大深度载人潜水器舱室噪声研究

  目的  为解决舰艇舱室内部空间复杂狭小导致人工检测噪声困难的问题，提出基于目标导向RRT算法的机械臂局域空间规划方法。  方法  以六自由度机械臂为载体，在机械臂末端安装工装夹具，并以舱室内部的4个固定点为基准点，研究机械臂在局域空间内的遍历轨迹规划。其中，以基准点1为例，对其6个测量面、147个测点的噪点进行测量。通过噪声信号与空间待测点位姿信息的匹配分析，反馈当前测点的环境噪声，形成声压云图。  结果  结果显示，针对4个基准点所对应的测点，机械臂可以实现对所有测点的轨迹规划与噪声测量，且无碰撞发生。  结论  所提方法能够实现在狭小舱室局域空间内的智能规划以及内部噪声检测，具有实用价值。

Study on deep-sea manned submersible cabin noise

  Objective  In order to solve the problem that noise detection inside a cabin is difficult due to the complexity and narrow space, a local space planning method of a manipulator based on the goal-oriented rapidly-exploring random tree (RRT) algorithm is proposed.   Method  A six-degrees-of-freedom (6-DOF) manipulator is used as the carrier, and a fixture is installed at the end of the manipulator. The four fixed points inside the cabin are used as the reference points to study the mechanical arm in the local space. The trajectory planning is traversed and the reference point-1 is taken as an example to measure the noise of its 6 measurement surfaces and 147 measurement points. The noise signal and the position and attitude information of the space to be measured are matched and analyzed, and the environmental noise of the current measurement point is fed back to form a sound pressure cloud map.   Results  The experimental results show that the robotic arm can realize trajectory planning and noise measurement for all measurement points corresponding to the four reference points without collision.   Conclusion  The proposed method has practical value in being able to realize intelligent planning and internal noise detection in narrow cabin areas.