Hybrid device for non-destructive inspection of a pipe, associated inspection system and inspection method

Abstract

The present invention relates to a device (1) for inspecting a pipe, comprising: a frame (5) extending along a central axis (A-A'); a device (10) for centring and establishing contact with the device, at least partially mounted on the frame; a frame (25) able to rotate with respect to the frame about the central axis; a support member (40); a video inspection unit (50); and at least one eddy current probe (60). The support is translatably movable along the central axis with respect to the frame. The video inspection unit is translatably movable with respect to the support member in a direction perpendicular to the central axis, and the at least one eddy current probe is translatably movable with respect to the support member in a direction perpendicular to the central axis.

Description

[0001] TITLE: Hybrid non-destructive pipe inspection device, associated inspection system and inspection method

[0002] The present invention relates to a hybrid non-destructive pipe inspection device, of the type comprising:

[0003] - a frame extending along a central axis;

[0004] - a device for centering and contacting the device at least partly mounted on the chassis;

[0005] - a frame;

[0006] - a connection of the frame to the chassis arranged so that the frame is movable in rotation relative to the chassis around the central axis;

[0007] - a support;

[0008] - a connection of the support to the frame;

[0009] - at least one video inspection unit;

[0010] - a connection of the at least one video inspection unit to the support;

[0011] - at least one eddy current probe; and

[0012] - a connection of at least one eddy current probe to the support.

[0013] The invention also relates to a system for inspecting a pipe and a method for inspecting a pipe.

[0014] Aging infrastructure found in a variety of industry sectors is subject to cyclical loads, fatigue stresses, and temperature stresses, leading to damage to materials and / or equipment.

[0015] Cracking of materials and / or equipment in general is one of the main damage mechanisms in industrial infrastructure. Damage to materials and / or equipment, for example, by stress corrosion can therefore lead to cracking.

[0016] In most cases, it is extremely important to be able to detect a crack quickly after its initiation in order to avoid catastrophic fracture of the infrastructure.

[0017] To this end, regular inspections of industrial equipment are carried out and help to optimize the lifespan of the installations.

[0018] Early crack detection through non-destructive testing (NDT) allows for preventive action to ensure the proper functioning of infrastructure without irreversible damage. Currently, various non-destructive inspection methods are used for crack detection in pipelines, storage tanks, pressure pipes, or other types of piping and infrastructure.

[0019] Non-destructive inspection methods are known from the literature, for example using ultrasonic testing from the outside of a pipe, endoscopic penetrant testing or even impression taking.

[0020] For example, ultrasonic inspection aims to detect and locate potential defects inside a pipe. A transducer is placed on the external surface of the pipe and generates an ultrasonic wave that passes through the thickness of the pipe. When the wave encounters a defect, it is partially or completely reflected. Analysis of the reflected signals then makes it possible to identify certain defects within the pipe.

[0021] Endoscopic penetrant testing involves coating part of the pipe surface with a colored liquid or fluorescent substance to reveal the presence of any cracks.

[0022] However, for several reasons, these inspection methods are not optimized.

[0023] Indeed, the ultrasound technique is not sensitive enough to the presence of shallow cracks, endoscopic penetrant testing is restrictive in terms of implementation and working conditions for operators, and the impression taking can leave undesirable residues on the surface of the pipe, which could alter the operation of the infrastructure.

[0024] Furthermore, these inspection methods are generally difficult to implement in pipes with low accessibility and significant access and geometry constraints (elbows, beads, accessibility via valves, for example).

[0025] Furthermore, these methods generally require manual intervention by an operator at the inspection site. When the site is a dosing environment, i.e. one in which ionizing radiation (X-rays, gamma, beta, neutrons) can be found, the operator is then potentially exposed to a high dose of radiation, which could put his or her health at risk.

[0026] One of the aims of the invention is therefore to propose a hybrid device for non-destructive inspection of a pipe allowing effective inspection of cracks of great or small depth, even in complicated conditions of access to the pipe.

[0027] To this end, the invention relates to a hybrid non-destructive pipe inspection device of the aforementioned type, characterized in that the connection of the support to the frame is arranged so that the support is movable in translation along the central axis relative to the frame, and in that the connection of the at least one video inspection unit to the support is arranged so that the at least one video inspection unit is movable in translation relative to the support in at least one direction perpendicular to the central axis, and the connection of the at least one eddy current probe to the support is arranged so that the at least one eddy current probe is movable in translation relative to the support in at least one direction perpendicular to the central axis.

[0028] The presence of at least one video inspection unit as well as at least one eddy current probe allows a direct correlation between the visual results provided by the video inspection unit and the results provided by the eddy current probe.

[0029] The results obtained are thus more reliable, and the chances of detecting a crack, whatever its depth, are increased tenfold.

[0030] In addition, the various connections allowing the relative movements of the frame in relation to the chassis, of the support in relation to the frame as well as of the or each video inspection unit and of the or each eddy current probe in relation to the support, make it possible to have a compact device, capable of being inserted inside a pipe of small diameter, and / or of complex geometry.

[0031] Because the device is inserted into the pipe, for example at the valves, the integrity of the pipe is not compromised to access the area to be inspected. In other words, there is no need to cut into the pipe to inspect even a secluded area of ​​the pipe.

[0032] Furthermore, since the device operates autonomously, particularly on a dosing site, an operator is not necessarily required on the inspection site and the dose of ionizing radiation received can then be reduced for the operator.

[0033] According to other advantageous aspects of the invention, the hybrid non-destructive pipe inspection device comprises one or more of the following characteristics, taken individually or in all technically possible combinations:

[0034] - the connection of the frame to the chassis allows the frame to travel an angular path of up to 370° in rotation around the central axis relative to the chassis;

[0035] - the connection of the support to the frame comprises at least one guide rail fixed to the frame in order to guide the movement of the support relative to the frame along the central axis;

[0036] - the connection of the support to the frame comprises at least one linear actuator capable of generating the movement of the support along the central axis, the linear actuator extending between a first end mounted on the support and a second end fixed to the frame;

[0037] - the connection of the at least one video inspection unit to the support comprises a first linear actuator capable of generating the movement of the video inspection unit in a first direction perpendicular to the central axis, and in which the connection of the at least one eddy current probe to the support comprises a second linear actuator capable of generating the movement of the eddy current probe in a second direction perpendicular to the central axis;

[0038] - the second linear actuator extends between the support and an intermediate part movable relative to the support in the second direction perpendicular to the central axis, the connection of the or each eddy current probe to the support further comprising at least one spring extending between a first end fixed to the intermediate part and a second end fixed to the at least one eddy current probe, the or each spring allowing a translation of the or each eddy current probe in a direction parallel to the second direction;

[0039] - the frame is formed by two flanges spaced apart from each other along the central axis, the flanges being connected to each other by means of at least two rods extending between the flanges;

[0040] - the guide rail is fixed on the at least one rod extending between the flanges of the frame;

[0041] - the device comprises at least one transverse camera intended to film a wall of the pipe and at least one axial camera intended to film the pipe along the central axis;

[0042] - the centering and contact device comprises wheels intended to center the device relative to the walls of the pipe, each wheel being mounted on a spring and / or on a jack capable of adjusting the position of the device in the pipe relative to the walls of the pipe;

[0043] - the chassis comprises a first and a second part separated from each other along the central axis, the first and second parts being linked to each other only by means of the frame, the rotational movements around the central axis of the first part being independent of the rotational movements around the central axis of the second part; and

[0044] - the device comprises a gimbal intended for fixing a propulsion system to the chassis, the gimbal conferring at least two degrees of rotational freedom to the chassis relative to the propulsion system around two axes of rotation perpendicular to the central axis.

[0045] According to another aspect, the invention also relates to a system for inspecting a pipe of the type comprising: - a device as previously described, a propulsion system for the device and an electronic control system capable of controlling the movements of the support relative to the frame along the central axis and of the at least one video inspection unit and of the at least one eddy current probe, relative to the support along the or each direction perpendicular to the central axis.

[0046] According to other advantageous aspects of the invention, the inspection system comprises the following feature:

[0047] - the device comprises a gimbal by means of which the chassis is fixed to the propulsion system, the gimbal conferring at least two degrees of rotational freedom to the chassis relative to the propulsion system around two axes of rotation perpendicular to the central axis.

[0048] According to another aspect, the invention also relates to a method for inspecting a pipe using a hybrid non-destructive inspection device as previously described, comprising the following steps:

[0049] - insertion of the device into a pipe or into a pipe valve;

[0050] - moving the device inside the pipe to the area of ​​the pipe to be inspected;

[0051] - movement in at least one direction perpendicular to the central axis of the at least one video inspection unit and / or the at least one eddy current probe, relative to the frame, so as to approach the or each video inspection unit and / or the or each eddy current probe to a wall of the pipe;

[0052] - putting into operation the video inspection unit(s) and / or the eddy current probe(s);

[0053] - rotation of the frame relative to the chassis along an angular path of between 350° and 375° in a first direction;

[0054] - translation of the support relative to the frame along the central axis over a distance between 0.5 mm and 2 mm;

[0055] - rotation of the frame relative to the chassis along an angular path of between 350° and 375° in a second direction, opposite to the first direction;

[0056] - translation of the support relative to the frame along the central axis over a distance of between 0.5 mm and 2 mm; and

[0057] - repeating until complete acquisition of the data on the area of ​​the pipe to be inspected the successive steps of rotating the frame relative to the chassis in a first direction, translating the support relative to the frame, rotating the frame relative to the chassis in a second direction opposite to the first direction, and translating the support relative to the frame. According to other advantageous aspects of the invention, the inspection method comprises a step of centering the device using the centering and contact device inside the pipe at the area to be inspected.

[0058] The invention will appear more clearly on reading the description which follows, given solely by way of non-limiting example, and made with reference to the drawings in which:

[0059] [Fig. 1] Figure 1 is a perspective view of an inspection device in a first configuration;

[0060] [Fig. 2] Figure 2 is a perspective view of the inspection device of Figure 1, in a second configuration;

[0061] [Fig. 3] Figure 3 is a perspective view of the inspection device of Figure 1, in a third configuration; and

[0062] [Fig. 4] Figure 4 is a zoomed-in view of the rear portion of the inspection device of Figure 1.

[0063] Figure 1 shows a hybrid non-destructive inspection device 1 intended to detect possible defects in an infrastructure such as a pipe intended for the circulation of a fluid.

[0064] For example, the pipe is part of a nuclear reactor, such as a safety injection system pipe, or a reactor coolant pipe.

[0065] Alternatively, the pipe is intended to equip any other type of installation and / or industrial work.

[0066] The device 1 is for example inserted inside a fluid pipe, in order to detect the presence and / or the nature of certain defects on a wall of the pipe, such as for example cracks.

[0067] In all that follows, it will be considered that the device 1 is intended to inspect an internal surface of a pipe, but it is understood that its use is not limited to the internal surface of a pipe.

[0068] For example, device 1 may be intended to inspect any type of infrastructure, such as a pipeline, or other.

[0069] The infrastructure, particularly the pipeline, may be easily accessible by a user or may cause difficulties in accessing a user and / or known non-destructive inspection equipment.

[0070] The pipe can be a straight pipe, or follow a winding path, with elbows in particular and / or valves to prevent the passage of a fluid when they are in the closed position.

[0071] The pipe has a diameter of, for example, between 10 cm and 50 cm. The pipe extends over a length of, for example, between 1 m and 30 m.

[0072] The device 1 comprises a frame 5 extending along a central axis A-A'.

[0073] The device 1 has, for example, a section, taken perpendicular to the central axis A-A', adapted to allow movement in the pipe without blocking.

[0074] More precisely, device 1 has a maximum section equivalent to that of the pipe to be inspected.

[0075] From one end to the other, the device 1 has a length, taken along the central axis A-A', adapted to the geometry of the pipe to be inspected, in particular to the presence and geometry of the bends in the pipe if there are any.

[0076] In all that follows, the terms "downstream", "front" refer to the side of the device 1 which is inserted first into the pipe, along the central axis A-A', and the terms "upstream", "rear" refer to the side of the device 1 which is inserted last into the pipe.

[0077] The device 1 comprises a centering and contact device 10 of the device 1 relative to the internal walls of the inspected pipe.

[0078] The centering and contact device 10 is non-motorized and capable of allowing the positioning and centering of the device 1 inside a pipe in one, or each, direction of extension of the pipe.

[0079] A propulsion system 99, called a “carrier”, shown schematically in FIG. 4, is intended to push the device 1 in order to generate the movement of the device 1 inside the pipe.

[0080] The chassis 5 is for example formed from a rigid metal structure.

[0081] The chassis 5 comprises a first and a second part 5A, 5B separated from each other along the central axis A-A'.

[0082] By "separate" is meant that parts 5A, 5B do not form a single part but are connected to each other by an additional part as will be described later.

[0083] In the example of figures 1 to 3, parts 5A, 5B are concave or cylindrical in shape.

[0084] Parts 5A, 5B are advantageously made of a rigid material in order to protect underlying components of the device 1.

[0085] The centering and contact device 10 is at least partly mounted on the chassis 5.

[0086] In the example shown in Figures 1 to 3, the centering and contact device 10 comprises wheels 15 used to center the device in the pipe. For example, the centering and contact device 10 comprises between 3 and 10 rear wheels 15A and between 3 and 10 front wheels 15B.

[0087] Each wheel 15 is mounted on a spring and / or on a jack capable of adjusting the position of the device 1 in the pipe, in a radial direction perpendicular to the central axis A-A', in order to center the device in the pipe.

[0088] Optionally, the wheels 15 can roll on the internal surface of the pipe in order to allow movement along the central axis A-A'.

[0089] In the example shown, the device 1 comprises eight front wheels 15A and eight rear wheels 15B, each mounted on a spring 20, shown in dotted lines on one of the wheels 15 in FIG. 1.

[0090] The or each spring 20, or alternatively the or each jack, makes it possible to center the device 1 inside the pipe, by adapting the distance between the wheels 15 and the chassis 5 according to the diameter of the pipe and / or the position of the device 1 in the pipe.

[0091] Alternatively, or in addition, as shown in Figures 1 to 3, the device 1 comprises stops 17 interposed between the wheels, and projecting radially.

[0092] These stops 17 are for example mounted on linear actuators, such as jacks in order to center the device 1 inside the pipe, by adapting the distance between the stops 17 and the frame 5 according to the diameter of the pipe and / or the position of the device 1 in the pipe.

[0093] In the example shown, the device 1 comprises four stops 17, distributed angularly around the central axis A-A' on the parts of the chassis 5A, 5B.

[0094] As a further variant, the device 1 does not comprise wheels 15 but feet or pads capable of ensuring the centering of the device 1 inside a pipe.

[0095] The device 1 also comprises a frame 25.

[0096] The frame 25 is formed by two flanges 30 spaced apart from each other along the central axis A-A'.

[0097] In the embodiment shown in Figures 1 to 3, the flanges 30 are cylinders of revolution of small thickness compared to their radius, that is to say that the flanges 30 have a disc shape of small thickness, taken along the central axis A-A'.

[0098] The flanges 30 are connected to each other by means of at least two rods 35 extending between the flanges 30.

[0099] Each rod 35 is for example a cylindrical or parallelepiped bar elongated along the central axis A-A', between an end 35A linked to a rear flange 30A and an end 35B linked to a front flange 30B. In the example of figure 1, the frame 25 comprises three rods 35 distributed angularly around the central axis A-A'.

[0100] More precisely, in the example of figure 1, each rod 35 forms with respect to the central axis A-A', with the neighboring rod 35 an angle of 120° in a plane perpendicular to the central axis A-A'.

[0101] Alternatively, the frame comprises more than three rods distributed angularly around the central axis A-A', and connecting the flanges 30A, 30B to each other.

[0102] Advantageously, the first and second parts 5A, 5B of the chassis 5 are connected to each other solely by means of the frame 25.

[0103] For example, the first part 5A of the chassis 5 is connected to the rear flange 30A, itself connected to a rod 35 by the end 35A of the rod 35. The end 35B of the rod 35 is connected to the front flange 30B, itself connected to the second part 5B of the chassis 5.

[0104] What is meant by "related" will be described in more detail later.

[0105] The device 1 also comprises a connection of the frame 25 to the chassis 5 arranged so that the frame 25 is movable in rotation relative to the chassis 5 around the central axis A-A'.

[0106] For example, the connection of the frame 25 to the chassis 5 allows the frame 25 to travel an angular path of up to 370° in rotation around the central axis A-A' relative to the chassis 5.

[0107] Advantageously, the angular path permitted by the connection of the frame 25 to the chassis 5 is not limited to a single direction, but can be done in a first direction, and in a second direction, opposite to the first direction.

[0108] This allows in particular the frame 25 to be able to return to the initial position after having made a complete rotation in the first direction, by making a complete rotation in the second direction, opposite to the first direction.

[0109] The connection of the frame 25 to the chassis 5 comprises for example a sensor, more precisely a capacitive sensor or an inductive sensor defining the angular zero, that is to say the initialization angle of the rotary movement of the device 1.

[0110] The connection of the frame 25 to the chassis 5 is for example formed by a system of bearings, for example a ball bearing 38, extending between the rear flange 30A of the frame 25 and the first part 5A of the chassis 5 and between the front flange 30B of the frame 25 and the second part 5B of the chassis 5.

[0111] The ball bearing 38 is shown schematically in Figures 1 to 3.

[0112] Thus, the rotary movement of the frame 25 relative to the chassis 5 does not cause the first and second parts 5A, 5B of the chassis 5 to rotate. Furthermore, the rotary movements around the central axis A-A' of the first part 5A of the chassis 5 relative to the frame 25 are independent of the rotary movements around the central axis A-A' of the second part 5B of the chassis 5 relative to the frame 25.

[0113] Indeed, the first part 5A of the chassis 5 being linked to the second part 5B only by means of the frame 25 and the rotary movements of the frame 25 being decorrelated from the rotary movements of each of the first and second parts 5A, 5B, if the first part 5A were rotated around the central axis A-A', it would result in the rotary movement of the second part 5B also being decorrelated from the rotary movement of the first part 5A, and would then not be driven into rotation around the central axis A-A'.

[0114] Figure 2 represents in particular a view of the device of Figure 1, in which the frame 25 has performed a rotational movement around the central axis A-A', of approximately 90° relative to Figure 1.

[0115] The device 1 also comprises a support 40.

[0116] The support 40 is for example a metal part.

[0117] The support 40 is for example a part formed of two branches forming an angle between 45° and 135°.

[0118] In the example of figures 1 to 3, for reasons of space, the support 40 is a part formed of two branches not aligned with each other and more precisely a part forming a bracket, that is to say formed of two branches 40A, 40B, forming an angle equal to 90° between them.

[0119] The device 1 comprises a connection of the support 40 to the frame 25.

[0120] The connection of the support 40 to the frame 25 is arranged so that the support 40 is movable in translation along the central axis A-A', relative to the frame 25.

[0121] Figure 3 represents in particular the device 1 of figure 1, in a configuration in which the support 40 has been translated along the central axis A-A' relative to the frame 25.

[0122] By "arranged" we mean that the connection of the support 40 to the frame 25 comprises at least one linear actuator 43 capable of generating the movement of the support 40 along the central axis A-A'.

[0123] A "linear actuator" means any type of actuator that creates movement along a straight line.

[0124] The linear actuator 43 extends between a first end 43A mounted on the support 40 and a second end 43B fixed to the frame 25.

[0125] The end 43A is linearly movable relative to the end 43B. In the example shown, the end 43A is linearly movable along the central axis A-A' relative to the end 43B. For example, the end 43A of the linear actuator 43 is fixed to the branch 40B of the support 40, and the end 43B is fixed to the rear flange 30A of the frame 25.

[0126] Alternatively, the end 43A of the linear actuator 43 is fixed to the thickness, taken perpendicular to the plane on which the branch 40A extends, of the branch 40A of the support 40, and the end 43B is fixed to the rear flange 30A of the frame 25.

[0127] The linear actuator 43 is for example a cylinder, in particular an electric cylinder.

[0128] Alternatively, the linear actuator 43 is a pneumatic cylinder or any other actuator capable of generating linear movement.

[0129] The connection of the support 40 to the frame 25 also comprises at least one guide rail 45 fixed to the frame 25 in order to guide the movement of the support 40 relative to the frame 25 along the central axis A-A'.

[0130] The or each guide rail 45 extends along the central axis A-A' between a rear end 45A and a front end 45B.

[0131] The or each guide rail 45 is for example fixed on the at least one rod 35 extending between the flanges 30 of the frame 25.

[0132] The or each rail 45 cooperates with a guide member, such as a slider, not shown, fixed or formed on the rod 35 on which the rail 45 extends.

[0133] In order to be able to inspect the internal surface of a pipe, the device 1 comprises inspection equipment which will now be described in detail, in particular with reference to figure 3.

[0134] The device 1 comprises at least one video inspection unit 50.

[0135] In the example shown in Figures 1 to 3, the device 1 comprises a single video inspection unit 50.

[0136] Alternatively, not shown, the device 1 comprises more than one video inspection unit 50.

[0137] The or each video inspection unit 50 is for example a high sensitivity camera.

[0138] Advantageously, the video inspection unit 50 is capable of recording precise and very good quality images and / or videos of the internal wall of the pipe.

[0139] In the embodiment shown in Figures 1 to 3, the video inspection unit 50 is a camera of the same type as the camera which is the subject of patent application FR1754637.

[0140] The video inspection unit 50 is capable of transmitting images and / or videos of the condition of the internal surface of the pipe to a user.

[0141] Advantageously, the video inspection unit 50 comprises a pipe lighting system. The device 1 comprises a connection of the at least one video inspection unit 50 to the support 40.

[0142] The device 1 also comprises an additional support 41.

[0143] The additional support 41 is for example a metal part.

[0144] The additional support 41 is for example a part formed of two branches forming an angle between 45° and 135°.

[0145] In the example of figures 1 to 3, the additional support 41 is a part formed of two branches 41 A, 41 B, forming an angle equal to 90° between them.

[0146] The additional support 41 is linked to the support 40, and is movable in translation in at least one direction perpendicular to the central axis A-A', relative to the support 40.

[0147] The or each video inspection unit 50 is fixed to the additional support 41 by means of fixing means such as screws for example.

[0148] The connection of the at least one video inspection unit 50 to the support 40 is arranged so that the at least one video inspection unit 50 is movable in translation relative to the support 40 in at least one direction perpendicular to the central axis A-A'.

[0149] In particular, the connection of the at least one video inspection unit 50 to the support 40 is arranged so that the at least one video inspection unit 50 and the additional support 41 are movable in translation relative to the support 40 in at least one direction perpendicular to the central axis A-A'.

[0150] For example, the connection of the at least one video inspection unit 50 to the support 40 comprises a first linear actuator 55, for example shown in FIG. 2 in the background, capable of generating the movement of the video inspection unit 50 in a first direction Y perpendicular to the central axis A-A'.

[0151] The first linear actuator 55 extends between a first end 55A mounted on the support 40 and a second end 55B fixed on the additional support 41.

[0152] The end 55B is linearly movable relative to the end 55A. In the example shown, the end 55B is linearly movable in the first direction Y relative to the end 55A.

[0153] For example, the end 55A of the first linear actuator 55 is fixed on the branch 40B of the support 40, and the end 55B is fixed on a part of the additional support 41.

[0154] Advantageously, the first linear actuator 55 is self-guided, and therefore does not require a guide element to guide the translational movement that it performs.

[0155] The first linear actuator 55 is for example a cylinder, in particular a pneumatic cylinder. Alternatively, the first linear actuator 55 is an electric cylinder or any other actuator capable of generating a linear movement.

[0156] In the example shown in Figures 1 to 3, the first linear actuator 55 is capable of generating the movement of the video inspection unit 50 in a direction Y perpendicular to the plane on which the branch 40A of the support 40 extends.

[0157] This feature makes it possible in particular to place the or each video inspection unit 50 in contact with, or close to, the internal wall of the pipe in order to carry out the inspection.

[0158] Furthermore, the device 1 comprises at least one eddy current probe 60.

[0159] Device 1 comprises, for example, between 1 and 8 eddy current probes 60.

[0160] In the example shown, the device 1 comprises 6 eddy current probes 60.

[0161] Each 60 eddy current probe is capable of scanning a portion of an internal wall of the pipe and detecting any defects present on said internal wall.

[0162] The device 1 comprises a connection of the at least one eddy current probe 60 to the support 40.

[0163] The connection of the at least one eddy current probe 60 to the support 40 is arranged so that the at least one eddy current probe 60 is movable in translation relative to the support 40 in at least one direction perpendicular to the central axis A-A'.

[0164] For example, the connection of the at least one eddy current probe 60 to the support 40 comprises a second linear actuator 65 capable of generating the movement of the at least one eddy current probe 60 in a second direction Z perpendicular to the central axis A-A'.

[0165] The second linear actuator 65 extends between the support 40 and an intermediate part 70 movable relative to the support 40 in the second direction Z perpendicular to the central axis A-A'.

[0166] The intermediate piece 70 is connected to the or each eddy current probe 60.

[0167] The intermediate part 70 is for example a rigid part, substantially parallelepiped, serving as an intermediate support for the or each eddy current probe 60.

[0168] In particular, the second linear actuator 65 extends between a first end 65A mounted on the support 40 and a second end 65B linked to the intermediate part 70, as shown in FIG. 3.

[0169] For example, the end 65A of the second linear actuator 65 is fixed to the branch 40B of the support 40, and the end 65B is fixed to the intermediate part 70, linked to the or each eddy current probe 60. The end 65B is linearly movable relative to the end 65A. In the example shown, the end 65B is linearly movable in the second direction Z relative to the end 65A.

[0170] Advantageously, the second linear actuator 65 is self-guided, and therefore does not require a guide element to guide the translational movement that it performs.

[0171] The second linear actuator 65 is for example a cylinder, in particular a pneumatic cylinder.

[0172] Alternatively, the second linear actuator 65 is an electric cylinder or any other actuator capable of generating a linear movement.

[0173] In the example shown in Figures 1 to 3, the second linear actuator 65 is capable of generating the movement of the or each eddy current probe in a direction Z perpendicular to the plane on which the branch 40B of the support 40 extends.

[0174] In the example of figures 1 to 3, the branches 40A, 40B being perpendicular to each other, the direction Y of movement of the or each video inspection unit 50 is perpendicular to the direction Z of movement of the or each eddy current probe 60.

[0175] Alternatively, the Y and Z directions form an angle between them of between 45° and 135°, in a plane perpendicular to the central axis A-A'.

[0176] The connection of the or each eddy current probe 60 to the support 40 further comprises at least one spring 75 extending between a first end 75A fixed to the intermediate piece 70 and a second end 75B fixed to the at least one eddy current probe 60.

[0177] The or each spring 75 allows a translation of the or each eddy current probe 60 in a direction parallel to the second direction Z.

[0178] For this purpose, the or each spring 75, as shown in detail in FIG. 3, extends in the second direction Z, between the first and second ends 75A, 75B.

[0179] Referring to Figure 3, a spring 75 is shown transparently behind an eddy current probe 60 in order to visualize the end 75B of the spring 75.

[0180] Thus, the or each eddy current probe 60 is movable in translation relative to the support 40 in the Z direction, on the one hand by means of the second linear actuator 65, and on the other hand by means of the or each spring 75.

[0181] This feature allows in particular to place the or each eddy current probe 60 in contact with the internal wall of the pipe in order to carry out the inspection.

[0182] Any local variation in the diameter of the pipe is compensated by the springs 75 which allow movement in the Z direction of the or each eddy current probe, in order to maintain the or each eddy current probe 60 in contact with the internal wall of the pipe.

[0183] Figure 4 is a zoomed view of the first part 5A of the device 1.

[0184] Referring to Figure 4, the device 1 also comprises a motor 90.

[0185] The motor 90 is for example located in the rear part of the device 1, it is for example fixed to the first part 5A of the chassis.

[0186] The motor 90 is a rotation motor capable of driving the rotation of the frame 25 relative to the chassis 5.

[0187] The device 1 also comprises a gimbal 95 provided for fixing a propulsion system 99 to the chassis 5.

[0188] The universal joint 95 is formed of two parts 95A, 95B.

[0189] Parts 95A, 95B are for example metal parts.

[0190] The first part 95A is connected by at least one fixing lug 97 to the first part 5A of the chassis 5.

[0191] In the example shown in the figures, the first part 95A is connected by two fixing lugs 97 to the first part 5A of the chassis 5.

[0192] Each fixing lug 97 projects along the central axis A-A' of the first part 5A of the chassis 5 towards the rear part of the device 1.

[0193] The connection of each fixing lug 97 to the first part 95A gives at least one degree of freedom in rotation to the chassis 5 relative to the propulsion system 99 around an axis perpendicular to the central axis A-A'.

[0194] The first part 95A, for example, has a parallelepiped shape.

[0195] The second part 95B, for example, has the shape of a thin cylinder.

[0196] The second part 95B is attached to the first part 95A via a connection from the second part 95B to the first part 95A.

[0197] Advantageously, the connection of the second part 95B to the first part 95A gives at least one degree of freedom in rotation to the chassis 5 relative to the propulsion system 99 around an axis perpendicular to the central axis A-A'.

[0198] Preferably, the connection of the second part 95B to the first part 95A gives a degree of freedom in rotation to the chassis 5 relative to the propulsion system 99 around an axis perpendicular to the central axis A-A' and perpendicular to the axis of rotation of the first part 95A relative to the chassis 5.

[0199] In other words, the gimbal 95 provides at least two degrees of rotational freedom to the chassis 5 relative to the propulsion system 99 around two axes of rotation perpendicular to the central axis A-A'. The two axes of rotation are preferably perpendicular to each other as well.

[0200] The gimbal 95 is intended to transmit the movements along the central axis A-A' and to decouple the movements of the propulsion system 99 and the movements of the device 1.

[0201] In other words, the gimbal 95 allows the device 1 not to be too influenced by the movements of the propulsion system 99, without preventing the propulsion of the device 1 in the pipe.

[0202] The gimbal 95 then modifies the inclination of the movements transmitted by the propulsion system 99 to the device 1.

[0203] For example, movements of the propulsion system 99 which could hinder the centering of the device 1 inside the pipe are decoupled by the gimbal 95.

[0204] This feature is particularly advantageous when the pipe has bent areas.

[0205] Indeed, depending on the respective position of the propulsion system 99 and the device 1 relative to the elbow, the direction of movement of the propulsion system 99 is likely to be perpendicular to the direction of movement of the device 1 in the pipe.

[0206] The universal joint 95 then ensures the correct relative movements between the propulsion system 99 and the device 1 in the pipe.

[0207] A control system, not shown, is capable of receiving the information provided by the or each video inspection unit 50 and by the or each eddy current probe 60 and of transmitting this information in the form of results, for example on a screen, to an operator.

[0208] The control system is for example linked to the device 1 via physical cables connected to the rear part, i.e. to the first part 5A of the chassis.

[0209] Alternatively, the control system is a cockpit located outside and away from the device and communicates via network with an internal control system embedded in the device 1.

[0210] The device 1 also comprises at least one transverse camera 80 intended to film a wall of the pipe and at least one axial camera 85 intended to film the pipe along the central axis A-A'.

[0211] In the embodiment shown in Figures 1 to 3, the transverse camera 80 is oriented so as to film a wall of the pipe as well as at least one of the eddy current probes 60. Thus, the cameras 80, 85 help to supervise the correct operation of the device 1 by a user who can view the position of the device 1 in the pipe and view the operation of the or each eddy current probe 60.

[0212] The cameras 80, 85 are for example equipped with a light source in order to illuminate the interior of the pipe.

[0213] In one embodiment, the device 1 comprises at least one inclinometric sensor, not shown, sharing information on the position of the device 1 in the pipe with an operator so as to adjust the positioning of the device 1 in the pipe.

[0214] In one embodiment, the device 1 comprises at least one magnetometric sensor, not shown, capable of detecting a residual magnetic field at the level of a flush weld of the internal wall of the pipe.

[0215] For example, such a magnetometric sensor is arranged on one of the rods 35.

[0216] The invention also relates to a pipe inspection system comprising a device 1 as described above, a propulsion system 99 of the device 1 and an electronic control system, not shown, capable of controlling the movements of the support 40 relative to the frame 25 along the central axis A-A' and of the at least one video inspection unit 50 and of the at least one eddy current probe 60, relative to the support 40 along the or each direction Y, Z perpendicular to the central axis A-A'.

[0217] The electronic control system is, for example, an integral part of the control system, or a separate part of the control system.

[0218] The propulsion system 99 of the device 1 is for example connected to the rear part of the device 1, comprising the motor 90 and the gimbal 95, and makes it possible to propel the device 1 inside the pipe to generate a movement of the device 1 in the pipe in a direction of extension of the pipe.

[0219] The propulsion system 99 is for example linked to the gimbal 95, so as to allow the decoupling of the movements of the propulsion system 99 and the device 1.

[0220] A method of inspecting a pipeline using a hybrid non-destructive inspection device 1 as described above will now be described.

[0221] The method comprises a first step of inserting the device 1 into a pipe or into a pipe valve.

[0222] This step is for example carried out by a user, who places the device 1 in a valve of the pipe and brings it successively, by the propulsion system 99, inside the pipe, or directly to the entrance of the pipe to be inspected, by depositing there, the front part of the device 1, that is to say the second part 5B, first. The propulsion system 99 then moves the device 1 inside the pipe along the axis of the pipe, to the desired inspection zone.

[0223] Optionally, the method comprises a step of centering the device 1 using the centering and contact device 10 inside the pipe at the area to be inspected.

[0224] This step can be performed by a remote operator, or made automatic.

[0225] Then, the method comprises a step of moving in at least one direction Y, Z perpendicular to the central axis A-A' the at least one video inspection unit 50 and / or the at least one eddy current probe 60, relative to the frame 25, so as to approach the or each video inspection unit 50 and / or the or each eddy current probe 60 to a wall of the pipe.

[0226] “By approaching” is meant that the moving step brings the or each video inspection unit 50 and / or the or each eddy current probe 60 as close as possible to and / or into contact with a wall of the pipe.

[0227] These movements are carried out in particular by means of the first and second linear actuators 55, 65.

[0228] By "and / or" it is understood that the movements in at least one direction Y, Z perpendicular to the central axis A-A' of the at least one video inspection unit 50 and of the at least one eddy current probe 60 can be carried out simultaneously or in a decoupled manner, the linear actuators 55, 65 being independent of each other.

[0229] Thus, the user can choose to move only the video inspection unit 50 or only the eddy current probe 60, or to move both simultaneously.

[0230] The linear actuators 55, 65 are for example controlled by the electronic control system.

[0231] The method then comprises a step of operating the or each video inspection unit 50 and / or the or each eddy current probe 60.

[0232] This step is, for example, carried out remotely by an operator via the electronic control system and / or via the control system.

[0233] The next step is the rotation of the frame 25 relative to the chassis 5 along an angular path of between 350° and 375° in a first direction, then the translation of the support 40 relative to the frame 25 along the central axis A-A' over a distance of between 0.5 mm and 2 mm.

[0234] For example, the rotation of the frame 25 relative to the chassis 5 is carried out over an angular path of approximately 370° in the first direction. Then, the method comprises a step of rotating the frame 25 relative to the chassis 5 along an angular path of between 350° and 375° in a second direction, opposite to the first direction, then a step of translating the support 40 relative to the frame 25 along the central axis A-A' over a distance of between 0.5 mm and 2 mm.

[0235] For example, the rotation of the frame 25 relative to the chassis 5 is carried out over an angular path of approximately 370° in the second direction.

[0236] These movements are, for example, generated by the electronic control system, on the orders of an operator or are programmed manually or digitally on the electronic control system.

[0237] The translation of the support 40 relative to the frame 25 along the central axis A-A' is for example carried out using the linear actuator 43.

[0238] Finally, the method comprises a final step of repeating, until complete acquisition of the data on the area of ​​the pipe to be inspected, successive steps of rotating the frame 25 relative to the chassis 5 in a first direction, translating the support 40 relative to the frame 25, rotating the frame 25 relative to the chassis 5 in a second direction opposite to the first direction, and translating the support 40 relative to the frame 25.

[0239] In one embodiment, not shown, the device 1 comprises, as a substitute for or in addition to the video inspection units 50 and the eddy current probes 60, at least one ultrasonic sensor, and / or at least one radio source.

[0240] Such a hybrid non-destructive inspection device has many advantages.

[0241] First of all, the device 1 has dimensions adapted to the dimensions of pipes having a small diameter, for example between 10 cm and 50 cm, and / or having local sections of small diameter such as elbows or valves for example.

[0242] Thus, the device 1 is capable of being inserted into pipes with limited accessibility for a user or for other non-destructive inspection equipment.

[0243] In addition, the presence of a video inspection unit and an eddy current probe makes it possible to correlate two types of results obtained in order to provide maximum precision on the nature and / or position of the defects detected.

[0244] Several types of cracks can be detected, including shallow cracks and deep cracks. This device can also detect flush welds. In the event that one of the two inspection devices stops functioning properly during the inspection, the properly functioning inspection device would still be able to provide information on any defects detected.

[0245] Internal mobility, enabled in part by the presence of linear actuators, the video inspection unit, the eddy current probe, the support and the frame, helps to optimize the accuracy of the inspection results obtained.

[0246] In fact, the rotation of up to 370° of the frame 25 relative to the chassis 5 makes it possible to scan a complete circumference of the internal wall of the pipe.

[0247] The stepwise translation of the support 40 relative to the frame 25 makes it possible to divide the pipe into small cylinders with an extent along the central axis A-A' of between 0.5 mm and 2 mm, and thus makes it possible to obtain very precise results, particularly in terms of locating the detected defects.

[0248] In addition, the connection of the support to the frame comprising at least one guide rail fixed to the frame in order to guide the movement of the support relative to the frame along the central axis, the precision of the trajectory of the translational movement by steps is increased, and the rail is further configured to limit friction and optimize the sliding of the support 40 on the frame 25. Less power is therefore required to move the support 40 relative to the frame 25. The movements of the video inspection unit and the eddy current probe in directions perpendicular to the central axis A-A' authorized by the linear actuators, make it possible to optimize the distance necessary for the proper functioning of the equipment between the internal wall of the pipe and said equipment, even in the event of local variation in the diameter of the pipe.

[0249] In addition, the presence of two linear actuators performing independent movements, first and second linear actuators 55, 65, makes it possible to move the or each eddy current probe independently of the or each video inspection unit.

[0250] Any local variation in the diameter of the pipe is further compensated by the springs 75 which allow movement in the Z direction of the or each eddy current probe, in order to maintain the or each eddy current probe in contact with the internal wall of the pipe for the proper functioning of the inspection system.

[0251] Thus, very accurate results can be obtained.

[0252] Alternatively, the device 1 does not comprise springs 75 on which the eddy current probes are mounted, but linear actuators, comprising, or not, systems for detecting the distance between the eddy current probes and the internal wall of the pipe.

[0253] The frame extending between two flanges linked by rods, it has a reduced total volume, inside which are arranged the inspection equipment and the connections allowing their relative movements. Thus the device 1 has a reduced footprint.

[0254] In particular, the rail is advantageously fixed on one of the rods and allows the reuse of a part already useful for the structure of the frame. The manufacturing cost of the device 1 can thus be reduced.

[0255] The presence of axial and transverse cameras allows the user, who is located at a distance, to be guided in order to participate in the correct movement of the device 1 in the pipe, necessary for the proper functioning of the inspection equipment.

[0256] The centering and contact device 10, in particular when it comprises wheels, allows the device 1 to be positioned and centered in the pipe smoothly.

[0257] Furthermore, the centering and contact device prevents the device 1 from rearing up, for example under the propulsion effect of the propulsion system 99 which pushes it inside the pipe.

[0258] The presence of springs and / or jacks at the wheels for centering the device 1 in the pipe, allows the position of the device to be adjusted inside the pipe and also allows jolts to be avoided when moving the device in the pipe, acting as a suspension system.

[0259] Furthermore, the presence of stops inserted between the wheels also allows the device to be centered in the pipe.

[0260] In one variant, the centering and contacting device is not powered by a propulsion system 99 but includes an integrated motorized system capable of driving the rotating wheels to move the device in the pipe.

[0261] Since the chassis is made up of two independent parts, it is possible to manipulate the first part, or rear part, without causing any movement of the second part, or front part.

[0262] This is particularly useful when one part is connected via cables to external equipment, for example to a movement or propulsion system, and the other part is rotated. This allows the part connected to the cables to remain stationary and prevents the cables from becoming tangled or damaged.

[0263] The gimbal decoupling the movements of the propulsion system 99 and the device 1 in the pipe ensures efficient movement of the inspection system inside the pipe, and ensures the proper functioning of the centering of the device 1 in the pipe.

Claims

CLAIMS 1. Hybrid non-destructive inspection device (1) intended to inspect the interior surface of a pipe, the system comprising: a frame (5) extending along a central axis (A-A'); - a centering and contact device (10) of the device (1) at least partly mounted on the chassis (5); - a frame (25); - a connection of the frame (25) to the chassis (5) arranged so that the frame (25) is movable in rotation relative to the chassis (5) around the central axis (A-A'); - a support (40); - a connection of the support (40) to the frame (25); - at least one video inspection unit (50); - a connection of the at least one video inspection unit (50) to the support (40); - at least one eddy current probe (60); and - a connection of the at least one eddy current probe (60) to the support (40); characterized in that the connection of the support (40) to the frame (25) is arranged so that the support (40) is movable in translation along the central axis (A-A') relative to the frame (25), and in that the connection of the at least one video inspection unit (50) to the support (40) is arranged so that the at least one video inspection unit (50) is movable in translation relative to the support (40) in at least one direction (Y) perpendicular to the central axis (A-A'), and the connection of the at least one eddy current probe (60) to the support (40) is arranged so that the at least one eddy current probe (60) is movable in translation relative to the support (40) in at least one direction (Z) perpendicular to the central axis (A-A').

2. Device (1) according to claim 1, in which the connection of the frame (25) to the chassis (5) allows the frame (25) to travel an angular path of up to 370° in rotation around the central axis (A-A') relative to the chassis (5).

3. Device (1) according to any one of the preceding claims, wherein the connection of the support (40) to the frame (25) comprises at least one guide rail (45) fixed to the frame (25) in order to guide the movement of the support (40) relative to the frame (25) along the central axis (A-A').

4. Device (1) according to any one of the preceding claims, in which the connection of the support (40) to the frame (25) comprises at least one linear actuator (43) capable of generating the movement of the support (40) along the central axis (A-A'), the linear actuator (43) extending between a first end (43A) mounted on the support (40) and a second end (43B) fixed to the frame (25).

5. Device (1) according to any one of the preceding claims, wherein the connection of the at least one video inspection unit (50) to the support (40) comprises a first linear actuator (55) capable of generating the movement of the video inspection unit (50) in a first direction (Y) perpendicular to the central axis (A-A'), and wherein the connection of the at least one eddy current probe (60) to the support (40) comprises a second linear actuator (65) capable of generating the movement of the eddy current probe (60) in a second direction (Z) perpendicular to the central axis (A-A').

6. Device (1) according to claim 5, wherein the second linear actuator (65) extends between the support (40) and an intermediate part (70) movable relative to the support (40) in the second direction (Z) perpendicular to the central axis (A- A'), the connection of the or each eddy current probe (60) to the support (40) further comprising at least one spring (75) extending between a first end (75A) fixed to the intermediate part (70) and a second end (75B) fixed to the at least one eddy current probe (60), the or each spring (75) allowing a translation of the or each eddy current probe (60) in a direction parallel to the second direction (Z).

7. Device (1) according to any one of the preceding claims, in which the frame (25) is formed by two flanges (30) spaced apart from each other along the central axis (A-A'), the flanges (30) being connected to each other by means of at least two rods (35) extending between the flanges (30).

8. Device (1) according to claims 3 and 7, wherein the guide rail (45) is fixed to the at least one rod (35) extending between the flanges (30) of the frame (25).

9. Device (1) according to any one of the preceding claims, wherein the device (1) comprises at least one transverse camera (80) intended to filming a wall of the pipe and at least one axial camera (85) intended to film the pipe along the central axis (A-A').

10. Device (1) according to any one of the preceding claims, in which the centering and contact device (10) comprises wheels (15) intended to center the device (1) relative to the walls of the pipe, each wheel (15) being mounted on a spring (20) and / or on a jack capable of adjusting the position of the device (1) in the pipe relative to the walls of the pipe.

11. Device (1) according to any one of the preceding claims, wherein the frame (5) comprises a first and a second part (5A, 5B) separated from each other along the central axis (A-A'), the first and second parts (5A, 5B) being linked to each other only by means of the frame (25), the rotational movements around the central axis (A-A') of the first part (5A) being independent of the rotational movements around the central axis (A-A') of the second part (5B).

12. Device (1) according to any one of the preceding claims, wherein the device (1) comprises a gimbal (95) provided for fixing a propulsion system (99) to the chassis (5), the gimbal (95) conferring at least two degrees of rotational freedom to the chassis (5) relative to the propulsion system (99) around two axes of rotation perpendicular to the central axis (A-A').

13. A pipe inspection system comprising a device (1) according to any one of the preceding claims, a propulsion system (99) of the device (1) and an electronic control system capable of controlling the movements of the support (40) relative to the frame (25) along the central axis (A-A') and of the at least one video inspection unit (50) and of the at least one eddy current probe (60), relative to the support (40) along the or each direction (Y, Z) perpendicular to the central axis (A-A').

14. A pipe inspection system according to claim 13, wherein the device (1) comprises a gimbal (95) by means of which the chassis (5) is fixed to the propulsion system (99), the gimbal (95) conferring at least two degrees of rotational freedom to the chassis (5) relative to the propulsion system (99) around two axes of rotation perpendicular to the central axis (A-A').

15. Method for inspecting a pipe using a hybrid non-destructive inspection device (1) according to any one of the preceding claims, comprising the following steps: - inserting the device (1) into a pipe or into a pipe valve; moving the device (1) inside the pipe to the area of ​​the pipe to be inspected; moving in at least one direction (Y, Z) perpendicular to the central axis (A-A') of the at least one video inspection unit (50) and / or the at least one eddy current probe (60), relative to the frame (25), so as to bring the or each video inspection unit (50) and / or the or each eddy current probe (60) close to a wall of the pipe; putting the or each video inspection unit (50) and / or the or each eddy current probe (60) into operation; - rotating the frame (25) relative to the chassis (5) along an angular path of between 350° and 375° in a first direction; translating the support (40) relative to the frame (25) along the central axis (A-A') over a distance of between 0.5 mm and 2 mm; - rotating the frame (25) relative to the chassis (5) along an angular path of between 350° and 375° in a second direction, opposite to the first direction; translating the support (40) relative to the frame (25) along the central axis (A-A') over a distance of between 0.5 mm and 2 mm; and repeating, until complete acquisition of the data on the area of ​​the pipe to be inspected, the successive steps of rotating the frame (25) relative to the chassis (5) in a first direction, translating the support (40) relative to the frame (25), rotating the frame (25) relative to the chassis (5) in a second direction opposite to the first direction, and translating the support (40) relative to the frame (25).

16. Inspection method according to claim 15, comprising a step of centering the device (1) using the centering and contact device (10) inside the pipe at the area to be inspected.

Images