The present invention provides a long-range, untethered, live, in-pipe inspection
system that includes a self-propelled train having a plurality of modules; joint
members for interconnecting adjacent modules, data collection components, and wireless
communication components for transmitting collected data and receiving control
messages. The module-train includes, generally, at least one, and preferably two
drive modules, at least one power module and an electronics module. The train may
additionally include at least one support module, which may be interposed between
the power and electronics modules. In one embodiment of the invention, there are
two drive modules, one at each terminal end of the train, two power modules, one
adjacent to each drive module, two support modules, one adjacent to each power
module, and one central electronics and computing module.
