ROBOTIC SYSTEM FOR INTERNAL INSPECTION OF GAS LINES FOR TIGHTNESS Russian patent published in 1999 - IPC

FIELD: flaw inspection of hard-to- get-at points of gas lines. SUBSTANCE: robotic system that has starting and finishing positions, range markers on pipe, mobile pipe internal probe incorporating set of leakage sensors, switching and analog-to-digital conversion unit, and on-board computing and documentation device, as well as inspection circuit and series-connected marker passage responder and set of range sensors is provided, in addition, with synchronizing unit, two magnetic wave emitters, transmitter, receiver, magnetic wave detector, navigation computer, and communication unit built up of series-connected NOT, AND, and OR gate units; synchronizing unit, first magnetic wave emitter, and transmitter are set in starting position, receiver and second magnetic wave emitter, in finishing position; magnetic wave detector, navigation computer, and communication unit are mounted in pipe internal probe; output of set of range sensors is connected to second input of OR gate unit whose output is connected to second input of switching and analog-to- digital converting unit; input of NOT gate unit is connected to output of marker passage responder; output of magnetic wave detector is connected to second input of AND gate unit through navigation computer; input of first magnetic wave emitter is connected to first output of synchronizing unit whose second output is connected to transmitter input; receiver output is connected to input of second magnetic wave emitter. EFFECT: improved accuracy of probe position measurement. 2 cl, 2 dwg