Journal
APPLIED SCIENCES-BASEL
Volume 9, Issue 13, Pages -Publisher
MDPI
DOI: 10.3390/app9132671
Keywords
wall-climbing; robot; calibration; optical reference line method
Categories
Funding
- Science and Technology Project of AQSIQ [2017QK075]
- Quality Technology Infrastructure Project of Zhejiang Quality Supervision System [20180130]
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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.
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