基于LabVIEW深海集矿机避障导航控制系统设计

Analysis of Obstacles Avoidance and Navigation Control System of Deep-Sea Mining Vehicle Based on LabVIEW

发现障碍物后实施避障行为和绕开障碍物后回到预定开采路径继续进行采矿是深海集矿机避障导航控制系统必须解决的问题。根据集矿机控制系统实际要求,设计由测障声纳、定位声纳和方向罗盘组成的前端采集系统,设计基于电液控制的液压转向系统,给出了集矿机导航避障所需的下位机前端硬件采集系统,根据实际情况给出了导航避障控制系统的详细设计流程,并以此为基础,采用LabVIEW和Matlab混合编程的方法,设计了实现软件和硬件相连的LabVIEW上位机控制程序;将BP神经网络成功地导入了LabVIEW的编程界面;同时,经过图形化编程实现了网络输入模式识别。结果可知:结合实际海底车控制策略,利用声学和光学仪器结合使用的信息融合技术来完成缓坡检测问题,并结合上述设计方案给出实现完整避障导航的硬件系统组成;应用LabVIEW中的Matlab Script节点技术,建立软件和硬件的连接,用于实际控制,从而使得集矿机在真实作业环境下可以实现准确的障碍物绕行。

When obstruction is found,the implementation of obstacle avoidance and bypassing the obstacle,and then return to the scheduled mining path to continue mining is the problem must be solved by obstacle avoidance navigation control system of deepsea collector. According to the actual requirements of the collector control system,the design of the front-end acquisition system consists of a barrier sonar,a positioning sonar and a direction compass,design of hydraulic steering system which based on electrohydraulic control. The hardware acquisition system of the lower part of the lower computer is given in the article,the detailed design flow of navigation obstacle avoidance control system is given according to the actual situation,and based on this,using LabVIEW and Matlab mixed programming method,designed to achieve the software and hardware connected LabVIEW host computer control program. The BP neural network was successfully introduced into the LabVIEW programming interface,at the same time,achieve the network input pattern recognition through the graphical programming. The results show that the combination of the actual underwater vehicle control strategy,the use of acoustic and optical instruments combined with the use of information fusion technology to complete the gentle slope detection problem,combined with the above design of the program gives a complete obstacle avoidance navigation hardware system. Application of Matlab Script Node in LabVIEW,establish software and hardware connections for actual control,so that the collector can achieve accurate obstacles around the real operating environment.