Recognition of corrosion state based on omnidirectional mobile robot for inspection of CAS for oil tanker

Author

Lee, Seung-Heui ; Eum, Yong-Jae ; Lee, Min Cheol

Author_Institution

Interdiscipl. Program in Mechatron., Pusan Nat. Univ., Busan

fYear

2008

fDate

20-22 Aug. 2008

Firstpage

155

Lastpage

159

Abstract

It is dangerous that a technician inspects the inner space of an oil tanker because of many harmful gases. But inspection is necessary to many older oil tankers. In this reason, we study a design of mobile robot for inspection of CAS. The developing CAS mobile robot is able to measure an oil tankerpsilas thickness of steel plates, inspection of the inner surface, and moving the surface of a wall of the oil tanker. We focus on recognizing of corrosion state at the steel wall of ship. To improve an effectiveness of driving to move the surface of the wall of ship, magnetic omnidirectional wheels will be used. The North Starreg sensor will be used for the path planning in the oil tanker. In this paper, the experimental results showed that the robot could recognize a corrosion state of steel plate thickness of ship.

Keywords

condition monitoring; corrosion; freight handling; image sensors; inspection; mobile robots; path planning; robot vision; service robots; ships; CAS; North Star; corrosion state; harmful gases; inspection; magnetic omnidirectional wheels; oil tanker; omnidirectional mobile robot; path planning; ship; steel wall; Content addressable storage; Corrosion; Gases; Inspection; Marine vehicles; Mobile robots; Petroleum; Steel; Thickness measurement; Wheels; CAS(Condition Assessment Scheme); inspection; mobile robot; omnidirectional wheel; path planning;

fLanguage

English

Publisher

ieee

Conference_Titel

SICE Annual Conference, 2008

Conference_Location

Tokyo

Print_ISBN

978-4-907764-30-2

Electronic_ISBN

978-4-907764-29-6

Type

conf

DOI

10.1109/SICE.2008.4654640

Filename

4654640