RoboScan?: A ROBOTIC INSPECTION TOOLFOR UNPIGGABLE PIPELINES

摘要

There are many physical and operational obstacles in pipelines that make the launchingrnand/or passage of SMART pigs impossible. These obstacles include:rn? Elbows with tight bend radiusrn? Mitered cornersrn? Partially ported valvesrn? Reductions/expansions in pipe size (> 50-mm)rn? Low flow and/or lowo pressurern? No existing traps or pipeline accessrnThe inspection of unpiggable pipelines requires the innovative integration of a highlyrnadaptable robotic platform with collapsible NDE sensors operated as an autonomous system.rnThe RoboScan? platform is essentially a battery powered, train-like robotic system. Both frontrnand rear tractors propel the train in either the downstream or upstream direction. The platformrnincludes additional "cars" that carry the required payloads. These cars are used for the NDErnsensor modules, the power supply and data acquisition/storage components. The on-boardrnintelligence and vision system provides the platform with the ability to steer itself through therncomplex pipe geometry. The development is now in a second phase that will lead to the buildingrnand demonstration of a full sized prototype unit.