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Date of Publication:2004-01-01

Journal:哈尔滨工业大学学报

Affiliation of Author(s):机械工程学院

Issue:10

Page Number:1382-1384,1396

ISSN No.:0367-6234

Abstract: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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