WO2013167094A3 - Robotic platform for in-pipe inspection - Google Patents

Robotic platform for in-pipe inspection Download PDF

Info

Publication number
WO2013167094A3
WO2013167094A3 PCT/CO2013/000001 CO2013000001W WO2013167094A3 WO 2013167094 A3 WO2013167094 A3 WO 2013167094A3 CO 2013000001 W CO2013000001 W CO 2013000001W WO 2013167094 A3 WO2013167094 A3 WO 2013167094A3
Authority
WO
WIPO (PCT)
Prior art keywords
robot
fluid
speed
pipe
liquids
Prior art date
Application number
PCT/CO2013/000001
Other languages
Spanish (es)
French (fr)
Other versions
WO2013167094A2 (en
Inventor
John Faber ARCHILA DÍAZ
Original Assignee
Universidad Industrial De Santander
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Universidad Industrial De Santander filed Critical Universidad Industrial De Santander
Publication of WO2013167094A2 publication Critical patent/WO2013167094A2/en
Publication of WO2013167094A3 publication Critical patent/WO2013167094A3/en

Links

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
    • F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
    • F16L55/28—Constructional aspects
    • F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
    • F16L55/38—Constructional aspects of the propulsion means, e.g. towed by cables driven by fluid pressure
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
    • F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
    • F16L55/28—Constructional aspects
    • F16L55/40—Constructional aspects of the body
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L2101/00—Uses or applications of pigs or moles
    • F16L2101/30—Inspecting, measuring or testing

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
  • Manipulator (AREA)

Abstract

The invention relates to an inspection robot for pipes used to transport different types of fluids (liquids or gases). The robot considers the interaction between the fluid, the pipe and the robot in order to prevent: overpressure in the pipe above the maximum operating pressures, and pressure drops below vapour pressure, thereby preventing cavitation in the case of liquids. The robot extracts energy from the fluid and uses said energy to move itself, the speed of the robot also being controlled such that it can move at a constant speed, eliminating variations in speed typical of fluid transport. The reconfigurable constant speed is achieved using a control system which maintains the speed at a reference value and evaluates the interaction between the robot, the pipe and the fluid in order to maintain safe operating conditions.
PCT/CO2013/000001 2012-05-11 2013-05-14 Robotic platform for in-pipe inspection WO2013167094A2 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CO12078006 2012-05-11
CO12078006A CO6790240A1 (en) 2012-05-11 2012-05-11 Robotic platform for internal pipe inspection

Publications (2)

Publication Number Publication Date
WO2013167094A2 WO2013167094A2 (en) 2013-11-14
WO2013167094A3 true WO2013167094A3 (en) 2014-02-20

Family

ID=49551384

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CO2013/000001 WO2013167094A2 (en) 2012-05-11 2013-05-14 Robotic platform for in-pipe inspection

Country Status (2)

Country Link
CO (1) CO6790240A1 (en)
WO (1) WO2013167094A2 (en)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3057052B1 (en) * 2016-10-04 2018-12-07 Commissariat A L'energie Atomique Et Aux Energies Alternatives MOBILE ROBOTIC DEVICE WITH IMPROVED ARCHIMEDE SCREW PROPULSION MECHANISM
GB2579865A (en) * 2018-12-19 2020-07-08 Cokebusters Ltd Pig for inspecting a tubular object
WO2023007299A2 (en) * 2021-07-30 2023-02-02 Ptt Exploration And Production Public Company Limited A device for moving in a pipeline

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4055315A (en) * 1976-04-14 1977-10-25 Gvelesiani Konstantin Shalvovi Device for pipeline transportation of loads by fluid flow
US6370721B1 (en) * 2000-10-03 2002-04-16 Tuboscope I/P, Inc. Variable speed pig for pipeline applications
US20020108751A1 (en) * 1996-08-15 2002-08-15 Neil Andrew Abercrombie Simpson Traction apparatus
US20020190682A1 (en) * 2001-03-07 2002-12-19 Hagen Schempf Gas main robotic inspection system
US20050229342A1 (en) * 2002-03-15 2005-10-20 Simpson Neil Andrew A Tractors for movement along a pipeline within a fluid flow
US20100000037A1 (en) * 2008-07-03 2010-01-07 Tdw Delaware, Inc. Speed Regulated Pipeline Pig
GB2469058A (en) * 2009-03-31 2010-10-06 Ind Brushware Ltd Pipe cleaning apparatus
US20110030478A1 (en) * 2009-08-06 2011-02-10 Korea Plant Service & Engineering Co., Ltd. Inspecting device including detachable probe
US20110203676A1 (en) * 2008-07-31 2011-08-25 On Stream Technologies Inc. Pipe pig and method of cleaning a pipe

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4055315A (en) * 1976-04-14 1977-10-25 Gvelesiani Konstantin Shalvovi Device for pipeline transportation of loads by fluid flow
US20020108751A1 (en) * 1996-08-15 2002-08-15 Neil Andrew Abercrombie Simpson Traction apparatus
US6370721B1 (en) * 2000-10-03 2002-04-16 Tuboscope I/P, Inc. Variable speed pig for pipeline applications
US20020190682A1 (en) * 2001-03-07 2002-12-19 Hagen Schempf Gas main robotic inspection system
US20050229342A1 (en) * 2002-03-15 2005-10-20 Simpson Neil Andrew A Tractors for movement along a pipeline within a fluid flow
US20100000037A1 (en) * 2008-07-03 2010-01-07 Tdw Delaware, Inc. Speed Regulated Pipeline Pig
US20110203676A1 (en) * 2008-07-31 2011-08-25 On Stream Technologies Inc. Pipe pig and method of cleaning a pipe
GB2469058A (en) * 2009-03-31 2010-10-06 Ind Brushware Ltd Pipe cleaning apparatus
US20110030478A1 (en) * 2009-08-06 2011-02-10 Korea Plant Service & Engineering Co., Ltd. Inspecting device including detachable probe

Also Published As

Publication number Publication date
WO2013167094A2 (en) 2013-11-14
CO6790240A1 (en) 2013-11-14

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