Huge savings in cost and inspection times (as well as improved safety) could be obtained by performing in-service inspection of tank floors and walls with robotic devices. This would have a reduced environmental impact and meet EPA and state regulations.
The goal was to design a robotic system to deploy a payload of non-destructive testing (NDT) sensors for the inspection of the floor and walls of a wide variety of inservice oil storage tanks while submerged in the contained fluid. The proposed concepts leverage JPL’s technologies in space robotic manipulators and end-effectors for space applications, albeit at different scales and for different environments. These technologies include a turret design with more than four tools and instruments that will enable deployment of multiple NDT sensor payloads during a single deployment. Other technologies are lightweight, large-workspace robot arms; cable-driven robot arms; in situ tool change mechanism that enables swapping of the tools without removing the robotic arm; telepresence software; robot perception capabilities; mobile robot navigation, path planning, and locomotion; and operator interfaces for robot control.
Current inspection practices require tanks to be emptied and cleaned before an inspection can commence. The total time to empty, clean, and inspect a storage tank can be between one to nine months on the larger crude oil tanks. Despite safety procedures, the cleaning operators are exposed to hazardous chemicals and other hazardous conditions for long periods of time.
This work was done by Ashitey Trebi-Ollennu, Hari D. Nayar, and Eric A. Kulczycki of Caltech for NASA’s Jet Propulsion Laboratory. NPO-48823
This Brief includes a Technical Support Package (TSP).
Neutrally Buoyant Tank Inspection and Cleaning Robot
(reference NPO48823-1) is currently available for download from the TSP library.
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Overview
The document outlines the development of a Neutrally Buoyant Tank Inspection and Cleaning Robot, designed for the inspection of in-service oil and petrochemical storage tanks. This initiative is spearheaded by the Jet Propulsion Laboratory (JPL) at the California Institute of Technology, under the sponsorship of NASA. The primary goal of the project is to leverage advanced robotic technologies to enhance the safety, efficiency, and effectiveness of tank inspections, which are critical for maintaining the integrity of storage facilities.
The robot is designed to operate in both fixed roof and floating roof tank configurations. For fixed roof tanks, the robot is mounted at the manhole or access hatch, while for floating roof tanks, it can be mounted on guide rails or deck legs. The robot features a single 3 to 4 degrees of freedom (DOF) manipulator, which is neurally buoyant, allowing it to navigate the tank environment effectively. The electronics, including the CPU, servos, and motors, are housed in a pressurized enclosure located on the external roof near the manhole, ensuring protection from the tank's internal conditions.
The document emphasizes the application of JPL's expertise in space robotic manipulators and mobile robots, drawing parallels to technologies used in space missions, such as the Mars Exploration Rover (MER) and the Mars Science Laboratory (MSL). These technologies are adapted for terrestrial applications, showcasing the versatility and innovation of JPL's robotic systems.
Additionally, the document serves as a Technical Support Package, providing information under NASA's Commercial Technology Program. It aims to disseminate aerospace-related developments that have broader technological, scientific, or commercial implications. The document also includes contact information for further inquiries regarding research and technology in this field.
Overall, the Neutrally Buoyant Tank Inspection and Cleaning Robot represents a significant advancement in the field of non-destructive testing (NDT) for storage tanks, promising to improve inspection processes while reducing risks associated with manual inspections. The integration of space-grade robotic technologies into this application highlights the potential for cross-disciplinary innovation, ultimately contributing to safer and more efficient operations in the oil and petrochemical industries.
