An in-service storage tank corrosion detection robot

Abstract

The invention discloses an in-service storage tank corrosion detecting robot, and belongs to the technical field of storage tank corrosion detection. The robot includes a weight adjuster, a propeller,a vision system, an acoustic emission positioning system, a purge system, a pre-chassis ultrasonic detecting probe, an ultrasonic detecting stand, a rotary joint, an umbilical cable, a winch, a console, and a display. Before detecting, the robot is lowered, and the visual system is used for observation and obstacle-avoiding. When a tank wall is detected, the robot hovering to a specified height is slowly moved to the tank wall; when the pre-chassis ultrasonic detecting probe contacts the tank wall, thickness data of the tank wall is obtained; when a tank bottom is detected, after a bottom plate in a working area is dredged by the purging system, the robot is controlled to fall to a dredged detection area, and thickness data of the bottom plate is obtained when the ultrasonic detecting stand contacts the bottom plate of the tank; after the detecting, the robot is moved to next working area, the steps are repeated, and after all tests are completed, the robot is retracted. The in-service storage tank corrosion detecting robot solves the problem of detection in a storage tank with silt, the wall and the bottom of the tank both can be detected, and the handling stability is good.

Description

technical field [0001] The invention relates to an in-service storage tank corrosion detection robot, which belongs to the technical field of storage tank corrosion detection. Background technique [0002] At present, there are a large number of oil storage tanks in my country, and the safety problems of storage tank operation are becoming more and more prominent. The main hidden danger affecting the safe operation of storage tanks is the leakage caused by corrosion of the bottom plate and side wall of the storage tank. Evaluation, prevention of oil leakage and safety accidents caused by leakage. At present, the detection of storage tank defects generally adopts the method of regular tank opening inspection, but the tank opening inspection generally requires shutdown and cleaning of the tank, which consumes a lot of manpower, material and financial resources. Therefore, the economical non-open tank online inspection technology has become a development trend. At present On-li...

AI Technical Summary

Problems solved by technology

At present, the detection of storage tank defects generally adopts the method of regular tank opening inspection, but the tank opening inspection generally requires shutdown and cleaning of the tank, which consumes a lot of manpower, material and financial resources. Therefore, the economical non-open tank online inspection technology has become a development trend. At present On-line detection technologies mainly include acoustic emission, ultrasonic guided wave and robot on-line detection, among which robot on-line detection is the most feasible and effective

At present, domestic and foreign robot online detection mostly adopts the detection method of robot tank bottom walking, which is limited to some product oil storage tanks with few obstacles, and is not suitable for product oil tanks with obstacles and silt, and this detection method is still limited. The tank wall cannot be detected, so an online detection robot with good versatility and strong adaptability is urgently needed for storage tank detection

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