WO2020037387A1

WO2020037387A1 - System for the inspection and monitoring of moving pipelines

Info

Publication number: WO2020037387A1
Application number: PCT/BR2019/050344
Authority: WO
Inventors: Alexandre ORMIGA GALVÃO BARBOSA; Daniel ZACARIAS FREITAS; Julio QUADRIO DE MOURA GUEDES
Original assignee: Insfor - Innovative Solutions For Robotics Ltda. - Me
Priority date: 2018-08-18
Filing date: 2019-08-16
Publication date: 2020-02-27
Also published as: BR102018016952A2

Abstract

Comprising an inspection system based on the principle of laser measurement and computer vision, consisting of high definition cameras and laser projectors, which project dots and/or lines and/or laser meshes onto the outer surface of the riser cover and, based on alterations in the projected laser, it is possible to measure variations in the diameter, which are captured by cameras and analyzed by proprietary software, generating a warning for the operator, indicating some anomaly outside the tolerance, and which also foresees a monitoring system consisting of at least three high-definition cameras, positioned in such a way as to be able record the entire circumferential extent of the moving pipeline, its being possible to indicate the radial and longitudinal position in the pipeline from the recording of the image or the anomaly detected.

Description

SYSTEM FOR THE INSPECTION AND MONITORING OF MOVING

PIPELINES

FIELD OF APPLICATION

[0001 ] This is the specification for a patent of a system for the inspection and monitoring of moving pipelines, and, more specifically, of a dimensional inspection system and a visual monitoring system of the outer cover of the riser during the entry of the pipes into the vessel, which can also be adapted to the production line or any other application where the need for inspection and monitoring of moving pipelines occurs.

SUMMARY OF THE INVENTION

[0002] The present system of inspection and monitoring of moving pipelines consists of two pieces of equipment, one for inspection and the other for monitoring.

[0003] The inspection system is based on the principle of laser measurement and computer vision, consisting of high definition cameras and laser projectors, simulating a 3D laser scanner.

[0004] Using the inspection equipment dots and/or lines and/or laser meshes are projected on the surface of the riser cover and, based on the variation in the outer diameter of the pipe, by changing the projected laser, it is possible to measure variations in diameter, which are captured by cameras and analyzed by proprietary software, sending a warning to the operator when some anomaly, outside of the pre-established tolerance in the software, is detected.

[0005] Using this equipment, together with the software, it is possible to perform the dimensional inspection of the external part of a moving pipe.

[0006] The monitoring system consists of at least three high definition cameras, e.g. HD-SDI (High Definition Serial Digital Interface), positioned in order to record the entire circumference of the moving pipe.

[0007] Due to the fact that climatic conditions may influence the quality of the data collected, protection coverage of the inspection equipment is provided during the laser projection and data acquisition process. [0008] The software allows for the determination of the tolerable characteristics, and any measurement that is not acceptable will trigger visual and/or sound alertness, and the system can also be stopped if necessary.

[0009] The indication of the radial and longitudinal position of the piping relating to the recording of the image or anomaly detected is also foreseen.

[0010] The recording of images acquired by the cameras is performed through the visualization and recording interface, using electronic equipment capable of producing high-definition images.

[001 1 ] The images generated are stored on hard disk (HD), and can be transferred to mobile media (flash drive, external HD, DVD and others) and virtual disks (cloud storage).

BACKGROUND OF THE TECHNIQUE

[001 2] When comparing the current procedures used during the entry of the pipelines onto the vessel, where the observer is positioned close to the moving pipes, to perform the visual scan, while the loading process is conducted, when compared with the system proposed by the present invention, significant evolution is observed, since in the previous technique the observer cannot cover the entire external circumference of the pipe, in addition to not having means capable of measuring and recording the external diameter of the pipe and/or its surface conditions in real time.

[0013] We know from the state of the art the development proposed by patent document KR101 377454, which describes a method and apparatus for storing data and displaying the location of defects during verification by means of an automatic ultrasonic fault detector, which can automatically perform a more accurate inspection of the profile of the defective area through a front and rear scan, and by a sliding scan of a probe. The automatic ultrasonic fault detector performs a non-destructive inspection using a probe and contact medium. The automatic ultrasonic fault detector comprises a horizontal part and a vertical part coupled on both sides to the horizontal part, including the main body; a mobile device with a wheel connecting to the drive motor mounted on the front and rear sides of the main body, activating the wheels by chains or belts; an injection device of the contact medium that includes a spray tube with a plurality of nozzles mounted frontally to the main body; a storage tank with a pump mounted on it, and a hose connected to the spray tube from the pump; an ultrasound scanning device mounted on the main body to perform pre-scanning, post-scanning and scanning of the probe in contact with one side of the inspected object using ultrasonic waves; a camera connected to the bottom of the horizontal part of the main body that records the state of application and the state of progress of the inspection of the contact medium in contact with the probe; a device fixed to the lower surface of the horizontal portion of the main body radiating light to the inspection and contact region of the probe; a laser pointer to guide the inspection route based on the central portion of the inspected object; a solenoid that activates the pump of the storage tank and a solenoid connected to the spray tube of the pump, whose tip is composed of an ejection tube and is located on one side of the display device of the position of the defect, said automatic ultrasonic fault detector having a main control that controls each function while monitoring the operation of the displacement device; the ejection of the contact medium; the transmission of the image signal from the camera; the operation of the illuminator, and the operation of the digitalization device. The automatic ultrasonic fault detector also comprises a preheating device to solve the problem of poor application of the contact medium due to the low surface temperature of the contact area of the probe. It also foresees an injection process of the contact medium to perform non-destructive inspection using ultrasonic waves; a process to uniformly spread the contact medium; and a pre-and post-inspection process. The faulty structure can be monitored continuously, and the process of storing the data and displaying the location of the defect can also be carried out continuously; the contamination around the inspection body by the contact medium can be minimized and the efficiency improved.

[0014] Notwithstanding the technical results obtained through the use of the method and apparatus for storing data and displaying the location of defects during the verification by means of the automatic ultrasonic fault detector, proposed by the patent document described above, it possesses the following deficiencies: [0015] It uses an ultrasound technique to detect internal discontinuities in the coatings;

[0016] It analyzes the energy and reflection time of ultrasonic waves to detect discontinuities;

[0017] It uses an ultrasound cylinder head to read the signals;

[0018] It uses an ultrasound meter to analyze the data and present the graphs/data to the operator;

[0019] The cylinder head reduces surface contamination;

[0020] The camera contained in the robot takes pictures of the status of the service;

[0021] The laser serves only as a visual guide for the images generated;

[0022] It uses carboxymethyl cellulose, glycerin or lubricants to carry out the coupling of the cylinder head, and

[0023] The equipment moves in relation to the pipe.

GROUNDS OF THE INVENTION

[0024] A principal objective of this invention is to propose a system for the dimensional inspection and visual monitoring of the external cover of the riser during the entry of the pipes into the vessel.

[0025] Another objective of the present invention is to propose an integration between the inspection and monitoring systems, by which the images generated are raw and direct images of the pipelines for visual analysis and their recording, and where the measurement is performed by cameras for this purpose.

[0026] Another objective of the present invention is to propose the use of computer vision to perform the measurement.

[0027] Among the advantages achieved by the system for the dimensional inspection and visual monitoring of moving pipes of the present invention we highlight the following:

[0028] It uses a laser projection technique to detect discontinuities on the external part of the coatings;

[0029] It uses variation in the laser projection to detect discontinuities on the external part;

[0030] It uses a camera for data reading; [0031 ] It uses proprietary software for the analysis and presentation of graphs, data, results and reports to the operator;

[0032] The laser does not touch the surface, and thus does not contaminate it;

[0033] The cameras record high-definition 360° images of piping and transmit them in real time;

[0034] The laser is designed to perform measurements;

[0035] No coupling is used;

[0036] The equipment remains static while the piping moves;

[0037] Using the equipment of the inspection system a laser is projected (dots, lines or mesh) on the surface of the coating and, through variations in the external diameter of the pipe, it is possible to measure the discontinuities;

[0038] The equipment is adjustable to the diameter of the coating to be inspected;

[0039] The software captures and analyzes the images generating graphs and data for analysis;

[0040] The monitoring system uses at least three cameras mounted in order to enable 360° monitoring of the external surface of the pipe;

[0041 ] Protection coverage is foreseen against weathering, such as rain, wind and others, and against external influences, such as excessive light;

[0042] The proprietary software allows the operator/inspector to determine the permissible characteristics;

[0042] In the event of the existence of discontinuities a visual and/or sound alert is triggered;

[0043] The radial and longitudinal position of the pipe where the image was recorded or the anomaly detected is indicated;

[0044] The record of the images acquired is achieved through the visualization and recording interface, using electronic equipment capable of producing high definition images, and

[0045] The images generated can be stored on hard disk (HD), mobile media (pen drive, external HD, DVD and others) and virtual disks (cloud storage).

BRIEF DESCRIPTION OF THE DRAWINGS

[0046] For better comprehension of this system of inspection and monitoring of pipelines i n motion , reference is made to the attached drawings, where: [0047] Figure 1 illustrates a schematic lateral view of the system of moving pipline inspection and monitoring system of the present invention ;

[0048] Figure 2 illustrates a schematic frontal view of the moving pipeline inspection system of the present invention;

[0049] Figure 3 illustrates a schematic lateral view of the moving pipeline inspection system of the present invention;

[0050] Figure 4 illustrates a schematic frontal view of the moving pipeline monitoring system of the present invention;

[0051 ] Figure 5 illustrates a schematic lateral view of the moving pipeline monitoring system of the present invention;

[0052] Figures 6 to 9 illustrate examples of measurement of the defects detected;

[0053] Figures 10 to 13 illustrate examples of images of defects detected by laser projections of dots, lines, crosslines and meshes;

[0054] Figure 14 illustrates an example of a graphic generated by the inspection and monitoring system of moving piplines of the present invention, and

[0055] Figure 1 5 illustrates a flowchart of the computer vision of the system of inspection and monitoring of moving pipelines of the present invention. PREFERRED DESCRIPTION OF THE INVENTION

[0056] In accordance with what is shown by the attached figures, the proposed inspection and monitoring system for moving pipelines is formed by the visualization and recording interface (1 ) connected, through cables (2), to the supports (3) of the inspection and monitoring equipment, to which encoders (4) are connected that detect the movement of the piping (5).

[0057] The inspection equipment is based on the principle of laser measurement and computer vision, consisting of high definition cameras (6) and laser projectors (7) projecting dots, lines, crosslines or lasers on the outer surface of the cover of the riser. [0058] The monitoring equipment consists of at least three high-definition cameras (6') positioned in such a way as to record the entire circumferential extent of the moving piping.

[0059] By changing the projected laser, it is possible to measure the variation in the external diameter of the pipe, as illustrated in figures 6 to 9.

[0060] The deviations in the laser projections captured by the cameras, whether dots, lines, crosslines or meshes, as exemplified in figures 10 to 13, are analyzed by proprietary software.

[0061 ] The recording of images acquired by the cameras is performed through the visualization and recording interface, using electronic equipment capable of producing high-definition images.

[0062] The images generated are stored in HD and can be transferred to mobile media (flash drive, external HD, DVD and others) and virtual disks (cloud storage).

[0063] An example of the chart generated by the inspection system is illustrated in Figure 14.

[0064] Using proprietary software it is possible to perform the dimensional inspection of the external circumference of the moving pipe, by obtaining images from the cameras and reading the encoder, to identify the location of the laser projection, and then to calculate the radial distance based on the distortion of the laser, which, if it is within the pre-established tolerance, will determine the continuity of the execution of this routine of the system, until the occurrence of a result that is outside the pre-established tolerance is observed, and a warning is issued to the operator, and the information of the distance associated with the encoder is recorded. When the encoder stops recording the movement of the piping, the system is stopped, and a report of the inspection carried out is issued.

[0065] The proprietary software allows the operator/inspector to determine the tolerable characteristics, its being possible to stop the system if necessary.

Claims

1. SYSTEM FOR THE INSPECTION AND MONITORING OF MOVING PIPELINES, for dimensional inspection, based on the principle of laser measurement and computer vision, and the visual monitoring of the outer cover of the riser during the entry of the pipes into the vessel, characterized by the fact that it comprises a visualization and recording interface (1 ) connected, through cables (2), to the supports (3) of the inspection and monitoring systems, to which encoders (4) are connected which detect the movement of the pipelines (5).

2. SYSTEM, in accordance with claim 1 , characterized by the fact that the inspection equipment is composed of high-definition cameras (6) and laser projectors (7) on the outer surface of the riser cover.

3. SYSTEM, in accordance with claim 2, characterized by the fact that the laser projectors (7) can project dots, lines, crossed lines or knitting lasers onto the outer surface of the riser cover.

4. SYSTEM, in accordance with claim 1 , characterized by the fact that the monitoring equipment is composed of at least three high-definition cameras (6) positioned in such a way as to be able to record the entire circumferential extent of the piping in motion.

5. SYSTEM, in accordance with claim 1 , characterized by the fact that variation in the external diameter of the piping be measured based on alterations in the projected laser.

6. SYSTEM, in accordance with claim 5, characterized by the fact that the deviations in the laser projections are captured by the cameras (6).

7. SYSTEM, in accordance with claim 6, characterized by the fact that the recording of the images acquired by the cameras is obtained through the visualization and recording interface.

8. SYSTEM, in accordance with claim 7, characterized by the fact that the images generated are stored in HD, and can be transferred to mobile media and virtual disks.

9. SYSTEM, in accordance with claim 1 , characterized by the fact that the proprietary software performs the dimensional inspection of the external circumference of the moving piping, by obtaining the images from the cameras and reading the encoder, to identify the location of the laser projection, with the radial distance being calculated based on the distortion of the laser, which, if within the pre-established tolerance, determines the continuity of the execution of this routine of the system, until the occurrence of a result outside the pre-established tolerance is verified, when a warning is sent to the operator, and the information of the distance associated with the encoder is recorded.

10. SYSTEM, in accordance with claim 9, characterized by the fact that when the encoder fails to register the movement of the pipeline, the system is stopped, and a report is issued on the inspection carried out.

1 1 . SYSTEM, in accordance with claim 9, characterized by the fact that the proprietary software allows for the determination of the tolerable features.