Abstract
The RobTank mobile robot can enter oil and chemical storage tanks through 300 mm or more diameter openings in the roof. It performs in-service inspection of the floor and walls while
submerged in liquid thereby saving the cost of emptying, cleaning, and manually inspecting the tank. A navigation system keeps track of position and orientation within the tank. An
array of ultrasonic wheel probes and two bulk-wave rotating probes look for corrosion thinning on the floor and walls up to half a metre ahead and under inaccessible floor areas.
Obstacles such as drain sumps, heating coils, etc. are detected and avoided.
Original language | English |
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Publication status | Published - 25 Sept 2002 |
Event | 5th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines - Duration: 25 Sept 2002 → … |
Conference
Conference | 5th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines |
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Period | 25/09/02 → … |