Description:TECHNICAL FIELD
The present disclosure relates generally to pipeline inspection. More particularly, the present disclosure relates to a system a method to determine a three-dimensional (3D) map and an inclination of a pipeline.
BACKGROUND
Pipelines are crucial passageway for a variety of fluids. Passage for prolonged duration of the fluids and other solid wastes in the pipeline may cause damage to the pipeline. Also, external factors such as earthquakes may cause shift in the position of the pipeline, which affects the inclination of the pipeline. Change in the inclination of the pipeline may affect the flow of fluids and solids that pass through the pipeline. Therefore, the pipelines need to be inspected, while the fluids and solids flows through them. Traditional systems of pipeline inspection require capturing of various images from different angles, in order to determine outer condition and inclination of the pipeline. Capturing images from different angles is a difficult task. There is a requirement of separate apparatus to capture images from different angles. Sometimes satellites are used to capture the images of the pipeline for pipeline inspection. Accessing satellite data may increase cost for the maintenance authorities that maintains the pipeline.
Another known techniques, systems, and methods of pipeline inspection require robots that travels within the pipeline by virtue of flow of the fluid passing through the pipeline. Such robots are not able to inspect the pipeline efficiently, owing to the fact that, their motion is affected by change in flow of the fluid passing through the pipeline.
Therefore, there exists a need for an efficient system and method for pipeline inspection that is capable of solving aforementioned problems of the conventional inspection systems.
SUMMARY
In view of the foregoing, a pipeline surveillance apparatus is disclosed. The pipeline surveillance apparatus includes a first input unit configured to determine a first position and an orientation of a maneuvering device within a pipeline. The pipeline surveillance apparatus further includes a second input unit that is coupled to the first input unit, and configured to determine: (i) a second position of the maneuvering device inside the pipeline and (ii) a third position of the maneuvering device based on the first and second positions. The pipeline surveillance apparatus further includes a third input unit that is coupled to the second input unit, and configured to determine a fourth position of the maneuvering device inside the pipeline based on the third position. The pipeline surveillance apparatus further includes an output unit that is coupled to the third input unit and configured to determine a Three-Dimensional (3D) map and an inclination of the pipeline based on the fourth position and the orientation, respectively.
In some embodiments, the first input unit includes one or more inertial measurement sensors that are configured to sense a first set of signals representing one of, an acceleration of the maneuvering device, an angular rate of the maneuvering device, and one or more forces that act on the maneuvering device. The first input unit further includes first processing circuitry that is coupled to the one or more inertial measurement sensors, and configured to process the first set of signals to determine the first position and the orientation of the maneuvering device.
In some embodiments, the second input unit includes one or more motion sensors that are configured to sense a second set of signals representing an instantaneous position of the maneuvering device to determine the second position of the maneuvering device. The second input unit further includes second processing circuitry that is coupled to the one or more motion sensors, and configured to process the first and second set of signals to determine the third position of the maneuvering device.
In some embodiments, the third input unit includes third processing circuitry that is coupled to the one or more motion sensors, and configured to: (i) process a third set of signals that are sensed by the one or more motion sensors such that the third set of signals represents a change in one or more drive kinematics of the maneuvering device and (ii) determine, upon processing the third set of signals, the fourth position based on the third position.
In some embodiments, the pipeline surveillance apparatus further includes a guiding device that is configured to guide the maneuvering device in the pipeline by providing one or more instructions to the maneuvering device such that the one or more instructions change the one or more drive kinematics of the maneuvering device.
In some aspects, a pipeline surveillance system is disclosed. The pipeline surveillance system includes a maneuvering device that is adapted to travel in a pipeline. The pipeline surveillance system further includes a pipeline surveillance apparatus that is disposed on the maneuvering device. The pipeline surveillance apparatus includes a first input unit configured to determine a first position and an orientation of the maneuvering device within a pipeline. The pipeline surveillance apparatus further includes a second input unit that is coupled to the first input unit, and configured to determine: (i) a second position of the maneuvering device inside the pipeline and (ii) a third position of the maneuvering device based on the first and second positions. The pipeline surveillance apparatus further includes a third input unit that is coupled to the second input unit, and configured to determine a fourth position of the maneuvering device inside the pipeline based on the third position. The pipeline surveillance apparatus further includes an output unit that is coupled to the third input unit and configured to determine a Three-Dimensional (3D) map and an inclination of the pipeline based on the fourth position and the orientation, respectively.
In some aspects, a method for determining a three-dimensional (3D) map of a pipeline is disclosed. The method includes determining, by way of a first input unit, a first position and an orientation of a maneuvering device within the pipeline. The method further includes determining, by way of a second input unit that is coupled to the first input unit, a second position of the maneuvering device inside the pipeline. The method further includes, determining, by way of the second input unit, a third position of the maneuvering device based on the first and second positions of the maneuvering device. The method further includes determining, by way of a third input unit that is coupled to the second input unit, a fourth position of the maneuvering device based on the third position. The method further includes determining, by way of an output unit that is coupled to the third input unit, based on the fourth position and the orientation, a three-dimensional (3D) map and an inclination of the pipeline, respectively.
BRIEF DESCRIPTION OF DRAWINGS
The above and still further features and advantages of embodiments of the present disclosure becomes apparent upon consideration of the following detailed description of embodiments thereof, especially when taken in conjunction with the accompanying drawings, and wherein:
FIG. 1 illustrates a block diagram of a pipeline surveillance system to determine a three-dimensional (3D) map of a pipeline, in accordance with an embodiment herein;
FIG. 2A illustrates a block diagram of the first processing circuitry of the pipeline surveillance system of FIG. 1, in accordance with an embodiment herein;
FIG. 2B illustrates a block diagram of the second processing circuitry of the pipeline surveillance system of FIG. 1, in accordance with an embodiment herein;
FIG. 2C illustrates a block diagram of the third processing circuitry of the pipeline surveillance system of FIG. 1, in accordance with an embodiment herein; and
FIG. 3 illustrates a method for determining the 3D map of the pipeline, in accordance with an embodiment herein.
To facilitate understanding, like reference numerals have been used, where possible, to designate like elements common to the figures.
DETAILED DESCRIPTION
Various embodiments of the present disclosure provide a system to determine a three-dimensional (3D) map of a pipeline and a method thereof. The following description provides specific details of certain embodiments of the disclosure illustrated in the drawings to provide a thorough understanding of those embodiments. It should be recognized, however, that the present disclosure can be reflected in additional embodiments and the disclosure may be practiced without some of the details in the following description.
The various embodiments including the example embodiments are now described more fully with reference to the accompanying drawings, in which the various embodiments of the disclosure are shown. The disclosure may, however, be embodied in different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure is thorough and complete, and fully conveys the scope of the disclosure to those skilled in the art. In the drawings, the sizes of components may be exaggerated for clarity.
It is understood that when an element or layer is referred to as being “on,” “connected to,” or “coupled to” another element or layer, it can be directly on, connected to, or coupled to the other element or layer or intervening elements or layers that may be present. As used herein, the term “and/or” includes any and all combinations of one or more of the associated listed items.
The subject matter of example embodiments, as disclosed herein, is described specifically to meet statutory requirements. However, the description itself is not intended to limit the scope of this disclosure. Rather, the inventor/inventors have contemplated that the claimed subject matter might also be embodied in other ways, to include different features or combinations of features similar to the ones described in this document, in conjunction with other technologies. Generally, the various embodiments including the example embodiments relate to a system to determine a three-dimensional (3D) map of a pipeline and a method thereof.
As mentioned, there remains a need for an efficient pipeline inspection system that is capable of determining a three-dimensional (3D) map and an inclination of the pipeline. Accordingly, the present disclosure provides a system that determines the 3D map and the inclination of the pipeline, based on a position of a maneuvering device in the pipeline.
FIG. 1 illustrates a block diagram of a pipeline surveillance system 100 to determine a three-dimensional (3D) map of a pipeline, in accordance with an embodiment herein. The 3D map of the pipeline may include, but not limited to, an internal structure of the pipeline, walls of the pipeline, an internal profile of the pipeline, data pertaining to objects that may be present in the pipeline, and a combination thereof. The pipeline surveillance system 100 may further determine an inclination of the pipeline. The inclination of the pipeline may include, but not limited to, a plurality of turns in the pipeline, a plurality of angular dimensions in the pipeline, a slope at various locations of the pipeline, and a combination thereof. The pipeline surveillance system 100 may determine the 3D map and the inclination to facilitate inspection of the pipeline. The pipeline may be one of, a water pipe, a sewer pipe, a gas pipe, a fuel pipe, a petroleum pipe, and the like. Embodiments of the present disclosure are intended to include and/or otherwise cover any kind of pipeline for which inspection is required.
The pipeline surveillance system 100 may include a maneuvering device 102 and a pipeline surveillance apparatus 104. The pipeline surveillance apparatus 104 may include a first input unit 106, a second input unit 108, a third input unit 110, an output unit 112, and a guiding device 122. The first input unit 106 may include one or more inertial measurement sensors of which first and second inertial sensors 114a and 114b (hereinafter collectively referred to and designated as “the inertial measurement sensors 114”) are shown. Embodiments of the present disclosure are intended to include and/or otherwise cover any number of inertial measurement sensors, without deviating from the scope of the present disclosure. The first input unit 106 may further include a first processing circuitry 116. The second input unit 108 may include one or more motion sensors of which first and second motion sensors 118a and 118b (hereinafter collectively referred to and designated as “the motion sensors 118”) are shown. Embodiments of the present disclosure are intended to include and/or otherwise cover any number of motion sensors, without deviating from the scope of the present disclosure. The second input unit 108 may further include a second processing circuitry 120. The third input unit 110 may include a third processing circuitry 124. The output unit 112 may include a fourth processing circuitry 126 and a screen 128.
In some embodiments of the present disclosure, each inertial measurement sensor of the inertial measurement sensors 114 may be one of, a fiber-optic gyroscope (FOG), a ring-laser gyroscope (RLG), a micro electro-mechanical system (MEMS), and the like. Embodiments of the present disclosure are intended to include and/or otherwise cover any kind of inertial measurement sensor, without deviating from the scope of the present disclosure.
In some embodiments of the present disclosure, each motion sensor of the motion sensors 118 may be one of, a passive infrared (PIR) sensor, a microwave sensor, a dual tech/hybrid sensor, an encoder, and the like. Embodiments of the present disclosure are intended to include and/or otherwise cover any kind of motion sensor, without deviating from the scope of the present disclosure.
In some embodiments, each of the first through fourth processing circuitries 116, 120, 124, and 126 may be any or a combination of microprocessor, microcontroller, Arduino Uno, At mega 328, Raspberry Pi or other similar processing unit, and the like. In yet another embodiment, each of the first through fourth processing circuitries 116, 120, 124, and 126 may include one or more processors coupled with a memory (not shown) such that the memory storing computer-readable instructions executable by the one or more processors.
In some embodiments, each of the first through fourth processing circuitries 116, 120, 124, and 126 may be implemented as one or more microprocessors, microcomputers, microcontrollers, digital signal processors, central processing units, logic circuitries, and/or any devices that manipulate data based on operational instructions stored in a memory. The computer-readable instructions or routines stored in the memory may be fetched and executed to create or share the data units over a network service. The memory may include any non-transitory storage device including, for example, volatile memory such as RAM, or non-volatile memory such as EPROM, flash memory, and the like.
In some embodiments, each of the first through fourth processing circuitries 116, 120, 124, and 126 may be implemented as a combination of hardware and programming (for example, programmable instructions) to implement one or more functionalities of each of the first through fourth processing circuitries 116, 120, 124, and 126. In examples described herein, such combinations of hardware and programming may be implemented in several different ways. For example, the programming for each of the first through fourth processing circuitries 116, 120, 124, and 126 may be processor executable instructions stored on a non-transitory machine-readable storage medium and the hardware for each of the first through fourth processing circuitries 116, 120, 124, and 126 may include a processing resource (for example, one or more processors), to execute such instructions. In the present examples, the machine-readable storage medium may store instructions that, when executed by the processing resource, implement each of the first through fourth processing circuitries 116, 120, 124, and 126. In such examples, each of the first through fourth processing circuitries 116, 120, 124, and 126 may include the machine-readable storage medium storing the instructions and the processing resource to execute the instructions, or the machine-readable storage medium may be separate but accessible to each of the first through fourth processing circuitries 116, 120, 124, and 126 and the processing resource. In other examples, each of the first through fourth processing circuitries 116, 120, 124, and 126 may be implemented by an electronic circuitry.
The pipeline surveillance apparatus 104 may be disposed on the maneuvering device 102. In some embodiments, the pipeline surveillance apparatus 104 may be removably disposed on the maneuvering device 102. The maneuvering device 102 may be adapted to travel in the pipeline. The maneuvering device 102 may include one or more wheels (not shown) that are adapted to displace the maneuvering device 102 in the pipeline. The maneuvering device 102 may be coupled to a power device (not shown) that may provide a propulsion power to the maneuvering device 102 such that the propulsion power drives the maneuvering device 102 in the pipeline.
In some embodiments of the present disclosure, the one or more wheels may be covered with a friction material. The friction material may be adapted to prevent slippage of the maneuvering device 102 while the maneuvering device 102 moves in the pipeline. The friction material may include but not limited to, phenolic resin, metal sintered material, carbon-ceramic material, and carbon-carbon material. Embodiments of the present disclosure are intended to include and/or otherwise cover any kind of known and later developed friction material.
The first input unit 106 may include an appropriate logic circuitry to perform one or more operations, for example, to determine a first position and an orientation of the maneuvering device 102 within the pipeline. The inertial measurement sensors 114 may be disposed on the maneuvering device 102. The inertial measurement sensors 114 may be configured to sense a first set of signals representing one of, an acceleration of the maneuvering device 102, an angular rate of the maneuvering device 102, and one or more forces that act on the maneuvering device 102. The first processing circuitry 116 may be coupled to the inertial measurement sensors 114. The first processing circuitry 116 may be configured to process the first set of signals to determine the first position and the orientation of the maneuvering device 102.
The second input unit 108 may be coupled to the first input unit 106. The second input unit 108 may include an appropriate logic circuitry to perform one or more operations, for example, to determine a second position of the maneuvering device 102 inside the pipeline and to determine a third position of the maneuvering device 102 based on the first and second positions of the maneuvering device 102. Specifically, the second input unit 108, by way of odometry, may determine the second position of the maneuvering device 102. The motion sensors 118 may be disposed on the maneuvering device 102. The motion sensors 118 may be configured to sense a second set of signals representing an instantaneous position of the maneuvering device 102 to determine the second position of the maneuvering device 102. The second processing circuitry 120 may be coupled to the motion sensors 118. The second processing circuitry 120 may be configured to process the first and second set of signals to determine the third position of the maneuvering device 102 in the pipeline.
The third input unit 110 may be coupled to the second input unit 108. Specifically, the third processing circuitry 124 may be coupled to the one or more motion sensors 118. The third input unit 110 may include an appropriate logic circuitry to perform one or more operations, for example, to determine a fourth position of the maneuvering device 102 inside the pipeline.
The guiding device 122 may be coupled to the maneuvering device 102 and the pipeline surveillance apparatus 104. Specifically, the guiding device 122 may be coupled to the third processing circuitry 124 of the pipeline surveillance apparatus 104. The guiding device 122 may facilitate an operator to provide one or more instructions to the maneuvering device 102 to control movement of the maneuvering device 102. The one or more instructions may change one or more drive kinematics of the maneuvering device 102. The one or more motion sensors 118 may be configured to sense a third set of signals representing the change in the one or more drive kinematics. The third processing circuitry 124 may be configured to process the third set of signals to determine the fourth position of the maneuvering device 102 in the pipeline. In other words, the third processing circuitry 124 may be configured to process the third set of signals representing a differential drive kinematics of the maneuvering device 102 to determine the fourth position in the pipeline.
In some embodiments of the present disclosure, the guiding device 122 may be coupled to the maneuvering device 102 and the pipeline surveillance apparatus 104 via wireless communication network. The wireless communication network may include but not limited to, Zigbee wireless communication, Bluetooth, radio broadcast (RF) communication, infrared (IR) communication, and the like. Embodiments of the present disclosure are intended to include and/or otherwise cover any kind of known and later designed wireless communication network.
The output unit 112 may be coupled to the third input unit 110. The output unit 112 may include an appropriate circuitry to perform one or more operations, for example, to determine the 3D map and the inclination of the pipeline. Specifically, the output unit 112 may be configured to determine the 3D map and the inclination of the pipeline, based on the fourth position and the orientation of the maneuvering device 102, respectively. The fourth processing circuitry 126 may be configured to generate the 3D map of the pipeline based on the fourth position of the maneuvering device 102 in the pipeline. The fourth processing circuitry 126 may further be configured to determine the inclination of the pipeline based on the orientation of the maneuvering device 102 in the pipeline. The screen 128 may be coupled to the fourth processing circuitry 126. The screen 128 may be configured to display the 3D map and the inclination of the pipeline to the operator. Specifically, the screen 128 may provide information pertaining to the internal structure of the pipeline, the walls of the pipeline, the internal profile of the pipeline, the objects that may be present in the pipeline, to the operator. The screen 128 may further provide information pertaining to the plurality of turns in the pipeline, the plurality of angular dimensions in the pipeline, the slope at various locations of the pipeline, to the operator. The operator may, based on the 3D map and the inclination of the pipeline, take one or more remedial actions that may mitigate one or more threats to the pipeline.
In some embodiments of the present disclosure, the first processing circuitry 116 may be further configured to, upon determination of the orientation of the manoeuvring device, transmit an orientation signal to a server (not shown). The third processing circuitry may be further configured to, upon determination of the fourth position of the manoeuvring device, transmit a position signal to the server. The server may be configured to, upon receipt of the orientation signal, determine the inclination of the pipeline based on the orientation of the manoeuvring device 102 in the pipeline. The server may further be configured to, upon receipt of the position signal, generate the 3D map of the pipeline.
FIG. 2A-2C illustrate block diagrams of the first through third processing circuitries 116, 120, and 124. The first through third processing circuitries 116, 120, and 124 may include a memory 202. The memory 202 may include a set of instructions or routines that when executed, the first through third processing circuitries 116, 120, and 124 perform one or more operations.
FIG. 2A illustrates a block diagram of the first processing circuitry 116 of the pipeline surveillance system 100 of FIG. 1, in accordance with an embodiment herein. The first processing circuitry 116 may further include a madgwick filter engine 204. The madgwick filter engine 204 may facilitate the first processing circuitry 116 to process the first set of signals to determine the first position and the orientation of the maneuvering device 102 in the pipeline.
FIG. 2B illustrates a block diagram of the second processing circuitry 120 of the pipeline surveillance system 100 of FIG. 1, in accordance with an embodiment herein. The second processing circuitry 120 may further include a complimentary filter engine 206. The complimentary filter engine 206 may facilitate the second processing circuitry 120 to process the first and second set of signals to determine the third position of the maneuvering device 102 in the pipeline. Specifically, while processing of the first and second set of signals, the complimentary filter engine 206 may fuse the first and second positions of the maneuvering device 102 to determine a precise position with respect to an initial position of the maneuvering device 102 i.e., the third position of the maneuvering device 102. The term “initial position” as used herein refers to the position of the maneuvering device, while the maneuvering device initiates travelling into the pipeline.
FIG. 2C illustrates a block diagram of the third processing circuitry 124 of the pipeline surveillance system 100 of FIG. 1, in accordance with an embodiment herein. The third processing circuitry 124 may further include a Kalman filter engine 208. The Kalman filter engine 208 may facilitate the third processing circuitry 124 to process the third set of signals to determine the fourth position in the pipeline. Specifically, while processing of the third set of signals, the Kalman filter engine 208 may fuse the third position with the change in the one or more drive kinematics of the maneuvering device 102 to determine a more precise position i.e., the fourth position of the maneuvering device 102 in the pipeline.
FIG. 3 illustrates a method 300 for determining the 3D map of the pipeline, in accordance with an embodiment herein. The method 300 may include following steps for determining the 3D map of the pipeline: -
At step 302, the pipeline surveillance system 100, by way of the first input unit 106, may be configured to determine the first position and the orientation of the maneuvering device 102 within the pipeline. The first input unit 106 may include the appropriate logic circuitry to perform the one or more operations, for example, to determine the first position and the orientation of the maneuvering device 102 within the pipeline. The inertial measurement sensors 114 may be configured to sense the first set of signals representing one of, the acceleration of the maneuvering device 102, the angular rate of the maneuvering device 102, and the one or more forces that act on the maneuvering device 102. The first processing circuitry 116 may be configured to process the first set of signals to determine the first position and the orientation of the maneuvering device 102. The madgwick filter engine 204 may facilitate the first processing circuitry 116 to process the first set of signals to determine the first position and the orientation of the maneuvering device 102 in the pipeline.
At step 304, the pipeline surveillance system 100, by way of the second input unit 108 that may be coupled to the first input unit 106, may be configured to determine the second position of the maneuvering device 102 in the pipeline. The second input unit 108 may include the appropriate logic circuitry to perform the one or more operations, for example, to determine the second position of the maneuvering device 102 inside the pipeline. The motion sensors 118 may be configured to sense the second set of signals representing the instantaneous position of the maneuvering device 102 to determine the second position of the maneuvering device 102.
At step 306, the pipeline surveillance system 100, by way of the second input unit 108, may be configured to determine the third position of the maneuvering device 102 based on the first and second positions of the maneuvering device 102. The second input unit 108 may include the appropriate logic circuitry to perform the one or more operations, for example, to determine the third position of the maneuvering device 102 based on the first and second positions of the maneuvering device 102. The second processing circuitry 120 may be configured to process the first and second set of signals to determine the third position of the maneuvering device 102 in the pipeline. The complimentary filter engine 206 may facilitate the second processing circuitry 120 to process the first and second set of signals to determine the third position of the maneuvering device 102 in the pipeline. Specifically, while processing of the first and second set of signals, the complimentary filter engine 206 may fuse the first and second positions of the maneuvering device 102 to determine the precise position with respect to the initial position of the maneuvering device 102 i.e., the third position of the maneuvering device 102.
At step 308, the pipeline surveillance system 100, by way of the third input unit 110 that may be coupled to the second input unit 108, may be configured to determine the fourth position of the maneuvering device 102 based on the third position. The third input unit 110 may include the appropriate logic circuitry to perform the one or more operations, for example, to determine the fourth position of the maneuvering device 102 inside the pipeline. The guiding device 122 may facilitate the operator to provide the one or more instructions to the maneuvering device 102 to control movement of the maneuvering device 102. The one or more instructions may change the one or more drive kinematics of the maneuvering device 102. The one or more motion sensors 118 may be configured to sense the third set of signals representing the change in the one or more drive kinematics. The third processing circuitry 124 may be configured to process the third set of signals to determine the fourth position of the maneuvering device 102 in the pipeline. In other words, the third processing circuitry 124 may be configured to process the third set of signals representing the differential drive kinematics of the maneuvering device 102 to determine the fourth position in the pipeline. The Kalman filter engine 208 may facilitate the third processing circuitry 124 to process the third set of signals to determine the fourth position in the pipeline. Specifically, while processing of the third set of signals, the Kalman filter engine 208 may fuse the third position with the change in the one or more drive kinematics of the maneuvering device 102 to determine the more precise position i.e., the fourth position of the maneuvering device 102 in the pipeline.
At step 310, the pipeline surveillance system 100, by way of the output unit 112 that may be coupled to the third input unit 110, may be configured to determine the 3D map of the pipeline. The output unit 112 may include the appropriate circuitry to perform the one or more operations, for example, to determine the 3D map and the inclination of the pipeline. Specifically, the output unit 112 may be configured to determine the 3D map and the inclination of the pipeline, based on the fourth position and the orientation of the maneuvering device 102, respectively. The fourth processing circuitry 126 may be configured to generate the 3D map of the pipeline based on the fourth position of the maneuvering device 102 in the pipeline. The fourth processing circuitry 126 may further be configured to determine the inclination of the pipeline based on the orientation of the maneuvering device 102 in the pipeline. The screen 128 may be coupled to the fourth processing circuitry 126. The screen 128 may be configured to display the 3D map of the pipeline to the operator.
Thus, the pipeline surveillance system 100 may provide following advantages that may be derived from the structural and functional aspects of the pipeline surveillance system 100: -
- The pipeline surveillance system 100 provides precise position of the maneuvering device 102 in the pipeline, which is used to generate the 3D map of the pipeline.
- The pipeline surveillance system 100 accurately generates the 3D map and the inclination of the pipeline.
The foregoing discussion of the present disclosure has been presented for purposes of illustration and description. It is not intended to limit the present disclosure to the form or forms disclosed herein. In the foregoing Detailed Description, for example, various features of the present disclosure are grouped together in one or more embodiments, configurations, or embodiments for the purpose of streamlining the disclosure. The features of the embodiments, configurations, or embodiments may be combined in alternate embodiments, configurations, or embodiments other than those discussed above. This method of disclosure is not to be interpreted as reflecting an intention the present disclosure requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive embodiments lie in less than all features of a single foregoing disclosed embodiment, configuration, or aspect. Thus, the following claims are hereby incorporated into this Detailed Description, with each claim standing on its own as a separate aspect of the present disclosure.
Moreover, though the description of the present disclosure has included description of one or more embodiments, configurations, or embodiments and certain variations and modifications, other variations, combinations, and modifications are within the scope of the present disclosure, e.g., as may be within the skill and knowledge of those in the art, after understanding the present disclosure. It is intended to obtain rights which include alternative embodiments, configurations, or embodiments to the extent permitted, including alternate, interchangeable and/or equivalent structures, functions, ranges or steps to those claimed, whether or not such alternate, interchangeable and/or equivalent structures, functions, ranges or steps are disclosed herein, and without intending to publicly dedicate any patentable subject matter.
, Claims:1. A pipeline surveillance apparatus (104) comprising:
a first input unit (106) configured to determine a first position and an orientation of a maneuvering device (102) within a pipeline;
a second input unit (108) that is coupled to the first input unit (106), and configured to determine: (i) a second position of the maneuvering device (102) inside the pipeline and (ii) a third position of the maneuvering device (102) based on the first and second positions;
a third input unit (110) that is coupled to the second input unit (108), and configured to determine a fourth position of the maneuvering device (102) inside the pipeline based on the third position; and
an output unit (112) that is coupled to the third input unit (110), and configured to determine a Three-Dimensional (3D) map and an inclination of the pipeline based on the fourth position and the orientation, respectively.

2. The pipeline surveillance apparatus (104) as claimed in claim 1, wherein the first input unit (106) comprising:
one or more inertial measurement sensors (114) configured to sense a first set of signals representing one of, an acceleration of the maneuvering device (102), an angular rate of the maneuvering device (102), and one or more forces that act on the maneuvering device (102); and
first processing circuitry (116) that is coupled to the one or more inertial measurement sensors (114), and configured to process the first set of signals to determine the first position and the orientation of the maneuvering device (102).

3. The pipeline surveillance apparatus (104) as claimed in claim 1, wherein the second input unit (108) comprising:
one or more motion sensors (118) configured to sense a second set of signals representing an instantaneous position of the maneuvering device (102) to determine the second position of the maneuvering device (102); and
second processing circuitry (120) that is coupled to the one or more motion sensors (118), and configured to process the first and second set of signals to determine the third position of the maneuvering device (102).

4. The pipeline surveillance apparatus (104) as claimed in claim 1, wherein the third input unit (110) comprising:
third processing circuitry (124) that is coupled to the one or more motion sensors (118), and configured to (i) process a third set of signals that are sensed by the one or more motion sensors (118) such that the third set of signals represents a change in one or more drive kinematics of the maneuvering device (102) and (ii) determine, upon processing the third set of signals, the fourth position based on the third position.

5. The pipeline surveillance apparatus (104) as claimed in claim 4, further comprising:
a guiding device (122) that is configured to guide the maneuvering device (102) in the pipeline by providing one or more instructions to the maneuvering device (102) such that the one or more instructions change the one or more drive kinematics of the maneuvering device (102).

6. A pipeline surveillance system (100) comprising:
a maneuvering device (102) adapted to travel in a pipeline; and
a pipeline surveillance apparatus (104) disposed on the maneuvering device (102), the pipeline surveillance apparatus (104) comprising:
a first input unit (106) disposed on a maneuvering device (102) and configured to determine a first position and an orientation of the maneuvering device (102) within a pipeline;
a second input unit (108) coupled to the first input unit (106) and disposed on the maneuvering device (102), and configured to determine: (i) a second position of the maneuvering device (102) inside the pipeline and (ii) a third position based on the first and second positions;
a third input unit (110) coupled to the second input unit (108) and disposed on the maneuvering device (102), and configured to determine a fourth position of the maneuvering device (102) inside the pipeline based on the third position; and
an output unit (112) coupled to the third input unit (110) and configured to determine a Three-Dimensional (3D) map and an inclination of the pipeline based on the fourth position and the orientation, respectively.

7. The pipeline surveillance system (100) as claimed in claim 6, wherein the first input unit (106) comprising:
one or more inertial measurement sensors (114) configured to sense a first set of signals representing one of, an acceleration of the maneuvering device (102), an angular rate of the maneuvering device (102), and one or more forces that act on the maneuvering device (102); and
first processing circuitry (116) that is coupled to the one or more inertial measurement sensors (114), and configured to process the first set of signals to determine the first position and the orientation of the maneuvering device (102).

8. The pipeline surveillance system (100) as claimed in claim 6, wherein the second input unit (108) comprising:
one or more motion sensors (118) and configured to sense a second set of signals representing an instantaneous position of the maneuvering device (102) to determine the second position of the maneuvering device (102); and
second processing circuitry (120) that is coupled to the one or more motion sensors (118), and configured to process the first and second set of signals to determine the third position of the maneuvering device (102).
9. The pipeline surveillance system (100) as claimed in claim 6, wherein the third input unit (110) comprising:
third processing circuitry (124) that is coupled to the one or more motion sensors (118), and configured to: (i) process a third set of signals that are sensed by the one or more motion sensors (118) such that the third set of signals represents a change in one or more drive kinematics of the maneuvering device (102) and (ii) determine, upon processing the third set of signals, the fourth position based on the third position.

10. The pipeline surveillance system (100) as claimed in claim 6, wherein the pipeline surveillance apparatus (104) further comprising:
a guiding device (122) that is coupled to the maneuvering device (102) and configured to guide the maneuvering device (102) in the pipeline by providing one or more instructions to the maneuvering device (102) such that the one or more instructions change the one or more drive kinematics of the maneuvering device (102).

11. A method (300) for determining a three-dimensional (3D) map of a pipeline, the method (300) comprising:
determining (302), by way of a first input unit (106), a first position and an orientation of a maneuvering device (102) within the pipeline;
determining (304), by way of a second input unit (108) that is coupled to the first input unit (106), a second position of the maneuvering device (102) inside the pipeline;
determining (306), by way of the second input unit (108), a third position of the maneuvering device (102) based on the first and second positions of the maneuvering device (102);
determining (308), by way of a third input unit (110) that is coupled to the second input unit (108), a fourth position of the maneuvering device (102) based on the third position; and
determining (310), by way of an output unit (112) that is coupled to the third input unit (110), based on the fourth position and the orientation, a three-dimensional (3D) map and an inclination of the pipeline, respectively.