2017_EJRNL_PP_YUJIA_LI_1.pdf
Terbatas Suharsiyah
» ITB
Terbatas Suharsiyah
» ITB
With the rapid increase in oil and gas consumption in the world’s
energy consumption structure, the pace of global oil–gas pipeline
construction has accelerated. Pipeline accidents that cause huge
economic losses occur frequently, so inspection and maintenance
of oil and gas pipelines have become critical issues. This paper
presents a helical-contact deformation measuring method based on
a multi-purpose helical drive in-pipe robot that can be used in
harsh 3D unknown enclosed near-circular environments, such as
oil–gas pipelines. This measuring device has a simple structure
and does not need an additional driving module to rotate the
measuring device. The device can rotate together with the robot’s
driving wheels and measure pipe diameters ranging from 180 mm to
210 mm. Eccentricity analysis and simulation are also conducted.
Experiments in Plexiglas pipe are carried out to draw the pipe shape
and test the eccentricity of the measuring device.