| 摘要 |
A system for inspecting the hull of a vessel includes a movable machine which moves on the hull and a positioning element to determine an instantaneous position of the machine in a reference point. The positioning element includes:—first and second coaxial encoding wheels separated from each other by an inter-wheel spacing and in contact with the hull, and are capable of measuring first and second linear movements of the machine;—first and second inclinometers arranged so as to measure inclinations, relative to a reference direction, of a first axis and a second axis of a frame of reference linked to the machine; and,—a processing element, which receives data measured in order to calculate a variation of the position of the machine in the frame of reference, and in order to integrate the successive position variations in order to obtain the instantaneous position of the machine. |
