Mapping system for the integration and graphical display of pipeline information that enables automated pipeline surveillance

• US 6,243,483 B1
• Filed: 09/23/1998
• Issued: 06/05/2001
• Est. Priority Date: 09/23/1998
• Status: Expired due to Term

• Current Assignee: PII North America Incorporated
• Original Assignee: PII North America Incorporated
• Inventors: Hewitt, Brian, Tuck, Alan, Fraser, Andy J., Petrou, Maria
• Primary Examiner(s): Patel, Jayanti K.
• Application Number:
  US09/159,381
• Time in Patent Office: 986 Days
• Field of Search: 382/100, 382/106, 382/109, 382/113, 382/141, 382/218, 382/284, 382/294, 382/103, 382/152, 382/181, 382/190, 382/202, 382/260, 382/291, 382/303, 382/307, 738/658, 735/92, 348/82, 348/84, 348/144, 356/51, 356/139.01, 356/397, 356/247, 378/58, 378/59, 405/174, 405/184, 250/330, 250/334, 701/213, 345/113, 396/9, 244/158.R, 244/159
• US Class Current: 382/103
• CPC Class Codes: F17D 5/00 Protection or supervision of installations arrangements for protecting foundations E02D31/00; protecting pipes from damage or internal or external wear F16L57/00, against corrosion and scale F16L58/00; investigation of the fluid-tightness of structures G01M3/00
• CPC Class Codes: G01S 19/41 Differential correction, e.g. DGPS [differential GPS]

Abstract

Pipeline data and satellite data are used to provide surveillance for a pipeline. The satellite data is integrated with the pipeline data to produce a current pipeline map. The current pipeline map is then compared with a previous pipeline map to determine whether the route of the pipeline or a surrounding environment of the pipeline has changed. The satellite data includes very high resolution (VHR) satellite imagery and the pipeline data includes location data that is a series of global positioning system (GPS) coordinates.

Claims

1. A method of providing surveillance for a pipeline, comprising the steps of:

tracking a linear section of a pipeline in satellite data using existing pipeline data, the existing pipeline data comprising pipeline location data;

registering the satellite data to the pipeline location data, retaining the accuracy of the pipeline location data;

merging the satellite data with the existing pipeline data to form a current map of the section of the pipeline; and

comparing the current map with a previous map of the pipeline to detect relative changes between them.

2. The method of claim 1, wherein the satellite data provides ground features comprising roads, railroads, dwellings, vehicles, valve stations, and maglogger locations.

3. The method of claim 1, further comprising the steps of:

integrating client data as overlays on the current map.

4. The method of claim 3, wherein the client data comprises pipeline inspection data, pipeline fixture data, pipeline fitting data, soil condition data, land class data, and land elevation data.

5. The method of claim 1, wherein the pipeline location data is a series of GPS coordinates.

6. The method of claim 1, wherein the registering step includes the step of:

capturing a ground control point (GCP) in the satellite data, wherein the GCP is utilized to facilitate merging of the satellite data and the pipeline location data.

7. The method of claim 1, wherein the registering step is performed using a resample method and an integration method.

8. The method of claim 1, wherein the tracking step further comprises the steps of:

(a) selecting two end points in the satellite image, wherein each of the two end points correspond to a tracking branch of the pipeline;

(b) scanning pixels of the satellite image along a line orthogonal to a straight line between the two end points, wherein the pixels are scanned from both of the end points;

(c) filtering the scanned pixels using a non-linear filter to identify peaks which indicate a route of the pipeline;

(d) selecting the scanned pixels with a peak closest to the straight line between the two end points;

(e) fitting the selected pixels with a least squares fitting line utilizing a robust fitting method;

(f) setting the two end points to the location of the last selected pixel for each of the tracking branches and repeating steps (b) through (f) until the tracking branches approximately intersect; and

(g) fitting the tracking branches with a least squares error line utilizing the robust fitting method.

9. The method of claim 8, wherein the selection of the two end points in step (a) is performed manually.

10. The method of claim 1, wherein the satellite data is VHR satellite imagery.

11. The method of claim 1, wherein the comparison step is automated using standard image analysis techniques.

12. A computer system that provides for surveillance of a pipeline, the computer system comprising:

a processor;

a video display system coupled to the processor;

a mass storage device coupled to the processor; and

pipeline mapping code in a processor readable medium for causing the processor to perform the steps of;

tracking a linear section of a pipeline in satellite data using existing pipeline data, the existing pipeline data comprising pipeline location data;

registering the satellite data to the pipeline location data, retaining the accuracy of the pipeline location data;

merging the satellite data with the existing pipeline data to form a current map of the section of the pipeline; and

comparing the current map with a previous map of the pipeline to detect relative changes between them.

13. The computer system of claim 12, wherein the satellite data provides ground features comprising roads, railroads, dwellings, vehicles, valve stations, and maglogger locations.

14. The computer system of claim 12, the pipeline mapping code further comprising code for causing the processor to perform the step of:

integrating client data as overlays on the current map.

15. The computer system of claim 14, wherein the client data comprises pipeline inspection data, pipeline fixture data, pipeline fitting data, soil condition data, land class data, and land elevation data.

16. The computer system of claim 12, wherein the pipeline location data is a series of GPS coordinates.

17. The computer system of claim 12, wherein the registering step includes the step of:

capturing a ground control point (GCP) in the satellite data, wherein the GCP is utilized to facilitate merging of the satellite data and the pipeline data.

18. The method of claim 12, wherein the registering step is performed using a resample method and an integration method.

19. The computer system of claim 12, wherein the tracking step further comprises the steps of:

(a) selecting two end points in the satellite image, wherein each of the two end points correspond to a tracking branch of the pipeline;

(b) scanning pixels of the satellite image along a line orthogonal to a straight line between the two end points, wherein the pixels are scanned from both of the end points;

(c) filtering the scanned pixels using a non-linear filter to identify peaks which indicate a route of the pipeline;

(d) selecting the scanned pixels with a peak closest to the straight line between the two end points;

(e) fitting the selected pixels with a least squares fitting line utilizing a robust fitting method;

(f) setting the two end points to the location of the last selected pixel for each of the tracking branches and repeating steps (b) through (f) until the tracking branches approximately intersect; and

(g) fitting the tracking branches with a least squares error line utilizing the robust fitting method.

20. The computer system of claim 19, wherein the selection of the two end points in step (a) is performed manually.

21. The computer system of claim 12, wherein the satellite data is VHR satellite imagery.

22. The computer system of claim 12, wherein the comparison step is automated using standard image analysis techniques.

23. A method of tracking a linear feature in a digital image, the method comprising the steps of:

(a) selecting two end points in the digital image, wherein each of the two end points correspond to a tracking branch of the feature;

(b) scanning pixels of the digital image along a line orthogonal to a straight line between the two end points, wherein the pixels are scanned from both of the end points;

(c) filtering the scanned pixels using a non-linear filter to identify peaks which indicate a route of the feature;

(d) selecting the scanned pixels with a peak closest to the straight line between the two end points;

(e) fitting the selected pixels with a least squares fitting line utilizing a robust method;

(f) setting the two end points to the location of the last selected pixel for each of the tracking branches and repeating steps (b) through (f) until the tracking branches approximately intersect; and

(g) fitting the tracking branches with a least squares error line utilizing the robust method.

24. The method of claim 23, wherein the nonlinear filter is a trimmed contraharmonic filter and Ransac is the robust method utilized.