Title :
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
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;
Conference_Titel :
SICE Annual Conference, 2008
Conference_Location :
Tokyo
Print_ISBN :
978-4-907764-30-2
Electronic_ISBN :
978-4-907764-29-6
DOI :
10.1109/SICE.2008.4654640
