RU2201590C1 - Gear with dynamic scanning mode for intrapipe control over pipe-lines - Google Patents

Abstract

FIELD: ultrasonic or other inspection of long pipe-lines. SUBSTANCE: gear can be utilized to detect and identify flaws in main lines and in gas pipe-lines. Gear makes it feasible to avoid overflow of data storages during deceleration of tool and to exclude totally data loss across sections of pipe-lines which extent is longer than resolution of tool-flaw detector in direction of pipe-line axis. Errors in evaluation of speed of tool when distance meter malfunctions are excluded. Gear has body housing control transducers, distance meters, aids for reference to control transducer, aid for conversion and storage of measurement data. Aids for conversion of data include clock generator, counters, data comparison circuit, circuit forming pulse of reference to control transducers. Counting inputs of counters are connected to output of clock generator, controlling inputs of counters are connected to outputs of proper distance meters, outputs of counters are connected to inputs of data comparison circuit, output of data comparison circuit is connected to one of inputs of circuit forming pulse of reference to control transducers. EFFECT: prevention of overflow of data storages. 9 cl, 4 dwg

Description

 The invention relates to devices for ultrasonic or other monitoring of long pipelines, mainly main oil pipelines, oil pipelines, and gas pipelines by passing an inspection projectile (flaw detector) inside the pipeline with the corresponding control sensors installed on it, measuring instruments, converting and recording measurement data to the digital data storage device in the process of skipping and processing the received data after the pass with the purpose of identifying tion defects in pipeline wall, determining the parameters of the identified defects and their positions on the pipeline.

 A device for in-line ultrasonic testing [1] - [3], which includes a housing with installed ultrasonic sensors and distance meters, as well as means of access to ultrasonic sensors, means for converting and storing measurement data.

 The device is used by passing inside the pipeline, emitting during the passage of probing ultrasonic pulses and receiving the corresponding reflected ultrasonic pulses.

 A device for in-tube ultrasonic testing [4] - [10] is also known, which includes a housing with installed ultrasonic sensors and distance meters, as well as means of accessing ultrasonic sensors, means for converting and storing measurement data.

 The device is used by skipping inside the pipeline, emitting sounding ultrasonic pulses in the process of skipping and receiving the corresponding ultrasonic pulses reflected from the inner and outer walls of the pipeline, measuring the travel time of these pulses.

 The period of probing ultrasonic pulses and the speed of the inspection projectile inside the pipeline determine the longitudinal resolution of the flaw detector. For a given scanning period (the period of probing pulses), the scanning step depends on the velocity of the projectile: increases with increasing speed and decreases with decreasing speed of the inspection projectile. The projectile speed in the oil pipeline and oil product pipeline can be up to 2 m / s (transient value up to 6 m / s), in the gas pipeline - up to 10 m / s. In the process of skipping, the velocity of the projectile changes, and to ensure a longitudinal resolution, not exceeding the maximum allowable, the probing pulse period is selected based on the maximum speed of the inspection projectile, which is possible when examining a particular pipeline.

 As a result of a change in the velocity of the projectile during its passage in the areas of projectile deceleration for a given period of probing pulses, excessive scanning occurs, which leads to an increase in the volume of measured data per unit length of the pipeline and, accordingly, the irrational use of the data storage device.

 The claimed device performs dynamic scanning, in which the frequency of access to the sensors (polling, triggering sensors) depends on the speed of the projectile at each time point.

 The prototype of the claimed device is a device for in-line inspection of pipelines [11], which includes a housing with installed control sensors and distance meters, means of access to ultrasonic sensors, means for converting and storing measurement data.

 The device is used by passing inside the pipeline, emitting during the passage of probing ultrasonic pulses and receiving reflected pulses corresponding to the indicated probe pulses, processing the measurement data, while the repetition period of the ultrasonic pulses is set as a function of the velocity of the projectile inside the pipeline, and which is set by rotation of the probe head.

 The disadvantage of this device is that the short-term slipping of the probe head (or odometer wheel), which is typical for monitoring oil pipelines, oil pipelines and other pipelines with oily components in the transported product, leads to the omission of sections of the pipeline due to the absence of probe pulses in the absence of rotation of the head (wheel odometer). In addition, the described device cannot be used to control long pipelines due to the non-autonomy of the probing device.

 The device is used by skipping inside the pipeline, periodically referring to control sensors, measuring the distance traveled using several distance meters, receiving pulses from each distance meter, the number of which is directly proportional to the distance meter measured.

 The main disadvantage of this device is that in areas of slowdown of the projectile for a given period of repetition of the probe pulses, excessive scanning occurs, which leads to an increase in the volume of measured data per unit length of the pipeline and, accordingly, the irrational use of the data storage device.

 The claimed device for in-line inspection of pipelines, which is passed inside the examined pipeline, also includes a housing with installed control sensors and distance meters, means of access to control sensors, means for converting and storing measurement data.

 The claimed device differs from the prototype in that the data conversion means include a clock generator, counters, a data comparison circuit, a pulse generation circuit for accessing control sensors, counting inputs of the meters are connected to the output of the clock generator, the control inputs of the meters are connected to the outputs of the corresponding distance meters, the outputs of the counter data are connected to the data inputs of the data comparison circuit, the output of the data comparison circuit is connected to one of the inputs of the pulse generation circuit scheniya to control sensors.

 The main technical result achieved as a result of the implementation of the claimed invention is that the device avoids overflow of data storage during slow motion of the projectile or its temporary jam in the pipeline, while completely eliminating data loss in pipeline sections, the length of which is greater than the resolution of the flaw detector in the direction of the axis of the pipeline, while eliminating errors in estimating the velocity of the projectile in the event of a failure (for example, slipping or jamming) of one of the houses moat.

 In one embodiment of the claimed device, the pulse generating circuit for accessing control sensors includes a second data comparison circuit with a data reference value set at one of the data inputs, the data output of the first specified data comparison circuit is connected to the second data input of the second data comparison circuit, output the second comparison circuit is connected to the means of accessing the control sensors.

 In another embodiment of the claimed device, the pulse generating circuit for accessing control sensors includes a second data comparison circuit, a time counter for accessing control sensors, the data output of the first specified data comparison circuit is connected to one of the data inputs of the second comparison circuit, the logical output of the second comparison circuit is connected to the means of accessing the control sensors, the output of the clock generator is connected to the counting input of the time counter after accessing the control sensors, the output of the decree data This counter is connected to the second data input of the second comparison circuit, the reset control input of the specified counter is connected to the control output of the second comparison circuit.

 In the most preferred embodiment of the claimed device, combining the previous two options, the pulse generating circuit for accessing the control sensors includes a second data comparison circuit with a data reference value set on one of the data inputs, a third data comparison circuit, a time counter after accessing the control sensors , the data output of the first specified data comparison circuit is connected to the second data input of the second data comparison circuit, the data output of the second comparison circuit one of the data inputs of the third comparison circuit, the logical output of the third comparison circuit is connected to the means of accessing the control sensors, the output of the clock generator is connected to the counting input of the time counter for accessing the control sensors, the data output of the specified counter is connected to the second data input of the third comparison circuit, the control input resetting the specified counter is connected to the control output of the third comparison circuit.

 The third data comparison scheme with a predefined value allows you to check the condition that the projectile speed is at least the minimum predetermined value (0.01-0.2 m / s) and does not exceed the maximum predefined value (1-2 m / s) by checking the condition that the previously indicated minimum period of time is not less than the minimum predetermined value (0.5-7.0 ms) and not more than the maximum predetermined value (20-140 ms); and if these conditions are not met, contact the sensors with a specified period. The implementation of these actions avoids data distortion due to overloading the equipment in terms of data processing speed at a projectile speed exceeding the permissible value, as well as avoiding loss of data on the state of the pipe in the event of distance meters failure, for example, as a result of shock and vibration loads on the projectile.

 The third data comparison scheme also allows you to check the condition that the minimum time interval found is at least the time elapsed after the last call to the control sensor, which allows you to take into account those cases when the time elapsed after the last call to the sensor has already exceeded the found value time interval, and start at the found interval only if the condition is met, and if it is not fulfilled, call the control sensor immediately.

 In development of the invention, the pulse generation circuit for accessing control sensors includes a register, the output of the register is connected to the data input of the second comparison circuit corresponding to the data reference value, the register input is connected to conversion and storage means of measurement data.

 Since the processing of distance pulses takes some time depending on the hardware used, and the parameters of the distance meter can change over time or as you move in the pipeline (for example, the effective diameter of the odometer wheels may decrease), it is advisable to implement this time interval linearly the function of the found minimum time interval does not exceed the found minimum time interval, therefore, the circuit for generating the impulse for accessing the control nym sensors includes a control input value changing circuit a control input of said change circuit is connected to the modules convert digital data output of the first comparison circuit connected through said data circuit changes to the input data of the second comparison circuit; in another embodiment, the data output of the second comparison circuit is connected through the specified change circuit to the data input of the third comparison circuit.

 Such a function can take into account the empirically determined change in the parameters, for example, if each found minimum time interval corresponds to a time interval shorter than the specified interval, thereby scanning the pipeline with a resolution slightly smaller (better) taking into account some margin of resolution.

 In one of the executions, the indicated circuit for changing the input value is made in the form of a shift register.

 The outputs of the counter data are connected to the data inputs of the data comparison circuit through the corresponding registers, the outputs of the distance meters are connected to the control inputs of the corresponding registers.

 The outputs of the counter overflow indicator are connected to the means for converting and storing the measurement data.

 Distance meters are made in the form of odometers generating pulses, the number of which is proportional to the distance measured by the odometer, the distance corresponding to two adjacent pulses from one odometer is 1-5 mm.

 A larger value of the distance corresponding to neighboring distance pulses is unacceptable, since this will limit the resolution along the pipeline, a value of less than 1 mm is practically ineffective due to the redundancy of the distance information with a practical resolution along the pipeline of 3-5 mm, in addition, with a smaller distance corresponding to to the interval between adjacent distance pulses, vibration effects are manifested, because of which the instantaneous values of the projectile velocity significantly differ from the average values at a distance, p the same longitudinal resolution (3-5 mm).

 The claimed hardware implementation of processing data on the distance traveled allows you to adjust the start mode after measuring each value of the distance traveled.

 Means of accessing the control sensors include a multiplexer, the control input of which is connected to the control output of the data comparison circuit indicated above, the inputs and / or outputs of the multiplexer are connected to the control sensors, which allows you to access the group of control sensors in series and, therefore, use less the number of channels of electronic paths.

In FIG. 1 shows an in-line ultrasonic flaw detector in one of the designs;
figure 2 shows the dependence of the velocity of the projectile inside the pipeline from the time of its movement for a certain section of the examined pipeline;
figure 3 shows the dependence of the longitudinal linear acceleration of the projectile inside the pipeline from the time of its movement for a certain section of the examined pipeline;
figure 4 shows a diagram of the conversion of odometric data, the launch and polling of ultrasonic sensors during ultrasonic monitoring of the pipeline wall.

As a result of solving the problem of increasing the reliability of in-pipe inspection of main pipelines, in-pipe inspection shells (ultrasonic, magnetic flaw detectors, profilers) were developed and manufactured for inspection of oil pipelines, gas pipelines, condensate pipelines, oil pipelines with a nominal diameter of 10 "to 56". Inspection shells made in the preferred design withstand pressure of up to 80 atm, have a throughput of about 85% of the nominal diameter of the pipeline, operate at temperatures of the pumped medium from 0 to 70 ^o C, and a minimum turning radius of about 1.5 of the diameter of the pipeline. Explosion protection types “Flameproof enclosure”, “Intrinsically safe electrical circuit”, and “Special type of explosion protection” are implemented in shells.

 In FIG. 1 shows an in-tube inspection projectile for ultrasonic inspection of a pipe with a diameter of 38 "-56" with a wall thickness of 4-30 mm in one of the designs, which includes: a casing 1, which forms an explosion-proof shell, in which the power source and electronic measuring equipment are located , processing and storage of the obtained measurement data on the basis of the on-board computer that controls the operation of the inspection projectile in the process of its movement inside the pipeline. Rechargeable batteries or batteries of galvanic cells with a total capacity of up to 1000 Ah are installed as a power source.

 Ultrasonic sensors 2 are installed in the tail of the projectile, alternately emitting and receiving ultrasonic pulses. Polyurethane cuffs 3 mounted on the shell of the projectile provide centering of the projectile inside the pipeline and advancement of the projectile by the medium pumped through the pipeline. The wheels of the odometers 4 mounted on the flaw detector housing are pressed against the inner wall of the pipeline. When the projectile moves, the odometers generate pulses, the number of which is proportional to the distance measured by the odometer, the pulses from the odometers are processed in a circuit that matches the start time of the ultrasonic sensors with the odometer readings, information about the distance traveled, measured by the odometers, is recorded in the on-board computer drive and, after execution diagnostic pass and processing the accumulated data to determine the position of defects in the pipeline and, accordingly, the location of the subsequent Kavatsi and repair the pipeline.

 An inspection projectile is placed in the pipeline and the product (oil, oil product) is pumped through the pipeline, and the projectile moves.

 When solving the problem of ultrasonic thickness gauge, ultrasonic pulses emit perpendicular to the inner surface of the pipeline. These pulses are partially reflected from the inner wall of the pipeline, from the outer wall of the pipeline or from the area of the defect, for example, delamination of the metal in the pipe wall. Partially ultrasonic pulses pass through the boundary of the media formed by the outer wall of the pipeline.

 After emitting ultrasonic pulses, the ultrasonic sensors switch to the mode of receiving reflected pulses and receive pulses reflected from the inner wall, pulses reflected from the outer wall of the pipe, or pulses reflected from the indicated area of the wall defect.

In order to detect cracks in the wall of the pipeline, ultrasonic pulses emit at an angle of about 17-19 ^o to the normal to the inner surface of the pipeline. These pulses are partially reflected from the inner wall of the pipeline, from the outer wall of the pipeline or from a crack-like defect. Partially ultrasonic pulses pass through the boundaries of the media or are reflected, thereby weakening the useful reflected pulse.

 After the emission of ultrasonic pulses, the ultrasonic sensors switch to the mode of receiving reflected pulses and receive pulses reflected from the crack-like defect.

 The obtained digital data on the time intervals corresponding to the travel time of the ultrasonic pulses and the pulse amplitudes are converted and recorded in the digital data storage device of the on-board computer.

 During magnetic control of the pipe wall, a certain area of the pipe wall is magnetized and, using magnetic field sensors, components of the magnetic field are measured near the magnetized area of the pipe wall. The measurement of the magnetic field is carried out by periodically accessing the magnetic field sensors (by interrogating the sensors). The presence of cracks or defects associated with the loss of metal (corrosion, scoring) leads to a change in the magnitude and nature of the distribution of magnetic induction.

 In-pipe inspection is carried out in a similar manner by periodically turning to other type of sensors (magneto-optical, optical, electromagnetic-acoustic, sectional profile sensors, for example, by periodically turning leverage angle sensors pressed against the inner surface of the pipeline, and other sensors).

 FIG. 2 illustrates the characteristic dependence of the velocity of the projectile V inside the pipeline, expressed in meters per second, on the projectile travel time t, expressed in minutes. At the speed at which the projectile moved most of the time (about 0.8 m / s), the period of probing pulses should be no more than 4.1 ms. When the projectile velocity at position 21 is about 7.2 m / s and the maximum resolution along the pipe is 3.3 mm, the probe pulse repetition period should be no more than 0.46 ms. If the probe pulse repetition period of 4.1 ms remained unchanged, a surge in velocity 21 would lead to data loss over a portion of more than 50 m. An in-line inspection with a pulse repetition period of 0.46 ms would ensure no data loss, but the amount of measured data was would be 8-9 times larger with a resolution of 0.4 mm on the main part of the pipeline, the same number of times smaller than enough to identify defects and determine their parameters during subsequent data processing (especially when the projectile is severely braked, shown reference numeral 22).

 Figure 3 illustrates the characteristic dependence of the longitudinal linear acceleration of the projectile inside the pipeline "a", expressed in units of g (gravitational acceleration), on the time t of its movement, expressed in seconds.

 To optimize the scanning period (radiation of the probe pulses), a data processing circuit from the odometers 41, 42, 43 of FIG. 4 is implemented, implemented on the following elements of FIG. 4: clock 44, counters 45, 46, 47, 48, registers 49, 50, 51, 52, data comparison circuits 53, 54, 55. The projectile speed is determined using three odometers 41, 42, 43: receive normalized pulses from the odometers, the number of pulses from the odometer is directly proportional to the distance measured by the odometer, the pulses are fed to the control inputs of the counters 45, 46, 47, to the counting inputs of which they serve and pulses from the clock generator 44. The data outputs of the counters 45, 46, 47 are connected to the corresponding inputs of the registers 49, 50, 51, the outputs of which are connected to the data inputs of the data comparison circuit 53. The pulses from the odometers are also connected to the control inputs of the registers 49, 50, 51 which initiate the reading of new data values from the counters 45, 46, 47, which, thus, count the time (the number of clock pulses). Circuit 53 passes the minimum of the input values to the output. This minimum value is fed to the input of the comparison circuit 54, to the second data input of the circuit 54, data is supplied from the register 52, to which, in turn, the value is supplied from the digital data conversion modules 56. The circuit 54 passes the largest of the two input values to the output, the value in register 52 corresponds to the minimum allowable time interval between starts of ultrasonic sensors. If the value from circuit 53 is greater than the value from register 52, the sensors are started with an interval from circuit 53, otherwise, with a fixed interval of 52. The value from circuit 54 is fed to one of the inputs of the data comparison circuit 55, and the output to the second input of circuit 55 data of the clock pulse counter 48, to the counting input of which clock pulses are supplied from the clock generator 44. The comparison circuit 55 generates a control state (state change) on the logic output if the value from counter 48 exceeds the value from circuit 54. Logical in the output of the circuit 55 is connected to the reset input of the counter 48 and through the digital data conversion modules 56 to the control input of the multiplexer 57. The pulse from the output of the circuit 55 thus triggers the ultrasonic sensor, resets the counter 48, which starts to count the time interval after which it will be made the next start of the first sensor group, and this interval is equal to the value from the output of the circuit 54.

 The sequential start and interrogation of ultrasonic sensors 2 excited by the generators 58 is realized using a multiplexer 57, which provides a sequential start of the generators 58 and an adder 59, which provides a sequential interrogation of the sensors 2. The sensor trigger signal supplied to the input of the multiplexer 57 sequentially initiates the generators 58 successively excite ultrasonic sensors 2. The signal (pulse) from the sensors 2 is removed through the adder 59 to the amplifier 60, the output of which the pulse from the sensor An analog-to-digital conversion of amplitudes is carried out in an analog-to-digital converter (ADC) 61, the digitized amplitudes from the ADC 61 are supplied to the digital data conversion modules 56. The digital data converted in the module 56 is fed to the on-board computer 57, where the data is written to the digital data storage device 58, data is written to files with recording the opening and closing times of the file by timer.

 After receiving the next odometer pulse from any of the odometers 41, 42, 43, for each odometer, determine the time interval between the last two odometer pulses (the corresponding values are entered in registers 49, 50, 51), using the data comparison circuit 53 determine the minimum time interval among the indicated time intervals, access to the first in the sequence ultrasonic sensor 2 is performed after the found minimum time period. Using the counter 48 clock pulses from the clock generator 44 determine the time elapsed after the last call to the ultrasonic sensor, using circuit 55 verify the condition that the found minimum time period from circuit 53 is at least the specified time, the previously specified interval time is determined (counted) when the specified condition is met, if the specified condition is not met, the state changes at the output of circuit 55, and the sensor starts immediately.

 In the diagram shown in Fig. 4, the value from circuit 53 directly goes to the input of data from circuit 54, and from circuit 54 to the input of data from circuit 55, and thus, an algorithm is implemented in which the time interval after which the next sensor start will be performed coincides with the minimum time period found.

 To implement the algorithm, in which the time interval is a function (linear) of the found minimum time interval, the data from the output of the data of the circuit 53 pass to the input of the circuit 54 through a controlled circuit of changing the input value, and / or the data from the output of the data of the circuit 54 pass to the input of the circuit 55 through a controlled circuit for changing the input value, the control input of the specified circuit changes is connected to the digital data conversion modules, from where the value or function of changing the input value is set.

 At the same time, several ultrasonic sensors are launched with the time interval indicated earlier. The time interval between adjacent odometric pulses corresponds to a portion of a distance of about 3 mm measured by an odometer. The velocity of the projectile inside the pipeline is determined, the condition is checked, consisting in the fact that the velocity of the projectile is at least 0.1 m / s and not more than 1.5 m / s, by checking the condition that the previously specified minimum interval time is not less than the minimum predetermined value and not more than the maximum predetermined value.

 If the velocity of the projectile is less than 0.1 m / s (the indicated minimum period of time is more than 30 ms), then the sensors are launched with a period of about 30 ms. If the velocity of the projectile is greater than 1.5 m / s (the indicated minimum period of time is less than 2 ms), then the sensors are launched with a period of about 2 ms.

 In accordance with the algorithm implemented by the on-board computer program, the digitized measured data from several sensors are combined into data frames, the parameters of the received pulses corresponding to the probe pulses for each ultrasonic sensor, as well as the time uniquely associated with the start time of the specified probe pulses are entered into the data frame. The indicated parameters of the received pulses include the digitized amplitude values of the pulses and the time after the start of the corresponding probe pulse for each amplitude value. In a preferred embodiment, these parameters of the received pulses include the digitized amplitude values at the maximum of the pulses and the time corresponding to the maximum after the start of the corresponding probe pulse. The data frame includes the indicated parameters of the received pulses corresponding to 64 probe pulses for each ultrasonic sensor.

 The digitized data is written to the digital data storage device by opening the file, recording the file opening time, writing the specified data frames to the file 20, recording the file closing time, file closing, the specified time is determined by the clock of the computer that controls the data recording to the drive, the previously specified time is determined by to the timer set in the inspection shell, the time according to the clock of the computer and the time in the timer are synchronized with each other and with the time according to the timer set outside the inspection shell before passing the inspection and after passing the inspection shell.

 Upon completion of control of a given section of the pipeline, the flaw detector is removed from the pipeline and the data accumulated during the diagnostic pass is transferred to a computer outside the projectile.

 Subsequent analysis of the recorded data allows you to identify defects in the wall of the pipeline and determine their position on the pipeline for the subsequent repair of defective sections of the pipeline.

Sources of information
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Claims (10)

 1. A device for in-pipe inspection of pipelines, which is passed inside the pipeline under examination, including a housing with installed control sensors and distance meters, means for accessing control sensors, means for converting and storing measurement data, characterized in that the means for converting data include a clock , counters, data comparison circuit, pulse formation circuit of accessing control sensors, counting inputs of counters are connected to the output of the clock generator ora, control inputs of the meter - corresponding to the outputs of the distance measuring devices, data outputs - to the inputs of these data comparison circuit, the comparison circuit output data - to one of the inputs of a pulse generating circuit to the control treatment sensors.  2. The device according to claim 1, characterized in that the pulse generating circuit for accessing the control sensors includes a second data comparison circuit with a data reference value set at one of the data inputs, the data output of the first data comparison circuit specified in paragraph 1 is connected to the second data input of the second data comparison circuit, the output of the second comparison circuit is connected to the means of accessing the control sensors.  3. The device according to p. 1, characterized in that the pulse generating circuit for accessing the control sensors includes a second data comparison circuit, a time counter after accessing the control sensors, the data output of the first data comparison circuit specified in clause 1 is connected to one of data inputs of the second comparison circuit, the logical output of the second comparison circuit is connected to the means of accessing the control sensors, the output of the clock generator is connected to the counting input of the time counter after accessing the control sensors, the data output is a decree the counter to the second data input of the second comparison circuit, the reset control input of the specified counter to the control output of the second comparison circuit.  4. The device according to claim 1, characterized in that the pulse generating circuit for accessing the control sensors includes a second data comparison circuit with a data reference value set at one of the data inputs, a third data comparison circuit, a time counter after accessing the control sensors, the data output of the first data comparison circuit specified in clause 1 is connected to the second data input of the second data comparison circuit, the data output of the second comparison circuit is connected to one of the data inputs of the third comparison circuit, a logical output In order to check the reference sensors, the output of the clock generator is to the counting input of the time counter for accessing control sensors, the output of the specified counter data is to the second data input of the third comparison circuit, the reset control input of the specified counter is to the control output of the third comparison circuit .  5. The device according to p. 2 or 4, characterized in that the pulse generating circuit for accessing the control sensors includes a register, the output of the register is connected to the data input of the second comparison circuit corresponding to the reference data value, the input of the register is used for converting and storing data measurements.  6. The device according to claim 2 or 4, characterized in that the pulse generating circuit for accessing the control sensors includes a controlled input value change circuit, a control input of said change circuit is connected to digital data conversion modules, data output of the first comparison circuit is connected through the specified a change circuit to the data input of the second comparison circuit.  7. The device according to claim 4, characterized in that the pulse generating circuit for accessing the control sensors includes a controlled input value change circuit, a control input of said change circuit is connected to digital data conversion modules, data output of a second comparison circuit is connected through said change circuit to the data input of the third comparison circuit.  8. The device according to p. 6 or 7, characterized in that the specified circuit changes the input value is made in the form of a shift register.  9. The device according to claim 1, characterized in that the outputs of the counters data are connected to the data inputs of the data comparison circuit through the corresponding registers, the outputs of the distance meters to the control inputs of the corresponding registers.  10. The device according to claim 1, characterized in that the outputs of the overflow sign of the counters are connected to the means for converting and storing the measurement data.

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