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专利名称:
一种用于海洋机器人的兼容半物理/全数字的仿真方法
其他题名: Semi-physical/full-digital compatible simulation method for ocean robots
作者: 贾松力; 于闯; 梁保强; 李宁; 胡志强
所属部门: 海洋信息技术装备中心
专利权人: 中国科学院沈阳自动化研究所
专利代理: 沈阳科苑专利商标代理有限公司 21002
专利国别: 中国
专利类型: 发明
专利状态: 有效
摘要: 本发明涉及一种用于海洋机器人的兼容半物理/全数字的仿真方法,包括以下步骤:在仿真工控机的仿真软件中建立多个软件层,使其能够在连接便携计算机以及、通过电气信号转接盒连接机器人控制系统计算机的两种仿真模式之间进行切换,实现全数字或半物理仿真。本发明可在保证仿真工控机软件及海洋机器人智能控制软件整体架构稳定的条件下,通过硬件替换实现兼容半物理/全数字仿真的功能,并使全数字仿真与半物理仿真具有极大的等效性,为保障自主海洋机器人智能控制软件的正确性和有效性提供有效验证手段。
英文摘要: The invention relates to a semi-physical/full-digital compatible simulation method for ocean robots, which includes the following steps: a plurality of software layers are established in the simulation software of an industrial personal simulation computer, so that the industrial personal simulation computer can be switched between a simulation mode in connection with a portable computer and a simulation mode in connection with a robot control system computer through an electric signal adapter box to carry out full-digital or semi-physical simulation. Under the condition of ensuring the stability of the overall architectures of the software of the industrial personal simulation computer and the intelligent control software of an ocean robot, the semi-physical/full-digital compatible simulation method can implement the semi-physical/full-digital compatible simulation function by replacing hardware, and ensures that full-digital simulation and semi-physical simulation are highly equivalent, and thereby an effective verification means is provided to guarantee the correctness and effectiveness of intelligent control software of autonomous ocean robots.
是否PCT专利:
申请日期: 2013-11-26
公开日期: 2015-06-03
授权日期: 2017-06-30
专利申请号: CN201310618260.0
公布/公告号: CN104678776A
语种: 中文
产权排序: 1
内容类型: 专利
URI标识: http://ir.sia.cn/handle/173321/16037
Appears in Collections:海洋信息技术装备中心_专利

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CN201310618260.0.pdf(1941KB)专利--开放获取View Download
CN201310618260.0授权.pdf(1056KB)专利--开放获取View Download

Recommended Citation:
贾松力,于闯,梁保强,等. 一种用于海洋机器人的兼容半物理/全数字的仿真方法. CN104678776A. 2015.
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文件名: CN201310618260.0.pdf
格式: Adobe PDF
文件名: CN201310618260.0授权.pdf
格式: Adobe PDF
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