UT sensor interface for scanning in complex environments

Abstract

The UT scanner interface may include a body including: an internal cavity including a UT scanner facing an opening on a bottom side; a coupling agent injection port; and a fluid evacuation port. During operation, couplant is injected into the lumen via the couplant injection port, while couplant and any contaminants can be removed from the lumen via the fluid evacuation port.

Description

[0001] CROSS REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to U.S. Provisional Patent Application No. 63 / 347,760, filed on June 1, 2022, entitled “Ultrasound Interface for Ultrasonic Scanning in Complex Environments,” and U.S. Non-Provisional Patent Application No. 18 / 324,818, filed on May 26, 2023, entitled “UT Sensor Interface for Scanning Complex Environments,” the entire contents of which are incorporated herein by reference. Background Art

[0003] Ultrasonic transducers are commonly used to perform non-destructive testing (NDT) on metal sheets. NDT using ultrasound is also referred to as "UT". UT typically uses an ultrasonic sensor that emits echoes that are reflected from the boundary of two materials and is used to detect and / or test material thickness. Knowing the original thickness of the plate and measuring the current thickness can enable corrosion detection when the current thickness is less than the original thickness. Therefore, using ultrasonic sensors to measure metal sheet thickness has proven to be a highly accurate and reliable method for determining corrosion.

[0004] The ultrasonic sensor is typically held within inches of the material being scanned, leaving a gap between the ultrasonic sensor and the material. Typically, the gap is filled with couplant, a material that facilitates the transfer of ultrasonic energy from the UT sensor into the material being scanned. The couplant is necessary to reduce the acoustic impedance mismatch between the medium carrying the ultrasonic waves and the specimen. UT sensors require a clean surface and a clear, consistent couplant to ensure good readings. If materials such as sand and particles are present in the couplant or on the surface being scanned, such materials can reflect the UT signal and distort or completely confuse the material being tested. In addition, when the UT signal is passed through mixed media, the speed of the UT signal through that material may be different, which also causes measurement problems. If the speed of the UT signal through the couplant is unknown, then the timing of the reflections is also unknown, which leads to uncertainty in the thickness measurement of the scanned material. Summary of the invention

[0005] Various aspects include devices, systems, and methods for ultrasound scanning in complex environments, particularly using a UT scanner interface. An ultrasound scanner interface may include a body including an inner cavity, a couplant injection port, and a fluid drain port. The inner cavity includes an opening on a bottom side, and the body is configured to hold a UT scanner facing the inner cavity and toward the opening on the bottom side. The couplant injection port may be configured to inject couplant into the inner cavity. The fluid drain port may be configured to remove fluid from the inner cavity, wherein the fluid removed from the inner cavity includes at least some of the couplant injected into the inner cavity.

[0006] In some aspects, the couplant injection port may be coupled to a series of inlet ports disposed along an outer edge of the opening on the bottom side and configured to distribute couplant supplied from the couplant injection port into the inner cavity. The series of inlet ports may be disposed outside the inner cavity. The series of inlet ports may face in the same direction as the ultrasound scanner. The series of inlet ports may be disposed on opposite sides of the inner cavity. The fluid drain port may be coupled to a series of outlet ports disposed adjacent to the inner cavity and configured to distribute couplant supplied to the inner cavity. The series of outlet ports may be distributed within the inner cavity along opposite sides of the ultrasound scanner.

[0007] In some aspects, the ultrasonic scanner interface may include a pair of rollers disposed on opposite sides of the opening on the bottom side, wherein each of the pair of rollers is configured to engage a surface for scanning by the ultrasonic scanner. The body may further include a pair of roller cavities disposed on opposite sides of the inner cavity, each configured to accommodate one of the pair of rollers. The body may further include a fluid supply port configured to supply a fluid for lubricating the pair of rollers to the pair of roller cavities. The lower edge of at least one side wall of the body may include a flexible side edge configured to at least partially shield fluid or sediment from entering the inner cavity. The body may include at least one inclined transverse wall extending between the bottom of the body and the top of the body on the outside of the body for deflecting sediment when the body moves within a complex environment. The body may include a retractable plow configured to move between a lowered position and a raised position relative to the body.

[0008] In some aspects, the retractable plow may be configured to move from the lowered position to the raised position in response to a force level above a threshold being applied to a leading edge of the retractable plow. In some aspects, the coupling agent injection port may be coupled to an aperture into the lumen, the aperture being configured to direct the coupling agent to flow from a front side of the lumen to a rear side of the lumen opposite the front side. In some aspects, the fluid drain port may be disposed on the rear side of the lumen. In some aspects, the lumen may be open on the rear side such that the opening on the rear side forms the fluid drain port. In some aspects, the ultrasound scanner may be disposed facing the lumen, closer to the rear side of the lumen than the front side of the lumen. In some aspects, the vertical height of the lumen may narrow from the front of the lumen toward the rear of the lumen. In some aspects, the lateral width of the lumen may expand from the front of the lumen toward the rear of the lumen. In some aspects, the body may further include an external nozzle configured to eject a fluid to the front of the body. In some aspects, the body may further include an electromagnet configured to generate a magnetic field for biasing the body toward a ferrous material scanned by the ultrasound scanner. In some aspects, the body may further include an external nozzle configured to eject a fluid in a direction away from a surface scanned by the ultrasound scanner for biasing the body toward the scanned material. In some aspects, the body may further include an inductive sensor configured to detect a distance of the body relative to a surface scanned by the ultrasound scanner.

[0009] In some aspects, the ultrasound scanner interface may include the ultrasound scanner secured to the body.

[0010] Some aspects include a method of performing UT scanning in a complex environment, the method may include positioning a UT scanner interface that holds the UT scanner above a surface of a target material to be inspected. The target material may be immersed in a complex environment consisting of a primary fluid and contaminants. The ultrasound scanner may be held in a body of the ultrasound sensor interface such that the ultrasound scanner faces an inner cavity of the body and toward an opening on a bottom side of the inner cavity. The method may also include injecting a coupling agent into the inner cavity and generating a bonding force that biases the ultrasound scanner interface toward the surface of the target material to be inspected. The method may also include activating the ultrasound scanner to perform the ultrasound scan of the target material through the coupling agent in the inner cavity.

[0011] In some aspects, the method may include moving the ultrasound scanner interface within the complex environment, which causes a pair of rollers mounted to the body to roll in the direction of the movement, wherein the rollers are located on both lateral sides of the inner cavity and constrain opposite sides of the filter area below the ultrasound scanner interface. In addition, the method may include moving the ultrasound scanner interface within the complex environment to a target area of ​​the target material to be scanned. The coupling agent integrity may be maintained in the filter area below the ultrasound scanner interface in part by a pair of flexible side edges extending from the lower edge of the inner cavity. The pressure difference between injecting the coupling agent into the inner cavity and sucking fluid from the inner cavity may form a net negative pressure in the inner cavity that pulls the ultrasound scanner interface toward the target material. The method may include generating the engagement force by sucking fluid from the inner cavity to form a filter area below the ultrasound scanner interface. The fluid sucked from the inner cavity may include at least one of coupling agent and contaminants for filtering contaminants from the filter area. The method may include generating the engagement force by powering an electromagnet configured to pull the ultrasound scanner interface toward the surface of the target material to be inspected. The method may include generating the engagement force by ejecting a fluid from the ultrasonic scanner interface in a direction away from the surface of the target material to be inspected.

[0012] In some aspects, the method may also include coupling the ultrasound scanner interface to a remote source of the primary fluid. In addition, the primary fluid may be delivered to the ultrasound scanner interface while the primary fluid is pumped into the lumen.

[0013] In some aspects, the method may also include measuring movement of the retractable plow relative to the body to identify an obstacle contacting the retractable plow. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The accompanying drawings, which are incorporated herein and constitute a part of this specification, illustrate exemplary embodiments of the claims and, together with the general description given above and the detailed description given below, serve to explain features of the claims.

[0015] Figure 1A is a top perspective view of a UT scanner interface for complex environments according to various embodiments.

[0016] Figure 1B According to various embodiments Figure 1A Bottom perspective view of the UT scanner interface.

[0017] Figure 1C yes Figure 1A and 1B A top perspective view of the UT scanner interface with several hatching lines marked.

[0018] Figure 2A is the cross section AA according to various embodiments Figure 1C Side elevation cutaway view of the UT scanner interface.

[0019] Figure 2B is the cross section BB according to various embodiments Figure 1C Side elevation cutaway view of the UT scanner interface.

[0020] Figure 2C is the cross section CC according to various embodiments Figure 1C Side elevation cutaway view of the UT scanner interface.

[0021] Figure 3 is a side elevation cross-sectional view of a UT scanner interface in a working environment according to various embodiments.

[0022] Figure 4A is a schematic diagram of a UT scanner interface in a working environment according to various embodiments.

[0023] Figure 4B is a schematic diagram of a UT scanner interface coupled to a robot via an articulated robotic arm in accordance with various embodiments.

[0024] Figures 5A to 5C 1 and 2 are side elevation, bottom, and front views, respectively, of a UT scanner interface according to various embodiments.

[0025] Figure 5D yes Figures 5A to 5C Bottom perspective view of the UT scanner interface.

[0026] Figure 5E yes Figures 5A to 5D Cross-sectional side elevation view of the UT scanner interface.

[0027] Figures 5F to 5G The plow is in a lowered and raised position according to various embodiments. Figures 5A to 5D Top perspective view of the UT scanner interface.

[0028] Figures 6A to 6C wherein the plow is in a lowered, intermediate and raised position according to various embodiments, respectively. Figures 5A to 5G Side elevation view of the UT scanner interface.

[0029] Figures 7A to 7B are side elevation and top perspective views of a UT scanner interface with an external high pressure ejector directed upward, according to various embodiments.

[0030] Figures 8A to 8Eis a process flow diagram illustrating a method of using a UT scanner in a complex environment according to various embodiments. DETAILED DESCRIPTION

[0031] Various embodiments will be described in detail with reference to the accompanying drawings. Wherever possible, the same reference numerals will be used throughout the drawings to refer to the same or similar parts. Reference to specific examples and implementations is for illustrative purposes and is not intended to limit the scope of the claims.

[0032] Using UT sensors in complex environments is challenging, especially when performing UT testing on oil tanks after years of use. As used herein, the term "complex environment" refers to an environment or condition in which a UT sensor is located and in which one or more primary fluids are mixed with other elements or particles (especially in an uneven or inconsistent manner). Although the thickness and integrity of crude oil tanks need to be inspected to ensure that they are not damaged, the bottom of crude oil tanks in service contains sludge and sediment, which will weaken the UT sensor measurement. The combination of crude oil and sludge, sediment and / or other particles forms a complex environment. It is well known that there are sediments in the sludge, such as sand and ferrous metal particles, which reflect, distort or block the UT signal (i.e., waveform), making UT-based NDT impossible. The bottom of the crude oil tank cannot be accurately measured due to the inability to accurately predict the speed of the UT signal through the coupling agent due to sludge and sediment contamination. In addition to crude oil tanks, complex environments suitable for various embodiments may include tanks of other similar viscous materials, such as tanks for fuel or even water, fluid chemical tanks, or a combination of any of these tanks.

[0033] As used herein, terms such as "bottom," "top," "front," "back," and / or similar directional references are used for reference purposes and should not be strictly limited to a particular orientation. While "bottom," "top," "front," and "back" conventionally designate the lowermost, uppermost, frontmost, and rearmost portions or surfaces of a structure, respectively, the interpretation of directional terms may vary depending on the orientation of the structure in a particular application. These terms are used herein as relative descriptors, serving as reference points, rather than imposing a fixed orientation.

[0034] As used herein, "couplant" refers to a material (usually a liquid) that facilitates the transmission of ultrasonic energy from a transducer into the target material being scanned. The couplant may be composed of water, oil, specialized gel, or a combination thereof.

[0035] Various embodiments include a UT scanner interface configured to maintain couplant integrity between a UT scanner and a target material being scanned in a complex environment. In various embodiments, the target material being scanned may be a material forming the floor of a crude oil or other major fluid storage tank. Maintaining couplant integrity during UT scanning provides a known and / or predictable signal transmission speed through the couplant.

[0036] Various embodiments include a UT scanner interface device configured to maintain the integrity of the couplant of a UT scanner by removing foreign elements (e.g., sediment, sludge, and / or biofouling) that may reflect waves from a UT inspection region and distort scans performed by the UT scanner. The UT scanner interface may include a body having an inner cavity for holding a couplant supplied from one or more inlet ports. The inner cavity may be open on one side configured to face the surface being scanned. Since sediment may tend to enter the inner cavity through an opening on one side, the inner cavity may also include one or more outlet ports. In this way, as couplant is supplied from the one or more inlet ports, a fluid that may contain a mixture of couplant and sediment is removed via the one or more outlet ports. By gradually supplying couplant and draining the fluid mixture from the inner cavity, the UT scanner interface may remove particles and other elements that may otherwise interfere with UT scanning, thereby leaving materials of known properties suitable for scanning and providing reliable and consistent ultrasonic transducer readings. In particular, by flowing the couplant across a portion of the inner cavity, a filtering zone may be created between the UT scanner and the surface being scanned (e.g., below the UT scanner). The fluid drawn from the lumen may contain couplant and / or contaminants, which may help filter the contaminants out of the filter area.

[0037] Various embodiments may include means for generating an engagement force that biases the UT scanner interface toward the surface of a target material to be inspected. In some embodiments, the means for generating the engagement force may include one or more outlet ports for pumping fluid from the inner cavity. The fluid pumped or otherwise extracted from the inner cavity may create a pressure differential compared to the coupling agent injected into the inner cavity. The pressure differential between the inlet and the outlet may form a net negative pressure within the inner cavity that pulls the UT scanner interface toward the target material being scanned. In some embodiments, the means for generating the engagement force may include one or more external nozzles configured to eject fluid in a direction away from the UT scanner (e.g., upward) for biasing the subject toward the scanned material. In some embodiments, the means for generating the engagement force may include an electromagnet configured to generate a magnetic field for biasing the subject toward a ferrous material being scanned by the UT scanner.

[0038] In various embodiments, the UT scanner interface may include skirts on one or more edges of the opening of the lumen to prevent or limit couplant leakage and / or sediment infiltration during scanning.

[0039] In various embodiments, the UT scanner interface works with a UT scanner, which includes an ultrasonic transducer (also referred to as an ultrasonic sensor), which is a device that transmits ultrasonic energy into a coupling agent and receives ultrasonic energy reflected by the surface to be inspected, including reflections from defects or other irregularities within the surface. As used herein, the term "ultrasonic nondestructive testing" or simply "UT" refers to a method of characterizing the thickness or internal structure of a test workpiece by using high-frequency sound waves. The UT scanner interface can work with phased array ultrasonic testing (PAUT) (also referred to as phased array ultrasonic transducer). PAUT is a nondestructive testing technique that uses several ultrasonic transducers within a single probe to achieve higher resolution scanning. Therefore, various embodiments include several UT sensors within the UT scanner interface. Each of the test probes can individually transmit ultrasonic pulses at a computer-calculated timing to create a phase-directed ultrasonic beam, and computer processing of the reflected ultrasound detected by each test probe can then produce an image of the structure beneath the surface being inspected. An array of multiple ultrasonic transducer elements forms a PAUT scanner.

[0040] The UT scanner interface according to various embodiments is suitable for implementing UT inspection in complex environments including viscous mixtures with accumulated sediment or sludge from a primary fluid. Such viscous mixtures are typically composed of liquid and solid components or semi-solid slurries, but have a much higher proportion of solid components and / or a higher viscosity than the primary fluid from which they are derived. The solid components may be derived from substances that were previously suspended in the primary fluid but settled to the bottom over time (as part of the refining process), and / or from metal fragments (such as rust or stratification) from the tank holding the primary fluid. As used herein, the term "primary fluid" is related to "viscous mixture" because the viscous mixture is a product of the primary fluid and / or is derived from the same fluid as the fluid from which the viscous mixture is derived. In various embodiments, the primary fluid may be extracted from above the viscous mixture (e.g., a higher liquid level in a tank holding both the primary fluid and the viscous mixture) and pumped into the UT scanner interface (i.e., under pressure) as a coupling agent or fed into the UT scanner interface (i.e., not pressurized) as a lubricant.

[0041] The UT scanner interface according to various embodiments can be used to inspect a fluid storage tank that holds a viscous mixture, such as inspecting the bottom of a fluid storage tank without draining the contents. Over time, sludge, sediment, and / or other particulate material accumulates at the bottom of a fluid storage tank, which typically prevents the tank from being inspected without removing the viscous mixture. The UT scanner interface according to various embodiments can be placed in a tank that holds a viscous mixture and enables inspection of the tank. Once the UT scanner interface reaches the floor of the tank (e.g., at the bottom), the UT scanner interface can be configured to introduce and maintain a volume of coupling agent between the scanner and the surface being scanned to determine the thickness of the material forming the bottom of the tank. The UT scanner interface of various embodiments can eliminate the need to stop using the tank and empty and / or clean the tank for inspection. In addition, the UT scanner interface of various embodiments can also be used to inspect other liquid holding or carrying containers, such as pipelines, which may have similar problems: degradation or damage to the walls held in the liquid. Therefore, the UT scanner interface of various embodiments can be used to apply UT scanning in complex environments.

[0042] Various embodiments may include a UT scanner interface configured to hold the UT scanner within a cavity, with the open side (e.g., bottom side) of the cavity facing the surface being scanned. A couplant capable of carrying ultrasound waves may be injected into the cavity to provide a reliable medium between the UT scanner and the surface being scanned. Some embodiments use a combination of pressure and vacuum forces to keep the couplant cavity closed by the surface being scanned. Maintaining a pressure differential between the fluid injected into the cavity and the fluid released from the cavity may create a partial vacuum in the cavity, which may cause the UT scanner interface to be pulled toward the surface being scanned, with the transparent couplant filling the cavity to make measurements therein more reliable.

[0043] Figures 1A to 1C The UT scanner interface 100 for complex environments according to various embodiments is described. The UT scanner interface 100 includes a body 110 including a bottom side 111 (e.g., Figure 1A The body 110 is configured to hold the UT scanner 170 facing the inner cavity 120 and toward the opening on the bottom side 111 (see FIG. Figures 2A to 2C The body 110 may also include an opening 121 in the lumen. The body 110 may also include a couplant injection port 130, which may be configured to inject couplant into the lumen 120. The lumen 120 may be configured to be filled or at least substantially filled with the couplant injected therein. Additionally, the body 110 may include a fluid drain port 140 configured to remove fluid from the lumen. The fluid removed from the lumen includes at least some of the couplant injected into the lumen.

[0044] According to various embodiments, the UT scanner interface 100 includes means for generating an engagement force that biases the UT scanner interface toward the surface being scanned using a negative pressure differential between one or more low pressure inlet ports injecting the coupling and one or more higher pressure outlet ports pumping a fluid mixture (which includes a coupling agent, a deposit, etc.) from the inner cavity.

[0045] When the UT scanner interface 100 is lowered onto the target surface (e.g., the bottom of an oil tank), the inner cavity 120 will be filled with fluid located where the UT scanner interface 100 lands. Couplant from the couplant injection port 130 can be supplied into the inner cavity 120 at a relatively low pressure, where it will enter the inner cavity 120 and mix with the fluid already present in the inner cavity 120. In addition to pumping couplant into the inner cavity 120, the fluid mixture present in the inner cavity 120 can also be pumped out via the fluid drain port 140. Pumping the fluid out of the inner cavity 120 and replacing it with fresh couplant will quickly cause the inner cavity 120 to be primarily filled with couplant, thereby flushing contaminants such as sediment, sludge, and / or biofouling out of the inner cavity. By continuing to pump the fluid out of the inner cavity 120 and replacing it with fresh couplant, after a certain time, the fluid within the inner cavity 120 will consist primarily of couplant. In this way, the couplant integrity between the UT scanner 170 and the target surface is maintained.

[0046] In various embodiments, the couplant injection port 130 may receive couplant from a supply line coupled to the couplant injection port 130. The couplant may be a primary fluid held in the tank to be inspected, such as oil. Alternatively, the couplant may be a different oil-based liquid, water, a specialized gel, or a combination thereof (i.e., with or without oil). The primary fluid may be drawn through the supply line from a higher area in the tank or other area that is less likely to have the primary fluid contaminated with sediment, sludge, or biological contamination. Alternatively, the primary fluid may be supplied from a separate storage container inside or outside the tank to be inspected. Although one couplant injection port 130 is illustrated, more than one couplant injection port 130 may be included in the body 110.

[0047] The couplant injection port 130 may be coupled to a series of inlet ports 134 disposed on the bottom side 111 of the body 110 along an outer edge of the opening 121. The series of inlet ports 134 may be configured to distribute the couplant supplied from the couplant injection port 130 into the inner cavity 120. In various embodiments, the series of inlet ports 134 may be disposed outside the inner cavity 120. For example, the series of inlet ports 134 may be disposed just outside the inner cavity, such as along an outer edge thereof. Additionally, the series of inlet ports 134 may be disposed at an opposite edge of the inner cavity. In this manner, the series of inlet ports 134 may face the same direction as the UT scanner 170 (e.g., toward a target surface being scanned). Additionally or alternatively, one or more of the series of inlet ports 134 may face or include a nozzle that directs the couplant toward the UT scanner 170 to ensure that critical surfaces remain clean and / or transparent.

[0048] The fluid evacuation port 140 may be coupled to a series of outlet ports 144 disposed adjacent to the inner cavity 120 and configured to receive couplant supplied to the inner cavity 120. In some embodiments, the series of outlet ports 144 may be distributed within the inner cavity along opposite sides of the UT scanner 170. By positioning the series of inlet ports 134 to spray couplant near the bottom of the inner cavity 120 and the series of outlet ports 144 to vacuum the fluid in the upper portion of the inner cavity 120, a circulating fluid flow will be created therebetween, which may help move contaminants toward the series of outlet ports 144 and out of the inner cavity 120.

[0049] In various embodiments, the body 110 may be formed to have a plurality of Figure 1A The body 110 is a housing having four walls extending from the top wall 119 (in the orientation shown in FIG. 1 ), the top wall 119 being horizontal and configured to extend parallel to the scanned surface. The front wall 114 and the rear wall 118 positioned relative to each other may extend vertically or nearly vertically from the top wall 119. Alternatively, the front wall 114 and the rear wall 118 may be formed to have a slope and thus configured to deflect deposits when the body 110 moves within a complex environment. The lower edge of the front wall 114 and / or the rear wall 118 may include flexible side edges 122, 124 configured to shield or deflect fluids or deposits from entering the inner cavity 120. The flexible side edges 122, 124 may be thin flexible materials, such as 1 / 8 inch silicon materials. Alternatively, the flexible skirts 122, 124 may be formed like the skirts of an inflatable hovercraft, where oil pressure from the inner chamber 120 creates a fluid cushion within the flexible skirt that slightly lifts the body 110 as the curtain (i.e., skirt) acts as a barrier to contaminants. As another alternative, the flexible skirts 122, 124 may be formed as or include bristles / fingers or the like.

[0050] Compared to the front wall 114 and the rear wall 118, the first and second transverse walls 112, 116 may also extend from the top wall 119, but at a slope. The first and second transverse walls 112, 116 may be configured to deflect sediment as the body 110 moves laterally within a complex environment. In addition, the inclined nature of the first and second transverse walls 112, 116 may deflect sludge in a manner that presses the body 110 downward toward the target surface, thereby providing a force to help keep the UT scanner interface 100 in contact with the target surface to be scanned. The lowest edges 113, 117 of the first and second transverse walls 112, 116 may be slightly higher than the lowest portion of the flexible side edges 122, 124. Optionally or alternatively, the lowest edges 113, 117 may include flexible side edges or more flexible barriers, such as barriers formed by bristles or the like.

[0051] The body 110 may also include a sensor housing 175 configured to hold the UT scanner 170. In some embodiments, the sensor housing 175 may be a removable shell that is part of the UT scanner 170 and is configured to be removed therewith, e.g., for maintenance or replacement. Power and / or data cables may be coupled to the sensor housing 175 for providing power to operate the UT scanner and for transmitting measurement data from the UT scanner 170 to remote recording and imaging equipment (not shown).

[0052] In various embodiments, the UT scanner interface 100 may include a pair of rollers 150, 152 that are configured to help the UT scanner interface 100 move within a complex environment while maintaining contact with the target surface to minimize the entry of sludge into the inner cavity when the interface moves. In addition, the rollers 150, 152 can help the UT scanner interface 100 pass through uneven surfaces. The pair of rollers 150, 152 can be disposed on opposite sides of the opening 121 and configured to engage the target surface during scanning by the sensor. Each of the rollers 150, 152 can be at least partially positioned inside a roller cavity 154 configured to accommodate one of the rollers 150, 152. Like the rollers 150, 152, the roller cavity 154 can be disposed on opposite sides of the inner cavity 120. The rollers 150, 152 can be free-rotating cylinders that are held in the roller cavity 154 by a central shaft or are stuck in the roller cavity 154 by a lip member added along the lower edge of the larger opening of the roller cavity 154. Alternatively, the rollers 150, 152 may be driven by a motor or hydraulic device. The rollers 150, 152 may be rubber or at least have an outer rubber coating for better traction. Alternative materials may be used that may improve traction and / or minimize damage to the scanned surface. As another alternative or in addition, the rollers 150, 152 may have an outer surface treatment, such as a knob, pedal, groove, or the like, to improve traction. Alternatively, one or all of the rollers 150, 152 may be replaced with a slider.

[0053] In some embodiments, the body 110 may include one or more fluid supply ports 160 configured to supply fluid for lubricating the pair of rollers 150, 152 to the pair of roller cavities 154. The roller cavities 154 may tend to attract sand, mud, or other particles that may clog and prevent the rollers 150, 152 from rolling. Therefore, the fluid supply ports 160 may communicate a lubricant, such as cleaning oil, to the pair of roller cavities 154. However, unlike the coupling agent injection port 130, the fluid supply port 160 does not need to be pressurized, thereby allowing the lubricant to flow freely into the roller cavities 154. Some negative pressure differential maintained in the inner cavity can also be used to draw fluid into the roller cavities 154.

[0054] In some embodiments, a pressure differential between the supply of couplant from the couplant injection port 130 (i.e., positive pressure into the lumen 120) and the drawing of fluid from the lumen 120 to the fluid drain port 140 (i.e., negative pressure out of the lumen 120) may be maintained to create a suction force that draws the UT scanner interface 100 onto the target surface. The suction force may be sufficient to hold the body 110 in place while scanning, but should be weak enough to allow the UT scanner interface to move to another section of the target material. In particular, the rollers 150, 152 should still be able to roll, thereby allowing the body 110 to move. The downward drawing suction force may also tend to pull deposits into the lumen 120 from the front and back sides (i.e., the edges of the opening extending between the two rollers 150, 152), which is blocked or at least limited by the flexible side edges 122, 124 and the rollers 150, 152. Some embodiments may also utilize gravity, which may pull the UT scanner interface 100 toward the bottom of the tank based on its weight combined with the negative pressure maintained within the body (eg, 110).

[0055] Various embodiments include one or more ports (e.g., a couplant injection port 130, a fluid drain port 140, a series of inlet ports 134, a series of outlet ports 144, a fluid supply port 160, etc.). As used herein, the term "port" refers to an opening or connection point in a device or system that allows fluid flow. Thus, a port may refer to an inlet or outlet through which a fluid enters or leaves a component. In various embodiments, one or more of the ports described herein may include a nozzle. As used herein, the term "nozzle" refers to a specific type of port designed to accelerate, decelerate, direct and / or configure the flow of a fluid or gas. A nozzle is a device or opening with a carefully designed geometry that can change the velocity and pressure of a fluid passing through it. The shape and design of the nozzle can be configured to define the desired flow characteristics and performance of the fluid passing through it.

[0056] Figures 2A to 2C illustrate Figure 1C1 and 10. The first section AA transversely intersects the UT scanner interface 100 through the couplant injection port 130. The second section BB transversely intersects the UT scanner interface 100 through the fluid drain port 140. The third section CC transversely intersects the UT scanner interface 100 through the fluid supply port 160 and the center of the sensor housing 175.

[0057] Figure 2A 1 shows how the couplant injection port 130 according to various embodiments can be coupled to the inner side of the body 110 that can lead to the series of inlet ports (eg, Figure 2C The coupling agent injection channel 132 can be laterally branched to supply coupling agent from the opposite lateral side of the inner cavity 120 directly outside.

[0058] Figure 2B 140 according to various embodiments can be coupled to the body 110 interior can lead to the series of outlet ports (eg Figure 2C 144) of the fluid drain channel 142. The fluid drain channel 142 can be laterally branched to extract fluid from the opposite lateral sides of the top of the inner cavity 120.

[0059] Figure 2C It is shown how couplant from the couplant injection channel 132 is delivered to the series of inlet ports 134 according to various embodiments. Additionally, the fluid exhaust channel 142 is shown providing an outlet for fluid from the series of outlet ports 144. Additionally, the fluid supply ports 160 are shown coupled to fluid supply channels 162 inside the body 110, each leading to a separate fluid supply port 164 opening into a respective one of the roller cavities 154.

[0060] In various embodiments, the UT scanner 170 may be disposed in the top wall of the inner cavity 120 such that the UT scanner 170 faces the opening 121 in the bottom side of the inner cavity 120 .

[0061] Figure 3 The UT scanner interface 100 is shown in a working environment 300 according to various embodiments. The working environment 300 may represent a complex environment at the bottom of a crude oil tank. As shown, a portion of a target material 10 (e.g., the bottom metal wall of the tank) is being scanned by the UT scanner 170. This scan can be used to determine the thickness T of the target material 10. As is common in complex environments, the target material 10 may be covered in a sediment layer 20. Once the UT scanner interface 100 is placed over the target material 10, the UT scanner interface 100 may be sunk into the sediment layer 20. Thereafter, the couplant may be passed through the influent F IThe fluid is injected into the inner cavity 120 from the inlet ports 134 located on both sides of the outer opening edge of the inner cavity 120. In addition, the fluid can be drawn out of the inner cavity 120, resulting in the formation of an outflow F O Removing potentially contaminated fluid (i.e., couplant mixed with sediment, sludge, and / or biological contamination) from the lumen 120 and replacing it with uncontaminated couplant will help maintain the couplant integrity within the lumen 120 and make the sensor readings of the UT scanner 170 more reliable. After some time of draining the contaminated fluid from the lumen 120, the thickness of the sediment layer 20 directly below the opening 121 of the lumen 120 may be nominal or the sediment layer 20 in that area may be eliminated.

[0062] In some embodiments, the rollers 150, 152 may protrude from the bottom of the UT scanner interface 100, thereby maintaining a contact point C between the bottom of the body 110 and the rollers 150, 152 and the target material 10. R In addition, since rollers 150, 152 are cylindrical, contact point C R The contact point C may extend along the length of the rollers 150, 152, each of which extends from the front to the rear of the body 110. In this way, the contact point C extending across the length of each roller 150, 152 R The lateral boundaries of the filter zone below the UT scanner interface 100 are formed, and the filter zone is configured to be emptied of contaminated fluid. The filter zone below the UT scanner interface 100 can also be bounded on the front and rear sides by the flexible side edges 122, 124. An aspect of various embodiments that create and maintain the filter zone is that the series of inlet ports 134 are positioned laterally between the rollers 150, 152 and vertically above the contact point C R The series of inlet ports 134 and contact points C R The vertical offset between allows the inflow F I Contaminated fluid is circulated into the interior cavity 120 and particularly toward the series of outlet ports 144 .

[0063] According to various embodiments, a couplant injection port, such as 130, may be coupled to a couplant supply line 30. Similarly, a fluid supply port 160 may be coupled to a fluid supply line 60. Likewise, the UT scanner 170 may have a power / data line 70 coupled to a sensor housing 175 for providing power therefrom and communicating data therefrom. Additionally, a fluid drain port, such as 140, may be coupled to a fluid drain line. Unlike the couplant supply line 30 and the fluid supply line 60, the fluid drain line need not extend to a remote area. For example, the fluid drain line may direct the drained fluid to a nearby area that has been scanned by the UT scanner interface. Alternatively, the upper region of the body 110 may include a manifold that couples one or more fluid, power, and / or data lines to the couplant injection port, the fluid drain port, the fluid supply port 160, and / or the sensor housing 175.

[0064] Figure 4A The robot 410 is shown maneuvering in the work environment 400 to move the UT scanner interface 100 according to various embodiments. The UT scanner interface 100 may be relatively small. Figure 4A The UT scanner interface described in, in particular, with respect to robot 410. Figure 4A , the robot 410 is shown immersed in a tank 50 (i.e., a holding container) containing a primary fluid 55 and a sediment layer 20 in the form of a thick sediment at the bottom of the tank 50. The robot 410 is shown immersed in the primary fluid 55 and pulling the UT scanner interface 100 along the bottom of the tank 50. Alternatively, the lower layer of the primary fluid 55 may contain more contaminants and form a more viscous mixture, but the robot 410 is configured to operate in that environment as well.

[0065] In various embodiments, the UT scanner interface 100 may be coupled to a robot 410 that is configured to manipulate through the primary fluid 55. Additionally, the robot 410 may be configured to move the UT scanner interface 100 through sludge, sediment, and / or biofouling, such as sediment in an oil tank. The robot 410 may include a propulsion system that may be used to push, pull, or otherwise move the UT scanner interface 100 through a complex environment. The robot 410 may locally reduce the viscosity of the primary fluid 55 or its viscous mixture without external chemicals and with a low energy solution by spraying the primary fluid to locally reduce the viscosity of the mixture around the robot 410 and / or the UT scanner interface 100. Locally reducing the viscosity may enable an object such as the robot 410 or the UT scanner interface 100 to move and manipulate in the primary fluid 55 or its viscous mixture, which facilitates inspection in environments such as crude oil tanks and the like without removing any material (i.e., the viscous mixture or fluid associated with the viscous mixture). Various embodiments enable the UT scanner interface 100 to operate in complex environments for inspection and / or analysis of tanks and / or deposits. A technical advantage provided by various embodiments is that inspections of such tanks and / or deposits may be performed without having to remove viscous mixtures (eg, deposits).

[0066] In some embodiments, the UT scanner interface 100 may include a lower fluid line 415 in the form of a collection hose, tether, or tube extending from the UT scanner interface 100 to the robot 410. The lower fluid line 415 may be a rigid or semi-rigid tube configured to push and / or pull the UT scanner interface 100. Alternatively, in place of the lower fluid line 415, the UT scanner interface 100 may be coupled to the robot 410 by a rigid or semi-rigid frame or gantry. In addition to the forward or backward movement provided by the robot 410, the frame or gantry may include additional mechanisms for moving the UT scanner interface 100 (e.g., laterally along the gantry). Similarly, the robot may move to position the UT scanner interface 100 over a new area, and then the frame or gantry may shift the UT scanner interface 100 laterally or otherwise to cover a wide area near the new area. From the robot 410, the upper fluid line 417 may extend toward the upper region of the tank 50, beyond any viscous mixture, and into the less contaminated or completely non-contaminated main fluid 55.

[0067] In some embodiments, the upper fluid line 417 may be connected to a float 420, which will ensure that the inlet end 425 of the upper fluid line 417, which draws in the uncontaminated primary fluid 57, remains at the highest level of the tank 50. The float 420 may be a buoyancy device or a tether (e.g., a cable attached to the top of the tank 50) that ensures that the inlet end remains surrounded by the primary fluid 55 and does not fall into a contaminated area of ​​the primary fluid 55. Alternatively, the upper fluid line 417 may be formed of a low-density tubing that may have a naturally buoyant property and thus remain in the upper layer of the tank where the primary fluid 55 may be collected.

[0068] In some embodiments, the UT scanner interface 100 may include a vacuum pump (i.e., a fluid pump) configured to create the positive and / or negative pressures required to inject couplant or remove fluid from an inner cavity (e.g., 120). Alternatively, the vacuum pump may be positioned in the float 420 or even outside the tank 50. A vacuum pump positioned outside the tank may require a lower fluid line 415 and / or an upper fluid line 417 to extend from the UT scanner interface 100 to the vacuum pump outside the tank. Additionally, if the primary fluid 55 is drawn from an upper layer of the tank for collection, an additional fluid line may require a vacuum pump extending from that region to the outside of the tank.

[0069] The UT scanner interface 100 may optionally include a power line 430 that may extend from the body (e.g., 110) of the UT scanner interface 100 or the sensor housing 175 to a power source outside the tank 50. The power line 430 may extend separately and separately from the lower fluid line 415 or the upper fluid line 417. Alternatively, the power line 430 may be attached to or incorporated into the lower fluid line 415 and / or the upper fluid line 417. Optionally, the power line 430 may pass through the float 420 to power the sensor or other components therein (e.g., a fluid pump). Figure 4A , the power line 430 is illustrated as optionally extending outside the tank 50 through the top thereof. Alternatively, the power line 430 and / or one or more of the fluid lines 415, 417 may extend outside the tank through access hatches or ports positioned on the side and / or bottom of the tank 50.

[0070] Figure 4BA robot 410 having one or more robotic arms 440 is shown maneuvering in a work environment 401 to move a UT scanner interface 100 according to various embodiments. The robotic arm 440 may include one or more articulation joints 452, 454, 456 configured to push or pull the UT scanner interface 100 relative to the position of the robot 410 in conjunction with the arm linkages 442, 444. The robotic arm 440 may provide a selectively articulated but otherwise rigid connection between the UT scanner interface 100 and the robot 410. A first articulation joint 452 may be coupled directly to the robot 410 or a rigid extension thereof, and also to the first arm linkage 442. A second articulation joint 454 may couple the first arm linkage 442 and the second arm linkage 444. Additionally, a third articulation joint 456 may couple the second arm linkage 444 and the UT scanner interface 100. In particular, the third articulation joint 456 can be configured to couple to a body (e.g., body 510) at a robot coupling (e.g., robot coupling 505) so that the robot 410 can impart a downward force that maintains the body in contact with the surface being scanned. The first articulation joint 452, the second articulation joint 454, and the third articulation joint 456 can each include a housing having a motor for steering the articulation joints 452, 454, 456 and thereby moving the arm linkages 442, 444 and, in particular, the UT scanner interface 100. Additionally, the first articulation joint 452, the second articulation joint 454, and the third articulation joint 456 can each include an encoder for measuring angular changes, which can be used to determine the precise position of the UT scanner interface 100 relative to the robot 410.

[0071] In some embodiments, the robot 410 may further include a robot guard 460 that may house electromagnets for securing the robot 410 to the floor of the tank being scanned. The electromagnets in the robot guard 460 may selectively generate a magnetic field that interacts with the floor of the tank, which is typically made of a ferrous material, resulting in an attractive force that firmly holds the robot 410 in place. In this way, when the electromagnets in the robot guard 460 are energized, the robot 410 may generate an engagement force via the robot arm 440 that biases the UT scanner interface 100 toward the surface being scanned.

[0072] In various embodiments, the UT scanner interface 100 may include additional sensors, such as an inertial measurement unit (IMU) sensor for tracking the orientation of the UT scanner interface 100. The bottom of a crude oil tank may deform and bend over time, so it may be beneficial to detect areas with such deformations through an IMU sensor. Alternatively, a bubble-type level sensor (e.g., using a mercury float) may be used to detect when the UT scanner interface 100 is pitching.

[0073] Additionally, a debris sensor may be included that can detect if and when the lumen is clear of sediment enough to begin a UT scan. For example, the debris sensor may use a lateral UT sensor that measures across the lumen to detect when the signal amplitude is high enough to indicate that the lumen is completely clear of debris. Alternatively, the debris sensor may use a laser (e.g., for testing water tanks), sonar, UT, etc. to detect debris levels in the lumen.

[0074] Optionally, the body (eg, 110) may include one or more protruding fins that may serve as stabilizers.

[0075] In some embodiments, the UT scanner interface 100 may include a vibrator (i.e., a vibration engine) that may help loosen or promote liquefaction of the viscous mixture around the UT scanner interface 100 to further enable the UT scanner interface 100 to maneuver through the viscous mixture. The vibrator may work in conjunction with the fluid (e.g., primary fluid) ejected from the series of inlet ports (e.g., 134) to move the UT scanner interface 100. The vibrator may be positioned in or on a selected portion of the UT scanner interface 100. Alternatively, the vibrator may surround the entire UT scanner interface 100. The vibrator may also be directly integrated into the UT scanner interface 100 or as a floating attachment to operate on the periphery of the UT scanner interface 100.

[0076] The vibrations produced by the vibrator may be linear or rotational. The vibrator may be electric, actuated, hydraulic, and / or produce vibrations by other means. The amplitude and frequency of the vibrations produced may be designed / adjusted to promote viscosity changes in the surrounding viscous mixture. The UT scanner interface 100 should have sufficient fluid in the immediate vicinity thereof so that the vibrations from the vibrator can create a liquefaction event.

[0077] Depending on the viscous material the UT scanner interface 100 needs to penetrate, the UT scanner interface 100 may include and / or employ one or both of fluid jets or vibration techniques. Heavier, more viscous mixtures, such as sand, may require a combination of fluid jets and vibrations to allow robotic manipulation therethrough.

[0078] Various embodiments strive to avoid the use of vacuum pumps, which typically need to be relatively large. Including a vacuum pump in the robot 410 may significantly increase the size of the robot 410. In addition, the need for an additional tether to connect the evacuated fluid mixture to the vacuum pump located outside the tank may also be impractical for certain applications. Therefore, various embodiments strive to eliminate the vacuum pump and use only positive pressure to clean the inner cavity.

[0079] Figures 5A to 5C A UT scanner interface 500 for complex environments according to various embodiments is described. The UT scanner interface 500 includes a body 510 including an inner cavity 520 (specifically, Figure 5B and 5D ) and Figure 5E The inner cavity 520 has inner cavity sections 520-A, 520-B in the bottom side 511 (e.g., Figure 5A and 5C The body 510 is configured to hold the UT scanner 570 facing the inner cavity 520 and toward the opening on the bottom side 511. The body 510 may also include a couplant injection port 530 (at Figure 5B and 5E ), which can be configured to inject coupling agent into the inner cavity 520. The inner cavity 520 can be configured to be filled or at least substantially filled with the coupling agent injected therein. In addition, the body 510 can include a fluid drain port 540 configured to remove fluid from the inner cavity. The fluid removed from the inner cavity through the fluid drain port 540 can include a mixture of the coupling agent injected into the inner cavity 520 and other debris or contaminants in the inner cavity 520.

[0080] According to various embodiments, the fluid exhaust port 540 may be formed as another open side of the inner cavity 520 (e.g., in the form of a Figure 5A , 5D 5E). However, the fluid drain port 540 can be significantly smaller than the opening on the bottom side 511 configured to face the surface being scanned. Alternatively, the fluid drain port 540 can include multiple ports along the back side of the lumen 520. Additionally or as another alternative, the fluid drain port 540 can include a flexible covering flap or skirt 527 that is configured to allow the fluid or fluid mixture to easily flow out of the lumen 520 but limit or prevent the flow of fluid or contaminants into the lumen 520 through the fluid drain port 540. The UT scanner interface 500 can benefit from a larger fluid drain port 540 because it does not rely on negative fluid pressure maintained inside the lumen 520.

[0081] When the UT scanner interface 500 is lowered onto the target surface (e.g., the bottom of an oil tank), the lumen 520 will be filled with fluid located where the UT scanner interface 500 lands. Couplant from the couplant injection port 530 can be supplied into the lumen 520 at a relatively low pressure, where it will enter the lumen 520, mix with the fluid already present in the lumen 520, and supply pressure that pushes the fluid mixture already in the lumen 520 out of the fluid drain port 540. By continuing to feed couplant into the lumen 520, after a certain time, the fluid within the lumen 120 will consist primarily of couplant. In this way, the couplant integrity between the UT scanner 570 and the target surface can be maintained.

[0082] Various embodiments ensure precise pressure and resulting flow rate of the couplant injected into the lumen 520, and in particular across the measurement head of the UT scanner 570. The couplant injected into the lumen may generate a lifting force that causes the body 510 to separate from the surface being scanned. Therefore, if the pressure of the couplant injected into the lumen 520 is too high, the resulting measurement signal from the UT scanner 570 may be distorted or lost entirely. Although various embodiments may include means for generating an engagement force with the surface being scanned to counteract the lifting force from the injected couplant, these forces may be balanced to ensure that the body 510 remains in contact with the surface being scanned. Additionally, if the pressure and resulting flow rate of the couplant across the measurement head of the UT scanner 570 is too low, debris and other contaminants may not be properly cleared from the space between the measurement head and the surface being scanned. According to various embodiments, examples of suitable pressures for the injected couplant may be at least 5 psi above any pressure head that may be present and up to 40 psi above the pressure head, including any range using the foregoing as upper and / or lower limits, for example, the pressure may range from approximately 5 to 40 psi above the pressure head.

[0083] like Figure 5B , 5D 5E, the inner cavity 520 may include an inner nozzle 531 within a coupling agent injection port 530. The coupling agent injection port 530 and the inner nozzle 531 may be positioned in the front wall 521 of the inner cavity 520. The inner nozzle 531 may be configured to direct the coupling agent to flow from the front side of the inner cavity 522 (i.e., the side having the front wall 521) toward the back side of the inner cavity 522 opposite to the front side (i.e., the side having the fluid drain port 540). In this way, the coupling agent may first flow into the first inner cavity section 520-A and then into the second inner cavity section 520-B.

[0084] The inner nozzle 531 may generate an inner coupling agent spray 54 that fans out from the inner nozzle 531. The inner nozzle 531 may be configured to face slightly downward, and toward the fluid drain port 540. In various embodiments, when the inner coupling agent spray 54 reaches the second inner cavity section 520-B where the UT scanner 570 is located, the fan-shaped configuration of the inner coupling agent spray 54 may be at least as wide as the measurement head of the UT scanner 570. The second inner cavity section 520-B extends across the measurement head of the UT scanner 570 and includes the fluid drain port 540 on one side thereof. According to various embodiments, the first inner cavity section 520-A may have a fan-out shape that matches or nearly matches the configuration of the inner coupling agent spray 54. This fan-out shape may help avoid dead zones within the inner cavity 520. In this way, the lateral width of the inner cavity 520 expands from the front of the inner cavity 520 toward the back of the inner cavity 520. In addition, the first lumen section 520-A may have a conical top plate 523 having a first depth h1, the first depth h1 extending higher on the side (e.g., the front) where the inner nozzle 531 is located than a second depth h2 extending lower on the opposite side 525 where the second lumen section 520-B begins. In this way, the vertical height of the lumen 520 may narrow from the front of the lumen 520 toward the back of the lumen 520. This conical profile that narrows from the front of the lumen 520 toward the back of the lumen 520 may offset the effect of the fan-out shape that widens from front to back. The conical profile combined with the fan-out shape may maintain a substantially constant pressure and couplant viscosity within the lumen 520, at least until the fluid mixture becomes an outlet flow F at the fluid exhaust port 540. O . This substantially constant pressure within the lumen 520 may not only move the couplant and other debris or contaminants through the lumen 520, but may also uniformly move those fluid mixtures and help remove most, if not all, particles from the lumen 520 (and in particular the second lumen section 520-B). The second lumen section 520-B may have a substantially constant cross-sectional shape compared to the first lumen section 520-A, which may also promote a constant and smooth flow of the fluid mixture therethrough. The second lumen section 520-B may correspond to a filtration zone below the UT scanner 570. In this manner, the second lumen section 520-B may include a substantially horizontal top plate 572 on which the head of the UT scanner 570 sits. Furthermore, by being positioned in the second lumen section 520-B, the UT scanner 570 may be disposed facing the lumen 520, closer to the back side of the lumen 520 than the front side of the lumen 520.

[0085] Various embodiments are configured to operate in crude oil tanks that tend to have an underlying layer of sludge, sediment, and scale. Scale is a layer of hardened material that needs to be removed along with the sludge and sediment in order to get an accurate UT reading. The pressure generated from the inner coupling agent spray 54 sprayed by the inner nozzle 531 in the inner cavity 520, which is a relatively low pressure, can remove loose materials, but will generally not remove compacted materials such as scale. Therefore, in order to facilitate the removal of scale and other hardened materials from the surface to be scanned, various embodiments include a front fluid injection port 532 having a front high pressure nozzle 533. The front high pressure nozzle 533 is an external nozzle configured to inject fluid to the front of the body. The front high pressure nozzle 533 can be configured to inject the high pressure fluid injector 52 to the front of the UT scanner interface 500 and downward toward the surface located at the front of the UT scanner interface 500. For example, the pressure of the high pressure ejector 52 may be at least 100 psi, at least 200 psi, at least 300 psi, at least 400 psi, at least 500 psi, at least 600 psi, or at most, for example, 1000 psi, at most 900 psi, at most 800 psi, at most 700 psi, including any range using the foregoing as upper and / or lower limits, for example, the pressure may be in the range of from about 100 to 1000 psi. The high pressure ejector 52 may be configured to loosen the material and reduce the likelihood of particles entering the lumen and thereby facilitate better readings by the UT scanner 570.

[0086] Figures 6A to 6C Aspects of a retractable plow 512 of a UT scanner interface according to various embodiments are described. Many tanks or containers suitable for scanning by the UT scanner interface 500 may contain structures or elements therein (and particularly on the floor thereof) that may potentially form obstacles that may block or stop the UT scanner interface 500. Therefore, various embodiments may include a retractable plow 512 that may be configured to move between a lowered position and a raised position relative to the body 510. The retractable plow 512 may be configured to detect when such an obstacle is encountered. Additionally, the retractable plow 512 may also be configured to deflect debris, sludge, sediment, and / or scale away as the UT scanner interface 500 moves forward along the surface to be scanned (i.e., within a complex environment).

[0087] According to various embodiments, the retractable plow 512 may include a multi-bar linkage 515 that is configured to not only allow the plow blade 630 of the retractable plow 512 to lift, but also to selectively lift based on the direction and location of the force applied thereto. The plow blade 630 may have an outer surface that is slightly sloped to deflect debris.

[0088] The multi-bar linkage 515 can be operated as a kinematic chain having a plurality of rigid links connected by joints to provide constrained motion. The constrained motion can be designed to lift the plow vertically (rather than in an arc extending both upward and downward). The geometry of the links 631, 632, 633, 634, 635, 636 and articulated joints 641, 642, 643, 644, 645, 646, 647 of the multi-bar linkage 515 can be configured to maintain the plow blade 630 in a lowered position (e.g., a position where the angled surface of the plow blade 630 pushes away mud or other deposits) while the plow blade 630 is pushed away by an angled surface. Fig. 6A In addition, the multi-bar linkage 515 can also be configured to vertically lift the plow blade 630 toward the highest position when the front plow tip 613 is pushed with a predetermined amount of force (e.g. Figure 6C ). A pair of springs or similar resistance mechanisms may be calibrated to a predetermined amount of force to maintain the plow blade 630 in the lowered position unless the predetermined force is exceeded. The predetermined amount of force may be greater than the amount of distributed force imparted to the remainder of the plow blade 630.

[0089] When the retractable plow 512 encounters an obstacle, the obstacle will exert a force on the leading edge of the retractable plow 512. The force from an obstacle (e.g., a fixed or heavy obstacle) on the leading edge 513 will generally be significantly higher than the force exerted by the debris on the remainder of the plow blade 630. Therefore, according to various embodiments, the multi-bar linkage 515 is configured to automatically lift the plow blade 630 in response to a force above a threshold being applied horizontally to the leading edge 513. Therefore, a general force applied to the inclined surface of the plow blade 630, such as from a deposit, may not cause the plow blade 630 to lift. In contrast, due to the geometry of the individual elements and / or spring mechanisms that form the multi-bar linkage 515, a greater force applied to the leading edge 513, such as from an obstacle, may cause the plow blade 630 to lift. The threshold value of the amount of force can be manually adjusted by replacing or tensioning the spring. A lower resistance to lifting may result in false triggering, and a higher resistance may overload the multi-bar linkage 515 and / or the servo motor incorporated therein. For example, the multi-bar linkage 515 and / or a set of springs incorporated therein may be calibrated to resist a force of at least 50g, at least 100g, at least 200g, at least 400g, at least 600g, at least 800g, at least 1,000g, or at most, for example, 2000g, at most 1800g, at most 1600g, at most 1400g, at most 1200g. It is contemplated that the minimum value will be 50g and the maximum value will be 2000g, including any range using the foregoing as upper and / or lower limits, for example, the force may be in the range from about 50g to 2000g.

[0090] Additionally, the articulation joints 641, 642, 643, 644, 645, 646, 647 may be configured to allow the plow blade 630 to pivot, but to limit and guide the pivotal movement vertically rather than horizontally. A horizontal thrust, such as might occur when the front plow tip 613 encounters something heavy (such as a large debris) or a fixture (such as a rivet, bolt, or other structure or fixing element), will cause the plow blade 630 to lift vertically.

[0091] When an object imparts a rearward force on the front plow tip 613, the force will be converted into a rotational force at the front hinge 646 (e.g., in the form of Figures 6A to 6C The rotational force at the front hinge 646 will in turn be in the forward direction (e.g., in the counterclockwise direction of the orientation shown in FIG. Figures 6A to 6C 647). However, the movement of the upper hinge 647 is constrained by the central linkage 632, 633, 634, which will only allow the upper hinge 647 to move the hinges 643, 644 and hinge 647 in a direction consistent with the articulation joint, which may be substantially vertical. The length of each linkage 631, 632, 633, 634, 635, 636 differs in enabling the plow blade 630 to lift when it encounters an obstacle. Shorter linkages may provide more rotation but less deflection at the end. Additionally, the use of bronze bushings to move components such as between the linkage 631, 632, 633, 634, 635, 636 and the articulation joints 641, 642, 643, 644, 645, 646, 647 may help avoid sparks.

[0092] The encoder may measure the motion of the retractable plow 512 based on the movement of the multi-bar linkage 515. For example, an internal encoder may be included that is configured to measure the amount of rotation / movement in one or more linkages 631, 632, 633, 634, 635, 636 and articulation joints 641, 642, 643, 644, 645, 646, 647. For example, an encoder that measures the number of points within thirty degrees (30°) may measure a fraction of the degree of rotation in the articulation joints 641, 642, 643, 644, 645, 646, 647. The number of points within a given rotation angle that the encoder may measure depends on the resolution of the encoder or its number of pulses per revolution. For example, a 12-bit encoder may be calibrated to a maximum angle of 18 degrees to produce a least significant bit (LSB) of 0.0044 degrees.

[0093] The encoder can provide a measurement to identify the height of an obstacle, which information can be stored and used for path planning, obstacle avoidance, and / or as a landmark for determining the location of the UT scanner interface 500. When an obstacle exerts a threshold amount of force on the leading edge 513, the force will cause the plow blade 630 to lift. Once the leading edge 513 is lifted high enough to clear the obstacle, the obstacle will no longer exert a force on the plow blade 630 and the plow blade 630 will stop lifting. Thus, the encoder can measure how high the plow blade 630 is lifted in order to determine or identify the type of obstacle encountered. For example, obstacles can be identified by category such that obstacles shorter than a predetermined height (e.g., 0.5") can belong to one category and obstacles equal to or above the predetermined height can belong to a second category. For example, obstacles below 0.5" can correspond to bolts, rivets, or other common small fixing elements inside the tank. Additionally, obstacles equal to or higher than 0.5" may correspond to any of the side walls of the tank being inspected or other large structures therein. One or more of various types of encoders may be used, such as magnetic encoders, optical encoders, orthogonal encoders. Magnetic encoders may be useful because they can provide low friction and minimal surface contact, allowing them to be waterproof and operate in harsh environments without being damaged or requiring frequent recalibration.

[0094] According to various embodiments, the UT scanner interface 500 may include one or more inductive sensors 584, 586 (see FIG. 5 ) configured to measure the distance to the scanned surface. Figure 5B , 5D ). Power and / or signals from the inductive sensors 584, 586 may be supplied through additional tethers 585, 587. Alternatively, the inductive sensors 584, 586 may share power and / or signals through lines supplied to other components of the UT scanner interface 500, such as through a robot wall (e.g., robot arm 440). The inductive sensors detect the presence or absence of metal objects within their sensing range, such as the scanned surface of a crude oil tank. By analyzing the magnitude and frequency of the induced current in the inductive sensors 584, 586, the processor can determine the proximity and characteristics of the metal surface being scanned.

[0095] By including an inductive sensor 584 on one side of the body 510 and a second inductive sensor 586 on an opposite second side of the body 510, a pair of inductive sensors 584, 586 can be configured to detect not only whether the body 510 is separated from the scanned surface, but also whether one side of the body 510 is lifted relative to the other side. Thus, the inductive sensors 584, 586 can be configured to measure the height and attitude of the UT scanner interface 500. Alternatively, more than two inductive sensors 584, 586 can be used to achieve detection of pitch changes in addition to roll.

[0096] Alternatively or additionally, for tanks that are not composed of metal or have a non-metallic surface layer that can interfere with the inductive sensor, other sensors can be used. For example, physical touch sensors, laser distance sensors, potentiometer-based sensors, and / or lidar sensors can be used.

[0097] Various embodiments may include a UT scanner interface 100 that uses one or more alternative components to generate an engagement force that biases the UT scanner interface toward the surface of the target material to be inspected. In particular, some embodiments may include one or more electromagnets 580, 582 configured to generate a magnetic field to bias the body 510 of the UT scanner interface 100 toward a ferrous material scanned by the UT scanner 570.

[0098] The flow of coupling agent under the UT scanner 570 (e.g., inside the inner cavity 220) may tend to push the body 510 upward and away from the scanned surface. Since the UT scanner 570 may be sensitive to the distance and posture relative to the scanned surface, the body 510 separated from the scanned surface may lead to inaccurate measurements. In addition, when the body 510 moves away from the scanned surface, a gap is formed under the bottom side 511, and debris or other contaminants may enter the inner cavity 520 through the gap, and in particular, between the head of the UT scanner 570 and the scanned surface. Various embodiments solve this problem by incorporating electromagnets 580, 582 into the base of the body 510. In this way, the UT scanner interface 500 may include a means for using the electromagnets 580, 582 to generate an engagement force that biases the UT scanner interface toward the scanned surface. The electromagnets 580, 582 can selectively generate a magnetic field that interacts with the scanned surface, which is typically made of a ferrous material, to generate an attractive force that firmly holds the body 510 in place above the scanned surface.

[0099] The body 510 may include a body configured to be attached to a robot (e.g. Figure 4A The robot coupling 505 of the robot 410 in the embodiment of the present invention is shown. Having a tethered linkage between the robot and the body 510 enables scanning of large tank areas after a single movement of the robot. The robot can be moved into position with the body 510 positioned over the section to be scanned, and then the electromagnets 580, 582 can be engaged and the internal coupling agent spray 54 activated before the UT scanner 570 scans. Once the necessary number of scans of the section are completed, the electromagnets 580, 582 can be disengaged and the body 510 can be moved by the robot arm without having to move the robot. Alternatively, the body 510 can include its own propulsion means, such as motorized wheels or external fluid ejectors. Once the body 510 is repositioned, the electromagnets 580, 582 can be reengaged and the internal coupling agent spray 54 restarted for more scans.

[0100] Additionally, the UT scanner interface 500 may include one or more additional tethers, such as one or more couplant supply lines connected to the fluid injection port 560, power / data lines 565 coupled to the UT scanner 570, or additional tethers 585, 587 for sensing sensors 584, 586. The one or more couplant supply lines may supply the internal couplant spray 54 as well as supplying couplant sprayed from other ports, such as the couplant injection port 530 and / or the high pressure sprayer 780.

[0101] Due to their strong magnetic properties, strong permanent magnets (e.g., neodymium magnets) can be used as electromagnets 580, 582. When the body 510 is positioned close to the surface desired to be scanned, the electromagnets 580, 582 can generate a magnetic field that interacts with the ferromagnetic properties of the surface material (e.g., iron or steel). The magnetic field creates an attractive force between the magnet and the surface, creating a strong bond. This force helps maintain contact or proximity, thereby preventing slippage or separation. In order to control the magnetic force and enable the body 510 to move or separate, various mechanisms can be incorporated when necessary. For example, the body 510 may include a mechanism for adjusting the distance between the electromagnets 580, 582 and the surface being scanned, a controller in the body 510 or elsewhere may control the current to the electromagnets 580, 582 and / or a deployable / retractable mechanism, or the body 510 may include deployable / retractable magnetic shielding material to reduce or redirect the magnetic field.

[0102] In various embodiments, the body 510 may include rollers / wheels 550, 552, 554 configured to keep the body 510 sliding smoothly over the surface and maintaining the correct posture and distance from the base plate. In addition, the rollers / wheels 550, 552, 554 can help the UT scanner interface 500 to pass through uneven surfaces. When the electromagnets 580, 582 are engaged and the system is kept in close contact with the scanned surface, the rollers / wheels 550, 552, 554 can help the body 510 move smoothly. The rollers / wheels 550, 552, 554 can be free-rotating cylinders. Alternatively, the rollers / wheels 550, 552, 554 can be driven by a motor or hydraulic device. The rollers / wheels 550, 552, 554 can be rubber or at least have an outer rubber coating to obtain better traction. As another alternative or supplement, the rollers / wheels 550, 552, 554 can have an outer surface treatment, such as a knob, pedal, groove or the like, to improve traction.

[0103] Alternatively, one or more of the rollers / wheels 550, 552, 554 may be magnetized to replace or supplement the electromagnets 580, 582. As additional magnets to the electromagnets 580, 582, the rollers / wheels 550, 552, 554 may be selectively activated, for example, when the body 510 is moving. In this way, the rollers / wheels 550, 552, 554 may be designed with built-in compartments or recesses to securely hold the magnets. These compartments ensure proper alignment and allow the magnetic field to effectively interact with the surface when powered. Alternatively, one or all of the rollers / wheels 550, 552, 554 may be replaced with magnetized or non-magnetized sliders.

[0104] Additionally or alternatively, the UT scanner interface 500 may include means for generating an engagement force that uses a high pressure jet that directs a fluid stream upward to bias the UT scanner interface toward the surface being scanned, which imparts a downward force that holds the body 510 in contact with the base plate (i.e., the surface being scanned).

[0105] Figures 7A to 7B A UT scanner interface 700 for complex environments according to various embodiments is illustrated. Specifically, the UT scanner interface 700 includes a body 710 having at least one upwardly facing high pressure ejector 780. The high pressure ejector 780 may be configured to discharge an outward flow F in an upward direction. O , which imparts a downward force on the body 710. Thus, the high pressure ejector 780 may be an external nozzle configured to eject fluid in a direction away from the UT scanner for biasing the body 710 toward the material being scanned. More than one high pressure ejector 780 may be provided to impart a more uniform downward force on the body 710 if necessary. For example, two high pressure ejectors 780 may be positioned on either side of a centrally located robot coupling 505. Additionally, more high pressure ejectors or one or more ejectors in different locations may be used.

[0106] Figures 8A to 8D is a process flow diagram illustrating an example method of performing a UT scan in a complex environment according to various embodiments. Figures 8A to 8D , methods 800 to 803 and their operations may be performed using a UT scanner interface (e.g., 100) configured to perform UT scanning in a complex environment. In some embodiments, methods 800 to 803 may be performed with the assistance of a robot (e.g., 410) configured to maneuver through a viscous mixture. The operations of methods 800 to 803 may be controlled by an operator or performed by a processor of the UT scanner interface, the robot, or a combination thereof. In this manner, the UT scanner interface may operate as a non-autonomous, semi-autonomous, or fully autonomous device.

[0107] refer to Fig. 8AIn method 800, in block 810, a UT scanner interface as described herein may be positioned over the surface of a target material (e.g., 10) to be inspected. The UT scanner interface may hold a UT scanner (e.g., 170, 570). The target material may be immersed in a complex environment consisting of a primary fluid (e.g., 55) and contaminants (e.g., 20). The UT scanner may be held in the body of the UT sensor interface such that the UT scanner faces the lumen and toward an opening on the bottom side of the lumen. For example, the UT scanner interface may be lowered onto the bottom of a crude oil tank or maneuvered inside a crude oil pipe and positioned over a section of a tank or pipe that is desired to be scanned using a UT scanner mounted in the UT scanner interface. In this manner, the primary fluid may be oil held within the tank or pipe.

[0108] In block 812, a couplant may be injected into the inner cavity. The couplant may be a primary fluid (e.g., oil) pumped into the inner cavity from a higher level of the container (i.e., tank or pipe) being scanned. Alternatively, the couplant may be pumped into the inner cavity from outside the container and may be a fluid in addition to the fluid in the tank being inspected.

[0109] In block 814, an engagement force may be generated that biases the UT scanner interface toward the surface of the target material to be inspected. For example, the engagement force may be generated by fluid pumped from the inner cavity to form a filter zone below the measurement head of the UT scanner within the inner cavity of the UT scanner interface. The fluid pumped from the inner cavity may include a couplant (i.e., a primary fluid) and fluid from a tank containing contaminants. For example, the fluid removed from the inner cavity may be a mixture of the primary fluid and contaminants (e.g., sediment, sludge, and / or biological contamination). Fluid may be removed from the inner cavity to filter the contaminants from the filter zone. In various embodiments, the pressure difference between the injected couplant in block 812 and the fluid pumped from the inner cavity in block 814 may generate a net negative pressure within the inner cavity that pulls the UT scanner interface toward the target material (i.e., the surface being scanned). As another example, the engagement force may be generated by powering an electromagnet configured to pull the UT scanner interface toward the surface of the target material to be inspected. As yet another example, the engagement force may be generated by ejecting a fluid from the UT scanner interface in a direction away from the surface of the target material to be inspected (eg, upward away from the floor of the tank).

[0110] In block 816, the UT scanner may be activated to perform a UT scan of the target material through the couplant in the lumen. After the couplant injection in block 812 and the fluid and contaminant removal in block 814, active scanning by the UT scanner may ensure couplant integrity within at least the lumen of the filter area or UT scanner interface.

[0111] refer to Figure 8BIn method 801, after the operations in box 816 of method 800, in box 818, the UT scanner interface may be moved within the complex environment. This movement may cause a pair of rollers mounted to the body of the UT scanner interface to roll in the direction of movement. The rollers may be located on both sides of the two lateral sides of the inner cavity and constrain opposite sides of the filter area below the UT scanner interface. For example, a robot (e.g., 410) may be manipulated within the complex environment to pull or push the UT scanner interface toward a selected portion of the target material being scanned. In this way, multiple portions of the target material may be scanned. For example, the entire bottom of a crude oil tank or the entire length of a pipe may be scanned incrementally. After the operations in box 818, the method may perform the operations in box 812 of method 800 as described.

[0112] refer to Figure 8C In method 802, after the operations in block 816 of method 800 or block 818 of method 801, in block 820, the UT scanner interface may be moved within the complex environment to a target area of ​​a target material to be scanned. The couplant integrity may be maintained in part by a pair of flexible side edges extending from a lower edge of the inner cavity in a filter area below the UT scanner interface. After the operations in block 820, the method may perform the operations in block 812 of method 800 as described.

[0113] refer to Fig.8D In method 803, in block 822, the UT scanner interface may be coupled to a remote source of a primary fluid. For example, the UT scanner interface may be connected to a float with a hose or simply to a buoyant hose for supplying fresh couplant to the UT scanner interface. In block 824, the primary fluid may be delivered to the UT scanner interface as the primary fluid is pumped into the lumen. After the operations in block 824, the method may perform the operations in block 810 of method 800 as described.

[0114] refer to Fig. 8E In method 804, following operation in box 816 of method 800, box 818 of method 801, or box 820 of method 802, the UT scanner interface may measure movement of the retractable plow (e.g., using an encoder) relative to the body to identify an obstacle in contact with the retractable plow.

[0115] Implementation examples are described in the following paragraphs.

[0116] Example 1. A UT scanner interface for a complex environment, comprising: a body comprising: an inner cavity with an opening on the bottom side, wherein the body is configured to hold a UT scanner facing the inner cavity and toward the opening on the bottom side; a coupling agent injection port, which is configured to inject a coupling agent into the inner cavity; and a fluid drain port, which is configured to remove fluid from the inner cavity, wherein the fluid removed from the inner cavity includes at least some of the coupling agent injected into the inner cavity.

[0117] Example 2. A UT scanner interface according to Example 1, wherein the coupling agent injection port is coupled to a series of inlet ports, which are arranged along the outer edge of the opening on the bottom side and are configured to distribute the coupling agent supplied from the coupling agent injection port into the inner cavity.

[0118] Example 3. The UT scanner interface of example 2, wherein the series of inlet ports are at least one of disposed outside the lumen, facing in the same direction as the UT scanner, or disposed on an opposite side of the lumen.

[0119] Example 4. The UT scanner interface of at least one of examples 1-3, wherein the fluid drain port is coupled to a series of outlet ports disposed adjacent the lumen and configured to receive couplant supplied to the lumen.

[0120] Example 5. The UT scanner interface of Example 4, wherein the series of outlet ports are distributed within the inner cavity along opposite sides of the UT scanner.

[0121] Example 6. A UT scanner interface according to at least one of Examples 1 to 5, further comprising: a pair of rollers disposed on opposite sides of the opening on the bottom side, wherein each of the pair of rollers is configured to engage a surface for scanning by the UT scanner.

[0122] Example 7. The UT scanner interface of Example 6, wherein the body further comprises a pair of roller cavities each configured to accommodate one of the pair of rollers, wherein the pair of roller cavities are disposed on opposite sides of the inner cavity.

[0123] Example 8. The UT scanner interface of Example 7, wherein the body further comprises a fluid supply port configured to supply fluid for lubricating the pair of rollers to the pair of roller cavities.

[0124] Example 9. The UT scanner interface of at least one of examples 1 to 8, wherein a lower edge of at least one side wall of the body includes a flexible side edge configured to at least partially shield fluid or sediment from entering the inner cavity.

[0125] Example 10. A UT scanner interface according to at least one of Examples 1 to 9, wherein the body includes at least one inclined transverse wall on the outside of the body extending between the bottom of the body and the top of the body for deflecting deposits when the body moves within a complex environment.

[0126] Example 11. The UT scanner interface of at least one of examples 1-10, wherein the body includes a retractable plow configured to move between a lowered position and a raised position relative to the body.

[0127] Example 12. The UT scanner interface of Example 11, wherein the retractable plow is configured to move from the lowered position to the raised position in response to a force level above a threshold being applied to a leading edge of the retractable plow.

[0128] Example 13. A UT scanner interface according to at least one of Examples 1 to 12, wherein the coupling agent injection port is coupled to an aperture into the inner cavity, and the aperture is configured to direct the coupling agent to flow from a front side of the inner cavity to a back side of the inner cavity opposite to the front side.

[0129] Example 14. The UT scanner interface of Example 13, wherein the fluid drain port is disposed on the rear side of the lumen.

[0130] Example 15. The UT scanner interface of Example 13, wherein the inner cavity opens on the rear side such that the opening on the rear side forms the fluid drain port.

[0131] Example 16. The UT scanner interface of Example 13, wherein the UT scanner is positioned facing the lumen closer to the back side of the lumen than the front side of the lumen.

[0132] Example 17. The UT scanner interface of at least one of examples 1 to 16, wherein a vertical height of the lumen narrows from a front of the lumen toward a rear of the lumen.

[0133] Example 18. The UT scanner interface of at least one of Examples 1 to 17, wherein a lateral width of the lumen expands from a front portion of the lumen toward a rear portion of the lumen.

[0134] Example 19. The UT scanner interface of at least one of Examples 1-18, wherein the body further comprises: an external nozzle configured to eject fluid to the front of the body.

[0135] Example 20. The UT scanner interface of at least one of examples 1-19, wherein the body further comprises: an electromagnet configured to generate a magnetic field for biasing the body toward a ferrous material scanned by the UT scanner.

[0136] Example 21. A UT scanner interface according to at least one of Examples 1 to 20, wherein the body further comprises: an external nozzle configured to eject fluid in a direction away from the surface scanned by the UT scanner to bias the body toward the scanned material.

[0137] Example 22. The UT scanner interface of at least one of Examples 1-21, wherein the body further comprises: an inductive sensor configured to detect a distance of the body relative to a surface scanned by the UT scanner.

[0138] Example 23. The UT scanner interface of at least one of examples 1 to 22, further comprising the UT scanner secured to the body.

[0139] Example 24. A method for performing UT scanning in a complex environment: positioning a UT scanner interface that holds a UT scanner above a surface of a target material to be inspected, wherein the target material is immersed in the complex environment consisting of a primary fluid and contaminants, wherein the UT scanner is held in a body of the UT scanner interface so that the UT scanner faces an inner cavity of the body and toward an opening on a bottom side of the inner cavity; injecting a coupling agent into the inner cavity; generating a coupling force that biases the UT scanner interface toward the surface of the target material to be inspected; and activating the UT scanner to perform the UT scanning of the target material through the coupling agent in the inner cavity.

[0140] Example 25. A method according to Example 24, wherein generating the joining force includes pumping fluid from the inner cavity to form a filter area below the UT scanner interface, wherein the fluid pumped from the inner cavity includes at least one of a coupling agent and contaminants for filtering contaminants from the filter area.

[0141] Example 26. The method of at least one of Examples 23 or 24, wherein a pressure differential between injecting the couplant and pumping the fluid from the lumen creates a net negative pressure within the lumen that pulls the UT scanner interface toward the target material.

[0142] Example 27. The method of at least one of examples 23-26, wherein generating the engagement force includes powering an electromagnet configured to pull the UT scanner interface toward the surface of the target material to be inspected.

[0143] Example 28. The method of at least one of examples 23 to 27, wherein generating the engagement force comprises ejecting a fluid from the UT scanner interface in a direction away from the surface of the target material to be inspected.

[0144] Example 29. The method of at least one of Examples 23 to 28, further comprising: coupling the UT scanner interface to a remote source of the primary fluid; and delivering the primary fluid to the UT scanner interface when the primary fluid is pumped into the inner cavity.

[0145] Example 30. The method of at least one of examples 23 to 29, further comprising: measuring movement of the retractable plow relative to the body to identify an obstacle contacting the retractable plow.

[0146] The foregoing descriptions of systems, devices, and methods are provided only as illustrative examples and are not intended to require or imply that the steps of the various embodiments must be performed in the order presented. It should be understood by those skilled in the art that the order of steps in the foregoing embodiments may be performed in any order. Words such as "thereafter," "next," "next," and the like are not intended to limit the order of steps; these words may be used to guide the reader through the description of the method. In addition, for example, any reference to a singular claim element using the articles "a / an" or "the" should not be construed as limiting the element to the singular.

[0147] The foregoing description of the disclosed embodiments is provided to enable one skilled in the art to make or use the invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be adapted to other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention is not intended to be limited to the embodiments shown herein, but rather should be accorded the widest scope consistent with the following claims and the principles and novel features disclosed herein.

Claims

1. An ultrasonic non-destructive testing (UT) scanner interface for complex environments, comprising: The subject, which includes: a lumen having an opening on the bottom side, wherein the body is configured to hold a UT scanner facing the lumen and toward the opening on the bottom side; a couplant injection port configured to inject couplant into the inner cavity; and A fluid drain port is configured to remove fluid from the lumen, wherein the fluid removed from the lumen includes at least some of the couplant injected into the lumen.

2. The UT scanner interface of claim 1 , wherein the couplant injection port is coupled to a series of inlet ports disposed along an outer edge of the opening on the bottom side and configured to distribute couplant supplied from the couplant injection port into the inner cavity.

3. The UT scanner interface of claim 2, wherein the series of inlet ports are at least one of: disposed outside the lumen, facing in the same direction as the UT scanner, or disposed on opposite sides of the lumen.

4. The UT scanner interface of claim 1, wherein the fluid drain port is coupled to a series of outlet ports disposed adjacent the lumen and configured to receive couplant supplied to the lumen.

5. The UT scanner interface of claim 4, wherein the series of outlet ports are distributed within the inner cavity along opposite sides of the UT scanner.

6. The UT scanner interface of claim 1, further comprising: A pair of rollers disposed on opposite sides of the opening on the bottom side, wherein each of the pair of rollers is configured to engage a surface for scanning by the UT scanner.

7. The UT scanner interface of claim 6, wherein the body further comprises a pair of roller cavities each configured to accommodate one of the pair of rollers, wherein the pair of roller cavities are disposed on opposite sides of the inner cavity.

8. The UT scanner interface of claim 7, wherein the body further comprises a fluid supply port configured to supply fluid for lubricating the pair of rollers to the pair of roller cavities.

9. The UT scanner interface of claim 1, wherein a lower edge of at least one side wall of the body comprises a flexible side edge configured to at least partially shield fluid or sediment from entering the interior cavity.

10. The UT scanner interface of claim 1, wherein the body includes at least one inclined transverse wall on an outer side of the body extending between a bottom of the body and a top of the body for deflecting deposits when the body moves within a complex environment.

11. The UT scanner interface of claim 1 , wherein the body includes a retractable plow configured to move between a lowered position and a raised position relative to the body.

12. The UT scanner interface of claim 11, wherein the retractable plow is configured to move from the lowered position to the raised position in response to a force above a threshold being applied to a leading edge of the retractable plow.

13. The UT scanner interface of claim 1, wherein the couplant injection port is coupled to an aperture into the lumen, the aperture being configured to direct the couplant to flow from a front side of the lumen to a back side of the lumen opposite the front side.

14. The UT scanner interface of claim 13, wherein the fluid drain port is disposed on the back side of the lumen.

15. The UT scanner interface of claim 13, wherein the inner cavity opens on the rear side such that the opening on the rear side forms the fluid drain port.

16. The UT scanner interface of claim 13, wherein the UT scanner is positioned facing the lumen closer to the back side of the lumen than the front side of the lumen.

17. The UT scanner interface of claim 1, wherein a vertical height of the lumen narrows from a front of the lumen toward a rear of the lumen.

18. The UT scanner interface of claim 1, wherein a lateral width of the lumen expands from a front portion of the lumen toward a back portion of the lumen.

19. The UT scanner interface of claim 1, wherein the body further comprises: An external nozzle is configured to spray a fluid forward of the body.

20. The UT scanner interface of claim 1, wherein the body further comprises: A magnet is configured to generate a magnetic field for biasing the body toward a ferrous material scanned by the UT scanner.

21. The UT scanner interface of claim 1, wherein the body further comprises: An external nozzle configured to eject fluid in a direction away from a surface scanned by the UT scanner for biasing the body toward the scanned material.

22. The UT scanner interface of claim 1, wherein the body further comprises: An inductive sensor is configured to detect a distance of the subject relative to a surface scanned by the UT scanner.

23. The UT scanner interface of claim 1, further comprising: The UT scanner is fixed to the body.

24. A method for performing UT scanning in a complex environment, comprising: positioning a UT scanner interface holding a UT scanner above a surface of a target material to be inspected, wherein the target material is immersed in the complex environment consisting of a primary fluid and contaminants, wherein the UT scanner is held in a body of the UT scanner interface such that the UT scanner faces an inner cavity of the body and toward an opening on a bottom side of the inner cavity; injecting a coupling agent into the inner cavity; generating an engagement force that biases the UT scanner interface toward the surface of the target material to be inspected; and The UT scanner is activated to perform the UT scan of the target material through the couplant in the inner cavity.

25. The method of claim 24, wherein generating the engagement force comprises pumping fluid from the inner cavity to form a filter zone below the UT scanner interface, wherein the fluid pumped from the inner cavity comprises at least one of a coupling agent and contaminants for filtering contaminants out of the filter zone.

26. The method of claim 24, wherein a pressure differential between injecting couplant and pumping fluid from the lumen creates a net negative pressure within the lumen that pulls the UT scanner interface toward the target material.

27. The method of claim 24, wherein generating the engagement force comprises powering an electromagnet configured to pull the UT scanner interface toward the surface of the target material to be inspected.

28. The method of claim 24, wherein generating the engagement force comprises ejecting a fluid from the UT scanner interface in a direction away from the surface of the target material to be inspected.

29. The method of claim 24, further comprising: coupling the UT scanner interface to a remote source of the primary fluid; and While the primary fluid is pumped into the lumen, the primary fluid is delivered to the UT scanner interface.

30. The method of claim 24, further comprising: Movement of the retractable plough relative to the body is measured to identify an obstacle contacting the retractable plough.

Images