Underwater Pipeline Crawler With Movable Center of Gravity
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Solution Overview
Problem
Existing underwater pipeline inspection methods face challenges in accessing and inspecting weld joints due to their vulnerability and location in shallow water areas with high currents, making it difficult for remotely operated vehicles (ROVs) to effectively conduct inspections.
Innovation Solution
A system comprising an underwater inspection crawler with a housing, power source, controller, driving wheels, latching arms, and a moveable center of gravity, which can traverse weld joints by sliding along a rail to adjust its center of gravity and navigate across obstacles, assisted by a remotely operated vehicle (ROV) and communication units for aerial communication.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If ROVs are used to inspect pipelines in shallow water areas, then inspection capability is provided, but the high currents in shallow water make it difficult for ROVs to access and inspect the pipeline and weld joints
Solution Approach 1:
The patent introduces a crawler as an intermediary device that travels along the pipeline surface to reach weld joints. The crawler acts as a mediator between the ROV and the pipeline inspection task, allowing the ROV to remain stationary while the crawler moves to different inspection locations, thereby overcoming the current-related operational difficulties.
Solution Approach 2:
The inspection system is divided into two functional segments: the ROV provides positioning and communication capabilities, while the crawler provides mobility along the pipeline and inspection capabilities. This segmentation allows each component to specialize in overcoming specific challenges, with the crawler handling the difficult terrain navigation.
2Device complexity
If the crawler uses fixed center of gravity, then the structure is simple, but the crawler cannot effectively traverse obstacles on the pipeline surface
Solution Approach 1:
The patent implements a movable center of gravity mechanism that allows the crawler to dynamically adjust its weight distribution during obstacle traversal. The center of gravity can shift positions along the crawler's body, enabling it to overcome obstacles by temporarily unbalancing the crawler and then restoring balance, thus providing adaptability without significantly complicating the overall structure.
3Productivity
If traditional inspection methods are used in shallow water, then existing protocols are maintained, but inspection efficiency is reduced due to the inability to effectively access weld joints
Solution Approach 1:
The crawler is designed as a multi-functional platform that combines mobility along the pipeline, obstacle traversal capability, and inspection functionality. It can serve multiple purposes: transporting inspection equipment, positioning at weld joints, and providing a stable platform for inspection operations, thereby improving both efficiency and reliability across different inspection scenarios.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The system enables effective propulsion and stability along underwater pipelines, allowing for thorough inspections of weld joints without the need for buoyancy control, improving inspection efficiency in shallow waters where traditional robots struggle.
Implementation Method 1
The inspection crawler further includes a moveable center of gravity. The moveable center of gravity is configured to selectively move along a sliding rail attached to the housing during traverse across an obstacle on the surface of the pipeline.
Implementation Method 2
at least two pairs of driving wheels attached to a bottom portion of the housing, where the driving wheels are configured to propel the inspection crawler across the surface of the pipeline
Data Source
AI summary
A system for underwater inspection including an inspection crawler are provided. The inspection crawler includes a housing having first and second sides, a power source, a controller, an inspection tool, at least two driving wheels, and a moveable center of gravity. A method for traversing a weld joint with the inspection crawler having a moving mass is also provided. In the method, the crawler is parked proximate to the joint, and the mass is slid along a slide rail to the second end of the crawler distal to the joint. The first end of the crawler is then propelled over the joint and the mass is slid to the center of the crawler. A center portion of the crawler is then propelled over the joint and the mass is slid to the first end of the crawler. The second end of the crawler is then propelled over the joint.