【作者】 安永东；

【导师】 孟庆鑫；

【作者基本信息】 哈尔滨工程大学 ， 机械电子工程， 2007， 硕士

【摘要】 本文主要完成了基于LabVIEW的水下船体表面清刷机器人检测系统的设计研究，包括检测系统硬件设计和选择，软件系统设计，并通过虚拟实验对检测系统的性能进行了分析研究。论文对国内外水下清刷技术和爬壁机器人的发展现状及应用情况进行了介绍。根据水下船体表面清刷的工作环境，提出了机器人检测系统的总体方案，结合清刷机器人具体工作要求，对检测系统进行了具体设计。包括检测系统的总体设计，定位系统、越障系统和安全检测系统三个子系统的具体设计。针对船体表面清刷机器人的结构特点和特定的工作环境，对其检测系统的硬件进行了具体的设计选型。从整个检测系统的总体硬件组成到具体传感器的选择、接口电路的设计。对船体表面清刷机器人的检测系统进行全面的设计。所设计的机器人检测系统具有体积小、精度高、性能可靠、重量轻等优点，能满足船体表面清刷机器人在水下正常工作的要求。对数据采集卡的安装和配置做了详细说明，进行了具体了具体标定和配置。对采集卡进行初步测试，检查其是否能正常工作。设计了船体表面清刷机器人的检测系统总体程序界面，其中包括三个子系统界面，通过具体的界面可以显示每个子系统的检测参数，并以数字和指针的形式实时显示出来。对清刷机器人检测系统的各子系统进行了虚拟实验，仿真信号输入，经过检测系统的信号分析和处理，得到相应的结果。实验结果表明船体表面清刷机器人检测系统性能优越，运行灵活，报警及时可靠，开发成本低。更多还原

【Abstract】 In the dissertation, the research on measure system of underwater ship facecleaning robot based on LabVIEW has mostly been fulfilled,including the design of the system hardware and software,the capacity of the measure system has been analysed using virtual technology.Developing actuality and application status on underwater cleaning technology and pedrail type-creep wall robot at home and abroad is summarized.Thinking the situation of the robot cleaning,the project of measure system of underwater ship facecleaning robot has been designed,the detail of the design has benn finished based on the working requirement,including the three subsystem,they are location system,obstacle avoiding system and safe measure system.Contraposing the structure and the working situation of The Underwater Ship face Cleaning Robot,the hardware of the measure system has been designed in details,including the sensors choice and interface circuit design.The measure system of The Underwater Ship face Cleaning Robot that has been designed in the study has highly precision and reliable capability,it achieve the requirement of The Underwater Ship face Cleaning Robot working in underwater situation.The configure of the NI DAQCard-6024E has been illustrated and configuring the card in details.By testing the NI DAQCard-6024E,make sure that the card can work correctly. The measure system of The Underwater Ship face Cleaning Robot showing panel has been designed,it consist of the subshowing panel ,the showing panel can show the figures that the measure system attain by the sen sors in the form of pointer.Virtual experiment has been set up with the designed measure system.Using singal emulator produce the virtual singal that is similar to the real singal,the virtual singal has been input the measure system and attatined the result with the processing and analysing of the programe,in order to verify the capability of the measure system. The virtual experiment has proved the measure system of The Underwater Ship face Cleaning Robot has the superior capability and operating simply,alarming in time and incredibility, economizing the expenditures of the empoldering.更多还原