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1. WO2020065659 - SPHERICAL ROBOT FOR INTERNAL INSPECTION OF PIPELINES

Publication Number WO/2020/065659
Publication Date 02.04.2020
International Application No. PCT/IN2019/050134
International Filing Date 20.02.2019
IPC
F17D 5/06 2006.01
FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
17STORING OR DISTRIBUTING GASES OR LIQUIDS
DPIPE-LINE SYSTEMS; PIPE-LINES
5Protection or supervision of installations
02Preventing, monitoring, or locating loss
06using electric or acoustic means
G01M 3/00 2006.01
GPHYSICS
01MEASURING; TESTING
MTESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
3Investigating fluid tightness of structures
F16L 55/28 2006.01
FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
16ENGINEERING ELEMENTS OR UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
LPIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
55Devices or appurtenances for use in, or in connection with, pipes or pipe systems
26Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
28Constructional aspects
CPC
F16L 55/28
FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
LPIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
55Devices or appurtenances for use in, or in connection with, pipes or pipe systems
26Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
28Constructional aspects
F17D 5/06
FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
17STORING OR DISTRIBUTING GASES OR LIQUIDS
DPIPE-LINE SYSTEMS; PIPE-LINES
5Protection or supervision of installations
02Preventing, monitoring, or locating loss
06using electric or acoustic means
G01M 3/00
GPHYSICS
01MEASURING; TESTING
MTESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
3Investigating fluid-tightness of structures
Applicants
  • INDIAN INSTITUTE OF TECHNOLOGY MADRAS (IIT MADRAS) [IN]/[IN]
Inventors
  • RAMINENI, Ajayraj
  • PRABHU, Rajagopal
  • BALASUBRAMANIAN, Krishnan
  • KUMAR, Avinash
Agents
  • VENKATARAMAN, Shankar
Priority Data
20184103589024.09.2018IN
Publication Language English (EN)
Filing Language English (EN)
Designated States
Title
(EN) SPHERICAL ROBOT FOR INTERNAL INSPECTION OF PIPELINES
(FR) ROBOT SPHÉRIQUE POUR INSPECTION INTERNE DE PIPELINES
Abstract
(EN)
A modular robotic device for internal inspection of pipelines is disclosed. The device of spherical or ellipsoidal shape includes a transparent annulus sealed between a pair of domes. The device includes a rotatable shaft mounted about an axis of the outer shell and coupled to a pair of steering plates, configured to steer the device into a rotational motion along the fluid flow direction. A stabilization assembly includes a mounting plate attached to the shaft is used to dampen oscillations. A visual sensor is mounted on the mounting plate and configured to capture images of internal defects of the pipeline through the transparent annulus. An acoustic sensor is configured to detect leaks using acoustic signals as acoustic data. A processing unit, mounted on the mounting plate, is configured to log the visual and acoustic data for inspection of the inner surface of the pipeline.
(FR)
L'invention concerne un dispositif robotique modulaire pour l'inspection interne de pipelines. Le dispositif de forme sphérique ou ellipsoïdale comprend un anneau transparent scellé entre une paire de dômes. Le dispositif comprend un arbre rotatif monté autour d'un axe de la coque externe et couplé à une paire de plaques de direction, conçue pour diriger le dispositif en un mouvement de rotation le long de la direction d'écoulement de fluide. Un ensemble de stabilisation comprend une plaque de montage fixée à l'arbre est utilisé pour amortir les oscillations. Un capteur visuel est monté sur la plaque de montage et conçu pour capturer des images de défauts internes du pipeline à travers l'anneau transparent. Un capteur acoustique est conçu pour détecter des fuites à l'aide de signaux acoustiques en tant que données acoustiques. Une unité de traitement, montée sur la plaque de montage, est conçue pour enregistrer les données visuelles et acoustiques pour inspecter la surface interne du pipeline.
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