CPC G01N 23/18 (2013.01) [G01N 23/04 (2013.01); G01N 23/083 (2013.01); G01N 2223/3303 (2013.01); G01N 2223/628 (2013.01)] | 24 Claims |
1. A radiography system for use on a pipe traversing robot, the system comprising:
a radiation source configured to direct a radiation field tangential to an outer surface of a pipe such that a first portion of the radiation field contacts the pipe and a second portion of the radiation field passes by a corresponding periphery of the pipe;
an imager configured to receive the second portion of the radiation field emitted from the radiation source; and
one or more mechanisms configured to automatically adjust a position of at least one of the radiation source and the imager on the pipe traversing robot based on a diameter of the pipe, such that the radiation source and the imager direct and receive the radiation field in said manners, respectively, when the pipe traversing robot is on the pipe of said diameter,
wherein at least one of the one or more mechanisms is configured to automatically adjust a lateral position of the radiation source such that the radiation source directs the radiation field tangential to the outer surface of a pipe such that the first portion of the radiation field contacts the pipe and the second portion of the radiation field passes by the corresponding periphery of the pipe, and
wherein the mechanism comprises a controller configured to:
determine, based on the diameter of the pipe, a lateral position of the radiation source suitable for directing the radiation field tangential to the outer surface of a pipe such that a first portion of the radiation field contacts the pipe and a second portion of the radiation field passes by a corresponding periphery of the pipe; and
engage a motor to move the radiation source to the lateral position.
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