Abstract: A device to inspect a pipeline includes a device housing, a plurality of motors, a plurality of wheels, an inertial measurement unit, and a controller. The plurality of motors is coupled to the device housing. The plurality of wheels extends from the device housing. Each wheel is rotatably coupled to a respective motor. The inertial measurement unit is configured to provide a signal corresponding to an orientation of the device housing relative to the pipeline. The controller is configured to independently control operation of each motor of the plurality of motors based on the signal provided by the inertial measurement unit to maintain the device housing within a desired orientation range relative to the pipeline. Because the controller can independently control each motor of the device, the device can advance along a pipeline with minimal human intervention.

Abstract: A device to inspect a pipeline includes a device housing movable relative to the pipeline, a radiation device, and an imaging device. The radiation device is coupled to the device housing and disposed adjacent to the pipeline. The imaging device is coupled to the device housing and disposed adjacent to the pipeline. The imaging device is disposed opposite to the radiation device relative to the pipeline. The imaging device receives radiation from the radiation device to provide an imaging signal. Because the radiation device and the imaging device are disposed opposite to each other relative to the pipeline, the pipeline inspection device can provide an enhanced image in a single pass of the pipeline.

Abstract: A device to inspect a pipeline includes a device housing, a plurality of motors, a plurality of wheels, an inertial measurement unit, and a controller. The plurality of motors is coupled to the device housing. The plurality of wheels extends from the device housing. Each wheel is rotatably coupled to a respective motor. The inertial measurement unit is configured to provide a signal corresponding to an orientation of the device housing relative to the pipeline. The controller is configured to independently control operation of each motor of the plurality of motors based on the signal provided by the inertial measurement unit to maintain the device housing within a desired orientation range relative to the pipeline. Because the controller can independently control each motor of the device, the device can advance along a pipeline with minimal human intervention.