水下自主导航机器人系统
内容摘要：
在水下机器人被广泛应用的背景下，能够实现水下自主导航的机器人具有极高的应用价值。为了打破水下机器人运行需要人为干预的瓶颈，更好地发挥小型机器人水下的灵活性，设计并制作了一种可自主导航的水下机器人系统。该系统机械上采用Pro/E 作为三维造型软件，用快速成型设计并制造了水下机器人的主体；硬件上使用摄像头采集数据，并使用红外测距模块及电子罗盘模块实现定位功能；嵌入式软件层将传感器数据进行采集后，对数据进行相应的图像识别和处理，最终识别障碍物并做出相应动作；同时，数据和视频流可通过无线模块传送到上位机，上位机将数据接收后进行相应显示，并可直接显示视频流，方便调试的同时也可对水下环境进行实时监控。该系统实现了自主的水底避障、探测，以及自行返回出发点的完整功能，对于水下探测活动具有一定的实用价值。
关键词：
自主导航；水下机器人；图像识别
中图分类号：TP342 文献标志码：A
Abstract: Under the background that underwater vehicles are widely used, the application of underwater autonomous navigation robot system has great value. In order to break the bottleneck that the robot needs human's operation, and better use the flexibility of mini under robot, design and produce an underwater autonomous avigation robot system. The system mechanical structure uses Pro/E as 3 dimension software, quickly design and produce main body of underwater navigation robot, the hardware uses camera head to collect data. Use infrared distance measurement module and electronic compass module to realize orientation function. Embedded software layer collect sensor data, and carry out corresponding image recognizing and processing. At last, the system identifies obstacle and carries out corresponding movement. At the same time, data and video stream are sent to upper PC by wireless module, the upper PC receives and displays the video streams in order to debug as well as monitor the underwater environment. The system finally completes a full function of obstacle avoidance, underwater surveying and returning to start point, thus indicating a degree of practical significance and contributing to the underwater activities.
Keywords: autonomous navigation; underwater vehicle; image recognition
