice 60 and/or the leak sealing system. - In one embodiment,
wall 66 is generally flexible, such that sealingdevice 60 is able to move throughpipeline 10 by crawling or thrusting forward incrementally with a caterpillar-like movement or action. In this embodiment,wall 66 is configured to fold, bend, or otherwise flex in order to create a friction betweenouter surface 64 andinterior wall 16 ofpipeline 10 sufficient to drive sealingdevice 60 throughpipeline 10. For example, sealingdevice 60 may impose a high friction force betweenouter surface 64 andinterior wall 16 at a front portion of sealingdevice 60, while flexing rearward portions of wall 66 (e.g., via internal structure 68) so as to move a back portion of sealingdevice 60 forward.Sealing device 60 may then impose a high friction force betweenouter surface 64 andinterior wall 16 at the back portion while flexing forward portions of wall 66 (e.g., via internal structure 68), so as to move the front portion of sealingdevice 60 forwards. This process can be cyclically repeated to achieve an inchworm-like motion throughpipeline 10.Wall 66 is also configured to stop movement of sealingdevice 60 alongpipeline 10 when sealingdevice 60 is deployed. In another embodiment, sealingdevice 60 is configured to move along with the fluid withinpipeline 10, being driven by the fluid flow throughpipeline 10. In this embodiment,wall 66 is flexible enough that fluid flow throughpipeline 10 creates shear forces oninner surface 74 and/or sealingdevice 60 to crawl or move sealingdevice 60 throughpipeline 10, butwall 66 is stiff enough (by itself, or aided by internal structure 68) to maintaininner surface 74 in contact withinterior wall 16 and to preventwall 66 from collapsing across the bore ofpipeline 10. In this embodiment,wall 66 must also be stiff enough to provide a sufficient sealing force againstinterior wall 16 to seal a leak withinpipeline 10. The flexibility and/or stiffness ofwall 66 may be controlled by internal structure 68 (i.e., structure), which is shown inFIG. 6 and described in further detail below. In another embodiment,wall 66 undergoes annular tank-tread like motion, withinner surface 74 moving forward, then reversing direction at the leading edge ofwall 66, moving backwards asouter surface 64, and again reversing direction at the trailing edge ofwall 66, resuming forward motion asinner surface 74. A propulsive force is provided by friction betweenouter surface 64 andinterior wall 16, and the work to induce this motion can come from fluid shear forces acting oninner surface 74 or (as in a tank) from drive wheels connected tointernal structure 68. In one embodiment,wall 66 includes a pipeline-facing surface (e.g., outer surface 64) and a fluid-facing surface (e.g., inner surface 74). In this embodiment, the pipeline-facing surface and the fluid-facing surface may be configured to repetitively change places with one another as sealingdevice 60 moves alongpipeline 10. -
Sealing device 60 may also includeexternal structures 72 positioned onouter surface 64 and configured to control the flow and speed of sealingdevice 60 as sealingdevice 60 moves throughpipeline 10.External structures 72 may be raised fromouter surface 64 in one embodiment. In another embodiment,external structures 72 may be made from a material configured to gripinterior wall 16 in order to produce a greater friction betweenouter surface 64 andinterior wall 16.External structures 72 may be configured to control a propulsive force of the fluid withinpipeline 10 on sealingdevice 60. In other embodiments,external structures 72 may be otherwise configured or positioned for controlling the flow and speed of sealingdevice 60, as may be suitable for the particular application of sealingdevice 60 and/or the leak sealing system. -
Sealing device 60 is utilized similarly to sealingdevice 20 to seal one or more leaks withinpipeline 10. The embodiments and configurations described above in reference to sealingdevice 20 may also apply to sealingdevice 60. As an example, sealingdevice 60 may be configured to communicate or interact with one or more communication components (e.g.,control module 50, I/O device 28, orsensor assembly 26, etc.) of the leak sealing system in a manner similar to the communication or interaction between sealingdevice 20 and the one or more communication components, and any embodiments or configurations describing any communications or interactions between sealingdevice 20 and the one or more communication devices apply accordingly to sealingdevice 60. - As shown in the illustrated embodiment of
FIG. 6 , sealingdevice 60 includes internal structure 68 (i.e., structure or mechanical structure) coupled toinner surface 74 ofwall 66.Internal structure 68 is configured to control the movement of sealingdevice 60, movingarms 70 to bend, flex, or otherwise shapewall 66 as may be suitable or necessary for the particular application of sealingdevice 60.Internal structure 68 may also control the stiffness ofwall 66, movingarms 70 to stiffen or flexwall 66 as may be necessary or useful for the particular application ofwall 66 and/or sealingdevice 60. In one embodiment, the stiffness ofwall 66 is maintained or controlled byinternal structure 68 such that the fluid flow throughpipeline 10 creates a shear force acting oninner surface 74 to move sealingdevice 60 throughpipeline 10, butwall 66 is stiff enough (by itself, or aided by internal structure 68) to maintaininner surface 74 in contact withinterior wall 16 and to preventwall 66 from collapsing across the bore ofpipeline 10. In at least one embodiment,internal structure 68 is commanded or controlled to move by an external source, such as the one or more communication components of the leak sealing system. In one embodiment,internal structure 68 is configured to receive signals or commands fromcontrol module 50, and to control the movement of sealingdevice 60 based on the signals or commands received fromcontrol module 50. In this embodiment,control module 50 may also be configured to receive signals representing pipeline conditions fromsensor assembly 26, the signals or commands sent tointernal structure 68 may be based on those signals received fromsensor assembly 26. In another embodiment, an operator or technician may enter an input (e.g., information or data) to controlmodule 50, andcontrol module 50 may send one or more signals or commands tointernal structure 68 based on that input.Internal structure 68 may then cause sealingdevice 60 and/or one or more components of sealingdevice 60 to move according to the operator or technician input. - In another embodiment,
internal structure 68 is configured to receive one or more signals representing pipeline conditions directly fromsensor assembly 26. In this embodiment,internal structure 68 may be configured to interpret the signals to determine if it is necessary or useful forinternal structure 68 to move sealingdevice 60 and/or one or more components of sealingdevice 60 in order to fulfill a function or purpose of the leak sealing system.Internal structure 68 may then move or control sealingdevice 60 accordingly. In this embodiment,sensor assembly 26 may be coupled to sealingdevice 60 so thatsensor assembly 26 is able to monitor the conditions near sealingdevice 60. In other embodiments,sensor assembly 26 may be coupled tointerior wall 16 ofpipeline 10, or may be positioned in another location suitable for monitoring one or more conditions withinpipeline 10. - In one embodiment,
internal structure 68 controls the movement of sealingdevice 60 in order to move sealingdevice 60 to a leak location to seal a leak. In this embodiment, a leak is identified withinpipeline 10 byflow sensors 14,sensor assembly 26, or otherwise, and sealingdevice 60 is moved toward the leak location by the movement ofinternal structure 68.Arms 70 ofinternal structure 68 are moved to interact withwall 66 such thatwall 66 is bent, flexed, or otherwise manipulated to force sealingdevice 60 to crawl throughpipeline 10 and toward the leak location. In one embodiment,sensor assembly 26 is coupled to sealingdevice 60 and is configured to monitor the pipeline conditions to determine the precise leak location. When sealingdevice 60 reaches the leak location, sealingdevice 60 is configured to deploy or actuate to apply a pressure to wall 16 and seal the leak. - In one embodiment,
internal structure 68 receives a signal or command indicating sealingdevice 60 is at or near the leak location, and in response applies an outward pressure to wall 66.Internal structure 68 is configured to control the stiffness ofwall 66 by applying a greater or lesser outward pressure to wall 66. When sealingdevice 60 is at or near the leak location,arms 70 may push outward from the center ofinternal structure 68 to apply an outward force or pressure in all directions, increasing the stiffness ofwall 66. The outward force applied and increased stiffness ofwall 66 is intended to provide a seal over the leak.Internal structure 68 is also configured to stop movement of sealingdevice 60 alongpipeline 10 when sealingdevice 60 is deployed. The outward force may also be applied to prevent the collapse ofpipeline 10 across its diameter in instances where the structure ofpipeline 10 is substantially harmed by the leak. The outward force may also be applied byinternal structure 68 to prevent internal collapse ofwall 66. In one embodiment,internal structure 68 includes plates or other accessories or components to increase the surface area over which the outward force is applied to wall 66, more evenly distributing the wall pressure or outward force to obtain a better seal. In one embodiment,wall 66 is made from a material configured to provide a water-tight seal over the leak. - In one embodiment,
wall 66 is made from or includes one or more non-Newtonian materials or fluids (i.e., materials or fluids having a non-linear or non-Newtonian viscosity). The non-Newtonian materials or fluids are configured to at least partially enable movement (i.e., motion) throughpipeline 10 and to create astiffer wall 66 to cover the leak or rupture upon deployment of sealingdevice 60. In other embodiments,wall 66 may be made from or include another material configured to improve the sealing properties ofwall 66 and/or sealingdevice 60, or any other material suitable for the particular application of sealingdevice 60 and/or the leak sealing system. - The above described sealing devices (sealing
device 60 and sealing device 20) may be selectively positioned and/or deployed withinpipeline 10. In one embodiment, at least one sealing device is positioned between everyblock valve 12 withinpipeline 10. In other embodiments, sealing devices may be positioned at lesser intervals withinpipeline 10 in order to achieve greater coverage. The sealing devices may each have a designated area (i.e., pipe segment(s)) withinpipeline 10 in which the sealing devices move in order to detect a leak condition. Sealing devices may be launched or moved continuously or intermittently through their designated pipe segment to provide substantially continuous coverage against leaks withinpipeline 10. The sealing devices may be launched every few minutes or in shorter or longer time intervals as may be suitable for the particular application of the sealing devices and/or the leak sealing system. In one embodiment, a single sealing device is configured to move back and forth from one end of the pipe segment to the other end of the pipe segment until a leak is detected, at which point the sealing device moves to the leak location and is actuated or deployed to seal the leak. In another embodiment, a sealing device may initially be at a fixed position withinpipeline 10, but is then dispatched toward a leak once a leak has been detected. - Referring now to
FIG. 7 , a block diagram ofcontrol module 50 is shown according to one embodiment.Control module 50 may be used to control the movement and/or operation of either of the above described sealing devices (i.e., sealingdevice 20 or sealing device 60) or a similarly configured sealing device.Control module 50 includesprocessor 52 andmemory 54.Memory 54 stores programming instructions that, when executed byprocessor 52, control the sealing device's movement, including the various components of the sealing device.Control module 50 is in electrical communication withstructure 42, sensor assembly 44, and actuator 46. As described above with respect to sealingdevices control module 50 is in electrical communication with each of the components. -
Control module 50 receives operational electrical power frompower supply 56.Power supply 56 provides power to controlmodule 50 and all components of the sealing device.Power supply 56 may be any suitable power source, including, but not limited to, a battery, a generator, a solar power source, grid power, or a combination thereof. In arrangements wherepower supply 56 includes a rechargeable battery, the battery may be charged during operation through another power source (e.g., a generator, a solar panel, grid power, etc.) or through inductive charging (i.e., the sealing device can move over an inductive charger withinpipeline 10 configured to charge the rechargeable battery). - Referring now to
FIG. 8 , a flow chart diagram formethod 800 for sealing a leak inpipeline 10 is shown according to one embodiment.Method 800 may be employed by either of the above described sealing devices (i.e., sealingdevice 20 and/or sealing device 60) or another sealing device configured to seal a leak within a pipeline. At 802, the sealing device is positioned withinpipeline 10. The sealing device may be a single sealing device positioned withinpipeline 10 and configured to seal a leak anywhere withinpipeline 10, or the sealing device may be one of a plurality of sealing devices and configured to seal a leak within a specified segment or area ofpipeline 10. At 804, the sealing device is moved throughpipeline 10 to a leak location. The leak location may be identified byflow sensors 14 or manually identified by an operator or technician and relayed to the sealing device (i.e., by control module 50), identified by one or more sensors ofsensor assembly 26, or identified by another method or component of the leak sealing system such as those described above. The sealing device may be moved throughpipeline 10 bytether 32,PIG 30, or by another component or method of the leak sealing system. Once the sealing device reaches the leak location, at 806, an inflation pressure is internally generated within the sealing device to inflate the sealing device, substantially covering the leak opening and limiting the release of fluid frompipeline 10. The sealing device may be inflated by triggeringactuator 34 or by causing a structure of the sealing device to apply an outward force to seal the leak opening. - Referring now generally to
FIGS. 9-13 , in some embodiments, the sealing device and/or PIG may be embodied as or within a pipeline device configured to propel itself through the pipeline by, as also described above, using a portion of a fluid such as natural gas traveling within the pipeline. For example, according to various alternative embodiments, a pipeline device includes a combustion propulsion system configured to utilize natural gas traveling within the pipeline as a fuel, and an oxidizer from an oxidizer source. The oxidizer may comprise O2, H2O2, F2, HNO3, or the like. The oxidizer source may be or include a storage container or tank on board the pipeline device, or a remote storage container that may either travel with the pipeline device or be located exterior to the pipeline. - The combustion of the fuel and oxidizer may power a variety of propulsion system types, including jet engines, propeller engines, wheels, tracks or treads, and the like. As such, the pipeline device may travel by either engaging an inner surface of the pipeline (e.g., through one or more wheels, tracks, or treads) or in an airborne manner. The pipeline device may be used to monitor conditions of the pipeline (e.g., to identify leaks, flow stoppages, etc.), perform maintenance tasks (e.g., seal leaks, clean interior surfaces, etc.), transport various materials (e.g., maintenance tools, etc.), and the like.
- Referring to
FIG. 9 ,pipeline device 116 is shown withinpipeline 110 according to one embodiment.Pipeline device 116 is configured to travel withinpipeline 110 and may perform various tasks, including pipeline monitoring and maintenance, and materials transportation.Pipeline device 116 is in some embodiments a self-propelled device configured to use at least a portion of fluid 118 (e.g., a gaseous fuel such as natural gas, etc.) as a fuel in a combustion propulsion system. As such,pipeline device 116 may be able to travel relatively far distances withinpipeline 110 without reliance upon launching devices or the pressure of the fluid travelling withinpipeline 110 to movepipeline device 116 along the pipeline. - As shown in
FIG. 9 ,pipeline 110 may include one ormore modules 114 spaced along the length ofpipeline 110.Modules 114 may be or include various sensors, wireless communication devices, and the like. In one embodiment,modules 114 include sensors configured to detect pipeline device 116 (e.g., to record the time at whichpipeline device 116 passes a particular location along the pipeline). In other embodiments,modules 114 act to communicate wirelessly withpipeline device 116 and/or relay data frompipeline device 116 to other remote devices.Modules 114 may be situated in any proper locations alongpipeline 110, and may be mounted on an exterior ofpipeline 110, oninterior surface 112 ofpipeline 110, or may extend partially or wholly through a sidewall ofpipeline 110. - Referring to
FIG. 10 ,pipeline device 116 is shown in greater detail withinpipeline 110 according to one embodiment.Pipeline device 116 includesPIG 122 and accessory device 120 (e.g., a sealing device, maintenance device, etc.). According to various other embodiments,pipeline device 116 may include additional or other components.PIG 122 includeshousing 119 configured to house or otherwise support various components ofpipeline device 116. - Referring further to
FIG. 10 ,pipeline device 116 includes propulsion system 124 (e.g., a combustion propulsion system, etc.) configured to propelpipeline device 116 withinpipeline 110.Propulsion system 124 is in one embodiment configured to combustfuel 118 from fuel source 136 (e.g., a conduit, pipe, fuel intake, compressor, valve, etc.) withoxidizer 138 from oxidizer source 139 (e.g., a container, storage tank, etc.).Propulsion system 124 is configured to propelpipeline device 116 withinpipeline 110, and may be or include a variety of propulsion systems including jet engines, propeller engines, internal combustion engines, etc., and components such as turbines, pistons, compressors, nozzles, propellers, etc. In some embodiments,propulsion system 124 is coupled to one or more traction members, shown aswheels 130. The traction members may include a variety of tracks, treads, or other components configured to engageinner surface 112 ofpipeline 110 to movepipeline device 116 withinpipeline 110. In some embodiments,inner surface 112 ofpipeline 110 may include guides, tracks, rails, or the like, to engage with the traction members. - In some embodiments,
pipeline device 116 is configured to fly (i.e., substantially unsupported by the bottom of the pipeline) while moving thoughpipeline 110. In order to guide the flight ofpipeline device 116, one ormore guides 128 may be utilized. In one embodiment, guides 128 are non-contact guides or sensors and are configured to guidepipeline device 116 through the use of light beams, lasers, or ultrasonic waves. In one embodiment, guides 128 are aerodynamic surfaces configured to generate “ground effect” type lifting forces aspipeline device 116 flies nearinner surface 112; the use of multiple such aerodynamic surfaces around the periphery ofpipeline device 116 can be used to maintain centered flight ofpipeline device 116 within the bore ofpipeline 110. Alternatively, guides 128 may be contact guides configured to guidepipeline device 116 throughpipeline 110 through contact withinner surface 112. For example, guides 128 may be wheels, brushes, whiskers, or any other similar guide suitable to guidepipeline device 116 throughpipeline 110. - In one embodiment, oxidizer 138 (e.g., oxygen, etc.) is contained
onboard pipeline device 116 in storage container 139 (e.g., a container, tank, conduit, etc.).Oxidizer 138 may be stored withinstorage container 139 as a compressed gas, or as a liquid. In alternative embodiments,oxidizer 138 is stored off-board pipeline device 116 in a separate container 141. Container 141 may be tethered or otherwise coupled topipeline device 116, andconduit 140 may direct oxidizer 138 topropulsion system 124. In yet further embodiments, storage container 141 is provided outside ofpipeline 110 andconduit 140 directsoxidizer 138 topipeline device 116 travelling withinpipeline 110. - Referring further to
FIG. 10 , in some embodiments,pipeline device 116 includesprocessing circuit 126.Processing circuit 126 is coupled topropulsion system 124 and is configured to control operation ofpropulsion system 124 based on a variety of factors. For example,processing circuit 126 may control operation ofpropulsion system 124 based on inputs received fromguides 128 and/or modules 114 (e.g., speed or location inputs, etc.).Processing circuit 126 may control the flow of fuel and/or oxidizer topropulsion system 124 to control the speed ofpipeline device 116. - Referring now to
FIG. 11 ,propulsion system 124 is shown in greater detail according to one embodiment. As shown inFIG. 11 ,propulsion system 124 includescombustion chamber 132 andpropulsion device 134.Fuel 118 andoxidizer 138 are directed tocombustion chamber 132, which in turn powerspropulsion device 134. As noted above, propulsion device may include a variety of combustion propulsion devices, including jet turbines, propellers, wheels, tracks, treads, and other suitable devices to provide ground-based or airborne travel ofpipeline device 116 throughpipeline 110. As noted above,fuel 118 is drawn fromfuel source 136, which in one embodiment is a fuel conduit, or fuel intake, configured to receive fuel from withinpipeline 110 and direct fuel tocombustion chamber 132. In one embodiment,fuel 118 includes natural gas. In other embodiments,fuel 118 may include other fuels suitable for flow withinpipeline 110 and for combustion incombustion propulsion system 124, such as methane, ethane, propane, or the like. - Referring now to
FIG. 12 ,control system 142 forpipeline device 116 is shown according to one embodiment.Control system 142 includesaccessory device 120,processing circuit 126, andpropulsion system 124.Control system 142 may further include or be in communication with input/output device 144 andtracking system 146. The various components ofcontrol system 142 may be located locally or remotely relative to one another, and may communicate with each other using any suitable wired or wireless communications protocol. -
Accessory device 120 may be or include a variety of devices such asmaintenance device 152,sensor 154, and/orstorage device 152.Maintenance device 152 is configured to perform one or more maintenance operations withinpipeline 110, include sealing leaks (e.g., similar to sealing device 20), welding cracks, removing debris, cleaning the interior walls ofpipeline 110, and the like.Sensor 154 may include a variety of sensors configured to acquiredata regarding pipeline 110 and/orpipeline device 116, including leaks, flow rates/stoppages, speed or location ofpipeline device 116, and so on.Storage device 156 is configured to provide storage for various materials to be transported withinpipeline 110.Storage device 156 may take any suitable size and shape according to various alternative embodiments. -
Accessory device 120 is configured for communication withprocessing circuit 126, such thatprocessing circuit 126 receives data fromaccessory device 120 and controls operation ofaccessory device 120. For example, shouldsensor 154 detect a leak by way of flow rate measurements,accessory device 120 may provide this data toprocessing circuit 126, which in turn may directmaintenance device 152 to seal the leak (e.g., as discussed according to any of the embodiments discussed herein). -
Processing circuit 126 includesprocessor 148 andmemory 150.Processor 148 may be implemented as a general-purpose processor, an application specific integrated circuit (ASIC), one or more field programmable gate arrays (FPGAs), a digital-signal-processor (DSP), a group of processing components, or other suitable electronic processing components.Memory 150 is one or more devices (e.g., RAM, ROM, Flash Memory, hard disk storage, etc.) for storing data and/or computer code for facilitating the various processes described herein.Memory 150 may be or include non-transient volatile memory or non-volatile memory.Memory 150 may include database components, object code components, script components, or any other type of information structure for supporting the various activities and information structures described herein.Memory 150 may be communicably connected toprocessor 148 and provide computer code or instructions toprocessor 148 for executing the processes described herein. - Tracking device 146 (e.g., a tracking module) is in one embodiment configured to track and store data regarding the movement and operation of
pipeline device 116. For example,tracking device 146 may store speed/direction data forpipeline device 116 usable to determine a location of pipeline device 116 (e.g., in instances whenpipeline 110 prevents location determination via global positioning or similar methods).Tracking device 146 may also store data related to conditions within pipeline 110 (e.g., leaks, etc.). Data from trackingdevice 146 may be downloaded or wirelessly communicated to one or more remote devices (e.g., after removal ofpipeline device 116 from pipeline 110). - Input/output device 144 can include any suitable input/output device enabling users or other devices to provide inputs to and receive outputs from
pipeline device 116. Input/output device is in some embodiments configured to enable a user to provide operational instructions to processing circuit regarding one or more tasks to be performed by pipeline device 115. For example, a user may utilize device 144 to provide maintenance or other instructions topipeline device 116. - Referring to
FIG. 13 ,method 160 of moving a pipeline device through a pipeline is shown according to one embodiment. A pipeline device is positioned within a pipeline (162). For example, a pipeline device such aspipeline device 116 may be positioned withinpipeline 110. As detailed elsewhere herein, the pipeline device may take a variety of shapes and sizes, and be configured to perform a variety of tasks within the pipeline. An oxidizer is directed to a combustion chamber of the pipeline device (164). The pipeline device includes a combustion propulsion device including a combustion chamber. The oxidizer is provided from an oxidizer source that may travel on-board the pipeline device, be tethered to the pipeline device, or be otherwise remotely located from the pipeline device. Fuel is directed to the combustion chamber (166). In one embodiment, fuel is directed from the interior of the pipeline to the combustion chamber. For example, a pipeline may be used to transport natural gas. A portion of the natural gas travelling through the pipeline may be directed to the combustion chamber to be used as fuel. The combustion propulsion device is operated to move the pipeline device through the pipeline (168). The propulsion device may include any of a number of propulsion devices including jet engines, propeller engines, and the like, to provide airborne, wheeled, or other types of travel for the pipeline device through the pipeline. - The construction and arrangement of the apparatus, systems and methods as shown in the various embodiments are illustrative only. Although only a few embodiments have been described in detail in this disclosure, many modifications are possible (e.g., variations in sizes, dimensions, structures, shapes and proportions of the various elements, values of parameters, mounting arrangements, use of materials, colors, orientations, etc.). For example, some elements shown as integrally formed may be constructed from multiple parts or elements, the position of elements may be reversed or otherwise varied and the nature or number of discrete elements or positions may be altered or varied. Accordingly, all such modifications are intended to be included within the scope of the present disclosure. The order or sequence of any process or method steps may be varied or re-sequenced according to alternative embodiments. Other substitutions, modifications, changes, and omissions may be made in the design, operating conditions and arrangement of the described embodiments without departing from the scope of the present disclosure.
- The present disclosure contemplates methods, systems and program products on any machine-readable media for accomplishing various operations. The embodiments of the present disclosure may be implemented using existing computer processors, or by a special purpose computer processor for an appropriate system, incorporated for this or another purpose, or by a hardwired system. Embodiments within the scope of the present disclosure include program products comprising machine-readable media for carrying or having machine-executable instructions or data structures stored thereon. Such machine-readable media can be any available media that can be accessed by a general purpose or special purpose computer or other machine with a processor. By way of example, such machine-readable media can comprise RAM, ROM, EPROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to carry or store desired program code in the form of machine-executable instructions or data structures and which can be accessed by a general purpose or special purpose computer or other machine with a processor. When information is transferred or provided over a network or another communications connection (either hardwired, wireless, or a combination of hardwired or wireless) to a machine, the machine properly views the connection as a machine-readable medium. Thus, any such connection is properly termed a machine-readable medium. Combinations of the above are also included within the scope of machine-readable media. Machine-executable instructions include, for example, instructions and data which cause a general purpose computer, special purpose computer, or special purpose processing machines to perform a certain function or group of functions.
- The terms “coupled,” “connected,” and the like as used herein mean the joining of two members directly or indirectly to one another. Such joining may be stationary (e.g., permanent) or moveable (e.g., removable or releasable). Such joining may be achieved with the two members or the two members and any additional intermediate members being integrally formed as a single unitary body with one another or with the two members or the two members and any additional intermediate members being attached to one another. Such joining may be communicative, rather than physical.
- Although the figures may show or the description may provide a specific order of method steps, the order of the steps may differ from what is depicted. Also two or more steps may be performed concurrently or with partial concurrence. Such variation will depend on various factors, including software and hardware systems chosen and on designer choice. All such variations are within the scope of the disclosure. Likewise, software implementations could be accomplished with standard programming techniques with rule based logic and other logic to accomplish the various connection steps, processing steps, comparison steps and decision steps.
Claims (35)
1. A method for sealing a leak in a pipeline used to transport fluid, the method comprising:
positioning a sealing device within the pipeline;
moving the sealing device through the pipeline to a leak location;
internally generating an inflation pressure to inflate the sealing device to substantially cover a leak opening and limit release of the fluid from the pipeline; and
wherein the sealing device is configured such that fluid is able to flow past the leak location while the sealing device is inflated to cover the leak.
2. The method of claim 1 , wherein the deploying step is executed based on a sealing device location.
3. The method of claim 2 , further comprising:
determining the sealing device location based on a fixed-length tether.
4. The method of claim 3 , wherein the fixed-length tether is coupled to the sealing device.
5. The method of claim 1 , wherein the deploying step is executed when the sealing device is proximate the leak location.
6. The method of claim 1 , wherein the sealing device is configured to move along with a fluid flow through the pipeline.
7. The method of claim 1 , further comprising:
coupling the sealing device to a tether; and
pulling the tether to move the sealing device through the pipeline.
8. The method of claim 1 , wherein the deploying step is executed when the sealing device is moving near the leak location.
9. The method of claim 1 , wherein the sealing device is moved through the pipeline by a rocket-type propulsion.
10. The method of claim 9 , wherein the rocket-type propulsion includes a bi-propellant rocket.
11. The method of claim 9 , wherein the rocket-type propulsion includes a mono-propellant rocket.
12. The method of claim 11 , wherein the mono-propellant rocket includes an oxidizer.
13. The method of claim 1 , wherein the sealing device is sized and shaped to remain substantially stationary after deploying the sealing device.
14. The method of claim 1 , wherein the sealing device includes an adhesive for engaging with a wall of the pipeline.
15. The method of claim 1 , further comprising:
deploying a rigidizing substance inside the sealing device.
16. A sealing device for sealing a leak within a pipeline for transporting fluid, the sealing device comprising:
a closed flexible wall formed into a substantially tubular shape defining an opening; and
an internal frame coupled to the closed flexible wall and configured to control a movement of the closed flexible wall by applying a force to the closed flexible wall,
wherein the movement of the closed flexible wall moves the sealing device through the pipeline, wherein the sealing device may be deployed in order to seal the leak, and wherein the closed flexible wall encloses a pressurized volume having a pressure less than that of the fluid.
17. The sealing device of claim 16 , further comprising a guide configured to receive a force from the fluid in order to move the sealing device through the pipeline.
18. The sealing device of claim 16 , wherein the closed flexible wall includes an outer surface and an inner surface.
19. The sealing device of claim 18 , wherein the outer surface has a diameter approximately equal to the diameter of an interior wall of the pipeline.
20. The sealing device of claim 16 , wherein the closed flexible wall at least partially includes a non-Newtonian material.
21. The sealing device of claim 16 , wherein the internal frame is configured to stop movement of the sealing device along the pipeline when the sealing device is deployed.
22. The sealing device of claim 16 , wherein the closed flexible wall is configured to stop movement of the sealing device along the pipeline when the sealing device is deployed.
23. The sealing device of claim 16 , further comprising an adhesive configured to adhere the sealing device to an interior wall of the pipeline.
24. The sealing device of claim 23 , wherein the adhesive is configured to extrude from the sealing device when the sealing device is deployed.
25. A system for sealing a leak within a pipeline for transporting fluid, the system comprising:
a sealing device, comprising:
a flexible wall formed into a substantially tubular shape defining an opening; and
an internal frame coupled to the flexible wall and configured to control a movement of the flexible wall by applying a force to the flexible wall;
wherein the movement of the flexible wall moves the sealing device through the pipeline; and
wherein the sealing device may be deployed in order to seal the leak;
a sensor assembly configured to monitor a pipeline condition; and
a control module configured to receive a signal from the sensor assembly, and to control the force applied by the internal frame.
26. The system of claim 25 , wherein the pipeline condition includes a flow velocity.
27. The system of claim 25 , wherein the pipeline condition includes a volumetric flow rate.
28. The system of claim 25 , wherein the pipeline condition includes an ambient light.
29. The system of claim 25 , wherein the pipeline condition includes an ambient RF field.
30. The system of claim 25 , wherein the control module is configured to move the sealing device by controlling the force applied by the internal frame.
31. The system of claim 30 , wherein the internal frame is configured to move the sealing device by controlling the movement of the flexible wall.
32. The system of claim 31 , wherein the control module is programmed to move the internal frame such that the sealing device is moved to a leak location when the leak location is identified.
33. The system of claim 32 , wherein the control module is programmed to identify the leak location based on the signal received from the sensor assembly.
34. The system of claim 32 , wherein the control module is programmed to deploy the sealing device when the sealing device is at the leak location.
35. The system of claim 25 , wherein the internal frame is configured to apply an outward pressure to maintain contact of the flexible wall with an interior wall of the pipeline.
Priority Applications (1)
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US15/625,588 US20170307126A1 (en) | 2013-07-31 | 2017-06-16 | Systems and methods for pipeline device propulsion |
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US13/955,929 US9261218B2 (en) | 2013-07-31 | 2013-07-31 | Pipeline leak sealing system and method |
US14/533,707 US9709204B2 (en) | 2013-07-31 | 2014-11-05 | Systems and methods for pipeline device propulsion |
US15/625,588 US20170307126A1 (en) | 2013-07-31 | 2017-06-16 | Systems and methods for pipeline device propulsion |
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US9709204B2 (en) | 2017-07-18 |
US20150122364A1 (en) | 2015-05-07 |
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