Apparatus, system and method for automated nondestructive inspection of metal structures

An apparatus for automated nondestructive inspection of a metal structure having a surface, the apparatus comprising:

• an ultrasonic nondestructive inspection unit,
• a nondestructive inspection unit based on magnetic flux leakage method,
• an eddy-current nondestructive inspection unit,
• a control unit connected to the ultrasonic nondestructive inspection unit, the nondestructive inspection unit based on magnetic flux leakage method and the eddy-current nondestructive inspection unit for sending control signals to carry out inspection of the metal structure, and
• a navigation unit connected to the control unit, wherein the navigation unit determines a position of said apparatus relative to the metal structure, determines a state of the surface of the metal structure and sends signals into the control unit with information about the position of said apparatus and the state of the surface of the metal structure to be inspected,
• wherein all said units are installed in a housing,
• the control unit sends the control signals simultaneously to at least one of the ultrasonic nondestructive inspection unit, the nondestructive inspection unit based on the magnetic flux leakage method and the eddy-current nondestructive inspection unit based on the signals received from the navigation unit, and
• the nondestructive inspection unit based on the magnetic flux leakage method changes a magnetic field induction generated by this unit from a minimum value to a predetermined maximum value,
• the nondestructive inspection unit based on magnetic flux leakage method comprises a magnetic system comprising at least two magnetic drums connected by a U-shaped flux guide frame and at least two pole pieces,
• wherein said two magnetic drums are positioned at the at least two pole pieces, said two magnetic drums completely fill in cross-sections of the at least two pole pieces, said two magnetic drums are magnetized diametrically with a rotation axis directed along a magnetic pole of the magnetic system, and said two magnetic drums are configured to rotate with respect to each other, and
• said apparatus is used to inspect floors of storage tanks for petroleum, petroleum products, and petrochemicals.