scholarly journals Development of a Pipeline Inspection Robot for the Standard Oil Pipeline of China National Petroleum Corporation

2020 ◽  
Vol 10 (8) ◽  
pp. 2853 ◽  
Author(s):  
Hui Li ◽  
Ruiqin Li ◽  
Jianwei Zhang ◽  
Pengyu Zhang
Keyword(s):  
Mobile Robot ◽  
Field Testing ◽  
Oil Pipeline ◽  
Pipeline Inspection ◽  
Inspection Robot ◽  
Hazardous Environments ◽  
Oil Pipelines ◽  
China National Petroleum Corporation ◽  
Transfer Stations ◽  
Inspection Robots

The periodic inspection for oil pipelines is required due to the deterioration over time. A multitude of factors brings such a deterioration, from corrosion, leaks, to cracks, which may lead to blowbacks and cause the damages for operators and the environments. With the progress of robotics technology, various types of mobile robots and mechanisms are designed to cope with this issue. Rather than the assignment of human workers in hazardous environments, the deployment of such kinds of inspection robots can take on this duty more time-efficiently and safely, preventing the human workers from the high-risk of the inspection task in the oil pipelines. This paper presents a novel design of a mobile robot for oil pipeline inspection, which is cooperated with the China National Petroleum Corporation (CNPC). With the improvement of the previous inspection robot used in CNPC’s standard oil pipelines, the newly designed robot is composed of six groups of symmetrical supporting wheels, and a more powerful motors as well as a more advanced control system. This new design endows the oil pipeline inspection robot with better performance on six aspects: traction, obstacle-adaptivity, operation endurance, gradeability, visual perception, and stability. The field testing results at multiple oil transfer stations across several months demonstrate the reliability of this mobile robot under various severe situations in China and validate its performance in the studied aspects.

Study on the Error Analysis of Pipeline Inspection Robot Mileage Wheel Localization

2013 ◽  
Vol 706-708 ◽  
pp. 1171-1174
Author(s):  
Hong Xu ◽  
Zhu Xin Li ◽  
Yuan Yuan Li ◽  
Li Hong Gong
Keyword(s):  
Error Analysis ◽  
Localization Accuracy ◽  
Pipeline Inspection ◽  
Inspection Robot ◽  
Accurate Localization ◽  
Accurate Detection ◽  
Localization Errors ◽  
Inspection Robots

Currently, the development of our pipeline inspection technology is rapidly, pipeline inspection robots were widely used , it providing scientific and accurate detection data for pipeline maintenance and overhaul. The accurate localization datas provided by pipeline robots are the basis for pipeline maintenance and overhaul.This paper describes the running Principle of mileage wheel, detailly analysis the reasons of the mileage wheel localization errors according problems appeared.finally, proposed methods to improve pipeline inspection robot mileage wheel localization accuracy briefly.

Using clusterization principles for the selection of repair sections of main oil pipelines based on diagnostic data

2011 ◽  
Vol 8 (1) ◽  
pp. 201-210
Author(s):  
R.M. Bogdanov
Keyword(s):  
Cluster Analysis ◽  
Defect Density ◽  
Density Variation ◽  
Distance Functions ◽  
Oil Pipeline ◽  
Oil Pipelines ◽  
Classification Of Images ◽  
Main Oil Pipeline ◽  
Selection Of

The problem of determining the repair sections of the main oil pipeline is solved, basing on the classification of images using distance functions and the clustering principle, The criteria characterizing the cluster are determined by certain given values, based on a comparison with which the defect is assigned to a given cluster, procedures for the redistribution of defects in cluster zones are provided, and the cluster zones parameters are being changed. Calculations are demonstrating the range of defect density variation depending on pipeline sections and the universal capabilities of linear objects configuration with arbitrary density, provided by cluster analysis.

A review on pipeline inspection robot

2020 ◽  
Author(s):  
Prasanthi Ambati ◽  
K. M. Suman Raj ◽  
A. Joshuva
Keyword(s):  
Pipeline Inspection ◽  
Inspection Robot

Modified equations for hydraulic calculation of thermally insulated oil pipelines for the case of a power-law fluid

2021 ◽  
pp. 388-395
Author(s):  
Марат Замирович Ямилев ◽  
Азат Маратович Масагутов ◽  
Александр Константинович Николаев ◽  
Владимир Викторович Пшенин ◽  
Наталья Алексеевна Зарипова ◽  
...  
Keyword(s):  
Power Law ◽  
Analytical Calculation ◽  
High Viscosity ◽  
Hydraulic Calculation ◽  
Flow Index ◽  
Pipeline System ◽  
Power Law Fluid ◽  
Simplified Approach ◽  
Oil Pipeline ◽  
Oil Pipelines

Теплогидравлический расчет неизотермических трубопроводов является наиболее важным гидравлическим расчетом в рамках решения задач обеспечения надежности и безопасности работы нефтепроводной системы. Для практических расчетов применяются формулы Дарси - Вейсбаха и Лейбензона. При этом в ряде случаев (короткие теплоизолированные участки, поверхностный обогрев нефтепроводов) можно использовать упрощенный подход к расчету, пренебрегая изменением температуры или учитывая температурные поправки. В настоящее время формулы для аналитического расчета движения высоковязких нефтей в форме уравнения Лейбензона получены только для ньютоновской и вязкопластичной жидкостей. Для степенной жидкости соответствующие зависимости отсутствуют, расчет ведется с использованием формулы Дарси - Вейсбаха. Целью настоящей статьи является представление формулы Дарси - Вейсбаха для изотермических течений степенной жидкости в форме уравнения Лейбензона. Данное представление позволит упростить процедуру проведения аналитических выкладок. В результате получены модифицированные уравнения Лейбензона для определения потери напора на участке нефтепровода в диапазоне индекса течения от 0,5 до 1,25. В указанном диапазоне относительное отклонение от результатов расчетов с использованием классических формул Метцнера - Рида и Ирвина не превышает 2 %. The thermal-hydraulic calculation of non-isothermal pipelines is the most important hydraulic calculation in the framework of solving the problems of ensuring the reliability and safety of the oil pipeline system. For practical calculations, the Darcy - Weisbach and Leibenson formulas are used. Moreover, in a number of cases (short heat-insulated sections, surface heating of oil pipelines), a simplified approach to the calculation can be used, neglecting temperature changes or taking into account temperature corrections. At present, formulas for the analytical calculation of the motion of high-viscosity oils in the form of the Leibenson equation have been obtained only for Newtonian and viscoplastic fluids. For a power-law fluid, there are no corresponding dependences; the calculation is carried out using the Darcy - Weisbach formula. The purpose of this article is to present the Darcy - Weisbach formula for isothermal flows of a power-law fluid in the Leibenzon form, which will simplify the procedure for performing analytical calculations. The modified Leibenzon equations are obtained to determine the head loss in the oil pipeline section in the range of the flow index from 0.5 to 1.25. In the specified range, the relative deviation from the results of calculations using the classical Metzner - Reed and Irwin formulas does not exceed 2 %.

scholarly journals Study on Optimizing Operation of Preheating Commissioning for Waxy Crude Oil Pipelines

2014 ◽  
Vol 6 ◽  
pp. 894256
Author(s):  
Jian Zhang ◽  
Yi Wang ◽  
Xinran Wang ◽  
Handu Dong ◽  
Jinping Huang ◽  
...  
Keyword(s):  
Crude Oil ◽  
Outlet Temperature ◽  
Fluid Temperature ◽  
Governing Equations ◽  
Waxy Crude Oil ◽  
Waxy Crude ◽  
Oil Pipeline ◽  
Single Station ◽  
Oil Pipelines ◽  
Volume Method

A mathematical model is established for the preheating commissioning process of waxy crude oil pipelines. The governing equations are solved by the finite volume method and the finite difference method. Accordingly, numerical computations are made for the Niger crude oil pipeline and the Daqing-Tieling 3rd pipeline. The computational results agree well with the field test data. On this basis, fluid temperature in the process of the preheating commissioning is studied for single station-to-station pipeline. By comparing different preheating modes, it is found that the effect of forward preheating is the best. Under different preheating commissioning conditions, the optimal combination of outlet temperature and flow rate is given.

Development of a Smart Sensor System with Application to In-Pipe Inspection Robots

2015 ◽  
Vol 762 ◽  
pp. 169-174 ◽  
Author(s):  
Leon Brai ◽  
Radu Balan ◽  
Ciprian Lapusan
Keyword(s):  
Mobile Robot ◽  
Sensor System ◽  
Smart Sensor ◽  
Pipe Network ◽  
Pipe Inspection ◽  
Network Parameters ◽  
Inspection Robots

The paper presents the development of a smart sensor system that is used for measuring pipe network parameters. The developed sensor is intended for use with in pipe inspection robots that can independently explore and evaluate the constructive parameters and the condition of the pipe network. The proposed system is developed around the Atmel ATMega16 microcontroller which is connected to a set of sensors and to the robot. The sensor system was tested using the ROBIN250 mobile robot and the obtained results are presented in the paper.

Development of modularized in-pipe inspection robotic system: MRINSPECT VII+

Robotica ◽  
2021 ◽  
pp. 1-24
Author(s):  
Heesik Jang ◽  
Ho Moon Kim ◽  
Min Sub Lee ◽  
Yong Heon Song ◽  
Yoongeon Lee ◽  
...  
Keyword(s):  
Autonomous Navigation ◽  
Ccd Camera ◽  
Pipeline Inspection ◽  
Inspection Robot ◽  
Ground Station ◽  
Computing Unit ◽  
Differential Gear ◽  
Sensor Module ◽  
Communication Module ◽  
Gear Mechanism

Abstract This paper presents a modularized autonomous pipeline inspection robot called MRINSPECT VII+, which we recently developed. MRINSPECT VII+ is aimed at inspect in-service urban gas pipelines with a diameter of 200 mm. The robot consists of five basic modules: driving, sensing, joint, and battery modules. For nondestructive testing (NDT), an NDT module can be added to the system. The driving module uses a multiaxial differential gear mechanism to provide traction forces to the robot. The sensor module recognizes the pipeline element using position-sensitive detector (PSD) sensors and a CCD camera. The control module contains a computing unit and manages the robot’s autonomous navigation. The battery module supplies power to the system. Each module is connected via backdrivable active joint modules, which provide flexibility while moving inside narrow pipelines. Additionally, the wireless communication module helps the system communicate with the ground station. We tested MRINSPECT VII+ in real pipeline environments and validated its feasibility successfully.

From the history of the problem of oil transportation and storage. Contribution of Shukhov V.G.

2021 ◽  
pp. 50-54
Author(s):  
L. R. Yurenkova ◽  
N. V. Bilash
Keyword(s):  
Oil Industry ◽  
Petroleum Products ◽  
Fuel Oil ◽  
Oil Pipeline ◽  
Oil Storage ◽  
Oil Transportation ◽  
Oil Pipelines ◽  
Steel Tanks ◽  
Cylindrical Steel Tanks ◽  
And Storage

A significant part of the oil consumed in the world is transported from production and processing sites to consumers via tankers and pipelines. According to experts' forecasts, the demand for oil and petroleum products in the coming years will be significantly higher than in 2020. In Russia, the oil transportation market is developing in several directions. The main directions are investing in pipeline transport and improving the design of tanks for storing oil and petroleum products. The article considers the contribution of the great Russian engineer V.G. Shukhov to the solution of the problem of oil transportation and storage and in general to the development of the oil industry. In the article "Oil Pipelines" (1884) and in the book "Pipelines and their application in the oil industry" (1894), V.G. Shukhov gave precise mathematical formulae for describing the processes of oil and fuel oil flowing through pipelines, creating a classical theory of oil pipelines. He is the author of the projects of the first Russian main pipelines: Baku-Batumi with a length of 883 km (1907) and Grozny-Tuapse with a length of 618 km (1928). Shukhov V.G. designed and then supervised the construction of oil pipelines of the companies "Branobel", "G.M. Lianozova and sons" and the world's first heated fuel oil pipeline. Working in the oil fields in Baku, Shukhov V.G. developed the basics of lifting and pumping oil products, proposed a method of lifting oil using compressed air — airlift, developed a calculation method and technology for the construction of cylindrical steel tanks for oil storage facilities.

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