A Smart Autonomous Pipeline Inspection Robot

点击翻译按钮获取中文摘要

Currently, very little internal inspection is conducted on gas pipe segments that are known to leak. The maintenance of commercial gas distribution networks is often based on statistical information, such as previous maintenance record, leak surveys, and corrosion data, more than scientific evidence. To date, the state-of-the-art of internal gas pipe inspection systems is based on tethered robot-like vehicles that are inserted in the pipes and operated manually through joysticks. They collect sensory data and store it locally so that it can be processed offline later by trained technicians to identify any signs of defects in the pipe. This process is very costly and time consuming. Typically, it takes a crew of technicians a full day to collect data for a pipe segment of 1 mile, and a week to process it. At this pace, it would be impossible to cover gas and oil distribution networks, which already passed 115,000 in Canada. In 2012, it costed Canadian gas and oil distribution companies $1.1 billion to inspect and maintain their mains. Finding more cost- and time-efficient ways to monitor and inspect distribution and delivery systems has become an urgent necessity, especially with the aging of the mains and the rapid growth of the network driven by high demand on energy sources. The goal of this research is to design and develop a fully autonomous untethered mobile robot capable of long-range navigation inside gas pipes of various sizes and structural configurations to perform in-situ pipe inspection. The robot will automatically diagnose pipes for different types of defects, including cracks, dents, corrosion, accumulated debris, and water infiltration. It will process and analyze its sensory measurements online and wirelessly communicate detailed reports back to a maintenance unit. This would facilitate identifying the exact locations of the defects, generate early warnings for potential anomalous segments, help deciding on the proper repair method (spot, relining, replacement, etc.), and decrease the response time in case of an emergency. The research will help insuring the reliability of Canadian gas distribution networks, which transport about 23% of Canadian exports (including oil exports). It will minimizes the chances of gas leaks, especially in remote areas where technicians cannot reach easily (eg., offshore), and so limit their side effects on the environment. Advancing the state of knowledge in this area will have a positive impact on other economic sectors by paving the road for the development of similar robot inspection systems for oil, water, and sewage distribution networks.