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题名: 自治水下机器人应急单元设计
其他题名: Emergency Uint Design for AUV
作者: 尹楠
导师: 刘健
分类号: TP242
关键词: 自治水下机器人 ; 应急单元 ; 双机热备份 ; 可靠性
索取号: TP242/Y56/2010
学位专业: 模式识别与智能系统
学位类别: 硕士
答辩日期: 2010-06-03
授予单位: 中国科学院沈阳自动化研究所
学位授予地点: 中国科学院沈阳自动化研究所
作者部门: 水下机器人技术研究室
中文摘要: 自治水下机器人(AUV)作为人类肢体和大脑在水下的延伸,可以在人类无法到达的深度和广度上进行探测、识别和作业,为海洋的开发、水下工程建设和海疆的防卫做出不可替代的贡献。AUV深海作业环境是非常恶劣的,时常面临着各种各样的危险。研制一台AUV需要大量的人力物力资源,而且每次实验或作业所获得的资料或数据具有极大价值。如果因故障造成AUV失事沉入海底,将会造成极大损失,对海洋开发或研究是一个沉重的打击,因此,AUV的应急单元也成为AUV的关键设备之一。 AUV应急单元对于AUV使命完成的保障和载体的安全回收起着至关重要的作用。本文选取“CR-02”6000m自治水下机器人和某AUV为研究对象,研究的目的在于提高AUV的安全性和可靠性,并对今后AUV应急单元的设计提供理论支持及向导作用。 本文首先介绍了“CR-02”6000m自治水下机器人和某型AUV的应急系统,分析各自应急系统的优点和不足之处,然后针对其应急系统存在的不足之处进行了改进,主要包括: (1)“CR-02”应急单元的设计与实现。对其原有应急单元进行改进,增加GPS和无线电遥控功能,完成了整个应急单元设计以及应急单元与自动驾驶单元通讯协议设计,并在仿真平台和载体上对新设计的应急单元进行调试,验证其有效性。 (2)设计了一应急单元检测仪。该检测仪可以完成对某AUV应急单元板卡、驱动板卡、应急单元电源板卡的各种功能的检测,确保应急单元的各个功能的实现。通过实际调试验证了该检测仪的有效性。 最后本文从所做的工作出发,从总体上对AUV的应急单元进行设计,包括备份技术研究、可靠性评估、应急单元设计等,对今后AUV应急单元的设计奠定了良好的基础。
英文摘要: As an expansion of the human Autonomous Underwater Vehicle (AUV) can do the jobs such as detection, identification and operations where human beings can not reach in the depth and breadth, and has done a great contribution which can not be replaced for the development of the marine, the construction of underwater engineering and the defense of our territorial seas. The deep-sea operating environment of AUV is very bad, often face a variety of dangers. limb and brain under water, AUV developed require a large number of human and material resources, and the information or data obtained from each experiment or operation have great value. If the crash caused by failure sunk, it will cause great damage, and is a heavy blow to the marine development or research. Therefore, AUV's emergency uint has become one of the key equipment of the robot. The emergency unit of AUV plays a vital role in AUV mission completed and security recovery. To improve the safety and reliability of AUV, and provide theory support and guide in the future emergency unit design of AUV, The paper select "CR-02" 6000m AUV and a type of AUV as object. The paper introduces the emergency system of "CR-02" and a type of AUV, analysis their emergency system's advantages and shortcomings, then for the shortcomings do some improved, including: (1) Design and implementation of "CR-02" emergency unit. Improvements to its existing emergency unit, increasing GPS and radio remote control function , complete the entire design and emergency unit and autopilot unit communication protocol design ,simulation platform and the vehicle debug of the new design of emergency units verify its effectiveness. (2) Designed an emergency unit detector. It can complet the testing of various functions on a type of AUV, including emergency units board, drive board, emergency unit power board, to ensure the realization of various functions of emergency unit, through actual debugging verify the effectiveness of this detector. Finally, starting from the work have done, totally design the emergency unit of AUV, including backup technology, reliability evaluation, emergency unit design, laid a good foundation on the future design of AUV emergency system.
语种: 中文
产权排序: 1
内容类型: 学位论文
URI标识: http://ir.sia.cn/handle/173321/9289
Appears in Collections:水下机器人研究室_学位论文

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