水下模块化自重构机器人对接导引  

Docking navigation of the underwater self-reconfigurable system

作　　者：庄广胶[1] 葛彤[1] 刘建民[1] 

机构地区：[1]上海交通大学船舶海洋与建筑工程学院,上海200241

出　　处：《海洋工程》2011年第3期102-107,共6页The Ocean Engineering

基　　金：国家"863"计划资助项目(2007AA09Z215)

摘　　要：给出一种水下自重构机器人的基本构成模块,针对模块化自重构机器人的对接要求,设计一套基于蓝光波段的可见光定位系统,检测需要对接的两个面之间的位置与姿态关系。在主动连接面呈正三角形安装三个蓝光LED光源,在相应的被动连接面中心安装一个光敏二极管作为光强接收传感器,利用光强接收传感器接收到的信息,设计一套位置检测算法,根据计算出的相对方位误差,修正两对接面的方位。实验结果表明,所设计的蓝光波段可见光导引系统能够在水下准确检测两对接面相对方位,误差小于2 cm。A basic module of the underwater self-reconfigurable system was presented. In order to satisfy the requirement of docking, designed a suit of visible light detecting system based on blue wavelength light, to detect the relationship of position and posture between the two docking faces. Three blue light LED has been instamled on the initiative docking face in the shape of equilateral triangle. In correspondence with the initiative docking face, one light-sensitive diode also has been installed in the center of the passive docking face. On the basement of＇ messages from the light intensity sensor, a suit of computational method has been designed. By the computational method, we can calculate the error of position and posture between the two docking faces, then round-off the error. The experiment indicated that the suit of visible light detecting system based on blue wavelength light can successfully detect the position and posture between the two docking faces. The error is less than 2

关 键 词：自重构机器人 导引 定位 对接 水下模块化 

分 类 号：P751[交通运输工程—港口、海岸及近海工程]