Ship ballast tank inspections

We’ve had someone inquiring if it would be possible to carry out ballast tank inspections with our BR2. This is generally visual inspections for corrosion. Ive been looking at videos of traditional methods for inspecting these tanks when they’re drained. The major constraint that jumps out is the risk of snagging. I’m wondering if anyone else has experience using the BR2 for this or if anyone else has given any thought to it.

There’s a separate discussion to have on ultrasonic testing of steel thickness but initially I’m interested in just the visual aspect.