智能无人水下航行器水下回收对接技术综述
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摘要
针对目前水面母船回收智能无人水下航行器存在的受环境影响大、隐蔽性差、成本高、自动化程度低等不足,AUV水下自主回收对接日益成为研究热点。水下对接可以完成AUV能源补给、数据下载/上传、设备检修等操作,实现AUV水下不间断隐蔽作业,具有重要的应用价值。本文结合AUV水下回收对接的特点,归纳了水下对接的优势和困难,分类总结了水下对接的关键技术,包括导引技术、搭载方式、对接装置形式、安全性分析等。综述了近年来各国在AUV水下对接领域的研究成果,并对未来发展方向进行了展望。
AUV underwater recycle docking has been a research hotspot because of shortcomings in AUV recovery by the mother ship,such as environmental impact,poor concealment,high cost,and low degree of automation.Underwater docking can accomplish AUV energy replenishment,data download/upload,equipment maintenance,and so on to achieve uninterrupted and concealed underwater AUV operation and has significant application value.The advantages and difficulties of underwater docking are summarized based on the characteristics of underwater AUV recycle docking. The key technologies in underwater docking include guidance technology,carry mode,form of docking device,safety analysis,and so on. The research results of the underwater docking of AUVs in various countries in recent years are summarized to provide a basis for future developing and improving such technology.
AUV underwater recycle docking has been a research hotspot because of shortcomings in AUV recovery by the mother ship,such as environmental impact,poor concealment,high cost,and low degree of automation.Underwater docking can accomplish AUV energy replenishment,data download/upload,equipment maintenance,and so on to achieve uninterrupted and concealed underwater AUV operation and has significant application value.The advantages and difficulties of underwater docking are summarized based on the characteristics of underwater AUV recycle docking. The key technologies in underwater docking include guidance technology,carry mode,form of docking device,safety analysis,and so on. The research results of the underwater docking of AUVs in various countries in recent years are summarized to provide a basis for future developing and improving such technology.
引文
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[24]SATO Y,MAKI T,MATSUDA T,et al. Detailed 3D seafloor imaging of Kagoshima Bay by AUV Tri-TON2[C]//2015 IEEE Underwater Technology. Chennai, India:IEEE,2015:1-6.
[25]LI Ye,JIANG Yanqing,CAO Jian,et al. AUV docking experiments based on vision positioning using two cameras[J]. Ocean engineering,2015,110:163-173.
[26]ZHANG Tao,LI Dejun,YANG Canjun. Study on impact process of AUV underwater docking with a cone-shaped dock[J]. Ocean engineering,2017,130:176-187.
[27]WU Lihong,LI Yiping,SU Shaojuan,et al. Hydrodynamic analysis of AUV underwater docking with a coneshaped dock under ocean currents[J]. Ocean engineering,2014,85:110-126.
[28]PARK J Y,JUN B H,LEE P M,et al. Experiments on vision guided docking of an autonomous underwater vehicle using one camera[J]. Ocean engineering,2009,36(1):48-61.
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[30]WIRTZ M,HILDEBRANDT M,GAUDIG C. Design and test of a robust docking system for hovering AUVs[C]//2012 Oceans. Hampton Roads,VA,USA:IEEE,2012:1-6.
[31]INZARTSEV A V,PAVIN A M,RYLOV N I. Development of the AUV automatic docking methods based on echosounder and video data[C]//Saint Petersburg International Conference on Integrated Navigation Systems,2017:1-6.
[32]PSHIKHOPOV V K,MEDVEDEV M Y,GURENKO B V.Homing and docking autopilot design for autonomous underwater vehicle[J]. Applied mechanics and materials,2014,490-491:700-707.
[33]HURTS N,MALLIOS A,PALOMERAS N,et al. LOON-DOCK:AUV homing and docking for high-bandwidth data transmission[C]//Oceans 2017-Aberdeen. Aberdeen,UK:IEEE,2017:1-7.
[34]VALLICROSA G,BOSCH J,PALOMERAS N,et al.Autonomous homing and docking for AUVs using range-only localization and light beacons[J]. IFAC-papersonline,2016,49:54-60.
[35]DUNBABIN M,LANG B,WOOD B. Vision-based docking using an autonomous surface vehicle[C]//2008IEEE International Conference on Robotics and Automation. Pasadena,CA,USA:IEEE,2008:26-32.
[2]王大伟.运动母船回收AUV过程中数据融合方法研究[D].哈尔滨:哈尔滨工程大学,2011.WANG Dawei. Research on data fusion method in the recovery process of AUV for motion ship[D]. Harbin:Harbin Engineering University,2011.
[3]燕奎臣,吴利红. AUV水下对接关键技术研究[J].机器人,2007,29(3):267-273.YAN Kuichen,WU Lihong. A survey on the key technologies for underwater AUV docking[J]. Robot, 2007,29(3):267-273.
[4]HENRIKSEN V F,BREKKE E F,PETTERSEN K Y,et al. A hybrid approach to underwater docking of AUVs with cross-current[C]//OCEANS 2016 MTS/IEEE Monterey. Monterey,CA,USA:IEEE,2016:1-7.
[5]LI Jihong. Study on the UUV operation via conventional submarine's torpedo tube[J]. Journal of the korea institnte of military science and techndogy,2014,17(1):33-40.
[6]曹和云,倪先胜,何利勇,等.国外潜载UUV布放与回收技术研究综述[J].中国造船,2014,55(2):200-208.CAO Heyun,NI Xiansheng,HE Liyong,et al. Review on UUV launch and recovery technology from submarine[J].Shipbuilding of China,2014,55(2):200-208.
[7]HARDY T,BARLOW G. Unmanned Underwater Vehicle(UUV)deployment and retrieval considerations for submarines[C]//Proceedings of the 9th International Naval Engineering Conference and Exhibition(INEC'08). Hamburg,Germany,2008:1-15.
[8]阴白洁.流场中相互靠近的两物体的水动力特性的数值模拟研究[D].天津:天津大学,2014.YIN Baijie. Numerical study of hydrodynamic interaction between two submerged moving objects[D]. Tianjin:Tianjin University,2014.
[9]LEONG Z Q,SAAD K,RANMUTHUGALA S D,et al.Investigation into the hydrodynamic interaction effects on an AUV operating close to a submarine[C]//Proceedings of the Pacific 2013 International Maritime Conference. Darling Harbour,Australia,2013:1-11.
[10]LEONG Z Q. Effects of hydrodynamic interaction on an AUV operating close to a moving submarine[J]. Review of economics&statistics,2014,66(3):477-481.
[11]LEONG Z Q,RANMUTHUGALA D,PENESIS I,et al.Quasi-static analysis of the hydrodynamic interaction effects on an autonomous underwater vehicle operating in proximity to a moving submarine[J]. Ocean engineering,2015,106:175-188.
[12]QU Yang,XU Haixiang,YU Wenzhao,et al.Inverse Optimal control for speed-varying path following of marine vessels with actuator dynamics[J]. Journal of marine science and application,2017,(2):225-236.
[13]PALOMERAS N,PEALVER A,MASSO-TCAMPOS M,et al. I-AUV docking and panel intervention at sea[J].Sensors,2016,16(10):1673.
[14]CRUZ N A,MATOS A C,ALMEIDA R M,et al. A lightweight docking station for a hovering AUV[C]//2017IEEE Underwater Technology(UT). Busan,South Korea:IEEE,2017:1-7.
[15]FABIANI F,FENUCCI D,FABBRI T,et al. A passivitybased framework for coordinated distributed control of AUV teams:Guaranteeing stability in presence of range communication constraints[C]//OCEANS 2016 MTS/IEEE Monterey. Monterey,CA,USA:IEEE,2016:1-5.
[16]姜言清. AUV回收控制的关键技术研究[D].哈尔滨:哈尔滨工程大学,2016.JIANG Yanqing. Study on critical control issues for AUV docking applications[D]. Harbin:Harbin Engineering University,2016.
[17]PARK J Y,JUN B H,LEE P M,et al. Underwater docking approach of an under-actuated AUV in the presence of constant ocean current[J]. IFAC proceedings volumes,2010,43(20):5-10.
[18]SALARI Mahmoud,RAVA Amin.Numerical investigation of hydrodynamic flow over an AUV moving in the watersurface vicinity considering the laminar-turbulent transition[J].Journal of marine science and application,2017,(3):298-304.
[19]CIRCLE B N. Underwater mobile docking of autonomous underwater vehicles[C]//2012 Oceans. Hampton Roads,VA,USA:IEEE,2012:1-15.
[20]HOBSON B W,MCEWEN R S,ERICKSON J,et al. The development and ocean testing of an AUV docking station for a 21″AUV[C]//Oceans 2007. Vancouver,BC,Canada:IEEE,2007:1-6.
[21]KIMBALL P W,CLARK E B,SCULLY M,et al. The ARTEMIS under-ice AUV docking system[J]. Journal of field robotics,2017,35(2):299-308.
[22]WATT G D,ROY A R,CURRIE J,et al. A concept for docking a UUV with a slowly moving submarine under waves[J]. IEEE journal of oceanic engineering,2016,41(2):471-498.
[23]SATO Y,MAKI T,MASUDA K,et al. Autonomous docking of hovering type AUV to seafloor charging station based on acoustic and visual sensing[C]//2017 IEEE Underwater Technology. Busan,South Korea:IEEE,2017:1-6.
[24]SATO Y,MAKI T,MATSUDA T,et al. Detailed 3D seafloor imaging of Kagoshima Bay by AUV Tri-TON2[C]//2015 IEEE Underwater Technology. Chennai, India:IEEE,2015:1-6.
[25]LI Ye,JIANG Yanqing,CAO Jian,et al. AUV docking experiments based on vision positioning using two cameras[J]. Ocean engineering,2015,110:163-173.
[26]ZHANG Tao,LI Dejun,YANG Canjun. Study on impact process of AUV underwater docking with a cone-shaped dock[J]. Ocean engineering,2017,130:176-187.
[27]WU Lihong,LI Yiping,SU Shaojuan,et al. Hydrodynamic analysis of AUV underwater docking with a coneshaped dock under ocean currents[J]. Ocean engineering,2014,85:110-126.
[28]PARK J Y,JUN B H,LEE P M,et al. Experiments on vision guided docking of an autonomous underwater vehicle using one camera[J]. Ocean engineering,2009,36(1):48-61.
[29]KONDO H,OKAYAMA K,CHOI J K,et al. Passive acoustic and optical guidance for underwater vehicles[C]//2012 Oceans-Yeosu. Yeosu,South Korea:IEEE,2012:1-6.
[30]WIRTZ M,HILDEBRANDT M,GAUDIG C. Design and test of a robust docking system for hovering AUVs[C]//2012 Oceans. Hampton Roads,VA,USA:IEEE,2012:1-6.
[31]INZARTSEV A V,PAVIN A M,RYLOV N I. Development of the AUV automatic docking methods based on echosounder and video data[C]//Saint Petersburg International Conference on Integrated Navigation Systems,2017:1-6.
[32]PSHIKHOPOV V K,MEDVEDEV M Y,GURENKO B V.Homing and docking autopilot design for autonomous underwater vehicle[J]. Applied mechanics and materials,2014,490-491:700-707.
[33]HURTS N,MALLIOS A,PALOMERAS N,et al. LOON-DOCK:AUV homing and docking for high-bandwidth data transmission[C]//Oceans 2017-Aberdeen. Aberdeen,UK:IEEE,2017:1-7.
[34]VALLICROSA G,BOSCH J,PALOMERAS N,et al.Autonomous homing and docking for AUVs using range-only localization and light beacons[J]. IFAC-papersonline,2016,49:54-60.
[35]DUNBABIN M,LANG B,WOOD B. Vision-based docking using an autonomous surface vehicle[C]//2008IEEE International Conference on Robotics and Automation. Pasadena,CA,USA:IEEE,2008:26-32.