Methods for external cleaning and inspection of tubulars
View Patent ↗Methods are disclosed for performing operations such as cleaning, inspection or data acquisition on an external surface of a hollow cylindrical tubular. Preferred embodiments include providing a fluid dispenser and an abrasion assembly on a buggy that travels up and down the length of the tubular as the tubular rotates. The fluid dispenser includes nozzles that dispense cleaning fluids onto the tubular's external surface. The abrasion assembly includes a swivel brush and a brush train providing different styles of abrasion cleaning of the tubular's external surface. Preferred embodiments of the buggy also carry a range finding laser generating samples of the distance from the laser to a sampled point on the tubular's external surface. The laser samples are processed in real time into surface contour data. Cleaning and inspection variables such as tubular rotational speed, or buggy speed, may be adjusted responsive to measured surface contour data.
1. A method for performing operations on an external surface of a hollow cylindrical tubular, the method comprising the steps of:
(a) providing a hollow cylindrical tubular, the tubular having a cylindrical axis and an external surface;
(b) providing a buggy, the buggy including a fluid dispenser attached thereto via a first floating mechanism, the first floating mechanism including a first reciprocating piston to adjust a distance between the external surface of the tubular and the fluid dispenser, the fluid dispenser including at least one fluid nozzle, the buggy further including an abrasion assembly attached thereto via a second floating mechanism, the second floating mechanism including a second reciprocating piston to adjust a distance between the external surface of the tubular and the abrasion assembly, the abrasion assembly including at least one abrader;
(c) rotating the tubular about its cylindrical axis at selectable rotational speeds;
(d) moving, at selectable buggy speeds, the buggy along a locus parallel to the cylindrical axis of the tubular as the tubular rotates;
(e) during step (d), selectably dispensing cleaning fluid through at least one fluid nozzle over the external surface of the tubular;
(f) during step (d), robotically sampling a distance between the external surface of the tubular and the fluid dispenser;
(g) responsive to samples acquired in step (f), causing the first reciprocating piston to dynamically adjust the distance between the external surface of the tubular and at least one fluid nozzle;
(h) during step (d), selectably contacting the external surface of the tubular with at least one abrader;
(i) during step (d), robotically sampling a distance between the external surface of the tubular and the abrasion assembly; and
(j) responsive to samples acquired in step (i), causing the second reciprocating piston to dynamically adjust the distance between the external surface of the tubular and at least one abrader.
2. The method of claim 1 , in which the first and second reciprocating pistons are configured to be actuated independently from one another.
3. The method of claim 1 , in which selected ones of step (f) and step (i) are accomplished by processing samples generated by a range finding laser, the laser attached to the buggy.
4. The method of claim 3 , in which step (g) is accomplished by extending and retracting the first reciprocating piston responsive to the processing of samples generated by the laser.
5. The method of claim 3 , in which step (j) is accomplished by extending and retracting the second reciprocating piston responsive to the processing of samples generated by the laser.
6. The method of claim 3 , further comprising:
(k) processing the samples generated by the laser into contour data regarding the external surface of the tubular;
(l) responsive at least in part to step (k), computing a dirtiness factor corresponding to the tubular, the dirtiness factor reflecting an estimate of contamination of the tubular; and
(m) modulating selected ones of step (e) and step (h) responsive to the dirtiness factor.
7. The method of claim 3 , further comprising:
(k) processing the samples generated by the laser into contour data regarding the external surface of the tubular; and
(l) modulating selected ones of the rotation speeds, the fluid dispenser speeds and the abrasion assembly speeds responsive at least in part to the contour data.
8. The method of claim 1 , in which at least one of the first and second reciprocating pistons is hydraulically actuated.
9. The method of claim 1 , in which step (h) further includes the substep of maintaining spring pressure contact between the external surface of the tubular and the at least one abrader.
10. The method of claim 1 , in which the cleaning fluid in step (e) is selected from the group consisting of:
(1) steam;
(2) high pressure water;
(3) fluid-borne abrasives;
(4) a low pressure and high temperature wash;
(5) a rust inhibitor; and
(6) compressed air.
11. The method of claim 1 , in which the abrasion assembly in step (b) comprises a swivel brush assembly, and in which the at least one abrader in step (b) comprises a rotating swivel brush, the swivel brush configured to contact the external surface of the tubular in step (h) at a selectable angle relative to the cylindrical axis of the tubular.
12. The method of claim 11 , in which step (j) further includes the substep of adjusting the distance between the external surface of the tubular and the swivel brush according to the angle between the swivel brush and the cylindrical axis of the tubular.
13. The method of claim 11 , in which the swivel brush rotates about a swivel brush rotational axis, in which step (h) further includes the substep of maintaining spring pressure contact between the external surface of the tubular and the swivel brush, and in which the spring pressure contact is accomplished at least in part by a spring-controlled tilting of the swivel brush about a plane parallel to the swivel brush rotational axis.
14. The method of claim 11 , in which the swivel brush is in the shape of an oblate spheroid.
15. The method of claim 11 , in which the swivel brush comprises a laminate of abrasive layers.
16. The method of claim 1 , in which the abrasion assembly in step (b) comprises a brush train assembly, in which the at least one abrader in step (b) comprises a plurality of circular brushes rotating about an axis parallel to the cylindrical axis of the tubular, and in which the brush train assembly further includes a common axle on which the plurality of circular brushes are deployed and about which the plurality of circular brushes rotate.
17. The method of claim 16 , in which the common axle includes an articulated connection between each circular brush located on the common axle.
18. The method of claim 16 , in which step (h) further includes the substep of maintaining spring pressure contact between the external surface of the tubular and each circular brush, and in which the spring pressure contact is accomplished at least in part by each circular brush having its own independent spring mechanism disposed to urge the spring pressure contact.
19. The method of claim 1 , further comprising:
(k) containing cleaning and abrading by-products by covering selected ones of the fluid dispenser and the abrasion assembly.
20. The method of claim 1 , in which step (d) includes back and forth movement along a locus parallel to the cylindrical axis of the tubular, and in which steps (e) through step (j) are selectably repeated during the back and forth movement.