INSPECTION VEHICLE

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.

Claims

1. An inspection vehicle for under water inspection of coating, marine growth, structural integrity and corrosion on ferromagnetic ship hulls and other ferromagnetic structures, the inspection vehicle comprising: a non-magnetic element; at least one magnetic wheel or magnetic device operatively arranged to the element; a watertight camera for visual inspection attached to the element or other structure of the inspection vehicle; one coupling side 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 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.

2. The inspection vehicle according to claim 1, wherein it comprises an non-magnetic element that is single or double concave.

3. The inspection vehicle according to claim 1, wherein it comprises at least two magnetic wheels arranged apart to the non-magnetic element.

4. The inspection vehicle according to claim 1, wherein the non-magnetic element is one of: a concave shell structure that is in substance circular or elongated, wherein the magnetic wheels are encompassed by said shell structure, the wheels extending out from the shell structure only on a coupling side, being an underside of the inspection vehicle to face and attach to the inspected structure during operation, preferably said shell structure also extends laterally around at least the magnetic wheels; a curved beam with the concave side to face outwards from the inspected structure during operation, wherein the beam is one of elongated and equidistant with respect to length and width, preferably said curved beam also extends laterally around at least the magnetic wheels; a curved truss-structure with the concave side to face upwards from the inspected structure during operation, wherein the curved truss structure is one of elongated and equidistant with respect to length and width, preferably said curved truss-structure also extends laterally around at least the magnetic wheels; and a concave shell structure, beam structure or truss structure, preferably encompassing the magnetic wheels laterally, and having curvature or concavity so that when the inspection vehicle hangs along a vertical ship hull side the center of gravity is at elevation below a midpoint between the at least two axially apart wheels, preferably the lower elevation wheels are larger in number and/or weight than the higher elevation wheel when the inspection vehicle hangs along a vertical ship hull.

5. The inspection vehicle according to claim 1, wherein the inspection vehicle comprises at least one of, in any combination: a sensor for measuring coating and marine growth thickness, preferably the sensor is an inductance based sensor; a sensor for measuring the thickness of a hull or other structure being inspected, such as a tank wall thickness, a pipe wall thickness or a vessel hull thickness, preferably the sensor is an ultrasound based sensor; a means for placing out sensors or other equipment, such as a solenoid-operated release mechanism holding the sensor or equipment until a release position is reached; a light; and a combination of an induction based sensor and an ultrasound-based sensor, which combination measures lift-off from the ferromagnetic structure being inspected, coating thickness, marine growth thickness and type and ferromagnetic structure wall or hull thickness.

6. The inspection vehicle according to claim 1, comprising one or more wheels with a drive mechanism.

7. The inspection vehicle according to claim 1, comprising a position or motion sensor, and associated software arranged to document the position and motions at all time during an inspection run.

8. A method for under water inspection of coating, marine growth, structural integrity and corrosion on ferromagnetic ship hulls and other ferromagnetic structures, using an inspection vehicle according to claim 1, the method comprising: starting recording with the camera, lowering the inspection vehicle down the inspected structure and below the surface, while the inspection vehicle hangs in a rope/cable, by letting out rope/cable, until the desired depth or position has been reached; and repeating the steps at desired positions for inspection.

9. The method according to claim 8, comprising inspecting during the length of run along the structure or at predetermined positions for at least one of: coating thickness, marine growth, structural integrity, structure wall thickness and corrosion; and optionally to adjust the magnetic coupling force.

Description

FIGURE

[0069] The inspection vehicle of the invention is illustrated by 7 figures, namely

[0070] FIGS. 1A and 1B, illustrating one of many possible embodiments of an inspection vehicle of the invention, as seen from the side and from above, respectively,

[0071] FIG. 2 illustrating another embodiment of the inspection vehicle of the invention,

[0072] FIG. 3 illustrating a further embodiment of an inspection vehicle of the invention, as hanging down a ship hull side,

[0073] FIGS. 4 and 5 illustrate an embodiment of magnetic wheels, and

[0074] FIGS. 6 and 7 illustrate an embodiment of magnetic devices.

DETAILED DESCRIPTION

[0075] Reference is made to FIGS. 1A and 1B, illustrating an inspection vehicle of the invention, as seen from the side and from above, respectively. More specifically, the inspection vehicle (1) for under water inspection of coating, marine growth, structural integrity and corrosion on ferromagnetic ship hulls and other ferromagnetic structures, above and below water comprises a non-magnetic element (2), at least one magnetic wheel (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. The inspection vehicle further comprises one coupling side (5) where the at least one magnetic wheel is operatively arranged for the inspection vehicle to couple magnetically and allow rolling the inspection vehicle on said structure, through coating, marine growth and corrosion, 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. The inspection vehicle also comprises sensors 7, 8 and means 9 for placing out and retrieving sensors or other equipment, position or motion sensor 10, GPS sensor 11, light 12, for example a LED light rail, and a rope 13 for combined handling/lowering, power, control and communication.

[0076] FIG. 2 illustrates a further embodiment of an inspection vehicle 1 of the invention, wherein the non-magnetic element 2 is a concave beam structure. In a lower end, as seen when hanging down a ship hull side, two magnetic wheels 3 are laterally protected from attaching to the structure to be inspected by structure 2L of the non-magnetic element 2. The concavity or curvature of the non-magnetic element is inclined downwards, which provides a center of gravity closer to the lower end than the upper end when the inspection vehicle hangs from a rope 13 in the upper end. The height of the illustrated inspection vehicle is not to scale but is exaggerated, to see the details thereof clearer. In the upper end a magnetic wheel 3 is arranged in between non-magnetic wheels 14, preventing lateral coupling by the magnetic wheel 3 in between.

[0077] FIG. 3 illustrates a further embodiment of the inspection vehicle 1 and the method of the invention. More specifically, the further inspection vehicle 1 embodiment comprises a shell-like concave structure as non-magnetic element 2 and the inspection vehicle is illustrated as rolling down a ship hull side 15, lowered with a rope or line 13, helped by gravity g. A drive mechanism 16, and optionally a steering mechanism 17, can be included, and will help in deploying the inspection vehicle further under the hull towards and optionally beyond the keel. A magnetic device 3m is illustrated.

[0078] FIGS. 4 and 5 illustrate an embodiment of magnetic wheels, more specifically as seen from the side and from a front position. Pieces of permanent magnets are arranged regularly along the periphery of otherwise non-magnetic wheels. The permanent magnet pieces extend as far out in radial direction of the wheel as non-magnetic parts, which improves wear resistance. Alternatively, the magnetic pieces extend 0-3 mm less in radial direction than the non-magnetic parts of the wheel.

[0079] FIGS. 6 and 7 illustrate an embodiment of magnetic devices, as seen from the side and from a front position. The magnetic devices are preferably non-rotatable permanent magnet pieces, they are easy to take in our out for adjusting magnetic coupling force or cleaning for any magnetic debris. Magnetic coupling force is adjusted by adjusting the number and/or type of magnetic devices used in the inspection vehicle.

[0080] Double magnet wheels, or even triple magnet wheels, and/or magnetic wheels with adjustable magnetic coupling force, can be used if increased magnetic coupling is required.

[0081] The invention provides an inspection vehicle for under water inspection of ship hulls and other ferromagnetic structures, but also non-ferromagnetic structures that are orientated upwards from gravity, allowing inspection even without magnetic coupling.

[0082] The inspection vehicle is distinctive in that it merely may consists of a non-magnetic element, at least one magnetic wheel arranged operatively to said element, and a watertight camera for visual inspection of coating, marine growth, structural integrity and corrosion of the structure being inspected, in addition to optional sensors and light. The inspection vehicle has a size and weight making it easy for one person to operate and transport the inspection vehicle. Said non-magnetic element is preferably convex or double convex, at an extent making it impossible for the inspection vehicle of the invention to attach itself to a ship hull or other ferromagnetic structure to be inspected when at upside-down orientation or sideways orientation relative to the hull or structure to be inspected. In contrast to the comprehensive prior art systems, requiring a team of personnel and typically a container full of equipment, only one or two persons are required for operation.

[0083] The inspection vehicle of the invention and the method of the invention provide an easier and more cost effective way of deciding inter alia the existence and extent of marine growth on a hull, and whether or not to remove said growth. One person can operate the inspection vehicle when a ship is at a harbor in ordinary operation. The invention has a significant positive effect on the environment, since convenient removal of marine growth reduces fuel consumption of ships significantly.

[0084] The inspection vehicle of the invention can have numerous embodiments, including any combination of features here described or illustrated. The method of the invention can include any feature or step as here described or illustrated, in any operative combination.