基于无人艇平台的AUV回收技术发展趋势

洪琼; 蒲进菁; 周立; 曹泽强; 刘涵

doi:10.11993/j.issn.2096-3920.2022-0005

基于无人艇平台的AUV回收技术发展趋势

doi: 10.11993/j.issn.2096-3920.2022-0005

洪琼¹,
蒲进菁²,
周立^3,,
曹泽强³,
刘涵⁴

1.
江苏海洋大学海洋技术与测绘学院, 江苏连云港, 222002
2.
北京星天科技有限公司, 北京, 100102
3.
江苏省矿业工程集团有限公司, 江苏徐州, 221000
4.
珠海云洲智能科技有限公司, 广东珠海, 519000

基金项目: 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)

详细信息

作者简介:
洪琼：洪　琼(1997-), 男, 在读硕士, 主要研究方向为无人船感知融合技术研究

通讯作者:
周　立(1959-), 男, 教授, 主要研究方向为海洋3S集成技术应用研究

中图分类号: U674.7; TP242
计量
- 文章访问数: 493
- HTML全文浏览量: 97
- PDF下载量: 110
- 被引次数: 0
出版历程
- 收稿日期: 2022-07-05
- 修回日期: 2022-11-02
- 网络出版日期: 2023-05-31

AUV Recovery Technology Development Based on Unmanned Surface Platform

1.
College of Marine Technology and Geomatics, Jiangsu Ocean University, Lianyungang 222002, China
2.
Beijing Startest Technology Co., Ltd, Beijing 100102, China
3.
Jiangsu Mining Engineering Group Co., Ltd, Xuzhou 221000, China
4.
Zhuhai Yunzhou Intelligence Technology Co. Ltd, Zhuhai 519000, China

摘要

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。
- 无人艇 /
- 自主水下航行器 /
- 自主回收
Abstract: The traditional construction methods involving carrying, distributing, recycling, positioning support, state monitoring, and energy supply for autonomous undersea vehicles (AUVs) via a specific support mothership are relatively expensive as well as low in efficiency. Therefore, various scientific research and engineering institutions have begun to study the use of unmanned surface vessels (USVs) for carrying AUVs and providing the necessary technical support. Automatic recovery technology for AUVs is crucial. Accordingly, the development of AUV recovery technology is first introduced herein. 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 are analyzed, 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, develop integrated surface unmanned platforms for AUV operational support and guarantee of AUV operation, improve AUV operational efficiency, and reduce construction risks and cost.
- unmanned surface vessel /
- autonomous undersea vehicle /
- autonomous recovery

HTML全文

图 1 小型AUV人工回收

Figure 1. Manual recovery of small AUV

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图 2 大型AUV兜网回收

Figure 2. Net recovery of large AUV

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图 3 AUV回收方案分类

Figure 3. Classification of AUV recovery schemes

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图 4 无人艇搭载Hugin AUV

Figure 4. The USV carring Hugin AUV

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图 5 “Maxlimer”号艉部收纳、布放、回收AUV的舱坞

Figure 5. Stern dock of Maxlimer for receiving, deployment and recovering an AUV

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图 6 水下拖曳式坞站回收大型AUV示意图

Figure 6. schematic diagram of underwater towed docking station recovery a large AUV

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图 7 WAM-V14无人水面平台

Figure 7. WAM-V14 unmanned surface platform

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图 8 锥形导向罩回收笼

Figure 8. Recovery cage with tapered guide housing

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图 9 Sparus 抵近回收装置

Figure 9. Sparus approaching the recovery device

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图 10 视觉导航对准场景

Figure 10. Visual navigation aligning with the scene

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表 1 AUV自主回收方式比较

Table 1. Comparison of AUV automatic recovery modes

回收方式	简介	优点	缺点	适用对象
水面起吊式	保障船艉部加装起吊装置, 操控AUV浮出水面与吊钩对接后起吊至船上回收装置。	自动化要求低, 适用于全类型AUV回收布放。	自动化程度低, 受海况影响显著, 人力物力成本大。	大尺寸深海作业AUV
水下机械臂捕获式	操控潜艇加装的机械臂在水下捕获AUV至鱼雷管。	受海面海况影响小, 自动化程度高。	回收过程复杂, 导航控制精度要求高; 仅适用于水下航行器作为保障平台。	小尺寸柱形近海作业AUV
水下杆类对接式	操控AUV使其加装的对接杆与回收装置锁死机构对接锁死后按完成回收。	对接简便易操作，自动化程度高, 对接容错率高。	AUV结构体加装导向杆, 易受海流影响。	中小尺寸柱形近海作业AUV
水下驮带式	操控AUV至保障船底加装的钩索机构锁死后完成回收。	隐蔽性强, 适用于执行高隐蔽作业要求的探测任务。	仅适用于水下航行器作为保障平台。	中尺寸扁形深海作业AUV
水下舱笼对接式	操控AUV至水下回收笼装置, 牵引至水面回收装置。	自动化程度高, 对接容错率高。	自动化程度要求高, 导航控制技术复杂。	中尺寸柱形深海作业AUV

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