Neptune: above-ground storage tank inspection robot system

Abstract

The Neptune system is a mobile robot system used to remotely inspect above-ground storage tanks (ASTs) containing petroleum products. Neptune ascertains the state of corrosion of the floor and side-walls according to the guidelines laid out by the American Petroleum Institute (API). The robot system allows unmanned entry and sensor data collection in ASTs without the need to empty or clean the tanks nor the required human walk-through inspection. The complete system comprises: a robot crawler vehicle suitable for classified locations which carries visual and ultrasonic sensors; a deployment pod atop the tank which lowers and retrieves the crawler; an in-tank acoustic positioning system to chart and control the location of the robot; and an external remote control console utilizing commercial and custom software for display, planning, and control tasks. The crawler pod and navigation systems are all designed for certification in such hazardous environments, classified as Class I, Division I, Group D.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>