| 摘要 |
FIELD: instrumentation, non-destructive inspection of pipes, autonomous intrapipe evaluation of values of vertical and horizontal displacements of axis of pipe. SUBSTANCE: device includes sealed container, elastic collars, odometric path-control transducer, analog-to-digital converter, computers of parameters of pitch, roll, yaw and trajectory curvature in horizontal and vertical planes, computer of vertical, register, three-component meter of apparent acceleration, gyroscopic meter of angular velocity. Sealed container is made with center of gravity displaced downwards relative to longitudinal axis. Elastic collars are made fast in nose and tail parts of container. Three-component meter of apparent acceleration is mounted in center of mass of device, its sensitive axes are oriented along longitudinal, normal and lateral axes of object coordinate system. Gyroscopic meter of angular velocity is put on normal axis of container and is connected through analog-to-digital converter to computer of angle of yaw and to computer of vertical. Meter of apparent acceleration mounted on lateral axis of container and odometer are connected to other inputs of computer of vertical through analog-to- digital converter. Computer of vertical is coupled to proper input of computer of parameters of pitch. Output of computer of vertical is connected to corresponding input of register. EFFECT: increased accuracy of determination of orientation parameters in space of longitudinal axis of pipe-lines of any diameters, simplified design and low cost of device. 3 dwg |
