UT Sensor Interface for Scanning in Complex Environments

Abstract

The UT scanner interface can include a main body that includes an internal chamber with a UT scanner facing an opening on the bottom side, a coupling fluid injection port, and a fluid discharge port. During operation, the coupling fluid is injected into the internal chamber through the coupling fluid injection port, while the coupling fluid and contaminants may be removed from the internal chamber through the fluid discharge port.

Description

Technical Field

[0001] [Cross - Reference to Related Applications] 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".

Background Art

[0002] Ultrasonic transducers are often used to perform non - destructive testing (NDT) on metal plates. Using ultrasound for NDT is also simply known as "UT". UT typically uses ultrasonic sensors that emit echoes reflected at the boundaries of two materials and are used to detect and / or test the thickness of materials. By knowing the original thickness of the plate and measuring the current thickness, corrosion can sometimes be detected if the current thickness is less than the original thickness. Thus, using ultrasonic sensors to measure the thickness of metal plates has proven to be a very accurate and reliable method for determining corrosion.

Summary of the Invention

Problems to be Solved by the Invention

[0003] An ultrasonic sensor is typically held within a few inches of the material being scanned, leaving a gap between the ultrasonic sensor and the material. Typically, the gap is filled with a couplant, which is a material that facilitates the transmission of ultrasonic energy from the UT sensor to the material being scanned. A couplant is necessary to reduce the acoustic impedance mismatch between the medium through which the ultrasonic waves are transmitted and the test piece. The UT sensor requires a clean surface and a transparent and uniform couplant to obtain good readings. If materials such as sand and particulate matter are present within the couplant or on the surface being scanned, such materials can reflect the UT signal and distort or completely obscure the material being inspected. Additionally, when passing the UT signal through a mixed medium, the speed of the UT signal passing through that material can change, similarly causing measurement problems. If the speed of the UT signal passing through the couplant is unknown, the timing of the reflections becomes unclear, introducing uncertainty in the thickness measurement of the scanned material.

Means for Solving the Problem

[0004] Various aspects include devices, systems, and methods for ultrasonic scanning in complex environments, particularly ultrasonic scanning with a UT scanner interface. The ultrasonic scanner interface can include a body that includes an internal chamber, a couplant injection port, and a fluid discharge port. The internal chamber can include an opening on the bottom side, and the body is configured to hold the UT scanner facing the internal chamber and towards the opening on the bottom side. The couplant injection port can be configured to inject couplant into the internal chamber. The fluid discharge port may be configured to remove fluid from the internal chamber, and the fluid removed from the internal chamber includes at least a portion of the couplant injected into the internal chamber.

[0005] In some embodiments, the coupling fluid injection port may be disposed along the outer edge of the bottom-side opening and coupled to a series of inlet ports configured to distribute the coupling fluid supplied from the coupling fluid injection port into the internal chamber. The series of inlet ports may be disposed outside the internal chamber. The series of inlet ports may face in the same direction as the ultrasonic scanner. The series of inlet ports may be disposed on both sides of the internal chamber. The fluid discharge port may be disposed adjacent to the internal chamber and coupled to a series of outlet ports configured to distribute the coupling fluid supplied to the internal chamber. The series of outlet ports may be distributed along the opposite side of the ultrasonic scanner within the internal chamber.

[0006] In some embodiments, the ultrasonic scanner interface can include a pair of rollers disposed on both sides of the bottom-side opening, and each of the pair of rollers is configured to engage the surface for scanning by the ultrasonic scanner. The body can further include a pair of roller cavities disposed on both sides of the internal chamber, each configured to accommodate one of the pair of rollers. The body may further include a fluid supply port for supplying fluid for lubricating the pair of rollers to the pair of roller cavities. The lower end of at least one sidewall of the body can include a flexible skirt configured to at least partially shield liquid or sediment from entering the internal chamber. The body can include at least one inclined sidewall outside the body, extending between the bottom and the top of the body, for deflecting sediment when the body moves within a complex atmosphere. The body can include a retractable plow configured to move relative to the body between a lowered position and a raised position.

[0007] In some embodiments, the retractable plow can be configured to move from a lowered position to a raised position in response to a force exceeding a threshold being horizontally applied to the tip of the retractable plow. In some embodiments, a coupling injection port may be coupled to an opening into the internal chamber configured to direct the coupling fluid to flow from the front side of the internal chamber towards the rear side of the internal chamber opposite the front side. In some embodiments, a fluid discharge port may be disposed at the rear side of the internal chamber. In some embodiments, the rear side of the internal chamber may be open such that the opening at the rear side forms the fluid discharge port. In some embodiments, an ultrasonic scanner may be disposed facing an internal chamber closer to the rear side of the internal chamber than to the front side of the internal chamber. In some embodiments, the vertical height of the internal chamber may be narrower from the front portion of the internal chamber towards the rear portion of the internal chamber. In some embodiments, the lateral width of the internal chamber can expand from the front portion of the internal chamber towards the rear portion of the internal chamber. In some embodiments, the body may further include an external nozzle configured to discharge liquid at the front portion of the body. In some embodiments, the body may further include an electromagnet configured to generate a magnetic field for biasing the body towards the steel material to be scanned by an ultrasonic scanner. In some embodiments, the body may further include an external nozzle configured to discharge liquid in a direction away from the surface to be scanned by an ultrasonic scanner and to bias the body towards the material to be scanned. In some embodiments, the body may further include an inductive sensor configured to detect the distance of the body from the surface to be scanned by an ultrasonic scanner.

[0008] In some embodiments, the ultrasonic scanner interface can include an ultrasonic scanner fixed to the body.

[0009] Some aspects include a method of performing a UT scan in a complex environment, which may include positioning a UT scanner interface that holds a UT scanner on the surface of a target material for inspection. The target material may be immersed in a complex environment consisting of a primary fluid and contaminants. The ultrasonic scanner may be held within the body of the ultrasonic sensor interface such that the ultrasonic scanner faces into an internal chamber of the body and towards an opening on the bottom side of the internal chamber. The method may also include injecting a couplant into the internal chamber and generating a biasing force that biases the UT scanner interface towards the surface of the target material for inspection. The method may also include operating the ultrasonic scanner to perform an ultrasonic scan of the target material through the couplant within the internal chamber.

[0010] In some embodiments, the method may include moving the ultrasonic scanner interface within a complex environment, such that a pair of rollers attached to the body rotate in the direction of movement, the rollers being adjacent to two sides of the internal chamber and defining opposite sides of a filter region under the ultrasonic scanner interface. The method can also include moving the ultrasonic scanner interface within a complex environment to a target region of a target material for scanning. The integrity of the couplant may be maintained in part within the filter region under the ultrasonic scanner interface by a pair of flexible skirts extending from the lower end of the internal chamber. A pressure difference between the couplant injected into the internal chamber and the fluid being aspirated from the internal chamber may create a net negative pressure within the internal chamber that pulls the ultrasonic scanner interface towards the target material. The method can include creating an engagement force by aspirating fluid from the internal chamber to form a filter region under the ultrasonic scanner interface. The fluid aspirated from the internal chamber can include at least one of a couplant and contaminants for filtering out contaminants from the filter region. The method can include creating an engagement force by powering an electromagnet configured to pull the ultrasonic scanner interface towards the surface of the target material for inspection. The method may also include creating an engagement force by discharging fluid from the ultrasonic scanner interface in a direction away from the surface of the target material for inspection.

[0011] In some embodiments, the method may also include coupling the ultrasonic scanner interface to a remote source of primary fluid. The primary fluid can also be conveyed to the ultrasonic scanner interface while pumping the primary fluid into the internal chamber.

[0012] In some embodiments, the method may also include measuring the movement of a retractable plow relative to the body to identify an obstacle contacted by the retractable plow.

Brief Description of the Drawings

[0013] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the claims and, together with the general description above and the detailed description below, serve to explain the features of the claims.

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[0016] Hereinafter, various embodiments will be described in detail with reference to the accompanying drawings. In the drawings, the same reference numerals are used for components that are the same or similar as much as possible. References to specific examples and implementations are for illustrative purposes only and are not intended to limit the scope of the claims.

[0017] Using a UT sensor in a complex environment is difficult, especially when performing UT tests on oil storage tanks after years of use. As used herein, the term "complex environment" refers to an environment or condition where a UT sensor is placed and one or more primary fluids are mixed with other elements or particles, particularly in a non-uniform or inconsistent manner. While it is necessary to confirm that the thickness and integrity of the crude oil storage tank are not impaired, the bottom of the in-use crude oil storage tank contains sludge and sediment that adversely affect UT sensor measurements. The combination of crude oil mixed with sludge, sediment, and / or other particles forms a complex environment. Sludge is known to have sediment such as sand and ferrous metal particles, which can reflect, distort, or block UT signals (i.e., waveforms), making UT-based NDT impossible. If the speed of the UT signal passing through the couplant cannot be accurately predicted due to contamination by sludge and sediment, the measurement of the bottom of the crude oil storage tank may not be accurate. In addition to crude oil storage tanks, complex environments applicable to various embodiments can include storage tanks for other similar viscous materials such as fuel, or water, fluid chemical substances, or any combination thereof.

[0018] As used herein, references to "bottom," "top," "front," "rear," and / or similar directions are for reference purposes and should not be strictly limited to a specific orientation. "Bottom," "top," "front," and "rear" conventionally refer to the lowest, uppermost, foremost, and rearmost portions or surfaces of a structure, respectively, but the interpretation of these directional terms may vary depending on the orientation of the structure in a particular application. These terms are used herein as relative descriptors and do not impose a fixed orientation but rather function as reference points.

[0019] As used herein, "couplant" refers to a material (usually a liquid) that facilitates the transmission of ultrasonic energy from a transducer to the material being scanned. The couplant may be composed of water, oil, a special gel, or a combination thereof.

[0020] Various embodiments include a UT scanner and a UT scanner interface configured to maintain the integrity of the couplant between the UT scanner and the material being scanned in a complex environment. The material being scanned may, in various embodiments, be a material forming the floor of a crude oil or other primary fluid storage tank. By maintaining the integrity of the couplant, the signal transmission speed through the couplant during UT scanning becomes known and / or predictable.

[0021] Various embodiments included a UT scanner interface device configured to maintain the integrity of the couplant of a UT scanner by removing foreign matter such as deposits, sludge, and / or biological deposits that could reflect and distort the scan by the UT scanner from the UT inspection zone. The UT scanner interface can include a body with an internal chamber for storing couplant supplied from one or more inlet ports. The internal chamber may have one side open that is configured to face the surface to be scanned. Since deposits tend to enter the internal chamber through the opening on one side, the internal chamber may also include one or more outlet ports. In this way, while the couplant is supplied from one or more inlet ports, the fluid that may contain a mixture of the couplant and deposits is removed through one or more outlet ports. By stably supplying the couplant and discharging the fluid mixture from the internal chamber, the UT scanner interface removes particles and other elements that could interfere with the UT scan, leaving a material with known properties suitable for the scan and providing reliable and consistent ultrasonic transducer readings. In particular, by flowing the couplant through a portion of the internal chamber, a filter region can be created between the UT scanner and the surface to be scanned (e.g., under the UT scanner). The fluid suctioned from the internal chamber may contain couplant and / or contaminants and helps to remove the contaminants from the filter region.

[0022] Various embodiments can include means for generating an engagement force that biases a UT scanner interface toward the surface of a target material. In some embodiments, the means for generating the engagement force may include one or more outlet ports used to draw liquid from an internal chamber. The fluid drawn or discharged from the internal chamber can create a pressure differential compared to the couplant injected into the internal chamber. The pressure differential between the inlet and the outlet creates a net negative pressure within the internal chamber, which may pull the UT scanner interface toward the material to be scanned. In some embodiments, the means for generating the engagement force can include one or more external nozzles configured to discharge fluid in a direction away from the UT scanner (e.g., upward) to bias the body toward the material to be scanned. In some embodiments, the means for generating the engagement force may include an electromagnet configured to generate a magnetic field to bias the body toward the ferrous material to be scanned by the UT scanner.

[0023] In various embodiments, the UT scanner interface may include a skirt at one or more edges of an opening to the internal chamber to prevent or limit external leakage of the couplant and / or leaching of deposits during scanning.

[0024] In various embodiments, a UT scanner interface collaborates with a UT scanner that includes an ultrasonic transducer (also known as an ultrasonic sensor), which is a device that emits ultrasonic energy into a couplant and receives ultrasonic energy reflected by the surface being inspected, including reflections from defects and 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 piece by using high-frequency sound waves. The UT scanner interface may operate with phased array ultrasonic testing (PAUT), also known as a phased array ultrasonic transducer. PAUT is a nondestructive testing technique that uses several ultrasonic transducers within a single probe to achieve a high-resolution scan. Thus, various embodiments include several UT sensors within the UT scanner interface. Each of the test probes can individually emit ultrasonic pulses and generate an image of the structure beneath the surface being inspected, using computer-calculated timing to generate a phased ultrasonic beam and computer processing of the reflected ultrasonic waves detected by each test probe. An array of multiple ultrasonic transducer elements forms a PAUT scanner.

[0025] UT scanner interfaces according to various embodiments are suitable for enabling UT inspections in complex environments that include viscous mixtures with deposits or sludge from the primary fluid. Such viscous mixtures typically consist 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 original primary fluid. The solid components may occur as substances that were previously suspended in the primary fluid but have settled to the bottom over time as part of the purification process, and / or as metal pieces (e.g., rust or flakes) from the tank in which the primary fluid is stored. As used herein, the terms "primary fluid" and "viscous mixture" are related to the viscous mixture being a product of the primary fluid and / or originating from the same fluid from which the viscous mixture is derived. In various embodiments, the primary fluid may be discharged from above the viscous mixture (e.g., at a higher level within a tank storing both the primary fluid and the viscous mixture), pumped into the UT scanner interface as a coupling agent (i.e., under pressure), or supplied to the UT scanner interface as a lubricant (i.e., non-pressurized).

[0026] According to various embodiments, the UT scanner interface can be used for inspecting a liquid storage tank that stores a viscous mixture, such as inspecting the bottom of the liquid storage tank without discharging the contents. Over time, sludge, sediment, and / or other particulate matter accumulates at the bottom of the liquid storage tank, and usually the tank cannot be inspected without removing the viscous mixture. The UT scanner interface according to various embodiments is disposed within a tank that stores a viscous mixture and enables inspection of the tank. When the UT scanner interface reaches the floor (e.g., bottom) of the tank, the UT scanner interface may be configured to introduce and maintain a certain amount of couplant between the scanner and the surface to be scanned to determine the thickness of the material forming the bottom of the tank. The UT scanner interface of various embodiments eliminates the need to render the tank inoperable, empty the tank, and / or clean it for inspection. Additionally, the UT scanner interface of various embodiments may also be used for inspecting other liquid storage or transport containers, such as pipelines, that may have similar problems regarding deterioration or damage of the walls that store the liquid. Thus, the UT scanner interface of various embodiments can be used to apply UT scanning in complex environments.

[0027] Various embodiments can include a UT scanner interface configured to hold a UT scanner within a chamber facing a surface to be scanned through an opening side (e.g., bottom side) of the chamber. A couplant capable of transmitting ultrasonic waves can be injected into the chamber to provide a reliable medium between the UT scanner and the surface to be scanned. Some embodiments use a combination of pressure and vacuum to keep the couplant chamber closed by the surface to be scanned. By maintaining a pressure difference between the fluid injected into the chamber and the fluid discharged therefrom, a partial vacuum is formed within the chamber, whereby the UT scanner interface is pulled towards the surface to be scanned with the chamber filled with a transparent couplant, enhancing the reliability of the measurements within the chamber.

[0028] Figures 1A - 1C show a UT scanner interface 100 for a complex environment according to various embodiments. The UT scanner interface 100 includes a body 110 that includes an internal chamber 120 opening to a bottom side 111 (e.g., the bottom side of the orientation shown in FIG. 1A). The body 110 is configured to hold a UT scanner 170 facing into the internal chamber 120 and towards an opening of the bottom side 111 (see opening 121 in FIGS. 2A - 2C). The body 110 can also include a couplant injection port 130 configured to inject a couplant into the internal chamber 120. The internal chamber 120 may be configured to be filled or at least substantially filled with the couplant injected therein. Further, the body 110 can include a fluid discharge port 140 configured to remove fluid from the internal chamber. The fluid removed from the internal chamber includes at least a portion of the couplant injected into the internal chamber.

[0029] According to various embodiments, the UT scanner interface 100 includes means for generating an engagement force that biases the UT scanner interface towards the surface to be scanned using a negative pressure differential between one or more low - pressure inlet ports for injecting a coupling and one or more high - pressure outlet ports for discharging a fluid mixture that may include couplant and sediment from the internal chamber.

[0030] When the UT scanner interface 100 is lowered onto the target surface (e.g., the bottom of an oil tank), the internal chamber 120 is filled with the fluid that was at the location where the UT scanner interface 100 landed. The couplant from the couplant injection port 130 is supplied into the internal chamber 120 under a relatively low pressure, enters the internal chamber 120, and may be mixed with the fluid already present in the internal chamber 120. In addition to pumping the couplant into the internal chamber 120, the fluid mixture present in the internal chamber 120 may be suctioned through the fluid discharge port 140. When the fluid is discharged from the internal chamber 120 and replaced with fresh couplant, the internal chamber 120 is quickly filled mainly with couplant, flushing contaminants such as sediment, sludge, and / or biofouling from the internal chamber. By continuously discharging the fluid from the internal chamber 120 and replacing it with fresh couplant, after a while, the fluid in the internal chamber 120 will mainly consist of couplant. In this way, the integrity of the couplant between the UT scanner 170 and the target surface is maintained.

[0031] In various embodiments, the couplant injection port 130 can receive couplant from a supply line coupled to the couplant injection port 130. The couplant may be the primary fluid stored in the tank being inspected, such as oil. Alternatively, the couplant may be a different oily liquid, water, a special gel, or a combination thereof (i.e., regardless of the presence or absence of oil). The primary fluid may be discharged through the supply line from a higher region in the tank or another region that is less likely to have primary fluid contaminated by sediment, sludge, or biofouling. Alternatively, the primary fluid may be supplied from a separate storage container inside or outside the tank being inspected. Although one couplant injection port 130 is shown, two or more couplant injection ports 130 may be included in the body 110.

[0032] The coupling fluid injection port 130 may be coupled to a series of inlet ports 134 disposed along the outer edge of the opening 121 on the bottom side 111 of the main body 110. The series of inlet ports 134 may be configured to distribute the coupling fluid supplied from the coupling fluid injection port 130 into the internal chamber 120. In various embodiments, the series of inlet ports 134 may be disposed outside the internal chamber 120. For example, the series of inlet ports 134 may be disposed just outside the internal chamber, e.g., along its outer edge. Additionally, the series of inlet ports 134 may be disposed at the edge opposite to the internal chamber. In this way, the series of inlet ports 134 may face in the same direction as the UT scanner 170 (e.g., toward the target surface to be scanned). Additionally, or alternatively, one or more of the series of inlet ports 134 may face or include a nozzle that directs the coupling fluid toward the UT scanner 170 to ensure that the critical surfaces are kept clean and / or transparent.

[0033] The fluid discharge port 140 may be coupled to a series of outlet ports 144 disposed adjacent to the internal chamber 120 and configured to receive the coupling fluid supplied to the internal chamber 120. In some embodiments, the series of outlet ports 144 may be distributed along the opposite side of the UT scanner 170 within the internal chamber. By arranging a series of inlet ports 134 that discharge the coupling fluid near the bottom of the internal chamber 120 and a series of outlet ports 144 that suck the fluid at the top of the internal chamber 120, a circulating fluid flow is generated between them, which helps to move contaminants toward the series of outlet ports 144 and discharge them from the internal chamber 120.

[0034] In various embodiments, the main body 110 may be formed as a housing having four walls that extend downward (in the orientation shown in FIG. 1A) from an upper wall 119 that is horizontal and configured to extend parallel to the surface to be scanned. The front wall 114 and the rear wall 118, which are disposed opposite each other, may extend vertically or substantially vertically from the upper wall 119. Alternatively, the front wall 114 and the rear wall 118 may be formed to have an inclination, and thus may be configured to deflect sediment when the main body 110 moves in a complex environment. The lower ends of the front wall 114 and / or the rear wall 118 may include flexible skirts 122, 124 configured to block or deflect fluid or sediment from entering the internal chamber 120. The flexible skirts 122, 124 may be a thin flexible material such as 1 / 8-inch silicon material. Alternatively, the flexible skirts 122, 124 may be formed like inflatable hovercraft skirts, and the hydraulic pressure from the internal chamber 120 generates a fluid cushion in the flexible skirt that slightly lifts the main body 110, while the curtain (i.e., the skirt) functions to block contaminants. As a further alternative, the flexible skirts 122, 124 may be formed as or include brush bristles / fingers, etc.

[0035] In contrast to the front wall 114 and the rear wall 118, the first side wall 112 and the second side wall 116 may also extend inclined from the upper wall 119. The first and second side walls 112, 116 may be configured to deflect sediment when the main body 110 moves laterally in a complex environment. Also, the inclined nature of the first side wall 112 and the second side wall 116 can deflect sludge so as to push the main body 110 downward toward the target surface, providing a force useful for maintaining the UT scanner interface 100 in contact with the target surface to be scanned. The lowermost ends 113, 117 of the first side wall 112 and the second side wall 116 may be slightly higher than the lowermost part of the flexible skirts 122, 124. Optionally or alternatively, the lowermost ends 113, 117 may include a more flexible barrier formed by a flexible skirt or brush bristles, etc.

[0036] The main 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 housing that is part of the UT scanner 170 and is configured to be removed therewith for purposes such as maintenance or replacement. Power and / or data cables can be coupled to the sensor housing 175 to supply power for operating the UT scanner and to transmit measurement data from the UT scanner 170 to remote recording and imaging devices (not shown).

[0037] In various embodiments, the UT scanner interface 100 can include a pair of rollers 150, 152 configured to assist in moving the UT scanner interface 100 in a complex environment while maintaining contact with the target surface, minimizing the entry of sludge into the internal chamber as the interface moves. Additionally, the rollers 150, 152 assist the UT scanner interface 100 in moving over a non-uniform surface. The pair of rollers 150, 152 may be disposed on both sides of the opening 121 and configured to engage the target surface during scanning by the sensor. Each of the rollers 150, 152 may be at least partially disposed inside a roller cavity 154 configured to house one of the rollers 150, 152. Similar to the rollers 150, 152, the roller cavity 154 may be disposed on both sides of the internal chamber 120. The rollers 150, 152 may be freely rotating cylinders held within the roller cavity 154 by a central shaft rod or captured within the roller cavity 154 by a labrum member added along the lower end of a larger opening to the roller cavity 154. Alternatively, the rollers 150, 152 may be driven by a motor or hydraulics. The rollers 150, 152 may be rubber or at least externally rubber-coated to increase traction. Alternative materials that can improve traction and / or minimize damage to the scan surface may be used. As a further alternative or addition, the rollers 150, 152 may have an outer surface treatment such as knobs, treads, grooves, etc. to improve traction. Alternatively, one or all of the rollers 150, 152 may be replaced with skids.

[0038] In some embodiments, the body 110 may include one or more fluid supply ports 160 configured to supply a fluid for lubricating a pair of rollers 150, 152 to a pair of roller cavities 154. The roller cavities 154 tend to attract sand, sediment, or other fine particles, which may clog and cause the rotation of the rollers 150, 152 to stop. Accordingly, the fluid supply ports 160 can supply a lubricant such as clean oil to the pair of roller cavities 154. However, unlike the coupling agent injection port 130, the fluid supply ports 160 do not need to be pressurized, so the lubricant can freely flow into the roller cavities 154. A part of the negative pressure difference maintained in the internal chamber can also act to draw the fluid into the roller cavities 154.

[0039] In some embodiments, the pressure difference between the coupling agent supplied from the coupling agent injection port 130 (i.e., the positive pressure to the internal chamber 120) and the fluid sucked from the internal chamber 120 to the fluid discharge port 140 (i.e., the negative pressure from the internal chamber 120) may be maintained to generate an attractive force that draws the UT scanner interface 100 onto the target surface. This attractive force is sufficient to hold the body 110 in a predetermined position during scanning, but must be weak enough so that the UT scanner interface can move to another part of the target material. In particular, the rollers 150, 152 should still be rotatable to allow the body 110 to move. The downward attractive force may also tend to draw sediment into the internal chamber 120 from the front and rear sides (i.e., the edges of the opening extending between the two rollers 150, 152), which is prevented or at least restricted by the flexible skirts 122, 124 and the rollers 150, 152. Some embodiments can also utilize gravity, which, in combination with the negative pressure maintained within the body (e.g., 110), can pull the UT scanner interface 100 towards the bottom of the tank based on weight.

[0040] Various embodiments include one or more ports (e.g., the coupling fluid injection port 130, the fluid discharge port 140, a series of inlet ports 134, a series of outlet ports 144, the fluid supply port 160, etc.). As used herein, the term "port" refers to an opening or connection point of a device or system that allows fluid flow. Thus, a port may refer to an inlet or outlet through which fluid enters or exits 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 particular type of port designed to accelerate, decelerate, direct, and / or configure the flow of fluid or gas. A nozzle is a device or opening having a carefully shaped geometry that can change the velocity and pressure of the fluid passing through it. The shape and design of the nozzle may be configured to define the desired flow characteristics and performance of the fluid passing through it.

[0041] Figures 2A - 2C show side cross-sectional views of the UT scanner interface 100 at the cut line shown in Figure 1C. The first section A - A transversely cuts through the UT scanner interface 100 through the coupling fluid injection port 130. The second section B - B transversely cuts through the UT scanner interface 100 through the fluid discharge port 140. The third section C - C transversely cuts through the UT scanner interface 100 through the center of the fluid supply port 160 and the sensor housing 175.

[0042] Figure 2A shows how, according to various embodiments, the coupling fluid injection port 130 may be coupled to a coupling fluid injection passage 132 within a body 110 that may lead to a series of inlet ports (e.g., 134 in Figure 2C). The coupling fluid injection passage 132 may branch laterally to supply coupling fluid from the opposite side of the outer side of the internal chamber 120.

[0043] Figure 2B shows how, according to various embodiments, a fluid discharge port 140 may be coupled to a fluid discharge passage 142 inside a body 110 that may lead to a series of outlet ports (e.g., 144 in Figure 2C). The fluid discharge passage 142 may branch laterally to discharge fluid from the opposite side of the upper portion of the internal chamber 120.

[0044] Figure 2C shows how, according to various embodiments, a couplant from the couplant injection passage 132 is supplied to a series of inlet ports 134. Further, a fluid discharge passage 142 for discharging fluid from a series of outlet ports 144 is shown. Additionally, a fluid supply port 160 is shown coupled to a fluid supply passage 162 within the body 110 that leads to separate fluid supply ports 164 each opening into a respective one of the roller cavities 154.

[0045] In various embodiments, the UT scanner 170 may be installed on the upper wall of the internal chamber 120 such that the UT scanner 170 faces the opening 121 on the bottom side of the internal chamber 120.

[0046] Figure 3 shows a UT scanner interface 100 in a work environment 300 according to various embodiments. The work environment 300 may represent a complex environment at the bottom of a crude oil tank. As shown, a portion of the target material 10 (e.g., the bottom metal wall of the tank) is being scanned by the UT scanner 170. Such a scan may be useful for determining the thickness T of the target material 10. As is common in complex environments, the target material 10 may be covered by a sediment layer 20. When the UT scanner interface 100 is placed on the target material 10, the UT scanner interface 100 may sink into the sediment layer 20. Thereafter, the couplant may be injected into the internal chamber 120 from an inlet port 134 adjacent to the outer opening end of the internal chamber 120 by the inflow F I and the fluid may be discharged from the internal chamber 120 and flow out therefrom by the outflow F OThis may occur. Removing potentially contaminated fluid (i.e., coolant mixed with sediment, sludge, and / or biofouling) from the internal chamber 120 and replacing it with uncontaminated coolant helps maintain the integrity of the coolant within the internal chamber 120 and makes the sensor readings by the UT scanner 170 more reliable. After a certain time has elapsed since discharging the contaminated liquid from the internal chamber 120, the thickness of the sediment layer 20 directly below the opening 121 of the internal chamber 120 may be at a nominal value, or the sediment layer 20 within that region may be removed.

[0047] In some embodiments, the rollers 150, 152 may protrude from the bottom of the UT scanner interface 100, thus maintaining a gap between the bottom of the body 110 and the contact point CR with the target material 10 of the rollers 150, 152. Additionally, since the rollers 150, 152 are cylindrical, the contact point CR may extend along the length of the rollers 150, 152, each extending from the front to the rear of the body 110. In this way, the contact point CR extending across the length of each roller 150, 152 forms a lateral boundary in the filter region below the UT scanner interface 100 configured to drain contaminated liquid. The filter region below the UT scanner interface 100 may also be delimited frontally and rearwardly by flexible skirts 122, 124. One aspect of various embodiments for creating and maintaining the filter region is that a series of inlet ports 134 are laterally disposed between the rollers 150, 152 and are vertically higher than the contact point CR. The vertical offset between the series of inlet ports 134 and the contact point CR allows the inflow F I to circulate contaminated liquid into the internal chamber 120, particularly towards a series of outlet ports 144.

[0048] According to various embodiments, a coupling fluid injection port (e.g., 130) may be coupled to a coupling fluid supply line 30. Similarly, a fluid supply port 160 may be coupled to a fluid supply line 60. Similarly, a UT scanner 170 may be coupled to a sensor housing 175 and may have a power / data line 70 that supplies power to and communicates data from it. Further, a fluid discharge port (e.g., 140) may be connected to a fluid discharge line. Unlike the coupling fluid supply line 30 and the fluid supply line 60, the fluid discharge line need not extend to a remote area. For example, the fluid discharge line can direct the discharged fluid to a nearby area that has already been scanned by the UT scanner interface. Alternatively, the upper portion of the body 110 may include a manifold that couples one or more fluid, power, and / or data lines to the coupling fluid injection port, the fluid discharge port, the fluid supply port 160, and / or the sensor housing 175.

[0049] FIG. 4A shows a robot 410 that maneuvers in a work environment 400 to move a UT scanner interface 100 according to various embodiments. The UT scanner interface 100 may be relatively smaller than that shown in FIG. 4A, particularly with respect to the robot 410. In FIG. 4A, the robot 410 is shown immersed in a tank 50 (i.e., a storage container), and at the bottom of the tank 50 includes a primary fluid 55 and a sediment layer 20 in the form of thick sediment. 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 may form a more viscous mixture, but the robot 410 is configured to operate in such an environment.

[0050] In various embodiments, the UT scanner interface 100 may be coupled to a robot 410 configured to move within 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 within an oil tank. The robot 410 may include a propulsion system that can be used to push, pull, or otherwise move the UT scanner interface 100 in a complex environment. The robot 410 can locally reduce the viscosity of the mixture around the robot 410 and / or the UT scanner interface 100 by discharging the primary fluid, using a low-energy solution without using external chemicals to locally reduce the viscosity of the primary fluid 55 or its viscous mixture. Locally reducing the viscosity can enable an object such as the robot 410 or the UT scanner interface 100 to move through and operate within the primary fluid 55 or its viscous mixture, which facilitates inspections in environments such as crude oil tanks without removing any material (i.e., the viscous mixture or the fluid associated with the viscous mixture). According to various embodiments, the UT scanner interface 100 can operate in a complex environment for inspecting and / or analyzing tanks and / or sediment. The technical advantage provided by various embodiments is that such tank and / or sediment inspections can be performed without the need to remove the viscous mixture (e.g., sediment).

[0051] In some embodiments, the UT scanner interface 100 may include a lower fluid line 415 in the form of a collection hose, tether line, or pipe that extends from the UT scanner interface 100 to the robot 410. The lower fluid line 415 may be a rigid or semi-rigid pipe configured to push and / or pull the UT scanner interface 100. Alternatively, instead 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. The frame or gantry can include additional mechanisms for moving the UT scanner interface 100 (e.g., laterally along the gantry) in addition to the forward or backward movement provided by the robot 410. Similarly, the robot can move to place the UT scanner interface 100 over a new area, and then the frame or gantry can move the UT scanner interface 100 laterally or in other directions to cover a wide area near the new area. From the robot 410, the upper fluid line 417 can extend toward the upper region of the tank 50 and extend through the viscous mixture and into the relatively uncontaminated or completely uncontaminated primary fluid 55.

[0052] In some embodiments, the upper fluid line 417 may be connected to a float 420 that ensures that the suction end 425 of the upper fluid line 417, which draws in the uncontaminated primary fluid 57, remains at the topmost position of the tank 50. The float 420 may be a buoyancy device or other tether (e.g., a cable attached to the top of the tank 50) that ensures that the suction end remains surrounded by the primary fluid 55 and does not clog the contaminated region of the primary fluid 55. Alternatively, the upper fluid line 417 may be formed from a low-density tube that tends to float naturally and thus may remain in the upper layer of the tank where the primary fluid 55 is collected.

[0053] In some embodiments, the UT scanner interface 100 may include a vacuum pump (i.e., a fluid pump) configured to generate the positive and / or negative pressure necessary to inject the couplant or remove fluid from the internal chamber (e.g., 120). Alternatively, the vacuum pump may be disposed within the float 420 or outside of the tank 50. When the vacuum pump is disposed outside of the tank, it may be necessary to extend the lower fluid line 415 and / or the upper fluid line 417 from the UT scanner interface 100 to the vacuum pump outside of the tank. Further, when the primary fluid 55 is discharged from the upper layer of the tank for collection, it may be necessary to extend an additional fluid line from that region to the vacuum pump outside of the tank.

[0054] The UT scanner interface 100 may optionally include a power line 430 extending from the body of the UT scanner interface 100 or the sensor housing 175 (e.g., 110) to a power source external to the tank 50. The power line 430 may be routed separately from or away from the lower or upper fluid lines 415, 417. Alternatively, the power line 430 may be attached to or incorporated into the lower and / or upper fluid lines 415, 417. Optionally, the power line 430 may pass through the float 420 to supply power to sensors such as the fluid pump or other components therein. In FIG. 4A, the power line 430 is optionally shown extending outside of the tank 50 and through its upper portion. Alternatively, the power line 430 and / or one or more fluid lines 415, 417 may extend outside of the tank through an access hatch or port located on the side and / or bottom of the tank 50.

[0055] Figure 4B shows a robot 410 having one or more robotic arms 440 for maneuvering the UT scanner interface 100 in a work environment 401 according to various embodiments. The robotic arm 440 may include one or more articulated joints 452, 454, 456 configured to push and pull the UT scanner interface 100 relative to the position of the robot 410 in conjunction with arm linkages 442, 444. The robotic arm 440 can provide a selectively articulating but otherwise fixed connection between the UT scanner interface 100 and the robot 410. The first articulated joint 452 may be coupled not only directly to the robot 410 or a rigid extension thereof, but also to the first arm linkage 442. The second articulated joint 454 may couple the first arm linkage 442 and the second arm linkage 444. Further, the third articulated joint 456 may couple the second arm linkage 444 and the UT scanner interface 100. In particular, the third articulated joint 456 may be configured to couple to a body (e.g., body 510) at a robot coupling (e.g., robot coupling 505), whereby the robot 410 can apply a downward force to maintain the body in contact with the scan target surface. The first, second, and third articulated joints 452, 454, 456 may each include a housing with a motor for rotating the articulated joints 452, 454, 456 and thus moving the arm linkages 442, 444, particularly the UT scanner interface 100. Further, the first, second, and third articulated joints 452, 454, 456 may each include an encoder for measuring the angular change, which may be used to determine the exact position of the UT scanner interface 100 relative to the robot 410.

[0056] In some embodiments, the robot 410 may further include a robot boot 460 that can house an electromagnet for fixing the robot 410 to the floor of the tank during scanning. The electromagnet within the robot boot 460 can selectively generate a magnetic field that interacts with the floor of the tank, which is often made of iron, resulting in an attractive force that firmly holds the robot 410 in place. In this way, when the electromagnet within the robot boot 460 is energized, the robot 410 can generate an engaging force via the robot arm 440 that biases the UT scanner interface 100 towards the scan target surface.

[0057] 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. Since the bottom of the crude oil tank may deform or buckle over time, detection of such deformed areas by the IMU sensor is beneficial. Alternatively, a bubble-type level sensor (e.g., using a mercury float) can be used to detect the pitch of the UT scanner interface 100.

[0058] In addition, a debris sensor may be included that can detect whether and when the internal chamber has removed sufficient sediment to start a UT scan. For example, the debris sensor can use a lateral UT sensor that measures the entire internal chamber to detect the timing when the signal amplitude is high enough to indicate that the internal chamber does not contain sufficient debris. Alternatively, the debris sensor may use a laser, sonar, UT, etc. (e.g., for inspecting a water tank) to detect the level of debris within the internal chamber.

[0059] Optionally, the body (e.g., 110) may include one or more protruding fins that function as stabilizers.

[0060] In some embodiments, the UT scanner interface 100 may include a vibrator (i.e., a vibration engine) that helps to promote the loosening or liquefaction of the viscous mixture around the UT scanner interface 100, thereby further enabling the UT scanner interface 100 to move through the viscous mixture. The vibrator operates in combination with a fluid (e.g., a primary fluid) discharged from a series of inlet ports (e.g., 134) and can move the UT scanner interface 100. The vibrator can be disposed within 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 integrated as a floating attachment for operating around the UT scanner interface 100.

[0061] The vibrations generated by the vibrator may be linear or rotational. The vibrator can generate vibrations by electric, pneumatic, hydraulic, and / or other means. The amplitude and frequency of the generated vibrations may be designed / adjusted to facilitate changes in the viscosity of the surrounding viscous mixture. The UT scanner interface 100 needs to have sufficient liquid in the region immediately adjacent to it so that the vibrations from the vibrator can create a liquefaction phenomenon.

[0062] Depending on the viscous material that the UT scanner interface 100 needs to penetrate, one or both of fluid discharge or vibration techniques may be included in and / or used with the UT scanner interface 100. In the case of a heavier and more viscous mixture (e.g., sand), a combination of fluid discharge and vibration may be required for the robot to pass through it.

[0063] Various embodiments often strive to avoid the use of a vacuum pump, which is often relatively large. Including a vacuum pump in the robot 410 may significantly increase the size of the robot 410. Additionally, in certain applications, it may not be practical to require an additional tether for the fluid mixture drawn into the vacuum pump located outside the tank. Thus, various embodiments have strived to eliminate the vacuum pump and clear the internal chamber with only positive pressure.

[0064] Figures 5A - 5C illustrate a UT scanner interface 500 for a complex environment according to various embodiments. The UT scanner interface 500 includes a body 510 that includes an internal chamber 520, shown particularly in Figures 5B and 5D, and internal chamber portions 520 - A, 520 - B of Figure 5E. The internal chamber 520 is open at a bottom side 511 (e.g., the bottom side in the orientation shown in Figures 5A and 5C). The body 510 is configured to hold a UT scanner 570 facing into the internal chamber 520 and towards the opening of the bottom side 511. The body 510 may also include a couplant injection port 530 (shown in Figures 5B and 5E) configured to inject a couplant into the internal chamber 520. The internal chamber 520 may be configured to be filled or at least substantially filled with the couplant injected therein. Further, the body 510 can include a fluid discharge port 540 configured to remove fluid from the internal chamber. The fluid removed from the internal chamber through the fluid discharge port 540 may include a mixture of the couplant injected into the internal chamber 520, as well as other debris or contaminants within the internal chamber 520.

[0065] According to various embodiments, the fluid discharge port 540 may be formed as another opening side of the internal chamber 520 (e.g., the right side in the orientation shown in FIGS. 5A, 5D, and 5E). However, the fluid discharge port 540 may be significantly smaller than the opening of the bottom side 511 configured to face the scan target surface. Alternatively, the fluid discharge port 540 may include a plurality of ports along the rear side of the internal chamber 520. Additionally, or as a further alternative, the fluid discharge port 540 may include a flexible covering flap or skirt 527 configured to allow the fluid or fluid mixture to easily flow out of the internal chamber 520, but restrict or prevent the fluid or contaminants from flowing into the internal chamber 520 through the fluid discharge port 540. Since the UT scanner interface 500 does not rely on the negative fluid pressure maintained within the internal chamber 520, it can benefit from a larger fluid discharge port 540.

[0066] When the UT scanner interface 500 is lowered onto the target surface (e.g., the bottom of the oil tank), the internal chamber 520 is filled with the fluid that was at the location where the UT scanner interface 500 landed. The couplant from the couplant injection port 530 is supplied into the internal chamber 520 under relatively low pressure, enters the internal chamber 520, mixes with the fluid already present within the internal chamber 520, supplies pressure, and pushes the fluid mixture already in the internal chamber 520 out through the fluid discharge port 540. By continuously supplying the couplant into the internal chamber 520, after a while, the fluid within the internal chamber 120 will mainly consist of the couplant. In this way, the integrity of the couplant between the UT scanner 570 and the target surface is maintained.

[0067] Various embodiments ensure the exact pressure injected into the internal chamber 520 and the resulting flow rate of the coupling fluid, particularly across the entire measurement head of the UT scanner 570. The coupling fluid injected into the internal chamber may generate a lift force that promotes the separation of the body 510 from the surface to be scanned. Thus, if the pressure of the coupling fluid injected into the internal chamber 520 is too high, the resulting measurement signal from the UT scanner 570 may be distorted or completely lost. Various embodiments may include means for generating a coupling force with the surface to be scanned in order to counteract the lift force from the injected coupling fluid, and these forces can be balanced to ensure that the body 510 remains in contact with the surface to be scanned. Further, if the pressure and resulting flow rate of the coupling fluid across the entire measurement head of the UT scanner 570 are too low, debris and other contaminants may not be properly removed from the space between the measurement head and the surface to be scanned. An example of a suitable pressure for the injected coupling fluid according to various embodiments can be at least 5 psi higher than the head pressure that may exist and up to 40 psi higher than the head pressure, including any range using the above as an upper and / or lower limit. For example, the pressure may be in a range that is about 5 - 40 psi higher than the head pressure.

[0068] As particularly shown in FIGS. 5B, 5D, and 5E, the internal chamber 520 may include an inner nozzle 531 within the coupling fluid injection port 530. The coupling fluid injection port 530 and the inner nozzle 531 may be disposed on the front wall 521 of the internal chamber 520. The inner nozzle 531 may be configured to direct the coupling fluid to flow from the front side of the internal chamber 522 (i.e., the side having the front wall 521) toward the rear side of the internal chamber 522 that faces the front side (i.e., the side having the fluid discharge port 540). In this way, the coupling fluid may first flow into the first internal chamber portion 520 - A and then into the second internal chamber portion 520 - B.

[0069] The inner nozzle 531 can generate an inner coaxial spray 54 that spreads fan-shaped from the inner nozzle 531. The inner nozzle 531 may be configured not only to face the fluid discharge port 540 but also to be slightly downward. In various embodiments, the fan configuration of the inner coaxial spray 54 may be at least as wide as the measurement head of the UT scanner 570 by the time the inner coaxial spray 54 reaches the second inner chamber portion 520-B where the UT scanner 570 is located. The second inner chamber portion 520-B extends across the entire measurement head of the UT scanner 570 and includes the fluid discharge port 540 on one side thereof. According to various embodiments, the first inner chamber portion 520-A may have a fan-shaped configuration that matches or substantially matches the configuration of the inner coaxial spray 54. This fan-shaped configuration helps to avoid dead zones within the inner chamber 520. In this way, the lateral width of the inner chamber 520 expands from the front portion of the inner chamber 520 towards the rear portion of the inner chamber 520. Additionally, the first inner chamber portion 520-A may have a tapered ceiling 523 having a first depth h1 that extends higher on the side (e.g., the front portion) where the inner nozzle 531 is located than a second depth h2 that is lower at the opposing side 525 where the second inner chamber portion 520-B begins. Thus, the vertical height of the inner chamber 520 may narrow from the front portion of the inner chamber 520 towards the rear portion of the inner chamber 520. This tapered shape that narrows from the front portion to the rear portion of the inner chamber 520 can offset the effect of the fan-shaped configuration that spreads from the front portion to the rear portion. At least the fluid mixture exits as an outlet flow F at the fluid discharge port 540 OUntil it becomes, the tapered shape combined with the fan shape can maintain a substantially constant pressure and a Couplant velocity within the internal chamber 520. This substantially constant pressure within the internal chamber 520 can not only move the Couplant as well as other debris or contaminants through the internal chamber 520, but also move the fluid mixture evenly, and helps to remove most, if not all, of the fine particles from the internal chamber 520, particularly from the second internal chamber portion 520-B. In contrast to the first internal chamber portion 520-A, the second internal chamber portion 520-B generally has a constant cross-sectional shape and can promote a constant and stable flow of the fluid mixture passing therethrough. The second internal chamber portion 520-B can correspond to the filter region under the UT scanner 570. In this way, the second internal chamber portion 520-B can include a substantially horizontal ceiling 572 on which the head of the UT scanner 570 can land. Also, the UT scanner 570 may be disposed within the second internal chamber portion 520-B so as to face the internal chamber 520 at a position closer to the rear side of the internal chamber 520 than the front side of the internal chamber 520.

[0070] Various embodiments are configured to operate within a crude oil tank that tends to have a bottom layer of sludge, sediment, and scale. The scale is a layer of hardened material that needs to be removed along with the sludge and sediment in order to obtain accurate UT readings. The pressure generated from the inner coolant spray 54 discharged by the inner nozzle 531 within the inner chamber 520 is relatively low pressure and can remove loose material, but typically cannot remove compressed material such as scale. Thus, to facilitate the removal of scale and other hardened material from the surface to be scanned, various embodiments include a forward fluid discharge injection port 532 having a forward high-pressure nozzle 533. The forward high-pressure nozzle 533 is an external nozzle that discharges liquid in front of the body. The forward high-pressure nozzle 533 may be configured to discharge a high-pressure jet 52 of fluid downward toward a surface in front of and in front of the UT scanner interface 500. The pressure of the high-pressure jet 52 may be, for example, 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 up to, for example, 1000 psi, up to 900 psi, up to 800 psi, up to 700 psi, and includes any range using the above as upper and / or lower limits. For example, the pressure may be in the range of about 100 - 1000 psi. The high-pressure jet 52 may be configured to loosen the material, reduce the possibility of particles entering the inner chamber, thereby facilitating better readings by the UT scanner 570.

[0071] Figures 6A - 6C show aspects of a retractable plow 512 for a UT scanner interface according to various embodiments. Many tanks or vessels suitable for being scanned by the UT scanner interface 500 can have structures or elements contained therein, particularly on their floors, that can potentially form obstacles that can block or stop the UT scanner interface 500. Accordingly, various embodiments may include a retractable plow 512 configured to move relative to the body 510 between a lowered position and a raised position. The retractable plow 512 may be configured to detect when it encounters such an obstacle. Additionally, the retractable plow 512 may also be configured to deflect debris, sludge, sediment, and / or scale as the UT scanner interface 500 moves forward along the scan plane (i.e., in a complex environment).

[0072] According to various embodiments, the retractable plow 512 may include a multi - linkage 515 configured not only to lift the plow blade 630 of the retractable plow 512, but also to selectively lift based on the direction and position of the force applied thereto. The plow blade 630 may have an outer surface that is slightly inclined to deflect debris.

[0073] The multi-bar linkage 515 operates as a kinematic chain having a plurality of rigid links connected by joints and provides a constrained motion. The constrained motion may be designed to lift the plow vertically rather than being an arc that extends both upwardly and rearwardly. The geometric shapes of the links 631, 632, 633, 634, 635, 636 and the joint joints 641, 642, 643, 644, 645, 646, 647 of the multi-bar linkage 515 may be configured to maintain the plow blade 630 in the lowest position (e.g., as shown in FIG. 6A) when the inclined surface of the plow blade 630 pushes aside sludge or other deposits. Additionally, the multi-bar linkage 515 may also be configured to vertically lift the plow blade 630 towards the highest position (e.g., as shown in FIG. 6C) when the front plow tip 613 is pushed with a predetermined force. A pair of springs or similar resistance mechanisms may be calibrated to a predetermined force to maintain the plow blade 630 in the lowered position as long as the predetermined force is not exceeded. The predetermined force may be greater than the distributed force applied to the remaining portion of the plow blade 630.

[0074] When the retractable plow 512 encounters an obstacle, the obstacle applies a force to the tip of the retractable plow 512. The force from an obstacle such as a fixed or heavy obstacle to the tip 513 is typically significantly greater than the force exerted by debris on the rest of the plow blade 630. Thus, according to various embodiments, the multi-bar linkage 515 is configured to automatically lift the plow blade 630 in response to a force applied horizontally to the tip 513 that exceeds a threshold value. Thus, a general force applied to the inclined surface of the plow blade 630 from sediment or the like cannot lift the plow blade 630. In contrast, a larger force applied to the tip 513 from an obstacle or the like may cause the plow blade 630 to lift as a result of the geometric shape of the multi-bar linkage 515 and / or the individual elements forming the spring mechanism. The threshold amount of force can be manually adjusted by replacing the spring or applying tension. An incorrect trigger may occur if the resistance to lifting is low, and the multi-bar linkage 515 and / or the servo motor incorporated therein may be overloaded if the resistance is high. 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 50 g, at least 100 g, at least 200 g, at least 400 g, at least 600 g, at least 800 g, at least 1,000 g, or up to 2000 g, up to 1800 g, up to 1600 g, up to 1400 g, up to 1200 g. The minimum value expected is 50 g and the maximum value is 2000 g, including any range using the above as the upper and / or lower limits. For example, the force may be in the range of about 50 g to 2000 g.

[0075] In addition, the articulation joints 641, 642, 643, 644, 645, 646, 647 may allow the plow blade 630 to pivot, but may be configured to limit and direct its pivoting movement vertically rather than horizontally. When the front plow tip 613 encounters something heavy (e.g., large debris) or fixed (e.g., a rivet, bolt, or other structure or fixing element), the plow blade 630 is lifted vertically by a horizontal pushing force that can occur.

[0076] When an object applies a rearward force to the front plow tip 613, that force is converted into a rotational force at the front hinge 646 (e.g., counterclockwise in the orientation shown in FIGS. 6A - 6C). The rotational force at the front hinge 646 then applies a force forward (e.g., to the left in the orientation shown in FIGS. 6A - 6C) at the upper hinge 647. However, the movement of the upper hinge 647 is restricted by the central linkages 632, 633, 634, such that the upper hinge 647 can only move in a direction that coincides with the articulation joints hinge 643, 644 and hinge 647 and may be substantially vertical. The length of each linkage 631, 632, 633, 634, 635, 636 affects whether the plow blade 630 can be lifted when encountering an obstacle. The shorter the linkage, the greater the amount of rotation, but the less deflection at the ends. Additionally, using bronze bushes for moving parts such as between the linkages 631, 632, 633, 634, 635, 636 and the articulation joints 641, 642, 643, 644, 645, 646, 647 helps prevent the generation of sparks.

[0077] The encoder can measure the movement of the retractable plow 512 based on the movement of the multi-bar linkage 515. For example, it may include an internal encoder configured to measure the rotation / movement amount 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 some points within 30 degrees (30 degrees) can measure only a small part of the rotational movement of the articulation joints 641, 642, 643, 644, 645, 646, 647. The number of points within a given rotation angle that the encoder can measure varies depending on the resolution of the encoder or the number of pulses per revolution. For example, a 12-bit encoder may be calibrated so that the maximum angle is 18 degrees, and the least significant bit (LSB) may be 0.0044 degrees.

[0078] The encoder can provide measurement values for identifying the height of an obstacle, and this information may be stored and used as a landmark for path planning, obstacle avoidance, and / or determining the position of the UT scanner interface 500. When an obstacle applies a threshold amount of force to the tip 513, the force causes the plow blade 630 to lift. When the tip 513 is lifted to a height sufficient to avoid the obstacle, the obstacle stops applying force to the plow blade 630, and the plow blade 630 stops rising. Thus, the encoder can measure how high the plow blade 630 has risen to determine or identify what type of obstacle was encountered. For example, obstacles may be identified by category, with obstacles lower than a predetermined height (e.g., 0.5) classified into one category and obstacles above the predetermined height classified into a second category. For example, an obstacle less than 0.5 inches corresponds to bolts, rivets, or other common small fixed elements within the tank. Also, an obstacle 0.5 inches or more may correspond to any one of the sidewalls of the tank being inspected or other large structures therein. One or more of various types of encoders such as magnetic encoders, optical encoders, quadrature encoders, etc. can be used. Magnetic encoders are beneficial in that they are waterproof and can operate in harsh environments without damage or the need for frequent recalibration because they have low friction and minimal surface contact.

[0079] According to various embodiments, the UT scanner interface 500 may include one or more inductive sensors 584, 586 (see FIGS. 5B and 5D) configured to measure the distance to the surface to be scanned. Power and / or signals from the inductive sensors 584, 586 may be supplied via additional tether lines 585, 587. Alternatively, the inductive sensors 584, 586 may share power and / or signals via lines that are supplied to other components of the UT scanner interface 500, such as a robotic arm (e.g., robotic arm 440). The inductive sensors detect the presence or absence of metallic objects within their detection 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 metallic surface being scanned.

[0080] By including an inductive sensor 584 on one side of the body 510 and a second inductive sensor 586 on a second, opposite side of the body 510, the pair of inductive sensors 584, 586 may be configured to detect not only whether the body 510 is away from the surface to be scanned, but also whether one side of the body 510 is lifted relative to the other. Thus, the inductive sensors 584, 586 may be configured to measure the altitude and orientation of the UT scanner interface 500. Alternatively, more than two inductive sensors 584, 586 may be used in addition to roll to enable detection of pitch changes.

[0081] Alternatively, or in addition, in the case of a tank that is not made of metal, or a tank having a non-metallic surface layer that may interfere with the inductive sensors, other sensors may be used. For example, physical touch sensors, laser distance sensors, potentiometer-based sensors, and / or lidar sensors may be used.

[0082] Various embodiments may include a UT scanner interface 100 that uses one or more alternative means for generating an engagement force that biases the UT scanner interface toward the surface of the target material for inspection. Specifically, in some embodiments, the body 510 of the UT scanner interface 100 may include one or more electromagnets 580, 582 configured to generate a magnetic field for biasing the body 510 toward the steel material to be scanned by the UT scanner 570.

[0083] The flow of the couplant below the UT scanner 570 (e.g., inside the internal chamber 220) tends to push the body 510 upward and away from the surface to be scanned. When the body 510 moves away from the surface to be scanned, the UT scanner 570 may become sensitive to the distance and orientation with respect to the surface to be scanned, which may result in inaccurate measurements. In addition, when the body 510 moves away from the surface to be scanned, a gap is formed below the bottom side 511, and debris or other contaminants may enter the internal chamber 520, particularly between the head of the UT scanner 570 and the surface to be scanned, through this gap. Various embodiments address this problem by incorporating the electromagnets 580, 582 into the base of the body 510. In this way, the UT scanner interface 500 can include means for generating an engagement force that biases the UT scanner interface toward the surface to be scanned using the electromagnets 580, 582. The electromagnets 580, 582 can selectively generate a magnetic field that interacts with the surface to be scanned, which is often made of steel, resulting in an attractive force that firmly holds the body 510 in a predetermined position on the surface to be scanned.

[0084] The main body 510 may include a robotic coupling portion 505 configured to be attached to a robot (e.g., the robot 410 in FIG. 4A) via a robotic arm. By having a connecting portion moored between the robot and the main body 510, it becomes possible to scan a large area of the tank by simply moving the robot once. With the main body 510 placed above the portion to be scanned, the robot can move to a predetermined position. Next, the electromagnets 580, 582 are engaged, and the inner coolant spray 54 is started prior to scanning by the UT scanner 570. When the required number of scans of that portion is completed, the electromagnets 580, 582 are disengaged, and the main body 510 may be moved by the robotic arm without moving the robot. Alternatively, the main body 510 may include its own propulsion means such as electric wheels or external liquid jets. When the main body 510 is repositioned, the electromagnets 580, 582 engage again, the inner coolant spray 54 is started again, and further scanning is performed.

[0085] In addition, the UT scanner interface 500 may include one or more additional tethers such as one or more coolant supply lines connected to the fluid injection port 560, power / data lines 565 coupled to the UT scanner 570, or additional tether lines 585, 587 for the induction sensors 584, 586. The one or more coolant supply lines can supply coolant to the inner coolant spray 54 and can also supply coolant discharged from other ports (e.g., the coolant injection port 530 and / or the high-pressure jet 780).

[0086] Powerful permanent magnets such as neodymium magnets can be used as electromagnets 580, 582 due to their strong magnetic properties. When placed near the surface intended to be scanned by the body 510, the electromagnets 580, 582 can generate a magnetic field that interacts with the ferromagnetic properties of surface materials such as iron and steel. The magnetic field creates an attractive force between the magnet and the surface, creating a strong bond. This force helps to maintain contact or proximity and prevent displacement or detachment. Various mechanisms can be incorporated to control the magnetic force and enable the movement or removal of the body 510 as needed. For example, the body 510 may include a mechanism for adjusting the distance between the electromagnets 580, 582 and the scanning surface, a control device on the body 510 or elsewhere may control the current to the electromagnets 580, 582, and / or may control a deployment / retraction mechanism, or the body 510 may include a deployable / retractable magnetic shielding material to reduce or redirect the magnetic field.

[0087] In various embodiments, the body 510 may include rollers / wheels 550, 552, 554 configured to keep the body 510 sliding smoothly on the surface and maintain the correct orientation and distance from the floor. Additionally, the rollers / wheels 550, 552, 554 assist the UT scanner interface 500 in moving over uneven surfaces. The rollers / wheels 550, 552, 554 help the body 510 move smoothly while the electromagnets 580, 582 are engaged and maintain close contact with the scanning surface. The rollers / wheels 550, 552, 554 may be freely rotating cylinders. Alternatively, the rollers / wheels 550, 552, 554 may be driven by a motor or hydraulics. The rollers / wheels 550, 552, 554 may be made of rubber or at least have a rubber coating on the outside to increase traction. As a further alternative or addition, the rollers / wheels 550, 552, 554 may have an outer surface treatment such as knobs, treads, grooves, etc. to improve traction.

[0088] Alternatively, one or more of the rollers / wheels 550, 552, 554 may be magnetized, instead of or in addition to the electromagnets 580, 582. As additional magnets to the electromagnets 580, 582, the rollers / wheels 550, 552, 554 may be selectively activated, such as being activated when the body 510 is being moved. In this way, the rollers / wheels 550, 552, 554 may be designed to have built-in compartments or recesses for securely housing the magnets. These compartments ensure proper alignment and allow the magnetic field to effectively interact with the surface when energized. Alternatively, one or all of the rollers / wheels 550, 552, 554 may be replaced with magnetized or non-magnetized skids.

[0089] In addition, or as a further alternative, the UT scanner interface 500 may include means for generating an engagement force that biases the UT scanner interface towards the scan surface using a high-pressure jet that directs the flow of fluid upward, which imparts a downward force to keep the body 510 in contact with the floor (i.e., the scan surface).

[0090] Figures 7A - 7B show a UT scanner interface 700 for a complex environment according to various embodiments. In particular, the UT scanner interface 700 includes a body 710 having at least one upward high-pressure jet 780. The high-pressure jet 780 imparts an outward flow F that gives a downward force to the body 710 OIt may be configured to discharge upward. Therefore, the high-pressure jet 780 may be an external jet configured to discharge the liquid in a direction away from the UT scanner in order to bias the main body 710 toward the material to be scanned. Two or more high-pressure jets 780 may be provided to more evenly apply a downward force to the main body 710 when necessary. For example, two high-pressure jets 780 may be arranged on both sides of the centrally located robot coupling part 505. Furthermore, more high-pressure jets or one or more jets at different positions can be used.

[0091] Figures 8A - 8D are process flow diagrams showing exemplary methods 800 - 803 for performing a UT scan in a complex environment according to various embodiments. Referring to Figures 8A - 8D, the methods 800 - 803 and their operations may be performed using a UT scanner interface (e.g., 100) configured to perform a UT scan in a complex environment. In some embodiments, the methods 800 - 803 may be performed with the assistance of a robot (e.g., 410) configured to move through a viscous mixture. The operations of the methods 800 - 803 may be controlled by an operator and may be performed by a processor of the UT scanner interface, the robot, or a combination thereof. In this way, the UT scanner interface can be implemented as a non-autonomous, semi-autonomous, or fully autonomous device.

[0092] Referring to FIG. 8A, in method 800, the UT scanner interface described herein may be placed on the surface of a target material (e.g., 10) for inspection at block 810. The UT scanner interface can hold a UT scanner (e.g., 170, 570). The target material may be immersed in a complex environment composed of a primary fluid (e.g., 55) and contaminants (e.g., 20). The UT scanner may be held within the body of the UT sensor interface such that the UT scanner faces into an internal chamber and towards an opening on the bottom side of the internal chamber. For example, the UT scanner interface may be lowered onto the bottom of a crude oil tank or operated inside a crude oil pipe and placed over a section of the tank or pipe intended to be scanned using a UT scanner attached to the UT scanner interface. In this way, the primary fluid may be oil stored within the tank or pipe.

[0093] At block 812, a couplant can be injected into the internal chamber. The couplant may be a primary liquid (e.g., oil) pumped into the internal chamber from a higher location of the container (i.e., the tank or pipe) to be scanned. Alternatively, the couplant may be pumped into the internal chamber from outside the container and may be a fluid other than the fluid within the tank being inspected.

[0094] In block 814, an engaging force may be generated to bias the UT scanner interface toward the surface of the target material for inspection. For example, the engaging force may be generated by a fluid drawn from the internal chamber to form a filter region under the measurement head of the UT scanner within the internal chamber of the UT scanner interface. The fluid drawn from the internal chamber can include a couplant (i.e., the primary fluid) and a fluid containing contaminants in the tank. For example, the fluid removed from the internal chamber may be a mixture of the primary fluid and contaminants (e.g., sediment, sludge, and / or biofouling). The fluid may be removed from the internal chamber to remove contaminants from the filter region. In various embodiments, the pressure difference between the injected couplant in block 812 and the suction fluid from the internal chamber in block 814 may create a net negative pressure within the internal chamber that pulls the UT scanner interface toward the target material (i.e., the scan surface). As another example, the engaging force may be generated by supplying power to an electromagnet configured to pull the UT scanner interface toward the surface of the target material for inspection. As yet another example, the engaging force may be generated by discharging fluid from the UT scanner interface in a direction away from the surface of the target material (e.g., upward away from the floor of the tank) for inspection.

[0095] In block 816, the UT scanner can be operated to perform a UT scan of the target material through the couplant within the internal chamber. Following the injection of the couplant in block 812 and the removal of the fluid containing contaminants in block 814, an active scan by the UT scanner can ensure the integrity of the couplant within the filter region or at least within the internal chamber of the UT scanner interface.

[0096] Referring to FIG. 8B, in method 801, following the operation in block 816 of method 800, the UT scanner interface can move in a complex environment at block 818. Such movement can rotate a pair of rollers attached to the body of the UT scanner interface in the direction of movement. The rollers can be adjacent to two sides of the internal chamber and connect opposite sides of the filter area under the UT scanner interface. For example, a robot (e.g., 410) can operate in a complex environment to pull or push the UT scanner interface to a selected portion of the target material to be scanned. In this way, multiple portions of the target material can be scanned. For example, the entire bottom of a crude oil tank or the entire length of a pipe can be scanned step by step. Following the operation in block 818, the method can perform the operation in block 812 of method 800 as described.

[0097] Referring to FIG. 8C, in method 802 following the operation in either block 816 of method 800 or block 818 of method 801, the UT scanner interface may be moved to a target area of the target material in a complex environment for scanning at block 820. The integrity of the coupling fluid may be partially maintained in the filter area under the UT scanner interface by a pair of flexible skirts extending from the lower end of the internal chamber. Following the operation in block 820, the method can perform the operation in block 812 of method 800 as described.

[0098] Referring to FIG. 8D, in method 803, the UT scanner interface may be coupled to a remote source of primary fluid at block 822. For example, the UT scanner interface may be connected to a float having a hose, or may be connected to a buoyancy hose for supplying a new coupling fluid to the UT scanner interface. At block 824, while pumping the primary fluid into the internal chamber, the primary fluid may be conveyed to the UT scanner interface. Following the operation at block 824, the method may perform the operation at block 810 of method 800 as described.

[0099] Referring to FIG. 8E, in method 804 following the operation in any of block 816 of method 800, block 818 of method 801, or block 820 of method 802, the UT scanner interface can measure the movement of the retractable plow relative to the body (e.g., using an encoder) to identify an obstacle that contacts the retractable plow.

[0100] Examples are described in the following paragraphs.

[0101] [Example 1] A UT scanner interface for a complex environment, comprising a body having an internal chamber opening on the bottom side, the body being configured to hold a UT scanner facing into the internal chamber and towards the opening on the bottom side, a coupling fluid injection port configured to inject a coupling fluid into the internal chamber, and a fluid discharge port configured to remove fluid from the internal chamber, wherein the fluid removed from the internal chamber includes at least a portion of the coupling fluid injected into the internal chamber.

[0102] [Example 2] The coupling agent injection port is arranged along the outer edge of the opening on the bottom side and is coupled to a series of inlet ports configured to distribute the coupling agent supplied from the coupling agent injection port into the internal chamber, which is the UT scanner interface of Example 1.

[0103] [Example 3] The series of inlet ports is at least one of being arranged outside the internal chamber, facing the same direction as the UT scanner, or being arranged on both sides of the internal chamber, which is the UT scanner interface of Example 2.

[0104] [Example 4] The fluid discharge port is arranged adjacent to the internal chamber and is coupled to a series of outlet ports configured to receive the coupling agent supplied to the internal chamber, which is the UT scanner interface of at least one of Examples 1 to 3.

[0105] [Example 5] The series of outlet ports is distributed along the opposite side of the UT scanner in the internal chamber, which is the UT scanner interface of Example 4.

[0106] [Example 6] It further includes a pair of rollers arranged on both sides of the opening on the bottom side, and each of the pair of rollers is configured to engage with the surface for scanning by the UT scanner, which is the UT scanner interface of at least one of Examples 1 to 5.

[0107] [Example 7] The main body further includes a pair of roller cavities for accommodating one of the pair of rollers, and the pair of roller cavities are arranged on both sides of the internal chamber, which is the UT scanner interface of Example 6.

[0108] [Example 8] The body of the UT scanner interface of Example 7 further includes a fluid supply port configured to supply a fluid for lubricating the pair of rollers to the pair of roller cavities.

[0109] [Example 9] The UT scanner interface of at least one of Examples 1 to 8, wherein a lower end of at least one side wall of the body includes a flexible skirt configured to at least partially block liquid or sediment from entering the internal chamber.

[0110] [Example 10] The body of the UT scanner interface of at least one of Examples 1 to 9 includes at least one inclined side wall extending between a bottom portion and an upper portion of the body outside the body, and deflects sediment when the body moves in a complex environment.

[0111] [Example 11] The body of the UT scanner interface of at least one of Examples 1 to 10 includes a retractable plow configured to move relative to the body between a lowered position and a raised position.

[0112] [Example 12] The retractable plow of the UT scanner interface of Example 11 is configured to move from the lowered position to the raised position in response to a force exceeding a threshold being horizontally applied to a tip of the retractable plow.

[0113] [Example 13] The couplant injection port of the UT scanner interface of at least one of Examples 1 to 12 is coupled to an opening into the internal chamber and is configured to direct the couplant such that the couplant flows from a front side of the internal chamber toward a rear side of the internal chamber opposite the front side.

[0114] [Example 14] The fluid discharge port is the UT scanner interface of Example 13, which is arranged at the rear side of the internal chamber.

[0115] [Example 15] The internal chamber is the UT scanner interface of Example 13, where the rear side is open such that the opening at the rear side forms the fluid discharge port.

[0116] [Example 16] The UT scanner is arranged facing into the internal chamber of Example 13, closer to the rear side of the internal chamber than the front side of the internal chamber.

[0117] [Example 17] The vertical height of the internal chamber is that of the UT scanner interface of at least one of Examples 1 to 16, which becomes narrower from the front part of the internal chamber towards the rear part of the internal chamber.

[0118] [Example 18] The lateral width of the internal chamber is that of the UT scanner interface of at least one of Examples 1 to 17, which expands from the front part of the internal chamber towards the rear part of the internal chamber.

[0119] [Example 19] The main body further includes an external nozzle configured to discharge fluid in front of the main body, which is the UT scanner interface of at least one of Examples 1 to 18.

[0120] [Example 20] The main body further includes an electromagnet configured to generate a magnetic field for biasing the main body towards the steel material to be scanned by the UT scanner, which is the UT scanner interface of at least one of Examples 1 to 19.

[0121] [Example 21] The main body further includes an external nozzle configured to discharge fluid in a direction away from the surface to be scanned by the UT scanner in order to bias the main body in the direction of the material to be scanned. The UT scanner interface of at least one of Examples 1 to 20.

[0122] [Example 22] The main body further includes an induction sensor configured to detect the distance of the main body from the surface to be scanned by the UT scanner. The UT scanner interface of at least one of Examples 1 to 21.

[0123] [Example 23] The UT scanner interface of at least one of Examples 1 to 22, further comprising a UT scanner fixed to the main body.

[0124] [Example 24] A UT scanner interface for holding a UT scanner on the surface of a target material for inspection is arranged. The target material is immersed in a complex environment consisting of a primary fluid and contaminants. The UT scanner is held in the main body of the UT scanner interface such that the UT scanner faces into the internal chamber of the main body and towards an opening on the bottom side of the internal chamber. A coupling force is generated to inject a couplant into the internal chamber and bias the UT scanner interface towards the surface of the target material for inspection. The UT scanner is operated to perform the UT scan of the target material through the couplant in the internal chamber. A method for performing a UT scan in a complex environment.

[0125] [Example 25] Generating the coupling force includes sucking fluid from the internal chamber to form a filter region under the UT scanner interface. The fluid sucked from the internal chamber includes at least one of a couplant and contaminants to filter and remove contaminants from the filter region. The method of Example 24.

[0126] [Example 26] The method according to Example 23 or 24, wherein a pressure difference between sucking fluid from the injected couplant and the internal chamber forms a net negative pressure in the internal chamber that pulls the UT scanner interface toward the target material.

[0127] [Example 27] The method according to at least one of Examples 23 to 26, wherein generating the engaging force includes supplying power to an electromagnet configured to pull the UT scanner interface toward the surface of the target material for inspection.

[0128] [Example 28] The method according to at least one of Examples 23 to 27, wherein generating the engaging force includes discharging fluid from the UT scanner interface in a direction away from the surface of the target material for inspection.

[0129] [Example 29] The method according to at least one of Examples 23 to 28, further comprising coupling the UT scanner interface to a remote source of the primary fluid and transporting the primary fluid to the UT scanner interface while pumping the primary fluid into the internal chamber.

[0130] [Example 30] The method according to at least one of Examples 23 to 29, further comprising measuring movement of the retractable plow relative to the body to identify an obstacle in contact with the retractable plow.

[0131] The foregoing description of the systems, devices, and methods is provided as merely illustrative examples and is not intended to require or imply that the steps of the various embodiments must be performed in the order presented. As will be understood by those skilled in the art, the order of the steps in the foregoing embodiments may be performed in any order. Words such as "thereafter," "then," "next," etc. are not intended to limit the order of the steps, and these words are used to guide the reader through the description of the method. Further, for example, references to singular claim elements using the articles "a," "an," or "the" should not be construed as limiting such elements to the singular form.

[0132] The foregoing description of the disclosed embodiments is provided to enable those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Accordingly, the invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the following claims and the principles and novel features disclosed herein.

Claims

1. comprising a body, said body being an internal chamber opening at the bottom side, said body facing into said internal chamber and configured to hold a UT scanner so as to face the opening at the bottom side; a couplant injection port configured to inject couplant into said internal chamber; a fluid discharge port configured to remove fluid from said internal chamber, said fluid removed from said internal chamber including at least a portion of the couplant injected into said internal chamber; an ultrasonic non-destructive testing (UT) scanner interface for complex environments.

2. The UT scanner interface according to claim 1, wherein said couplant injection port is arranged along the outer edge of said opening at the bottom side and is coupled to a series of inlet ports configured to distribute the couplant supplied from said couplant injection port into said internal chamber.

3. The UT scanner interface according to claim 2, wherein at least one of said series of inlet ports is arranged outside said internal chamber, faces the same direction as said UT scanner, or is arranged on both sides of said internal chamber.

4. The UT scanner interface according to claim 1, wherein said fluid discharge port is arranged adjacent to said internal chamber and is coupled to a series of outlet ports configured to receive the couplant supplied to said internal chamber.

5. The UT scanner interface according to claim 4, wherein said series of outlet ports are distributed along the opposite side of said UT scanner within said internal chamber.

6. A pair of rollers disposed on both sides of the opening on the bottom side, each of the pair of rollers being configured to engage a surface for scanning by a UT scanner, the UT scanner interface according to claim 1.

7. The body further comprises a pair of roller cavities for housing one of the pair of rollers, the pair of roller cavities being disposed on both sides of the internal chamber, the UT scanner interface according to claim 6.

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

9. The lower end of at least one side wall of the body includes a flexible skirt configured to at least partially block liquid or sediment from entering the internal chamber, the UT scanner interface according to claim 1.

10. The body includes at least one inclined side wall extending between the bottom and the top of the body outside the body, deflecting sediment when the body moves in a complex environment, the UT scanner interface according to claim 1.

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

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

13. The coupling agent injection port is coupled to an opening into the internal chamber and is configured to direct the coupling agent such that the coupling agent flows from the front side of the internal chamber toward the rear side of the internal chamber opposite the front side, the UT scanner interface according to claim 1.

14. The fluid discharge port is disposed at the rear side of the internal chamber, the UT scanner interface according to claim 13.

15. The internal chamber has an open rear side such that the opening at the rear side forms the fluid discharge port, the UT scanner interface according to claim 13.

16. The UT scanner is disposed facing the internal chamber closer to the rear side of the internal chamber than to the front side of the internal chamber, the UT scanner interface according to claim 13.

17. The vertical height of the internal chamber narrows from the front portion of the internal chamber toward the rear portion of the internal chamber, the UT scanner interface according to claim 1.

18. The lateral width of the internal chamber expands from the front portion of the internal chamber toward the rear portion of the internal chamber, the UT scanner interface according to claim 1.

19. The main body further includes an external nozzle configured to discharge liquid in front of the main body, the UT scanner interface according to claim 1.

20. The main body further includes an electromagnet configured to generate a magnetic field for biasing the main body toward a steel material to be scanned by the UT scanner, the UT scanner interface according to claim 1.

21. The UT scanner interface according to claim 1, wherein the main body further includes an external nozzle configured to discharge a liquid in a direction away from the surface to be scanned in order to bias the main body toward the object to be scanned.

22. The UT scanner interface according to claim 1, wherein the main body further includes an induction sensor configured to detect the distance of the main body from the surface to be scanned by the UT scanner.

23. The UT scanner interface according to claim 1, further including that the UT scanner is fixed to the main body.

24. An UT scanner interface for holding an UT scanner on the surface of a target material for inspection, wherein the target material is immersed in a complex environment consisting of a primary fluid and contaminants, and the UT scanner is held in the main body of the UT scanner interface such that the UT scanner faces into an internal chamber of the main body and towards an opening on the bottom side of the internal chamber, inject a coupling agent into the internal chamber, generate an engagement force for biasing the UT scanner interface towards the surface of the target material for inspection, actuate the UT scanner to perform the UT scan of the target material through the coupling agent in the internal chamber, including A method for performing a UT scan in a complex environment.

25. Generating the engagement force includes sucking fluid from the internal chamber to form a filter region under the UT scanner interface, and the fluid sucked from the internal chamber includes at least one of a coupling agent and contaminants for filtering and removing contaminants from the filter region. The method according to claim 24.

26. The method according to claim 24, wherein a pressure difference between sucking the injected couplant and the fluid from the internal chamber forms a net negative pressure in the internal chamber that pulls the UT scanner interface towards the target material. **Claim 27** The method according to claim 24, wherein generating the engaging force includes supplying power to an electromagnet configured to pull the UT scanner interface towards the surface of the target material for inspection. **Claim 28** The method according to claim 24, wherein generating the engaging force includes discharging fluid from the UT scanner interface in a direction away from the surface of the target material for inspection. **Claim 29** coupling the UT scanner to a remote source of the primary fluid; The method according to claim 24, including conveying the primary fluid to the UT scanner interface while pumping the primary fluid into the internal chamber. **Claim 30** The method according to claim 24, measuring movement of the retractable plow relative to the body to identify an obstacle in contact with the retractable plow.

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