NDLI: Development of an Autonomous Robot for Gas Storage Spheres Inspection

Content Provider	Springer Nature Link
Author	Okamoto, Jun Grassi, Valdir Amaral, Paulo Faria Santos Pinto, Benedito Geraldo Miglio Pipa, Daniel Pires, Gustavo Pinto Martins, Marcus Vinicius Maciel
Copyright Year	2011
Abstract	Inspection for corrosion of gas storage spheres at the welding seam lines must be done periodically. Until now this inspection is being done manually and has a high cost associated to it and a high risk of inspection personel injuries. The Brazilian Petroleum Company, Petrobras, is seeking cost reduction and personel safety by the use of autonomous robot technology. This paper presents the development of a robot capable of autonomously follow a welding line and transporting corrosion measurement sensors. The robot uses a pair of sensors each composed of a laser source and a video camera that allows the estimation of the center of the welding line. The mechanical robot uses four magnetic wheels to adhere to the sphere’s surface and was constructed in a way that always three wheels are in contact with the sphere’s metallic surface which guarantees enough magnetic atraction to hold the robot in the sphere’s surface all the time. Additionally, an independently actuated table for attaching the corrosion inspection sensors was included for small position corrections. Tests were conducted at the laboratory and in a real sphere showing the validity of the proposed approach and implementation.
Starting Page	23
Ending Page	35
Page Count	13
File Format	PDF
ISSN	09210296
Journal	Journal of Intelligent & Robotic Systems
Volume Number	66
Issue Number	1-2
e-ISSN	15730409
Language	English
Publisher	Springer Netherlands
Publisher Date	2011-07-08
Publisher Place	Dordrecht
Access Restriction	Subscribed
Subject Keyword	Mobile robot Autonomous control Welding inspection Computer vision Artificial Intelligence (incl. Robotics) Electrical Engineering Mechanical Engineering Control, Robotics, Mechatronics
Content Type	Text
Resource Type	Article
Subject	Industrial and Manufacturing Engineering Artificial Intelligence Control and Systems Engineering Mechanical Engineering Electrical and Electronic Engineering Software

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