摘 要

本文的主要目的是設(shè)計(jì)一個(gè)觀賞型機(jī)器魚(yú)系統(tǒng)。相對(duì)于真魚(yú)，機(jī)器魚(yú)無(wú)需特別照顧，并可以與人進(jìn)行交互。整個(gè)設(shè)計(jì)過(guò)程分為機(jī)械結(jié)構(gòu)設(shè)計(jì)，硬件設(shè)計(jì)和軟件設(shè)計(jì)。
在選擇舵機(jī)作為驅(qū)動(dòng)源的基礎(chǔ)上，提出了分段式機(jī)械設(shè)計(jì)方法，將機(jī)器魚(yú)分為頭部，中部和尾部三個(gè)部分分別設(shè)計(jì)。頭部用于放置控制電路，中部用于放置舵機(jī)、電池及傳動(dòng)機(jī)構(gòu)，尾部無(wú)內(nèi)部結(jié)構(gòu)。采用這種設(shè)計(jì)，可以使機(jī)器魚(yú)設(shè)計(jì)更具有模塊化的特點(diǎn)且便于密封防水。為了使機(jī)器魚(yú)外形美觀，采用了增加支架與架設(shè)肌肉的設(shè)計(jì)方案，并且對(duì)整條魚(yú)進(jìn)行蒙皮設(shè)計(jì)，使外觀更真實(shí)。
機(jī)器魚(yú)的硬件部分包括電源、傳感器、無(wú)線通信模塊和控制電路。電源部分采用鎳氫電池串聯(lián)并添加穩(wěn)壓電路來(lái)實(shí)現(xiàn)。傳感器用于檢測(cè)障礙，采用的是紅外光電傳感器。對(duì)于無(wú)線通信，采用NRF24L01無(wú)線通信模塊來(lái)實(shí)現(xiàn)。控制電路的主要作用是采集傳感器的信號(hào)，控制無(wú)線模塊接收數(shù)據(jù)以及通過(guò)運(yùn)算控制舵機(jī)的運(yùn)轉(zhuǎn)，從而控制機(jī)器魚(yú)的運(yùn)動(dòng)。
軟件部分主要包括運(yùn)動(dòng)模式的選取與控制程序的設(shè)計(jì)。對(duì)于運(yùn)動(dòng)模式，我們選擇常見(jiàn)的鲹科模式，控制程序基于51單片機(jī)編寫(xiě)，內(nèi)容包括無(wú)線通信，傳感器檢測(cè)，運(yùn)算與舵機(jī)控制。
經(jīng)實(shí)驗(yàn)，機(jī)器魚(yú)最終運(yùn)動(dòng)效果良好，可以正常躲避障礙物，使用遙控器可以對(duì)機(jī)器魚(yú)進(jìn)行自由遙控，達(dá)到了設(shè)計(jì)目標(biāo)。


關(guān)鍵詞：機(jī)器魚(yú)，觀賞型，分段設(shè)計(jì)，躲避障礙，遙控











ABSTRACT

The main purpose of this paper is to design an Ornamental robotic fish system. Relative to the real fish, the robotic fish don’t need to be taken special care of and can interact with people. The entire design process is divided into mechanical design, hardware design and software design.
On the basis of select the steering gear as the driving source, in mechanical design,. Proposed the segmental design, the robotic fish is divided into three parts of head, middle and tail and designed respectively. Head for placing the control circuit, the central place for the servo, battery and transmission, tail hasn’t internal structure. Using this, robotic fish design is more modular and easy to seal waterproof. Use the increase in stent design and erection of muscle to make the robot fish beautiful. And the design of the whole fish skin make the fish look more real.
The hardware of the robotic fish include power, sensors, wireless communication module and control circuitry. For power using nickel-metal hydride batteries in series and add a voltage regulator circuit to achieve. Sensors for detect obstacles is an infrared photoelectric sensor. For wireless communication, the NRF24L01 is used. The main function of the control circuit is to collect the sensor signals, control the wireless module to receive data and control the steering operation by operation, so as to control the movement of robotic fish.
The software part includes the selection of movement mode and control program design. For the movement mode, we choose the common Carangidae mode, the control program prepared based on 51 single-chip, including wireless communications, sensor, computing and the steering gear control.
Experimental results, the movement robot fish works well finally, it can avoid obstacles normally and can be remote control freely. The design goal is achieved.


Key words： Robot fish, Ornamental, Segmented design, Avoid obstacles, Remote control



目 錄

摘 要 I
ABSTRACT II
1 緒論 1
1.1 概述 1
1.2 仿生機(jī)器魚(yú)研究概況 2
1.2.1 國(guó)外研究概況 2
1.2.2 國(guó)內(nèi)研究概況 5
1.3 課題設(shè)計(jì)目標(biāo) 6
2 機(jī)器魚(yú)機(jī)械結(jié)構(gòu)設(shè)計(jì) 8
2.1 機(jī)器魚(yú)驅(qū)動(dòng)源選擇 8
2.2 機(jī)器魚(yú)機(jī)械結(jié)構(gòu)設(shè)計(jì) 10
2.2.1 自由度選擇與分段設(shè)計(jì)方案 10
2.2.2 頭部設(shè)計(jì) 11
2.2.3 中部設(shè)計(jì) 12
2.2.4 尾部設(shè)計(jì) 14
2.2.5 魚(yú)鰭設(shè)計(jì) 14
2.2.6 防水結(jié)構(gòu)設(shè)計(jì) 14
2.3 機(jī)器魚(yú)外觀設(shè)計(jì) 16
2.3.1 支架與肌肉 16
2.3.2 蒙皮 17
3 硬件設(shè)計(jì) 19
3.1 電源 19
3.2 傳感 20
3.3 無(wú)線通信 21
3.4 控制電路 23
4 運(yùn)動(dòng)模式與程序設(shè)計(jì) 25
4.1 機(jī)器魚(yú)運(yùn)動(dòng)模式分類 25
4.2 運(yùn)動(dòng)模式 26
4.2.1 直線運(yùn)動(dòng) 26
4.2.2 轉(zhuǎn)彎運(yùn)動(dòng) 26
4.2.3 上浮與下潛 27
4.3 程序設(shè)計(jì) 27
5 實(shí)驗(yàn)與結(jié)論 32
5.1 實(shí)驗(yàn)過(guò)程 32
5.2 實(shí)驗(yàn)結(jié)果 32
5.3 結(jié)論 33
參考文獻(xiàn) 34