Achievement for orientation function of underwater-stirring robots

LIU Wei-ming; HAO Jing-ru; HUANG Min

doi:10.13873/j.1000-97872007.08.025

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Achievement for orientation function of underwater-stirring robots

更新时间：2025-09-11

- Achievement for orientation function of underwater-stirring robots
- Issue 8, Pages: 96-98(2007)
- 作者机构：
  
  1. 北京机械工业学院机械工程系
  2. 北京机械工业学院机械工程系,北京,100085
- 作者简介：
- 基金信息：
- DOI：10.13873/j.1000-97872007.08.025
  CLC： TP242
- Published：2007
- 稿件说明：
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[1]刘伟明,郝静如,黄民.浆液下机器人定位功能实现[J].传感器与微系统,2007(08):96-98.

LIU Wei-ming, HAO Jing-ru, HUANG Min. Achievement for orientation function of underwater-stirring robots[J]. 2007, (8): 96-98.
[1]刘伟明,郝静如,黄民.浆液下机器人定位功能实现[J].传感器与微系统,2007(08):96-98. DOI： 10.13873/j.1000-97872007.08.025.

LIU Wei-ming, HAO Jing-ru, HUANG Min. Achievement for orientation function of underwater-stirring robots[J]. 2007, (8): 96-98. DOI： 10.13873/j.1000-97872007.08.025.

摘要

设计液下搅拌机器人的定位系统

选用多传感器来获取定位信息。用单片机（下位机）测得各个传感器信息

通过RS—485总线把信息传给工控机（上位机）

工控机对信息进行融合

实时（本系统可达1 s）获得机器人的位置及航向信息。实验验证定位系统可行性

并对测距误差进行了分析

修正后定位误差在10 cm以内

满足对机器人的定位要求。

Abstract

An orientation system for stirring robots working under water is designed.Multi-sensors are selected to get the orientation information.The information is captured by the MCU

carried through RS-485 bus to industrial PC and merged by it

then the position and heading information that can be updated in one second is promptly displayed.A laboratory is done to validate the feasibility of the orientation system and then the distance errors up to under 10 cm that can satisfy the demand are corrected.

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references

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DS18B20在16路测温系统中的应用 [J]. 赵红旗,王云景. 仪表技术 . 2006(01)

液下搅拌机器人的超声波导航定位研究 [J]. 刘金会,郝静如. 传感器技术 . 2004(12)

基于高级语言的HMR3000模块接口编程 [J]. 张颖. 兵工自动化 . 2002(04)

超声波网络导航中移动机器人的位置计算 [J]. 俞竹青,那须康雄. 机器人技术与应用 . 2002(03)

Visual C++串口通信工程开发实例导航[M]. 人民邮电出版社 , 谭思亮,邹超群等编著, 2003

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