Robotized inspection tool

Abstract

The invention relates to the field of in-pipe non-destructive inspection. A robotized inspection tool for in-pipe non-destructive inspection consists of functional modules connected by means of universal joints and cables. The robotized inspection tool comprises a control module, at least one power module, an anterior camera module, and at least one inspection module comprising non-destructive sensors, and at least one transport module configured to transport the robotized inspection tool. The at least one transport module is configured to transport the inspection tool in vertical sections and inclined sections of the object being inspected regardless of the flow direction of the product being transported. The invention makes it possible to transport and extract the robotized inspection tool from a pipeline over vertical, inclined and horizontal sections of the pipeline, both in the direction of transportation of the product being transported and in the counter-flow direction.

Description

[0001] ROBOTIZED INSPECTION TOOL

[0002] Field of the Invention

[0003]

[0001] The present invention relates to the field of non-destructive inspecting, in particular to robotized inspection tools used for performing inspecting from within a pipe using nondestructive methods.

[0004] Background of the Invention

[0005]

[0002] The field of hydrocarbon production and transportation has been developing rapidly since the middle of the 20th century. By the 1980s, stations for the transportation, production and processing of hydrocarbons began entering service in huge quantities, offshore fields began to be actively developed and offshore platforms providing production on the continental shelves began to be introduced. At present, service life of the infrastructure of such facilities formed by transportation pipelines, piping and auxiliary pipelines has approached the limit calculated at the design stage. In order to maintain facilities with exhausted service life in a state acceptable for safe operation, two strategies are used:

[0006] 1) Replacement of equipment parts at the end of the calculated service life;

[0007] 2) Performing an inspection of the facility, extending the service life and carrying out operation according to the actual condition of the equipment.

[0008]

[0003] Applying of the first strategy leads to large financial costs for the major overhaul and replacement of the entire pipeline. The second strategy requires the use of advanced inspection tools to obtain more accurate measurement results, and methods for predicting the remaining service life. However, with this strategy, the financial costs of maintaining the required level of safety during operation are significantly lower.

[0009]

[0004] It is known from the prior art that nondestructive inspecting means are effectively used to determine the condition of the pipeline. One of the cheapest and most effective technologies is in-pipe inspections, providing the use of nondestructive inspecting methods to determine the condition of the pipeline from within the pipe. However, there are a number of limitations for the application of such inspection technology. One of the significant limitations is the difficulty in accessing the internal space of the object being inspected due to complex geometry of the pipeline or the presence of contaminants. In rectilinear sections, inspection tools moved by the hydrocarbon flow and loaded through dedicated loading chambers are generally used, but their use for sections containing multiple branches, tees or reducers is difficult. Further, in some cases, the access point to the parts through which the tool can be loaded is at the end point of the object being inspected, and the tool route must be established in the counterflow direction. In other cases, loading and unloading is carried out through the same chamber, in which case the return of the tool must also be performed in the counterflow direction.

[0010]

[0005] Based on the general description of the object being inspected, the following characteristics are key when designing specialized inspection tools: dimensions, autonomy, performance, reliability, types of inspections performed, detectability of defects and damages, and measurement accuracy. Thus, in-pipe inspections for a pipeline with a complex geometry containing a plurality of branches, tees, and reducers, especially in cases where it is not possible to provide access to the object being inspected from the outside (e.g.: crossings under rivers, roads, pipelines placed on the seabed), is a complex engineering task requiring the use of specialized high- tech tools.

[0011]

[0006] When conducting in-pipe inspections, two methods of transporting the inspection tool within the object being inspected are considered:

[0012] 1) Transporting due to the flow force of the medium being transported along the pipe;

[0013] 2) Transporting using specialized modules developing sufficient force to move the tool within the object being inspected.

[0014]

[0007] A device for automated inspections of pipelines is disclosed in RU 25227 Ul, the device comprising a housing, sensors for sensing inspection parameters of the pipeline, measuring means, measuring data processing and storage means, a computing system, and a power supply, characterized in that the power supply comprises at least two separate battery sections interconnected by electrical cables and universal joints. The disclosed device moves within the object being inspected by means of the flow force of the medium being transported. The selected transportation method has the following disadvantages:

[0015] - lack of counterflow transportation ability, as a result of which it is not possible to move the device back for repeated inspections of a section or for performing inspections in the case when the loading chamber is located at the end of the section in the direction of the transported medium flow;

[0016] - transportation can be carried out only along rectilinear sections; if the object being inspected has a complex geometry, the inspections cannot be carried out.

[0008] According to RU 25227 U 1 the connection with the inspection tool is available only for setting up markers for subsequent processing of the data recorded during inspections. That is a significant drawback as the quality of the recorded data cannot be controlled during inspections.

[0017]

[0009] A robotized defectoscope for nondestructive inspecting of pipelines is known from RU 197520 Ul, the device comprising a delivery means with an electronic unit and a sensor for ultrasonic inspections of the surface of the object being inspected mounted thereon, wherein the sensor for ultrasonic inspections is formed by a digital phased antenna array on electromagnetic- acoustic transducers. Said robotized defectoscope is self-propelled and moves within the object being inspected while controlled by an operator. However, the above solution has the following disadvantages:

[0018] - the defectoscope cannot work in the medium being transported along the pipeline; it is required to drain the medium being transported and blow the pipeline in order to perform inspections;

[0019] - due to the fact that the device has a single housing, its dimensions allow for inspections only in pipelines with a large diameter of over 400 mm.

[0020]

[0010] A high-resolution ultrasonic thickness measurement device using piezoelectric transducers (hereinafter referred to as PET) is disclosed in RU 2554323 Cl, the device registering signals reflected from the inner or outer surface of the pipeline wall. The use of PET imposes certain limitations on the nondestructive inspecting methodology. PET-using sensors are sensitive to the quality of the surface of the object being inspected and can only operate in the presence of liquid between the sensor and the surface of the object being inspected as the excitation of the ultrasonic wave occurs directly in the sensor coil and is transmits through the liquid to the wall of the object being inspected. Within the pipe, contaminants are deposited and condensate accumulates as a result of transporting the medium, and thus surface quality during in-pipe inspections often does not meet surface quality requirements for the use of PET. Even with pre-cleaning, it is generally not possible to clean the surface to the condition required for PET inspecting.

[0021]

[0011] Thus, there is a need for a inspection tool capable of performing reliable pipelines inspecting in the presence of contaminants with measurement of defect sizes that would ensure high performance, would be highly autonomous and would have overall dimensions allowing to pass through pipeline sections containing tees and branches, to move in vertical, inclined and horizontal sections with a diameter of at least 10 inches (25.40 cm), both in the direction of transportation of the medium being transported and in the counterflow direction. Summary of the Invention

[0022]

[0012] The technical problem is solved by a robotized inspection tool allowing to perform inpipe inspections using several types of inspecting (in particular, visual and ultrasonic inspecting) on objects where the section subject to inspections or access thereto has a complex geometry or limitations rendering in-pipe inspections using tools without their own transportation means unfeasible. A robotized inspection tool consists of functional modules connected by means of universal joints and cables, the tool comprises a control module; at least one power module; an anterior camera module; at least one inspection module provided with non-destructive sensors; at least one transport module configured to transport said tool in horizontal sections of the object being inspected; a communication module providing remote control of the inspection tool and configured to transmit data via a wireless communication channel to an external data receiver. The non-destructive sensors of the at least one inspection module are arranged on the surface of said module to allow inspection of the entire internal surface of the pipeline being inspected, and said sensors are direct input ultrasonic electromagnetic-acoustic sensors, piezoelectric ultrasonic sensors or magnetic field leakage sensors (MLF). Said at least one transport module is further configured to transport the inspection tool in vertical and inclined sections of the object being inspected regardless of the flow direction of the product being transported. The order and number of modules may vary depending on the inspection tasks and the complexity of access to the area subject to inspections of the object being inspected. Control and transmission of inspection data is carried out via a communication channel arranged wirelessly using the Wi-Fi data transmission standard; additionally, inspection data is recorded in an internal storage medium.

[0023]

[0013] An important advantage of the present robotized inspection tool is the fact that it comprises at least one transport module configured to transport the robotized inspection tool at a speed and in the direction specified by the operator, wherein the transportation can be performed both co-directionally with the flow of the medium being transported and in the counterflow direction. In addition to said advantage, the robotized inspection tool can monitor the process of inspections and transport t in the internal pipe space in real time using the built-in control module and the surveillance cameras communication module . The front view and length measurement of the section which underwent inspections is provided by the anterior camera module.

[0024]

[0014] Each of the modules comprised in the robotized inspection tool has its own functional purpose, which is determined by the functionality of electronic systems arranged in sealed housings of each module. Each module is combined into a single structure of the robotized inspection tool by means of universal joint connections, wherein the universal joint connections have a bending angle sufficient for passing a branch with a turning radius of 1.5 diameters or more. The universal joints mechanically connect the modules to each other, the electrical connection between the modules for their power supply and data transmission is carried out by using cables. . Applying of universal joint connections and modular structure allow to optimize the performance characteristics of the robotized inspection tool, namely to reduce costs of equipment transportation and maintenance. The device is transported while disassembled, thus allowing to use a standard cargo container that allows transportation using any type of transport. In case of failure in one of the modules during inspections, its replacement does not require non-routine disassembly of the robotized inspection tool, thus minimizing equipment downtime.

[0025]

[0015] The present robotized inspection tool comprises a communication module comprising a VHF receiver and a signal transmitter providing interactive communication between the robotized inspection tool and the operator workstation using the Wi-Fi communication standard. When performing inspections or transportation of the robotized inspection tool in the internal pipe space, the operator can use the software to set transport speed and direction, observe the inspection process through the surveillance cameras, and evaluate the quality of the inspection data being received. This advantage allows to increase the reliability of inspection results, as in the presence of contamination in the pipeline or in the absence of contact between the sensors of the inspection module, the operator can return the device to the skipped section and re-scan it, or determine the reason for inspections failure with visual confirmation.

[0026]

[0016] The communication module housing is made of metal, wherein, in order to provide wireless communication, one of the housing walls is non-metallic and is transparent for receiving and transmitting ultra-high frequency electromagnetic signals; the transceiver antenna is arranged behind said wall; alternatively, two antennae can be provided, with one antenna configured for receiving the signal, and the second antenna configured for transmitting. The selected communication method, in contrast to the radio signal, allows transmitting data without direct visibility between the transmitter and the receiver, which allows transmitting data to the operator workstation when the robotized inspection tool is passing several branches.

[0027]

[0017] The robotized inspection tool comprises a inspection module implementing the function of electromagnetic acoustic inspecting wherein electromagnetic acoustic sensors are arranged on the surface of said module to allow inspection of the entire internal surface of the pipeline being inspected on the surface of the module over a 360 degrees in circumferential direction in at least one row, at the same time, depending on the inspection tasks and the complexity of access to the area being inspected, various types of sensors can be used that are capable of implementing different scanning principles: direct input electromagnetic-acoustic (ultrasonic) sensors, piezoelectric ultrasonic sensors or magnetic field leakage sensors (MLF). The sensors are arranged such that their aperture covers the entire circumference of the inner pipe surface. To ensure passage through fittings (branches, tees, faucets), the inspection module sensors are foldable. Using an electric motor arranged within the inspection module housing and by means of a cam mechanism, a synchronous folding of the sensors into the module housing is performed at the operator's command. To ensure a uniform gap between the inner pipe surface and the sensing element of the sensor, a carriage and a wheeled mechanism are used with the sensor mounted therein. When the module is transported within the pipe during inspections, the carriage wheels abut the pipe surface, while on the module side, the carriage has a spring ensuring reliable pressing of the sensor carriage to the surface of the pipe subject to inspections, and thus ensuring a uniform gap between the sensor and the pipe surface.

[0028]

[0018] One of the advantages of positioning the sensors around the circumference of the module is that it is not required to rotate the module to provide a continuous scan, wherein all sensors operate simultaneously, thus allowing to increase performance compared to solutions utilizing the principle of moving the sensor along a spiral or along pipe circumference. The overall dimensions of the inspection module allow to perform inspections of pipelines with diameters of at least 10 inches.

[0029]

[0019] Depending on the complexity and length of the route, the number of modules, their order and positions may vary. As a non-limiting example, a robotized inspection tool can comprise two transport modules and three power modules, or a configuration with only one transport module and one power module can be assembled. Furthermore, the robotized inspection tool can be assembled without a inspection module. This configuration is an extraction device for extracting the robotized inspection tool, the device being designed to duplicate safety functions and ensure extraction of equipment from the pipeline being inspected. Said extraction device pulls an extraction cable through particularly difficult sections of the pipeline or through sections where the flow parameters exceed the permissible movement values. After performing inspections, the robotized inspection tool and the extraction device perform a coupling operation and are jointly removed from the pipeline by means of a cable.

[0030]

[0020] In addition to the above advantages of the robotized inspection tool, the main advantage of the present invention is the use of at least one transport module allowing transportation along vertical sections and inclined sections both downward and upward regardless of the flow direction of the product being transported (when the transported product is not flowing, co-directed with the flow of the transported product and against it), including situations when contamination and condensation are present on the inner surface of the pipeline. The transport of the module is carried out by means of a caterpillar track, the tread of which has a larger surface contact area compared to wheeled transport systems, thereby increasing friction between pipe surface and the tread of the track, thus providing more reliable engagement with the surface of the pipeline. Reliable engagement with the surface of the pipeline allows transportation through vertical and inclined sections of the pipeline. For better engagement reliability and centering of the transport module in the pipe, the module comprises a spacer mechanism, which folds to pass through branches and expands within the pipe when moving along rectilinear sections, thereby pressing the tread against the surface of the pipeline with force. The tread of the track is made of a polymer elastic material ensuring safety of the pipeline surface from damage.

[0031]

[0021] In order to reduce friction between the modules being transported and the surface of the pipeline, each module comprises metal wheels preventing module housings from contact with the surface of the pipelines, thus preventing damage and jamming during transport along geometrically complex sections of the pipeline.

[0032]

[0022] Thus, the above advantages allow to perform inspections of objects with complex geometry that were previously unsuitable for in-pipe inspections and required large amounts of resources to provide access to the object being inspected from outside the pipe, while the operator is able to control the quality of the inspection data being received in an interactive mode and to carry out repeated scans if necessary, thus increasing reliability of the inspections results. The disclosed robotized inspection tool allows to perform inspections without pausing operation of the object being inspected, thus minimizing costs arising from equipment downtime, while productive in-pipe inspections combined with reliable inspecting results allows to predict remaining pipeline service life with a high degree of accuracy. This advantage allows to distribute the costs of repairing the pipeline over time based on the actual technical condition of the object.

[0033] Brief Description of the Drawings

[0034]

[0023] The invention is explained in more detail in the context of non-limiting embodiments thereof with reference to the accompanying drawings, in which:

[0035] FIG. 1 shows a general scheme of the functional modules used in the robotized inspection tool and the extraction device for robotized inspection tool;

[0036] FIG. 2 shows a longitudinal section of the transport module;

[0037] FIG. 3 shows a longitudinal section of the inspection module;

[0038] FIG.4 shows a communication module. Detailed Description of the Invention

[0039]

[0024] The disclosed robotized inspection tool 1 (FIG. 1) is designed according to the modular principle and is a single system controlled by an operator by means of a control system and consisting of the following functional modules:

[0040] - Anterior camera module 2;

[0041] - Transport module 3;

[0042] - Power module 4;

[0043] - Inspection module 5;

[0044] - Control module f;

[0045] - Communication module 7.

[0046]

[0025] The modules are combined into a single system by means of universal joints 8, wherein the transport of power for the said modules, communication between them and the transmission of inspection signals to the communication module for subsequent transmission to the receiving side is carried out by using cables. The connection of modules into a single inspection tool is realized by fixing of the universal joint connections by means of a nut, thereby achieving a reliable connection capable of withstanding loads when performing inspection operations and extracting the inspection tool 1.

[0047]

[0026] Control of the robotized inspection tool 1 and transmission of inspection data and status data of the robotized inspection tool 1 to the receiving side occur in real time. Data transmission and control of the robotized inspection tool 1 are carried out via the communication module 7 via a wireless communication channel

[0048]

[0027] The robotized inspection tool 1 comprises at least one inspection module 5, at least one transport t module 3, a communication module 7, an anterior camera module 2, a control module 6, at least one power module 4, each module having a sealed housing, wherein the configuration of the inspection tool 1 may vary depending on the specific geometry of the object being inspected. In FIG. 1, part I shows one of the possible configurations, wherein two transport modules 3, two inspection modules 5 and three power modules 4 are used.

[0049]

[0028] FIG. 2 shows an illustration of the transport module 3. The transport module 3 consists of a track 9, a spacer mechanism 10, universal joint connections 11 for connecting the transport module 3 to other modules, a communication line 12, and a frame 13 combining the listed components into a single structure. The track 9 consists of a sealed housing 14 wherein the electric motor and the motor control boards are arranged, at least one gearwheel transmitting rotation from the electric motor rotor to the rotation speed reducer, the drive pulley, the driven pulley, the tread and the tread tensioning system.

[0029] The spacer mechanism 10 consists of a sealed housing 15 wherein the electric motor for extending the levers 16 and the electric motor control board are arranged, a ball screw drive connected to the electric motor and providing translational movement of the carriage connected to the chain 17 providing synchronous rotation of the gears driving the pivot lever mechanism. The spacer mechanism 10 is attached to the frame 13 by means of at least one shock-absorbing post with a spring 18 which is compressed when the transport module is spacered within the pipe, thereby adjusting the pressing force. At the ends of the levers 16, metal rollers are arranged, in unfolded state abutting the inner surface of the pipeline. After the rollers reach the inner surface of the pipe when the spacer mechanism 10 is unfolded, the spacer mechanism 10 begins compressing the spring 18, thereby adjusting the forces of pressing the tread against pipe surface, while the universal joint connections 11 of the transport module 3 are positioned in the relative center of the pipe. When the transport module 3 moves, its orientation relative to the horizon changes, the entire robotized inspection tool 1 rotates slowly during inspections due to the fact that the spacer mechanism 10 presses the track 9 to the surface of the pipeline, and the universal joint connections 11 of the transport module 3 are positioned in the relative center of the pipeline subject to inspections in any position relative to the horizon. In addition, the force generated by the springs 18 in the unfolded position of the spacer mechanism 10 provides sufficient frictional force between pipe surface and the tread to allow the inspection tool 1 to transport within the inclined and vertical sections.

[0050]

[0030] The caterpillar link implemented by means of tread rotation provides a uniform transport speed of the robotized inspection tool 1 both in the direction of the flow of the medium being transported and in the counterflow direction of the medium in the object being inspected having complex geometry with at least one branch located at an angle of 90 degrees, as well as with horizontal and vertical sections.

[0051]

[0031] FIG. 3 shows non-limiting implementation of inspection module 5 for non-destructive inspection, the module consisting of sensors 19 mounted within a carriage 20, an assemblable housing 21 in the form of a sealed housing with a receiver and a signal generator arranged therein, a secondary high-voltage power supply board, a power supply and control board, a reducer motor and a frequency converter for controlling the reducer motor configured for extending / folding the electromagnetic acoustic sensors 19, the front universal joint 22 and the rear universal joint 23 for ensuring attachment of the inspection module 5 for electromagnetic acoustic inspecting to other modules of the robotized inspection tool 1 , rollers 24 arranged along the perimeter in the front and rear portions of the housing 21 for ensuring secure passage of said module through branches, pneumatic connectors 25 with tubes for blowing inert gas through said module 5 prior to conducting electromagnetic acoustic inspecting connected thereto, and a safety valve 26 for preventing high pressure from forming within the inspection module 5. Depending on the inspection tasks and the complexity of access to the inspected area of the object being inspected, various types of inspection sensors 19 can be installed, in particular: electromagnetic-acoustic (ultrasonic) sensors, piezoelectric ultrasonic sensors or magnetic field leakage sensors (MLF).

[0052]

[0032] The inspection technology is based on the use of non-destructive inspecting method to identify defects both inside and outside the pipeline wall, and the number of sensors 19 used in the inspection module is sufficient to continuously cover the entire circumference of the surface of the object subject to inspections without the need to rotate the inspection module. The sensors 19 are configured to be extended by means of an electric motor from the housing 21 of the inspection module 5, thus providing:

[0053] - maintaining the integrity of the sensitive element of the sensor 19 when moving the tool within the object being inspected having a complex geometry;

[0054] - the ability to inspect objects of different diameters.

[0055] The sensors 19 are arranged around the circumference of the inspection module 5, comprise a spring stop and a carriage 20 providing a uniform between the sensor and the inner surface of the object subject to inspections. All sensors 19 operate simultaneously.

[0056]

[0033] FIG. 1 further shows power modules 4 formed by a sealed housing with rechargeable power supply (batteries) and boards providing uniform charging of batteries and voltage conversion arranged therein. The power module 4, the communication module 7, the control module 6, and the inspection module 5 comprise limiting elements 27 preventing damage thereto during transport of the robotized inspection tool 1.

[0057]

[0034] FIG. 4 shows communication module 7 consisting of sealed housing with a surveillance camera allowing to monitor transport of the robotized inspection tool 1 within the object being inspected, illuminators, circuit boards of the Wi-Fi signal receiver and a transmitter. The outer parts of the housing are made of metal, however the housing comprises a non-metal insert, which is transparent for transmitting Wi-Fi signal, but at the same time ensuring the tightness of the housing seal. A Wi-Fi receiver and transmitter antenna is arranged directly behind the insert. The housing of the module 7 is provided with structural windows 30 for engaging the tool in emergency situations, when the extraction device for robotized inspection tool 1, which is shown on FIG.l (II), is delivered to the location of the robotized inspection tool 1 and engages the pins of the engagement module 28 with the flange 29 of the communication module 7, wherein the locking metal elements of the engagement unit of the extraction device are fixed to the inner surface of the above- mentioned windows 30 of the communication module 7.

[0058]

[0035] The control module 6 has additional cameras that provide an overview of the state and position of the robotized inspection tool 1 during transporting and inspections.

[0059]

[0036] The anterior camera module 2 consists of a sealed housing, a camera unit, illuminators providing the necessary level of light for monitoring the inspection process, a control board for the camera unit and illuminators, and an encoder recording the path traveled by the robotized inspection tool 1.

[0060]

[0037] The control system consists of a control cabinet, a communication line between said control cabinet and the loading chambers of the robotized inspection tool 1 and the extraction device, an operator workstation, a charging device and a system for blowing said loading chambers with inert gas.

[0061]

[0038] The robotized inspection tool 1 is loaded into the object being inspected by means of the loading chamber.

[0062]

[0039] The loading chamber of the robotized inspection tool 1 consists of separate sections and ball valves interconnected by means of flange connections. The loading chamber generally, but without limitation, comprises: a docking gateway, at least one ball valve, a section with a Wi-Fi transmitter, sections for accommodating the robotized inspection tool 1 which can be straight or curved, pressure sensors, oxygen sensors, nitrogen blowing piping, and supports for mounting at operation site.

[0063]

[0040] FIG. 1 , part II, shows the extraction device for extraction the robotized inspection tool 1, generally, but without limitation, consisting of the following modules: an engagement module 28, at least one transport module 3’, at least one power module 4’, a control module 6’, and a communication module 7’. The modules, with the exception of specialized modules (inspection module 5, engagement module 28), are universal and can be used both as part of the robotized inspection tool 1 and as part of the extraction device.

[0064]

[0041] The engagement module 28 comprises metal pins that allow said module and the communication module 7 to be engaged in case of an emergency situation or the need for additional safeguarding of the inspection tool 1 during the passage of pipelines with complex geometry. The communication module 7 comprises a special tapered flange 29, which directs the engagement module 28 to the required position for docking. When the engagement module 28 is in the required position, and the central part thereof is inserted behind the flange 29, metal teeth are extended and pass into the windows 30 of the communication module 7 and are fixed therein, thereby ensuring a mechanical connection of these modules.

[0042] When the modules are combined into a single structure by means of cables for providing the function of the inspection tool 1 , an electrical connection is formed providing power supply from the power modules 4 to the remaining modules as well as data transmission within the robotized inspection tool 1 according to CAN, Ethernet and LVDS standards and the transfer of inspection and operational data from the robotized inspectiontool 1 to the operator workstation. Thus, the modular structure, functionally united by high-speed data transmission standards and a single power supply standard, unifies data exchange between modules, while the power supply line is established in such a way that the necessary power consumers in the robotized inspection tool 1 are connected in parallel to the common bus, which allows to change the configuration of the robotized inspection tool 1 depending on the tasks, to change the number and order of modules, and to distribute the functional modules along the length of the robotized inspection tool 1, thereby reducing the diameter of the robotized inspection tool 1 and achieving the necessary bend radius, thus ensuring passage through branches with a radius of 1 .5 D (1.5 diameters).

[0065]

[0043] The modules of the robotized inspection tool 1 are powered as follows: the communication module 7 comprises a standby power line and is switched on by means of a toggle switch. After the toggle switch is switched "on", the communication module 7 is activated and is ready to receive and transmit data via Wi-Fi to the operator workstation. After the wireless communication between the communication module 7 and the operator workstation is established, the power supply to all other modules and the robotized inspection tool 1 is switched on by means of software using a multiplexer. The power modules 4, which are part of the robotized inspection tool 1, are functionally combined into a single common power source, thus allowing to obtain the highest battery capacity and evenly distribute power reserves to all consuming modules. This approach allows to optimize the operation of the power supply modules 4 due to the fact that in case of a discharge of one of the batteries, the rest of the batteries continue powering the robotized inspection tool 1. The above power supply strategy allows to increase the autonomy of the robotized inspection tool 1 compared to designs wherein each module has its own separate power source in the form of a battery or several independent batteries feeding functionally different modules or groups of modules. In addition, the robotized inspection tool 1 uses high-capacity Li-ion (Lithium-ion) batteries, which, in conjunction with the above advantages, increases the autonomy of the robotized inspection tool 1 compared to systems using alkaline or lead-acid batteries.

[0066]

[0044] After activation the robotized inspection tool 1 control signals are transmitted via the CAN bus. The following signals are transmitted from the control module 6: switching on the illuminators and the camera to the anterior camera module 2; the control signal to start or stop transport, transport direction signal, required transport speed signal, and spacer mechanism control signal to the transport module 3; sensor height adjustment, and sensor folding or extension signals to the inspection module 5. The following feedback signals are transmitted back to the control module 6: data from the linear position encoder of the robotized inspection tool 1 from the front camera module 2; remaining battery charge data from the power module 4; sensor height data relative to the housing from the inspection module 5;the control module 6 further generates a signal to the communication module 7 transmitting information regarding the status of the modules wirelessly to the operator workstation. The data transfer is continuous. The image from the anterior camera module 2 is transmitted via an Ethernet communication line to the control module 6, and the control module 6 comprises two cameras providing surveillance of the transport of the robotized inspection tool 1. The image digitization process is carried out in the control module 6, after which the data is transmitted over the Ethernet channel to the communication module 7 and then transmitted wirelessly to the operator workstation. The camera of the anterior camera module 2 is a high-resolution camera, which allows performing an in-pipe inspection and fixing visually detectable defects, providing an advantage and reliable inspecting of pipeline condition in comparison with prior art analogues utilizing only one inspections technology.

[0067]

[0045] The data exchange between the inspection module 5 and the control module 6 is carried out according to the LVDS standard, and the data is generated as follows: the sensors 19 on the inspection module 5 are arranged along the circumference such that the aperture of the sensors covers the entire circumference of the pipe. Each sensor comprises two coils: the first coil generates a probing impulse, and the second coil receives a signal reflected from the opposite border of the pipe wall, wherein the probing impulse is generated directly within the pipe wall. The process of generating a probing pulse and receiving the reflected signal occurs simultaneously on all sensors. Digitization of the received signals is carried out within the inspection module 5, then the digitized data is sent via the LVDS channel to the control module 6, where a data packet in the form of an A- scan is formed for each sensor using the internal storage device; each A-scan is then transmitted via the Ethernet channel to the communication module 7 and transmitted wirelessly to the operator workstation. Thus, the controller / operator sees the full scan result with minimum delay, i.e. the primary scan data. The inspection module 5 does not require rotation during scanning due to the fact that the aperture of the sensors covers the entire circumference of the pipe. This advantage provides high performance of the robotized inspection tool 1 compared to systems wherein one or more sensors rotate in a circumferential direction. The elimination of rotary assemblies, in particular the rotation assembly, increases reliability of the inspection tool. Due to the fact that the primary scan data is received by the operator / controller in an interactive mode, is possible to quickly assess the quality of inspection data, based on which assessment the operator / controller can decide whether the site needs to be re-scanned or record uninspectable areas and inform the customer to carry out a repeated cleaning, which is unfeasible in case of piston inspection systems as the evaluation of primary inspection data is carried out after the device is extracted from the object being inspected. Due to the displacement transport modules 3 allowing transport within the object being inspected in two directions, both in the flow direction and in the counterflow direction, the re-scanning can be carried out immediately upon detection of an area requiring re-scanning, which allows comparing the results of the two scannings with high accuracy, in contrast to situations when the analysis of the results is carried out after the extraction of the inspection tool from the object being inspected. The above advantages significantly increase inspecting reliability and reduce financial and time costs when performing inspections. As mentioned above, the transport of the robotized inspection tool 1 is carried out by means of transport modules 3. The power supply of the transport modules 3 and the power supply of the control part are provided from the common power bus. The transport modules 3 are controlled as follows: the control signal is generated by the controller / operator using the software and then transmitted via a wireless communication channel to the robotized inspection tool 1 , then the signal from the communication module 7 is transmitted via the CAN channel to the control module 6, and it is then transmitted to the transport module 3 to the controller, which generates a control signal for the frequency converter setting the frequency and direction of rotation for the electric motor. The spacer mechanism 10 in the unfolded state provides pressing the tread of the track 9 against the inner surface of the pipe subject to inspections, thus increasing friction force between the tread and the inner pipe surface. The spacer mechanism 10 generates a force sufficient for holding the robotized inspection tool 1 in place when exposed to the flow of the medium being transported or in a vertical section. The transport module 3 comprises a brake stopping the drive pulley of the track. Therefore, due to the force from the spacer, the transport module 3 allows for transportation of the robotized inspection tool 1 both in the presence of the flow of the medium being transported and in vertical sections and inclined sections, and the brake of the drive pulley allows the robotized inspection tool 1 to remain stationary in said conditions.

Claims

Claims1. A robotized inspection tool (1) for in-pipe non-destructive inspection, the tool consists of functional modules connected by means of universal joints (8) and cables, the functional modules comprise: a control module (6), at least one power module (4), an anterior camera module (2), at least one inspection module (5) comprising non-destructive sensors (19), and at least one transport module (3) configured to transport the inspection tool (1) in horizontal sections of an object being inspected, the inspection tool is characterized in that said non-destructive sensors (19) of the at least one inspection module (5) are arranged on the surface of said module to allow inspection of the entire internal surface of the pipeline being inspected, and said sensors are direct input ultrasonic electromagnetic-acoustic sensors, piezoelectric ultrasonic sensors or magnetic field leakage sensors (MLF); and said at least one transport module (3) is configured to transport the inspection tool in vertical sections and inclined sections of the object being inspected regardless of the flow direction of the product being transported, wherein the inspection tool (1) further comprises a communication module (7) to provide remote control of the robotized inspection tool (1), and the communication module (7) is configured to transmit data via a wireless communication channel to an external data receiver.2 The robotized inspection tool according to claim 1, characterized in that the communication module (7) is arranged to be a last module and comprises a flange (29) and at least two windows (30).3 The robotized inspection tool according to claim 1, characterized in that each of the functional modules has a sealed metal housing with an electronic system arranged therein.4 The robotized inspection tool according to claim 1, characterized in that the communication module (7) comprises at least one surveillance camera and a VHF receiver and a signal transmitter configured to allow the operator to interact with the robotized inspection tool (1) in the interactive mode according to Wi-Fi communication standard to control, set the direction and transportation speed of said tool, monitor the inspection process and transportation using surveillance cameras, and transmit inspection information.

5. The robotized inspection tool according to claim 2, characterized in that the communication module (7) comprises an antenna to transmit data and receive signals without direct visibility of the transceiver mounted near the point of loading the tool into the pipeline.

6. The robotized inspection tool according to claim 1 characterized in that the inspection module (5) comprises a mechanism configured to adjust position of the sensors (19) in relation to the surface of the inspection module (5), wherein adjusting can be implemented both by means of springs built into each sensor and by means of an operator-controlled electric motor built into the inspection module (5).7 The robotized inspection tool according to claim 1 characterized in that the overall dimensions of the tool allow to perform in-pipe inspection with pipe diameters of at least 10 inches.8 The robotized inspection tool according to claim 1, characterized in that the transport module (3) comprises a track (9), wherein the tread of said track is made of an elastic polymer material to preserve integrity of the pipeline surface during transportation of the robotized inspection tool in the internal pipe space performed by an operator driven electric motor.9 The robotized inspection tool of claim 8, characterized in that said transport module comprises a spacer mechanism configured to center the position of the module housing in relation to the surface of the pipe and to apply force required to press the track against the surface of the pipeline.10 An extraction device for extracting the robotized inspection tool according to claims 2 or 5 from a pipeline, the extraction device is characterized in that it consists of functional modules connected by means of universal joints (8’) and cables, the extraction device comprises: a control module (6’), at least one power module (4’), an engagement module (28) configured to mechanically connect with the flange (29) and the windows (30) of the robotized inspection tool (1) communication module (7) by means of detent pins and locking metal elements; at least one transport module (3’) configured to transport the extraction device in horizontal sections of an object being inspected and to transport said extraction device in vertical sections and inclined sections of an object being inspected regardless of the flow direction of the product being transported, and a communication module (7’) to provide remote control of the extraction device.

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