Ultrosonic on-line positioning method of mobile mini robot in duct

A technology of micro-robots and positioning methods, applied in the direction of sound wave re-radiation, instruments, manipulators, etc., can solve the problems of low reliability, poor safety performance, complex structure, etc., and achieve low cost, high reflectivity, and simple devices Effect

Inactive Publication Date: 2005-03-30
DALIAN UNIV OF TECH
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Problems solved by technology

The mechanical positioning detection method is simple and has good safety performance, but the structure is relatively complicated and the reliability is not high; the ray positioning detection method is accurate in positioning and high in reliability, but the safety performance is poor; the camera positioning detection method is accurate in positioning, but the cost too high
[0004] To sum up, there is no report on the real-time position detection of micro-pipe robots using the ultrasonic principle in a liquid-filled environment.

Method used

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  • Ultrosonic on-line positioning method of mobile mini robot in duct
  • Ultrosonic on-line positioning method of mobile mini robot in duct
  • Ultrosonic on-line positioning method of mobile mini robot in duct

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Embodiment Construction

[0026] The specific embodiments of the present invention will be described in detail below in conjunction with the technical solutions and accompanying drawings.

[0027] First of all, according to different measurement occasions, to choose figure 2 with image 3 Two sensor mounting structures. When it is possible to install the ultrasonic sensor at one end of the pipe, the first configuration is used, otherwise the second configuration is used. The following uses the first structure to illustrate.

[0028] Determine the size of its ultrasonic signal reflectivity according to the material and structure of the robot body 5. If the reflectivity is small, the structure of the robot body can be adjusted by adding small substances with large impedance 2 to improve the reflectivity of the ultrasonic signal. The type transceiver integrated ultrasonic sensor 7 is fixed on the sealed positioning plug 1, and then one end of the robot walking pipeline 4 is well sealed with the sealed ...

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Abstract

The invention relates to a method for on-line detecting position and speed of mobile robot in the pipeline filled up with liquor. It is technically characterized by that on the robot self body a high impedance substance can be added so as to raise reflectivity of ultrasonic wave, and a liquid-immersed receiving-transmitting integrated ultrasonic sensor is adopted to transmit pulse signal and receive object reflected sigal, and a compensation method of ultrasonic echo signal can be used to make the attenuation resulted from scatterance and sonic diffusion in the propagation process of ultrasonic wave in the liquid obtain the compensation so as to can measure the propagation time of said signal and can define the position of said robot.

Description

technical field [0001] The invention belongs to the technical field of automation engineering and relates to a method for online detection of the position and speed of a mobile robot in a pipe in a pipe filled with liquid. Background technique [0002] With the development of modern industry, pipelines have been used more and more widely as a means of material transmission, but when robots detect pipelines, the positioning of pipeline robots is a major difficulty. Under laboratory conditions, when performing characteristic tests such as pipeline robot walking, the problem of robot position detection is also involved. The usual pipeline robot uses the method of measuring the distance with the code disc on the motor shaft. Under the condition that the distance between the starting point and the target is known, the relative distance between the operating mechanism and the target is indirectly calculated. Obviously, this traditional method Due to the complex structure, it has ...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J13/08G01S15/08
Inventor 张永顺郭锐刘煜贾振元郭东明
Owner DALIAN UNIV OF TECH
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