摘要
水下机器人在水下复杂环境实现安全作业的关键在于密封电子舱的密封性良好。为保证水下机器人安全运行,避免因电子舱漏水而发生安全事故,设计了一种成本低、快速精准检测水下机器人密封舱密封性的方法。首先,对漏水检测系统传感器及检测算法进行设计;其次,设计传感器与水下机器人主控制器数据交互方式;最后,实验证明所设计漏水检测系统的有效性。研究表明,该方法可以有效检测密封舱密封性是否良好,以保证水下机器人水下作业的安全性。
The key to the safe operation of underwater vehicles in complex underwater environments lies in the good sealing of the electronic cabin.In order to effectively ensure the safe operation of underwater robots,avoid safety accidents caused by water leakage in the electronic cabin.A low-cost,fast and accurate method for testing the airtightness of the sealed cabin of an underwater robot is designed.Firstly,we design the sensor and detection algorithm of the water leakage detection system;Secondly,we design the data interaction method between the sensor and the main controller of the underwater robot.The experiments prove the effectiveness of the designed water leakage detection system.Research shows that the method in this paper can effectively detect whether the airtightness of the airtight cabin is good,so as to ensure the safety of underwater robots in underwater operations.
作者
朱明明
辛绍杰(指导)
邓寅喆
ZHU Mingming;XIN Shaojie;DENG Yinzhe(School of Mechanical Engineering,Shanghai Dianji University,Shanghai 201306,China)
出处
《上海电机学院学报》
2021年第3期175-179,186,共6页
Journal of Shanghai Dianji University
基金
上海市高原学科机械工程资助项目(A1-5701-18-007-08)。
关键词
水下机器人
密封舱
漏水检测系统
传感器
underwater vehicle
sealed cabin
leakage detection system
sensor
