inline inspection of storage tanks – the petrobot solution
TRANSCRIPT
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Final Presentation, Amsterdam, The Netherlands – 25 October 2016Speaker: Moritz Oetiker, GE Inspection Robotics
Inline Inspection of Storage Tanks – The PETROBOT Solution
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Inspection of Storage Tanks
The Robotic Inspection System
The Process – How it Works!
Test-Results and Conclusions
Q&A
Outline
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Inspection of Storage Tanks
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Inspection of Storage Tanks
Tank-Floor Inspection
• Manual Work• Tank out of operation• Long period of cleaning and ventilation• Inspectors work in confined space over
an extended period (many days)
Inspection Scope
• Top- and bottom-side Corrosion (Pitting, Wall-Loss)
• Coating Condition (Blistering)• Floor-Settlement
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Inspection of Storage Tanks
Inspection Methods
• Visual• Ultrasonic• Eddy Current • MFL (magnetic flux leakage)• MEC (magnetic eddy current, SLOFEC)
Inspection Reports
• Plate-by-Plate Corrosion Map• Full Tankfloor Map
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The Robotic Inspection System
PETROBOT is bringing the Key-Elements together…
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The Robotic Inspection System
MEC(SLOFEC)
• Inspection• Reporting
PETROBOT is bringing the Key-Elements together…
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The Robotic Inspection System
MEC(SLOFEC)
NAV• Localization• Mapping• Path Following
• Inspection• Reporting
PETROBOT is bringing the Key-Elements together…
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The Robotic Inspection System
Robot
MEC(SLOFEC)
NAV• Localization• Mapping• Path Following
• Motion• Deployment• Safety
• Inspection• Reporting
PETROBOT is bringing the Key-Elements together…
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The Robotic Inspection System
Robot
MEC(SLOFEC)
NAV
Power Unit
Operator(s)Umbilical
Cable
Robot
Product
Manway
Vapor Zone
Data Link
• Localization• Mapping• Path Following
• Deployment• Safety• Motion
• Inspection• Reporting
System
PETROBOT is bringing the Key-Elements together…
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The Robotic Inspection System
SonarPinger
Camera front
Camera back
Light
Temp Sens
Pressure P1
IMU
MEC
Odometer
Pressure P2
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The Process – How it Works!
1. Deployment Safe Operation
Hoisting to the Tank-Roof Robot passing the Manway Lowering to Tank-Floor
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The Process – How it Works!
2. Localization & Mapping Path-Planning
Sonar showing Obstacles Floor-plate Layout being mapped A single plate is scanned
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The Process – How it Works!
3. Inspection Data Acquisition and Reporting
A plate is scanned in separate tracks
Track signals are mapped to the robot position
A report is generated
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The Process – How it Works!
1. Deployment Safe Operation
2. Localization & Mapping Path-Planning
3. InspectionData Acquisition and Reporting
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Test-Results and Conclusions
Robotic System
• Deployment and Retrieval• Operation, Mobility• Safety• Robustness
Localization
• Obstacle Avoidance• Plate Localization and Mapping• Path Planning• Automated Scanning
Inspection
• Detection Capabilities• Data Acquisition• Reporting
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Test-Results and Conclusions
Robotic System
• Deployment and Retrieval• Operation, Mobility• Safety• Robustness
2 Field Tests (Vopak, Shell) >48 h inside Tank (in Water) Deployment Procedure
Available
Successfully Tested in Field: Access to entire Tank Annular Weld Crossing Safety Feature: Pressure
Sensors
Localization
• Obstacle Avoidance• Plate Localization and Mapping• Path Planning & Automated
Scanning
Successfully Tested in Field: Obstacle Avoidance by: Sonar
Image + Pinger System Unambiguous Plate
Identification Plate-Boundary Detection Automated Scanning Wall-Following
Inspection
• Detection Capabilities• Data Acquisition• Reporting
Detection verified by: Tests on artificial defects Blind-Trials on natural
corrosion
Reporting demonstrated in: Field- and Lab-Tests
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Test-Results and Conclusions
Further Work• Procedures for flammable liquids• Sensor-Ground-Clearance • Data-Logging • Open up the Market Commercial Inspections
PETROBOT Results
• Safety: Safe Deployment and Operation demonstrated• Coverage: Up to 100% of obstacle-free area demonstrated• Accuracy: Data-To-Floorplate Association demonstrated• Quality: Blind Trials and Field Tests proven
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Questions and Answers
Thank You for the Attention!
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www.petrobotproject.eu