Design and Validation of Three-Axis High Definition Magnetic Flux Leakage Detection Robot for Oil/Gas Pipelines

A large number of oil and gas pipeline leakage accidents from domestic and overseas showed that the main reasons for threatening the safety of pipeline operation were corrosions, cracks, weld joints and mechanical damages. In order to ensure the safe operation of oil and gas pipelines, the most feasible solution which was internationally recognized was to conduct regular pipeline inspection. In many respects, such as detection capability and confidence level, the three-axis high definition magnetic flux leakage detector was superior to the traditional single-axis detector. The structure and function of a three-axis high definition magnetic flux leakage detection robot named HB-IM-273 developed by ourselves was introduced. The overall reliability of the robot was verified by traction experiment in a pipeline at different speeds (0.5–3 m/s). The robot could also identify a variety of pipeline defects.