DESC:FIELD OF THE INVENTION

The present disclosure relates to inspection and detection of leakages and pilferages in a pipeline.

BACKGROUND

Pipelines are employed in an oil refinery to transport oil, gas, and water from within and in/out of an oil refinery. Conventionally, the pipelines may suffer wear/tear and damages due to various reasons, such as accidents, corrosion, bad maintenance, natural disasters, weld failures, and acts of terrorists. Such damages made lead to leakage in the pipe that can result in loss of fluid from the pipeline, or in some scenario, an explosion in case the pipeline is carrying a flammable fluid, such as gas. Another issue associated with long pipelines is pilferage of oil, i.e. theft which is hard to detect and can cause economic loss. Moreover, pilferage/theft can weaken the pipeline that can cause affect the integrity of the pipeline.

Many techniques are devised to monitor the pipeline to detect leakage and pilferage. One of the techniques is to manually inspect the pipeline at regular interval to detect leakage and pilferage. Such a technique is slow and labor-intensive. Moreover, such a technique cannot be implemented for pipelines that are longer in length. For instance, manual inspection is not feasible for pipelines having the length in hundreds of kilometers. Another way to monitor the leakage and pilferage is to install a plurality of sensors along the length of the pipeline at regular intervals. However, installation of sensors along the length of the pipeline is an expensive process and is complex to operate. Moreover, the chances of failure of such a system are high owing to the greater number of sensors. Another technique is to use a robot that can be deployed in the pipeline and can be controlled by an operator to detect the detect leakage and pilferage. However, conventional robots tend to have low endurance owing to their power consumption for their travel in the pipeline. As a result, the conventional robots are not suitable for pipelines of greater length.

SUMMARY

This summary is provided to introduce a selection of concepts, in a simplified format, that are further described in the detailed description of the invention. This summary is neither intended to identify key or essential inventive concepts of the invention and nor is it intended for determining the scope of the invention.

The present disclosure relates to the aspects of a flow-propelled robot deployable by the pressure differential across the ends of the pipeline. Moreover, the flow-propelled robot is configured to detect any leakage and pilferage while travelling through the pipeline.

In an embodiment, a flow-propelled robot is described. The flow-propelled robot may include a shell adapted to travel in a fluid-filled pipeline based on a pressure differential across ends of the pipeline. The flow-propelled robot may also include a plurality of sensors housed in the shell. The plurality of sensors may detect a value of at least one constructional and operational parameter of the pipe and a location in the pipeline corresponding to at least one constructional and operational parameter, wherein the at least one constructional and operational parameter comprises temperature, pressure, pipe leakage, and pilferage.

In another embodiment, a method of sensing and detecting at least one pipe condition. The method may include deploying a flow-propelled robot in a pipeline through a first end of the pipeline. The method may also include detecting the value of at least one constructional and operational parameter and the location corresponding to the at least one constructional and operational parameter and storing the sensed the at least one pipe constructional and operational parameter, and the location corresponding to the at least one constructional and operational parameter in a memory module inside the flow-propelled robot as pipeline data. In addition, the method includes retrieving the flow-propelled robot through a second end of the pipeline and extracting the pipeline data from the flow-propelled robot to determine at least one constructional and operational parameter, and the location corresponding to the detected at least one constructional and operational parameter.

According to the present disclosure, moving the flow-propelled robot using pressure differential across the ends of the pipeline does away a need for a propulsion mechanism thereby making the flow-propelled robot lightweight and compact. Moreover, the absence of propulsion mechanism also improves endurance as the power of the power source inside the flow-propelled robot is not utilized to move the flow-propelled robot inside the pipeline. In addition, the movement of the flow-propelled robot inside the flow-propelled robot enables the flow-propelled robot to travel proximate to the locations of leakages and pilferages thereby allowing the flow-propelled robot to detect the smallest leakages and pilferages that are otherwise not detectible by conventional monitoring techniques. In addition, a protective foam layer outside protects the spherical shell by reducing the impact between the flow-propelled robot and the inner walls of the pipeline thereby making the flow-propelled robot robust. Moreover, reducing the impact also reduces the chances of a spark that is usually caused by the impact of a metallic body with another. Therefore, the operation of the flow-propelled robot does not compromise the safety of the pipeline.

To further clarify the advantages and features of the present invention, a more particular description of the invention will be rendered by reference to specific embodiments thereof, which is illustrated in the appended drawings. It is appreciated that these drawings depict only typical embodiments of the invention and are therefore not to be considered limiting of its scope. The invention will be described and explained with additional specificity and detail with the accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

These and other features, aspects, and advantages of the present invention will become better understood when the following detailed description is read with reference to the accompanying drawings in which like characters represent like parts throughout the drawings, wherein:

Figure 1 illustrates a block diagram of a system for sensing and detecting at least one constructional and operational parameters of a pipeline, according to an embodiment of the present disclosure;
Figure 2 illustrates a schematic of a flow-propelled robot, according to an embodiment of the present disclosure;
Figure 3 illustrates an assembled view of the flow-propelled robot, according to an embodiment of the present disclosure;
Figure 4 illustrates an exploded view of the flow-propelled robot, according to an embodiment of the present disclosure; and
Figure 5 illustrates an exploded view of another flow-propelled robot, according to an embodiment of the present disclosure;
Figure 6 illustrates a method of sensing and detecting at least one constructional and operational parameter of a pipeline, according to an embodiment of the present disclosure;

Further, skilled artisans will appreciate that elements in the drawings are illustrated for simplicity and may not have been necessarily been drawn to scale. For example, the flow charts illustrate the method in terms of the most prominent steps involved to help to improve understanding of aspects of the present invention. Furthermore, in terms of the construction of the device, one or more components of the device may have been represented in the drawings by conventional symbols, and the drawings may show only those specific details that are pertinent to understanding the embodiments of the present invention so as not to obscure the drawings with details that will be readily apparent to those of ordinary skill in the art having benefit of the description herein.

DETAILED DESCRIPTION OF FIGURES

For the purpose of promoting an understanding of the principles of the invention, reference will now be made to the embodiment illustrated in the drawings and specific language will be used to describe the same. It will nevertheless be understood that no limitation of the scope of the invention is thereby intended, such alterations and further modifications in the illustrated system, and such further applications of the principles of the invention as illustrated therein being contemplated as would normally occur to one skilled in the art to which the invention relates. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skilled in the art to which this invention belongs. The system, methods, and examples provided herein are illustrative only and not intended to be limiting.

The term “some” as used herein is defined as “none, or one, or more than one, or all.” Accordingly, the terms “none,” “one,” “more than one,” “more than one, but not all” or “all” would all fall under the definition of “some.” The term “some embodiments” may refer to no embodiments or to one embodiment or to several embodiments or to all embodiments. Accordingly, the term “some embodiments” is defined as meaning “no embodiment, or one embodiment, or more than one embodiment, or all embodiments.”

The terminology and structure employed herein is for describing, teaching, and illuminating some embodiments and their specific features and elements and does not limit, restrict or reduce the scope of the claims or their equivalents.

More specifically, any terms used herein such as but not limited to “includes,” “comprises,” “has,” “consists,” and grammatical variants thereof do NOT specify an exact limitation or restriction and certainly do NOT exclude the possible addition of one or more features or elements, unless otherwise stated, and furthermore must NOT be taken to exclude the possible removal of one or more of the listed features and elements, unless otherwise stated with the limiting language “MUST comprise” or “NEEDS TO include.”

Whether or not a certain feature or element was limited to being used only once, either way, it may still be referred to as “one or more features” or “one or more elements” or “at least one feature” or “at least one element.” Furthermore, the use of the terms “one or more” or “at least one” feature or element do NOT preclude there being none of that feature or element, unless otherwise specified by limiting language such as “there NEEDS to be one or more . . . ” or “one or more element is REQUIRED.”

Unless otherwise defined, all terms, and especially any technical and/or scientific terms, used herein may be taken to have the same meaning as commonly understood by one having ordinary skills in the art.

Reference is made herein to some “embodiments.” It should be understood that an embodiment is an example of a possible implementation of any features and/or elements presented in the attached claims. Some embodiments have been described for the purpose of illuminating one or more of the potential ways in which the specific features and/or elements of the attached claims fulfil the requirements of uniqueness, utility, and non-obviousness.

Use of the phrases and/or terms such as but not limited to “a first embodiment,” “a further embodiment,” “an alternate embodiment,” “one embodiment,” “an embodiment,” “multiple embodiments,” “some embodiments,” “other embodiments,” “further embodiment”, “furthermore embodiment”, “additional embodiment” or variants thereof do NOT necessarily refer to the same embodiments. Unless otherwise specified, one or more particular features and/or elements described in connection with one or more embodiments may be found in one embodiment, or may be found in more than one embodiment, or may be found in all embodiments, or may be found in no embodiments. Although one or more features and/or elements may be described herein in the context of only a single embodiment, or alternatively in the context of more than one embodiment, or further alternatively in the context of all embodiments, the features and/or elements may instead be provided separately or in any appropriate combination or not at all. Conversely, any features and/or elements described in the context of separate embodiments may alternatively be realized as existing together in the context of a single embodiment.

Any particular and all details set forth herein are used in the context of some embodiments and therefore should NOT be necessarily taken as limiting factors to the attached claims. The attached claims and their legal equivalents can be realized in the context of embodiments other than the ones used as illustrative examples in the description below.

Embodiments of the present invention will be described below in detail with reference to the accompanying drawings.

Figure 1 illustrates a system 100 for sensing and detecting constructional and operational parameters of a pipeline, according to an embodiment of the present disclosure. The system 100 can be employed to monitor the condition of the pipeline, such as the oil and gas pipeline used in oil refinery and oil/gas transportation. The system 100 may be employed to detect constructional and operational parameters, such as temperature and pressure in the pipeline, leakages, and pilferages inside the pipeline. Pilferage may also include illegal oil tapping and ferules. The system 100 may include a processing unit 102 and a flow-propelled robot 104 that may work synergistically to detect the constructional and operational parameters. In one example, the flow-propelled robot 104 may detect and record a value of the constructional and operational parameters and locations corresponding to the constructional and operational parameters as pipeline data while the processing unit 102 may receive the pipeline data to process and determine the constructional and operational parameters and their locations. The pipeline data may include the sensed constructional and operational parameters and information regarding the location in the pipeline at which the constructional and operational parameter is sensed. For instance, the pipeline data may include a number of leakages and pilferages inside the pipeline and the location in the pipeline corresponding to each leakage and pilferage. The flow-propelled robot 104 may be configured to detect the constructional and operational parameters in the form of an acoustic data corresponding to the leakages and the pilferages. In addition, the constructional and operational parameters can be in the form of a video feed of the interior of the pipeline. Further, the flow-propelled robot 104 may be configured to detect the locations of the sensed constructional and operational parameters in the form of spatial data.

The processing unit 102 may include a processor 106, a memory 108, module(s) 110 and data 112. The processor 106, amongst other capabilities, may be configured to fetch and execute computer-readable instructions stored in the memory 108. The processor 106 may be implemented as one or more microprocessors, microcomputers, microcontrollers, digital signal processors, central processing units, state machines, logic circuitries, and/or any devices that manipulate signals based on operational instructions. The functions of the various elements shown in the figure, including any functional blocks labelled as “processor(s)”, may be provided through the use of dedicated hardware as well as hardware capable of executing software in association with the appropriate software.

The memory 108 may be coupled to the processor 106 and may, among other capabilities, provide data and instructions for generating different requests. The memory 108 can include any computer-readable medium known in the art including, for example, volatile memory, such as static random-access memory (SRAM) and dynamic random-access memory (DRAM), and/or non-volatile memory, such as read-only memory (ROM), erasable programmable ROM, flash memories, hard disks, optical disks, and magnetic tapes. The data 112 serves, amongst other things, as a repository for storing data that may be fetched, processed, received, or generated by one or more of the module (s) 110.

The module(s) 110 may perform different functionalities which may include, but may not be limited to, receiving instructions from an operator to process the pipeline data. Accordingly, the module(s) 110 may include a parameters detection module 114, a location determination module 116, and a data representation module 118. The data 112 may include information and/or instruction to perform activities by the processing unit 102.

In an example, the parameters detection module 114 is configured to process the constructional and operational parameters that are sensed and recorded by the flow-propelled robot 104. In one example, the parameters detection module 114 may receive the pipeline data from the flow-propelled robot 104 and may apply the different technique to process the pipeline data. For instance, the parameters detection module 114 may be configured to process the acoustic data corresponding to the leakage and pilferage. Further, as a part of processing the constructional and operational parameter, the parameters detection module 114 may compare the data corresponding to the constructional and operational parameter with a library of data that corresponds to the previously recorded constructional and operational parameters. For example, the parameters detection module 114 may compare the recorded acoustic data with the previously known acoustic data corresponding to leakage. Accordingly, the parameters detection module 114 may determine the leakage in the pipeline in case a match is found by the parameters detection module 114.

In addition, the parameters detection module 114 may process a video feed to determine the constructional and operational parameters. For instance, the parameters detection module 114 may use an image processing technique to identify cracks and crevices to ascertain the leakage and/ pilferage. According to the present disclosure, the parameters detection module 114 may employ various filters to remove unwanted information, known as noise, from the pipeline data to detect the constructional and operational parameters efficiently. A detailed operation of the parameters detection module 114 is explained later in conjunction with Figure 5.

On the other hand, the location determination module 116 may determine the location for the sensed constructional and operational parameters. For instance, the location determination module 116 may process the spatial data to determine the location of the sensed constructional and operational parameter in the pipeline. For instance, the location determination module 116 may process the data corresponding to the pre-defined marker at the location. Further, as part of determining the location, the location determination module 116 may refer to stored information of pre-identified locations in the pipeline under inspection and may compare the spatial data with the stored information to identify the location. In one example, the location determination module 116 may consider a terminal velocity of the pipeline that may allow determining the time taken by the flow-propelled robot 104 to cover a certain distance. Such information may be utilized in cases where a time of deployment is known.

In an example, the data representation module 118 may be configured to process the outputs of the parameter detection module 114 and the location determination module 116. For instance, the data representation module 118 may map the detected constructional and operational parameters with the determined locations to the corresponding each constructional and operational parameter. In addition, the data representation module 118 may also map a time at which the constructional and operational parameter was sensed to provide a timeline-based representation of the detected constructional and operational parameter and corresponding location. The data representation module 118 may also output the representation on an output device (not shown), such as a display monitor to an operator in human perceptible form, such as charts or tables. The representation may assist the operator in making informed decision to correct any anomaly in the pipeline.

Details of the flow-propelled robot 104 are now described with respect to Figures 2 to 4 that show different illustrations of the flow-propelled robot 104. Specifically, Figure 2 illustrates a schematic of the flow-propelled robot 104, according to an embodiment of the present disclosure. Further, Figure 3 illustrates an assembled view of the flow-propelled robot 104 while Figure 4 illustrates an exploded view of the flow-propelled robot 104. The flow-propelled robot 104 may be deployable inside the pipeline to detect the value of the constructional and operational parameters and locations in the pipeline corresponding to the sensed constructional and operational parameters. The flow-propelled robot 104 include a shell 202 that may be made of a first half-shell 202-1 and a second half-shell 202-2, a housing 204 defined inside the shell 202, a recording module 206, a memory module 208, sensor(s) 210, a power source 212, and a switch 214, details of which are now explained in detail.

The shell 202 may be spherical and may be sized to enable the flow-propelled robot 104 for deployment. In other words, the diameter of the spherical shell 202 may be based on a size of the pipeline and a pressure differential across the ends of the pipeline. For instance, the spherical shell 202 may be sized to travel through the pipeline smoothly with causing minimum impact on inner walls on the pipeline. Further, the spherical shape of the spherical shell 202 makes the flow-propelled robot 104 rolls inside the pipeline or move in a flow without any obstruction in the movement. Moreover, the passive propulsion of the spherical shell 202 eliminates a requirement of a propulsion mechanism for its traversal. As a result, the power source 212 may be utilized to solely provide power to the recording module 206 and the memory module 208. Accordingly, the flow-propelled robot 104 may be able to sense and detect values of constructional and operational parameters for longer durations making it effective to monitor long pipeline in order to many kilometres, for instance, over 200KM of length.

The spherical shell 202 may be made up of any material that is designed to withstand the static pressure of at least 150 bar and further the dynamic pressure of 90 bar according to the high pressure inside the pipeline. Such a material is selected based on its low acoustic impedance property because the spherical shell 202 should not affect acoustic leak signals that propagate into the spherical shell 202 to reach the sensor for detection. Moreover, the material for the spherical shell 202 may be based on the terminal velocity that the flow-propelled robot 104 may achieve inside the pipeline. The terminal velocity may determine the maximum magnitude of impact that the spherical shell 202 may experience while travelling through the pipeline.

In one example, the spherical shell 202 may be made up of Aluminium alloys 7075-T6 to withstand heavy load and have less acoustic impedance. The Aluminium alloy 7075-T6 has good material properties, such as high yield strength capable of withstanding high pressure and low density so that the flow-propelled robot 104 is lightweight and robust. The low acoustic impedance property allows the sensors inside the spherical shell 202 to absorb the acoustic leak signals easily.

Further, the spherical shell 202 can withstand the high pressure of at least 150 bar in static condition for hydrostatic pressure testing and also impact inside the pipes. Further, the spherical shell 202 can be designed on basis of numeric calculations and simulations performed. For instance, the selection of the material for manufacturing the spherical shell 202 may be based on the following requirement:

• Capable of withstanding a pressure up to 90 bars;
• Capable of withstanding the hydrostatic pressure testing of 150 bar in static condition;
• Low acoustic impedance;
• Lower density;
• Higher strength even at elevated temperatures;
• Non-reactive to acids, alkalis and especially the contents of the pipeline;
• Non-inflammable; and
• Should have good impact resistance.

Experimental data have shown that the Aluminium alloy 7075-T6 is a light metal having about a third of the density of steel, copper, and brass. Moreover, the Aluminium alloy 7075-T6 has very good corrosion resistance to common atmospheric and marine atmospheres. As widely known, the addition of alloy makes the material stand high pressures. Moreover, the thermal conductivity of Aluminium alloy 7075-T6 is around four times that of steel and its specific heat twice that of steel. As a result, the heat is conducted away faster and greater heat input is necessary to bring the same mass of Aluminium alloy 7075-T6 to a given temperature, compared with steel. This helps to reduce hot spots where significant localized property loss could occur, so extending the serviceability period. Although the present illustration suggests Aluminium alloy 7075-T6 as a suitable material for the spherical shell 202. In one example, the flow-propelled robot 104 can withstand a pressure of at least 150 bar in static condition and at least 90 bar in dynamic condition when made using Aluminium alloy 7075-T6.

The spherical shell 202 may include a coating of a protective foam layer that may cover an entire outer area of the spherical shell 202. The protective foam layer may be configured to reduce the magnitude of impact that the spherical shell 202 may experience while travelling through the pipeline. The protective foam layer is used to reduce the contact between the surface of spherical shell 202 and the inner walls of the pipeline to avoid the chemical reaction between the metals of the spherical shell 202 and the inner walls of the pipeline. The protective foam layer prevents production of spark that inadvertently occur when two metal surfaces come in contact with high magnitude of impact and reduces the noise produced by the spherical shell 202 when contacting the inner walls. The protective foam layer further increases the overall surface area of the flow-propelled robot 104 to become neutrally buoyant thereby enabling better mobility. The thickness of the protective foam layer can be determined according to the diameter of the pipeline and the type of fluid used inside the pipeline to the flow-propelled robot 104 neutrally buoyant in the fluid inside the pipeline. The protective foam layer makes the robot neutrally buoyant because it increases the surface volume of the flow-propelled robot 104 with low weight.

In one example, the protective foam layer may be formed of polyurethane. The foam layer prevents sparks generated due to the contact of the flow-propelled robot 104 with the pipeline surface. The foam layer acts as a cushion between the flow-propelled robot 104 and the pipeline’s internal surface. Also, the foam layer may increase the volume of the flow-propelled robot 104, increasing the drag force due to the fluid flow, thereby increasing a terminal velocity inside the pipeline. Further, Polyurethane foam layer protects the flow-propelled robot 104 from contact with the inner wall pipeline and travel without producing any noise from itself own. As a result, the Polyurethane foam reduces the interference in the recording by the sensor.

As shown in Figure 2 and 3 clearly, the spherical shell 202 may be made of two hemispherical half-shells, namely the first half-shell 202-1 and the second half-shell 202-2. Further, each of the first half-shell 202-1 and the second half-shell 202-2 may be coupled together to define the housing 204 within the spherical shell 202. Moreover, each of the first half-shell 202-1 and the second half-shell 202-2 may include a sealant on a first peripheral end 218-1, and a second peripheral end 218-2 respectively (shown clearly in Figure 4) that prevents liquid or gases in the pipeline from entering into the housing 204. Another example, both the first half-shell 202-1 and the second half-shell 202-2 has at least one O-ring therebetween to prevent leakage into the housing 204.

Further, in order to secure the first half-shell 202-1 and the second half-shell 202-2 together, the spherical shell 202 may include locks 216 on the first peripheral end 218-1, and the second peripheral end 218-2 respectively. The locks 216, in one example, can be snap locks that allow easy locking and unlocking of the spherical shell 202. In another example, the locks 216 can be threads that secure the first half-shell 202-1 with the second half-shell 202-2. In either case, the locks 216 are configured to secure the first half-shell 202-1 and the second half-shell 202-2 together while ensuring a leak-proof coupling. According to the present subject matter, the flow-propelled robot 104 can be easily assembled and dismantled because of the snap-fit type locks 216. Such locks 216 may reduce the stress concentration of the flow-propelled robot 104. As a result, the thickness and weight of the flow-propelled robot 104 may be reduced without compromising the strength.

In one example, the housing 204 is configured to house the components that are employed to sense and detect a value of the constructional and operational parameters and their corresponding location in the pipeline. In one example, the housing 204 may be filled with inert gas and spark cause by an unexpected short circuit inside the housing 204 may be stopped. Further, the housing 204 may be pressurized to protect the sensors 210, the recording module 206, the memory module 208, and the power source 212 from pressure inside the pipeline. Inside the housing 204, the sensors 210 are installed in the housing 204 such that that the sensors 210 may record the environment in the vicinity to the spherical shell 202.

In one example, the sensors 210 may be installed in such a way that the movement of the flow-propelled robot 104 does not affect the sensing of the constructional and operational parameters. Further, the sensors 210 may be mounted on a printed circuit board (PCB) to secure the sensors 210 thereon and the PCB may be then be secured inside the housing 204 using fasteners. Further, cushioning may be provided for the sensors to protect them from damages due to vibration. In one example, the sensors 210 can be of different types. For instance, the sensors 210 may include, but is not limited to, an Inertial Measurement Unit (IMU), microprocessor, acoustic sensors, temperature, pressure sensors, real-time check sensor. The IMU may be used to record the location corresponding to the sensed constructional and operational parameter. The IMU may include an inbuilt accelerometer, gyroscope, magnetometer, and barometric pressure sensor. An accelerometer senses each revolution as a repeated pattern of acceleration. Alternately, a magnetometer will sense the magnetic changes as its sensor approaches and retreats from the pipeline during each revolution. Anomalies found by any of the sensors (such as a leak found by the acoustic sensor, or corrosion found by the magnetic sensors) can have their locations along the pipeline determined by noting the data obtained from the accelerometer combined with the data from a gyroscope.

The acoustic sensor may be used to detect the constructional and operational parameters such as the presence of the leak and the size of the detected leak. In one example, the acoustic sensor can be in the form of a small breakout board and may have a dimension of 0.4inches x 0.3inches. Further, the acoustic sensor can be an ICS43434 which is a digital microphone that outputs I2S audio as a stream of 24-bit serial words that can be directly read by any microcontroller with an I2S port. The ICS43434 has low noise and high sensitivity. Further, a temperature sensor may be installed in the device for temperature measurement of the inner environment of the device. Further, a real-time clock (RTC) IC may be used to keep an updated track of the time of deployment of the flow-propelled robot 104.

According to the present disclosure, hosting multiple sensors within, the flow-propelled robot 104 performs pipeline inspection in very high pressure. Further, all data generated by the sensors 210 pertaining to the sensed constructional and operational parameter and the corresponding location of the sensed constructional and operational parameter as pipeline data by the recording module 206 into the memory module 208. In one example, the recording module 206 can be a microprocessor while the memory module 208 may be a non-volatile memory card, such as Secure Digital TM (SD) card that can be removed from the housing 204 and can be coupled to the processing unit 102 via a serial interface for further processing.

In one example, the size and capacity of the power source 212 may be based on various factors. One of the factors can be the volume of the housing 204. Another factor can be a terminal velocity inside the pipeline that is one determinant of a period of deployment of the flow-propelled robot 104. For instance, the period of deployment may be used to estimate the required rate of discharge for the power source 212. Such an estimation may help in the determining an optimal size of the power source 212 to meet the requirement to avoid additional weight of the flow-propelled robot 104. In one example, the power source 212 can be a non-rechargeable Lithium - MnO2 cell. The Lithium - MnO2 cell may be used because of its small size, better performance, weight, and appropriate rating for use in the pipeline. Moreover, Lithium - MnO2 cell may deliver suitable voltage to power the sensors 210 and can store enough energy to power the sensors for the intended period of deployment in the pipeline.

In an example, the switch 214 may be located on the first half-shell 202-1 and may be configured to activate the recording module 206 and the sensor 210 to start sensing and recording the sensed constructional and operational parameters. In one example, the switch 214 may be mounted on the first half-shell 202-1, such that the switch 214 may be flush with an outer surface of the first half-shell 202-1. Accordingly, the switch 214 may be protected from the impact caused by contact of the spherical shell 202 with the inner walls of the pipeline. The switch 214 may also include an O-ring to seal a region between the switch 214 and the first half-shell 202-1. Although not shown, the spherical shell 202 may include a mount to allow mount of an image capturing device thereon. The image capturing device may be capture still images or video and relay the same to the recording module 206 for storage in the memory module 208.

Although the present illustration shows the flow-propelled robot 104 may have constructional details shown in Figures 2 to 4, another illustration of a flow-propelled robot 500 is now explained with respect to Figure 5. Specifically, Figure 5 illustrates another flow-propelled robot 500, according to an embodiment of the present disclosure. The flow-propelled robot 500 may be a part of the system 100 and operate synergistically with the processing unit 102 to detect leaks and pilferages. The flow-propelled robot 500 may include a spherical shell 502 that is made of a first half-shell 502-1 and a second half-shell 502-2 that may have similar constructional features as that of the first half-shell 202-1 and the second half-shell 202-2 shown in Figure 2-4. In one example, the spherical shell 502 may be made of Aluminium alloy 7075-T6. Moreover, the spherical shell 502 may include a housing 504 that may house a receiving module similar to the recording module 206, a memory module similar to the memory module 208, sensor(s) similar to the sensor(s) 210, a power source similar to the power source 212, and a switch similar to the switch 214 (all shown in Figure 2), details of which are not repeated for brevity.

Moreover, the first half-shell 502-1 may include a first peripheral end 506-1 and the second half-shell 502-2 may a second peripheral end 506-2. Further, each of the first peripheral end 506-1 and the second peripheral end 506-2 include a slot 508 that may be adapted to receive a sealant, such as an O-ring. The slot 508 may hold the sealant in place when the flow-propelled robot 500 experience impacts the inner walls of the pipeline while travelling therein. Accordingly, the slots 508 ensures that the fluid in the pipeline is prevented from entering the housing 504. The spherical shell 502 may also include locks 510 to secure the first half-shell 202-1 and the second half-shell 202-2 together. In one example, the locks 510 may be a snap lock while in another example, the locks 510 may be holes to receive fasteners. The fasteners may be fastened and unfastened using basic tools, such as a screwdriver thereby making the assembly and disassembly of the spherical shell 502 quick and easy. According to the present disclosure, the operation of the flow-propelled robot 500 is identical to the operation of the flow-propelled robot 104 shown in Figure 2.

The operation of the flow-propelled robot 104 is now described with respect to a method 600 of Figure 6 in conjunction with Figures 1 to 4. Specifically, Figure 6 illustrates the method 600 of sensing and detecting at least one constructional and operational parameter, according to an embodiment of the present disclosure. The order in which the method steps are described below is not intended to be construed as a limitation, and any number of the described method steps can be combined in any appropriate order to execute the method or an alternative method. Additionally, individual steps may be deleted from the method without departing from the spirit and scope of the subject matter described herein.

The method 600 can be performed by programmed computing devices, for example, based on instructions retrieved from non-transitory computer-readable media. The computer-readable media can include machine-executable or computer-executable instructions to perform all or portions of the described method. The computer readable media may be, for example, digital memories, magnetic storage media, such as magnetic disks and magnetic tapes, hard drives, or optically readable data storage media.

In one example, the method 600 can be performed partially or completely by the system 100. Since the operation of the flow-propelled robot 500 is identical to the operation of the flow-propelled robot 104, the following method 600 is applicable on the flow-propelled robot 500. The method 600 may begin at block 602 in which the flow-propelled robot 104 may be deployed in the pipeline through a first end of the pipeline. As a part of the block 602, the first half-shell 202-1 may be decoupled from the second half-shell 202-2 and the memory module 208 may be inserted in the housing 204 and may be coupled to the recording module 206. Thereafter, the first half-shell 202-1 may be coupled again to the second half-shell 202-2 to seal the housing 204. Thereafter, the switch 214 may be operated to activate the sensors 210 and the recording module 206 to start recording and then the flow-propelled robot 104 may be deployed inside the pipeline.

At block 604, the constructional and operational parameters of the pipeline and their corresponding location may be sensed by the flow-propelled robot 104. In one example, the sensors 210 may sense the constructional and operational parameters and detect a value of the constructional and operational parameters as the flow-propelled robot 104 travels through the pipeline. For instance, one of the sensors 210 may record sound that is pertinent to pipe leakage, and pilferage while another sensor 210 may record temperature and pressure inside the pipeline. Yet another sensor 210 may record the location where the sound, temperature, and pressure are recorded. The sensors 210 may relay the sensed values to the recording module 206 that stores the values in the memory module 208. This process is implemented as the flow-propelled robot 104 travels the complete length of the pipeline.

At block 606, the flow-propelled robot 104 may be retrieved from a second end of the pipeline. Finally, at block 608, the pipeline data may be extracted from the flow-propelled robot 104. In one example, upon retrieval of the flow-propelled robot 104, the switch 214 may be operated to deactivate the recording module 206. Thereafter, the first half-shell 202-1 may be decoupled from the second half-shell 202-2 and the memory module 208 may be retrieved and coupled to the processing unit 102 via a serial interface.

Upon retrieving the pipeline data, the processor 106 may actuate the parameters detection module 114 and the location determination module 116 to process the pipeline data. In one example, the parameters detection module 114 may receive data generated by the acoustic sensor, temperature sensors, and pressure and process to determine the parameters, such as holes, leaks, cracks, pipe undulations, gas pockets, corrosion, blockages, pilferage, pitting, or sedimentation. The parameters detection module 114 may implement Fast Fourier transform (FFT) Filtering to remove unwanted data/noise from the pipeline data pertaining to the constructional and operational parameters. On the other hand, the location determination module 116 may receive spatial data generated by IMU to determine the locations at which the parameters were sensed. In one example, the location determination module 116 may implement a Kalman filter to accurately determine the location. In addition, the location determination module 116 may implement Gaussian Blurring, Median Blurring to remove unwanted data/noise from the pipeline data pertaining to the locations.

Once the constructional and operational parameters and their corresponding locations are determined, the data representation module 118 may present the detected parameters and their locations as representation data in human perceptible forms, such as tables and charts. The representation data may be used by an operator to take adequate action.

According to the present subject matter, the flow-propelled robots 104, 500 may have the following advantages.
? The passive propulsion of the flow-propelled robot does not need electric power for actuation. When placed in a pipeline the flow-propelled robots 104, 500 will be pushed in the direction of the flow due to drag force generated on the spherical shells 202, 502. There is no need for electric drive motors for its actuation. The design of the flow-propelled robots 104, 500 supports mounting of acoustic and visual sensors for being passively propelled and mono-directional robot
? Also, a no self-stabilizing mechanism is required due to the presence of acoustic sensors to detect the leaks. Further, use of neutral buoyancy force guided by the flow of the fluid for directing the flow-propelled robots 104, 500 in the target direction. Moreover, neutral buoyancy enables the travel in vertical sections of pipelines.
? Inside the spherical shells 202, 502 as extra drive motors are not installed, thus, more space is present for batteries and sensors. Due to this the flow-propelled robots 104, 500 can inspect long distance due to larger battery capacity.
? No payload outside or inside to stabilize flow-propelled robots 104, 500. Further, the flow-propelled robots 104, 500 covered with a foam layer, for example, Polyutherane, so there is no contact between the surface of the flow-propelled robots 104, 500 and the pipe surface, hence no sparks will be produced. No foreign materials can damage the spherical shells 202, 502 of the flow-propelled robots 104, 500 because of the strength and material of the spherical shells 202, 502.
? The flow-propelled robots 104, 500 is tightly sealed that it can work in a high-pressure environment. The locks 216, 510 are very simple and can be used in inflammable conditions.
? No self-stabilizing mechanism is needed to induce stability as the spherical shells 202, 502 itself acts as a wheel.
? The flow-propelled robots 104, 500 is not actively propelled with the help of a feed cable and is in a spherical shape and is capable of inspecting the pipelines long-distance because it is not tethered.
? The flow-propelled robots 104, 500 can detect the anomalies such as Illegal tapping and ferules with help of at least an IMU sensor and magnetic markers which can help to find the location and distance travelled by the flow-propelled robots 104, 500 very easily.
? The flow-propelled robots 104, 500 does not use an acoustic transducer and does not generate acoustic data. Instead, it records and analyses the acoustic data generated within the pipeline to detect leaks.
? The flow-propelled robots 104, 500 can detect minute leaks due to its rolling inside a pipeline;
? The shape of the flow-propelled robots 104, 500 in accordance with an embodiment enables detection of minute leaks and can be used to inspect both piggable and non-piggable pipelines.
Although the present disclosure is explained with respect to a flow-propelled robots 104, 500, it should not be construed as limiting. It should be appreciated by a person skilled in the art that the present disclosure is equally applicable to other detecting devices related to the detecting of leakages or pilferages in oil pipelines, and facing such problems as mentioned in the background section of the present disclosure. In order to implement the present disclosure in other types of devices, minor modifications may be made to the construction, without departing from the scope of the present disclosure.

While specific language has been used to describe the present disclosure, any limitations arising on account thereto, are not intended. As would be apparent to a person in the art, various working modifications may be made to the method in order to implement the inventive concept as taught herein. The drawings and the foregoing description give examples of embodiments. Those skilled in the art will appreciate that one or more of the described elements may well be combined into a single functional element. Alternatively, certain elements may be split into multiple functional elements. Elements from one embodiment may be added to another embodiment.
,CLAIMS:1. A flow-propelled robot (104, 500) comprising:
a shell (202, 502) adapted to travel in a fluid-filled pipeline based on pressure differential across ends of the pipeline; and
a plurality of sensors (210) housed in the shell (202, 502) to detect a value of at least one constructional and operational parameter of the pipe and a location in the pipeline corresponding to the at least one constructional and operational parameter, wherein the at least one constructional and operational parameter comprising temperature, pressure, pipe leakage, and pilferage.

2. The flow-propelled robot (104, 500) as claimed in claim 1, wherein the shell (202, 502) comprises:
a first half-shell (202-1, 502-1) having a first peripheral end (218-1, 506-1); and
a second half-shell (202-2, 502-2) having a second peripheral end (218-2, 506-2), wherein each of the first peripheral end (218-1, 506-1) and the second peripheral end (218-2, 506-2) includes locks to couple the first half-shell (202-1, 502-1) to the second half-shell (202-2, 502-2) to form the spherical shell (202, 502).

3. The flow-propelled robot (104, 500) as claimed in claim 2, further comprises:
a recording module (206) positioned in the spherical shell (202, 502) and operably coupled to the plurality of sensors (210) to receive sensed at least one constructional and operational parameter and sensed location in the pipeline corresponding to the sensed at least one constructional and operational parameter, and
a memory module (208) operably coupled to the recording module (206) to store the sensed at least constructional and operational parameter and location corresponding to the detected at least one constructional and operational parameter as pipeline data.

4. The flow-propelled robot (104, 500) as claimed in claim 3, further comprising a protective foam layer around the spherical shell (202, 502) and a switch (214) on the first half-shell (202-1, 502-1) to activate the recording module (206).

5. The flow-propelled robot (104, 500) as claimed in claim 1, wherein the plurality of sensors (210) includes acoustic sensor, temperature sensor, pressure sensor, and inertial measurement unit.

6. The flow-propelled robot (104, 500) as claimed in claim 1, wherein the spherical shell (202, 502) includes a mount adapted to couple an image capturing device thereon.

7. A system for sensing and detecting at least one pipe condition, the system comprising:
a flow-propelled robot (104, 500) deployable in a pipeline, the comprising; and
a shell (202, 502) adapted to travel in a fluid-filled pipeline based on pressure differential across ends of the pipeline; and
a plurality of sensors (210) housed in the spherical shell (202, 502) to detect a value of at least one constructional and operational parameter of the pipe and a location in the pipeline corresponding to the at least one constructional and operational parameter, wherein the at least one constructional and operational parameter comprising temperature, pressure, pipe leakage, and pilferage;
a processing unit external to the flow-propelled robot (104, 500) and adapted to:
receive and process the pipeline data to determine the at least constructional and operational parameter and the location corresponding to the determine at least one constructional and operational parameter.

8. The system as claimed in claim 6 wherein the spherical shell (202, 502) comprises:
a first half-shell (202-1, 502-1) having a first peripheral end (218-1, 506-1); and
a second half-shell (202-2, 502-2) having a second peripheral end (218-2, 506-2), wherein each of the first peripheral end (218-1, 506-1) and the second peripheral end (218-2, 506-2) includes locks to couple the first half-shell (202-1, 502-1) to the second half-shell (202-2, 502-2) to form the spherical shell (202, 502).

9. The system as claimed in claim 6, wherein the at least one pipe condition includes temperature, pressure, pipe leakage, and pilferage, and the plurality of sensors (210) includes acoustic sensor, temperature sensor, pressure sensor, accelerometer, gyroscope, and magnetometer.

10. A method of sensing and detecting at least one pipe condition comprising:
deploying a flow-propelled robot in a pipeline through a first end, the flow-propelled robot including a shell adapted to travel in a fluid-filled pipeline based on pressure differential across ends of the pipeline and a plurality of sensors housed in the shell to detect a value of at least one constructional and operational parameter of the pipe and a location in the pipeline corresponding to the at least one constructional and operational parameter, wherein the at least one constructional and operational parameter comprising temperature, pressure, pipe leakage, and pilferage;
sensing the at least one constructional and operational parameter and the location corresponding to the at least one constructional and operational parameter and storing the sensed the at least one pipe constructional and operational parameter and the location corresponding to the at least one constructional and operational parameter in a memory module (208) inside the flow-propelled robot (104, 500) as pipeline data; and
retrieving the flow-propelled robot (104, 500) through a second end of the pipeline; and
extracting the pipeline data from the flow-propelled robot (104, 500) to determine the at least one constructional and operational parameter and the location corresponding to the detected at least one constructional and operational parameter.