SE539885C2 - A system and method for internal non-destructive inspection - Google Patents

Abstract

The present invention generally relates a non-destructive inspection system, and more specifically to an inspection system (100), comprising an inspection arm (102) adapted for allowing introduction of an inspection arrangement inside of a complex structure (110). The invention also relates to a method and corresponding computer program product for providing an inspection arm to be used in conjunction with the non-destructive inspection system.

Description

A SYSTEM AND METHOD FOR INTERNAL NON-DESTRUCTIVE INSPECTION TECHNICAL FIELD The present invention generally relates a non-destructive inspection system, andmore specifically to an inspection system comprising an inspection arrn adapted for positioning aninspection arrangement inside of a complex structure having internal restrictions. The invention alsorelates to a method and corresponding computer program product for providing an inspection arrn to be used in conjunction With the non-destructive inspection system.

BACKGROUND When designing any form of structure, materials are selected for use based on criteriaincluding minimum strength requirements, useable life, and anticipated normal Wear. Safety factorsare typically factored into design considerations to supplement material selection in order to aid inreducing the risk of failures including catastrophic failures. Such failures may occur When therequired application strengths exceed the actual material strength. During its useful life, materialdeteriorates and/or is Weakened by extemal events such as heat, mechanical and/or chemical actionsarising from the type of application, repeated usage, hurricanes, earthquakes, storage,transportation, and the like; thus, raising safety, operational, functionality, and serviceability issuesrequiring the deterrnination of the material remaining strength for the type of application.

For structures used in relation to e.g. power plants, chemical industries, pipelines,etc., there is an ongoing need to perform inspections of the materials used to ensure that nomaterial-loss, cracks or defects are present, possibly posing a safety problem for fiature operations.The inspection is preferably performed using a non-destructive testing (NDT) methodology, Whereinspection of the structure may be performed Without having to disassemble the structure andWithout causing harrn to the structure. Using the mentioned NDT methodology, it is possible todetect intemal or extemal damage to the structures, for example cracks, crack forrnations, thicknessof the used material, corrosion, impact damage, or other types of intemal or extemal damage, and tovalidate the structural health of such structures.

A holloW structure may in some situations comprise intemal obstructions thatprevent a simple inspection procedure, as the inspection equipment used may have problem to passthe obstructions. An example of an inspection system trying to solve this problem is disclosed inUS7154264. The inspection system disclosed in US7154264 comprises a plurality of spring-loadedarms attached to a body of an inspection pig. The spring-loaded arms may be transitioned from an expanded state to a collapsed state, such that the inspection pig may be allowed to pass by an obstruction in a straight pipe portion. Once the inspection pig has passed by the obstruction, thespring-loaded arms are again set to the expanded state.

Even though US7154264 provides an interesting approach to allowing internalinspection of a ho llow structure, such as the straight pipe, the inspection system disclosed inUS7154264 will have limited success in allowing for inspection of a more complex structure,possibly involving further obstructions in the form of complex bends to e.g. a piping system.Accordingly, there seems to be a need for an improved technique to be used in relation to intemal inspection of a complex structure having intemal restrictions.

SUMMARY According to an aspect of the invention, the above is at least partly met by a systemfor intemal non-destructive inspection as defined by claim 1.

According to the present disclosure, an inspection system is provided that may beadapted in such a way that a thereto comprised inspection arrangement may be easily positionedwithin a complex structure, for example having intemally provided restrictions, bends, etc., and thusnot easily accessed by e. g. a crawler robot, inspection pig, or similar, as disclosed by prior art.Specifically, in accordance to the present disclosure a rearrangable inspection arm is used, wherethe inspection arm by means of the inclusion of a plurality of connected segments is allowed totransition from a positioning state to an inspection state. Segments comprised with the inspectionarm are selected to have correspondence to the predeterrnined intemal geometry of the hollowstructure. It should be understood that the expression predeterrnined intemal geometry should beunderstood to also include an estimation of the intemal geometry (e.g. based on an extemal visualinspection of the structure) and cases where e. g. corrosion has slightly changed the intemalgeometry of the ho llow structure as compared to when the structure was originallyinstalled/manufactured.

Typically, inspection is performed only once the inspection arm has been arranged inthe inspection state. The insertion (i.e. pre inspection) and the extraction (i.e. post inspection) of theinspection arrangement (in and out of the ho llow structure) are typically performed with theinspection arm in the positioning state.

The terms “proximal” and “distal” are used herein with reference to e.g. an operatormanipulating the inspection arm. The term “proximal end” referring to the portion closest to theoperator and the term “distal end” referring to the portion located away from the operator, in use tobe first entered inside of the ho llow structure. It will be further appreciated that, for convenience and clarity, spatial terms such as “vertical”, “horizontal”, “up”, and “down” may be used herein with respect to the drawings. However, the inspection system may be used in many orientations andpositions, and these terrns are not intended to be limiting and/or absolute.

Preferably, the plurality of segments are elastically connected in the positioning state,thereby allowing the inspection arrn to be easily inserted into the hollow structure, even in case ofbends, internal restrictions, etc. In a possible embodiment, a flexible spring member is arrangedbetween each of the plurality of segments.

Additionally, it is preferred to adapt the inspection arm to have a fixed connectionbetween the plurality of segments once the inspection arm is arranged in the inspection state.Possibly, a mechanically operated retraction member, such as for example a wire controlled by theoperator, may arranged with the inspection arm and adapted to maneuver the inspection armbetween the positioning state and the inspection state.

In one embodiment of the invention, the inspection arrangement may be positioned atthe distal end of the inspection arm. Possibly, the inspection arrangement may then be shaped in asuitable way (e.g. at least partly conical) for further simplifying the process of inserting theinspection arm/ arrangement into the at least partly ho llow structure.

In an altemative embodiment, the inspection may be movably positioned along theinspection arm. In such an embodiment, it may be possible to allow inspection to take place along atleast a part of the inside of the ho llow structure. For example, the inspection arm may be providedwith a track adapted to interact with e.g. a protrusion of a housing comprised with the inspectionarrangement for allowing the inspection arrangement to move along the inspection arm.

Possibly, at least one of the plurality of segments is formed in a 3D printing, lasercutting, CAC process, etc., based on the predeterrnined intemal geometry, for example from aplastic material. It is of course possible and within the scope of the present disclosure to make useof at least some standard segments to be used in relation to e.g. predefined bends, etc. Some of thesegments may also be formed from a metal or carbon fiber material. As the inspection arm may bespecifically adapted to the hollow structure to be inspected (“customized” for the specificinspection), it may in some embodiment be suitable to form the inspection arm from a relatively“cheap” material.

In another embodiment of the present disclosure, at least one of the plurality ofsegments is at least partly hollow, whereby for example the inspection arm may be formed from aplurality of pipe segments. In such an embodiment, it may be possible to introduce furthercomponents/materials to be used in the inspection process. The segment(s) may also be somewhat“rail shaped” for allowing the inspection arrangement to move or slide along the inspection arm for allowing inspection to be performed along the inside of the at least partly ho llow structure.

Within the context of the application, the expression ““inspection” should beunderstood to include inspection and testing (non-destructive testing, NDT), preferably by means ofat least one of ultrasonic testing (UT), electromagnetic testing (ET), visual testing (VT), visualinspection (VI), and dye penetration testing (PT). As mentioned above, non-destructive testing(NDT) use test methods to examine an object, material or system without impairing its fittureusefialness. Non-destructive testing is often required to verify the quality of a product or a system.The inspection arrangement may be adapted to perform a plurality of different tests, e. g. combiningultrasonic testing and visual testing. The different processes suggested above are known to theperson skilled in the art and will not be further elaborated here within.

It may also be possible, and within the scope of the present disclosure to instead (oralso) use an inspection arrangement adapted for at least one of acoustic emission testing (AET),acoustic resonance testing (ART), infrared testing (IRT), leak testing (LT), magnetic particle testing(MPT), radiographic testing (RT), acoustic emission testing (AET).

Furthermore, in a preferred embodiment of the present disclosure the inspectionsystem further comprises a control unit connected to the control interface, wherein the control unitis configured to perform an inspection process using the inspection arrangement, for exampleimplementing any of the above-mentioned testing techniques.

A software executed by the control unit for controlling the inspection arrangement toperform the inspection process may be stored on a computer readable medium, being any type ofmemory device, including one of a removable nonvolatile random access memory, a hard diskdrive, a floppy disk, a CD-ROM, a DVD-ROM, a USB memory, an SD memory card, or a similarcomputer readable medium known in the art.

According to another aspect of the invention there is provided a method forproviding an elongated inspection arm to be used by an system for intemal non-destructiveinspection of an at least partly hollow structure having a predeterrnined intemal geometry, theelongated inspection arm arranged to have a proximate end and a distal end, the inspection systemfurther comprising an electrically controllable inspection arrangement positioned at the inspectionarm, and an electrical control interface adapted to allow the inspection arrangement to be controlledfrom the proximate end of the of the inspection arm, wherein the method comprises the steps ofreceiving a geometrical description of the at least partly ho llow structure to be inspected, dividingthe intemal geometry of the structure into a plurality of sections, selecting, for each of the pluralityof sections, a shape matching the section of the ho llow structure, forming, for each of the pluralityof sections, a segment matching the selected shape, and connecting the plurality of formed segments resulting in the elongated inspection arm, wherein the resulting inspection arm is adapted to be rearrangable between a positioning state and an inspection state. This aspect of the inventionprovides similar advantages as discussed above in relation to the previous aspect of the invention.

According to a still further aspect of the invention there is provided a computerprogram product comprising a non-transitory computer readable medium having stored thereoncomputer program means for generating an elongated inspection arm to be used by an system forintemal non-destructive inspection testing and inspection of an at least partly ho llow structurehaving a predeterrnined intemal geometry, the elongated inspection arm arranged to have aproximate end and a distal end, the inspection system fiarther comprising an electrically controllableinspection arrangement positioned at the inspection arm, and an electrical control interface adaptedto allow the inspection arrangement to be controlled from the proximate end of the of the inspectionarm, wherein the computer program product comprises code for receiving a geometrical descriptionof the at least partly hollow structure to be inspected, code for dividing the intemal geometry of thestructure into a plurality of sections, code for selecting, for each of the plurality of sections, a shapematching the section of the hollow structure; and code for controlling a process for forrning, foreach of the plurality of sections, a segment matching the selected shape. In addition, this aspect ofthe invention provides similar advantages as discussed above in relation to the previous aspects ofthe invention.

Further features of, and advantages with, the present invention will become apparentwhen studying the appended claims and the following description. The skilled addressee realize thatdifferent features of the present invention may be combined to create embodiments other than those described in the following, without departing from the scope of the present invention.

BRIEF DESCRIPTION OF THE DRAWINGS The various aspects of the invention, including its particular features and advantages,will be readily understood from the following detailed description and the accompanying drawings,in which: Fig. 1A and 1B illustrates a first embodiment of the inspection arrangementaccording to the present disclosure Fig. 2 provides a second embodiment according to a currently preferred embodimentof the present disclosure, and Fig. 3 is a conceptual illustration of a process of forrning segments for use with thedisclosed inspection arrn, and Fig. 4 is a flow chart illustrating the exemplary steps for forrning the inspection arrn to be used with the inspection system.

DETAILED DESCRIPTION The present invention will now be described more fully hereinafter with reference tothe accompanying drawings, in which currently preferred embodiments of the invention are shown.This invention may, however, be embodied in many different forms and should not be construed aslimited to the embodiments set forth herein; rather, these embodiments are provided forthoroughness and completeness, and fully convey the scope of the invention to the skilledaddressee. Like reference characters refer to like elements throughout.

Referring now to the drawings and Fig. 1A in particular, there is depicted aninspection system 100 comprising an inspection arrn 102 and an inspection arrangement 104. In thepresent disclo sure, the inspection arrangement 104 comprises components for allowing non-destructive e. g. ultrasonic testing. The inspection arrn 102 has a proximate end 106 and a distal end108, and the inspection arrangement 104 is in Fig. 1A positioned at the distal end 108. In theillustration provided in Fig. 1A, the inspection arrn 102 is to be inserted, with the distal end 108first, into an at least partly hollow structure, here shown as a piping system 110 comprising aplurality of pipes sections 112 and pipe bends 114. An interface, such as comprising a set ofelectrical cables 116 is provided for interconnecting the inspection arrangement 104 and a controlunit (not explicitly shown) for operating the ultrasonic inspection arrangement 104.

For allowing successful positioning of the inspection arrn 102, and specifically theultrasonic inspection arrangement 104 such that a weld 118 provided between one of the pipesections 112 and one of the pipe bends 114, the inspection arrn 102 is formed from a plurality of connected segments 120, 122, 124 (only segments 120, 122, 124 are marked for clarity) matching a known geometry of the piping system 110. That is, the connected segments 120, 122, 124 areselected such that the inspection arrn 102 when inserted is for example allowed to turn at a pipebend 114, meaning that the segments 120, 122, 124 preferably are to be selected to have a lengththat matches e. g. a curvature of the pipe bend 114. The connection between the segments 120, 122,124 may in some embodiment be achieved using hinge members 126 (and springs, not shown)provided at the ends of the elongated segments 120, 122, 124.

In addition, when the inspection arm 102 is inserted into the piping system 110, theinspection arm 102 is in a positioning state, meaning that the segments 120, 122, 124 are connectedin a flexible manner there between. Thus, when reaching e.g. a pipe bend 114, the inspection arm102 may “flex” against the inner surface of the pipe bend 114, allowing the inspection arm 102 tobe pushed further forward towards the weld 118.

With further reference to Fig. lB, once the inspection arrangement 104 has“reached” the weld 118, the inspection arm 102 is allowed to transition from the positioning state toan inspection state. In practice, this means that at least part of the flexibility provided in thepositioning state is “removed”. In addition, the inspection arrangement 104 and also possibly theinspection arm 102 is arranged such that it is arranged centrally within the piping system, i.e.centrally in relation to the inner surface of at least some of the plurality of pipes sections 112 andpipe bends 114 of the piping system 110.

The transition from the positioning state to the inspection state may in someembodiments be achieved using a wire 128 passing through/by the segments 120, 122, 124, whereone end of the wire 128 is connected to a connection point at the distal end 108. The wire 128 istypically “loosely” passing the segments 120, 122, 124 when the inspection arm 102 is in thepositioning state, and then retracted (by a retraction force) for transitioning to the inspection state.When the wire 128 is retracted, the segments 120, 122, 124 will “compress” against each other in alongitudinal direction (at the ends of the segments 122, 122, 124). By means of the hingedconnection (using the hinge members 126) between the segments 120, 122, 124 and by allowing theelongated segments 120, 122, 124 to comprise shaped (e.g. angled) end positions, thecompression/retraction of the wire 128 will arrange the inspection arm 102 in an overall shape/forrnthat matches the expected/known intemal geometry of the piping system 110, as is shown in Fig.1B.

In another embodiment and with further reference to Fig. 2, the inspection arm 102may be provided with a track 130 or similar. The inspection arm 102 with the track 130 is in Fig. 2shown in the inspection state. An altemative inspection arrangement 104” is also provided with a member 132 matching the track 130. This may allow the inspection arrangement 104” to be movably positioned along the track 130 of the inspection arm 102, such that the inspectionarrangement 104” may be used e. g. for inspecting at least a part of the internal surface area of thepiping system 110, possibly extending all the way from the weld 118 to a position 134 where theinspection arm 102 is inserted into the piping system 104. The inspection arrangement 104” may bemoved within the piping system 110 using manual force or using e. g. an electrical motor suitablyconnected for repositioning of the inspection arrangement 104” along the inside of the pipingsystem 1 10.

Tuming to Figs. 3 and 4, there is conceptually illustrated an exemplary process forforming the segments 102, 122, 124 to be used with the inspection arm 102 when inserted into thepiping system 110. The process is preferably at least partly automated using computing equipment302, such as a desktop, server or similar. In a first step, the computing equipment receives, S 1, e. g.a constructional description (such as a constructional drawing) of the ho llow structure, such as thepiping system 110 to be inspected. The computing equipment 302 will then analyze the intemalgeometry of the piping system 110 and divide, S2, the intemal geometry of the piping system 110into a plurality of sections (e.g. based on the form of the pipes sections 112, the pipe bends 114 andpossible further obstructions. Based on the shapes of the sections, a corresponding plurality ofsegments are selected, S3. Each of the segments will be given a shape that allow the resultinginspection arm to be inserted (when in the positioning state), used for inspection (when in theinspection state) and then finally retracted (again in the positioning state) out of the hollowstructure/piping system 110. Selecting the shape of the segments further comprises deterrnining theposition of the hinge members 126 and how the end portions for each of the segments are to beshaped/angled (as discussed above).

Once the shapes of the plurality segments have been selected, this information isused for forrning the segments to be used with the inspection arrn102. The information may in oneembodiment be provided to manufacturing equipment 304 applying e. g. 3D printing, laser cutting,or CAC processing for forming, S4, the segments 120, 122, 124. Following the formation of thesegments 120, 122, 124, the segments 120, 122, 124 are connected to each other to form theinspection arm 102 to be used with the inspection system 100.

In summary, the present disclosure relates to a system for non-destructive intemalinspection of an at least partly hollow structure having an expected or predeterrnined intemalgeometry, the inspection system comprising an elongated inspection arm having a proximate endand a distal end, the distal end adapted to be inserted into the at least partly hollow structure, anelectrically controllable inspection arrangement positioned at the inspection arm, and an electrical control interface adapted to allow the inspection arrangement to be controlled from the proximate end of the inspection arm, wherein the inspection arrn comprises a plurality of connected segments,the inspection arrn is rearrangable between a positioning state and an inspection state, and theplurality of connected segments are selected to match the predeterrnined internal geometry in theinspection state The disclosed inspection system improves the possibility of successfully positioningthe inspection arrangement within the ho llow structure such that a thorough inspection of at least apart of the intemal surface of the ho llow structure may be achieved. Typically, inspection isperformed only once the inspection arm has been arranged in the inspection state. The insertion (i.e.pre inspection) and the extraction (i.e. post inspection) of the inspection arrangement is performedwith the inspection arm in the positioning state.

In addition, the control functionality of the present disclosure may be implementedusing existing computer processors, or by a special purpose computer processor for an appropriatesystem, incorporated for this or another purpose, or by a hardwired system. Embodiments within thescope of the present disclo sure include program products comprising machine-readable media forcarrying 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 specialpurpose computer or other machine with a processor. By way of example, such machine-readablemedia 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 tocarry or store desired program code in the form of machine-executable instructions or datastructures and which can be accessed by a general purpose or special purpose computer or othermachine with a processor. When information is transferred or provided over a network or anothercommunications 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, anysuch connection is properly terrned a machine-readable medium. Combinations of the above arealso included within the scope of machine-readable media. Machine-executable instructionsinclude, for example, instructions and data that cause a general-purpose computer, special purposecomputer, or special purpose processing machines to perform a certain function or group offunctions.

Although the figures may show a sequence the order of the steps may differ fromwhat is depicted. In addition, two or more steps may be performed concurrently or with partialconcurrence. Such variation will depend on the software and hardware systems chosen and ondesigner choice. All such variations are within the scope of the disclosure. Likewise, software implementations could be accomplished with standard programming techniques with rule-based lo gic and other logic to accomplish the Various connection steps, processing steps, comparison stepsand decision steps. Additionally, even though the invention has been described With reference tospecific exemplifying embodiments thereof, many different alterations, modifications and the likeWill become apparent for those skilled in the art. Further, a single unit may perform the fi1nctions ofseveral means recited in the claims. In the claims, any reference signs placed between parenthesesshall not be construed as limiting to the claim. Furthermore, in the claims, the Word "comprising"does not exclude other elements or steps, and the indefinite article "a" or "an" does not exclude aplurality.

Variations to the disclo sed embodiments can be understood and effected by theskilled addressee in practicing the claimed inVention, from a study of the draWings, the disclosure,and the appended claims. The person skilled in the art realizes that the present inVention is not limited to the preferred embodiments.

Claims (14)

1. ï; for internal non-destructive inspection of an at least partly ho llow structure Qïhaving a predeterrnined internal geometry, the inspection system comprising: - an elongated inspection arrn _,¿_and a distal end, :_,_, the distal end adapted to be inserted into the at least partly ho llow structure; - an electrically controllable inspection arrangement :Lpositioned at the .\.: inspection arrn, and - an electrical control interface adapted to allow the inspection arrangement to be controlled from the proximate end of the *e--inspection arrn, wherein the inspection arrn comprises a plurality of connected segmentsiinspection arrn is rearrangable between a positioning state and an inspection state, amfià-the plurality of connected segments are selected to match the predeterrnined intemal geometry in the inspection _.\,..\ .~ n., . ,, 7; . .» i_,. ._ _. .._..,._., .. . .g ._state. .tii-o. u. _=.=_ , f ..=

2. The system according to clam 1, wherein the plurality of segments are elastically connected in the positioning state.

3. The system according to claim 2, wherein a flexible spring member is arranged between each of the plurality of segments.

4. The system according to any one of the preceding claims, wherein the plurality of segments are adapted to have a fixed connection in the inspection state.

5. The system according to any one of the preceding claims, fiarther comprising a retraction memberjf' _ arranged with the inspection arrn and adapted to maneuver the inspection arrn between the positioning state and the inspection state. mv _. 1- . fp ~ f _ - ~ k- r I šfl «:> 'wfl v* Qvv :w n .~>- »vn -* r*- Y '\ r vwf» '\~\ »n »v ~~ fw i nfww* w ~ f» h zxwfcm' w x šfl «:> -M “ß 1A '\^~-~\'^ ._ s Lxw o y n. nous anod-v n \.,\..\.~¿;\ t. . ons y _. .x .v \.- “us ...m ç v _11 w wmx. ...AW .rs .o_\.>\.«\.fx m» .Å. . n ï- - _- .:w ---~-:~ w fx - 'z www 'zw-LH -vwm-fl :x \ v» »n .w --w H l ,;\~ .H - 1- ^ 'was ._ vv-M: .man n; s .nu .\.-\.-o.u,.~.\.~.MVM ma. -..~.:\. UL. :sa-l »nu w \.~ . L: »W .u ., ,- , ~.~-.-. t.-v ..v 1 - . .«- ~ - q ß ~ _1 ,_..\.\.\._.~,. ._ h., , , ,. _. fi., Wi .\~.,._,..,,. ~ . ._\..,\. \ U .Ä , ,\ ,m: \_\.\.f\«1i..~.\.n_~.:M m.- ut-.ß y ._,.~..\. v). mu-.uvh-.ß i.. ß -.-, w- \.\\.1.~.\.'.~. t \ x» »u »;_,\ .Û v., .\\ HJ. 11.., VMWM: :NW (V: .\';_.\.t\ q. 14.. L., .M a, .,_\,\.4,..-.,,\ Q ...MLux ;,\!\\ \ \-!«\v' u , t. ,_- ., >\..\\_~ »xt »ms \-U;\«_- ß sgx Lhkxv .ni >>§:~'\»'\JS-_l\) »x vvßhx) >.~ The system according to claim Wherein the inspection arrn is provided With a .~__adapted to interact With a protrusion of a housing comprised With the inspection arrangement for allowing the inspection arrangement to move along the inspection arrn. nw i 1 - . ß .fl - ~ - fg gaf) ««\V,«,~Q,-..~ mmm dvd-ff» .Vw vw, ,\..~_._\ fo» .ha -. s, . .W ,. , _. .V1 .s .AW o y chou: :Adfd-»n \~.\._\s¿;\ t. . om: y \._\.\.f \.- s V. _ .f J. -. \ . , _ _ .~ _ . .~ . _ _ . _-, Ef-w-»w H ~ - .f .-\ 4- n; -wn-w--fl s «~ š-- vv» 1_\-\' w» :w Lar- n^ - ~~ ,,\ .- ~- .~- »_ ~p .M1 m: i ~. , \.- A ax mi: »W ..-...«_» h; Å \.~.-. huva. 1.:. an, i, lov-ss, \.~ in; .-. u' ..- _ .ß _ , 4,- *Ägc “\ _.. .\,¿».._, }..\-~¿,-,-~ q. »sug t...,3.~,_\.¿),.,.~,.\. ._\.\~ ,,.\\-.,7\,.... ~. » .f _ \~_,/ _; ;_,.~\.~\~~\<.>>.~ www Wu yr: the, » p* oixuvwt» u: Linux. s._~,c\v~_~._u \ vw q 4- -Mß-š .\ EJ LxßAir x \.'!. _\\L n. The system according to any one of the preceding claims, Wherein at least one of the plurality of segments is at least partly ho lloW. The system according to any one of the preceding claims, Wherein the inspectionarrangement is configured to perform the non-destructive inspection using at least one of ultrasonictesting (UT), electromagnetic testing (ET), Visual testing (VT), Visual inspection (VI) and dyepenetration testing (PT). The system according to any one of the preceding claims, further comprising acontrol unit connected to the control interface, Wherein the control unit is conf1gured to perform an inspection process using the inspection arrangement. Q the inspection system further comprising an electrically controllable inspection arrangement :Lpositioned at the inspection arm, and an electrical control interface adapted to allow the inspection arrangement to be controlled from the proximate end of the of theinspection arm, Wherein the method comprises the steps of: llma geometrical description of the at least partly ho llow structure to be - receiving inspected; - diViding 5' ¿__the intemal geometry of the structure into a plurality of sections; Q 'i__,, for each of the plurality of sections, a shape matching the section ofthe holloW structure; - forrningggf .-_ for each of the plurality of sections, a segment matching the selected shape, and - connecting §:__'___f_lw,__the plurality of forrned segments resulting in the elongated inspection arrn, Wherein the resulting inspection arrn is adapted to be rearrangable between a positioning state and an inspection state. , fiarther comprising the steps of: The method according to claim - inserting the distal end of the inspection arrn into the at least partly ho lloWstructure; - arranging a control unit in communicative connection With the inspectionarrangement using the control interface; - movably positioning the electrically controllable inspection arrangement along the inspection arrn, and - perforrning an inspection process using the inspection arrangement. _.. = ..- ~- .-~..«~,-.--, -sto). k-tsšaLiafïk _ w Ain» A computer program product comprising a non-transitory computer readable medium having stored thereon computer program means for generating an elongated inspection arrn ï " be used by an system i "for intemal non-destructive inspection of an at least partly ho lloW structure i _haVing a predeterrnined intemal geometry, the elongated inspection arrn arranged to have a proximate end " Lmand a distal endifg" '“ _ the inspection system further comprising an electrically controllable inspection arrangement " 'i _positioned at the inspection arrn, and anelectrical control interface adapted to allow the inspection arrangement to be controlled from theproximate end of the of the inspection arrn, Wherein the computer program product comprises: - code for receiving a geometrical description of the at least partly ho llow structure to be inspected; - code for dividing the internal geonietry of the structure into a plurality of sections;- code for selecting, for each of the plurality of sections, a shape niatching the sectionof the hollow structure, and- code for controlling a process for forniing, for each of the plurality of sections, a 5 segment niatching the selected shape.