Pipeline Inspection Robot for Multi-Angle Single-Pass Imaging
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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 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 can be performed, but the process becomes labor-intensive and time-consuming requiring multiple traversals
Solution Approach 1:
The robotic crawler is self-propelled along the pipeline using tracked drive systems with individually controllable motors, eliminating the need for manual positioning by technicians on scaffolding. The robot autonomously navigates the pipeline while carrying and operating imaging equipment, performing the inspection task independently without continuous human intervention.
Solution Approach 2:
The system combines multiple functions into a single integrated robotic platform: locomotion (tracked drive system), positioning (motor control system), imaging (radiation source and detector assembly), and data acquisition are all merged into one robot that performs simultaneously, eliminating the need for separate manual operations.
2Reliability
If multiple traversals are performed to capture multiple angles of view, then complete inspection coverage is achieved, but the inspection process becomes more time-consuming and labor-intensive
Solution Approach 1:
The robotic crawler moves along the pipeline in one dimension (longitudinally) while the imaging system captures data from multiple angular dimensions simultaneously. The radiation source and detectors are positioned to acquire images from different angles at the same time the robot travels forward, adding angular dimensionality to the inspection without requiring multiple passes.
Solution Approach 2:
The imaging acquisition continues continuously as the robot moves along the pipeline without interruption. The system maintains continuous data collection from multiple angles throughout the traversal, eliminating the need to stop and reposition for additional views that would interrupt the inspection flow.
3Measurement precision
If hazardous radiation sources are used for imaging, then pipeline inspection data can be captured, but safety risks increase and exclusion zones are required
Solution Approach 1:
The robotic crawler serves as an intermediary carrier that transports the radiation source and detectors along the pipeline at a distance from human operators. This intermediate platform allows the hazardous imaging equipment to operate close to the pipeline for precise inspection while keeping technicians safely remote during the actual imaging process.
Solution Approach 2:
The system replaces manual mechanical positioning of heavy imaging equipment with an automated robotic platform. The robot mechanically handles the radiation source and detectors, eliminating the need for human technicians to manually position and handle hazardous imaging equipment, thereby reducing direct human exposure to radiation.
4Measurement precision
If heavy imaging equipment is mounted on a vehicle, then radiation imaging can be performed, but the vehicle operability is hindered
Solution Approach 1:
The robotic crawler uses a dynamic tracked locomotion system with individually controllable motors that can adapt to the cylindrical surface of the pipeline. This dynamic design allows the robot to maintain stability and positioning accuracy despite carrying imaging equipment, and enables easy navigation around pipeline features without requiring heavy-duty fixed mounting structures.
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.