Patent Publication Number: US-2023160498-A1

Title: Transporting equipment and individuals within a conduit and/or a pipeline

Description:
CROSS REFERENCE TO RELATED APPLICATION 
     This application is a continuation-in-part of U.S. Pat. Application No. 17/316,301, filed May 10, 2021, and entitled “LIFTING MECHANISM FOR LIFTING A PIPE SEGMENT IN A CONDUIT” which is a continuation of U.S. Pat. Application No. 16/522,085, filed Jul. 25, 2019, and entitled “INSTALLING PIPELINE SEGMENTS WITHIN A CONDUIT” which takes priority from U.S Provisional Pat. Application Serial No. 62/702,929, and entitled “NEW METHOD AND APPARATUS FOR INSTALLATION OF VERTICAL PENSTOCK IN HYDRO POWER PLANT” which are all incorporated herein by reference in their entirety. 
    
    
     TECHNICAL FIELD 
     The present disclosure generally relates to pipeline installation, and particularly to a method for installing a pipeline within a conduit. 
     BACKGROUND 
     Installing large-diameter pipelines, such as those used as penstocks of hydropower plants, requires special equipment and joint efforts of many workers. Different systems and methods may be utilized for installing inclined or vertical large-diameter pipelines. For example, in a pipeline installation method for installing large-diameter pipe segments of a penstock of a hydropower plant, installation of pipe segments may be carried out from a bottom end of the penstock toward a top end of the penstock. In this method, first a pipe segment may be installed at the bottom end of the penstock and then other pipe segments may be fed into the penstock from the top end of the penstock. Each subsequent pipe segment may be lowered down into the penstock from the top end toward the bottom end of the penstock and then may be attached on a top rim of a previously installed pipe segment. 
     Installing an inclined or vertical penstock may require installing pipe segments within an inclined or vertical conduit or well, which may have been dug before installing the pipe segments. Utilizing a bottom-up method as described above may require first installing a pipe segment at a bottom end of the conduit or well and then feeding other subsequent pipelines from a top end of the well towards the bottom end of the conduit or well. Each pipe segment may then be welded onto a top rim of a previously installed pipe segment. This bottom-up installation method may be associated with serious risks for the workers and for the equipment. For example, rock fractures that may have been created on an inner surface of the conduit or well during the dig or water penetration into the conduit or the well may lead to rocks being detached from an inner surface of the conduit or well and fall freely into the conduit or well. This dangerous falling of rocks is referred to herein as rockfall. In a bottom-up method, workers are exposed to the rockfall within previously installed pipe segments, increasing the risks to workers in utilizing this approach. 
     One way to address the issue of rockfall is to consolidate an inner wall of the conduit or well before installation of a pipeline within the conduit or well. However, consolidating the inner wall of the conduit may be expensive and time-consuming. There is, therefore, a need for a fast and safe pipeline installation method for installing pipe segments within an inclined or vertical conduit. 
     SUMMARY 
     This summary is intended to provide an overview of the subject matter of the present disclosure and is not intended to identify essential elements or key elements of the subject matter, nor is it intended to be used to determine the scope of the claimed implementations. The proper scope of the present disclosure may be ascertained from the claims set forth below in view of the detailed description below and the drawings. 
     According to one or more exemplary embodiments, the present disclosure describes a system for transporting equipment and individuals within a conduit and/or a pipeline. In an exemplary embodiment, the system may include a ground floor, a first floor, a connecting rod, an ovality compensation mechanism, a couple of holding arms, and a winch. 
     In an exemplary embodiment, the ground floor may include a first circular disk. In an exemplary embodiment, the ground floor may be configured to receive and keep an operator onto an upper side of the ground floor. In an exemplary embodiment, the first floor may include a second circular disk. In an exemplary embodiment, the first floor may be configured to receive and keep the operator onto an upper side of the first floor. In an exemplary embodiment, a main plane of the ground floor may be parallel to a main plane of the first floor. 
     In an exemplary embodiment, the connecting rod may be interconnected between the ground floor and the first floor. In an exemplary embodiment, a first end of the connecting rod may be attached to a center of the upper side of the ground floor. In an exemplary embodiment, a second end of the connecting rod may be attached to a center of the lower side of the first floor. In an exemplary embodiment, a main longitudinal axis of the connecting rod may be perpendicular to the main plane of the ground floor and the main plane of the first floor. 
     In an exemplary embodiment, the ovality compensation mechanism may be attached to a lower side of the first floor by utilizing a couple of connecting chains. In an exemplary embodiment, the ovality compensation mechanism may be configured to increase a diameter of a pipe segment of the pipeline. In an exemplary embodiment, the ovality compensation mechanism may include a base, a first arm, a first end plate, a second arm, a second end plate, a moveable arm, and a hydraulic jack. 
     In an exemplary embodiment, the base may include a ring-shaped frame and a hole. In an exemplary embodiment, the hole may be provided in the ring-shaped frame. In an exemplary embodiment, the connecting rod may be disposed inside the hole. In an exemplary embodiment, the first arm may be attached from a proximal end of the first arm to a first end of the base. 
     In an exemplary embodiment, the first end plate fixedly attached to a distal end of the first arm. In an exemplary embodiment, the first end plate may be configured to be in contact with an inner surface of a pipe segment and apply pressure to the inner surface of the pipe segment in a first direction. 
     In an exemplary embodiment, the second arm may be attached from a proximal end of the second arm to a second end of the base. In an exemplary embodiment, the second arm may include a hollow beam. In an exemplary embodiment, the second end plate may movably be attached to a distal end of the second arm. In an exemplary embodiment, the second end plate may be configured to be in contact with the inner surface of the pipe segment and apply pressure to the inner surface of the pipe segment in a second direction. In an exemplary embodiment, the first direction may be opposite to the second direction. 
     In an exemplary embodiment, a proximal end of the moveable arm may be disposed slidably inside the second arm. In an exemplary embodiment, the second end plate may be attached fixedly to a distal end of the moveable arm. In an exemplary embodiment, the hydraulic jack may be disposed inside the second arm. In an exemplary embodiment, the hydraulic jack may be connected to the proximal end of the moveable arm. In an exemplary embodiment, the hydraulic jack may be configured to urge the moveable arm to move linearly inside the second arm. 
     In an exemplary embodiment, responsive to moving the second plate in the second direction, the first end plate and the second end plate may be configured to increase a diameter of the pipe segment by applying pressure to the inner surface of the pipe segment at opposite ends of the diameter of the pipe segment. 
     In an exemplary embodiment, the couple of holding arms may be provided at a top end of the system. In an exemplary embodiment, the couple of holding arms may be configured to be attached to a winch. In an exemplary embodiment, the winch may be configured to ascend and/or descend the system within the conduit. 
     In an exemplary embodiment, the winch mechanism may be attached to the lower side of the first floor. In an exemplary embodiment, the couple of connecting chains may be connected to the winch mechanism. In an exemplary embodiment, the winch mechanism may be configured to move up and/or move down the ovality compensation mechanism along a vertical axis. In an exemplary embodiment, the main longitudinal axis of the connecting rod may coincide the vertical axis. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       The drawing figures depict one or more implementations in accord with the present teachings, by way of example only, not by way of limitation. In the figures, like reference numerals refer to the same or similar elements. 
         FIG.  1    illustrates a method for installing a pipeline within a conduit, consistent with one or more exemplary embodiments of the present disclosure; 
         FIG.  2 A  illustrates a schematic side view of a system for installing a pipeline within a conduit, consistent with one or more exemplary embodiments of the present disclosure; 
         FIG.  2 B  illustrates a schematic side view of a system for installing a pipeline within a conduit, consistent with one or more exemplary embodiments of the present disclosure; 
         FIG.  3    illustrates a schematic side view of a lifting assembly, consistent with one or more exemplary embodiments of the present disclosure; 
         FIG.  4    illustrates a sectional perspective view of a lifting assembly, consistent with one or more exemplary embodiments of the present disclosure; 
         FIG.  5 A  illustrates side view of a retractable wheel in a retracted position, consistent with one or more exemplary embodiments of the present disclosure; 
         FIG.  5 B  illustrates side view of a retractable wheel in an extended position, consistent with one or more exemplary embodiments of the present disclosure; 
         FIG.  6 A  illustrates a perspective view of a retractable mechanism, consistent with one or more exemplary embodiments of the present disclosure; 
         FIG.  6 B  illustrates a side view of a two-link mechanism in an extended position, consistent with one or more exemplary embodiments of the present disclosure; 
         FIG.  6 C  illustrates a side view of a two-link mechanism in a retracted position, consistent with one or more exemplary embodiments of the present disclosure; 
         FIG.  7    illustrates a perspective view of a hanger structure, consistent with one or more exemplary embodiments of the present disclosure; 
         FIG.  8    illustrates a system for transporting equipment and individuals within a conduit and/or a pipeline, consistent with one or more exemplary embodiments of the present disclosure; 
         FIG.  9 A  illustrates an ovality compensation mechanism, consistent with one or more exemplary embodiments of the present disclosure; 
         FIG.  9 B  illustrates a schematic view of an ovality compensation mechanism inside a pipe segment, consistent with one or more exemplary embodiments of the present disclosure; and 
         FIG.  9 C  illustrates a view of an ovality compensation mechanism, consistent with one or more exemplary embodiments of the present disclosure. 
     
    
    
     DETAILED DESCRIPTION 
     In the following detailed description, numerous specific details are set forth by way of examples in order to provide a thorough understanding of the relevant teachings. However, it should be apparent that the present teachings may be practiced without such details. In other instances, well-known methods, procedures, components, and/or circuitry have been described at a relatively high-level, without detail, in order to avoid unnecessarily obscuring aspects of the present teachings. The following detailed description is presented to enable a person skilled in the art to make and use the methods and devices disclosed in exemplary embodiments of the present disclosure. For purposes of explanation, specific nomenclature is set forth to provide a thorough understanding of the present disclosure. However, it will be apparent to one skilled in the art that these specific details are not required to practice the disclosed exemplary embodiments. Descriptions of specific exemplary embodiments are provided only as representative examples. Various modifications to the exemplary implementations will be readily apparent to one skilled in the art, and the general principles defined herein may be applied to other implementations and applications without departing from the scope of the present disclosure. The present disclosure is not intended to be limited to the implementations shown but is to be accorded the widest possible scope consistent with the principles and features disclosed herein. 
     The present disclosure is directed to exemplary systems and exemplary methods for installing a pipeline, such as a penstock of a hydropower plant, within a conduit or well. In traditional methods for installing a penstock of a hydropower plant, pipe segments are installed from a bottom end of the penstock toward a top end of the penstock. In this method, each pipe segment is attached on a top rim of a previously installed pipe segment. However, when an exemplary penstock needs to be installed within an exemplary inclined conduit or well, as mentioned in preceding sections, rockfall within an exemplary inclined conduit or well may pose serious risks for any workers and for the equipment. According to one or more exemplary embodiments, an exemplary system and method for installing a pipeline within an inclined or vertical conduit or well may allow for installing pipe segments from a top end of the conduit or well instead of a bottom end of the conduit or well. In exemplary embodiments, installing pipe segments from a top end of the conduit and then welding subsequent pipe segments to a lower rim of a previously installed pipe segment, may allow for the workers and equipment to be within a previously installed pipe segment while attaching and welding a subsequent pipe segment bellow the previously installed pipe segment. Therefore, a previously installed pipe segment may provide a protective shield against rockfall within a conduit or well, within which the exemplary pipeline is being installed. 
     In further detail, in an exemplary method for installing a pipeline within an exemplary inclined or vertical conduit may allow for installing a first pipe segment at a top end of an exemplary conduit and then attaching other subsequent pipe segment bellow the exemplary first pipe segment. In exemplary embodiments, each subsequent pipe segment may be fed into an exemplary conduit from a bottom end of the conduit and then it may be lifted toward a lower rim of a previously installed pipe segment, where it may be welded to the previously installed pipe segment by the workers who are accommodated within the previously installed pipe segment. Therefore, the workers are protected against any possible rockfall within the conduit. 
       FIG.  1    illustrates a method  100  for installing a pipeline within a conduit, consistent with one or more exemplary embodiments of the present disclosure. In an exemplary embodiment, method  100  may include a step  102  of securing a first pipe segment of the pipeline at a top end of the conduit, a step  104  of aligning a main axis of a second pipe segment of the pipeline with a main axis of the pipeline, a step  106  of lifting the second pipe segment from a first position associated with a bottom end of the conduit to a second position adjacent to a lower rim of the first pipe segment, a step  108  of abutting a top rim of the second pipe segment against the bottom rim of the first pipe segment, and a step  110  of attaching the top rim of the second pipe segment to the bottom rim of the first pipe segment. In an exemplary embodiment, an exemplary pipeline may include a plurality of pipe segments between the first pipe segment and the second pipe segment. In an exemplary embodiment, steps  102  to  110  of method  100  may be repeated for a plurality of pipe segments as described below. 
     In an exemplary embodiment, a main axis of each subsequent pipe segment may be aligned with a main axis of a previously installed pipe segment, each subsequent pipe segment may be lifted from a first position associated with a bottom end of the conduit to a second position adjacent to a lower rim of a previously installed pipe segment, a top rim of each subsequent pipe segment may be abutted against a lower rim of a previously installed pipe segment, and a top rim of each subsequent pipe segment may be attached to a lower rim of a previously installed pipe segment. 
       FIG.  2 A  illustrates a schematic side view of a system  20  for installing a pipeline within a conduit  22 , consistent with one or more exemplary embodiments of the present disclosure. In an exemplary embodiment, system  20  may include a hanger structure  210  that may be mounted at a top end  220  of conduit  22 . In an exemplary embodiment, hanger structure  210  may include a collar  2100  and a plurality of legs  2102  that may be interconnected between collar  2100  and a ground  212  surrounding a periphery of top end  220  of conduit  22 . In an exemplary embodiment, plurality of legs  2102  may include a first leg  2102   a , a second leg  2102   b , and a third leg  2102   c . In an exemplary embodiment, a main axis  2104  of collar  2100  may be aligned with a main axis  28  (overlapping main axis  2104  of collar  2100 ) of the pipeline. In an exemplary embodiment, plurality of legs  2102  may maintain the main axis of collar  2100  aligned with main axis  28  of the pipeline. 
     In an exemplary embodiment, step  102  of securing a first pipe segment of the pipeline at a top end of the conduit may include securing a first pipe segment of the pipeline at a top end of the conduit by coupling the top end of the first pipe segment with a collar of a hanger structure. For example, first pipe segment  24  may be secured at top end  220  of conduit  22  by coupling a top end  244  of first pipe segment  24  to collar  2100  of hanger structure  210  such that a main axis  240  of first pipe segment  24  may coincide main axis  28  of the pipe line. 
     In an exemplary embodiment, system  20  may further include a lifting mechanism that may include a winch  214  that may be coupled to a second pipe segment  26  utilizing a lifting assembly  218 . Lifting assembly  218  may be disposed within a second pipe segment  26  and be connected to an inner surface of second pipe segment  26 . In an exemplary embodiment, lifting assembly  218  may be connected to winch  214  utilizing a main cable  216 . In an exemplary embodiment, step  106  of lifting the second pipe segment from a first position associated with a bottom end of the conduit to a second position adj acent to a lower rim of the first pipe segment may include lifting the second pipe segment utilizing a winch connected to a lifting assembly disposed within the second pipe segment. For example, winch  214  may be connected through main cable  216  to second pipe segment  26  utilizing lifting assembly  218 . In an exemplary embodiment, winch  214  may be utilized for lifting second pipe segment  26  from a first position associated with a bottom end  222  of conduit  22  to a second position adjacent to first pipe segment  24  as shown by first broken lines  25 . 
     In an exemplary embodiment, a number of pipe segments of the pipeline may be installed. Then, in an exemplary embodiment, system  20  may be utilized for installing a subsequent pipe segment.  FIG.  2 B  illustrates a schematic side view of system  20  for installing a pipeline within conduit  22 , consistent with one or more exemplary embodiments of the present disclosure. For example, as shown in  FIG.  2 B , some exemplary pipe segments such as first pipe segment  24 , second pipe segment  26 , a third pipe segment  27 , and a fourth pipe segment  28  may be installed inside conduit  22 . Then, in an exemplary embodiment, winch  214  may be connected through main cable  216  to a fifth pipe segment  29  utilizing lifting assembly  218 . In an exemplary embodiment, winch  214  may be utilized for lifting fifth pipe segment  29  from the first position associated with bottom end  222  of conduit  22  to a third position adjacent to fourth pipe segment  28  as shown by second broken lines  290 . In an exemplary embodiment, it may be understood that winch  214  may be connected through main cable  216  to an exemplary pipe segment utilizing lifting assembly  218  and winch  214  may be utilized for lifting the exemplary pipe segment from the first position associated with bottom end  222  of conduit  22  to a position adjacent to a previously installed pipe segment. 
       FIG.  3    illustrates a schematic side view of lifting assembly  218 , consistent with one or more exemplary embodiments of the present disclosure. In an exemplary embodiment, lifting assembly  218  may include a chain sling  32  that may be connected to an inner surface  34  of a pipe segment, such as second pipe segment  26 . In an exemplary embodiment, chain sling  32  may be coupled to a cylindrical frame  36 . In an exemplary embodiment, chain sling  32  may include a main hook  320 , a plurality of connecting hooks  322   a - b  that may be connected to inner surface  34  of second pipe segment  26 , and a plurality of chains  324   a - b  that may interconnect plurality of connecting hooks  322   a - b  and main hook  320 . In an exemplary embodiment, winch  214  may be connected to main hook  320  utilizing main cable  216 . In an exemplary embodiment, lifting second pipe segment  26  may include winding up main cable  216  utilizing winch  214 . 
     In an exemplary embodiment, lifting the second pipe segment may further include maintaining an alignment between the main axis of the second pipe segment and the main axis of the pipeline utilizing the lifting assembly. For example, lifting assembly  218  may be utilized to maintain an alignment between main axis  260  of second pipe segment  26  and main axis  28  of the pipeline.  FIG.  4    illustrates a sectional perspective view of lifting assembly  218 , consistent with one or more exemplary embodiments of the present disclosure. As shown in  FIG.  4   , in an exemplary embodiment, cylindrical frame  36  may be coaxially disposed within a pipe segment, such as second pipe segment  26 . In an exemplary embodiment, maintaining an alignment between the main axis of the second pipe segment and the main axis of the pipeline may include maintaining a first gap between an outer surface of the cylindrical frame and an inner surface of the second pipe segment constant by extending a plurality of retractable wheels between the outer surface of the cylindrical frame and the inner surface of the second pipe segment. For example, as shown in  FIG.  3   , a plurality of retractable wheels including first retractable wheel  310   a , second retractable wheel  310   b , third retractable wheel  310   c , and fourth retractable wheel  310   d , may be extended between outer surface  360  of cylindrical frame  36  and inner surface  34  of second pipe segment  26 , and, to thereby, a first gap  38  between outer surface  360  of cylindrical frame  36  and inner surface  34  of second pipe segment  26  may be maintained constant. 
     As further shown in  FIG.  4   , in an exemplary embodiment, chain sling  32  may include a first plurality of chains  424   a - c  and a second plurality of chains  426   a - c . In an exemplary embodiment, first plurality of chains  424   a - c  and second plurality of chains  426   a - c  may interconnect plurality of connecting hooks  322   a - b  and main hook  320 . In an exemplary embodiment, each of first plurality of chains  424   a - c  may be connected to a middle platform  444  of cylindrical frame  36 . In an exemplary embodiment, each of first plurality of chains  424   a - c  may be connected to middle platform  444  utilizing a plurality of shackles  446   a - c . For example, first chain  424   a  from first plurality of chains may be connected to middle platform  444  utilizing first shackle  446   a . 
     In an exemplary embodiment, second plurality of chains  426   a - c  may also be connected to middle platform  444  of cylindrical frame  36 . In an exemplary embodiment, each of second plurality of chains  426   a - c  may be connected to middle platform  444  utilizing plurality of shackles  446   a - c . For example, fourth chain  446   a  from second plurality of chains may be connected to middle platform  444  utilizing first shackle  446   a . 
     Furthermore, as shown in  FIG.  4   , in an exemplary embodiment, cylindrical frame  36  may include a central hole  442  at a center of a top end  440  of cylindrical frame  36 . In an exemplary embodiment, main cable  216  may be passed through central hole  442 . It may be understood that passing main cable  216  through central hole  442  may help cylindrical frame  36  to maintain its stability during moving up and down inside an exemplary conduit for example conduit  22 . 
       FIG.  5 A  illustrates side view of an exemplary retractable wheel from the plurality of retractable wheels in a retracted position, consistent with one or more exemplary embodiments of the present disclosure and  FIG.  5 B  illustrates side view of an exemplary retractable wheel from the plurality of retractable wheels in an extended position, consistent with one or more exemplary embodiments of the present disclosure In an exemplary embodiment, each retractable wheel from the plurality of retractable wheels may include a retractable arm that may be pivotally coupled to outer surface  360  of cylindrical frame  36  from a first end of the retractable arm. Furthermore, each retractable wheel from the plurality of retractable wheels may include a wheel that may be rotatably coupled to a second opposing end of the retractable arm. For example, as shown in  FIG.  5 A  and  FIG.  5 B , first retractable wheel  310   a  may include a retractable arm  50  that may be pivotally coupled to outer surface  360  of cylindrical frame  36  from a first end  51  of retractable arm  50 . In an exemplary embodiment, first retractable wheel  310   a  may further include a wheel  54 . In an exemplary embodiment, wheel  54  may be rotatably coupled to a second opposing end  53  of retractable arm  50 . In an exemplary embodiment, as shown in  FIG.  5 A , first retractable wheel  310   a  may be in a retracted position when a main axis  58  of retractable arm  50  is substantially parallel to a main axis  364  of cylindrical frame  36 . It may be understood that the term “substantially parallel” may be intended to mean parallel or nearly parallel. In an exemplary embodiment, main axis  58  of retractable arm  50  is substantially parallel to main axis  364  of cylindrical frame  36  when an angle between main axis  58  of retractable arm  50  and main axis  364  of cylindrical frame  36  is less than, for example, 20°. In an exemplary embodiment, as shown in  FIG.  5 B , first retractable wheel  310   a  may be in an extended position when a main axis  58  of retractable arm  50  is substantially perpendicular to a main axis  364  of cylindrical frame  36 . It may be understood that the term “substantially perpendicular” may be intended to mean perpendicular or nearly perpendicular. In an exemplary embodiment, main axis  58  of retractable arm  50  is substantially perpendicular to main axis  364  of cylindrical frame  36  when an angle between main axis  58  of retractable arm  50  and main axis  364  of cylindrical frame  36  is between, for example, 80° and 100°. 
     In an exemplary embodiment, as shown in  FIG.  5 A  and  FIG.  5 B , retractable arm  50  may be connected pivotally to cylindrical frame  36  utilizing a fourth pivot  52 . In an exemplary embodiment, wheel  54  may be connected pivotally to retractable arm  50  utilizing a sixth pivot  56 . In an exemplary embodiment, it may be understood that second retractable wheel  310   b , third retractable wheel  310   c , and fourth retractable wheel  310   d  may be substantially analogous to first retractable wheel  310   a  in structure and functionality. As shown in  FIG.  3   , in an exemplary embodiment, first retractable wheel  310   a  and second retractable wheel  310   b  may be connected to outer surface  360  of cylindrical frame  36  at a position near to a top end  361  of cylindrical frame  36 . In an exemplary embodiment, third retractable wheel  310   c  and fourth retractable wheel  310   d  may be connected to outer surface  360  of cylindrical frame  36  at a position near to a bottom end  361  of cylindrical frame  36 . 
     In an exemplary embodiment, extending the plurality of retractable wheels between the outer surface of the cylindrical frame and the inner surface of the second pipe segment may include pivotally rotating the retractable arm from a retracted position to an extended position. For example, in order to extend the plurality of retractable wheels between outer surface  360  of cylindrical frame  36  and inner surface  34  of second pipe segment  26 , retractable arm  50  may be rotated around fourth pivot  52  from the retracted position to the extended position. In an exemplary embodiment, retractable arm  50  may be coupled to a first actuator  502 , for example, a first hydraulic jack. In an exemplary embodiment, first actuator  502  may be configured to actuate retractable arm  50  to rotate around fourth pivot  52 . In an exemplary embodiment, the plurality of retractable wheels may be equally spaced apart around a periphery of outer surface  360  of cylindrical frame  36 . 
     In an exemplary embodiment, maintaining an alignment between a main axis of the second pipe segment and a main axis of the pipeline may further include maintaining a second gap between an outer periphery of a bottom end of the cylindrical frame and an inner surface of the conduit constant by extending a retractable mechanism between the outer periphery of the bottom end of the cylindrical frame and the inner surface of the conduit. For example, as shown in  FIG.  3   , in an exemplary embodiment, a retractable mechanism  316  may be extended between an outer periphery of bottom end  362  of cylindrical frame  36  and inner surface  314  of conduit  22  to maintain a second gap  312  between the outer periphery of bottom end  362  of cylindrical frame  36  and inner surface  314  of conduit  22 . 
       FIG.  6 A  illustrates a perspective view of a retractable mechanism  316 , consistent with one or more exemplary embodiments of the present disclosure. As shown in  FIG.  6 A , in an exemplary embodiment, retractable mechanism  316  may include a main frame  60  that may be fixedly attached to cylindrical frame  36 . In an exemplary embodiment, cylindrical frame  36  may include a ring shape. In an exemplary embodiment, retractable mechanism  316  may further include a secondary frame  62 . In an exemplary embodiment, secondary frame  62  may include a hexagonal shape. In an exemplary embodiment, retractable mechanism  316  may further include a plurality of two-link mechanisms such as a first two-link mechanism  64   a , a second two-link mechanism  64   b , a third two-link mechanism  64   c , a fourth two-link mechanism  64   d , a fifth two-link mechanism  64   e , and a sixth two-link mechanism  64   f . In an exemplary embodiment, the plurality of two-link mechanisms may interconnect main frame  60  and secondary frame  62 . In an exemplary embodiment, retractable mechanism  316  may further include a plurality of wheels such as a first wheel  66   a , a second wheel  66   b , a third wheel  66   c , a fourth wheel  66   d , a fifth wheel  66   e , and a sixth wheel  66   f . 
     In an exemplary embodiment, each two-link mechanism of the plurality of two-link mechanisms may include a first link pivotally coupled to the secondary frame utilizing a first pivot joint. Each two-link mechanism of the plurality of two-link mechanisms may further include a second link pivotally coupled to the main frame utilizing a second pivot joint. In an exemplary embodiment, the second link and the first link may be interconnected utilizing a third pivot j oint.  FIG.  6 B  illustrates a side view of first two-link mechanism  64   a  in an extended position, consistent with one or more exemplary embodiments of the present disclosure.  FIG.  6 C  illustrates a side view of first two-link mechanism  64   a  in a retracted position, consistent with one or more exemplary embodiments of the present disclosure. As shown in  FIG.  6 B  and  FIG.  6 C , in an exemplary embodiment, first two-link mechanism  64   a  may include a first link  640  that may be pivotally coupled to secondary frame  62  utilizing a first pivot joint  642 . First two-link mechanism  64   a  may further include a second link  644  pivotally coupled to main frame  60  utilizing a second pivot joint  646 . In an exemplary embodiment, second link  644  and first link  640  may be interconnected utilizing a third pivot j oint  648 . 
     As shown in  FIG.  6 B , when first two-link mechanism  64   a  is in the extended position, a main axis  641  of first link  640  may be substantially perpendicular to main axis  602  of main frame  60 . It may be understood that the term “substantially perpendicular” may be intended to mean perpendicular or nearly perpendicular. In an exemplary embodiment, main axis  641  of first link  640  is substantially perpendicular to main axis  602  of main frame  60  when an angle between main axis  641  of first link  640  and main axis  602  of main frame  60  is between, for example, 80° and 100°. 
     As shown in  FIG.  6 C , when first two-link mechanism  64   a  is in the retracted position, a main axis  641  of first link  640  may be substantially parallel to main axis  602  of main frame  60 . It may be understood that the term “substantially parallel” may be intended to mean parallel or nearly parallel. In an exemplary embodiment, main axis  641  of first link  640  is substantially parallel to main axis  602  of main frame  60  when an angle between main axis  641  of first link  640  and main axis  602  of main frame  60  is less than, for example, 20°. 
     As shown in  FIG.  6 A , in an exemplary embodiment, each wheel of the plurality of wheels may be connected to a respective third pivot joint of a respective two-link mechanism. Each wheel may rotate around a respective second pivot joint in response to linearly moving the secondary frame along a main axis  602  of main frame  60 . For example, as shown in  FIG.  6 B  and  FIG.  6 C , in an exemplary embodiment, first wheel  66   a  may be connected fixedly to third pivot joint  648 . In an exemplary embodiment, first wheel  66   a  may rotate around second pivot joint  646  responsive to linearly moving secondary frame  62  along main axis  602  of main frame  60 . 
     In an exemplary embodiment, secondary frame  62  may be coupled to a second actuator, for example a second hydraulic jack. The second actuator may be configured to actuate secondary frame  62  to move linearly along main axis  602  of main frame  60 . 
     In an exemplary embodiment, extending retractable mechanism  316  between the outer periphery of bottom end  362  of cylindrical frame  36  and inner surface  314  of conduit  22  may include extending each wheel of the plurality of wheels from a retracted position to an extended position by moving secondary frame  62  along main axis  602  of main frame  60 . For example, secondary frame  62  may be moved downwardly along main axis  602  of main frame  60  to extend first wheel  66   a  from the retracted position to the extended position. Also, secondary frame  62  may be moved upwardly along main axis  602  of main frame  60  to retract first wheel  66   a  from the extended position to the retracted position. 
     Referring back to  FIG.  2 A , in an exemplary embodiment, abutting a top rim of the second pipe segment against a bottom rim of the first pipe segment may include abutting a top rim  262  of second pipe segment  26  to a bottom rim  242  of first pipe segment  24 . In an exemplary embodiment, abutting a top rim  262  of second pipe segment  26  to a bottom rim  242  of first pipe segment  24  may include adjusting a shape and a size of top rim  262  of second pipe segment  26  to a shape and a size of bottom rim  242  of first pipe segment  24  through hammering an internal side of top rim  262  of second pipe segment  26  and internal side of bottom rim  242  of first pipe segment  24 . In an exemplary embodiment, attaching the top rim of the second pipe segment to the bottom rim of the first pipe segment may include welding a top rim  262  of second pipe segment  26  to a bottom rim  242  of first pipe segment  24 . It may be understood that, in an exemplary embodiment, after that an exemplary pipe segment lifted up to a position adjacent to a previously installed pipe segment, a top rim of the exemplary pipe segment may be abutted against a bottom rim of the previously installed pipe segment and then the top rim of the exemplary pipe segment may be welded to the bottom rim of the previously installed pipe segment. For example, referring back to  FIG.  2 B , in an exemplary embodiment, after that fifth pipe segment  29  is lifted up to a position adjacent to fourth pipe segment  28  as shown by second broken lines  290 , a top rim of fifth pipe segment  29  may be abutted against a bottom rim of fourth pipe segment  28  and then the top rim of fifth pipe segment  29  may be welded to the bottom rim of fourth pipe segment  28 . 
     In an exemplary embodiment, after that first pipe segment  24  is mounted onto collar  2100  of hanger structure  210 , each pipe segment may be lifted up to a position adjacent to a previously installed pipe segment and then a top rim of the pipe segment may be abutted against a bottom rim of the previously installed pipe segment and then the top rim of the pipe segment may be welded against a bottom rim of the previously installed pipe segment. These steps may be repeated for all pipe segments of the pipeline in order to complete the pipeline installation. 
       FIG.  7    illustrates a perspective view of a hanger structure, consistent with one or more exemplary embodiments of the present disclosure. As shown in  FIG.  7   , in an exemplary embodiment, first pipe segment  24  may include a neck segment  246  at top end  244  of first pipe segment  24 . In an exemplary embodiment, coupling top end  244  of first pipe segment  24  to collar  2100  of hanger structure  210  may include mounting first pipe segment  24  from neck segment  246  onto collar  2100 . In an exemplary embodiment, after installing all pipe segments of the pipeline, first pipe segment  24  and hanger structure  210  may be removed. In an exemplary embodiment, whole of first pipe segment  24  may be removed or otherwise, in an exemplary embodiment, an upper part of first pipe segment  24  may be removed. In an exemplary embodiment, after installing all pipe segments of the pipeline, first pipe segment  24  may be cut from a horizontal section perpendicular to main axis  240  of first pipe segment  24 . Then, in an exemplary embodiment, a top part of first pipe segment  24  may be removed from collar  2100  of hanger structure  210 . Due to the fact that by removing the top part of first pipe segment  24 , the engagement between hanger structure  210  and the pipeline no longer exists, in an exemplary embodiment, after removing first pipe segment  24  from collar  2100  of hanger structure  210 , hanger structure  210  may be removed easily. 
       FIG.  8    shows a system  800  for transporting equipment and individuals within a conduit and/or a pipeline, consistent with one or more exemplary embodiments of the present disclosure. In an exemplary embodiment, system  800  may include a ground floor  801  and a first floor  802 . In an exemplary embodiment, system  800  may further include a second floor  808 , a third floor  809 , an elevator  810 , a first ladder  881 , a second ladder  882 , and a third ladder  883 . In an exemplary embodiment, first ladder  881  may be disposed between first floor  802  and second floor  808 . In an exemplary embodiment, second ladder  882  may be disposed between second floor  808  and third floor  809 . In an exemplary embodiment, third ladder  883  may be disposed between third floor  809  and elevator  810 . In an exemplary embodiment, an exemplary operator may use first ladder  881 , second ladder  882 , and third ladder  883  to move from one floor to another floor. In an exemplary embodiment, ground floor  801  may be configured to receive and keep an exemplary operator onto an upper side  812  of ground floor  801 . In an exemplary embodiment, upper side of ground floor  801  may refer to a side of ground floor  801  that faces toward first floor  802 . In an exemplary embodiment, ground floor  801  may include a substantially circular plate. In an exemplary embodiment, an exemplary operator may go onto and stand on the substantially circular plate. In an exemplary embodiment, when an exemplary operator goes onto upper side  812  of ground floor  801  and stands on upper side  812  of ground floor  801 , it may mean that ground floor  801  receives and keeps an exemplary operator onto upper side  812  of ground floor  801 . In an exemplary embodiment, when an exemplary operator stands on upper side  812  of ground floor  801  and system  800  is within an exemplary pipe segment, the operator may have access to an inner surface of the pipe segment. For example, when an exemplary operator stands on upper side  812  of ground floor  801  and system  800  is within second pipe segment  26 , the operator may have access to inner surface  34  of second pipe segment  26 . In an exemplary embodiment, system  800  may go up and/or down inside second pipe segment  26  and along a vertical axis  807 . the operator may walk around upper side  812  of ground floor  801  so that the operator may have access to different parts of inner surface  34  of second pipe segment  26 . 
     In an exemplary embodiment, first floor  802  may be configured to receive and keep an exemplary operator onto an upper side  822  of first floor  802 . In an exemplary embodiment, first floor  802  may include a substantially circular plate. In an exemplary embodiment, an exemplary operator may go onto and stand on the substantially circular plate such as ground floor  801  and first floor  802 . In an exemplary embodiment, when an exemplary operator goes onto upper side  822  of first floor  802  and stands on upper side  822  of first floor  802 , it may mean that first floor  802  receives and keeps an exemplary operator onto upper side  822  of first floor  802 . In an exemplary embodiment, when an exemplary operator stands on upper side  822  of first floor  802  and system  800  is within an exemplary pipe segment, the operator may have access to an inner surface of the pipe segment. For example, when an exemplary operator stands on upper side  822  of first floor  802  and system  800  is within second pipe segment  26 , the operator may have access to inner surface  34  of second pipe segment  26 . In an exemplary embodiment, system  800  may go up and/or down inside second pipe segment  26  and along vertical axis  807  and the operator may walk around upper side  822  of first floor  802  so that the operator may have access to different parts of inner surface  34  of second pipe segment  26 . 
     In an exemplary embodiment, system  800  may include a couple of holding arms  805  at atop end  806  of system  800 . In an exemplary embodiment, holding arms  805  may be connected to an exemplary winch such as winch  214 . In an exemplary embodiment, winch  214  may be configured to ascend and/or descend system  800  within the conduit and along vertical axis  807 , that is, winch may allow vertical movement of system  800  within the conduit. In an exemplary embodiment, system  800  may further include a connecting rod  803  interconnected between ground floor  801  and first floor  802 . In an exemplary embodiment, a main plane of first floor  802  may be parallel to a main plane of ground floor  801 . In an exemplary embodiment, a main longitudinal axis  832  of connecting rod  803  may be perpendicular to the main plane of ground floor  801  and the main plane of first floor  802 . In an exemplary embodiment, main longitudinal axis  832  of connecting rod  803  may coincide vertical axis  807 . In an exemplary embodiment, a bottom end  834  of connecting rod  803  may be attached to a center of upper side  812  of ground floor  801 . In an exemplary embodiment, a top end  836  of connecting rod  803  may be attached to a center of lower side  824  of first floor  802 . In an exemplary embodiment, system  800  may further include an ovality compensation mechanism  804 . In an exemplary embodiment, ovality compensation mechanism  804  may be configured to increase a diameter of an exemplary pipe segment. In an exemplary embodiment, ovality compensation mechanism  804  may be used to compensate for ovality of a pipe segment. In an exemplary embodiment, ovality of a pipe segment may refer to the pipe segment deviation from being cylindrical. In an exemplary embodiment, an exemplary operator may utilize ovality compensation mechanism  804  to increase a diameter of the pipe segment and, to thereby, compensate for an ovality of the pipe segment, that is, compensate shape differences between an exemplary pipe segment and an exemplary preinstalled pipe segment.. 
       FIG.  9 A  shows ovality compensation mechanism  804 , consistent with one or more exemplary embodiments of the present disclosure. As shown in  FIG.  9 A , in an exemplary embodiment, ovality compensation mechanism  804  may include a base  842 , a first arm  843 , a first end plate  844 , a second arm  845 , and a second end plate  846 . In an exemplary embodiment, first arm  843  may be attached from a proximal end  8432  of first arm  843  to a first end  8422  of base  842 . In an exemplary embodiment, first end plate  844  may be fixedly attached to a distal end  8434  of first arm  843 . In an exemplary embodiment, when first end plate  844  is fixedly attached to distal end  8434  of first arm  843 , it may mean that first end plate  844  is attached to distal end  8434  of first arm  843  in such a way that any relative movement between first end plate  844  and distal end  8434  of first arm  843  is prevented. 
     In an exemplary embodiment, second arm  845  may be attached from a proximal end  8452  of second arm  845  to a second end  8424  of base  842 . In an exemplary embodiment, second end plate  846  may be movably attached to a distal end  8454  of second arm  845 . In an exemplary embodiment, when second end plate  846  is movably attached to distal end  8454  of second arm  845 , it may mean that second end plate  846  is attached to distal end  8454  of second arm  845  in such a way that second end plate  846  is able to move relative to distal end  8454  of second arm  845 . 
     In an exemplary embodiment, first end plate  844  may be configured to be in contact with an exemplary inner surface of an exemplary pipe segment and apply pressure to the inner surface of the pipe segment in a first direction. In an exemplary embodiment, second end plate  846  may be configured to be in contact with an inner surface of the pipe segment and apply pressure to the inner surface of the pipe segment in a second direction that may be opposite to the first direction. In an exemplary embodiment, exemplary first direction and exemplary second direction are explained in further detail with respect to  FIG.  9 B .  FIG.  9 B  shows a schematic view of ovality compensation mechanism  804  inside a pipe segment  902 , consistent with one or more exemplary embodiments of the present disclosure. As shown in  FIG.  9 B , in an exemplary embodiment, ovality compensation mechanism  804  may be disposed inside a pipe segment  902  in such a way that first end plate  844  and second end plate  846  are in contact with an inner surface  922  of pipe segment  902 . In an exemplary embodiment, first end plate  844  may be configured to apply pressure to inner surface  922  of pipe segment  902  in first direction  930  and second end plate  846  may be configured to apply pressure to inner surface  922  of pipe segment  902  in second direction  932 . In an exemplary embodiment, first direction  930  and second direction  132  may be perpendicular to vertical axis  807 . In an exemplary embodiment, when second end plate  846  moves in first direction  930 , first end plate  844  may apply pressure to inner surface  922  of pipe segment  902  in first direction  930  and second end plate  846  may apply pressure to inner surface  922  of pipe segment  902  in second direction  932  and, to thereby, a diameter  926  of pipe segment  902  may increase. In an exemplary embodiment, increasing a diameter  926  of pipe segment  902  may help compensating for ovality of pipe segment  902 . 
     As further shown in  FIG.  9 A , in an exemplary embodiment, second arm  845  may include a hollow beam. In an exemplary embodiment, ovality compensation mechanism  804  may further include a moveable arm  847  which may be disposed slidably inside second arm  845 . In an exemplary embodiment, when moveable arm  847  is disposed slidably inside second arm  845 , it may mean that moveable arm  847  is disposed inside second arm  845  in such a way that moveable arm  847  is able to move linearly inside second arm  845  in first direction  930  or second direction  932 . In an exemplary embodiment, second end plate  846  may be attached fixedly to a distal end  8474  of moveable arm  847 . In an exemplary embodiment, ovality compensation mechanism  804  may further include a hydraulic jack  848 . In an exemplary embodiment, hydraulic jack  848  may be disposed inside second arm  845 . In an exemplary embodiment, hydraulic jack  848  may be connected to a proximal end  8472  of moveable arm  847 . In an exemplary embodiment, hydraulic jack  848  may be configured to move moveable arm  847  back and forth inside second arm  845  in first direction  930  and/or second direction  932 . In an exemplary embodiment, an exemplary operator may urge second end plate  846  to move in first direction  930  and/or second direction  932  by using hydraulic jack  848 . In an exemplary embodiment, when an exemplary operator wants to attach a top rim of a pipe segment to a bottom rim of a pre-installed pipe segment by welding them to each other, the operator may first utilize ovality compensation mechanism  804  to change a diameter of the top rim of the pipe segment and then weld the top rim of the pipe segment to the bottom rim of the pre-installed pipe segment. 
       FIG.  9 C  shows a view of ovality compensation mechanism  804 , consistent with one or more exemplary embodiments of the present disclosure. As shown in  FIG.  9 C , in an exemplary embodiment, base  842  may include a ring-shaped frame  8425  and a hole  8426  in ring-shaped frame  8425 . In an exemplary embodiment, connecting rod  803  may be disposed inside hole  8426 . As further shown in  FIG.  9 C , in an exemplary embodiment, system  800  may further include a couple of connecting chains  904  and a winch mechanism  905 . In an exemplary embodiment, winch mechanism  905  may be attached to a lower side  824  of first floor  802 . In an exemplary embodiment, lower side  824  of first floor  802  may refer to a side of first floor  802  that faces toward ground floor  801 . In an exemplary embodiment, upper side  822  of first floor  802  may refer to a side of first floor  802  that does not face toward ground floor  801  and is opposite to lower side  824  of first floor  802 . In an exemplary embodiment, couple of connecting chains  904  may be interconnected between ovality compensation mechanism  804  and winch mechanism  905 . In an exemplary embodiment, winch mechanism  905  may be configured to move up and or move down ovality compensation mechanism  804 . In an exemplary embodiment, an exemplary operator may utilize winch mechanism  905  to lower and/or raise ovality compensation mechanism  804  to place ovality compensation mechanism  804  at a desired location. 
       FIG.  10    shows a view of ground floor  801  in a closed position  801   a  and in an open position  801   b , consistent with one or more exemplary embodiments of the present disclosure. As shown in  FIG.  10   , in an exemplary embodiment, ground floor  801  may include a plurality of flaps  1002  pivotally attached around perimeter of ground floor  801 . In an exemplary embodiment, when plurality of flaps  1002  are opened, ground floor  801  may be in open position  801   b  so that an exemplary operator may have more space to walk and therefore may have a better access to different parts of pipe segment  902 . In an exemplary embodiment, plurality of flaps  1002  may be opened to extend the working area and provide a secure standing area for the personnel to perform modifying tasks on the pipe. 
     While the foregoing has described what are considered to be the best mode and/or other examples, it is understood that various modifications may be made therein and that the subject matter disclosed herein may be implemented in various forms and examples, and that the teachings may be applied in numerous applications, only some of which have been described herein. It is intended by the following claims to claim any and all applications, modifications and variations that fall within the true scope of the present teachings. 
     Unless otherwise stated, all measurements, values, ratings, positions, magnitudes, sizes, and other specifications that are set forth in this specification, including in the claims that follow, are approximate, not exact. They are intended to have a reasonable range that is consistent with the functions to which they relate and with what is customary in the art to which they pertain. 
     The scope of protection is limited solely by the claims that now follow. That scope is intended and should be interpreted to be as broad as is consistent with the ordinary meaning of the language that is used in the claims when interpreted in light of this specification and the prosecution history that follows and to encompass all structural and functional equivalents. Notwithstanding, none of the claims are intended to embrace subject matter that fails to satisfy the requirement of Sections 101, 102, or 103 of the Patent Act, nor should they be interpreted in such a way. Any unintended embracement of such subject matter is hereby disclaimed. 
     Except as stated immediately above, nothing that has been stated or illustrated is intended or should be interpreted to cause a dedication of any component, step, feature, object, benefit, advantage, or equivalent to the public, regardless of whether it is or is not recited in the claims. 
     It will be understood that the terms and expressions used herein have the ordinary meaning as is accorded to such terms and expressions with respect to their corresponding respective areas of inquiry and study, except where specific meanings have otherwise been set forth herein. Relational terms such as “first” and “second” and the like may be used solely to distinguish one entity or action from another without necessarily requiring or implying any actual such relationship or order between such entities or actions. The terms “comprises,” “comprising,” or any other variation thereof, as used herein and in the appended claims are intended to cover a non-exclusive inclusion, encompassing a process, method, article, or apparatus that comprises a list of elements that does not include only those elements but may include other elements not expressly listed to such process, method, article, or apparatus. An element proceeded by “a” or “an” does not, without further constraints, preclude the existence of additional identical elements in the process, method, article, or apparatus that comprises the element. 
     The Abstract of the Disclosure is provided to allow the reader to quickly ascertain the nature of the technical disclosure. It is not intended to be used to interpret or limit the scope or meaning of the claims. In addition, in the foregoing Detailed Description, it can be seen that various features are grouped together in various implementations. Such grouping is for purposes of streamlining this disclosure and is not to be interpreted as reflecting an intention that the claimed implementations require more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive subject matter lies in less than all features of a single disclosed implementation. Thus, the following claims are hereby incorporated into this Detailed Description, with each claim standing on its own as a separately claimed subject matter. 
     While various implementations have been described, the description is intended to be exemplary, rather than limiting and it will be apparent to those of ordinary skill in the art that many more implementations are possible that are within the scope of the implementations. Although many possible combinations of features are shown in the accompanying figures and discussed in this detailed description, many other combinations of the disclosed features are possible. Any feature of any implementation may be used in combination with or substituted for any other feature or element in any other implementation unless specifically restricted. Therefore, it will be understood that any of the features shown and/or discussed in the present disclosure may be implemented together in any suitable combination. Accordingly, the implementations are not to be restricted except in the light of the attached claims and their equivalents. Also, various modifications and changes may be made within the scope of the attached claims.