Pipeline Tool Localization Using Weld Timing and Sensor Arrays
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Solution Overview
Problem
Existing technologies face challenges in accurately localizing pipeline inspection gadgets (PIGs) and robots within pipelines, especially in GPS-denied environments, due to error buildup from inertial measurement unit measurements alone.
Innovation Solution
The system employs electromagnetic sensors mounted on the PIG to detect landmarks like welds within the pipeline, combining these data with inertial measurement unit readings to estimate velocity and position using AI processing for enhanced accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If inertial measurement unit measurements are used alone for localization, then the system can operate independently without external sensors, but error buildup occurs reducing measurement precision
Solution Approach 1:
The patent combines inertial measurement unit measurements with electromagnetic sensor measurements of pipeline landmarks (welds) to create a hybrid localization system. This merging allows the system to maintain independent operation while correcting drift errors through periodic landmark-based position updates, thereby resolving the contradiction between autonomous operation and measurement precision.
2Measurement precision
If electromagnetic sensors are added to detect landmarks, then localization accuracy improves, but device complexity increases
Solution Approach 1:
The electromagnetic sensors serve dual purposes: they detect pipeline landmarks (welds) for localization and simultaneously characterize pipeline features for inspection. This multi-functionality allows the system to improve localization accuracy without adding dedicated sensors, thereby mitigating the increase in device complexity.
3Measurement precision
If paired sensor arrays are used to measure instantaneous velocity, then velocity measurement precision improves, but device complexity increases
Solution Approach 1:
The patent uses pipeline landmarks (welds) as intermediaries to enable velocity measurement. Instead of relying solely on complex paired sensor arrays, the system detects welds at known positions and calculates velocity based on the time of flight between landmarks, using the landmarks themselves as mediators to simplify the measurement process while maintaining precision.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This approach provides more accurate localization of PIGs and robots within pipelines, reducing error buildup and avoiding the need for external sensors, thus enhancing the reliability and precision of pipeline inspection.
Implementation Method 1
a device comprising a first array and a second array of electromagnetic sensors
Data Source
AI summary
Systems and methods for estimating location of features in a pipeline can be based on a device with two arrays axially spaced apart from each other by a distance. Measurements of signals from the first array and the second array of electromagnetic sensors are acquired and, based on the measurements, welds in walls of the pipeline are detected. An instantaneous velocity of the device can be estimated based, at least in part, by dividing the distance between first array of electromagnetic sensors and the second array of electromagnetic sensors by time elapsed between first array of electromagnetic sensors passing the weld and the second array of electromagnetic sensors passing the weld. The position of the device in the pipeline can be estimated based, at least in part, on the estimates of the instantaneous velocity of the device over time.