深海采矿车自主定位系统及其在最优切削中的应用研究机械设计及理论专业论文.docxVIP

AB AB STRACT 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． KEY WORDS：mining vehicle，dead reckoning，driven wheel， physiognomy of de