The present disclosure provide pipe scanning systems suitable for performing integrity and reliability inspection of pipelines, including insulated and non-insulated pipelines. The pipe scanning system may include a track disposed about a surface of the pipeline (e.g., on top of the insulation for insulated pipelines or on top of the pipe for non-insulated pipelines) and a scanning device mounted on the track via a drive carriage. The drive carriage includes components to facilitate movement of the drive carriage and the scanning device along the track such that the scanning device travels about the circumference of the pipeline. The scanning device includes an x-ray emitter and a digital x-ray detector that may capture media content indicative of a scanned section of the pipeline (e.g., a 360° circumferential scan), and the media content may be analyzed to detect the presence of one or more defects, such as corrosion under insulation (CUI).

A radiography system for use on a pipe traversing robot, including a mechanism configured to automatically adjust the position(s) of a radiation source and/or an imager thereof based on a diameter of the pipe. Another radiography system including a computer vision system configured to process radiography imagery to define a measured interface between the pipe and insulation surrounding the pipe, and a control system configured to automatically adjust a position(s) of a radiation source and/or an imager thereof based on a location of or non-presence of the measured interface in the radiography imagery. A computer vision system for detecting potential anomalies in a pipe's surface. A fail safe mechanism configured to prevent a robot from falling off a pipe while allowing the robot to traverse obstacles extending from or tangential to the pipe. A robot having one or more fail safe mechanisms configured to be selectably extended and retracted.

The disclosed invention comprises one or more hybrid metal-composite pressure vessels e.g., 1 (FIG. 1) or 100,200 (FIG. 2), designed for deep water application of radiation sensitive equipment, where the hybrid pressure vessels comprise a combination of metals and non-metals. A source of radiation may be disposed in one of the two hybrid metal-composite pressure vessels and a radiation detector disposes in the other hybrid metal-composite pressure vessel. A radiation beam is less attenuated as it passes through the non-metal parts of the hybrid pressure vessels and the intensity of the radiation reaching a radiation detector is higher than if it were to pass through the metal parts of the housings.

Systems and methods for robotic inspection of above-ground pipelines are disclosed. Embodiments may include a robotic crawler having a plurality of motors that are individually controllable for improved positioning on the pipeline to facilitate image acquisition. Embodiments may also include mounting systems to house and carry imaging equipment configured to capture image data simultaneously from a plurality of angles. Such mounting systems may be adjustable to account for different sizes of pipes (e.g., 2-40+ inches), and may be configured to account for traversing various pipe support structures. Still further, mounting systems may include quick-release members to allow for removal and re-mounting of imaging equipment when traversing support structures. In other aspects, embodiments may be directed toward control systems for the robotic crawler which assist in the navigation and image capture capabilities of the crawler.

Systems and methods for generating and processing images captured while inspecting above-ground pipelines are disclosed. Embodiments may include a robotic crawler or other devices which carry imaging equipment and traverse a target pipe which are configured to capture image data simultaneously from a plurality of angles. Such systems may substantially reduce and in some cases overcome the need to take multiple traversals of a pipeline under inspection. Embodiments may also be directed toward control systems for such devices as well as image processing systems which process the multiple image sets to produce a composite imaging result.

An apparatus includes a pipe crawler (100). The pipe crawler (100) includes one or more drive wheels (308) capable of moving along and around a pipe, and one or more instruments coupled to the one or more drive wheels (308). An instrument includes one or more of a sensor instrument and a maintenance instrument. The pipe crawler (100) includes a retention mechanism (4) that retains the one or more drive wheels (308) against an outer surface of the pipe. The retention mechanism (104) provides adjustable positions for the one or more drive wheels (308) for disposing the one or more drive wheels (308) against the outer surface of the pipe. The apparatus includes a controller (302) that communicates with the one or more drive wheels (308) to move the one or more drive wheels (308) on the outer surface of the pipe, and that operates the one or more instruments.

A method and apparatus for testing a fuse between plastic pipes within a fusion socket performed in the field includes a source of X-ray radiation and a scanning plate that has pixels that change state when exposed to this radiation. The source of the X-ray radiation is positioned on one side of the fuse and the scanning plate is positioned on another side so that the x-ray radiation passes through the fuse. After exposure, the x-ray image from the scanning plate is analyzed visually or algorithmically to find internal voids, weak fuses, and evidence of movement after the plastic of the fitting/pipes melted and flowed together. With such, the quality of the fitting is evident without cutting or otherwise destroying the fitting and, therefore, only weak or otherwise compromised fittings need be cut and redone.

Elemental composition of a pipe is determined by a fluorescence x-ray detector device. An outer housing of the device is inserted into the pipe via a flexible insertion member. A radioactive x-ray source is encompassed by a shield within the housing. A shutter selectively opens to enable radiation from the x-ray source to exit the shield and illuminate an inner wall of the pipe. An x-ray detector within the housing detects fluorescence x-rays emitted from the pipe upon illumination by the x-ray source. A controller then determines the presence of one or more elemental materials contained within the pipe based on the fluorescence x-rays.

Systems and methods for generating and processing images captured while inspecting above-ground pipelines are disclosed. Embodiments may include a robotic crawler or other devices which carry imaging equipment and traverse a target pipe which are configured to capture image data simultaneously from a plurality of angles. Such systems may substantially reduce and in some cases overcome the need to take multiple traversals of a pipeline under inspection. Embodiments may also be directed toward control systems for such devices as well as image processing systems which process the multiple image sets to produce a composite imaging result.

An example portable radiography scanning system includes: a radiation detector configured to generate a digital image based on incident radiation; a radiation emitter configured to output the radiation; a frame configured to hold at least one of the radiation emitter or the radiation detector such that the radiation emitter directs the radiation to the radiation detector; a first sensor configured to determine a first distance between the radiation detector and the radiation emitter; and a computing device configured to: determine a second distance between the radiation emitter and an interface between the radiation and the object; determine a magnification correction factor based on the first distance and the second distance; measure a size, in pixels, of a feature of the object in the digital image; and at least one of: calculate an actual size of the feature based on the magnification correction factor and the measured size of the feature, or determine whether the measured sized of the feature satisfies a threshold size based on the magnification correction factor.