Petrochemical storage tanks are generally inspected when the tank is offline mostly to assess the extent of underside corrosion on the tank floor. Emptying, cleaning and opening a tank for inspection take many months ...Petrochemical storage tanks are generally inspected when the tank is offline mostly to assess the extent of underside corrosion on the tank floor. Emptying, cleaning and opening a tank for inspection take many months and are very expensive. Inspection costs can be reduced significantly by inserting robots through manholes on the tank roof to pertbrm non-destructive testing （NDT）. The challenge is to develop robots that can operate safely in explosive and hazardous environments and measure the thickness of floor plates using ultrasound sensors. This paper reports on the development of a small and inexpensive prototype robot （NDTBOT） which is designed to be intrinsically safe for zone zero operation. The robot ＂hops＂ across the floor to make measurements, without any external moving parts. The paper describes the design, experimental testing of the NDTBOT and presents results of steel plate thickness measurements made under water.展开更多
文摘Petrochemical storage tanks are generally inspected when the tank is offline mostly to assess the extent of underside corrosion on the tank floor. Emptying, cleaning and opening a tank for inspection take many months and are very expensive. Inspection costs can be reduced significantly by inserting robots through manholes on the tank roof to pertbrm non-destructive testing （NDT）. The challenge is to develop robots that can operate safely in explosive and hazardous environments and measure the thickness of floor plates using ultrasound sensors. This paper reports on the development of a small and inexpensive prototype robot （NDTBOT） which is designed to be intrinsically safe for zone zero operation. The robot ＂hops＂ across the floor to make measurements, without any external moving parts. The paper describes the design, experimental testing of the NDTBOT and presents results of steel plate thickness measurements made under water.
