本文關(guān)鍵詞：水下結(jié)構(gòu)檢測(cè)與作業(yè)機(jī)器人ROV研制及聲納圖像識(shí)別研究　出處：《江蘇科技大學(xué)》2016年碩士論文　論文類型：學(xué)位論文

  更多相關(guān)文章： 水下機(jī)器人 控制系統(tǒng) 結(jié)構(gòu)檢測(cè) 聲納圖像識(shí)別

【摘要】：世界遠(yuǎn)洋運(yùn)輸事業(yè)飛速發(fā)展,船舶作為海上交通運(yùn)輸?shù)闹饕ぞ哒l(fā)揮著越來越重大的作用。船舶在航行過程中,當(dāng)船體底部接觸到海中懸浮物(網(wǎng)具、繩索等)時(shí),這些懸浮物容易被吸入并纏繞在螺旋槳上,嚴(yán)重影響船舶的航行安全。不僅如此,海洋結(jié)構(gòu)生產(chǎn)平臺(tái)水下部分結(jié)構(gòu)由于長(zhǎng)期處于海水的浸泡中,以及平臺(tái)受船舶的碰撞,容易產(chǎn)生結(jié)構(gòu)斷裂、開裂和變形等現(xiàn)象。因此,對(duì)水下船體和海洋平臺(tái)結(jié)構(gòu)的檢測(cè)與作業(yè)必不可少。人工作業(yè)風(fēng)險(xiǎn)大、成本高,逐漸被日益發(fā)達(dá)的機(jī)器設(shè)備所取代,而水下機(jī)器人(Remotely Operated Vehicle,ROV)就是其中一類極具代表性的設(shè)備,為海洋事業(yè)的發(fā)展和海洋科學(xué)研究帶來了巨大的推動(dòng)作用。本文結(jié)合江蘇省高技術(shù)船舶協(xié)同創(chuàng)新中心2015年科研項(xiàng)目,研制了一款水下結(jié)構(gòu)檢測(cè)與作業(yè)型水下機(jī)器人ROV樣機(jī),并開展聲納圖像識(shí)別研究。具體內(nèi)容如下:首先,本文根據(jù)當(dāng)前國(guó)內(nèi)外水下機(jī)器人研究現(xiàn)狀,并基于項(xiàng)目技術(shù)要求,提出了一套新穎的水下結(jié)構(gòu)檢測(cè)與作業(yè)機(jī)器人ROV研制方案,并進(jìn)行本體設(shè)計(jì),其中包括框架設(shè)計(jì)、浮體設(shè)計(jì)、電子耐壓艙設(shè)計(jì)、動(dòng)力推進(jìn)系統(tǒng)設(shè)計(jì)及關(guān)鍵部件選型等。其次設(shè)計(jì)并研制了ROV水面控制系統(tǒng)和水下控制系統(tǒng)。水面控制系統(tǒng)包括控制臺(tái)面板數(shù)據(jù)采集和水面監(jiān)控軟件設(shè)計(jì)。監(jiān)控軟件基于VC開發(fā),具有圖像顯示、導(dǎo)航及監(jiān)控信息疊加、ROV控制功能。水下控制系統(tǒng)包括主控模塊、電源模塊、電機(jī)驅(qū)動(dòng)模塊、通信模塊、電壓電流采集模塊、漏水檢測(cè)模塊等。其中主控芯片為K60,其內(nèi)核為ARM-CORTEX-M4,并搭載μC/OS-II嵌入式實(shí)時(shí)操作系統(tǒng),保證了控制系統(tǒng)的實(shí)時(shí)性和可靠性,同時(shí)方便后續(xù)功能的升級(jí)改造。然后開展852型聲納系統(tǒng)回波數(shù)據(jù)采集、成像和目標(biāo)識(shí)別研究。根據(jù)852聲納的通信協(xié)議進(jìn)行聲納圖像數(shù)據(jù)采集,并經(jīng)過坐標(biāo)變換和波束內(nèi)插完成原始圖像生成。在對(duì)聲納圖像進(jìn)行了灰度變換、中值濾波、閾值分割的基礎(chǔ)上,最終采用Hough變換實(shí)現(xiàn)聲納圖像目標(biāo)的特征提取。最后對(duì)整個(gè)系統(tǒng)進(jìn)行陸上調(diào)試和水池實(shí)驗(yàn),水池實(shí)驗(yàn)驗(yàn)證了本ROV能較好完成進(jìn)退、旋轉(zhuǎn)、定深、定航等運(yùn)動(dòng),并能清晰觀測(cè)到水下結(jié)構(gòu)物體,達(dá)到了預(yù)期設(shè)計(jì)目標(biāo)。
[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.
【學(xué)位授予單位】：江蘇科技大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2016
【分類號(hào)】：TP391.41;TP242
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本文編號(hào)：1427582