Method and apparatus for measuring curvature and curvature variations in pipelines and the like

Claim 2

Transducer means for generating and retaining data representative of the curvature of a pipe section along a path that includes a given cross-sectional diameter thereof comprising: first and second sensing wheels of known proportions supported in rolling contact with the inner walls of said pipe section at opposite ends of said given diameter; means for moving said sensing wheels through said pipe section to cause said sensing wheels to roll along said inner walls in a plane defined by said given diameter and the longitudinal axis of said pipe section; encoder means for generating data signals representative of the distance travelled by each said sensing wheel along a predetermined finite length of said pipe section; and recording means for receiving and retaining said data signals for subsequent calculation.

Claim 3

moving through said pipe section an array of sensing means havinG a predetermined relative orientation and symmetrical disposition about the longitudinal axis of said pipe section in a plane substantially perpendicular to said axis;

Claim 4

moving through said pipe section an array of sensing means havinG a predetermined relative orientation and symmetrical disposition about the longitudinal axis of said pipe section in a plane substantially perpendicular to said axis;

Claim 5

moving an array of sensing wheels of predetermined relative orientation and symmetrical disposition about the longitudinal axis of said pipe section in a transverse plane perpendicular to said axis and with said wheels in rolling contact with the inner wall of said pipe section, through said pipe section with said wheels rolling in paths substantially parallel to said axis;

Claim 6

moving an array of sensing wheels of predetermined relative orientation and symmetrical disposition about the longitudinal axis of said pipe section in a transverse plane perpendicular to said axis and with said wheels in rolling contact with the inner wall of said pipe section, through said pipe section with said wheels rolling in paths substantially parallel to said axis;

Claim 7

sensing parametric variations caused by curvature in said pipe section at each said sensing means as said array is moved over predetermined incremental distances along the length of said pipe section;

Claim 8

sensing parametric variations caused by curvature in said pipe section at each said sensing means as said array is moved over predetermined incremental distances along the length of said pipe section;

Claim 9

The invention defined in claim 1, wherein said encoder means comprises: first and second wheel encoder means for providing data signals representative of the distance travelled by said first and second sensing wheels respectively; first counter means responsive to said data signals for providing a control output signal representative of a Selected incremental distance traversed by said sensing wheels along said pipe section; and second counter means responsive to said data signals for generating first and second counts representative of the respective distances travelled along said inner wall of said pipe by said first and second sensing wheels and for transmitting said counts to said recording means; said second counter means including reset means responsive to said control signal of said first counter means to reset said second counter means at the completion of each said incremental distance.

Claim 10

sensing the actual distance travelled by each of said sensing wheels over predetermined incremental distances travelled by said sensing array along the length of said pipe section as the parameters of curvature over said incremental distances;

Claim 11

sensing the actual distance travelled by each of said sensing wheels over predetermined incremental distances travelled by said sensing array along the length of said pipe section as the parameters of curvature over said incremental distances;

Claim 12

recording said distances in correlation to each said predetermined incremental distance on a first recording medium to provide a first profile of parametric variations in pipe curvature and the positions of such variations over the length of said pipe section;

Claim 13

recording said distances in correlation to each said predetermined incremental distance on a first recording medium to provide a first profile of parametric variations in pipe curvature and the positions of such variations over the length of said pipe section;

Claim 14

recording said parametric variations in correlation to each said predetermined incremental distance on a recording medium to provide a first profile of variations in curvature and the positions of such variations over the length of said pipe section;

Claim 15

recording said parametric variations in correlation to each said predetermined incremental distance on a recording medium to provide a first profile of variations in curvature and the positions of such variations over the length of said pipe section;

Claim 16

The invention defined in claim 1, wherein said encoder means comprises: first and second wheel encoder means for providing distance output signals representing respective quantities A and B as a function of the respective distances travelled by said first and second sensing wheels; first signal encoding means for summing the quantities A and B and providing a control output signal representative of a preselected magnitude of said sum thereby functionally defining a predetermined incremented distance traversed by said sensing wheels axially of said pipe; and second signal encoding means responsive to said distance signals for generating first and second counts representative of the quantities A and B, respectively, and for transmitting same to said recorder means; said second signal encoding means including reset means responsive to said control signal to reset said second signal encoding means at the termination of each said incremental distance traversed by said sensing wheels.

Claim 17

repeating steps (1), (2) and (3), in that order, at a later time to provide a second profile of variations in curvature and the positions of such variations over the length of said pipe section;

Claim 18

repeating steps (1), (2) and (3), in that order, at a later time to provide a second profile of variations in curvature and the positions of such variations over the length of said pipe section;

Claim 19

The invention defined in claim 1, wherein said pipe section has a cross-sectional radius r; and wherein said encoder means comprises: first and second wheel encoder means providing distance output signals representing the respective quantities A and B as a function of the respective distances travelled by said first and second sensing wheels; first signal encoding means responsive to said distance signals for deriving the function r(A+B) and for providing a control output signal when said function equals a predetermined power of ten; and second signal encoding means responsive to said distance signals for deriving the function (A-B) and for transmitting same to said recorder means; said second signal encoding means including reset means responsive to said control signal to reset said second signal encoding means upon the occurrence of said control signal; whereby, upon the occurrence of said control signal the quantity (A-B) comprises a direct readout of curvature of said pipe over an incremental distance of travel of said sensing wheels axially of said pipe between the occurrence of successive control signals from said first signal encoding means.

Claim 20

converting said first profile to a second profile of the magnitude and direction of resultant curvatures and the position thereof over the length of the pipe section by converting said distance parameters to magnitude and direction of resultant curvature over each said incremental length and recording said second profile on a second recording medium;

Claim 21

converting said first profile to a second profile of the magnitude and direction of resultant curvatures and the position thereof over the length of the pipe section by converting said distance parameters to magnitude and direction of resultant curvature over each said incremental length and recording said second profile on a second recording medium;

Claim 22

The invention defined in claim 1, wherein said pipe section has a cross-sectional radius r; and wherein said encoder means comprises: first signal encoding means responsive to said distance signals for deriving the function r(A+B) Divided by N, where N is any number selected to produce a predetermined average incremental distance of travel of said sensing wheels axially of said pipe when the function r(A+B) Divided by N equals a predetermined power of ten, and said first signal encoding means providing a control output signal when said function equals said predetermined power of ten; and second signal encoding means responsive to said distance signals for deriving the function (A-B) and for transmitting same to said recording means; said second signal encoding means including reset means responsive to said control signal to reset said second signal encoding means upon the occurrence of said control signal; whereby, upon each said occurrence of said control signal the quantity (A-B) comprises a direct readout of curvature of said pipe over said predetermined average incremental distance.

Claim 23

comparing said first and second profiles in reference to a predetermined allowable deviation for each said predetermined incremental distance and detecting variations between said profiles in excess of said deviation and the position of said variations over the length of said pipe section.

Claim 24

comparing said first and second profiles in reference to a predetermined allowable deviation for each said predetermined incremental distance and detecting variations between said profiles in excess of said deviation and the position of said variations over the length of said pipe section.

Claim 25

repeating steps (1), (2), (3) and (4), in that order, at a later time to provide a fourth profile of the magnitude and direction of resultant curvatures and the position thereof over the length of said pipe section; and

Claim 26

repeating steps (1), (2), (3) and (4), in that order, at a later time to provide a fourth profile of the magnitude and direction of resultant curvatures and the position thereof over the length of said pipe section; and

Claim 27

comparing said second and fourth profiles in reference to a predetermined allowable deviation in the magnitude and direction of resultant curvatures for each said incremental distance and detecting variations between said profiles in excess of said deviation and the position of said variations over the length of said pipe section.

Claim 28

comparing said second and fourth profiles in reference to a predetermined allowable deviation in the magnitude and direction of resultant curvatures for each said incremental distance and detecting variations between said profiles in excess of said deviation and the position of said variations over the length of said pipe section.

Claim 29

Transducer means for generating and retaining data represenTative of the magnitude and direction of curvature of a pipe section at predetermined increments of axial length thereof, comprising: at least one sensing array of at least three sensing wheels symmetrically disposed about the longitudinal axis of said pipe in a cross-sectional plane perpendicular to said axis and in rolling contact with the inner wall of said pipe section; means moving said sensing array through said pipe section to cause said sensing wheels to roll along said inner wall in respective axial planes of said pipe section; encoder means for generating counts representative of the distance travelled by each said sensing wheel along a predetermined incremental length of said pipe section; and recording means for receiving and retaining said counts for subsequent calculation.

Claim 30

Transducer means for generating and retaining data represenTative of the magnitude and direction of curvature of a pipe section at predetermined increments of axial length thereof, comprising: at least one sensing array of at least three sensing wheels symmetrically disposed about the longitudinal axis of said pipe in a cross-sectional plane perpendicular to said axis and in rolling contact with the inner wall of said pipe section; means moving said sensing array through said pipe section to cause said sensing wheels to roll along said inner wall in respective axial planes of said pipe section; encoder means for generating counts representative of the distance travelled by each said sensing wheel along a predetermined incremental length of said pipe section; and recording means for receiving and retaining said counts for subsequent calculation.

Claim 31

Transducer means for generating and retaining data representative of the magnitude and direction of curvature of a pipe section at predetermined increments of axial length thereof, comprising: at least one sensing array of at least three sensing wheels symmetrically disposed about the longitudinal axis of said pipe in a cross-sectional plane perpendicular to said axis and in rolling contact with the inner wall of said pipe section; means for moving said sensing array through said pipe section to cause said sensing wheels to roll along said inner wall in respective axial planes of said pipe section; wheel encoding means for providing distance output signals representative of the distance travelled by each of said sensing wheels along said inner wall; control means responsive to said distance signals for providing a control output signal upon the occurence of each predetermined incremental distance of travel of said sensing array axially of said pipe; counting means responsive to said distance signals for generating a count for each said sensing wheels representative of the actual distance travelled thereby over the incremental axial distance of travel of said sensing array; said counting means including reset means responsive to said control signal to reset said counting means at the occurrence of each predetermined increment of travel of said sensing array; and recorder means receiving said counts from said counting means and responsive to said control signal to provide a record of curvature parameters for each predetermined incremental distance along a given length of pipe.

Claim 32

Transducer means for generating and retaining data representative of the magnitude and direction of curvature of a pipe section at predetermined increments of axial length thereof, comprising: at least one sensing array of at least three sensing wheels symmetrically disposed about the longitudinal axis of said pipe in a cross-sectional plane perpendicular to said axis and in rolling contact with the inner wall of said pipe section; means for moving said sensing array through said pipe section to cause said sensing wheels to roll along said inner wall in respective axial planes of said pipe section; wheel encoding means for providing distance output signals representative of the distance travelled by each of said sensing wheels along said inner wall; control means responsive to said distance signals for providing a control output signal upon the occurence of each predetermined incremental distance of travel of said sensing array axially of said pipe; counting means responsive to said distance signals for generating a count for each said sensing wheels representative of the actual distance travelled thereby over the incremental axial distance of travel of said sensing array; said counting means including reset means responsive to said control signal to reset said counting means at the occurrence of each predetermined increment of travel of said sensing array; and recorder means receiving said counts from said counting means and responsive to said control signal to provide a record of curvature parameters for each predetermined incremental distance along a given length of pipe.

Claim 33

The invention defined in claim 7, wherein said control means comprises averaging means for deriving the average distance of travel of all said sensing wheels to determine said predetermined incremental distance of travel of said sensing array axially of said pipe.

Claim 34

The invention defined in claim 7, wherein said recorder means comprises storage register means for receiving, accumulating and encoding said counts from said counting means; and magnetic tape recording means for recording said encoded counts in said register means; said register means being responsive to said control signal to transmit said accumulated and encoded counts to said magnetic tape recording means at the conclusion of each predetermined increment of travel of said sensing array to provide in said magnetic tape recording means a recorded profile of curvature parameters for each incremental distance traversed along the axis of said pipe section by said sensing array.

Claim 35

Transducer means for generating and retaining data representative of the magnitude and direction of curvature of a pipe section at predetermined increments of axial length thereof, comprising: at least one sensing array of two orthogonally disposed pairs of sensing wheels symmetrically disposed about the longitudinal axis of said pipe in a cross-sectional plane perpendicular to said axis and in rolling contact with the inner wall of said pipe section; means for moving said sensing array through said pipe section to cause said sensing wheels to roll along said inner wall in respective axial Planes of said pipe section; wheel encoding means providing distance output signals representative of the distance travelled by each of said sensing wheels along said inner wall; control means responsive to said distance signals for providing a control output signal upon the occurrence of each predetermined incremental distance of travel of said sensing array axially of said pipe; counting means responsive to said distance signals for generating a count for each said sensing wheel representative of the actual distance travelled thereby over the incremental axial distance of travel of said sensing array; said counting means including reset means responsive to said control signal to reset said counting means at the occurrence of each predetermined increment of travel of said sensing array; and recorder means receiving said counts from said counting means and responsive to said control signal for recording the magnitude of said counts upon each occurrence of a said control signal to provide a record of curvature parameters for each predetermined incremental distance along a given length of pipe.

Claim 36

Transducer means for generating and retaining data representative of the magnitude and direction of curvature of a pipe section at predetermined increments of axial length thereof, comprising: at least one sensing array of two orthogonally disposed pairs of sensing wheels symmetrically disposed about the longitudinal axis of said pipe in a cross-sectional plane perpendicular to said axis and in rolling contact with the inner wall of said pipe section; means for moving said sensing array through said pipe section to cause said sensing wheels to roll along said inner wall in respective axial Planes of said pipe section; wheel encoding means providing distance output signals representative of the distance travelled by each of said sensing wheels along said inner wall; control means responsive to said distance signals for providing a control output signal upon the occurrence of each predetermined incremental distance of travel of said sensing array axially of said pipe; counting means responsive to said distance signals for generating a count for each said sensing wheel representative of the actual distance travelled thereby over the incremental axial distance of travel of said sensing array; said counting means including reset means responsive to said control signal to reset said counting means at the occurrence of each predetermined increment of travel of said sensing array; and recorder means receiving said counts from said counting means and responsive to said control signal for recording the magnitude of said counts upon each occurrence of a said control signal to provide a record of curvature parameters for each predetermined incremental distance along a given length of pipe.

Claim 37

The invention defined in claim 10, wherein said recorder means comprises storage register means for receiving, accumulating and encoding said counts from said counting means; and magnetic tape recording means for recording said encoded counts in said register means; said register means being responsive to said control signal to transmit said accumulated and encoded counts to said magnetic tape recording means at the conclusion of each predetermined increment of travel of said sensing array to provide in said magnetic tape recording means a recorded profile of curvature parameters for each incremental distance traversed along the axis of said pipe section by said sensing array.

Claim 38

Transducer means for generating and retaining data representative of the magnitude and direction of curvature of a pipe section at predetermined increments of axial length thereof, comprising: at least one sensing array of two orthogonally disposed pairs of sensing wheels symmetrically disposed about the longitudinal axis of said pipe in a cross-sectional plane perpendicular to said axis and in rolling contact with the inner wall of said pipe section; means for moving said sensing array through said pipe section to cause said sensing wheels to roll along said inner wall in respective axial planes of said pipe section; first, second, third and fourth wheel encoding means providing distance output signals representative of the quantities A, B, C and D as a function of the respective distances travelled by the first, second, third and fourth sensing wheels along said inner wall, said first and second wheels comprising the first and said third and fourth wheels comprising the second of said orthogonally disposed pairs of wheels; control means for summing the quantities A, B, C and D and providing a control output signal representative of a predetermined magnitude of said sum and thereby functionally defining said predetermined axial increment traversed by said sensing array; counting means for providing encoded counts representative of said quantities A, B, C and D; said counting means including reset means responsive to said control signal to reset said counting means at the occurrence of each predetermined axial increment; and recorder means receiving said counts from said counting means and responsive to said control signal for recording the magnitude of said counts to provide a record of the quantities A, B, C and D as the parameters of magnitude and direction of curvature of said pipe section for each predetermined axial increment along a given length of said pipe section.

Claim 39

Transducer means for generating and retaining data representative of the magnitude and direction of curvature of a pipe section at predetermined increments of axial length thereof, comprising: at least one sensing array of two orthogonally disposed pairs of sensing wheels symmetrically disposed about the longitudinal axis of said pipe in a cross-sectional plane perpendicular to said axis and in rolling contact with the inner wall of said pipe section; means for moving said sensing array through said pipe section to cause said sensing wheels to roll along said inner wall in respective axial planes of said pipe section; first, second, third and fourth wheel encoding means providing distance output signals representative of the quantities A, B, C and D as a function of the respective distances travelled by the first, second, third and fourth sensing wheels along said inner wall, said first and second wheels comprising the first and said third and fourth wheels comprising the second of said orthogonally disposed pairs of wheels; control means for summing the quantities A, B, C and D and providing a control output signal representative of a predetermined magnitude of said sum and thereby functionally defining said predetermined axial increment traversed by said sensing array; counting means for providing encoded counts representative of said quantities A, B, C and D; said counting means including reset means responsive to said control signal to reset said counting means at the occurrence of each predetermined axial increment; and recorder means receiving said counts from said counting means and responsive to said control signal for recording the magnitude of said counts to provide a record of the quantities A, B, C and D as the parameters of magnitude and direction of curvature of said pipe section for each predetermined axial increment along a given length of said pipe section.

Claim 40

The invention defined in claim 12, wherein said recorder means comprises storage register means for receiving, accumulating and encoding said counts from said counting means; and magnetic tape recording means for recording said encoded counts iN said register means; said register means being responsive to said control signal to transmit said accumulated and encoded counts to said magnetic tape recording means at the conclusion of each predetermined increment of travel of said sensing array to provide in said magnetic tape recording means a recorded profile of curvature parameters for each incremental distance traversed along the axis of said pipe section by said sensing array.

Claim 41

Transducer means for generating and retaining data representative of the magnitude and direction of curvature of a pipe section at predetermined increments of axial length thereof, comprising: at least one sensing array of two orthogonally disposed pairs of sensing wheels symmetrically disposed about the longitudinal axis of said pipe in a cross-sectional plane perpendicular to said axis and in rolling contact with the inner wall of said pipe section; means for moving said sensing array through said pipe section to cause said sensing wheels to roll along said inner wall in respective axial planes of said pipe section; first, second, third and fourth wheel encoding means for providing distance output signals representative of the quantities A, B, C and D as a function of the respective distances travelled by the first, second, third and fourth sensing wheels along said inner wall, said first and second wheels comprising the first pair and said third and fourth wheels comprising the second pair of said orthogonally disposed pairs of wheels; control means for deriving the average of the quantities A, B, C and D as a determination of axial distance traversed by said sensing array and providing a control output signal when said average equals said predetermined axial increment; counting means for providing encoded counts representative of said quantities A, B, C and D; said counting means including reset means responsive to said control signal to reset said counting means at the occurrence of each predetermined axial increment; and recorder means receiving said counts from said counting means and responsive to said control signal for recording the magnitude of said counts to provide a record of the quantities A, B, C and D as the parameters of magnitude and direction of curvature of said pipe section for each predetermined axial increment along a given length of said pipe section.

Claim 42

Transducer means for generating and retaining data representative of the magnitude and direction of curvature of a pipe section at predetermined increments of axial length thereof, comprising: at least one sensing array of two orthogonally disposed pairs of sensing wheels symmetrically disposed about the longitudinal axis of said pipe in a cross-sectional plane perpendicular to said axis and in rolling contact with the inner wall of said pipe section; means for moving said sensing array through said pipe section to cause said sensing wheels to roll along said inner wall in respective axial planes of said pipe section; first, second, third and fourth wheel encoding means for providing distance output signals representative of the quantities A, B, C and D as a function of the respective distances travelled by the first, second, third and fourth sensing wheels along said inner wall, said first and second wheels comprising the first pair and said third and fourth wheels comprising the second pair of said orthogonally disposed pairs of wheels; control means for deriving the average of the quantities A, B, C and D as a determination of axial distance traversed by said sensing array and providing a control output signal when said average equals said predetermined axial increment; counting means for providing encoded counts representative of said quantities A, B, C and D; said counting means including reset means responsive to said control signal to reset said counting means at the occurrence of each predetermined axial increment; and recorder means receiving said counts from said counting means and responsive to said control signal for recording the magnitude of said counts to provide a record of the quantities A, B, C and D as the parameters of magnitude and direction of curvature of said pipe section for each predetermined axial increment along a given length of said pipe section.

Claim 43

The invention defined in claim 14, wherein said recorder means comprises storage register means for receiving, accumulating and encoding said counts from said counting means; and magnetic tape recording means for recording said encoded counts in said register means; said register means being responsive to said control signal to transmit said accumulated and encoded counts to said magnetic tape recording means at the conclusion of each predetermined increment of travel of said sensing array to provide in said magnetic tape recording means a recorded profile of curvature parameters for each incremental distance traversed along the axis of said pipe section by said sensing array.

Claim 44

Transducer means for generating and retaining data representative of the magnitude and direction of curvature of a pipe section at predetermined increments of axial length thereof, comprising: at least one sensing array of two orthogonally disposed pairs of sensing wheels symmetrically disposed about the longitudinal axis of said pipe in a cross-sectional plane perpendicular to said axis and adapted to be placed in rolling contact with the inner wall of said pipe section; means for moving said sensing array through said pipe section to cause said sensing wheels to roll along said inner wall in respective axial planes of said pipe section; first, second, third and fourth wheel encoding means for providing distance output signals representative of the quantities A, B, C and D as a function of the respective distances travelled by the first, second, third and fourth sensing wheels along said inner wall, said first and second wheels comprising the first pair and said third and fourth wheels comprising the second pair of said orthogonally disposed pairs of wheels; said pipe section having a cross-sectional radius r; control means responsive to said distance signals for deriving the function r(A+B+C+D) and for providing a control output signal when said function equals a predetermined power of ten; counting means responsive to said distance signals for deriving the functions (A-B) and (C-D); said counting means including reset means responsive to said control signal to reset said counting means upon the occurrence of said control signal whereupon the functions (A-B) and (C-D), respectively, comprise direct readouts of the magnitude of first and second orthogonally disposed components of curvature in the plane of said sensing array over a fixed axial increment achieved between the occurrence of successive control signals; and recorder means for receiving said functions (A-B) and (C-D) from said counting means and responsive to said control signal for recording the magnitudes of said functions (A-B) and (C-D) to provide a record of the magnitudes of the orthogonal components of curvature of said pipe section for each predetermined axial increment along a given length of said pipe section.

Claim 45

Transducer means for generating and retaining data representative of the magnitude and direction of curvature of a pipe section at predetermined increments of axial length thereof, comprising: at least one sensing array of two orthogonally disposed pairs of sensing wheels symmetrically disposed about the longitudinal axis of said pipe in a cross-sectional plane perpendicular to said axis and adapted to be placed in rolling contact with the inner wall of said pipe section; means for moving said sensing array through said pipe section to cause said sensing wheels to roll along said inner wall in respective axial planes of said pipe section; first, second, third and fourth wheel encoding means for providing distance output signals representative of the quantities A, B, C and D as a function of the respective distances travelled by the first, second, third and fourth sensing wheels along said inner wall, said first and second wheels comprising the first pair and said third and fourth wheels comprising the second pair of said orthogonally disposed pairs of wheels; said pipe section having a cross-sectional radius r; control means responsive to said distance signals for deriving the function r(A+B+C+D) and for providing a control output signal when said function equals a predetermined power of ten; counting means responsive to said distance signals for deriving the functions (A-B) and (C-D); said counting means including reset means responsive to said control signal to reset said counting means upon the occurrence of said control signal whereupon the functions (A-B) and (C-D), respectively, comprise direct readouts of the magnitude of first and second orthogonally disposed components of curvature in the plane of said sensing array over a fixed axial increment achieved between the occurrence of successive control signals; and recorder means for receiving said functions (A-B) and (C-D) from said counting means and responsive to said control signal for recording the magnitudes of said functions (A-B) and (C-D) to provide a record of the magnitudes of the orthogonal components of curvature of said pipe section for each predetermined axial increment along a given length of said pipe section.

Claim 46

The invention defined in claim 16, wherein said recorder means comprises storage register means for receiving, accumulating and encoding said counts from said counting means; and magnetic tape recording means for recording said encoded counts in said register means; said register means being responsive to said control signal to transmit said accumulated and encoded counts to said magnetic tape recording means at the conclusion of each predetermined increment of travel of said sensing array to provide in said magnetic tape recording means a recorded profile of curvature parameters for each incremental distance traversed along the axis of said pipe section by said sensing array.

Claim 47

Transducer means for generating and retaining data representative of the magnitude and direction of curvature of a pipe section at predetermined increments of axial length thereof, comprising: at least one sensing array of two orthogonally disposed pairs of sensing wheels symmetrically disposed about the longitudinal axis of said pipe in a cross-sectional plane perpendicular to said axis and adapted to engage the inner wall of said pipe section in rolling contact; means for moving said sensing array through said pipe section to cause said sensing wheels to roll along said inner wall in respective axial planes of said pipe section; first, second, third and fourth wheel encoding means for providing distance output signals representative of the quantities A, B, C and D as a function of the respective distances travelled by the first, second, third and fourth sensing wheels along said inner wall, said first and second wheels comprising the first pair and said third and fourth wheels comprising the second pair of said orthogonally disposed pairs of wheels; said pipe section having a cross-sectional radius r; control means responsive to said distance signals for deriving the function r(A+B+C+D) Divided by N where N is any number selected to constitute a predetermined axial increment of travel of said array when the function r(A+B+C+D) Divided by N is equal to a predetermined power of ten and said control means providing a control output signal when said function equals said predetermined power of ten; counting means responsive to said distance signals for deriving the functions (A-B) and (C-D); said counting means including reset means responsive to said control signal to reset said counting means upon the occurrence of said control signal whereupon the functions (A-B) and (C-D), respectively, comprise direct readouts of the magnitude of first and second orthogonally disposed components of curvature in the plane of said sensing array over said axial increment as determined by the value of N; and recorder means receiving said functions (A-B) and (C-D) from said counting means and responsive to said control signal for recording the magnitude of said functions (A-B) and (C-D) to provide a record of the magnitude of the orthogonal components of curvature of said pipe section for each predetermined axial increment along a given length of said pipe section.

Claim 48

Transducer means for generating and retaining data representative of the magnitude and direction of curvature of a pipe section at predetermined increments of axial length thereof, comprising: at least one sensing array of two orthogonally disposed pairs of sensing wheels symmetrically disposed about the longitudinal axis of said pipe in a cross-sectional plane perpendicular to said axis and adapted to engage the inner wall of said pipe section in rolling contact; means for moving said sensing array through said pipe section to cause said sensing wheels to roll along said inner wall in respective axial planes of said pipe section; first, second, third and fourth wheel encoding means for providing distance output signals representative of the quantities A, B, C and D as a function of the respective distances travelled by the first, second, third and fourth sensing wheels along said inner wall, said first and second wheels comprising the first pair and said third and fourth wheels comprising the second pair of said orthogonally disposed pairs of wheels; said pipe section having a cross-sectional radius r; control means responsive to said distance signals for deriving the function r(A+B+C+D) Divided by N where N is any number selected to constitute a predetermined axial increment of travel of said array when the function r(A+B+C+D) Divided by N is equal to a predetermined power of ten and said control means providing a control output signal when said function equals said predetermined power of ten; counting means responsive to said distance signals for deriving the functions (A-B) and (C-D); said counting means including reset means responsive to said control signal to reset said counting means upon the occurrence of said control signal whereupon the functions (A-B) and (C-D), respectively, comprise direct readouts of the magnitude of first and second orthogonally disposed components of curvature in the plane of said sensing array over said axial increment as determined by the value of N; and recorder means receiving said functions (A-B) and (C-D) from said counting means and responsive to said control signal for recording the magnitude of said functions (A-B) and (C-D) to provide a record of the magnitude of the orthogonal components of curvature of said pipe section for each predetermined axial increment along a given length of said pipe section.

Claim 49

The invention defined in claim 18, wherein said recorder means comprises storage register means for receiving, accumulating and encoding said counts from said counting means; and magnetic tape recording means for recording said encoded counts in said register means; said register means being responsive to said control signal to transmit said accumulated and encoded counts to said magnetic tape recording means at the conclusion of each predetermined increment of travel of said sensing array to provide in said magnetic tape recording means a recorded profile of curvature parameters for each incremental distance traversed along the axis of said pipe section by said sensing array.

Claim 50

An instrumented pig for measuring and recording a profile of variation in curvature over a length of pipeline traversed by said pig, comprising: tractor means for causing said pig to travel through said length of pipeline; transducer means coupled to said tractor means and including a housing, at least one sensing array comprising a plurality of sensing wheels mounted on said housing in symmetrical relationship to the longitudinal axis of a said pipeline, said sensing wheels being biased to engage the inner wall of said pipeline in rolling contact therewith for traversing said inner wall in respective paths substantially parallel to said axis and maintaining said transducer means substantially coaxially with said pipeline; and instrument means coupled with said transducer means and including an instrument housing and at least one symmetrical array of tracking wheels on said instrument housing, said tracking wheels being biased to engage the inner wall of said pipeline in rolling contact therewith to traverse the said pipeline in substantially parallel paths with said axis and maintain said instrument means substantially coaxially with said pipeline; said transducer means further including encoder means generating data as a function of the distance travelled along the said inner wall of said pipeline by each of said sensing wheels and along said axis of said pipeline by said sensing array; and said instrument means further including recording means interconnected with said encoder means for receiving said data from said encoder means in correlation to the position of said sensing array along said length of pipeline to provide a record of curvature parameters and the position thereof along said length of pipeline traversed by said pig.

Claim 51

An instrumented pig for measuring and recording a profile of variation in curvature over a length of pipeline traversed by said pig, comprising: tractor means for causing said pig to travel through said length of pipeline; transducer means coupled to said tractor means and including a housing, at least one sensing array comprising a plurality of sensing wheels mounted on said housing in symmetrical relationship to the longitudinal axis of a said pipeline, said sensing wheels being biased to engage the inner wall of said pipeline in rolling contact therewith for traversing said inner wall in respective paths substantially parallel to said axis and maintaining said transducer means substantially coaxially with said pipeline; and instrument means coupled with said transducer means and including an instrument housing and at least one symmetrical array of tracking wheels on said instrument housing, said tracking wheels being biased to engage the inner wall of said pipeline in rolling contact therewith to traverse the said pipeline in substantially parallel paths with said axis and maintain said instrument means substantially coaxially with said pipeline; said transducer means further including encoder means generating data as a function of the distance travelled along the said inner wall of said pipeline by each of said sensing wheels and along said axis of said pipeline by said sensing array; and said instrument means further including recording means interconnected with said encoder means for receiving said data from said encoder means in correlation to the position of said sensing array along said length of pipeline to provide a record of curvature parameters and the position thereof along said length of pipeline traversed by said pig.

Claim 52

The invention defined in claim 20, wherein said transducer means includes a plurality of said sensing arrays axially spaced on said housing in predetermined relative orientation.

Claim 53

The invention defined in claim 20, wherein said instrument means includes a plurality of said tracking arrays axially spaced on said instrument housing.

Claim 54

The invention defined in claim 20, wherein said transducer means includes a plurality of said sensing arrays axially spaced on said housing in predetermined relative orientation; and wherein said instrument means includes a plurality of said tracking arrays axially spaced on said instrument housing.

Claim 55

An instrumental pig for measuring and recording a profile of variation in curvature over a length of pipeline traversed by said pig, comprising: tractor means for causing said pig to traverse said length of pipeline; transducer means coupled to said tractor means and including a housing, at least one sensing array comprising first, second and third sensing wheelS mounted on said housing at symmetrical intervals about the longitudinal axis thereof, means biasing said sensing wheels to engage the inner wall of said pipeline in rolling contact therewith for traversing said pipeline in respective paths substantially parallel to the longitudinal axis of said pipeline and maintaining said housing substantially coaxially with said pipeline, said sensing wheels being disposed in a common transverse plane substantially perpendicular with said axis of said pipeline; and instrument means coupled with said transducer means and including an instrument housing and at least one symmetrical array of tracking wheels on said instrument housing, said tracking wheels being biased to engage the inner wall of said pipeline in rolling contact therewith to traverse said pipeline in substantially parallel paths with said axis and maintain said instrument means substantially coaxially within said pipeline; said transducer means further including encoder means for generating data as a function of the distance travelled along the said inner wall of said pipeline by each of said sensing wheels; and said instrument means further including recording means interconnected with said encoder means for receiving said data from said encoder means in correlation to the position of said sensing array along said length of pipeline to provide a record of curvature parameters and the position thereof along said length of pipeline traversed by said pig.

Claim 56

An instrumental pig for measuring and recording a profile of variation in curvature over a length of pipeline traversed by said pig, comprising: tractor means for causing said pig to traverse said length of pipeline; transducer means coupled to said tractor means and including a housing, at least one sensing array comprising first, second and third sensing wheelS mounted on said housing at symmetrical intervals about the longitudinal axis thereof, means biasing said sensing wheels to engage the inner wall of said pipeline in rolling contact therewith for traversing said pipeline in respective paths substantially parallel to the longitudinal axis of said pipeline and maintaining said housing substantially coaxially with said pipeline, said sensing wheels being disposed in a common transverse plane substantially perpendicular with said axis of said pipeline; and instrument means coupled with said transducer means and including an instrument housing and at least one symmetrical array of tracking wheels on said instrument housing, said tracking wheels being biased to engage the inner wall of said pipeline in rolling contact therewith to traverse said pipeline in substantially parallel paths with said axis and maintain said instrument means substantially coaxially within said pipeline; said transducer means further including encoder means for generating data as a function of the distance travelled along the said inner wall of said pipeline by each of said sensing wheels; and said instrument means further including recording means interconnected with said encoder means for receiving said data from said encoder means in correlation to the position of said sensing array along said length of pipeline to provide a record of curvature parameters and the position thereof along said length of pipeline traversed by said pig.

Claim 57

The invention defined in claim 24, wherein said transducer means includes a plurality of said sensing arrays axially spaced on said housing in predetermined relative orientation.

Claim 58

The invention defined in claim 24, wherein said instrument means includes a plurality of said tracking arrays axially spaced on said instrument housing.

Claim 59

The invention defined in claim 24, wherein said transducer means includes a plurality of said sensing arrays axially spaced on said housing in predetermined relative orientation; and wherein said instrument means includes a plurality of said tracking arrays axially spaced on said instrument housing.

Claim 60

An instrumented pig for measuring and recording a profile of variation in curvature over a length of a pipeline traversed by said pig, comprising: tractor means for causing said pig to traverse said length of pipeline; transducer means coupled to said tractor means and including a housing, at least one sensing array comprising first and second orthogonally disposed pairs of diametrically opposed sensing wheels mounted on said housing symmetrical with the longitudinal axis thereof, means biasing said sensing wheels to engage the inner wall of said pipeline in rolling contact therewith for traversing said pipeline in respective paths substantially parallel to the longitudinal axis of said pipeline and maintaining said housing substantially coaxial with said pipeline, said sensing wheels being disposed in a common transverse plane substantially perpendicular with said axis of said pipeline; instrument means coupled with said transducer means and including an instrument housing and at least one symmetrical array of tracking wheels on said instrument housing, said tracking wheels being biased to engage the inner wall of said pipeline in rolling contact therewith to traverse said pipeline in substantially parallel paths with said axis and maintain said instrument means substantially coaxially within said pipeline; said transducer means further including encoder means generating data as a function of the distance travelled along the said inner wall of said pipeline by each of said sensing wheels and along said axis of said pipeline by said sensing array; and said instrument means further including recording means interconnected with said encoder means for receiving said data from said encoder means in correlation to the position of said sensing array along said length of pipeline to provide a record of curvature parameters and The position thereof along said length of pipeline by said pig.

Claim 61

An instrumented pig for measuring and recording a profile of variation in curvature over a length of a pipeline traversed by said pig, comprising: tractor means for causing said pig to traverse said length of pipeline; transducer means coupled to said tractor means and including a housing, at least one sensing array comprising first and second orthogonally disposed pairs of diametrically opposed sensing wheels mounted on said housing symmetrical with the longitudinal axis thereof, means biasing said sensing wheels to engage the inner wall of said pipeline in rolling contact therewith for traversing said pipeline in respective paths substantially parallel to the longitudinal axis of said pipeline and maintaining said housing substantially coaxial with said pipeline, said sensing wheels being disposed in a common transverse plane substantially perpendicular with said axis of said pipeline; instrument means coupled with said transducer means and including an instrument housing and at least one symmetrical array of tracking wheels on said instrument housing, said tracking wheels being biased to engage the inner wall of said pipeline in rolling contact therewith to traverse said pipeline in substantially parallel paths with said axis and maintain said instrument means substantially coaxially within said pipeline; said transducer means further including encoder means generating data as a function of the distance travelled along the said inner wall of said pipeline by each of said sensing wheels and along said axis of said pipeline by said sensing array; and said instrument means further including recording means interconnected with said encoder means for receiving said data from said encoder means in correlation to the position of said sensing array along said length of pipeline to provide a record of curvature parameters and The position thereof along said length of pipeline by said pig.

Claim 62

The invention defined in claim 28, wherein said transducer means includes a plurality of said sensing arrays axially spaced on said housing in predetermined relative orientation.

Claim 63

The invention defined in claim 28, wherein said instrument means includes a plurality of said tracking arrays axially spaced on said instrument housing.

Claim 64

The invention defined in claim 28, wherein said transducer means includes a plurality of said sensing arrays axially spaced on said housing in predetermined relative orientation; and wherein said instrument means includes a plurality of said tracking arrays axially spaced on said instrument housing.

Claim 65

An instrument pig for measuring and recording a profile of variation in curvature over a length of pipeline traversed by said pig, comprising: tractor means for causing said pig to traverse said length of pipeline; transducer means coupled to said tractor means and including a housing, at least one sensing array comprising a plurality of sensing wheels mounted on said housing in symmetrical relationship to the longitudinal axis of a said pipeline, said sensing wheel being biased to engage the inner wall of a said pipeline in rolling contact therewith for traversing said inner wall in respective paths substantially parallel to said axis and maintaining said transducer means substantially coaxially within said pipeline; and instrument means coupled with said transducer means and including an instrument housing and at least one symmetrical array of tracking wheels on said instrument housing, said tracking wheels being biased to engage the inner wall of said pipeline in rolling contact therewith to traverse said pipeline in substantially parallel paths with said axis and maintain said instrument means substantially coaxially within said pipeline; said transducer means further including first encoder means for generating data as a function of the distance travelled along said inner wall of said pipeline by each of said sensing wheels and along said axis of said pipeline by said sensing array, and second encoder means for sensing the direction of gravity with reference to the orientation of said sensing array and for generating data as a function of that orientation; and said instrument means further including recording means interconnected with said first and second encoder means for receiving data from said encoder means in correlation to the position of said sensing array along said length of pipeline to provide a record of curvature parameters and gravitational reference parameters of said array in said pipeline and the position of said sensing wheels along said length of pipeline.

Claim 66

An instrument pig for measuring and recording a profile of variation in curvature over a length of pipeline traversed by said pig, comprising: tractor means for causing said pig to traverse said length of pipeline; transducer means coupled to said tractor means and including a housing, at least one sensing array comprising a plurality of sensing wheels mounted on said housing in symmetrical relationship to the longitudinal axis of a said pipeline, said sensing wheel being biased to engage the inner wall of a said pipeline in rolling contact therewith for traversing said inner wall in respective paths substantially parallel to said axis and maintaining said transducer means substantially coaxially within said pipeline; and instrument means coupled with said transducer means and including an instrument housing and at least one symmetrical array of tracking wheels on said instrument housing, said tracking wheels being biased to engage the inner wall of said pipeline in rolling contact therewith to traverse said pipeline in substantially parallel paths with said axis and maintain said instrument means substantially coaxially within said pipeline; said transducer means further including first encoder means for generating data as a function of the distance travelled along said inner wall of said pipeline by each of said sensing wheels and along said axis of said pipeline by said sensing array, and second encoder means for sensing the direction of gravity with reference to the orientation of said sensing array and for generating data as a function of that orientation; and said instrument means further including recording means interconnected with said first and second encoder means for receiving data from said encoder means in correlation to the position of said sensing array along said length of pipeline to provide a record of curvature parameters and gravitational reference parameters of said array in said pipeline and the position of said sensing wheels along said length of pipeline.

Claim 67

The invention defined in claim 32, wherein said transducer means includes a plurality of said sensing arrays axially spaced on said housing in predetermined relative orientation; and wherein said second encoder means senses the direction of gravity with reference to the orientation of each said sensing array and generates data as a function of said direction and relative orientation.

Claim 68

The invention defined in claim 32, wherein said instrument means includes a plurality of said tracking arrays axially spaced on said instrument housing.

Claim 69

The invention defined in claim 32, wherein said transducer means includes a plurality of said sensing arrays axially spaced on said housing in predetermined relative orientation; wherein said second encoder means senses the direction of gravity with reference to the orientation of each said sensing array and generates data as a function of said direction and relative orientation; and wherein said instrument means includes a plurality of said tracking arrays axially spaced on said instrument housing.

Claim 70

An instrument pig for measuring and recording a profile of variation in curvature over a length of a pipeline traversed by said pig; comprising: tractor means for causing sAid pig to traverse said length of pipeline; transducer means coupled to said tractor means and including a housing, at least one sensing array comprising first, second and third sensing wheels mounted on said housing at symmetrical intervals about the longitudinal axis thereof, means biasing said sensing wheels to engage the inner wall of said pipeline in rolling contact therewith for traversing said pipeline in respective paths substantially parallel to the longitudinal axis of said pipeline and maintaining said housing substantially coaxially with said pipeline, said sensing wheels being disposed in a common transverse plane substantially perpendicular with said axis of said pipeline; instrument means coupled with said transducer means and including an instrument housing and at least one symmetrical array of tracking wheels on said instrument housing, said tracking wheels being biased to engage the inner wall of said pipeline in rolling contact therewith to traverse said pipeline in substantially parallel paths with said axis and maintain said instrument means substantially coaxially within said pipeline; said transducer means further including first encoder means generating data as a function of the distance travelled along said inner wall of said pipeline by each of said sensing wheels and along said axis of said pipeline by said sensing array, and second encoder means for sensing the direction of gravity with reference to the orientation of said sensing array and generating data as a function of that orientation; and said instrument means further including recording means, interconnected with said first and second encoder means for receiving data from said encoder means in correlation to the position of said sensing array along said length of pipeline to provide a record of curvature parameters and gravitational reference parameters of said array in said pipeline and the position of said sensing wheels along said length of pipeline.

Claim 71

An instrument pig for measuring and recording a profile of variation in curvature over a length of a pipeline traversed by said pig; comprising: tractor means for causing sAid pig to traverse said length of pipeline; transducer means coupled to said tractor means and including a housing, at least one sensing array comprising first, second and third sensing wheels mounted on said housing at symmetrical intervals about the longitudinal axis thereof, means biasing said sensing wheels to engage the inner wall of said pipeline in rolling contact therewith for traversing said pipeline in respective paths substantially parallel to the longitudinal axis of said pipeline and maintaining said housing substantially coaxially with said pipeline, said sensing wheels being disposed in a common transverse plane substantially perpendicular with said axis of said pipeline; instrument means coupled with said transducer means and including an instrument housing and at least one symmetrical array of tracking wheels on said instrument housing, said tracking wheels being biased to engage the inner wall of said pipeline in rolling contact therewith to traverse said pipeline in substantially parallel paths with said axis and maintain said instrument means substantially coaxially within said pipeline; said transducer means further including first encoder means generating data as a function of the distance travelled along said inner wall of said pipeline by each of said sensing wheels and along said axis of said pipeline by said sensing array, and second encoder means for sensing the direction of gravity with reference to the orientation of said sensing array and generating data as a function of that orientation; and said instrument means further including recording means, interconnected with said first and second encoder means for receiving data from said encoder means in correlation to the position of said sensing array along said length of pipeline to provide a record of curvature parameters and gravitational reference parameters of said array in said pipeline and the position of said sensing wheels along said length of pipeline.

Claim 72

The invention defined in claim 36, wherein said transducer means includes a plurality of said sensing arrays axially spaced on said housing in predetermined relative orientation; and wherein said second encoder means senses the direction of gravity with reference to the orientation of each said sensing array and generates data as a function of said direction and relative orientation.

Claim 73

The invention defined in claim 36, wherein said instrument means includes a plurality of said tracking arrays axially spaced on said instrument housing.

Claim 74

The invention defined in claim 36, wherein said transducer means includes a plurality of said sensing arrays axially spaced on said housing in predetermined relative orientation; wherein said second encoder means senses the direction of gravity with reference to the orientation of each said sensing array and generates data as a function of said direction and relative orientation; and wherein said instrument means includes a plurality of said tracking arrays axially spaced on said instrument housing.

Claim 75

An instrumented pig for measuring and recording a profile of variation in curvature over a length of a pipeline traversed by said pig, comprising: tractor means for causing said pig to traverse said length of pipeline; transducer means coupled to said tractor means and including a housing, at least one sensing array comprising first and second orthogonally disposed pairs of diametrically opposed sensing wheels mounted on said housing symmetrical with the longitudinal axis thereof, means biasing said sensing wheels to engage the inner wall of said pipeline in rolling contact therewith for traversing said pipeline in respective paths substantially parallel to the longitudinal axis of said pipeline and maintaining said housing substantially coaxial with said pipeline, said sensing wheels being disposed in a common transverse plane substantially perpendicular with said axis of said pipeline; instrument means coupled with said transducer means And including an instrument housing and at least one symmetrical array of tracking wheels on said instrument housing, said tracking wheels being biased to engage the inner wall of said pipeline in rolling contact therewith to traverse said pipeline in substantially parallel paths with said axis and maintain said instrument means substantially coaxially within said pipeline; said transducer means further including first encoder means for generating data as a function of the distance travelled along the said inner wall of said pipeline by each of said sensing wheels and along said axis of said pipeline by said sensing array, and second encoder means for sensing the direction of gravity with reference to the orientation said sensing array and for generating data as a function of that orientation; and said instrument means further including recording means interconnected with said first and second encoder means for receiving data therefrom in correlation with the position of said sensing array along said length of pipeline to provide a record of curvature parameters and gravitational reference parameters of said array in said pipeline and the position of said sensing wheels along said length of pipeline.

Claim 76

An instrumented pig for measuring and recording a profile of variation in curvature over a length of a pipeline traversed by said pig, comprising: tractor means for causing said pig to traverse said length of pipeline; transducer means coupled to said tractor means and including a housing, at least one sensing array comprising first and second orthogonally disposed pairs of diametrically opposed sensing wheels mounted on said housing symmetrical with the longitudinal axis thereof, means biasing said sensing wheels to engage the inner wall of said pipeline in rolling contact therewith for traversing said pipeline in respective paths substantially parallel to the longitudinal axis of said pipeline and maintaining said housing substantially coaxial with said pipeline, said sensing wheels being disposed in a common transverse plane substantially perpendicular with said axis of said pipeline; instrument means coupled with said transducer means And including an instrument housing and at least one symmetrical array of tracking wheels on said instrument housing, said tracking wheels being biased to engage the inner wall of said pipeline in rolling contact therewith to traverse said pipeline in substantially parallel paths with said axis and maintain said instrument means substantially coaxially within said pipeline; said transducer means further including first encoder means for generating data as a function of the distance travelled along the said inner wall of said pipeline by each of said sensing wheels and along said axis of said pipeline by said sensing array, and second encoder means for sensing the direction of gravity with reference to the orientation said sensing array and for generating data as a function of that orientation; and said instrument means further including recording means interconnected with said first and second encoder means for receiving data therefrom in correlation with the position of said sensing array along said length of pipeline to provide a record of curvature parameters and gravitational reference parameters of said array in said pipeline and the position of said sensing wheels along said length of pipeline.

Claim 77

The invention defined in claim 40, wherein said transducer means includes a plurality of said sensing arrays axially spaced on said housing in predetermined relative orientation; and wherein said second encoder means senses the direction of gravity with reference to the orientation of each said sensing array and generates data as a function of said direction and relative orientation.

Claim 78

The invention defined in claim 40, wherein said instrument means includes a plurality of said tracking arrays axially spaced on said instrument housing.

Claim 79

The invention defined in claim 40, wherein said transducer means includes a plurality of said sensing arrays axially spaced on said housing in predetermined relative orientation; wherein said second encoder means senses the direction of gravity with reference to the orientation of each said sensing array and generates data as a function of said direction and relative orientation; and wherein said instrument means includes a plurality of said tracking arrays axially spaced on said instrument housing.

Claim 80

Transducer means for generating and retaining data representative of the magnitude and direction of curvature of a pipe section at predetermined increments of axial length thereof, comprising: at least one sensing array of at least three sensing wheels symmetrically disposed about the longitudinal axis of said pipe in a cross-sectional plane perpendicular to said axis in rolling contact with the inner wall of said pipe section; means for moving said sensing array through said pipe section to cause said sensing wheels to roll along said inner wall in respective axial planes of said pipe section; encoder means for generating counts representative of the distance travelled by each said sensing wheel along a predetermined incremental length of said pipe section; gravitational reference means for sensing the relative orientation of said sensing array with reference to the direction of gravity in the plane of said sensing wheels and for generating encoded data as a function of said relative orientation; and recorder means for receiving and retaining said counts and said encoded gravitational reference data for subsequent calculation.

Claim 81

Transducer means for generating and retaining data representative of the magnitude and direction of curvature of a pipe section at predetermined increments of axial length thereof, comprising: at least one sensing array of at least three sensing wheels symmetrically disposed about the longitudinal axis of said pipe in a cross-sectional plane perpendicular to said axis in rolling contact with the inner wall of said pipe section; means for moving said sensing array through said pipe section to cause said sensing wheels to roll along said inner wall in respective axial planes of said pipe section; encoder means for generating counts representative of the distance travelled by each said sensing wheel along a predetermined incremental length of said pipe section; gravitational reference means for sensing the relative orientation of said sensing array with reference to the direction of gravity in the plane of said sensing wheels and for generating encoded data as a function of said relative orientation; and recorder means for receiving and retaining said counts and said encoded gravitational reference data for subsequent calculation.

Claim 82

Transducer means for generating and retaining data representative of the magnitude and direction of curvature of a pipe section at predetermined increments of axial length thereof, comprising: at least one sensing array of at least three sensing wheels symmetrically disposed about the longitudinal axis of said pipe in a cross-sectional plane perpendicular to said axis and in rolling contact with the inner wall of said pipe section; means for moving said sensing array through said pipe section to cause said sensing wheels to roll aLong said inner wall in respective axial planes of said pipe section; wheel encoding means for providing distance output signals representative of the distance travelled by each of said sensing wheels along said inner wall; control means responsive to said distance signals for providing a control output signal upon the occurrence of each predetermined incremental distance of travel of said sensing array axially of said pipe; counting means responsive to said distance signals for generating a count for each said sensing wheel representative of the actual distance travelled thereby over the incremental axial distance of travel of said sensing array; said counting means including reset means responsive to said control signal to reset said counting means at the occurrence of each predetermined increment of travel of said sensing array; gravitational reference means for sensing the relative orientation of said sensing array with reference to the direction of gravity and for generating encoded data as a function of said relative orientation; and recorder means receiving said counts from said counting means and said encoded data from said gravitational reference means and responsive to said control signal for recording the magnitude of said counts and said encoded gravitational reference data upon each occurrence of said control signal, thereby to provide a record of parameters defining the curvature, and the orientation of such curvature with reference to the direction of gravity for each predetermined incremental distance along a given length of pipe.

Claim 83

Transducer means for generating and retaining data representative of the magnitude and direction of curvature of a pipe section at predetermined increments of axial length thereof, comprising: at least one sensing array of at least three sensing wheels symmetrically disposed about the longitudinal axis of said pipe in a cross-sectional plane perpendicular to said axis and in rolling contact with the inner wall of said pipe section; means for moving said sensing array through said pipe section to cause said sensing wheels to roll aLong said inner wall in respective axial planes of said pipe section; wheel encoding means for providing distance output signals representative of the distance travelled by each of said sensing wheels along said inner wall; control means responsive to said distance signals for providing a control output signal upon the occurrence of each predetermined incremental distance of travel of said sensing array axially of said pipe; counting means responsive to said distance signals for generating a count for each said sensing wheel representative of the actual distance travelled thereby over the incremental axial distance of travel of said sensing array; said counting means including reset means responsive to said control signal to reset said counting means at the occurrence of each predetermined increment of travel of said sensing array; gravitational reference means for sensing the relative orientation of said sensing array with reference to the direction of gravity and for generating encoded data as a function of said relative orientation; and recorder means receiving said counts from said counting means and said encoded data from said gravitational reference means and responsive to said control signal for recording the magnitude of said counts and said encoded gravitational reference data upon each occurrence of said control signal, thereby to provide a record of parameters defining the curvature, and the orientation of such curvature with reference to the direction of gravity for each predetermined incremental distance along a given length of pipe.

Claim 84

The invention defined in claim 45, wherein said control means comprises averaging means for deriving the average distance of travel of all said sensing wheels to determine said predetermined incremental distance of travel of said sensing array axially of said pipe.

Claim 85

The invention defined in claim 45, wherein said recorder means comprises storage register means for receiving, accumulating and encoding said counts from said counting means, and for receiving said encoded gravitational reference data; and magnetic tape recording means for recording said encoded counts and said encoded gravitational reference data from said register means; said register means being responsive to said control signal to transmit said accumulated and encoded counts and encoded gravitational reference data to said magnetic tape recording means at the conclusion of each predetermined increment of travel of said sensing array to provide in said magnetic tape recording means a recorded profile of parameters defining the curvature and the direction of such curvature with reference to the direction of gravity for each incremental distance traversed along the axis of said pipe section by said sensing array.

Claim 86

Transducer means for generating and retaining data representative of the magnitude and direction of curvature of a pipe section at predetermined increments of axial length thereof, comprising: at least one sensing array of two orthogonally disposed pairs of sensing wheels symmetrically disposed about the longitudinal axis of said pipe in a cross-sectional plane perpendicular to said axis and in rolling contact with the inner wall of said pipe section; means for moving said sensing array through said pipe section to cause said sensing wheels to roll along said inner wall in respective axial planes of said pipe section; wheel encoding means for providing distance output signals representative of the distance travelled by each of said sensing wheels along said inner wall; control means responsive to said distance signals for providing a control output signal upon the occurrence of each predetermined incremental distance of travel of said sensing array axially of said pipe; counting means responsive to said distance signals for generating a count for each said sensing wheel representative of the actual distance travelled thereby over the incremental axial distance of travel of saId sensing array; said counting means including reset means responsive to said control signal to reset said counting means at the occurrence of each predetermined increment of travel of said sensing array; gravitational reference means for sensing the relative orientation of said sensing array with reference to the direction of gravity and for generating encoded data as a function of said relative orientation; and recorder means for receiving said counts from said counting means and said encoded data from said gravitational reference means and responsive to said control signal for recording the magnitude of said counts and said encoded gravitational data upon each occurrence of said control signal to provide a record of parameters defining the curvature and the orientation of such curvature with reference to the direction of gravity for each predetermined incremental distance along a given length of pipe.

Claim 87

Transducer means for generating and retaining data representative of the magnitude and direction of curvature of a pipe section at predetermined increments of axial length thereof, comprising: at least one sensing array of two orthogonally disposed pairs of sensing wheels symmetrically disposed about the longitudinal axis of said pipe in a cross-sectional plane perpendicular to said axis and in rolling contact with the inner wall of said pipe section; means for moving said sensing array through said pipe section to cause said sensing wheels to roll along said inner wall in respective axial planes of said pipe section; wheel encoding means for providing distance output signals representative of the distance travelled by each of said sensing wheels along said inner wall; control means responsive to said distance signals for providing a control output signal upon the occurrence of each predetermined incremental distance of travel of said sensing array axially of said pipe; counting means responsive to said distance signals for generating a count for each said sensing wheel representative of the actual distance travelled thereby over the incremental axial distance of travel of saId sensing array; said counting means including reset means responsive to said control signal to reset said counting means at the occurrence of each predetermined increment of travel of said sensing array; gravitational reference means for sensing the relative orientation of said sensing array with reference to the direction of gravity and for generating encoded data as a function of said relative orientation; and recorder means for receiving said counts from said counting means and said encoded data from said gravitational reference means and responsive to said control signal for recording the magnitude of said counts and said encoded gravitational data upon each occurrence of said control signal to provide a record of parameters defining the curvature and the orientation of such curvature with reference to the direction of gravity for each predetermined incremental distance along a given length of pipe.

Claim 88

The invention defined in claim 48, wherein said recorder means comprises storage register means for receiving, accumulating and encoding said counts from said counting means and for receiving said encoded gravitational reference data; and magnetic tape recording means for recording said encoded counts and said encoded gravitational reference data in said register means; said register means being responsive to said control signal to transmit said accumulated and encoded counts and encoded gravitational reference data to said magnetic tape recording means at the conclusion of each predetermined increment of travel of said sensing array to provide in said magnetic tape recording means a recorded profile of parameters defining the curvature and the direction of such curvature with reference to the direction of gravity for each incremental distance traversed along the axis of said pipe section by said sensing array.

Claim 89

Transducer means for generating and retaining data representative of the magnitude and direction of curvature of a pipe section at predetermined increments of axial length thereof, comprising; at least one sensing array of two orthogonally disposed pairs of sensing wheels symmetrically disposed about the longitudinal axis of said pipe in a cross-sectional plane perpendicular to said axis and in rolling contact with the inner wall of said pipe section; means for moving said sensing array through said pipe section to cause said sensing wheels to roll along said inner wall in respective axial planes of said pipe section; first, second, third and fourth wheel encoding means providing distance output signals representative of the quantities A, B, C and D as a function of the respective distances travelled by the first, second, third and fourth sensing wheels along said inner wall, said first and second wheels comprising the first pair and said third and fourth wheels comprising the second pair of said orthogonally disposed pairs of wheels; control means for summing the quantities A, B, C and D and providing a control output signal representative of a predetermined sum of said quantities and thereby functionally defining said predetermined axial increment traversed by said sensing array; counting means for providing respective encoded counts representative of said quantities A, B, C and D; said counting means including reset means responsive to said control signal to reset said counting means at the occurrence of each one of said predetermined axial increments; gravitational reference means for sensing the relative orientation of said sensing array with reference to the direction of gravity and for generating encoded data as a function of said relative orientation; and recorder means for receiving said encoded gravitational reference data from said gravitational reference means and said counts from said counting means and responsive to said control signal for recording said encoded gravitational reference data and the magnitude of said counts to provide a record of the quantities A, B, C and D and said encoded gravitational reference data as the parameters of magnitude and direction of curvature of said pipe section referenced to the direction of gravity for each predetermined axial increment along a given length of said pipe section.

Claim 90

Transducer means for generating and retaining data representative of the magnitude and direction of curvature of a pipe section at predetermined increments of axial length thereof, comprising; at least one sensing array of two orthogonally disposed pairs of sensing wheels symmetrically disposed about the longitudinal axis of said pipe in a cross-sectional plane perpendicular to said axis and in rolling contact with the inner wall of said pipe section; means for moving said sensing array through said pipe section to cause said sensing wheels to roll along said inner wall in respective axial planes of said pipe section; first, second, third and fourth wheel encoding means providing distance output signals representative of the quantities A, B, C and D as a function of the respective distances travelled by the first, second, third and fourth sensing wheels along said inner wall, said first and second wheels comprising the first pair and said third and fourth wheels comprising the second pair of said orthogonally disposed pairs of wheels; control means for summing the quantities A, B, C and D and providing a control output signal representative of a predetermined sum of said quantities and thereby functionally defining said predetermined axial increment traversed by said sensing array; counting means for providing respective encoded counts representative of said quantities A, B, C and D; said counting means including reset means responsive to said control signal to reset said counting means at the occurrence of each one of said predetermined axial increments; gravitational reference means for sensing the relative orientation of said sensing array with reference to the direction of gravity and for generating encoded data as a function of said relative orientation; and recorder means for receiving said encoded gravitational reference data from said gravitational reference means and said counts from said counting means and responsive to said control signal for recording said encoded gravitational reference data and the magnitude of said counts to provide a record of the quantities A, B, C and D and said encoded gravitational reference data as the parameters of magnitude and direction of curvature of said pipe section referenced to the direction of gravity for each predetermined axial increment along a given length of said pipe section.

Claim 91

The invention defined in claim 50, wherein said recorder means comprises storage register means for receiving, accumulating and encoding said counts from said counting means and for receiving said encoded gravitational reference data; and magnetic tape recording means for recording said encoded counts and said encoded gravitational reference data in said register means; said register means being responsive to said control signal to transmit said accumulated and encoded counts and encoded gravitational reference data to said magnetic tape recording means at the conclusion of each predetermined increment of travel of said sensing array to provide in said magnetic tape recording means a recorded profile of parameters defining the pipe curvature and the direction of such curvature with reference to the direction of gravity for each incremental distance traversed along the axis of said pipe section by said sensing array.

Claim 92

Transducer means for generating and retaining data representative of the magnitude and direction of curvature of a pipe section at predetermined increments of axial length thereof, comprising: at least one sensing array of two orthogonally disposed pairs of sensing wheels symmetrically disposed about the longitudinal axis of said pipe in a cross-sectional plane perpendicular to said axis and in rolling contact with the inner wall of said pipe section; means for moving said sensing array through said pipe section to cause said sensing wheels to roll along said inner wall in respective axial planes of said pipe section; first, second, third and fourth wheel encoding means for providing distance output signals representative of the quantities A, B, C and D as a function of the respective distances travelled by the first, second, third and fourth sensing wheels along said inner wall, said first and second wheels comprising the first pair and said third and fourth wheels comprising the second pair of said orthogonally disposed pairs of wheels; control means for deriving the average of the quantities A, B, C and D as a determination of axial distance traversed by said sensing array and providing a control output signal when said average equals said predetermined axial increment; counting means for providing encoded counts representative of said quantities A, B, C and D; said counting means including reset means responsive to said control signal to reset said counting means at the occurrence of each predetermined axial increment; gravitational reference means for sensing the relative orientation of said sensing array with reference to the direction of gravity and for generating encoded data as a function of said relative orientation; and recorder means for recording said encoded gravitational reference data and the magnitude of said counts to provide a record of the quantities A, B, C and D and said encoded gravitational reference data as the parameters of magnitude and direction of curvature of said pipe section referenced to the direction of gravity for each predetermined axial increment along a given length of said pipe section.

Claim 93

Transducer means for generating and retaining data representative of the magnitude and direction of curvature of a pipe section at predetermined increments of axial length thereof, comprising: at least one sensing array of two orthogonally disposed pairs of sensing wheels symmetrically disposed about the longitudinal axis of said pipe in a cross-sectional plane perpendicular to said axis and in rolling contact with the inner wall of said pipe section; means for moving said sensing array through said pipe section to cause said sensing wheels to roll along said inner wall in respective axial planes of said pipe section; first, second, third and fourth wheel encoding means for providing distance output signals representative of the quantities A, B, C and D as a function of the respective distances travelled by the first, second, third and fourth sensing wheels along said inner wall, said first and second wheels comprising the first pair and said third and fourth wheels comprising the second pair of said orthogonally disposed pairs of wheels; control means for deriving the average of the quantities A, B, C and D as a determination of axial distance traversed by said sensing array and providing a control output signal when said average equals said predetermined axial increment; counting means for providing encoded counts representative of said quantities A, B, C and D; said counting means including reset means responsive to said control signal to reset said counting means at the occurrence of each predetermined axial increment; gravitational reference means for sensing the relative orientation of said sensing array with reference to the direction of gravity and for generating encoded data as a function of said relative orientation; and recorder means for recording said encoded gravitational reference data and the magnitude of said counts to provide a record of the quantities A, B, C and D and said encoded gravitational reference data as the parameters of magnitude and direction of curvature of said pipe section referenced to the direction of gravity for each predetermined axial increment along a given length of said pipe section.

Claim 94

The invention defined in claim 52, wherein said recorder means comprises storage register means for receiving, accumulating and encoding said counts from said counting means and for receiving said encoded gravitational reference data; and magnetic tape recording means for recording said encoded counts and said encoded gravitational reference data in said register means; said register means being responsive to said control signal to transmit said accumulated and encoded counts and encoded gravitational reference data to said magnetic tape recording means at the conclusion of each predetermined increment of travel Of said sensing array to provide in said magnetic tape recording means a recorded profile of parameters defining the pipe curvature and the direction of such curvature with reference to the direction of gravity for each incremental distance traversed along the axis of said pipe section by said sensing array.

Claim 95

Transducer means for generating and retaining data representative of the magnitude and direction of curvature of a pipe section at predetermined increments of axial length thereof, comprising: at least one sensing array of two orthogonally disposed pairs of sensing wheels symmetrically disposed about the longitudinal axis of said pipe in a cross-sectional plane perpendicular to said axis and in rolling contact with the inner wall of said pipe section; means for moving said sensing array through said pipe section to cause said sensing wheels to roll along said inner wall in respective axial planes of said pipe section; first, second, third and fourth wheel encoding means for providing distance output signals representative of the quantities A, B, C and D as a function of the respective distances travelled by the first, second, third and fourth sensing wheels along said inner wall, said first and second wheels comprising the first pair and said third and fourth wheels comprising the seond pair of said orthogonally disposed pairs of sensing wheels; said pipe section having a cross-sectional radius r; control means responsive to said distance signals for deriving the function r(A+B+C+D) and for providing a control output signal when said function equals a predetermined power of ten; counting means responsive to said distance signals for deriving the functions (A-B) and (C-D); said counting means including reset means responsive to said control signal to reset said counting means upon the occurrence of said control signal, whereupon the functions (A-B) and (C-D), respectively, comprise direct readouts of the magnitude of first and second orthogonally disposed components of curvature in the plane of said sensing array over a fixed axial increment achieved between the occurrence of successive control signals; gravitational reference means for sensing the relative orientation of at least one of said components of curvature with reference to the direction of gravity and for generating encoded data as a function of said relative orientation; and recorder means receiving said functions (A-B) and (C-D) from said counting means and said encoded gravitational reference data from said gravitational reference means and responsive to said control signal for recording said functions (A-B) and (C-D) and said gravitational reference data to provide a record of the magnitude of the orthogonal components of curvature of said pipe section and the direction of the resultant curvature of said components referenced to the direction of gravity for each predetermined axial increment along a given length of said pipe section.

Claim 96

Transducer means for generating and retaining data representative of the magnitude and direction of curvature of a pipe section at predetermined increments of axial length thereof, comprising: at least one sensing array of two orthogonally disposed pairs of sensing wheels symmetrically disposed about the longitudinal axis of said pipe in a cross-sectional plane perpendicular to said axis and in rolling contact with the inner wall of said pipe section; means for moving said sensing array through said pipe section to cause said sensing wheels to roll along said inner wall in respective axial planes of said pipe section; first, second, third and fourth wheel encoding means for providing distance output signals representative of the quantities A, B, C and D as a function of the respective distances travelled by the first, second, third and fourth sensing wheels along said inner wall, said first and second wheels comprising the first pair and said third and fourth wheels comprising the seond pair of said orthogonally disposed pairs of sensing wheels; said pipe section having a cross-sectional radius r; control means responsive to said distance signals for deriving the function r(A+B+C+D) and for providing a control output signal when said function equals a predetermined power of ten; counting means responsive to said distance signals for deriving the functions (A-B) and (C-D); said counting means including reset means responsive to said control signal to reset said counting means upon the occurrence of said control signal, whereupon the functions (A-B) and (C-D), respectively, comprise direct readouts of the magnitude of first and second orthogonally disposed components of curvature in the plane of said sensing array over a fixed axial increment achieved between the occurrence of successive control signals; gravitational reference means for sensing the relative orientation of at least one of said components of curvature with reference to the direction of gravity and for generating encoded data as a function of said relative orientation; and recorder means receiving said functions (A-B) and (C-D) from said counting means and said encoded gravitational reference data from said gravitational reference means and responsive to said control signal for recording said functions (A-B) and (C-D) and said gravitational reference data to provide a record of the magnitude of the orthogonal components of curvature of said pipe section and the direction of the resultant curvature of said components referenced to the direction of gravity for each predetermined axial increment along a given length of said pipe section.

Claim 97

The invention defined in claim 54, wherein said recorder means comprises storage register means for receiving, accumulating and encoding said counts from said counting means and for receiving said encoded gravitational reference data; and magnetic tape recording means for recording said encoded counts and said encoded gravitational reference data in said register means; and said register means being responsive to said control signal to transmit said accumulated and encoded counts and encoded gravitational reference data to said magnetic tape recording means at the conclusion of each predetermined increment of travel of said sensing array to provide in said magnetic tape recording means a recorded profile of parameters defining the pipe curvature and the direction of such curvature with reference to the direction of gravity for each incremental distance traversed along the axis of said pipe section by said sensing array.

Claim 98

Transducer means for generating and retaining datA representative of the magnitude and direction of curvature of a pipe section at predetermined increments of axial length thereof, comprising; at least one sensing array of two orthogonally disposed pairs of sensing wheels symmetrically disposed about the longitudinal axis of said pipe in a cross-sectional plane perpendicular to said axis and in rolling contact with the inner wall of said pipe section; means for moving said sensing array through said pipe section to cause said sensing wheels to roll along said inner wall in respective axial planes of said pipe section; first, second, third and fourth wheel encoding means for providing distance output signals representative of the quantities A, B, C and D as a function of the respective distances travelled by the first, second, third and fourth sensing wheels along said inner wall, said first and second wheels comprising the first pair and said third and fourth wheels comprising the second pair of said orthogonally disposed pairs of sensing wheels; said pipe section having a cross-sectional radius r; control means responsive to said distance signals for deriving the function r(A+B+C+D) Divided by N where N is any number selected to constitute a predetermined axial increment of travel of said array when the function r(A+B+C+D) Divided by N is equal to a predetermined power of ten, and said control means providing a control output signal when said function equals said predetermined power of ten; counting means responsive to said distance signals for deriving the functions (A-B) and (C-D); said counting means including reset means responsive to said control signal to reset said counting means upon the occurrence of said control signal, whereupon the functions (A-B) and (C-D), respectively, comprise direct readouts of the magnitude of first and second orthogonally disposed components of curvature in the plane of said sensing array over said axial increment; gravitational reference means for sensing the relative orientation of at least one of said components of curvature with reference to the direction of gravity and for generating encoded data as a function of said relative orientation; and recorder means receiving said functions (A-B) and (C-D) from said counting means and said encoded gravitational reference data from said gravitational reference means and responsive to said control signal for recording said functions (A-B) and (C-D) and said gravitational reference data to provide a record of the magnitude of the orthogonal components of curvature of said pipe section and the direction of the resultant curvature of said components referenced to the direction of gravity for each predetermined axial increment along a given length of said pipe section.

Claim 99

Transducer means for generating and retaining datA representative of the magnitude and direction of curvature of a pipe section at predetermined increments of axial length thereof, comprising; at least one sensing array of two orthogonally disposed pairs of sensing wheels symmetrically disposed about the longitudinal axis of said pipe in a cross-sectional plane perpendicular to said axis and in rolling contact with the inner wall of said pipe section; means for moving said sensing array through said pipe section to cause said sensing wheels to roll along said inner wall in respective axial planes of said pipe section; first, second, third and fourth wheel encoding means for providing distance output signals representative of the quantities A, B, C and D as a function of the respective distances travelled by the first, second, third and fourth sensing wheels along said inner wall, said first and second wheels comprising the first pair and said third and fourth wheels comprising the second pair of said orthogonally disposed pairs of sensing wheels; said pipe section having a cross-sectional radius r; control means responsive to said distance signals for deriving the function r(A+B+C+D) Divided by N where N is any number selected to constitute a predetermined axial increment of travel of said array when the function r(A+B+C+D) Divided by N is equal to a predetermined power of ten, and said control means providing a control output signal when said function equals said predetermined power of ten; counting means responsive to said distance signals for deriving the functions (A-B) and (C-D); said counting means including reset means responsive to said control signal to reset said counting means upon the occurrence of said control signal, whereupon the functions (A-B) and (C-D), respectively, comprise direct readouts of the magnitude of first and second orthogonally disposed components of curvature in the plane of said sensing array over said axial increment; gravitational reference means for sensing the relative orientation of at least one of said components of curvature with reference to the direction of gravity and for generating encoded data as a function of said relative orientation; and recorder means receiving said functions (A-B) and (C-D) from said counting means and said encoded gravitational reference data from said gravitational reference means and responsive to said control signal for recording said functions (A-B) and (C-D) and said gravitational reference data to provide a record of the magnitude of the orthogonal components of curvature of said pipe section and the direction of the resultant curvature of said components referenced to the direction of gravity for each predetermined axial increment along a given length of said pipe section.

Claim 100

The invention defined in claim 56, wherein said recorder means comprises storage register means for receiving, accumulating and encoding said counts from said counting means and for receiving said encoded gravitational reference data; and magnetic tape recording means for recording said encoded counts and said encoded gravitational reference data in said register means; and said register means being responsive to said control signal to transmit said accumulated and encoded counts and encoded gravitational reference data to said magnetic tape recording means at the conclusion of each predetermined increment of travel of said sensing array to provide in said magnetic tape recording means a recorded profile of curvature parameters defining the curvature and the direction of such curvature with reference to the direction of gravity for each incremental distance traversed along the axis of said pipe section by said sensing array.

Claim 107

The method of claim 60, including the additional steps of: 7 repeating steps (1), (2), (3), (4), (5) and (6) in that order at a later time to provide a second recorded profile of curvature parameters correlated to a said known position along the length of said pipe section; and 8 comparing said first and second profiles in reference to a predetermined allowable deviation in said curvature parameters for each said incremental distance and detecting variations in said parameters of said profiles in excess of said deviation and the position of said variations over the length of said pipe section.

Claim 108

Transducer means for generating and retaining data representative of the curvature of a pipe section on a given cross-sectional diameter thereof comprising: first and second distance sensing means positioned at the inner wall of said pipe section at opposite ends of said given diameter; means for moving said distance sensing means through said pipe section to cause said distance sensing means to traverse said inner wall in a plane defined by said given diameter and the longitudinal axis of said pipe section; encoder means for generating data representative of the distance travelled by each said distance sensing means along a predetermined finite length of said pipe section; and recording means for receiving and retaining said data for subsequent calculation.

Claim 109

Transducer means for generating and retaining data representative of the curvature of a pipe section on a given cross-sectional diameter thereof comprising: first and second distance sensing means positioned at the inner wall of said pipe section at opposite ends of said given diameter; means for moving said distance sensing means through said pipe section to cause said distance sensing means to traverse said inner wall in a plane defined by said given diameter and the longitudinal axis of said pipe section; encoder means for generating data representative of the distance travelled by each said distance sensing means along a predetermined finite length of said pipe section; and recording means for receiving and retaining said data for subsequent calculation.

Claim 110

The invention defined in claim 62, wherein said transducer means further includes gravitational direction sensing means for sensing the direction of gravity, and wherein said encoder means further generates data representing the angular orientation of said internal wall length measuring means relative to said gravitational direction.

Claim 111

Transducer means for generating and retaining data representative of the magnitude and direction of curvature of a pipe section at predetermined increments of axial length thereof, comprising: at least one sensing array of at least three distance sensing means symmetrically disposed about the longitudinal axis of said pipe in a cross-sectional plane perpendicular to said axis and positioned at the inner wall of said pipe section; encoder means for generating data representative of the distance travelled by each said distance sensing means along a predetermined incremental length of said pipe section; and recording means for receiving and retaining said data for subsequent calculation.

Claim 112

Transducer means for generating and retaining data representative of the magnitude and direction of curvature of a pipe section at predetermined increments of axial length thereof, comprising: at least one sensing array of at least three distance sensing means symmetrically disposed about the longitudinal axis of said pipe in a cross-sectional plane perpendicular to said axis and positioned at the inner wall of said pipe section; encoder means for generating data representative of the distance travelled by each said distance sensing means along a predetermined incremental length of said pipe section; and recording means for receiving and retaining said data for subsequent calculation.

Claim 113

The invention defined in claim 64, wherein said transducer means further includes gravitational direction sensing means for sensing the direction of gravity; and wherein said encoder means further generates data representing said gravitational direction.

Claim 114

Transducer means for generating and retaining data representative of the magnitude and direction of curvature of a pipe section at predetermined increments of axial length thereof, comprising: at least one sensing array of at least three distance sensing means symmetrically disposed about the longitudinal axis of said pipe in a cross-sectional plane perpendicular to said axis and positioned at the inner wall of said pipe section; means for moving said sensing array through said pipe section to cause said distance sensing means to traverse said inner wall in respective axial planes of said pipe section; encoding means fOr providing respective distance output signals representative of the distance travelled by each of said distance sensing means along said inner wall; control means responsive to said distance signals for providing a control output signal upon the occurrence of each predetermined incremental distance of travel of said sensing array axially of said pipe; counting means responsive to said distance signals for generating a count for each said distance sensing means representative of the actual length of said inner wall traversed thereby over the incremental axial distance of travel of said sensing array; said counting means including reset means responsive to said control signal to reset said counting means at the occurrence of each predetermined increment of travel of said sensing array; and recorder means for receiving said counts from said counting means and responsive to said control signal to provide a record of curvature parameters for each predetermined incremental distance along a given length of pipe.

Claim 115

Transducer means for generating and retaining data representative of the magnitude and direction of curvature of a pipe section at predetermined increments of axial length thereof, comprising: at least one sensing array of at least three distance sensing means symmetrically disposed about the longitudinal axis of said pipe in a cross-sectional plane perpendicular to said axis and positioned at the inner wall of said pipe section; means for moving said sensing array through said pipe section to cause said distance sensing means to traverse said inner wall in respective axial planes of said pipe section; encoding means fOr providing respective distance output signals representative of the distance travelled by each of said distance sensing means along said inner wall; control means responsive to said distance signals for providing a control output signal upon the occurrence of each predetermined incremental distance of travel of said sensing array axially of said pipe; counting means responsive to said distance signals for generating a count for each said distance sensing means representative of the actual length of said inner wall traversed thereby over the incremental axial distance of travel of said sensing array; said counting means including reset means responsive to said control signal to reset said counting means at the occurrence of each predetermined increment of travel of said sensing array; and recorder means for receiving said counts from said counting means and responsive to said control signal to provide a record of curvature parameters for each predetermined incremental distance along a given length of pipe.

Claim 116

The invention defined in claim 66, wherein said transducer means further includes gravitational direction sensing and encoding means for providing coded output data representative of said gravitational direction relative to the orientation said sensing array; and wherein said recorder means further receives and records said gravitational data upon the occurrence of said control signal.

Claim 117

The invention defined in claim 66, wherein said control means comprises averaging means for deriving the average distance of travel of all said distance sensing means to determine said predetermined incremental distance of travel of said sensing array axially of said pipe.

Claim 118

The invention defined in claim 68, wherein said transducer means further includes gravitational direction sensing and encoding means for providing coded output data representative of said gravitational direction relative to said sensing array; and wherein said recorder means further receives and records said gravitational data upon the occurrence of a said control signal.

Claim 119

Transducer means for generating and retaining data representative of the curvature of a pipe section at each of a plurality of incremental axial distances along the length thereof while axially traversing said pipe, comprising: axial length measuring means for defining predetermined axial increments of distance; internal wall length measuring means controlled by said axial length measuring means for defining the length of said internal wall of said pipe over each said axial increment in at least three axial planes of said pipe; encoder means for generating data representing each occurrence of a said axial incremental distance and the respective lengths of said internal wall over said incremental distance; and recording means responsive to said data to record the occurrence of each said incremental distance and the corresponding said internal wall lengths over said incremental distance at each such occurrence, over the length of said pipe section

Claim 120

Transducer means for generating and retaining data representative of the curvature of a pipe section at each of a plurality of incremental axial distances along the length thereof while axially traversing said pipe, comprising: axial length measuring means for defining predetermined axial increments of distance; internal wall length measuring means controlled by said axial length measuring means for defining the length of said internal wall of said pipe over each said axial increment in at least three axial planes of said pipe; encoder means for generating data representing each occurrence of a said axial incremental distance and the respective lengths of said internal wall over said incremental distance; and recording means responsive to said data to record the occurrence of each said incremental distance and the corresponding said internal wall lengths over said incremental distance at each such occurrence, over the length of said pipe section

Claim 121

The invention defined in claim 70, wherein said transducer means further includes gravitational direction sensing means for sensing the direction of gravity, and wherein said encoder means further generates data representing the angular orientation of said internal wall length measuring means relative to said gravitational direction; and wherein said recorder means further records said gravitational orientation data at said occurrence of each said incremental distance.

Claim 126

Transducer means for generating and retaining data representative of the curvature of a pipe section comprising: a multiplicity of sensing wheels of known dimensions adapted to be placed in rolling contact with the inner walls of said pipe section and arranged in angular spaced relationship about the longitudinal axis of the pipe section; means for moving said sensing wheels through said pipe section to cause said sensing wheels to roll along said inner walls; encoder means for generating counts representative of the distance travelled by each sensing wheel; and means for receiving and retaining said counts for subsequent calculations.

Claim 127

Transducer means for generating and retaining data representative of the curvature of a pipe section comprising: a multiplicity of sensing wheels of known dimensions adapted to be placed in rolling contact with the inner walls of said pipe section and arranged in angular spaced relationship about the longitudinal axis of the pipe section; means for moving said sensing wheels through said pipe section to cause said sensing wheels to roll along said inner walls; encoder means for generating counts representative of the distance travelled by each sensing wheel; and means for receiving and retaining said counts for subsequent calculations.

Claim 128

Transducer means for producing information signals representative of the curvaturre along the length of a pipe section, comprising: a plurality of rotatable wheels disposed in angular spaced relationship about the longitudinal axis of said pipe section and each adapted to contact the wall of said pipe section and to rotate when moved along said wall; means for moving said wheels together along the length of said pipe section, means associated with each of said wheels for generating data as a function of the rotation of its respective wheel along the pipe section, and data processing means responsive to said data for providing information signals representing quantities determinative of pipe curvature at locations along the pipe section.

Claim 129

Transducer means for producing information signals representative of the curvaturre along the length of a pipe section, comprising: a plurality of rotatable wheels disposed in angular spaced relationship about the longitudinal axis of said pipe section and each adapted to contact the wall of said pipe section and to rotate when moved along said wall; means for moving said wheels together along the length of said pipe section, means associated with each of said wheels for generating data as a function of the rotation of its respective wheel along the pipe section, and data processing means responsive to said data for providing information signals representing quantities determinative of pipe curvature at locations along the pipe section.

Claim 130

The combination claimed in claim 75, wherein said data processing means includes means for providing an information signal representing each given distance of movement of said wheels along the wall of the pipe section.

Claim 131

The combination claimed in claim 76 including means for providing information signals representative of the angular orientation of said wheels about the longitudinal axis of said pipe section relative to a fixed direction.

Claim 132

The combination claimed in claim 77 wherein said fixed direction is the direction of gravitational force.