海底集矿机的绕障行走控制

The Control of ObstaclesAvoiding Travel of Seabed Nodules Collector

用集矿机进行海底采矿时，会遇到障碍物，若利用测障声纳，可得到与障碍物有关的标准信号，从而确定集矿机的转弯路径，实现绕障控制。文章介绍了测障声纳的工作原理、行走控制步骤以及模型集矿机绕障行走试验过程中测得的数据。试验研究表明，通过声纳测障，可使集矿机按规划路径进行绕障行走。

hen mining in deepsea,the nodules collector can meet any obstacles.If the sonar is used to detect obstacles,the standard signals related to the obstacles can be obtained.Therefore,the turning path of nodules collector is determined to realize the obstaclesavoiding controlling.This paper introduces the working principle of obstaclesdetecting sonar,the control procedures of travel and the data measured in the test for obstaclesavoiding travel of model collector.It has been shown that using the sonar to detect the obstacles can make the nodules collector do the obstaclesavoiding travel along the planned path.