| 水下跟踪定位用接近觉传感器研究 |
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| 引用本文： | 徐筱龙,徐国华,曾志林,辛宇.水下跟踪定位用接近觉传感器研究[J].中国造船,2010,51(1). |
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| 作者姓名： | 徐筱龙 徐国华 曾志林 辛宇 |
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| 作者单位： | 华中科技大学,船舶与海洋工程学院,湖北,武汉,430073 |
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| 基金项目： | 863高技术研究发展计划课题"深海精密作业机械手关键技术"，国防科工委十一五基础研究项目"微小型作业工具" |
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| 摘 要： | 针对水下机器人及机械手的作业特点,提出了新的目标定位跟踪方式,并根据此理论研制了新型水下跟踪定位用接近觉传感器.利用超声水下传播、反射的性质,以MSP430为控制器、配以收发一体化的探头阵列及控制电路,实现了水下目标的高精度定位与实时跟踪.实验表明,研究设计的传感器具有体积小、功耗低、实时性好等特点,适用于水下各型作业工具.
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| 关 键 词： | 水下 接近觉 |
Research of Underwater Proximate Sensor for Tracking and Positioning |
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| XU Xiao-long,XU Guo-hua,Zeng Zhilin,XinYu.Research of Underwater Proximate Sensor for Tracking and Positioning[J].Shipbuilding of China,2010,51(1). |
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| Authors: | XU Xiao-long XU Guo-hua Zeng Zhilin XinYu |
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| Institution: | XU Xiao-long,XU Guo-hua,Zeng Zhi-lin,XinYu(School of Naval Architecture & Ocean Engineering,Huazhong University of Science , Technology,Hubei Wuhan,430073,China) |
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| Abstract: | Considering the working environment of underwater robot and manipulator,a new method is proposed for tracking and positioning of underwater target.Based on the theory and the analysis of ultrasonic traveling and echoing in water,new proximate sensor is designed and tested.The hardware modules include MSP430 processor,circuits and ultrasonic sensor array.The characteristics of small volume,low-power consumption and good real-time make this new proximate sensor suitable for different types of underwater tools... |
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| Keywords: | MSP430 Underwater Proximate sensor MSP430 |
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