Key Technology Research Of The Miniature Bionic Underwater Vehicle

With the progress of the bionic underwater vehicle technology, more and more of the bionic underwater vehicle are applied to various fields. In shallow waters of the target search operation, manual operation efficiency is low, and the existing underwater robot cannot very good to adapt to the job requirements. Miniature bionic underwater vehicle has the characteristics of low energy consumption, good mobility,in which carry embedded processing system,image processing can be completed. Miniature bionic underwater robot underwater vision system can be used to complete the underwater target search.This paper analyzes the working requirements of underwater target search operation and combined with the actual situation, put forward using bionic flapping-wing propulsion mode of miniature bionic underwater vheicle overall plan,and has carried on the design of bionic underwater vehicle structure. Bionic flapping wing and tail for the flow field numerical simulation research, using the Fluent software dynamic grid technique analyzes the motion in the flow field between the two, vorticity and velocity contours, and the thrust curve of change over time are given. Analysis of the bionic underwater vehicle whole resistance in the flow field.The establishment of a bionic underwater vehicle coordinate system, and the six degrees of freedom movement equation of the bionic underwater vehicle be give out,analyzes the hydrodynamic bionic underwater vehicle, the bionic underwater vehicle viscous hydrodynamic be give, hydrodynamic and underwater inertial class static,gives the space motion equation of the bionic underwater vehicle, analyzes the speed and steering performance of the bionic underwater vehicle navigation. Hardware design of the bionic underwater vehicle control system, put forward using the master control program control the overall work process, bionic underwater vehicle module program control specific movement of the bionic underwater robot. Design the main control program of the bionic underwater vehicle control program and the main control module. Design of the underwater visual system, the paper analyzes the underwater image pretreatment process, studied how to use the support vector machine (SVM) in OpenCV image recognition, the user interface has been designed embedded image recognition program. Through ontology of miniature bionic underwater vehicle and control system for debugging, and water test , to meet the design requirements.