The paper presents the project of tank inspection robot. In order to discuss the designing process, algorithm of design has been provided. There are four design stages: the analysis of the construction problem, the synthesis, testing/improving robots construction and finally testing it. First stage of project process is divided into constructive and imitative analysis. Constructive analysis means searching for still not existing solutions of robots and detection methods. In this paper we concentrate only on constructive analysis.

The Project of Tank Inspection Robot

Development of Rockfall Prevention Net Climbing Robot Using a Quadric Chain

Recently new ultrasonic flaw detection system called TOFD method is utilized to externally inspect the inner and outer surfaces of weld seams on spherical storage tanks while tanks are in use. In this system, the robot mounted the sensors is not only permitted to travel along the weld seam rapidly but also required to follow the weld seam precisely. In this paper, the development of a magnetic-wheeled robot that can follow the weld seam within 5 mm based on feedback control is described. Since October 1999, this robot has been in experimental operation on an actual spherical tank. Practical introduction of this robot will shorten inspection time by about one week from the conventional 23 days, and will reduce the conventional number of inspectors required from 4 to 2-3.

Hideki Hayakawa

Papers

Development of an Inspection Robot for Spherical Storage Tanks