[go: up one dir, main page]

WO2018018075A1 - Système d'inspection de navire - Google Patents

Système d'inspection de navire Download PDF

Info

Publication number
WO2018018075A1
WO2018018075A1 PCT/AU2017/050762 AU2017050762W WO2018018075A1 WO 2018018075 A1 WO2018018075 A1 WO 2018018075A1 AU 2017050762 W AU2017050762 W AU 2017050762W WO 2018018075 A1 WO2018018075 A1 WO 2018018075A1
Authority
WO
WIPO (PCT)
Prior art keywords
hull
vessel
scanner
inspection
sensors
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/AU2017/050762
Other languages
English (en)
Inventor
Darren James FOSTER
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hegel Industrial Solutions Pty Ltd
Original Assignee
Hegel Industrial Solutions Pty Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from AU2016902912A external-priority patent/AU2016902912A0/en
Application filed by Hegel Industrial Solutions Pty Ltd filed Critical Hegel Industrial Solutions Pty Ltd
Publication of WO2018018075A1 publication Critical patent/WO2018018075A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/06—Endless track vehicles with tracks without ground wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B5/00—Hulls characterised by their construction of non-metallic material
    • B63B5/02—Hulls characterised by their construction of non-metallic material made predominantly of wood
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B5/00—Hulls characterised by their construction of non-metallic material
    • B63B5/24—Hulls characterised by their construction of non-metallic material made predominantly of plastics
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B79/00—Monitoring properties or operating parameters of vessels in operation
    • B63B79/10—Monitoring properties or operating parameters of vessels in operation using sensors, e.g. pressure sensors, strain gauges or accelerometers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B79/00—Monitoring properties or operating parameters of vessels in operation
    • B63B79/20—Monitoring properties or operating parameters of vessels in operation using models or simulation, e.g. statistical models or stochastic models
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B79/00—Monitoring properties or operating parameters of vessels in operation
    • B63B79/30—Monitoring properties or operating parameters of vessels in operation for diagnosing, testing or predicting the integrity or performance of vessels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B5/00—Hulls characterised by their construction of non-metallic material
    • B63B5/24—Hulls characterised by their construction of non-metallic material made predominantly of plastics
    • B63B2005/242—Hulls characterised by their construction of non-metallic material made predominantly of plastics made of a composite of plastics and other structural materials, e.g. wood or metal
    • B63B2005/247—Hulls characterised by their construction of non-metallic material made predominantly of plastics made of a composite of plastics and other structural materials, e.g. wood or metal made of a composite of plastics and wood

Definitions

  • the present invention relates to inspection of vessels, and in particular, although not exclusively, to inspection of fibreglass and timber recreational boats.
  • Many fibreglass boats have a support structure that is constructed of timber or plywood.
  • timber or plywood stringers generally extend along the hull, to provide support to the hull.
  • These timber or plywood stringers are generally encased by fiberglass, which prevents water from reaching the stringers.
  • Fibreglass boats may also, over time, allow water to be transported through the hull by osmosis. This water may damage a surface of the hull, in that blisters appear on a surface of the hull, but may also cause structural damage, as described above.
  • a moisture meter may be used to measure moisture in a hull of a boat, to obtain an indication of how much moisture has been absorbed by the hull, and the inspector may tap on parts of the hull, listening for hollow areas or inconsistencies.
  • a problem with inspecting a boat using a moisture meter is that the readings can be misleading, and may not provide a good indication of the condition of the hull.
  • a problem with listening for hollow areas in the hull is that it is highly subjective, and as such results are not generally comparable. Furthermore, the quality of these results are highly dependent on the inspector's experience.
  • the present invention is directed to vessel inspection systems and methods, which may at least partially overcome at least one of the abovementioned disadvantages or provide the consumer with a useful or commercial choice.
  • a vessel inspection system comprising:
  • a scanner for scanning a hull of a vessel
  • an articulable arm coupled to the scanner, wherein the articulable arm is configured to move the scanner along the hull.
  • the vessel inspection system enables structural inspection of recreational vessels, such as boats, to identify defects, such as construction defects, repair-related defects, age-related damage, wet rot, dry rot, and osmosis-related damage.
  • the system is configured to inspect the vessel while the vessel is out of the water.
  • the system includes a transport module, configured to transport the vessel inspection system from one area to another area.
  • the transport module is self propelled.
  • the transport module may be configured to move along the ground adjacent to the vessel.
  • the transport module may include tracks, for transporting the system.
  • the tracks may be positioned on opposing sides of the transport module.
  • the transport module may include wheels, for transporting the system.
  • the transport module may include a motor, for driving tracks or wheels.
  • the system may be configured to automatically inspect a hull of a vessel.
  • the system may be semi -automatically configured to inspect the hull of the vessel.
  • the system may be configured to transport the vessel inspection system to a first area, and inspect a first portion of the hull of the vessel adjacent to the first area, and
  • the scanner may be configured to determine a density of at least a portion of the hull.
  • the scanner may be configured to detect the presence of moisture in at least a portion of the hull.
  • the arm may comprise at least two arm portions pivotally attached. Actuators may be provided to control movement of the arm.
  • the articulable arm is configured to move the scanner along the hull in a predefined pattern.
  • the scanner may comprise a plurality of sensors.
  • the sensors may comprise nondestructive testing (DT) sensors.
  • the scanner may comprise a surface scanner, and one or more sensors configured to capture data relating to behind a surface of the hull.
  • the surface scanner may comprise a laser scanner, configured to generate a plurality of point measurements of the hull.
  • the surface scanner may comprise a camera configured to capture images of the hull.
  • the camera may be configured to operate in the visible spectrum. Alternatively or additionally, the camera may be configured to operate in the infrared spectrum.
  • the sensors may include a microwave sensor.
  • the sensors may include an ultrasonic sensor.
  • the scanner may include spacers, for spacing the sensors from the hull.
  • the spacers may comprise wheels, enabling smooth transport across hull.
  • the system may be configured to generate a three-dimensional model of the hull based upon a plurality of surface measurements, and overlay sensor data on the three- dimensional model.
  • the system may include an assessment module, configured to analyse the sensor data for problems, or potential problems, in the hull.
  • the assessment module may be configured to apply thresholds to the sensor data.
  • the thresholds may be static.
  • the thresholds may be dynamic, e.g. based upon vessel size.
  • the system may be configured to generate a report, including the sensor data, or a subset thereof.
  • the report may include an assessment of the assessment module.
  • the report may include a three dimensional model of the vessel.
  • the report may be customisable, such that the user is able to selectively configure which data is overlaid onto the 3D model.
  • the system may be configured to output the surface and sensor data for offline analysis by a structural engineer or other suitably qualified person.
  • the system may be configured to perform an initial characterisation of the vessel, and subsequently detailed inspection of portions of the vessel independently.
  • Figure 1 illustrates a perspective view of a vessel inspection system, according to an embodiment of the present invention
  • Figure 2 illustrates a front view of an inspection head of the vessel inspection system of Figure 1, according to an embodiment of the present invention
  • Figure 3 illustrates a bottom view of an inspection head of the vessel inspection system of Figure 1, according to an embodiment of the present invention
  • Figure 4 illustrates a perspective front view of the vessel inspection system of Figure 1 with reference to a vessel, according to an embodiment of the present invention
  • Figure 5 illustrates a perspective view of a vessel inspection system, according to an alternative embodiment of the present invention.
  • Figure 6 illustrates a schematic of a vessel inspection system, according to an embodiment of the present invention.
  • FIG. 1 illustrates a vessel inspection system 100, according to an embodiment of the present invention.
  • the vessel inspection system 100 is configured to automatically inspect a hull of a vessel, such as a fibreglass boat, for damage, particularly structural damage that may not be readily visible to the naked eye.
  • the inspection system 100 may be configured to detect inconsistencies in density of construction materials in the hull, such as stringers, the presence of repaired material, and/or the presence of moisture in the hull structure.
  • the vessel inspection system 100 includes a transport component 105 in the form of a vehicle, and an inspection module 110 coupled to the transport component 105 by an arm 115.
  • the transport component 105 is configured to transport the system 100, and thus the inspection module 110, to a desired location.
  • the transport component 105 includes a body 120 and first and second tracks 125, on opposing sides of the body 120, which enable the transport component 105 to move along a ground surface to a vessel for inspection, as well as between various parts of the vessel.
  • the body includes a motor, for driving the tracks, wherein each of the tracks 125 is operable independently, to enable the transport component 105, and thus the inspection system 100, to turn and move into any desired position.
  • the transport component 105 may utilise wheels, or any other means of enabling the system 100 to be transported.
  • the arm 115 comprises a first arm portion 115a and a second arm portion 115b.
  • the first arm portion 115a is pivotally attached to the transport component 105
  • the second arm portion 115b is pivotally attached to the first arm portion 115a.
  • Actuators are provided to enable controlled movement of the first arm portion 115a relative to the transport component 105, and the second arm portion 115b relative to the first arm portion 115a. This enables the arm 115 to extend such that the inspection module 110 may be positioned above, or diagonally above, or beside the transport component
  • the inspection head 110 is configured to be positioned directly against a hull of the vessel for inspection thereof. As best illustrated in Figure 2 and Figure 3, the inspection head includes a plurality of wheels 130, which are configured to roll along the hull as the inspection head moves along the hull inspecting various parts of the hull.
  • the wheels 130 ensure that a constant distance or spacing is provided between the inspection head 110 and the hull, which enables accurate measurement of data, and prevents other parts of the inspection head 110 from accidently contacting the hull and causing damage thereto.
  • the inspection head 110 includes a plurality of sensors, for inspecting the hull, including a laser scanner 135, a camera 140, a microwave sensor 145, and an ultrasonic sensor 150.
  • the laser scanner 135 is configured to generate a plurality of point measurements of the hull.
  • the laser scanner 135 is advantageously a sub-millimetre laser scanner, to enable the detection of small cracks, surface damage and/or other small defects in the surface of the hull.
  • the camera 140 is configured to capture images, or record video of the hull as it is being inspected.
  • the images may be used to identify visual defects, through image analysis.
  • the camera 140 may operate in the visible spectrum, or outside of the visible spectrum.
  • the camera 140 may comprise an Infrared (IR) Camera, configured to capture infrared data.
  • IR Infrared
  • the inspection head 110 further includes a light 155, for illuminating the vessel, or part thereof.
  • the light 155 may be configured to provide a consistent light source, to enable more accurate comparison of photographs from the camera 140, or to provide light of a particular wavelength.
  • the camera 140 and/or the light 155 may be configured to provide or capture light of various wavelengths at different points of time.
  • the camera 140 and light 155 may be configured to initially provide light and capture data in the visible spectrum, and thus across a several wavelengths, and subsequently provide light and capture data in the IR spectrum, and thus across a specific wavelength.
  • the microwave sensor 145 is configured to capture data relating to behind a surface of the hull, such as a structure of the hull, stringers, and the like.
  • the microwave sensor 145 is configured to emit electromagnetic radiation in the form of a microwave signal, and capture reflected signals from the hull and substructures thereof. Based upon the return signal, properties of the hull, such as density of the hull and damage to the substructure of the hull, may be determined.
  • the ultrasonic sensor 150 is also configured to capture data relating to behind a surface of the hull, much like the microwave sensor, but using an ultrasound signal rather than a microwave signal.
  • This data from the microwave sensor 145 and the ultrasonic sensor 150 may be used to identify damaged, rotten or waterlogged structures (e.g. through an inconsistent or low density), the presence of water in the hull, and the like. This is particularly advantageous as such damage to the hull may not be visible from a visual inspection, or from the camera 140 or laser scanner 135.
  • the point measurements of the hull, provided by the laser scan, may be used together to generate a three dimensional surface model, upon which data from the other sensors is overlaid. This enables the detection of flaws in the hull that may not be readily apparent when viewing sensor data from a single sensor, and as such, provides increased accuracy.
  • the inspection head any combination of sensors, preferably nondestructive testing (NDT) sensors may be used to inspect the hull of the vessel.
  • NDT nondestructive testing
  • the system may include sensors configured to capture dielectric properties of the hull of the vessel, such as permittivity and conductivity.
  • the system 100 includes on or more maintenance and repair tools.
  • the inspection head 110 may include a cleaning tool (e.g. high pressure water gun), to clean a surface of the hull, a paint tool, for painting a surface of the hull, and/or a repair tool, e.g. for repairing a surface of the hull with epoxy or gel.
  • the body 120 includes an assessment module (not illustrated), which receives the data from the sensors, and automatically analyses (e.g. based upon artificial intelligence) the inspection data.
  • An outcome of the assessment module may be an identification of problems, areas requiring further manual inspection, damage, previous repair, or the like.
  • the assessment module may be configured to generate a report, including the inspection data (or a subset thereof), and the assessment.
  • the inspection data is advantageously presented in a 3D model formed with reference to the laser scanner data, with one or more other sensor data values overlaid thereon.
  • the report is user customisable, such that the user is able to selectively configure which data is overlaid onto the 3D model.
  • the system 100 can alternatively or additionally be used to output the surface and sensor data for offline analysis by a structural engineer or other suitably qualified person.
  • the system 100 can output a computer-aided design (CAD) model, for example in a .CAD, .DXF, .IGES, .STEP, or solidworks file. This is particularly advantageous for remote inspections, where the system 100 is used to inspect a vessel in a remote location, and be analysed by an expert at another location.
  • CAD computer-aided design
  • the system 100 is configured to autonomously inspect the vessel.
  • the system 100 is configured to perform an initial characterisation of the vessel, e.g. by capturing an overall image of the vessel, and estimating a size thereof.
  • the system 100 may then navigate to an area adjacent to a part of the vessel using the transport component 105.
  • the system 100 configures the inspection module, by articulating the arm 115, to capture data relating to a portion of the hull.
  • Figure 4 illustrates the inspection system 100 inspecting a front portion 410 of a hull 405 of a vessel 400.
  • the vessel 400 is raised on hardstands, e.g. in a boat storage yard.
  • the vessel may be raised in any suitable way, including on boat storage stands, racks or the like.
  • the system 100 then navigates to an area adjacent to another part of the vessel using the transport component 105, and configures the inspection module to capture data relating to another portion of the hull.
  • the system 100 is configured to capture data relating to overlapping portions of the hull, such that the data can ultimately be combined to cover an entire area of the hull.
  • the navigation of the system 100 along the vessel is advantageously fully automated, along with automatic capture and transmission of data.
  • the inspection may be partially automated (e.g. after an initial manual configuration process), or even manually controlled.
  • the system may be configured to move around the vessel in a particular direction, and scan the surface of the hull in a particular predefined pattern (e.g. in rows from top left to bottom right.
  • the system includes a display screen (not illustrated), for presenting the sensor data to the user.
  • a display screen not illustrated
  • any suitable method of presenting data to the user can be used, including the system being configured to upload the inspection data to a server for visualisation on a website.
  • the system 100 may be configured to save data from various inspections, and automatically or manually learn therefrom. For example, data relating to a number of typical damage scenarios and a number of normal scenarios may be entered into the system. As new data is captured, the data may be associated with one or more error scenarios, and thus used in relation to further inspections.
  • the system 100 includes a plurality of thresholds, which may be dynamic (e.g. based upon vessel size or other parameters), or static. These thresholds may be used to determine damage in the hull (e.g. a certain value above a particular threshold). According to certain embodiments, the thresholds are updated as data is received.
  • FIG. 5 illustrates a vessel inspection system 500, according to an embodiment of the present invention.
  • the vessel inspection system 500 is similar to the vehicle inspection system 100, and is configured to automatically inspect a hull of a vessel.
  • the vessel inspection system 500 includes a transport component 505, and an inspection module 510 coupled to the transport component 505 by an arm 515, much like the system 100.
  • the transport component 505 includes a body 520, which is transported using a plurality of wheels 525, on opposing sides of the body 520.
  • the body 520 includes a motor (not illustrated), for driving the wheels 525.
  • the arm 515 comprises a base portion 515a, which is configured to rotate relative to the body 520, an elongate arm portion 515b, which is pivotally attached to the base portion 515a, and a head portion 515c, which is pivotally attached to the elongate arm portion 515b.
  • the inspection module 510 is coupled to the head portion 515c by an extendible arm 510a, which enables the inspection module 510 to extend laterally towards the vessel.
  • FIG. 6 illustrates a schematic of an inspection module 600, according to an embodiment of the present invention.
  • the inspection module 600 may be similar or identical to the inspection module 100 or the inspection module 500.
  • the inspection module 600 includes a processor 605, a memory 610 coupled to the processor 605, and a data interface 615 coupled to the processor 605.
  • Sensors 620 are also coupled to the processor, as are tracks 625, an arm 630, an analysis module 635, a report generation module 640 and a data storage module 645.
  • the memory 610 includes instruction code executable by the processor 605 for capturing data of a vessel using the sensors 620.
  • the instruction code includes code for controlling the tracks 625, such that the inspection module 600 is positioned against the vessel, and code for controlling the arm 630 such that the sensors 620 navigate along the hull capturing data thereof.
  • the data is captured, it is stored in the data storage module 645, and analysed by the analysis module 635, for flaws, damage, or water in the hull, as outlined above.
  • a report is generated by the report generation module 640.
  • the report may be saved on the data storage 645, together with the sensor data, or transmitted to the user using the data interface 615.
  • Embodiments of the present invention provide a simple, reliable, reproducible, and cost effective way of inspecting vessels, such as boats.
  • problems such as internal rotting, waterlogging and the like may be found in the hull, while not necessarily being visible externally. This enables problems to be identified and repaired at an early stage, which may prevent catastrophic hull damage.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Ocean & Marine Engineering (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • Probability & Statistics with Applications (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Wood Science & Technology (AREA)
  • Transportation (AREA)
  • Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)

Abstract

L'invention porte sur un système d'inspection de navire comprenant un scanneur pour scanner une coque d'un navire ; et un bras articulable, accouplé au scanneur. Le bras articulable est conçu pour déplacer le scanneur le long de la coque.
PCT/AU2017/050762 2016-07-25 2017-07-25 Système d'inspection de navire Ceased WO2018018075A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
AU2016902912 2016-07-25
AU2016902912A AU2016902912A0 (en) 2016-07-25 Vessel inspection system

Publications (1)

Publication Number Publication Date
WO2018018075A1 true WO2018018075A1 (fr) 2018-02-01

Family

ID=61015157

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/AU2017/050762 Ceased WO2018018075A1 (fr) 2016-07-25 2017-07-25 Système d'inspection de navire

Country Status (1)

Country Link
WO (1) WO2018018075A1 (fr)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111622098A (zh) * 2020-05-22 2020-09-04 三峡大学 桥涵损伤检测机器人及其操作方法
CN112686645A (zh) * 2021-01-20 2021-04-20 大连海事大学 一种民用智慧化船舶制造工厂
CN115743453A (zh) * 2022-12-23 2023-03-07 重庆赛迪奇智人工智能科技有限公司 一种船舱壁附着料清理系统及方法
DE102022120398A1 (de) * 2022-08-12 2024-02-15 Bayerische Motoren Werke Aktiengesellschaft Scansystem zum Scannen einer Umgebung
GB2627201A (en) * 2023-02-14 2024-08-21 Subworx Ltd Visual representation of an underwater structure

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007183172A (ja) * 2006-01-06 2007-07-19 Toshiba Corp 航空機機体の検査方法および装置
US20080066553A1 (en) * 2006-09-20 2008-03-20 Alvaro Espada Tejedor Head with roller for pulse-echo ultrasonic inspection of parts in an automatic parts inspection facility
WO2008103209A1 (fr) * 2007-02-21 2008-08-28 Lockheed Martin Corporation Robot articulé pour inspection au laser-ultrasonore
US20100076631A1 (en) * 2008-09-19 2010-03-25 Mian Zahid F Robotic vehicle for performing rail-related actions
US8662215B1 (en) * 2006-10-06 2014-03-04 Irobot Corporation Maneuvering robotic vehicles having a positionable sensor head

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007183172A (ja) * 2006-01-06 2007-07-19 Toshiba Corp 航空機機体の検査方法および装置
US20080066553A1 (en) * 2006-09-20 2008-03-20 Alvaro Espada Tejedor Head with roller for pulse-echo ultrasonic inspection of parts in an automatic parts inspection facility
US8662215B1 (en) * 2006-10-06 2014-03-04 Irobot Corporation Maneuvering robotic vehicles having a positionable sensor head
WO2008103209A1 (fr) * 2007-02-21 2008-08-28 Lockheed Martin Corporation Robot articulé pour inspection au laser-ultrasonore
US20100076631A1 (en) * 2008-09-19 2010-03-25 Mian Zahid F Robotic vehicle for performing rail-related actions

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111622098A (zh) * 2020-05-22 2020-09-04 三峡大学 桥涵损伤检测机器人及其操作方法
CN111622098B (zh) * 2020-05-22 2022-04-08 三峡大学 桥涵损伤检测机器人及其操作方法
CN112686645A (zh) * 2021-01-20 2021-04-20 大连海事大学 一种民用智慧化船舶制造工厂
CN112686645B (zh) * 2021-01-20 2024-03-15 大连海事大学 一种民用智慧化船舶制造工厂
DE102022120398A1 (de) * 2022-08-12 2024-02-15 Bayerische Motoren Werke Aktiengesellschaft Scansystem zum Scannen einer Umgebung
CN115743453A (zh) * 2022-12-23 2023-03-07 重庆赛迪奇智人工智能科技有限公司 一种船舱壁附着料清理系统及方法
GB2627201A (en) * 2023-02-14 2024-08-21 Subworx Ltd Visual representation of an underwater structure
WO2024170882A1 (fr) 2023-02-14 2024-08-22 Subworx Ltd Représentation visuelle d'une structure sous-marine

Similar Documents

Publication Publication Date Title
WO2018018075A1 (fr) Système d'inspection de navire
US10787234B2 (en) Data capture device and system
US10094794B2 (en) Characterization of wrinkles and periodic variations in material using infrared thermography
US9519844B1 (en) Infrared thermographic methods for wrinkle characterization in composite structures
JP6415034B2 (ja) 航空機構造体の遠隔検査のためのシステム及び方法
US8249832B2 (en) Correlation of inspection information and computer-aided design data for structural assessment
US11170489B2 (en) System and method for inspecting the condition of structures using remotely controlled devices
JP4463855B2 (ja) 被膜、表面、及び界面を検査するシステム及び方法
US20160203593A1 (en) Method and device for testing an inspection system for detecting surface defects
CN114324401A (zh) 基于环形多波束声呐的全覆盖式管道探测系统
Pitarma et al. Detection of wood damages using infrared thermography
RU2689897C1 (ru) Способ ведения измерений в ходе контроля местных остаточных деформаций корпуса судна
US9823224B2 (en) Weld inspection method and system
Aira-Zunzunegui et al. Determination of wood moisture content with terrestrial laser scanner
CN109358058B (zh) 管道状态检测系统和方法
CN115389514A (zh) 一种材料缺陷检测方法和装置
KR102514450B1 (ko) 열화상 카메라를 이용한 용접부 결함 검출 방법
EP3594676A1 (fr) Procédé et système d'inspection de soudure sous-marine
JP2024103476A (ja) 非破壊検査システム及びその検査方法
JP2020173168A (ja) ライニングの非破壊劣化検査方法
JP7596545B2 (ja) 音響影響マップベースの欠陥サイズ撮像
US20250297853A1 (en) Method and apparatus for digital thread inspection
JP7570842B2 (ja) 超音波画像評価装置および超音波画像評価装方法
Lee et al. Roofus: Learning-based Robotic Moisture Mapping on Flat Rooftops with Ground Penetrating Radar
Ley et al. Nondestructive inspection of a composite missile launcher

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 17833090

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 17833090

Country of ref document: EP

Kind code of ref document: A1