In-pipe wireless micro locomotive system

We have developed an in-pipe micro locomotive system. This system is composed of an outside host and a microrobot. The outside host supplies energy and transmits commands to the robot by using microwaves. The microrobot is 9.5 mm in diameter and 60 mm in length. The microrobot moves in a pipe of 10 mm diameter without wire. The microrobot consists of a microwave (RF) module used for energy supply and communication, a control circuit and a locomotive mechanism using a piezoelectric bimorph actuator. The RF module consists of a compact antenna, power divider, rectifying circuits, filter and communication MMIC. The antenna receives two frequencies of microwaves: 22 GHz for energy supply and 24 GHz for communication. The rectifying circuits convert the microwave into DC. The demanded energy of 480 mW is supplied via microwave. The control circuit drives the locomotive device and other devices installed in the robot by outside commands. The direction and speed of the system are also controlled by commands. The condition of the system is communicated between the robot and the outside host. The locomotive mechanism using a piezoelectric bimorph actuator moves according to inertia drive method.