US Patent 9080708 Autonomous pipeline buckle arresting isolation tool

A robotic unit for coupling to an internal buckle arresting pipeline isolation tool that is suitable for use in a pipeline that is being laid from a reeled pipeline vessel. The robotic unit having the ability to position the isolation tool either above or below the SAG bend or touchdown point of the pipeline. The robotic unit has first and second ends which are separable from each other and a hydraulic system having a plurality of pipeline engaging means positioned along an exterior surface of the robotic unit. The hydraulic system of the robotic unit being operable to returnably separate the first and second end of the robotic unit and to engage the pipeline engaging means with the interior surface of the pipeline. The robotic unit further comprising a control unit in communication with the hydraulic system to control the movement such that the robotic unit propels the isolation tool along the inside of a pipeline.