Robotic Pipeline X-Ray Imaging for Single-Traversal Inspection
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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 pose safety risks and operational challenges.
Innovation Solution
A robotic crawler equipped with imaging equipment that captures images from multiple angles in a single traversal, using reduced-radiation X-ray tubes and linear detectors, and processes the data to produce composite imaging results, reducing the need for multiple views and hazardous zones.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If manual inspection methods with scaffolding and hand-positioned imaging equipment are used, then inspection can be performed, but the process becomes labor-intensive and time-consuming requiring multiple traversals
Solution Approach 1:
The patent replaces manual mechanical positioning of imaging equipment with an automated robotic system that crawls along the pipeline. The robotic crawler autonomously positions itself and the imaging equipment, eliminating the need for manual scaffolding erection and hand-positioning, thereby reducing labor intensity and inspection time
Solution Approach 2:
The robotic crawler integrates multiple functions into a single system: it serves as both the transportation platform and the mounting structure for imaging equipment. The single robotic unit performs what previously required separate scaffolding structures and multiple hand-positioned devices, enabling complete inspection in one traversal
2Ease of operation
If traditional collar systems with vehicle-mounted imaging equipment are used, then pipeline inspection is possible, but the system requires large exclusion zones due to hazardous radiation sources
Solution Approach 1:
The patent extracts the radiation source from the fixed vehicle-mounted collar system and relocates it to a small portable robotic crawler. This extraction allows the radiation source to be confined to a minimal area around the robot rather than requiring a large exclusion zone, significantly improving safety and reducing hazardous exposure areas
Solution Approach 2:
The patent changes the spatial parameters of radiation exposure by transitioning from a stationary vehicle-mounted system with large exclusion zones to a mobile robotic system with concentrated radiation sources. The radiation exposure is localized to the immediate vicinity of the small robotic crawler rather than a large area around a vehicle
3Measurement precision
If multiple series of images are acquired to capture multiple angles of view, then complete pipeline inspection is achieved, but the data review process becomes time and labor intensive
Solution Approach 1:
The patent merges multiple imaging functions into a single coordinated system. The robotic crawler simultaneously positions and operates multiple imaging devices to capture all necessary angles in one traversal, consolidating what would otherwise require multiple separate traversals and image sets into a single comprehensive data set
Solution Approach 2:
The patent implements continuous image capture throughout the entire pipeline traversal in a single uninterrupted operation. The robotic system continuously acquires images from multiple angles as it moves along the pipeline, eliminating the need to stop, reposition, and acquire separate image series, thereby reducing review time while maintaining inspection completeness
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 solution enables efficient and safer pipeline inspection by reducing the need for multiple traversals, minimizing radiation exposure, and automating the image processing, thus lowering costs and improving inspection efficiency.
Implementation Method 1
employing a less dangerous radiation source in the form of one or more X-ray tubes
Implementation Method 2
one or more linear detectors that capture images of the pipeline from more than one azimuth
Data Source
AI summary
Systems and methods for generating and processing images captured while inspecting above-ground pipelines are disclosed. Embodiments may include a robotic crawler or other devices which carry imaging equipment and traverse a target pipe which are configured to capture image data simultaneously from a plurality of angles. Such systems may substantially reduce and in some cases overcome the need to take multiple traversals of a pipeline under inspection. Embodiments may also be directed toward control systems for such devices as well as image processing systems which process the multiple image sets to produce a composite imaging result.