Robot Crawler for Surveying Pipelines and Metal Structures of Complex Spatial Configuration

Abstract

There is an obvious tendency towards increasing the information content of surveys of hard-to-reach objects at high altitudes through the use of remote-controlled robot crawlers. This can be explained by the reasonable desire of industrial objects owners to maintain their property: pipelines, containers, metal structures in operating technical condition, which contributes to reducing accident risks and increasing the economic efficiency of operation (optimization of repair planning, etc.) This paper presents the concept of a robotic device equipped with LIDAR and EMAT which can move over pipes from a diameter of 100 mm by using a special type of magnetic wheel. The robot uses convolutional neural networks to detect structural elements and classify their defects. The article contains information about tests held on a specially developed test rig. The results showed that the device could increase the information level of survey and reduce the labour intensity. In this work, we consider a prototype of the device which has not started mass operation at industrial facilities yet.

Integrating Advanced Technologies in Corrosion and Inspection Management for Oil and Gas Operations

“…These drones can cover large areas quickly and capture high-resolution images and videos for inspection purposes (Day, 2017;Akbari, et al, 2021). On the other hand, robotic crawlers are designed to traverse pipelines, tanks, and other confined spaces to perform detailed inspections (Pshenin, et al, 2022;Abrahao, et al, 2017). These crawlers can navigate through complex geometries, collect inspection data, and detect anomalies such as corrosion, cracks, or leaks (Calva, 2024).…”

Necessary Conditions for Running through a Flange by Using Planetary-Geared Magnetic Wheels

“…Magnetic-wheeled robots are a type of adhesion that runs on steel structures with magnetic wheels [14][15][16][17][18][19][20][21][22][23][24][25][26]. Because this type of robot is equipped with permanent magnets for adhesion to structures, it does not consume electric power other than movement.…”

“…The future robot could also be given the ability to lock the A-Leg in orientation (3), which would increase the success rate of running through the flange. Furthermore, if the robot has the ability (sensors and program) to control the torques of all wheels while keeping track of its orientations, it will realize driving methods that always make effective use of the A-Leg.Even in recent studies for running on complex structures, almost no robot had attempted to solve the physical difficulties of running on the flange[18][19][20][21][22][23][24][25][26]. The outcomes of this study will allow these robots to choose their behaviors more flexibly.…”

Error State Extended Kalman Filter Localization for Underground Mining Environments

“…The underground mining operation is an intensive process that requires constant updating of the layout plan, as well as roof subsidence monitoring. Automation of this work with the help of robotic equipment and novel technologies, such as computer vision [2], predictive model control [3], machine learning [4] and neural networks [5,6], will increase the efficiency of the mining process, in general, [7][8][9][10], and mine surveying, in particular, [11][12][13].…”