MX2013014458A - Robotic apparatus for automated internal pipeline girth weld ultrasonic inspection. - Google Patents

Abstract

This invention relates to a method and apparatus for inspecting pipeline girth welds from the inside of a pipeline by means of a robotic cart, remotely controlled externally by either an umbilical cord or a bi-directional wireless link. The robotic cart can be self propelled and can be driven from weld to weld by an operator, assisted by CCTV cameras. An array of ultrasonic probes are deployed from a rotating, robotic arm that extends from the cart front to the pipe wall, allowing the ultrasonic array to be placed at the weld and then rotated around the weld to provide 100% inspection of the weld. The acquired ultrasonic inspection data can be stored on an on-board computer for later analysis, and/or transmitted to an external computer for immediate analysis.

Description

ROBOTIC APPARATUS FOR THE AUTOMATED INSPECTION OF ULTRASONIC WELDING OF THE INTERNAL CIRCUMFERENCE OF A PIPELINE Cross reference to the related request The present application claims the priority benefit of US Provisional Patent Application No. 61 / 494,602 filed on June 8, 2011 under the title ROBOTIC APPARATUS FOR AUTOMATED INTERNAL PIPELINE GIRTH WELD ULTRASONIC INSPECTION.

Thus, the content of the above patent application is expressly incorporated by reference in the detailed description of this document.

BACKGROUND OF THE INVENTION A pipeline, such as a long-distance pipeline, is often installed as a series of pipe pipes, which have their ends welded together at the installation site. These circumferential welds are often of variable quality, since they are often welded in extreme conditions, such as in a barge for laying pipes, or in the middle of the desert. Accordingly, there is a need to inspect circumferential pipe welds, or after installation, or on a regular basis. A conventional method and apparatus for inspecting pipe circumferential welds involves a Ultrasonic inspection by deploying a series of ultrasonic probes on an externally mounted orbital mechanism, which is clamped around the circumference of the pipe. This method of deployment is usually composed of a semi-rigid "band" attached around the circumference of the pipe and a removable motor mechanism, usually called "bogie", which carries the ultrasonic structure, water for coupling the probe to the pipe, and a position transducer. An umbilical cable of the ultrasonic structure carries the transmission pulses from the probe, and the echoes and other signals received, to an ultrasonic acquisition system. The acquisition system then sends the unprocessed ultrasonic signals to a computer workstation. The analysis of these ultrasonic signals is common in the industry; from the signals provided by the ultrasonic probe bouncing off the circumferential weld, the quality of the circumferential weld can be determined.

In the case of a vessel for laying pipelines on the high seas, this method of inspection requires a separate and fixed inspection station, downstream of the welding of the pipe sections, which houses the band and the bogie. This inspection station is not desirable, since it occupies a valuable space on the ship.

In the case of an existing pipeline buried in the ground, the external ultrasonic inspection methodology of the inspection is not possible without the excavation of the pipe to expose the welds.

To add difficulty to the inspection of an existing pipeline, in many cases buried and surface-mounted pipes are often protected by coatings and external protective coatings. These exterior coatings need to be removed for inspection, and also replaced after inspection, which is time consuming and expensive.

Therefore, there is a need for an apparatus and method of inspection of circumferential pipe welds, which allows for internal inspection of a circumferential weld of pipe.

Add it to the invention According to one aspect of the invention there is provided a carriage for the ultrasonic inspection of circumferential pipe welds from inside a pipe having an inner wall, comprising: a wheeled frame; a robotic multi-axis arm, fixed to said frame and extending therefrom, said robotic arm having a frame end and a distal end, and capable of a displacement from a first retracted position in which, When the carriage is inside the pipe, the carriage is capable of a longitudinal displacement along the pipe without said distal end coming into contact with the inner wall; and a second extended position, in which the distal end is located close to the inner wall; said robotic arm is capable, when in said second extended position, of a 360 ° rotation of its distal end around a circumference of the inner wall; said robotic arm is also capable, when in the second extended position, of a precise adjustment and positioning in relation to said inner wall; an ultrasonic array, located near or at the distal end of the robotic arm, said ultrasonic array comprising at least one chamber and an ultrasonic structure having at least one ultrasonic probe; a robotic controller module fixed to said frame and capable of controlling the placement of the robotic arm; and an on-board computer connected to said robotic controller module and capable of sending and receiving a signal from a remotely located operator.

In certain embodiments, the carriage also comprises a water dispersion system proximate to or within the ultrasonic array, and which, when the robotic arm is in the second extended position, dispenses water between the less an ultrasonic probe and the inner wall; said water dispersion system is connected to a pressurized water source. For example, the pressurized water source is a water storage tank attached to said frame, and / or an umbilical cable with one end connected to the water dispersion system and another end connected to a water storage tank located in the outside of the pipe.

According to certain embodiments, the carriage also comprises a position transducer located close to or at the distal end of the robotic arm and which, when the robotic arm is in the second extended position, is in contact with the inner wall and is capable of measuring the integral force exerted by the ultrasonic array on the interior wall.

According to a further embodiment, one or more of the wheels can be a drive wheel; the carriage may comprise a battery fixed to said frame and feeding said wheel or driving wheels.

According to a further aspect of the invention, the carriage may comprise wheels that can be replaced or adjusted by the user for use in pipes of different diameter.

In certain embodiments, the carriage may further comprise an inclinometer fixed to said frame and capable of measuring the inclination of said carriage with respect to the ground.

According to a further aspect of the invention, the camera is pointed towards the inner wall when the robotic arm is in the second extended position.

The carriage of any one of claims 1-10, further comprising a forward facing camera.

According to a further aspect of the present invention there is described an inspection apparatus for the internal inspection of circumferential welds of pipe in a pipeline in a pipe laying vessel, comprising: a carriage as described herein; an umbilical cable, which extends from the chassis to a control room and which provides bidirectional data transmission from the on-board computer to an interpretation workstation in the control room; an alignment clamp capable of holding a new section of pipe to the pipe, and through which the umbilical cable can pass; an umbilical cable winding device in which a loose part of the umbilical cable is wound; and a user interface on the interpretation workstation that allows a user to do operate the car and get data from the car while it is in the control room.

The inspection apparatus of claim 12 further comprising a system for replenishing water on the outside of the pipe and connecting through the umbilical cable, and is capable of transporting pressurized water therethrough, to the dispersion system of Water.

According to a further aspect of the present invention there is described an inspection apparatus for the internal inspection of circumferential welds of pipe in a buried pipe or a pipe with welding coatings or coatings applied thereto, said inspection apparatus comprising: carriage as described herein; a wireless transmitter, having an antenna, and fixed to said car, connected to the on-board computer, and capable of transmitting a data signal from said on-board computer; a wireless receiver, having an antenna, and fixed to said car, connected to the on-board computer, and capable of receiving a controller data signal and transmitting said controller data signal to said on-board computer; an interpretation workstation located at a distance from said pipe, which has a second wireless receiver and a second transmitter wireless, both connected to one or more antennas, and is capable of receiving said data signal from said wireless transmitter and of sending said controller data signal to said wireless receiver; said interpretation work station is capable of generating the controller data signal based on a user input.

According to a further aspect of the present invention there is described a method of inspecting a circumferential weld in a pipe, comprising: placing on an open end of the pipe, a carriage having: a frame; a multi-axis robotic arm, fixed to said frame and extending therefrom, said robotic arm having a frame end and a distal end, and capable of a displacement from a first retracted position in which, when the carriage is in the Inside the pipe, the carriage is capable of a longitudinal displacement along the pipe without said distal end coming into contact with the inner wall; and a second extended position, in which the distal end is located close to the inner wall; said robotic arm is capable, when in said second extended position, of a 360 ° rotation of its distal end around a circumference of the inner wall; said robotic arm is also capable, when it is in the second position extended, of a precise fit and placement in relation to said inner wall; an ultrasonic array, located near or at the distal end of the robotic arm, said ultrasonic array comprising at least one chamber and an ultrasonic structure having at least one ultrasonic probe; a robotic controller module fixed to said frame and capable of controlling the placement of the robotic arm; an on-board computer connected to said robotic controller module and capable of sending and receiving a signal from a remotely located operator; and a camera facing forward; wherein the carriage is in the first retracted position; sending a signal to said carriage which results in a carriage movement along the pipeline; review the images of the camera facing forward to determine the placement of the car along the pipeline as it travels; stopping at a distance the carriage movement along the pipe, when the carriage is located close to the circumferential weld; sending a signal to said carriage which results in the extension of the robotic arm to the second extended position; Accurately adjust the position of the robotic arm by reviewing the images received from the at least one camera and controlling the arm by remote control; activate the ultrasonic structure; capture the data of said structure ultrasonic sending a signal to said carriage which results in the rotation of the robotic arm at least 360 degrees, around the length of the circumferential weld and around the circumference of the pipe; deactivate the ultrasonic structure; and store the captured data from the ultrasonic structure. The car can be operated either from the inside or from the outside of the pipeline, for example, from a control room or a vehicle or a trailer.

According to certain embodiments, the data captured from the ultrasonic structure is sent to the control room or to the vehicle or to the trailer for further analysis.

According to certain embodiments, the rotation of the robotic arm can be adjusted with precision almost in real time by an operator, at a distance, in response to the information received by said operator from the at least one camera.

According to a further aspect of the present invention, a dynamic force feedback system that maintains the ultrasonic structure at a constant force in the pipeline to compensate for positional errors of centralization of the carriage and ovalization of the pipe, is disclosed. as it rotates the robotic arm.

According to a further aspect of the invention, the orientation in the pipe of the robotic arm is determined and / or recorded by means of an inclinometer mounted on said carriage.

According to a further embodiment of the present invention, there is provided a quick-release umbilical coupling device, deployed by an alignment clamp for releasing / connecting the umbilical cable passing through the existing alignment clamp equipment to the control station. inspection control.

According to a still further embodiment of the present invention there is provided an umbilical coupling device that can be moved end to end of the pipe by the alignment clamp and released from the alignment clamp while the new pipes are placed at the end open of the pipe for circumferential welding.

BRIEF DESCRIPTION OF THE DRAWINGS Figure 1 shows a schematic representation of an apparatus according to an embodiment of the present invention, represented within a cross-section of a pipe.

Figure 1A is a schematic representation of an apparatus according to an embodiment of the present invention, represented in two alternative wheel configurations.

Figure 2 shows a schematic representation of an apparatus according to an embodiment of the present invention, represented within a cross section of a pipe, and connected, by an umbilical cable, to a controller on the outside of the pipe.

Figure 3 shows a schematic representation of an apparatus according to an embodiment of the present invention, represented within a cross section of a pipe, and connected, by bidirectional wireless link, to a controller on the outside of the pipeline.

Figure 4 shows a flow diagram of signal transmission between various components of an apparatus according to an embodiment of the present invention.

Detailed description An embodiment of the apparatus of the present invention is shown in Figures 1-3. A remote-controlled robotic carriage 10 comprises a frame 12 having rear wheels 14 and front wheels 16 on axes 18. As shown, both the rear wheels 14 and the front wheels 16 are powered by a motor (18, 20). ) controlled by an on-board computer 22 through a robotic controller module 24. As will be evident to an expert in the matter, in alternative embodiments (not shown), only one set of wheels is fed, with the other set of wheels rotating freely. It is not shown, but in a typical configuration, each wheel is fed individually. Therefore, as shown, the engine 18 actually feeds the rear right wheel, although there is a second rear engine (not shown) that feeds the left rear wheel. Having different engines for the left and right wheels allows a user to control the speed and / or torque of the left wheel relative to the right wheel, which in turn allows the carriage 10 to be steered.

As shown in FIG. 1, the wheels 14, 16 are shaped to conform to the interior wall 26 of a pipe 28 of a conventional diameter, for example, a pipe of 1.22 meters (4 feet). The wheels 14, 16, together with their axis 30, can be easily removed from the carriage 10 and replaced by wheels 14a in a different way, on the shaft 30a of a different length, to allow the carriage 10 to be used in a pipeline. a different diameter. Therefore, the apparatus can be equipped with wheels 14, 14a on shafts 30, 30a of a multitude of different shapes, sizes and lengths, each optimized for a different pipe diameter or, alternatively, a different pipe material. .

The carriage 10 is self-powered by means of a battery pack 32. The battery pack can be a rechargeable battery pack, for example with a quick connector (not shown) for easy recharging, or it can be a disposable battery pack. In the embodiment shown, the battery pack 32 is connected to both the drive motors 18, 20 and the electronic components (the robotic controller module 24 and the on-board computer 22, for example), and provides power to both. As will be understood by a person skilled in the art, the battery pack 32 and the motors 18, 20 are optional; in certain embodiments (not shown), the carriage 10, instead of self-propelling, has a coupling capable of attaching the carriage 10 to a conventional pipeline carriage, which would comprise motor means and could similarly be controlled remotely.

A robotic arm 36 extends from the front end 34 of the carriage 10. The robotic arm 36 is multi-axis, and controlled by the on-board computer 22 through the robotic controller module 24. As shown, the robotic arm 36 is configured in such a way that its base is approximately in the center of the diameter of the pipe, although, depending on the robotic arm used, this may not be essential. An ultrasonic array 38 is mounted on a distal portion 40 of the robotic arm 36.

An ultrasonic array 38 comprises a temperature-resistant ultrasonic wedge 39, and phase arrangement transducers 42, usually with 48 to 64 small individual elements that can be pressed separately. The deployed phase array transducers are usually adjusted to circumferential weld inspection at approximately 5 MHz depending on the detection requirements. The phase array transducer is configured so that it can be positioned on both sides of the circumferential weld to simultaneously permit upstream and downstream inspection. In addition, an ultrasonic structure (not shown) of flight time diffraction (TOFD) may be attached to the side of, in addition to, or in place of, phase array transducers 42. The TOFD ultrasonic structure usually comprises a pair of wedges that can introduce the desired longitudinal wave in an inspection part, a pair of TOFD transducers with a frequency of usually 5 MHz to 15 MHz, depending on the wall thickness and the requirements of resolution. The use of a combination of the TOFD ultrasonic structure and phase arrangement transducers can improve the resolution and / or detection of welding defects.

The robotic arm 36 can be placed in a retracted "parking" position, not shown, while the robotic carriage 10 moves along the interior wall 26 of the pipe. Once the robotic car 10 has been moved to a position close to a circumferential weld 48 (as shown), the robotic arm 36 can be placed in an extended position (as shown), which facilitates the placement of the ultrasonic array 38. next to the circumferential weld 48. The robotic arm 36 moves until the ultrasonic array 38 is in an appropriate position for inspection of the circumferential weld 48. The distal portion 41 of the robotic arm 36 is capable of a 360 degree rotation relative to the carriage 10, to allow the ultrasonic structure 42 to travel the full length of the circumferential weld 48, ie, the entire perimeter of the wall 26 inside of the pipe.

The robotic arm 36 is specifically designed for precise placement on each side of the weld (+/- approximately 1 mm), and 360 degree rotation around the weld, while maintaining both positional accuracy and constant rotation speed . This positional accuracy is achieved by a combination of usually five joints in the arm and one unit of 360 degrees rotational base, mounted on the front of the car 10.

The location of the ultrasonic array 38 in the correct inspection position is assisted by two camera assemblies 50, 52 mounted on the frame 40 of ultrasonic structure, and a forward facing camera assembly 54 mounted on the robotic carriage 10. The camera assemblies 50, 52, 54 can be any type of camera that provides an image to the operator. As shown, the camera assemblies 50, 52, 54 are CCTV video cameras with built-in LED light arrays. These camera sets 50, 52, 54 are activated by, and through a retransmission signal, the robotic controller module 24 in the on-board computer 22. The camera assemblies 50, 52, 54 also allow the operator to see the inspection that takes place and help the operator locate the next circumferential weld as the robotic car 10 moves. The two sets 50, 52 of camera pointing to the circumferential weld 48 are used with automated optical welding tracking vision software, to ensure accurate alignment of the ultrasonic probe by adjusting the position of the robotic arm 36 as necessary. In general, the camera assembly 50, 52 allows a placement initial initialization of the ultrasonic structure 42 near the circumferential weld 48. The chamber assemblies 50, 52 also assist in the placement of the ultrasonic structure 42 during the entire movement of the ultrasonic structure 42 around the circumferential weld 48, ensuring that the ultrasonic structure 42 does not deviate from the circumferential weld 48 during the inspection. . This optimization of the position can be performed either by the operator or automatically using a vision recognition software.

A position sensor 44, usually an encoder, having an integral force detection transducer 46 is also positioned in the ultrasonic array 38. When the robotic arm 36 is positioned close to the circumferential weld 48, the position sensor 44 is oriented in such a way that it presses on the inner wall 26 of the pipe, which allows recording the position of the ultrasonic structure 42 in the pipe during the rotation, and monitor the force applied to the interior wall 26 of the pipe by the robotic arm 36. The robotic controller module 24 uses the information received from the position sensor 44 to adjust the robotic arm 36 to achieve a relatively constant force in the ultrasonic structure 42. This closed-loop control compensates for both centralization errors of the robotic car 10 as the ovalization of the pipe.

In an alternative embodiment (not shown), the robotic arm can be a pantograph-type robotic arm with almost constant pressure compliance. For this type of system, the extension / retraction actuators are used to deploy the ultrasonic structure.

The information regarding the orientation of the robotic carriage 10, and therefore the robotic arm 36, with respect to the axial position of the pipe 28 is provided by means of an inclinometer 56, mounted on the robotic carriage frame 12. During operation, the inclinometer 56 is useful for determining the exact and constant start of the scanning position in the circumference of the circumferential weld 48. For example, the inclinometer 56 can be used to position the ultrasonic structure so that the start of the inspection is always at the "top" of the interior wall 26 of the pipe. The inclinometer can also be useful in adjusting the torque in the drive motors 18, 20 on the left and right side while the carriage 10 moves to the next weld to prevent the carriage wheels from rising up the walls of the pipe and, potentially, overturn.

A water storage tank 58 is also placed on the carriage 10. The water storage tank 58 has an integrated pressure regulator, and is connected to the ultrasonic array 38, to supply water at the required pressure to an integral water dispersion system 60 therein. The water is used as a means to transmit and receive the ultrasonic signals emitted by the ultrasonic structure 42. In the case of freshly welded hot pipes, the water is used to cool the ultrasonic array 38, in particular, the phase arrangement transducers 42, when in operation. The water is carried by means of a flexible tube, located in an umbilical cable (not shown), between the water storage tank 58 and the water dispersion system 60.

The umbilicals (not shown) also connect the ultrasonic array 38 (either phase array and / or TOFT probes, as described above) to an ultrasonic data acquisition system 62, which in turn sends the signals Ultrasonics to the on-board computer 22 for analysis or transmission. The ultrasonic data acquisition system 62 comprises a module of ultrasonic electronic components and a system computer. The module of ultrasonic electronic components it provides up to 128 transmissions and receives the phase arrangement channels plus 16 channels of a single element / TOFD, including the processing of signals to and from the probes and the transmission of data to the on-board computer 22. The on-board computer sends the acquired ultrasonic data to the system computer 94 through a fast Ethernet connection. The system computer 94 has the software for acquiring and presenting all the data to collect and display the inspection data.

Figure 2 shows an embodiment of the robotic cart 10, as a part of an inspection system 104 intended for use in ship applications for laying new pipelines on the high seas. In this embodiment, the robotic carriage 10 is controlled by an umbilical cable. For ship applications for laying offshore pipelines, the use and analysis and interpretation of the inspection data provided by the robotic car 10 is required very quickly (almost in real time) in order to maximize productivity. During operation, the robotic carriage 10 remains in the pipe during the entire welding / joining process of pipes. An umbilical cable 70 carries bidirectional high-speed data transmission of inspection data, robotic truck controls, CCTV camera images, water replenishment and battery recharging power through a modified version of a laying barge pipe to a pipe centering device, commonly known as an "alignment clamp" 72. The alignment clamp 72 is similar to those already known in the art , with many different designs in operation, depending on the manufacturer or vessel for laying pipes, but each alignment clamp design is modified to allow the umbilical cable 70 to pass therethrough. It is used in a manner similar to that known in the art, with the following modifications. The alignment clamp 72 is used to deploy an umbilical quick connect / disconnect coupling device 74 that remains in the pipeline when the alignment clamp 72 is removed to allow a new length of pipe to be introduced for welding. The coupling device has a central coupling cone to aid in alignment. Four self-sealing quick connect / disconnect male and female connectors are provided at the tip of the cone. Each connector carries the following services / signals: water, air, power and data signals. When the alignment clamp 72 is reintroduced into the new pipe section before welding, the alignment clamp 72 first "engages" with the device 74 of coupling, engaging and blocking the male and female connector device, releasing the coupling clamps 76, positioning itself and coupling device 74 in the correct position for accurate welding to take place external to the pipeline.

Upon completion of the welding of a new pipe section 78 on the pipe 80, the alignment clamp 72 and the coupling device 74 are retracted (i.e., moved) to the open end 82 of the new pipe section 78. The coupling device 74 is clamped at the open end 82 and disengaged from the alignment clamp 72, breaking the umbilical connection. An umbilical cable winding device 84 is used to wind and unwind the umbilical cable 70 inside the pipeline as the carriage 10 moves inside the pipe 80. The umbilical cable 70 emerges from the clamp 72 of the umbilical. alignment in a stuffing box 86 and connected to a second umbilical cable device 88 that controls the length of the umbilical cable 70 required by the alignment clamp 72.

The umbilical cable 70 is routed from the stuffing box 86 to a control room 90 and terminates in a plant control panel 92. The plant control panel 92 distributes the signals received from the umbilical cable 70 to an interpretation work station 94, which includes an operator screen 96 and a video monitoring station 98. The water 100 is fed to the water storage tank 58 by a water replenishment system 102. An operator in the control room 90 controls the complete inspection cycle by operating the interpretation work station 94. From the control room, the operator can see the output of the cameras 50, 52, 54 to understand the position of the carriage 10 in relation to the circumferential weld 48, the control motors 18, 20 and, thus, the movement of the carriage 10 inside the pipe 28 towards a circumferential weld 48, control the alignment of the ultrasonic array 38 in the circumferential weld 48, and the rotation of the robotic arm to move the ultrasonic array 38 around the circumference of the circumferential weld 48 . The operator also controls the flow of water to the ultrasonic array 38 and monitors the coupling of the ultrasonic signals inside and outside the interior wall 26 of the pipe. In case of a loss of data due to a loss of coupling, the operator can stop the rotation of the ultrasonic array 38, reverse the axial rotation of the distal part of the arm 41 robotic and repeat the scan, thus capturing the lost ultrasonic data.

The ultrasonic probe data can be reviewed in near real time to determine if there is any imperfection or defect in the circumferential weld 48, and whether these imperfections or defects are substantial enough to require a new weld or repair. These data are also stored in the interpretation work station 94 for future use, and to document the inspection process and the quality of the weld process of the circumferential weld 48.

As will be apparent to one skilled in the art, the use of the inspection system 104 can eliminate the need for a specialized ultrasonic inspection station that requires conventional external pipe inspection methods, thereby increasing the available floor space in the ship This potentially allows the unoccupied inspection area to be used for an additional welding station, with the resulting increase in productivity.

Figure 3 shows a further embodiment of the robotic cart 10, as a part of an inspection system 106 intended for use in the ground inspection of existing service pipelines, which may be buried or they have coatings and / or welding coatings applied. The embodiment shown in Figure 3 is of a robotic trolley for bidirectional radio link.

In this embodiment, the robotic carriage 10 is equipped with a bidirectional wireless transmitter / receiver 108, with an antenna 110, fixed to the rear of the carriage. Optionally (not shown), the robotic carriage 10 may be equipped with a specific, separate unidirectional transmitter and receiver.

At the open end 82 of the pipe 28 a second antenna 112 is located, and is connected through a suitable radio frequency cable 114 to a master wireless transmitter / receiver 116.

The bidirectional wireless transmitter / receiver 108 is connected to the on-board computer 22 through which it sends and receives signals to the robotic controller module 24, the motors 18, 20, and other components of the carriage 10, for example, the position transducers 44 and the robotic arm 36. The bidirectional wireless transmitter / receiver is also capable of transmitting image data from the cameras 50, 52, 54 to the master wireless transmitter / receiver 116.

The wireless transmitters / receivers 108, 116 operate using the known, and preferably approved, existing wireless protocol standards.

In this way, an operator can operate all the necessary controls of the car 10, and receive all the relevant signals and information of the car 10, by remote control. Typically, the master wireless transmitter / receiver 116 is housed in a suitable control environment, eg, an off-road vehicle or trailer. Also within the vehicle or trailer 118 are the interpreting work station 94, the operator screen 96, and the video monitoring station 98, identical in general to those described above in the inspection system 104. The operator sits on the vehicle or trailer 118, and controls the complete inspection cycle.

As the circumferential weld 48 is scanned the ultrasonic data is recorded in the on-board computer 22. The basic data on the inspection and the images of the cameras 50, 52, 54 are sent through the wireless link 120 as the inspection progresses; Information is also sent regarding data integrity and other system maintenance activities. At the conclusion of the ultrasonic inspection, the acquired ultrasonic data can be sent to the interpretation work station 94 via the wireless link 120, or kept on the on-board computer 22 for further analysis.

The wireless link 120 may, as an alternative, transmit a subset of the ultrasonic data, related to the success of the scan and the validity of the data, before the carriage moves to the next weld. During transit to the next weld the entire ultrasonic data set can be transmitted to the interpretation work station 94 for analysis or, alternatively, stored in the on-board computer 22 for further analysis. This configuration allows circumferential welds of pipes in service, buried, coated or coated, to be inspected from the inside.

In general, the inspection systems 104 and 106 operate in the same manner. During operation, an operator uses the interpretation station 94 to control the carriage 10. First, an operator or a personnel team places the carriage 10 within a pipe, through the open end 82 of the pipe 28. In the case of the inspection system 104, the operator or the personnel team will then connect an alignment clamp through the open end 82 of the pipe 28, as would be done in a conventional system that is inside a laying vessel of typical pipes. Next, the operator, using the controls (not shown) which are in the interpretation station 94, moves the carriage 10, to a desired location, next to a circumferential weld 48 to be inspected. For this, the operator seeks the circumferential weld 48 using images captured by the forward facing camera 54, which are transmitted to the interpretation work station 94, and are displayed in the video monitoring station 98. Optionally (and not shown), in the case of the inspection system 106, a GPS positioning system or an odometer located on the carriage 10 can also be used. Once the carriage 10 is in the correct position, adjacent to a weld 48 circumferentially, the operator then extends the robotic arm 36 in such a manner that the ultrasonic structure 42 is in a desired location immediately adjacent the circumferential weld 48. For this, the operator uses the information provided by the camera sets 50, 52, transmitted back to the interpretation work station 94 and displayed in the video monitoring station 98. The operator also uses the information provided by the position transducer 44. Next, the operator activates the water dispersion system 60, and the ultrasonic structure 42. Next, the operator rotates the robotic arm 36, such that the structure 42 ultrasonic moves along the entire length of circumferential weld 48. Again, the information of the position transducer 44 and of the cameras 50, 52 is used to accurately adjust this movement, so that the ultrasonic structure 42 accurately measures the length of the circumferential weld 48. While the operator rotates the robotic arm 36, the ultrasonic structure 42 measures the data with respect to the circumferential weld 48. Therefore, once all the circumferential weld 48 has been inspected (through approximately 360 degree rotation of the robotic arm 36), the operator then deactivates the ultrasonic structure 42, deactivates the water dispersion system 60, and retracts the robotic arm 36 away from the interior wall 26 of the pipe. As discussed above, the ultrasonic inspection data is optionally transmitted back to the operator in the interpretation work station 94, or stored in the on-board computer 22. The operator receives confirmation that the inspection has been completed and then repeats the process for the next circumferential weld.

Figure 4 is a flowchart representing the flow of information to and from the various components of the apparatus, as described above.

Although the invention has been described in relation to certain embodiments thereof, it is not limited thereto. Rather, the invention includes all embodiments that pertain to the scope of the following claims.

Parts List Truck 10 Frame 12 Wheels 14, 14a rear 16, 16a front wheels 18 rear engine 20 forward motor 22 onboard computer Module 24 robotic controller Interior wall 26 Pipe 28 Axis 30 Axis 30a Battery pack 32 End 34 front Arm 36 robotic Set 38 ordered ultrasonic Ultrasonic wedge 39 Frame 40 of ultrasonic structure Distal part of the robotic arm 41 Phase arrangement transducers 42 Position sensor 44 Integral force detection transducer 46 Welding 48 circumferential Set 50, 52 of camera Set 54 of forward facing camera Inclinometer 56 58 water storage tank Water dispersion system 60 Ultrasonic acquisition system 62 70 umbilical cable Clamp 72 alignment Coupling device 74 Coupling clamps 76 Section 78 of new pipe Pipe 80 82 open end Device 84 of umbilical cable winding Cable glands 86 Second device 88 of umbilical cable winding Room 90 control Table 92 of plant control Interpretation work station 94 Operator screen 96 Station 98 for video monitoring Water 100 System 102 of replacement of water It is noted that in relation to this date, the best method known to the applicant to carry out the aforementioned invention, is that which is clear from the present description of the invention.

Claims (23)

1. A carriage for the ultrasonic inspection of circumferential pipe welds from inside a pipe having an interior wall, comprising: • a frame with wheels; • a multi-axis robotic arm, fixed to said frame and extending therefrom, said robotic arm having a frame end and a distal end, and capable of a displacement from a retracted first position in which, when the car is in the inside of the pipe, the carriage is capable of a longitudinal displacement along the pipe without said distal end coming into contact with the inner wall; and a second extended position in which the distal end is located close to the inner wall; • said robotic arm is capable, when in said second extended position, of a 360 ° rotation of its distal end around a circumference of the inner wall; • said robotic arm is also capable, when in the second extended position, of an adjustment and a precise positioning in relation to said inner wall; • an ultrasonic array, located near or at the distal end of the robotic arm, said ultrasonic array comprising at least one camera and an ultrasonic structure having at least one ultrasonic probe; • a robotic controller module fixed to said frame and capable of controlling the placement of the robotic arm; Y • an on-board computer connected to said robotic controller module and capable of sending and receiving a signal from a remotely located operator.

2. The car of claim 1 further comprising: · A water dispersion system close to or within the ultrasonic array, and that, when the robotic arm is in the extended second position, dispenses water between the at least one ultrasonic probe and the interior wall; · Said water dispersion system that is connected to a pressurized water source.

3. The cart of claim 2 wherein the pressurized water source is a water storage tank attached to said frame.

4. The carriage of claim 2 wherein the pressurized water source is an umbilical cable with one end connected to the water dispersion system and another end connected to a water storage tank located on the outside of the pipe.

5. The carriage of any one of claims 1-4 further comprising a position transducer located proximal to or at the distal end of the robotic arm and which, when the robotic arm is in the second extended position, is in contact with the inner wall and it is capable of measuring the integral force exerted by the ultrasonic array on the interior wall.

6. The carriage of any one of claims 1-5 wherein at least one of said wheels is a drive wheel.

7. The carriage of claim 6 further comprising a battery fixed to said frame and feeding said drive wheel.

8. The carriage of any one of claims 1-7 wherein the wheels can be replaced or adjusted by the user for use in pipes of different diameter.

9. The carriage of any one of claims 1-8 further comprising an inclinometer fixed to said frame and which is capable of measuring the inclination of said carriage with respect to the ground.

10. The carriage of any one of claims 1-9 wherein the camera is pointed towards the inner wall when the robotic arm is in the second extended position.

11. The carriage of any one of claims 1-10 further comprising a forward facing camera.

12. An inspection apparatus for the internal inspection of circumferential welds of pipe in a pipe in a vessel for laying of pipes, comprising: • a car of any one of claims 1-11; • an umbilical cable, which extends from the chassis to a control room and provides bidirectional data transmission from the on-board computer to an interpretation workstation in the control room; • an alignment clamp capable of holding a new length of pipe to the pipe, and through which the umbilical cable can pass; • an umbilical cable winding device in which a loose part of the umbilical cord is wound; Y • a user interface on the interpretation workstation that allows a user to do operate the car and get data from the car while it is in the control room.

13. The inspection apparatus of claim 12 further comprising a system for replenishing water on the outside of the pipe and connecting through the umbilical cable, and which is capable of transporting pressurized water therethrough, to the dispersion system of water.

14. An inspection apparatus for the internal inspection of circumferential welds of pipe in a buried pipe or a pipe with coatings or welding coatings applied thereto, said inspection apparatus comprising: • a car of any one of claims 1-11; • a wireless transmitter, having an antenna, and fixed to said car, connected to the on-board computer, and capable of transmitting a data signal from said on-board computer; • a wireless receiver, having an antenna, and fixed to said car, connected to the on-board computer, and capable of receiving a controller data signal and transmitting said controller data signal to said on-board computer; Y • an interpretation work station located remotely from said pipe, having a second wireless receiver and a second wireless transmitter, both connected to one or more antennas, and is capable of receiving said data signal from said wireless transmitter and of sending said controller data signal to said wireless receiver; • said interpretation workstation capable of generating the controller data signal based on a user input.

15. An inspection method of a circumferential weld in a pipe, comprising: • place a car at the open end of the pipe that has: or a frame; or a multi-axis robotic arm, fixed to said frame and extending therefrom, said robotic arm having a frame end and a distal end, and which is capable of a displacement from a first retracted position in which, when the carriage is inside the pipeline, the car is capable of longitudinal displacement as length of the pipe without said distal end coming into contact with the inner wall; and a second extended position in which the distal end is located close to the inner wall 5; or said robotic arm is capable, when in said second extended position, of a 360 ° rotation of its distal end around a circumference of the wall 10 interior; said robotic arm is also capable, when in the second extended position, of a precise adjustment and positioning in relation to said inner wall; or an ultrasonic ordered set, located 15 near or at the distal end of the robotic arm, said ultrasonic array comprising at least one chamber and an ultrasonic structure having at least one ultrasonic probe; 20 or a robotic controller module fixed to said frame and capable of controlling the placement of the robotic arm; an on-board computer connected to said robotic controller module and capable of sending and receiving a signal from a remotely located operator; Y or a camera facing forward; wherein the carriage is in the first retracted position; · Sending a signal to said carriage which results in a carriage movement along the pipeline; • review the images of the camera facing forward to determine the placement of the car along the pipeline as it travels; • stopping the displacement of the carriage at a distance along the pipe, when the carriage is located close to the circumferential weld; • sending a signal to said carriage which results in the extension of the robotic arm to the second extended position; • Accurately adjust the position of the robotic arm by reviewing the images received from the at least one camera and controlling the arm by remote control; • activate the ultrasonic structure; • capture the data of said ultrasonic structure; • send a signal to said car that results in the rotation of the robotic arm at least 360 degrees, around the length of the circumferential weld and around the circumference of the pipe; • deactivate the ultrasonic structure; Y • store the captured data from the ultrasonic structure.

16. The method of claim 15 wherein the carriage is operated from the outside of the pipe.

17. The method of claim 16 wherein the carriage is operated from a control room or vehicle or trailer.

18. The method of claim 17 further comprising sending the captured data from the ultrasonic structure to the control room or vehicle or trailer for further analysis.

19. The method of claim 15 wherein the rotation of the robotic arm can be adjusted with near real-time precision by an operator, remotely, in response to information received by said operator from the at least one camera.

20. The method of claim 15 further comprising a dynamic force feedback system that maintains the ultrasonic structure at a constant force in the tube to compensate for positional errors of the tube. centralization of the car and the ovalization of the pipes, as the robotic arm rotates.

21. The method of claim 15 further comprising a registration of the orientation in the robotic arm pipeline by means of an inclinometer mounted on said carriage.

22. A quick-release umbilical coupling device, deployed by an alignment clamp to release / connect the umbilical cable passing through the existing alignment clamp equipment to the inspection control station.

23. An umbilical coupling device that can be moved from end to end of the pipe by the alignment clamp and released from the alignment clamp while the new pipes are placed at the open end of the pipe for circumferential welding.