基于最优切削深度的深海采矿车定位研究  

Research on Orientation of Deep-sea Mining Vehicle Based on the Best Cut Depth

作　　者：卜英勇[1] 贺茂坤[1] 鲁志佩[1] 

机构地区：[1]中南大学机电工程学院,湖南长沙410083

出　　处：《海洋通报》2008年第4期88-93,共6页Marine Science Bulletin

基　　金：中国大洋矿产资源研究开发协会技术发展资助项目(DY105-03-02);国家自然科学基金资助项目(50474052)

摘　　要：最优切削深度对矿石开采有着重要意义。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,先要获得该地貌的准确位置数据,即采矿车准确定位的位置。考虑到深海地貌崎岖不平、车轮打滑、周围能见度低等复杂的工作环境,提出了一种基于从动轮的航位推算定位。通过建立非平坦地形上采矿车的运动学模型,采用电子罗盘等传感器测量采矿车的动态参数,依据运动学模型进行航位推算,从而实现采矿车的准确定位。试验结果较好地达到了预期的要求,为深海采矿车的最优切削深度控制、自主导航、路径规划等提供了前提条件。The best cut depth makes important sense for mining. In order to get the correlative physiognomy for computing the best cut depth of mining vehicle, it should get the correct location date at first, that is, the correct orientation of mining vehicle actually. Taking into account the complex working environment： uneven physiognomy of deep-sea, wheel＇s skid, low surrounding visibility and so on, I bring forward the dead reckoning based on the driven wheel. By setting up kinematics model of mining vehicle on uneven terrain and measuring dynamic parameter by compass, we can use the model for dead reckoning and get correct orientation of mining vehicle. The result meets the request of anticipation very well, thus it is the base of the best cut depth controlling, autonomous navigation, and path tracking of mining vehicle.

关 键 词：最优切削深度 采矿车 深海地貌 航位推算 从动轮 

分 类 号：P229.5[天文地球—大地测量学与测量工程]