Development of Actively Steerable In-pipe Inspection Robot for Various Sizes

Gargade, Atul; Ohol, S. S.

doi:10.1145/3132446.3134893

Cited by 4 publications

(4 citation statements)

References 10 publications

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“…Designs of screw-drive robots have been researched rigorously. For example, both [ 118 , 120 , 121 ] proposed the design of an actively steerable screw-drive in-pipe robot as shown in Figure 37 , respectively. These robots can be manoeuvred to perform inspections in pipelines carrying different types of substances.…”

Section: Pipeline Failure Detection Methodsmentioning

confidence: 99%

Failure Detection Methods for Pipeline Networks: From Acoustic Sensing to Cyber-Physical Systems

Wong

McCann

2021

Sensors

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Pipeline networks have been widely utilised in the transportation of water, natural gases, oil and waste materials efficiently and safely over varying distances with minimal human intervention. In order to optimise the spatial use of the pipeline infrastructure, pipelines are either buried underground, or located in submarine environments. Due to the continuous expansion of pipeline networks in locations that are inaccessible to maintenance personnel, research efforts have been ongoing to introduce and develop reliable detection methods for pipeline failures, such as blockages, leakages, cracks, corrosion and weld defects. In this paper, a taxonomy of existing pipeline failure detection techniques and technologies was created to comparatively analyse their respective advantages, drawbacks and limitations. This effort has effectively illuminated various unaddressed research challenges that are still present among a wide array of the state-of-the-art detection methods that have been employed in various pipeline domains. These challenges include the extension of the lifetime of a pipeline network for the reduction of maintenance costs, and the prevention of disruptive pipeline failures for the minimisation of downtime. Our taxonomy of various pipeline failure detection methods is also presented in the form of a look-up table to illustrate the suitability, key aspects and data or signal processing techniques of each individual method. We have also quantitatively evaluated the industrial relevance and practicality of each of the methods in the taxonomy in terms of their respective deployability, generality and computational cost. The outcome of the evaluation made in the taxonomy will contribute to our future works involving the utilisation of sensor fusion and data-centric frameworks to develop efficient, accurate and reliable failure detection solutions.

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Section: Pipeline Failure Detection Methodsmentioning

confidence: 99%

Failure Detection Methods for Pipeline Networks: From Acoustic Sensing to Cyber-Physical Systems

Wong

McCann

2021

Sensors

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“…Figure 3. (a) The pig type [19], (b)The wheel type [20], (c) The track type [21], (d) The legged type [22], (e) The inchworm type [23], (f) The snake type [24], (g) The screw type [25].…”

Section: ) Onshore Pipeline Inspectionmentioning

confidence: 99%

“…Wheels are bounded with the belt, which can enlarge the surface contact area and reduce chances of losing pipe wall contact. The legged type [22] uses legs to contact with the pipe wall. This type of robots can produce highly sophisticated motions and is suitable for pipes with obstacles.…”

Section: ) Onshore Pipeline Inspectionmentioning

confidence: 99%

Inspection Robots in Oil and Gas Industry: a Review of Current Solutions and Future Trends

Yang

Ren

et al. 2019

2019 25th International Conference on Automation and Computing (ICAC)

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With the increasing demands for energy, oil and gas companies have a demand to improve their efficiency, productivity and safety. Any potential corrosions and cracks on their production, storage or transportation facilities could cause disasters to both human society and the natural environment. Since many oil and gas assets are located in the extreme environment, there is an ongoing demand for robots to perform inspection tasks, which will be more cost-effective and safer. This paper provides a state of art review of inspection robots used in the oil and gas industry which including remotely operated vehicles (ROVs), autonomous underwater vehicles (AUVs), unmanned ground vehicles (UGVs) and unmanned aerial vehicles (UAVs). Different kinds of inspection robots are designed for inspecting different asset structures. The outcome of the review suggests that the reliable autonomous inspection UAVs and AUVs will gain interest among these robots and reliable autonomous localisation, environment mapping, intelligent control strategies, path planning and Non-Destructive Testing (NDT) technology will be the primary areas of research.

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“…This robot has just one DC motor and is able to bypass the obstacles, but its steering angle is again constant. A new screw‐in‐pipe robot is developed by Gargade and Ohol (2017). The robot's pitch rate is constant here but it is able to move within the lines with diameters between 230 and 300.…”

Section: Introductionmentioning

confidence: 99%

Design and manufacturing a novel screw‐in‐pipe inspection robot with steering capability

Tourajizadeh

Asadirad

Mashayekhi

et al. 2022

Journal of Field Robotics

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In this article, a novel in-pipe inspection robot is designed and manufactured in Kharazmi University KharazmPipeBot. This robot is able to move through any pipeline with a predefined diameter range with a variable pitch rate and report any desired data within the pipe with the aid of the installed camera. To achieve the highest stability of the robot through the pipe, the robot's movement is based on the screw locomotion protocol provided by the aid of its rotor and stator. A simple suspension is designed for three legs of the robot by installing a passive prismatic joint equipped with a spring for each leg to provide a smoother movement for the robot chassis. The main novelty of the robot is adding an extra controlling actuator for the robot which is the steer of the front wheels. This input can control the pitch rate of the robot movement and consequently the spiral track of the wheels can be actively managed. This importance lets us to bypass the probable obstacles attached to the inner wall of the pipes. A brief presentation of the robot model is delivered.Afterward, to verify the claimed novelties of the system, a prototype of the robot is manufactured in Kharazmi University and the efficiency of the robot is demonstrated by conducting some initial experimental tests. It is shown that the robot can move with a variable pitch rate through the wall and pass a detected obstacle accordingly.in-pipe inspection robot, manufacturing a prototype, screw-based locomotion, steerable in-pipe robot | INTRODUCTIONAccording to cover the maintenance protocols of pipeline-based industries, all of the installations and structures should be checked and verified frequently to meet the required standards and International Organization for Standardization. Besides, there exists sometimes a problem in the system for which its related source should be detected accordingly. One of the most usual structures of these installations is pipes for which its inspectional operation is challenging since a human operator cannot move through them and recognize the fault source. Recently by appearance of in-pipe inspection robots, this challenge is resolved to some extent. In-pipe inspection robots are mobile robots whose locomotion is adapted to the geometrical specifications of the target pipe and thus are able to move through the pipes and detect any problem or crack of the pipes by the aid of their installed sensors and report it to the operator. A vast variety of these robots have been designed and manufactured so far each of which with some specific advantages. The in-pipe inspection robot which is proposed in Moshayedi et al. ( 2019) has a simple wheeled-based locomotion system with active drive wheels.This robot is able to move through pipes with various diameters by changing its structural size. However, this robot has no suspension system but it is able to move through inclined surfaces using its three direct current (DC) motors. An in-pipe robot adjustable with the

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Development of Actively Steerable In-pipe Inspection Robot for Various Sizes

Cited by 4 publications

References 10 publications

Failure Detection Methods for Pipeline Networks: From Acoustic Sensing to Cyber-Physical Systems

Failure Detection Methods for Pipeline Networks: From Acoustic Sensing to Cyber-Physical Systems

Inspection Robots in Oil and Gas Industry: a Review of Current Solutions and Future Trends

Design and manufacturing a novel screw‐in‐pipe inspection robot with steering capability

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