BE1031009A1 - Method for determining the position of a working device in a pipeline - Google Patents

Abstract

The invention relates to a computer-implemented method for determining the position of a working device in a pipeline designed to transport fluids, comprising at least the steps: - providing 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 run of the working device, - providing further magnetic field data of the remanent magnetic field along the pipeline from a further run of the or a further working device, - matching the further magnetic field data and the reference data with one another to generate distance-dependent further magnetic field data, - determining a position and/or a position range of the working device from the further run based on the distance-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 a working device, as well as a working device.

Description

-1- BE2022/5890

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

The invention relates to a computer-implemented method for determining the position of a working device in a fluid-transporting

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 position of a working device in a

Transporting fluids and a working device for

Use in a pipeline designed to transport fluids.

As part of inspections in pipelines, so-called in-line inspections, it is regularly necessary to determine the position of the tools used in the pipeline. For example, the use of tools with an odometer, tools that use electromagnetic waves to communicate with a magnetic marker on the outside of the pipeline and/or tools with a transmitter unit that communicates with receivers arranged along the pipeline are known for determining the position. However, both the use of odometers and the use of markers are complex and costly. In water-bearing

The use of odometers is also not desirable in pipes due to the biofilm on the walls. In these pipes, the tools may

-2- BE2022/5890 without touching the wall. The use of markers is also neither continuous nor economically feasible, for example, in underground sections of the pipeline.

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

According to the invention, this object is achieved by a computer-implemented method having the features of claim 1, a data processing device according to claim 12, a computer program according to claim 13, a computer-readable medium according to claim 14, a method according to claim 15 and a

Working device according to claim 21. Further advantageous embodiments of the invention can be found in the respective subclaims and the following description.

The computer-implemented method according to the invention for determining the position of a working device in a pipeline designed to transport fluids comprises at least the following steps: - providing reference data in the form of mutually associated path data and first magnetic field data of a remanent magnetic field along the pipeline from a reference travel of the working device, - providing further magnetic field data of the remanent magnetic field along the pipeline from a further travel of the or a further working device,

-3- BE2022/5890 - Matching the additional magnetic field data and the reference data to

Generating additional distance-dependent magnetic field data, - determining a position and/or a position range of the work device from the further journey based on the additional distance-dependent magnetic field data.

The computer-implemented method according to the invention is based on the knowledge that the pipeline has a remanent magnetic field with a characteristic and reproducibly recordable course along a longitudinal extension of the pipeline. The remanent magnetic field of the pipeline results in particular from a combination of the earth's magnetic field acting on the pipeline and a magnetic field of the pipeline itself, which, for example, during the

manufacturing, transport and installation of the pipeline. Alternatively or additionally, the residual magnetic field of the pipeline can be

Magnetic field of the pipeline's environment, through pipeline installations and/or through previous inspection runs. The strength of the remanent magnetic field varies along the length of the pipeline. The remanent magnetic field has a constant intensity along the length of the pipeline.

Pipeline considers an individual, pipeline-specific course.

The remanent magnetic field is generated in particular without additional magnetization of the

Pipeline taken during a measurement of the remanent magnetic field.

-4- BE2022/5890

In investigations into the invention, it was found that this remanent magnetic field remains unchanged over long periods of time, in particular several weeks or months. It can therefore be used according to the invention after its initial distance-dependent recording during the reference run to determine a position and/or a position range of the implement from the subsequent journey without distance measurement, which is time-spaced from the reference run. A distance-dependent recording is the recording of the remanent magnetic field.

magnetic field or the associated measuring signal via its position in the pipeline.

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

Distance along the longitudinal extension of the pipeline.

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

Pipelines.

The provision of the reference data and the additional magnetic field data means a computer-implemented process step, which may be in the form of

-5- BE2022/5890 of reading the respective data stored in a data storage device by a computer. In particular, a data storage device of the working device that can be read out via an interface is read out, which can be designed to be removable from the working device for easier reading. Alternatively, data transmitted by means of a transmitter unit, which is in particular part of the working device, can be received by a receiver unit of the computer and thus made available. In principle, the reference data is made available in the computer in such a way that the associated computer program for the purpose of

processing. The reference data can therefore also be made available from one memory area of the computer to another memory area.

With the associated distance data and first magnetic field data,

This means distance data to which first magnetic field data has been assigned and/or first magnetic field data to which distance data has been assigned. It is important here that distance-dependent first magnetic field data are provided.

Matching the additional magnetic field data and the reference data with each other means assigning the additional magnetic field data to the distance-dependent first magnetic field data or vice versa. At least similar or even identical sections of the additional magnetic field data and the first magnetic field data are connected or assigned to each other, each with respect to their course along the pipeline.

-6- BE2022/5890

It is advantageous that, in the computer-implemented method according to the invention, the further travel of the implement can take place at least without conventional or even completely without distance measurement. This means that the implement or another implement can be used without a distance measuring device. In particular,

Odometers, which are not desired in water-carrying pipes due to the biofilm present there, can be dispensed with. This reduces the effort required for the computer-implemented method and the structural complexity of the equipment required, in particular for recording the additional magnetic field data. Measurement inaccuracies that occur with a mechanical

Distance measurement, for example due to slippage of an odometer, in

The costs for the cumulative measurement run through a pipeline do not apply.

In an advantageous embodiment of the computer-implemented method according to the invention, the distance data were recorded during the reference run of the working device through the pipeline using a distance measuring device, the first magnetic field data were recorded during the reference run using a magnetic field sensor and the further magnetic field data were recorded during the further run of the or another working device using the or another magnetic field sensor. The distance data, the first magnetic field data and the further magnetic field data are thus provided in a particularly simple manner. In particular, the magnetic field sensors used for the reference run and the further run are the same or identical sensors.

-7- BE2022/5890

Preferably, the position and/or the position range of the working device for determining the location of at least one feature of the pipeline is/are stored and/or output. The position and/or the position range of the working device can be stored, for example, in a data storage device of the computer and thus easily processed further by the computer.

The output, which is carried out in particular via a computer interface, allows the position and/or the position range to be further processed in a simple manner, for example by the computer or a separate data processing device. The feature of the pipeline can, for example, be represented as a

Pipe connection point, in particular as a tail weld, a valve, a defect, in particular as a crack, crack change, corrosion, leakage and/or defective

Steel wire in the case of reinforced concrete pipelines, an unauthorized tapping point or similar. Preferably, the feature is identified based on a specific value or a specific progression of several values in the additional magnetic field data. To determine the specific

value or the specific course of several values of the characteristic, in particular corresponding and/or sufficiently identical characteristics with known

position along the pipeline.

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

-8- BE2022/5890

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, it can be done indirectly via previous and/or subsequent

The position or position range of the time-varying features can be inferred from route points or sections.

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.

In a preferred embodiment of the computer-implemented method according to the invention, an allocation, in particular temporal, of further sensor data and the further

magnetic field data to each other. For this purpose, additional sensor data from the further

Travel of the working device. Preferably, both the additional magnetic field data and the additional sensor data are recorded over time and assigned to each other over this time. The additional sensor data can be present, for example, as noises recorded by an acoustic sensor, temperatures recorded by a temperature sensor or similar or combinations thereof. The additional sensor data can also be present as data recorded by an IMU sensor (IMU = Inertial Measurement Unit). It is advantageous that this data is recorded without the working device coming into contact with the pipeline.

-9- BE2022/5890 can be recorded. This makes it particularly easy to determine the location of a feature that can be identified alternatively or in addition to the magnetic field data via the other sensor data, such as a characteristic noise. For example, the characteristic

Noise that can be attributed to a leak or an unwanted extraction point in the pipeline.

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

The subject of the method according to the invention may further be to

Based on the characteristics of the pipeline determined by further sensors and the position determination according to the invention, in particular on the basis of the

Screenings, to carry out a feature-specific action. Especially in the case of

If a leak is detected, the relevant pipe section can be excavated if necessary and the leak can be repaired or the unwanted sampling point can be removed and the pipe sealed again. In addition, to characterize the feature more precisely, the feature can be examined by further inspection, in particular by evaluating the data collected during the further

Additional sensor data recorded during inspection, such as data from a

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EMAT (Electro Magnetic Acoustic Transducer). For example, the

Crack depth of a defect formed as a crack can be determined. For more precise

Characterization of the feature may alternatively or additionally be performed by inspections of the

Pipeline by evaluating IMU sensor data, ultrasonic data, magnetic field data and/or eddy current testing.

Preferably, reference data are provided in the form of mutually associated path data and first magnetic field data, wherein the assignment of the

Distance data and first magnetic field data were calibrated and adjusted to each other. 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 based on the assigned distance point or the assigned distance and an actual position and/or an actual position range at this point. By adjusting the

This deviation, if present, is corrected by the assignment. The computer-implemented method thus has increased accuracy. Calibration is preferably carried out using at least one calibration point of the pipeline, the

Position is known and corresponds to a predefined value and/or value range in the

Magnetic field data can be assigned. The calibration point is formed in particular by a magnetic marker or similar.

The computer-implemented method is preferably characterized by the further step:

"11 - BE2022/5890 - Time normalization of the additional magnetic field data and/or time normalization of the reference data for matching the additional magnetic field data and the reference data with each other in the case of different speed profiles of the working device during the reference travel and the further travel.

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

Particular preference is given to individual sections of the further

Magnetic field data or reference data are stretched and/or compressed in order to assign them to the sections of the reference data or further magnetic field data belonging to these sections. A section is meant to be a value and/or value range, in particular a value range, of the further magnetic field data or reference data with a magnetic field course along the pipeline. For this purpose, a section-by-section comparison of the further magnetic field data with the

Reference data. An extension occurs in particular at a higher speed of the working device in the section to be standardized, a 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 non-standardized section, which is to be assigned to the section to be standardized.

-12- BE2022/5890

In a preferred embodiment of the computer-implemented method, the time standardization is carried out using an algorithm for time standardization, in particular for dynamic time standardization, and preferably automated. By using the algorithm, the time standardization can be implemented in a particularly simple manner by a computer. Preferably, when the algorithm for time standardization is used, a transformation function results, by means of which, when this transformation function is applied to the further magnetic field data, these data are assigned to the reference data or, when this transformation function is applied to the reference data, these

Data can be assigned to the further magnetic field data. It is advantageous that first magnetic field data and further magnetic field data, which were recorded with different speed profiles of the work device and are in particular unevenly distorted, can be assigned to one another, in particular automatically. The method is therefore particularly flexible. In particular, time normalization is carried out using a FastDTW algorithm, i.e. a Fast Dynamic Time Warping algorithm. Surprisingly, it has been shown that such algorithms known from speech recognition are well suited to matching magnetic field data. The computer-implemented method according to the invention can then run particularly quickly.

In a further preferred embodiment of the computer-implemented method according to the invention, in order to increase the accuracy of the position determination, a difference between the position and/or position range determined on the basis of the distance-dependent additional magnetic field data and the actual position and/or the actual position range of the working device

-13- BE2022/5890 compensated for by further travel through, in particular automated, filtering and interpolation of the distance-dependent additional magnetic field data.

Parts of the distance-dependent additional magnetic field data, such as at least one known defect, can thus be specifically masked out.

Particularly preferably, speed data recorded during the further journey are provided and assigned to the distance-dependent additional magnetic field data, whereby parts of the distance-dependent additional magnetic field data that were assigned to a gap in the speed data are hidden by filtering and the gaps in the distance-dependent additional magnetic field data that were created by the hiding are filled by interpolating the unfiltered parts of these data. Alternatively or in addition to interpolation, an approximation of the distance-dependent additional

Magnetic field data, in particular by applying a smoothing filter to these

data. The defect can be in the form of a jump or a

There may be a point with an unusually 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 filtering and interpolating. The computer-implemented method therefore has increased accuracy.

- 14 - BE2022/5890

Preferably, in the computer-implemented method according to the invention, filtered first magnetic field data and filtered further magnetic field data are provided, wherein both data are each limited to a low-frequency range with a

Frequency < 20 Hz, preferably < 15 Hz, particularly preferably < 10 Hz, are filtered.

This makes it possible to filter out undesirable 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.

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

The computer program according to the invention is characterized in that it

Instructions that are used when the computer program is executed by a

Computers cause the computer or a corresponding electronic data processing unit to carry out the method according to one of claims 1 to 11.

The computer-readable medium according to the invention is characterized in that the computer program according to claim 13 is stored thereon.

- 15 - BE2022/5890

The method according to the invention for determining the position of a working device in a pipeline designed to transport fluids comprises at least the following steps: - recording first magnetic field data of a remanent magnetic field by means of a magnetic field sensor of the working device during a reference run of the working device through the pipeline, - recording distance data along the pipeline by means of a distance measuring device of the working device during the reference run of the working device, - recording further magnetic field data of the remanent magnetic field by means of the or a further magnetic field sensor of the or a further working device during a further run of this working device, wherein in particular this run takes place without a direct distance measurement, for example using an odometer, - determining at least one position and/or a position range of the working device from the further run, wherein the determination is carried out by the method according to one of claims 2 to 11 and by means of a data processing device, in particular the data processing device according to claim 12.

During the reference run and the subsequent run, the working device or another working device is moved along the length of the pipeline and in particular within the pipeline. The speed of the working device is, regardless of any start-up phase that may be present at the beginning of the

- 16 - BE2022/5890

Reference run and/or further travel as well as any possible

Braking phase during and/or at the end of the reference run and/or the subsequent run, preferably 1 m/s to 5 m/s. To secure the determined position and/or increase the accuracy of the position determination, it is preferable to carry out several further runs, each of which determines a position and/or a position range of the work device.

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

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

The distance measuring device, which can also be designed as a position determination device, is designed in particular as an odometer. It is

The advantage is that such distance measuring devices can regularly already be part of work equipment designed in particular as pigs.

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

working device with the pipeline during the further journey. This is

"17 - BE2022/5890 This is due to the fact that the mechanical recording of the distance is only necessary during the reference run. During the rest of the journey, the or another working device can be used in relation to a distance measuring device without contact and/or without a mechanical distance measuring device. This simplifies the determination of the position, especially in pipelines with a biofilm and/or with other obstacles in the pipeline, such as valves or similar.

Preferably, the method is 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 is thus generated by measuring the axial magnetic field component along the pipeline. The axial magnetic field component is recorded using exactly one magnetic field sensor. The process is therefore particularly cost-effective and the tool used is particularly simple in terms of construction.

As an alternative to the embodiment described in the previous paragraph, the method is preferably characterized in that the first magnetic field data and the further magnetic field data are each recorded in the form of radial magnetic field components of the remanent magnetic field. The respective data are thus generated by measuring the radial magnetic field component along the pipeline. The radial magnetic field component is smaller than the axial magnetic field component.

- 18 - BE2022/5890 field component is better suited for pipelines made only partially from ferromagnetic material, such as reinforced concrete pipelines. In such

In pipelines, a smaller reduction in the size of the remanent magnetic field can be observed for the radial magnetic field component compared to the axial magnetic field component.

As an alternative to the embodiments described in the two previous 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 or radial magnetic field components along the pipeline. The combined recording of both magnetic field components achieves a particularly high level of accuracy in determining the position.

Preferably, the first magnetic field data and the further magnetic field data are each recorded using a magnetic field sensor designed as a high-precision magnetic field sensor. This means that the remanent magnetic field of the pipeline is recorded particularly precisely and the method is particularly precise in terms of position determination. A forester probe, a

AMR (anisotropic magneto-resistive) element, a GMR (giant magneto- resistive)

element, a TMR (tunneling magneto-resistive) element, a Hall probe or

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Using several sensors, combinations of these can be used. In particular, forest probes are used, as these are particularly cost-effective and high-performance and have comparatively small external dimensions. Preferably, the first magnetic field data and the further magnetic field data are each recorded with a magnetic field sensor, the measuring or recording range of which at least partially, in particular completely, covers a magnetic field range with a magnetic flux density of 0.0001 HT (microtesla) to 1000 HT.

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 HT to 240 HT, particularly preferably -120 uT to 120 HT, further particularly preferably -60 HT to 60 HT. The accuracy of the magnetic field sensor used is preferably < 10%, particularly preferably < 5%, further particularly preferably < 2%, of the magnetic flux density. The position of the working device is determined when using the inventive

method accordingly to preferably 1 m, particularly preferably 0.75 m, further particularly preferably 0.5 m.

The working device according to the invention for use in a transport of

Fluids, is characterized in that the working device, in particular designed as a cleaning pig, is designed to move in the pipeline, wherein the working device has at least one magnetic field sensor for

Recording magnetic field data of a remanent magnetic field along the pipe

- 20 - BE2022/5890 line and wherein the magnetic field sensor is arranged at a distance of no more than 20% of an outer diameter of the

Tool, preferably with a distance of at most 10% of an outer diameter of the tool, particularly preferably with a distance of at most 5% of an outer diameter of the tool, further particularly preferably without

Distance. In particular, the magnetic field sensor is arranged no more than 50 mm off-center to a longitudinal center axis of the working device, preferably no more than 10 mm off-center to 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 extension of the working device, whereby the longitudinal center axis in a concentric working position of the working device in the pipeline would correspond to a longitudinal center axis of the pipeline. Preferably, it is a in the working position of the

Working tool in the pipeline through a center of gravity of the working tool in the direction of the longitudinal center axis of the pipeline.

In an advantageous embodiment, the working device for picking up an axial magnetic field component has a magnetic field sensor which is directed in the direction of a longitudinal extension of the pipeline with respect to a working position of the working device in the pipeline. The axial magnetic field component can thus be picked up in a particularly simple manner.

-21- BE2022/5890

Alternatively or in addition to the magnetic field sensor described in the previous paragraph, the working device for receiving a radial magnetic field component preferably has a first magnetic field sensor and a second magnetic field sensor, the two magnetic field sensors being arranged at right angles to each other. The magnetic field sensors for receiving a radial magnetic field component are each directed in a circumferential direction of the working device, which in the working position of the working device in the pipeline also corresponds to a circumferential direction of the pipeline. The mutually perpendicular arrangement of the

Magnetic field sensors are related to the respective measuring direction of the magnetic field sensors. This makes it particularly easy to calculate the radial magnetic field component.

way to record.

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 can be further processed in a simple manner, in particular by a computer.

Preferably, the implement has a data processing device according to claim 12. As a result, the method according to one of claims 1 to 11 can be carried out by the implement itself. In particular, the method according to one of claims 1 to 110 can be carried out without an external data processing device. Furthermore, the position of the implement is thus

-22- BE2022/5890 determined by the implement itself. The implement is therefore designed to be particularly independent.

In an alternative embodiment of the computer-implemented method according to one of claims 1 to 11, alternatively or in addition to the remanent magnetic field, an electric field is generated along the pipeline in the same way as

Determination of a position and/or a position range of the working device, such as the remanent magnetic field. In particular along pipelines that carry at least one polar medium, the electric field can also be used to determine this position and/or position range of the working device. In a corresponding alternative embodiment of the method for determining the position of a working device in a pipeline designed to transport fluids according to one of claims 15 to 20, the electric field along the pipeline is used alternatively or in addition to the remanent magnetic field and in the same way as the remanent magnetic field.

The electric field is recorded by means of a sensor for recording the electric field. In a corresponding alternative embodiment of the working device according to one of claims 21 to 25, the working device has, alternatively or in addition to the magnetic field sensor, a sensor for recording the electric field, which, if technically expedient, is in particular

Magnetic field sensor is characterized by the features of the respective claim. While in such an embodiment of the invention the data of the electric field are initially correlated with those of, for example, a mechanical distance measurement to generate distance-dependent E-field data,

-23- BE2022/5890 this device for measuring distance can subsequently be used for another

run can be omitted. The subsequent determination of further E-field

By recording the electric field data 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.

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

Fig. 1 is a flow chart of the inventive computer-implemented

procedure,

Fig. 2 is a flow chart of another method according to the invention,

Fig. 3a-b the result of a measurement of reference data recorded by the inventive method 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),

Fig. 4a-b matched reference data and further magnetic field data (Fig. 4a) using the method according to the invention according to Fig. 1 and

- 24 - BE2022/5890 a deviation of a determined distance from an actual

Distance from distance-dependent magnetic field data (Fig. 4b),

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

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

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

Fig. 1 shows an exemplary sequence of the method 40 according to the invention for determining the position of a working device in a pipeline designed to transport fluids. Reference data is provided 50 in

Form of mutually associated distance data and first magnetic field data of a remanent magnetic field along the pipeline from a reference run of the working device. In addition, further magnetic field data of the remanent magnetic field along the pipeline from a further run of the or another working device is provided. The reference data and the further magnetic field data are shown as an example in Fig. 3a. It is advantageous that the further

Magnetic field data from the further journey can be provided according to the invention without route data from the further journey, whereby the method is particularly

-25- BE2022/5890 is of simple design. Preferably, in step 70, filtered first magnetic field data and filtered further magnetic field data are provided, the data in the present case being filtered to a low frequency range of in particular < 10 Hz. The filtering is advantageous in order to suppress interference signals, for example.

Furthermore, a matching 80 of the further magnetic field data and the reference data with each other takes place in order to generate distance-dependent further magnetic field data.

This distance-dependent additional magnetic field data is shown as an example in Fig. 4a. The matching 80 assigns the additional magnetic field data to the first magnetic field data and thus also to the distance data. The additional magnetic field data of the additional journey can thus be assigned in particular distance data from a previous journey of the implement, in particular, whereby this journey is carried out at a different time. Preferably, at least part of the distance-dependent additional magnetic field data that can be assigned to a gap in the speed data is also filtered 90. For this purpose, speed data recorded during the additional journey is provided and assigned to 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 parts of the distance-dependent additional magnetic field data (see Fig. 5a-b). It is advantageous that defects, which are attributable, for example, to measurement errors in a distance measuring device of the implement, can be compensated. The distance-dependent additional magnetic field data created by the matching 80 are used to determine 110 one or more positions and/or one or more position ranges of the

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The at least one determined

Position and/or the at least one determined position range of the working device is/are used in particular to determine the location of a feature of the pipeline. The feature can be designed, for example, as a pipe connection point, valve or similar.

Fig. 2 shows a further method according to the invention, in which 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, recording 20 of distance data along the pipeline by means of a distance measuring device of the working device during the

Reference travel of the working device and recording 30 of further magnetic field data of the remanent magnetic field by means of the or a further magnetic field sensor of the or a further working device during a further travel of this working device. The determination of at least one position and/or a position range of the working device from the further travel is carried out by the method 40 and by means of a data processing device, in particular a data processing device which comprises means for carrying out the method 40. For the further travel, the or a further working device can be used without a distance measuring device (cf.

Fig. 7) are used, whereby the method according to the invention and in particular the working device used are particularly simple and cost-effective.

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Fig. 3a shows the results of an assignment of distance data to first magnetic field data 2 in the form of reference data 6. Also carried out for test purposes was a

Allocation of further magnetic field data 4 recorded later to distance data along the longitudinal extension of the pipeline. It is first of all evident that the magnetic field data of the remanent magnetic field 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 components can be recorded alternatively or additionally, in particular with several magnetic field sensors arranged at right angles to each other.

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 further

Magnetic field data 4 over the course of the pipeline as a function of time. The first

Compared to the other magnetic field data 4, magnetic field data 2 was recorded over a shorter period of time and therefore at a higher speed. The first magnetic field data 2 is distorted, in particular unevenly, compared to the other magnetic field data 4.

In order to match the additional magnetic field data 4 and the reference data 6 with each other, in the present case the additional magnetic field data 4 are time-normalized and

- 28 - BE2022/5890 assigned to the reference data 6. Preferably, an algorithm for time standardization, in particular a so-called "FastDTW" algorithm, is used.

Using an algorithm, the method is particularly easy to implement on a computer. Matching generates additional distance-dependent 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 as a test 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 by the reference data 6 being time-normalized in particular, or the reference data 6 and the additional magnetic field data 4 are assigned to one another by these two data 4, 6 being time-normalized in particular.

In Fig. 4b it can also be seen that at defects 12 there may be a deviation between the distance or position determined by means of the method according to the invention and the actual distance or position of the working device.

Such defects 12 are present, for example, in the vicinity of speed jumps of the working device. To increase the accuracy of the inventive

The defects 12 are preferably filtered out of the distance-dependent further magnetic field data 8, as shown in Fig. 5a, and the resulting gaps 14, as shown in Fig. 5b, are interpolated from the unfiltered

Parts of the distance-dependent additional magnetic field data 8 are filled in. In Fig. 5b it can be seen that the determined distance or position and the actual

The distance or position therefore deviate less from each other.

-29- BE2022/5890

Fig. 6 and 7 each show a working device 16 according to the invention in its working position in a pipeline 18 designed to transport fluids. In the present case, the working devices 16 are each designed as pigs. The working devices 16 each have a magnetic field sensor 22, which in the present

case is arranged in the longitudinal center axis 24 of the respective working device 16. In particular, the magnetic field sensor 22 for receiving an axial magnetic field component is directed in direction A of a longitudinal extension of the pipeline 18. It is possible for each of the working devices 16 to have further magnetic field sensors (not shown here) for receiving a radial magnetic field component.

The tools 16 also preferably each have a data storage device 26 and an energy storage device 28, wherein the data storage device 26 and the energy storage device 28 are also arranged in particular in the longitudinal center axis 24 of the respective tool 16. The magnetic field sensor 22, the data storage device 26 and the energy storage device 28 are preferably arranged on a carrier 32 of the respective tool 16. Furthermore, the tools 16 preferably have sealing elements 34 for sealing an interior space 36 of the respective tool 16 from the respective pipeline 18. The data storage device 26 and the energy storage device 28 are arranged in particular in the respective interior space 36. The sealing elements 34 preferably extend radially and in particular in a disk shape between the longitudinal center axis 24 and an inner wall 38 of the pipeline 18. The working devices 16 can also have additional sensors 42 for examining the integrity of the pipeline 18 and/or locating means 44 for locating the respective working device 16. The working devices 16 preferably each have a non-

- 30 - BE2022/5890 with means for carrying out the method 40, so that the computer-implemented method according to the invention can be carried out by the respective working device 16 independently and/or without external data processing devices.

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

The working device 16 is particularly suitable for the reference run, while the working device 16 shown in Fig. 7 is preferably used for the further run, which can advantageously be carried out without mechanical distance measurement. The working device 16 shown in Fig. 7 is preferably used for the further run, 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, shown in particular in Fig. 7, for use in the pipeline designed to transport fluids enable a particularly simple and cost-effective determination of the position of the working device.

Claims (25)

-31- BE2022/5890 Claims 1. 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 one another 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). 2. 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 -32- BE2022/5890 another working device (16) were again recorded by means of the or another magnetic field sensor (22). 3. Computer-implemented method according to claim 1 or 2, characterized in that the position and/or the position range of the working device (16) for determining the location of at least one feature of the pipeline (18) is/are stored and/or output. 4. Computer-implemented method according to one of the preceding claims, characterized in that, in order to determine the location of the or a feature of the pipeline (18), an assignment, in particular temporal, of further sensor data and the further magnetic field data (4) to one another takes place. 5. Computer-implemented method according to one of the preceding claims, characterized in that reference data (6) are provided in the form of mutually assigned distance data and first magnetic field data (2), wherein the assignment of the distance data and first magnetic field data (2) to one another has been calibrated and adjusted. 6. 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) for matching the further magnetic field data (4) and -33- BE2022/5890 of the reference data (6) with each other in the case of different speed profiles of the working device (16) during the reference run and the further run. 7. Computer-implemented method according to claim 6, characterized in that individual sections of the further magnetic field data (4) or reference data (6) to be standardized are stretched and/or compressed in order to assign them to the sections of the reference data (6) or further magnetic field data (4) corresponding to these sections. 8. Computer-implemented method according to one of claims 6 or 7, characterized in that the time standardization is carried out by means of an algorithm for time standardization, in particular for dynamic time standardization, and preferably in an automated manner. 9. Computer-implemented method according to one of the preceding claims, characterized in that, in order to increase the accuracy of the position determination, a difference between the position and/or the position range determined on the basis of the distance-dependent further magnetic field data (8) and the actual position and/or the actual position range of the working device (16) from the further journey is compensated by, in particular automated, filtering (90) and interpolating (100) of the distance-dependent further magnetic field data (8). "34 - BE2022/5890 10. 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). 11. 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 < Hz, preferably < 15 Hz, particularly preferably < 10 Hz. 12. Data processing device comprising means for carrying out the method according to one of claims 1 to 11. 20 13. Computer program comprising instructions which, when the method is carried out by a computer, cause the computer or a corresponding electronic data processing unit to carry out the method according to one of claims 1 to 11. -35- BE2022/5890 14. A computer-readable medium on which the computer program according to claim 13 is stored. 15. Method for determining the position of a working device (16) in a pipeline (18) designed to transport fluids, comprising at least the steps: - recording (10) first magnetic field data (2) of a remanent magnetic field by means of a magnetic field sensor (22) of the working device (16) during a reference run of the working device (16) through the pipeline (18), - recording (20) distance data along the pipeline (18) by means of a distance measuring device (46) of the working device (16) during the reference run of the working device (16), - recording (30) 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 run of this working device (16), wherein in particular this run 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. - 36 - BE2022/5890 16. Method according to claim 15, characterized in that the method is carried out without contact of the working device (16) with the pipeline (18) during the further journey. 17. 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. 18. 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. 19. Method according to one of claims 15 or 16, characterized in that the first magnetic field data (2) and the further magnetic field data (4) are each recorded in the form of axial magnetic field components of the remanent magnetic field and of radial magnetic field components of the remanent magnetic field. 20. 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. -37 - BE2022/5890 21. Working device (16) for use in a pipeline (18) designed to transport fluids, wherein the working device (16), in particular designed as a cleaning pig, is designed to move in the pipeline (18), wherein the working device (16) has at least one magnetic field sensor (22) for recording magnetic field data (2, 4) of a remanent magnetic field along the pipeline (18), and wherein the magnetic field sensor (22) is arranged 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, from a longitudinal center axis (24) of the working device (16). 22. Working device (16) according to claim 21, characterized in that the working device (16) for receiving an axial magnetic field component has a magnetic field sensor (22) directed in the direction (A) of a longitudinal extension of the pipeline (18) with respect to a working position of the working device (16) in the pipeline (18). 23. Working device (16) according to claim 21 or 22, characterized in that the working device (16) for receiving a radial magnetic field component has a first magnetic field sensor (22) and a second magnetic field sensor (22) - 38 - BE2022/5890, wherein the two magnetic field sensors (22) are arranged at right angles to each other. 24. Tool (16) according to one of claims 21 to 23, characterized in that the tool (16) has a data transmission unit for transmitting the magnetic field data (2, 4) to a data processing device, in particular to a data processing device according to claim 12, and/or a readable data memory (26) for storing the magnetic field data (2, 4). 25. Working device (16) according to one of claims 21 to 24, characterized in that the working device (16) has a data processing device according to claim 12.