# US 12,111,007 B2 · Intelligent data acquisition system and method for pipelines > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,111,007 B2 - Document ID: US12111007B2 - Status: Granted - Kind: B2 - Application number: 17/037,404 - Filed: 2020-09-29 - Published: 2021-03-04 - Granted: 2024-10-08 - Earliest claimed: 2018-04-02 - Applicants: Shuyong Paul Du - Inventors: Shuyong Paul Du - Web page: https://patentgrep.com/patent/US12111007B2 ## CPC - F16L 55/48: Indicating the position of the pig or mole in the pipe or conduit - G01N 23/18: Investigating the presence of flaws defects or foreign matter - F17D 5/06: using electric or acoustic means - G01M 3/005: {using pigs or moles (G01M3/246, G01M3/2823 take precedence)} - G01N 23/04: and forming images of the material - G01N 29/12: by measuring frequency or resonance of acoustic waves {(measuring frequency or resonant frequency of mechanical vibrations or acoustic waves in general G01H1/06, G01H3/04, G01H13/00; acoustic resonators G10K11/04; vibration or shock testing of structures G01M7/00)} - H04L 67/12: specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks - H04W 4/38: for collecting sensor information - F16L 2101/30: Inspecting, measuring or testing - G01N 2223/628: tubes, pipes - F16L: PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL - G01N: INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES (measuring or testing apparatus or processes other than immunoassay, involving enzymes or microorganisms C12M, C12Q) - F17D: PIPE-LINE SYSTEMS; PIPE-LINES (pumps or compressors F04; fluid dynamics F15D; valves or the like F16K; pipes, laying pipes, supports, joints, branches, repairing, work on the entire line, accessories F16L; steam traps or the like F16T; fluid-pressure electric cables H01B9/06) - G01M: TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR - H04L: TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION (arrangements common to telegraphic and telephonic communication H04M) - H04W: WIRELESS COMMUNICATION NETWORKS (broadcast communication H04H; communication systems using wireless links for non-selective communication, e.g. wireless extensions H04M1/72) ## Abstract An inline robotic detector for inspection of pipelines includes two groups of real time sensors at both front and rear to measure pressures, temperatures, and flows. The robotic detector further includes radial displacement sensors, acoustic sensors and a digital radiographic camera or Electromagnetic Acoustic Transducer (EMAT) at the head and front, and a rechargeable power system at the rear. A GPS positioning module and communicator communicate with an intelligent gateway. Real time data is obtained and associated with the geo-position of the robotic detector received from the intelligent gateway. ## Claims ### Claim 1 A method of communication with a robotic detector configured for inline inspection of a pipeline, comprising: transmitting by the robotic detector a magnetic field signal through the pipeline; detecting the magnetic field signal by a companion device external to the pipeline; determining location information in response to detecting the magnetic field signal by the companion device, wherein the location information includes geo-data of a physical location of the robotic detector in the pipeline; generating by the companion device a message to a gateway, wherein the gateway is coupled to the pipeline and wherein the message includes the location information; and generating by the gateway a very-low or ultra-low frequency modulated signal in the pipeline, wherein the very-low or ultra-low frequency modulated signal includes the location information of the robotic detector. ### Claim 2 (depends on 1) The method of claim 1, further comprising: receiving the location information by the gateway; generating the very-low or ultra-low frequency modulated signal including the location information, wherein the very-low or ultra-low frequency modulated signal is a 300 HZ to 3000 Hz frequency signal; and transmitting the very-low or ultra-low frequency modulated signal through the pipeline. ### Claim 3 (depends on 2) The method of claim 2, further comprising: detecting the very-low or ultra-low frequency modulated signals by the robotic device using an antenna configured to interact with the pipeline; and processing by the robotic detector the location information and a communication time delay to determine a position of the robotic detector. ### Claim 4 (depends on 3) The method of claim 3, further comprising: associating by the robotic detector the position with measurements from one or more sensors. ### Claim 5 (depends on 1) The method of claim 1, wherein the companion device is included in an unmanned vehicle configured to track the robotic detector in the pipeline. ### Claim 6 A system for inline inspection of a pipeline, comprising: a robotic detector configured for traveling in a pipeline, wherein the robotic detector includes a magnetic device that transmits a magnetic field signal in the pipeline; and a companion device external to the pipeline, wherein the companion device is configured to: detect the magnetic field signal generated by the robotic detector in the pipeline; determine location information in response to detecting the magnetic field signal; and continuously travel externally to the pipeline to follow the robotic detector in the pipeline using the magnetic field signal, wherein the companion device is further configured to transmit a message that includes the location information; a gateway device configured to receive the location information and generate a very-low or ultra-low frequency modulated signal through the pipeline, wherein the very-low or ultra-low frequency modulated signal includes the location information. ### Claim 7 (depends on 6) The system of claim 6, wherein the robotic detector further comprises an antenna configured to interact with the pipeline, wherein the robotic detector is configured to detect the very-low or ultra-low frequency modulated signal using the antenna. ### Claim 8 (depends on 7) The system of claim 7, wherein the robotic detector is further configured to process the location information to determine a position of the robotic detector in the pipeline. ### Claim 9 (depends on 8) The system of claim 8, wherein the robotic detector is further configured to associate the position of the robotic detector in the pipeline with one or more measurements from one or more sensors. ### Claim 10 (depends on 7) The system of claim 7, wherein the robotic detector is further configured to determine a communication time delay for receiving the location information and determine a position of the robotic detector in the pipeline using the location information and the communication time delay. ### Claim 11 (depends on 6) The system of claim 6, wherein the companion device includes an unmanned vehicle configured to track the robotic detector in the pipeline. ### Claim 12 (depends on 6) The system of claim 6, wherein the robotic detector includes a plurality of sensors configured to detect one or more of: pressure, temperature, flows, and acoustics in the pipeline. ### Claim 13 A system for inline inspection of a pipeline, comprising: a robotic detector in a pipeline, wherein the robotic detector is configured to: detect one or more measurements in the pipeline; and generate a magnetic field signal in the pipeline; a companion device external to the pipeline configured to: detect the magnetic field signal generated by the robotic detector in the pipeline; track the robotic detector in the pipeline using the magnetic field signal; travel externally to the pipeline to track and follow the robotic detector in the pipeline using the magnetic field signal; determine geo-data in response to the magnetic field signal; and generate a message that includes the geo-data; a gateway coupled to the pipeline, wherein the gateway is configured to: receive the geo-data from the companion device, wherein the geo-data describes a physical location of the robotic detector in the pipeline; and generate a very-low or ultra-low frequency modulated signal through the pipeline, wherein the very-low or ultra-low frequency modulated signal includes the geo-data. ### Claim 14 (depends on 13) The system of claim 13, wherein the robotic detector is further configured to detect the very-low or ultra-low frequency modulated signal to determine the geo-data. ### Claim 15 (depends on 14) The system of claim 14, wherein the robotic detector is further configured to: determine a communication time delay for receiving the geo-data; and determine a position of the robotic detector in the pipeline using the geo-data and the communication time delay. ### Claim 16 (depends on 15) The system of claim 15, wherein the robotic detector is further configured to associate the position of the robotic detector in the pipeline with the one or more measurements detected in the pipeline.