Abstract: A taping apparatus adapted to apply tape over voids on an interior pipe wall, the taping apparatus having a transport assembly adapted to move the apparatus through a pipe; and a rotatable taping assembly adapted to retain a roll of tape and apply the tape over a void on the interior wall of the pipe, the taping assembly comprising an extendable and tractable arm assembly and a tape applicator assembly.

Abstract: A method and device for measuring the thickness of a liner applied onto the inner wall of a pipe, the device comprising a sprayer assembly adapted to deposit a polymer resin onto the inner wall of a pipe to create a liner upon curing, the sprayer assembly being moved through the pipe. The sprayer assembly has a leading sensor assembly that measures the inner diameter of the pipe and trailing sensor assembly that measures the inner diameter of the liner. The trailing sensor assembly has a housing with windows through which sensor devices take readings, and a transparent film is disposed across the windows to protect the sensors from occluding contamination. The transparent film is advanced as the exposed portion of the film becomes excessively contaminated.

Abstract: A plugging apparatus adapted to plug service lateral openings in the interior of a pipe and a method of plugging service lateral openings, the plugging apparatus having a housing, transport mechanisms mounted to said housing, the transport mechanisms adapted to move the housing through a pipe having service lateral openings, a rotatable manipulator compartment mounted to the housing, the manipulator compartment containing a robotic arm assembly having a plug gripping assembly and an extension assembly; the housing retaining plugs and one or more plug loading actuators adapted to individually advance each of the plugs into the manipulator compartment and the plug gripping assembly, the extension assembly being adapted to extend a plug positioned in the plug gripping assembly radially from the manipulator compartment and into one of the service lateral openings in the pipe.

Abstract: A taping apparatus adapted to apply tape over voids on an interior pipe wall, the taping apparatus having a transport assembly adapted to move the apparatus through a pipe; and a rotatable taping assembly adapted to retain a roll of tape and apply said tape over a void on the interior wall of the pipe, said taping assembly comprising an extendable and tractable arm assembly and a tape applicator assembly.