AUV水下对接装置的实现及试验
|
摘要
为实现自主式水下机器人(AUV)在水下进行能源补充,设计一种针对重型AUV的水下对接装置,采用直接接触充电方式,通过液压系统驱动首部推行机构、限位夹紧机构和水下插拔机构完成对接动作,模块程度高、充电效率高、数据传输能力强。其中AUV自身携带三角槽,通过定位销对三角槽的切向力以及轴向限位实现AUV六自由度姿态的校正,简单有效,而且降低了AUV入坞时的姿态要求。水池试验结果表明,该对接装置可稳定有效地调整AUV姿态,实现水下有线大功率充电,对接成功率高,工程应用价值高。
A kind of underwater docking device for Autonomous Underwater Vehicle(AUV) is designed to realize the energy supplement for AUV under water. The device uses direct contact charging method. The hydraulic system drives the axial positioning mechanism, the limit clamping mechanism and the underwater plug mechanism to complete the docking operation. It has high modularization, high charging efficiency and strong data transmission ability. AUV carry the triangular groove. The six degree of freedom attitude of AUV is realized by the tangential force of the positioning pin to the triangular groove and the axial limit. This method is effective and reduce the requirements on the attitude of the AUV. The pool test results show that the docking device can adjust the posture of the AUV stably and effectively. It has high power charge of electric wires under water. The docking success rate is high and the engineering application value is high.
A kind of underwater docking device for Autonomous Underwater Vehicle(AUV) is designed to realize the energy supplement for AUV under water. The device uses direct contact charging method. The hydraulic system drives the axial positioning mechanism, the limit clamping mechanism and the underwater plug mechanism to complete the docking operation. It has high modularization, high charging efficiency and strong data transmission ability. AUV carry the triangular groove. The six degree of freedom attitude of AUV is realized by the tangential force of the positioning pin to the triangular groove and the axial limit. This method is effective and reduce the requirements on the attitude of the AUV. The pool test results show that the docking device can adjust the posture of the AUV stably and effectively. It has high power charge of electric wires under water. The docking success rate is high and the engineering application value is high.
引文
[1]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 Mingming,SONG Baowei,et al.Current situation and development trend of AUV recovery technology[J].Torpedo Technology,2008,16(6):10-14.
[2]陶智.海底观测网络现状与发展分析[J].声学与电子工程,2014(4):45-49.
[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.
[4]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):349-351.
[5]SINGH H.Docking for an autonomous ocean sampling network[J].IEEE Journal of Oceanic Engineering,2001,26(4):98-513.
[6]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(3):179-184.
[7]ALLEN B,STOKEY R,AUSTIN T,et al.REMUS:A small,low cost AUV system description,field trials,and performance results[J].IEEE Oceans Conf'97,Halifax,N.S,1997:994-1000.
[8]STOKEY R,PURCELL M,FORRESTER N,et al.A docking system for REMUS,an autonomous underwater vehicle[J].Proceedings Oceans 97,Halifax,N.S.
[9]STOKEY R,ALLEN B,AUSTIN T,et al.Enabling technologies for REMUS docking:an integral component of an autonomous ocean sampling network[J].IEEE Journal of Oceanic Engineering,2001,26(4):487-497.
[10]ALLEN B,AUSTIN T,FORRESTER N,Alt.Autonomous docking demonstrations with enhanced REMUStechnology[J]//IEEE Oceans,2006,18(21):1-6.
[11]HOBSON B W,MCEWEN R S,ERICKSON J,et al.The development and ocean testing of an AUV docking station for a 21-inch AUV[C]//IEEE Oceans,2007:1-6.
[12]ROBERT S,MCEWEN R S.Docking control system for a 54-cm-diameter(21-in)AUV[J].IEEE Journal of Oceanic Engineering,2008,33(4):550-562.
[13]CIRCLE B N.Underwater mobile docking of autonomous underwater vehicles[C]//2012 Oceans.Hampton Roads,VA,Oct,14-19,2012.
[14]PYLED R,GRANGER B,et al.Leveraging a large UUVplatform with a docking station to enable forward basing and persistence for light weight AUVs[C]//OCEANS,New Jersey:IEEE,2012:1-8.
[15]GRANGER R P,BAER C M,et al.Non-contact wet mateable connectors for power and data transmission[J].Oceans,2014.
[16]PARK J Y,JUN B H,LEE P M,et al.Docking problem and guidance laws considering drift for an under actuated AUV[J].IEEE OCEANS-Spain,2011:1-7.
[17]PARK J Y,JUN B H,B H,et al.Improvement of vision guided underwater docking for small AUV[J].IEEE OCEANS,2009:1-5.
[18]PARK J Y,JUN B H,LEE P M,et al.Modified linear terminal guidance for docking and a time-varying ocean current observer.underwater technology(UT)[C]//2011 IEEESymposium on and 2011 Workshop on Scientific Use of Submarine Cables and Related Technologies(SSC),2011:1-6.
[19]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,2013.
[20]LI Dejun,CHEN Yanhu,SHI Jian-guang,et al.Autonomous underwater vehicle docking system for cabled ocean observatory network[J].Ocean Engineering,2015,109(1):127-134.
[21]ZHANG Tao,LI De-jun,YANG Can-jun.Study on impact process of AUV underwater docking with a cone-shaped dock[J].Ocean Engineering,2017,130:176-187.
[22]张医博.面向便携式AUV的水下主动捕捉式对接平台总体设计与试验研究[D].北京:中国科学院大学,2017.
[23]孟令帅,林杨,谷海涛,等.回转形AUV水下通用对接装置的设计与实现[J].工程设计学报,2017,24(4):387-394.MENG Ling-shuai,LIN Yang,GU Hai-tao,et al.Design and implementation of a general docking device for revolving AUV[J].Chinese Journal of Engineering Design,2017,24(4):387-394.
[24]程烨,羊云石,林婕,等.一种AUV水下接驳站的研究[J].舰船科学技术,2015,37(11):91-94.CHENG Ye,YANG Yun-shi,LIN Jie,et al.A survey on underwater AUV docking station[J].Ship Science and Technology,2015,37(11):91-94.
[2]陶智.海底观测网络现状与发展分析[J].声学与电子工程,2014(4):45-49.
[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.
[4]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):349-351.
[5]SINGH H.Docking for an autonomous ocean sampling network[J].IEEE Journal of Oceanic Engineering,2001,26(4):98-513.
[6]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(3):179-184.
[7]ALLEN B,STOKEY R,AUSTIN T,et al.REMUS:A small,low cost AUV system description,field trials,and performance results[J].IEEE Oceans Conf'97,Halifax,N.S,1997:994-1000.
[8]STOKEY R,PURCELL M,FORRESTER N,et al.A docking system for REMUS,an autonomous underwater vehicle[J].Proceedings Oceans 97,Halifax,N.S.
[9]STOKEY R,ALLEN B,AUSTIN T,et al.Enabling technologies for REMUS docking:an integral component of an autonomous ocean sampling network[J].IEEE Journal of Oceanic Engineering,2001,26(4):487-497.
[10]ALLEN B,AUSTIN T,FORRESTER N,Alt.Autonomous docking demonstrations with enhanced REMUStechnology[J]//IEEE Oceans,2006,18(21):1-6.
[11]HOBSON B W,MCEWEN R S,ERICKSON J,et al.The development and ocean testing of an AUV docking station for a 21-inch AUV[C]//IEEE Oceans,2007:1-6.
[12]ROBERT S,MCEWEN R S.Docking control system for a 54-cm-diameter(21-in)AUV[J].IEEE Journal of Oceanic Engineering,2008,33(4):550-562.
[13]CIRCLE B N.Underwater mobile docking of autonomous underwater vehicles[C]//2012 Oceans.Hampton Roads,VA,Oct,14-19,2012.
[14]PYLED R,GRANGER B,et al.Leveraging a large UUVplatform with a docking station to enable forward basing and persistence for light weight AUVs[C]//OCEANS,New Jersey:IEEE,2012:1-8.
[15]GRANGER R P,BAER C M,et al.Non-contact wet mateable connectors for power and data transmission[J].Oceans,2014.
[16]PARK J Y,JUN B H,LEE P M,et al.Docking problem and guidance laws considering drift for an under actuated AUV[J].IEEE OCEANS-Spain,2011:1-7.
[17]PARK J Y,JUN B H,B H,et al.Improvement of vision guided underwater docking for small AUV[J].IEEE OCEANS,2009:1-5.
[18]PARK J Y,JUN B H,LEE P M,et al.Modified linear terminal guidance for docking and a time-varying ocean current observer.underwater technology(UT)[C]//2011 IEEESymposium on and 2011 Workshop on Scientific Use of Submarine Cables and Related Technologies(SSC),2011:1-6.
[19]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,2013.
[20]LI Dejun,CHEN Yanhu,SHI Jian-guang,et al.Autonomous underwater vehicle docking system for cabled ocean observatory network[J].Ocean Engineering,2015,109(1):127-134.
[21]ZHANG Tao,LI De-jun,YANG Can-jun.Study on impact process of AUV underwater docking with a cone-shaped dock[J].Ocean Engineering,2017,130:176-187.
[22]张医博.面向便携式AUV的水下主动捕捉式对接平台总体设计与试验研究[D].北京:中国科学院大学,2017.
[23]孟令帅,林杨,谷海涛,等.回转形AUV水下通用对接装置的设计与实现[J].工程设计学报,2017,24(4):387-394.MENG Ling-shuai,LIN Yang,GU Hai-tao,et al.Design and implementation of a general docking device for revolving AUV[J].Chinese Journal of Engineering Design,2017,24(4):387-394.
[24]程烨,羊云石,林婕,等.一种AUV水下接驳站的研究[J].舰船科学技术,2015,37(11):91-94.CHENG Ye,YANG Yun-shi,LIN Jie,et al.A survey on underwater AUV docking station[J].Ship Science and Technology,2015,37(11):91-94.