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Sensor Evaluation for a Robotic In Line Inspection Vehicle for Detection of Natural Gas Pipeline Defects and Leaks

When examining the condition of a pipeline, In-Line Inspection (ILI) utilizing various Non-Destructive Testing (NDT) methods is an essential tool and a significant factor in establishing a quality management program that ensures safe, cost effective operation of the pipeline. An in-line inspection concept has been developed by Sandia National Laboratories that uses a robotic vehicle rather than a conventional pig for in-line inspection. This vehicle could be capable of negotiating tight bends, obstructions, varying pipe diameter, and out-of -round sections. It could use existing valves for launch and recovery, generate power from the product flow, and not unduly interfere with product flow. Because this vehicle can stop in the pipe, previously unused Non Destructive Testing (NDT) technologies could be utilized for better characterization of pipe defects, corrosion, or damage. This report describes activities looking at the compatibility of NDT techniques not traditionally used in the pipeline inspection industry with a robotic platform and evaluate if these sensors can be adapted to enhance in-line inspection. Mature and commercial off-the-shelf (COTS) sensor technologies were evaluated that could be applicable to a robotic vehicle. Use of existing or currently utilized sensing technologies and the adaptations / miniaturization required to mount them on a conceptual robotic vehicle were evaluated. We assessed “What can we see? What is the probability of detection? And, How do we make it fit in a robotic vehicle?” This report summarizes those evaluations.