An autonomous self contained wall climbing robot for non‐destructive inspection of above‐ground storage tanks
Abstract
Purpose
The aim of this research is to design a wall climbing robot (WCR) for the non‐destructive inspection (NDT) of the above‐ground storage tanks (ASTs) autonomously making the industrial inspection and maintenance tasks safer.
Design/methodology/approach
A WCR is designed that can be equipped with any NDT sensor. It uses permanent magnets as an adhesion mechanism to crawl over the steel tank walls. A surface coverage algorithm is proposed for the WCR to scan the AST wall surfaces autonomously with the NDT sensors to perform the necessary inspection tasks.
Findings
The proposed surface coverage algorithm performs the complete coverage of the AST walls under different obstacle configurations. It has been tested and demonstrated in simulations.
Originality/value
A surface coverage algorithm is proposed for the WCR to perform the non‐destructive inspection of the ASTs autonomously. It can also be used in applications like cleaning glass building and painting ship hulls, etc.
Keywords
Citation
Kalra, L.P. and Gu, J. (2007), "An autonomous self contained wall climbing robot for non‐destructive inspection of above‐ground storage tanks", Industrial Robot, Vol. 34 No. 2, pp. 122-127. https://doi.org/10.1108/01439910710727469
Publisher
:Emerald Group Publishing Limited
Copyright © 2007, Emerald Group Publishing Limited