METHOD FOR DETERMINING THE POSITION AND / OR ORIENTATION OF A ROBOT / CARRIER EVOLVING IN A PIPING SYSTEM, ASSEMBLY AND METHOD FOR MAINTENANCE THEREOF

摘要

The present invention relates to a method for determining the position and / or the orientation of a robot or of a carrier of a mechanized system (5) operating in a pipe (10), the method comprising a step of determining at least one of a position of the robot / carrier (5) along the piping (10) or of an orientation of the robot / carrier (5) around a central axis of the piping (10) . The method comprises: - a step of fixing a mark (15) on the external surface (22) of the piping (10) at a predetermined position, the mark (15) being able to be fixed in any angular position around the piping (10); and, a step of locating the mark (15) by the robot / carrier (5), the robot / carrier (5) being inside the piping (10).