Design On Walking Mechanism And Obstacle-avoiding System Of Catching Device For Undersea Recovery Of Philippines Clam

Catching device walking obstacle avoidance system selected crawler walking mechanism as walking way of catching equipment walking system by combining with their own factors and analyzing and calculating of various parameters of the underwater work environment.By understanding situation of seabed environment and noise interference in working process,using ultrasonic detection as the main detecting way.In this part,it is designed that the hardware part of catching device of walking system in view of the seabed special working conditions.And the small prototype walking system is accomplished.The overall size is about 0.6m×0.38m×0.32 m and the weight is about 30 kg.The catching equipment obstacle avoidance system adopt ultrasonic detector,infrared transducer and the LabVIEW software,NI 9201 analog input module,NI 9265 analog output module,NI cDAQ-9178 chassis and other hardware devices and establishing automatic test program to manage for data acquisition,data processing,data analysis,signal filtering and other dispose.Completing collection and processing for the information of the barrier on the way of planned route.Software controls the part of the system design include the design of barrier detection system,the choice of catching car dynamic path and data processing.The three parts completed respectively obstacle detection,signal processing and movement route control by using LabVIEW software to make data acquisition submodule,configure simulate signal submodule and other subroutine like signal transformation submodule.Obstacle avoidance system of the catching device,in the laboratory environment to build a water tank(8m×1m×0.8m),was placed a different height obstacles.It is taken that the preliminary experimental study which includes walking system preliminary running trial,the test of the traveling mechanism barrier properties,the recognition and avoiding capability for the anterior barrier in the laboratory environment.The experimental results show that the catching walking mechanism with intelligent obstacle avoidance system can complete the three tasks: 1)can keep a normal walking on different routes;2)can overcome obstacles on 13 cm below and maintain normal operation;3)the obstacles that can be detected within 5 m and the obstacle information can be received at the same time with the error about 1%.