Laser Descaling Robot for Long Range Scale Removal Applications

Abstract Scale deposits gradually accumulate within flowlines, often resulting in obstructions. At present, the descaling process primarily relies on chemical cleaning, pigging, or hydroblasting methods. However, these approaches are range limited, requires complex step-up, and carry the risk of potential damage to the inner pipe surface. To overcome these issues, we developed a laser descaling robot that can move within the flowline while carrying a high-power laser that can remove materials in the scale buildup. The designed robot for descaling operations utilizes an in-pipe crawler designed to be centralized in the pipe. The laser collimator is affixed to a mount and positioned near the edge of the pipe. The robot's mount is attached to the end of the crawler and is equipped with a motor that facilitates the rotation of the collimator. Additionally, the robot is equipped with various hoses and accessories necessary for laser descaling activities. Furthermore, for real-time monitoring of the descaling process, a camera is affixed to the laser mount, ensuring that the operation can be closely observed as it unfolds. A test setup is constructed extending over 60 m with varying pipes' internal diameters. Some of these pipes have a 7.65-inch internal diameter, while others have an 8-inch internal diameter. Additionally, the pipe setup features a 10 m radius curvature to verify the descaling robot's capability to navigate curved paths. Furthermore, aside from the tether, the robot is connected to multiple hoses that replicate the presence of nitrogen and vacuum tubes, which are essential components in real descaling operations. The robot was able to traverse the entire length of the pipe without encountering any issues. The camera output was recorded as the pipe traversal job was unfolding. The robot demonstrated smooth adaptation to varying pipe internal diameters. The articulated mount efficiently rotated during motion without causing any entanglement of the cables and hoses. Moreover, the robot was successfully retrieved without causing damage to any of the cables or hoses, highlighting its precision and safety during the operation. The current design successfully validates the concept of remote laser descaling, showcasing the robot's capacity to carry the laser and all the required auxiliary hoses through long pipes. This novel method will allow the replacement of existing descaling methods while allowing a safer, more controlled, and long-range scale removal procedure.