摘要：【中文】本发明涉及一种用于全海深自主遥控潜水器的推进控制系统，包括：单片机最小系统电路、CAN收发电路、串口收发电路、继电器控制电路。本发明所述的推进控制电路板浸泡在油中，能够承受120Mpa压力，其上所使用的电子元器件都经过压力测试筛选；本发明所使用的单片机采用基于Cortex‑M4内核的控制芯片，具有功能强大、低功耗、资源丰富可扩展能力强等优点，因此可以既使用一路CAN网络控制电机，又通过另一路CAN网络与航行控制计算机通信；本发明使用单片机的EEPROM实现在推进系统断电前完成对目前舵机角度的记录，再次上电后读取记录，具有电路简单、精度高的优点。 【EN】The invention relates to a propulsion control system for a full-sea-depth autonomous remotely operated vehicle, comprising: the system comprises a singlechip minimum system circuit, a CAN transceiver circuit, a serial port transceiver circuit and a relay control circuit. The propulsion control circuit board is soaked in oil and can bear 120Mpa pressure, and electronic components used on the propulsion control circuit board are screened by a pressure test; the single chip microcomputer used in the invention adopts a control chip based on a Cortex-M4 kernel, and has the advantages of strong function, low power consumption, rich resources, strong expandability and the like, so that not only one path of CAN network is used for controlling the motor, but also the other path of CAN network is used for communicating with a navigation control computer; the invention uses the EEPROM of the singlechip to record the current steering engine angle before the propulsion system is powered off and read the record after the propulsion system is powered on again, and has the advantages of simple circuit and high precision.

摘要：【中文】本发明涉及水下机器人技术领域，特别涉及一种水下机器人的舱门系统。包括对称设置于水下机器人两侧的左侧舱门机构B和右侧舱门机构A，左侧舱门机构B和右侧舱门机构A结构相同，均包括转动驱动机构、舱门蒙皮组件、舱门转轴、舱门上连接件及舱门下连接件，其中舱门蒙皮组件的尾端与舱门转轴连接，舱门转轴的上、下端分别通过舱门上连接件和舱门下连接件与水下机器人的龙骨框架连接，转动驱动机构设置于舱门上连接件上、且与舱门转轴连接。本发明具备航行阻力小，强度大，质量轻，拆卸方便，操控灵活等特点。 【EN】The invention relates to the technical field of underwater robots, in particular to a cabin door system of an underwater robot. The underwater robot comprises a left side cabin door mechanism B and a right side cabin door mechanism A which are symmetrically arranged on two sides of an underwater robot, wherein the left side cabin door mechanism B and the right side cabin door mechanism A are identical in structure and respectively comprise a rotation driving mechanism, a cabin door skin assembly, a cabin door rotating shaft, an upper cabin door connecting piece and a lower cabin door connecting piece, the tail end of the cabin door skin assembly is connected with the cabin door rotating shaft, the upper end and the lower end of the cabin door rotating shaft are respectively connected with a keel frame of the underwater robot through the upper cabin door connecting piece and the lower cabin door connecting piece, and the rotation driving mechanism is arranged on the upper. The invention has the characteristics of small navigation resistance, high strength, light weight, convenient disassembly, flexible operation and the like.

摘要：【中文】本发明公开了一种测量吸波材料反射率的方法，该方法包括在不同反射测试条件下，分别对待测吸波材料和参照材料进行反射测试，获得第一信号总量的差值和第二信号总量的差值；基于第一信号总量的差值和第二信号总量的差值，计算得到所述待测材料的反射率。本发明中采用的测量方法可有效地解决以上不足，该方法在不需要分离吸波材料或参考金属板反射信号的同时，通过改变测量距离，选择合理的测量方法，来计算获得平板吸波材料反射率。通过使用该方法，不仅可以减小信号时频域转换过程中的截断误差，还可以有效降低收发天线直接耦合信号与空间杂散信号对反射信号的影响，进而提高反射率测量准确度，减小测量误差。 【EN】The invention discloses a method for measuring the reflectivity of a wave-absorbing material, which comprises the steps of respectively carrying out reflection tests on the wave-absorbing material to be tested and a reference material under different reflection test conditions to obtain the difference value of the total amount of a first signal and the difference value of the total amount of a second signal; and calculating the reflectivity of the material to be detected based on the difference of the total amount of the first signal and the difference of the total amount of the second signal. The measuring method adopted by the invention can effectively solve the defects, and the reflectivity of the flat wave-absorbing material can be calculated and obtained by changing the measuring distance and selecting a reasonable measuring method while the wave-absorbing material or the reference metal plate reflection signal does not need to be separated. By using the method, the truncation error in the signal time-frequency domain conversion process can be reduced, the influence of the direct coupling signal of the receiving and transmitting antenna and the space stray signal on the reflected signal can be effectively reduced, the reflectivity measurement accuracy is improved, and the measurement error is reduced.