管内游动微型机器人的在线定位方法

On-line locating method on micro swimming robot inside pipe

管内无缆微型游动机器人的位置和速度的非接触式检测一般采用激光测距仪定位微型机器人构成闭环控制 ,该方法还没有实现在线检测 .为此 ,提出了结合渡越法和相位测量法的一种新测量方法 ,并对工作原理进行了理论分析 ,通过采集、记录、分析超声回波信号实现了非接触式自动获取游动微机器人的位置、速度及加速度信息 ,具有数据采集频率高、信号处理实时性强和在线作业等特点 .试验表明系统性能稳定 。

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 qpproach has the characters of high date collecting frequency, real time signals processing and online measuring. The experiments show its performance is stable and feasible.