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Vehicle Localization Detect And Path Plan Of Robot Working Under Water-Coal Slurry

Posted on:2006-03-15Degree:MasterType:Thesis
Country:ChinaCandidate:J H LiuFull Text:PDF
GTID:2178360182972465Subject:Mechanical design and theory
Abstract/Summary:PDF Full Text Request
In recent years, using water-coal slurry replace gasoline to burning are being used in many branches of country economy, and also have gain hugeness economy benefit. So, research a kind of robot working under water-coal slurry instead of traditional hulking machine mill device in large reposition jar to produce water-coal, which will advance the modernization level of produce water-coal in our country, improve economy benefit. Environment information obtaining and navigation localization automatically is the key technology for autonomous mobile robot to intelligentize and put across assignment. A systemic research of vehicle localization detection and path plan for robot working under water-coal slurry is described in this paper, navigation and localization method usually used in our country or abroad are compared and analysed, an idea of using ultrasonic sensors to navigate and localizate for under water-coal slurry is put forward, machine configuration of ultrasonic sensor and implement theory of signal generator are introduced in detail, hardware configuration scheme of sensor localization and filter-amplify circuit are designed, an automatical navigation–localization mathematics model is set up. Furthermore, a data collect method based of industry control computer is put forward, corresponding software flow is designed and automatical navigation –localization program of upper control machine is weaved. In addition, to guarantee the utility value of the research, ultrasonic transmit in water-coal ,data collection and reliability of disposal circuit in sink experiment are done, which will be the base of automatical navigation –localization coming true. Wish the paper will be valuable reference for the research of robots working under water in correlation field.
Keywords/Search Tags:robot, ultrasonic, navigation, localization, slurry
PDF Full Text Request
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