Tracked Wall-Climbing Robot for Calibration of Large Vertical Metal Tanks

Xianlei Chen,Haolei Shi,Haocai Huang,Huadong Hao,Yiping Wu

doi:10.3390/app9132671

Abstract

Large vertical metal tanks are the primary vessels for the storage and turnover of crude oil, and the accuracy of their capacity calibrations are of great significance. The optical reference line method (ORLM) is used for capacity calibration and is time-consuming, labor-intensive, and hazardous, because of the elevated work. This paper aims to present a robot to overcome the problems above. We propose a tracked wall-climbing robot (TWCR) with permanent magnetic adhesion tracks, a collapsible scale, and an optional shovel-like rust remover that enable the TWCR to move stably on tank surfaces and perform the ORLM. Two sets of field tests (internal ORLM and external ORLM) indicate that capacity calibration by the TWCR is time saving, convenient, and safe, in addition to being accurate and reliable.

Highlights

With the increasing demand for energy and the rapid worldwide growth of the petroleum industry, large vertical metal tanks and various other types of storage tanks, which serve as the basic vessels for storage and turnover of crude oil, have been constructed in large quantities [1]
The tanks undergo mandatory capacity calibrations at set intervals or after maintenance according to the requirement of Chinese national standard JJG 168-2005
Can reduce the time of the operation by 30%, as recorded, it requires only one operator to perform the capacity calibration, and the risk of operators falling while installing the pulley is removed

Summary

Introduction

With the increasing demand for energy and the rapid worldwide growth of the petroleum industry, large vertical metal tanks and various other types of storage tanks, which serve as the basic vessels for storage and turnover of crude oil, have been constructed in large quantities [1]. The tanks undergo mandatory capacity calibrations at set intervals or after maintenance according to the requirement of Chinese national standard JJG 168-2005 The accuracy of the capacity calibrations is related to the trade settlement, cost accounting, and energy consumption of the domestic companies, and to the trade fairness between countries and the credibility of national measurement.

Objectives

Methods

Findings

Conclusion