In-pipe localization of tools using signal profiles
AssigneeSaudi Arabian Oil Company
InventorsMohammed H. Al-Sharif, Ahmed Aljarro, Khalid S. Ghamdi, Salah A. Zahrani, Mohammed T. Abdulmohsin
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Abstract
Systems and methods for estimating location of features in a pipeline be based on acquiring measurements of electromagnetic signals from the plurality of electromagnetic sensors; detecting welds in walls of the pipeline based on the measurements; estimating an instantaneous velocity of the device as the device passes welds based at least in part on characteristics of the measurements of the signals from the plurality of electromagnetic sensors; and estimating position of the device in the pipeline based at least in part on the estimates of the instantaneous velocity of the device over time.
Claims18
A system for estimating location of features in a pipeline, the system comprising:
- a device comprising a plurality of electromagnetic sensors, the device sized and shaped to be deployed and travel in the pipeline;
- at least one processor;
- and
- a memory storing instructions that when executed by the at least one processor cause the at least one processor to perform operations comprising:
- acquiring measurements of signals from the plurality of electromagnetic sensors;
- detecting welds in walls of the pipeline based on the measurements of the signals by identifying peaks in the measurements of the signals;
- estimating an instantaneous velocity of the device as the device passes welds based at least in part on characteristics of the measurements of the signals from the plurality of electromagnetic sensors comprising widths of the peaks, wherein estimating the instantaneous velocity of the device as the device passes welds comprises comparing widths of the peaks to a model associating the widths of the peaks with velocities of the plurality of electromagnetic sensors;
- and
- estimating position of the device in the pipeline based at least in part on the instantaneous velocity of the device over time.
A method for localizing a traveling device in a pipeline, the traveling device comprising a plurality of electromagnetic sensors, the method comprising:
- acquiring measurements of signals from a plurality of electromagnetic sensors on a device shaped to be deployed and travel in the pipeline;
- detecting welds in walls of the pipeline based on the measurements of the signals by identifying peaks in the measurements of the signals;
- estimating an instantaneous velocity of the device as the device passes welds based at least in part on characteristics of the measurements of the signals from the plurality of electromagnetic sensors comprising widths of the peaks, wherein estimating the instantaneous velocity of the device as the device passes welds comprises comparing widths of the peaks to a model associating the widths of the peaks with velocities of the plurality of electromagnetic sensors;
- and
- estimating position of the device in the pipeline based at least in part on the instantaneous velocity of the device over time.
Dependencies are inferred from the claim text.