Autonomous mobile lock-in thermography system for detecting and quantifying voids in liquefied natural gas cargo tank second barrier

In this study, an autonomous mobile inspection system that can detect and quantify hidden voids in a secondary barrier (triplex layer) of a liquefied natural gas cargo tank is developed using lock-in thermography. The triplex layer is the secondary barrier to prevent gas leaks from a Mark III–type membrane liquefied natural gas carrier cargo tank and consists of three sub-layers: a flexible secondary barrier, a bonding layer, and a rigid secondary barrier. The proposed mobile inspection system consists of a lock-in thermography measurement unit, a mobile inspection unit, and image processing algorithms. First, thermal images are obtained using the lock-in thermography unit as the mobile inspection system maneuvers over triplex layers. Second, the raw thermal images are processed by several image processing techniques to compensate for non-uniform heating, eliminate noise components, and disregard trivial voids in accordance with the current inspection guideline. Third, the void size is more precisely quantified using an empirical mapping function that relates the void size estimated in the previous step to that measured by an independent X-ray test. The contributions of this study include the following: (1) an autonomous mobile inspection system is developed for real-time inspection of the triplex during its installation, significantly saving the inspection cost and time; (2) a suite of image processing techniques is developed, overcoming shortcomings of the existing thermography non-destructive testing techniques; and (3) the sizes as well as the locations of the hidden voids are quantified with high accuracy, reliability, and fast inspection speed.