Vehicle for navigating within an enclosed space
US-9927060-B2 · Mar 27, 2018 · US
US11519807B2 · US · B2
| Field | Value |
|---|---|
| Publication number | US-11519807-B2 |
| Application number | US-201916713118-A |
| Country | US |
| Kind code | B2 |
| Filing date | Dec 13, 2019 |
| Priority date | Dec 13, 2019 |
| Publication date | Dec 6, 2022 |
| Grant date | Dec 6, 2022 |
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A system is provided that includes a dart, a pressure sensor, and a controller communicatively coupled with the sensor. The dart is disposed in a fluidic channel. The dart has a main body and a flange extending from the main body and has a diameter greater than or equal to a diameter of the fluidic channel. When the dart translates within the fluidic channel and passes a location of a variation in the fluidic channel, the flange creates a pressure pulse. The pressure sensor measures the pressure pulse within the fluidic channel created by the dart. The controller determines the location of the variation based on the measured pressure pulse.
Opening claim text (preview).
What is claimed is: 1. A system comprising: a dart disposed in a fluidic channel, the dart having a main body and a flange extending from the main body, the flange having a diameter greater than or equal to a diameter of the fluidic channel, wherein when the dart translates within the fluidic channel and passes a location of a variation in the fluidic channel, the flange creates a pressure pulse; a pressure sensor to measure the pressure pulse within the fluidic channel created by the dart; and a controller communicatively coupled with the sensor, the controller determining the location of the variation based on the measured pressure pulse; wherein the controller determines a type of the variation. 2. The system of claim 1 , wherein the fluidic channel includes at least one of the following: a pipeline, a conduit, and/or a wellbore. 3. The system of claim 1 , wherein the dart is configured to flex in response to passing the variation in the fluidic channel, and the controller is configured to detect a pressure pulse generated in response to the flexing of the flange. 4. The system of claim 1 , wherein the controller determines the location of the variation based on the time that the pressure pulse is sensed by the sensor. 5. The system of claim 1 , wherein the type of the variation includes at least one of the following: a change in the diameter of the fluidic channel, a joint, a junction, a perforation, a nipple, a leak, an indentation, and/or deposits in the fluidic channel. 6. The system of claim 1 , wherein the controller determines the type of the variation based on the shape and/or amplitude of the pressure pulse. 7. The system of claim 1 , wherein the fluidic channel has walls forming an annulus, wherein the dart is disposed in the annulus of the fluidic channel, and wherein the flange abuts the walls of the fluidic channel. 8. The system of claim 1 , wherein the dart includes a pig. 9. The system of claim 1 , wherein the fluidic channel includes an initial variation at a trigger point such that the dart creates an initial pressure pulse when passing by the trigger point, wherein the controller determines the location of the variation by comparing the timing of the pressure pulse for the variation with the timing of the initial pressure pulse for the trigger point. 10. A data acquisition system comprising: a pressure sensor to measure a pressure pulse within a fluidic channel created by a dart; and a controller communicatively coupled with the sensor, the controller determining a location of a variation based on the measured pressure pulse; wherein the controller determines a type of the variation. 11. The data acquisition system of claim 10 , wherein the dart includes a main body and a flange extending from the main body, the flange having a diameter greater than or equal to a diameter of the fluidic channel, wherein the dart is configured to flex in response to passing the variation in the fluidic channel, and the controller is configured to detect a pressure pulse generated in response to the flexing of the flange. 12. The data acquisition system of claim 10 , wherein the controller determines the location of the variation based on the time that the pressure pulse is sensed by the sensor. 13. The data acquisition system of claim 10 , wherein the type of the variation includes at least one of the following: a change in the diameter of the fluidic channel, a joint, a junction, a perforation, a nipple, a leak, an indentation, and/or deposits in the fluidic channel. 14. The data acquisition system of claim 10 , wherein the controller determines the type of the variation based on the shape and/or amplitude of the pressure pulse. 15. The data acquisition system of claim 10 , wherein the fluidic channel includes an initial variation at a trigger point such that the dart creates an initial pressure pulse when passing by the trigger point, wherein the controller determines the location of the variation by comparing the timing of the pressure pulse for the variation with the timing of the initial pressure pulse for the trigger point. 16. A method comprising: translating a dart within a fluidic channel; measuring, by a pressure sensor, a pressure pulse created by the dart when the dart passes by a location of a variation in the fluidic channel; and determining, by a controller, the location of the variation based on the measured pressure pulse. 17. The method of claim 16 , wherein the controller determines the location of the variation based on the time that the pressure pulse is sensed by the sensor. 18. The method of claim 16 , further comprising: determining, by the controller, a type of the variation based on the shape and/or amplitude of the pressure pulse.
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