Smart Pipes: An Intelligent Robotic Solution for Pipeline Condition Assessment and Inspection

摘要

Maintaining and inspecting drill pipes remains a significant challenge in the oil and gas industry due to economic and engineering unfeasibility. Therefore, designing smart and effective inspection tools that address these challenges is imperative. This study introduces an intelligent in-pipe inspection robot that integrates an adjustable size mechanism, artificial intelligence (AI), and simultaneous localization and mapping (SLAM) for defect analysis in drill pipes. Structural simulations on the adjustable size mechanism identified an ultimate von Mises stress below the material's yield strength, with a satisfactory factor of safety. Furthermore, the torque demanded by the stepper motor to drive the mechanism yielded maximum values as the wheel platform was close to the robot's body (shrink position). Finally, extensive testing verified the robot's performance. The adjustable diameter system navigated pipelines of various widths, displaying flexibility and robustness after multiple expansion and contraction cycles. The depth camera integration was also confirmed, resulting in clear, real-time visual data and improved inspection capabilities. Real-time visualization of data is supported by AI crack and corrosion detection. Integrating an adjustable size mechanism, AI detection, and SLAM mapping offers effective human-technology interaction and system adaptability during operation.