CAJ | 학술논문

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.
침대수하궤기인급궤계수적작업특점,제출료신적목표정위근종방식,병근거차이론연제료신형수하근종정위용접근각전감기.이용초성수하전파、반사적성질,이MSP430위공제기、배이수발일체화적탐두진렬급공제전로,실현료수하목표적고정도정위여실시근종.실험표명,연구설계적전감기구유체적소、공모저、실시성호등특점,괄용우수하각형작업공구.
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.