JP2018127170A - Inspection vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an inspection vehicle for underwater inspection of coating, marine gloss, structural integrity and corrosion on a ferromagnetic hull or other ferromagnetic structure.SOLUTION: An inspection vehicle includes: a nonmagnetic element 2; at least one magnetic wheel 3 or a device arranged to be capable of operating on the element; and a waterproof camera 4 for visual inspection attached to the element or other structure on the inspection vehicle. The inspection vehicle has at least one magnetic wheel 3 or the device on one connection side arranged to be capable of operation on the inspection device, magnetically connected and capable of moving the inspection vehicle horizontally and vertically in reverse orientations in coating, and all marine gloss and corrosion products.SELECTED DRAWING: Figure 2

Description

  The present invention relates to inspection of hulls and other structures. Specifically, the present invention relates to inspection vehicles for underwater inspection of coatings, malling loss, structural integrity and corrosion on ferromagnetic hulls and other ferromagnetic structures.

  The coating protects the hull and other structures at sea and on the shore. Degradation of the structural coating increases corrosion, which ultimately reduces structural integrity. Experience has shown that a new coating system after the removal of tin as a component from the antifouling in 2008 is not effective. It may also be an ineffective result, but in recent years it is also an antifouling agent or antifouling additive that is less toxic and less threatening to health. This is because many substances and compositions have been prohibited or restricted.

  Malling loss has a surprisingly large impact on ship fuel consumption. Hull friction increases as the extent of malling loss increases. IMO (International Maritime Organization) and UN (United Nations) organizations have shown that 5-15% of the fuel can be saved by having a clean hull (Secondary GHG Study, Section A2.63). Other estimates, estimated by Marintek, Propulsion Dynamic (tankers) and Jotun, respectively, show savings of 15%, 20% or 18% (over 60 months). CASPER: The cutting edge of ship performance-Propulsion Dynamics, estimated savings of 10-20%.

  The quality of the coating, the spread of corrosion and malling loss, its influence on structural integrity, and structural damage can be detected in principle by visual inspection and more or less quantified. Additional sensors and measurements can verify and quantify the survey results. However, for structures such as ship hulls at the quay, the hull is not apparently dirty near or with the water line. In many situations, damage or changes cannot be identified by visual control from the sea level, and the damage may be located at a deeper level in the hull and is not visible in harbors with poor visibility seawater Because.

  Typically, a diver or ROV (remote work machine) must be relied upon for visual control and the service is not readily available. Inspection equipment exists, but often requires skilled crew, power, control vessels and often additional ships. The instrument is typically sophisticated and requires specialists for operation and interpretation of results.

  There is a demand for the examination tool to be easier to move and it is actually used more often. There is a specific requirement for equipment that is very lightweight, compact, and fast to operate with only one or two operators without shifting the dwell time back in the harbor, such as when the ship is on the quay . The object of the present invention is to satisfy the above-mentioned requirements.

The invention provides an inspection vehicle for underwater inspection of coatings, malling loss, structural integrity and corrosion on or below the surface, on ferromagnetic hulls and other ferromagnetic structures. The inspection vehicle stands out in that it comprises:
Non-magnetic elements,
At least one magnetic wheel or magnetic device operably arranged on the element, and a waterproof camera for visual inspection attached to an element or other structure of the inspection vehicle,
Inspection vehicle
On one connecting side, at least one magnetic wheel or device is operatively arranged and magnetically connected to the inspection vehicle, horizontally and vertically in coatings, any malling loss and corrosion products A connecting side that allows the inspection vehicle to move on the structure in an upside down orientation, while the inspection vehicle is connected to the structure;
One uncoupled side substantially oriented in the opposite direction to the coupled side, wherein at least one magnetic wheel or device is not operatively disposed, the uncoupled side being magnetically coupled to said structure One unconnected side not connected to
Optional sensors and devices specified in the dependent claims and / or in the description as being followed,
Is provided.

  Preferably, the nonmagnetic element is single concave or double concave.

  Preferably, the magnetic wheel or magnetic device is a magnetic wheel, as detailed and specified below. However, as an alternative or in addition, the magnetic device may also be arranged to be magnetically coupled rather than the wheels themselves. For example, the device is a magnet and is placed in the middle or near the non-magnetic wheel with no lift, for example with a lift-off from the surface to be inspected of 2-3 mm. Such magnetic devices are preferably permanent magnets or electromagnets that can turn off the magnetic force, as described below.

  Preferably, the inspection vehicle comprises at least two magnetic wheels that are spaced apart from the non-magnetic element. The inspection vehicle may comprise one, two, three or more non-magnetic wheels, and the number of magnetic wheels can be increased by replacing the non-magnetic wheels.

Preferably, the non-magnetic element is one of the following:
Concave shell structure,
A concave shell structure, which is substantially circular
A substantially elongated concave shell structure,
A substantially circular or elongated concave shell structure, wherein the magnetic wheel is surrounded by said shell structure, the wheel facing and adhering to the structure being inspected during operation, on the underside of the inspection vehicle A shell structure extending from the shell structure only on the connecting side, preferably said shell structure also extending laterally at least around the magnetic wheel,
A curved beam having a concave side facing outward from the structure being inspected during inspection,
A curved beam having a concave side facing outward from the structure to be inspected during operation, wherein the beam is elongated and one of the equidistant in length and width, preferably said curved beam is A curved beam extending laterally at least around the magnetic wheel,
A curved truss structure having a concave side facing outward from the structure being inspected during inspection,
A curved truss structure having a concave side facing upwards from a structure to be inspected during inspection, wherein the curved truss structure is one of elongate and equidistant with respect to length and width, preferably said curve A truss structure, also a curved truss structure extending laterally at least around the magnetic wheel,
Concave shell structure, beam structure or truss structure,
Concave shell structure, beam structure or truss structure, which surrounds at least the magnetic wheel, has a curvature or a concave surface, and the center of gravity is separated in at least two axial directions when the inspection vehicle hangs down along a vertical hull The lower altitude wheels are more and less than the higher altitude wheels when the inspection vehicle hangs down along the vertical hull, preferably at an altitude below the midpoint between the wheels. Concave shell structure, beam structure or truss structure that is heavy.

  Preferably, the inspection vehicle includes a waterproof camera having a live video function. All cameras, sensors, lights and devices operatively arranged or incorporated in the inspecting vehicle of the invention are impervious to water at least to a depth of depth for the intended operation.

Preferably, the inspection vehicle comprises one or more of the following in any combination:
Sensor for measuring coating and malling loss thickness, preferably the sensor is an inductance based sensor;
A sensor that measures the thickness of a hull or other structure to be inspected, such as tank wall thickness, tube wall thickness, or hull thickness, preferably the sensor is an ultrasonic based sensor;
Means for positioning the sensor or other device, such as a solenoid-type release mechanism that holds the sensor or other device until it reaches the release position;
A combination of induction-based sensors, such as lights, and eddy current sensors, and ultrasonic-based sensors, including lift-off from the ferromagnetic structure to be inspected, coating thickness, malling loss thickness and type, And combinations that measure the thickness of a ferromagnetic structural wall or hull.

  Preferably, the sensor is a spring-loaded sensor incorporated in a concave structure arranged to slide on the structure to be inspected, or arranged on wheels or arranged on a shaft between wheels . Alternatively, some or all sensors of the inspection vehicle are located at a distance from the structure to be inspected, and are preferably known and fixed distances.

  The lift-off from the ferromagnetic structure being inspected is the sum of the coating thickness, the malling loss thickness, and any corrosion, which can be accurately measured with an inductance-based sensor such as an eddy current sensor. By using ultrasonic-based sensors, sometimes called ultrasonic probes or UT probes, and by knowing the exact lift-off, coating thickness, malling loss thickness, corrosion, coating quality and marine The type of gloss can be determined based on the difference in ultrasonic velocity and reflection. Preferably, a multi-source ultrasonic probe similar to that used for medical purposes is used. This is because the resolution and level of detail are higher than the ultrasonic probes conventionally used in non-destructive inspection and testing.

  The inspection vehicle preferably comprises a rope or combination of ropes or cables at the top of the vehicle as seen when hanging along the vertical hull side, preferably as a bundle or a single umbilical. Rope or line, combined with communication, and preferably also supply and control.

  The inspection vehicle preferably comprises a wheel with a drive mechanism and is preferably a battery and electric drive that supplies electricity via a cable that is built in or attached to the inspection vehicle, preferably steerable. It includes steering functions such as steerable hinges on wheels or inspection vehicles, and preferably steering devices such as joysticks. A radio-controlled or cable-controlled car or vehicle waterproof drive and control mechanism is a possible feature of such embodiments.

  The inspection vehicle preferably comprises wheels and / or structures, which are wider at the lower end of the inspection vehicle than at the upper end of the inspection vehicle, as seen on inspection vehicles attached to and down the vertical hull side. And / or heavy. This provides easier descent and orientation.

  The inspection vehicle preferably comprises a position or motion sensor, such as a gyro sensor and / or an acceleration sensor, preferably also a GPS sensor, and associated software, in the inspection vehicle or in the control computer or likewise in cable or It is operably connected wirelessly or written to storage and arranged to always record position and movement during inspection operations.

  The inspection vehicle preferably weighs less than 25 kg and has dimensions that are not greater than 1 m when packed into a work container, allowing transport, handling and operation by a single operator. Preferably, the vehicle weighs about 5-25 kg, preferably about 10 kg in air and about 3-20 kg, preferably 7 kg in water. The magnetic wheel itself has, in one embodiment, a flat surface (no paint on the hull) with a magnetic coupling force of about 155 kg, a diameter of about 0.1 m and a wheel width of about 1.5 cm. A typical inspection vehicle of the invention is about 50 cm long, 20 cm wide and about 20 cm high.

  However, the inspection vehicle is preferably designed in such a way that the wheels can never be connected to the structure on a flat surface by means of magnetic wheels with transverse protrusions and / or by placing the magnetic wheels between non-magnetic wheels. The protrusion is a rubber structure, for example in the shape of a hemisphere, and prevents the inspection vehicle from lying down and flattening with one, two or more magnetic wheels firmly connected to the hull. Most preferably, however, the non-magnetic element has a non-coupled side structure designed to cover and hide the wheel laterally rather than towards the coupled side, thereby providing a lateral to at least one magnetic wheel. It has a shape that prevents magnetic coupling in the direction.

The invention also provides a method for underwater inspection of coatings, malling loss, structural integrity and corrosion on ferromagnetic hulls and other ferromagnetic structures using an inspection vehicle according to the invention. The method is characterized by comprising the following steps:
The steps to start recording with the camera,
The inspection vehicle is lowered to the structure to be inspected and below the surface, while the inspection vehicle is suspended on the rope / cable by unwinding the rope / cable until it reaches the desired depth or position, optionally Also inspected during travel at the desired location or along the structure for one or more of coating thickness, malling loss, structural integrity, structural wall thickness and corrosion, and optionally magnetic Adjusting the coupling force according to the inspection vehicle position and orientation; and
Repeating the steps at the desired location for inspection.

  Preferably, the video footage is a camera recorder and the rope / cable is provided with a distance sign, which is used for depth control or embedded in an inspection vehicle, digital or manual, optional sensor Use a depth gauge.

  Preferably, the line / cable can be attached to or attached to either end of the inspection vehicle, and the line is used to flip the inspection vehicle around the hull at the desired location. The

  The invention also provides application or use of the inspection vehicle of the invention, frequent enough to provide typical fuel savings of up to 5-20% and a corresponding reduction in greenhouse gas (GHG) emissions. To provide information about deciding to clean the hull.

  The above definition of the inspection vehicle means that the non-magnetic element is made of a non-magnetic material so that it does not magnetically adhere to the ferromagnetic structure itself when combined with a magnetic wheel as part of the inspection vehicle. .

  Non-magnetic material refers to non-magnetized material itself or one that incorporates magnetic wheels as part of an inspection vehicle against a background of non-magnetic elements. Thus, a non-magnetic element is made of carbon steel or other ferromagnetic material unless it can be magnetized to connect to a ferromagnetic structure that is inspected when operably incorporated into an inspection vehicle. Can be done.

  In principle, the inspecting vehicle of the invention comprises only one connecting side, which means only one side that is magnetically connected to the structure to be inspected. Depending on the design, the inspection vehicle means one, two, three, four or five unconnected sides, which are not magnetically connected to the structure to be inspected. A design in which the inspection vehicle has a shape substantially as a cube or an elongated cube comprises five unconnected sides. A design in which the inspection vehicle has a substantially double concave shell or shell-like structure across the connecting side has only one unbonded side. The intermediate shape between the cubic shape and the double concave shell shape gives 2-4 unconnected sides, all such shapes representing the embodiment of the inspection vehicle of the invention. An example is an inspection vehicle having two or three concave and / or double concave unconnected sides and one connected side.

  Inspection of the hull underwater means that the ship is at a quay or other place that floats on the water, unlike lying on a dry dock. The term magnetic wheel means a permanent magnet wheel or an electromagnetic wheel. Permanent magnet wheels are wheels that comprise a permanent magnetic material, and the resulting magnetism is permanent or can be varied on and off. Preferably, the magnetism can be turned on and off at the wheel or through a cable connected to the inspection vehicle. The electromagnetic wheel comprises an electromagnet, and the magnetism can be changed on and off by changing the current on and off through the electromagnet. The inspection vehicle comprises one, two, three or four or more magnetic wheels. The magnetic wheel is a permanent magnet wheel, an electromagnetic magnetic wheel, or any combination of permanent magnet wheels and electromagnetic wheels.

  Magnetic coupling is provided with magnetic wheels to provide a magnetic coupling force that attaches and holds the inspection vehicle to the structure to be inspected.

  For inspections immersed in water or other liquids, the magnetic coupling force is preferably 0.5-2 times, most preferably 1.3 times the weight of the inspection vehicle when immersed. It is in the range of ~ 1.5 times.

  For inspection in water, in the air or in other gases, the magnetic coupling force is preferably 0.5-2 times, most preferably 1.3 times the weight of the inspection vehicle in air. It is in the range of 1 to 1.5 times.

  For inspection at an upside down position, the holding force must be at least 1 times the weight of the inspection vehicle at the actual position, either in water or on the water. For inspection in the vertical and horizontal positions, the holding force can be no more than 1 times the weight of the inspection vehicle at the actual position, either in water or on the water.

  Preferably, the magnetic coupling and the resulting magnetic coupling force can be adjusted. The adjustment of the electromagnetic wheel is by adjusting the current from zero and the zero coupling force in water or on the water to a maximum coupling force that exceeds the weight of the inspection vehicle at the actual location. Permanent magnet wheel adjustment is by manipulating the wheel mechanically on the inspection vehicle or through an electrical cable, using a solenoid switch or mechanical switch or similar device, between on and off, preferably Has one or more binding force steps in between.

  The inspection vehicle preferably comprises a rope or line, combined with handling and communication, and preferably also supply and control, as a bundle or a single rope or line or umbilical.

  Preferably, the connection side of the inspection vehicle is convex.

  Preferably, the connection side of the inspection vehicle has a convex shape, and the non-connection side has a concave shape.

  The camera is a film camera or still image camera, or a camera that takes both still images and film. The camera can be started when the inspection vehicle begins to descend, or the camera can be remotely operated. The camera preferably comprises a battery and does not require an external power source. Alternatively, the camera, and preferably also the sensors and lights, are driven and / or controlled by the cable and are incorporated or fixed in the cable used to lower the vehicle. Preferably, the camera is a commercially available film camera arranged in or provided with a waterproof housing. The camera distance from the object is preferably greater than or equal to the minimum focal length of the camera, for example 20 cm.

  The inspection vehicle preferably comprises a lug or ear-like object for securing the rope, line or similar end.

  The magnetic wheel has a diameter of, for example, 0.05 to 0.15 m. Double or triple magnetic wheels can be attached to the vehicle for a sufficiently strong magnetic coupling to the hull, if desired, for example, the hull surface may have many thick layers of paint and / or extensively This is the case with a large malling loss.

  The test verified that the above parameters could be carried out to have an operable inspection vehicle that would attach to the hull and move over the hull even if it suffered significant malling loss. The inspection vehicle moves over obstacles (whether soft or hard malling loss or details on the hull), allowing further lift-off from the hull plate by a layer of malling loss, while still sticking to the hull. The curvature of the concave and convex surfaces can be easily followed. In many embodiments, no external power supply is required. Inspection vehicles can be easily transported by one person in a case, can be operated by one person, provide quick mobilization and use, and provide results immediately after operation or live. The ropes, wires or lines attached to the vehicle should be strong enough to pull and loosen the vehicle in any predictable situation.

  The inspection vehicle of the invention is shown in seven figures.

1 shows one of the many possible embodiments of the inventive inspection vehicle as viewed from the side. 1 shows one of the many possible embodiments of an inventive inspection vehicle, viewed from above. 4 shows another embodiment of the inspection vehicle of the invention. Fig. 4 shows a further embodiment of the inspecting vehicle of the invention when suspended on the hull side. 1 illustrates an embodiment of a magnetic wheel. 1 illustrates an embodiment of a magnetic wheel. 1 illustrates an embodiment of a magnetic device. 1 illustrates an embodiment of a magnetic device.

  Reference is made to FIGS. 1A and 1B, which show the inspection vehicle as viewed from the side and from above, respectively. Specifically, inspection vehicles (1) for underwater inspection of coatings, malling loss, structural integrity and corrosion on and above and below ferromagnetic ships and other ferromagnetic structures are non-magnetic It comprises an element (2), at least one magnetic wheel (3) operably arranged on the element, and a waterproof camera for visual inspection attached to an element or other structure of the inspection vehicle. The inspection vehicle further comprises one connecting side (5) and one unconnected side (6) oriented substantially in the opposite direction to the connecting side, wherein one connecting side (5) has at least 1 Two magnetic wheels are operably arranged on the inspection vehicle and magnetically coupled to move the inspection vehicle on the structure in a horizontal, vertical and upside down orientation in coating, malling loss and corrosion On the other hand, with the inspection vehicle connected to the structure, on one unconnected side (6), at least one magnetic wheel is not operatively arranged, and the unconnected side Do not magnetically connect to The inspection vehicle comprises sensors 7, 8 and means 9 for positioning and retrieving sensors or other equipment, position or motion sensor 10, GPS sensor 11, light 12, eg LED light rail, combined handling / descent, supply, control And a rope 13 for communication.

  FIG. 2 shows a further embodiment of the inspection vehicle 1 of the invention, wherein the non-magnetic element 2 is a concave beam structure. At the lower end, the two magnetic wheels 3 are protected laterally from adhering to the structure to be inspected by the structure 2L of the non-magnetic element 2, as seen when descending on the hull side. The concave surface or curvature of the non-magnetic element “slopes downward”, which provides a center of gravity closer to the lower end than the upper end when the inspection vehicle is suspended from the rope 13 at the upper end. The height of the inspection vehicle shown is exaggerated, not to scale, so that the details can be seen more clearly. At the upper end, the magnetic wheel 3 is arranged between the non-magnetic wheels 14 and prevents the lateral connection by the magnetic wheel 3 in between.

  FIG. 3 shows a further embodiment of the inspection vehicle 1 and the inventive method. Specifically, a further embodiment of the inspection vehicle 1 comprises a shell-like concave structure as the non-magnetic element 2, the inspection vehicle being lowered by a rope or line 13, assisted by gravity g, on the hull side It is described as proceeding through 15. A drive mechanism 16 and an optional steering mechanism 17 can be included to help position the inspection vehicle further down the hull toward and optionally beyond the keel. A magnetic device 3m is shown.

  4 and 5 show an embodiment of a magnetic wheel, specifically seen from the side and from the front position. Permanent magnet pieces are regularly arranged along the edges of other non-magnetic wheels. The permanent magnet piece extends greatly in the radial direction of the wheel as a non-magnetic component, which improves wear resistance. Alternatively, the magnet piece extends 0-3 mm less in the radial direction than the non-magnetic part of the wheel.

  6 and 7 show embodiments of the magnetic device, specifically from the side and from the front position. The magnetic devices are preferably non-rotatable permanent magnet pieces, which are easy to put in and out to adjust the magnetic coupling force or to remove any magnetic debris. The magnetic coupling force is adjusted by adjusting the number and / or type of magnetic devices used in the inspection vehicle.

  Double magnetic wheels, or even triple magnetic wheels, and / or magnetic wheels capable of adjusting the magnetic coupling force can be used if further magnetic coupling is required.

  The invention provides an inspection vehicle for underwater inspection of hulls and other ferromagnetic structures, but also non-ferromagnetic structures directed upward from gravity, allowing inspection in the absence of magnetic coupling.

  Inspection vehicles consist of non-magnetic elements, at least one magnetic wheel operably arranged on said elements, optional sensors and lights, as well as the structures to be inspected, coatings, malling losses, structural integrity It stands out in that it can consist solely of a waterproof camera for visual inspection and corrosion. The inspection vehicle has dimensions and weight that facilitate a single person to operate and transport the inspection vehicle. Said non-magnetic elements preferably are themselves connected to the hull or other ferromagnetic structure being inspected when the inspecting vehicle of the invention is upside down or sideways with respect to the hull or structure being inspected. It is convex or double convex to the extent that it can be adhered. In contrast to comprehensive prior art systems that require a team of people and containers that are typically full of equipment, only one or two people are required for operation.

  The inspected vehicle and the inventive method provide a simpler and more cost-effective way to determine the particular presence and extent of malling loss on the hull, regardless of whether the gross is removed. One person can operate the inspection vehicle in normal operation when the ship is in the harbor. The invention has a fairly positive effect on the environment. This is because proper removal of malling loss significantly reduces ship fuel consumption.

An inspection vehicle of the invention can have many embodiments and includes any combination of features described or described herein. Inventive methods may include any feature or step described or described herein in any effective combination.

Claims (9)

Inspection vehicle (1) for underwater inspection of coatings, malling loss, structural integrity and corrosion on ferromagnetic hulls and other ferromagnetic structures,
A non-magnetic element (2);
At least one magnetic wheel (3) or magnetic device operatively arranged on said element;
A waterproof camera (4) for visual inspection attached to the element or other structure of the inspection vehicle;
Characterized by comprising,
The inspection vehicle is
One coupling side (5), at least one magnetic wheel or device being operatively arranged and magnetically coupled to the inspection vehicle, in the coating, any malling loss and corrosion products One connecting side that allows the inspection vehicle to move on the structure in a horizontal and upside down orientation, while the inspection vehicle is connected to the structure;
One uncoupled side (6) oriented substantially opposite to the coupled side, wherein at least one magnetic wheel is not operatively arranged, the uncoupled side being magnetically coupled to said structure One unconnected side not connected to
An inspection vehicle comprising:   The test according to claim 1, wherein it comprises a non-magnetic element that is single or double concave.   3. Inspection according to claim 1 or 2, wherein it comprises at least two magnetic wheels arranged remotely on the non-magnetic element. The inspection vehicle according to claim 1, wherein the nonmagnetic element is
A substantially circular or elongated concave shell structure, wherein the magnetic wheel is surrounded by the shell structure, the wheel facing and adhering to the structure to be inspected during operation; The shell structure extending from the shell structure only at the connecting side, preferably the shell structure, the shell structure also extending laterally at least around the magnetic wheel;
A curved beam having a concave side facing outward from the structure to be inspected during operation, said beam being elongated and one of equidistant with respect to length and width, preferably said curved beam is A curved beam extending at least laterally around the magnetic wheel;
A curved truss structure having a concave side facing upward from a structure to be inspected during inspection, wherein the curved truss structure is one of elongate and equidistant with respect to length and width, preferably the curved A truss structure also extending at least laterally around the magnetic wheel, a curved truss structure;
Concave shell structure, beam structure or truss structure, preferably laterally surrounding the magnetic wheel, having a curvature or a concave surface, and having a center of gravity of at least 2 when the inspection vehicle hangs down along a vertical hull The lower altitude wheels are higher when the inspection vehicle hangs along a vertical hull, preferably at an altitude below the midpoint between two axially separated wheels A concave shell structure, a beam structure or a truss structure that is greater in number and / or weight than an advanced wheel;
An inspection vehicle that is one of the above. The inspection vehicle according to claim 1, wherein the inspection vehicle includes:
A sensor (7) for measuring the coating and malling loss thickness, preferably the sensor is an inductance-based sensor;
A sensor (8) that measures the thickness of a hull or other structure to be inspected, such as tank wall thickness, tube wall thickness, or hull thickness, preferably the sensor is an ultrasonic based sensor A sensor,
Means (9) for positioning the sensor or other device, such as a solenoid release mechanism that holds the sensor or other device until it reaches the release position;
Light (12);
A combination of induction-based sensors (8), such as eddy current sensors and ultrasonic-based sensors (9), the combination being lift-off from the ferromagnetic structure to be examined, coating thickness, malling loss thickness And combinations to measure the type and thickness of the ferromagnetic structure wall or hull, and
An inspection vehicle provided with one or more of them in any combination.   The inspection vehicle according to claim 1, comprising one or more wheels with a drive mechanism (16).   Inspection vehicle according to claim 1, wherein the position or movement sensor (10), preferably also a GPS sensor (11), is arranged to always record the position and movement during the inspection operation. And inspection software. A method for underwater inspection of coatings, malling loss, structural integrity and corrosion on ferromagnetic hulls and other ferromagnetic structures using the inspection vehicle according to any one of claims 1-7. The method is
The steps to start recording with the camera,
Lowering the inspection vehicle to the structure to be inspected and below the surface, while the inspection vehicle is suspended from the rope / cable by unwinding the rope / cable until the desired depth or position is reached, Steps,
Repeating steps at a desired location for inspection;
A method comprising the steps of:   9. A method according to claim 8, wherein the duration of travel at or along a desired location for one or more of coating thickness, malling loss, structural integrity, structural wall thickness and corrosion. Inspecting and optionally adjusting the magnetic coupling force.

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