Robot for detecting corrosion of base plate of on-service large-sized crude oil storage tank

Abstract

The invention discloses a robot for detecting the corrosion of a base plate of an on-service large-sized crude oil storage tank, belonging to the technical field of corrosion detection of storage tanks. The robot comprises an umbilical cable, a rudder balance, a submerging-surfacing adjusting bin, a navigation system, a propeller, a control bin, imaging sonar, a bases bracket, an ultrasonic detection device, an operation platform, a display system and an umbilical cable winch. Before the detection, an internal structure of a storage tank is scanned and reconstituted by the imaging sonar, a plurality of sampling detection points are selected, a walking route of the robot is planed, the robot is put down and is controlled to walk to an appointed working position, and obstacles are avoided byvirtue of the imaging sonar in the moving process. In the detection process, the ultrasonic detection device expands and stretches to be in contact with the base plate at the tank so as to acquire corrosion defect information, after a current detection point is detected, the ultrasonic detection device is withdrawn and is moved to the next working position, so repeatedly, the robot is withdrawn after all sampling points are detected. According to the robot, the detection problems in the crude oil storage tank with complex barriers are solved; and the robot is high in isolation explosive-proofgrades and strong in adaptive capacity.

Description

technical field [0001] The invention relates to an in-service large-scale crude oil storage tank bottom plate corrosion detection robot, which belongs to the technical field of storage tank corrosion detection. Background technique [0002] Petroleum, as an important strategic energy source of the country, is the blood of industry and is crucial to the national economy and national security. Storage tanks are the main storage method for petroleum and petrochemical products, and there are tens of thousands of them in my country. In addition, there are national strategic petroleum reserves Base storage tanks. How to ensure the safe operation of storage tanks has become a major issue in the industry, and has received great attention from responsible departments at all levels. [0003] The tank body is subject to the dual effects of the external natural environment and the internal liquid storage medium. Long-term use will gradually lead to various failures of the storage tank, ...

AI Technical Summary

Problems solved by technology

[0003] The tank body is subject to the dual effects of the external natural environment and the internal liquid storage medium. Long-term use will gradually lead to various failures of the storage tank, especially various chemical substances in the storage liquid will corrode the bottom plate of the storage tank, causing perforation or even Leakage will bring serious safety hazards and environmental pollution, and cause irreparable losses to the country and people's lives and property.

[0004] Corrosion bottom plate inspection of storage tanks in my country generally adopts regular tank opening inspection, and multiple processing procedures are required before inspection, which has long working hours and high cost, which affects the normal operation of the oil depot

Therefore, the in-service inspection without stoppage of production has become a development trend. At present, the acoustic emission of in-service inspection can only be judged qualitatively, and it needs to cooperate with the can opening inspection to make quantitative analysis of the corrosion status. However, the plate guided wave is limited by its principle. It can detect the edge of the tank bottom plate in service, but cannot detect the large-area middle area. Different from the detection outside the tank of acoustic emission and plate guided wave, the robot has incomparable advantages in the detection of entering the tank, which is of great significance for the detection of corrosion of the bottom plate of the storage tank.

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