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

Infrastructures

Vladimir Pshenin¹  Alexander Skorobogatov¹  Anastasia Liagova¹  Alexander Razin¹  Maxim Komarovsky¹ 

[1] Department of Transport and Storage of Oil and Gas, Saint Petersburg Mining University, 199106 Saint Petersburg, Russia;

关键词: robot crawler;    magnetic wheel;    technical condition;    LIDAR;    EMAT;    machine vision;   

DOI  :  10.3390/infrastructures7060075

来源: DOAJ

【 摘 要 】

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.

【 授权许可】

Unknown