| 摘要 |
PROBLEM TO BE SOLVED: To provide an underwater robot which moves in a pipeline, through which liquid flows, for detecting abnormality of the pipeline, and of which the ground speed can be accurately measured. SOLUTION: An underground robot 1 includes a light-emitting element 3, and an optical Doppler sensor 2 which is constituted of a light receiving element 4 and an arithmetic unit. The light-emitting element 3 outputs pulse waves while being flashed at regular intervals, the light receiving element 4 receives the pulse waves reflected against the inner wall of a pipeline 30, and from the intervals of blinks of the pulse waves emitted by the light-emitting element 3 and the intervals of the blinks of the pulse waves received by the light receiving element 4, the arithmetic unit calculates the moving speed of the underwater robot 1 against the inner wall of the pipeline 30. COPYRIGHT: (C)2012,JPO&INPIT |
