Pipeline Inspection Robot for Multi-Angle Imaging on Support Structures
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Solution Overview
Problem
Current methods for inspecting above-ground pipelines are labor-intensive, time-consuming, and costly, requiring multiple traversals and the use of hazardous radiation sources, which are inefficient and pose safety risks.
Innovation Solution
A robotic crawler system with individually controllable motors and adjustable mounting systems for imaging equipment that can capture data from multiple angles, allowing for efficient inspection with reduced passes and the ability to traverse various pipe support structures.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If manual inspection methods with scaffolding and hand-positioned imaging equipment are used, then inspection coverage can be achieved, but labor intensity and time consumption increase significantly
Solution Approach 1:
The robotic crawler is self-propelled along the pipeline using tracked drive systems with independently controllable wheels, eliminating the need for manual positioning by technicians. The robot autonomously navigates the pipeline while carrying and operating imaging equipment, performing inspection tasks independently without continuous human intervention.
Solution Approach 2:
The patent replaces manual mechanical positioning systems with an automated robotic platform. The robotic crawler uses motorized tracked propulsion and automated mounting/dismounting mechanisms to substitute for hand-operated scaffolding and equipment handling, significantly reducing labor intensity while maintaining inspection coverage.
2Measurement precision
If multiple traversals are performed to capture multiple angles of view, then complete inspection coverage is achieved, but inspection time and data review workload increase
Solution Approach 1:
The robotic crawler transitions from linear traversal along the pipeline to three-dimensional inspection by climbing onto the pipeline surface and positioning imaging equipment at multiple angular orientations. This vertical and angular dimensionality allows simultaneous capture of multiple views during a single traversal, eliminating the need for repeated passes.
Solution Approach 2:
The system employs dynamically adjustable mounting systems that allow the imaging equipment to change its angular position and orientation during inspection. The robotic crawler can adjust the imaging device's angle of view dynamically, enabling comprehensive multi-angle coverage in a single pass rather than requiring multiple static traversals.
3Difficulty of detecting and measuring
If radiation sources are used for imaging, then inspection capability is enhanced, but safety hazards and exclusion zone requirements increase
Solution Approach 1:
The patent extracts and removes hazardous radiation sources from the inspection system, replacing them with non-ionizing imaging technologies. The robotic crawler uses safe imaging equipment that does not require radiation, eliminating the need for exclusion zones and protective measures while maintaining the ability to detect pipeline conditions.
4Measurement precision
If heavy imaging systems are mounted on the inspection vehicle, then imaging quality improves, but vehicle operability and mobility are hindered
Solution Approach 1:
The imaging system is segmented into modular components that can be independently mounted and adjusted on the robotic crawler. Rather than a single heavy fixed system, the imaging equipment is divided into separable units that can be positioned at optimal locations on the robot, distributing weight and improving mobility while maintaining imaging quality.
Solution Approach 2:
The mounting system allows dynamic adjustment of imaging equipment parameters including position, angle, and orientation. This adjustability enables the system to optimize imaging quality for different inspection scenarios without requiring a permanently fixed heavy mounting structure, thereby improving the robot's operational flexibility and ease of deployment.
Data Source
AI summary
Systems and methods for robotic inspection of above-ground pipelines are disclosed. Embodiments may include a robotic crawler having a plurality of motors that are individually controllable for improved positioning on the pipeline to facilitate image acquisition. Embodiments may also include mounting systems to house and carry imaging equipment configured to capture image data simultaneously from a plurality of angles. Such mounting systems may be adjustable to account for different sizes of pipes (e.g., 2-40+ inches), and may be configured to account for traversing various pipe support structures. Still further, mounting systems may include quick-release members to allow for removal and re-mounting of imaging equipment when traversing support structures. In other aspects, embodiments may be directed toward control systems for the robotic crawler which assist in the navigation and image capture capabilities of the crawler.