深海采矿车颠簸状态下微地形探测点位置确定  

Deternining the Position of Micre-geomorphic Seareling Points for Deep-ocean Mining Vehicle in a Bumping State

作　　者：邓跃红[1] 卜英勇[1] 汤晓勇[1] 

机构地区：[1]中南大学机电工程学院,长沙410083

出　　处：《机械设计与研究》2010年第2期35-37,42,共4页Machine Design And Research

基　　金：国家自然科学基金资助项目:(50474052)

摘　　要：针对采矿车深海作业的特殊性,基于航迹推算原理,建立了采矿车位置自测量推算系统。系统中利用三轴数字罗盘、角位移传感器和角位移变速器等,对车体姿态和外部环境进行测量,在所建立的车体运动模型基础上,实现复杂三维地形下颠簸车体坐标原点及地貌探测点真实坐标值推算。该系统能适应复杂工作环境,具有较高定位精度。Considering the characteristic of mining vehicle working in deep ocean,a self-measuring and reckoning system was established based on dead reckoning.Using 3-axis numerical compass,angle-displacement sensor and transmission,so vehicle attitude and exterhal circumstance was measured.On the basis of the vehicle kinematic model,reckoning the coordinate original point fo the bumping vehicle and the real coordin ate value of the micro-geomorphic searching points micro-geomorphology point was realized under the complex 3D geomorphic condition.Tests show that the system is suitable for complex working environment and has a high positioning accuracy.

关 键 词：深海采矿 颠簸 微地貌探测 航迹推算 相对运动原理 

分 类 号：TD807[矿业工程—矿山开采]