RU2183011C1 - Method of navigational survey of pipe lines (versions) - Google Patents

Abstract

FIELD: inspection of extended pipe lines. SUBSTANCE: proposed method consists in passing tool inside pipe line; this tool is provided with sensors for navigational measurements, processing and storage of measurement data; navigational measurements are made with the air of sensors passed through pipe line; measurement data digitized and are recorded in storage; parameters of spatial position of pipe line are determined after passage of total according to stored data. In the course of passage of tool, digital conversion of measurement data is carried out; in the course of digital conversion, sequences corresponding to each sensor are separated. Increment in magnitude as compared with previous magnitude is calculated for magnitudes of sequence but for first magnitude in sequence at rule of numbering defined beforehand; then converted sequence is formed where first magnitude coincides with initial one and other magnitudes of converted sequence are replaced by respective increments in magnitudes. Change of magnitudes of converted sequence is performed through read-out of first "n" bits of respective calculated increment and record of n-bit increment obtained into converted sequence. Increment and does not exceed magnitude "j+2". Medium frequency of recording respective magnitudes in storage ranges from 70 to 300 Hz. For each sequence, average magnitude is calculated in sequence for magnitudes of sequence including one magnitude in sequence; increment in magnitude as compared with average magnitude is calculated; converted sequence whose magnitude in sequence corresponding to excluded magnitude is formed and is replaced by average magnitude in sequence; other magnitudes of converted sequence are replaced by respective increments of average. EFFECT: enhanced accuracy of measurements of axial misalignment of pipe lines from designed position and from positions determined during previous navigational survey. 29 cl, 7 dwg

Description

 The invention relates to methods for monitoring the state of long pipelines, namely, to determine the spatial position of oil and gas pipelines by skipping a navigational projectile inside the pipeline being examined, recording navigation and other data during the skipping process and determining, after skipping the accumulated data, the spatial position of the pipeline.

 A known method of navigational inspection of channels (European application EP 0294811, IPC: G 01 C 21/16, publication date 12/14/88, patent analogue CA 1325476) by passing a navigational projectile with accelerometers, angular velocity sensors, sensors installed inside it distance traveled by measuring projections of accelerations, angular velocities, distance traveled and analysis of the data obtained outside the channel being examined.

 The use of this method for inspection of pipelines is limited due to the need to connect the projectile with equipment outside the pipeline being examined and is impossible for inspection of main pipelines.

 There is a method of navigational inspection of pipelines (UK application GB 2088554, IPC: G 01 C 7/06, publication date 09/07/82) by passing a navigational projectile inside the pipeline with the appropriate measuring instruments installed in it in the form of compasses, a triaxial accelerometer, a couple of odometers and pairs of wheels for measuring the velocity of a projectile in a pipeline. In the process of skipping measure the angular position of the section of the projectile relative to the direction to the north, the linear acceleration of the section of the projectile, the distance traveled, linear velocity.

 Signals are received from each odometer from a pair of odometers and from each wheel of a pair of wheels to measure speed. The readings of a pair of odometers are averaged; the readings of a pair of wheels for measuring speed are also averaged. The averaged readings are processed and recorded in a film data storage device.

 Averaging the readings of odometers and wheel speed meters leads to measurement errors in the case of stopping (slipping) of the wheel of at least one of the odometers or speed meter when passing through a highly paraffinized pipe section.

 The use of compasses to determine the direction to the north is of practical importance only in non-ferromagnetic pipes. In addition, even in non-ferromagnetic pipes, the compass readings are distorted by the presence of magnetic rocks near the pipe laying site.

 The lack of digital data processing does not allow recording enough data for inspection of trunk pipelines.

 There is a method of navigational inspection of pipelines (US patent US 3882606, IPC: G 01 B 7/28, publication date 13.05.75, patent documents-analogues: CA 1006692, GB 1435650, NL 7406497) by passing a navigational projectile inside the examined pipeline with installed on him appropriate measuring instruments in the form of many odometers installed on the body of a diagnostic projectile in the form of several belts. The odometer readings are recorded in the drive. After completing the pass, the spatial position of the pipeline is determined from the accumulated data.

 During the measurement process, the digitized data from each odometer is recorded in the corresponding register. From the registers, the data is recorded in a film digital storage device.

 When a shell passes through defects in the geometry of the internal section of the pipeline, for example, bent fragments of underlay rings and fragments of welded electrodes welded into the weld, leads to inadequate odometer readings. An inertial navigation system avoids such shortcomings.

 A known method of navigational inspection of pipelines (US patent US 4717875, IPC: E 21 B 47/02, publication date 05/01/88) by skipping a navigational projectile inside the pipeline with the appropriate measuring tools installed in it in the form of accelerometers and an angle sensor, and filtering analog signals from these sensors, digitizing signals. The obtained digitized data is directly recorded in a digital data storage device.

 There is also known a method of navigational inspection of pipelines (European patent EP 0336828, IPC: F 17 D 5/00, publication date 10/11/89, French patent application FR 2629898) by passing a navigational projectile inside the pipeline with the appropriate measuring means in the form of three accelerometers, two gyroscopic angular velocity sensors, two odometers, by measuring projections of accelerations, angular velocities, distance traveled, digitizing and recording the data obtained in the drive.

 A known method of navigational inspection of pipelines (UK application GB 2130721, IPC: G 01 C 21/16, publication date 06.06.84, patent documents-analogues: CA 1199169, DE 3342145, FR 2536533) by passing a navigational projectile inside the examined pipeline with installed on with appropriate navigation measuring instruments in the form of three gyroscopic laser angular velocity sensors Litton Systems Inc. , by performing measurements of the projections of angular velocities and recording the obtained data in the drive.

 There is a method of navigational inspection of pipelines ("Control. Diagnostics.", 5, 2000, p. 8-11) by skipping a navigational projectile inside the pipeline with the corresponding measuring means installed in the form of a three-component meter of apparent accelerations, a three-component angular velocity meter and an odometer, by taking measurements of projections of accelerations, angular velocities, distance traveled, and recording the data obtained in the drive.

 There is also known a method of navigational inspection of pipelines (UK application GB 2226633, IPC: G 01 C 21/16, publication date 07/04/1990, patent documents-analogues: US 4945775, CA 1327403, JP 2226009), selected as a prototype for both variants of the claimed method pipeline inspection survey. The prototype method, like the claimed method, is implemented by passing a projectile inside the pipeline with sensors installed on it for navigation measurements, processing and storing measurement data, by performing navigation measurements using these sensors in the process of skipping, digitizing measurement data and writing to a digital storage device data, determination after completing the pass on the accumulated data of the parameters of the spatial position of the pipeline.

 The prototype method is characterized in that navigation measurements are performed using a triaxial accelerometer, triaxial gyroscope and odometers. The signals from the sensors are digitized. Received digital data through a processor or drive controller is recorded in a digital video storage device. The drive has a buffer of 256 KB, a SCSI communication interface and a capacity of more than 2 GB.

 Performing measurements with an accuracy sufficient to detect and perform strength calculations of stress-strain states of pipelines requires the use of high-capacity drives.

 The use of high-capacity drives based on magnetic tape, magnetic, optical, and magneto-optical disks causes problems related to the sensitivity of drives with moving parts to vibrations and shock loads arising from in-line inspection of pipelines, especially when examining gas pipelines with a long service life, the construction of which was carried out without taking into account the possibility of conducting an in-pipe inspection.

 The use of solid-state drives with a capacity of several GB on a solid-state memory (for example, RAM disks) can solve the problems of vibration and shock loads, but the cost of such drives often exceeds the cost of the rest of the electronic equipment of the navigation projectile. In addition, the use of RAM disks requires the use of a large capacity power supply.

 The use of standard means of compressing the amount of data recorded in files, regardless of the physical nature of the data, is accompanied by several data passes. With a small number of passes, compression is not effective. The use of archiving algorithms such as zip, arj, rar and other similar effective compression tools is accompanied by a large number of passes of compressed data, while the number of passes and, accordingly, the archiving time depend on the type and nature of the data and is not limited from above. For this reason, the data processing time may exceed the reserved time and lead to failures in the processing of subsequent data and, consequently, to the loss of part of the data.

 The claimed method of navigational inspection of pipelines in both versions is performed by passing a projectile inside the pipeline with sensors installed on it for navigation measurements, processing and storing measurement data, by performing navigation measurements using these sensors during skipping, digitizing the measurement data and writing to the digital data storage device , determination after completing a pass on the accumulated data of the parameters of the spatial position of the pipeline.

 Unlike the prototype, in the first embodiment of the claimed method, the specified data are digitally converted during the skipping process, during the specified digital data conversion, sequences of data corresponding to each of the sensors are allocated for sequence values, excluding the first value in the sequence with a predetermined sequence numbering rule , calculate the increment of the value compared with the previous value in the sequence in accordance with the specified By the new numbering rule, a transformed sequence is formed in which the indicated first value coincides with the original one, other values of the transformed sequence are replaced with the corresponding increments of values.

 In development of the first embodiment of the invention, data frames are periodically generated during measurements, each of which contains digitized data from navigation sensors and an individual digital code of the specified frame, these frames are accumulated as a data block in the random access memory buffer, during the process of the previously digital data conversion The indicated sequence of data corresponding to each of the sensors is read from the buffer.

 The aforementioned replacement of the values of the transformed sequence is performed by reading the first n bits of the corresponding calculated increment and writing the obtained n-bit increment to the specified transformed sequence.

 The specified value of n is not less than the bit capacity j of the maximum of the previously calculated increments and does not exceed the bit capacity of the values of the previously indicated initial sequence. The indicated value of n does not exceed the value of j + 2.

 In the further development of the first variant of the claimed method, in the process of the previously indicated digital data conversion, for each previously indicated initial sequence of values, the average value in the sequence is calculated, for the values of the original sequence, excluding one value in the sequence, an increment of the value is calculated compared to the indicated average value.

 In the obtained sequence of increments and in the obtained sequence of increments from the average, determine the maximum increment from the indicated increments and the maximum increment from the average of the indicated increments from the average, respectively, determine the fulfillment of the condition that the specified maximum increment is less than the specified maximum increment from the average, previously indicated the formation of the converted sequence is performed after receiving a positive result of the specified conditions.

 In contrast to the prototype common to the two variants of the prototype, in the second variant of the claimed method, the specified data are digitally converted during the skipping process, during the specified digital data conversion, sequences of data corresponding to each of the sensors are extracted, the average value in the sequence is calculated for each sequence, for sequence values excluding one value in the sequence, the increment of the value is calculated compared to the specified average value, forming comfort converted sequence, wherein the value in a sequence corresponding to said excluded value is replaced by the above average value in sequence, other values of the transformed sequence is replaced by the corresponding increment on the average.

 In development of the second variant of the claimed method, data frames are periodically generated in the measurement process, each of which contains digitized data from navigation sensors and an individual digital code of the specified frame, these frames are accumulated as a data block in the random access memory buffer, during the indicated digital data conversion from buffers read the above sequences of data corresponding to each of the sensors.

 The aforementioned replacement of the values of the converted sequence by increments from the average is performed by reading the first n bits of the corresponding calculated increment from the average and writing the resulting n-bit increment from the average to the specified converted sequence.

 The indicated value of n is not less than the bit capacity j of the maximum of the previously calculated increments from the average and does not exceed the bit capacity of the values of the previously indicated initial sequence.

 Preferably, if the specified value of n does not exceed the value of j + 2.

 In the further development of the second variant of the claimed method in the process of digitally converting data for the values of each specified source sequence, excluding the first value in the original sequence with a predetermined numbering rule for the sequence values, an increment of the value is calculated compared to the previous value in the sequence in accordance with specified numbering rule.

 In the previously obtained sequence of increments from the average and in the previously obtained sequence of increments, determine the maximum increment from the average of the previously indicated increments from the average and the maximum increment from the indicated increments, respectively, determine the fulfillment of the condition that the specified maximum increment from the average is less than the specified maximum increment specified in the second embodiment, the formation of the transformed sequence is performed after obtaining a positive result ultat fulfill the specified condition.

 The main technical result, common to both of the claimed variants, achieved as a result of the implementation of the claimed invention, is to increase the accuracy of measuring the displacement of the axes of the pipelines from their design positions and the positions determined as a result of previous navigation surveys, due to the increase in the volume of measured data and at the same time decrease occupied by the recorded data in the drive.

 The mechanism for achieving the indicated technical result consists in the fact that the algorithm for measuring, processing and saving measurement data using navigation sensors used in the claimed pipeline inspection method allows you to structure the digitized data as it accumulates, depending on the nature of the data received, which allows you to measure navigation parameters with sufficient frequency and, accordingly, sufficient resolution along the length and spatial coordinates of the pipeline, without increasing the capacitance l drive, because the amount of data converted in the described way is much less than the original.

 The described algorithm makes it possible to record data with initial bit depth when a large number of sections of small radius or corrugated sections of pipes pass through a navigation projectile, which is accompanied by vibrations and accelerations of large amplitude during the accumulation of one data block, and record data with a bit several times less when the navigation a projectile on flat sections of pipelines, which is especially effective when monitoring trunk pipelines.

 The application of the first variant of the claimed method is most effective when examining large oil pipelines and large diameter oil pipelines (30 '' - 56 ''), since such pipelines are characterized by more uniform projectile movement, and bursts of accelerations and angular velocities are displayed by a large number of recorded measured values for each such surge and, accordingly, a small difference between adjacent values.

 The application of the first variant of the claimed method is especially effective for processing data from angular velocity sensors, since the angular velocity bursts are displayed by a sufficient number of recorded measured values at a characteristic average recording frequency of the measured values of 100-150 Hz.

 The application of the second variant of the claimed method is most effective when examining main gas pipelines, as well as main and field pipelines, oil pipelines and technological pipelines of small diameter (10 '' - 20 ''), since such pipelines are characterized by the movement of a projectile with vibrations of high frequency and amplitude, and bursts of accelerations and angular velocities are displayed by a small number of measured values for each such burst and, accordingly, with a large difference between adjacent values, n Moreover, the average deviations from the average value in the sequence in most of the blocks are less than the average differences between adjacent values.

 The application of the second embodiment of the claimed method is especially effective for processing data from accelerometers, since the bursts of acceleration are displayed by a small number of recorded measured values at a characteristic average recording frequency of the measured values of 100-150 Hz.

 The implementation of both variants of the claimed method for navigational inspection of the pipeline allows you to perform an inspection of any type of pipeline without additional reconfiguration of the data processing system.

 In addition, this allows the inspection of pipelines having sections of pipes of different types, with different degrees of cleaning, different wall thickness (respectively, different internal diameters with equal external typical diameters), which leads to a change in the nature of the projectile movement inside the pipeline (accelerations and vibrations ) depending on the passage of the pipeline, using both data processing algorithms in the process of skipping, depending on the nature of the data.

 In development of both variants of the implementation of the claimed method, it is preferable to implement the claimed method, in which the aforementioned navigation sensors include linear acceleration sensors and / or angular velocity sensors, in the process of skipping the linear velocity of the previously indicated projectile inside the pipeline is measured, the polling frequency of these sensors is 100- 3000 Hz.

 The number of frames in the previously indicated data block is at least 100 and no more than 10000, the size of the buffer specified in the first and second versions is from 8 MB to 500 MB.

 With a larger value of frames in the block (and a large buffer volume), the efficiency of reducing the data volume decreases, since the structuring effect decreases, and the average values for 10,000 frames in the block, corresponding to 100-300 m of the pipeline, become indistinguishable with average values over the total length of the subject section of the main pipeline 100-300 km. In addition, the loss of a data block due to a short-term hardware failure leads to the loss of invalid data volumes. The use of fewer frames in a block (and a smaller buffer volume) reduces the efficiency of data conversion when a navigation projectile passes straight sections of pipelines without geometry defects in the pipeline section due to the need to record, at least in the header of the converted data block, the values of the original bit depth, and by decreasing the number of frames in a block, the number of blocks and, accordingly, the number of value records with the original capacity per unit path length increases.

 Preferred is the implementation of the claimed method, in which the digit capacity of the digitized data from the previously indicated navigation sensors is at least 14, the average frequency of recording the corresponding values in the previously specified drive is 70-300 Hz.

 Polling sensors with a frequency in the specified range allows measurements with a sufficient resolution along the length of the pipeline and using a single ADC channel of sufficient capacity (14-16), currently available, to digitize data from each sensor. Data recording with a frequency greater than the upper limit of the specified range (300 Hz) leads to an unjustified increase in the volume of the digital data storage device, the lower limit of the range (70 Hz) is determined by the maximum frequency of the angular velocity or acceleration (25-35 Hz), which should be recorded for adequate interpretation of the accumulated data, taking into account the rule that the minimum measurement frequency of the recorded data should be at least two times higher than the maximum measured frequency of change of the measured values.

 In development of the claimed method, in all cases, during the skip, the distance traveled inside the pipeline is measured using an odometer, each previously indicated frame includes a record of the odometer pulse counter from the odometer, at the beginning of the previously mentioned digital data conversion, the odometer increment is calculated by calculating the difference between the last and the first time recording in the previously indicated data block value in an odometric sequence, determine the fulfillment of the condition that zannoe odometer increment larger than a predetermined value specified in the first and second embodiments, the claimed method of data conversion is performed after a positive result of said execution conditions.

 If this condition is not fulfilled, only one frame is recorded in the drive, formed from the averaged values in the sequences of values of the corresponding sensors.

 The specified predefined value is from 2 to 100.

 The preferred implementation of the inventive method, in which the previously specified predetermined value is in the range from 15 to 50, divided by the radius of the odometer wheel, expressed in centimeters.

 The indicated algorithm for checking odometer data increments makes it possible to exclude from the data compression algorithm the processing of navigation data that does not have practical value with an unacceptable deceleration of the navigation projectile, while recording control information about the passage of sections with deceleration.

 In the further development of the invention, the distance traveled inside the pipeline is measured using two odometers; each frame indicated above includes recording the readings of odometer impulse counters from each of the odometers; during the indicated digital conversion of data, the sequence of meter readings of the first odometer and the sequence are read from the buffer counter odometer, in each sequence the difference between the last and the first value is calculated in the next In order to compare the obtained differences, determine the sequence, the difference value of which is greater than the sequence of the leading odometer, match the sequence of the leading odometer with the odometer number to which the sequence of the leading odometer corresponds, and digitally convert the sequence of the leading odometer.

 The specified algorithm for determining the distance traveled inside the pipeline allows you to completely eliminate errors associated with stopping the wheel of one of the odometers, since only the fastest odometer is taken into account.

 In the further development of the claimed method with a period of 0.3-3 s record the current values of the previously mentioned sensors and information about the recorded data, information about the recorded data includes the numbers or names of files of recorded data for navigation, numbers or names of blocks for navigation, indications registration errors during recording, when accessing an external device, malfunctioning of an external device, maximum and minimum values of navigation sensors.

 The described algorithm allows you to record navigation data if you are examining a pipeline whose inner surface is highly paraffinized, and measurements using odometers whose wheels slip away do not reflect the actual movement of the navigation shell. A value of this period, more than 3 s, will not allow the use of navigation data to restore the spatial position of the paraffinized section of the pipeline by interpolation due to insufficient resolution for the length of the pipeline for this method, a period value of less than 0.3 s will make the data conversion algorithms described above ineffective, since in this case, when the projectile actually slows down, the data volume as a result of an unconditional periodic scan will be comparable to or greater than the data volume data accumulated as a result of the implementation of the data transformation algorithms described above.

 In the process of skipping, signals from marker signal sources installed outside the pipeline are recorded using marker signal sensors, these signals are digitized, the first bit of each marker value is read and the received one-bit marker values are written to the previously indicated digital data storage device.

 In the process of the indicated conversion of the odometric sequence for each value of the sequence, except the first, the difference between each value and the previous value is calculated, in the converted sequence, all values except the first are replaced by the corresponding indicated difference of values, the resolution of the indicated differences is at least four times less than the bit depth of the values in the original sequence, the resulting sequence is recorded in the previously specified drive.

 Implementation of the claimed algorithm for converting odometric data with control over the recorded data with the original bit depth showed that this algorithm allows you to reduce the volume of odometric data without any loss, since taking into account the real maximum speed of the navigation projectile in the pipeline, the maximum digit capacity of the increments of odometer readings is more than four times less than the bit depth of the absolute values accumulated by the odometer pulse counter.

 Both for accelerometers and angular velocity sensors, acceleration and angular velocity bursts due to uneven movement of the navigation projectile inside the pipeline correspond to two to six measured and recorded values with a characteristic frequency of recording values of 100-150 Hz, corresponding to a resolution along the length of the pipeline 1-7 cm.

In FIG. 1 shows a diagram of a device for navigational inspection of pipelines;
in FIG. 2 is a diagram illustrating the application of the first embodiment of the inventive method for navigational inspection of pipelines;
in FIG. 3 is a diagram illustrating the application of a second embodiment of the inventive method for navigating pipeline inspection;
in FIG. 4 is a diagram illustrating the combined use of the first and second embodiments of the inventive method for navigating pipeline surveys;
figure 5 shows a diagram illustrating the application of the claimed method of navigation inspection of pipelines with an algorithm for monitoring changes in odometer readings;
in FIG. 6 shows the recorded values of the readings of one of the accelerometers;
Fig.7 shows the recorded values of the readings of one of the angular velocity sensors.

 In the process of research aimed at finding solutions to improve the reliability of identification of explosive sections of trunk pipelines with a stress-strain state, a series of in-tube navigation shells were developed to examine the spatial position of pipelines with a nominal diameter of 10 '' to 56 ''.

As a result of research, optimal methods were found for performing navigational measurements, processing the obtained data in the process of skipping, and recording them. In the best performance, the developed navigation shells withstand pressure of up to 80 atm, have a throughput of about 75% of the diameter of the pipeline, operate at temperatures from -15 ^o C to +50 ^o C, the minimum passable turning radius of about 1.5 of the diameter of the pipeline. Explosion-proof enclosures, Intrinsically safe electrical circuit with an average current consumption of projectile equipment of not more than 500 mA, and a special type of explosion protection are implemented in navigation shells.

 The body of the navigation projectile includes explosion-proof tight enclosures in which electronic means are installed (Fig. 1): accelerometers 1, angular velocity sensors 2, analog-to-digital converters 4, 5, 6, digital processing means 7 for digitized data, RAM buffer 8, digital data storage 9 in the form of one or more flash drives of the type PQI. The measurement process and digital data processing are controlled by the on-board computer. ADCs 4, 5 are made in the form of 16-bit RealTime Device ADCs, ADC 6 - in the form of a shaper of a sequence of rectangular signals from a sequence of analog signals. The on-board computer is based on a JumpTec type MOPS processor with integrated RAM direct access memory, in which RAM 8 buffer is organized during the pass.

 Odometers 3 are installed on the shell of the projectile for measuring the length of the path traveled inside the pipeline, a low-frequency electromagnetic marker transceiver for determining the position of the profiler inside the pipeline, and polyurethane cuffs for centering the projectile and moving it inside the pipeline along with the transported product. As a power source, rechargeable batteries or batteries of galvanic cells with a capacity of up to 300 A • h are installed in the shells.

 The device operates as follows.

 The navigation shell is placed in the pipeline and includes pumping the product (oil, gas, oil product) through the pipeline. When the projectile moves through the pipeline with a frequency controlled by the on-board computer, the readings of accelerometers, angular velocity sensors, odometers and other sensors are taken. The digitized data is digitally processed and written to flash drives. Upon completion of the control of a given section of the pipeline, the navigation shell is removed from the pipeline and the data accumulated during the diagnostic pass is transferred to a computer designed to process the accumulated data and interpret them.

 Subsequent analysis of the recorded data allows you to restore the spatial position of the examined pipeline, to identify areas with a stress-strain state and to determine the permissible modes of pumping the transported medium through the examined pipeline.

In the first embodiment, the claimed method is implemented as follows (Fig. 2): in the RAM buffer 8, the original data block 21 containing m frames is accumulated. Each k-th frame contains an absolute frame number N _k (continuous numbering is from the moment the projectile is launched until the pass passes) and L digitized values U _{i, k of} navigation sensors: accelerometers and angular velocity sensors (i is the number of the navigation sensor). In this case, U is the voltage value at the navigation sensor. In the process of digital data processing 22, sequences of sixteen-bit data 23 are read from the buffer: U _{i, 1} (16), U _{i, 2} (16),. .., U _{i, m} (16). Sequences are read sequentially for all L sensors, starting from the first. For each sequence 23, calculation 24 is performed (starting from the second value (k = 2) in the sequence) of the increment of the value compared to the previous value: ΔU _{i, k} (16) = U _{i, k} (16) -U _{i, k-1} (16), k = 2,3, ..., m.

Next, bitwise copying 25 of each of the values of the specified sequence of increments is performed: ΔU _{i, k} (16) _ → ΔU _{i, k} (n), k = 2, 3, ..., m, by reading the first n bits of each of the increments and records in the form of the value of a new sequence with bit depth n of each value.

A new sequence of values 26 is formed in which the first value (16-bit) coincides with the first value in the original sequence, and the values, starting from the second, are replaced with the corresponding n-bit increment values: ΔU _{i, 1} (16), ΔU _{i, 2} (n), ΔU _{i, 3} (n), ..., ΔU _{i, m} (n).
The resulting sequence is recorded in the converted data block 27.

 Next, the described sequence of actions 22 is repeated for the second, third, etc. navigation sensor.

As a result of these transformations, a transformed data block 27 is formed, in the first frame of which 16-bit values U _1,1 (16), U _2,1 (16), U _3,1 (16), ..., U _{L , 1} (16), which coincide with the corresponding values of the original data block, and n-bit values ΔU _{i, k} (n), ΔU _{2, k} (n), ΔU _{3, k} (n), ... , ΔU _{L, k} (n) (k = 2, 3, ..., m) corresponding to 16-bit values of the original data block.

далее выполняют вычисление 35 (для всех значений последовательности, кроме p-го, где p - любой номер значения в последовательности, p=7) приращения каждого значения, кроме p-го, по сравнению с указанным средним значением U_срi:ΔU_ср.i,k(16) = U_i,k(16)-U_срi(16), k=1, 2, 3,..., p-1, p+1, p+2,. .., m.In the second embodiment, the claimed method is implemented as follows (Fig. 3): in the RAM buffer 8, the original data block 21 containing m frames is accumulated. Each frame contains the absolute frame number N _k (continuous numbering is carried out from the moment the projectile is launched until the end of the pass) and L digitized values of the navigation sensors (accelerometers and angular velocity sensors). In the process of digital processing 32 data from a buffer, sequences of sixteen-bit data 33 are read: U _{i, 1} (16), U _{i, 2} (16), ..., U _{i, m} (16). Sequences are read sequentially for all L sensors, starting from the first. For each sequence 33, the average value 34 is calculated in sequence 33:

further, calculation 35 is performed (for all values of the sequence except the pth, where p is any number of the value in the sequence, p = 7) increments of each value except the pth compared to the indicated average value U _cpi : ΔU _{cf.i , k} (16) = U _{i, k} (16) -U _cfi (16), k = 1, 2, 3, ..., p-1, p + 1, p + 2 ,. .., m.

Next, perform a bitwise copying 36 of each of the values of the specified sequence of increments ΔU _{cf.i, k} (16) _ → ΔU _{cf.i, k} (n), k = 1, 2, 3, ..., p-1, p + 1, p + 2, ..., m, by reading the first n bits of each of the increments and writing in the form of the value of a new sequence with bit capacity n of each value.

Полученную последовательность записывают в преобразованный блок данных 38.A new sequence of values 37 is formed in which the first value is replaced by the average (16-bit) value in each source sequence, and the values, starting from the second, are replaced by the corresponding n-bit increment values:

The resulting sequence is recorded in the converted data block 38.

 Next, repeat the described sequence of 32 actions for the second, third, etc. navigation sensor.

(k= 1, 2, 3,..., p-1, p+1, p+2,..., m), соответствующие 16-разрядным значениям исходного блока данных.As a result of these transformations, a transformed data block 38 is formed, in the pth frame of which 16-bit values are written: U _cp.1 (16), U _cp.2 (16), U _{cf. 3} (16), ... , U _cp.L (16), corresponding to the average values of the corresponding sequence of the original data block, and n-bit values are written in the remaining frames

(k = 1, 2, 3, ..., p-1, p + 1, p + 2, ..., m) corresponding to 16-bit values of the original data block.

In the best embodiment, the claimed method is implemented as follows (Fig. 4): in the RAM buffer 8, the original data block 21 containing m frames is accumulated. Each frame contains the absolute frame number (continuous numbering is carried out from the moment the projectile is launched until the end of the pass) and L digitized values of the navigation sensors (accelerometers and angular velocity sensors). In the process of digital processing 41 of data from a buffer, sequences of sixteen-bit data 42 are read: U _{i, 1} (16), U _{i, 2} (16), ..., U _{i, m} (16). Sequences are read sequentially for all L sensors, starting from the first.

For each sequence 42 perform:
calculation 43 (starting from the second value (k = 2) in the sequence) increment values compared to the previous value: ΔU _{i, k} (16) = U _{i, k} (16) -U _{i, k-1} (16), k = 2, 3, ..., m.

 Find the maximum value of 44 of the indicated increments.

вычисление 46 (для всех значений последовательности, кроме p-го, где p - любой номер значения в последовательности, например p=7) приращения каждого значения, кроме p-го, по сравнению с указанным средним значением: U_срi:ΔU_ср.i,k(16) = U_i,k(16)-U_cpi(16), k=1, 2, 3,..., p-1, p+1, p+2,..., m.For the same sequence 42 perform:
calculating 45 the average value in sequence 42:

calculation 46 (for all values of the sequence except the pth, where p is any number of the value in the sequence, for example p = 7) increments of each value except the pth compared to the indicated average value: U _cfi : ΔU _{cf.i , k} (16) = U _{i, k} (16) -U _cpi (16), k = 1, 2, 3, ..., p-1, p + 1, p + 2, ..., m.

 Find the maximum value of 47 of the indicated increments from the average.

 Condition 48 is checked: the maximum value of 44 is less than the maximum value of 47.

When condition 48 is fulfilled, bitwise copying 49 of each of the values of the specified sequence of increments ΔU _{i, k} (16) _ → ΔU _{i, k} (n), k = 2, 3, is performed. . . , m, by reading the first n bits of each of the increments and writing in the form of values of a new sequence with bit capacity n of each value.

A new sequence of values 50 is formed in which the first value (16-bit) coincides with the first value in the original sequence, and the values, starting from the second, are replaced with the corresponding n-bit increment values: U _{i, 1} (16), ΔU _{i, 2} (n), ΔU _{i, 3} (n), ..., ΔU _{i, m} (n).
The resulting sequence is recorded in the converted data block 53.

If condition 48 is not fulfilled (the opposite condition is fulfilled), 51 each of the values of the specified sequence of increments ΔU _{cp.i, k} (16) _ → ΔU _{cp.i, k} (n), k = 1, 2, 3, is bitwise copied. ., p-1, p + 1, p + 2, ..., m, by reading the first n bits of each of the increments and writing in the form of the value of a new sequence with bit capacity n of each value.

Полученную последовательность записывают в преобразованный блок данных 53.A new sequence of values 52 is formed in which the pth value (16-bit) is replaced by the average value in each initial sequence, and the sequence values, except the pth one, are replaced by the corresponding n-bit increment values:

The resulting sequence is recorded in the converted data block 53.

 Next, the described sequence 41 is repeated: actions 42-48 and (49-50 or 51-52) for the second, third, etc. navigation sensor.

As a result of these transformations, a converted data block 53 is formed, in the first frame of which 16-bit values are written: U _1,1 (16), U _2,1 (16), U _3,1 (16), ..., U _{L, 1} (16), coinciding with the corresponding values of the original data block, or a data block in the pth frame of which 16-bit values are written: U _cp.1 (16), U _cp.2 (16), U _{cp. 3} (16), ..., U _cp.L (16), corresponding to the average values of the corresponding sequences of the original data block.

(k= 1, 2, 3,..., p-1, p+1, p+2,..., m), вместо 16-разрядных значений исходного блока данных.The remaining frames contain n-bit values ΔU _{1, k} (n), ΔU _{2, k} (n), ΔU _{3, k} (n), ..., ΔU _{L, k} (n) (k = 1, 2, 3,..., M) either

(k = 1, 2, 3, ..., p-1, p + 1, p + 2, ..., m), instead of the 16-bit values of the original data block.

In the best embodiment (Fig. 5), each frame includes an odometer reading of the ODO _k , k = 1, 2, 3, ..., m. In the process of digital data processing from the source data block 21 read the odometer 55 from the first and last frames of the data block: ODO ₁ and ODO _m , calculate the difference 56: Δ ODO = ODO _m ODO ₁ .
Then, the following conditions are checked: Δ ODО> Q, where Q is a value from 2 to 100 and, as a rule, is thirty divided by the radius of the odometer wheel in centimeters.

 When condition 57 is fulfilled, the previously described sequence of transformations 41 is executed and written to the previously converted data block 53 (Fig. 4, Fig. 5).

If condition 57 is not fulfilled, a sequence of transformations 58 is performed, which includes: reading a sequence of 59 values for each navigation sensor U _{i, 1} (16), U _{i, 2} (16), ..., U _{i, m} (16), calculating 60 the average value for each such sequence 59, forming a data block 61, consisting of one frame, including the average values of the sequences of the corresponding navigation sensors.

 With a frequency of 1 s, current values from navigation sensors and odometers are recorded, information about recorded data, which includes numbers or names of recorded data files for navigation, numbers or names of blocks for navigation, signs of an indication of registration errors when recording, when accessing an external device , malfunction of the external device, the maximum and minimum values of the navigation sensors.

 In the process of skipping, signals from marker signal sources installed outside the pipeline are recorded using marker signal sensors, these signals are digitized and written into the frame in random access memory 8 as a sequence of marker values, in the process of digital data processing, the first bit of each marker value is read and form a sequence of obtained single-digit marker values.

 In the process of skipping, data is measured that reflects the spatial position of the pipeline in space, as well as the distance traveled inside the pipeline, the linear velocity of the projectile inside the pipeline, the preferred number of frames in the data block is 1000.

 In FIG. 6 and 7 show the characteristic recorded readings of one of the accelerometers and one of the angular velocity sensors, respectively, obtained during the inspection of the main oil product pipeline. The distance between the recorded values on the time axis is 8 ms.

 The work carried out by Neftegazkomplektservis CJSC on the navigation survey of trunk pipelines using the claimed invention in the best embodiment showed that the volume occupied by the recorded navigation data as a result of their conversion can be reduced by more than eight times.

Claims (29)

 1. A method for navigating an inspection of pipelines by passing a projectile inside the pipeline with sensors installed on it for navigation measurements, processing and storing measurement data, by performing navigation measurements using these sensors during skipping, digitizing measurement data and writing to the digital storage device, determining after performing a pass according to the accumulated data of the parameters of the spatial position of the pipeline, characterized in that during the pass the digital pre the formation of the specified measurement data, in the process of the specified digital data conversion, the sequences of data corresponding to each of the sensors are extracted for the sequence values, excluding the first value in the sequence with a predetermined numbering rule for the sequence values, the increment of the value compared to the previous value in the sequence is calculated in accordance with the specified numbering rule, form a transformed sequence in which the specified first value it coincides with the original one, other values of the transformed sequence are replaced with corresponding increments of values, the indicated replacement of the values of the transformed sequence is performed by reading the first n bits of the corresponding calculated increment and writing the obtained n-bit increment to the specified transformed sequence, the value of n is not less than of the calculated increments and does not exceed the value j + 2, the average recording frequency of the corresponding values in rer is 70-300 Hz.  2. The method according to p. 1, characterized in that the navigation sensors include linear acceleration sensors and / or angular velocity sensors, in the process of skipping measure the linear velocity of the projectile inside the pipeline, the polling frequency of these sensors is 100-3000 Hz.  3. The method according to p. 1, characterized in that the digit capacity of the digitized data from the navigation sensors is at least 14.  4. The method according to p. 1, characterized in that with a period of 0.3-3.0 s record the current values specified in paragraph 1 of the sensors and information about the recorded data, information about the recorded data includes the numbers or names of the recorded data files by navigation, numbers or names of blocks by navigation, signs of an indication of registration errors during recording, when accessing an external device, malfunction of an external device, maximum and minimum values of navigation sensors.  5. The method according to p. 1, characterized in that in the process of skipping register signals from sources of marker signals installed outside the pipeline, using sensors of marker signals, these signals are digitized, read the first bit of each marker value and record the received single-bit marker values in digital data storage device.  6. The method according to p. 1, characterized in that in the process of digital data conversion for each value specified in clause 1 of the initial sequence of values, the average value in the sequence is calculated, for the values of the original sequence, excluding one value in the sequence, an increment of the value is calculated compared to indicated average value.  7. The method according to p. 6, characterized in that in the sequence of increments obtained in paragraph 1 and in the sequence of increments obtained in paragraph 6, the maximum increment from the increments specified in paragraph 1 and the maximum increment from the average of those specified in paragraph 1 are determined .6 increments from the average, respectively, determine the fulfillment of the condition that the specified maximum increment is less than the specified maximum increment from the average, specified in paragraph 1, the formation of the converted sequence is performed after half eniya positive fulfillment of the condition specified.  8. The method according to p. 1, characterized in that during the measurement periodically generate data frames, each of which contains digitized data from navigation sensors and an individual digital code of the specified frame, the frames are accumulated as a data block in the buffer of random access memory, in the process digital conversion of data from the buffer read the sequence of data specified in paragraph 1, corresponding to each of the sensors.  9. The method according to p. 8, characterized in that the number of frames in the data block is not less than 100 and not more than 10,000, the buffer volume is from 8 MB to 500 MB.  10. The method according to p. 8, characterized in that in the process of skipping the distance traveled inside the pipeline is measured using two odometers, each frame includes recording the readings of odometer pulse counters from each of the odometers, in the process of digital data conversion from the buffer, a sequence of readings is read the counter of the first odometer and the sequence of readings of the counter of the second odometer, in each sequence the difference between the last and the first values in the sequence is calculated, the gender is compared chennye difference determined sequence, wherein the difference value is greater as the sequence leading odometer, put in line sequence driving odometer odometer number, which corresponds to the sequence leading odometer perform digital conversion sequence leading odometer.  11. The method according to p. 8, characterized in that in the process of skipping the distance traveled inside the pipeline is measured using an odometer, each frame includes recording the readings of the odometer pulse counter from the odometer, at the beginning of the digital data conversion, the odometer increment is calculated by calculating the difference between the last and the first time the values are written to the data block in the odometric sequence, the fulfillment of the condition that the specified odometer increment is greater than the predetermined value is determined I, data conversion is performed after a positive result of said execution conditions.  12. The method according to p. 11, characterized in that the predefined value specified in paragraph 11 is 2 to 100.  13. The method according to p. 11, characterized in that the predefined value specified in clause 11 is in the range of 15-50, divided by the radius of the odometer wheel, expressed in centimeters.  14. A method for navigating an inspection of pipelines by passing a projectile inside the pipeline with sensors installed on it for navigation measurements, processing and storing measurement data, by performing navigation measurements using these sensors during the passage, digitization and recording of measurement data into a digital data storage device, determined after skipping on the accumulated data of the parameters of the spatial position of the pipeline, characterized in that in the process of skipping perform digital the formation of the indicated measurement data, during the indicated digital data conversion, sequences of data corresponding to each of the sensors are extracted, the average value in the sequence is calculated for each sequence, excluding one value in the sequence, the increment of the value is compared with the indicated average value, form a transformed sequence in which the value in the sequence corresponding to the specified excluded value iju was changed to the above average value in sequence, other values of the transformed sequence is replaced by the corresponding increment on the average.  15. The method according to p. 14, characterized in that the navigation sensors indicated in p. 14 include linear acceleration sensors and / or angular velocity sensors, during the skipping process, the linear velocity of the projectile inside the pipeline is measured, the polling frequency of these sensors is 100-3000 Hz  16. The method according to p. 14, characterized in that the digit capacity of the digitized data from the navigation sensors is at least 14, the average frequency of recording the corresponding values in the drive is 70-300 Hz.  17. The method according to p. 14, characterized in that with a period of 0.3-3.0 s record the current values specified in paragraph 14 of the sensors and information about the recorded data, information about the recorded data includes the numbers or names of the recorded data files by navigation, numbers or names of blocks by navigation, signs of an indication of registration errors during recording, when accessing an external device, malfunction of an external device, maximum and minimum values of navigation sensors.  18. The method according to p. 14, characterized in that in the process of skipping register signals from sources of marker signals installed outside the pipeline, using sensors of marker signals, these signals are digitized, read the first bit of each marker value and record the received single-bit marker values in digital data storage device.  19. The method according to p. 14, characterized in that in the process of digitally converting data for the values of each source sequence, excluding the first value in the original sequence with a predetermined numbering rule for sequence values, incrementing the value compared to the previous value in the sequence in accordance with specified numbering rule.  20. The method according to p. 19, characterized in that the maximum increment from the average of the increments from the average specified in paragraph 14 of the increments from the average and the maximum increment from the specified in paragraph 14 of the sequence of increments from the average and in the sequence of increments obtained in paragraph 19 in paragraph 19 of the increments, respectively, determine the fulfillment of the condition that the specified maximum increment from the average is less than the specified maximum increment specified in paragraph 14, the formation of the converted sequence is performed after p obtaining a positive result of the fulfillment of the specified condition.  21. The method according to p. 14, characterized in that the values of the converted sequence are replaced by increments from the average by reading the first n bits of the corresponding calculated increment from the average and writing the resulting n-bit increment from the average to the specified converted sequence.  22. The method according to p. 21, characterized in that the value of n is not less than the bit depth j of the maximum of the increments from the average and does not exceed the bit depth of the values of the original sequence.  23. The method according to p. 22, characterized in that the value of n does not exceed the value of j + 2.  24. The method according to p. 14, characterized in that during the measurement periodically generate data frames, each of which contains digitized data from navigation sensors and an individual digital code of the specified frame, these frames are accumulated as a data block in the buffer of the random access memory, In the process of digital data conversion from the buffer, the data sequences indicated in Section 14 corresponding to each of the sensors are read.  25. The method according to p. 24, characterized in that the number of frames in the data block is not less than 100 and not more than 10000, the buffer volume is from 8 MB to 500 MB.  26. The method according to p. 24, characterized in that in the process of skipping measure the distance traveled inside the pipeline using two odometers, each frame includes recording the readings of odometer pulse counters from each of the odometers, in the process of digital data conversion from the buffer, a sequence of readings is read the counter of the first odometer and the sequence of readings of the counter of the second odometer, in each sequence the difference between the last and the first values in the sequence is calculated, the gender is compared the learned differences, determine the sequence, the difference in which is larger than the leading odometer sequence, match the sequence of the leading odometer to the odometer number to which the leading odometer sequence corresponds, digitally convert the leading odometer sequence.  27. The method according to p. 24, characterized in that in the process of skipping the distance traveled inside the pipeline is measured using an odometer, each frame includes recording the readings of the odometer pulse counter from the odometer, at the beginning of the digital data conversion, the odometer increment is calculated by calculating the difference between the last and the first time the values are written to the data block in the odometric sequence, the fulfillment of the condition that the specified odometer increment is greater than the predetermined value is determined The items specified in clause 14 of the data conversion are performed after receiving a positive result of the fulfillment of the specified condition.  28. The method according to p. 27, characterized in that the predefined value specified in paragraph 27 is 2-100.  29. The method according to p. 27, characterized in that the predefined value specified in p. 27 is in the range of 15-50, divided by the radius of the odometer wheel, expressed in centimeters.

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