摘要
使用专用保障母船对自主水下航行器(AUV)进行运载、布放、回收、定位支持、状态监控和能源补给等任务的传统施工方式效费比较低,因此各科研、工程机构开始研究使用无人艇(USV)搭载AUV并提供必要的技术保障,其中AUV的自主回收技术至关重要。文中首先介绍了AUV回收技术的发展概况;并对水面滑轨式、水面舱坞式和水下坞站式等3种基于USV平台的AUV自主回收方式进行了详细梳理;最后重点分析了AUV自主回收的关键技术,包括USV集成的布放回收系统设计、AUV引导捕获装置设计和跨介质协同控制等3个方面。旨在为突破关键技术、发展针对AUV作业支持与保障的一体化水面无人平台、提高AUV作业效率、降低施工风险和成本提供研究思路。
The traditional construction methods involving carrying,distributing,recycling,positioning support,statemonitoring,and energy supply for autonomous undersea vehicles(AUVs)via a specific support mothership are relativelyexpensive as well as low in efficiency.Therefore,various scientific research and engineering institutions have begun to studythe use of unmanned surface vessels(USVs)for carrying AUVs and providing the necessary technical support.Automaticrecovery technology for AUVs is crucial.Accordingly,the development of AUV recovery technology is first introducedherein.Then,AUV autonomous recovery methods based on USV platforms are summarized,including surface slide type,surface cabin dock type,and underwater docking station type.Finally,the key technologies of AUV autonomous recovery areanalyzed,including the design of USV-integrated launch and recovery systems,AUV guidance capture devices,and cross-media collaborative control.Thus,this study aims to provide research ideas for breaking through key technologies,developintegrated surface unmanned platforms for AUV operational support and guarantee of AUV operation,improve AUV operational efficiency,and reduce construction risks and cost.
作者
洪琼
蒲进菁
周立
曹泽强
刘涵
HONG Qiong;PU Jinjing;ZHOU Li;CAO Zeqiang;LIU Han(College of Marine Technology and Geomatics,Jiangsu Ocean University,Lianyungang 222002,China;Beijing StartestTechnology Co.,Ltd,Beijing 100102,China;Jiangsu Mining Engineering Group Co.,Ltd,Xuzhou 221000,China;ZhuhaiYunzhou Intelligence Technology Co.Ltd,Zhuhai 519000,China)
出处
《水下无人系统学报》
2023年第3期501-508,共8页
Journal of Unmanned Undersea Systems
基金
南方海洋科学与工程广东省实验室(珠海)自主科研项目(SML2021SP205)
国家重点研发计划“海洋环境安全保障”重点专项资助(2018YFC1405702)
海岸带地理环境监测国家测绘地理信息局重点实验室开放基金资助项目(BE2017125)
连云港国际科技合作计划项目(HZ201907)。
关键词
无人艇
自主水下航行器
自主回收
unmanned surface vessel
autonomous undersea vehicle
autonomous recovery
