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{{short description|Method of inspection using remotely operated tools}}
{{refimprove|date=June 2016}}
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** Pipe walls
** Girth welds
* [[
* [[Storage tank]]s
** Floor plates
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* Similarly, tank floor inspection crawlers that can be lowered into the tank via portholes on the tank roof eliminate the hazards of [[confined space]] entry and the time/expense involved in air quality monitoring.
* Tools capable of working while submerged eliminate the hazards, difficulty, and expense of draining the inspection area. When used in storage tank inspections and subsea applications, these tools also eliminate hazards associated with diving.
== Robotic ILI crawler variants ==
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=== Untethered ILI crawler overview ===
[[File:Pipetel Explorer 30-36.jpg|thumb|Pipetel Explorer untethered NDT pipeline crawler, manufactured and operated by Pipetel Technologies
Untethered robotic ILI crawlers are powered by onboard batteries; these tools transmit sensor data wirelessly to the tool operator or store the data for downloading upon tool retrieval. Untethered crawlers have the following advantages over tethered crawlers:
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[[File:GWS diagram.jpg|center|The principle of angle-beam EMAT use in pipeline girth weld assessment.]]
[[File:GWS FTM scan.jpg|thumb|upright|The frequency-time matrix for a lateral cylindrical hole in a pipe
The tool merges each set of FT scans into a single frequency-time matrix scan to display weld conditions, with anomalies color-coded by severity.<ref name="GWS" /> This method of girth weld scanning is designed to detect the following [[Welding defect|weld defects]]:
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=== Video inspection ===
[[File:Pipeline video inspection - pitting corrosion.png|thumb|A high-resolution camera image of an internal corrosion pit in a pipe wall
Main article – [[Pipeline video inspection|video inspection]]
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=== Laser profilometry ===
[[File:Laser profilometry - pitting corrosion.png|thumb|Laser profilometry assessment of the pipe wall corrosion pit shown in the previous image
Main article – [[surface metrology]]
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Natural gas pipeline operators can use tetherless robotic ILI crawlers for smaller distribution pipelines that are not located beneath critical infrastructure elements (e.g., freeway crossings).
* In 2011, [[Southern California Gas Company]] (SoCalGas) used a tetherless robotic ILI crawler manufactured by Pipetel to inspect an 8” natural gas pipeline whose product flow lacked the pressure to propel a traditional smart pig.
* [[Southwest Gas Corporation]] used the same tool in 2013 to inspect approximately one mile of a 6” natural gas line in Las Vegas, Nevada.<ref>[http://www.nysearch.org/news-info_012114.php Southwest Gas chooses Pipetel for Unpiggable pipeline inspection as part of its commitment to safety]. Northeast Gas Association. January 2014. Web. Accessed 9 March 2016.</ref>
* [[Central Hudson Gas & Electric]] used a similar crawler in 2015 to inspect a 3000’ section of a 16” natural gas line that included a roadway crossing.<ref>Welsh, Kathy. [http://hudsonvalleynewsnetwork.com/2015/10/08/central-hudson-tests-innovative-pipeline-inspection-robot/ Central Hudson Tests Innovative Pipeline Inspection Robot]. Hudson Valley News Network. October 8, 2015. Web. Accessed 15 March 2016.</ref>
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*** Real-time data monitoring allows daily reports and makes a preliminary report (containing only the most serious anomalies) possible.
*** The inspection crew can stop the tool’s forward progress to re-examine findings in order to gather additional data and confirm defect identity/severity.
*** The ability to monitor tool function ensures tool [[data integrity]] for the entirety of the inspection.
* The compact footprint of these tools allows them to be deployed at customer convenience rather than limited to pre-established endpoints (i.e., pig launcher/receiver).
** This makes tethered tools less likely to get stuck, and easier to retrieve if stuck/damaged.
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* [https://www.gpo.gov/fdsys/granule/CFR-2010-title49-vol3/CFR-2010-title49-vol3-sec192-921 US federal baseline pipeline assessment – 49 CFR 192.921]
* [https://www.gpo.gov/fdsys/granule/CFR-2010-title49-vol3/CFR-2010-title49-vol3-sec192-937 US federal pipeline integrity evaluation process – 49 CFR 192.937]
* [
* [http://www.pipelineoperators.org/ Pipeline Operators Forum]
* [[American Petroleum Institute]] (API) [http://www.api.org/publications-standards-and-statistics/standards/whatsnew/publication-updates/new-refining-publications/api_std_653 653]
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* [http://www.diakont.com/energy_services/16/robotic-in-line-inspection.html Diakont - pipeline ILI]
* [https://www.innerspec.com/integrated/applications/volumetric-inspection/composites-and-forgings/ Innerspec - Robotic Inspection Systems]
* [http://pipetelone.com/ Pipetel Technologies - pipeline ILI]
* [http://www.applusrtd.com/en/new/Applus_RTD_&_Delta_Subsea_unveil_pioneering_deepwater_NDT_Technology-1340242470561 Applus - subsea pipe inspection]
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* [http://www.silverwingndt.com/oil-gas-testing/storage-tanks/ndt-shell-inspection-equipment Silverwing – remote-control tank shell inspection vehicle]
* PHMSA
** [
** [https://primis.phmsa.dot.gov/comm/FactSheets/FSMaterialWeldFailure.htm Weld Failure fact sheet]
* [https://www.asnt.org/MajorSiteSections/Certification American Society for Nondestructive Testing certification]
* [https://www.asme.org/ American Society of Mechanical Engineers]
* [http://www.astm.org/ American Society for Testing and Materials]
* [https://ndtcs.com/ NDT Consultancy Services Inc.]
[[Category:Robotics]]
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