| 摘要 |
The invention relates to a pig (1) for piping, in particular for pipelines, comprising a sensor system (8) having at least one sensor for determining a state of motion of the pig, wherein the state of motion comprises data relating at least to the rotation and the translational motion of the pig, and further comprising a control device controlling at least one actuator (9), said control device being designed to influence the state of motion of the pig, wherein the actuator is designed to actively influence the rotation of the pig. The invention also relates to a method for controlling a pig. |
