碩士 / 國立暨南國際大學 / 電機工程學系 / 96 / Abstract
Nowadays, there have been a lot of types of robots to be developed. These robots can show many motions on the ground. However, the robot underwater is seldom designed in Taiwan since the waterproofing guarantee for the robot is very difficult. In this work, we implement a robot fish to guarantee waterproof and achieve several motions control. The robot fish can swim forward, turn left and right, sink down and float up by remote control. Furthermore, there is a camera inside the fish to look around inside the water; and if the battery is low, the robot fish can float up automatically and swim to the shore for charging. Based on the IR sensor and camera in the fish body, the fish can swim to avoid the obstacle and can transmit underwater images to PC to achieve the target tracking underwater.
The hardware structure of the robot fish includes two main parts, one is the fish body and the other is the fish tail. In the watertight fish body, there are floating and sinking machinery, weight-adjusting machinery, IR sensor, control circuit board, wireless receiver, wireless camera, and batteries. The fish tail includes a servo motor and a waterproof motor axis that are placed inside of waterproof cabin. Furthermore, this thesis uses some image processing methods to recognize the target and obstacle, such that the fish can swim avoiding the obstacles and tracking the targets. This robot fish is not only a toy and it can be applied in the national defense or ocean exploration if it has more advanced developed and modified.
Key words：fish robot、image/video processing、fuzzy control
| Identifer | oai:union.ndltd.org:TW/096NCNU0442043 |
| Date | January 2008 |
| Creators | Chen-Lun Chan, 詹振綸 |
| Contributors | Pei-Jun Lee, Wen-June Wang, 李佩君, 王文俊 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | zh-TW |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 59 |
Page generated in 0.0021 seconds