Method for determining the position of an implement in a pipeline

Abstract

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

Description

[0001] Method for determining the position of a working device in a pipeline

[0002] The invention relates to a computer-implemented method for determining the position of a working device in a pipeline designed to transport fluids, a data processing device and a computer program for carrying out such a method, a corresponding computer-readable medium, a method for determining the position of a working device in a pipeline designed to transport fluids and a working device for use in a pipeline designed to transport fluids.

[0003] During inspections of pipelines, known as in-line inspections, it is regularly necessary to determine the position of the tools being used within the pipeline. Examples of methods used to determine the position include tools with an odometer, tools that use electromagnetic waves to communicate with a magnetic marker on the outside of the pipeline, and / or tools with a transmitter unit that communicate with receivers arranged along the pipeline. However, both the use of odometers and markers are complex and costly. Furthermore, the use of odometers is not desirable in water-bearing pipelines due to the biofilm that forms on the walls. In these pipelines, tools should be operated without touching the wall, if possible.Furthermore, the use of markers is neither continuously nor economically feasible, for example, in underground sections of the pipeline.

[0004] The present invention is therefore based on the object of enabling a simple and cost-effective position determination while at least partially avoiding the disadvantages of the prior art.

[0005] According to the invention, this object is achieved by a computer-implemented method having the features of claim 1, a data processing device according to claim 12, a computer program according to claim 13, a computer-readable medium according to claim 14, a method according to claim 15, and a working device according to claim 21. Further advantageous embodiments of the invention can be found in the respective subclaims and the following description.

[0006] The computer-implemented method according to the invention for determining the position of a working device in a pipeline designed to transport fluids comprises at least the following steps:

[0007] - Providing reference data in the form of associated distance data and first magnetic field data of a remanent magnetic field along the pipeline from a reference run of the working device,

[0008] - Providing further magnetic field data of the remanent magnetic field along the pipeline from a further travel of the or another working device, - Matching the further magnetic field data and the reference data with each other to generate distance-dependent further magnetic field data,

[0009] - Determining a position and / or a position range of the work device from the further journey based on the distance-dependent additional magnetic field data.

[0010] The computer-implemented method according to the invention is based on the finding that the pipeline has a remanent magnetic field with a characteristic and reproducibly recordable course along a longitudinal extent of the pipeline. The remanent magnetic field of the pipeline results in particular from a combination of the earth's magnetic field acting on the pipeline and a magnetic field of the pipeline itself, which has arisen, for example, during the manufacture, transport, and assembly of the pipeline. Alternatively or additionally, the remanent magnetic field of the pipeline can be formed by a magnetic field in the area surrounding the pipeline, by pipeline installations, and / or by previous inspection runs. The strength of the remanent magnetic field varies along the longitudinal extent of the pipeline.The remanent magnetic field exhibits an individual, pipeline-specific course over the longitudinal extent of the pipeline.

[0011] The remanent magnetic field is recorded, in particular, without additional magnetization of the pipeline during a measurement of the remanent magnetic field. Investigations into the invention have shown that this remanent magnetic field remains unchanged over long periods of time, in particular several weeks or months. Therefore, after its initial distance-dependent recording during the reference run, it can be used according to the invention to determine a position and / or a position range of the implement from the subsequent run, spaced in time from the reference run, without distance measurement. Distance-dependent recording is understood to mean the recording of the remanent magnetic field or the associated measurement signal via its position in the pipeline.

[0012] A position refers to a point along the length of the pipeline traveled by the work tool. A position range refers to a section of the length of the pipeline traveled by the work tool.

[0013] The computer-implemented method is particularly suitable for determining the position of working equipment in water, oil, and / or gas pipelines. Furthermore, the computer-implemented method is particularly suitable for determining the position in pipelines made at least partially of ferromagnetic material.

[0014] The provision of the reference data and the further magnetic field data each means a computer-implemented method step, which can take place, for example, in the form of a computer reading out the respective data stored in a data memory. In particular, a data memory of the implement that can be read out via an interface is read out, which can be designed to be removable from the implement for easier reading. Alternatively, data transmitted, for example by means of a transmitter unit that is in particular part of the implement, can be received by a receiver unit of the computer and thus provided. In principle, the reference data is provided in the computer in such a way that the associated computer program can access this data for processing purposes. The reference data can therefore also be provided from one memory area of ​​the computer to another memory area.

[0015] The mutually associated distance data and first magnetic field data refer to distance data to which first magnetic field data have been associated, and / or first magnetic field data to which distance data have been associated. It is essential that distance-dependent first magnetic field data are provided.

[0016] Matching the additional magnetic field data and the reference data with each other means assigning the additional magnetic field data to the distance-dependent first magnetic field data or vice versa. In this case, at least similar or even identical sections of the additional magnetic field data and the first magnetic field data are connected or assigned to each other, respectively, with regard to their course along the pipeline. It is advantageous that, with the computer-implemented method according to the invention, the further travel of the working device can take place at least without conventional or entirely without distance measurement. Thus, the or another working device can be used without a distance measuring device. In particular, odometers, the use of which is undesirable, for example, in water-bearing pipelines due to the biofilm present there, can be dispensed with.This reduces the complexity of the computer-implemented method and the structural complexity of the equipment required, particularly for recording the additional magnetic field data. Measurement inaccuracies that accumulate during a mechanical distance measurement, for example, due to odometer slippage, are eliminated during a measurement run through a pipeline.

[0017] In an advantageous embodiment of the computer-implemented method according to the invention, the distance data were recorded during the reference travel of the working device through the pipeline using a distance measuring device, the first magnetic field data were recorded during the reference travel using a magnetic field sensor, and the further magnetic field data were recorded during the further travel of the or a further working device, in turn using the or a further magnetic field sensor. The distance data, the first magnetic field data, and the further magnetic field data are thus provided in a particularly simple manner. In particular, the magnetic field sensors used for the reference travel and the further travel are the same or of identical construction. Preferably, the position and / or the position range of the working device for determining the location of at least one feature of the pipeline is / are stored and / or output.The position and / or the position range of the working device can be stored, for example, in a data memory of the computer and thus easily processed further by the computer. The output, which occurs in particular via an interface of the computer, allows the position and / or the position range to be easily processed further, for example by the computer or a separate data processing device. The feature of the pipeline can be formed, for example, as a pipe connection point, in particular as a weld seam, a valve, a defect, in particular a defect in the form of a crack, crack change, corrosion, leakage and / or defective steel wire in the case of reinforced concrete pipelines, an unauthorized tapping point or the like. The feature is preferably identified based on a specific value or a specific curve of several values ​​in the further magnetic field data.In order to determine the specific value or the specific course of several values ​​of the characteristic, corresponding and / or sufficiently identical characteristics with a known position along the pipeline are used.

[0018] Preferably, the position and / or position range of the implement for determining the location of time-varying features is / are also stored and / or output. Time-varying features are characterized by a deviation of the additional magnetic field data compared to the first magnetic field data at the position and / or in the position range of this feature. If matching is not possible at certain points or in certain sections due to the deviation of the additional magnetic field data, the position or position range of the time-varying features can be indirectly determined via preceding and / or subsequent route points or sections.

[0019] Furthermore, the storage and / or output of the position and / or position range of the working device is preferably automated, whereby the computer-implemented method can run at high speed and without operator intervention.

[0020] In a preferred embodiment of the computer-implemented method according to the invention, in order to determine the location of the or a feature of the pipeline, further sensor data and the further magnetic field data are assigned to one another, in particular temporally. For this purpose, further sensor data from the further travel of the working device are provided. Preferably, both the further magnetic field data and the further sensor data are recorded over time and assigned to one another over this time. The further sensor data can be present, for example, as noises recorded by an acoustic sensor, temperatures recorded by a temperature sensor, or the like, or combinations thereof. The further sensor data can also be present as data recorded by an IMU sensor (IMU = Inertial Measurement Unit). It is advantageous that this data can be recorded without contact between the working device and the pipeline.This makes it particularly easy to determine the location of a feature that can be identified, alternatively or in addition to the magnetic field data, using additional sensor data, such as a characteristic noise. For example, the characteristic noise could be a noise attributable to a leak or an unwanted sampling point in the pipeline.

[0021] Since the method according to the invention allows the work tool to travel further without conventional or even completely distance measurement, it is particularly cost-effective and fast. It enables regular inspection of the pipeline, particularly at weekly or monthly intervals, a so-called screening, which can be performed using lighter and simpler devices.

[0022] The subject matter of the method according to the invention can further be to carry out a feature-specific action based on the characteristics of the pipeline determined by further sensors and the position determination according to the invention, in particular based on the screening. In particular, if a leak is detected, the corresponding pipeline section can be excavated if necessary and the leak can be remedied or the unwanted sampling point can be removed and the pipeline can be resealed. Furthermore, for a more precise characterization of the feature, the feature can be examined by further inspection, in particular by evaluating further sensor data recorded during the further inspection, such as data from an EMAT (Electro Magnetic Acoustic Transducer). For example, the crack depth of a defect formed as a crack can be determined.For a more precise characterization of the feature, inspections of the pipeline can be carried out alternatively or additionally by evaluating IMU sensor data, ultrasonic data, magnetic field data and / or by eddy current testing.

[0023] Preferably, reference data are provided in the form of mutually assigned distance data and first magnetic field data, wherein the assignment of the distance data and first magnetic field data to one another has been calibrated and adjusted. Calibrating the assignment is understood to mean determining a deviation between the position and / or position range determined at a point in the first magnetic field data using the assigned distance point or the assigned distance and an actual position and / or an actual position range at this point. By adjusting the assignment, this deviation, if present, is corrected. The computer-implemented method thus has increased accuracy. Calibration is preferably carried out using at least one calibration point on the pipeline, the position of which is known and which can be assigned to a predefined value and / or value range in the magnetic field data.The calibration point is formed in particular by a magnetic marker or similar.

[0024] The computer-implemented method is preferably characterized by the further step: - time-normalizing the further magnetic field data and / or time-normalizing the reference data in order to match the further magnetic field data and the reference data with each other in the case of different speed profiles of the working device during the reference travel and the further travel.

[0025] Due to the different speed profiles, the additional magnetic field data may be distorted, particularly unevenly, compared to the reference data. Time normalization enables these data to be matched independently of the speed of the tool.

[0026] Particularly preferably, individual sections of the additional magnetic field data or reference data to be standardized are stretched and / or compressed in order to assign them to the sections of the reference data or additional magnetic field data belonging to these sections. In this case, a section means a value and / or value range, in particular a value range, of the additional magnetic field data or reference data with a magnetic field profile along the pipeline. For this purpose, in particular a section-by-section comparison of the additional magnetic field data with the reference data takes place. Stretching occurs in particular at a higher speed of the working device in the section to be standardized, and compression occurs in particular at a lower speed of the working device in the section to be standardized, in each case in comparison to a speed of the working device in the associated section not to be standardized, which is to be assigned to the section to be standardized.In a preferred embodiment of the computer-implemented method, time normalization is carried out using a time normalization algorithm, in particular dynamic time normalization, and preferably in an automated manner. The use of the algorithm makes time normalization particularly simple to implement on a computer. Preferably, application of the time normalization algorithm results in a transformation function by means of which, when this transformation function is applied to the additional magnetic field data, these data can be assigned to the reference data, or, when this transformation function is applied to the reference data, these data can be assigned to the additional magnetic field data. It is advantageous that first magnetic field data and additional magnetic field data, which were recorded with different speed profiles of the working device and are in particular unevenly distorted, can thus be assigned to one another, in particular in an automated manner.The method is therefore particularly flexible. In particular, time normalization is performed using a FastDTW algorithm, i.e., a Fast Dynamic Time Warping algorithm. Surprisingly, it has been shown that such algorithms, known from speech recognition, are well suited for matching magnetic field data. The computer-implemented method according to the invention can then run particularly quickly.

[0027] In a further preferred embodiment of the computer-implemented method according to the invention, in order to increase the accuracy of the position determination, a difference between the position and / or position range determined based on the distance-dependent additional magnetic field data and the actual position and / or the actual position range of the implement during the further journey is compensated for by, in particular, automated filtering and interpolation of the distance-dependent additional magnetic field data. Undesired parts of the distance-dependent additional magnetic field data, such as at least one known defect, can thereby be selectively masked out.

[0028] Particularly preferably, speed data recorded during the further journey are provided and assigned to the distance-dependent additional magnetic field data, wherein parts of the distance-dependent additional magnetic field data that were assigned to a gap in the speed data are masked out by filtering, and the gaps in the distance-dependent additional magnetic field data resulting from the masking are filled by interpolating the unfiltered parts of these data. Alternatively or in addition to interpolation, the distance-dependent additional magnetic field data are approximated, in particular by applying a smoothing filter to these data. The gap can, for example, be in the form of a jump or a location with an exceptionally high or low gradient.Such defects can be an indication of measurement errors, for example due to slippage of the distance measuring device, which is particularly designed as an odometer. Such defects can be corrected by means of filtering and interpolation. The computer-implemented method thus has increased accuracy. Preferably, the computer-implemented method according to the invention provides filtered first magnetic field data and filtered further magnetic field data, wherein both data are each filtered to a low-frequency range with a frequency < 20 Hz, preferably < 15 Hz, particularly preferably < 10 Hz. This makes it possible to filter out unwanted signals, such as a signal from a possibly present low-frequency transmitter of the implement, in particular a possibly present transmitter for calibrating the distance data, with a frequency of approximately 22 Hz.The position determination using the computer-implemented method according to the invention is thus less influenced by signals that are irrelevant for the position determination or would make it more difficult.

[0029] The data processing device according to the invention is characterized in that it comprises means for carrying out the method according to one of claims 1 to 11.

[0030] The computer program according to the invention is characterized in that it comprises instructions which, when the computer program is executed by a computer, cause the computer or a corresponding electronic data processing unit to carry out the method according to one of claims 1 to 11.

[0031] The computer-readable medium according to the invention is characterized in that the computer program according to claim 13 is stored thereon. The method according to the invention for determining the position of a working device in a pipeline designed to transport fluids comprises at least the following steps:

[0032] - Recording initial magnetic field data of a remanent magnetic field using a magnetic field sensor of the working device during a reference run of the working device through the pipeline,

[0033] - Recording distance data along the pipeline using a distance measuring device of the working device during the reference run of the working device,

[0034] - Recording further magnetic field data of the remanent magnetic field by means of the or a further magnetic field sensor of the or a further working device during a further journey of this working device, wherein in particular this journey takes place without a direct distance measurement, for example using an odometer,

[0035] - Determining at least one position and / or one position range of the working device from the further journey, wherein the determination is carried out by the method according to one of claims 2 to 11 and by means of a data processing device, in particular the data processing device according to claim 12.

[0036] During the reference run and the subsequent run, the working device(s) is / are moved along the longitudinal extent of the pipeline and in particular within the pipeline. The speed of the working device is preferably 1 m / s to 5 m / s, regardless of any acceleration phase at the beginning of the reference run and / or the subsequent run, as well as any deceleration phase during and / or at the end of the reference run and / or the subsequent run. To confirm the determined position and / or increase the accuracy of the position determination, several additional runs are preferably performed, each of which determines a position and / or a position range of the working device.

[0037] If, for example, during an inspection of the pipeline a magnetic field is transported along the pipeline so strong that it changes the remanent magnetic field of the pipeline and / or its surroundings, initial magnetic field data and distance data are recorded again as part of a new reference run.

[0038] The reference run, particularly with mechanical distance measurement, is preferably performed before the next run. However, it can also be performed afterward, provided it can be assumed that the remanent magnetic field has remained unchanged.

[0039] The distance measuring device, which can also be designed as a position-determining device, is designed, in particular, as an odometer. It is advantageous that such distance measuring devices can often already be part of work equipment, particularly those designed as pigs.

[0040] In a preferred embodiment of the method, this is carried out without contact of the

[0041] The tool is connected to the pipeline during the subsequent travel. This is due to the fact that the mechanical recording of the distance is only necessary during the reference travel. During the subsequent travel, the tool or another tool can be used contactlessly and / or without a mechanical distance measuring device in relation to a distance measuring device. This simplifies position determination, particularly in pipelines with biofilm and / or with other obstacles in the pipeline, such as valves or similar devices.

[0042] The method is preferably characterized in that the first magnetic field data and the further magnetic field data are each recorded in the form of axial magnetic field components of the remanent magnetic field. The respective data are thus generated by measuring the axial magnetic field component along the pipeline. The axial magnetic field component is recorded, in particular, using precisely one magnetic field sensor. The method is thus particularly cost-effective, and the tool used is structurally particularly simple.

[0043] As an alternative to the embodiment described in the previous paragraph, the method is preferably characterized in that the first magnetic field data and the further magnetic field data are each recorded in the form of radial magnetic field components of the remanent magnetic field. The respective data are thus generated by measuring the radial magnetic field component along the pipeline. Compared to the axial magnetic field component, the radial magnetic field component is better suited for pipelines made only partially of ferromagnetic material, such as reinforced concrete pipelines. In such pipelines, a smaller reduction in the magnitude of the remanent magnetic field can be detected with the radial magnetic field component compared to the axial magnetic field component.

[0044] As an alternative to the embodiments described in the two preceding paragraphs, the method is preferably characterized in that the first magnetic field data and the further magnetic field data are each recorded in the form of axial magnetic field components of the remanent magnetic field and radial magnetic field components of the remanent magnetic field. The respective data are thus generated by measuring the axial and radial magnetic field components along the pipeline, respectively. The combined recording of both magnetic field components achieves particularly high accuracy in position determination.

[0045] Preferably, the first magnetic field data and the further magnetic field data are each recorded using a magnetic field sensor designed as a high-precision magnetic field sensor. As a result, the remanent magnetic field of the pipeline is recorded particularly accurately and the method is particularly precise with regard to position determination. A Förster probe, an AMR (anisotropic magneto-resistive) element, a GMR (giant magneto-resistive) element, a TMR (tunneling magneto-resistive) element, a Hall probe or, when multiple sensors are used, combinations thereof can be used as the magnetic field sensor. Förster probes are used in particular because they are particularly cost-effective and high-performance and have comparatively small external dimensions. Preferably, the first magnetic field data and the further magnetic field data are each recorded using a magnetic field sensor whose measuring orRecording area at least partially, in particular completely, covers a magnetic field range with a magnetic flux density of 0.0001 pT (microtesla) to 1000 pT.

[0046] The first magnetic field data and the further magnetic field data are each recorded in a range of a magnetic flux density of the remanent magnetic field of preferably -240 pT to 240 pT, particularly preferably -120 pT to 120 pT, further particularly preferably -60 pT to 60 pT. The accuracy of the magnetic field sensor used is in each case preferably <10%, particularly preferably <5%, further particularly preferably <2% of the magnetic flux density. When applying the method according to the invention, the position of the implement is determined accordingly to an accuracy of preferably 1 m, particularly preferably 0.75 m, further particularly preferably 0.5 m.

[0047] The working device according to the invention for use in a pipeline designed for transporting fluids is characterized in that the working device, which is designed in particular as a cleaning pig, is designed to move in the pipeline, wherein the working device has at least one magnetic field sensor for recording magnetic field data of a remanent magnetic field along the pipeline and wherein the magnetic field sensor is arranged at a distance of at most 20% of an outer diameter of the working device, preferably at a distance of at most 10% of an outer diameter of the working device, particularly preferably at a distance of at most 5% of an outer diameter of the working device, further particularly preferably without any distance.In particular, the magnetic field sensor is arranged no more than 50 mm off-center from a longitudinal center axis of the working device, preferably no more than 10 mm off-center from a longitudinal center axis of the working device, particularly preferably in the longitudinal center axis of the working device. The longitudinal center axis of the working device corresponds to a direction of the greatest extent of the working device, wherein the longitudinal center axis would correspond to a longitudinal center axis of the pipeline in a concentric working position of the working device in the pipeline. Preferably, this is an axis that runs through a center of gravity of the working device in the direction of the longitudinal center axis of the pipeline in the working position of the working device in the pipeline.

[0048] According to the invention, the working device preferably has a data transmission unit for transmitting the magnetic field data to a data processing device according to claim 12. This allows the magnetic field data and / or any additional data to be easily further processed, particularly by a computer. In an advantageous embodiment, the working device has a magnetic field sensor for detecting an axial magnetic field component, which is directed in the direction of a longitudinal extension of the pipeline with respect to a working position of the working device in the pipeline. The axial magnetic field component can thus be detected particularly easily.

[0049] Alternatively or in addition to the magnetic field sensor described in the previous paragraph, the working device preferably has a first magnetic field sensor and a second magnetic field sensor for detecting a radial magnetic field component, wherein the two magnetic field sensors are arranged at right angles to one another. The magnetic field sensors for detecting a radial magnetic field component are each directed in a circumferential direction of the working device, which, when the working device is in the working position in the pipeline, also corresponds to a circumferential direction of the pipeline. The mutually perpendicular arrangement of the magnetic field sensors is related to the respective measuring direction of the magnetic field sensors. This allows the radial magnetic field component to be detected particularly easily.

[0050] Furthermore, the working device preferably has a data transmission unit for transmitting the magnetic field data to a data processing device, in particular to a data processing device according to claim 12, and / or a readable data memory for storing the magnetic field data. This allows the magnetic field data and / or any other data to be further processed in a simple manner, in particular by a computer. The working device preferably has a data processing device according to claim 12. This allows the method according to one of claims 1 to 11 to be carried out by the working device itself. In particular, the method according to one of claims 1 to H to be carried out without an external data processing device. Furthermore, the position of the working device is thus determined in particular by the working device itself. The working device is thus designed to be particularly independent.

[0051] In an alternative embodiment of the computer-implemented method according to one of claims 1 to 11, an electric field along the pipeline is used alternatively or in addition to the remanent magnetic field to determine a position and / or a position range of the working device in the same way as the remanent magnetic field. In particular along pipelines that carry at least one polar medium, the electric field can also be used to determine this position and / or position range of the working device. In a corresponding alternative embodiment of the method for determining the position of a working device in a pipeline designed to transport fluids according to one of claims 15 to 20, the electric field along the pipeline is used alternatively or in addition to the remanent magnetic field and in the same way as the remanent magnetic field.The electric field is recorded by means of a sensor for recording the electric field. In a corresponding alternative embodiment of the working device according to one of claims 21 to 25, the working device has, alternatively or in addition to the magnetic field sensor, a sensor for recording the electric field, which, where technically expedient, is characterized in particular by the features of the respective claim relating to the magnetic field sensor. While in such an embodiment of the invention, the electric field data are initially correlated with those of, for example, a mechanical distance measurement to generate distance-dependent E-field data, this device for measuring the distance can subsequently be omitted in a subsequent run.By then determining further E-field data by recording the electric field and matching this data with the distance-dependent E-field data, the position is then determined from the electric field data in a manner analogous to or in addition to the method described above.

[0052] Further advantages and details of the invention will become apparent from the embodiments schematically illustrated in the figures, which are described below. Where appropriate, equivalent elements of the invention are provided with the same reference numerals. They show schematically:

[0053] Fig. 1 is a flowchart of the computer-implemented method according to the invention,

[0054] Fig. 2 is a flow chart of a further method according to the invention, Fig. 3a-b shows the result of a measurement of reference data recorded by means of the method according to the invention according to Fig. 2 and further magnetic field data (Fig. 3a) as well as first magnetic field data and further magnetic field data (Fig. 3b),

[0055] Fig. 4a-b show reference data and further magnetic field data matched with each other using the method according to the invention according to Fig. 1 (Fig. 4a) and a deviation of a determined distance from an actual distance from distance-dependent magnetic field data (Fig. 4b),

[0056] Fig. 5a-b filtered distance-dependent magnetic field data (Fig. 5a) and interpolated distance-dependent magnetic field data (Fig. 5b) using the method according to the invention according to Fig. 1,

[0057] Fig. 6 a working device according to the invention with a distance measuring device,

[0058] Fig. 7 shows a working device according to the invention without a distance measuring device.

[0059] Fig. 1 shows an exemplary sequence of the method 40 according to the invention for determining the position of a working device in a pipeline designed for transporting fluids. Reference data in the form of mutually associated distance data and first magnetic field data of a remanent magnetic field along the pipeline from a reference travel of the working device are provided 50. In addition, further magnetic field data of the remanent magnetic field along the pipeline from a further travel of the or a further working device are provided 60. The reference data and the further magnetic field data are shown by way of example in Fig. 3a. It is advantageous that the further magnetic field data from the further travel can be provided according to the invention without distance data from the further travel, whereby the method is particularly simple.Preferably, in step 70, filtered first magnetic field data and filtered further magnetic field data are provided, wherein in the present case the data are filtered to a low-frequency range of in particular < 10 Hz. The filtering is advantageous, for example, to suppress interference signals. Furthermore, a matching 80 of the further magnetic field data and the reference data with one another takes place to generate distance-dependent further magnetic field data. This distance-dependent further magnetic field data is shown by way of example in Fig. 4a. By means of the matching 80, the further magnetic field data is assigned to the first magnetic field data and thus also to the distance data. The further magnetic field data of the further journey can thus, in particular, be assigned distance data from a previous journey of the implement, wherein this journey is carried out at a different time.Preferably, at least a portion of the distance-dependent additional magnetic field data that can be associated with a gap in the speed data is also filtered 90. For this purpose, speed data recorded during the further journey are provided and associated with the distance-dependent additional magnetic field data. The gaps in the distance-dependent additional magnetic field data created by the filtering 90 are filled, in particular, by interpolating 100 the unfiltered portions of the distance-dependent additional magnetic field data (cf. Fig. 5a-b). It is advantageous that gaps that are attributable, for example, to measurement errors in a distance measuring device of the implement can thus be compensated.The additional distance-dependent magnetic field data generated by matching 80 are used to determine 110 one or more positions and / or one or more position ranges of the implement during the subsequent journey. The at least one determined position and / or the at least one determined position range of the implement is / are used in particular to determine the location of a feature of the pipeline. The feature can be configured, for example, as a pipe connection point, valve, or similar.

[0060] Fig. 2 shows a further method according to the invention, in which three further steps 10, 20, 30 precede the method 40. Preferably, a recording 10 of first magnetic field data of a remanent magnetic field takes place by means of a magnetic field sensor of the working device during a reference run of the working device through the pipeline, a recording 20 of distance data along the pipeline takes place by means of a distance measuring device of the working device during the reference run of the working device, and a recording 30 of further magnetic field data of the remanent magnetic field takes place by means of the or a further magnetic field sensor of the or a further working device during a further run of this working device.The determination of at least one position and / or position range of the implement from the further journey is carried out by the method 40 and by means of a data processing device, in particular a data processing device that comprises means for executing the method 40. For the further journey, the implement or another implement can be used without a distance measuring device (see Fig. 7), whereby the method according to the invention and in particular the implement used therein are particularly simple and cost-effective.

[0061] Fig. 3a shows the results of an assignment of distance data to first magnetic field data 2 in the form of reference data 6. For test purposes, additional magnetic field data 4 recorded later were also assigned to distance data along the longitudinal extent of the pipeline. It can be seen first of all that the magnetic field data of the remanent magnetic field that can be recorded in the pipeline are characteristic, detectable, and thus usable according to the invention. It is advantageous that in the present case the axial magnetic field component of the remanent magnetic field in the pipeline was measured, since only a single magnetic field sensor is required for this. The radial magnetic field component can be recorded alternatively or additionally, in particular with several magnetic field sensors arranged at right angles to one another.

[0062] According to the invention, the additional magnetic field data 4 can now be provided without path data. Fig. 3b shows the recording of the first and additional magnetic field data 4 over the run in the pipeline as a function of time. Compared to the additional magnetic field data 4, the first magnetic field data 2 were recorded over a shorter period of time and thus at a higher speed. Compared to the additional magnetic field data 4, the first magnetic field data 2 are distorted, particularly unevenly.

[0063] In order to match the additional magnetic field data 4 and the reference data 6 with each other, in the present case the additional magnetic field data 4 are time-normalized and assigned to the reference data 6. A time-normalization algorithm, in particular a so-called "FastDTW" algorithm, is preferably used for this purpose. The use of an algorithm makes the method particularly easy to implement on a computer. The matching generates distance-dependent additional magnetic field data 8, which are shown as an example in Fig. 4a-b and which are very similar to the magnetic field data measured for test purposes and already assigned to the distance in the view according to Fig. 3a. Alternatively, the reference data 6 can be assigned to the additional magnetic field data 4, in particular by time-normalizing the reference data 6, or the reference data 6 and the additional magnetic field data 4 are assigned to each other by these two data 4, 6, in particular by time-normalizing.

[0064] In Fig. 4b it can also be seen that at defects 12 there can be a deviation between the distance or position determined by means of the method according to the invention and the actual distance or position of the implement. Such defects 12 are present, for example, in the vicinity of speed jumps of the implement. To increase the accuracy of the method according to the invention, the defects 12 are preferably filtered from the distance-dependent additional magnetic field data 8, as shown in Fig. 5a, and the gaps 14 resulting therefrom are filled by interpolating the unfiltered parts of the distance-dependent additional magnetic field data 8, as shown in Fig. 5b. In Fig. 5b it can be seen that the determined distance or position and the actual distance or position therefore deviate from one another to a lesser extent.

[0065] 6 and 7 each show a working device 16 according to the invention in its working position in a pipeline 18 designed for transporting fluids. In the present case, the working devices 16 are each designed as pigs. The working devices 16 each have a magnetic field sensor 22, which in the present case is arranged in the longitudinal center axis 24 of the respective working device 16. In particular, the magnetic field sensor 22 is directed in direction A of a longitudinal extension of the pipeline 18 to record an axial magnetic field component. It is possible for each of the working devices 16 to have additional magnetic field sensors (not shown here) for recording a radial magnetic field component.

[0066] The working devices 16 further preferably each have a data storage device 26 and an energy storage device 28, wherein the data storage device 26 and the energy storage device 28 are in particular also arranged along the longitudinal center axis 24 of the respective working device 16. The magnetic field sensor 22, the data storage device 26, and the energy storage device 28 are preferably arranged on a support 32 of the respective working device 16. Furthermore, the working devices 16 preferably have sealing elements 34 for sealing an interior space 36 of the respective working device 16 from the respective pipeline 18. In particular, the data storage device 26 and the energy storage device 28 are arranged in the respective interior space 36. The sealing elements 34 preferably extend radially and in particular in a disc shape between the longitudinal center axis 24 and an inner wall 38 of the pipeline 18.The working devices 16 may further comprise additional sensors 42 for examining the integrity of the pipeline 18 and / or locating means 44 for locating the respective working device 16. Preferably, the working devices 16 each comprise a data processing device (not shown) with means for executing the method 40, so that the computer-implemented method according to the invention can be executed by the respective working device 16 independently and / or without external data processing devices.

[0067] In contrast to the implement 16 shown in Fig. 6, which has a distance measuring device 46 designed as an odometer, the implement 16 shown in Fig. 7 is designed without a distance measuring device. The implement 16 shown in Fig. 6 is particularly suitable for reference travel, whereas the implement 16 shown in Fig.

[0068] The working device 16 shown in Fig. 7 is preferably used for the further journey, which can advantageously be carried out without mechanical distance measurement. The working device 16 shown in Fig. 7 for the further journey is thus structurally simpler and lighter, which simplifies the overall handling of the working device 16. The methods according to the invention shown and the working device for use in the pipeline designed for transporting fluids, shown in particular in Fig. 7, enable particularly simple and cost-effective position determination of the working device.

Claims

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

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