WO2024094757A1 - Method for determining the position of an implement in a pipeline - Google Patents

Abstract

The invention relates to a computer-implemented method for determining the position of an implement in a pipeline designed to transport fluids, comprising at least the steps of: - providing reference data in the form of mutually assigned route data and first magnetic field data relating to a remanent magnetic field along the pipeline from a reference journey of the implement, - providing further magnetic field data relating to the remanent magnetic field along the pipeline from a further journey of the or a further implement, - matching the further magnetic field data and the reference data to one another in order to generate route-dependent further magnetic field data, - determining a position and/or a position range of the implement from the further journey on the basis of the route-dependent further magnetic field data. In addition, the invention relates to a corresponding data processing device, a computer program, a computer-readable medium and a method for determining the position of an implement, and an implement.

Description

Method for determining the position of a working device in a pipeline

The invention relates to a computer-implemented method for determining the position of a working device in a pipeline designed to transport fluids, a data processing device and a computer program for carrying out such a method, a corresponding computer-readable medium, a method for determining the position of a working device in a pipeline designed to transport fluids and a working device for use in a pipeline designed to transport fluids.

As part of inspections in pipelines, so-called in-line inspections, it is regularly necessary to determine the position of the tools used in the pipeline. For example, the use of tools with an odometer, tools that use electromagnetic waves to communicate with a magnetic marker on the outside of the pipeline and/or tools with a transmitter unit that communicates with receivers arranged along the pipeline are known ways of determining the position. However, both the use of odometers and the use of markers are complex and costly. In water-bearing pipelines, the use of odometers is also not desired due to the biofilm on the wall. In these pipelines, the tools can be without touching the wall. The use of markers is also neither continuous nor economically viable, for example, in underground sections of the pipeline.

The present invention is therefore based on the object of enabling a simple and cost-effective position determination while at least partially avoiding the disadvantages of the prior art.

According to the invention, this object is achieved by a computer-implemented method having the features of claim 1, a data processing device according to claim 12, a computer program according to claim 13, a computer-readable medium according to claim 14, a method according to claim 15 and a working device according to claim 21. Further advantageous embodiments of the invention can be found in the respective subclaims and the following description.

The computer-implemented method according to the invention for determining the position of a working device in a pipeline designed to transport fluids comprises at least the following steps:

- Providing reference data in the form of associated path data and first magnetic field data of a remanent magnetic field along the pipeline from a reference run of the working device,

- Providing further magnetic field data of the remanent magnetic field along the pipeline from a further journey of the or another working device, - Matching the additional magnetic field data and the reference data with each other to generate distance-dependent additional magnetic field data,

- Determining a position and/or a position range of the work equipment from the further journey based on the distance-dependent additional magnetic field data.

The computer-implemented method according to the invention is based on the knowledge that the pipeline has a remanent magnetic field with a characteristic and reproducibly recordable course along a longitudinal extension of the pipeline. The remanent magnetic field of the pipeline results in particular from a combination of the earth's magnetic field acting on the pipeline and a magnetic field of the pipeline itself, which was created, for example, during the manufacture, transport and assembly of the pipeline. Alternatively or additionally, the remanent magnetic field of the pipeline can be formed by a magnetic field in the environment of the pipeline, by pipeline installations and/or by previous inspection runs. The strength of the remanent magnetic field varies along the longitudinal extension of the pipeline. The remanent magnetic field has an individual, pipeline-specific course when viewed over the longitudinal extension of the pipeline.

In particular, the remanent magnetic field is recorded without additional magnetization of the pipeline during a measurement of the remanent magnetic field. In investigations into the invention, it was found that this remanent magnetic field remains unchanged over long periods of time, in particular several weeks or months. After its initial distance-dependent recording during the reference run, it can therefore be used according to the invention to determine a position and/or a position range of the implement from the further run without distance measurement at a time interval from the reference run. A distance-dependent recording is understood to mean the recording of the remanent magnetic field or the associated measurement signal via its position in the pipeline.

A position means a point on the route covered by the working device along the longitudinal extension of the pipeline. A position range also means a section of the route covered by the working device along the longitudinal extension of the pipeline.

The computer-implemented method is particularly suitable for determining the position of work equipment in water, oil and/or gas pipelines. In addition, the computer-implemented method is particularly suitable for determining the position in pipelines made at least partially from ferromagnetic material.

The provision of the reference data and the additional magnetic field data means a computer-implemented process step, which, for example, takes the form of by reading out the respective data stored in a data storage device by a computer. In particular, a data storage device of the working device that can be read out via an interface is read out, which can be designed to be removable from the working device for easier reading. Alternatively, data transmitted by means of a transmitter unit, which is in particular part of the working device, can be received by a receiver unit of the computer and thus made available. In principle, the reference data is made available in the computer in such a way that the associated computer program can access this data for the purpose of processing. The reference data can therefore also be made available from one memory area of the computer in another memory area.

The mutually associated distance data and first magnetic field data mean distance data to which first magnetic field data have been associated and/or first magnetic field data to which distance data have been associated. It is essential here that distance-dependent first magnetic field data are provided.

Matching the additional magnetic field data and the reference data with each other means assigning the additional magnetic field data to the distance-dependent first magnetic field data or vice versa. At least similar or even identical sections of the additional magnetic field data and the first magnetic field data are connected or assigned to each other, each with respect to their course along the pipeline. It is advantageous that, in the computer-implemented method according to the invention, the further travel of the working device can take place at least without conventional or even completely without distance measurement. This means that the working device or another working device can be used without a distance measuring device. In particular, odometers, the use of which is not desired in water-carrying pipelines, for example, due to the biofilm present there, can be dispensed with. This reduces the effort of the computer-implemented method and the structural complexity of the working device required in particular for recording the additional magnetic field data. Measurement inaccuracies that accumulate in a mechanical distance measurement, for example due to slippage of an odometer, during a measurement run through a pipeline, do not occur.

In an advantageous embodiment of the computer-implemented method according to the invention, the distance data were recorded during the reference run of the working device through the pipeline using a distance measuring device, the first magnetic field data were recorded during the reference run using a magnetic field sensor and the further magnetic field data were recorded during the further run of the or another working device using the or another magnetic field sensor. The distance data, the first magnetic field data and the further magnetic field data are thus provided in a particularly simple manner. In particular, the magnetic field sensors used for the reference run and the further run are the same or identical sensors. Preferably, the position and/or the position range of the working device for determining the location of at least one feature of the pipeline is/are stored and/or output. The position and/or the position range of the working device can be stored, for example, in a data storage device of the computer and thus easily processed further by the computer. The output, which takes place in particular via an interface of the computer, enables the position and/or the position range to be easily processed further, for example by the computer or a separate data processing device. The feature of the pipeline can be designed, for example, as a pipe connection point, in particular as a weld seam, a valve, a defect, in particular a defect in the form of a crack, crack change, corrosion, leakage and/or defective steel wire in the case of reinforced concrete pipelines, an unauthorized tapping point or the like. The feature is preferably identified based on a specific value or a specific course of several values in the further magnetic field data. In order to determine the specific value or the specific course of several values of the characteristic, corresponding and/or sufficiently identical characteristics with a known position along the pipeline are used.

Preferably, the position and/or position range of the implement is/are also stored and/or output for determining the location of time-varying features. Time-varying features are characterized by a Deviation of the additional magnetic field data compared to the first magnetic field data at the position and/or in the position range of this feature. If matching is not possible at certain points or in certain sections due to the deviation of the additional magnetic field data, the position or position range of the time-varying features can be indirectly determined via preceding and/or subsequent route points or sections.

Furthermore, the storage and/or output of the position and/or position range of the working device is preferably carried out automatically, whereby the computer-implemented method can run at high speed and without operator intervention.

In a preferred embodiment of the computer-implemented method according to the invention, further sensor data and the further magnetic field data are assigned to one another, in particular in terms of time, in order to determine the location of the or a feature of the pipeline. For this purpose, further sensor data from the further travel of the working device is provided. Preferably, both the further magnetic field data and the further sensor data are recorded over time and assigned to one another over this time. The further sensor data can be present, for example, as noises recorded by an acoustic sensor, temperatures recorded by a temperature sensor or similar, or combinations thereof. The further sensor data can also be present as data recorded by an IMU sensor (IMU = Inertial Measurement Unit). It is advantageous that this data is recorded without the working device coming into contact with the pipeline. can be recorded. This makes it particularly easy to determine the location of a feature that can be identified alternatively or in addition to the magnetic field data using the other sensor data, such as a characteristic noise. For example, the characteristic noise is a noise that can be attributed to a leak or an undesirable sampling point in the pipeline.

Since the method according to the invention allows the work device to continue to travel at least without conventional or even completely distance measurement, it is particularly cost-effective and quick. It enables the pipeline to be checked regularly, particularly at weekly or monthly intervals, a so-called screening, which can be carried out using lighter and simpler devices.

The subject of the method according to the invention can also be to carry out a feature-specific action on the basis of the features of the pipeline determined by further sensors and the position determination according to the invention, in particular on the basis of the screening. In particular, if a leak is detected, the corresponding pipeline area can be excavated if necessary and the leak can be repaired or the unwanted extraction point can be removed and the pipeline can be sealed again. Furthermore, in order to characterize the feature more precisely, the feature can be examined by a further inspection, in particular by evaluating further sensor data recorded during the further inspection, such as data from a EMAT (Electro Magnetic Acoustic Transducer). For example, the depth of a defect that has developed as a crack can be determined. To characterize the feature more precisely, alternatively or additionally, inspections of the pipeline can be carried out by evaluating IMU sensor data, ultrasound data, magnetic field data and/or by means of eddy current testing.

Preferably, reference data are provided in the form of mutually associated path data and first magnetic field data, wherein the association of the path data and first magnetic field data to one another has been calibrated and adjusted. Calibrating the association is understood to mean determining a deviation between the position and/or position range determined at a point in the first magnetic field data using the associated path point or the associated path and an actual position and/or an actual position range at this point. By adjusting the association, this deviation, if present, is corrected. The computer-implemented method thus has increased accuracy. Preferably, calibration is carried out using at least one calibration point of the pipeline, the position of which is known and which can be associated with a predefined value and/or value range in the magnetic field data. The calibration point is formed in particular by a magnetic marker or the like.

The computer-implemented method is preferably characterized by the further step: - Time normalization of the additional magnetic field data and/or time normalization of the reference data to match the additional magnetic field data and the reference data with each other in the case of different speed profiles of the working device during the reference run and the further run.

Due to the different speed profiles, the additional magnetic field data can be distorted, particularly unevenly, compared to the reference data. Time standardization enables these data to be matched with each other regardless of the speed of the working device.

Particularly preferably, individual sections of the additional magnetic field data or reference data to be standardized are stretched and/or compressed in order to assign them to the sections of the reference data or additional magnetic field data associated with these sections. A section here means a value and/or value range, in particular a value range, of the additional magnetic field data or reference data with a magnetic field profile along the pipeline. For this purpose, in particular a section-by-section comparison of the additional magnetic field data with the reference data takes place. Stretching occurs in particular at a higher speed of the working device in the section to be standardized, compression occurs in particular at a lower speed of the working device in the section to be standardized, in each case in comparison to a speed of the working device in the associated section not to be standardized, which is to be assigned to the section to be standardized. In a preferred embodiment of the computer-implemented method, time normalization is carried out using an algorithm for time normalization, in particular for dynamic time normalization, and preferably in an automated manner. Using the algorithm makes it particularly easy to implement time normalization on a computer. Preferably, when the algorithm for time normalization is used, a transformation function results, by means of which, when this transformation function is applied to the additional magnetic field data, these data can be assigned to the reference data, or when this transformation function is applied to the reference data, these data can be assigned to the additional magnetic field data. It is advantageous that first magnetic field data and additional magnetic field data, which were recorded with different speed profiles of the working device and are in particular unevenly distorted, can thus be assigned to one another, in particular in an automated manner. The method is therefore particularly flexible. In particular, time normalization is carried out using a FastDTW algorithm, i.e. a Fast Dynamic Time Warping algorithm. Surprisingly, it has been shown that such algorithms known from speech recognition are well suited to matching magnetic field data. The computer-implemented method according to the invention can then run particularly quickly.

In a further preferred embodiment of the computer-implemented method according to the invention, in order to increase the accuracy of the position determination, a difference between the position and/or position range determined on the basis of the distance-dependent further magnetic field data and the actual position and/or the actual position range of the working device from the further journey through, in particular automated, filtering and interpolation of the distance-dependent additional magnetic field data. Undesirable parts of the distance-dependent additional magnetic field data, such as at least one known defect, can thus be selectively masked out.

Particularly preferably, speed data recorded during the further journey are provided and assigned to the distance-dependent additional magnetic field data, whereby parts of the distance-dependent additional magnetic field data that were assigned to a gap in the speed data are masked out by filtering and the gaps in the distance-dependent additional magnetic field data that were created by the masking are filled by interpolating the unfiltered parts of this data. Alternatively or in addition to interpolation, the distance-dependent additional magnetic field data are approximated, in particular by applying a smoothing filter to this data. The gap can be in the form of a jump or a point with an exceptionally high or low gradient, for example. Such gaps can be an indication of measurement errors, for example due to slippage of the distance measuring device, which is designed in particular as an odometer. Such gaps can be corrected by means of filtering and interpolation. The computer-implemented method therefore has increased accuracy. Preferably, in the computer-implemented method according to the invention, filtered first magnetic field data and filtered further magnetic field data are provided, with both data each being filtered to a low-frequency range with a frequency < 20 Hz, preferably < 15 Hz, particularly preferably < 10 Hz. This makes it possible to filter out unwanted signals, such as a signal from a possibly present low-frequency transmitter of the implement, in particular a possibly present transmitter for the calibration of the distance data, with a frequency of approximately 22 Hz. The position determination with the computer-implemented method according to the invention is thus less influenced by signals that are irrelevant for the position determination or would make it more difficult.

The data processing device according to the invention is characterized in that it comprises means for carrying out the method according to one of claims 1 to 11.

The computer program according to the invention is characterized in that it comprises instructions which, when the computer program is executed by a computer, cause the computer or a corresponding electronic data processing unit to carry out the method according to one of claims 1 to 11.

The computer-readable medium according to the invention is characterized in that the computer program according to claim 13 is stored thereon. The method according to the invention for determining the position of a working device in a pipeline designed to transport fluids comprises at least the following steps:

- Recording initial magnetic field data of a remanent magnetic field using a magnetic field sensor of the working device during a reference run of the working device through the pipeline,

- Recording distance data along the pipeline using a distance measuring device of the working device during the reference run of the working device,

- Recording further magnetic field data of the remanent magnetic field by means of the or another magnetic field sensor of the or another working device during a further journey of this working device, whereby in particular this journey takes place without a direct distance measurement, for example using an odometer,

- Determining at least one position and/or one position range of the working device from the further journey, wherein the determination is carried out by the method according to one of claims 2 to 11 and by means of a data processing device, in particular the data processing device according to claim 12.

During the reference run and the subsequent run, the working device or devices are moved along the length of the pipeline and in particular within the pipeline. The speed of the working device is, regardless of any start-up phase that may be present at the beginning of the run, Reference run and/or the further run as well as a possible braking phase during and/or at the end of the reference run and/or the further run, preferably 1 m/s to 5 m/s. To secure the determined position and/or increase the accuracy of the position determination, several further runs are preferably carried out, from each of which a position and/or a position range of the work device is determined.

If, for example, during an inspection of the pipeline, such a strong magnetic field is transported along the pipeline that it changes the remanent magnetic field of the pipeline and/or its surroundings, initial magnetic field data and distance data are recorded again as part of a new reference run.

The reference run, particularly with mechanical distance measurement, is preferably carried out before the next journey. However, it can also be carried out afterwards, provided that it can be assumed that the remanent magnetic field has remained unchanged.

The distance measuring device, which can also be designed as a position determining device, is designed in particular as an odometer. It is advantageous that such distance measuring devices can regularly already be part of work equipment designed in particular as pigs.

In a preferred embodiment of the method, this is carried out without contact of the

working device with the pipeline during the further journey. This is This is due to the fact that the mechanical recording of the distance is only necessary during the reference run. During the rest of the journey, the or another working device can be used in relation to a distance measuring device without contact and/or without a mechanical distance measuring device. This simplifies the determination of the position, especially in pipelines with a biofilm and/or with other obstacles in the pipeline, such as valves or similar.

The method is preferably characterized in that the first magnetic field data and the further magnetic field data are each recorded in the form of axial magnetic field components of the remanent magnetic field. The respective data are thus generated by measuring the axial magnetic field component along the pipeline. The axial magnetic field component is recorded using, in particular, exactly one magnetic field sensor. The method is therefore particularly cost-effective and the working device used is structurally particularly simple.

As an alternative to the embodiment described in the previous paragraph, the method is preferably characterized in that the first magnetic field data and the further magnetic field data are each recorded in the form of radial magnetic field components of the remanent magnetic field. The respective data are thus generated by measuring the radial magnetic field component along the pipeline. The radial magnetic field component is smaller than the axial magnetic field component. field component is better suited for pipelines made only partially from ferromagnetic material, such as reinforced concrete pipelines. In such pipelines, a smaller reduction in the size of the remanent magnetic field can be observed in the radial magnetic field component compared to the axial magnetic field component.

As an alternative to the embodiments described in the two preceding paragraphs, the method is preferably characterized in that the first magnetic field data and the further magnetic field data are each recorded in the form of axial magnetic field components of the remanent magnetic field and of radial magnetic field components of the remanent magnetic field. The respective data are thus generated by measuring the axial or radial magnetic field components along the pipeline. The combined recording of both magnetic field components achieves a particularly high degree of accuracy in determining the position.

Preferably, the first magnetic field data and the further magnetic field data are each recorded using a magnetic field sensor designed as a high-precision magnetic field sensor. This means that the remanent magnetic field of the pipeline is recorded particularly precisely and the method is particularly precise in terms of position determination. The magnetic field sensor can be a Förster probe, an AMR (anisotropic magneto-resistive) element, a GMR (giant magneto-resistive) element, a TMR (tunneling magneto-resistive) element, a Hall probe or, in the case of Using multiple sensors, combinations thereof can be used. In particular, forest probes are used, as these are particularly cost-effective and high-performance and have comparatively small external dimensions. Preferably, the first magnetic field data and the further magnetic field data are each recorded with a magnetic field sensor, the measuring or recording range of which at least partially, in particular completely, covers a magnetic field range with a magnetic flux density of 0.0001 pT (microtesla) to 1000 pT.

The first magnetic field data and the further magnetic field data are each recorded in a range of a magnetic flux density of the remanent magnetic field of preferably -240 pT to 240 pT, particularly preferably -120 pT to 120 pT, further particularly preferably -60 pT to 60 pT. The accuracy of the magnetic field sensor used is preferably <10%, particularly preferably <5%, further particularly preferably <2% of the magnetic flux density. When using the method according to the invention, the position of the implement is determined accordingly to preferably 1 m, particularly preferably 0.75 m, further particularly preferably 0.5 m.

The working device according to the invention for use in a pipeline designed to transport fluids is characterized in that the working device, which is designed in particular as a cleaning pig, is designed to move in the pipeline, wherein the working device has at least one magnetic field sensor for recording magnetic field data of a remanent magnetic field along the pipe line and wherein the magnetic field sensor is arranged at a distance of no more than 20% of an outer diameter of the tool, preferably at a distance of no more than 10% of an outer diameter of the tool, particularly preferably at a distance of no more than 5% of an outer diameter of the tool, further particularly preferably at no distance, from a longitudinal center axis of the tool. In particular, the magnetic field sensor is arranged no more than 50 mm off-center from a longitudinal center axis of the tool, preferably no more than 10 mm off-center from a longitudinal center axis of the tool, particularly preferably in the longitudinal center axis of the tool. The longitudinal center axis of the tool corresponds to a direction of the greatest extension of the tool, wherein the longitudinal center axis corresponds to a longitudinal center axis of the pipe in a concentric working position of the tool in the pipe. Preferably, this is an axis which, in the working position of the tool in the pipe, runs through a center of gravity of the tool in the direction of the longitudinal center axis of the pipe.

According to the invention, the working device preferably has a data transmission unit for transmitting the magnetic field data to a data processing device according to claim 12. As a result, the magnetic field data and/or any other data can be further processed in a simple manner, in particular by a computer. In an advantageous embodiment, the working device for picking up an axial magnetic field component has a magnetic field sensor which is directed in the direction of a longitudinal extension of the pipeline with respect to a working position of the working device in the pipeline. The axial magnetic field component can thus be picked up in a particularly simple manner.

Alternatively or in addition to the magnetic field sensor described in the previous paragraph, the working device for recording a radial magnetic field component preferably has a first magnetic field sensor and a second magnetic field sensor, the two magnetic field sensors being arranged at right angles to one another. The magnetic field sensors for recording a radial magnetic field component are each directed in a circumferential direction of the working device, which also corresponds to a circumferential direction of the pipeline in the working position of the working device in the pipeline. The mutually perpendicular arrangement of the magnetic field sensors is related to the respective measuring direction of the magnetic field sensors. This makes it particularly easy to record the radial magnetic field component.

Furthermore, the working device preferably has a data transmission unit for transmitting the magnetic field data to a data processing device, in particular to a data processing device according to claim 12, and/or a readable data memory for storing the magnetic field data. As a result, the magnetic field data and/or any other data can be further processed in a simple manner, in particular by a computer. Preferably, the implement has a data processing device according to claim 12. As a result, the method according to one of claims 1 to 11 can be carried out by the implement itself. In particular, the method according to one of claims 1 to 12 can be carried out without an external data processing device. Furthermore, the position of the implement is thus determined in particular by the implement itself. The implement is thus designed to be particularly independent.

In an alternative embodiment of the computer-implemented method according to one of claims 1 to 11, an electric field along the pipeline is used alternatively or in addition to the remanent magnetic field to determine a position and/or a position range of the working device in the same way as the remanent magnetic field. In particular along pipelines that carry at least one polar medium, the electric field can also be used to determine this position and/or position range of the working device. In a corresponding alternative embodiment of the method for determining the position of a working device in a pipeline designed to transport fluids according to one of claims 15 to 20, the electric field along the pipeline is used alternatively or in addition to the remanent magnetic field and in the same way as the remanent magnetic field. The electric field is recorded by means of a sensor for recording the electric field. In a corresponding alternative embodiment of the working device according to one of claims 21 to 25, the working device has Alternatively or in addition to the magnetic field sensor, a sensor for recording the electric field, which, if technically expedient, is characterized in particular by the features of the respective claim relating to the magnetic field sensor. While in such an embodiment of the invention the data of the electric field are initially correlated with those of, for example, a mechanical distance measurement to generate distance-dependent E-field data, this device for measuring distance can subsequently be omitted in a subsequent run. By then determining further E-field data by recording the electric field and matching this data with the distance-dependent E-field data, the position is then determined from the data of the electric field in a manner analogous to or in addition to the method described above.

Further advantages and details of the invention emerge from the embodiments shown schematically in the figures, which are described below. Where appropriate, elements of the invention that have the same effect are provided with the same reference numerals. They show schematically:

Fig. 1 is a flow chart of the computer-implemented method according to the invention,

Fig. 2 is a flow chart of another method according to the invention, Fig. 3a-b the result of a measurement of reference data and further magnetic field data (Fig. 3a) recorded by means of the inventive method according to Fig. 2, as well as first magnetic field data and further magnetic field data (Fig. 3b),

Fig. 4a-b show reference data and further magnetic field data matched with one another using the method according to the invention according to Fig. 1 (Fig. 4a) and a deviation of a determined distance from an actual distance from distance-dependent magnetic field data (Fig. 4b),

Fig. 5a-b show distance-dependent magnetic field data filtered by means of the inventive method according to Fig. 1 (Fig. 5a) and interpolated distance-dependent magnetic field data (Fig. 5b),

Fig. 6 a working device according to the invention with a distance measuring device,

Fig. 7 shows a working device according to the invention without distance measuring device.

Fig. 1 shows an exemplary sequence of the method 40 according to the invention for determining the position of a working device in a pipeline designed to transport fluids. Reference data is provided 50 in the form of mutually associated distance data and first magnetic field data a remanent magnetic field along the pipeline from a reference travel of the working device. In addition, further magnetic field data of the remanent magnetic field along the pipeline from a further travel of the or a further working device is provided 60. The reference data and the further magnetic field data are shown as an example in Fig. 3a. It is advantageous that the further magnetic field data from the further travel can be provided according to the invention without distance data from the further travel, which makes the method particularly simple. Preferably, filtered first magnetic field data and filtered further magnetic field data are provided in step 70, the data in the present case being filtered to a low-frequency range of in particular < 10 Hz. Filtering is advantageous in order to mask out interference signals, for example. Furthermore, a matching 80 of the further magnetic field data and the reference data with one another takes place to generate distance-dependent further magnetic field data. This distance-dependent further magnetic field data is shown as an example in Fig. 4a. The matching 80 assigns the additional magnetic field data to the first magnetic field data and thus also to the distance data. The additional magnetic field data of the additional journey can thus be assigned in particular to distance data from a previous journey of the implement, whereby this journey is carried out at a different time. Preferably, a filtering 90 of at least a part of the distance-dependent additional magnetic field data that can be assigned to a gap in the speed data also takes place. For this purpose, speed data recorded during the additional journey are provided and assigned to the distance-dependent additional magnetic field data. net field data. The gaps in the distance-dependent additional magnetic field data created by the filtering 90 are filled in particular by interpolating 100 the unfiltered parts of the distance-dependent additional magnetic field data (cf. Fig. 5a-b). It is advantageous that this allows gaps that are due, for example, to measurement errors in a distance measuring device of the implement to be compensated for. The distance-dependent additional magnetic field data created by the matching 80 are used to determine 110 one or more positions and/or one or more position ranges of the implement during the further journey. The at least one determined position and/or the at least one determined position range of the implement is or are used in particular to determine the location of a feature of the pipeline. The feature can be designed, for example, as a pipe connection point, valve or similar.

Fig. 2 shows a further method according to the invention, in which the method 40 is preceded by three further steps 10, 20, 30. Preferably, a recording 10 of first magnetic field data of a remanent magnetic field is carried out by means of a magnetic field sensor of the working device during a reference run of the working device through the pipeline, a recording 20 of distance data along the pipeline by means of a distance measuring device of the working device during the reference run of the working device and a recording 30 of further magnetic field data of the remanent magnetic field by means of the or a further magnetic field sensor of the or a further working device during a further run of this working device. The determination of at least one position and/or a position range The working device is separated from the further journey by the method 40 and by means of a data processing device, in particular a data processing device which comprises means for carrying out the method 40. For the further journey, the or another working device without a distance measuring device (cf. Fig. 7) can be used, whereby the method according to the invention and in particular the working device used are particularly simple and cost-effective.

Fig. 3a shows the results of an assignment of distance data to first magnetic field data 2 in the form of reference data 6. For test purposes, additional magnetic field data 4 recorded later were also assigned to distance data along the longitudinal extent of the pipeline. It is initially shown that the magnetic field data of the remanent magnetic field that can be recorded in the pipeline is characteristic, detectable and can therefore be used according to the invention. It is advantageous that in the present case the axial magnetic field component of the remanent magnetic field in the pipeline was measured, since only a single magnetic field sensor is required for this. The radial magnetic field component can be recorded alternatively or in addition to this, in particular with several magnetic field sensors arranged at right angles to one another.

According to the invention, the additional magnetic field data 4 can now be provided without distance data. Fig. 3b shows the recording of the first and additional magnetic field data 4 over the run in the pipeline as a function of time. The first Compared to the other magnetic field data 4, magnetic field data 2 was recorded over a shorter period of time and therefore at a higher speed. The first magnetic field data 2 is distorted, in particular unevenly, compared to the other magnetic field data 4.

In order to match the additional magnetic field data 4 and the reference data 6 with each other, in the present case the additional magnetic field data 4 are time-normalized and assigned to the reference data 6. A time-normalization algorithm, in particular a so-called “FastDTW” algorithm, is preferably used. The use of an algorithm makes the method particularly easy to implement on a computer. The matching produces additional magnetic field data 8 that are dependent on the distance traveled, which are shown as an example in Fig. 4a-b and which are very similar to the magnetic field data measured as a test and already assigned to the distance traveled in the view according to Fig. 3a. Alternatively, the reference data 6 can be assigned to the additional magnetic field data 4 by the reference data 6 being time-normalized in particular, or the reference data 6 and the additional magnetic field data 4 are assigned to each other by these two pieces of data 4, 6 being time-normalized in particular.

In Fig. 4b it is also apparent that at faults 12 there may be a deviation between the distance or position determined by means of the method according to the invention and the actual distance or position of the implement. Such faults 12 are present, for example, in the vicinity of speed jumps of the implement. To increase the accuracy of the method according to the invention In the method, the defects 12 are preferably filtered out of the distance-dependent additional magnetic field data 8, as shown in Fig. 5a, and the resulting gaps 14 are filled in by interpolating the unfiltered parts of the distance-dependent additional magnetic field data 8, as shown in Fig. 5b. In Fig. 5b it can be seen that the determined distance or position and the actual distance or position therefore differ less from one another.

Fig. 6 and 7 each show a working device 16 according to the invention in its working position in a pipeline 18 designed to transport fluids. In the present case, the working devices 16 are each designed as pigs. The working devices 16 each have a magnetic field sensor 22, which in the present case is arranged in the longitudinal center axis 24 of the respective working device 16. In particular, the magnetic field sensor 22 is directed in direction A of a longitudinal extension of the pipeline 18 to receive an axial magnetic field component. It is possible for each of the working devices 16 to have further magnetic field sensors (not shown here) to receive a radial magnetic field component.

The tools 16 also preferably each have a data storage device 26 and an energy storage device 28, wherein the data storage device 26 and the energy storage device 28 are also arranged in particular in the longitudinal center axis 24 of the respective tool 16. The magnetic field sensor 22, the data storage device 26 and the energy storage device 28 are preferably arranged on a carrier 32 of the respective tool 16. Furthermore, the tools 16 preferably have sealing elements 34 for sealing an interior space 36 of the respective tool 16 from the respective pipeline 18. In the respective interior space 36, in particular the data storage 26 and the energy storage 28 are arranged. The sealing elements 34 preferably extend radially and in particular in a disk shape between the longitudinal center axis 24 and an inner wall 38 of the pipeline 18. The tools 16 can also have additional sensors 42 for examining the integrity of the pipeline 18 and/or locating means 44 for locating the respective tool 16. The tools 16 preferably each have a data processing device (not shown) with means for carrying out the method 40, so that the computer-implemented method according to the invention can be carried out by the respective tool 16 independently and/or without external data processing devices.

In contrast to the working device 16 shown in Fig. 6, which has a distance measuring device 46 designed as an odometer, the working device 16 shown in Fig. 7 is designed without a distance measuring device. The working device 16 shown in Fig. 6 is particularly suitable for reference travel, while the working device 16 shown in Fig.

The implement 16 shown in Fig. 7 is preferably used for the further journey, which can advantageously take place without mechanical distance measurement. The implement 16 shown in Fig. 7 for the further journey is thus structurally simpler and lighter, which simplifies the entire handling of the implement 16. The methods according to the invention shown and the working device shown in particular in Fig. 7 for use in the pipeline designed to transport fluids enable a particularly simple and cost-effective position determination of the working device.

Claims

Claims Computer-implemented method (40) for determining the position of a working device (16) in a pipeline (18) designed to transport fluids, comprising at least the steps: - providing (50) reference data (6) in the form of mutually associated distance data and first magnetic field data (2) of a remanent magnetic field along the pipeline (18) from a reference travel of the working device (16), - providing (60) further magnetic field data (4) of the remanent magnetic field along the pipeline (18) from a further travel of the or a further working device (16), - matching (80) the further magnetic field data (4) and the reference data (6) with each other to generate distance-dependent further magnetic field data (8), - Determining (110) a position and/or a position range of the working device (16) from the further journey based on the distance-dependent further magnetic field data (8). Computer-implemented method according to claim 1, characterized in that the distance data were recorded during the reference journey of the working device (16) through the pipeline (18) by means of a distance measuring device (46), the first magnetic field data (2) were recorded during the reference journey by means of a magnetic field sensor (22) and the further magnetic field data (4) were recorded during the further journey of the or a further working device (16) were in turn recorded by means of the or a further magnetic field sensor (22). Computer-implemented method according to claim 1 or 2, characterized in that the position and/or the position range of the working device (16) is/are stored and/or output for determining the location of at least one feature of the pipeline (18). Computer-implemented method according to one of the preceding claims, characterized in that in order to determine the location of the or a feature of the pipeline (18), an assignment, in particular temporal, of further sensor data and the further magnetic field data (4) to one another takes place. Computer-implemented method according to one of the preceding claims, characterized in that reference data (6) are provided in the form of mutually assigned distance data and first magnetic field data (2), wherein the assignment of the distance data and first magnetic field data (2) to one another has been calibrated and adjusted. Computer-implemented method according to one of the preceding claims, characterized by the further step: - Time normalization of the further magnetic field data (4) and/or time normalization of the reference data (6) for matching the further magnetic field data (4) and the reference data (6) with one another in the case of different speed profiles of the working device (16) during the reference travel and the further travel. Computer-implemented method according to claim 6, characterized in that individual sections of the further magnetic field data (4) or reference data (6) to be standardized are stretched and/or compressed in order to assign them to the sections of the reference data (6) or further magnetic field data (4) corresponding to these sections. Computer-implemented method according to one of claims 6 or 7, characterized in that the time standardization is carried out by means of an algorithm for time standardization, in particular for dynamic time standardization, and preferably in an automated manner. Computer-implemented method according to one of the preceding claims, characterized in that, in order to increase the accuracy of the position determination, a difference between the position and/or position range determined on the basis of the distance-dependent further magnetic field data (8) and the actual position and/or the actual position range of the working device (16) from the further journey is compensated by, in particular automated, filtering (90) and interpolating (100) of the distance-dependent further magnetic field data (8). Computer-implemented method according to claim 9, characterized in that speed data recorded during the further journey are provided and assigned to the distance-dependent further magnetic field data (8), wherein parts of the distance-dependent further magnetic field data (8) that were assigned to a gap (12) in the speed data are masked out by filtering (90) and the gaps (14) in the distance-dependent further magnetic field data (8) that were created by the masking out are filled by interpolating (100) the unfiltered parts of these data (8). Computer-implemented method according to one of the preceding claims, characterized in that filtered first magnetic field data (2) and filtered further magnetic field data (4) are provided, wherein both data (2, 4) are each filtered to a low-frequency range with a frequency < 20 Hz, preferably < 15 Hz, particularly preferably < 10 Hz. Data processing device that comprises means for carrying out the method according to one of claims 1 to 11. Computer program comprising instructions which, when the method is carried out by a computer, cause the computer or a corresponding electronic data processing unit to carry out the method according to one of claims 1 to 11. Computer-readable medium on which the computer program according to claim 13 is stored. Method for determining the position of a working device (16) in a pipeline (18) designed to transport fluids, comprising at least the steps: - recording (10) first magnetic field data (2) of a remanent magnetic field by means of a magnetic field sensor (22) of the working device (16) during a reference run of the working device (16) through the pipeline (18), - recording (20) distance data along the pipeline (18) by means of a distance measuring device (46) of the working device (16) during the reference run of the working device (16), - Recording (30) of further magnetic field data (4) of the remanent magnetic field by means of the or a further magnetic field sensor (22) of the or a further working device (16) during a further journey of this working device (16), wherein in particular this journey takes place without a direct distance measurement, for example using an odometer. - Determining at least one position and/or one position range of the working device (16) from the further journey, wherein the determination is carried out by the method according to one of claims 2 to 11 and by means of a data processing device, in particular the data processing device according to claim 12. Method according to claim 15, characterized in that the method takes place without contact of the working device (16) with the pipeline (18) during the further journey. Method according to one of claims 15 or 16, characterized in that the first magnetic field data (2) and the further magnetic field data (4) are each recorded in the form of axial magnetic field components of the remanent magnetic field. Method according to one of claims 15 or 16, characterized in that the first magnetic field data (2) and the further magnetic field data (4) are each recorded in the form of radial magnetic field components of the remanent magnetic field. Method according to one of claims 15 or 16, characterized in that the first magnetic field data (2) and the further magnetic field data (4) are each recorded in the form of axial magnetic field components of the remanent magnetic field and of radial magnetic field components of the remanent magnetic field. Method according to one of claims 15 to 19, characterized in that the first magnetic field data (2) and the further magnetic field data (4) are each recorded by means of a magnetic field sensor (22) designed as a high-precision magnetic field sensor. Working device (16) for use in a pipeline (18) designed to transport fluids, wherein the working device (16), in particular designed as a cleaning pig, is designed to move in the pipeline (18), wherein the working device (16) has at least one magnetic field sensor (22) for recording magnetic field data (2, 4) of a remanent magnetic field along the pipeline (18), and wherein the magnetic field sensor (22) is arranged to a longitudinal center axis (24) of the working device (16) at a distance of at most 20% of an outer diameter of the working device (16), preferably at a distance of at most 10% of an outer diameter of the working device (16), particularly preferably at a distance of at most 5% of an outer diameter of the working device (16), further particularly preferably without a distance, characterized in that the working device (16) has a data transmission unit for transmitting the magnetic field data (2, 4) to a data processing device according to claim 12. Working device (16) according to claim 21, characterized in that the working device (16) for receiving an axial magnetic field component has a magnetic field sensor (22) directed in the direction (A) of a longitudinal extension of the pipeline (18) with respect to a working position of the working device (16) in the pipeline (18). Tool (16) according to claim 21 or 22, characterized in that the tool (16) has a first magnetic field sensor (22) and a second magnetic field sensor (22) for receiving a radial magnetic field component, the two magnetic field sensors (22) being arranged at right angles to one another. Tool (16) according to one of claims 21 to 23, characterized in that the tool (16) has a data processing device according to claim 12.