水下结构检测与作业机器人ROV研制及声纳图像识别研究

发布时间：2018-01-15 08:32

  本文关键词：水下结构检测与作业机器人ROV研制及声纳图像识别研究　出处：《江苏科技大学》2016年硕士论文　论文类型：学位论文

  更多相关文章： 水下机器人 控制系统 结构检测 声纳图像识别

【摘要】：世界远洋运输事业飞速发展,船舶作为海上交通运输的主要工具正发挥着越来越重大的作用。船舶在航行过程中,当船体底部接触到海中悬浮物(网具、绳索等)时,这些悬浮物容易被吸入并缠绕在螺旋桨上,严重影响船舶的航行安全。不仅如此,海洋结构生产平台水下部分结构由于长期处于海水的浸泡中,以及平台受船舶的碰撞,容易产生结构断裂、开裂和变形等现象。因此,对水下船体和海洋平台结构的检测与作业必不可少。人工作业风险大、成本高,逐渐被日益发达的机器设备所取代,而水下机器人(Remotely Operated Vehicle,ROV)就是其中一类极具代表性的设备,为海洋事业的发展和海洋科学研究带来了巨大的推动作用。本文结合江苏省高技术船舶协同创新中心2015年科研项目,研制了一款水下结构检测与作业型水下机器人ROV样机,并开展声纳图像识别研究。具体内容如下:首先,本文根据当前国内外水下机器人研究现状,并基于项目技术要求,提出了一套新颖的水下结构检测与作业机器人ROV研制方案,并进行本体设计,其中包括框架设计、浮体设计、电子耐压舱设计、动力推进系统设计及关键部件选型等。其次设计并研制了ROV水面控制系统和水下控制系统。水面控制系统包括控制台面板数据采集和水面监控软件设计。监控软件基于VC开发,具有图像显示、导航及监控信息叠加、ROV控制功能。水下控制系统包括主控模块、电源模块、电机驱动模块、通信模块、电压电流采集模块、漏水检测模块等。其中主控芯片为K60,其内核为ARM-CORTEX-M4,并搭载μC/OS-II嵌入式实时操作系统,保证了控制系统的实时性和可靠性,同时方便后续功能的升级改造。然后开展852型声纳系统回波数据采集、成像和目标识别研究。根据852声纳的通信协议进行声纳图像数据采集,并经过坐标变换和波束内插完成原始图像生成。在对声纳图像进行了灰度变换、中值滤波、阈值分割的基础上,最终采用Hough变换实现声纳图像目标的特征提取。最后对整个系统进行陆上调试和水池实验,水池实验验证了本ROV能较好完成进退、旋转、定深、定航等运动,并能清晰观测到水下结构物体,达到了预期设计目标。
[Abstract]:With the rapid development of ocean transportation in the world, ships are playing a more and more important role as the main means of maritime transportation. In the course of navigation, when the bottom of the ship comes into contact with the suspended objects (nets) in the sea. These suspended objects are easily inhaled and wound on the propeller, which seriously affects the navigation safety of the ship. Moreover, the underwater structure of the offshore structure production platform is in seawater immersion for a long time. As well as the collision of the platform by ships, it is easy to produce structural fracture, cracking and deformation phenomena. Therefore, the detection and operation of underwater hull and offshore platform structure is essential. Gradually being replaced by the increasingly developed machinery and equipment, the underwater vehicle Operated vehicle is one of the most representative equipment. It has brought great impetus to the development of marine industry and marine scientific research. This paper combines with the scientific research project of Jiangsu province high-tech ship cooperative innovation center in 2015. A prototype of underwater structure detection and operating underwater vehicle (ROV) is developed, and sonar image recognition is studied. The main contents are as follows: firstly, according to the current research situation of underwater vehicle at home and abroad. Based on the technical requirements of the project, a set of novel underwater structure detection and operation robot ROV development scheme is proposed, and the ontology design is carried out, including frame design, floating body design, electronic pressure cabin design. Secondly, ROV surface control system and underwater control system are designed and developed. The surface control system includes control panel data acquisition and surface monitoring software design. Control software based on VC development. The underwater control system includes main control module, power supply module, motor driving module, communication module, voltage and current acquisition module. The main control chip is K60, and its core is ARM-CorTEX-M4, which runs 渭 C / OS-II embedded real-time operating system. It ensures the real-time and reliability of the control system and facilitates the upgrading of the subsequent functions. Then the data acquisition of the 82-type sonar system echo is carried out. Imaging and target recognition research. Sonar image data acquisition according to 852 sonar communication protocol, and completed by coordinate transformation and beam interpolation to complete the original image generation. In the sonar image gray level transformation. On the basis of median filtering and threshold segmentation, the feature extraction of sonar image is realized by Hough transform. Finally, the whole system is debugged on land and experimented with water pool. The experiments in the tank show that the ROV can achieve the movement of advance and retreat, rotation, depth and navigation, and can clearly observe the underwater structure object, and achieve the expected design goal.
【学位授予单位】：江苏科技大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：TP391.41;TP242
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本文编号：1427582