Patent ID: 9739721
Date: 2017-08-22
CPC Classifications: F16L,G01B,G01N

Claim:
1. An apparatus measuring corrosion for a robot inspection of pipe which has displacement wheels; the apparatus comprising: a linear actuator having a stepper motor, a worm driven by the stepper motor and a flange sliding on the worm; a sensor carriage connected to the flange; a laser sensor located on the sensor carriage for measuring a thickness of the pipe; a displacement sensor of linear actuator in connection with the stepping motor for sensing an angular displacement of the flange and generating a signal with information about perceived linear displacement; an angular displacement sensor connected to at least one of the displacement wheels of the robot for sensing angular movement of said wheel and generating a signal with information about perceived angular displacement; and processing means connected with the displacement sensor of the linear actuator and sensor angular displacement, wherein the processing means receives the signal with information angular displacement sensed of the linear actuator and the signal with information of the angular displacement perceived of wheels to determine coordinates (x, y, z) of movement of said robot on the surface of the pipe.