WO2015134915A2 - System for maintaining conduits and pipes in a pipeline system - Google Patents
System for maintaining conduits and pipes in a pipeline system Download PDFInfo
- Publication number
- WO2015134915A2 WO2015134915A2 PCT/US2015/019268 US2015019268W WO2015134915A2 WO 2015134915 A2 WO2015134915 A2 WO 2015134915A2 US 2015019268 W US2015019268 W US 2015019268W WO 2015134915 A2 WO2015134915 A2 WO 2015134915A2
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- pipe
- pipeline
- pipes
- maintenance tool
- lining
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
- B08B9/027—Cleaning the internal surfaces; Removal of blockages
- B08B9/04—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes
- B08B9/043—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes moved by externally powered mechanical linkage, e.g. pushed or drawn through the pipes
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- E—FIXED CONSTRUCTIONS
- E03—WATER SUPPLY; SEWERAGE
- E03B—INSTALLATIONS OR METHODS FOR OBTAINING, COLLECTING, OR DISTRIBUTING WATER
- E03B7/00—Water main or service pipe systems
- E03B7/006—Arrangements or methods for cleaning or refurbishing water conduits
-
- E—FIXED CONSTRUCTIONS
- E03—WATER SUPPLY; SEWERAGE
- E03F—SEWERS; CESSPOOLS
- E03F9/00—Arrangements or fixed installations methods or devices for cleaning or clearing sewer pipes, e.g. by flushing
- E03F9/002—Cleaning sewer pipes by mechanical means
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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
- F16L55/265—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means specially adapted for work at or near a junction between a main and a lateral pipe
-
- 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
-
- 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
- F16L55/40—Constructional aspects of the body
-
- 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
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/10—Treating the inside of pipes
- F16L2101/12—Cleaning
-
- 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
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/10—Treating the inside of pipes
- F16L2101/16—Coating by application of fluent materials, e.g. painting
-
- 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
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/10—Treating the inside of pipes
- F16L2101/18—Lining other than coating
-
- 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
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
Definitions
- the present invention generally relates to the field of transport conduits and pipes, and more particularly, is directed to a system for maintaining such conduits and pipes after their installation into a pipeline system used to transport material in a fluid or flowable form.
- Infrastructure such as roadways, bridges, and water and energy distribution systems are necessary elements of a society and its economy. Like all physical objects that are in continuous use, infrastructure requires periodic maintenance and replacement.
- the present invention relates to transportation infrastructure that is implemented using a system of conduits and pipes. As used herein, the terms “pipe” and “conduit” are used interchangeably.
- Pipeline systems are widely used to transport water, sewage, petroleum products and other materials that can be reduced to a flowable form. Pipeline distribution is efficient and when placed underground, does not interfere with surface use of the same land nor does it detract from the esthetic appeal of the land. Because most pipelines are buried underground or concealed in some way, they are difficult to reach. Moreover, pipelines that are used to carry municipal services, such as water and sewage, or commercial products such as petroleum, tend to be very large in diameter and can be many miles in length. Thus, removing and replacing pipes in such systems is time consuming and expensive. While these types of pipeline systems are designed to have a long service life, they eventually do require maintenance.
- pipeline systems are deployed over long distances and form a distribution highway for flowable materials of all kinds.
- Other pipeline systems are more local in nature, such as the plumbing system in one's home.
- pipelines tend to be susceptible to a buildup of undesirable deposits along their interior walls.
- the buildup can be formed from the material being carried by the pipeline or from byproducts created during the transport process.
- the bore or opening within the pipes that form the pipeline progressively narrows resulting in a reduction in material flow over time and increased pressure within the pipe. If remedial measures are not taken, the bore will eventually close preventing all flow.
- Sewage pipelines are particularly susceptible to a buildup of deposits along their inner walls from the sewage they carry and from sewage byproducts. Pipes that carry municipal drinking water also are not immune from a buildup of deposits in the form of, for example, iron and scale.
- Petroleum pipelines are notorious for a buildup of paraffin along their inner walls.
- a buildup of deposits along the inner walls of a pipeline can be particularly troublesome when portions of the pipe are subjected to wide variations in temperature.
- the wall thickness of a pipe at a particular cross-section factors into the radial temperature gradient of the pipe at that particular cross-section.
- a pipe that has a thicker wall thickness at one cross-section due to a buildup of deposits has a different temperature gradient than the temperature gradient at a cross-section having a lesser buildup and thus smaller wall thickness.
- the reduction in material flow in a pipeline due to the buildup of deposits along the inner wall of the pipes can only be reversed by (1) replacing the affected pipes; (2) increasing the pressure used to force the material through the pipeline; and/or (3) removing the deposit buildup from the pipes that form along their interior walls.
- Pipeline systems for commercial use such as petroleum, water distribution, and sewage recovery, present a more substantial challenge and typically require a more robust approach than that required by a home owner.
- High pressure water jetting, pipeline pigs, ultrasonic sound blasts, mechanical rotary drilling and hydro blasting are often used to clean commercial pipeline systems.
- a pipeline pig is formed of a body having a diameter and outer circumference that closely matches the inner circumference of the pipe.
- the pig is forced through the pipe by fluid pressure or by the use of a cable and winch system. As the pig travels through the pipe, it scrapes the deposits from the interior wall of the pipe and transports these deposits along the pipeline.
- the pig In order to perform its function, the pig must be substantially rigid in order to scrape deposits from the wall of the pipe, but the pig must also be somewhat compressible in order to pass by intended restrictions in the internal pipe cross- section or obstructions that may be present in the pipe.
- the exterior surface of a pipeline pig is formed of a plastic material, such as polyurethane.
- a plastic material such as polyurethane.
- the fluid pressure for propelling the pig through the pipe is supplied by water or other liquids which are injected into the pipe at high pressure. It is also known in the prior art to initially inject high pressure water behind the pig and to then discontinue the injection of water followed by an inert gas to complete propulsion of the pig through the pipe.
- Ultrasonic sound blasts rely on a focused beam of sound as the blast element to remove the residue buildup.
- a focused high pressure stream of water, or other fluid is used to remove the residue buildup.
- the interior walls of pipes in many pipeline systems are coated with a lining having qualities that enhance the flow of the pipeline produce through the pipeline.
- the lining might also help to seal the pipeline from leaks.
- transport pipeline systems typically are buried 6 to 8 feet below the surface with only an inlet, one or more inspections ports, and an outlet accessible above ground.
- Figure 1 illustrated a simple transport pipeline system.
- Figure 2 is a further illustration of transport pipeline system showing that the depth of the pipeline is not consistent as natural terrain will vary from place to place as well as obstructions will often be in the way and must be avoided.
- Figure 3 is a more realistic diagrammatic top view of a modern pipeline system that might be used to carry petroleum from a refinery to customers in difference parts of the country. In fact, most oil and gas is carried across country by pipeline.
- Figure 4 illustrates limitations common among currently available cleaning and lining systems and application methods for pipeline systems. As Figure 4 shows, access to the pipe line must be gained at a location which will provide a straight run for typical self-propelled or winch-pulled tool, such as the pig described above. All fittings 22-90 degrees are routinely removed to allow tool insertion and lining. In addition, most prior art tools operate in straight pipe segments and can't access vertical portions of the pipeline system, making additional excavations and tool setups necessary.
- the present invention solves the above noted problems with prior art approaches to cleaning and the replacement of linings in the pipes used in pipeline systems.
- Figure 1 - 3 illustrate burial of a typical pipe line system
- Figure 4 illustrates a prior art approach to cleaning and maintaining prior art pipeline systems
- FIGS. 5 - 11 illustrate various embodiments of the present inventions.
- Figure 12 is a block diagram of a controller which may be used to control the device of the present invention.
- Figure 13 depicts a formula which can used to determine the position of a spin disk position as it is traverse through a 90 degree elbow;
- Figure 14 illustrates a three axis gyro used in accordance with the present invention
- Figures 15 and 16 illustrates liner material exiting a spray gun in accordance with the present invention
- Figures 17 and 18 illustrate the effects of a cathodic protection system
- Figure 19 and 20 illustrate ways of electrically interconnecting isolated pipes during a lining operation in accordance with the present invention.
- the present invention provides a pipeline cleaning and maintenance system that is capable of routinely navigating and processing complex pipe geometries.
- the device of the present invention solves the problem of umbilical supply lines 51 and winch cable lock-up or seizing as they are drawn tight around bends in a pipeline system 52 as illustrated in Figure 5. Friction resulting from this phenomenon is known by those experienced in pipe rehabilitation to be sufficient to break heavy winch cables or cause damage to the umbilical lines and pipe walls.
- sheaves or pulleys can be installed in large pipes to permit frictionless cable operation where man entry is permitted, use of such devices are time consuming to erect and impossible to deploy in small diameter pipelines.
- Figure 6 illustrates a cable carrier assembly in accordance with the present invention that is designed to negate friction and seizure of winch cables or umbilical supply lines attached to the tooling.
- a plurality of rollers 61 encase umbilical 62 and are arranged as shown to eliminate binding and minimize friction throughout the length of any cable runs.
- a chain or wire rope sheath can be used to winch the system in the event of power loss. Also, the rolling elements 61 permit longer tether deployments than could be made with unsupported hoses and cables.
- This system of the invention allows multiple 90 degree turns to be easily traversed and can be rolled onto a take-up reel as tools are retracted from the piping system.
- a spinning metal disk tool is used to disperse lining material around the inner circumference of pipe walls.
- the spinning disk is driven into and through 90 degree elbow fittings in a pipeline system, inconsistencies in the amount of material deposited onto various areas of the internal pipe wall result. This phenomenon is prevalent as the tool enters and exits a fitting, as well as passing throughout the fittings radius. In a 90 degree fitting, there is simply far more surface area to be covered on the outer extremities of the inner pipe wall.
- the device of the present invention can be used with many different lateral pipe sizes, includes sizes of 24, 30, and 36 inches.
- Figures 8 - 11 illustrated a 24 inch device with pipeline mock-up for cleaning, lining and inspection of pipelines.
- the device of the present invention is controlled and driven by a computerized controller using appropriate software.
- the controller controls the device for optimal speed and position.
- Figure 12 is a block diagram that illustrates the basic components of a controller 1 which can be used to control the device of the present invention.
- Controller 1 includes a CPU 2.
- the CPU is used for executing computer software instructions as is known in the art.
- CPU 2 is coupled to a number of other elements via a signal and data bus 3 as is also known in the art. These elements include ROM 5 (Read Only Memory) which may be used to store computer software instructions, RAM 6 (Random Access Memory) which also may be used to store computer software instructions, I/O Interface 7 which may be used to interface CPU 2 to elements and/or functions that are external to controller 1, and Non Volatile Memory 4 which may be used to store computer software instructions as well.
- ROM 5 Read Only Memory
- RAM 6 Random Access Memory
- I/O Interface 7 which may be used to interface CPU 2 to elements and/or functions that are external to controller 1
- Non Volatile Memory 4 which may be used to store computer software instructions as well.
- I O Interface 7 is used to interface CPU 2 to elements or functions that are external to controller 1. These external elements might include Keyboard 11, Visual Display 12, Speaker 13, and USB Port 14.
- ROM 5 ROM 5
- RAM 6 RAM 6
- Non Volatile Memory 4 a basis set of low level operating instructions, known in the art as firmware 9, might be stored in, for example, ROM 5.
- firmware 9 a basis set of low level operating instructions, known in the art as firmware 9
- ROM 5 a basis set of low level operating instructions, known in the art as firmware 9
- These low level rudimentary instructions provide the necessary instructions for how the controller communicates with the other computer hardware. Such instructions are necessary for the controller to perform any useful work, regardless of the application for which the device is to be used.
- application software 10 is stored in RAM 6.
- Application software 10 could also be stored in ROM 5 or in Non Volatile Memory 4.
- Firmware 9 allows application software 10 to efficiently interface with the other device hardware, such as the elements that are coupled to CPU 2 via I/O Interface 3.
- operating system 8 might operationally "sit" between firmware 9 and application software 10.
- Operating system 8 is shown as being stored in Non Volatile Memory 4 in Figure 1 but could be store in RAM 6 as well.
- Operating system 8 is the software that is responsible for the management and coordination of activities and the sharing of resources within controller 1.
- Spray application nozzles use pneumatics to force liquid under pressure through a very small diameter orifice, creating unstable sheets of liquid that break up into a defined range of droplet sizes. Due to the patterns formed by each nozzle, it is difficult to arrange them to get even coverage. Therefore it is impossible to suggest or ensure that optimal material properties thus liner performance will result from field installations.
- a spray nozzle is used to apply the liner material to the surface of a rotating disk.
- the pneumatically actuated nozzle provides the ability turn on- and off the material flow as well as thoroughly mix the dual component poly material prior to casting.
- the rotating casting disk is used to further blend the lining material. Centrifugal force applied to the disk causes the lining material to be evenly dispersed from the perimeter of the spinning disk in a continuous 360 deg. pattern on the adjacent pipe wall.
- This casting method is preferable for evenly and reliably coating the inside surface of the pipe wall.
- This assembly is propelled around fittings with radii an uneven distribution of material will result.
- the effects of this phenomena, can be minimized or corrected by positioning the spinning disk in the appropriate position inside the conduit. This will permit deposition of the liner material to be concentrated or minimized where desired promoting even distribution throughout the radii.
- Figure 13 depicts a formula which can be used to determine the necessary position of the spin disk position as it is traversed through a 90o elbow.
- the pitch, yaw, and roll of the centralizer tool may be determined throughout the lining process.
- a three axis gyro, Figure 14 provides the necessary data required to resolve the optimal position, using the above formula, of the spin disk.
- the spin disk currently powered by an air motor, is attached to a multi-axis positioning mechanism.
- This positioning mechanism may be derived from rotational and single axis sweep mechanism, a motor driven x-y positioning stage, or combination of all depending on available space for the assembly which is primarily influenced by pipe "ID". I assume we will further expand on the advantages of each approach prior to actual filing should that be necessary.
- Disk rotational speed, in conjunction with surface area of the spin disk face are optimized to effect and even distribution of the liner material to exit the disk in an a 360o manner.
- a method and apparatus for electrically connecting metallic pipe sections which are electrically isolated at each joint section by rubber or fiber seals during the spray-in liner installation.
- Corrosion requires thee components to simultaneously exist and react in a metallic piping system.
- An anode, cathode, and electrolyte must be present for corrosion to occur. Removal of any one of these abovementioned components from the equation is sufficient to disrupt the potential for corrosion.
- lining a cast iron pipe in a municipal water system restricts oxygenated water (the electrolyte) from contacting the metallic pipe wall eliminating internal corrosion, pitting and ultimate failure.
- it is common for aggressive soil conditions to result in pipe wall failure do to "external" pipe wall corrosion. Therefore, measures beyond internal lining must be employed to provide protection of internal and external surfaces in electrically isolated piping systems.
- Cathodic protection is a popular method of protecting metallic piping systems from corrosion. It is common practice to direct extraneous electrical currents known to induce anodic and cathodic interaction to replaceable sacrificial materials via cables or wires attached to a piping system, Figure 17. Steel pipe, and other large transmission lines are often protected in this fashion. In the event pipe sections are electrically isolated, each isolated pipe section must be independently connected or joined into a common circuit attached to the sacrificial anodic materials, Figure 18.
- Interconnection of electrically isolated pipes during the lining process can be accomplished in two ways:
- Conductive material(s) such as carbon nanos, conductive graphene, carbon black, or other applicable "conductive materials” can be doped or blended into the lining formulation, or injected at the point of dispersion onto the pipe wall in sufficient measure as to result in a continuous conductive coating which will permit current flow to a singular connection point and attached to sacrificial anode materials.
- a single "dense" conductor strand, (wire, tape, foam, paste etc.), applied through an applicable dispensing mechanism installed on the lining centralizer can be utilized to interconnect isolated pipe sections as the spray-in process occurs.
- the conductor will be encapsulated and held in place permanently by the lining system which is bonded to the pipe wall.
- Figure 19 represents a series of metallic wire conductors boded to a single adhesive tape.
- Dissimilar "foil” materials such as copper or aluminum, Figure 20, should not be used on an iron pipe wall as these materials would likely be consumed via the above described cathodic action.
- Conductor wires should be iron based and adhesive tape should be comprised of an inert fabric or other material. Also, the adhesive material should be formulated as to not react aggressively with the liner materials being sprayed.
Abstract
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016573710A JP7084108B2 (en) | 2014-03-06 | 2015-03-06 | Conduit and pipe maintenance and inspection system in pipeline system |
EP15757866.7A EP3117134A4 (en) | 2014-03-06 | 2015-03-06 | System for maintaining conduits and pipes in a pipeline system |
CA2942167A CA2942167A1 (en) | 2014-03-06 | 2015-03-06 | System for maintaining conduits and pipes in a pipeline system |
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US201461949092P | 2014-03-06 | 2014-03-06 | |
US61/949,092 | 2014-03-06 | ||
US14/640,426 US10576489B2 (en) | 2014-03-06 | 2015-03-06 | System for maintaining conduits and pipes in a pipeline system |
US14/640,426 | 2015-03-06 |
Publications (2)
Publication Number | Publication Date |
---|---|
WO2015134915A2 true WO2015134915A2 (en) | 2015-09-11 |
WO2015134915A3 WO2015134915A3 (en) | 2015-12-03 |
Family
ID=54056009
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/US2015/019268 WO2015134915A2 (en) | 2014-03-06 | 2015-03-06 | System for maintaining conduits and pipes in a pipeline system |
Country Status (1)
Country | Link |
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WO (1) | WO2015134915A2 (en) |
Family Cites Families (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US2742259A (en) * | 1953-04-06 | 1956-04-17 | Cormack E Boucher | Conduit tractor |
CH490900A (en) * | 1967-06-28 | 1970-05-31 | Arx Paul Von | Device with the help of which the inner wall of a pipe can be cleaned and / or given a protective coating |
GB1516307A (en) * | 1974-09-09 | 1978-07-05 | Babcock & Wilcox Ltd | Apparatus for conveying a device for inspecting or performing operations on the interior of a tube |
FR2812067B1 (en) * | 2000-07-18 | 2003-05-16 | Commissariat Energie Atomique | MOBILE ROBOT ABLE TO WORK IN PIPES OR OTHER NARROW PASSAGES |
US7698937B2 (en) * | 2007-10-18 | 2010-04-20 | Neidhardt Deitmar J | Method and apparatus for detecting defects in oilfield tubulars |
GB2468301B (en) * | 2009-03-03 | 2013-06-12 | Jd7 Ltd | Water mains inspection and servicing |
US9127803B2 (en) * | 2011-06-27 | 2015-09-08 | Jd7 Limited | Pipe inspection and servicing |
-
2015
- 2015-03-06 WO PCT/US2015/019268 patent/WO2015134915A2/en active Application Filing
Also Published As
Publication number | Publication date |
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WO2015134915A3 (en) | 2015-12-03 |
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