WO2007130723A1 - Système et procédé d'inspection in situ de canalisations - Google Patents

Système et procédé d'inspection in situ de canalisations Download PDF

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Publication number
WO2007130723A1
WO2007130723A1 PCT/US2007/061575 US2007061575W WO2007130723A1 WO 2007130723 A1 WO2007130723 A1 WO 2007130723A1 US 2007061575 W US2007061575 W US 2007061575W WO 2007130723 A1 WO2007130723 A1 WO 2007130723A1
Authority
WO
WIPO (PCT)
Prior art keywords
tool
pipeline
operable
pipe inner
outer diameter
Prior art date
Application number
PCT/US2007/061575
Other languages
English (en)
Inventor
James Arthur Westlake
Anouar Jamoussi
Fathi H. Ghorbel
Roderic K. Stanley
Original Assignee
Itrobotics, Inc.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Itrobotics, Inc. filed Critical Itrobotics, Inc.
Publication of WO2007130723A1 publication Critical patent/WO2007130723A1/fr
Priority to US12/835,510 priority Critical patent/US8030946B2/en

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R33/00—Arrangements or instruments for measuring magnetic variables
    • G01R33/02—Measuring direction or magnitude of magnetic fields or magnetic flux
    • G01R33/04—Measuring direction or magnitude of magnetic fields or magnetic flux using the flux-gate principle
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
    • F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
    • F16L55/28—Constructional aspects
    • F16L55/40—Constructional aspects of the body
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R33/00—Arrangements or instruments for measuring magnetic variables
    • G01R33/02—Measuring direction or magnitude of magnetic fields or magnetic flux
    • G01R33/06—Measuring direction or magnitude of magnetic fields or magnetic flux using galvano-magnetic devices

Definitions

  • the present invention relates in general to the maintenance of pipelines and, more specifically, to inline inspection of pipelines.
  • a pipeline inspection gauge or pig is a tool that may be sent down a pipeline, such as an oil or gas pipeline, and may be propelled by the pressure of the product in the pipeline itself.
  • Pigging may refer to the practice of using pigs to perform various operations on a pipeline, preferably without stopping the flow of the product in the pipeline.
  • Conventional pigs may be positioned into a pig launcher, e.g., a funnel shaped Y section in the pipeline. The launcher may then be closed and the pressure of the product in the pipeline may be used to push it along down the pipe until it reaches the receiving trap, e.g., the pig catcher.
  • Conventional uses for pigs may include: i) physical separation between different liquids being transported in pipelines, ii) internal cleaning of pipelines, i ⁇ ) inspection of the condition of pipeline walls, e.g., the pig is an Inline Inspection (JLT) tool, and iv) capturing and recording geometric information relating to pipelines, e.g. size, position.
  • JLT Inline Inspection
  • Inline inspection pigs may use various methods for inspecting the condition of a pipeline.
  • Intelligent pigs also called smart pigs, are used to inspect the pipeline with various sensors and record the data for later analysis.
  • Conventional smart pigs may use technologies such as MFL (Magnetic Flux Leakage) and ultrasonics to detect the various aspects of the pipeline.
  • 'Intelligent 1 or 'smart 1 pigs may also use mechanical devices, such as calipers, for example, to measure the inside geometry of the pipeline.
  • Pipeline obstacles such as dented pipes or obstructions may prevent conventional pigs from traversing the entire length of a pipeline.
  • Geometric constraints such as pipe curvature or valves may also prevent conventional pigs from passing through sections of the pipeline. Accordingly, the pig may not be able to collect data concerning this particular section of pipeline. As a result, the pipeline operators may get an incomplete picture of the status of the pipeline.
  • These blind spots may potentially contain flaws or defects in the pipeline and similar conditions that otherwise require maintenance or attention to ensure safe and efficient operation of the pipeline.
  • smaller pigs may provide a reduced profile and allow the pig to pass through more pipeline obstacles or geometric constraints, these smaller pigs may not be able to house sensory equipment sufficient to obtain satisfactory data.
  • the present invention relates to the inline inspection of pipelines.
  • a piggable tool for positioning into a pipeline having an effective pipe inner diameter has a main body having a central longitudinal tool axis; and one or more units coupled to the main body and operable to expand and compress in a radial direction about the central longitudinal tool axis.
  • the units are operable to expand in a radial direction from the central longitudinal tool axis such that the tool has a first tool outer diameter.
  • the units are operable to compress in a radial direction towards the central longitudinal tool axis such that the tool has a second tool outer diameter, wherein the second tool outer diameter is less than the first outer diameter.
  • the units are operable to compress in a radial direction towards the central longitudinal tool axis in response to the tool entering a section of the pipeline wherein the effective pipe inner diameter less than the first tool outer diameter.
  • a system for positioning into a pipeline having an pipe inner wall having an effective pipe inner diameter, and moving through the pipeline to collect data concerning the pipeline is disclosed.
  • the system includes a first tool coupled to a second tool, wherein both tools are operable to expand or contract in response to the effective pipe inner diameter such that each tool is operable move past a pipeline obstruction.
  • a method for inspecting the interior of a pipeline includes positioning a first tool within the pipeline, adjusting the size of the first tool in response to pipeline obstructions such that the first tool may move past the obstruction, and collecting a first sensor data set
  • Figure 1 is an exemplary embodiment of the inline inspection tool of the present invention, wherein the tool is in a fully expanded position;
  • Figure 2 is the tool of Figure 1 in a fully compressed position
  • Figures 3A-3E show an exemplary embodiment of the tool traversing various pipeline features and obstructions
  • Figure 4 is an exemplary embodiment of a unit of the tool shown in Figures 1 and 2;
  • Figures 5A and 5B show cross sections of a pipeline to show the scanning coverage of two exemplary embodiments of the present invention.
  • Figures 6A and 6B show an exemplary embodiment of the multiple tool system of the present invention.
  • Figure 7 shows another exemplary embodiment of the multiple tool system of the present invention.
  • Figures 1-2 show an exemplary embodiment of the pipeline inspector tool of the present invention, shown generally at 10.
  • Tool 10 may be a smart pig, inline inspection tool or any other device suitable for insertion into a pipeline to collect data concerning the pipeline.
  • Tool 10 may be operable to move through any type of pipeline, such as coil tubing.
  • Tool 10 may be selectively sized based on the dimensions of the pipeline to be inspected or maintained.
  • Tool 10 may be operable to move through any suitable liquid or gas medium or product, such as product commonly transported or piped through conventional oil and gas pipelines, for example.
  • Tool 10 may be selectively shaped to facilitate its passage through a selected pipeline.
  • the housing of tool 10 may be made from polyurethane, plastic or any other material suitable for the selected pigging operation or environment.
  • Tool 10 comprises one or more units 15 coupled to center spine 20.
  • Center spine 20 may comprise one or more coupler adapters 140 located at the ends of center spine 20 to allow tool 10 to be coupled to other equipment.
  • coupler adapter 140 may allow two or more tools 10 to be coupled together.
  • tool 10 comprises three units 15 (the third unit is hidden in the isometric view of tool 10 depicted in Figures 1-2).
  • tool 10 may comprise one, two or four or more units 15.
  • the exterior surfaces of units 15 may be shaped to interact with the interior of a pipeline to facilitate the movement of tool 10 through the pipeline.
  • individual units are substantially wedge shaped and may be coupled about center spine 20 to form a substantially cylindrical shape, for example.
  • Tool 10 may be operable to substantially conform portions of its exterior profile to the interior of the pipeline to allow tool 10 to pass through pipeline obstructions and geometry.
  • Units 15 may be coupled to center spine 20 such that units 15 are operable to be compressed toward center spine 20.
  • Units 15 may be operable to extend radially outwards from center spine 20.
  • unit 15 may be operable to extend radially outward from center spine 20 in response to magnetic attraction pulling unit 15 towards the interior of a pipeline wall.
  • units 15 may be additionally or alternatively operable to extend radially outward from center spine 20 if not subject to a compressive force, e.g., the mechanical coupling between unit 15 and center spine 20 may comprise a spring or similar mechanical device.
  • Units 15 may extend or be compressed independently of one another.
  • Figure 1 shows tool 10 in a substantially expanded position. In this position, tool 10 is not subject to any compressive force, e.g., the interior of the pipeline is wide enough and presents no obstacles or geometrical constraints such as a turn. Accordingly, all units 15 may extend radially outward to the limit of the coupling between units 15 and center spine 20.
  • Figure 2 shows tool 10 in a substantially fully compressed position. In this position, all units 15 are compressed toward center spine 20, e.g., the interior of the pipeline is too small to allow tool 10 to pass through in a fully expanded position.
  • Figures 3 A-E show an exemplary embodiment of tool 25, comprising units 30a and 30b, moving through exemplary pipeline sections 40.
  • Tool 25 may comprise a tool outer diameter 45 which may vary based on how units 30 compress or expand in response to the interior of pipeline section 40.
  • pipeline section 40a has no obstacles and is substantially straight Accordingly, tool outer diameter 45a may substantially correspond to the interior diameter of pipeline section 45a.
  • pipeline section 40b may have an obstacle 35, such as a weld. Accordingly, as tool 25 passes through pipeline section 40b, units 30 may compress such that tool outer diameter 45b effectively decreases to allow tool 25 to clear obstacle 35.
  • pipeline section 40c is curved. Accordingly, as tool 25 passes past the pipe curvature, units 30 may compress inwards as tool 25 presses against the interior of pipeline section 40c at various points. Accordingly, tool outer diameter 45c may effectively decrease to allow tool 25 to clear the curvature.
  • pipeline section 4Od may be dented, diminishing the interior diameter of pipeline section 4Od along a dented area 50.
  • units 30 are compressed as tool 25 contacts the damaged interior wall of pipeline 4Od allowing tool 25 to have a reduced outer diameter 45d to move past dented area 50.
  • pipeline section 4Oe may contain valve 55.
  • pipeline section 4Oe may have a smaller interior diameter along this section of pipe coupled to valve 55.
  • units 30 may compress to allow tool 25 to have a reduced outer diameter 45e and move past valve 55.
  • each unit 15 may comprise sensor housing 70 and navigation system 85.
  • Figure 4 shows an exemplary embodiment of unit 15 of tool 10 shown in Figures 1 and 2.
  • Unit 15 may comprise battery 75 to provide power for the electronic components of unit 15.
  • Tool 10 may incorporate additional or alternative power sources, e.g., center spine 20 may comprise a power source or power may be provided by external devices coupled to tool 10, for example.
  • Sensor housing 70 may comprise one or more sensor ribs 95.
  • the exemplary embodiment of unit 15 shown in Figures 4-5 comprises three sensor ribs 95. Each sensor rib 95 may couple with magnetic system 105 and may comprise one or more sensors 120. Each sensor rib 95 may be shaped to contact the inner wall of the pipeline.
  • Sensor housing 70 may comprise one or more magnetic systems 105.
  • Magnetic system 105 may be operable to provide a selected magnetic flux as tool 10 travels through a pipeline.
  • Magnetic system 105 may comprise one or more magnetic elements 110.
  • Magnetic element 110 may be a permanent magnet, for example.
  • Magnetic element 110 may be selected such that unit 15 is operable to magnetize the metal material of the interior wall of the pipeline, e.g., steel. This magnetization may assist with magnetic flux leakage (MFL) detection. This magnetization may facilitate magnetic coupling between unit 15 and the interior wall of the pipeline, e.g., such that unit 15 expands outwards from center spine 20.
  • Magnetic system 105 may comprise additional components, such as steel brushes, for example, to facilitate the creation of magnetic flux, hi the exemplary embodiment shown in Figures 4, magnetic system 105 comprises two permanent magnets 110 to provide a selected magnetic flux.
  • Sensor housing 70 may comprise one or more sensors 120.
  • Sensors 120 may be MFL or Hall effect sensors operable to measure in one direction, for example.
  • One or more sensors may be communicatively coupled or grouped into sensor set or sensor shoe 115. The sensors may be selectively oriented or positioned to provide the desired measurements, for example.
  • unit 15 comprises nine MFL sensors 120 positioned between magnet pair 110 and organized into three sensor shoes 115 of three MFL sensors 120 each.
  • Each sensor rib 95 may comprise one of the three sensor shoes 115.
  • Tool 10 may comprise additional sensors, such as inclinometers or angular rate sensors.
  • each sensor shoe 115 may comprise three MFL sensors 120 because magnetic flux leakage may be a vector quantity and MFL sensor 120 may measure in one direction.
  • the three MFL sensors 120 may be oriented within a sensor shoe 115 to accurately measure the axial, radial and circumferential components of an MFL signal.
  • the sensor coverage of tool 10 may correspond to a coverage range of substantially 360°, e.g., the interior of a substantially cylindrical pipe.
  • Each unit 15 may be selectively oriented or designed to only measure a selected portion of the total coverage range.
  • each unit 15 may be operable to measure a portion of the 360° depending on the total number of units 15.
  • tool 10 comprises three units 15. Accordingly, each unit 15 may provide 120° of measurement coverage.
  • tool 10 may provide gather data in a distributed manner, allowing for sensor and scanning optimization. The measurements from the individual units may then be integrated to provide a complete report of the pipeline scan, e.g., after the tool 10 is recovered, for example.
  • Um ' t 15 may also comprise download connector 135.
  • Download connector 135 may be operable to communicatively couple tool 10 to a computer system to allow tool 10 to transmit data to the computer system, such as MFL sensor data, for example, or receive data or instructions from the computer system.
  • Tool 10 may comprise other components to allow tool 10 to be communicatively coupled to other devices or computer systems.
  • tool 10 may also comprise a wireless or wired transmitter and/or receiver.
  • CPU housing 80 may comprise one or more CPU or processors 125.
  • CPU 125 may be communicatively coupled to one or more memories 130.
  • CPU 125 may be operable to receive data garnered by sensors 120 and store the data on memory 130.
  • CPU 125 and memory 130 may be communicatively coupled to download connector 135 to allow an external computer system to retrieve data stored on memory 130.
  • CPU 125 may be communicatively coupled to navigation system 85 to receive data from navigation system 85 to store on memory 130.
  • Navigation system 85 may comprise navigation electronics 90 and odometer or navigation wheel 100.
  • Navigation wheel 100 may comprise a wheel operable to rotate and may be coupled to navigation electronics 90.
  • navigation electronics 90 may be operable to collect this data, e.g., the number of times navigation wheel rotates and how last it rotates.
  • the data generated by navigation wheel 100 may be used to determine the distance tool 10 has traveled inside the pipeline and its speed, for example.
  • Navigation electronics 90 may be operable to store or transmit this data to unit 15, e.g., CPU 125 or memory 130.
  • Navigation wheel 100 may be positioned to allow navigation wheel 100 to remain substantially in contact with the interior wall of the pipeline as tool 10 moves through the pipeline and as unit 15 expands or contracts. As tool 10 moves through the pipeline, navigational wheel 100 will rotate as it contacts the interior wall of the pipeline. Accordingly, data concerning the rotation of navigation wheel 100 may be used to determine how far tool 10 has traveled through the pipeline and its speed, e.g., positional data. This positional data may be used to link the corresponding sensor data to the proper location in the pipeline to allow for a determination of the characteristics of the pipeline. Navigation wheel 100 may also serve to help centralize or stabilize tool 10 within the pipeline. [0041] Figure 5 A shows a cross section of pipeline 150 and shows a single tool 10a positioned within the interior of pipeline 150.
  • tool 10a may utilize MFL techniques to assess the integrity of pipeline 150 by detecting corrosion, pitting and similar defects in the interior wall of pipeline 150, for example.
  • magnets 110 magnetize the metal structure of the interior of pipeline 150 and produce a magnetic field.
  • a magnetic circuit may be created between the interior wall of pipeline 150 and tool 10a, e.g., as units 15 contact the interior wall of pipeline 150.
  • Sensors 120 e.g., magnetic detectors, may be positioned between the poles of magnets 110 to detect the leakage field.
  • Tool 10a may be later recovered and the user may interpret the chart recording of the leakage field to identify damaged areas and hopefully to estimate the depth of metal loss, for example.
  • Figure 5A shows an example of the possible scan coverage of pipeline 150 by a single tool 10a.
  • Sections 160 of pipeline 150 may be those areas scanned by a single tool 10a.
  • sections 170 of pipeline 150 may not be scanned, e.g., the space between sensor ribs 90.
  • merely incorporating more or larger sensors into a pig may not be a satisfactory solution as this may require a larger pig that may not be able to pass through pipe obstacles or curvature, for example.
  • FIG. 6A and 6B shows an exemplary embodiment of tool train 210 comprising front tool 10a and rear tool 10b.
  • each tool 10 may comprise a coupler adapter 140 in the front and rear of tool 10.
  • Coupler adapter 140 may couple to coupler 215.
  • front tool 10a and rear tool 10b may be coupled together via coupler 215.
  • Figures 6A and 6B show two tools 10 coupled together, tool train 210 may comprise more than two tools 10.
  • front tool 10a and rear tool 10b may provide different sensor coverage.
  • front tool 10a may be positioned at a selected angle ⁇ about longitudinal tool axis 220 with respect to tool 10b, e.g., rotated 60° for example.
  • tool train 210 may be operable to scan a greater portion of a pipeline than a single tool 10a.
  • Tool train 210 may be operable to provide greater scan resolution than a single tool 10a, e.g., through overlapping scan coverage areas.
  • Figure 5B shows an example of the possible scan coverage of pipeline 150 by tool train 210, as shown in Figures 6A and 6B, comprising front tool 10a and rear tool 10b.
  • Sections 180 may be those areas scanned by front tool 10a.
  • Sections 190 may be those areas scanned by rear tool 10b.
  • Sections 200 may be those areas scanned by both tools 10a and 10b.
  • tool train 210 may be operable to provide greater scan coverage than a single tool 10a.
  • tool train 210 may be operable to provide greater scan resolution or reliability through overlapping scan areas.
  • Tool 300 may comprise a motor 310 coupled to one or more wheels 315 and operable to rotate the wheels 315. Wheels 315 are positioned to engage the interior pipe wall. Alternatively, motor 310 may be coupled to one or more navigation wheels 100. Accordingly, tool 300 may be operable to move itself through the pipeline, either on its own or with the further assistance from other devices. Tool 300 may be coupled to one or more tools 100. Tool 300 may incorporate units 15, and other components of tool 10. Tool 300 may be operable to move tool train 320, either by pushing or pulling the tool train 320. Tool train 320 may comprise multiple motorized tools 300 to assist in moving the tool train 320. Tool train 320 may comprise multiple tools 10.
  • each unit 15 may collect data. Accordingly, a user may retrieve the data stored in each unit 15 for use in determining the characteristics of the pipeline. Because multiple tools 10 and multiple units 15 may be utilized to collect data in a distributed fashion, a user may also desire to integrate and harmonize all of the data collected to create an comprehensive and accurate data report. The user may utilize a software program to consolidate, analyze and display the data to allow a user to analyze the integrity of the pipeline.
  • the present invention may include other sensing and detection methods or techniques.
  • the present invention may utilize nuclear magnetic resonance (NMR), ultrasonics, acoustic or electromagnetic detection methods, among other techniques suitable for performing pipeline inspection, for example.
  • NMR nuclear magnetic resonance
  • ultrasonics ultrasonics
  • acoustic or electromagnetic detection methods among other techniques suitable for performing pipeline inspection, for example.
  • the present invention provides a number of benefits that will be apparent to one of ordinary skill in the relevant arts.
  • the present invention may detect defects such as corrosion, pitting and wall thinning, in a distributed manner.
  • Each tool may be responsible for inspecting only a selected portion of the wall and the results from each tool may be combined to provide a complete report.
  • the present invention may provide high resolution scans of the pipeline and also provide extensive coverage.
  • the inline inspection tool may move through instances of changing cross sectional area.
  • the tool of the present invention may overcome obstacles such as dents and well beads.
  • the tool of the present invention may move through areas of increasing or decreasing pipe diameters and pipe curvature.
  • the present invention may provide greater scan coverage of the pipeline because it can maneuver through substantial portions of the pipeline.

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Condensed Matter Physics & Semiconductors (AREA)
  • General Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Investigating Or Analyzing Materials By The Use Of Magnetic Means (AREA)

Abstract

Outil de type racleur destiné à être placé dans une canalisation présentant un diamètre intérieur efficace de canalisation. L'outil comprend un corps principal présentant un axe d'outil longitudinal central ; et une pluralité de modules couplés au corps principal et activables pour se dilater et se comprimer dans une direction radiale autour de l'axe d'outil longitudinal central. L'outil est caractérisé en ce que les modules sont activables pour se dilater dans une direction radiale à partir de l'axe d'outil longitudinal central de façon à donner à l'outil un premier diamètre extérieur d'outil ; en ce que les modules sont activables pour se comprimer dans une direction radiale vers l'axe d'outil longitudinal central de façon à donner à l'outil un deuxième diamètre extérieur d'outil, le deuxième diamètre extérieur d'outil étant inférieur au premier diamètre extérieur d'outil ; et en ce que les modules sont activables pour se comprimer dans une direction radiale vers l'axe d'outil longitudinal central lorsque l'outil pénètre dans un tronçon de la canalisation, le diamètre intérieur efficace de canalisation étant inférieur au premier diamètre extérieur d'outil.
PCT/US2007/061575 2006-02-02 2007-02-02 Système et procédé d'inspection in situ de canalisations WO2007130723A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
US12/835,510 US8030946B2 (en) 2006-08-24 2010-07-13 In-pipe coating integrity monitor for very long pipes

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US76469606P 2006-02-02 2006-02-02
US60/764,696 2006-02-02

Publications (1)

Publication Number Publication Date
WO2007130723A1 true WO2007130723A1 (fr) 2007-11-15

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PCT/US2007/061575 WO2007130723A1 (fr) 2006-02-02 2007-02-02 Système et procédé d'inspection in situ de canalisations

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8030946B2 (en) 2006-08-24 2011-10-04 Itrobotics, Inc. In-pipe coating integrity monitor for very long pipes

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20040217759A1 (en) * 2003-04-21 2004-11-04 Burkhardt Gary L System and Method for Inspection of Pipelines Having Internal Restrictions
US6917176B2 (en) * 2001-03-07 2005-07-12 Carnegie Mellon University Gas main robotic inspection system

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6917176B2 (en) * 2001-03-07 2005-07-12 Carnegie Mellon University Gas main robotic inspection system
US20040217759A1 (en) * 2003-04-21 2004-11-04 Burkhardt Gary L System and Method for Inspection of Pipelines Having Internal Restrictions

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8030946B2 (en) 2006-08-24 2011-10-04 Itrobotics, Inc. In-pipe coating integrity monitor for very long pipes

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