本文關(guān)鍵詞： 機(jī)器魚 ARM Linux 尾鰭 能耗建模　出處：《成都信息工程大學(xué)》2017年碩士論文　論文類型：學(xué)位論文

【摘要】：隨著水污染問題的不斷惡化,水產(chǎn)品和人類的水源不斷受到影響,這對人類的生存發(fā)展產(chǎn)生了很大的阻礙,因此有效地檢測污染源對水資源的保護(hù)有著深刻的意義。然而傳統(tǒng)的水質(zhì)檢測裝置存在監(jiān)測不靈活和機(jī)動性差等缺點(diǎn),結(jié)合魚類的諸多優(yōu)勢,對魚類進(jìn)行仿生研制仿生機(jī)器魚,能夠有效地解決以上問題。另外,機(jī)器魚通常運(yùn)行于野外水環(huán)境中,并且自身攜帶的電池電量又十分有限,這極大地限制了仿生機(jī)器魚的應(yīng)用。通過研究機(jī)器魚尾鰭的運(yùn)動能耗,延長機(jī)器魚在復(fù)雜環(huán)境中的工作時間,從而可以提高機(jī)器魚的實(shí)用性。本論文依托國家自然科學(xué)基金項目——機(jī)器魚傳感網(wǎng)絡(luò)的低能耗協(xié)作調(diào)度關(guān)鍵技術(shù)研究(項目編號:61472050),以湽科魚類為模仿對象,設(shè)計與實(shí)現(xiàn)一種尾鰭擺動式機(jī)器魚,并建立其尾鰭運(yùn)動能耗模型。主要內(nèi)容如下:(1)基于微處理器S3C2440A和嵌入式Linux操作系統(tǒng),設(shè)計與實(shí)現(xiàn)機(jī)器魚。該機(jī)器魚采用單關(guān)節(jié)尾鰭驅(qū)動自身直游和轉(zhuǎn)彎,并通過自身所攜帶的溫度傳感器、GPS、濁度傳感器、遠(yuǎn)紅外傳感器以及姿態(tài)傳感器等采集內(nèi)外部信息,通過ZigBee無線通信模塊實(shí)現(xiàn)機(jī)器魚與上位機(jī)之間的通信。文中將機(jī)器魚系統(tǒng)設(shè)計分為硬件電路設(shè)計和軟件設(shè)計兩個部分。硬件電路部分包括機(jī)器魚硬件電路的設(shè)計與調(diào)試。軟件設(shè)計包括嵌入式Linux操作系統(tǒng)的應(yīng)用程序與驅(qū)動程序設(shè)計。最后,在軟硬件測試通過之后,對機(jī)器魚進(jìn)行組裝、配重和防水等處理,完成機(jī)器魚的調(diào)試工作,并建立機(jī)器魚的實(shí)驗平臺,完成機(jī)器魚的基本性能實(shí)驗。(2)機(jī)器魚尾鰭運(yùn)動能耗是總能耗的重要組成部分,為了延長機(jī)器魚的工作時間,本論文針對機(jī)器魚尾鰭運(yùn)動能耗進(jìn)行研究。由于機(jī)器魚尾鰭通過模仿湽科魚類的尾鰭游動規(guī)律進(jìn)行擺動,該游動規(guī)律與尾鰭擺動幅度、擺動偏角以及擺動頻率三個參數(shù)有關(guān),因此尾鰭運(yùn)動能耗也受到該三個參數(shù)的影響。通過設(shè)計能耗測量電路,測得機(jī)器魚尾鰭在不同擺動參數(shù)下的電流和電壓,經(jīng)數(shù)據(jù)處理獲得尾鰭的能耗數(shù)據(jù);建立機(jī)器魚尾鰭運(yùn)動能耗模型,并通過實(shí)驗驗證該模型。
[Abstract]:With the deteriorating water pollution, aquatic products and human sources continue to suffer, hinder the for human survival and development, so the effective detection and protection of pollution source on water resources is of great significance. However the water quality detection device has the disadvantages of traditional monitoring is not flexible and poor flexibility, many combined with the advantages of fish, the fish were developed bionic robot fish, can effectively solve the above problems. In addition, the robotic fish are usually run on the field of water environment, and their own battery power is very limited, which greatly limits the application of bionic robot fish. Through the movement of energy consumption of tail fin, extension the robotic fish in the complex environment of working time, which can improve the practicability of the robotic fish. This thesis is supported by the National Natural Science Fund Project of fish robot sensor network low Research on Key Technologies of energy cooperation scheduling (project number: 61472050), to have family fish as the object of imitation, and implementation of an oscillating caudal fin fish machine design, and the establishment of the caudal fin motion energy model. The main contents are as follows: (1) S3C2440A microprocessor and embedded Linux operating system based on the design and implementation of robotic fish. The machine fish with single joint caudal drive straight and turning, and the temperature sensor carried by self GPS, turbidity sensor, infrared sensor, attitude sensor to collect the external information, realize the communication between the robot fish through the ZigBee wireless communication module and the host computer. In the design of robot fish system this paper is divided into two parts the hardware circuit design and software design. The hardware part includes the design and debugging of hardware circuit of the robot fish. The software design includes the application of embedded Linux operating system and drive Dynamic programming. Finally, after the soft hardware test, the robot fish assembly, weight and waterproof processing, complete fish machine debugging work, and the establishment of experimental platform of robot fish, basic performance experiment of robot fish. (2) tail fin motion energy consumption is an important part of the total energy consumption. In order to prolong the working time of the robotic fish, the tail fin motion energy research. Due to tail fin swing through the caudal fin swimming rules have to imitate the family of fish, the swimming rules and caudal swing, the swing angle and swing frequency of the three parameters, so the effect of energy consumption is also affected by the three caudal fin motion parameters. Through the design of energy consumption measurement circuit, current and voltage measured tail fin in different swing parameters, through data processing to obtain the energy consumption data of caudal fin; a tail fin. The kinetic energy consumption model is used to verify the model by experiment.

【學(xué)位授予單位】：成都信息工程大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP242

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本文編號：1542938