Design and evaluation of a modular robot concept for external pipeline surface inspection

This paper presents the prototype design and development of an external type inspection robot capable of detecting surface cracks on steel pipeline. External pipeline inspection in an unstructured setting remains a difficulty. A novel modular robot design is presented, allowing for simple handling and placement at any position on the pipeline surface. In addition to developing a modular design, a new to-and-fro scanning mechanism is designed for the inspection technique. Furthermore, a design analysis of the modules is carried out. This work focuses on the possibilities of high manoeuvrability for a single-module robot prototype in both horizontal and inclined pipelines. An ultrasonic inspection technique is used and incorporated into the scanner module to detect surface flaws, mostly cracks on a 60 mm diameter pipeline. This prototype is a model of an external inspection robot that is primarily ideal for oil pipeline inspection. Because these pipelines cannot be examined inline, this technique may provide a fresh perspective for researchers to support external type inspection on crude oil pipelines. Further confirmation of its efficacy is conducted through experimental validation, demonstrating its accuracy and time duration in contrast to the theoretical formulation.