| 摘要 |
The invention relates to a system (2) for inspecting the hull of a ship that comprises a mobile machine (4) which travels over the hull and a positioning means for determining a momentary position of the machine in a reference frame. The positioning means comprises: first and second coaxial indexing wheels (32, 34) that are separated by an interaxial distance (D), are in contact with the hull of the ship, and can measure first and second linear movements of the machine; first and second inclinometers (42, 44) set up to measure inclinations relative to a reference direction of a first axis and a second axis of a reference means connected to the machine; and a processing means (24) which receives the measured data in order to calculate a change in the position of the machine within the reference frame and integrate the successive changes in position to obtain the momentary position of the machine. |
