“探索者”号无缆水下机器人水下回收系统的设计与应用  

DESIGN AND APPLICATION OF THE UNDERWATER RECOVERING SYSTEM FOR THE UNTETHERED UNDERWATER VEHICLE "EXPLORER"

作　　者：于开洋[1] 徐凤安[1] 王棣棠[1] 杨雷 

机构地区：[1]中国科学院沈阳自动化研究所,110015

出　　处：《机器人》1996年第3期179-184,192,共7页Robot

基　　金：国家科委863高科技基金

摘　　要：本文详细介绍了"探索者"号无缆水下机器人水下回收系统的设计思想及电控系统的实现方法.本系统分为水上水下两部分.ROV式潜水平台型回收器,可在水下灵活运动,并可定向、定深.依靠电视跟踪技术和声纳定位技术实现回收器与水下机器人的对接.This paper presents in detail the design concept and the implementation of the electric control system of the recovering system for the autonomous underwater vehicle (AUV) 'Explorer'. This system consists of two parts: surface and underwater parts. This recovering system can conduct underwater movements flexibly, and the orientation and depth can be adjusted. Relied on TV tracking technique and sonar positioning system, the butt between the recoverer and the underwater robot can be performed.

关 键 词：无缆水下机器人 机器人 水下回收系统 潜水器 

分 类 号：U674.76[交通运输工程—船舶及航道工程]