Abstract: A device and method used to log images of target objects with ultrasound transducers. The object may be a fluid-carrying tubular, such as a pipeline. The transducers operate as phased arrays, insonifying areas of the target object with a plane wave and then storing the reflected signals. The signals are sampled and summed for each pixel, by considering various paths taken by the wave from transmitting to receiving via that pixel. Refraction and reflection from surfaces are used to determine segments of the paths.

Abstract: An ultrasonic inspection device and method of inspecting parts is disclosed that uses significantly less memory and power with little drop in image quality. The device transmits on a full aperture of ultrasonic elements in a phased array but receives on only a fraction of that aperture. The device may be used downhole, in pipeline inspection or Non-Destructive Testing of manufactured parts.

Abstract: A device and method for non-destructive testing of an object, such as a pipe, well casing, plane wing, rail track, weldment, bridge or manufactured part. A phased array of ultrasonic transducers moves relative to the part in one direction, while transmitting a steered wave in another direction to capture the texture from the object's surface. Diffuse and specular components of the received reflection signals are separated and beamformed for visualization. The object is then viewable as a 3D image with a texture map of the object's surface.

Abstract: Methods and devices for imaging wells using ultrasound is described. The devices include a modular imaging device having a telemetry module and a radial imaging module and/or forward imaging module. The radial imaging module includes a ring shaped phased array ultrasonic transducer array for generating images on the length of a wellbore. Various lens and housing configurations for the radial imaging module are described. The forward imaging module includes an ultrasonic transducer comprising one or more elements and having an adjustable viewpoint for generating images of obstructions found in a wellbore. Advanced imaging modes for a radial imaging module include multiple aperture and spiral wave imaging mode.

Abstract: A device and method for imaging, measuring and identifying multiphase fluid flow in wellbores using phased array Doppler ultrasound. The device includes a radially-configured or ring-shaped ultrasound transducer that when deployed in a well in Doppler mode can measure the velocity of radially flowing fluids in the wellbore and generate a 3D image of radial flow in the wellbore, including flowback into the wellbore after fracturing operations, or flow leaving the wellbore during water injection operations. The ring-shaped ultrasound transducer can also simultaneously operate in a B-mode to generate a B-mode image of the wellbore liner upon which the Doppler image can be overlaid. The device may also include a forward facing ultrasound transducer either instead of or in place of the ring-shaped transducer for obtaining information and images on axial flow in the wellbore in Doppler mode, and the location of phase boundaries and phase locations in B-mode.

Abstract: A downhole imaging tool and method of operating the tool in a wellbore. An imaging sensor array at an end of the tool is rotatable about a longitudinal axis of the tool to image the well by sweeping out a 2D area of the well. Actuators in the tool provide rotation and/or extension of the sensor array to change perspective. An ultrasound phased-array may be used to measure and identify features of the well or objects.

Abstract: A device and method used to image conduits, such as pipes, wellbores and tubulars, with imaging sensors, such as cameras and ultrasound arrays. The speed and location of the device are determined using one or more speed sensor modules. Images are then registered to more precise axial locations along the conduit than are normally possible using wireline encoders or other methods. The conduit may be visualized to proper scale for improved analysis of defects.

Abstract: A device and method used to image wells and other fluid-carrying tubulars having localized features of interest. The device scans large areas of the tubular first in a low-resolution mode using an ultrasound sensor and in a high-resolution mode using a camera, then identifies areas that contain those localized features with some probability. The device images are stored for further image processing. The two sensors are axially spaced-apart on the device. A computer remote from the imaging device renders a visualization of the tubular and localized features using the optical and ultrasound images.

Abstract: A method and instruction memory for processing acoustic images of a tubular to determine the surface of the tubular. The images may be acquired by an acoustic logging tool deployed into a pipe or well. A Machine Learning model is trained to recognize regions of the acoustic images that are internal to the tubular or not, in order to determine surface pixels. The surface pixels may be rendered to create visualizations of the tubular where noise and non-surface features are filtered out automatically.

Abstract: A device and method used for inspecting and measuring coiled tubing, production tubing or drill pipe as it enters the well. Defects such as internal and external wall loss, cracking and deformation can be detected and quantified. The axial motion of the tubing can be measured allowing for depth measurements that are more accurate and reliable than what can be obtained using an encoder wheel system.

Abstract: A device and method to compress and store ultrasound data from an ultrasound logging device. The logging device is deployed in a well or pipe to be logged with one or more ultrasound transducers, preferably an array of transducers. On-board the device, are processors and memory units for convolving the ultrasound data with a wavelet transformation to generate wavelet coefficients and then compress the wavelet coefficients to generate compressed wavelet coefficients. The compressed wavelet coefficients are stored on the memory units and transferred to a remote computer once the device leaves the well or pipe.

Abstract: A device and method used to image wells and other fluid-carrying tubulars having localized features of interest. The device scans large areas of the tubular first in a low-resolution mode, then identifies areas that contain those localized features with some probability. The device images the identified areas in a high-resolution mode and stores the images for further image processing. The device may comprise two sensors axially spaced-apart on the device, which sensors may be electromagnetic, acoustic, or cameras.

Abstract: A method, apparatus and system for locating external apparatus mounted to a tubular in a wellbore. The identification of apparatus, such as cable clamps, enables other tools in the string to operate more precisely. A computer model is used to locate the apparatus from acoustic images, which images are acquired using a downhole device having an acoustic sensor or acoustic array. The model may be a classifier, which may be machine trained to classify whether an apparatus is present, its location and its orientation. Automating this locating enables very long wellbores to be processed quickly.

Abstract: A device and method for manipulating a robotic end effector in a well. Actuators manipulate the end effector independently through multiple degrees of freedom to improve the perspective of the end effector. An imaging sensor may be used to image, measure and identify features of a well and objects located therein. The sensor may be an ultrasound transducer, camera or x-ray sensor arranged radially, axial or distributed over a 2D surface. The end effector may be connected to a tool, such as a fishing tool, a welder, a milling tool, or a repair tool.

Abstract: A device and method used to image cylindrical fluid conduits, such as pipes, wellbores and tubulars, with ultrasound transducers then compress that data for storage or visualization. The compressed images may be stored on the tool and/or transmitted over telemetry, enabling the device to inspect and record long pipes or wells in high resolution on a single trip. This allow the ultrasound imaging tool to record much longer wells in higher resolution than would otherwise be possible. An outward-facing radial array of ultrasound transducers captures cross-sectional slices of the conduit to create frames from scan lines. The frames are compressed by applying a demodulation process and spatial conversion process to the scan lines. Video compression is applied to the to the demodulated, spatially converted ultrasound images to return compressed images.

Abstract: A system, device and method for imaging, measuring and identifying surface features in a tubular, such as a casing, wellbore, or pipe. The device comprises an ultrasound transducer for sonifying an area of the surface of the tubular, with a pulse intercepting axial locations of the sonified area at different times. Reflected signals are processed using their time of flight to interpret the reflected signals as axial locations of features on the surface of the tubular. Multiple sonified areas are partially overlapped in the axial direction to capture features redundantly. Reflections from the multiple areas are combined to remove noise and strengthen reflections from real features. A geometric model of the surface of the tubular is rendered and displayed. Capturing larger areas per frame increases the logging rate and oversampling improves the resolution and signal to noise ratio.

Abstract: A device and method used to log images of target objects with ultrasound transducers. The object may be a fluid-carrying tubular, such as a pipeline. The transducers operate as phased arrays, insonifying areas of the target object with a plane wave and then storing the reflected signals. The signals are sampled and summed for each pixel, by considering various paths taken by the wave from transmitting to receiving via that pixel. Refraction and reflection from surfaces are used to determine segments of the paths.

Abstract: A device and method for imaging, measuring and identifying multiphase fluid flow in wellbores using phased array Doppler ultrasound. The device includes a radially-configured or ring-shaped ultrasound transducer that when deployed in a well in Doppler mode can measure the velocity of radially flowing fluids in the wellbore and generate a 3D image of radial flow in the wellbore, including flowback into the wellbore after fracturing operations, or flow leaving the wellbore during water injection operations. The ring-shaped ultrasound transducer can also simultaneously operate in a B-mode to generate a B-mode image of the wellbore liner upon which the Doppler image can be overlaid. The device may also include a forward facing ultrasound transducer either instead of or in place of the ring-shaped transducer for obtaining information and images on axial flow in the wellbore in Doppler mode, and the location of phase boundaries and phase locations in B-mode.

Abstract: A device and method used to correct beamforming of an acoustic phased array in cases of eccentricity of the acoustic device in a tubular. A processor calculates the eccentricity from multiple scan lines and create a geometric model of a well or pipe relative to the device. The processor may correct each scan line's focus and/or angle of incidence at a surface of the well or pipe based on the observed eccentricity.

Abstract: A device and method used to increase the resolution when imaging, measuring and inspecting wells, pipes and objects located therein. The device comprises an array of acoustic transducers that both transmit and receive acoustic signals. Scan lines may be overlapped by interlacing transmission and receiving windows thus increasing either the resolution or logging speed drastically compared to conventional approaches. The sequence of the scan lines making up an imaging frame is created by stratifying physically close lines and randomly selecting from within each stratum, preventing interference from neighboring transducers, signals and acoustic artifacts that fundamentally limit logging speed and resolution using conventional methods.