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发表时间：2004-01-01

发表刊物：哈尔滨工业大学学报

所属单位：机械工程学院

期号：10

页面范围：1382-1384,1396

ISSN号：0367-6234

摘要：In on-line position locating and speed probing for wireless in-pipe micro swimming robot in term of non-contact, laser apparatus is adopted in lab to locate micro in-pipe robot as to form close-up control, however online inspection cannot be realized yet. A new approach, combining transit time method and phase measuring method, is put forward. The working principle is analyzed theoretically. By ultrasonic signals recording, analyzing and displaying, some information such as location, speed and acceleration of swimming robot is attained automatically in terms of non-contact way. The approach has the characters of high date collecting frequency, real time signals processing and online measuring. The experiments show its performance is stable and feasible.

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