Developing a Mobile Robotic Facility for Diagnosing Tank Equipment

摘要

A problem of tank equipment diagnostics in the oil-and-gas industry is considered, and existing robotic solutions are analyzed. A methodology of robot designing is presented, including the development of an information model, the simulation of the supporting structure, and studies on the pressing force of wheel movers to the ferromagnetic surface depending on the remoteness thereof. As a result, an innovative robotic facility for the diagnostics and stress mapping of the walls of tanks and reservoirs with the use of nondestructive testing methods has been developed. The facility is intended to inspect both horizontal and vertical surfaces, providing industrial safety, a decrease in environmental risks, and money saving.