CPC G01M 3/24 (2013.01) [A61B 17/24 (2013.01); A61B 18/02 (2013.01); A61B 18/1485 (2013.01); A61N 7/02 (2013.01); A61N 7/022 (2013.01); G01N 29/043 (2013.01); G01N 29/0618 (2013.01); G01N 29/265 (2013.01); A61B 2018/0022 (2013.01); A61B 2018/00327 (2013.01); A61B 2018/00434 (2013.01); A61B 2018/00577 (2013.01); A61B 2018/00714 (2013.01); A61B 2018/00791 (2013.01); A61B 2018/00982 (2013.01); A61B 2018/0212 (2013.01); A61B 2018/0268 (2013.01); A61B 2018/143 (2013.01); A61B 2018/1475 (2013.01); A61B 2090/378 (2016.02); A61B 2218/002 (2013.01); A61N 2007/003 (2013.01); G01N 29/07 (2013.01); G01N 29/225 (2013.01); G01N 29/262 (2013.01); G01N 2291/0258 (2013.01); G01N 2291/0289 (2013.01)] | 19 Claims |
1. A system configured to non-destructively inspect the integrity of an interior of a vessel, the system comprising:
a vessel surveyor comprising at least one ultrasound transducer, tracks configured to assist the vessel surveyor to crawl on an inner surface of the vessel, and a plurality of thrusters configured to assist the vessel surveyor to swim through a liquid contained within the vessel;
an acoustic tracking system configured to track the location of the vessel surveyor in the vessel; and
a telemetry system configured to receive and compile data from the at least one ultrasound transducer and the acoustic tracking system, wherein the telemetry system is pre-loaded with a template of the interior of the vessel, including positions of floor plates or any obstacles.
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