The Imitation Of Human Lacrimal System On Robotic Vision For Cleaning Technology

In recent years, with the increasing projects on surveillance and monitoring purposes, therequirement of visual system apparatus especially on robot utilization has improved. However,due to the seriously damage environmental condition which caused by the pollutions, couldcreate various problems which can also effect the operational condition of an robot. Inconsequence to that matter, a cleaning apparatus must be designed and applied to overcomethe problems that arise, especially in the observation and visualization process of anamphibious robot. By the support of the Doctoral Scientific Fund Project and the HarbinMunicipal Science and Technology innovative talents of special funds projects, the writerwould like to examine a fundamental and thorough discussion about the design of anautomatically cleaning device for an amphibious robot visual system, by the conduction ofsimulation analysis and optimization process on the proposed design structure.First of all, from the literature review and information gathering, this paper presentsmostly on the design proposal of an automatically cleaning device for a visual system whichbasically taking the bionic features idea from the human lacrimal apparatus structure.Through deeper analysis on some aspects such as physiological structure, the workingprinciple and neural control system of a human lacrimal apparatus would create an imitationof the human lacrimal apparatus with a comprehensive model on a cleaning system visualsensor. By definition, this device is able to realize the pitching and axial deflection onto thenozzle array, so that it may produce different cleaning effect on the surface target of thecamera lens cover.Secondly, within the basis of cavitation nozzles structure and performance analysis, andalso the selection of angle of attack, are considered to be some of the objectives in this work.Based on computational fluid dynamics theory, a numerical simulation on different types ofnozzles was conducted with the help of engineering software GAMBIT and ANSYSFLUENT in order to investigate and modeled the multiphase flow, internal pressure andvelocity contours, pressure and velocity curve graph as well as the value outlet velocity foreach angular cavitation nozzle. Through the irregularities of distribution analysis on theinternal jet velocity, pressure and other aspects, the influence of various geometricalparameters of the angular cavitation (length of the cylindrical section, length of the diffusion segment and diffusion angle) can be obtained which can later be used to evaluate the nozzleperformance, select an optimal value and to provide the basis for designing a more rationalcavitation nozzle.Next, based on the approximation model and multi-objective optimization theory, anintegration process by using the help of iSIGHT in combination to fluid analysispre-processing software GAMBIT and fluid analysis software ANSYS FLUENT wasconducted. Data obtained from GAMBIT and FLUENT imported into iSIGHT, usingorthogonal experimental design method in order determine the inlet diameter, contractionangle, diameter and length of the cylindrical section, length of diffusion segment and anglewhich combined as design variable. This method is also worthy of determining the maineffect and Pareto contribution rate that come up as a design variables to measure cavitationpressure and outlet velocity. In order to optimize the structural parameter of the nozzle bymaximize and minimizing some objective functions such as the outlet velocity and cavitationpressure, a non-inferiority hierarchical genetic algorithm-II (NSGA-II) can be used as anoptimization tool hence achieving global optimization value.Fourthly, to finalized the design method, a couple of process of overall structuremodeling with different combinations of nozzle parameter (number of nozzles, angle betweennozzles and target surface, and nozzles axial declination), meshing, defining boundaryconditions, and simulation with FLUENT were conducted with the results then compared tograsp the optimized combination in achieving the best cleaning effect with less energyconsumption.Lastly, select the experimental apparatus, then do the experiment to remove the dirt onlens. From the experiment, we can get the time of dirt removed in every variety ofcircumstances, to facilitate practical guidance.