深海采矿车自主定位系统及其在最优切削中的应用研究

【作者】 贺茂坤；

【导师】 卜英勇；

【作者基本信息】 中南大学 ， 机械设计及理论， 2008， 硕士

【摘要】 深海采矿车自主定位系统是采矿车自主导航、智能控制、安全作业等过程的基础。针对深海地形崎岖不平、车轮打滑、周围能见度低等复杂的工作环境,本文提出了一种基于从动轮的航位推算定位方法。为了获取相关深海地貌数据计算采矿车最优切削深度,实现最优开采,定位系统要对采矿车定位获得采矿区域的准确位置数据,基于最优切削深度的钴结壳优化开采方法要求定位系统实时、连续、稳定的工作。航位推算定位方法受外部环境的依赖性较小、实时性强、短程定位精度高,对实现深海钴结壳优化开采有重要意义。在建立某一时刻的斜面采矿车空间运动学模型基础上,用不同时刻、不同方位斜面复合成三维地形空间运动学模型,建立采矿车空间连续航位推算模型。针对采矿车打滑的测速问题,研制一种具有地形感知能力的从动轮测速机构。通过运动学分析,建立从动轮速度和采矿车速度之间的关系,以及定位系统在最优切削中的应用模型。在此基础上设计采矿车空间航位推算定位系统:用VC编写定位系统软件,采用三轴数字罗盘、角位移传感器等测量采矿车测量采矿车的动态参数,对系统采用的关键传感器进行数据预处理方法研究,提高其在动态情况下测量精度。最后,在实验室条件下进行各种地形上模型车定位试验,分析定位系统的误差,验证其定位精度、实时性和稳定性,结果表明基于空间航位推算方法的定位系统是可行的。本文的研究为深海采矿车定位系统和建立完整的采矿车控制系统打下良好理论和试验基础。更多还原

【Abstract】 The independent position system of deep-sea mining vehicle is the base of self-localization, intelligent controlling, independent navigation and safely working. Taking into account complex working environment: uneven physiognomy of deep-sea, wheel’s skid, low visibility of surrounding and so on, dead reckoning based on driven wheel for localization was brought forward in this paper. For getting correlative physiognomy compute the best cut depth of mining vehicle, the correct location date should be got at first by the position system of mining vehicle. The method to collect optimized theory of mineral resources cut depth require the system characterized with real-time, continuous, steady and credibility. Dead Reckoning with its advantages of low depending on surrounding, high accuracy in short time, real-time, it is necessary for deep-sea cobalt-rich crusts optimized collection.Dead-Reckoning kinematics model was founded at a certain time on a plane, the three-dimensional space kinematics models founded by the models of different planes and different time. A velocity measuring device based on driven wheel, which can detect the terrain. The velocity was designed in allusion to measure the velocity of the slipping mining vehicle. The velocity relation between mining vehicle and driven wheel ,the application model of position system for the best cut depth established by the kinematics analyze .Then, the software designed on VC6.0 platform, 3-axes digital compass and angular displacement sensor chose to measure the dynamic information, it’s result will be treat for improving precision.At last, Dead-Reckoning position system’s accuracy, real time and stability proved by experiment, it also helps to analyze errors. It shows that the Dead Reckoning adapt to position system. The research is a good theory and experimental base for studying on the deep-sea position and founding a whole control system of mining vehicle.更多还原