船舶清理机器人定位基准位姿测量技术研究

Research on Position and Posture Measurement Technology of Ship Cleaning Robot

以提高船舶海水脱硫装置盐巴清理机器人定位基准位姿测量精度为目的,提出了机器人定位基准位姿测量技术研究。基于机器人定位基准位姿跟踪仪和定位基准位姿测量传感器设计,完成了系统的硬件设计,通过建立机器人定位基准位姿解算模型和定位基准位姿测量程序设计,完成了系统的软件设计,实现了船舶海水脱硫装置中盐巴清理机器人定位基准位姿的测量。仿真实验结果表明,提出的盐巴清理机器人定位基准位姿测量系统在水平距离和旋转角度上,都可以提高位姿测量精度。

In the purpose of improving the accuracy of position and posture measurement of salt-cleaning robot in marine seawater desulfurization unit,a research on positioning datum pose measurement system of robot is proposed.The hardware design of the system is completed and which is based on the robot localization benchmark position tracking and locating datum position measurement sensor design.The software design of the system is completed and through the establishment of robot localization benchmark position calculating model and the locating datum position measurement program design,so as to realize the localization benchmark position measurement of salt-cleaning robot in marine seawater desulfurization unit.The simulation results show that the proposed system can improve the pose measurement accuracy in the aspect of horizontal distance and rotation angle of salt-cleaning robot.