# US 10,871,455 B2 · Inspection method > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,871,455 B2 - Document ID: US10871455B2 - Status: Granted - Kind: B2 - Application number: 16/098,684 - Filed: 2017-05-03 - Published: 2019-05-09 - Granted: 2020-12-22 - Earliest claimed: 2016-05-04 - Assignees: E M & I (Maritime) Limited - Applicants: E M & I (Maritime) Limited - Inventors: Daniel Constantinis - Web page: https://patentgrep.com/patent/US10871455B2 ## CPC - G01N 21/954: Inspecting the inner surface of hollow bodies, e.g. bores - G01M 3/005: {using pigs or moles (G01M3/246, G01M3/2823 take precedence)} - G01M 3/38: by using light (G01M3/02 takes precedence) - G03B 17/561: {Support related camera accessories} - G06T 7/0004: {Industrial image inspection} - H04N 23/51: Housings - G06T 2207/10028: Range image; Depth image; 3D point clouds - G01N: INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES (measuring or testing apparatus or processes other than immunoassay, involving enzymes or microorganisms C12M, C12Q) - G01M: TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR - G03B: APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR (optical parts of such apparatus G02B; photosensitive materials or processes for photographic purposes G03C; apparatus for processing exposed photographic materials G03D) - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL - H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION ## Abstract A method of inspecting the inside of a vessel. The method includes the step of obtaining a visual image of the inside of the vessel using a camera. The method includes using a first three-dimensional scanner to obtain a low-resolution image of one or more surfaces of the inside of the vessel; and using a second three-dimensional scanner to obtain a high-resolution image of one or more objects inside of the vessel. ## Claims ### Claim 1 A method of inspecting the inside of a vessel, the method including steps of: obtaining a visual image of the inside of the vessel using a camera; using a first three-dimensional scanner to obtain a low-resolution image of one or more surfaces of the inside of the vessel; and using a second three-dimensional scanner to obtain a high-resolution image of one or more objects inside of the vessel; wherein the first three-dimensional scanner is a non-contact active, time-of-flight based 3D scanner, and wherein using the first three-dimensional scanner the one or more surfaces of the inside of the vessel are scanned with an accuracy of ±2 mm. ### Claim 2 (depends on 1) The method according to claim 1, the method further including the step of positioning the camera at different levels inside the vessel, the camera being mounted to a pole. ### Claim 3 (depends on 2) The method according to claim 2, the camera being attached to the pole with an articulated joint. ### Claim 4 (depends on 1) The method according to claim 1, wherein the camera has one or more of pan, tilt, zoom and integral lighting functionality. ### Claim 5 (depends on 1) The method according to claim 1, wherein the camera is capable of operating in extreme conditions, including toxic gases, high levels of heat and humidity. ### Claim 6 (depends on 1) The method according to claim 1, the method further including the step of stabilising the camera, that is the camera is releasably attached to the vessel. ### Claim 7 (depends on 1) The method according to claim 1, the method further including the step of using the camera to obtain a plurality of visual images in quick succession. ### Claim 8 (depends on 1) The method according to claim 1, wherein the step of using the second three-dimensional scanner to obtain a high-resolution image of one or more objects inside of the vessel is used to obtain linear dimensions of the one or more objects. ### Claim 9 (depends on 1) The method according to claim 1, wherein the second three-dimensional scanner is a short range scanner capable of scanning the one or more objects with an accuracy of ±0.5 mm. ### Claim 10 (depends on 9) The method according to claim 9, wherein the short range scanner produces data which is then used to produce a model of the object using a 3D printer. ### Claim 11 (depends on 1) The method according to claim 1, wherein the second three-dimensional scanner is a non-contact active, triangulation based 3D scanner. ### Claim 12 (depends on 1) The method according to claim 1, wherein the low-resolution image of the one or more surfaces of the inside of the vessel is a three-dimensional image of the inside of the vessel and is used to assess for any structural deformation of the vessel. ### Claim 13 (depends on 1) The method according to claim 1, wherein the first and second three-dimensional scanners are stabilised, that is the first and second three-dimensional scanners are releasably attached to the vessel. ### Claim 14 (depends on 1) The method according to claim 1, wherein the first and second three-dimensional scanners emit light, laser light, ultrasound or x-ray. ### Claim 15 (depends on 1) The method according to claim 1, wherein the method includes at least partially filling the vessel with water, the method further including mounting the camera, first three-dimensional scanner, and second three-dimensional scanner to a Remotely Operated Vehicle (ROV) and putting the ROV in the vessel to inspect the inside of the vessel. ### Claim 16 (depends on 1) The method according to claim 1, wherein the method comprises the inspection of the inside of the vessel without requiring entry of a person into the inside of the vessel. ### Claim 17 A method of inspecting the inside of a vessel, the method including steps of: obtaining a visual image of the inside of the vessel using a camera; using a first three-dimensional scanner to obtain a low-resolution image of one or more surfaces of the inside of the vessel; using a second three-dimensional scanner to obtain a high-resolution image of one or more objects inside of the vessel, wherein the first and second three-dimensional scanners are capable of operating in extreme conditions, including toxic gases, high levels of heat and humidity. ### Claim 18 (depends on 1) The method according to claim 1, wherein at least one or more of: the camera; the first three-dimensional scanner; and the second three-dimensional scanner is positioned in the vessel using an articulated joint such that the image obtained is free from shadow areas.