基于磁信号引导的ROV海缆路由跟踪技术  

ROV Tracking of Underwater Cable Route Based on Magnetic Signal

作　　者：牛泽民[1] 向先波[1] 左名久[2] 徐国华[1] 

机构地区：[1]华中科技大学船舶与海洋工程学院,武汉430074 [2]海军工程大学电子工程学院,武汉430033

出　　处：《船海工程》2016年第A01期18-22,共5页Ship & Ocean Engineering

基　　金：高等学校博士学科点专项科研基金（20120142120045）;湖北省自然科学基金（2014CFB253）;中央高校基本科研业务费专项基金资助项目（2015TS006）

摘　　要：针对目前常用海底缆线探测技术的优缺点，基于电磁感应原理建立海底缆线电磁场模型，通过配置双三维正交磁信号探测传感器阵列得到传感器与海缆的几何位置关系，从而获取遥控水下机器人（ROV）相对于海底缆线的路由信息。然后提出磁信号引导下遥控水下机器人海底缆线路由跟踪系统的组成结构和探测方法，以及海缆路由跟踪策略及作业流程，为随后开展ROV海缆探测试验提供了理论依据和可行的探测方法。Considering the advantages and disadvantages of submarine cable detection technologies commonly used at pres- ent, the electromagnetic field model of underwater cable was established based on the principle of electromagnetic induction. The principle how the magnetic signal sensors measure the induced electromotive forces of the underwater cable was presented, and the structure and composition of the tracking system by employing the remotely operated vehicle （ROV） was proposed, as well as the cable detection method. Subsequently, the operation principle and the route tracking strategy of the ROV-based cable tracking system were studied in detail.

关 键 词：海缆探测 遥控水下机器人(ROV) 电磁感应 磁引导 路由跟踪 

分 类 号：P751[交通运输工程—港口、海岸及近海工程]