Method for determining the state of an implement in a pipeline

Abstract

The invention relates to a computer-implemented method for determining the state of an implement during a movement thereof in a pipeline designed to transport fluids, having the steps of: providing first data, in particular first ultrasonic data, for at least one first wave, in particular a sound wave, which is generated by at least one transmitter, in particular an ultrasonic transmitter, in particular of the implement, and is reflected or scattered by the pipeline, said data being recorded by at least one first sensor, which is in the form of an ultrasonic sensor in particular, of the implement; determining, in particular during the transmission process, a first interference signal in the first data, in particular the first ultrasonic data, in the form of a first signal profile, said interference signal being induced as a result of the surface roughness of the pipeline, in particular the pipeline; and determining the speed of the implement from the signal profile. The invention further relates to a corresponding implement.

Description

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

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

[0003] During inline inspections of pipelines, it is regularly necessary to determine the general condition of the equipment, particularly its speed and position within the pipeline. For position determination, methods such as using equipment with an odometer, equipment that communicates with a magnetic marker on the outside of the pipeline using electromagnetic waves, and / or equipment with a transmitter unit that communicates with receivers positioned along the pipeline are known. However, both odometers and markers are complex and expensive to use. Furthermore, the use of odometers is undesirable in water-bearing pipelines due to the biofilm present on the pipe walls. In these pipelines, the equipment should ideally be operated without contact with the pipe walls.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 objective of enabling a simple and cost-effective determination of state while at least partially avoiding the disadvantages of the prior art.

[0005] According to the invention, this problem is solved by a computer-implemented method with the features of claim 1, a data processing device according to claim 9, a computer program according to claim 10, a computer-readable medium according to claim 11, a method according to claim 12, and a working device according to claim 17. Further advantageous embodiments of the invention can be found in the respective dependent claims and the following description.

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

[0007] - Providing first data, in particular first ultrasonic data, recorded with at least one first wave, in particular a sound wave, reflected or scattered by the pipeline, generated by at least one transmitter, in particular an ultrasonic transmitter, in particular the working device, in particular a sound wave ... the first data, in particular a sound wave, in the first data, in particular a sound wave, in the first ultrasonic data, reflected or scattered by the pipeline, in the first ultrasonic data, in the first ultrasonic data, in the first ultrasonic data, in

[0008] - Determining the speed v of the working device from the signal curve.

[0009] The computer-implemented method according to the invention is based on the finding that, at suitable frequencies of a directly reflected wave, in particular an ultrasonic wave, interference patterns can be detected due to the roughness of the inside of the pipeline, i.e., its inner surface; that this interference signal or pattern is not, or only minimally, influenced by the transported medium or by particles transported by the medium; and, on the other hand, changes with the relative motion of the object designed as a pipeline and the working device (preferably designed as a cleaning or inspection pig), i.e., in particular during the movement of an inspection pig along, i.e., especially through, a pipeline. The change in the interference signal is thus characteristic of the velocity. The interference signal generated by the working device and reflected by a wall of the object, in particular the inside of the pipeline, is determined by the method.The wave directly reflected or scattered by the wall, particularly the ultrasonic wave, can therefore be used to determine the velocity (the relative velocity between the pipeline and the working device) by evaluating the interference signal. It is understood that the working device has a corresponding transmitter (an ultrasonic transmitter for ultrasonic waves) and a corresponding sensor (an ultrasonic sensor or receiver for ultrasonic waves), these being specifically designed by two transducers (ultrasonic transducers in the case of ultrasonic waves) spaced apart along the longitudinal direction of the working device. The longitudinal direction of the working device corresponds to the direction of its movement and thus, in particular, to the longitudinal direction of the pipeline.

[0010] The surface roughness considered for the purposes of the invention, or the roughness of the inside of a pipeline, lies within a range of a maximum of 3 mm. This is the mean roughness value, i.e., the average distance of a measuring point – on the surface – to the assumed centerline that intersects the profile within the reference length. Preferably, the mean roughness value lies below 3 mm, particularly below 1 mm. This applies especially to steel and / or concrete pipes. For plastic and / or steel pipes, the mean roughness value is further preferably below 0.5 mm. Plastic pipes are particularly made of polyethylene.

[0011] The frequencies used in the preferred application of ultrasound waves are in a range preferably greater than 250 kHz, particularly in a range greater than or equal to 1 MHz, and even more preferably in a range of at least 5 MHz. An exemplary upper limit for the frequencies is particularly 150 MHz, and even more preferably 75 MHz.

[0012] The signal waveform is in particular the shape of the interference signal, preferably in

[0013] The shape of an amplitude profile over the length that represents the interference pattern. It can be a two- or three-dimensional profile, also referred to as an interference pattern.

[0014] According to a further development of the invention, the further developed method according to the invention additionally comprises the following further steps:

[0015] - Providing further, at least second, data recorded with the or at least one further sensor, in particular at least one ultrasonic sensor, which are temporally and / or spatially offset, in particular ultrasonic data of the same or at least one further wave, in particular in the form of an ultrasonic wave, which is reflected or scattered by the pipeline and was generated by the or at least one further transmitter, in particular the or at least one further ultrasonic transmitter.

[0016] - Determination of a further, at least second interference signal induced in the second data, in particular the further, at least second ultrasound data, in the form of a further, at least second signal waveform, due to the surface roughness of the object designed as a pipeline, in particular the pipeline.

[0017] - Determination of the speed v of the working device from its use and, in particular, from comparing the signal waveforms and, furthermore, especially from the change in the subsequent signal waveform compared to the initial signal waveform. It is understood that the surface roughness does not induce the interference signal in the same way as current does when an electrical conductor moves in a magnetic field, but rather that it is an interference signal caused by the surface roughness.

[0018] By using two signal waveforms and in particular by comparing the two, especially preferably by changing the two signal waveforms, for example due to generated waves of different frequencies, more information can be used to determine the speed, which can then be determined accordingly better.

[0019] Preferably, the first and / or second data are provided in combination from several first sensors, particularly those forming a sensor array. A sensor array is a plurality of sensors arranged in the direction of movement and / or perpendicular to it, relative to the moving surface, capable of detecting a planar or spatial interference signal, particularly an interference pattern. In the case of a pig moving in a pipeline, a sensor array is formed, in particular, by a plurality of sensors arranged circumferentially around a longitudinal axis in the form of one or more sensor rings. The first data can originate from a first sensor of such an array, and the second data from a second sensor array. For spaced-apart sensor arrays, at least two transmitters, particularly ultrasonic transmitters, are used for excitation, forming setups identical to the sensor arrays.In particular, one or more receivers or sensors are assigned to each transmitter, whereby, for example, a plurality of transmitters can also be arranged circumferentially around a longitudinal central axis of the working device.

[0020] Preferably, it is an array with at least four sensors arranged one behind the other with respect to the direction of travel.

[0021] By using sensor arrays, in particular ultrasonic sensor arrays, the existing interference signal in the reflected or scattered wave is spatially recorded and the signal profile of the interference signal, in particular an interference pattern, is determined in the first or second, in particular in the first and the second data.

[0022] The following discussion focuses primarily on ultrasound waves. However, where technically feasible, electromagnetic waves with suitable frequencies are also included. The subject matter is a pipe and its inner surface. It is important to note that the surface roughness results in corresponding interference patterns.

[0023] Preferably, the transducer radiates essentially forwards or backwards in the direction of travel; that is, the main lobe of the emitted ultrasonic wave forms an angle greater than 0° and less than 90° to the direction of travel, but otherwise runs parallel to it. For a working device located in the pipeline, particularly an inspection pig, the axial direction generally corresponds to the direction of the pipeline's longitudinal center axis if the inspection device is positioned centrally within the pipeline. The spacing of the ultrasonic sensors or transducers of the working device then corresponds, during operation, to the spacing of the sensors relative to the pipeline's longitudinal center axis.

[0024] It is understood that the ultrasound wave can be emitted continuously by the ultrasound transmitter, or rather, is emitted continuously. For recording at least the second set of ultrasound data, an ultrasound wave excited at the same or a different frequency can also be used. In particular, the change in signal waveforms between two different waves allows for improved conclusions about the existing velocity.

[0025] Continuous emission, in contrast to ping- or burst-like excitations, is defined as emission where the source of the wave is still transmitting while receiving the resulting interference signal. This applies in particular to all receivers. The generation of the ultrasonic wave is therefore still ongoing while the interference pattern is already being detected. Continuous emission thus does not mean, for example, that an ultrasonic signal is emitted throughout an entire inspection run of a pipeline pig.

[0026] The determination of the at least two or more interference signals due to surface roughness is carried out by analyzing the received signal. Preferably, amplitude signals, in particular phase-independent and especially time-integrated amplitude signals of the reflected or scattered wave, are determined as signal waveforms. Optionally, the data can be filtered to amplify the desired interference signal.

[0027] Preferably, the phase information obtained from the evaluation of the recorded data can also be used to determine the speed.

[0028] The following discussion of the invention focuses in particular on a working device moving within a pipeline. However, where technically feasible, the following features, like those described above, also apply to other objects and to a relative movement between the working device and the pipeline, regardless of whether the object moves past the transducers (transmitter / receiver) in a fluid or the transducers move past the object in a fluid.

[0029] The signal path can be two- or three-dimensional, particularly when a plurality of transmit and receive converters are arranged around a longitudinal central axis of the pipeline, especially in the circumferential direction.

[0030] In particular, the data sets can also be generated by multiple ultrasonic sensors or receivers and made available for the computer-implemented method. To analyze the ultrasonic data, especially the first and at least the second or subsequent signal waveforms (3), and thus to determine the velocity, a method can be used in which the data are matched. In a simple case, this involves assigning the waveforms of the interference signals such that identical or sufficiently similar waveforms, edges, and extrema are identified and matched. This assignment allows changes in the waveforms to be identified. These changes can take the form of shape changes (shifting of extrema, edge profiles, amplitude) and / or temporal changes (frequency changes) of the interference signals under consideration.To determine the speed of the working tool, the amplitude profiles, and in particular changes in these profiles, especially in the form of shape changes and / or time offsets of individual signal components, particularly individual amplitudes or amplitude edges of the signal profiles, are evaluated. Specifically, by detecting a time offset between patterns defined as identical or sufficiently similar (indicating movement across identical surface areas), the relative speed of the pipeline to the working tool can be determined via changes in the interfering signal or pattern, or via the distance between the respective sensors or sensor arrays from which the first and second data points are derived. For example, the absence of a change in a signal profile can indicate a standstill.Instead of detecting propagation delays, for example via cross-correlations between the detected signals, matching infers the speed by identifying at least sufficiently similar and / or identical patterns and / or, in particular, their changes. Thus, a robust structure or pattern comparison is used to detect a speed, relying on the varying interference patterns generated by the movement of the device.

[0031] Alternatively or additionally, the analytically complex velocity is determined using a machine learning algorithm, specifically a deep learning algorithm trained with velocity data and interference signals, particularly for different surface roughnesses and / or materials. A neural network is used in this process. With sufficiently efficient deep learning algorithms, the computer-implemented method can then be used on the working device.

[0032] According to a further development of the invention, it can be advantageous to determine a surface roughness pattern from at least one, in particular the first or the second, signal waveform. Due to the nature of the interference patterns, it is generally useful to calculate the underlying scattering structure of the surface from the interference pattern, in order to better attribute a change, for example a shift, in the signal waveforms to a displacement of the surface structure and, overall, to better determine the velocity. In the evaluation for determining the velocity, as well as in the training of a corresponding algorithm, the distance of the ultrasonic transmitter and / or receiver to the pipeline, i.e., to the pipeline wall, the angle of a main lobe of the ultrasonic wave, and / or the distance between the ultrasonic transmitter and receiver can be used.

[0033] Particularly for pipelines with a biofilm on the inside of their pipe walls, it is advantageous if the computer-implemented method does not use data from mechanical sensors that contact the pipe wall, and if the corresponding working device does not have a mechanical speed or distance measurement capability. Specifically, the Odometerrad-Ios device and the computer-implemented method are designed to be odometer-rad data-free, thus minimizing contact with the wall.

[0034] It is understood that the working equipment, when traveling along the pipeline, moves within the pipeline itself, i.e., along a pipeline wall. Specifically, this refers to passively moved working equipment, or data relating to passively moved working equipment and working equipment moved by the medium within the pipeline.

[0035] The data can be provided by downloading a data set from a remote or locally connected location. The only relevant factor is that the data set is made available for processing on the computer, i.e., the electronic data processing device. The data processing device can be part of the working device, or alternatively, the ultrasound data, associated time data, and any other data can be stored on the working device in its own data processing device and subsequently processed on a data processing device on which the method according to the invention is carried out.

[0036] According to an advantageous embodiment of the invention, the determined speed is integrated over time to determine the distance traveled in the pipeline, so that the position of the working device within the pipeline at a specific time can be determined by integrating from the start of its journey in the pipeline.

[0037] A data processing device comprising means for executing the computer-implemented method described above or below also represents a solution to the problem described at the outset. This typically electronic data processing device also benefits from the advantages described above or below arising from the application of the method according to the invention. The same applies to a computer program comprising instructions which, when the method is executed by a data processing device, in particular according to claim 9, cause the computer-implemented method according to any one of claims 1 to 8 or the method described above or below to be executed. This invention also benefits from the advantages described above or below. The same applies to a computer-readable medium on which the computer program according to claim 10 is stored.The problem initially posed is also solved by a method for determining the state of a working device during movement along an object designed as a pipeline in a fluid, in particular a working device moving in a pipeline, comprising the following steps:

[0038] - a recording of first ultrasound data of a first wave, in particular an ultrasound wave, generated by at least one transmitter, in particular an ultrasound transmitter, of the working device, reflected or scattered by the pipeline, with at least one first sensor of the working device, preferably designed as an ultrasound sensor,

[0039] - preferably a recording of further, at least second data, in particular ultrasound data, of the or at least one further wave reflected or scattered by the pipeline, in particular the or at least one further ultrasound wave, with the or at least one further sensor, preferably in the form of an ultrasound sensor, of the working device, wherein the or at least one further wave was or is generated by the or at least one further transmitter of the working device, in particular the or at least one further ultrasound transmitter.

[0040] - Determining at least one state of the working device by means of a data processing device using the computer-implemented method described above or below according to claims 1 to 8 and accordingly by means of a data processing device, in particular that of claim 9. The data processing device of the working device can be the one that performs the computer-implemented method. However, the latter can also be a separate (electronic) data processing device to which the data determined by the working device are provided. These methods, which are implemented by means of and by the working device as well as by any separate data processing device, also have the advantages described above or below. In particular, for subsequent analysis, the speeds and / or the distances determined in the data processing device are used.The routes taken by the work equipment are recorded and, if applicable, linked to a specific date and time. This allows the speed of the work equipment during its operation to be analyzed later.

[0041] Preferably, the first and / or second data points are acquired from several sensors, particularly those forming a sensor array. As described above, a sensor array is a plurality of sensors arranged one behind the other in the direction of movement and optionally transversely thereto, capable of acquiring a planar or spatial interference signal, in particular an interference pattern. In the case of such a pig moving in a pipeline, a sensor array is formed, in particular, by a plurality of sensors arranged longitudinally and optionally circumferentially around a longitudinal axis in the form of one or more sensor rings. The first data points can originate from a first sensor in such an array, and the second data points from a second sensor array.For spaced-apart sensor arrays, several transmitters, especially ultrasonic transmitters, are used for excitation, each forming an identical setup with one or more sensors of a respective sensor array. In particular, for example, a plurality of transmitters are arranged circumferentially around a longitudinal center axis of the working device.

[0042] By using sensor arrays, especially ultrasonic sensor arrays, the existing interference signal in the reflected or scattered wave is spatially recorded and the signal progression of the interference signal, especially an interference pattern, can be better determined in the first or second, especially in the first and second data.

[0043] In general, during the execution of the computer-implemented method, in a further development of the invention, data can simultaneously be recorded again for a new determination of the speed, i.e., the methods can run in parallel and accordingly distributed on the data processing device for the continuous determination of the speed at different positions.

[0044] According to a further development of the invention, by combining, for example, gyro data with speed and time, an elevation profile or a relative elevation of the pipeline can also be generated using the electronic data processing device.

[0045] Preferably, the data is acquired contactlessly by positioning the sensors away from the inner surface of the pipeline during measurement, particularly by integrating them into a central body of the working device or by arranging them directly on or in the surface of the central body. This is particularly advantageous because the transducers are then positioned at a sufficient distance from the potentially biofibre-contaminated inner surface of a pipeline. A central body of the working device is one that, when positioned centrally in the pipeline, encompasses the longitudinal center axis of the pipeline, although in the radial direction it extends, in particular, only over a radius of at most 50% of the pipeline radius.

[0046] Extensive tests have shown that ultrasound is generated particularly at a frequency between 5 MHz and 15 MHz in order to obtain particularly pronounced interference patterns.

[0047] The problem initially posed is also solved by a device for inspecting pipelines, in particular by a pipeline pig, comprising at least one transmitter, in particular designed as an ultrasonic transmitter, and at least one sensor, in particular designed as an ultrasonic sensor, which has a data processing device according to the invention as described above or below. In particular, the transmitter(s) and the sensor(s) or receiver(s) are integrated into a central body of the device or arranged directly on or in its surface. Preferably, the device has at least one, in particular two, longitudinally spaced sensor arrays, including associated transmitters.The state of the working device is determined by means of the methods according to the invention, namely the speed, the position in terms of a distance traveled and, in combination with further data, in particular by means of a gyro sensor, the relative altitude.

[0048] Further advantages and details of the invention can be found in the following description of the figures. The schematic representation shows:

[0049] Fig. 1 a diagram of a method according to the invention,

[0050] Fig. 2 shows a view of another method according to the invention,

[0051] Fig. 3 shows a view of a working device according to the invention in a pipeline,

[0052] Fig. 4-7 Propagation and interference pattern of ultrasound waves at different excitation frequencies,

[0053] Fig. 8 shows an offset of signal waveforms at different speeds,

[0054] Fig. 9 shows a working device according to the invention with two spaced-apart sensor rings,

[0055] Fig. 10 and Fig. 11 show detailed views of the tool shown in Fig. 9.

[0056] Individual technical features of the embodiments described below can also be combined with previously described embodiments and the features of one of the independent claims and any further claims to form articles according to the invention. Where appropriate, functionally equivalent elements are provided with identical reference numerals.

[0057] A computer-implemented method 40 according to the invention initially comprises providing 50 first ultrasound data recorded by a first ultrasound sensor 21 on or for an electronic data processing system 26. The ultrasound receiver 21 is arranged in the longitudinal direction of the working device, which runs parallel or coincidentally with a longitudinal center axis 24 of the pipeline 18, and in relation to a direction of travel A in front of an ultrasound transmitter 25.

[0058] The receiver 21 measures the ultrasonic wave 1 reflected directly from the pipe wall (Figs. 1 and 3). Due to the surface roughness, the ultrasonic data recorded during the movement of a working tool 16 along the inner surface 38 of the pipe 18 exhibit an interference pattern, the signal profile (3) of which is determined. In particular, the phase-independent amplitude signal is integrated over a period of time. In an optional step 60, the data from a second ultrasonic receiver, which is arranged circumferentially offset from the first receiver 21 around the longitudinal center axis of the working tool or the pipe, are provided on an electronic data processing system 26.

[0059] In step 70, the ultrasound data is filtered and integrated, and in step 80, a signal profile β of the interference signal, i.e., the interference signal itself, is determined. In step 90, a velocity v of the working device is determined from the signal profile s using a deep learning algorithm. In step 100, the distance traveled by the working device 16 in the pipeline 18 is determined by integrating the velocity v over time.

[0060] The inventive method 40 is integrated, according to the embodiment shown in Fig. 2, into a further inventive method, which in a first step 10 comprises the recording of ultrasound data of the reflected ultrasound wave 1, in a second method step 20 comprises an optional recording of second ultrasound data by means of a second ultrasound receiver, and in a third method step 30 includes the recording of further sensor data, for example from a magnetic field sensor 22 and a gyro sensor 27.

[0061] The steps arranged between the individual process steps in Figs. 1 and 2

[0062] Arrows do not necessarily imply a chronological sequence of the process steps. It is understood that the data from the ultrasound receiver and other sensors, for example, are recorded simultaneously and automatically divided into sub-areas for evaluation by the algorithm. This is done on the typically electronic data processing device 26, which is powered by an energy storage device 28.

[0063] Subsequently, the computer-implemented method 40 according to Fig. 1 is carried out on the data processing device 26 according to Fig. 2, which ends with the determination of the distance traveled in step 100 and the determination of an altitude profile in process step 110, in which the data of the gyro sensor 27 are evaluated with the speed data to determine an altitude profile.

[0064] A working device 16 (Fig. 3) according to the invention, with direction of travel A, has a central body 32, wherein a magnetic field sensor 22 and a gyro sensor 27 are arranged at the front end 23 and at the opposite end, respectively, which measure a remanent magnetic field of the pipeline 18 and the position of the working device 16. In the axial direction, i.e., when the working device 16 is in its normal orientation while traveling through the pipeline 18 in the direction of the longitudinal center axis 24 to the rear and thus, according to the present Fig. 3, offset to the left, the gyro sensor 27 is located at the rear end of the working device 16. The magnetic field sensor 22 is integrated into the central body 32, the central body 32 not interfering with the remanent magnetic field of the pipeline 18. To space the central body 32 from the inside 38 of the pipeline 18, the central body has spacers 34 in the form of cups, which also ensure the propulsion of the working device.These can also be wider than shown when viewed in the direction of travel A. Additionally, individual, not shown, hundredweight arms can hold the working tool 16 in the center of the pipeline.

[0065] The electronic data processing device 26 according to the invention, which has conventional means of electronic data processing, is also arranged in the central body 32. Additional sensors 42 for recording further inspection data, including, for example, a hydrophone, are also provided.

[0066] The occurrence of interference patterns in the directly reflected signal depends on the roughness of the pipeline, i.e., the inner surface 38 of the pipeline 18. Furthermore, the interference signals are frequency-dependent. At frequencies of 4 and 6 MHz, no interference pattern is visible in the signal waveforms shown in Figures 4 and 5 (top right). The phase-independent, integrated amplitude over length is shown. At sound wave frequencies of 6 and 8 MHz, the signal waveforms shown in Figures 6 and 7 (top right), which exhibit an interference pattern, result from the schematically depicted roughness of the pipeline 18's surface.

[0067] These interference patterns depend on the velocity v of the working tool in the pipeline and change accordingly, with the sound pressure (Pa) plotted against the arc length (mm) in Fig. 8. Signal waveforms for different offsets 18 between the working tool 16 and the pipeline 18 are shown. The interference patterns shift with the offset and change their shape, which is used to determine the velocity.

[0068] Another embodiment of the invention has two sensor rings 44 and 46 arranged one behind the other in the axial direction, i.e., in and against the direction of travel, respectively, with ultrasonic measuring heads 48 and 50 arranged on respective sensor arms 45 around a longitudinal central axis of the working device 16. While the ultrasonic measuring heads 48 each contain first ultrasonic transmitters 25 and sensors 21, the ultrasonic measuring heads 50 have further ultrasonic transmitters 52 and correspondingly further ultrasonic sensors 54 (Figs. 9, 10 and 11) for receiving the second set of data. The receivers of a respective measuring head 48 or 50 of a respective sensor ring 44 and 46 simultaneously receive the respective ultrasonic signal reflected from the pipeline.The ultrasonic data from both sensor rings are thus combined from the data of several receivers 21 and 54 arranged side-by-side in the longitudinal and circumferential directions for strip-shaped sections of the pipeline. The interference signal is determined as a planar interference pattern from these first and second sets of data. If identical patterns are determined due to the movement of the work device with a time offset dt, the velocity v can be determined from the distance d between the sensor rings or corresponding receivers using the quotient d / dt. The determined velocity can be integrated for measuring the distance traveled, used in the analysis of further inspection data, and / or for speed control of the inspection device, for example, by adjusting spacers 34 with adjustable diameters (viewed in the direction of travel A) depending on the velocity.

[0069] As an alternative to the variant described in Figures 9 to 11, and depending in general and in particular on the distance of the ultrasonic sensor head from the pipe wall, the respective transmitters can be arranged on one sensor ring and the receivers, which are arranged one behind the other, on a second sensor ring. Likewise, in an ultrasonic sensor head, for example, a first transmitter can be arranged in a sensor ring, followed longitudinally by a first and a second sensor.

Claims

Claims 1. Computer-implemented method for determining the state of a working device (16) during movement in a pipeline (18) designed for transporting fluids, comprising the steps: - Providing (50) first data, in particular first ultrasonic data, recorded by at least one first sensor of the working device (16) designed in particular as an ultrasonic sensor (21), at least one first wave (1) reflected or scattered by the pipeline (18), generated by at least one transmitter, in particular an ultrasonic transmitter, in particular of the working device (16), in particular a sound wave, - Determination (80) of a first interference signal induced due to the surface roughness of the pipeline, in particular the pipeline, in the first data, in particular the first ultrasound data, in the form of a first signal waveform (3), in particular during transmission, - Determination (90) of a speed of the working device (16) from the signal waveform (3).

2. The method according to claim 1, characterized by the further steps: - Providing (60) further, at least second, data recorded with the or at least one further sensor, in particular at least one further ultrasonic sensor (54), which are temporally and / or spatially offset, in particular ultrasonic data of the same or at least one further, in particular as ultra- sound wave (1) present and reflected or scattered by the pipeline (18) and generated by the or at least one further transmitter, in particular the or at least one further ultrasonic transmitter (52), - Determination of a further, at least second interference signal induced in the second data, in particular the further, at least second ultrasound data, due to the surface roughness of the pipeline, in particular the pipeline (18), in the form of a further, at least second signal profile, - Determination (90) of a speed (v) of the working device (16) from the use and in particular the comparison of the signal curves (3,5) and in particular the change of the further to the first signal curve.

3. Method according to claim 1 or 2, characterized in that the first and / or the second data are provided in combination from several first sensors, in particular forming a sensor array.

4. Method according to one of the preceding claims including claim 2, characterized by matching the first and at least the second or further signal profiles (3) with each other.

5. Method according to one of the preceding claims 3 or 4, characterized in that, to determine the speed of the working device (18), a change in shape, an offset (19) and / or a time offset of individual signal components, in particular individual amplitudes or amplitude edges of the signal waveforms, is determined.

6. Method according to one of the preceding claims, characterized in that the speed is determined by means of a machine learning algorithm, in particular by means of a deep learning algorithm trained with speed data and interference signals.

7. Method according to one of the preceding claims, characterized in that an amplitude signal, in particular a phase-independent and preferably integrated amplitude signal, is used as the respective signal waveform (3).

8. Method according to one of the preceding claims, characterized in that the distance of ultrasonic transmitter (25, 48) and / or sensor (21, 54) to the pipeline, in particular to the pipeline wall, the angle of a main lobe of the ultrasonic wave (1) and / or the distance of ultrasonic transmitter (25, 48) and sensor (21, 48) is used in determining the velocity.

9. Data processing device comprising means for carrying out the method according to any one of the preceding claims 1 to 8.

10. Computer program comprising instructions which, when executed by a data processing device (26), cause the data processing device (26) to execute the method according to any one of claims 1 to 7.

11. Computer-readable medium on which the computer program according to claim 10 is stored.

12. Method for determining the state of a working device during movement along an object designed as a pipeline in a fluid, in particular a working device (16) moving in a pipeline (18), comprising: - a recording (10) of first data, in particular in the form of ultrasound data, of a first wave, in particular an ultrasound wave (1), reflected or scattered by the pipeline (18), and generated by at least one transmitter, in particular an ultrasound transmitter (25), in particular of the working device (16), with at least one first sensor of the working device (16), preferably designed as an ultrasound sensor (21), - preferably a recording of further, at least second data, in particular ultrasound data, of the or at least one further wave reflected or scattered by the pipeline (18), in particular the or at least one further ultrasound wave (1), which was or is generated by the or at least one further transmitter of the working device, in particular the or at least one further ultrasound transmitter, with the or at least one further sensor, preferably in the form of the or at least one further ultrasound sensor (54) of the working device (16), - Determining at least one state of the working device (16) by the method according to one of the preceding claims 1 to 7 using a data processing device (26) according to claim 8.

13. Method according to claim 12, characterized in that the first and subsequent data are each recorded by a sensor array consisting of several sensors.

14. Method according to claim 12 or 13, characterized in that the speed (v) and / or the distance determined by means of the speed integrated over time is stored on the working device (16) in particular with an associated time data.

15. Method according to any one of the preceding claims 12 to 14, characterized in that the data acquisition is carried out in such a contactless manner that the sensors are removed from the inner surface (38) of the pipeline (18) during the measurement, in particular wherein they are integrated into a central body (32) of the working device (16) or are arranged directly on or in the surface of the central body (32).

16. Method according to one of the preceding claims, characterized in that the ultrasound wave is generated with a frequency between 5 MHz and 15 MHz.

17. Working device for inspecting pipelines, in particular a pipeline pig, comprising at least one transmitter, in particular designed as an ultrasonic transmitter (25), and at least one sensor, in particular designed as an ultrasonic sensor (21), as well as a data processing device (26) according to claim 9, preferably comprising at least one, and in particular two, sensor arrays spaced apart from each other in the longitudinal direction.

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