微小型仿生水下机器人关键技术研究

发布时间：2018-04-15 19:34

本文选题：仿生水下机器人 + 水下目标物搜寻　；参考：《山东科技大学》2017年硕士论文

【摘要】：随着仿生水下机器人技术的进步,越来越多的仿生水下机器人应用到各个领域当中。在浅水水域的目标物搜寻作业中,人工作业效率较低,且现有的水下机器人不能很好的适应工作要求。微小型仿生水下机器人具有能耗低、机动性能好的特点,在其中搭载嵌入式处理系统,可完成图像处理等工作。微小型仿生水下机器人可以利用水下视觉系统来完成水下目标物搜寻工作。本文分析了水下目标物搜寻作业的工作要求,结合实际情况,提出了采用仿生扑翼推进方式的微小型仿生水下机器人整体方案,并对仿生水下机器人的结构进行了设计。对仿生扑翼和尾翼进行了流场数值模拟研究,利用Fluent动网格技术分析了两者在流场中的运动情况,给出了涡量和速度云图,以及推力随时间变化曲线。分析了仿生水下机器人整体在流场中受到的阻力。建立了仿生水下机器人的坐标系,给出了仿生水下机器人的6自由度运动方程,分析了仿生水下机器人的水动力,给出了仿生水下机器人的粘性类水动力,惯性类水动力和水下静力,给出了仿生水下机器人的空间运动方程,分析了仿生水下机器人的航行速度和转向性能。设计了仿生水下机器人的硬件控制系统,提出了利用主控程序控制仿生水下机器人的整体工作流程,模块程序控制仿生水下机器人的具体运动。设计了仿生水下机器人的主控制程序和主要控制模块的控制程序。设计了水下视觉系统,分析了水下图像的预处理过程,研究了如何使用OpenCV中的支持向量机进行图像识别,设计了具有用户交互界面的嵌入式图像识别程序。通过对微小型仿生水下机器人的本体和控制系统进行调试,以及下水测试,达到设计要求。
[Abstract]:With the progress of bionic underwater vehicle technology, more and more bionic underwater vehicles are applied in various fields.In the object search operation in shallow water area, the artificial work efficiency is low, and the existing underwater vehicle can not meet the requirements of the work well.Micro bionic underwater vehicle has the characteristics of low energy consumption and good maneuverability. Embedded processing system can be used to complete image processing and so on.Micro-bionic underwater vehicle can use underwater vision system to search underwater object.In this paper, the working requirements of underwater object searching are analyzed, and the whole scheme of micro bionic underwater robot with bionic flapping-wing propulsion is put forward, and the structure of bionic underwater robot is designed.The numerical simulation of the flow field of the bionic flapping wing and the tail wing is carried out. The motion of the flapping wing and the tail wing in the flow field is analyzed by using the Fluent moving grid technique. The vorticity, velocity cloud diagram and the curve of thrust change with time are given.The resistance of the whole bionic underwater vehicle in the flow field is analyzed.In this paper, the coordinate system of the bionic underwater vehicle is established, the motion equation of the bionic underwater vehicle is given, the hydrodynamic force of the bionic underwater vehicle is analyzed, and the viscous hydrodynamic force of the bionic underwater robot is given.The equations of space motion of the bionic underwater vehicle are given, and the navigation speed and steering performance of the bionic underwater vehicle are analyzed.The hardware control system of bionic underwater vehicle is designed. The main control program is used to control the whole work flow of the bionic underwater vehicle and the module program is used to control the specific motion of the bionic underwater vehicle.The main control program of the bionic underwater vehicle and the control program of the main control module are designed.The underwater vision system is designed, the preprocessing process of underwater image is analyzed, how to use support vector machine in OpenCV for image recognition is studied, and an embedded image recognition program with user interface is designed.By debugging and testing the body and control system of micro bionic underwater vehicle, the design requirements are achieved.
【学位授予单位】：山东科技大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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