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Design of a Submarine Pipeline Inspection Robot System Based on CT Technology

Dong Xu(Beijing Research institute of Mechanical & Electrical Technology)
Zhang Wenyu(Beijing Research institute of Mechanical & Electrical Technology)
Li Yishun(Beijing Research institute of Mechanical & Electrical Technology)
Liu Wei(Liaoning Vocational Technical College of Modern Service)
Yang Li(Beijing Oil and Gas Transportation Branch of National Pipe Network Group North Pipeline Co., Ltd.)


With the rapid development of submarine oil and gas, the security issues of submarine oil and gas pipeline become increasingly prominent, and regular inspection of submarine pipeline is particularly important. Therefore, a submarine pipeline inspection robot system based on CT technology to solve the problems such as low traditional manual inspection efficiency, high labor cost, low security and backward inspection methods. Based on the platform of ROV robot, carrying CT scanner as an external detection device, the system is used for non-invasive inspection of submarine pipeline, which is safe and harmless, with good economy, high mobility, and strong environmental adaptability. Compared with traditional technology, CT scanner’s external inspection technology used in the system avoids the damage to the external protective layer of the pipeline in the measurement of pipeline wall thickness. Meantime, it can provide the tomography of the pipe wall and the composition of the sediment material on the inside wall, which fills the gap in this technical field in China. According to the test, the robot has the characteristics of stable adsorption, flexible movement, and clear pipeline CT scanning image, and can realize the intelligent inspection of submarine pipeline. 


Submarine oil and gas pipeline ;ROV robot; CT technology; Non-invasive inspection

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