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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