WO2017008131A1

WO2017008131A1 - System for assessing the quality of stored fuels

Info

Publication number: WO2017008131A1
Application number: PCT/BR2015/000107
Authority: WO
Inventors: Mauro Lurk ROCHA; Ivna OLIVEIRA DA CRUZ; Maria Clara KREMER FALLER; Julio Quadrio De MOURA GUEDES; Daniel Zacarias FREITAS; Alexandre ORMIGA GALVÃO BARBOSA; Marco Antônio MEGGIOLARO
Original assignee: Petróleo Brasileiro S.A. - Petrobras
Priority date: 2015-07-15
Filing date: 2015-07-15
Publication date: 2017-01-19

Abstract

The present invention relates to systems and equipments for the remote visual inspection of fuel inside tanks, allowing the level of contamination to be analysed in order to determine the most suitable moment for cleaning the tank. The present invention provides in this context a system for the visual inspection of fuel inside fuel tanks, comprising an inspection vehicle (10) and control means (30, 40) for controlling the inspection vehicle (10), the inspection vehicle (10) comprising a means of locomotion (16, 18, 19) and at least one image capture means (12), the system additionally comprising at least one measurement scale (14) for measuring the height of the column of at least one fluid (dregs, for example) inside the fuel tank. The system of the present invention can thus identify and accurately measure the height of deposited dregs . In addition, the system can also optionally collect samples inside the tank after accurately identifying the dregs.

Description

"FUEL QUALITY ASSESSMENT SYSTEM

STORED "

FIELD OF INVENTION

The present invention relates to tank inspection technologies. More particularly, the present invention relates to systems and equipment for visually inspecting fuel within tanks and sampling, enabling optimization of tank cleaning time and preserving fuel quality.

BACKGROUND OF THE INVENTION

Storage of hydrocarbons in tanks takes place at various stages in the logistics chain of their production and distribution. Fuel is stored in tanks installed at refineries, terminals, distribution bases, large consumer depots and service stations (gas stations).

In each of these places, different types of tanks are used, with the most varied geometries, and different periods of storage. During this period, degradation of oxidation stability may occur and chemical sludge may be generated, as well as the separation of an aqueous phase from moisture in the tank, rainwater inlet, improper handling or accidental contamination during the production process, allowing the development and multiplication of colonies of microorganisms and consequent formation of microbiological sludge.

This sludge generated, if not removed, can be carried with the fuel and, while moving, transferred, causing filter clogging problems in the distribution system and vehicle injection system. The chemical compounds formed by the microorganisms, besides causing the corrosion of the storage tanks, stabilize the emulsion between water and the organic phase. which can lead to environmental contamination problems.

Thus, in order to preserve the characteristics of fuels, avoid damage and possible contamination of the environment, it is recommended to adopt a routine cleaning and inspection of storage tanks.

Internal inspections of the tanks are time consuming and costly as they imply the complete emptying of the reservoir before the inspection service can be performed resulting in high direct and indirect costs. In addition, manual sampling within the tanks generally does not allow the location of sludge deposits, making it impossible to determine the most appropriate time for emptying the tank.

[0007] There is currently no precise means of assessing the presence and height of the sludge deposit in fuel tanks without having to open and empty them. On average, it is recommended to empty the tank for inspection every three years. However, many tanks are subject to being emptied for inspection too early, generating unnecessary costs, or too late, compromising the quality of fuel stored over a period of time.

Accurate measurement of the sludge tank height, which is proportional to the level of fuel contamination in the tank, makes it possible to identify the exact moment of emptying and cleaning the tank. In addition, once the exact position of the sludge deposit in the tank has been identified, it is possible to accurately collect the samples so that their composition can be analyzed. In this sense, a system that allows inspection to accurately measure the height of the sludge deposit is still unknown, and still allows the collection of material for analysis.

EP1156304A1 describes a system for visual inspection of tanks comprising a unit for a lighting device, an image capture device, and a remote viewing device. One end of the display unit is transparent. Inside the said display unit are inserted the lighting and image capture devices. The image capture device is connected to the remote viewing device through which the operator inspects the tank.

However, nothing is mentioned in the document.

EP1156304A1 with regard to the identification and measurement of the sludge deposit height in the tank. In addition, its display device is rigid, which limits its use in large or irregularly shaped tanks, as for the farthest points of the device, observation is impaired. Another disadvantage concerns the lack of a sample collection system, which is interesting for determining the most appropriate time for tank maintenance.

Document PI0603020-3, in turn, presents a visual inspection system and sample collection using a flexible pneumatic manipulator. The system described in PI0603020-3 requires the installation of a fixed base at the tank inlet for visual inspection, which makes the system disadvantageous due to the need to install structures in hard to reach places. Another disadvantage is the lack of mobility of the system, which consists of several modules for the pneumatic system to work. Thus, in addition to the fixed base structure (manhole), a structured vehicle is required for movement and transportation of the system. Another disadvantage is the excessive weight of the system when the handler is not immersed, making control and correct positioning difficult.

As will be further detailed below, the present invention aims to solve the problems of the state of the art described above in a practical and efficient way.

SUMMARY OF THE INVENTION

[0014] A first object of the present invention is to provide a system for visually inspecting fuel inside tanks capable of identifying and accurately measuring the height of a sludge deposit.

A second object of the present invention is to provide a system for visual inspection of fuel inside tanks that can collect samples inside the tank after precise identification of a sludge deposit.

A third objective of the present invention is to provide a system for visual inspection of fuel inside tanks comprising devices to be inserted into the light and small size tank and being adapted to perform inspection on various types and shapes of tanks.

A fourth object of the present invention is to provide remotely the possibility of photographic and video image acquisition and visual data storage device inside the inspected tank.

In order to achieve the above objectives, the present invention provides a system for visual inspection of fuel within tanks, comprising an inspection vehicle and a control means for controlling said inspection vehicle, the inspection vehicle. comprising a locomotion means and at least one image capture means, the system further comprising at least one measuring scale adapted for measuring column height of at least one fluid within the fuel tank.

BRIEF DESCRIPTION OF THE FIGURES

The detailed description given below makes reference to to the accompanying figures and their respective reference numerals, representing the embodiments of the present invention.

Figure 1 illustrates a schematic sectional view of a fuel tank being inspected by a system according to a preferred embodiment of the present invention.

Figure 2 illustrates an isometric view of an inspection vehicle according to a preferred embodiment of the system of the present invention.

Figure 3 illustrates a block diagram of the various components of the system according to the preferred embodiment of the present invention.

DETAILED DESCRIPTION OF THE INVENTION

First of all, it is emphasized that the following description will start from a preferred embodiment of the invention. As will be apparent to any person skilled in the art, however, the invention is not limited to that particular embodiment.

Figure 1 illustrates an inspection vehicle 10 within a tank comprising several layers of fluids, namely water, sludge, fuel and air. The inspection vehicle 10 can move freely on any internal surface of the fuel tank due to a magnetic system that secures it to metal surfaces, as will be further detailed below.

As mentioned above, the present invention provides a system for inspecting fuel inside tanks having as main element an inspection vehicle 10 controlled by a control means. As illustrated in Figure 2, the inspection vehicle 10, in a preferred embodiment of the present invention, comprises (i) a locomotion means, (ii) at least one image capture means, such as a camera 12 adapted for generation of photographic and video images, and (iii) at least one measuring scale 14 adapted to measuring the column apheura of at least one fluid, such as the sludge deposit within the fuel tank. Preferably, camera 12 is adapted for viewing the various fluid layers within the fuel tank in real time, as will be further detailed below.

Preferably, the locomotion means is at least one of wheels 16 and tracks 18, driven by at least one drive motor 19, located within the chassis 20 of the inspection vehicle 10. Even more preferably, the locomotion means It is made up of four wheels 16 connected two by two through tracks 18. This configuration of the mobility means that the vehicle is able to move efficiently on uneven terrain and walls. Optionally, the drive motor 19 drives only two wheels connected by the same axle, the torque being transmitted to the other wheels through the tracks 18. Alternatively, two drive motors are provided, each being responsible for driving one axle.

Preferably, the at least one drive motor is a non-spark sensing electric motor. This avoids any risk of explosion inside the fuel tank. In addition, sensors 19s of at least one engine allow accurate control of torque on wheels 16 and displacement / positioning of the inspection vehicle within the tank.

Preferably, the means of locomotion is magnetic, with permanent magnets or electromagnets provided on wheels 16. Optionally, tracks 18 also comprise permanent magnets or electromagnets.

Preferably, the measuring scale 14 is located on the inspection vehicle 10, upright, fixed to its chassis 20, in the field of view of camera 12. Thus, it is possible to measure with precision of the sludge tank height within the fuel tank by identifying the upper and lower sludge tank interfaces with the other fluids (water and fuel) and measuring their heights from the tank bottom, reference for measuring scale 14.

Alternatively, the metering scale is positioned on the inner wall of the fuel tank (embodiment not shown). In this alternative embodiment, each fuel tank could have a measuring scale installed within it, which may be installed, for example, upon emptying and cleaning thereof or in its manufacture. Thus, it would be sufficient for the inspection vehicle 10 to comprise camera 12 to be able to accurately measure the height of the sludge tank by identifying on the scale fixed to the tank wall the upper and lower sludge tank interfaces with the other fluids.

Preferably, a drive means 22 is provided by movably securing camera 12 to the chassis 20 of the inspection vehicle 10. Drive means 22 is controlled by the control means and permits vertical and lateral movement of camera 12. so that it can be precisely positioned in the desired position. Thus, camera 12 can be accurately raised to any of the upper or lower interfaces of the sludge tank with the other fluids to measure its heights from the bottom of the tank. With these measures, the height of the sludge deposit in the tank is accurately obtained.

Optionally, in the embodiment where the measuring scale 14 is positioned on the inspection vehicle 10, a lifting means (not shown) may be used to raise the measuring scale 14 if the sludge deposit is out of reach. . Preferably, the lifting means is provided with at least one sensor for accurate detection of the high height, so as to be known to Accuracy the measurement scale reference 14 with respect to the tank bottom.

Preferably, the control means is divided into a remote portion 30, located remotely with respect to the inspection vehicle 10, and an embedded portion, which is preferably an embedded electronic board 40 positioned on the inspection vehicle 10, as illustrated in The block diagram of Figure 3. The remote 30 and embedded portions are in communication with each other via umbilical cable 24 or wireless communication, such as radio frequency transmission. The umbilical cable 24 connects to the inspection vehicle 10 and, consequently, to the embedded electronic board 40 via at least one connector 24c, shown in figure 2 (umbilical cable not shown in figure 2).

Preferably, umbilical cord 24 is a multipath, shielded, sheathed, fuel-resistant umbilical cord. Some of the cable ways are responsible for communication between the remote portion 30 and the embedded portion by, for example, RS-485 communication protocol, while the other routes are responsible for powering the inspection vehicle 10 and embedded systems.

Preferably, the remote portion 30 of the control means comprises a control module 31, a display / record module 32 and a control electronics module 33, all remotely positioned relative to the inspection vehicle 10. Preferably, the control module 31 sends signals to control electronics module 33 which distributes control commands to inspection vehicle 10 and view / record module 32. Command response sent as well as generated video signals by camera 12 return from inspection vehicle 10 to control electronics module 33, which displays the results in view / record module 32.

Preferably, the onboard control board 40 is handling of signals received and sent to / from remote portion 30 of the control means. The data for locomotion sent from the remote portion 30 of the control means to the inspection vehicle 10, after being processed by the onboard control board 40, is sent to controllers 42 which send the control command to at least one engine. 19. Controllers 42 also read sensors 19s from at least one drive motor 19 and send the obtained data to the onboard control board 40.

Preferably, an image display screen 35 is provided, connected to the viewer / recorder module 32 which in turn is connected via umbilical with camera 12. Thus, the inspection vehicle 10 can be controlled in time. real by viewing the interior of the tank.

Optionally, the inspection vehicle 10 further comprises a plurality of sensors to assist the operator while navigating the equipment in places without visibility. Preferably, the sensor array comprises an inertial center 44 provided with nine degrees of freedom, comprising accelerometers, magnetometers and gyros. In this way, it is possible to know the precise location of the inspection vehicle 10 inside the tank, whether for navigation, imaging or sampling.

Optionally, a sampling module 34 is provided in the system of the present invention for collecting fluid samples (sludge deposit, for example) from the tank for further analysis. Preferably, the sampling module 34 is provided on the remote portion 30 of the control module and is in fluid communication with the interior of the tank via a sampling tube 36, whose end 36e is attached to the inspection vehicle 10. Still preferably, the sampling module 34 comprises a pump and a compressor, which allow the generation of sufficient negative pressure (vacuum) to sample at the desired point. The end 36e of the sample cuff tube 36 may be fixed at the height of the upper surface of the inspection vehicle chassis 22, as well as at lower heights in case the sludge deposit is below the height of the equipment. Optionally, an additional lifting system (not shown) is provided on the inspection vehicle 10 to raise the end 36e of the sampling tube 36 so that the collection is performed at the desired height. Alternatively, in cases where the end 36e of the sampling tube 36 is not immersed in the sludge deposit, sampling may be performed with the inspection vehicle 10 positioned on the sidewall of the tank in an upright position. In this position it is possible to precisely adjust the height of the end 36e of the sampling tube 36 by moving the inspection vehicle 10 vertically by means of locomotion.

Importantly, due to its construction and the materials employed, the system for visual inspection of fuel inside tanks of the present invention is intrinsically safe since the inspection vehicle 10 which comes in contact with The product stored in the tank does not release electricity or produce sparks, and its axes are preferably insulated by mechanical seals. Additionally, the entire power supply system is located outside the tank, in communication with the vehicle inspection via umbilical cable 24, increasing the reliability of the system. Thus, the inspection vehicle 10 can be used in tanks that store the most diverse types of hydrocarbons without risk of explosion.

Therefore, based on the above description, the system for visual inspection of fuel within fuel tanks of the The present invention is capable of identifying and accurately measuring the height of a sludge deposit. Additionally, the system is still able to optionally collect samples inside the tank after precise identification of the sludge deposit. In addition, the system of the present invention comprises lightweight and small size devices to be inserted into the tank and is adapted to perform inspection on the most varied types and shapes of tanks extremely efficiently.

Numerous variations affecting the scope of protection of this application are permitted. Accordingly, it is emphasized that the present invention is not limited to the particular embodiments / embodiments described above.

Claims

1. System for the visual inspection of fuel in tanks, comprising an inspection vehicle (10) and a control means (30, 40) for controlling said inspection vehicle (10), the inspection vehicle (10). ) comprising:

- locomotion medium (16, 18, 19); and

- at least one image capture medium (12),

the system further comprising at least one measuring scale (14) adapted for measuring column height of at least one fluid within the fuel tank.

System according to Claim 1, characterized in that the control means is located partly remotely (30) with respect to the inspection vehicle (10) connected to it by umbilical cable (24) or wireless communication. .

System according to Claim 2, characterized in that the control means further comprises an on-board control board (40) positioned on the inspection vehicle (10) connected to the remote part of the control means (30) by umbilical cable. (24) or wireless communication.

System according to claim 3 or 4, characterized in that the measuring scale (14) is located on the inspection vehicle (10) in the field of view of at least one image capture means (12).

System according to Claim 4, characterized in that the measuring scale (14) comprises a lifting means.

System according to any one of claims 1 to 3, characterized in that the measuring scale (14) is located on the inner wall of the tank.

System according to any one of claims 1 to 6, characterized in that it further comprises a movement means (22) movably securing the at least one image capture means (12) to the inspection vehicle (10).

System according to any one of claims 1 to 7, characterized in that the locomotion means comprises at least one of wheels (16) and tracks (18) driven by at least one drive motor (19).

System according to any one of claims 1 to 8, characterized in that the locomotion means is magnetic.

System according to any one of claims 1 to 9, characterized in that the inspection vehicle (10) further comprises an inertial plant (44) comprising a plurality of sensors.

System according to any one of claims 1 to 10, characterized in that it further comprises a sampling module (34) positioned on the remote portion (30) of the control module.

System according to Claim 11, characterized in that the sampling module (34) is in visual communication from the interior of the tank and enables sampling at the desired point through a sampling tube ( 36) whose end (36e) is fixed to the inspection vehicle, the height of which may be altered according to the sludge height (10).