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EP4237835A1 - Système d'inspection de tuyau à rayons x - Google Patents

Système d'inspection de tuyau à rayons x

Info

Publication number
EP4237835A1
EP4237835A1 EP21815082.9A EP21815082A EP4237835A1 EP 4237835 A1 EP4237835 A1 EP 4237835A1 EP 21815082 A EP21815082 A EP 21815082A EP 4237835 A1 EP4237835 A1 EP 4237835A1
Authority
EP
European Patent Office
Prior art keywords
pipe
pipe inspection
inspection system
portable
arm
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.)
Pending
Application number
EP21815082.9A
Other languages
German (de)
English (en)
Inventor
Peter J. Rothschild
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.)
Viken Detection Corp
Original Assignee
Viken Detection Corp
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
Application filed by Viken Detection Corp filed Critical Viken Detection Corp
Publication of EP4237835A1 publication Critical patent/EP4237835A1/fr
Pending legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N23/00—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00
    • G01N23/02—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00 by transmitting the radiation through the material
    • G01N23/04—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00 by transmitting the radiation through the material and forming images of the material
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N23/00—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00
    • G01N23/20—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00 by using diffraction of the radiation by the materials, e.g. for investigating crystal structure; by using scattering of the radiation by the materials, e.g. for investigating non-crystalline materials; by using reflection of the radiation by the materials
    • G01N23/203—Measuring back scattering
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2223/00—Investigating materials by wave or particle radiation
    • G01N2223/03—Investigating materials by wave or particle radiation by transmission
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2223/00—Investigating materials by wave or particle radiation
    • G01N2223/30—Accessories, mechanical or electrical features
    • G01N2223/301—Accessories, mechanical or electrical features portable apparatus
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2223/00—Investigating materials by wave or particle radiation
    • G01N2223/30—Accessories, mechanical or electrical features
    • G01N2223/33—Accessories, mechanical or electrical features scanning, i.e. relative motion for measurement of successive object-parts
    • G01N2223/3303—Accessories, mechanical or electrical features scanning, i.e. relative motion for measurement of successive object-parts object fixed; source and detector move
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2223/00—Investigating materials by wave or particle radiation
    • G01N2223/50—Detectors
    • G01N2223/505—Detectors scintillation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2223/00—Investigating materials by wave or particle radiation
    • G01N2223/60—Specific applications or type of materials
    • G01N2223/628—Specific applications or type of materials tubes, pipes

Definitions

  • X-ray backscatter imaging has been used for detecting concealed contraband, such as drugs, explosives, and weapons, since the late 1980’s.
  • concealed contraband such as drugs, explosives, and weapons
  • backscatter imaging uses reflected or scattered x-rays to create the image.
  • An example disk chopper wheel that creates the scanning pencil beam used in a backscatter x-ray imaging instrument may include a tungsten outer disk, typically with an aluminum inner hub, with the tungsten outer disk defining one or more radial slits.
  • a fan beam of x-rays can be incident on the disk chopper wheel, illuminating a strip on one side of the disk. Only one of the radial slits may be illuminated at any given time, allowing a scanning pencil beam of x-rays to pass though the slit.
  • a scanning pencil beam used for x-ray backscatter imaging can also be used to create a transmission image with a transmission detector present.
  • handheld X-ray backscatter imaging devices have been introduced into the market, enabling an operator to inspect suspect vehicles, packages, or other objects conveniently for security or contraband interdiction purposes. These devices have been designed to be relatively compact and lightweight, allowing them to be easily operated by a single individual for extended periods of time.
  • a major drawback of using traditional x-ray transmission imaging for pipe inspection is the requirement that a transmission detector or x-ray film must be placed on a far (distal) side of the pipe from an x-ray beam scanning device on a near (proximal) side of the pipe. Also, the transmission detector or x-ray film must be aligned with the x-ray beam before the acquisition of each image.
  • a transmission detector or x-ray film In a cluttered environment such as a petrochemical plant, access to the far side of the pipe is often limited, and performing traditional transmission imaging with a cone beam x-ray source on one side of the pipe and film or a flat-panel detector on the far side of the pipe is often not practical and can be very time consuming to set up.
  • Embodiments disclosed herein can allow a compact handheld, or otherwise portable backscatter imager to be easily adapted to acquire transmission images of insulated pipes rapidly, allowing a presence of corrosion under the insulation to be detected.
  • One of the advantages of a backscatter imager is that it uses a scanning pencil beam of x-rays, rather than a fan beam or cone beam of X-rays, resulting in much lower radiation exposure to an operator who may operate the handheld imager.
  • Another advantage of using a scanning pencil beam for transmission detection is that the transmission detector can be a singlechannel, unsegmented detector, which can be low-cost and rugged, and which has no stringent alignment requirements with the incident scanning x-ray beam.
  • a scanning x-ray pencil beam can be approximately five millimeters wide after traversing the pipe, allowing a one-centimeter wide detector to intercept the beam without requiring a stringent-tolerance fixture to be attached it to the imager.
  • a pipe inspection system includes: a) a portable x-ray scanner configured to output a scanning beam of x-rays; b) a transmission detector module configured to detect x-rays of the scanning beam of x-rays that are transmitted through a pipe; c) a coupling member configured to couple the portable x-ray scanner to the transmission detector mechanically to form a pipe inspection assembly; and d) a motion constraint feature configured to constrain motion of the pipe inspection assembly with respect to the pipe in a radial direction of the pipe, wherein the motion constraint feature is further configured to permit translational motion of the pipe inspection assembly in an axial direction of the pipe.
  • a method of pipe inspection includes: a) mechanically coupling a portable x-ray scanner to a transmission detector module to form a pipe inspection assembly; b) constraining motion of the pipe inspection assembly with respect to a pipe in a radial direction of the pipe; c) outputting a scanning beam of x-rays from the portable x-ray scanner; and d) detecting, using the transmission detector module, x-rays of the scanning beam that are transmitted through the pipe.
  • a pipe inspection system includes: a) means for mechanically coupling a portable x-ray scanner to a transmission detector module to form a pipe inspection assembly; b) means for constraining motion of the pipe inspection assembly with respect to a pipe in a radial direction of the pipe; c) means for outputting a scanning beam of x-rays from the x-ray scanner; and d) means for detecting, using the transmission detector module, x-rays of the scanning beam that are transmitted through the pipe.
  • FIG. 1 A is a schematic block diagram illustrating an embodiment pipe inspection system based on x-ray transmission imaging with a scanning x-ray beam, viewed along a radial direction of the pipe.
  • FIG. IB is a schematic block diagram illustrating the pipe inspection system of FIG. 1 A, viewed in an axial direction of the pipe.
  • FIG. 2 is a perspective-view illustration of an existing handheld backscatter imaging device manufactured by Viken DetectionTM Corp, that may be used for its features as a portable x-ray scanner in embodiment pipe inspection systems, and also includes additional features for optional backscatter imaging.
  • FIG. 3 is a schematic block diagram illustrating use of an embodiment pipe inspection system in connection with a robotic platform, as an alternative to handheld operation.
  • FIG. 4 is a schematic block diagram illustrating an embodiment pipe inspection system having a motion constraint feature connected to a coupling member, as well as a low- friction pad that facilitates translational motion of a pipe inspection assembly along the pipe axial direction.
  • FIG. 5 is a schematic block diagram illustrating an alternative embodiment pipe inspection system including a motion constraint feature attached to the portable x-ray scanner.
  • FIG. 6 is a schematic block diagram illustrating portions of an embodiment pipe inspection system having motion constraint features that are blocks attached to a transmission detector module.
  • FIG. 7 is a schematic block diagram illustrating portions of an embodiment pipe inspection assembly pipe inspection apparatus in which a transmission detector module is built into an arm-type coupling member that employs its shape as a motion constraint feature.
  • FIG. 8 is a schematic block diagram illustrating portions of an embodiment pipe inspection system having a coupling member that can be rotationally coupled to a portable x- ray scanner and to a transmission detector module via a hinge mechanism.
  • FIG. 9 is a schematic block diagram illustrating portions of an embodiment pipe inspection system having an extendable coupling member with adjustable length.
  • FIG. 10 is a schematic block diagram illustrating portions of an embodiment pipe inspection apparatus having two arm-type coupling members that are spring-loaded to remain open, in a disengaged arrangement with respect to the pipe, absent application of external force to close and engage the arms.
  • FIG. 11 is a schematic block diagram illustrating portions of an embodiment pipe inspection system having two arm-type coupling members in a state that is disengaged from the pipe.
  • FIG. 12A is a schematic block diagram illustrating portions of an embodiment pipe inspection system having a rigid, U-shaped bracket-type coupling member.
  • FIG. 12B is a schematic block diagram illustrating portions of an embodiment pipe inspection system having rotationally motorized motion of a two-arm-type coupling member.
  • FIG. 13 is a schematic block diagram illustrating portions of an embodiment pipe inspection system including mounting brackets by which the coupling member couples the portable x-ray scanner to the transmission detector module.
  • FIG. 14A is a perspective-view illustration of an embodiment pipe inspection system incorporating the portable x-ray scanner of FIG. 2 and a strap arm -type coupling member including an incorporated transmission detector module and shape-defined motion constraint feature.
  • FIG. 14B is a perspective-view illustration of an embodiment pipe inspection system that is similar to that of FIG. 14A, except that it includes a coupling member having two strap-type arms that can couple with each other in an engaged configuration.
  • FIG. 14C is a perspective-view illustration of an embodiment pipe inspection system similar to those of FIGS. 14A-14B, except that the system of FIG. 14C includes a strap arm-type coupling member with an extension for accommodating different pipe sizes.
  • FIG. 14B is a perspective-view illustration of an embodiment pipe inspection system that is similar to those of FIGS. 14A-14C, except that the embodiment of FIG. 14D includes a single strap arm-type coupling member with a quick release mechanism for releasing the coupling member from the portable x-ray scanner.
  • FIG. 15A is a perspective-view illustration of the pipe inspection system of FIG. 14B, with the two strap arm -type coupling members engaged with a smaller pipe.
  • FIG. 15B is a perspective-view illustration of the pipe inspection system of FIGS. 14B and 15 A, with the two-strap arm-type coupling members engaged with a pipe of larger diameter.
  • FIG. 16A is a perspective-view illustration of a strap-arm-type coupling member having a plastic casing and encompassing a ribbon of wavelength shifting fibers (WSFS) as part of an incorporated transmission detector module having a scintillator screen.
  • WSFS wavelength shifting fibers
  • FIG. 16B is a perspective-view illustration of an alternative strap-arm-type coupling member that may be used in embodiments, having an aluminum spine arm coupling member and an attached WSF ribbon-based transmission detector module.
  • FIG. 17 is a cross-sectional, schematic diagram illustrating a dual-energy transmission detector module structure that can be used to obtain energy spectral information about x-rays that are transmitted through a pipe using embodiment systems and methods.
  • FIG. 18 is a flow diagram illustrating an embodiment procedure for pipe inspection.
  • FIG. 19 (prior art) is a perspective-view schematic diagram illustrating an existing x-ray detection system using a scanning pencil beam arrangement.
  • FIG. 1 A is a schematic block diagram illustrating a general embodiment pipe inspection system 100.
  • the pipe inspection system 100 which may also be referred to herein as an “x-ray pipe inspection system,” includes a portable x-ray scanner 102 that is configured to output a scanning beam of x-rays 104.
  • a “scanning beam of x-rays,” as used herein, denotes generally an x-ray beam whose direction changes with time in a regular, periodic manner during operation.
  • a scanning pencil beam as used in x-ray backscatter imaging is an example of a “scanning beam of x-rays,” as used herein.
  • a scanning beam is in contrast to a stationary x-ray beam such as a stationary cone beam traditionally used for transmission x- ray imaging.
  • Scanning pencil beams have also been previously used for transmission imaging, in which x-rays that are transmitted through a target object are detected as a function of beam scan position.
  • embodiments described herein combine use of a scanning beam of x-rays, with transmission x-ray detection, with other particular system features that enable and improve pipe inspection in a novel and significantly improved manner compared with existing pipe inspection.
  • the paper inspection system 100 also includes a transmission detector module that is configured to detect x-rays of the scanning beam 104 that are transmitted through a pipe 108.
  • the system also includes a coupling member 110 that is configured to couple the portable x-ray scanner 102 to the transmission detector 106 mechanically to form a pipe inspection assembly 112.
  • the system 100 further includes a motion constraint feature 114 that is configured to constrain motion of the pipe inspection assembly 112 with respect to the pipe 108 in a radial direction of the pipe.
  • An example radial direction 116 is illustrated, pointing in the X direction denoted by the axes illustrated in FIG. 1 A. Nonetheless, other example radial directions include directions that lie in an XY plane according to the Cartesian coordinate system illustrated in the figure.
  • the motion constraint feature 114 is further configured to permit translational motion of the pipe inspection assembly 112 in an axial direction 120 of the pipe 108. It is apparent that the pipe 108 includes a curved portion toward the bottom of the illustration.
  • the axial direction 120 may be well understood at a location in which the scanning beam of x-rays 104 intersects with the pipe 108 during active operation of the pipe inspection system 100.
  • the axial direction of the pipe can change depending on the position at which the pipe inspection system 100 is configured to inspect.
  • FIG. 1 A it should be understood that the section lines that are used in the illustration of FIG. 1 A for the motion constraint feature 114 and the coupling member 10 110 are for convenience of illustration and distinguishing the features only, and do not necessarily denote a cut cross-sectional view in the usual manner of mechanical illustration. Furthermore, it is emphasized that the coupling member 110 and the motion constraint feature 114 that are illustrated in FIG. 1 are schematic and do not represent shapes in all embodiments, as will be illustrated and described hereinafter. Further, the pipe inspection system 100 does not include the pipe 108, which is the target object to be inspected.
  • the pipe inspection system 100 includes only the portable x-ray scanner 102, and the transmission detector module 106, coupled by the coupling member 110 to form the pipe inspection assembly 112, together with the motion constraint feature 114, as it pertains to FIG. 1 A.
  • the pipe illustrated in the drawings if any, is not part of the noted pipe inspection systems that are illustrated and described.
  • a “motion constraints feature” may also be referred to as a “radial motion constraint feature,” since this feature is configured to constrain motion in a radial direction with respect to the pipe 108.
  • the radial direction may be evaluated at a position where the scanning beam of x-rays 104 intersects with the pipe 108.
  • the example radial direction 116 is by way of example only. In principle, there are an infinite number of radial directions in the XY plane defined by the Cartesian coordinate system that is shown, which intersects with at a right angle with the page of the figure.
  • radial motion constraint feature denotes that radial motion of the place inspection assembly 112 with respect to the pipe is limited or controlled to some degree by features of the system, such that a position of the pipe inspection assembly 112 with respect to the pipe is limited or controlled in some manner such that scanning can be reliably performed, with appropriate degree of alignment between the portable x-ray scanner and the transmission detector module, as the pipe inspection assembly 112 is translated with a translational motion 118 in the axial direction 120 of the pipe in order to scan over various locations of the pipe 108.
  • embodiment systems increase the alignment tolerance, such that precise alignment is less necessary, and sufficient alignment for consistent scanning operation can be ensured with minimal effort and greater ease.
  • this consistent scanning performance is enabled by motion constraint features when the portable x-ray scanner 102 is a handheld scanner, such as that illustrated in FIG. 2.
  • the motion constraint feature 114 and various embodiments of motion constraint features described hereinafter, ensure consistent operation and adequate alignment when the portable x-ray scanner 102 is implemented on a robotic system that moves the portable x-ray scanner and pipe inspection assembly 112 with the translational motion 118.
  • the motion constraint feature is further configured to permit the translational motion 118 of the pipe inspection assembly 112 in the axial direction 120 of the pipe.
  • any motion constraints provided by the motion constraint feature 114 in the axial directions is sufficiently limited such that the translational motion 118 may be allowed.
  • systems further include, affirmatively, other features, whether of the motion constraint feature 114 or other portions of the system, that facilitate the translational motion of the pipe inspection assembly 112 in the axial direction of the pipe.
  • rollers are illustrated and/or described in connection with FIGS. 14A-14D, and such rollers can be replaced or supplemented by one or more bearings such as roller bearings embedded in bearing races, as will be understood readily by those of skill in the mechanical arts in view of this disclosure.
  • a low-friction surface such as a low- friction pad, can be used to facilitate the translational motion.
  • An example low-friction pad is described hereinafter in connection with FIG. 4.
  • the motion constraint feature 114 which is shown in FIG. 1 A schematically only, is defined by a shape of the coupling member 110.
  • a shape of an armtype coupling member which includes a corner, can be used to guide a pipe inspection assembly along an axial direction of the pipe.
  • a motion constraint feature is built on to a portion of the coupling member.
  • the motion constraint feature is built onto the portable x-ray scanner.
  • the motion constraint feature is built onto the transmission detector module.
  • the motion constraint feature is provided by, formed by, or defined by the shapes of the various coupling members, which include dual arm-type coupling members or in FIGS. 10-11 and a rigid, U-shaped bracket coupling member in FIG. 12.
  • FIGS. 14A-14D and 15A-15B the motion constraint features are provided, defined by the shapes of the strap-arm-type coupling members when the various pipe inspection systems illustrated in those drawings are engaged with the illustrated pipe.
  • the rollers illustrated in FIGS. 14A-14D assist in constraining motion in the axial direction in the radial direction.
  • FIG. 14A-14D assist in constraining motion in the axial direction in the radial direction.
  • the strap arm coupling member becomes engaged with the pipe, meaning that it is in position for x-ray scanning operation, and motion of the portable x-ray scanner and strap arm coupling member are limited in the radial direction of the pipe, including during translational motion along the axial direction of the pipe.
  • the strap arm coupling members incorporate a transmission detector module, as described in greater detail hereinafter.
  • both features of the strap arm coupling members and of the incorporated transmission detector modules define, by their shapes, motion constraint features of those embodiments. It will be understood by the examples provided hereinafter, thus, that embodiments can include motion constraints features that are defined by a shape of the coupling member, defined by a shape of the portable x-ray scanner, or defined by a shape of the transmission detector module.
  • the motion constraint feature may be built onto or formed by a portion of the portable x-ray scanner, a portion of the coupling member, a portion of the transmission detector module, or a combination thereof.
  • motion constraint in the radial in a radial direction is provided for some radial directions, while motion in other radial directions is not constrained.
  • the motion constraint that is provided by the features and several embodiments are sufficient to enable an operator to translate the pipe inspection assembly reliably along the axial direction of the pipe, such as by sliding along a surface of a provided motion constraint feature, for example.
  • the coupling member 110 includes one or more arms, that are configured to be coupled to the portable x-ray scanner 102 and to the transmission detector module 106, and the coupling member is further configured to extend at least partially around the pipe.
  • arm-type coupling members include those illustrated in FIGS. 7, 10-11, 14A-14D, and 15A-15B.
  • the arm or arms may be rigid, such as the rigid arms illustrated in FIGS. 7, 10, and 11, or the arms one or more arms may be flexible, such as in a form of a flexible strap periods. Examples of flexible strap armtype coupling members are described in connection with FIGS. 14A-14D and 15A-15B, for example.
  • a transmission detector module within the scope of embodiments can include a scintillator material configured to be mechanically coupled to the arm.
  • a scintillator material configured to be mechanically coupled to the arm. Examples include the scintillator screen the scintillator screens illustrated in FIGS. 16A-16B, which are part of transmission detector modules shown in those figures that are mechanically coupled to, and form part of, the arm -type coupling members illustrated in FIGS. 14A-14D and 15A-15B.
  • the scintillator material is a strip of scintillator phosphor screen, such as illustrated in FIGS. 16A-16B.
  • the transmission detector module may include one or more ribbons of wavelength-shifting fibers (WSFs) optically coupled to the strip of scintillator phosphor screen, such as illustrated particularly in FIGS. 16A-16B and as incorporated into the strap-arm-type embodiments of FIGS. 14A-14D and 15A-15B.
  • the transmission detector module may further include a photodetector, with at least one end of a ribbon of the one or more ribbons of WSFs being optically coupled to the photodetector, as illustrated in FIGS. 16A-16B.
  • the photodetector can be a photomultiplier tube (PMT).
  • the transmission detector module can be incorporated at the arm of an arm-type coupling member, whether the arm-type coupling member is rigid, flexible, one of two arms, etc.
  • “Incorporated at” includes attached to, coupled to, or embedded into the arm.
  • a transition a transmission detector module is built into the arm-type coupling member illustrated in FIG. 7.
  • transmission detector modules are built onto, or attached to, or coupled to the arm-type coupling members.
  • the transmission detector modules may be considered to be attached to, coupled to, or embedded into, the arms, because, as illustrated in FIG. 16 A, detector module components including the scintillator screen and wavelength shifting fiber are built together with a plastic casing armtype coupling member.
  • detector module components including the scintillator screen and wavelength shifting fiber are built together with a plastic casing armtype coupling member.
  • aluminum spine-type arm coupling member has, built onto it or coupled mechanically to it, a wavelength shifting fiber a WSF ribbon and a scintillator screen that together form a transmission detector module with a PMT.
  • the coupling member 110 may further include a hinge mechanism that is configured to couple the arm to the portable x-ray scanner 102.
  • a hinge mechanism that is configured to couple the arm to the portable x-ray scanner 102. Examples of arms coupled by, or configured to be coupled by, hinge mechanisms, to the portable x-ray scanner, are shown in FIGS. 8, 10, 11, 14A-14C, and 15A-15B, for example.
  • These hinge mechanisms may provide for complete decoupling between the coupling member and the x-ray scanner or between the coupling member and the transmission detector module, or between both, as illustrated in FIG. 8, for example.
  • the hinge mechanisms may only provide for rotational coupling, in which the components typically remain at least passively coupled, such as illustrated in FIGS. 10 and 11, for example.
  • Decoupling between the portable x-ray scanner and the arm-type coupling member can be provided by a quick-release mechanism, such as illustrated in FIG. 14D.
  • the quick-release mechanism that allows mechanical decoupling upon application of an external force such as by a human pulling the coupling member from the x-ray scanner
  • a magnetic linkage is illustrated in FIG. 9, although without a rotational coupling.
  • a quick-release mechanism that provides rotational coupling between the strap arm type coupling member and the portable x-ray scanner can be a magnetic linkage, as will be readily understood, or other types of quick release mechanisms.
  • the arm coupling member can be spring-loaded such that it remains disengaged from the pipe without, or absence application of external force.
  • An example is provided in FIG. 10, wherein springs tend to keep the arm the two arm-type coupling members open and disengaged unless a force is applied.
  • spring loading such as by a spring mechanism, may be provided to cause the arm or arms to remain engaged with the pipe absent application of external force, such as in the example of FIG. 11.
  • an arm-type coupling member may be a first arm that is configured to attach to the portable x-ray scanner at a proximal end of the first arm.
  • the coupling member may also include a second arm that is configured to attach to the portable x- ray scanner at a proximal end of the second arm and to extend at least partially around the pipe.
  • a second arm that is configured to attach to the portable x- ray scanner at a proximal end of the second arm and to extend at least partially around the pipe. Examples of embodiments so configured include FIGS. 10-11, and more particularly, FIG. 11, in which such features are labeled the distal ends and proximal ends.
  • the single arm-type coupling member illustrated in FIG. 7 extends partially around the pipe, and so does each of the two arm coupling members illustrated in FIGS. 10- 11, 14B, 15 A, and 15B.
  • the first and second arms may be configured to be mechanically coupled to each other via respective distal ends of the first and second arms, such as the distal ends illustrated in FIGS, in FIG. 11.
  • the two strap arm coupling members illustrated in FIGS. 14B, 15 A, and 15B all have proximal ends that are configured to attach to the respective x-ray scanners, and distal ends that are configured to be coupled to each other.
  • the coupling may be provided by passive means, such as the springs illustrated in FIG. 11 that tend to hold distal ends of the two arms forming the coupling member together absent external force.
  • passive means such as the springs illustrated in FIG. 11 that tend to hold distal ends of the two arms forming the coupling member together absent external force.
  • active means such as a mechanical latch, a pair of magnets, a magnet and a magnetically susceptible material, or other mechanical coupling means that are known in the art, including snaps, rivets, means for tying or looping a string to maintain the ends together, etc.
  • a combination of the first and second arms may be configured to extend fully around the pipe, when taken together, in order to couple the pipe inspection assembly to the pipe, or in other words to engage the arms with the pipe.
  • either one arm, or even a combination of first and second arms of a coupling member may not extend fully around the pipe in a couple configuration, and such configuration can still adequately provide scanning and imaging functionality.
  • the arm coupling member of FIG. 7 does not extend fully around the pipe, nor does the built-in transmission detector module that is built into the arm coupling member. Yet such embodiments can still provide the needed transmission imaging capability provided that a transmission detector module or modules can adequately capture a scan across the diameter of the pipe, as will be understood by those of skill in the art of x-ray imaging.
  • the transmission detector module includes two transmission detector portions coupled to the first and second arms, respectively.
  • the first and second transmission detector portions are configured to detect x-rays transmitted through first and second sides of the pipe, respectively. This configuration applies to the embodiments of FIGS. 10-11, 14B, and 15A-15B, by way of example.
  • Some embodiments that include arm-type coupling members may be configured to move the arm or arms into an engaged position with respect to the pipe or into a disengaged position with respect to the pipe via an actuator, such as an electric actuator, a pneumatic actuator, etc.
  • an actuator such as an electric actuator, a pneumatic actuator, etc.
  • FIG. 12B An example of a rotational actuator provided for this purpose is illustrated in FIG. 12B.
  • a translational actuator may be provided for modification of the embodiment of FIG. 9, for example, in order to adjust the length shown and thus engage or disengage the illustrated embodiment with a pipe.
  • “engaged” means that the motion constraint feature is constraining the radial motion of the pipe inspection assembly and that the arm or arms are otherwise positioned with respect to the pipe for scanning and pipe inspection operation as intended.
  • “disengaged” means that the motion constraint feature is not in a position to constrain the radial motion of the pipe inspection assembly and that the arm is otherwise not positioned with respect to the pipe for pipe inspection operation.
  • FIG. 9 is an example in which an arm-type coupling member has an adjustable length
  • the strap-arm- type coupling member of FIG. 14C with the extension described hereinafter, also has an adjustable length in order to accommodate different type diameters.
  • the transmission detector module when performing transmission imaging with a scanning beam, need not include a pixilated detector.
  • the transmission detector module may include a non-pixelated detector, which is much less expensive, much less complex, and is much more lenient in terms of alignment tolerance with the beam.
  • the non-pixelated detector can be used to detect x-rays of the scanning beam of x-rays 104 that are transmitted through the pipe 108 over a scan, such as an entire scan, of the scanning beam. Nonetheless, pixelated detectors may be used and are within the scope of embodiments.
  • the transmission detector module provides information about a spectral content, namely an energy content, of the x-rays transmitted through the pipe.
  • FIG. 17 illustrates an example of one example transmission detector structure that can be used in transmission detector modules according to embodiments in order to provide information about spectral content of the transmitted x-rays.
  • the portable x-ray scanner can include a backscatter detector that is configured to detect x-rays of the scanning beam that are backscattered by the pipe.
  • the portable x-ray scanner that is handheld and illustrated in FIGS. 2, 14A-14D, and 15A-15B, for example, is a handheld backscatter imager. It should be understood that x-ray scanning is one function of this backscatter imager and is the only function needed in certain embodiments that perform only transmission imaging, for example.
  • an embodiment can be configured to perform both transmission imaging and backscatter imaging simultaneously, for example, based on a single x-ray scanning beam 104.
  • the coupling member is a rigid, U-shaped clamp brackets having two ends that are configured to fit over a pipe and to be coupled to the portable x-ray scanner in a coupled configuration and to be completely detached from the pipe in a decoupled configuration, such as illustrated in the embodiment of FIG. 12A.
  • the transmission detector module may be built into, or onto, an interior side of the U-shaped clamp brackets coupling member, as is illustrated in FIG. 12A, for example.
  • the coupling member can be configured to be detachable from the portable x-ray scanner, from the transmission detector, or from both, as illustrated in FIG. 8, for example, where hinged coupling mechanisms with hinge pins provide a manner for the complete detachment.
  • the coupling provided by the coupling member, between the portable x-ray scanner 102 and the transmission detector module 106 may be permanent or semi- permanent, and not intended for quick release. In the embodiment of FIG.
  • the pipe inspection assembly 112 including the portable x-ray scanner 102, coupling member 110, and transmission detector module 106 may be manually slid over the pipe 108 and then lifted or translated from the pipe 108, through the free space on one side of the pipe inspection assembly 112, for example.
  • a mounting bracket may be included in the system.
  • the coupling member can include a mounting bracket that is configured for coupling the transmission detector module to the portable x-ray scanner, as illustrated in example FIG. 13.
  • the mounting bracket can generally be detachable from the portable x-ray scanner, from the transmission detector module, or from both, as provided for in the embodiment of FIG. 13.
  • the transmission detector module 106 may provide an output signal, such as a raw output signal, but the embodiment does not need to produce an actual image of the pipe, and such imaging can be performed by a separate system or apparatus, such as illustrated in FIG. 19. Nonetheless, in some embodiments, such as those that use the portable x-ray scanner illustrated in FIG. 2, a backscatter image of the type may be provided directly on a screen that is provided in the portable x-ray scanner (backscatter imaging system including the portable x-ray scanner). As will be understood by those of skill in the art, the backscatter imaging apparatus of FIG. 2 includes, internally, and output interface that is configured to output image data for providing an image of the pipe an image of a target object. When applied to a pipe, the backscatter imaging system of FIG. 2 provides a backscatter image of the type at a screen on the apparatus.
  • a signal from the transmission detector module may be analyzed and processed and used to provide a transmission x-ray image of the pipe as well, including at the screen shown in FIG. 2.
  • a transmission detector module may be output to a portable x-ray scanner that includes an appropriate processor and output interface to provide output image data for providing an image of the pipe under inspection to a screen, for example.
  • the transmission the x-ray transmission image may be an image of the interior of the pipe, an exterior of the pipe that is obscured under insulation, etc.
  • FIG. IB is a schematic block diagram illustrating the pipe inspection system 100 of FIG. 1 A in the XY plane, a cross-sectional plane of the pipe 108.
  • certain features are more readily discernible than in FIG. 1 A, such as that the scanning beam of x- rays 104 scans with a scan direction 122. Such scanning may also be referred to herein as beem “sweeping” or “beam sweep,” for example.
  • FIG. IB is our additional example radial directions 116.
  • the motion constraint feature 114 which is only shown schematically in FIGS.
  • FIG. 2 is a perspective-view diagram of an existing handheld backscatter imaging apparatus.
  • this existing apparatus is referred to herein as a “portable x-ray scanner 202.”
  • the portable x-ray scanner 202 includes a backscatter imaging function that is not required in all embodiments. Nonetheless, the portable x-ray scanner 202 provides the needed x-ray scanning function, namely outputting a scanning beam of x-rays, that is useful in embodiments, and the extra backscatter imaging functionality of the portable x-ray scanner 202 can also be useful in that type scanning context.
  • the portable x-ray scanner 202 includes handles 224 to permit the unit to be used in a hot handheld fashion, namely held in hands of an operator, with the operator human operator supporting the entire weight of the portable x-ray scanner 202.
  • the portable x-ray scanner tool to include the backscatter detector 226, which is split into two parts, that is configured to detect x-rays of the scanning beam that are back scattered by a target object that is irradiated by the scanning x-ray beam, including x-rays backscattered from the pipe 108 as illustrated in FIG. 1 A.
  • a slot 228 provides an opening for the scanning x-ray beam to exit, and the beam is scanned as illustrated in FIG.
  • the units can be adapted to display not only the backscatter image, but also the transmission image and x-ray transmission image that is produced simultaneously by using the transmission detector module 106 illustrated in FIGS. 1A-1B.
  • Raw signals from the transmission detector module 106 can be received at the portable x-ray scanner 202 in a manner indicated in example FIG.
  • FIG. 3 is a schematic block diagram illustrating an embodiment pipe inspection system 300 that is not handheld. Instead, the portable x-ray scanner 102, and consequently the pipe inspection assembly 112, when coupled when the transmission detector module 106 is coupled thereto, is carried by a robotic platform 334 to perform the translational motion 118 in the axial direction 120 of the pipe.
  • a robotic platform 334 may be used in cases of translational motion 118 along the ground, such as applied to a tight 108 that is horizontal with respect to the ground, or a robotic platform 334 that has separate means for attaching to a vertical pipe 108 that is that extends vertically from the ground to some type.
  • FIGS. 1 A-1B include a wide variety of handheld and robotic-based systems and methods.
  • the pipe inspection system 300 does not include the pipe 108, but rather is applied to the inspection of the pipe 108. Instead, the pipe inspection system 300 includes the pipe inspection assembly 112, the motion constraint feature 114, and the robotic platform 334.
  • FIG. 4 is a schematic block diagram illustrating portions of an embodiment pipe inspection apparatus pipe inspection system.
  • the system of FIG. 4 includes a motion constraint feature 414 with a semi-cylindrical surface 436 in order to conform generally to a shape of the cylindrical pipe 108 in order to constrain motion of the pipe 108.
  • the motion constraint feature 414 is separate from the coupling member 110 but is built on to the coupling member 110.
  • a low friction pad 438 is applied to the surface 436 in order to facilitate translational motion 118 in the axial direction 120, which is into the page in the example of FIG. 4.
  • FIG. 5 is a schematic block diagram illustrating portions of an embodiment pipe inspection system in which a motion constraint feature 514, which is separate from the coupling member 110, is attached to the portable x-ray scanner 102.
  • a slot for output of the scanning beam of x-rays (not illustrated in FIG. 5), similar to the slot 228 illustrated in FIG. 2, may be extended through the motion constraint feature 514, as illustrated with the extension 528. In this manner, the scanning beam of x-rays output from the portable x-ray scanner 102 is not impeded from intersecting with the pipe 108.
  • FIG. 5 is a schematic block diagram illustrating portions of an embodiment pipe inspection system in which a motion constraint feature 514, which is separate from the coupling member 110, is attached to the portable x-ray scanner 102.
  • a slot for output of the scanning beam of x-rays (not illustrated in FIG. 5), similar to the slot 228 illustrated in FIG. 2, may be extended through the motion constraint feature 514, as illustrated with the extension 528.
  • FIG. 6 is a schematic block diagram illustrating portions of an embodiment pipe inspection system, in which the system includes motion constraint features 614, in the form of block, in order to constrain radial motion of the inspection assembly with respect to the pipe 108.
  • the motion constraint features 614 in this case, are built on to the transmission detector module 106.
  • the blocks 614 it is preferable for the blocks 614 to be far any enough apart such that the transmission detector module 106 can detect a full sweep of the x-rays of the scanning beam 104, unimpeded by the motion constraint feature 614.
  • detection of the entire sweep is not required in some embodiments, and an image of the pipe based on transmitted x-rays can still be provided with detection of only a portion of the suite, as shown in FIG. 6.
  • FIG. 7 is a schematic block diagram illustrating portions of an embodiment pipe inspection system in which a detector module a transmission detector module 706 is built into an arm-shaped coupling member 710.
  • the arm coupling member 710 is configured to couple the portable x-ray scanner 102 to the transmission detector module 706.
  • FIG. 7 illustrates that a motion constraint feature 714 may be provided via a shape of the arm-type coupling member 710, in this case a right angle shape.
  • the motion constraint feature may be provided by the coupling member itself and need not be provided as a separate element like the feature 414 or the feature 514 in FIGS. 4-5, respectively.
  • the arm coupling member 710 is configured to extend at least partially around the pipe 108, namely around a circumference of the pipe 108.
  • a transmission detector module such as the built-in transmission detector module 706 may detect most x-rays transmitted through the pipe 108 across a sweep of the scanning beam of x-rays 104.
  • a transmission detector module whether attached to the arm coupling member 710 or built thereon, can be designed to be wide enough or long enough to capture an entire suite of the scanning beam.
  • arm-type coupling members may, together, extend entirely around the pipe from the portable x-ray scanner 102, such that the engaged unit as a whole, engaged with the pipe 108, encompasses an entire circumference of the pipe 108.
  • arm-type coupling members can be flexible, such as being in the form of a flexible strap, as illustrated and described hereinafter in connection with FIGS. 14A-14B and 15A-15D, for example.
  • FIG. 8 is a schematic block diagram illustrating portions of an embodiment pipe inspection system in which the coupling member a coupling member 810 is rotationally (hingedly) configured to be coupled or decoupled from the portable x-ray scanner 102 and the transmission detector module 106.
  • the coupling member 810 includes hinge mechanisms 840 at two corners thereof, and corresponding hinged mechanisms 840 are found on the scanner 102 and module 106.
  • Hinge pins 842 are inserted through corresponding hinge mechanisms 840 in order to couple the coupling member 810, or rather to use the coupling member 810 to couple the scanner 102 and module 106. In turn, the hinge pins 842 may be removed in order to decouple the scanner 102 and module 106.
  • the coupling member 810 is completely detachable from the portable x-ray scanner 102 and from the transmission detector 106. In other embodiments, only one of the sides may be detachable. Detachability is useful for storage of the unit and for ease of applying the unit to a pipe as needed. It will be noted that a motion constraint feature is not particularly illustrated in FIG. 8, as the scope of motion constraint features available in various embodiments is adequately illustrated and described in connection with other drawings.
  • FIG. 9 is a schematic block diagram illustrating an embodiment illustrating portions of an embodiment pipe inspection system including a coupling member 910 that has an adjustable length 956 that is useful to accommodate pipes of different diameters.
  • the coupling member 910 does this by including two parts, namely an inner rod 911 that is coupled to the scanner 102 and an outer casing 913 that is coupled to the transmission detector module 106. In this manner, the inner rod 911 may slide into or out of the outer casing 913 in order to adjust the length 956 needed to accommodate types of different diameters.
  • FIG. 9 Also illustrated in FIG. 9 are complementary magnets 944 provided at the scanner and inner rod 911 in order to couple the inner rod 911 to the scanner 102, and at the outer casing 903 and the detector module 106 in order to couple those two components together.
  • Magnetic linkages are useful for rapid assembly and disassembly and application of pipe inspection systems to pipes along the various lengths of the pipe as needed.
  • magnetic linkages can be useful in the case of rotational couplings that are in the form of a quick release mechanism, or other quick release mechanisms.
  • An example of the quick release mechanism that can utilize a magnetic linkage similar to that of FIG. 9 is provided in FIG. 14D.
  • FIG. 14D An example of the quick release mechanism that can utilize a magnetic linkage similar to that of FIG. 9 is provided in FIG. 14D.
  • FIG. 10 is a schematic block diagram illustrating portions of an embodiment pipe inspection system having two arm coupling members 1010 that are rotationally coupled to a portable x-ray scanner 1002 via a hinge mechanisms 1040. Via the hinge mechanisms 1040, the arm coupling members 1010 are enabled to be coupled together in an engaged configuration shown in FIG. 10, or decoupled from each other in a disengaged configuration illustrated in FIG. 11, in which the system is disengaged from the pipe for purposes of scanning.
  • FIG. 10 also illustrates how arm coupling members 1010 can be spring-loaded, using the example springs 1052 for illustration.
  • the springs 1052 cause the arms 1010 to be spring-loaded such that they remain disengaged from the pipe absent an application of an external force, such as force provided by human hands pushing the arms together.
  • a latch (not illustrated in FIG. 10) may be used to maintain the arm coupling members 1010 coupled to each other in the pipe-engaged configuration of FIG. 10.
  • FIG. 10 also shows decoupling motion of the arms 1048, which the spring force of the springs 1052 tends to produce. It is this spring-loaded force that can be overcome in order to engage the system with the pipe 108.
  • Such a configuration can provide simple, quick application of a unit to of a pipe inspection system with a pipe.
  • FIG. 10 also illustrates how a transmission detector module can include to transmission detector portions 1006a and 1006b that are coupled to the first and second arm coupling members 1010, respectively.
  • the first and second transmission detector module portions 1006a and 1006b are configured to detect x-rays transmitted through first and second sides of the pipe 108 as will be readily understood by reference to the drawing, respectively.
  • Signals 1050a and 1050b which are raw signals from the transmission detector module portions 1006a and 1006b, respectively, can be transmitted as shown through the respective arm coupling members, and through electrical contacts 1054 provided at the arm coupling members and the portable x-ray scanner 1002, to a processor 1046 in the portable x-ray scanner 1002 for further processing.
  • the processor 1046 processes the signals and creates a video signal that can be sent through an output interface 1032 the screen 232, which is also illustrated in FIG. 2.
  • image data 1050 is output from the output interface 1030 in order to form the image at the screen 232.
  • an output interface can be external from the portable x-ray scanner, instead of internal, as illustrated.
  • a different device separate from the portable x-ray scanner 1002 can be enabled to display images of the scanned type, particularly the transmission images produced by the embodiment of FIG. 10.
  • image data 1050 can include both transmission image data and backscatter image data acquired simultaneously during the same scan of the pipe 108.
  • FIG. 11 is a schematic block diagram illustrating portions of an embodiment pipe inspection system with arms arm coupling members 1010 like the arm coupling members in FIG. 10.
  • the arms are illustrated in a disengaged configuration, in which distal ends 1190 of the arm coupling members 1010 are decoupled from each other, and the arm coupling members 1010 are not engaged with a pipe (not illustrated in FIG. 11).
  • the system portions illustrated in FIG. 11 includes springs 1152 that are configured to spring-loaded the arm coupling members 1010 two remain coupled to each other at the distal ends 1190, absent application of an external force, such as a human user polling the arms a part.
  • the spring force of the spring 1152 tends to bring the distal ends 1190 together, coupled with each other, with a coupling motion 1148 absent external force.
  • This arrangement can be very useful for scanning a pipe with embodiments, since the arm coupling members can be opened or closed easily in order to engage or disengage from a type and scan different portions of a pipe as needed.
  • the hinge mechanisms 1040 allow the first and second arms 1010 to be attached to the portable x-ray scanner 102 at proximal ends 1188 of the first and second arms.
  • the arms 1010 each extend partially around the pipe (not shown in FIG.
  • FIG. 12A is a schematic dock block diagram illustrating portions of an embodiments pipe inspection system that includes a coupling member 1210 in the form of a rigid, U-shaped bracket coupling member.
  • the coupling member 1210, together with the scanner 102, encompass an entire circumference of the pipe 108 in an engaged configuration shown in FIG. 12.
  • the coupling member 1210 may be decoupled from the scanner 102 with a decoupling motion 1249, such that the coupling member 1210 can be completely detached from the scanner 102.
  • a coupling motion 1248 can be used to reattach the coupling member 1210 to the scanner 102 magnetic, quick release, snap, bolt, or other means known in the mechanical arts may be used to couple the scanner 102 to the rigid, U-shaped bracket coupling member 1210.
  • FIG. 12A illustrates a transmission detector module 1206 that is built on to the U-shaped clamp bracket, particularly onto an interior surface thereof.
  • the transmission detector may be built into the bracket coupling member 1210. With ends 1251 of the bracket coupling member 1210 sitting over at the pipe 108 and coupled to the portable x-ray scanner 102 in the coupled configuration illustrated in FIG.
  • FIG. 12A is a schematic block diagram illustrating portions of an embodiment pipe inspection system that includes the arm coupling members 1010 of FIG. 10-11, rotationally coupled to the scanner 102 via the hinge mechanisms 1040.
  • the embodiment of FIG. 12B is a schematic block diagram illustrating portions of an embodiment pipe inspection system that includes the arm coupling members 1010 of FIG. 10-11, rotationally coupled to the scanner 102 via the hinge mechanisms 1040.
  • the embodiment of FIG. 12B is a schematic block diagram illustrating portions of an embodiment pipe inspection system that includes the arm coupling members 1010 of FIG. 10-11, rotationally coupled to the scanner 102 via the hinge mechanisms 1040.
  • FIG. 12B includes rotational actuators 1292 that are configured to rotate the arms 1010 into an engaged configuration with respect to a pipe (not illustrated in FIG. 12B). As needed, the rotational actuators 1292 can also rotate the arms 1010 into the disengaged configuration illustrated in FIG. 12B.
  • the x-ray the portable x-ray scanner 102 may be modified to include buttons for example that an operator can push in order to actuate the arms as needed to engage or disengage with a pipe.
  • linear actuators may be useful in some embodiments in order to cause an embodiment system to engage with a pipe or to disengage from a pipe as needed. In one example, a linear actuator may be used in connection with the embodiment of FIG. 9.
  • FIG. 13 is a schematic block diagram illustrating portions of an embodiment pipe inspection apparatus pipe inspection system that includes mounting brackets 1358 and 1360 that form part of a coupling member 1310.
  • the coupling member 1310 includes a main portion 1356, and the mounting bracket 1358 is used for coupling the main portion 1356 to the scanner 102.
  • the mounting bracket 1360 is used for coupling the main portion 1356 of the coupling member 1310 to the transmission detector module 106 the mounting brackets 1358 and 1360 may be detachable from the portable x-ray scanner, from the transmission detector module, or from both in order to decouple the scanner 102 and detector module 106 from each other.
  • FIG. 14A is a perspective-view illustration of a pipe inspection system 1400a that is disengaged from the pipe 108 the system 1408 includes the portable x-ray scanner 202 of FIG. 2 in order to provide a scanning beam of x-rays.
  • the embodiment of FIG. 14A includes a strap arm-type coupling member 1410 that has an incorporated transmission detector module and shape-defined motion constraint feature included. Details of construction of the strap arm coupling member 1410 are further described hereinafter in connection with FIG. 16A, and FIG. 16B provides an alternative arrangement for strap arm coupling members.
  • the coupling member 1410 includes latch mechanisms 1462 on a distal end thereof that engage with a similar latch mechanism a corresponding latch mechanism 1462 attached to the scanner 202.
  • the strap on coupling member 1410 can rotate freely about a hinge mechanism 1440 unless the coupling member 1410 is engaged with is coupled to the scanner 202 at the distal end via the latch mechanism 1462.
  • the pipe inspection system 1400a is then engaged with the pipe 1084 scanning and obtaining both transmission and backscatter images.
  • a shape of the strap arm coupling member 1410 in the engaged configuration provides a shape-defined motion constraint feature by which motion in various radial directions of the pipe is constrained.
  • the flexible strap arm coupling member 1410 provides many advantages, as will be understood in view of the description herein above and the description of further embodiments.
  • the pipe inspection system 1400a also includes friction rollers 1438 that are attached to the portable x-ray scanner 202 in order to assist in constraining radial motion and to facilitate translational motion 118 of the system when engaged with the pipe 108.
  • the friction rollers 1438 provide freedom provide free, smooth motion along the pipe 108 in the scan direction.
  • the handheld scanner 202 may actually be gently pressed against the pipe, using the friction rollers 1438, in order to control and constrain the radial motion and to provide a smooth running surface along which to scan the portable x-ray scanner and strap on coupling member 1410 along the scan direction.
  • the friction rollers 1438 may be embedded in the strap arm as well, such that if the strap arm comes into contact with the pipe, smooth translational motion 118 is still facilitated. Because the portable x-ray scanner 202 is used, the scatter detectors 226 provide signals for simultaneous backscatter images to be detected to be acquired simultaneous with the transmission images that are provided by signals from the Incorporated transmission detector module described further hereinafter.
  • FIG. 14B is a perspective-view illustration of an embodiment pipe inspection system 1400b that is disengaged from the pipe 108.
  • the system 1400b includes two strap arm coupling members 1410a and 1410b, both of which are hingedly connected to the scanner 202 via hinge mechanisms 1440.
  • the strap arm coupling members 1410a and 1410b are built similar to the strap coupling member 1410 described in FIG. 14A, such that a transmission detector module is incorporated therein, and the strap arm coupling members 1410a and 1410b provide shape-defined motion constraint feature.
  • the strap arms may be coupled to each other with a coupling motion 1448, by which distal and of the strap arms are brought together and connected via a magnetic linkage, a latch, or other magnetic other mechanical means as known in the art.
  • the strap arm coupling members 1410a and 1410b can be spring- loaded such that they remain coupled to each other and engaged with the pipe 108, absence external force applied.
  • the spring loading is provided by means of the hinge mechanisms 1440 at the proximal ends of the strap arm coupling members.
  • this arrangement is particularly advantageous to accommodate pipes of different sizes and to facilitate fast and easy engagement with a pipe and disengagement there from for an operator during operation.
  • FIG. 14C is a perspective-view diagram of a pipe inspection system 1400c, disengaged from the pipe 108, which includes an extendable strap arm coupling member 1410.
  • the extension is provided via a strap on coupling member extension 1462 that has construction similar to that of the strap on coupling member 1410.
  • the strap arm coupling member extension 1462 includes an incorporated transmission detector module and shape-defined motion constraint feature. This is similar to the arrangement described in relation to FIGS. 14A-14B, where, in an engaged configuration, radial motion with respect to the pipe 108 is limited and constrained, and translational motion along the axial direction 118 is facilitated by means of rollers 1438. It should be noted that the rollers 1438 in FIGS.
  • the strap arm coupling member extension 1462 can slide with respect to the member 1410 to extend a total length of the strap arm coupling member and transmission detector module coupling member, transmission detector module, and motion constraint feature, altogether.
  • Latch mechanisms 1462 are connected in this embodiment to the strap arm extension 1462 and the scanner 202 and can be engaged with each other coupled to each other and secured in the engaged configuration.
  • FIG. 14D is a perspective-view diagram of an embodiment plate inspection system 1400d engaged with a pipe of larger diameter 1408.
  • a single strap arm coupling member 1464 with an incorporated transmission detector module and shape defined motion constraint feature, is coupled to the scanner 202 with a coupling motion at proximal ends thereof with a coupling motion with coupling motions 1448.
  • Coupling between the strap arm coupling member 1464 and scanner 202 is provided via quick release mechanisms 1444 on either side of the scanner 202.
  • These quick release mechanisms can include complementary magnets, that allow a certain amount of rotational flexibility of the strap arm coupling member 1464 about the mechanism 1444.
  • FIG. 15A is a perspective-view diagram of the pipe inspection system of FIG. 14B engaged with a smaller pipe 108.
  • the spring-loaded hinge mechanisms 1441 When engaged with the smaller pipe, the spring-loaded hinge mechanisms 1441 cause the strap arm coupling members 1410a and 1410b to have a relatively greater overlap 1566, automatically adjusting thereby the degree of shape defined radial motion constraint.
  • FIG. 15B also is a perspective-view diagram of the system 1400b from FIG. 14B, engaged with a relatively larger pipe 1408.
  • the spring-loaded hinge mechanisms 1441 cause the strap arm coupling members 1410a and 1410b to have a relatively lesser overlap 1568.
  • the degree of shape-defined motion constraint, provided by the shape of the strap arm coupling members 1410a and 1410b, is automatically adjusted.
  • this embodiment greatly facilitates pipe inspection, in that the strap arm coupling members 1410a and 1410b can easily be decoupled for disengagement from a pipe, coupled again via the coupling motion 1448 provided by the spring loading of the spring hinge mechanisms 1441 shown in FIG. 14B, for easy, flexible, inspection of types of different sizes in a simple manner without difficulty of alignment or adjustment.
  • FIG. 16A is an open perspective-view diagram illustrating detailed construction of the strap arm coupling members 1410, 1410a, 1410b, and the strap arm conflict coupling member extension 1462 described in connection with FIGS. 14A-14D and 15A-15B, for example.
  • a minimal flexibility, but also a degree of stiffness and protection of a strap arm coupling member structure, is provided by a plastic casing arm coupling member 1610.
  • the plastic casing arm coupling member 1610 in cases the encases a wavelength shifting fiber (WSF) ribbon 1672.
  • WSF ribbon 1672, together with a scintillator screen 1670 and a mini photomultiplier tube (PMT) 1674 together constitute the example transmission detector module.
  • the module is built together with the plastic casing arm coupling member 1610 to form the strap arm coupling members 1410, 1410a, 1410b, 1462, and 1464 illustrated in FIGS. 14A-14B, 14A-14D, 15A-15B, respectively.
  • the plastic casing arm is sufficiently rigid to provide a shape defined motion constraint feature, it is also flexible enough to be opened and closed around a pipe for engagement and disengagement, as well as flexible overlap as illustrated in FIGS. 15A-15B.
  • the scintillator material particularly the scintillator screen 1670, is configured to be mechanically coupled to the plastic casing arm coupling member 1610.
  • the scintillator screen 1670 is a strip of scintillator phosphor screen, and the ribbon of WSFS are optically coupled to the scintillator screen 1670.
  • Scintillation photons that are produced by the scintillator screen 1670 upon traversal of an x-ray there through can be detected by the WSF ribbon 1672, and at least one end of the ribbon 1672 is optically coupled to a photodetector, in this embodiment on many PMT 1674.
  • FIG. 16B is an illustration of an alternative strap arm coupling member structure 1610 that can be used in place of the strap arm coupling members structure illustrated in FIG. 16 A.
  • and aluminum spine arm coupling member 1607 provides the both the flexibility and the rigidity fulfilling the purposes described in connection with FIG. 16 A, including forming, by its shape, a motion constraint feature that can be used in the straps illustrated in FIGS. 14A-14D and 15A-15B, for example.
  • the WSF ribbon 1672 is optically coupled to a scintillator screen 1671, particularly BaFCFEU scintillator screen for detection for receiving scintillation photons.
  • the WSF ribbon 1672 is optically coupled to a mini PMT 1674 at at least one end of the ribbon 1672.
  • additional WSF ribbons may be used, each having at least an optical coupling to at least one PMT at at least one end of the ribbon for appropriate detection of the signals.
  • the structure this the alternative.
  • the alternative strap arm coupling member structure 1610 also illustrates the hinge mechanism 1440 previously described, mechanically coupled to the aluminum spine arm coupling member 1607 for use in an embodiment pipe inspection system.
  • the structures illustrated in FIGS. 16A-16B can be shrink-wrapped, in their entireties, such as in a black, light-proof plastic, with the exception that the hinge mechanism 1440 should remain free.
  • FIGS. 16A-16B may also be modified to use a dual x- ray energy design in order to provide information about a spectral content of x-rays transmitted through the pipe, as described further in connection with FIG. 17.
  • FIG. 17 is an illustration of a WSF arrangement that can be combined with an aluminum spine, plastic casing arm, or other appropriate arm coupling member in order to form a further alternative strap arm coupling member or extension thereof that can provide to signals representing different x-ray energy ranges.
  • Example incident x-rays from the scanning beam of x-rays 104 are incident at a scintillator volume 1770 with a thickness that separates a low energy WSF fiber ribbon 1772a and a high-energy WSF ribbon 1772b.
  • Scintillation light from relatively lower energy x-rays 1776 tends to be detected by the low energy WSF ridden 1772a, while scintillation light from high-energy x-rays relatively higher energy x-rays 1778 to be optically coupled into the high-energy WSF 1772b.
  • the low energy WSF 1772a and high-energy WSF 1772b are then optically coupled into separate at least two separate photodetectors, such as the mini PMTs 1674 of FIGS. 16A-16B.
  • two different signals corresponding to two different x-ray energy ranges are provided to a unit such as the portable x-ray scanner 202 or the portable x-ray scanner 1002 of FIG. 10 with the processor 1046 for further analysis and imaging capability.
  • FIG. 18 is a flow diagram illustrating an embodiment procedure 1804 pipe inspection.
  • a portable x-ray scanner is mechanically coupled to a transmission detector module to form a tight inspection assembly.
  • motion of the pipe inspection assembly is constrained with respect to a pipe in a radial direction of pipe.
  • a scanning beam of x-rays is output from the portable x-ray scanner.
  • x-rays of the scanning beam that are transmitted through the pipe are detected.
  • the procedure 1800 may be performed, for example, by the embodiment pipe inspection system 100 illustrated in FIGS. 1 A-1B. Furthermore, the procedure 1800 may be modified as will be understood in view of this disclosure, to perform pipe inspection using features described in connection with any of the other embodiment systems and components thereof described in connection with FIGS. 2-11, 12A-1 B, 13, 14A-14D, 16A-16B, and 17.
  • the procedure 1800 can further include translating the pipe inspection assembly in an axial direction of the pipe to perform scanning, and, if desired, imaging, of various lengths along a pipe.
  • FIG. 19 is a perspective-view schematic illustration of an x-ray imaging system that uses a scanning x-ray beam, which can be used for x-ray backscatter imaging, or for x-ray transmission imaging, or both.
  • FIG. 19 provides further context for imaging with a scanning x-ray beam as a background, showing basic principles, of such imaging, such that the novel features of present embodiments may be understood more fully.
  • a standard x-ray tube 22 generates the x-ray radiation 6 that is incident at an attenuating plate 24.
  • the radiation is collimated into a fan beam 4 by a slot in attenuating plate 24, and the fan beam 4 is incident at a source side 52 of the disk chopper wheel 2, where the source side 52 is the side of the chopper wheel that is closest to the x-ray source 22.
  • the fan beam is then “chopped” into a pencil beam by the rotating “chopper wheel” 2 with slits 12.
  • the pencil beam is output through an output side 54 of the disk chopper wheel (the side opposite the x-ray source 22) and scans over the target object 30 being imaged as the wheel rotates with the rotation 3.
  • the intensity of the x-rays scattered in the backwards direction is then recorded by one or more large-area backscatter detectors (not shown) as a function of the position of the illuminating beam to form a backscatter image.
  • the intensity of the transmitted x-rays can be recorded by a transmission detector 28 to create a transmission x-ray image simultaneously.
  • a signal cable 26 carries scan line signals from the detector 28 to the monitor 40.
  • the object By moving the object through the plane containing the scanning beam, either on a conveyor 27 or under its own power, a two-dimensional backscatter image of the object is obtained.
  • the object can be stationary, and the imaging system can be moved relative to the object.

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  • Analytical Chemistry (AREA)
  • Biochemistry (AREA)
  • General Health & Medical Sciences (AREA)
  • General Physics & Mathematics (AREA)
  • Immunology (AREA)
  • Pathology (AREA)
  • Crystallography & Structural Chemistry (AREA)
  • Analysing Materials By The Use Of Radiation (AREA)

Abstract

Un système d'inspection de tuyau (100) comprend un dispositif de balayage à rayons x portable (102) qui peut émettre un faisceau de balayage de rayons x (104) ; un module détecteur de transmission (106) qui peut détecter des rayons x du faisceau de balayage transmis à travers un tuyau (108) ; un élément d'accouplement (104) qui peut accoupler le dispositif de balayage de rayons x portable (102) au module détecteur de transmission (106) mécaniquement afin de former un ensemble inspection de tuyau ; et un élément de contrainte de mouvement (114) qui peut contraindre le mouvement de l'ensemble inspection (100) par rapport au tuyau dans une direction radiale du tuyau. L'élément de contrainte de mouvement (114) permet également, et peut également faciliter, un mouvement de translation de l'ensemble inspection de tuyau dans la direction axiale du tuyau. Une imagerie par rayons x efficace de haute qualité de tuyaux peut être obtenue et présente un problème d'alignement minimal, une facilité pour tout alignement nécessaire, et une plus grande efficacité de rattachement et de détachement du tuyau, même en fonctionnement manuel.
EP21815082.9A 2020-10-30 2021-10-29 Système d'inspection de tuyau à rayons x Pending EP4237835A1 (fr)

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US202063107783P 2020-10-30 2020-10-30
PCT/US2021/072141 WO2022094616A1 (fr) 2020-10-30 2021-10-29 Système d'inspection de tuyau à rayons x

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EP4237835A1 true EP4237835A1 (fr) 2023-09-06

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Publication number Priority date Publication date Assignee Title
GB2618833A (en) * 2022-05-19 2023-11-22 Adaptix Ltd Metal oxidation determining apparatus

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2013112819A1 (fr) * 2012-01-27 2013-08-01 American Science And Engineering, Inc. Dispositif manuel d'imagerie à rétrodiffusion de rayons x
BR112015007089B1 (pt) * 2013-10-17 2021-09-28 Petróleo Brasileiro S.A. / Petrobras Equipamento de gamagrafia submarina operado por rov
KR20200110807A (ko) * 2018-02-02 2020-09-25 비켄 디텍션 코포레이션 제거가능한 검출기를 구비한 엑스-레이 백스캐터 촬상을 위한 시스템 및 키트
US10712292B2 (en) * 2018-03-29 2020-07-14 The Boeing Company Backscatter x-ray inspection system for pipes

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CN116547524A (zh) 2023-08-04

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