1. Robot Deployment System
The Inspector Robotic System Consists of:
Robot
Control Box
Robot Deployment System
Global Positioning Camera
Cables
Two Full Systems will be provided for all Outages
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2. Control Box Power 110-120 Volts AC 30 amp power supply
NEMA 5L-30 Socket
Three cables
One (1) for Global Positioning Camera
Two (2) for Robot
Screen, Key Board and mouse
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3. Elements of the Inspector Robot
LED Mast
Articulated Chassis
Camera/Laser/Light, Rangefinder Ports (4-sides)
Four Wheel Independent Drive Motor/Steering System
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4. Elements of the Inspector Robot
Sensors* Mounted on Motorized and Encoded Arms, UT and Eddy Current
Floor Laser Scanner
LED Positioning Lights on Top of Mast
* Sensor units by others
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5. Deployment Through the Man-Way
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6. Man-Way Deployment
Installation Crane is available for use – Minimum 20 ft. Lifting Capability in excess of tank ingress elevation.
The robot chassis has two lifting cables attached.
- “Y” assembly at the rear
- Single cable at top center
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7. Deployment Through the Man-way
The robot is hoisted front end down and lowered through the Man-way.
The data cable/umbilical has no tension on it.
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8. Attaching the Mast
The rear “Y” cable is slackened & the robot is pivoted to horizontal.
The LED mast is lowered and fastened to the top deck of the robot.
The robot is lowered to the tank floor with no tension on the umbilical.
On the tank floor, lifting cables are slackened
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9. Installation of the Global Positioning Camera
The Global Positioning Camera (GPC) is clamped to the edge of the manway, facing downward to view the entire tank floor.
A manual winch pulls the arm into position
Once in position the arm is retained by a drawbar
The system’s software detects and tracks the position of the robot using the mast-top LEDs.
Installation Position
Operating Position
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10. Installation of the Global Positioning Camera
The Global Positioning Camera (GPC) is clamped to the edge of the manway, facing downward to view the entire tank floor.
The system’s software detects and tracks the position of the robot using the mast-top LEDs.
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11. Positioning the Robot
The robot is precisely guided via several inputs:
GPC Camera
Camera/Laser/Light, Rangefinder Ports
3D Laser Scanner
Direction, speed and position of wheel pods
System software uses the inputs to create a virtual robot and tank floor on the operator’s screen
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12. Beginning the Tank Floor Survey
The robot begins its inspection by finding the Tank Wall and moving around the perimeter.
The Robot detects and Maps where Cross-Tank Floor Plate Welds meet the Wall
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13. Mapping Floor Plate Locations
After the Perimeter Survey, the robot follows each long welded joint and detects the short, intersecting welds
System software maps the location of each floor plate, plus obstructions such as piping or supports
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14. Mapping Floor Plate Integrity
Inspector robots are able to position a variety of NDE sensors with an accuracy of 1/8th inch (3 mm) over 90% of a tank floor
Inspector Robots have an on-board downward facing 3D Laser Scanner for precisely measuring surface features, textures and corrosion
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15. Mapping and Monitoring Plate Defects
Defect locations are correlated with the tank plate map and stored digitally for instant, or later review
The robot can be reliably returned to the same point during a survey, and even after it’s been removed and redeployed back in at a later date
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16. Tank Floor Cleaning
Inspector robots can be fitted with tank floor brush and cleaning tools
Powered rotating brush and suction attachments are designed for easy mounting
Hoses will be routed based on the tools in use.
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17. Thank You
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