Pipeline Inspection Robot Research Articles

Mechanism design and mechanical analysis of pipeline inspection robot

Purpose This study aims to address the issues of limited pipe diameter adaptability and low inspection efficiency of current pipeline inspection robots, a new type of pipeline inspection robot capable of adapting to various pipe diameters was designed. Design/methodology/approach The diameter-changing mechanism uses a multilink elastic telescopic structure consisting of telescopic rods, connecting rods and wheel frames, driven by a single motor with a helical drive scheme. A geometric model of the position relationships of the hinge points was established based on the two extreme positions of the diameter-changing mechanism. Findings A pipeline inspection robot was designed using a simple linkage agency, which significantly reduced the weight of the robot and enhanced its adaptive pipe diameter ability. The analysis determined that the robot could accommodate pipe diameters ranging from 332 mm to 438 mm. A static equilibrium equation was established for the robot in the hovering state, and the minimum pressing force of the wheels against the pipe wall was determined to be 36.68 N. After experimental testing, the robots could successfully pass a height of 15 mm, demonstrating the good obstacle capacity of the robot. Practical implications This paper explores and proposes a new type of multilink elastic telescopic variable diameter pipeline inspection robot, which has the characteristics of strong adaptability and flexible operation, which makes it more competitive in the field of pipeline inspection robots and has great potential market value. Originality/value The robot is characterized by the innovative design of a multilink elastic telescopic structure and the use of a single motor to drive the wheel for spiral motion. On the basis of reducing the weight of the robot, it has good pipeline adaptability, climbing ability and obstacle-crossing ability.

Product innovation design approach driven by implicit relationship completion via patent knowledge graph

Product innovation design process involves a great deal of discrete engineering knowledge, limiting the ability of designers to quickly utilize this knowledge to support design innovation. Nowadays, innovation design based on knowledge graphs has enhanced the ability to explore design knowledge, improving the efficiency of knowledge retrieval. Previous studies have focused on mining more design knowledge to enrich the knowledge graph overlooks the implicit relationships with potential value among design knowledge, wasting design resources. To address these issues, an approach for product innovation design based on implicit knowledge relationship completion in the patent knowledge graph is proposed, which explores the implicit relationships between design knowledge to provide new knowledge satisfying design preferences and enhance the innovativeness of solutions. First, a requirements-function-structure-benefit (RFSB) knowledge ontology is constructed and extracted from the benefit knowledge of patents to build the knowledge graph. Second, an implicit relationship completion model based on the similarity of function or benefit entities explores the implicit relationships, replacing structure entities directly connected to similar function or benefit entities to generate new relationships and outputs novel ideas. Third, a scheme improvement process based on the co-occurrence frequency of requirement and structure knowledge supplements neglected design preferences. Final, a pipeline inspection robot case study is further employed to verify the proposed approach, and a patent knowledge graph assisted design solution prototype system is developed to assist in the utilization of innovative design knowledge. Evaluation results show the significant design potential of the proposed approach in inspiring innovative thinking and knowledge reuse.

Development and Outlook for Pipeline Inspection Robots

Background:: Robots for pipeline inspection are frequently employed in long-distance oil, wastewater, and natural gas pipelines. Much complex research is being conductedon pipeline inspection robots, including work on fluid-driven and non-fluid-driven, among other things. Research on pipeline inspection robots can be advanced by examining their current stage of development. Additionally, pipeline inspection robots may be able to promote the growth of the pipeline transportation sector by creating new structures. Objective:: This study aims to examine the benefits and drawbacks of several pipeline inspection robots and theirdevelopment trend through the lens of the most recent advancements in the field. Methods:: Through the structure and application scenarios of the latest representative patents of pipeline inspection robots, the working principle and characteristics of pipeline inspection robots are demonstrated. Results:: The shortcomings of the current pipeline inspection robots are highlighted, along with potential future development pathways and research issues, by comparing pipeline inspection robots of various structures. Conclusion:: The development of pipeline inspection robots has benefited the construction of sewage, oil, natural gas, and long-distance pipelines, as well as long-distance pipeline transportation. Because of these robots' unique features and ample room for advancement, pipeline inspection robots have even more development prospects.

IoT Based Pipe- inspection, and Cleaning Robot

Abstract: The "IOT Based Pipeline Inspection and Cleaning Robot" is a new addition to the infrastructure maintenance lineup! Pipelines are vital for moving necessary materials in the field of infrastructure maintenance. Our "IOT-based pipeline inspection and cleaning robot" is an inventive IoT-based rover outfitted with an ESP32 camera for real-time streaming and a motor propeller for effective exploration and operation. Its purpose is to improve maintenance procedures and tackle the difficulties associated with pipeline inspection. The major goal of the IOT-based pipeline cleaning and inspection robot is to transform pipeline maintenance by offering an adaptable, affordable, and successful solution. Real-time pipeline exploration and inspection are made possible by the rover's sophisticated features, which improve the infrastructure's functioning and integrity.

Overview of Pipeline Inspection Robots

Pipelines are widely used in our daily life and industrial production, in order to solve the ensuring problem of pipeline failure, many kinds of pipeline inspection robots have appeared, and nowadays, pipeline robots have been widely used in various pipeline inspection and repair. This paper mainly discusses the importance of pipeline inspection robots in various pipeline fields, describes the technical characteristics of pipeline robots at home and abroad in recent years, and puts forward suggestions for the future development of pipeline robots in view of the existing problems, which is of reference significance for the future development.

A Modular Reconfigurable Wireless Power Transfer System With Multiple Hybrid Outputs for Pipeline Inspection Robots

A Modular Reconfigurable Wireless Power Transfer System With Multiple Hybrid Outputs for Pipeline Inspection Robots

Dynamic simulation research of adaptive support mechanism of pipeline inspection robot based on ADAMS

The drainage pipe contains plenty of toxic gases that are hazardous to the human body, and the narrow size of the drainage pipe makes manual inspection difficult, so it is necessary to use a robot to replace the manual inspection of the drainage pipe. For this purpose, this paper designs a pipe inspection robot that can smoothly realize the passage and inspection in the drainage pipe. With an adaptive support mechanism, the robot can move to the working position in the pipeline. The trajectory of the end of the support mechanism is planned, and the dynamics of the support mechanism are simulated by ADAMS to analyze the motor load to verify that it can cope with the complex environment of the drainage pipe.

A novel position determination method for the modular snake-like natural gas pipeline inspection robot in a GPS denied environment

A novel position determination method for the modular snake-like natural gas pipeline inspection robot in a GPS denied environment

Structural and Passability Analysis of Dual Detection Mode Pipeline Robot

A new pipeline robot with a dual detection mode is built in order to address the issues with the current oil and gas pipeline inspection robots, such as single detection mode, small pipe diameter adaptation range, poor passing ability, and adaptability of the robots in pipelines. The general design of the robot is presented in this paper and the robot’s general construction and operation principles are discussed. The support system, which combines the main and auxiliary springs to achieve common preloading and force analysis, is organized to meet these goals. This paper designs the detection structure with an angle adjustable function. The robot’s motion and dimension restrictions through the bend pipe are examined concurrently. Experimental verification is then completed. The results of the experiments demonstrate that the robot’s structure design and calculations are reasonable, that the robot’s size and motion constraints analysis in the bend pipe is accurate, and that the robot can successfully pass the bend pipe with R ≥ 1.5D. The study’s findings serve as a guide for the development of prototype robots and subsequent robot simulation experiments.

A novel position determination method for the modular snake-like natural gas pipeline inspection robot in a GPS denied environment

A novel position determination method for the modular snake-like natural gas pipeline inspection robot in a GPS denied environment

Pipeline Inspection Robot Monitoring System

Pipeline Inspection Robot Monitoring System

Pipe Line Inspection Robot

Abstract: Pipelines are mainly constructed to transport all kinds of fluids and gases. Many accidents had occurred from fluid leaks because of cracks and corrosion of pipelines. To eliminate or minimize the accidents periodical inspection of pipelines should be done. Analysis and control of autonomous robot for pipeline inspection requires design and model of a robot equipped with the proper sensors. This project deals with the design, modelling (software) and simulation of pipeline inspection robot. The robot is an autonomous mobile robot. The robot is placed at the entrance of the pipe, by giving suitable commands it will move forward and inspect the defects inside the pipe. This inspection robot includes camera for visual inspection to identify the cracks and corrosion in pipe. It captures the inner images of the pipe for further investigation. This robot also includes a LIDAR sensor for mapping of the pipe. The mapping and navigation are all done in ROS (Robot Operating System) with help of Gazebo and Rviz. The design of the robot is created in Fusion 360 and then it is transferred into Gazebo. The simulation of robot is done in circular pipes.

Design and Motion Planning of a Wheeled Type Pipeline Inspection Robot

The most popular method for transporting fluids, and gases is through pipelines. For them to work correctly, regular inspection is necessary. Humans must enter potentially dangerous environments to inspect pipelines. As a result, pipeline robots came into existence. These robots aid in pipeline inspection, protecting numerous people from harm. Despite numerous improvements, pipeline robots still have several limitations. This paper presents the design and motion planning of a wheeled type pipeline inspection robot that can inspect pipelines having an inner diameter between 250 mm to 350 mm. The traditional wheeled robot design has three wheels fixed symmetrically at a 120° angle apart from each other. When maneuvering through a curved pipeline, this robot encounters motion singularity. The proposed robot fixes the wheels at different angles to address this issue, allowing the robot to stay in constant contact with the pipe's surface. Motion analysis is done for the proposed and existing robot design to study their behavior inside the pipeline. The result shows that the proposed robot avoids motion singularity and improves mobility inside pipelines. 3d printing technology aids in the development of the proposed robot. The experimental tests on the developed robot inside a 300 mm-diameter straight and curved pipeline show that the robot avoids motion singularity.

A pipeline inspection robot for navigating tubular environments in the sub-centimeter scale.

In complex systems like aircraft engines and oil refinery machines, pipeline inspection is an essential task for ensuring safety. Here, we proposed a type of smart material-driven pipeline inspection robot (weight, 2.2 grams; length, 47 millimeters; diameter, <10 millimeters) that could fit into pipes with sub-centimeter diameters and different curvatures. We adopted high-power density, long-life dielectric elastomer actuators as artificial muscles and smart composite microstructure-based, high-efficiency anchoring units as transmissions. Fast assembling of components using magnets with an adjustable number of units was used to fit varying pipeline geometries. We analyzed the dynamic characteristics of the robots by considering soft material's unique properties like viscoelasticity and dynamic vibrations and tuned the activation voltage's frequency and phase accordingly. Powered by tethered cables from outside the pipe, our peristaltic pipeline robot achieved rapid motions horizontally and vertically (horizontal: 1.19 body lengths per second, vertical: 1.08 body lengths per second) in a subcentimeter-sized pipe (diameter, 9.8 millimeters). Besides, it was capable of moving in pipes with varying geometries (diameter-changing pipe, L-shaped pipe, S-shaped pipe, or spiral-shaped pipe), filled media (air or oil), and materials (glass, metal, or carbon fiber). To demonstrate its capability for pipeline inspection, we installed a miniature camera on its front and controlled the robot manually from outside. The robot successfully finished an inspection task at different speeds.

An Adsorption Robot for Pipeline Inspection of Gas Insulation Switchgear

In order to enable a robot to do the omni-directional mobility for inspection in the pipeline of Gas Insulation Switchgear, a negative pressure adsorption pipeline robot is designed. Firstly, the mechanical structure was designed for the omni-directional mobility based on the negative pressure adsorption. The internal surface motion model of the pipeline robot was built, and a variable adsorption control method was proposed by mechanical analysis. Simulations and experiments showed that the robot could steadily adsorb on any position of the pipeline, which validated the capability of omni-directional mobility for the designed robot. This robot can be used for inspection of the Gas Insulation Switchgear in electric power industry in the near future.

Development of modularized in-pipe inspection robotic system: MRINSPECT VII+

AbstractThis paper presents a modularized autonomous pipeline inspection robot called MRINSPECT VII+, which we recently developed. MRINSPECT VII+ is aimed at inspect in-service urban gas pipelines with a diameter of 200 mm. The robot consists of five basic modules: driving, sensing, joint, and battery modules. For nondestructive testing (NDT), an NDT module can be added to the system. The driving module uses a multiaxial differential gear mechanism to provide traction forces to the robot. The sensor module recognizes the pipeline element using position-sensitive detector (PSD) sensors and a CCD camera. The control module contains a computing unit and manages the robot’s autonomous navigation. The battery module supplies power to the system. Each module is connected via backdrivable active joint modules, which provide flexibility while moving inside narrow pipelines. Additionally, the wireless communication module helps the system communicate with the ground station. We tested MRINSPECT VII+ in real pipeline environments and validated its feasibility successfully.

Pipeline Inspection Robot using IoT

Pipeline inspection robot is a device which is inserted into pipe to check the damages, cracks, corrosion present in the pipe. There are many types of robot available in the market like screw robot, wheel type robot. it is used for inspecting up to 300mm diameter above the pipes. this type of robot used in oil and gas field industries. Aim of robot is to perform horizontal crawling.

Inspection Robot for Submarine Pipeline Based on Machine Vision

In order to improve the intelligence of submarine pipeline inspection, reduce manpower and material resources, and improve inspection efficiency, an underwater pipeline inspection robot based on machine vision is proposed. This paper introduces the existing pipeline inspection methods and technologies, and analyzes the feasibility of pipeline inspection and inspection technologies based on image processing. On the basis of this subject, the corresponding circuit and embedded system are designed, and the related images are sampled, processed and analyzed, and the images are subjected to threshold segmentation, binarization, edge corrosion and other operations. Furthermore, the experimental site and underwater robot were built, and the pipeline defects were detected in real time by using the recognition method based on neural network.

In-Line Inspection of Pipeline Defects Detection Using Ring-Type Laser

Pipeline plays a vital role in transporting fluids like oils, water, and petrochemical substances for longer distances. Based on the materials they carry, prolonged usage may cause the initiation of defects in the pipeline. These defects occur due to the formed salt deposits, chemical reaction happens between the inner surface and the transferring substance, prevailing environmental conditions, etc. These defects, if not identified earlier may lead to significant losses to the industry. In this work, an in-line inspection system utilizes the nondestructive way for analyzing the internal defects in the petrochemical pipeline. This system consists of a pipeline inspection robot having two major units namely the visual inspection unit and the power carrier unit. The visual inspection unit makes use of a ring-type laser diode and the camera. The laser diode serves as a light source for capturing good quality images of inspection. This unit is controlled by the Arduino in the power carrier unit which provides the necessary movement throughout the pipe. The inspected images captured by the camera are further processed with the aid of NI vision assistant software. After applying the processing function parameters provided by this software, the defect location can be clearly visualized with high precision. Three sets of defects are introduced in a Polylactide (PLA) pipe based on its position and angle along the circumference of the pipe. Further, this robot system serves as a real-time interactive image synchronization system for acquiring the inspected images. By comparing the actual and calculated defect size, the error percentage obtained was less than 5%.

Cornering Algorithm for a Crawler In-Pipe Inspection Robot

Based on the large-scale wall-pressing three-legged crawler pipeline inspection robot, our team proposed a cornering algorithm based on space constraints, that aims to better control the smooth operation of the pipeline robot in the pipeline. This algorithm is aimed at large robots that use an electric telescopic rod structure to replace the elastic structure on traditional small robots. The electric telescopic rod structure meets the large-scale weight change of the robot and provides sufficient supporting force. However, this structure also makes it difficult for the robot to automatically adapt to the change of pipe diameter and increases the difficulty of the robot’s control. In order to solve this problem and more accurately control the operation of the robot during cornering, this paper analyzes the space constraints of the robot when turning, the optimization analysis of the telescopic rod expansion and the ratio of the speed of each crawler, obtaining a stable turning algorithm for pipeline robots. The algorithm guarantees that the robot can provide sufficient support in the bend pipeline, and that it has good stability and mobility.