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研究生:周政輝
研究生(外文):Zheng-HuiZhou
論文名稱:具影像功能之魟魚型機器人
論文名稱(外文):Ray-Type Robot with Image Functions
指導教授:周榮華周榮華引用關係
指導教授(外文):Jung-Hua Chou
學位類別:碩士
校院名稱:國立成功大學
系所名稱:工程科學系碩博士班
學門:工程學門
學類:綜合工程學類
論文種類:學術論文
論文出版年:2012
畢業學年度:100
語文別:中文
論文頁數:72
中文關鍵詞:機器魚水下載具
外文關鍵詞:Robotic FishAUV
相關次數:
  • 被引用被引用:2
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  • 下載下載:102
  • 收藏至我的研究室書目清單書目收藏:1
本論文主要是設計與製作一個利用胸鰭進行水中活動之魟魚型機器人。本論文之機器魚機構設計上,使用螺桿與水箱解決機器魚重心與比重調整問題,使用TMS320DM6437影像處理晶片與CCD攝影機實現即時影像處理之功能,並將影像處理後所獲得之資訊傳送給運動控制晶片PIC16F877,使機器魚做出相對應之動作,完成水下目標物自動追蹤之目的。此外結合頻率為1.2GHz的影像無線通訊模組,將機器魚在中水拍攝到的影像即時回傳給使用者,讓使用者同步獲得機器魚周遭環境資訊。
This thesis designs and implements a ray-typed robot using the pectoral fins as its propulsive power and control mechanisms. The design of utilizing two screws solves the problem of center of gravity. Two water tanks are used to solve the problem of specific gravity.
The ray-typed robot combines an image-processing chip(DSP6437)and a CCD camera to perform real-time image processing functionalities and to transmit the information to its motion controller (PIC16F877). The motion controller controls the robot to track its target according to the calculated result from the processed image information. In addition, the robot uses a wireless transmission module to send video signals to its user. So that the underwater information can be obtained at the same time.

第1章 緒論 1
1.1 研究背景與動機 1
1.2 研究目的 1
1.3 文獻回顧 2
1.4 論文架構 4
第2章 硬體架構與介紹 6
2.1 整體設計與系統架構概觀 6
2.2 硬體系統架構與機器人規格 7
2.3 機器人機構設計 11
2.3.1 防水機構設計 11
2.3.2 魚鰭運動控制機構設計 15
2.3.3 機器魚重心調整機構設計 17
2.3.4 機器魚比重調整機構設計 18
2.4 動力與電路系統硬體介紹 19
2.4.1 伺服馬達 19
2.4.2 直流馬達 20
2.4.3 降壓晶片 21
2.4.4 控制核心晶片簡介 22
2.4.5 TMS320DM6437evm影像處理晶片簡介 24
2.5 通訊系統硬體介紹 26
2.5.1 藍芽通訊模組 26
2.5.2 無線電模組 27
2.6 感測器硬體介紹 28
2.6.1 CCD小型攝影機 28
2.6.2 紅外線感測器 29
第3章 程式規劃與架構 32
3.1 DSP6437影像處理 32
3.1.1 影像擷取與輸出 32
3.1.2 YUV色彩空間 35
3.1.3 影像二值化 36
3.1.4 侵蝕演算法 37
3.1.5 計算目標物重心並輸出座標 38
3.2 運動控制晶片程式規劃 39
3.2.1 伺服馬達控制訊號輸出 41
3.2.2 伺服馬達狀態控制 42
3.2.3 感測器接收與DSP資料接收 43
3.2.4 資料判讀與邊界值設定 44
3.3 運動模式設計 46
3.3.1 前進/後退模式 46
3.3.2 左/右迴轉模式 47
3.3.3 上浮/下潛動作模式 48
3.4 重心控制程式設計 48
第4章 實驗與討論 50
4.1 測試環境與實驗項目 50
4.2 直線前進 51
4.3 原地迴轉 53
4.4 日間目標物追蹤 55
4.5 夜間目標物追蹤 58
4.6 紅外線避障 61
4.7 潛水 63
4.8 實驗結果討論 66
第5章 結論與未來展望 67
5.1 結論 67
5.2 未來展望 67
參考文獻 68

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