TWI746508B - Inspection vehicle - Google Patents

Abstract

Inspection vehicle (1) for under water inspection of coating, marine growth, structural integrity and corrosion on ferromagnetic ship hulls and other ferromagnetic structures. The inspection vehicle is distinctive in that it comprises a non-magnetic element (2), at least one magnetic wheel or device (3) operatively arranged to the element, and a watertight camera (4) for visual inspection attached to the element or other structure of the inspection vehicle, wherein the inspection vehicle comprises one coupling side (5) where the at least one magnetic wheel or device is operatively arranged for the inspection vehicle to couple magnetically through coating, any marine growth and corrosion products and allow rolling the inspection vehicle on said structure, in horizontal to vertical to upside down- orientation while holding the inspection vehicle attached to the structure, and one non-coupling side (6) oriented in substance in opposite direction to the coupling side, where the at least one magnetic wheel is not operatively arranged and the non-coupling side will not couple magnetically to said structure. A method for operating the inspection vehicle is also provided.

Description

Check the car

The present invention relates to the inspection of ship hulls and other structures. More specifically, the present invention relates to an inspection vehicle for underwater inspection of coatings, marine attached organisms, structural integrity, and corrosion on ferromagnetic hulls and other ferromagnetic structures.

The coating protects the hull and other structures at sea and on shore. The degradation of the coating on the structure promotes corrosion, which ultimately degrades the integrity of the structure. Experience has shown that after tin was removed as a component of antifouling coatings in 2008, the new coating system was not very effective. This may be an antifouling agent that has been less effective in recent years but is also less toxic and less harmful to health. Or the result of additives, because many substances and components have been banned or restricted.

Marine appendages have a surprisingly large impact on the fuel consumption of ships. The frictional force of the hull increases with the growth of marine attached organisms. IMO (International Maritime Organization) organized by UN (United Nations) pointed out that by cleaning the hull, fuel can be saved by 5%-15% (the second GHG (greenhouse gas) study in 2009, section A2.63). As estimated by the Norwegian Institute of Marine Technology (Marintek), Propulsion Dynamic (tanker) and Jotun, other estimates point to 15%, 20% or 18% (within 60 months) save. In CASPER: The propulsion company, which is at the forefront of ship effectiveness, estimates the savings to be 10%-20%.

The quality of the coating, the degree of corrosion and marine organisms and their impact on structural integrity, as well as structural damage can in principle be detected and more or less quantified by visual inspection. Additional sensors and measurements can verify and quantify findings. However, for structures such as the hull of a ship at a dock, the hull near or at the waterline is obviously clean, because in many cases, no damage or change can pass a simple visual inspection from the sea level. The control identified that because the damage may be located at a deeper level on the hull, it is not visible in ports with low visibility seawater.

Usually, a diver or ROV (Remote Controlled Vehicle) must be hired to undertake visual control, and this service is not provided in most ports. There is actually equipment for inspection, but it will often require expert teams, electricity, control boxes, and often additional containers. Usually, the equipment is more advanced and requires experts to operate and interpret the results.

There is a need for inspection tools that are easier to mobilize, which will be used more frequently in practice. There is a special demand for the following equipment: the equipment is lightweight, compact and fast to operate, so that when in the port, such as when the ship is at the dock, one or two operators can inspect the ship alone without delaying the stay time . The goal of the present invention is to satisfy the needs.

The invention provides an inspection vehicle, which is used for underwater inspection of coatings, marine attached organisms, structural integrity and corrosion on ferromagnetic hulls and other ferromagnetic structures above or below the water surface. The inspection vehicle is different in that it includes: a non-magnetic element, at least one magnetic wheel or magnetic device that is operatively arranged to the element, and an element or other structure attached to the inspection vehicle for A watertight camera for visual inspection, wherein the inspection vehicle includes: a coupling side, at least one magnetic wheel or device is operably arranged on the coupling side to allow the inspection vehicle to pass through the coating and any marine attached organisms Magnetically coupled with corrosion products, and enables the inspection vehicle to roll on the structure in a horizontal to vertical to inverted orientation, a non-coupled side, when the inspection vehicle is kept attached to the structure. The non-coupled side is oriented substantially in the opposite direction to the coupled side, at least one magnetic wheel or device is not operatively arranged on the non-coupled side, and the non-coupled side will not be magnetically coupled to the structure, And optional sensors and devices as detailed in the dependent claims and/or in the subsequent description.

Preferably, the non-magnetic element is single-recessed or double-recessed.

Preferably, as discussed and detailed below, the magnetic wheel or magnetic device is a magnetic wheel. However, as an alternative or in addition, it is also possible to include a magnetic device which is not a wheel itself but is arranged to be magnetically coupled. For example, the device is a magnet that does not rotate but is arranged in the middle or center at the side of the non-magnetic wheel and has a lift off distance of, for example, 2-3 mm from the surface to be inspected. As discussed below, such a magnetic device is preferably an electromagnet or a permanent magnet, the magnetic effect of which can be turned off.

Preferably, the inspection vehicle includes at least two magnetic wheels arranged separately to a non-magnetic element. The inspection vehicle can include one, two, three or more non-magnetic wheels, and if necessary, the number of magnetic wheels can be increased by replacing non-magnetic wheels.

Preferably, the non-magnetic element is one of the following: a concave shell structure, a substantially circular concave shell structure, a substantially elongated concave shell structure, a substantially circular or elongated concave A shell structure in which the magnetic wheels are surrounded by the shell structure, and the wheels extend from the shell structure only on the coupling side, which is the underside of the inspection vehicle to face and attach to the structure being inspected during operation Preferably, the shell structure also extends laterally at least around the magnetic wheel, a curved beam having a concave side to face the outside from the structure being inspected during inspection, a curved beam, the beam having a concave The entrance side is to face the outside from the structure to be inspected during operation, wherein the beam is one of slender and equidistant with respect to length and width. Preferably, the curved beam also extends laterally at least around the magnetic wheel, and is curved The truss structure has a concave side to face the outside from the structure to be inspected during operation, and the curved truss structure has a concave side to face upward from the structure to be inspected during operation, wherein The curved truss structure is one of slender and equidistant in terms of length and width. Preferably, the curved truss structure also extends laterally at least around the magnetic wheels, and the concave shell structure, beam structure or truss structure is concave Into the shell structure, beam structure or truss structure, which at least surrounds the magnetic wheels and has curvature or concavity, so that when the inspection vehicle is suspended along the vertical hull side, the center of gravity is at least two axially separated wheels At a height below the midpoint between, preferably, when the inspection vehicle is suspended along a vertical hull, the wheels of lower height are larger in number and/or weight than wheels of higher height.

Preferably, the inspection vehicle includes a watertight camera with an instant feed function. All the cameras, sensors, lights, and equipment that are operatively arranged or integrated into the inspection vehicle of the present invention are watertight at least down to the depth of expected operation.

Preferably, the inspection vehicle includes one or more of the following in any combination: a sensor for measuring the thickness of the coating and marine organisms. Preferably, the sensor is an inductance-based sensor for A sensor that measures the thickness of a ship’s hull or other structure to be inspected (such as tank wall thickness, pipe wall thickness, or ship hull thickness). Preferably, the sensor is an ultrasonic-based sensor for sensing Means for releasing sensors or other equipment, such as electromagnetically operated release mechanisms that hold the sensors or equipment until reaching the release position, lights, and inductance-based sensors such as eddy flu sensors and ultrasonic-based sensors The assembly measures the lift-off distance from the ferromagnetic structure under inspection, the thickness of the coating, the thickness and type of marine attached organisms, and the thickness of the ferromagnetic structure wall or hull.

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

The lift-off distance from the ferromagnetic structure to be inspected is the sum of the coating thickness and the thickness of the marine by-products and optional corrosion. The lift-off can be accurately measured with an inductance-based sensor such as an eddy flu sensor distance. By using ultrasound-based sensors (sometimes called ultrasound probes or UT probes), and the exact lift-off distance is known; the thickness of the coating, the thickness of marine organisms, and corrosion can be determined based on the difference between the ultrasonic velocity and reflection , Coating quality and types of marine attached organisms. Preferably, a multi-source ultrasound probe similar to a probe used for medical purposes is used because the resolution and fineness are higher than that of conventional ultrasound probes used in non-destructive testing and detection.

Preferably, when the car is suspended along the vertical hull side, the inspection car as seen includes the rope or the combined rope and cable in the upper end of the car, preferably, the control and communication are combined and preferably also combined The rope or cable for power and control is a wire harness or a single tube cable.

Preferably, the inspection vehicle includes wheels with a drive mechanism, which is preferably an electric drive device and the battery is integrated therein or is powered via a cable attached to the inspection vehicle, the inspection vehicle preferably includes a steer function (Such as inspecting steerable wheels or steerable hinges on a car) and preferably including equipment for steering (such as a joystick). A radio or cable controlled trolley or car's waterproof drive and control mechanism is a possible feature of this embodiment.

Preferably, as seen for the inspection vehicle suspended along the vertical hull side and attached to the vertical hull side, the inspection vehicle includes wheels and/or in the lower end of the inspection vehicle than at the upper end of the inspection vehicle. Wider and/or heavier structure in the section. This provides easier descent and orientation.

Preferably, the inspection vehicle includes a position or motion sensor such as a gyroscope sensor and/or an accelerometer, and preferably also includes a GPS sensor, and related software, which is used in the inspection vehicle or when passing through In a control computer or the like operably connected by cable or wirelessly, or written into a storage device, the related software is arranged to report the position and movement of the document during the inspection.

Preferably, the weight of the inspection vehicle is less than 25 kg and does not have a size greater than 1 m when packaged in the operation box to enable transportation, manipulation, and operation by a single operator. Preferably, the inspection vehicle weighs about 5 to 25 kg, preferably about 10 kg and about 3 to 20 kg in air, and preferably about 7 kg in water. In one embodiment, the magnetic wheel itself has a magnetic coupling force of approximately 155 kg on a flat side (no paint on the hull) and has a diameter of approximately 0.1 m and a wheel width of approximately 1.5 cm. A typical inspection vehicle of the present invention is approximately 50 cm long, 20 cm wide, and approximately 20 cm high.

However, preferably, the inspection vehicle is designed such that by making the magnetic wheels include lateral protrusions and/or by arranging the magnetic wheels between the non-magnetic wheels, the wheels can never be coupled to those with flat sides. structure. The protrusion is, for example, a hemispherical rubber structure, which prevents the inspection vehicle from turning over when it is lying flat by firmly fastening one, two or more magnetic wheels to the hull. However, most preferably, by making the non-coupling side structure designed to cover and shield the wheel laterally but not towards the coupling side, the non-magnetic element has the function of preventing lateral magnetic coupling to at least one The shape of the magnetic wheel.

The present invention also provides a method for using the inspection vehicle according to the present invention to conduct underwater inspections of coatings, marine appendages, structural integrity and corrosion on ferromagnetic hulls and other ferromagnetic structures. The method is differentiated by including the following steps: start recording with a camera, lower the inspection vehicle to the structure to be inspected and below the surface, and at the same time make the inspection vehicle hang on the rope/cable by releasing the rope/cable until Until the required depth or position is reached, optionally, during the length of travel along the structure or at a predetermined position, one or more of the following are also checked: coating thickness, marine appendages, structural integrity , Structural wall thickness and corrosion; and optionally adjust the magnetic coupling force according to the position and orientation of the inspection vehicle, and repeat the steps at the required position for inspection.

Preferably, the video clip is recorded by a camera, and the rope/cable includes a distance marker, which is used for depth control, or using a digital or manual depth gauge, optionally using a sensor integrated in the inspection vehicle Device.

Preferably, the cable/cable may be at or attached to either end of the inspection vehicle, and the cable is used to keel-draw the inspection vehicle around the hull at a desired position.

The present invention also provides the application or use of the inspection vehicle of the present invention to provide information for deciding to adequately clean the hull, often to provide fuel savings typically reaching 5%-20% and the result is a corresponding reduction in greenhouse gases ( GHG) emissions.

The above definition of the inspection vehicle means that the non-magnetic element is made of non-magnetic material so as to be non-magnetically attached to a ferromagnetic structure that is assembled by itself or with magnetic wheels as a component of the inspection vehicle.

A non-magnetic material that is a non-magnetic element in this context means a non-magnetized material, which is assembled on its own or with a magnetic wheel as a part of the inspection vehicle. Correspondingly, the non-magnetic element may be made of carbon steel or other ferromagnetic material, as long as the carbon steel or other ferromagnetic material is not magnetized so as to be coupled to the ferromagnetic body to be inspected when the carbon steel or other ferromagnetic material is operably integrated in the inspection vehicle structure.

In principle, the inspection vehicle of the present invention includes only one coupling side, which means that only one side is magnetically coupled to the structure to be inspected. Depending on the design, the inspection cart includes 1, 2, 3, 4, or 5 non-coupled sides, meaning that it is not magnetically coupled to the side of the structure to be inspected. A design in which the inspection vehicle has a substantially cubic or elongated cubic shape includes 5 non-coupling sides. A design in which the inspection vehicle has a substantially double-concave shell or the shape of a shell-like structure on the coupling side has only one non-coupling side. The intermediate shape between the cube-like shape and the double-concave shell-like shape gives 2-4 non-coupled sides, all such shapes embody an embodiment of the inspection vehicle of the present invention. One example is that the inspection vehicle has two or three recessed and/or double recessed non-coupled sides and one coupled side.

Underwater inspection of the hull means that the ship is in a dock or other location floating on the water, as opposed to being placed in a dry dock and stopping operation. The term magnetic wheel means a permanent magnet wheel or an electromagnetic wheel. The permanent magnet wheel is a wheel including a permanent magnet material, and the generated magnetism is permanent or can be opened and closed. Preferably, the magnetism can be opened and closed at the wheel or through a cable connected to the inspection vehicle. Electromagnetic wheels include electromagnets, and magnetism can be turned on and off by turning the current through the electromagnets on and off. The inspection cart includes 1, 2, 3, or 4 or more magnetic wheels. The magnetic wheel may be a permanent magnet wheel, an electromagnetic magnet wheel, or any combination of a permanent magnet wheel and an electromagnetic wheel.

The magnetic coupling provided with magnetic wheels provides a magnetic coupling force that allows the inspection vehicle to be attached and held to the structure being inspected.

For underwater inspection or immersion in other liquids, preferably, the magnetic coupling force is in the range of 0.5 to 2 times, more preferably 1 to 1.5 times (such as 1.3 times) of the weight when the inspection vehicle is immersed .

For the inspection above the water surface in the air or other gases, preferably, the magnetic coupling force is 0.5 to 2 times, more preferably 1 to 1.5 times (such as 1.3 times) of the weight of the inspection vehicle in the air. Within range.

For inspection in the upside-down position, the holding force must be at least 1 times the weight of the inspection vehicle at the current position (under water or above the water surface). For inspection in vertical and horizontal positions, the holding force may be less than 1 times the weight of the inspection vehicle at the current position (under water or above the water surface).

Preferably, the magnetic coupling and the resulting magnetic coupling force are adjustable. The electromagnetic wheel is adjusted by adjusting the current from 0 and increasing the 0 coupling force adjustment to the maximum coupling force that exceeds the weight of the inspection vehicle at the current position (under water or above the water surface). The permanent magnet wheels are adjusted in the following ways: by on the inspection vehicle or by cables, between on and off, and preferably with one or more coupling force levels in between, by using electromagnetic switches or mechanical switches or similar devices To manipulate the wheel mechanically.

Preferably, the inspection vehicle includes a rope or cable that combines control and communication, and preferably also power and control, and the rope or cable is a wire harness or a single rope or cable or tube cable.

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

Preferably, the coupling side of the inspection vehicle is convex and the non-coupling side is concave.

The camera is a movie camera or a still image camera, or a camera that shoots still images and movies. The camera can be activated when the inspection vehicle starts to descend, or the camera can be remotely controlled. Preferably, the camera includes a battery and does not require external power. Alternatively, the camera and preferably also the sensors and lights are powered and/or controlled by a cable that is integrated or fastened to the cable for lowering the car. Preferably, the camera is a commercially available film camera arranged in or including a waterproof cover. Preferably, the camera distance from the target is equal to or greater than the minimum focal length of the camera (for example, 20 cm).

Preferably, the inspection cart includes lugs or ears for fastening at either end of a rope, cable or the like.

The diameter of the magnetic wheel is, for example, 0.05-0.15 m. If a sufficiently strong magnetic coupling to the hull is required, for example, if the hull has many thick layers of paint and/or a large number of marine appendages, a double-magnetic wheel or a triple-magnetic wheel can be installed on the vehicle.

The test verified that the above parameters are feasible for an operable inspection vehicle that will attach to the hull and roll over the hull even if it encounters serious marine attached organisms. The inspection vehicle will make way for soft or hard marine attached organisms or detailed obstacles on the hull, and enable the increase of the lift-off distance from the hull plate due to the layer of marine attached organisms, while still being attached to Hull. The curvature of concave and convex surfaces can be easily followed. For many embodiments, no external power supply is required. The inspection vehicle can be easily transported by one person and operated by one person, the inspection vehicle provides rapid movement and use and provides immediate results or provides results immediately after operation. The ropes, wires or cables attached to the car should be strong enough to tow the car freely under any foreseeable situation.

1A and 1B, as seen from the side and from above, respectively, the inspection vehicle of the present invention is shown. More specifically, the inspection vehicle 1 used for underwater inspection of coatings, marine attached organisms, structural integrity and corrosion on ferromagnetic hulls and other ferromagnetic structures above and below the water surface includes non-magnetic elements 2 At least one magnetic wheel 3 operably arranged to the element and a watertight camera 4 for visual inspection attached to the element or other structure of the inspection vehicle. The inspection vehicle further comprises: a coupling side 5 on which at least one magnetic wheel is operatively arranged for allowing the inspection vehicle to pass through the coating, marine attached organisms, and corrosion to be magnetically coupled and to maintain inspection The vehicle is attached to the structure so that the inspection vehicle can roll on the structure in a horizontal to vertical to inverted orientation; and a non-coupling side 6 oriented substantially in the opposite direction to the coupling side, at least A magnetic wheel is not operatively arranged on the non-coupled side, and the non-coupled side will be non-magnetically coupled to the structure. The inspection vehicle also includes sensors 7, 8 and devices for releasing and retracting sensors or other equipment 9, position or motion sensors 10, GPS sensors 11, lights 12 such as LED light rails, and Ropes 13 for combined control/descent, power, control and communication.

Fig. 2 shows a further embodiment of the inspection vehicle 1 of the present invention, in which the non-magnetic element 2 is a concave beam structure. As seen when hung on the side of the hull, in the lower end, through the structure 2L of the non-magnetic element 2, the two magnetic wheels 3 are laterally protected from being attached to the structure to be inspected. The concavity or curvature of the non-magnetic element is "downwardly inclined", 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 in the upper end. The height of the inspection vehicle shown is not to scale but is increased to see the details of the inspection vehicle more clearly. In the upper end, the magnetic wheels 3 are arranged between the non-magnetic wheels 14 to prevent the magnetic wheels 3 from being laterally coupled between the non-magnetic wheels.

Figure 3 shows a further embodiment of the inspection vehicle 1 and the method of the invention. More specifically, a further embodiment of the inspection vehicle 1 includes a shell-like recessed structure as a non-magnetic element 2, and the inspection vehicle is shown to be rolled down the side 15 of the hull with the aid of gravity g by a rope or cable 13 descending. The drive mechanism 16 and optionally the steering mechanism 17 may be included and will help to deploy the inspection vehicle further below the hull in a manner towards the keel and optionally beyond the keel. Shows a magnetic device 3m.

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

As seen from the side and from the front position, Figures 6 and 7 show an embodiment of a magnetic device. Preferably, the magnetic device is a non-rotatable permanent magnet block, which is easy to take in or take out to adjust the magnetic coupling force or clean up any magnetic debris. The magnetic coupling force is adjusted by adjusting the number and/or type of magnetic equipment used in the inspection vehicle.

If an enhanced magnetic coupling is required, a double magnet wheel or even a triple magnet wheel and/or a magnetic wheel with adjustable magnetic coupling force can be used.

The present invention provides an inspection vehicle that is used for underwater inspection of ship hulls and other ferromagnetic structures, and non-ferromagnetic structures that are oriented upward due to gravity. The inspection vehicle even enables non-magnetic coupling In case of inspection.

The difference of the inspection vehicle is that, in addition to the optional sensors and lights, the inspection vehicle can consist of only non-magnetic elements, at least one magnetic wheel operably arranged to the elements, and a pair of The coating of the structure to be inspected, marine attached organisms, structural integrity and corrosion are constituted by a watertight camera for visual inspection. The inspection vehicle has a size and weight that make it easy for one person to operate and transport the inspection vehicle. Preferably, the non-magnetic element is convex or biconvex to a degree such that when it is in an inverted orientation or a side orientation relative to the hull or the structure to be inspected, the inspection vehicle of the present invention cannot attach itself. Connect to the hull or other ferromagnetic structure to be inspected. In contrast to extensive prior art systems that require a team of people and generally full boxes of equipment, only one or two people are required to operate.

The inspection vehicle of the present invention and the method of the present invention provide an easier and more cost-effective way to determine the presence and extent of marine appendages, especially on the hull, and whether to remove the appendages. One person can operate the inspection vehicle when the ship is in normal operation at the port. Since the convenient removal of marine appendages significantly reduces the fuel consumption of ships, the present invention has significant positive effects on the environment.

The inspection vehicle of the present invention may have a large number of embodiments including any combination of the features described or shown herein. The method of the present invention may include any feature or step as described or shown herein in any operative combination.

1‧‧‧Inspection vehicle 2‧‧‧Non-magnetic components 3‧‧‧Magnetic wheels 4‧‧‧Watertight camera 5‧‧‧Coupling side 6‧‧‧Non-coupling side 7‧‧‧Sensor Sensors 9 ‧‧Hull side 16‧‧‧Drive mechanism 17‧‧‧Steering mechanism

The inspection vehicle of the present invention is shown through 7 drawings, which are:

Figures 1A and 1B, as seen from the side and from above, respectively, show one of many possible embodiments of the inspection vehicle of the present invention;

Figure 2 shows another embodiment of the inspection vehicle of the present invention;

Figure 3 shows a further embodiment of the inspection vehicle of the present invention when hung on the side of the hull;

Figures 4 and 5 show an embodiment of a magnetic wheel, and

Figures 6 and 7 show an embodiment of a magnetic device.

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2‧‧‧Non-magnetic components

3‧‧‧Magnetic wheel

4‧‧‧Watertight camera

12‧‧‧Light

13‧‧‧rope

14‧‧‧Non-magnetic wheel

Claims (9)

An inspection vehicle (1), which is used for underwater inspection of coatings, marine attached organisms, structural integrity and corrosion on ferromagnetic hulls and other ferromagnetic structures, wherein the inspection vehicle includes: A non-magnetic element (2), at least one magnetic wheel (3) or a magnetic device operably arranged to the element, and a device for attaching to the element or other structure of the inspection vehicle A watertight camera (4) for visual inspection, a coupling side (5), in which only at least one magnetic wheel or device is operably arranged on the coupling side for the inspection vehicle to pass through The coating, any marine attached organisms, and corrosion products are magnetically coupled, and enable the inspection cart to be horizontal to vertical on the structure while keeping the inspection cart attached to the structure Rolling in an inverted orientation, and a non-coupled side (6) that is oriented substantially in the opposite direction to the coupled side, and the at least one magnetic wheel or device is not operatively arranged On the non-coupling side, and the non-coupling side will be non-magnetically coupled to the structure, it is characterized in that: the inspection vehicle further includes: an inductance-based sensor (8) and a sensor based on An assembly of the ultrasonic sensor (9), the assembly measures Measure the lift-off distance of the ferromagnetic structure under inspection, the thickness and quality of the coating, the thickness and type of marine attached organisms, and the thickness of the ferromagnetic wall or hull. The inspection vehicle according to claim 1, comprising: a connector end in which a rope or cable that combines control and communication, and preferably also power and control, is used as a harness or a single rope or At least two axially separated wheels are connected by cables or tubing cables, wherein the wheels far away from the connector end are larger in number and/or weight than those near the connector end, and closer and farther away from the connection This end of the device end provides a center of gravity. The inspection vehicle according to claim 1 or 2, wherein the inspection vehicle includes at least two magnetic wheels separately arranged to the non-magnetic element. The inspection vehicle according to claim 1, wherein the non-magnetic element includes: a concave shell structure, beam structure or truss structure, and the concave shell structure, beam structure or truss structure laterally surrounds The magnetic wheels have curvature or concavity, so that when the inspection vehicle is suspended along a vertical hull side, the center of gravity is at a height below the midpoint between at least two axially separated wheels When the inspection vehicle is suspended along a vertical hull, the lower height wheels are larger in number and/or weight than the higher height wheels. The inspection vehicle according to claim 1, wherein the inspection vehicle includes one or more of the following in any combination: a means (9) for releasing a sensor or other equipment, such as keeping the The sensor or equipped with electromagnetically operated release mechanism until reaching the release position, a lamp (12), and a non-magnetic element, the non-magnetic element is single-concave or double-concave, and surrounds the at least one magnetic Wheel or device. The inspection vehicle according to claim 1, wherein the inspection vehicle includes one or more wheels with a driving mechanism (16). The inspection vehicle according to claim 1, wherein the inspection vehicle includes a position or motion sensor (10), a GPS sensor (11) and related software, and the related software is arranged in The position and movement are always reported during the inspection. A method for using the inspection vehicle as described in any one of claims 1-7 to conduct underwater inspections of coatings, marine attached organisms, structural integrity and corrosion on ferromagnetic hulls and other ferromagnetic structures The method includes the following steps: starting to record with the camera, lowering the inspection vehicle to the structure to be inspected and below the surface, and at the same time making the inspection vehicle follow the rope/cable by releasing a rope/cable Hang the cable until it reaches the desired depth or position, The method is characterized in that the method includes the following steps: measuring the lift-off distance from the ferromagnetic structure under inspection by an inductance-based sensor, and the lift-off distance is the thickness of the coating and the thickness of marine organisms and the Select the sum of corrosion, and use an ultrasonic-based sensor, and the lift-off distance is known, and the difference in ultrasonic velocity and reflection is used to provide information about the thickness and quality of the coating, the thickness and type of marine organisms, and Information on the thickness of the ferromagnetic wall or hull, and repeat the steps at the desired location to check. The method according to claim 8, the method comprising checking one or more of the following during the length of travel along the structure or at a predetermined location: structural integrity, structural wall thickness; and The method optionally also includes adjusting the magnetic coupling force.

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