İnsansız su altı aracı 3D tasarımı ve geliştirilmesi

Purpose: Module and material R&D process in underwater robot creates safer underwater unmanned vehicles (UUV). It should never be considered as a dream to take our place among the world leaders in this technology in the future of our country surrounded by seas on three sides. For this reason, development is aimed in the project on unmanned underwater vehicles. Material and Method: There are five main subject matters carried out with the resolving of tasks throughout an Autonomous Underwater Vehicle (AUV) project. These five crucial topics are Mechanical Design, Electronics, Software , Interface and Analysis. Mechanical Design solution was reached for the model with the usage of selected computer aided design (CAD) programs. Then, in order to be accurate and proficient in its purpose and job, AUV software comes into play. The algorithm responsible for image processing by color has been developed. Results: After the electronic, mechanical, and algorithm preliminary designs were completed, the implementation and testing phases of these designs began. The 3D printing of the propellers that carry the motors and the propellers that provide the water flow in the pool has been completed. Later, ESC with 40A resistance and thicker cables were integrated into the vehicle. The connection between Raspberry Pi and Pixhawk was provided via the telemetry port. Two copper plates of 400A were ordered, and a metal cooler was integrated to prevent the Raspberry Pi from overheating. Finally, to receive more efficient data from sonar and buzzer sensors, water-resistant models of these sensors were ordered. Conclusion: As a result of literature reviews and studies, a mechanical design was made in SolidWorks, a 3D drawing program, and production was made using a 3D printer. Additionally, underwater conditions were calculated and materials such as motors, ESCs, and power units were selected and supplied. To bring autonomous features to the vehicle, sensors, Raspberry Pi minicomputer, and Pixhawk boarding board were used, and necessary driving and image processing software was made. Electronic sensors used in the vehicle can be used more efficiently to guide further studies. Keywords: 3D Design, Autonomous, Image process, Underwater, Unmanned