Method for operating a working apparatus in a pipeline, and working apparatus

Abstract

The invention relates to a method for operating a working apparatus, in particular a pipeline pig, in a pipeline having a medium flowing in an axial direction, wherein the working apparatus is moved in the pipeline passively by the medium in a flow direction of the pipeline in a first operating state, the working apparatus reaches or approaches a destination in the pipeline in a second operating state, and the working apparatus performs at least one working-apparatus-specific procedure in the pipeline at the destination in at least one third operating state, and the working apparatus thereafter moves away from the destination, in particular after a change from the third operating state into the first or second operating state, wherein the untethered working apparatus records items of surroundings information by means of at least one surroundings sensor in the first and / or second operating state, the items of surroundings information are evaluated in a computing unit of the working apparatus, and the working apparatus automatically changes the operating state on the basis of the items of surroundings information. The invention furthermore relates to a working apparatus, in particular an untethered pipeline pig, comprising at least one propulsion means for a first operating state in the form of a medium-driven passive movement in the pipeline.

Description

[0001] Method for operating a working device in a pipeline and working device

[0002] The present invention relates to a method for operating a working device in a pipeline provided with a medium flowing in the axial direction. In a first operating state, the working device is passively moved in the pipeline by the medium in the flow direction of the pipeline. Then, in a second operating state, the working device reaches or approaches a target in the pipeline. In at least one third operating state, the working device performs at least one working device-specific process at the target. The working device then moves away from the target, in particular after changing from the third to the first or second operating state.

[0003] The invention further relates to a working device comprising at least one propulsion means for a first operating state in the form of a medium-driven, passive movement in the pipeline and comprising at least one environmental sensor for recording environmental information. In particular, the working device is a pipeline pig which is designed to be cable-free, i.e. without a cable connection, for example for energy transmission and communication purposes. A method according to the preamble of claim 1 is known from EP 3 099 967 B1. A passively driven pipeline pig is initially medium-driven in a first operating state in which it approaches a target. At a specific time, a braking process is initiated, for example by the expansion of sealing sleeves which rest against the pipeline wall. This reduces the speed at which the pig moves in the pipeline.The braking process characterizes a second operating state, which is distinguishable from the first operating state in terms of speed. At the destination, the pig is firmly anchored in the line or pipeline. In the third operating state, the speed relative to the pipeline is thus zero, and the pig can perform a tool-specific process, for example, in the prior art, evacuating or releasing a pipeline section intended for repair. After repairing the pipeline, the pig can then move away from the target. A generic tool, in particular a working tool, has at least one propulsion means for a first operating state in the form of a medium-driven passive movement in the pipeline, for example caps or disks. In addition, the pipeline pig is provided with an environmental sensor for recording environmental information.This is the state of the art.

[0004] A method according to the preamble of claim 1 is known from EP 3 099 967 B1. The same applies to a device according to claim 22. However, the field of application of the implement according to the prior art and the applicability of the generic method are limited in the prior art, since the implement must be controlled remotely.

[0005] It is an object of the present invention to develop a method for operating a working device and a working device, in particular a pig, for a wider range of applications.

[0006] The object is achieved by a method according to claim 1 and by a working device according to claim 18. Further developments according to the invention can be found in the subclaims referring back to these claims and in the following description.

[0007] A method according to the invention is characterized in that the wireless work device records environmental information via at least one environmental sensor during the first and / or second operating state. This information is evaluated in a computer unit of the work device, and the work device changes its operating state based on the environmental information. The work device is thus autonomous and capable of independently changing its operating state depending on the evaluated information.

[0008] Environmental information is information that enables a map of the surroundings of the work equipment. The environment includes in particular the medium, the pipeline with any installations and / or any electrical and / or magnetic fields present in the vicinity of the pipeline, e.g. the earth's magnetic field. In particular, environmental information does not include any control and communication signals emanating from any external and remote control unit of the work equipment that are transmitted to the work equipment with the aim of triggering an action or reaction from the work equipment. In particular, environmental information is information that results from technical features of the pipeline, including any installations. Technical features include, for example, weld seams, diameters and / or defects.The work device works independently in that it decides independently, based on the environmental information in the computer unit, whether an operating state is changed or not.

[0009] A working device according to the invention, which is designed as a cable-free working device, has at least one environmental sensor for recording environmental information and at least one drive means for a second operating state in the form of an active movement of the working device, which is designed in particular as a pig, in the pipeline. Furthermore, a computer unit of the working device, in which environmental information can be stored, is configured such that the working device carries out the method according to the invention. In particular, the computer unit and an associated processor ora computer program running in this processor is configured such that the wireless working device records environmental information via at least one environmental sensor during the first and / or second operating state, the environmental information is evaluated in a computer unit of the working device, and the working device changes the operating state on the basis of the environmental information.

[0010] As a result, the working device is now able to orient itself within the pipeline, arrive at a predefined destination or a destination defined during movement through the pipeline, and perform a desired operation there. In particular, this or another operation can be performed repeatedly at various destinations along the entire pipeline. In particular, a working device according to the invention is equipped with a preferably adjustable bypass so that, when fixedly positioned at one location, it does not block the pipeline flow.

[0011] The computing unit of the implement comprises at least one CPU or other processor unit (GPU, TPU, FPGA), at least one main memory, in particular in the form of random access memory or other dynamic memory, and at least one permanent memory, for example in the form of read-only memory or other permanent main memory, which may contain one or more databases. Furthermore, individual functional parts of the implement, such as sensors, an energy storage device, drive means, or the like, can be connected, for example, via a bus system. The energy storage device, along with any battery management system, can also be considered part of the computing unit. Due to its software, the implement is configured to implement the method according to the invention.This software can, in particular, be structured in a modular manner, so that in order to implement a lean and efficient program, only those modules are loaded into the main memory which are necessary in the respective operating state.

[0012] The evaluation of the environmental information takes place in the corresponding computer unit, in which a corresponding computer program or software is running. Using this computer program running on the computer unit, the operating state is automatically changed based on the environmental information, without the work device having to communicate with a remote control unit for this decision-making process.

[0013] The working device has at least one propulsion means for a passive and medium-driven operating state, as well as at least one drive means for a second operating state in the form of an active movement. This can be a drive means that drives against or with the flow of the medium, in particular whereby a relative speed to the medium is achieved by actuating the drive means. It can be a drive means via which the working device actively supports itself on the wall of the pipeline and moves relative to it. For example, these can be drive rollers, magnetic wheels and / or chain or crawler drives. Alternatively or additionally, it can be a drive means that creates a drive by acting on the medium, for example one or more nozzles or a propeller / impeller.In order to reduce the influence of the passive propulsion means(s), according to a further advantageous embodiment, these can be transferred at least partially by means of one or more propulsion means adjusting means from their operating position, in which they fill the inner pipe cross-section for optimal passive propulsion, to a rest position closer to a central longitudinal axis of the working device. This rest position is in particular one in which the working device is no longer sufficiently and in particular no longer passively driven by the medium alone, since the thrust from the medium can no longer, or only slightly, overcome the friction between the working device lying on the pipe wall and the wall. By transferring it to such a rest position, the working device can at least slow down or even come to a standstill.

[0014] A target is a position along the pipeline's length, an area along a specific section of the pipeline, or a combination of both. To achieve a target, this can be defined and stored in a map of the pipeline stored in the computer unit. It can also be a target or area of ​​a pipeline that is detected during the movement of the work tool through the pipeline and defined as important for further investigation.

[0015] Thanks to the invention, a working device can initially move passively within the pipeline over long distances with the flow and using only minimal energy resources. To approach a target, it can then switch from the passive operating state to a further operating state characterized by active movement. This allows it to move toward the target in a controlled manner, and then, for example, to carry out a specific inspection or repair process at the target location. This applies both to predefined targets and to targets defined during a journey, for example, one or more areas with defects that the working device initially travels over. Environmental information regarding the defects is recorded and then evaluated.If the computer unit identifies the areas with defects as sufficiently interesting targets, the work tool can then actively return to these areas and carry out a work tool-specific operation there, for example more detailed, longer-term measurements.

[0016] In the second and, if applicable, third operating mode, the implement can move both in the direction of the flow and against the flow. Accordingly, any drive means are also designed to drive the implement against the flow.

[0017] The drive means for actively moving the working device can influence the position of the working device in the axial direction along the pipeline, in particular in the forward and backward directions. Furthermore, they can preferably also influence the position or orientation of the working device about its longitudinal axis in the pipeline, for example, to rotate a pipeline pig, which has a specific sensor at a specific circumferential position, into the desired position about the central longitudinal axis of the pipeline pig. The position in the longitudinal direction of the pipeline can, for example, be a length in meters with reference to an origin; it can also be a position that defines, for example, a pipeline segment through a number of circumferential weld seams emanating from an origin.

[0018] In a further development of the invention or in a further invention, the position can be defined by a combination of flow velocity and time. Accordingly, one option for a method according to the invention is that the progress of the working device in the pipeline is defined by the passage of time and that the working device changes its operating state depending on the elapsed time. In an invention of this type, the operating state can also change without or additionally based on the evaluation of environmental information, wherein the working device is again equipped with active and passive drive or propulsion means as well as with a computer unit that ensures the change of operating state. In such an invention, the working device or the control method can additionally have the features described above and below.

[0019] Referring again to the invention defined in the independent claims, the tool according to the invention can record the distance traveled along the inside of the pipeline, in particular via an odometer, as environmental information. Alternatively or additionally, an environmental sensor in the form of a Hall sensor can be provided, which records magnetic signals generated by one or more magnetic markers on the pipeline. Alternatively or additionally, the environmental sensor can be a micromagnetic sensor, which records the magnetic field outside the pipeline or the magnetic field detectable within the pipeline.While the environmental sensor can thus, in the broadest case, detect everything outside the working device and around it, in a further development of the invention, the at least one environmental sensor is limited to the medium inside the pipeline and / or to the features of the pipeline that can be detected from the inside. These include, for example, one or more geometry sensors, sensors for NDT methods (EC, MFL, ultrasonic sensors), or optical sensors, which the working device can use to detect the internal pipeline, its condition, and thus its surroundings.

[0020] The inventive switching between the various operating modes and the ability of the implement to switch between the various operating states due to its propulsion and drive means allow the implement to proceed in a situation-specific manner, covering a broad spectrum of ranges and tasks. While in the first operating state with passive operation, inspection tasks are carried out that require little energy input, a precise inspection with a correspondingly high energy input can be carried out during approach to a target and in particular when positioning at a target. For this purpose, it is advantageous if the implement, according to a further embodiment of the invention, has means for generating energy from the medium, for example a generator driven by the medium.Advantageously, the working device comprises positioning and / or securing means for positioning the working device in a third operating state and for a standstill in the pipeline. These securing means can be designed as clamping means, with which the working device is clamped in the pipeline. Depending on the embodiment of the invention, one or more drive means can also be used for this purpose, via which clamping in the pipeline can be achieved.

[0021] In addition to the active drive means(s), a working device according to the invention can also have one or more securing means, which simultaneously serve as propulsion means and with which the working device is fixed in the pipeline. For example, these can be cups or disks whose outer diameter can be increased and which can become jammed in the pipeline by increasing the outer diameter. In addition to conventional cups and guide disks, the propulsion elements provided for passive operation can also include a bypass, which is opened or closed based on the information stored in the computer unit.

[0022] According to the invention, at least one feature of the pipeline is identified in the computer unit by evaluating the environmental information. This feature is preferably used in the computer unit to determine the position of the working tool. Such a feature is, for example, a circumferential or transverse weld seam, via which individual pipeline segments are connected to one another. By detecting the weld seams in the computer unit based, for example, on environmental information from a geometry or eddy current sensor and summing the number, the position of the working tool can be determined in the computer unit for each pipe segment.

[0023] If the length of the segments is known, the position can also be determined in units of length. For this purpose, the lengths of the pipe segments are known in the computer unit. Depending on the distance from a target, a switch to active forward movement can be initiated in the computer unit when a known number of transverse welds is reached, which is usually accompanied by a reduction in speed. For this purpose, the propulsive forces due to the pressure exerted by the medium on the working tool are preferably reduced by reducing the diameter spanned by the cups or disks and / or opening a bypass. Alternatively or additionally, braking devices can also be used. Braking devices can be separate from the cups or disks or can be formed by them, at least if this function does not conflict with a diameter reduction.

[0024] In addition to the general differentiation between passive and active movement, the first or second operating state can also be characterized by a sequence of different actions of the working device. For example, by opening a bypass, the speed can be reduced to a desired speed, at which point tracks or other actively operable drive devices, supported against the pipeline wall, become active.

[0025] For the purpose of improved orientation of the working device, a feature of the pipeline along with its position in the pipeline can be stored in the computer unit. In particular, a position of the working device in the pipeline is determined in the computer unit based on the environmental information, preferably at least during the first and second operating states and in particular continuously. In particular, the working device changes its operating state based on the position.

[0026] In order to switch from a passively operated mode, which can also be referred to as pigging mode, to a mode in which the working device moves independently in the pipeline, which can also be referred to as crawler mode, a maximum speed should not be exceeded. If the working device is traveling too fast, it must first be braked to a certain maximum speed, preferably with the computer unit designed to initiate a braking process in good time depending on the distance to the target and the speed. The speed can be recorded via an odometer, corrected if necessary by a value based on the time and distance traveled and based on other environmental information. The operating mode is preferably changed based on the distance of the working device from the target.Corresponding instructions for determining the speed and / or speed reduction can be stored in a set of rules in the computer unit. Such a set of rules can also be referred to as a digital map, which depicts the pipeline and contains specific instructions for specific positions. The working device is then able to use the environmental information to detect the position of the working device, particularly one designed as a pig, compare this position with the digital map, and implement the instructions stored in the corresponding position field or target field.For example, when a certain segment of a pipeline is reached, characterized by a number of detected welds, a braking process can be initiated in order to move on to a further segment in an active movement towards a weld that concludes this segment, which is then examined in the third operating state while at a standstill.

[0027] Instead of opening a bypass to reduce speed, or in addition to the bypass opening, the working tool designed as a pig can also be braked by friction on the inner pipe wall, for example due to extendable or inflatable cups or discs. As soon as the maximum speed is undercut, caterpillars can extend and the working tool can continue to move in crawler mode. Once the target area or destination is reached, any locking devices are extended and the working tool is fixed in stationary mode. In this case, the third operating state is one in which the pig does not move further relative to the pipeline. Alternatively, the third operating state can also be characterized by the working tool moving very slowly along the pipeline for measuring purposes, in particular at a speed of less than 0.5 m / min.

[0028] After the measuring process, the device can be switched back into pigging mode to move to the next position by loosening the locking devices and any active drive devices and partially or completely closing a bypass.

[0029] By continuously determining the position of the implement, it can also more easily check its own status and react accordingly. For example, by monitoring the available energy and the knowledge of the required energy stored in the computer unit for certain operating states, measurement, or inspection processes, a decision can be made to transfer the implement to an energy-collecting mode, for example, if the available energy is no longer sufficient for active movement to the target. For this purpose, the implement can have a generator unit that can absorb energy from the medium based on a speed difference, for example, via a propeller driven by the medium.

[0030] The third operating state comprises, in particular, a slowed-down measuring run and / or becoming stuck in the pipeline. Preferably, the third operating state comprises becoming stuck and stuck in the pipeline, while the working device, in the second operating state, moves actively, i.e., with its own drive force, in the longitudinal direction of the pipeline. Generally, the operating states differ in terms of different movement states and any associated measuring or work processes. For example, during a passive movement through the pipeline, inspection data can be recorded in the conventional manner; these only roughly depict the pipeline and are suitable for detecting any features or characteristics of the pipeline.

[0031] In particular, the second operating state is characterized by the fact that the working device actively moves within the pipeline via at least one drive means. This can, in particular, involve a movement in and / or against the direction of any flow present during operation of the pipeline. The second operating state particularly encompasses movement speeds of less than 1 m / s.

[0032] Preferably, environmental information is also recorded during the third operating mode. This information includes, on the one hand, data useful for identifying the environment and the associated position of the pig or working device, and, alternatively or additionally, inspection data. The detection of the position of the working device is improved if environmental information obtained from various environmental sensors in the computer unit is used to determine features of the pipeline and / or to determine the position of the working device in the pipeline. For this purpose, the working device has several, and in particular different, environmental sensors.

[0033] The environmental information from several identical and / or different environmental sensors can be linked via data fusion to obtain higher information quality. This can involve the fusion of data from several environmental sensors of the same type and / or different sensor types. On the one hand, this provides fail-safe protection in the event that one of the environmental sensors fails. Furthermore, the independent detection of features in several sensor sources can create a higher level of confidence, increasing the probability of the feature's presence. For example, determining the position based on an odometer and an IMU (inertial measurement unit) can lead to redundancy in speed measurement, which increases the reliability of location determination.

[0034] Preferably, the position of the implement is determined in the computer unit based on environmental information and by means of a digital map of the pipeline stored in the computer unit. In a simple case, a digital map is a table with path or route points and associated features. It can also be a "digital twin" of the pipeline, i.e., an image of the pipeline that depicts the pipeline, for example, in cylindrical or 3D coordinates, whereby specific features can be assigned to individual positions in the pipeline. The digital map can be represented by one or more data sets, which can be linked to one another or can be related by a program in the computer unit.

[0035] Preferably, reference points are depicted in the digital map, e.g., in the form of welds, markers, installations, or bends. The environmental information is evaluated to identify such reference points. The pipeline features identified based on the environmental information can be compared with these reference points, and the position of the pig or working tool can be determined more precisely, or a tool-specific action can be triggered, which could, for example, involve a transition to another operating state, a measurement, processing the pipeline, and / or a repair. The evaluation takes place in the computer unit of the working tool.

[0036] In general, a tool-specific process is an action of the tool in which the capabilities of the tool are applied. In particular, it involves the acquisition of data at a target in the pipeline, including, for example, a measurement, processing, and / or other action related to the pipeline. It can also involve a transition from one operating state to another or the assumption of an operating state.

[0037] Preferably, at least some of the environmental information is classified in the computer unit, and, particularly for feature recognition, the data derived therefrom is compared with the data of predefined patterns. Based on such a comparison, the operating state can be changed and / or at least a desired work process can be carried out. For example, the work device can carry out a screening measurement process in the target area using a sensor, with the aim of identifying and locating defined locations in the form of, for example, defect patterns. Such a measurement process can initially have a coarse resolution and a large range; for example, it can be a long-range UT process. The recorded signals are then captured and automatically analyzed by the work device in the computer unit. This can involve comparing the classified measurement signals with predefined classes (patterns).If a specific pattern or class is recognized, the work tool can execute an instruction prescribed for that pattern and, for example, conduct a detailed inspection of a potentially present defect area using PAUT (Phased Array Ultrasonic Testing). The pattern recognition process, for example based on ML models, can lead to the assignment of a confidence level that determines whether or not a specific work procedure is carried out. For example, if the confidence level is too low, a high-resolution inspection can be omitted. A high-resolution measurement procedure can also be performed as a screening during the initial operating state.If, for example, such a screening and the associated pattern recognition already identify a defect area not represented in the digital map, a rule stored in the computer unit can stipulate that this area be approached and examined again separately in the second or third operating state. Accordingly, the working device will move back to the area in the pipeline, which may also include moving back against a media flow present in the pipeline.

[0038] Preferably, especially for movement against the flow, one or more bypasses through or along the propulsion means provided for passive propulsion can be opened to minimize flow resistance. Alternatively or additionally, the propulsion means themselves can be opened, retracted, or otherwise minimized with respect to their surface area exposed to the flow.

[0039] Advantageously, location-dependent instructions are stored in the computer unit in the digital map and / or at least in another data set of the computer unit, which are executed by the implement upon reaching the destination or upon detecting a feature. Based on its environmental sensors, the implement can autonomously decide to switch to one of the various operating modes or to perform various actions. The other data set of the computer unit can be part of a database stored on the computer unit of the implement. It can also be a data set of a program module that is loaded or started by the program running on the computer unit, or which is part of it.

[0040] In general, a particularly coarse-resolution inspection is advantageously possible during the first passive mode or operating state, while a screening or more detailed examination can also be carried out during a second operating state with active movement. During a third operating state, when the travel is even slower or the work tool is at a standstill in the pipeline, a detailed inspection or the use of a tool to work on the pipeline can be carried out. During the second operating state, just as in the third operating state, any areas to be examined or the inside of the pipe wall in general can be cleaned. Depending on the embodiment of the invention, it is also possible to carry out cleaning and / or repairs as well as a detailed inspection in the third operating state.

[0041] The tool-specific behaviors and / or procedures applied during one of the three operating modes can also change depending on the pipeline being inspected and its properties. For this purpose, the control unit can be pre-equipped with appropriate rules and instructions. For example, if contamination is evident in the pipelines, cleaning can be performed using a milling tool, for example, while a detailed inspection can be performed at another location during the third operating mode.

[0042] Advantageously, the computer unit is configured so that the location-dependent instructions, in particular, are executed based on rule-based decisions mapped in the computer unit. A corresponding set of rules can be designed specifically for the work tool and thus take into account the tool's capabilities for inspection, cleaning, and / or repair. For example, depending on detected defects or defect patterns that can be found in one or more data sets containing environmental or surrounding information, the defect or defect pattern can be checked or processed.

[0043] Advantageously, one or more work processes can thus generally be carried out simultaneously or sequentially from a group of different work processes that the work device can implement on the basis of the evaluation of the environmental information, in particular wherein the work device carries out an inspection and / or pipeline repair in the third operating state.

[0044] For the purpose of performing inspections or repairs, the work device can have at least one tool that can be activated during at least one operating state, which tool can be, in particular, a sensor or a tool for mechanically processing the pipeline, for example, a cleaning tool. It can also be a coating tool for coating the pipeline or a tool for removing material from a pipeline wall.

[0045] In particular, the working device has at least one manipulator arm, which is in particular equipped with a tool holder. Depending on the specified method, the working device can then automatically change the associated tools. These are contained in particular in a magazine for storing tools. This can be arranged in a partial area of ​​the working device. Alternatively or additionally, one or more tools can be arranged in a tool holder located on the outside of the pig body. The manipulator arm can be designed similarly to a robot arm and can operate in multiple axes and access the at least one tool arranged in the magazine or the holder. A tool holder can be designed in the form of a standardized interface that can operate different tools.Such an interface serves to secure the tools, for example by means of a screw connection or clamp, for power supply, and for data transmission. The tools can be attached and secured at defined locations on or in the work device in such a way that the manipulator arm can easily grasp them. Once the manipulator arm and tool are successfully connected, the tool can be released from its original storage location, in particular from the magazine, so that the manipulator arm can perform the desired operation with the tool. Reference points obtained from the environmental information can be used, in particular, for location calibration and / or for precise positioning of the work device.This allows the position of the tool to be determined more precisely, improving the recording of previously unknown features of the pipeline in a digital map and allowing the tool's actions based on the position to be more targeted. In particular, the energy consumption of the available methods is improved.

[0046] Advantageously, the digital map is supplemented with pipeline condition information obtained from the environmental information and / or other sensor information, e.g., in the form of dents, hot taps, corrosion, defects, and welds. Such a digital map can then be downloaded from the work tool after completing the run through the pipeline and used for other work tools or for a subsequent run of the same work tool.

[0047] Possible functions of the tool can include, in particular, an inspection during the first movement state and a screening for the initial detection of anomalies in the second operating state, which are then inspected in the third operating state as part of an in-depth inspection. Furthermore, the tool can be used for cleaning and disposing of, for example, wax deposits; for collecting and removing unwanted parts (e.g., sensors, magnets); for surface treatment, e.g., hardening, sandblasting, coating, spraying, and additive manufacturing; for filling (or refilling) defects and / or for maintenance work, e.g., adjusting, bending, and aligning parts in the pipeline, e.g., a gate valve; as well as for conventional manufacturing in the form of milling, drilling, gluing, welding, and grinding.

[0048] An energy-generating device provided according to one embodiment of the invention, which generates energy, stores it, in particular, in an energy storage device of the implement. This energy is preferably electrical energy, which is stored in a rechargeable battery.

[0049] Further advantages and details of the invention can be found in the following description of the figures. It shows:

[0050] Fig. 1 is a schematic representation of the application area of ​​the tool according to the invention,

[0051] Fig. 2 shows a further schematic representation of the invention in a flow chart,

[0052] Fig. 3 shows the different operating states of a working device according to the invention,

[0053] Fig. 4 shows a simplified representation of a digital map, Fig. 5 shows another example of a digital map stored in a computer unit,

[0054] Fig. 6 shows a further representation of a digital map in a computer unit of a working device according to the invention.

[0055] Fig. 7 feasible methods of a working device as a function of the operating state,

[0056] Fig. 8 shows an article according to the invention,

[0057] Fig. 9 shows another object according to the invention,

[0058] Fig. 10 shows another object according to the invention,

[0059] Fig. 11 shows another object according to the invention,

[0060] Fig. 12 shows another object according to the invention,

[0061] Fig. 13 is a flow chart of the invention,

[0062] Fig. 14 shows part of an embodiment of a method according to the invention, Fig. 15 shows another part of an embodiment of a method according to the invention.

[0063] Individual technical features of the exemplary embodiments described below can also be combined with previously described exemplary embodiments as well as the features of one of the independent claims and any further claims to form subject matter according to the invention. Where appropriate, elements that are at least partially functionally equivalent are provided with identical reference numerals.

[0064] In a diagram which shows the range of a working tool in a pipeline or pipe on the x-axis and the possible task complexity on the y-axis, conventional pigs are indeed capable of covering a great distance in the pipeline. However, due to their dependence on the medium, they are only able to perform complex tasks to a limited extent. Accordingly, conventional pigs occupy the area numbered 1 in Fig. 1. Actively driven working tools, such as crawlers, can perform significantly more complex tasks because they can actively move to specific locations and can also move against the medium in the pipeline. However, due to the limitations of the power supply, they only have a short range. Above a certain length, cable-connected working tools can no longer function because the cable friction in the pipe becomes too great, particularly through bends.The corresponding field of activity is marked 2 in Fig. 1. A working device according to the invention, on the other hand, can perform the tasks performed by both a conventional pig and an actively moved working device, for example a crawler, and therefore covers the area marked with hatched lines, comprising rectangles 1, 2, and 3. Accordingly, the working device is designed as a further developed pig with crawler properties and can also be referred to as a pig crawler. The application area and capabilities of a working device according to the invention thus cover a significantly wider range than known from the prior art.This is made possible by a working device according to the invention, which records its surroundings in a pipeline, in particular classifies them, and based on this and on the data stored in a digital map, determines a position and makes any rule-based decisions autonomously.

[0065] In a first flow diagram according to Fig. 2, different operating states I, II and III and the transitions associated with them are additionally illustrated. Different speeds v are assigned to the three operating states I, II and III. In operating state I, the speed v corresponds at least approximately, in particular exactly to the speed of the medium v(medium). In operating state II, the speed of the actively moved implement is between 0 m / s and the speed of the medium v(medium), in particular between 0 m / s and half the speed of the medium. In operating state III, the speed is v=0. A thicker bar 4 illustrates the increasing energy requirement of the implement according to the invention from operating state I via operating state II to operating state III.

[0066] Starting from operating state I of the work tool, a braking process can be initiated, for example, by detecting and reaching a specific milestone such as a specific circumferential or transverse weld seam based on environmental information (arrow 5). Such a braking process can serve to ensure that the work tool approaches an exit 6 from the line or pipeline 12 at the necessary speed in order to be removed, or to transition to operating state II, in which it approaches another destination defined in a digital map. Upon reaching the destination, a further transition to operating state III can then occur, for which the work tool stops (arrow 7). In this operating state, maintenance or inspection 8 can then be carried out.

[0067] Starting from a standstill in operating state III, after any locking means have been released (arrow 9), an active drive in operating state II occurs. From operating state II, a transition to an operating state I with passive drive by the medium can also occur by deactivating the active drive means and, for example, closing an existing bypass (arrow section 10). The various operating modes and possible methods are additionally described in Fig. 13. In Fig. 3, the various states of a working device 14 according to the invention in a pipeline 12 are shown one after the other by way of example. A total of four different states of the working device are shown. For the sake of clarity, not all features are always shown in the respective illustrations of the working device; however, each one shows the same working device.

[0068] A working device 14 according to the invention is designed as a passively driven pig in operating state I. This has a central pig body 16, which has an approximately teardrop shape with a round head section 18, which merges into a main part 20 tapering towards the rear. The working device, designed as a pig in operating state I, is supported in the pipeline via propulsion means 22 in the form of guide discs. These can also be cups. At the end, the pig is provided with a power generation unit comprising a propeller 24 that is electrically driven by the medium. This propeller drives a generator inside the main part 20.

[0069] In a position in which the pig is secured in the line according to operating state III, the medium can flow through the propulsion means 22, past the outside of the central or pig body 16. In such a case, the propeller 24 can be used together with the generator to generate power. A closable bypass with several passages 25 is formed through the propulsion means 22 and / or the pig body 16. In operating state II, in which the bypass is open, the working device according to the invention is supported on an inner wall of the pipeline 12 via drive means 26 in the form of tracks. The tracks of the tracks are preferably driven by electric motors. Once the working device 14 has reached its destination in the pipeline 12, additional fixing means 28 can be used to secure the working device 14 in the pipeline.For example, these are clamping shoes that firmly clamp the central body in the pipeline 12.

[0070] In operating state III, tool-specific actions can then be performed using two manipulator arms 30, for example, certain areas of the pipeline 12 can be inspected or processed using a mechanical tool. According to a further development of the invention, a manipulator arm 30 can also be active in the second operating state II, for example, to move a part located in the pipeline 12 using a manipulator arm 30 designed as a gripper arm, which part can also be carried along by the gripper arm in the first operating state I.

[0071] The transitions between the individual operating states occur based on the continuous evaluation of environmental information recorded by an environmental sensor 32. For example, this is an optical sensor in the form of a camera, the camera image of which is examined for known patterns in a data analysis. In addition, strain gauges can be arranged in the jacking means, which can record a bend in the jacking means and thus information about the inner diameter of the pipeline. The environmental information is evaluated in a computer unit 34 of the working device. Based on this environmental information and the information stored in a digital map on the computer unit 34, the working device 14 independently determines its position. In particular, the working device 14 changes its operating state based on this environmental information.

[0072] A digital map 36 of the pipeline is stored in the computer unit 34 (Fig. 4). This digital map depicts individual pipeline segments 38, which are arranged to one another via weld seams 40. Target fields 42 exist in individual pipeline segments 38, some of which can also span pipeline segments. Furthermore, the digital map 36 contains information about installations 44 as well as any markers 46 in the form of magnetic markers attached to the outside of the pipeline, whose signals can be picked up within the pipeline 12. Furthermore, the computer unit 34 contains instructions on how to proceed upon reaching the target fields 42, i.e., what action is to be performed for each piece of equipment.

[0073] In addition to relevant locations, the digital map 36 also contains reference points such as welds 40, markers 46, and installations 40 (e.g., branches or bends) for orientation. These reference points can be known from previous runs, a pipe log, or simply through the independent addition of certain reference points by the computer unit 34 during a run of the work tool 14 at specific sections of the digital map. Defects or areas with defects can also be depicted in the digital map 36.

[0074] When traveling through a pipeline 12, the working device 14 can now determine the number of pipeline segments 38 and thus also its position based on environmental information that enables the detection of weld seams 40. This can be additionally compared with the data from an odometer, for example, by means of data fusion. This advantageously occurs regularly during a run. For example, a weld seam is detected by the simultaneous occurrence of a corresponding signal from all magnetic field sensors arranged in the circumferential direction around the longitudinal axis of the working device 14, which runs in the longitudinal direction of the pipeline. If the working device 14 identifies special features such as dents, these can be added to the digital map. Depending on the detected special feature or the detected feature of the pipeline 12, this feature can be specifically examined again in operating state III.

[0075] When approaching a target field 42, the working device 14 automatically switches to operating mode II and then to operating mode III when a target field 42 to be examined while stationary has been reached.

[0076] The embodiment shown in Fig. 5 shows another example of a digital map stored in the working device 14. The pipeline 12 is defined not only in the X-direction, but also in the circumferential direction of the pipeline 12. Thus, different reference points or defects 48 are located in different circumferential positions of the pipeline 12, whose inner surface is displayed as a 2D grid. These points can be precisely detected in the circumferential direction by the orientation of the working device 14, which is detected based on, for example, an inertial measurement unit, and can be specifically examined by the working device 14.

[0077] In the embodiment according to Fig. 6, the digital map 36 is stored in the computer unit 34 in the form of an image of the pipeline 12, now represented in cylindrical coordinates. The possible target fields 42 are defined in the individual pipeline segments S=1 and S=2 via the segment number s, which represents the number of pipeline segments, the height in the segment and the angle <p, so dass das in der Fig. 6 markierte Zielfeld 42 durch die Position 1 , 2, 14 definiert ist.

[0078] In the individual operating states I, II and III, the individual tools in the form of environmental sensors, cleaning and repair tools can, according to one exemplary embodiment, be used to varying degrees for the work device-specific measures (Fig. 7). For example, tools A and B are a first sensor which can be used in operating state I for long-range or coarse-resolution inspections 50, in operating state II for screening 52 and in operating state III for a detailed, fine-resolution inspection 8. A further sensor B, on the other hand, is only used during operating state III for detailed inspections 8. A tool C in the form of a rotating brush can, for example, be used for cleaning 56 the inner pipe surface during operating states II and III, while a tool D in the form of a gripping orManipulator arm 30 is used for repair purposes only during operating state III, for example to move a butterfly valve of a pipeline branch.

[0079] A working device according to the invention according to Fig. 8 detects a weld seam 40 in the pipeline 12 based on the data from two different environmental sensors 32 and 33. If this weld seam is stored in the digital map as a weld seam to be inspected, this weld seam 40 is specifically examined in operating state III, in which the working device 14 is secured in the pipeline 12 by means of the securing means 28, via an environmental sensor 60 arranged on the manipulator or gripper arm 30. For this purpose, the environmental sensor 60 is specifically brought into the dead zones formed by the weld seam 40, which cannot be inspected during a conventional pigging movement due to the sensor lifting off the wall.

[0080] In a further exemplary embodiment of a working device 14 according to the invention, the environmental sensor is not designed as a transmitter and receiver as in the exemplary embodiment according to Fig. 8, but rather there are two manipulator arms 30, on the one end of which a transmitter and on the other hand a receiver are arranged. These manipulator arms are specifically positioned on different sides in the dead zones of the weld seam 40 to be examined (Fig. 9). These are then examined, for example, using ultrasound in the pitch and catch method. The tools, as inspection tools, record signals generated locally by the working device 14 to detect the environment. Any defects detected from this environmental information are stored as features of the pipeline in the digital map stored in the computer unit 34.

[0081] According to a further embodiment of the invention, an X-ray emitter 62 located on the outside of a pipeline can be used to generate X-rays for examining a weld seam 40 (Fig. 10). Accordingly, the environmental sensor 60 is then designed as an X-ray receiver.

[0082] According to the embodiment of Fig. 11, a working device 14 according to the invention is provided with a plurality of tools 64 which can be attached to the end of the manipulator arm 30 via a corresponding interface and are otherwise attached to the central body 16 and can be exchanged for one another.

[0083] The embodiment according to Fig. 12 also shows a working device 14 according to the invention, which is secured in the pipeline by means of securing means 28. The securing means 28 are supported on the central body 16 via extendable links 66. The working device 14 is therefore in operating state III. This operating state III was achieved, for example, by the working device regularly comparing its position with a digital map 34 stored therein while traveling. For this purpose, for example, the pipe segments 38 can be counted while traveling in operating state I. After finding the correct pipe segment 38, the working device then moves on in operating state II to a specific position, marked, for example, by a marker 44, the characteristic magnetic field profile of which is detected by environmental sensors 60 and recognized with the aid of the pattern recognition of the computer unit 34.The manipulator arm 30 then moves once in the circumferential direction along a weld seam 40 using sensors (not shown in detail), which are inspected, for example, using ultrasound. The working device 14 can then move on to another target area 42 or be moved further by the medium.

[0084] An embodiment of a method according to the invention is illustrated in a flow chart according to Fig. 13. First, before starting a run, the computer unit 34 of the working device 14 is provided with a digital map 36 of the pipeline 12. Line data 65 that describe the pipeline is stored in this digital map 36. This includes, for example, the number of weld seams, the pipeline segments and their shape (straight, curved). In addition, orders 67 are stored in the digital map, which are defined, for example, by target fields, i.e. targets that are to be targeted, actions to be carried out there and tools required for this purpose. Furthermore, rules can be stored in the computer unit 34 in the digital map 36 or in another database 77, stating how the working device 14 should behave when certain results of the analysis are obtained.For example, these could be instructions for saving newly detected features or for starting a safe return to the sampling location.

[0085] A marker 44 applied externally to the pipeline 12 can also be mapped in the pipeline data and thus also represents an environmental feature 70 that can be perceived via the external or environmental sensors 32, 33 of the working device 14. Depending on the exemplary embodiment, data obtained from an environmental sensor 60 can also be included. The environmental features are analyzed in the form of environmental information from the sensors 32, 33 in the computer unit 34 in step 72. Information from internal sensors 68, which monitor, for example, the energy balance of the working device 14, can also be incorporated into the analysis 72. Information from a database 77 is also incorporated into the analysis 72.For the analysis 72 of the available data, one or more computer program modules 74 can be used, which are designed for rule-based recognition, model-based recognition or recognition based on machine learning. This results in a knowledge or perception 76, according to which the working device 14 knows, for example, its safety status 78 (e.g., sufficient power supply) and its orientation 79, comprising position, speed and orientation in the pipeline. Furthermore, a perception 76 takes place with regard to features 80 of the pipeline, for example, comprising its size and type, including defects, as well as the quality and grade (collectively, "82") of the individual findings. This perception results in an action 90, which results, for example, in the adoption 92 of an operating state I, II or III and / or in the execution of a working device-specific procedure 94.The latter includes a long-range inspection 50, a screening 52, for example, in operating state II, a high-resolution inspection 8 in operating state III, and a repair 58. Features 80 not yet present in the digital map 36 can be additionally stored there. Alternatively or additionally, a new interior coating can also be applied, for example.

[0086] In the embodiment according to Fig. 14, to carry out the method according to the invention, a work order 91 is first defined, which, for example, is to inspect all unknown weld seams. Based on this work order 91, the working device assumes an operating state I in the form of pigging mode in step 92 or starts its run in the pipeline in this mode. In this pigging mode, the long-range inspection 50 is started, with which data is recorded over long distances using sensors 32, 33 and / or 60. In the present case, lift-off data 81 is recorded in the respective sensor channel 1 by means of geometry sensors arranged circumferentially around a longitudinal axis of the working device, preferably based on contactless eddy current sensors. Rotation angle data 83 is recorded in sensor channel 2. Both data sets 81 and 83 show the signal amplitude over time.In sensor channel 1, almost all sensors show a deflection simultaneously, while in sensor channel 2, only a few do. Analysis step 72 performs a real-time evaluation in the computer unit 14 of the tool. For example, using a numerical peak finder and a pattern recognition algorithm based on machine learning methods, a comparison is made with a database 77 to identify individual features 80. In this case, a typical pattern of a circumferential weld seam is recognized with a certain probability, which is clearly based on the fact that a deflection is registered on the individual channels at the same time. In both data sets 81 and 83, feature 80 is recognizable as a feature of the pipeline in the form of a circumferential weld seam.In a subsequent data fusion 89 of the parts of the sensor data 81 and 83 representing the feature 80, the feature 80 is then verified in such a way that the object is assumed to have been detected in the perception step 76. Based on this, a check is carried out in step 95 (Fig. 15) to determine whether the feature 80 is already contained in a digital map 36 stored in the computer unit. If this is the case, the position of the work tool is determined from the position assigned to the feature in the digital map. If this is not the case and the feature is therefore to be examined as an unknown circumferential weld seam, the operating state changes again in the subsequent step 92, this time to crawler mode II, whereupon the weld seam is approached in step 96. For this purpose, a movement against the flow of the medium takes place.In the subsequent high-resolution inspection 8, measurement data is then again produced, which is recorded and saved in the computer unit in step 98. This can also take place in parallel with inspection 8. In the dashed area in Fig. 15, there is an optional step in which a further analysis 72 in the form of a real-time evaluation takes place in the computer unit 14 of the working device in order to check the weld seam for its integrity. Here, too, comparisons can be made with a database 77. If further features such as corrosion spots on the weld seam are discovered, these can in turn be saved in the digital map 36 in step 95. The inspection is then concluded with a transition back to pigging mode I, in which a long-range inspection is then started again. Alternatively or additionally, any repair of a weld seam can also take place beforehand in step 58.

Claims

Claims 1. A method for operating a working device (14), in particular a pipeline pig, in a pipeline (12) provided with a medium flowing in the axial direction, wherein the working device is moved passively in the pipeline (12) by the medium in the flow direction of the pipeline in a first operating state (I), the working device reaches or approaches a target in the pipeline in a second operating state (II), and in at least one third operating state (III) in the pipeline (12) carries out at least one working device-specific process (94) at the target, and then moves away from the target, in particular after a change from the third to the first or second operating state, characterized in that the cable-free working device (14) records environmental information via at least one environmental sensor (32, 33, 60) during the first and / or second operating state,in a computer unit (34) of the working device (14), the environmental information is evaluated and the working device (14) independently changes the operating state (I, II, III) on the basis of the environmental information., 2. Method according to claim 1, characterized in that in the computer unit (34) by evaluating the environmental information at least one Feature (80) of the pipeline (12) is identified, in particular which is in the Computer unit (34) is used to determine the position of the working device (14).

3. Method according to claim 2, characterized in that the feature (80) with its position in the pipeline (14) is stored in the computer unit (34).

4. Method according to one of the preceding claims, characterized in that in the computer unit (34), preferably at least during the first and the second operating state and in particular continuously, a position of the working device (14) in the pipeline is determined on the basis of the environmental information, and preferably the working device (14) changes the operating state (I, II, III) on the basis of the position.

5. Method according to one of the preceding claims, characterized in that the third operating state (III) comprises a slowed measuring run and / or a jamming in the pipeline (12) and / or that the working device (14) in the second operating state (II) moves actively in the pipeline (12) via at least one drive means (26).

6. Method according to one of the preceding claims, characterized in that the operating state is changed on the basis of the distance of the working device (14) from the target.

7. Method according to one of the preceding claims, characterized in that environmental information obtained in the computer unit (34) from different environmental sensors (32, 33, 60) is used in particular to determine the position.

8. Method according to one of the preceding claims, characterized in that the position of the working device (14) is determined in the computer unit (34) on the basis of the environmental information and by means of a digital map (36) of the pipeline (12) stored in the computer unit (34).

9. Method according to one of the preceding claims, characterized in that reference points are shown in the digital map (36) and the environmental information is evaluated for the purpose of identifying reference points.

10. Method according to one of the preceding claims, characterized in that at least part of the environmental information is classified in the computer unit (34) and, in particular for feature recognition, the data derived therefrom are compared with the data of predefined pattern classes.

11. Method according to one of the preceding claims, characterized in that preferably in the digital map (36) and / or in at least one further data set of the computer unit (34) there are stored, in particular, location-dependent instructions which are executed by the working device (14) when the destination is reached or when a feature is recognized.

12. Method according to one of the preceding claims, characterized in that the working device (14) carries out a screening (52) of the pipeline (12) in the second operating state (II).

13. Method according to one of the preceding claims, characterized in that one or more working methods are carried out from a group of different working methods on the basis of the evaluation of the environmental information, in particular wherein the working device (14) carries out an inspection (8) and / or pipeline repair (58) in the third operating state (III).

14. Method according to one of the preceding claims, characterized in that reference points obtained from the environmental information are used for the location calibration of the working device (14).

15. Method according to one of the preceding claims, characterized in that the digital map (36) is supplemented with pipeline condition information obtained from the environmental information and / or further sensor information.

16. Method according to one of the preceding claims, characterized in that the working device (14) controls a target defined in advance or during the first or second operating state.

17. Method according to one of the preceding claims, characterized in that the working device (14) generates energy in at least one of the three operating states (I, II, III), preferably in two of the three operating states, by means of an energy generating device, preferably which energy is stored in an energy storage device.

18. A working device, in particular a cable-free pipeline pig, comprising at least one propulsion means (22) for a first operating state (I) in the form of a medium-driven, passive movement in the pipeline (12), characterized in that the cable-free working device (14) has at least one environmental sensor (32, 33, 60) for recording environmental information and at least one drive means (26) for a second operating state (II) in the form of an active movement of the working device (14) in the pipeline (12), and in that a computer unit (34) of the working device (14), in which environmental information can be stored, is configured such that the working device (14) carries out the method according to one of the preceding claims.

19. Working device according to claim 18, characterized in that the working device (14) has positioning and / or fixing means (28) for positioning the working device in a third operating state.

20. Tool according to one of claims 18 or 19, characterized in that the tool (14) has at least one tool (64) that can be activated during at least one operating state. 21 . Tool according to one of claims 18 to 20, characterized in that the tool (64) is a sensor, a cleaning tool, a coating tool or a tool for removing material from a pipeline wall.

22. Working device according to one of claims 18 to 21, characterized in that the working device (14) has at least one manipulator arm (30), preferably with a tool holder.

23. Tool according to one of claims 18 to 22, characterized in that the tool (14) has a magazine for storing tools (64).

24. Tool according to one of claims 18 to 23, characterized in that instructions dependent on environmental information for changing the operating state and for actuating at least one tool (64) are stored in the computer unit (34).

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