GB2530772A

GB2530772A - Inspection device

Info

Publication number: GB2530772A
Application number: GB1417367.8A
Authority: GB
Inventors: David Nimmons; Richard Nimmons; Edward Nimmons
Original assignee: DRY ICE INTEGRATION Ltd
Current assignee: DRY ICE INTEGRATION Ltd
Priority date: 2014-10-01
Filing date: 2014-10-01
Publication date: 2016-04-06
Also published as: GB201417367D0

Abstract

An inspection device 10 for detecting the presence of deposits on an internal surface of an industrial pipe 20 or tubes. The device 10 comprises a body, at least one transmitter 12 mounted to the body and configured to emit electromagnetic or sound signals, such as laser signals, in three or more different radial directions, and at least one receiver 14 for receiving the reflected signals emitted from the at least one transmitter. The signals emitted by the transmitter(s) 12 are reflected from the internal surface 30 and received by the receiver(s) 14 in order to detect the presence or absence of deposits, such as scaling or corrosion, on the internal surface. This invention allows the cleanliness of the pipe or tube to be assessed in real time as it is cleaned. Spacing means 24a, 24b may be operatively connected to the transmitter and receiver. Masking means (150, Fig. 2) may be located between the transmitter and receiver to block one or more signals which are not reflected from the internal surface. The device may be connected to a cleaning apparatus 40.

Description

INSPECTION DEVICE

This invention relates generally to inspection devices and particularly to inspection devices for assessing the condition of tubular elements or structures, such as pipes and tubes. More specifically, although not exclusively, this invention relates to inspection devices for determining the presence of deposits on internal surfaces of industrial pipes and tubes to be cleaned.

Pipes and tubes used in industrial processes often accumulate unwanted material or io deposits on their inner surfaces, which is often detrimental to the efficiency of the process and/or system performance. Fouling material or deposits can include, for example scaling, such as the crystallization of calcium carbonate from water solutions; corrosion depositions, such as magnetite on carbon steel surfaces; and chemical reaction deposits, such as the decomposition of organic matter on heating surfaces.

The accumulation of unwanted material on heat exchanger passageway surfaces, for example, will generally result in a reduction of thermal efficiency. Similarly, deposits on electrical heating elements could result in an increase in temperature of the element and increased corrosion and fouling within pipes in production zones of hydrocarbon wells could result in a decrease, or even the stoppage, of flow.

Known methods to control the accumulation of unwanted material include pre-filtering of input fluids or other mediums prior to their introduction into the pipes or tubes, controlling the pH of the input fluids, controlling the amount of oxygen dissolved in the water and/or adding corrosion inhibitors. If material deposits begin to affect the efficiency of the process or system performance, chemical or mechanical processes are often employed to remove them. Such processes can include pickling with acids, cleaning with high-velocity water jets, blasting with metal or sponge balls or other abrasive method.

In all of these cleaning methods, it is difficult to assess the effectiveness of the cleaning process used. The inventors of the present invention have noted that improvements could be made to address this issue.

It is therefore a first non-exclusive object of the invention to provide a solution that at least mitigates the aforementioned issues associated with known cleaning processes. It is a more general non-exclusive object of the invention to provide an improved inspection device that is more effective and/or safer to use.

Accordingly, a first aspect of the invention provides an inspection device for detecting the presence of deposits on an internal surface of an industrial pipe or tube, the device comprising a body, at least one transmitter or emitter or source mounted to the body and configured to emit electromagnetic or sound signals in three or more, e.g. a plurality of, different directions, e.g. radial directions, and at least one receiver or detector for receiving or detecting reflected electromagnetic or sound signals, e.g. emitted from the at least one transmitter or emitter or source, wherein signals emitted, in use, by the at least one transmitter or emitter or source are reflected from the internal surface and received or detected by the at least one receiver or detector in order to detect the presence or absence of deposits on the internal surface, e.g. based on the intensity or magnitude of the signal received by the receiver.

Thus, the invention provides an inspection device that is able to assess the cleanliness of the pipe or tube in real time as it is cleaned.

The inspection device may comprise a spacing means operatively connected to the body, for example wherein at least one of the one or more transmitters and/or receivers are recessed with respect to at least part thereof.

A second aspect of the invention provides an inspection device for detecting the presence of deposits on an internal surface of an industrial pipe or tube, the device comprising a transmitter or emitter or source for emitting an electromagnetic or sound signal, a receiver or detector for receiving a reflected electromagnetic or sound signal, e.g. emitted from the transmitter or emitter or source, and a spacing means operatively connected to the transmitter or emitter or source and/or to the receiver or detector, wherein the transmitter or receiver or source and the receiver or detector are both recessed with respect to at least part of the spacing means such that a signal emitted, in use, by the transmitter or emitter or source is reflected from the internal surface and received or detected by the receiver or detector in order to detect the presence or absence of deposits on the internal surface, e.g. based on the intensity or magnitude of the signal received by the receiver.

The provision of a spacing means ensures that the signals are emitted and received or detected at a predetermined distance from the internal surface, which improves the accuracy of the inspection device.

For the avoidance of doubt, any of the features described herein apply equally to any aspect of the invention. As used hereinafter, the term transmitter will be used but may be replaced with the term emitter or source and the term receiver will be used but may be replaced with the term detector.

The transmitter or at least one transmitter may comprise three or more transmifters, each of which may be mounted to the or a body and/or configured to emit an electromagnetic or sound signal, e.g. in a different direction or respective direction, which may be a different radial direction. The receiver or at least one receiver may comprise three or more receivers, each of which may be configured to receive a reflected electromagnetic is signal, e.g. from a different respective direction and/or from a respective transmitter.

The inspection device may comprise a running means or running tool, which may comprise the body or be mounted thereto.

The body may be configured to move, or rotate, around an axis of the running tool, such that an electromagnetic or sound signal is emitted in a plurality of different radial directions.

The spacing means may comprise one or more spacer elements or stabilisers or centralisers, which may protrude from the body, e.g. for contacting or configured to contact, in use, the internal surface. At least one of the one or more spacer elements may protrude about at least a portion of the periphery of the body, for example such that at least one of the one or more transmitters and receivers are located, in use, in a central region of the pipe or tube. Additionally or alternatively, at least one of the one or more spacer elements may protrude radially from the body, for example in at least two directions, e.g. such that at least one of the one or more transmitters and receivers are located, in use, in a central region of the pipe or tube. The one or more spacer elements may comprise two or more radial spacer elements each of which may protrude radially from the body, e.g. in a respective different radial direction.

In some embodiments, at least one of the one or more spacer elements comprises a rounded cross-section, e.g. for contacting or configured to contact an adjacent portion of the internal surface. Additionally or alternatively, at least a portion of at least one of the one or more spacer elements may be flexible or deformable. Additionally or alternatively, the one or more spacer elements may comprise a pair of spacers, for example between which at least one of the one or more transmitters and/or at least one of the one or more receiver are mounted.

The inspection device may comprise a masking means, for example between at least one of the one oi more transmitters and at least one of the one or more receivers for limiting one or more signals received, in use, by the receiver or receivers. The masking means may be configured to block, in use, one or more signals which are not reflected from the internal surface.

is Another aspect of the invention provides an inspection device for detecting the presence of deposits on an internal surface of an industrial pipe or tube, the device comprising a transmitter for emitting an electromagnetic or sound signal, a receiver for receiving a reflected electromagnetic or sound signal, and a masking means between the transmitter and the receiver, e.g. for limiting one or more signals received, in use, by the receiver or receivers, wherein a signal emitted, in use, by the transmitter is reflected from the internal surface and received by the receiver in order to detect the presence or absence of deposits on the internal surface, which masking means may be configured to block one or more signals which are not reflected from the internal surface.

The masking means may comprise a masking element protruding from the or a body, e.g. between at least one of the one or more transmitters and at least one of the one or more receivers. At least a portion of the masking element may be recessed with respect to at least part of the spacing means, for example thereby to create, in use, a gap between the masking element and the internal surface.

In some embodiments, the masking element may protrude about at least a portion of the periphery of the or a body. Additionally or alternatively, the masking element may protrude radially, for example from the body, e.g. in at least two directions. In embodiments, the masking element tapers, for example from a central portion thereof, e.g. toward at least one of the one or more transmitters and/or toward at least one of the one or more receivers. In embodiments, the masking means comprises an energy absorbing material.

The inspection device may comprise a connection means or connector, e.g. for connecting the device to a cleaning device or apparatus, for example to a portion thereof, which may be an upstream portion or a downstream portion or a portion adjacent or upstream or downstream an outlet thereof.

Another aspect of the invention provides an inspection device for detecting the presence of deposits on an internal surface of an industrial pipe or tube, the device comprising a transmitter for emitting an electromagnetic or sound signal, a receiver for receiving a reflected electromagnetic or sound signal, and a connection means or connector for connecting the device to a cleaning device or apparatus, wherein a signal emitted, in use, by the transmitter is reflected from the internal surface and received by the receiver in is order to detect the presence or absence of deposits on the internal surface.

The inspection device may comprise a communication means, which may be operatively connected to the receiver, e.g. for transmitting information, which may relate to reflected energy detected, in use, by the receiver. The communication means may comprise an optical communication means and/or the inspection device may comprise a fibre optic cable, for example through which the communication means may transmit information that may relate to reflected energy detected, in use, by the receiver.

The or at least one transmitter may be configured to emit, and/or the or at least one receiver may be configured to receive, electromagnetic radiation or energy or transmission or emission, for example in the electromagnetic spectrum, e.g. wavelengths from 1pm to 100Mm, or the visible light range or region, e.g. wavelengths from 400nm to 700nm, or near infrared region or radiation, 700nm or BOOnm to 2,SOOnm, or infrared region or radiation, e.g. wavelengths from 700nm to 1mm, or far infrared region or radiation, e.g. wavelengths from l5pm to 1mm. The or at least one transmitter may comprise a light source, which may be configured to emit light in the visible or near infrared or infrared or far infrared region or range. The or at least one receiver may comprise a diode or lux meter.

Preferably, at least one of the one or more transmitters comprises a laser diode transmitter and/or at least one laser emitter and/or at least one of the one or more receivers comprises a laser diode receiver and/or a laser receiver or diode. More preferably, the inspection device may be configured to determine the presence or absence of a deposit on the internal surface based on the intensity of the laser signal received by the receiver.

Another aspect of the invention provides a cleaning device or apparatus, which may comprise an outlet for discharging a cleaning medium and/or an inspection device as described above, which may be connected adjacent, e.g. upstream or downstream, of the outlet. The outlet may comprise a nozzle for use in dispensing a cleaning fluid and/or solid, for example dry ice pellets, which may be transmitted in or within or with the aid of a transport medium or fluid, such as compressed air. Additionally or alternatively, the outlet may be configured to emit energy or sound waves, for example ultrasonic sound waves.

Another aspect of the invention provides a method of detecting the presence of deposits on an internal surface of an industrial pipe or tube, the method comprising emitting electromagnetic or sound signals toward one or more, for example two or more, e.g. three or more, such as a plurality of, different circumferential regions of the internal surface, receiving electromagnetic or sound signals reflected from the or each or at least one of the circumferential regions of the internal surface, comparing the intensity or magnitude of the or each or at least one of the signals received with an expected or predetermined intensity or magnitude and determining the presence or absence of a deposit on the internal surface based on the comparison.

The electromagnetic or sound signals may be emitted from and/or received at a central region of the pipe or tube. The method may comprise masking or blocking one or more signals emitted from being received, which may comprise one or more signals which are not reflected from the internal surface. The method may further comprise displaying information relating to reflected energy detected and/or cleaning the pipe or tube at least partially in dependence upon the reflected energy detected. Additionally or alternatively, the emitting step may comprise emitting a laser signal and/or the cleaning step may comprise dispensing dry ice pellets.

A further aspect of the invention provides a computer program element comprising computer readable program code means for causing a processor to execute a procedure to implement the aforementioned method. A yet further aspect of the invention provides the computer program element embodied on a computer readable medium.

A yet further aspect of the invention provides a computer readable medium having a program stored thereon, where the program is arranged to make a computer execute a procedure to implement the aforementioned method.

A yet further aspect of the invention provides a control means or control system or controller comprising the aforementioned computer program element or computer readable medium.

Within the scope of this application it is expressly envisaged that the various aspects, embodiments, examples and alternatives set out in the preceding paragraphs, in the claims and/or in the following description and drawings, and in particular the individual features thereof, may be taken independently or in any combination. Features described in connection with one aspect or embodiment of the invention are applicable to all aspects or embodiments, unless such features are incompatible.

Embodiments of the invention will now be described by way of example only with reference to the accompanying drawings in which: Figure 1 is a diagrammatic sectional view of an embodiment of a cleaning apparatus incorporating an inspection device in accordance with one embodiment of the present invention; and Figure 2 is a diagrammatic sectional view of a cleaning apparatus incorporating an inspection device in accordance with one embodiment of the present invention.

Figure 1 shows a tubular element 20, such as a pipe or tube, an inspection device 10 with a laser diode transmitter 12 and a laser diode receiver 14 attached to a running tool 26 located within a longitudinal bore 22 of the tube 20. Also attached to the running tool 26 is a cleaning apparatus 40 which includes a nozzle 44 with an outlet 42.

In particular contrast to known systems, the running tool 26 is positioned along an axis 25 of the tube 20 by centralisers 24a & 24b. This allows the laser diode transmitter 12 and the laser diode receiver 14 to always be at substantially the same distance from the inner surface 30 of the tube 20.

As will be described in more detail below, in use, the laser diode transmitter 12 and the laser diode receiver 14 are attached to a running tool 26 which is moved through the longitudinal bore 22 of the tube 20. Whilst in motion, the laser diode transmitter 12 emits laser light 16 which travels through the longitudinal bore 22 towards the inner surface 30 of the tube 20, where it is reflected off the inner surface 30 of the tube 20 and then travels back through the longitudinal bore 22 towards the laser diode receiver 14 where it is detected, measured and the measurements are transmitted via fibre optics housed within the running tool 26 to an operator (not shown) in real-time.

If the measured level of the laser light 16 detected by the laser diode receiver 14 is less than a pre-determined level set by the operator, this is indicative of fouling on the inner surface 30 of the tube 20.

In use, if such fouling is found to be present, the operator directs the nozzle 44 of the cleaning apparatus 40 to the affected area where an appropriate cleaning substance 46 is dispensed from the outlet 42.

An advantage of such embodiments is that the real-time transmittal of data allows the operator to infer when areas of the inner surface 30 of the tube 20 are clean, that is the levels of fouling are within acceptable limits.

This embodiment of the invention will now be described in more detail.

The laser diode transmitter 12 is attached to the running tool 26 in close proximity behind the nozzle 44. The laser diode transmitter 12 comprises four transmitters, each of which are mounted to the running tool 26 and are configured to transmit laser light 16 in multiple directions about the periphery of the running tool 26.The laser diode receiver 14 comprises one receiver and is attached to the running tool 26 by wrapping it around the running tool 26 to form a cylindrical shape, such that the laser diode receiver 14 is capable of receiving laser light 16 from many different directions. The laser diode receiver 14 is also capable of measuring an amount or intensity or magnitude of laser light 16 detected. The laser diode receiver 14 is further capable of transmitting information, such as the amount of laser light 16 detected, to an operator (not shown) by fibre optics.

The laser diodes 12, 14 are powered by a power source external to the tube 20 which is connected to the laser diodes 12, 14 by a cable (not shown) housed within the running tool 26.

Centralisers 24a, 24b are spaced apart along the running tool 26 and fixed in place. The laser diode transmitter 12 and the laser diode receiver 14 are attached to the running tool 26 such that they are positioned between the centralisers 24a and 24b.

In use, the centralisers 24a, 24b position the running tool 26 with the laser diode transmitter 12 and the laser diode receiver 14 along the axis 25 of the tube 20.

An advantage of having centralisers 24a, 24b on the running tool is that the laser diode transmitter 12 and the laser diode receiver 14 are held at substantially the same distance from the inner surface of the tube 20. This allows the laser diode receiver 14 to make more accurate measurements of the amount of reflected laser light 16.

The laser light 16 transmitted from the laser diode transmitter 12 is known as an incident ray 17. The laser light 16 received by the laser diode receiver 14 is known as a reflected ray 19. The angle between the incident ray 17 and a normal 13, that is a line drawn perpendicular to the surface which the incident ray 17 meets, is known as the angle of incidence 15. The angle between the reflected ray 19 and the normal 13 is known as the angle of reflection 18. The angle of incidence 15 will be different depending on the direction of the transmitted laser light 16. The angle of incidence 15 always equals the angle of reflection 18.

In use, the laser light 16 is emitted from the laser diode transmitter 12 in multiple directions about the periphery of the running tool 26. The laser light 16 is transmitted such that the angle of incidence 15 allows the reflected ray 19 to be detected by the laser diode receiver 14. The laser diode receiver 14 is also able to receive directly transmitted laser light 16, that is laser light 16 which has not been reflected.

In this embodiment, the inner surface 30 of the tube 20 contains fouling such that the inner surface 30 contains an amount of differential surface angles. The reflection of the laser light 16 contains a certain amount of unpredictability, thus giving a spread reflection.

The unpredictability of the angle of reflecflon 18 means that less laser light 16 will be detected by the laser diode receiver 14.

As an example, in use, the laser diode transmitter 12 is positioned so that the incident ray 17 strikes the inner surface 30 of the tube 20 at an angle of 70 degrees. The wavelength of the laser light 16 is 532 nanometres. The length of the laser diode receiver 14 is 4 centimetres.

In use, the incident ray 17 travels from the laser diode transmitter 12 through the longitudinal bore 22 of the tube 20 to the inner surface 30 of the tube 20. When the incident ray 17 meets the inner surface 30 of the tube 20, it is reflected off this surface at the angle of reflection 18. The reflected ray 19 then travels from the inner surface 30 of the tube 20 back through the longitudinal bore 22 of the tube 20 to the laser diode receiver 14 where the laser light 16 is detected and measured.

After measuring the amount of laser light 16 detected, the laser diode receiver 14 transmits in real-time, via fibre optics, the measurement to an operator (not shown). In use, the operator compares the measurements against a pre-determined value. The pre-determined value is the amount of laser light 16 detected when there is no fouling present in the tube 20, that is the tube 20 is clean.

In use, if the measured values lie between certain pre-determined limits, this is indicative of a tube 20 with no or an acceptable level of fouling. However, if the measured values lie outside the pre-determined limits, this is indicative of fouling present on the tube 20.

Normally if fouling is present, there is a significant drop in the amount of laser light 16 detected by the laser diode receiver 14 and the measured value will be significantly less than the pre-determined value. This occurs due to a lower spread reflection of the laser light 16.

In use, the running tool 26 is continuously moving through the tube 20 and as such the operator continuously receives measurements from the laser diode receiver 14 regarding the amount of laser light 16 detected. This allows the operator to monitor the cleanliness of the inner surface 30 of the tube 20. If the measurements indicate that fouling is present on the inner surface 30 of the tube 20, the operator knows to focus more cleaning effort on that area by stopping the progression of the running tool 26 through the tube 20 and directing the cleaning substance 46 from the outlet 42 of the nozzle 44 to the affected areas.

After a period of time, the operator stops the cleaning efforts and passes the laser diode transmitter 12 and the laser diode receiver 14 over the affected area again to receive, in real-time, information regarding the amount of laser light 16 detected by the laser diode io receiver 14. If the amount of laser light 16 detected has increased to within the pre-determined limits, the operator knows that the area is now clean. If the amount of laser light 16 detected has not increased to within the pre-determined limits, the operator can continue to focus cleaning efforts on the affected area.

An advantage of this embodiment is that the operator can spend more time cleaning areas of the inner surface of the tube 20 which are more affected by fouling, and spend less time on those areas which are less affected, thus making the overall cleaning process more efficient.

In some embodiments, the inner surface of the tube 20 is clean, that is with no fouling, such that the inner surface is smooth and the reflection of the laser light is highly predictable using the Law of Reflection. In such embodiments, the reflection is specular or undistorted. The level of laser light detected by the laser diode receiver 14 will lie between certain pre-determined limits.

In other embodiments, the inner surface of the tube 20 is rough and uneven, causing the direction of the reflected light to be completely unpredictable. The angle of reflection is between from 0 to 180 degrees, thus creating a diffuse reflection. In such embodiments, this may be caused by a large amount of fouling on the inner surface of the tube 20.

Figure 2 shows an alternative embodiment of the present invention. Where the features are the same as the first embodiment, they have been labelled with the same number except preceded by a 1'. These features will not be described in detail again herein.

This embodiment includes an inspection device 110 with a laser diode transmitter 112, a laser diode receiver 114 and a masking element 150. The masking element 150 is located between the laser diode transmitter 112 and the laser diode receiver 114, such that the edge of the masking element 150 furthest from the nozzle 144 is in contact with the laser diode receiver 114. The masking element 150 is recessed with respect to the centralisers 124a, 124b such that a gap is created between it and the inner surface 130 of the tube 120. The masking element 150 includes a black matt outer surface, which absorbs laser light 116 which comes in contact with the surface.

In use, the laser diode transmitter 112 emits laser light 116 in multiple radial directions about the periphery of the running tool 126. Only a portion of the laser light 116 will be transmitted such that the angle of incidence 115 and the angle of reflection 118 allow the laser light 116 to pass around the masking element 150 and be detected and measured by the laser diode receiver 114. The remainder of the laser light 116 will be substantially is absorbed by the masking element 150.

Therefore, in use, the masking element 150 has the effect of restricting the laser light 116.

The masking element 150 only allows a proportion of the reflected laser light 116 to reach the laser diode receiver 114, and does not allow direct laser light 116 (i.e. laser light 116 which has not been reflected) to reach the laser diode receiver 114.

An advantage of the present embodiment is that more accurate measurements of the amount of fouling present on the inner surface of the tube 20 can be made.

In alternative embodiments, there may be a gap between the masking element and the laser diode receiver.

Experiment 1 Tests were carried out on split tubes with and without scale using a laser transmitter with a wave length of 532nm, fixed at an angle of 70° in a day light laboratory with a lux meter calibrated at 200 LuxIFc (lFc = 10.76 Lux).

The test results are reproduced in Table 1 below.

1 2 3 4 5 6 7 8 9 10 Tube 1 (clean) 2.2 2.1 2.1 2.3 2.1 2.2 1.8 2.0 2.0 2.1 Tube 2 (scaled) 0.14 0.17 0.18 0.2 0.19 0.19 0.2 0.21 0.19 0.19 Table 1. Day Light Laboratory Test Results Thus, the average intensity of detected light reflected by tube 1 was 2.1, while the average intensity was 0.19 for tube 2.

Experiment 2 Tests were carried out on split tubes with and without scale using a laser transmifter with a wave length of 532nm, fixed at an angle of 70° in a dark room laboratory with a lux meter calibrated at 2,000 Lux/Ec (1 Ec = 10.76 Lux).

The test results are reproduced in Table 2 below.

1 2 3 4 5 6 7 8 9 10 Tubel(clean) 8 9 9 9 10 10 12 12 11 8 Tube2(scaled) 0 0 0 0 0 0 0 0 0 0 Table 2. Dark Room Laboratory Test Results Thus, the average intensity of detected light reflected by tube 1 was 9, while the average intensity was 0 for tube 2.

Tests carried out confirm clean tube bundles create a higher so-called spread reflection, and scaled tubes produce a lower spread reflection. It is therefore preferable that the laser diode ieceiver 14 is capable of receiving light from different angles. By way of example, the length of the laser diode receiver 14 may be between 2cm and 5cm.

It will be appreciated by those skilled in the art that several modifications to the aforementioned embodiments are envisaged without departing from the scope of the invention. For example, in the embodiments described above in Figures 1 and 2, a measuring device may be provided which determines the position of the inspection device within the longitudinal bore of the tube 20. An advantage of providing a measuring device may be that the operator can receive accurate localised information on each part of the tube 20. The operator can determine which parts of the tube 20 may be more susceptible to fouling, potentially indicating a more serious problem, such as scouring on the inner surface of the tube 20. In other embodiments, the measuring device may be capable of driving the inspection device into the tube 20 until it measures a pre-determined distance, such as the length of the tube 20. In further embodiments, a connector may be provided for removably mounting the inspection device to the cleaning apparatus. In some embodiments, the laser diode transmitter 12 is configured to rotate around the running tool, such that laser light 16 is emitted in a plurality of different radial directions.

It will also be appreciated by those skilled in the art that any number of combinations of the aforementioned features and/or those shown in the appended drawings provide clear advantages over the prior art and are therefore within the scope of the invention described herein.

Claims

CLAIMS1. An inspection device for detecting the presence of deposits on an internal surface of an industrial pipe or tube, the device comprising a body, at least one transmitter mounted to the body and configured to emit electromagnetic or sound signals in three or more different radial directions and at least one receiver for receiving reflected electromagnetic or sound signals emitted from the at least one transmitter, wherein signals emitted, in use, by the at least one transmitter are reflected from the internal surface and received by the at least one receiver in order to detect the presence or absence of deposits on the internal surface.
2. An inspection device according to claim 1, wherein the at least one transmitter comprises three or more transmitters each configured to emit an electromagnetic or sound signal in a different respective radial direction and at least one receiver comprises three or more receivers each configured to receive a reflected electromagnetic signal from a different respective direction.
3. An inspection device according to claim 1 comprising a spacing means operatively connected to the body, wherein the one or more transmitters and receivers are recessed with respect to at least pad of the spacing means.
4. An inspection device for detecting the presence of deposits on an internal surface of an industrial pipe or tube, the device comprising a transmitter for emitting an electromagnetic or sound signal, a receiver for receiving a reflected electromagnetic or sound signal, and a spacing means operatively connected to the transmitter and to the receiver, wherein the transmitter and receiver are both recessed with respect to at least pad of the spacing means such that a signal emitted, in use, by the transmitter is reflected from the internal surface and received by the receiver in order to detect the presence or absence of deposits on the internal surface.
5. An inspection device according to claim 3 or claim 4 comprising a body to which the one or more transmitters and receivers are mounted, wherein the spacing means comprises one or more spacer elements protruding from the body for contacting, in use, the internal surface.
6. An inspection device according to claim 5, wherein the one or more spacer elements protrude about at least a portion of the periphery of the body such that the one or more transmitters and receivers are located, in use, in a central region of the pipe or tube.
7. An inspection device according to claim 5 or claim 6, wherein the one or more spacer elements protrude radially from the body in at least two directions such that the one or more transmitters and receivers are located, in use, in a central region of the pipe or tube.
8. An inspection device according to claim 7, wherein the one or more spacer elements comprise two or more radial spacer elements each protruding radially from the body in a respective different radial direction.
9. An inspection device according to any one of claims 5 to 8, wherein the one or more spacer elements each comprises a rounded cross-section for contacting an adjacent portion of the internal surface.
10. An inspection device according to any one of claims 5 to 9, wherein at least a portion of the one or more spacer elements is flexible or deformable.
11. An inspection device according to any one of claims 5 to 10, wherein the one or more spacer elements comprises a pair of spacers between which the one or more transmitters and the one or more receivers are mounted.
12. An inspection device according to any preceding claim further comprising a masking means between the one or more transmitters and the one or more receivers for limiting one or more signals received, in use, by the receiver or receivers.
13. An inspection device according to claim 12 wherein the masking means is configured to block, in use, one or more signals which are not reflected from the internal surface.
14. An inspection device for detecting the presence of deposits on an internal surface of an industrial pipe or tube, the device comprising a transmitter for emitting an electromagnetic or sound signal, a receiver for receiving a reflected electromagnetic or sound signal, and a masking means between the transmitter and the receiver, wherein a signal emitted, in use, by the transmitter is reflected from the internal surface and received by the receiver in order to detect the presence or absence of deposits on the internal surface, the masking means being configured to block one or more signals which are not reflected from the internal surface.
15. An inspection device according to any one of claims 12 to 14 comprising a body to which the one or more transmitters and receivers are mounted, wherein the masking means comprises a masking element protruding from the body between the one or more transmitters and the one or more receivers.
16. An inspection device according to claim 15 comprising a spacing means, the one or more transmitters and receivers being recessed with respect to at least part of the spacing means, wherein at least a portion of the masking element is recessed with respect to at least part of the spacing means, thereby to create! in use, a gap between the masking element and the internal surface.
17. An inspection device according to claim 15 or claim 16, wherein the masking element protrudes radially from the body in at least two directions.
18. An inspection device according to any one of claims 15 to 17, wherein the masking element tapers from a central portion thereof toward the one or more transmitters and toward the one or more receivers.
19. An inspection device according to any one of claims 12 to 18, wherein the masking means comprising an energy absorbing material.
20. An inspection device according to any preceding claim further comprising a connection means for connecting the device to a cleaning apparatus.
21. An inspection device for detecting the presence of deposits on an internal surface of an industrial pipe or tube, the device comprising a transmitter for emitting an electromagnetic or sound signal, a receiver for receiving a reflected electromagnetic or sound signal, and a connection means or connector for connecting the device to a cleaning apparatus, wherein a signal emitted, in use, by the transmitter is reflected from the internal surface and received by the receiver in order to detect the presence or absence of deposits on the internal surface.
22. An inspection device according to any preceding claim further comprising a communication means operatively connected to the receiver for transmitting information relating to reflected energy detected, in use, by the receiver.
23. An inspection device according to claim 22, wherein the communication means comprises an optical communication means, the device comprising a fibre optic cable through which the communication means transmits information relating to reflected energy detected, in use, by the receiver.
24. An inspection device according to any preceding claim, wherein the at least one transmitter comprises a laser emitter and the receiver comprises a laser receiver, the device being configured to determine the presence or absence of a deposit on the internal surface based on the intensity of one or more laser signals received by the receiver.
25. A cleaning apparatus comprising an outlet for discharging a cleaning medium and an inspection device according to any preceding claim connected adjacent the outlet.
26. A cleaning apparatus according to claim 25, wherein outlet comprises a nozzle for use in dispensing dry ice pellets.
27. A method of detecting the presence of deposits on an internal surface of an industrial pipe or tube, the method comprising emitting electromagnetic or sound signals toward three or more different circumferential regions of the internal surface, receiving electromagnetic or sound signals reflected from each of the three or more different circumferential regions of the internal surface, comparing the intensity or magnitude of each of the signals received with an expected or predetermined intensity or magnitude and determining the presence or absence of a deposit on the internal surface based on the comparison.
28. A method according to claim 27, wherein the electromagnetic or sound signals are emitted from and received at a central region of the pipe or tube.
29. A method according to claim 27 or claim 28 comprising masking or blocking one or more signals emitted from being received.
30. A method according to claim 29 comprising blocking one or more signals which are not reflected from the internal surface.
31. A method according to any one of claims 27 to 30 comprising displaying information relating to reflected energy detected.
32. A method according to any one of claims 27 to 31, wherein the emitting step comprises emitting a laser signal.
33. A method according to any one of claims 27 to 32 comprising cleaning the pipe or tube at least partially in dependence upon the reflected energy detected.
34. A method according to claim 33, wherein the cleaning step comprises dispensing dry ice pellets.
35. A computer program element comprising computer readable program code means for causing a processor to execute a procedure to implement a method according to any one of claims 27 to 34.
36. A computer program element according to claim 35 embodied on a computer readable medium.
37. A computer readable medium having a program stored thereon, where the program is arranged to make a computer execute a procedure to implement a method according to any one of claims 27 to 34.
38. A control system comprising a computer program element according to claim 35 or a computer readable medium according to claim 37.
39. An inspection or cleaning device substantially as described herein and/or as shown in the accompanying drawings.
40. A method of detecting the presence of deposits on an internal surface of an industrial pipe or tube and/or of cleaning an industrial pipe or tube substantially as described herein and/or as shown in the accompanying drawings.