Inspection solutions
for short pipelines in plant facilities
ROSEN Headquarters / RTRC Switzerland
- 2010 -
Contents
1.
2.
3.
4.
Motivation
Self-propelled Systems (e.g. RoHelix & RSS)
Measurement Systems
Summary
RSS: Robotic Survey System
Motivation
Reasons for Pipeline Incidents
• Corrosion
• Material failures, e.g. cracks
• Third party damage
Motivation
Example of serious accidents in plant facilities:
• Brookdale Manitoba Canada – April 14, 2002
• Humber Estury Killingholme UK – April 16, 2001
• Ghislenghien Belgium – July 30, 2004
• etc
USD 13.0 Mil
USD 82.4 Mil
Source Internet: http://abduh137.wordpress.com/2008/05/01/the-50-major-engineering-failures-1977-2007-part-4/
Contents
1.
2.
3.
4.
Motivation
Self-propelled Systems (e.g. RoHelix & RSS)
Measurement Systems
Summary
RSS: Robotic Survey System
Requirements for Pipe Inspection in Plant Facilities
Tool Requirements:
• 1.5D bend passing back to back
• Self-propelled driven
• Single entry, bi-directional (BiDi)
• Wireless or Wire line operation
• Multi diameter
• Geometry unit and camera system
• Vertical inspection capability
• Modular high res. inspection units
RSS – Concept
Rear tractor unit
& battery unit
Front tractor unit
- Camera system
- Geometric unit
- Navigation
Sensor unit
- different inspection
technologies
- collapsible to smaller
diameter
Battery unit
- one or more units to
extend the inspection range
RSS: Robotic Survey System
RSS – Tool Box Concept
Suspension Unit
Pressure force 200 kg
Same suspension unit for
different assembling options
RSS 16” – Status
- Battery & Tractor unit fully tested
- Tractor successful tested in pipe
section with different bends (min 1.5D)
- Camera unit installed
RoHelix – Concept
•
Performance
- full coverage with 3 MFL sensor units
 rotation in circumferential direction
- light weight of the unit
- easy adaptation to different sizes
- self-propelled system and
measurement unit in one body
•
Modular inspection modules
(MFL, EMAT, UT …)
RoHelix version of
the Tractor & Inspection Unit
RoHelix 40” – Status
RoHelix 40” tool wire line version
- RoHelix 40” successful tested
- External power supply
- Live pictures from front & rear camera
- External GUI for communication
- Winch can pull the tool in a case of emergency
GUI: Graphical User Interface
Plant & Facility Inspections
Tank Bottom Inspection Tool
- Based on MFL Technology
- On-Site Data Evaluation.
Robotic Pipe Scanner
- Based on MFL Technology
- On-Site Data Evaluation.
- Passes Supports automatically.
Automatic Coiled Tube Inspections
- Based on MFL Technology
- On-Site Data Evaluation.
Contents
1.
2.
3.
4.
Motivation
Self-propelled Systems (e.g. RoHelix & RSS)
Measurement Systems
Summary
RSS: Robotic Survey System
SIC – Shallow Internal Corrosion
SIC Sensors are based on Eddy
Current technology for metal loss
inspection on inner pipe wall.
Internal
14
UT – Ultrasonic Testing
Run direction
Coupling medium
required
Stand-Off echo
Wall Thickness
A-Scan of measurement
S = Stand-Off
B,b = Back Wall
WT
Multiple Back-Wall Echos
WT derived from time-of-flight
EMAT – Electro Magnetic Acoustic Transducer
Current Pulse
Transmission Signal
I~
I~
Sender
N
Receiver
S
Ultrasonic Sound Wave
N
S
Sensitive Area
Sender
Crack
Receiver
Receiver
Echo Signal
Transmission Signal
Internal
Crack Detection
Coating Disbondment
Detection
MFL – Magnetic Flux Leakage
Magnetic flux lines within
pipeline
MFL data example
Magnetic flux lines within
pipeline with external feature
Summary
• RoHelix concept for bigger diameter (> 30”)
• Inspection capability
- Up to1000 Meter inspection range
- External power supply
- Communication thru fiber optics with the tool
• RSS concept for smaller sizes (8” – 30”)
• Combination of different measurement technologies
• Combination of different mechanical configurations
ROSEN actively working on other solutions …
The ROSEN Group
"Thank you for joining
this presentation."
For further information, please visit
our website:
www.RosenInspection.net
RSS 16” – Specification
RSS --> Robotic Survey System Specification
Target
Unit
Diameter
16 - 18
inch
Passing
14 - 20
inch
Length
<6
m
Weight
< 200
kg
Inspection Range
2
km
Operating Hours
10
h
Velocity
0,15
m/s
Pressure
25
bar
Max Temperature
65
°C
Min Temperature
-10
°C
Bend Radius
1,5
D
Max. ID Step Changes
5
Unbarred Tee Size
full
Vertical inspection
yes
HiRes Inspection Units
- Ultrasonic testing (UT)
- Shallow Internal Corrosion (SIC)
mm
RoHelix 40” – Mechanical Specification
RoHelix 40" Specification
Target
Unit
Diameter
40
inch
Passing ID
38
inch
Length
1
m
250
kg
Inspection Range (2)
1
km
Operating Hours (2)
na
h
Velocity
150
m/h
Pressure
waterproof
bar
Max Temperature
65
°C
Min Temperature
-20
°C
Bend Radius
1.5
D
Weight (1)
Max. ID Step Changes
5
Un- / barred Tee
No
Vertical inspection
Yes
(1) depends on amount of battery packs
(2) Umbilical (external power supply)
mm
SIC – Shallow Internal Corrosion
SIC –Sensor