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工程设计学报
Chin J Eng Design  2023, Vol. 30 Issue (5): 650-656    DOI: 10.3785/j.issn.1006-754X.2023.00.070
Product Innovation Design     
Design and implementation of launch and recovery system for AUV based on USV
Mingshuo LI1,2,3(),Lingshuai MENG2,3(),Haitao GU2,3,Xinxing CAO2,3,4,Mingyuan ZHANG2,3,5
1.School of Mechanical Engineering, Shenyang University of Technology, Shenyang 110870, China
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
3.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China
4.School of Mechanical Engineering and Automation, Northeastern University, Shenyang 110819, China
5.University of Chinese Academy of Sciences, Beijing 100049, China
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Abstract  

In order to solve the problems of low automation level, low work efficiency and high risk when launching and recovering autonomous underwater vehicle (AUV), an launch and recovery system (LARS) for AUV based on unmanned surface vessel (USV) was developed. Firstly, by analyzing commonly used AUV launch and recovery modes and LARS at home and aboard, an AUV LARS was designed, and its working principle was analyzed; secondly, the dynamics, statics and contact collision issues of the LARS were studied from the perspectives of mechanical analysis and numerical simulation; finally, a principle prototype of the system was built and land and lake experiments were conducted. The experiments verified that the designed LARS was stable, reliable, easy to operate, and had good universality, which could effectively improve the efficiency of autonomous launch and recovery of AUV. The designed AUV LARS based on USV has good application prospects.

Key words： autonomous underwater vehicle （AUV)      launch and recovery system (LARS)      structural design      mechanical analysis      lake testing     
Received: 26 January 2023      Published: 03 November 2023
CLC:  TP 242  
Corresponding Authors: Lingshuai MENG     E-mail: 1520607043@qq.com;menglingshuai@sia.cn
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Mingshuo LI
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Xinxing CAO
Mingyuan ZHANG
Cite this article:

Mingshuo LI,Lingshuai MENG,Haitao GU,Xinxing CAO,Mingyuan ZHANG. Design and implementation of launch and recovery system for AUV based on USV. Chin J Eng Design, 2023, 30(5): 650-656.

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https://www.zjujournals.com/gcsjxb/10.3785/j.issn.1006-754X.2023.00.070     OR     https://www.zjujournals.com/gcsjxb/Y2023/V30/I5/650


基于 USV的 AUV布放回收系统设计与实现

为了解决目前布放回收自主水下机器人（autonomous underwater vehicle，AUV）自动化水平低、工作效率低、危险性高等问题，研制了一款基于无人水面船（unmanned surface vessel，USV）的AUV自主布放回收系统。首先，通过分析国内外常用AUV布放回收方式和布放回收系统，设计了AUV布放回收系统，并对其工作原理进行分析；其次，分别从力学分析、数值仿真等角度研究了布放回收系统的动力学、静力学及接触碰撞问题；最后，搭建了系统原理样机并进行了陆上实验和湖上实验，通过实验验证了所设计的布放回收系统稳定可靠、操作简单、通用性好，可以有效提高AUV自主布放回收的效率。所设计的基于USV的AUV布放回收系统具有良好的应用前景。


关键词： 自主水下机器人,  布放回收系统,  结构设计,  力学分析,  湖上测试 
Fig.1 Intelligent and transparent ocean network system
Fig.2 LARS developed by Florida Atlantic University
Fig.3 LARS developed by Hydroid company
Fig.4 "Explorer" AUV LARS
Fig.5 Structure of AUV LARS based on USV
Fig.6 Process of autonomous recycling AUV
参数量值
条件强度极限355 MPa
抗拉极限600 MPa
伸长率16%
泊松比0.31
材料密度7 850 kg/m 3
Table 1 Performance parameters of 45 # steel
Fig.7 Folded plate loading
Fig.8 AUV launch model
Fig.9 Contact force variation curve
Fig.10 Simulation results of stress and displacement of folded plate
Fig.11 Simulation results of stress and displacement of bearing housing
Fig.12 AUV launch and recovery experiment
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