| 摘要 |
The invention relates to a machine allowing inspection of pipes with a great length completely underwater. It is composed of a shell 1 containing the inspection apparatus proper 2 (camera, sonar), fitted with a propulsion (e.g.: "sail" 3, propeller 4) and a positioning means 5 as well as a device allowing the machine to recognise its position with respect to the walls of the pipe 6. The machine according to the invention is more particularly intended for inspection of subterranean galleries (irrigation in general, electricity company pipes etc.). N.B.: In the case in which the above-described machine is pushed by the current, the propeller 4 must tend to make the engine return upstream; in the case in which the machine is self-propelled, this propeller becomes propulsive. <IMAGE>
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