|
|
|
| Design and implementation of a general docking device for revolving AUV |
| MENG Ling-shuai1,2, LIN Yang1, GU Hai-tao1, SUN Kai1 |
1. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China;
2. University of Chinese Academy of Sciences, Beijing 100049, China |
|
|
|
Abstract Autonomous underwater vehicle (AUV), especially the revolving AUV, is an important tool in the sea floor exploration,ocean landform observation and marine military ocea-nography research,but the endurance has been a key issue to limit its completion of long distance and long hours.At present,the underwater docking device only can dock with AUV with the par-ticular size and has poor versatility.In order to solve the problem of providing energy supplement and data uploading/downloading for different sizes of revolving AUVs,the different underwater docking forms were introduced and a universal underwater docking device was designed on this basis.The device used the underwater lighting guidance to guide the positioning of AUV, through the shroud to guide the AUV navigation when AUV entered the docking device,and used the screw slide to clamp and fix AUV finally.The device could provide energy supplement and upload/download tasks for different sizes of revolving AUVs,and improve its endurance,da-ta collection capabilities and cruising range. The light guide and clamping device of the underwater docking device were tested in the pool,and the reliability and feasibility of the under-water docking device were verified.The device is simple,versatile,stable and reliable,in addi-tion,it has a certain reference for the overall design of the underwater docking device.
|
|
Received: 15 February 2017
Published: 28 August 2017
|
|
|
回转形AUV水下通用对接装置的设计与实现
自主式水下机器人（autonomous underwater vehicle，AUV），尤其是回转形AUV，是海底探测、海洋地貌观察和军事海洋学研究的重要工具，但其续航能力一直是限制其完成远距离和长时间工作的关键问题。目前已研制出的水下对接装置只能与特定尺寸的水下机器人完成对接，通用性较差。为了解决不同尺寸回转形AUV的能源补充及数据上传下载的问题，介绍了目前存在的水下对接形式，并在此基础上设计了一款通用性水下对接装置。该装置采用水下灯光导引方式对AUV进行导引定位，当AUV进入对接装置后通过导流罩对AUV进行导向，最终采用丝杠滑台装置夹持固定AUV。该装置可以为不同尺寸的回转形AUV补充能源并提供数据上传下载服务，提高了AUV的续航力、数据收集能力，扩大了巡航范围。最后在水池中对该水下对接装置的灯光引导、夹持装置进行了测试，验证了该水下对接装置整体的可靠性及可行性。结果表明该装置结构简单，通用性较强，稳定可靠，对水下对接装置的总体设计具有一定的借鉴和指导意义。
关键词：
AUV,
对接装置,
结构设计,
通用性,
水池试验
|
|
| [[1]] |
吴泽伟,吴晓锋,杜虎.水下特种运载器水下回收方式[J].火力与指挥控制,2016,41(2):28-31. WU Ze-wei,WU Xiao-feng,DU Hu.Research on the underwater recovery manner for underwater special ve-hicles[J].Fire Control & Command Control,2016,41(2):28-31.
|
|
|
| [[2]] |
方书甲.深海空间站:海底科考"旗舰"[J].时事报告, 2012,8(8):82-83. FANG Shu-jia.Deep-sea space station:underwater re-search "flagship"[J].News Report,2012,8(8):82-83.
|
|
|
| [[3]] |
赵朝闻,张淞,李辉.基于超短基线的AUV自主对接流程及算法[J].鱼雷技术,2016,24(3):166-171. ZHAO Chao-wen,ZHANG Song,LI Hui.Autonomous abutting joint flow and control algorithm for AUV based on ultra-short baseline[J].Torpedo Technology,2016, 24(3):166-171.
|
|
|
| [[4]] |
羊云石,顾海东.AUV水下对接技术发展现状[J].声学与电子工程,2013(2):43-46. YANG Yun-shi,GU Hai-dong.Development status of AUV underwater docking technology[J].Acoustics and Electronics Engineering,2013(2):43-46.
|
|
|
| [[5]] |
潘光,黄明明,宋保维,等.AUV回收技术现状及发展趋势[J].鱼雷技术,2008,16(6):10-14. PAN Guang, HUANG Ming-ming, SONG Bao-wei, et al.Current situation and development trend of AUV recovery technology[J].Torpedo Technology,2008,16(6):10-14.
|
|
|
| [[6]] |
张波.自治式水下机器人水下对接装置研究[D].哈尔滨:哈尔滨工程大学机电工程学院,2012:2-6. ZHANG Bo.Research on AUV underwater docking device[D].Harbin:Harbin Engineering University,College of Mechanical and Electrical Engineering,2012:2-6.
|
|
|
| [[7]] |
SINGH H,BELLINGHAM J G, HOVER F,et al. Docking for an autonomous ocean sampling network[J]. IEEE Journal of Oceanic Engineering, 2001, 26(4):498-514.
|
|
|
| [[8]] |
ALLEN B,AUSTIN T,FORRESTER N,et al.Au-tonomous docking demonstrations with enhanced REMUS technology[C]//2006 Oceans.Boston, MA, Sept.18-21,2006.
|
|
|
| [[9]] |
KAWASAKI T,NOGUCHI T,FUKASAWA T,et al. "Marine bird",a new experimental AUV-results of doc-king and electric power supply tests in sea trials[J].O-ceans,2004,3(8):1738-1744.
|
|
|
| [[10]] |
陈强,孙嵘.潜艇布放回收UUV方式[J].舰船科学技术,2011,33(7):145-147. CHEN Qiang,SUN Rong.Analysis of launch and re-covery UUV model for submarine[J].Ship Science and Technology,2011,33(7):145-147.
|
|
|
| [[11]] |
吴泽伟,郭小明,殷卫兵,等.水下特种运载器水下回收技术研究[J].舰船科学技术,2016,38(2):140-143. WU Ze-wei,GUO Xiao-ming,YIN Wei-bing,et al.Re-search on underwater recovery technology for underwater special vehicles[J].Ship Science and Technology,2016, 38(2):140-143.
|
|
|
| [[12]] |
EDOARDO I S,MANHAR R D.A USV-based auto-mated launch and recovery system for AUVs[J]. Journal of Oceanic Engineering,2017,42(1):37-55.
|
|
|
| [[13]] |
SUJIT P B,HEALEY A J.SOUSA J B.AUV docking on a moving submarine using a K-R navigation function[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems,San Francisco,Sept.25-30,2011.
|
|
|
| [[14]] |
CURRIE J,GILLIS C B,CARRETERO J A,et al. Dynamics of two active autonomous dock mechanisms for AUV recovery[J].Transactions of the Canadian Society for Mechanical Engineering, 2014, 38(2):213-226.
|
|
|
| [[15]] |
CIRCLE B N.Underwater mobile docking of autono-mous underwater vehicles[C]//2012 Oceans.Hampton Roads,VA,Oct.14-19,2012.
|
|
|
| [[16]] |
SUN R.Hydrodynamic interaction between two bodies with rotation[J].Journal of the Physical Society of Ja-pan,1999,70(1):91-102.
|
|
|
| [[17]] |
SUN R,CHWANG A T.Hydrodynamic interaction between two cylinders with rotation[J].Journal of the Physical Society of Japan,2001,70(1):33-48.
|
|
|
| [[18]] |
戴遗山.势流理论与数值方法[M].哈尔滨:哈尔滨工程大学出版社,1997:68-72. DAI Yi-shan. Potential flow theory and numerical methods[M].Harbin:Harbin Engineering University Press,1997:68-72.
|
|
|
| [[19]] |
于开洋,徐凤安,王棣棠,等."探索者"号无缆水下机器人水下回收系统的设计与应用[J].机器人,1996,18(1):179-184. YU Kai-yang,XU Feng-an, WANG Di-tang, et al. Design and application of the underwater recovering for the untethered underwater vehicle "Explorer"[J].Ro-bot,1996,18(1):179-184.
|
|
|
| [[20]] |
张竺英,王棣棠,刘大路.自治式水下机器人回收系统的研究与设计[J].机器人,1995,17(6):348-351. ZHANG Zhu-ying,WANG Di-tang,LIU Da-lu.The researching and designing of the recovering system for autonomous underwater vehicles[J].Robot,1995,17(6):348-351.
|
|
|
| [[21]] |
王晓东,孟庆鑫,王立权,等.新型水下对接装置的研制[J].中国造船,2002,43(2):95-98. WANG Xiao-dong, MENG Qing-xin, WANG Li-quan, et al.Development of underwater interfacing system[J].Shipbuilding of China,2005,43(2):95-98.
|
|
|
| [[22]] |
施小成,王晓娟.一种面向AUV水下对接的双目视觉测距方法[J].计算机测量与控制,2008,16(10):1460-1462. SHI Xiao-cheng,WANG Xiao-juan.A ranging method in AUV underwater docking by binocular vision[J]. Computer Measurement & Control, 2008, 16(10):1460-1462.
|
|
|
| [[23]] |
LI De-jun,CHEN Yan-hu,SHI Jian-gang,et al.Au-tonomous underwater vehicle docking system for cabled ocean observatory network[J].Ocean Engineering, 2015,109(1):127-134.
|
|
|
|
Viewed |
|
|
|
Full text
|
|
|
|
|
Abstract
|
|
|
|
|
Cited |
|
|
|
|
| |
Shared |
|
|
|
|
| |
Discussed |
|
|
|
|
