Systems, apparatuses, and methods for measuring submerged surfaces

1. A measurement apparatus, comprising:

a main frame;

a source attached to the main frame, wherein the source is configured to be positioned outside of a submerged pipe, and to transmit a continuous first amount of radiation toward the pipe; and

a detector attached to the main frame, wherein the detector is configured to be positioned outside of the submerged pipe, and to receive a second amount of radiation representing a portion of the first amount of radiation that passes through the pipe,

wherein the detector is configured to determine a composition or wall thickness of the submerged pipe based on the first and second amounts of radiation as the measurement apparatus moves along the submerged pipe,

a connection structure configured to form one or more of a mechanical, electrical, hydraulic, or signal connection with a remotely operated vehicle (ROV), the ROV configured to lower and place the measurement apparatus along a submerged section of the submerged pipe, and

a motorized crawler attached to the measurement apparatus configured to engage a surface of the submerged pipe and move the measurement apparatus along an axial direction of the submerged pipe at an underwater depth of up to about 4700 meters below sea level and an underwater speed of about 1 to about 20 feet per minute.

2. The measurement apparatus of claim 1 , further comprising:

a control system configured:

to control the source to transmit the first amount of radiation;

to control the detector to receive the second amount of radiation; and

to determine a first composition of the submerged pipe based on the received second amount of radiation.

3. The measurement apparatus of claim 1 , wherein the detector is further configured to determine a presence of oil, wax, or a hydrate based on a measured jump in density of a content of the submerged pipe.

4. The measurement apparatus of claim 1 , wherein the measurement apparatus is configured to perform measurements on submerged pipes having diameters ranging from approximately 10 to 18 inches.

5. The measurement apparatus of claim 1 , further comprising:

an electrical or hydraulic actuator that is configured change an angular position of the source and detector or to change a position of the source and/or detector in a direction perpendicular to the submerged pipe.

6. The measurement apparatus of claim 1 , further comprising a control system that is configured:

to receive control instructions from a remotely operated vehicle (ROV);

to control the source, based on the received control instructions, to transmit the first amount of radiation;

to control the detector, based on the received control instructions, to receive the second amount of radiation and to determine the composition of the submerged pipe based on the received second amount of radiation; and

to transmit data characterizing the determined composition to the ROV.

7. The measurement apparatus of claim 1 , further comprising:

one or more sensors configured to measure self-diagnostic information including one or more of: a temperature, a pressure, a position of the measurement apparatus along an axial direction of the submerged pipe, an angular position of the measurement apparatus relative to the submerged pipe, and status information of the source and detector,

wherein the control system is further configured:

to control the one or more sensors to perform measurements to generate self-diagnostic information; and

to transmit the generated self-diagnostic information to the ROV.

8. The measurement apparatus of claim 1 , further comprising:

a distance measuring sensor; and

a propulsion drive circuit that uses closed loop feedback, based on a distance measured by the distance measuring sensor, to control the speed of the motorized crawler.

9. The measurement apparatus of claim 1 , wherein the motorized crawler comprises:

at least one traction roller powered by a motor.

10. A measurement apparatus, comprising:

a main frame;

a rotating support structure attached to the main frame;

a source attached to the rotating support structure, wherein the source is configured to be positioned outside of a submerged pipe, and to transmit a continuous first amount of radiation toward the submerged pipe; and

a detector attached to the rotating support structure, wherein the detector is configured to be positioned outside of the submerged pipe, and to receive a second amount of radiation representing a portion of the first amount of radiation that passes through the pipe,

wherein the detector is configured to generate a measurement signal that is used to determine a composition or density of media flowing and/or stagnant within a section of the pipe based on the first and second amounts of radiation as the measurement apparatus moves along the pipe,

a connection structure configured to form one or more of a mechanical, electrical, hydraulic, or signal connection with a remotely operated vehicle (ROV), the ROV configured to lower and place the measurement apparatus along a submerged section of the submerged pipe, and

a motorized crawler attached to the measurement apparatus configured to engage a surface of the submerged pipe and move the measurement apparatus along an axial direction of the submerged pipe at an underwater depth of up to about 4700 meters below sea level and an underwater speed of about 1 to about 20 feet per minute.

11. The measurement apparatus of claim 10 , further comprising:

an electrical or hydraulic motor configured to rotate the rotating support structure to thereby rotate angular positions of source and detector.

12. The measurement apparatus of claim 11 , further comprising:

a control system configured:

to control the source to transmit the first amount of radiation;

to control the detector to receive the second amount of radiation and to determine a first composition of the submerged pipe based on the received second amount of radiation;

to control the electrical or hydraulic motor to rotate the rotating support structure to thereby change an angular position of the source and detector; and

to repeat the control of the source and detector to determine a second composition of the submerged pipe at the changed angular position of the source and detector.

13. The measurement apparatus of claim 12 , wherein the control system is further configured to control the angular position of the rotating support structure to rotate in an angle from 0° to 180°.

14. The measurement apparatus of claim 10 , wherein the detector is further configured to determine a presence of oil, wax, or a hydrate based on a measured jump in density of a content of the submerged pipe.

15. The measurement apparatus of claim 10 , further comprising:

a distance measuring sensor; and

a propulsion drive circuit that uses closed loop feedback, based on a distance measured by the distance measuring sensor, to control the speed of the measurement apparatus.

16. The measurement apparatus of claim 10 , wherein the measurement apparatus is configured to perform measurements on submerged pipes having diameters ranging from approximately 10 to 18 inches.

17. The measurement apparatus of claim 10 , wherein the motorized crawler comprises:

at least one traction roller powered by a motor.

18. A method of determining a composition of a submerged pipe, the method comprising:

transmitting a first amount of radiation by a source that is attached to a main frame of a measurement apparatus and located outside of the submerged pipe;

receiving a second amount of radiation representing a portion of the first amount of radiation that passes through the pipe by a detector that is attached to the main frame and located outside of the submerged pipe;

determining, by the detector, a first composition or wall thickness of the submerged pipe based on the received second amount of radiation;

changing an angular position of the source and/or detector; and

repeating the transmitting, the receiving, and the determining to determine a second composition or wall thickness of the submerged pipe at the changed angular position of the source and/or detector,

wherein the transmitting, receiving, and determining operations are performed by a measurement apparatus that includes a connection structure configured to form one or more of a mechanical, electrical, hydraulic, or signal connection with an ROV that is capable of submerging the measurement apparatus and placing it in position on the submerged pipe, and

operating a motorized crawler attached to the measurement apparatus configured to engage a surface of the submerged pipe and move the measurement apparatus along an axial direction of the submerged pipe at an underwater depth of up to about 4700 meters below sea level and an underwater speed of about 1 to about 20 feet per minute.

19. The method of claim 18 , further comprising determining the first and second compositions of the submerged pipe at depths to 4,700 m below sea level.