RU2529820C2 - In-pipe multi-channel caliper pig - Google Patents

Abstract

FIELD: oil-and-gas industry.

SUBSTANCE: set of invention relates to in-pipeline test-and-control devices equipped with power supply, meters, data processors and storages to be displaced inside pipeline by transferred fluid flow. In-pipe multi-channel caliper pig consists of one section composed by case with support disc arranged thereat, suspension wheels, collar and at least one belt of measuring spring-loaded levers. Besides, metal case of caliper pig accommodated power supply and section of electronics. The latter represents a sealed shell accommodating storage battery unit, electronics unit, strapdown inertial navigation system built around fibre optic gyros and the system of micromechanical accelerometers arranged in single-pin suspension, onboard data storages and marker onboard transceiver. Method of in-pipe measurement consists in displacement of in-pipe multi-channel caliper pig by transferred product flow. Said caliper displacing in pipeline measures the inner profile by intermittent registration of angle of deflection of levers. Besides, pipeline spatial position is defined by strapdown inertial navigation system built in electronics unit.

EFFECT: higher data quality and validity.

16 cl, 6 dwg

Description

The invention relates to devices for monitoring the state of oil, gas and product pipelines by passing a device moving inside the pipeline with the flow of the transported medium inside the pipeline to collect information about the cross section of the pipeline and determine the position of the pipeline in space.

A device for monitoring the condition of the flow cross section of the main pipeline (SU 9090405 A1, 02.28.1982), comprising a sealed container with spring elements, which houses the recording unit with a writing tip and tape drive mechanism and which is made in the form of two interconnected hydraulic cavities with pistons .

A device for monitoring the condition of the flow cross section of the main pipeline (SU 1139930 A1, 02/15/1985), consisting of an electric power source, a lighting unit and a recording unit located in an airtight container, on the outer surface of which with probes are installed relative to the axis of the device with their pointers deviations electrically connected to the source of electricity and the registration unit.

A device for monitoring the condition of the flow cross section of the main pipeline (SU 1562582 A1, 05/07/1990), comprising a housing with elastic cuffs at its ends, a power source and a recording unit installed inside the housing, as well as sensitive elements, in order to increase the reliability of control the state of the bore of the pipeline, the rear cuff is cut into sectors and installed with a gap to the pipeline.

Known in-line multichannel profiler (RU 2164661 C1, 03/27/2001), on the body of which are located the means of processing and storage of the measured data, an odometric system and an electromagnetic transmitter for determining the position of the flaw detector inside the pipeline.

Known in-line multi-channel profiler (RU 25218 U1, 09/20/2002), which contains a housing, cuffs, at least one belt of sensitive levers mounted on the housing around the perimeter in the cross section of the pipeline, angle sensors of rotation of the sensitive levers, measuring instruments, processing and storage measurement data, a power source connected to measuring instruments, processing and storage of measurement data.

A known method of examining the profile of the pipeline (options) (RU 2002301 C1, 03/10/2003), in which the measurement data are digitized and produce a compression transformation, which includes the selection of the readings of each sensor and replacing sequences.

Known in-line multichannel profiler (RU 131866 U1, 08.27.2013), which includes a housing with a sealed compartment and installed on it, at least the front and rear centering elastic cuffs, an odometric device, a belt of measuring levers, a lot of rotation sensors.

The disadvantages of this known design are the low reliability and quality of measurements due to the uneven movement of the device in the pipeline.

The closest analogue and prototype of the claimed invention is a multi-channel in-line profiler (RU 25218 U1, 09/20/2002).

The technical result of the invention is to improve the quality and reliability of measurements by increasing the uniformity of movement of the device in the pipeline with minimal disturbances.

The specified technical result is achieved due to the fact that the in-line multichannel profiler consists of at least one section. The in-tube multichannel profiler section consists of a housing on which support discs, suspension wheel blocks, cuffs and at least one belt of measuring spring-loaded levers are installed.

The metal casing of the in-tube multichannel profiler houses an autonomous power source and an electronics section. The electronics section is a sealed enclosure with a battery pack placed inside it; electronics module; a strapdown inertial navigation system based on fiber-optic gyroscopes and a system of micromechanical accelerometers made in a uniaxial suspension; airborne information storage devices and marker airborne transceiver.

Support discs are installed in the front and rear parts of the in-tube multichannel profiler. Each support disk is made of elastic polyurethane with grooves along its edge and is mounted on an additional plate disk in such a way that the plate disk overlaps the grooves of the support disk, which allows the support disk to deform and undergo narrowing of the pipeline. In this case, the diameter of the supporting discs is slightly less than the internal diameter of the pipeline. The thickness of the supporting discs is selected in such a way as to ensure their stability when exposed to the load associated with the mass of the in-tube multichannel profiler and the magnitude of the transverse forces that arise when moving through the pipeline.

The support discs are used to reduce the angular displacements that occur under external influence on the in-line multichannel profiler, for example, when overcoming obstacles, dents, and, along with the suspension wheel blocks and polyurethane cuffs, center the in-line multichannel profiler in the pipeline.

Wheel suspension blocks are installed in the front and rear parts of the metal casing and serve to improve the centering of the in-pipe multichannel profiler in the pipeline, as well as to unload the cuffs from the effect of the weight of the in-tube multichannel profiler on them. Wheel suspension blocks are a metal base to which movable levers are mounted on the transverse axes with wheel bearings located on them at one end of the lever. At the other end of the lever there is a rod passing through an opening in the base of the block and further inside the compression spring. One supporting end of the compression spring rests on the base, and the other in the adjusting washer mounted on the other end of the rod. To reduce friction, the wheel suspension unit incorporates a bearing assembly, as well as a device for supplying bearing lubricant to it.

The cuffs are installed in the front, middle and rear parts of the in-tube multichannel profiler.

An in-line multichannel profiler moves on the wheel bearings of the suspension with a minimum and stable rolling friction force on them, and polyurethane cuffs are only moving elements with a minimum value of resistance to friction forces.

Belt measuring spring levers designed to measure the internal profile of the pipeline.

In the development of the invention, two belts of measuring spring-loaded levers are installed on the flanges of the middle part of the metal body of the in-tube multichannel profiler in such a way that they completely cover the entire circumference of the inner diameter of the pipeline. At the end of each of the measuring spring-loaded levers, a polyurethane pad is fixed with wear-resistant studs embedded in it. The polyurethane pad of the measuring spring-loaded lever is pressed against the inner surface of the pipeline. The composition of the measuring spring-loaded levers include angle sensors. The rotation unit of the measuring spring-loaded levers consists of a U-shaped bracket mounted on the flange of the metal casing of the in-tube multichannel profiler. A U-shaped end of the measuring spring-loaded lever is installed on the U-shaped bracket, while the outer side surfaces of the measuring spring-loaded lever are installed on the inner side surfaces of the U-shaped bracket and are fixed from mutual axial displacement using a sleeve mounted on a hollow axis mounted on the side surface U-shaped end of the movable bracket. In this case, one of the struts of the U-shaped bracket is connected to one of the struts of the U-shaped end of the measuring spring-loaded lever on its outside, and the other strut of the U-shaped bracket) is connected to the inside of the other strut of the U-shaped end of the measuring spring-loaded lever. A torsion spring is installed on the sleeve, connecting the bracket and the end of the measuring spring lever. Outside, an angle sensor of the measuring spring-loaded lever is mounted on the arm rack. The rotating part of the angular position sensor is connected to the membrane mounted externally by means of a cardan joint located in the hollow axis and filled with polyurethane. On the opposite side, the membrane is mounted on the U-shaped end of the measuring spring lever. The membrane is thin and has curly grooves, which is able to compensate for axial tolerances of manufacturing parts of the measuring spring-loaded lever, while ensuring rigidity when transmitting the rotation angle of the movable lever to the rotating part of the angle position sensor.

The landing surfaces of the measuring movable arm, along which rotation occurs and which are subject to great wear due to high mechanical loads, are divided with the seating surface of the rotating part of the angle position sensor, which is not exposed to external mechanical loads. This design of the measuring spring-loaded lever maintains the accuracy of the measurement of the angle sensor during operation and has minimal backlash, which slightly affect the accuracy of the readings of the angle sensor. The backlash that can appear during operation in the bearings of the movable arm as they wear out does not affect the wear of the surfaces of the rotating part of the angle position sensor, as a result, the accuracy of the fit of the rotating part of the angle position sensor and, accordingly, the accuracy of its readings are maintained.

The fastening of the mechanical connection containing the cardan joint of the rotating parts of the angle sensor to the membrane allows the angle sensor to be transmitted to the angle sensor, on the one hand, without error, the rotation angles of the measuring movable lever, and on the other hand, in case of jamming of the rotating part of the angle sensor, when contaminated, ensure a quick and convenient recovery of the measuring spring-loaded lever after cleaning and replacing the membrane. The design of the membrane allows its quick replacement and restoration of operability of the measuring spring-loaded lever after cleaning it.

The internal profile of the pipeline is determined by registering, in accordance with a given periodicity, the angle of deviation of the measuring levers.

Polyurethane cuffs are used to center the in-tube multichannel profiler along the axis of the pipeline and set it in motion under the action of the flow of the pumped product.

The nose of the in-tube multichannel profiler is equipped with a bumper, which is a cone-shaped welded metal structure with an eye in front. The bumper protects the antenna cap of the marker on-board transceiver of the electronics section from shock and damage, facilitates the passage of in-pipe multichannel profiler of obstacles, bends, contractions, and also ensures the performance of technological operations during maintenance and operation of the in-tube multichannel profiler.

The multi-channel in-line profiler is equipped with special springs to prevent the accumulation of electrostatic charges on the metal body of the profiler and prevents potential differences between the device and the pipeline, thereby preventing dangerous sparking.

The in-line multichannel profiler is a diagnostic complex with a navigation system capable of determining the spatial position of the pipeline.

The in-tube multichannel profiler is equipped with an odometric system, from each induction sensor of which pulses are transmitted via cable to the controller, where they are counted. The number of pulses is proportional to the distance traveled by the in-tube multichannel profiler.

The in-tube multichannel profiler includes sets of replaceable parts of standard sizes of various pipeline diameters. To reconfigure to a different size, depending on the pressure and wall thickness of the examined pipeline, one of the sets of interchangeable parts is installed on the profiler.

The method of multichannel profilometry consists in the fact that the in-line multichannel profilometer moves in the pipeline under the action of the flow of the pumped product. The support discs are used to reduce the angular displacements that occur under external influence on the in-line multichannel profiler, for example, when overcoming obstacles, dents, and, along with the suspension wheel blocks and polyurethane cuffs, center the in-line multichannel profiler in the pipeline. In this case, the cuffs provide movement of the in-tube multichannel profiler. The profile of the polyurethane cuff is designed in such a way as to reduce the width of the surface by which it contacts the inner wall of the pipeline. Under the influence of the differential pressure on the cuff, this surface is pressed against the inner wall of the pipeline and excludes the flow of the pumped product through it. The calculated cuff width reduces the amount of friction that occurs on the cuff and reduces the amount of resistance to the movement of the in-tube multichannel profiler through the pipeline. The suspension wheel blocks included in the in-tube multichannel profiler are configured so that the outer diameter along the wheel supports is less than the inner diameter of the pipeline. As a result, forces are created on the movable levers of the wheel suspension blocks to compensate for the weight of the in-line multichannel profiler and unload the polyurethane cuffs.

When an in-pipe multi-channel profiler passes through the pipeline, the internal profile of the pipeline is determined by registering the angle of deviation of the belt levers of the measuring spring levers. The measuring spring-loaded lever has the ability to deviate autonomously, and this allows the in-tube multi-channel profiler to determine not only the size of the dents on the inner surface of the pipeline, but also their angular position. In addition to determining the profile of the pipeline, an in-line multi-channel profiler is able to determine the spatial position of the pipeline using the strapdown inertial navigation system implemented in the electronics unit. The spatial coordinates of a moving in-tube multi-channel profiler are determined by solving the navigation problem during complex data processing by the on-board multi-channel profiler software and on-board inertial information software on the angular and linear dynamic motion parameters of the in-pipe multi-channel profiler. Inertial information tied to distance and time using odometers and an on-board marker transceiver is recorded on-board information storage devices of an in-tube multichannel profiler. From on-board storage devices, inertial information is read onto external storage media and processed by external software programs. The on-board marker transceiver of the in-tube multichannel profiler receives electromagnetic waves emitted by the ground marker transmitter in order to set marker marks along the distance. From the moment the power is turned on, the antenna of the on-board marker transceiver of the in-tube multichannel profiler emits electromagnetic identification signals available for reception by a low-frequency locator. Registration of identification signals using a low-frequency locator allows you to determine the location of the in-tube multichannel profiler.

The invention improves the quality and reliability of measurements by increasing the uniformity of movement of the in-tube multichannel profiler in the pipeline with minimal perturbations, both linear and angular.

The device is illustrated by the following drawings.

Figure 1 shows the in-line multi-channel profiler, General view.

Figure 2 - design of the suspension wheel unit.

Figure 3 - design of the support disk.

Figure 4 - design of the odometer.

In Fig.5, 6 - design of sensitive measuring levers.

In figure 1, the following notation:

1. housing;

2. electronics section;

3. support disk;

4. cuff;

5. wheel suspension unit;

6. bumper;

7. cap antenna marker onboard transceiver;

8. odometer;

9. Belt measuring spring levers.

In figure 2, the following notation:

10. metal base;

11. transverse axis;

12. movable lever;

13. wheel support;

14. bearing assembly;

15. a device for supplying lubricant to the bearing;

16. traction;

17. adjusting washer;

18. compression spring;

19. nut;

20. spring.

In figure 3, the following notation:

3. support disk;

20. additional plate disc.

In figure 4, the following notation:

22. bracket;

23. axis;

24. odometer lever;

25. spring;

26. wheel block odometer;

27. induction sensor;

28. cable.

In figure 5, the following notation:

29. measuring spring-loaded lever;

30. pad;

31. spring;

32. lever angle sensor.

Figure 6 adopted the following notation:

31. spring;

32. lever angle sensor;

33. wear resistant spike;

34. U-shaped bracket;

35. U-shaped end of the measuring spring-loaded lever;

36. bushing;

37. hollow axis;

38. cardan joint;

39. polyurethane;

40. membrane.

Structurally, an in-line multichannel profiler can consist of one or more sections.

The in-tube multichannel profiler consists of a metal housing 1 (Fig. 1), inside which an electronics section 2 is installed (Fig. 1).

In the front and rear parts of the housing 1 (Fig. 1), support disks 3 (Fig. 1) are installed, in the front, middle and rear parts of the housing 1 (Fig. 1) polyurethane cuffs 4 (Fig. 1).

Each of the support discs 3 (FIG. 1) is made of elastic polyurethane with grooves along its edge and is mounted on an additional plate disc 20 (FIG. 3) so that the plate disc 20 (FIG. 3) overlaps the grooves of the support disc (FIG. 3).

The profile of the cuff 4 (figure 1) is made in such a way as to reduce the width of the surface by which it is in contact with the wall of the pipeline. Under the influence of the pressure drop on the cuff 4 (figure 1), the surface of the cuff 4 (figure 1) is pressed against the inner wall of the pipeline and excludes the flow of the pumped product through it. The calculated width of the cuff 4 (figure 1) reduces the amount of friction that occurs on the cuff 4 (figure 1), and reduces the strength of the resistance to movement of the profiler through the pipeline.

In the front and rear parts of the housing 1 (Fig. 1), wheel suspension units 5 are installed (Fig. 1). Each of the suspension wheel blocks 5 (FIG. 1) is a metal base 10 (FIG. 2), to which the movable arms 12 (FIG. 2) are mounted on the transverse axes 11 (FIG. 2) with the wheel bearings 13 ( figure 2) at one end of the lever. To reduce friction, the wheel block 5 (Fig. 1) incorporates a bearing assembly 14 (Fig. 2), as well as a device for supplying bearing lubricant 15 (Fig. 2) to it. At the other end of the lever 12 (FIG. 2), a thrust 16 (FIG. 2) is installed, passing through an opening in the base 10 (FIG. 2) of the wheel block 5 (FIG. 1) and further inside the compression spring 18 (FIG. 2). One supporting end of the compression spring 18 (FIG. 2) rests on the base 10 (FIG. 2), and the other in the adjusting washer 17 (FIG. 2) with a nut 19 (FIG. 2) mounted on the other end of the rod 16 (FIG. 2). The movement of the adjusting washer 17 (figure 2), in this case using the nut 19 (figure 2), allows you to create a preliminary force of compression of the springs 18 (figure 2), that is, to create an initial force of resistance to folding the levers 12 (figure 2) . The movable levers 12 (figure 2) are configured so that the outer diameter of the wheel bearings 13 (figure 2) is less than the inner diameter of the pipeline.

In the bow of the in-tube multichannel profiler, a bumper 6 is installed (Fig. 1), which protects the hood of the antenna 7 (Fig. 1) of the on-board transceiver of the electronics section 2 (Fig. 1) from shock and damage.

In the back of the housing 1 (Fig. 1), odometers 8 (Fig. 1) are installed on the flange. The odometer 8 (figure 1) consists of an arm 22 (figure 4), with the axis 23 fixed on it (figure 4). On the axis 23 (figure 4) is fastened by a spring 25 (figure 4) to the inner wall of the pipeline odometer lever 24 (figure 4) with the odometer wheel block 26 (figure 4). The wheel of the wheel block 26 (figure 4) freely rotates on the axis installed in the mounting holes of the lever 24 (figure 4). When faced with an obstacle in the pipeline, the wheel of the wheel block 26 (FIG. 4) is deflected around the obstacle. In the wheel block 26 (figure 4) is an induction sensor 27 (figure 4), which generates electrical impulses when the wheels of the wheel block 26 are rotated (figure 4).

In the middle part of the housing 1 (Fig. 1), two belts of measuring spring levers 9 (Fig. 1) are installed on the flanges.

The measuring lever belt 9 (FIG. 1) is attached to the flanges on the housing 1 (FIG. 1). At the ends of the measuring spring-loaded levers 29 (Fig. 5) of the belt 9 (Fig. 1), polyurethane pads 30 (Fig. 5) are fixed. To increase the wear resistance of the polyurethane pads 30 (figure 5), wear-resistant studs 33 (figure 6) are poured into them. The pads 30 (Fig. 5) mounted on the levers 29 (Fig. 5) are pressed by the springs 31 (Fig. 5) to the inner wall of the pipeline.

The composition of the measuring spring levers 9 (Fig. 1) includes sensors 32 (Figs. 5 and 6) of the angular position of the lever 29 (Fig. 5), which provide registration of the angle of deviation of the levers 29 (Fig. 5) when they pass through pipe profile irregularities. At one end of each of the levers 29 (Fig. 5), a polyurethane cover 30 (Fig. 5) is fixed, and their opposite end 35 (Fig. 6) is made U-shaped and mounted on a fixed flange of the housing 1 (Fig. 1) P -shaped bracket 34 (Fig.6) with the possibility of rotation of one relative to the other. The U-shaped end of the lever 35 (FIG. 6) and the U-shaped bracket 34 (FIG. 6) are fixed from mutual axial displacement using a sleeve 36 (FIG. 6) mounted on the hollow axis 37 (FIG. 6), mounted on the lateral surface of the U-shaped end of the movable bracket 34 (Fig.6). In this case, one of the racks of the U-shaped bracket 34 (Fig.6) is connected to one of the racks of the U-shaped end of the lever 35 (Fig.6) from its outer side, and the other rack of the U-shaped bracket 34 (Fig.6) - on the inside of the other U-shaped strut end of the lever 35 (Fig.6). Outside, on the rack of the bracket 34 (Fig.6) is installed a sensor of the angular position of the lever (Fig.5 and 6). The rotating part of the sensor (FIGS. 5 and 6) is connected to the membrane 40 (FIG. 6) mounted externally by means of a gimbal connection 38 (FIG. 6) located in the hollow axis 37 (FIG. 6) and filled with polyurethane 39 (FIG. 6). The membrane 40 (Fig.6) on the opposite side is mounted on the rack of the U-shaped end of the lever 35 (Fig.6).

On the sleeve 36 (Fig.6) installed torsion spring 31 (Fig.6), connecting the bracket 34 (Fig.6) and the end of the lever 35 (Fig.6).

The in-tube multichannel profiler is equipped with springs 21 (Fig. 1) to prevent the accumulation of electrostatic charges on the metal casing 1 (Fig. 1) of the in-tube multichannel profiler and prevents the potential difference between the device and the pipeline, thereby preventing dangerous sparking. Spring 21 (FIG. 1) is a thin conductive metal plate with a bronze plate fixed to it, which is constantly in contact with the wall of the pipeline.

Claims (16)

1. The in-tube multichannel profilometer consists of at least one section consisting of a housing on which the supporting disks, wheel suspension blocks, cuffs and at least one belt of measuring spring-loaded levers are installed, in addition, in the metal casing of the in-tube multichannel the profiler houses a power source and an electronics section, which is a sealed enclosure with a battery pack, an electronics module, a strap-down inertial navigation system located inside it oh based on fiber optic gyroscopes and MEMS accelerometers system formed in a uniaxial suspension; airborne information storage devices and marker airborne transceiver. 2. The multi-channel in-line profiler according to claim 1, characterized in that the supporting disks are installed in its front and rear parts, each supporting disk made of elastic polyurethane with grooves along its edge and mounted on an additional plate disk in such a way that the plate disk overlaps the grooves of the support disk, and its diameter is slightly less than the internal diameter of the pipeline. 3. The in-tube multichannel profiler according to claim 1, characterized in that cuffs are installed in its front, middle and rear parts, which are the driving elements. 4. The multi-channel in-line profiler according to claim 1, characterized in that in the front and rear parts of the metal casing there are mounted suspension wheel blocks, which are a metal base to which movable levers with wheel supports located at one end of the lever are mounted on the transverse axes, and on at the other end of the lever is a rod passing through an opening in the base of the block and further inside the compression spring, with one supporting end of the compression spring resting on the base and the other in the adjusting washer, new at the other end of the thrust, in addition to this, the suspension wheel unit includes a bearing assembly, as well as a device for supplying bearing lubricant to it. 5. The multi-channel in-line profiler according to claim 1, characterized in that it is equipped with special springs to prevent the accumulation of electrostatic charges on the body of the profiler. 6. The multi-channel in-line profiler according to claim 1, characterized in that on the flanges of the middle part of the metal housing of the multi-channel multi-channel profiler there are two measuring spring-loaded levers so that they completely cover the entire circumference of the inner diameter of the pipeline. 7. The multi-channel in-line profiler according to claim 6, characterized in that at the end of each of the measuring spring-loaded levers a polyurethane cover is attached with wear-resistant studs embedded in it, while the polyurethane cover of the measuring spring-loaded lever is pressed against the inner surface of the pipeline. 8. The multi-channel in-line profiler according to claim 6, characterized in that the rotation unit of the measuring spring-loaded levers consists of a U-shaped bracket mounted on the flange of the metal casing of the in-tube multi-channel profiler, on which the U-shaped end of the measuring spring-loaded lever is mounted, while the outer side the surfaces of the measuring spring-loaded lever are installed on the inner side surfaces of the U-shaped bracket and are fixed from mutual axial displacement using bows, while one of the struts of the U-shaped bracket is connected to one of the racks of the U-shaped end of the measuring spring-loaded lever on its outside, and the other rack of the U-shaped bracket is on the inside of the other rack of the U-shaped end of the measuring spring-loaded lever, this is installed on the sleeve torsion spring connecting the bracket and the end of the measuring spring-loaded lever. 9. The multi-channel in-line profiler according to claim 6, characterized in that the measuring spring levers include angular position sensors, while the angular position sensor of the measuring spring lever is mounted externally on the arm rack. 10. The multi-channel in-line profiler according to claim 9, characterized in that the rotating part of the angle sensor is connected to the membrane installed externally by means of a cardan joint located in the hollow axis and filled with polyurethane, on the opposite side the membrane is mounted on the U-shaped end of the measuring end spring-loaded lever, while the membrane is thin and has curly grooves. 11. The method of multichannel profilometry consists in the fact that the in-line multichannel profilometer moves in the pipeline under the action of the flow of the pumped product and characterized in that the support discs serve to reduce the angular displacements that occur under external influence on the in-tube multichannel profilometer, for example, when overcoming obstacles , dents, and, along with the wheel suspension units and cuffs, center the in-pipe multichannel profiler in the pipeline, while the cuffs inside The multi-channel profiler is driven into motion, and the cuff profile is made in such a way as to reduce the width of the surface by which it contacts the inner wall of the pipeline and, under the influence of the pressure drop across the cuff, is pressed against the inner wall of the pipeline and excludes the flow of the pumped product through it, while the calculated cuff width reduces the amount of frictional force arising on the cuff and reduces the amount of resistance to movement of the in-tube multichannel prof pipe lehmer, while the suspension wheel blocks included in the in-line multichannel profiler are configured so that the outer diameter of the wheel supports is smaller than the inner diameter of the pipeline, as a result, forces are created on the movable levers of the suspension wheel blocks that compensate the weight of the in-line multichannel profiler and unloading cuffs. 12. The method of multichannel profilometry according to claim 11, characterized in that when passing the in-pipe multichannel profiler of the pipeline, the internal profile of the pipeline is determined by periodically recording the deviation angle of the measuring spring levers in accordance with a given periodicity, and the position of the pipeline in space. 13. The multi-channel profilometry method according to claim 12, characterized in that the two measuring spring-loaded lever belts completely cover the circumference of the inner diameter of the pipeline. 14. The multichannel profilometry method according to claim 12, characterized in that, using the angular position sensors included in the design of the measuring spring levers, the in-line multichannel profilometer records the angle of deviation of the levers when they pass irregularities in the pipeline profile, while each measuring spring lever has the ability to autonomously deviate, and this allows the in-tube multi-channel profiler to determine not only the size of the dents on the inner surface of the pipeline, but also their angle ovoe position. 15. The method of multichannel profilometry according to claim 11, characterized in that the in-tube multichannel profilometer is able to determine the spatial position of the pipeline using the strapdown inertial navigation system implemented in the electronics unit, while the spatial coordinates of the moving in-tube multichannel profilometer are determined by solving the navigation problem in complex processing data by on-board multi-channel software profiler and external software for autonomous inertial information about the angular and linear dynamic parameters of the movement of the in-tube multichannel profiler, and inertial information tied to distance and time using odometers and a marker on-board transceiver is recorded on-board information storage devices of the in-tube multichannel profiler, and from on-board drives information inertial information is read onto external storage media and processed by programs external software. 16. The multi-channel profilometry method according to claim 15, characterized in that the on-board marker transceiver of the in-tube multi-channel profiler receives electromagnetic waves emitted by the ground marker transmitter in order to set marker marks along the distance, and from the moment the power is turned on, the antenna of the on-board marker transceiver in-tube multi-channel profiler emits electromagnetic identification signals available for reception by a low-frequency locator, and the registration of signals is recognized I'm using a low-frequency locator allows you to locate a multi-channel-tube caliper.

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