Method and system for mapping and inspecting live fluid pipes

A method for live mapping a pipeline of an underground pipeline infrastructure, wherein the pipeline has a diameter of 2 to 6 inches, comprising:

• providing a live-fluid entry apparatus,
• entering a sensor probe containing an autonomous-operation sensor payload into the pipeline of the pipeline infrastructure, wherein the sensor payload is provided for collecting geospatial data while travelling through the pipeline of the pipeline infrastructure, wherein the sensor payload is shielded to not be susceptible to electromagnetic interference,
• driving the sensor probe by means of a driving mechanism including a tether, and
• collecting geospatial data by means of the sensor probe while it travels through the pipeline and while the pipeline is in use for supplying a fluid, wherein a pipeline profile is obtainable from the collected geospatial data,
• wherein the sensor probe is entered into the pipeline at a vertical angle through the live-fluid entry apparatus and makes a 90° angle change of direction once inside the pipeline to align with the orientation of the pipeline, wherein the sensor probe is entered into the pipeline by means of a guide shoe which is inserted into the pipeline through the live-fluid entry apparatus and guides the sensor probe upon entry into the pipeline, and wherein the sensor probe is sized and compartmentalized for passing through the guide shoe to make the 90° angle change of direction to align with the orientation of the pipeline.