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WO2025085336A1 - Imagerie radiographique sous-marine - Google Patents

Imagerie radiographique sous-marine Download PDF

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Publication number
WO2025085336A1
WO2025085336A1 PCT/US2024/051025 US2024051025W WO2025085336A1 WO 2025085336 A1 WO2025085336 A1 WO 2025085336A1 US 2024051025 W US2024051025 W US 2024051025W WO 2025085336 A1 WO2025085336 A1 WO 2025085336A1
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WO
WIPO (PCT)
Prior art keywords
ray
underwater
contained
self
emitter assembly
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
PCT/US2024/051025
Other languages
English (en)
Inventor
Jeremy Childress
Jr. Paul B. Rose
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.)
Sexton Corp
UT Battelle LLC
Original Assignee
Sexton Corp
UT Battelle LLC
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 US18/380,464 external-priority patent/US12078602B1/en
Application filed by Sexton Corp, UT Battelle LLC filed Critical Sexton Corp
Publication of WO2025085336A1 publication Critical patent/WO2025085336A1/fr
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
    • G01V5/00—Prospecting or detecting by the use of ionising radiation, e.g. of natural or induced radioactivity
    • 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
    • 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
    • G01N2223/60—Specific applications or type of materials
    • G01N2223/628—Specific applications or type of materials tubes, pipes
    • 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
    • G01N2223/632—Specific applications or type of materials residual life, life expectancy

Definitions

  • the present disclosure relates to the field of X-ray imaging and more particularly to the field of underwater X-ray imaging.
  • This disclosure relates to an underwater imaging device designed for maneuverability and real-time imaging by a diver.
  • the imaging device includes a self- contained X-ray emitter assembly with an internal X-ray generator, power supply, and control system, allowing it to operate independently of external power sources.
  • the emitter assembly is housed within a submersible, pressure-tolerant casing equipped with an X-ray transmissive aperture, enabling the directed emission of pulsed X-rays toward an underwater target.
  • An X-ray detector is positioned at a distal end of the housing to receive X-rays that pass through the underwater target.
  • the detector is operably connected to the emitter assembly through a detector cable and is configured to capture and transmit resulting X-ray data in real time.
  • an underwater user interface with a display panel faces the diver, allowing simultaneous viewing of the work area and the captured imaging data. This arrangement enables the diver to adjust the orientation of the emitter and detector, view the data contemporaneously, and make immediate adjustments for improved imaging based on real-time feedback.
  • the device may include a reconfigurable X-ray detector and emitter coupler bracket, which allows the detector to move relative to the emitter assembly.
  • This bracket can facilitate positioning of the detector for differently sized underwater targets, or affixing the imaging device to other underwater objects.
  • the bracket features a main support with first and second adjustable arms coupled at respective ends, allowing precise positioning based on target size and configuration.
  • the arms and main support can be independently adjusted in length, with the overall height and length of the bracket varying to suit specific underwater targets and imaging requirements.
  • a float system may be coupled to the emitter assembly and detector, providing adjustable buoyancy through a trim holder, which aids in maneuverability.
  • the device also includes an external-device connector that allows communication with abovewater or other external devices for transmitting imaging data.
  • the X-ray detector may be operable to perform an area scan, capturing detailed and composite images of the underwater target.
  • the disclosure further describes a method for using the underwater imaging device, allowing a diver to position the device, activate the X-ray generator via the user interface, and align the X-ray transmissive aperture and detector with the target, all while viewing live or near real-time X-ray data on the user interface display.
  • the method includes adjusting the detector and emitter bracket, varying the detector distance for optimal imaging, and utilizing the float system for adjustable buoyancy. Data transmission to an external device and area scanning for broader imaging coverage are also part of the method.
  • a non-transitory computer-readable medium stores instructions executable by the device’s internal controller. These instructions enable the imaging device to generate, emit, detect, and process X-rays, as well as display imaging data on the user interface. Additional instructions allow for dynamic adjustment of the detector’s position relative to the emitter, intensity adjustment based on target characteristics, area scanning, storage of X- ray data, and real-time display adjustments based on user input. This enables the device to transmit data to an external device and respond to user adjustments to improve the quality of the captured image.
  • the system may include a self-contained emitter assembly operable to generate and emit X-rays underwater.
  • the self-contained emitter assembly may include an X-ray emitter configured to generate X-rays, and a power supply operable to supply operational power to the X-ray emitter.
  • the power supply may be rechargeable and may be adapted to supply sufficient power to the self-contained emitter assembly absent an external connection to a power supply.
  • the self-contained emitter assembly may include a control system coupled to the power supply and the X-ray emitter, where the control system may be configured to direct operation of the X-ray emitter.
  • the system may include a housing containing the X-ray emitter, the power supply, and the control system.
  • the housing may include an X-ray transmissive aperture operable to permit emission of X-rays from the self-contained emitter assembly toward a target.
  • the housing may be a pressure tolerant enclosure configured to allow the self-contained emitter assembly to operate underwater at significant external pressures.
  • the system may include a detector operable to removably couple to the self- contained emitter assembly via a cable.
  • the detector may be operable to detect X-rays emitted from the self-contained emitter assembly, and operable to transmit image information via the cable to the self-contained emitter assembly based on detected X-rays.
  • the system may include a mounting assembly for mounting the detector to the self- contained emitter assembly.
  • the mounting assembly may be reconfigurable to facilitate at least one of 1) moving the detector relative to the self-contained emitter assembly and 2) affixing the system to another object.
  • the foregoing and other embodiments can each optionally include one or more of the following features, alone or in combination. In particular, one embodiment includes all the following features in combination.
  • the mounting assembly may be reconfigurable to position the target between the detector and the self-contained emitter assembly, where the mounting assembly may be adaptable to accommodate differently sized targets.
  • the mounting assembly may include a main support coupled to first and second arms.
  • the first arm may be operably coupled to the self-contained emitter assembly, and the second arm may be operably coupled to the detector.
  • the first and second arms may be adjustable in length such that each of the first and second arms is independently adjustable.
  • the main support may be adjustable in length such that a distance between the first and second arms is variable.
  • first and second arms may be coupled respectively to first and second ends of the main support.
  • the system may include a user interface that is mountable to the self-contained emitter assembly.
  • the self-contained emitter assembly may include a user interface connector for connection to a cable, and the user interface may be operable to communicate with the control system of the self-contained emitter assembly via the cable connected to the user interface connector.
  • the user interface may be operable to receive information based on the image information from the control system of the self-contained emitter assembly.
  • the detector may be movable relative to the self-contained emitter assembly, such that the detector is movable over a variable distance from the X-ray transmissive aperture.
  • the self-contained emitter assembly may include an external connector operable to communicate with an external device via a cable.
  • the self-contained emitter assembly may include an X-ray emitter configured to generate X-rays and a power supply operable to supply operational power to the X-ray emitter.
  • the self-contained emitter assembly may include a control system coupled to the power supply and the X-ray emitter, where the control system may be configured to direct operation of the X-ray emitter.
  • the self-contained emitter assembly may include a housing containing the X-ray emitter, the power supply, and the control system.
  • the housing may include an X-ray transmissive aperture operable to permit emission of X-rays from the self-contained emitter assembly toward a target.
  • the system may include a detector operable to removably couple to the self-contained emitter assembly via a cable. The detector may be operable to detect X-rays emitted from the self-contained emitter assembly and may be operable to transmit image information to the self-contained emitter assembly based on detected X-rays.
  • the detector may be operable to conduct an area scan of X- rays emitted from the self-contained emitter assembly.
  • the self-contained emitter assembly may include an external connector operable to communicate with an external device via a cable.
  • the external device may be provided above-water.
  • the self-contained emitter assembly may be operable to transmit information based on the image information to the external device via the cable.
  • a user interface may be mountable to the self-contained emitter assembly.
  • the self-contained emitter assembly may include a user interface connector for connection to a cable, and the user interface may be operable to communicate with the control system of the self-contained emitter assembly via the cable connected to the user interface connector.
  • the user interface may be provided as part of the self- contained emitter assembly. As an example, a portion of the user interface may be within the self-contained emitter assembly, and the user interface may provide at least a portion of the exterior surface of the self-contained emitter assembly.
  • the user interface may be operable to receive information based on the image information from the control system of the self-contained emitter assembly.
  • the detector may be movable relative to the self-contained emitter assembly, such that the detector is movable over a variable distance from the X-ray transmissive aperture.
  • the detector may be movable by an underwater operator.
  • a mounting assembly for mounting the detector to the self- contained emitter assembly may be provided.
  • the mounting assembly may be reconfigurable to facilitate at least one of 1) moving the detector relative to the self- contained emitter assembly and 2) affixing the system to another object.
  • the housing may be a pressure tolerant enclosure configured to allow the self-contained emitter assembly to operate underwater at significant external pressures.
  • the self-contained emitter assembly may include an X-ray emitter configured to generate X-rays and a power supply operable to supply operational power to the X-ray emitter.
  • the self-contained emitter assembly may include a control system coupled to the power supply and the X-ray emitter, where the control system may be configured to direct operation of the X-ray emitter.
  • the self-contained emitter assembly may include a housing containing the X-ray emitter, the power supply, and the control system.
  • the housing may include an X-ray transmissive aperture operable to permit emission of X-rays from the self-contained emitter assembly toward a target.
  • the self-contained emitter assembly may include an external connector operable to communicate with an external device via a cable.
  • the external device may be provided above-water.
  • control unit may be operable to transmit information based on the image information to the external device via the cable.
  • the self-contained emitter assembly may include a detector connector operable to couple the control unit, via a cable, to a detector external to the housing of the self-contained emitter assembly.
  • the control unit may be operable to receive image information from the detector via the cable.
  • the housing may be movable relative to the detector, such that a distance between the X-ray transmissive aperture and the detector is variable.
  • the housing may be configured to interface with a mounting assembly to facilitate affixing the housing to another object.
  • the housing may be a pressure tolerant enclosure configured to allow the self-contained emitter assembly to operate underwater at significant external pressures.
  • the X-ray emitter may be configured to generate X-rays in a pulsed manner.
  • FIG. l is a side elevation view of a surface-assisted underwater imaging system according to one aspect of the present disclosure.
  • FIG. 2 is a perspective view of components included in the surface-assisted underwater imaging system of FIG. 1.
  • FIG. 3 shows a side view of the self-contained emitter assembly.
  • FIG. 4 shows a sectional view of the self-contained emitter assembly.
  • FIG. 5 shows a partial perspective view of the self-contained emitter assembly.
  • FIG. 6 shows a self-contained emitter assembly and a detector according to one aspect.
  • FIG. 7 shows a side view of the self-contained emitter assembly and the detector.
  • FIG. 8 shows a mounting system according to one aspect.
  • FIG. 9 shows a perspective view of the mounting system of FIG. 8.
  • FIG. 10A shows a system according to one aspect of the present disclosure.
  • FIG. 10B shows a system according to one aspect of the present disclosure.
  • FIG. 10C shows a system according to one aspect of the present disclosure.
  • FIG. 10D shows a system according to one aspect of the present disclosure.
  • FIG. 11 shows a system according to one aspect of the present disclosure.
  • FIG. 12 is a flow chart of a process in accordance with one embodiment.
  • any reference to claim elements as “at least one of X, Y and Z” is meant to include any one of X, Y or Z individually, and any combination of X, Y and Z, for example, X, Y, Z; X, Y; X, Z; and Y, Z.
  • FIG. 1 and FIG. 2 show a surface-assisted underwater imaging system 100 with an underwater imaging device 102 configured for maneuverability by a diver or other user U when he or she is positioned to simultaneously view an underwater target T in a work area 104 and generate contemporaneous images thereof.
  • diver U readily manipulates the position of an underwater imaging device 102, which includes a self-contained X-ray emitter assembly 106 to generate and emit X-rays underwater, an X-ray detector and emitter coupler bracket 108 and an associated X-ray detector 110, and an underwater user interface 112 having an integrated display panel 114.
  • These components are arranged along a central longitudinal axis with display panel 114 and X-ray detector 110 at opposite ends and facing diver U such that diver U may simultaneously view both display panel 114 and work area 104, all while swimming behind self-contained X-ray emitter assembly 106 and free from obstructing work area 104 or X- rays.
  • This arrangement allows diver U to readily aim and manipulate underwater imaging device 102 in murky underwater environments while receiving immediate feedback in terms of the image quality.
  • underwater imaging device 102 facilitates providing a real-time image to a diver or operator.
  • Conventional systems are based on analog imaging systems that must be taken back to land and analyzed, and the radiation sources are typically radio-isotope sources, which are very high activity. These types of high activity sources may call for substantial safety mitigation measurements and regulatory compliance because they pose a risk of leaking and contaminating the water and anything in the area.
  • Underwater imaging device 102 is not dependent on such high activity sources, and therefore is not subject to the same types of mitigation constraints.
  • underwater user interface 112 may be removably coupled to self- contained X-ray emitter assembly 106.
  • Underwater user interface 112 may be a pressure tolerant touch screen assembly.
  • Underwater user interface 112 may be communicatively coupled to self-contained X-ray emitter assembly 106 in order to direct operation thereof and/or receive information based on resulting X-ray data (e.g., image information) provided by X-ray detector 110 to self-contained X-ray emitter assembly 106.
  • underwater user interface 112 may display an X-ray image of underwater target T based on X-rays emitted by self-contained X-ray emitter assembly 106 and detected by X-ray detector 110.
  • Underwater user interface 112 may also enable diver U to direct self- contained X-ray emitter assembly 106 to initiate imaging of underwater target T.
  • underwater user interface 112 may be communicatively coupled to self-contained X-ray emitter assembly 106 via a user interface cable (not shown) and external -device connector 202 (FIG. 2). Communications may be established according to a network protocol but are not so limited and may be established according to any type of communication protocol over any type of medium.
  • Underwater imaging device 102 may facilitate making underwater X-ray imaging accessible to a wide range of security, NDT, law enforcement, and general inspection users without the logistics challenges of storage phosphors and without the regulatory and safety implications of using a sealed radioactive source to generate radiation.
  • Underwater imaging device 102 may allow users to obtain high resolution X-ray radiographic images of underwater targets through more than 15 inches of water by using a 370 keV pulsed X-ray generator and digital radiography panel, while using familiar Novo DR or X-Ray Toolkit (XTK) software, for example.
  • XTK X-Ray Toolkit
  • underwater imaging device 102 is coupled to an external device via an external-device connector 202 (FIG. 2 and FIG. 5).
  • external-device connector 202 may enable coupling self- contained X-ray emitter assembly 106 to an external device, such as underwater user interface 112 and/or above-water user interface 116. These interfaces may enable control over self-contained X-ray emitter assembly 106 and/or underwater imaging device 102 that includes self-contained X-ray emitter assembly 106.
  • RF radiofrequency
  • Internal control system 204 may include a Falcon II controller.
  • the external device in one aspect may be operable to provide power and/or communicate with self-contained X-ray emitter assembly 106.
  • the external device may supply power to self-contained X-ray emitter assembly 106 in order to charge internal batteries as part of a power supply within self-contained X-ray emitter assembly 106.
  • the external device may take the form of underwater user interface 112.
  • the embodiments of present disclosure are not so limited — the external device in another aspect may correspond to an above-water user interface 116 that is provided onboard a boat or ship 118 above water as depicted in FIG. 1.
  • FIG. 1 shows above-water surface support equipment including ship 118 or other structure (e.g., a platform or dock), above-water user interface 116, and a power and communications cable 120 communicatively coupled to external-device connector 202.
  • Above-water user interface 116 is connected to internal control system 204 via power and communications cable 120 and external-device connector 202.
  • Above-water controller 206 may offer wired or wireless connection options to a personal computer (PC), tablet, or phone running Novo or X-Ray Toolkit (XTK) software, for example.
  • PC personal computer
  • XTK X-Ray Toolkit
  • a first end of detector cable 208 may be coupled to self-contained X-ray emitter assembly 106 via detector connector 210 (e.g., an underwater connector), which may be electrically coupled to internal control system 204 of self- contained X-ray emitter assembly 106.
  • detector connector 210 e.g., an underwater connector
  • a second end of detector cable 208 may be communicatively coupled to X-ray detector 110.
  • above-water user interface 116 receives from underwater imaging device 102 information, such as resulting X-ray data or associated imaging information detected with X-ray detector 110.
  • Power and communications cable 120 may be sufficiently long to enable diver U to maneuver underwater imaging device 102 in place with respect to underwater target T and to allow internal control system 204 to communicate to above-water user interface 116.
  • external-device connector 202 may be configured to facilitate network-based communication with an external device and internal control system 204.
  • a network-based link between internal control system 204 and the external device may enable communication with a variety of external devices according to a standard protocol.
  • an above-water system such as an above-water controller 206 and associated power system, underwater user interface 112, or another device
  • above-water user interface 116 is implemented in a Windows PC/laptop, Mac, Android Tablet, or Android phone running either Novo imaging software or XTK.
  • above-water controller 206 (or another above-water component) is operable to supply electrical power to underwater imaging device 102 via power and communications cable 120, potentially recharging an internal power supply 212 of underwater imaging device 102 while it is deployed underwater.
  • Above-water user interface 116 may be operable in conjunction with a power and communications system (e.g., above-water controller 206) configured to couple to power and communications cable 120 and optionally provide power to underwater imaging device 102 via power and communications cable 120.
  • the power and communications system may also facilitate communications between above-water user interface 116 and underwater imaging device 102.
  • self-contained X-ray emitter assembly 106 may be operable by a user underwater without connection to an external power supply and/or external control circuitry.
  • Underwater user interface 112 may be operable to communicate with internal control system 204 of self-contained X-ray emitter assembly 106 in order to direct operation thereof and/or receive information from internal control system 204, such as information based on image information received by self-contained X-ray emitter assembly 106 from X- ray detector 110.
  • underwater user interface 112 may include a touch screen that enables the operator to direct operation of self-contained X-ray emitter assembly 106 and/or underwater user interface 112, itself.
  • Underwater user interface 112 may be operable to facilitate reviewing images obtained by self-contained X-ray emitter assembly 106 and X- ray detector 110. In one aspect, underwater user interface 112 may be operable to change variables associated with operation of self-contained X-ray emitter assembly 106 and X-ray detector 110.
  • FIG. 2 shows several other components of surface-assisted underwater imaging system 100.
  • FIG. 2 shows a detector cable 208 that communicatively couples X-ray detector 110 and internal control system 204 via a detector connector 210 (FIG. 2 and FIG. 5).
  • An optional float system 214 which is described later, is also shown.
  • FIG. 2 shows how underwater user interface 112 may be detached or is otherwise optional in some embodiments, i.e., when above-water user interface 116 is provided.
  • Operating self-contained X-ray emitter assembly 106 alongside other components of surface-assisted underwater imaging system 100, such as a diveroperated pulsed X-ray imaging system, may be familiar to users who have used conventional land-based systems, such as, for example, a Golden X-ray generator and Novo imaging panel.
  • X-ray detector 110 may include an underwater X-ray detector panel housing 216 and contain, for example, a Novo WN22 digital radiography panel.
  • underwater X-ray detector panel housing 216 houses a panel or sensor operable to detect the X-rays emitted from self-contained X-ray emitter assembly 106.
  • Underwater X-ray detector panel housing 216 may be an anodized aluminum housing to keep the X-ray subcomponents substantially isolated from potentially damaging effects of salt water and pressure.
  • Underwater X-ray detector panel housing 216 may be rated for depths up to 300 feet, however, underwater X- ray detector panel housing 216 may be configured differently for greater depths.
  • X-ray detector 110 in one aspect may have neutral buoyancy or a negative buoyancy of approximately 10 pounds. It should be understood that the buoyancy of X-ray detector 110 may vary from application to application.
  • Internal control system 204 may include electrical circuitry and components to carry out the functions and algorithms described herein. Generally speaking, internal control system 204 may include one or more microcontrollers, microprocessors, and/or other programmable electronics that are programmed to carry out the functions described herein. Internal control system 204 may additionally or alternatively include other electronic components that are programmed to carry out the functions described herein, or that support the microcontrollers, microprocessors, and/or other electronics. The other electronic components include, but are not limited to, one or more field programmable gate arrays (FPGAs), systems on a chip, volatile or nonvolatile memory, discrete circuitry, integrated circuits, application specific integrated circuits (ASICs) and/or other hardware, software, or firmware.
  • FPGAs field programmable gate arrays
  • ASICs application specific integrated circuits
  • Such components may be physically configured in any suitable manner, such as being mounted to one or more circuit boards or arranged in other manners, either combined into a single unit or distributed across multiple units. Such components may be physically distributed in different positions in the system or aspects thereof, or they may reside in a common location within the system or an aspect thereof. When physically distributed, the components may communicate using any suitable serial or parallel communication protocol, such as, but not limited to, Ethernet, Local Area Network (LAN), CAN, LIN, Vehicle Area Network (VAN), FireWire, I2C, RS-232, RS-485, and Universal Serial Bus (USB).
  • LAN Local Area Network
  • VAN Vehicle Area Network
  • FireWire I2C
  • RS-232 RS-485
  • USB Universal Serial Bus
  • surface-assisted underwater imaging system 100 is not limited to the specific set of components depicted in FIG. 1 and FIG. 2.
  • Surface-assisted underwater imaging system 100 may include fewer or more components.
  • underwater imaging device 102 may be operated independently of surface-assisted underwater imaging system 100 and without float system 214, as described later with reference to FIG. 10A-FIG. 10D.
  • underwater imaging device 102 and/or self-contained X-ray emitter assembly 106 may be used or rotated at depth and may be used in a tethered (e.g., to an above-water device via power and communications cable 120) or untethered configuration.
  • self-contained X-ray emitter assembly 106 may be remotely operated relative to the surface, such as with a dive bell or deck box.
  • FIG. 3-FIG. 5 show, in greater detail, internal and external features of self- contained X-ray emitter assembly 106.
  • Self-contained X-ray emitter assembly 106 may be operatively coupled to float system 214, which may be adapted to provide neutral buoyancy with respect to self- contained X-ray emitter assembly 106 and optionally additional components coupled to self- contained X-ray emitter assembly 106 (i.e., X-ray detector and emitter coupler bracket 108 and X-ray detector 110).
  • Float system 214 may include one or more trim holders 302 (e.g., trim weight bags), where weight may be added or removed in order to adjust float system 214 for neutral buoyancy, positive buoyancy, or negative buoyancy.
  • Float system 214 may be configured to provide slight positive, slight negative, or neutral buoyancy with respect to underwater imaging device 102.
  • float system 214 may have a depth rating of up to approximately 6,000 feet, and adjustable buoyancy via trim holders 302, such as positive or negative two pounds.
  • FIG. 3 shows trim holders 302 on both front and back sides of optional float system 214.
  • self-contained X-ray emitter assembly 106 may have a negative buoyancy of about 22 pounds. It is understood that the buoyancy of self- contained X-ray emitter assembly 106 is not limited to this specific value and may vary from application to application.
  • a user accessory ball mount 304 is available for fixedly mounting underwater user interface 112 to self-contained X-ray emitter assembly 106 via a user interface socket coupler 306 (FIG. 3) and a user interface ball mount 308.
  • User accessory ball mount 304 and user interface socket coupler 306 provide a ball-and-socket coupling (or ball mount) to enable the repositioning of underwater user interface 112 using user-interface angle adjustment handle 310.
  • a pressure relief valve 312 is provided in case the internal pressure of self- contained X-ray emitter assembly 106 rises above a threshold value, potentially protecting internal components of self-contained X-ray emitter assembly 106 and preventing damage to submersible, pressure-tolerant emitter housing 314.
  • pressure relief valve 312 may correspond to a self-venting pressure relief valve.
  • Self-contained X-ray emitter assembly 106 may include one or more sacrificial zinc anodes 316.
  • a manual external power switch 318 is available for diver U to disconnect all power to underwater imaging device 102.
  • Manual external power switch 318 is manually operable by diver U underwater to turn self-contained X-ray emitter assembly 106 ON or OFF, enabling diver U to conserve power during times when self-contained X-ray emitter assembly 106 is not in use.
  • An emitter assembly mount 320 may be provided in conjunction with self- contained X-ray emitter assembly 106.
  • Emitter assembly mount 320 may take the form of a quick-release clamping system that is adapted to engage the exterior of submersible, pressure-tolerant emitter housing 314 and to removably couple with X-ray detector and emitter coupler bracket 108 (FIG. 1, FIG. 8, and FIG. 9) or another component, as described later.
  • more than one emitter assembly mount 320 may engage submersible, pressure-tolerant emitter housing 314 to securely couple self-contained X-ray emitter assembly 106 to X-ray detector and emitter coupler bracket 108 or another component.
  • each emitter assembly mount 320 may include one or more feet 322 (potentially leveling feet), operable to allow adjustments to alignment or positioning of self-contained X-ray emitter assembly 106 relative to underwater target T and/or X-ray detector 110.
  • feet 322 may be magnetic.
  • Submersible, pressure-tolerant emitter housing 314 may include an X-ray transmissive aperture 324 that is transmissive with respect to X-rays emitted from internal X-ray generator 402 (FIG. 4).
  • X-ray transmissive aperture 324 may be substantially formed of aluminum; however, the present disclosure is not so limited, and any type of material may be utilized, including materials different from other parts of submersible, pressure-tolerant emitter housing 314.
  • X-ray transmissive aperture 324 may, for instance, be formed of titanium, steel, or carbon fiber.
  • X-ray transmissive aperture 324 may be welded or otherwise secured to the main body of submersible, pressure-tolerant emitter housing 314.
  • Self-contained X-ray emitter assembly 106 may include internal components sufficient to enable the operation of self-contained X-ray emitter assembly 106 without external power and/or data connections. Although self-contained X-ray emitter assembly 106 is operable to communicate with and receive power from an external device, as described previously, self- contained X-ray emitter assembly 106 may be configured so that it is not necessary to communicate with or receive power from such an external device in order to operate in conjunction with X-ray detector 110 for X-ray imaging of underwater target T.
  • self-contained X-ray emitter assembly 106 may be operable to supply power to one or more external devices, such as X-ray detector 110 and/or underwater user interface 112.
  • Self-contained X-ray emitter assembly 106 may include internal X-ray generator 402, configured to generate X-rays.
  • Internal X-ray generator 402 and internal control system 204 are inside submersible, pressure-tolerant emitter housing 314 (e.g., an anodized aluminum housing) to keep the X-ray subcomponents isolated from damaging saltwater and pressure.
  • Internal X-ray generator 402 may correspond to a modified form-factor version of the XRS4 X-ray generator provided by Golden Engineering, Inc.; however, it is understood that the present disclosure is not so limited and that any type of X-ray generator may be provided within self-contained X-ray emitter assembly 106.
  • Internal X-ray generator 402 in some embodiments, is a modified form-factor Golden XRS4 370 keV pulsed generator, fitting within submersible, pressure-tolerant emitter housing 314.
  • Internal X-ray generator 402 may be battery-powered and capable of emitting X-rays in a pulsed manner.
  • Internal X- ray generator 402 may provide X-ray energy above 170 kilowatts, optionally above 370 kilowatts.
  • the detection of the X-ray pulses by X-ray detector 110 is synchronized by internal control systems 204 to the emission of the X-ray pulses by internal X-ray generator 402.
  • internal X-ray generator 402 is described herein as being capable of generating X-rays in a pulsed manner, it is understood that the present disclosure is not so limited, and X-rays may be emitted in any manner, including in a continuous manner.
  • internal X-ray generator 402 may be a modified form-factor XRS4 pulsed X-ray generator, which generates X-ray radiation by accelerating electrons into a tungsten target to create Bremsstrahlung X-rays. A collimated beam of those X-rays may be directed toward underwater target T. As the X-rays pass through underwater target T, regions of higher density in underwater target T absorb more X-ray radiation, leaving information about the internal composition of underwater target T that can be measured by observing the exiting X-ray intensities.
  • X-ray detector 110 such as, for example, a Novo flat-panel digital detector, allowing users to view an image of underwater target T.
  • Underwater user interface 112 may enable changing operational variables, such as the number of pulses generated by internal X-ray generator 402 for X-ray imaging.
  • internal control systems 204 adjusts operation of internal X-ray generator 402 and/or X-ray detector 110.
  • diver U In practice, if diver U obtains an X- ray using 10 pulses and then reviews image, her or she might determine that the image is too dark and more pulses are tried to see inside the object. Diver U can then increase the number of pulses to 20 or 30 to increase the X-ray penetration to achieve an improved image.
  • the system therefore, allows the following: control number of x-ray pulses; set safety delay before firing (to allow user to get further away from radiation source); arm or disarm the system; view battery status; view connection status to other components (detector and main controller); view the last image that was taken; enhance last image; change image settings; save image; and view a gallery of saved images.
  • Self-contained X-ray emitter assembly 106 in conjunction with X-ray detector 110, may facilitate imaging of targets T with greater than % inch thickness.
  • the intensity of the X-rays emitted from self-contained X-ray emitter assembly 106 may be varied depending on the thickness of underwater target T.
  • Self-contained X-ray emitter assembly 106 may include internal control system 204, which may include circuitry operable to carry out one or more functions of the assembly, communicate with one or more other components of the assembly (such as receiving sensor feedback from a component and/or directing operation of a component), or a combination thereof.
  • Components of self-contained X-ray emitter assembly 106 may include internal X-ray generator 402, internal power supply 212, and internal components of manual external power switch 318 — but the present disclosure is not so limited, and any component internal to self-contained X-ray emitter assembly 106 may be coupled to internal control system 204.
  • internal control system 204 may be operable to communicate with one or more components external to self-contained X-ray emitter assembly 106, such as X-ray detector 110, underwater user interface 112, or an external device, or a combination thereof. Communication, internal or external to self- contained X-ray emitter assembly 106, with internal control system 204 may be carried out or conducted in a variety of ways, including over wireless or wired media and according to any type of protocol, such as serialized communications or discrete (e.g., high/low) signals.
  • Self-contained X-ray emitter assembly 106 may include internal power supply 212 (e.g., a battery) operable to supply power to internal X-ray generator 402 and internal control system 204, as well as any other components internal or external to self-contained X-ray emitter assembly 106, such as X-ray detector 110 and underwater user interface 112.
  • Internal power supply 212 may be rechargeable within submersible, pressure-tolerant emitter housing 314 without removal of internal power supply 212. For instance, internal power supply 212 may be recharged via power supplied from an external device through external -device connector 202.
  • Internal power supply 212 may be provided within a battery compartment of submersible, pressure-tolerant emitter housing 314, in one aspect.
  • internal power supply 212 may be removed from self-contained X- ray emitter assembly 106 for charging and/or replacement.
  • Self-contained X-ray emitter assembly 106 may include submersible, pressure- tolerant emitter housing 314 that contains one or more components of self-contained X-ray emitter assembly 106, such as internal X-ray generator 402, internal control system 204, and internal power supply 212.
  • Submersible, pressure-tolerant emitter housing 314 may be a pressure-tolerant housing operable to substantially protect the internal components of self- contained X-ray emitter assembly 106 from external pressure below water, such as, for example, at depths rated up to 4,000 feet.
  • Submersible, pressure-tolerant emitter housing 314 may be formed of one or more materials. For instance, submersible, pressure-tolerant emitter housing 314 may be an aluminum housing.
  • submersible, pressure-tolerant emitter housing 314 may be formed of carbon fiber, steel, titanium, aluminum, or a combination thereof. It is noted that submersible, pressure-tolerant emitter housing 314 and underwater X-ray detector panel housing 216 are described as being made of aluminum in one or more aspects of the disclosure. The thickness of the aluminum may be selected to reduce or minimize the amount of aluminum the X-rays need to pass through while providing pressure tolerance. Stainless steel, titanium, plastic materials, or a combination thereof may also be utilized to form all or a portion of submersible, pressure- tolerant emitter housing 314.
  • Internal X-ray generator 402, internal control system 204, and X-ray detector 110 may communicate through a single umbilical or cable via detector connector 210.
  • Another cable e.g., power and communications cable 120
  • FIG. 5 shows in greater detail the proximal end of self-contained X-ray emitter assembly 106.
  • manual external power switch 318 is available for diver U to disconnect all power to underwater imaging device 102.
  • Manual external power switch 318 is manually operable by diver U underwater to turn self-contained X-ray emitter assembly 106 ON or OFF, enabling diver U to conserve power when self-contained X-ray emitter assembly 106 is not in use.
  • FIG. 5 also shows that wet-mate connectors are used for detector connector 210 and external-device connector 202, according to one embodiment.
  • FIG. 6 and FIG. 7 show self-contained X-ray emitter assembly 106 (with float system 214 attached) directing X-rays toward X-ray detector 110, according to one embodiment.
  • X-ray detector and emitter coupler bracket 108 are not shown in FIG. 6 and FIG. 7 but are described later with reference to FIG. 8 and FIG. 9.
  • X-ray detector 110 may also include an underwater X-ray detector panel housing 216 that is pressure-tolerant. Inside underwater X-ray detector panel housing 216 is a detector panel or sensor(s) configured to detect X-rays emitted from self-contained X-ray emitter assembly 106.
  • X-ray detector 110 may be positioned at a distal end of underwater imaging device 102, located a distance d away from X-ray transmissive aperture 324 of self-contained X- ray emitter assembly 106. Underwater target T is then disposed between X-ray transmissive aperture 324 of self-contained X-ray emitter assembly 106 and X-ray detector 110. Underwater target T may be any type of underwater object, including but not limited to X- ray inspections of underwater pipes and valves, ship or boat hulls, and unexploded ordnance.
  • X-ray detector 110 may be configured to detect X-rays emitted from self- contained X-ray emitter assembly 106 and generate resulting X-ray data (e.g., image information) based on the detected X-rays.
  • This image information may pertain to underwater target T and may be communicated to self-contained X-ray emitter assembly 106 via detector cable 208 (FIG. 2) provided between self-contained X-ray emitter assembly 106 and X-ray detector 110.
  • X-ray detector 110 may be configured for an area scan with respect to X-rays emitted from self-contained X-ray emitter assembly 106, thereby enabling rapid detection and imaging of underwater target T.
  • an area scan is using all of the pixels on the sensor array. Multiple images are then optionally stitched together, which is useful for imaging objects that are larger than the detector panel itself.
  • X-ray detector 110 may be configured for detection in a different manner, including but not limited to a linear scan of X-rays emitted from self-contained X- ray emitter assembly 106. A linear scan may use one vertical line of pixels and then writes out that line continuously to capture flowing objects.
  • FIG. 7 shows that X-ray detector 110, in one aspect, may include a detector mount 702, which is operable to facilitate connection to X-ray detector and emitter coupler bracket 108 (FIG. 8 and FIG. 9).
  • self- contained X-ray emitter assembly 106 may be coupled to X-ray detector 110, such that these components are movable relative to each other within a common mounting system.
  • X-ray detector and emitter coupler bracket 108 may facilitate positioning self- contained X-ray emitter assembly 106 relative to X-ray detector 110 in a variety of ways.
  • X-ray detector and emitter coupler bracket 108 may be configured to enable positioning of X-ray transmissive aperture 324 of self-contained X-ray emitter assembly 106 at a variable distance d relative to X-ray detector 110. This may accommodate different sizes or numbers of underwater targets T, with various shapes and sizes positioned between X-ray transmissive aperture 324 and X-ray detector 110.
  • the size of X-ray transmissive aperture 324 and the distance between underwater target T and X-ray transmissive aperture 324 may affect the beam diameter at underwater target T.
  • [OHl] X-ray detector and emitter coupler bracket 108 may include a main support 802 adjustable in length along its longitudinal axis.
  • main support 802 may consist of two or more members that are telescoping with respect to each other.
  • Main support 802 may include one or more apertures that interface with pins to release and lock main support 802 at specific lengths, enabling it to be adjusted to a particular length.
  • Main support 802 may be coupled to a first arm 804 and a second arm 806.
  • First arm 804 may be adjustable in length along its longitudinal axis in a manner similar to main support 802.
  • first arm 804 may consist of two or more telescoping members.
  • First arm 804 may be optionally rotatably coupled to main support 802, enabling first arm 804 to fold or rotate toward main support 802 for flat storage of X-ray detector and emitter coupler bracket 108.
  • Second arm 806 may be configured similarly.
  • Main support 802 may provide a rigid, foldable, and adjustable scaffolding.
  • First arm 804 may be removably coupled to emitter assembly mount 320 to facilitate mounting self-contained X-ray emitter assembly 106 to X-ray detector and emitter coupler bracket 108.
  • Second arm 806 may be adjustable in length along its longitudinal axis, similar to main support 802 and first arm 804.
  • second arm 806 may consist of two or more telescoping members.
  • Second arm 806 may be removably coupled to X-ray detector 110 via detector mount 702.
  • main support 802, first arm 804, and second arm 806 all being adjustable in length, the overall length of X-ray detector and emitter coupler bracket 108, as well as the overall height, may be adjusted. This configurability enables positioning self-contained X- ray emitter assembly 106 relative to X-ray detector 110 at a variety of distances and accommodates various target T configurations.
  • Underwater imaging device 102 and/or self-contained X-ray emitter assembly 106 may be rotated to different angles by user U (e.g., a diver) at depth.
  • Leveling feet 322 may be adjusted at depth, as well as distance d to X-ray detector 110.
  • X-ray detector and emitter coupler bracket 108 may be replaced with another coupler of a different size or a mounting system configured differently from X-ray detector and emitter coupler bracket 108.
  • FIG. 10A-FIG. 10D show an untethered underwater imaging system 1000 that includes underwater imaging device 102. Additional or fewer components may be part of untethered underwater imaging system 1000. However, it is understood that the present disclosure is not limited to any particular configuration, and additional or fewer components may be utilized in conjunction with self-contained X-ray emitter assembly 106. One or more components described in a first system herein may be provided in a second system herein, and optionally, one or more components of the first system may be absent in such a configuration.
  • self-contained X-ray emitter assembly 106 may include one or more features from another aspect described herein, and optionally, one or more features of self-contained X-ray emitter assembly 106 may be absent in such a configuration.
  • FIG. 10A-FIG. 10D diver U is shown operating self-contained X-ray emitter assembly 106 in conjunction with X-ray detector and emitter coupler bracket 108 and X-ray detector 110, as part of underwater imaging device 102 relative to underwater target T.
  • X-ray detector and emitter coupler bracket 108 may be reconfigurable to accommodate differently sized targets T.
  • the target T in FIG. 10A is may be taller than the target T in FIG. 10B, in which case the length of arms 804, 806 would be longer in FIG. 10A than in FIG. 10B.
  • self-contained X-ray emitter assembly 106 is described as being operable by diver U to conduct underwater imaging of a target, the present disclosure is not so limited.
  • self-contained X-ray emitter assembly 106 may be coupled directly to a remotely operated vehicle (ROV) 1100 for underwater imaging.
  • ROV 1100 may be adapted to engage emitter assembly mount 320 for coupling to self-contained X-ray emitter assembly 106.
  • ROV 1100 may be connected to external-device connector 202 to obtain imaging information from self-contained X-ray emitter assembly 106.
  • ROV 1100 may control self-contained X-ray emitter assembly 106, via external -device connector 202, to conduct an imaging procedure with respect to underwater target T.
  • ROV 1100 may be operable to supply power to self- contained X-ray emitter assembly 106 via external-device connector 202.
  • FIG. 12 shows a process 1200, performed by a diver using an underwater imaging device that includes a self-contained X-ray emitter assembly and an X-ray detector, for underwater imaging of an underwater target in a work area.
  • process 1200 positions the self-contained X-ray emitter assembly in an underwater environment, in which the self-contained X-ray emitter assembly includes an internal X-ray generator, an internal power supply, an internal control system, and a submersible, pressure-tolerant housing with an X-ray transmissive aperture.
  • process 1200 positions an X-ray detector at a distal end of the self-contained X-ray emitter assembly, such that the X-ray emission propagates through an underwater target before reaching the X-ray detector.
  • process 1200 operates an underwater user interface mounted at a proximal end of the self- contained emitter X-ray assembly, the underwater user interface in communication with the internal control system, to activate the internal X-ray generator and generate pulsed X-ray emissions.
  • process 1200 manipulates the underwater imaging device to align the X-ray transmissive aperture and the X-ray detector with the underwater target, based on the diver’s real-time view of the work area and a display panel of the underwater user interface.
  • process 1200 contemporaneously viewing X-ray data on the display panel, while adjusting orientation and position of the self-contained X-ray emitter assembly and the X-ray detector for imaging of the underwater target.

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Abstract

Un ensemble émetteur de rayons X autonome génère et émet des rayons X sous l'eau pour permettre l'imagerie par rayons X. L'ensemble émetteur de rayons X autonome peut être utilisable par un utilisateur sous l'eau sans connexion à un circuit d'alimentation électrique externe et/ou de commande.
PCT/US2024/051025 2023-10-16 2024-10-11 Imagerie radiographique sous-marine Pending WO2025085336A1 (fr)

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US18/380,464 US12078602B1 (en) 2023-10-16 2023-10-16 Underwater X-ray imaging system
US18/380,464 2023-10-16
US18/820,450 US20250123221A1 (en) 2023-10-16 2024-08-30 Underwater x-ray imaging emitter and float assembly
US18/820,450 2024-08-30

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Citations (5)

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US20180143121A1 (en) * 2015-04-28 2018-05-24 Delta Subsea Llc Systems, apparatuses, and methods for measuring submerged surfaces
CA2951424A1 (fr) * 2016-12-14 2018-06-14 Algotect Inc. Detection sous-marine de neutrons et de rayonnement gamma
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US20180143121A1 (en) * 2015-04-28 2018-05-24 Delta Subsea Llc Systems, apparatuses, and methods for measuring submerged surfaces
CA2951424A1 (fr) * 2016-12-14 2018-06-14 Algotect Inc. Detection sous-marine de neutrons et de rayonnement gamma
US10969941B2 (en) * 2018-09-28 2021-04-06 Apple Inc. Underwater user interface
JP7304760B2 (ja) * 2019-07-23 2023-07-07 富士電機株式会社 Ｘ線検査システム及びｘ線検査方法
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