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 a pipeline having, or provided for having, a medium flowing in an axial direction, wherein the untethered working apparatus is moved in the pipeline passively by the medium in a flow direction of the pipeline or is moved in the pipeline actively by a drive means, and wherein the working apparatus, which has a computing unit, records items of surroundings information in the pipeline by means of at least one, preferably by means of at least two surroundings sensors, and wherein, in the computing unit of the working apparatus, the items of surroundings information are automatedly evaluated and, in the evaluation of the items of surroundings information, which are recorded in particular by means of two different surroundings sensors, at least one feature of the pipeline is identified, preferably for the purposes of determining a position, and is in particular compared with and / or stored in a digital map of the pipeline that is stored in the computing unit. The invention furthermore relates to a working apparatus comprising at least one propulsion means for passive propulsion of the working apparatus in a pipeline and / or at least one drive means for active locomotion of the working apparatus in the pipeline, and comprising at least one, preferably two, surroundings sensors for recording items of surroundings information, wherein the working apparatus has a computing unit having at least one computer program.

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 or to be provided with a medium flowing in the axial direction, wherein the cable-free working device is moved passively in the pipeline by the medium in the flow direction of the pipeline or moves actively in the pipeline by means of a drive means, and wherein the working device having a computer unit in the pipeline records environmental information via at least one, preferably via at least two environmental sensors.

[0003] Furthermore, the invention relates to a working device comprising at least one propulsion means for passive propulsion of the working device in a pipeline and / or at least one drive means for active movement of the cable-free working device in the pipeline, as well as comprising at least one, preferably two environmental sensors for recording environmental information, wherein the working device has a computer unit.

[0004] In particular, the working tool is a (pipeline) pig and / or crawler that is designed to be cable-free, i.e. without a cable connection, for example for energy transmission and communication purposes. Such working tools are typically used to inspect or clean pipelines through which raw materials such as oil, gas or water flow or are intended to flow. Other products moved through a pipeline can be diesel, ammonia or hydrogen. In particular, the working tools are moved passively through the pipelines by means of the medium flowing in the pipeline. For this purpose, the working tools have so-called cups or disks or guide discs that almost completely fill the free inner diameter of a pipeline and thus form an obstacle for the medium. The working tool is propelled forward by the pressure built up by the medium.It is also known to move a working device through a pipeline by means of active drive means, for example when the pressure built up by the medium is not high enough or no medium is flowing in the pipeline.

[0005] A generic working device which has a computer unit is further provided with at least one environmental sensor for recording environmental information. The prior art includes a variety of environmental sensors which can record information from the immediate surroundings of the working device. For example, magnetic flux leakage (MFL) or eddy current (EC) sensors, optical or ultrasound-based sensors are used, in particular to identify defects in the pipeline. IMU sensors are used, for example, to determine the position of the working device in the pipeline or its speed. A method according to the preamble of claim 1 is known from WO 2019 / 055546 A1. This working device has corresponding drive orPropulsion means and can actively control a desired speed, which is necessary, for example, for certain inspections. The working device according to WO 2019 / 055546 A1 can have a computer unit with a CPU as well as means for data storage and for storing instructions.

[0006] The object of the present invention is to be able to use a working device in the pipeline in a more targeted manner.

[0007] The object is achieved by a method according to claim 1 and by a working device according to claim 17. Further developments according to the invention can be found in the subclaims referring back to these claims and in the following description.

[0008] A method according to the invention is characterized in that the environmental information is automatically evaluated in the computer unit of the wireless working device, and in the evaluation of the environmental information, recorded in particular by means of two preferably different environmental sensors, at least one feature of the pipeline is identified, in particular which feature is compared with a digital map of the pipeline stored in the computer unit and / or stored therein. This takes place while the working device is traveling or running in the pipeline, i.e. while the working device is located in the pipeline and in particular regardless of the speed v > 0 at which the working device is moving.

[0009] Environmental information is information that enables a map of the environment of the work device. The environment includes in particular the medium, the pipeline with any installations and / or any electrical and / or magnetic fields present in the environment 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, remote control unit of the work device that are transmitted to the work device with the aim of triggering an action or reaction from the work device. 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.Data from any odometer carried on the implement is not primarily used for feature recognition but, if necessary, only for additional position verification. In particular, an odometer can be dispensed with.

[0010] Real-time or online feature determination on the tool, and in particular the resulting position determination, creates the basis for a tool that operates autonomously within a pipeline. This tool can orient itself independently within the pipeline and, in particular, move based on its own sensor information and thus on its own perception. Depending on the design of the tool, it can move only in the direction of flow or also in and against the direction of flow. By storing previously unknown features in the computer unit, the tool gains an increasingly complete picture of its surroundings within the pipeline or of the pipeline itself and can carry out any additional tasks more specifically.

[0011] A working device according to the invention, comprising at least one propulsion means for passive propulsion of the working device in a pipeline and / or at least one drive means for active movement of the working device in the pipeline, and comprising at least one, preferably two environmental sensors for recording environmental information, wherein the working device has a computer unit with at least one computer program, is characterized in that the computer program comprises instructions that the environmental information is automatically evaluated in the computer unit of the working device and in the evaluation of the environmental information recorded in particular by means of two different environmental sensors, at least one feature of the pipeline is identified, preferably for position determination, in particular which feature is compared with a digital map of the pipeline stored in the computer unit and / or stored in this.According to further embodiments of the invention, the computer program comprises instructions which cause the working device to carry out the further methods according to the invention described above or below.

[0012] A working device according to the invention can also be designed as a pig crawler and can have one or more means for passive movement as well as one or more means for active movement. In the following, in the description of both the method according to the invention and the working device according to the invention, a working device according to the invention designed as a pig crawler is sometimes referred to as a pig for simplification.

[0013] The computer unit of the implement, in which environmental information can be stored, is configured so that the implement can carry out the method according to the invention or carries it out in the pipeline. The components of the implement required for implementing the method according to the invention, such as environmental sensors, drive or propulsion means, any additional means for speed control or for securing the implement, as well as any tools comprising, for example, sensors and / or manipulator arms, can also be controlled or regulated by the computer program.

[0014] The independent, autonomous recognition of a feature of the pipeline is an essential prerequisite for the working device to orient itself in the pipeline, i.e. to determine its position, e.g. to arrive at a predefined destination or a destination defined during movement through the pipeline and to carry out a desired operation there. In particular, this or another operation can be carried out repeatedly at different target locations in the pipeline, which the working device can identify on the basis of the recognized features. Preferably, the working device is equipped with a digital map of the pipeline, which is or will be stored in the computer unit of the working device for a run in the pipeline. Accordingly, the feature can be compared with a digital map stored in the computer unit during the run.If the feature is not stored in the digital map or is stored differently, the feature of the pipeline, which was obtained from the environmental information, can be newly or additionally stored in the digital map. From this, the working device can, for example, determine its position in the pipeline much more accurately and locate itself more accurately within the pipeline. Due to the method according to the invention, the working device according to the invention can perceive its surroundings, which is a basic prerequisite for autonomous action in the pipeline. Position determination based on this enables controlled, independent action of the working device in the pipeline.

[0015] In a simple case, a digital map is a table with waypoints 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, with specific features assigned to individual positions on the pipeline. The digital map can be represented by one or more data sets, which can be linked to one another or can be correlated by a program on the computer unit.

[0016] The computer unit of the implement comprises at least one CPU or other processor unit (e.g. GPU, TPU or FPGA), at least one main memory, in particular in the form of random access memory or another dynamic memory, and at least one permanent memory, for example in the form of read-only memory or other permanent main memory, which can contain one or more databases. In addition, 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. For this purpose, the implement has at least one corresponding controller. The energy storage device, together with any battery management system, can also be regarded as part of the computer unit. Due to the computer program stored in the computer unit, the implement is configured to implement the method according to the invention.This computer program can, in particular, be modular in structure, so that to implement a lean and efficient process flow, only those modules are loaded into the RAM that are necessary at any given time. For example, the work device can only partially or not at all activate the (computer) program modules for inspection and the associated sensors during a journey to an inspection target in order to save energy. The required modules are only loaded into the memory, and the sensors are only activated, once the work device has reached a position marked for this purpose in the computer unit, particularly in the digital map.

[0017] The position of the working tool in the pipeline is described in particular by its position in the axial direction of the pipeline. For this purpose, the position can be described by the position of the working tool in the circumferential direction. This position is described in particular by an IMU unit of the working tool. The position can, for example, be described in meters starting from a starting point of the pipeline. The position can also be described by a segment number of a pipeline segment, which is separated from other pipeline segments by transverse weld seams, which can be identified by the working tool as features of the pipeline. The position can also be defined by a combination of such features.

[0018] The feature detected by the environmental sensors is stored in the computer unit, particularly in the digital map, along with its position in the pipeline, so that after the run has been completed, the feature, including its position in the pipeline, is directly available to the operating personnel without additional evaluations. It is understood that the computer unit or the work device has at least one communication interface via which, after a run, the collected environmental information or the features detected based on the environmental information can be read out, for example, together with an additional digital map. Magnetic sensors, for example, are used as sensors for detecting weld seams.For example, in the case of work tools according to the invention that have MFL sensors as environmental sensors, weld seams can be identified by ensuring that all MFL sensors in the circumference exhibit a correspondingly high MFL signal within a specific time and space window. To this end, the computer program checks immediately while the work tool is running in the pipeline whether all functional MFL sensors arranged circumferentially around a central longitudinal axis of the work tool exhibit a signal simultaneously. If so, the computer program in the computer unit has detected a weld seam.

[0019] The wall thickness is determined, for example, using eddy-current or ultrasonic sensors. Branches or any valves can be identified optically, for example, using a camera; the tool can also be equipped with one or more illumination devices. Gyrometers or inertial measurement units (IMUs) can be used to identify rotations, accelerations, and, in particular, curved pipeline sections.

[0020] Preferably, the position of the implement is continuously determined using the feature and / or further environmental information, in particular wherein data from at least two environmental sensors is recorded for the evaluation of the environmental information, and a fusion of the environmental information is performed on the computer unit. The environmental information from several identical and / or different environmental sensors can be linked via data fusion in order 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, by independently detecting features in multiple environmental sensors, a higher level of confidence can be created, increasing the probability of the feature's presence. For example, determining position based on an odometer and an IMU (Inertial Measurement Unit) can also lead to redundancy in speed measurement, which increases the reliability of location determination.

[0021] For example, while the work tool is running, environmental sensors or sensors positioned next to each other record tracks along the pipeline, which are then superimposed to create an overall image of the pipeline. Alternatively or additionally, a forward-facing and a rear-facing 2D or 3D camera record images of the pipeline. These images can be supplemented and used to independently characterize features of the pipeline. If the detection matches, these features are then compared with the digital map. Alternatively or additionally, 3D images can be generated by combining different camera perspectives and then examined for features. Likewise, alternatively or additionally, the weaknesses of one sensor can be compensated for by another sensor type, so that the strengths of the individual sensor types are essentially added together.For example, an IMU (Inertial Measurement Unit) comprising an accelerometer, gyroscope, and magnetometer, each of which measures the sensor's acceleration, angular velocity, and orientation, can collect environmental information relatively quickly and accurately. However, this information is subject to drift over time, so a magnetometer, for example, is used as a reference for orientation. While a magnetometer has a lower resolution, it has virtually no drift.

[0022] Another example of combining different environmental information is the use of a laser to create a grid or network of lines on the inner surface of the pipeline, which is then recorded by a camera to obtain a 3D image. This 3D image can then be compared with another optical camera if necessary. Alternatively, the 3D image can also be compared with an acoustic camera (acoustic camera = array with ultrasonic sensors). Another example of such data fusion is the identification of dents in the pipeline using classic geometric methods (e.g., EC sensors in the turbine housing or gauge plate), which are then precisely measured using an optical or acoustic camera. A manipulator arm, if present, also precisely measures the depth profile of the dent using a mechanical touch finger principle.It is understood that the work device is equipped with appropriate environmental sensors or functional units (e.g. manipulator arm) to generate the corresponding environmental information.

[0023] The fusion of environmental information can be performed before or after feature detection.

[0024] A feature obtained from the environmental information can be used in the computer unit, in particular for location or position calibration and / or for precise position determination of the working device. This allows the position of the working device to be determined more precisely, so that on the one hand the recording of still unknown features of the pipeline in a digital map is improved and, on the other hand, the actions to be carried out by the working device based on the position can be carried out more precisely. In particular, this makes it easier to plan the energy use of the working device for the process steps to be carried out while it runs in the pipeline. The working device can use the available energy more effectively and cover longer distances in the pipeline or use its energy more specifically by avoiding unnecessary measurements.

[0025] 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, allowing subsequent runs or journeys by work tools to be carried out more precisely.

[0026] Preferably, a position- and / or feature-specific action is performed by the implement. This can, for example, be a speed control in which the implement automatically reduces its speed depending on a distance from a target stored in the digital map and, if a certain speed is undershot at a certain target point, triggers a specific measuring process, e.g., a high-resolution ultrasound scan. The computer program operating in the computer unit or the computer unit itself is configured accordingly, with the implement according to the invention having corresponding means for speed control. For example, the implement can have a controllable bypass and / or active drive means by means of which the speed of the implement can be controlled.

[0027] A feature-specific action, for example, is switching on and using an inspection sensor depending on the feature. For example, previously unknown features, i.e. features not stored in a digital map in the computer unit, such as weld seams, which are identified in the computer unit during a passively driven movement in pigging mode, can be approached again and inspected using a high-resolution inspection method. To approach a location to be inspected, the position of which was identified by comparison with the digital map and / or in connection with features stored in it, the work device can have a crawler mode in which the pig moves in the pipeline using actively driven drive means.For this purpose, the pig can use these propulsion devices, for example, to support itself against the inner surface of the pipeline and / or move upstream against the flow of any medium present. The movement speed in crawler mode is reduced compared to the speed in pig mode, which is characterized by passive, medium-dependent propulsion using appropriate propulsion devices (cups, disks). In crawler mode, the working device can move against the flow and stop. To stop and hold it in the pipeline, the working device can be equipped with locking devices that clamp the working device in the pipeline.

[0028] In particular, the position- and / or feature-specific action can be implemented by a transition from one operating state to another. An operating state is, for example, a state in which the work tool is passively or actively driven. An operating state with active drive can also be described as crawler mode. An operating state with passive drive can also be referred to as pigging mode. Another operating state can be characterized by assuming a fixed position at a specific point in the pipeline. Additionally or alternatively, the operating states can be differentiated by the use of different sensors or sensor controls.

[0029] Preferably, the position- and / or feature-specific action is performed during the same travel of the work tool. Alternatively, it can also be performed during a subsequent travel of the same or a different work tool, particularly if the work tool does not have any means for actively moving, particularly the flow of a medium present in the pipeline. In this case, the data on the features to be inspected and / or the digital map are transferred in advance to the additional work tool.

[0030] Preferably, reference points are shown in the digital map, e.g. in the form of welds, markers, installations or bends, and the environmental information is evaluated for the purpose of identifying such reference points. The features of the pipeline identified on the basis of the environmental information can be compared with these reference points in the computer unit, and the position of the pig or working device can be determined more precisely or a position- and / or working device-specific action can be triggered, which can be, for example, a transition from a passive to an active operating state, a measurement and / or a repair. For example, upon reaching a position defined by the method according to the invention, a measuring device or sensor can be activated or used with a higher sampling rate in order to inspect a pipeline section downstream of the identified position more precisely.

[0031] Advantageously, a reference point stored in the digital map can also be replaced with the more current information of the feature identified as a reference point. In particular, identified reference points can be confirmed, added, or even renamed in the digital map based on the recognized pattern. The position of the reference points in the digital map can be refined with each pattern recognition, which can also be achieved, for example, through statistical averaging from multiple inspection runs.

[0032] Preferably, at least some of the environmental information is classified in the computer unit, and in particular for feature recognition, the data derived from this is compared with the data of predefined patterns. On the basis of such a comparison, a feature can be recognized and a position determined. For example, the working device can carry out a screening measurement process in the target area with 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 working device in the computer unit. This can involve comparing the classified measurement signals with predefined classes (patterns). If a specific pattern orIf a specific class is detected, the work tool can execute an instruction prescribed for such a pattern and, for example, perform a detailed inspection of a potentially existing defect area using PAIIT (Phased Array Ultrasonic Testing). The pattern recognition process, for example based on machine learning (ML) models, can lead to the assignment of a confidence level that determines whether or not a specific work procedure is performed. For example, if the confidence level is too low, a high-resolution inspection can be omitted.

[0033] A coarse-resolution measurement method can also be performed as a screening during the first operating state. If such a screening and the associated pattern recognition already identify a defect area not represented in the digital map, for example, 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.

[0034] 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. These instructions are executed by the implement upon reaching the destination or upon detecting a feature. Based on the information from its environmental sensors and the detection of its position, the implement can take measures relevant to the position, such as reducing speed, for example, based on the distance to a destination.

[0035] In general, a particularly coarse-resolution inspection is advantageously possible during a passive operating state of the tool, in which it moves passively through a pipeline, 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 tool is traveling at an even slower speed or is stationary 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.For fixing in the pipeline, the working device can be provided with fixing means that can be controlled by the computer unit, e.g. outwardly expandable cups or disks or brake shoes that can be pressed against the inner surface of the pipeline.

[0036] The behavior of the tool or position during one of the three operating states can also change depending on the pipeline being inspected and its properties. For this purpose, the computer unit can be pre-equipped with appropriate rules and instructions. For example, if contamination is detected, the pipeline can be cleaned using a milling tool, for example, while a detailed inspection can be performed at another position during the third operating state.

[0037] Advantageously, the computer unit with the computer program is configured so that the instructions, particularly those that are location-dependent, are executed based on rule-based decisions mapped in the computer unit. A corresponding set of rules can be configured specifically for the work equipment and, for example, can be implemented based on detected defects or defect patterns that can be found in one or more data sets containing environmental or surrounding information.

[0038] Advantageously, one or more work processes can 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.

[0039] For the purpose of performing inspections or repairs, the work tool can have at least one activatable tool, which is in particular a sensor or a tool for mechanically processing the pipeline, for example, a cleaning tool. In particular, the digital map stored in the computer unit can be used by the work tool during a run for screening and / or inspecting the pipeline, which can be implemented in particular by the position readable by means of the digital map and any associated instructions.

[0040] The working device preferably has at least one propulsion means for a passive and medium-driven operating state.

[0041] According to a further advantageous embodiment of the invention, the working device has at least one drive means for an operating state referred to as a second operating state in the form of an active movement. This can be a drive means which drives against or in the direction of the flow of the medium, in particular wherein at least 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 with which the working device can move against the flow or in its direction.Alternatively or additionally, it can be a drive means which creates propulsion by acting on the medium, for example one or more nozzles or a propeller / impeller. To reduce the influence of the passive propulsion means, according to a further advantageous embodiment of the invention, 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 friction between the working device and the medium is too great. By transferring to such a rest position, the working device can decelerate.

[0042] The working device can preferably use the digital map to navigate to a predefined target or a target automatically defined while the working device is traveling or running through the pipeline, in order to carry out a position- or tool-specific action there. A target is a position in the longitudinal direction of the pipeline, an area along a specific section of the pipeline, or a combination of both. To reach a target, this can be defined and stored in the digital map of the pipeline, which is stored in the computer unit. It can also be a target or an area of ​​a pipeline that is recognized while the working device is moving through the pipeline and defined as important for further investigation.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 areas with defects are identified in the computer unit 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 measurements.

[0043] Any drive means present for actively moving the working device can influence the position of the working device in the axial direction along the pipeline. Preferably, they can also influence the position or orientation of the working device around 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 around the central longitudinal axis of the 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 welds emanating from an origin.

[0044] 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.

[0045] 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.

[0046] By detecting its position according to the invention, the working device can proceed situationally in conjunction with a propulsion means for passive propulsion and with a drive means for active propulsion, and a broad spectrum of ranges and tasks is covered. While in the first operating state with passive operation, inspection tasks are carried out which require little energy, a precise inspection with a correspondingly high energy expenditure 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 working device, 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 has positioning or fixing means for positioning the working device in a third operating state and for a standstill in the pipeline.These can be clamping means with which the working tool is clamped in the pipeline. In addition to the active drive means, a working tool according to the invention can also have securing means which simultaneously serve as propulsion means and with which the working tool is fixed in the pipeline. For example, these can be cups or disks whose outer diameter can be increased and which can be clamped 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.

[0047] 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, the computer program in the computer unit can initiate a switch to active forward movement 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 in addition, braking devices can also be used. Braking devices can be devices operated separately from the cups or disks or can be formed by them, at least if this function does not conflict with a diameter reduction.

[0048] 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.

[0049] In order to switch from passive movement, 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 and configured 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 further environmental information. The operating state 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 and thus in the computer program. Such a set of rules can be represented, as described above, in the digital map, which depicts the pipeline and contains specific instructions for specific positions. The work device is then able to use the environmental information to detect its position, compare it 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.

[0050] Instead of opening a bypass to reduce speed, or in addition to opening a bypass, the pig can also be braked by friction against the inner pipe wall, for example, using extendable or inflatable cups or discs. As soon as the maximum speed is exceeded, tracks can be extended, for example, and the pig can continue to move in crawler mode. Once the target area or destination is reached, any locking devices are extended, and the working device is fixed in stationary mode. In this case, the third operating mode is one in which the pig does not move further relative to the pipeline. This is also the preferred third operating mode.Alternatively or additionally, the third operating state may also be characterized by the pig moving very slowly along the pipeline for measuring purposes, in particular at a speed of less than 0.5 m / min.

[0051] 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.

[0052] 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.

[0053] The third operating state includes, in particular, a slowed-down measurement run and / or jamming in 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. This only provides a rough image of the pipeline and is suitable for identifying any features or characteristics of the pipeline.

[0054] Preferably, environmental information is also recorded during the third operating mode, which on the one hand is useful data for recognizing the environment and the associated position of the working device designed as a pig or pig crawler, and alternatively or additionally also includes inspection data.

[0055] 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, on the one hand, 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, especially from the magazine, allowing the manipulator arm to perform the desired operation with the tool.

[0056] 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.

[0057] As described above, the digital map represents a digital image of the pipeline, which can include, in particular, all distinctive features, whether inherent in the pipeline (bends) or artificially added (markers). It can also contain defects that are to be examined more closely within the framework of the method according to the invention. In particular, the digital map can contain target fields, i.e., positions or position ranges, with instructions. The instructions include the targeted switching of operating modes, the targeted approach to the target fields, and the respective procedures to be performed. Furthermore, the digital map can contain instructions on how the work device should behave in the event of a recognized pattern (e.g., anomaly) or an event (e.g., excessive speed).

[0058] Preferably, the digital map is updated and optimized with each run. It is transferable and applicable to additional devices or additional runs, which benefit from the map with successively improved accuracy.

[0059] According to a further embodiment of the invention, the digital map can also be transmitted wirelessly to a device that is, for example, stuck in the pipeline, which uses the information and instructions to free itself.

[0060] An energy-generating device according to one embodiment of the invention, which generates energy, stores it, in particular, in an energy storage device of the implement. This is preferably electrical energy, which is stored in a rechargeable battery. In particular, an implement according to the invention is equipped with a preferably adjustable bypass so that, when fixed in one location, it does not block the line flow and, when a power-generating device is present, can optimally generate energy. Further advantages and details of the invention can be found in the following description of the figures. It shows:

[0061] Fig. 1 shows part of an embodiment of a method according to the invention,

[0062] Fig. 2 shows a further part of an embodiment of a method according to the invention.

[0063] Fig. 3 shows a further schematic representation of the invention in a flow chart,

[0064] Fig. 4 shows the different operating states of a working device according to the invention,

[0065] Fig. 5 a simplified representation of a digital map,

[0066] Fig. 6 shows another example of a digital map stored in a computer unit,

[0067] Fig. 7 shows a further representation of a digital map in a computer unit of a working device according to the invention. Fig. 8 shows methods that can be carried out by a working device as a function of the operating state.

[0068] Fig. 9 an article according to the invention,

[0069] Fig. 10 shows another object according to the invention,

[0070] Fig. 11 shows another object according to the invention,

[0071] Fig. 12 shows another object according to the invention,

[0072] Fig. 13 shows another object according to the invention,

[0073] Fig. 14 is a flow diagram of an inventive subject matter.

[0074] 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. Although the working devices depicted in some of the following figures have a preferred direction, they are, in particular, working devices that move bidirectionally in the pipeline, i.e., working devices that can move both in and against the direction of a fluid flow present during operation of the pipeline.

[0075] In the exemplary embodiment shown in Fig. 1, to carry out a method according to the invention, a work order 91 is first defined, which, for example, is to identify and inspect all unknown welds in a pipeline. Based on this work order 91, a working device assumes an operating state I in the form of a pigging mode in step 92 or starts the inspection in this configuration. In this pigging mode, the working device is moved passively due to the flow of the medium through the pipeline. This initiates a long-range inspection 50, with which data is recorded over long distances using sensors 32, 33, and / or 60.In the present case, lift-off data 81, shown here for an exemplary pipeline section, is recorded in the respective sensor channel 1 using geometry sensors arranged circumferentially around a longitudinal axis of the implement, preferably based on contactless eddy current sensors. In sensor channel 2, rotation angle data 83, shown as an example over the same pipeline section, is recorded. Both data sets 81 and 83 show the signal amplitude over time. In the exemplary data set 81 of sensor channel 1, almost all sensors show a deflection simultaneously, while in sensor channel 2 only a few do.By means of an analysis step 72 in a computer unit of the appropriately configured tool, a real-time evaluation is carried out in which, for example, using a numerical peak finder and a pattern recognition algorithm based on machine learning methods, a comparison with a database 77 takes place in order to identify individual features 80 of the pipeline. In this case, a typical pattern of a circumferential weld 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.In a subsequent data fusion 89 of the portions of sensor data 81 and 83 representing feature 80, feature 80 is then verified in such a way that the object is assumed to have been detected in the detection step 76. Based on this, in step 95 (Fig. 15), the computer unit automatically checks whether feature 80 is contained in a digital map 36 of the pipeline stored in the work tool. If this is the case, the position of the work tool is determined from the position assigned to the feature in the digital map.

[0076] If feature 80 is not recorded in digital map 36, the position in the computer unit can be determined indirectly, for example, from a predetermined length of known pipeline segments and / or from speed estimates and the time since the last known feature. Alternatively, the position can also be determined by correlating a signal curve of a remanent magnetic field measured during travel with a reference signal curve of the remanent magnetic field previously stored in the computer unit and measured for the pipeline. If a position can be determined from comparing the feature with the digital map, this feature can be compared with positions determined from other methods, for example as described above, so that the position is calibrated.

[0077] If the feature was identified as a new feature during the comparison, it is stored in the digital map 36. A position- or feature-specific action can then be performed, in this case, to examine circumferential welds identified as unknown circumferential welds. For this purpose, the operating state changes to crawler mode II in the subsequent step 92, after which the weld is approached in step 96. This can, in particular, involve a movement against the flow of the medium.

[0078] For pigs that cannot actively move against the flow, the information about the newly identified features can be used during a subsequent journey with the same or another working device, for example to slow down the journey in the passively driven operating state upstream of the identified feature by opening a bypass and thus better inspect the feature.

[0079] In a 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 of ​​Fig. 2, 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 operating state I (pigging mode), in which a long-range inspection is then started again.Alternatively or additionally, if the work equipment is appropriately equipped with manipulators for cleaning surfaces and applying anti-corrosion materials, any repair of the weld seam can also be carried out in step 58.

[0080] The application area and capabilities of a tool according to the invention cover a significantly broader range than those known from the prior art. This is made possible by a tool according to the invention that records its surroundings in a pipeline, in particular classifies them, and, based on this and the data stored in a digital map, determines a position and makes any rule-based decisions autonomously.

[0081] In a first flow diagram according to Fig. 3, different operating states I, II and III for a working device according to the invention, which is designed for both passive and active drive in a pipeline as well as for being fixed in the pipeline, and the associated transitions are additionally illustrated. The three operating states I, II and III are assigned different speeds v. 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 working device is between 0 m / s and the speed of the medium v(medium). In operating state III, the speed is v = 0.

[0082] A thickening bar 4 illustrates the increasing energy requirement of the working device according to the invention from operating state I via operating state II to operating state III.

[0083] Starting from operating state I of the work tool, a feature-specific action in the form of a braking process can be initiated (arrow 5), for example, by detecting and reaching a specific milestone based on environmental information, such as a specific circumferential or transverse weld seam. Such a braking process can serve to ensure that the work tool approaches an exit 6 from the line 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.

[0084] Starting from standstill in operating state III, after releasing (arrow

[0085] 9) any locking means, an active drive in operating state II. From operating state II, a transition to an operating state I with passive drive by the medium can also be achieved by deactivating the active drive means and, for example, closing an existing bypass (arrow 10).

[0086] The various operating modes and possible methods are additionally described in Fig. 14. Fig. 4 shows exemplary, different states of a working device 14 according to the invention in a pipeline 12, one after the other. A total of four different states of the working device are shown. For the sake of clarity, not all features are always depicted in the respective illustrations of the working device; however, the same working device is depicted in each case. The individual operating states of the working device 14 are preferably assumed depending on the position or feature.

[0087] 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 passively driven pig in operating state I, is supported in the pipeline via propulsion means 22 in the form of guide disks. These can also be cups. At the end, the pig is provided with an energy generation unit comprising a propeller 24 which is electrically driven by the medium. This propeller drives a generator inside the main part 20, particularly in the operating state III described below. The medium can flow through the propulsion means 22 past the central or pig body 16 on the outside in a position in which the pig is fixed in the line according to operating state III.In such a case, the propeller 24 can be used together with the generator to generate power. A closable bypass with multiple passages 25 is formed through the propulsion means 22 and / or the pig body 16. Alternatively or additionally, the bypass can also be formed through the pig body 16 in other variants of a working device.

[0088] 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, a pig or pig crawler, in the pipeline. These are, for example, clamping shoes that firmly clamp the central body in the pipeline 12.

[0089] 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. 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. Additionally, strain gauges can be arranged in the jacking means, which can record bending of 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 tool.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.

[0090] A digital map 36 of the pipeline is stored in the computer unit 34 (Fig. 5). This digital map 36 shows individual pipeline segments 38, which are arranged next to one another via weld seams 40. Target fields 42 exist in individual pipeline segments 38, some of which can also be designed across pipeline segments. In addition, 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, the signal from which can be picked up within the pipeline 12. In addition, the computer unit 34 stores instructions on how to proceed when the target fields 42 are reached. In addition to relevant locations, the digital map 36 also contains reference points such as weld seams 40, markers 46 and installations (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 specific reference points by the computer unit 34 during a run of the working device 14 at specific sections of the digital map. Defects or areas with defects can also be depicted in the digital map 36.

[0091] 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. For this purpose, the length of the pipeline segments is stored in the computer unit. The position can be additionally compared with the data from an odometer, for example, by means of data fusion. This is advantageously carried out regularly during a run. For example, a weld seam is detected by the simultaneous occurrence of a corresponding signal from all magnetic field or eddy current 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 special feature detected orDepending on the detected feature of the pipeline 12, this feature can be specifically examined again in operating mode III. When approaching a target field 42, the working device 14 automatically switches to operating mode II and subsequently to operating mode III when a target field 42 to be examined while stationary has been reached.

[0092] The embodiment shown in Fig. 6 shows a further 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.

[0093] In the embodiment according to Fig. 7, 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. 7 markierte Zielfeld 42 durch die Position 1 , 2, 14 definiert ist.

[0094] In the individual operating states I, II and III, the individual tools can be

[0095] In the form of environmental sensors, cleaning and repair tools can be used to varying degrees (Fig. 8). For example, tools A and B are a first sensor that 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 detailed, fine-resolution inspection 8. Another 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 pipeline surface during operating states II and III, while a tool D in the form of a gripper or manipulator arm 30 is used for repair purposes only during operating state III, for example to move a butterfly valve of a pipeline branch.

[0096] A working device according to the invention according to Fig. 9 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 or a work instruction states that all weld seams are 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 sensor 60 is specifically brought into the dead zones formed by the weld seam 40, which cannot be inspected during a conventional pigging operation due to the sensor being lifted off the wall. In a further embodiment of a working device 14 according to the invention, the environmental sensor is not, as in the embodiment according to Fig.9 are not designed as a transmitter and receiver, but rather there are two manipulator arms 30, on each end of which a transmitter and 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. 10). These are then examined, for example, using ultrasound in the pitch and catch method. As inspection tools, the tools record signals generated locally by the work device 14 to detect the surroundings. Any defects identified from this environmental information are stored as features of the pipeline in the digital map stored in the computer unit 34.

[0097] 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. 11). Accordingly, the sensor 60 is then designed as an X-ray receiver.

[0098] According to the embodiment of Fig. 12, a working device 14 according to the invention is provided with a plurality of tools 64, which can be attached to the manipulator arm 30 via a corresponding interface at the end of the manipulator arm 30 and are otherwise attached to the central body 16 and can be interchanged with one another. The embodiment according to Fig. 13 also shows a working device 14 according to the invention, which is secured in the pipeline via 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.

[0099] This operating state III is achieved, for example, by the working device 14 regularly comparing its position with a digital map 34 stored therein during travel. For this purpose, for example, the pipe segments 38 can be counted during travel in operating state I, for which purpose weld seam detection takes place during travel based on the recorded environmental information. 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, whose characteristic magnetic field profile is detected by 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 circumferential weld seam 40 using sensors (not shown in detail), wherein this weld seam is inspected, for example, using ultrasound.The working device 14 can then move on to another target field 42 or be moved further by the medium.

[0100] A somewhat more detailed embodiment of a method according to the invention is shown in a flow chart according to Fig. 14. 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 in the form of a large number of features that describe the pipeline are stored in this digital map 36. These include, 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 reached, 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, which describe 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.

[0101] A marker 44 applied externally to the pipeline 12 can also be mapped in the line 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 a 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 with the aim of feature recognition. 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 recognition or perception 76, according to which the work device 14 knows, for example, its safety status 78 (e.g., sufficient power supply) and its orientation 79, comprising position, speed, and location in the pipeline. Furthermore, a perception 76 is performed 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.

[0102] This perception results in an action 90, which, for example, results in the entry 92 of an operating state I, II, or III and / or in the execution of a particularly feature- or position-dependent work procedure 94. The latter includes a long-range inspection 50, a screening 52, for example, in operating state II, a high-resolution inspection in operating state III, and a repair 58. The features 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.

Claims

Claims 1. A method for operating a working device (14) in a pipeline (12) provided or to be provided with a medium flowing in the axial direction, wherein the cable-free working device (14) is moved passively in the pipeline (12) by the medium in the flow direction of the pipeline (12) or is moved actively in the pipeline (12) by means of a drive means (26), and wherein the working device having a computer unit (34) in the pipeline (12) records environmental information via at least one, preferably via at least two environmental sensors (32, 33, 60), characterized in that the environmental information is automatically evaluated in the computer unit (34) of the working device (14), and in the evaluation of the environmental information recorded, in particular, by means of two different environmental sensors (32, 33, 60), at least one feature of the pipeline (12) is identified, preferably for position determination.in particular which is compared with a digital map (36) of the pipeline (12) stored in the computer unit (34) and / or stored therein.

2. Method according to claim 1, characterized in that the position of the working device (14) is continuously determined in the computer unit (34), in particular wherein for the evaluation of the environmental information data from at least two environmental sensors (32, 33, 60) are recorded and a fusion of the environmental information is carried out on the computer unit (34).

3. Method according to one of the preceding claims, characterized in that the feature in the computer unit (34) is used for position calibration.

4. Method according to one of the preceding claims, characterized in that a position- and / or feature-specific action is carried out by the working device (34) on the basis of the position detected in the computer unit.

5. Method according to one of the preceding claims, characterized in that the feature with its position in the pipeline (12) is stored in the computer unit (34).

6. 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.

7. 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 the recognition of the feature and / or for the detection of reference points, the data derived therefrom are compared with the data of predefined pattern classes.

8. 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 record of the computer unit (34) in particular location-dependent instructions are stored, which are executed by the implement when the destination is reached or when a feature is recognized.

9. The method according to claim 8, characterized in that the instructions are executed on the basis of rule-based decisions mapped in the computer unit (34).

10. Method according to one of the preceding claims, characterized in that the digital map (34) is used by the working device (14) for screening and / or inspecting the pipeline (12).

11. Method according to one of the preceding claims, characterized in that the working device (14) carries out a screening and / or an inspection of the pipeline (12) in at least one of several operating states.

12. 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 maintenance of the pipeline and / or a pipeline repair.

13. Method according to one of the preceding claims, characterized in that the working device (14) controls a destination defined in advance or automatically defined during the journey on the basis of the digital map (36).

14. Method according to one of the preceding claims, characterized in that energy is generated by means of an energy generation device and in particular this energy is stored in an energy storage device.

15. Method according to one of the preceding claims, characterized in that in the computer unit (34) a reference point of the digital map (36) is replaced by the feature.

16. Method according to one of the preceding claims, characterized in that the working device (14) moves in or against the direction of the flow by means of at least one actively driven drive means (26).

17. A working device comprising at least one propulsion means (22) for passive propulsion of the working device (14) in a pipeline (12) and / or at least one drive means (26) for active movement of the working device (14) in the pipeline (12), and comprising at least one, preferably two environmental sensors (32, 33, 60) for recording environmental information, wherein the working device (14) has a computer unit (34) with at least one computer program, characterized in that the computer program implements commands- which cause the environmental information to be automatically evaluated in the computer unit (34) of the working device (14) and in the evaluation of the environmental information recorded in particular by means of two different environmental sensors (32, 33, 60), at least one feature of the pipeline (12) is identified, preferably for position determination, in particular which feature is compared with a digital map (36) of the pipeline (12) stored in the computer unit (34) and / or stored in the latter.

18. Tool according to claim 17, characterized in that the computer program comprises instructions which cause the method according to one of claims 2 to 16 to be carried out.

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