海底AUV关键技术综述

周晶; 司玉林; 林渊; 魏艳; 安新宇; 王杭州; 黄豪彩; 陈鹰

doi:10.12284/hyxb2023153

海底AUV关键技术综述

doi: 10.12284/hyxb2023153

周晶^1,,
司玉林²,
林渊²,
魏艳²,
安新宇²,
王杭州²,
黄豪彩²,
陈鹰^{2, 3, ,}

1.
浙江大学电气工程学院，浙江杭州 310027
2.
浙江大学海洋学院，浙江舟山 316021
3.
流体动力与机电系统国家重点实验室，浙江杭州 310058

基金项目: 国家重点研发计划项目（2017YFC0306100）；国家自然科学基金面上项目（52271352）；江苏省重点研发计划项目（BE2022062）。

详细信息

作者简介:
周晶（1989—），女，山东省东营市人，教授，主要从事水下机器人及其机敏运动控制研究。E-mail：jingzhou@zju.edu.cn

通讯作者:
陈鹰，男，教授，主要从事海洋技术研究。E-mail: ychen@zju.edu.cn

中图分类号: P715.5
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- 文章访问数: 522
- HTML全文浏览量: 265
- PDF下载量: 87
- 被引次数: 0
出版历程
- 收稿日期: 2023-03-27
- 修回日期: 2023-05-23
- 网络出版日期: 2023-11-14
- 刊出日期: 2023-10-30

A review of subsea AUV technology

1.
College of Electrical Engineering, Zhejiang University, Hangzhou 310027, China
2.
Ocean College, Zhejiang University, Zhoushan 316021, China
3.
State Key Laboratory of Fluid Power and Mechatronic Systems, Hangzhou 310058, China

摘要

摘要: 海底海洋的观测探测，亟需大范围、长时间的观测平台。海底AUV有三大要点：适应海底机动性的结构、适应海底复杂环境的机敏运动性能、适应海底的水声通信定位技术。本文分析了海底AUV的发展与演变历程，凝练出海底AUV的关键技术难题，并相应地给出海底AUV水动力外形优化技术、海底AUV机敏运动控制技术、海底水声通信与定位导航技术、海底接驳与充电技术的解决思路。最后以碟形结构的水下直升机为例，给出了海底AUV的实践探索一例。本文将为海底AUV及其观测探测技术的发展提供指导意义。
- 无人潜水器 /
- 海底 /
- 海洋观测探测 /
- 机敏运动 /
- 水声通导
Abstract: The observation and exploration of the seabed urgently requires the appearance of large-scale and long-term observation platforms. The subsea AUV has three main points: a structure that suitable for the mobility in the seabed, an intelligent motion performance that adapts to the complex environment of the seabed, and the underwater acoustic communication and positioning technology that adapts to the seabed. In this paper, the development and evolution of subsea AUV is analyzed, the key technical challenges of underwater AUVs are summarized, and corresponding solutions for underwater AUV hydrodynamic shape optimization technology, intelligent motion control technology, underwater acoustic communication and positioning navigation technology, and underwater connection and charging technology are provided. Finally, a study case of Autonomous Underwater Helicopter is given, to provide a solution for subsea AUV. This paper provides guidance for the development of subsea AUV, as well as ocean observation and exploration technology.
- unmanned underwater vehicle /
- seabed /
- ocean observation and exploration /
- motion agility /
- underwater acoustic communication and navigation

HTML全文

图 1 水体中各种潜水器作业范围

Fig. 1 Operation range of various underwater vehicles in water body

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图 2 AUV的多种结构形式

Fig. 2 Multiple formations of AUV

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图 3 海底AUV的本体结构

Fig. 3 Body structures of subsea AUV

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图 4 潜水器的机动性

Fig. 4 Mobility of underwater vehicle

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图 5 推进器布局与控制机敏性

Fig. 5 Propellers layout and control mobility

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图 6 海底信道环境时变对水声通信定位影响示意图

Fig. 6 Schematic diagram of the impact of time-varying underwater channel environment on underwater acoustic communication positioning

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图 7 水下无线充电系统框图

Fig. 7 Schematic diagram of underwater wireless charging system

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图 8 水下电磁耦合式能量传输系统应用实例

上： Odyssey II电磁感应式充电装置，下： Tohuku大学与NEC公司开发的非接触式能量传输装置

Fig. 8 Application of underwater inductive energy transfer system

Top: Odyssey II inductive charging device. Bottom: Contactless energy transfer system developed by Tohuku University and NEC company

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图 9 深海移动平台与海底观测网非接触接驳系统

Fig. 9 Deep sea mobile platforms and contactless docking system of seabed observation network

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图 10 AUH与停机坪

Fig. 10 AUH and helipad

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图 11 AUH系列样机的发展与演变

Fig. 11 Development of evolution of AUH series prototyes

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