Systems and methods for inspecting pipelines using a robotic imaging system

{
  "publication_number": "US10929968B2",
  "country": "US",
  "kind": "B2",
  "title": "Systems and methods for inspecting pipelines using a robotic imaging system",
  "abstract": "Systems and methods for generating and processing images captured while inspecting above-ground pipelines are disclosed. Embodiments may include a robotic crawler or other devices which carry imaging equipment and traverse a target pipe which are configured to capture image data simultaneously from a plurality of angles. Such systems may substantially reduce and in some cases overcome the need to take multiple traversals of a pipeline under inspection. Embodiments may also be directed toward control systems for such devices as well as image processing systems which process the multiple image sets to produce a composite imaging result.",
  "claims": [
    "1. A method of operation for a pipeline inspection robot and generating inspection images, the method comprising: beginning a scan using control commands from one or more control processors of the inspection robot, said commands activating one or more imaging transmission sources and triggering directional movement of the robot to traverse the pipeline; acquiring image data by simultaneously capturing images from two or more azimuths as the robot traverses the pipeline, said two or more azimuths including a transverse azimuth and a perpendicular azimuth with respect to the robot and wherein the images are captured from two or more azimuths using one or more linear detectors; stopping the scan by deactivating the one or more transmission sources and stopping the directional movement of the robot; and converting the acquired image data into a single static image corresponding data acquired over a linear length of pipeline.",
    "2. The method of claim 1, further comprising: processing the static image by at least one of: adjusting at least one of brightness or contrast of the static image; inverting the static image; rotating the static image; filtering the static image; choosing measurement units for the static image; or annotating the static image.",
    "3. The method of claim 1, further comprising: analyzing the static image by at least one of: measuring grey scale levels across a line profile of the static image; or measuring an area of the static image.",
    "4. The method of claim 1, wherein the static image is a Digital Imaging and Communication in Non-Destructive Evaluation (DICONDE) static image.",
    "5. The method of claim 1, wherein the robot is configured to preprocess acquired image data prior to exporting the data to a remote storage location.",
    "6. The method of claim 1, wherein the acquiring image data and the controlling speed is performed while displaying image capture results.",
    "7. The method of claim 6, wherein the displaying image capture results is performed in a scrolling fashion.",
    "8. The method of claim 1, wherein the one or more transmission sources correspond to one or more X-Ray tubes.",
    "9. The method of claim 1, wherein the image data is acquired using one or more linear detectors.",
    "10. An apparatus for operation of a pipeline inspection robot and generating inspection images, comprising: means for beginning a scan using control commands to control an inspection robot, said commands activating one or more imaging transmission sources and triggering directional movement of the robot to traverse the pipeline; means for acquiring image data by simultaneously capturing images from two or more azimuths as the robot traverses the pipeline, said two or more azimuths including a transverse azimuth and a perpendicular azimuth with respect to the inspection robot wherein the means for acquiring image data from two or more azimuths includes one or more linear detectors; means for stopping the scan by deactivating the one or more transmission sources and stopping the directional movement of the robot; and means for converting the acquired image data to a static image.",
    "11. The apparatus of claim 10, further comprising: means for processing the static image.",
    "12. The apparatus of claim 10, further comprising: means for analyzing the static image.",
    "13. The apparatus of claim 10, further comprising: means for preprocessing acquired image data prior to exporting the data to a remote storage location.",
    "14. The apparatus of claim 10, further comprising: means for displaying image capture results while acquiring the image data and controlling the speed.",
    "15. The apparatus of claim 14, wherein the means for displaying image capture results includes means for displaying the image capture results in a scrolling fashion.",
    "16. An apparatus comprising: one or more computer processors; and at least one memory coupled to the one or more computer processors, wherein the one or more computer processors is configured to: activate one or more imaging transmission sources and directionally move a pipeline inspection robot to cause the robot to traverse the pipeline; simultaneously capture images from two or more azimuths as the pipeline inspection robot traverses the pipeline, said two or more azimuths including a transverse azimuth and a perpendicular azimuth with respect to the pipeline inspection robot, wherein the images are captured from two or more azimuths using one or more linear detectors; process the captured images for transmission to a remote processor; and deactivate the one or more transmission sources and stop the directional movement of the robot.",
    "17. The apparatus of claim 16, wherein the one or more computer processors is further configured to: generate a video feed of an inspection area.",
    "18. A non-transitory computer-readable storage medium having instructions recorded thereon that, when executed by one or more computer processor, cause the one or more computer processors to: begin a scan by activating one or more transmission sources and triggering directional movement of a pipeline inspection robot; acquire image data by simultaneously capturing images from two or more azimuths and controlling speed of the directional movement, wherein the images are captured from two or more azimuths using one or more linear detectors; stop the scan by deactivating the one or more transmission sources and stopping the directional movement of the robot; and convert the acquired image data to a static image.",
    "19. The non-transitory computer-readable storage medium of claim 18, wherein the instructions further cause the one or more computer processors to: process the static image by at least one of: adjusting at least one of brightness or contrast of the static image; inverting the static image; rotating the static image; filtering the static image; choosing measurement units for the static image; or annotating the static image.",
    "20. The non-transitory computer-readable storage medium of claim 18, wherein the instructions further cause the one or more computer processors to: analyze the static image by at least one of: measuring grey scale levels across a line profile of the static image; or measuring an area of the static image.",
    "21. The non-transitory computer-readable storage medium of claim 18, wherein the instructions further cause the one or more computer processors to display a video feed of an inspection area.",
    "22. The non-transitory computer-readable storage medium of claim 18, wherein the instructions further cause the one or more computer processors to display image capture results.",
    "23. The non-transitory computer-readable storage medium of claim 22, wherein the instructions further cause the one or more computer processors to display the image capture results in a scrolling fashion."
  ],
  "description_excerpt": "Aspects of the present disclosure relate generally to inspection of above ground pipelines, and more particularly, to systems and methods for obtaining and processing images to inspect a pipeline using a pipeline inspection robot.\n\nAbove ground pipelines develop internal corrosion as well as corrosion underneath insulation (“CUI”) on the exterior of the pipe. CUI typically occurs due to a moisture buildup on the external surface of insulated equipment. The corrosion itself is most commonly galvanic, chloride, acidic, or alkaline corrosion. If undetected, the results of CUI can lead to leaks, the eventual shutdown of a pipeline, and in rare cases it may lead to a safety incident. Accordingly, it is important to periodically inspect above ground pipelines for the presence of corrosion.\n\nCurrent methods of inspecting above ground pipelines have typically entailed the erection of scaffolding, hazardous usage of radiation sources, and/or use of imaging equipment mounted on poles and positioned by hand to inspect and image the pipeline. Moreover, existing inspection methods generally require multiple series of images to be acquired to capture multiple angles of view by performing multiple traversals of the pipeline. These manual methods are labor intensive, time consuming, and costly to entities inspecting their pipelines.\n\nPrevious attempts to improve the inspection process have involved a semi-automated collar system with a vehicle mounted to a top of the pipeline. Resulting imagery from such a system has taken the form of a video or series of film-type images for a single view of the pipeline.",
  "cpc": [
    "G06T 7/0002",
    "F16L 2101/30",
    "F16L 55/26",
    "G01N 2223/3303",
    "G01N 2223/628",
    "G01N 23/04",
    "G06T 11/60",
    "G06T 5/003",
    "G06T 5/73",
    "G06T 7/187",
    "G06V 20/10",
    "H04N 23/70",
    "H04N 5/235"
  ],
  "ipc": [
    "F16L 55/26",
    "G06T 11/60",
    "G06T 5/00",
    "G06T 7/00",
    "G06T 7/187",
    "H04N 5/235",
    "G06K 9/00"
  ],
  "assignees": [
    "Mistras Group Inc"
  ],
  "inventors": [
    "Kelly Morris",
    "Elliott Morris",
    "John Musgrave"
  ],
  "filing_date": "2020-09-15",
  "publication_date": "2021-02-23",
  "grant_date": "2021-02-23",
  "priority_date": "2018-12-03",
  "application_number": "US-202017021815-A",
  "family_id": "68807987",
  "cited_by_count": 1,
  "citations": [
    "US3495626A",
    "JP3296648B2",
    "US5698854A",
    "US5857534A",
    "US5963030A",
    "US20040211272A1",
    "US20050041775A1",
    "US20050217394A1",
    "US20070000406A1",
    "US20100211354A1",
    "US20090120215A1",
    "US8759780B2",
    "US20100218624A1",
    "US20120197440A1",
    "US20110025608A1",
    "US20120197439A1",
    "US20120256643A1",
    "EP2718741A1",
    "US20130014598A1",
    "KR101290794B1",
    "US20130325768A1",
    "US20140146161A1",
    "US20140207406A1",
    "WO2015063483A1",
    "US9863919B2",
    "WO2015172231A1",
    "US20170205230A1",
    "WO2016049645A1",
    "US20160177540A1",
    "US9874507B2",
    "US20160369934A1",
    "US20180313715A1",
    "US20170191601A1",
    "CN106094617A",
    "US20180178811A1",
    "US20180180733A1",
    "US20200011995A1",
    "US20190086020A1",
    "CN207983366U",
    "CN108693535A"
  ]
}