Systems, apparatuses, and methods for measuring submerged surfaces

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.

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.