【作者】 孙雪；

【导师】 郭黎滨；

【作者基本信息】 哈尔滨工程大学 ， 机械制造及其自动化， 2006， 硕士

【摘要】 “穿地龙”机器人是一种可在土中自行行走的装置。它由计算机控制，在地表的一端进入土中，按预定设计的轨迹前进，行进中可以随时改变方向绕过障碍物或修正偏差，最后，从地表的另一端指定位置穿出。它主要能够实现PE或PVC管、电缆、光缆等管线的地下铺设。“穿地龙”机器人属特种作业机器人，在利用非开挖技术进行地下管线铺设方面具有广阔的应用前景。 本文的研究工作是结合黑龙江省科学技术计划(攻关)项目“穿地龙”机器人样机研制开展的。针对机器人土中作业环境的特点，主要进行了机器人总体结构、检测及控制系统、位姿检测系统、误差分析及误差的补偿等相关问题的研究工作。 论文介绍了国内外气动冲击矛技术和钻孔导向仪的发展现状，并分析了轨迹可控的气动冲击矛的检测装置的发展现状。 通过对当今国内外小直径地下管线典型施工钻孔方案的分析，得出将转向力矩的产生移至土中机器人本体上的“穿地龙”机器人总体方案。 通过对“穿地龙”机器人检测及控制系统的结构的分析研究，得出了检测与控制系统建立过程中的几个关键问题，提出了采用多传感器检测机器人在土中位置与姿态的方法，同时设计了光电检测装置硬件电路，取得了较好的效果，为进一步进行“穿地龙”机器人研究工作提供了新的条件。 讨论了“穿地龙”机器人位姿检测系统的误差的种类及来源，并对其进行详尽仔细的分析研究。 以“穿地龙”机器人检测系统的各种误差为根据，进行有效的误差补偿，从而保证了机器人具有良好的姿态调节能力。通过试验结果表明，可以保证机器人在土中按照预定的轨迹行走，完成穿孔作业任务。 论文最后进行了“穿地龙”机器人样机的实验研究。通过对“穿地龙”，机器人直线与曲线样机的陆上空载、测力与土中钻孔实验，可以得出：直线钻孔样机达到了国内外同类同规格产品的技术性能指标，可以推向工程化使用；曲线钻孔样机实现了一定曲率轨迹的钻孔作业，如再进行下一步的工程化设计，能够推出超过现有产品技术水平的轨迹可控的机器人产品。更多还原

【Abstract】 "Dragon of puncturing mud" robot is a kind of device that can walk by itself in the mud. It is controlled by the computer following the scheduled track to enter into the mud, changes the direction to avoid the obstacles, corrects the errors and comes out of the mud from the destined spot finally. So under the mud it can mainly used to pave PE or PVC pipe, cable and optical fiber cable, etc. As one of special type work robots, "dragon of puncturing mud" robot has a great future in the aspects of paving underground pipe adopting the no-drill technology.The research works are supported by "dragon of puncturing mud" robot sample making of The Heilongjiang Science Technology Project in this paper. According to the particular case of mud environment, the paper studies the related key technologies, including the collectivity structure, the detecting and controlling system, the location-pose detecting system, the error analysis and compensation, etc.The author introduces the domestic and foreign developing situation of gasses impact moles and drilling bore radio-detection, analyses the detecting device’s developing situation of the gasses impact moles whose trace can be controlled."Dragon of puncturing mud" robot collectivity project that turning moment is brought at robot reality is devised after analyzing the model construction project of small diameter underground pipe construction at home and abroad.By the analysis and research of detecting and controlling structure for "Dragon of puncturing mud" robot, the several key problems in the course of connection established between detecting and controlling system has been solved, contemporaneously the method of adopting multi-sensor to detect robot’ location and pose under the mud has been brought forward. The hardware circuit of photoelectric detecting device also has been designed which has the perfect result and provides new condition for the farther research of "Dragon of puncturing mud" robot.The error’s sort and source of "Dragon of puncturing mud" robot’s location-pose detecting system have been discussed, analyzed and researched at更多还原