球形底栖潜水器概念设计研究  

Conceptual Design of Underwater Spherical Benthic Vehicle

作　　者：徐鹏飞[1] 程红霞 赵作鹏 连宇顺 刘鑫[1] XU Pengfei;CHENG Hongxia;ZHAO Zuopeng;LIAN Yushun;LIU Xin(Institute of Marine Vehicle and Underwater Technology,Hohai University,Nanjing 210098,China)

机构地区：[1]河海大学海工装备与水下技术研究所,南京210098

出　　处：《中国造船》2018年第2期169-177,共9页Shipbuilding of China

基　　金：国家自然科学基金项目(51609078);江苏省自然基金项目(BK20160875);中央高校基本科研业务费"基于新原理;新技术的潜水器概念设计研究"(2016BZ1848)

摘　　要：提出了一种能长期在深海自主机动的底栖型潜水器(UBV)概念。有别于传统的水下航行器,底栖型潜水器采用嵌套球体作为基本构型,在球体左右两侧设置流线型观测附体。该潜水器可依靠内部机构改变其重心位置,驱动潜水器在海底连续滚进,还可实现在水中的直航、转向和潜浮,提高了海底环境监测和海床监控能力。This paper presents a conceptual design of underwater spherical vehicle named as underwater benthic vehicle（UBV）, which can move along seabed independently like benthos do and has potential for transporting between water and land. Different from conventional underwater vehicles, the UBV has double spherical shells and streamlined appendages for underwater inspection. Two rotary thrusters are designed, and the vehicle can roll omni-directionally and climb over obstacles on the seafloor by internal driving mechanism. Applications of UBVs have important significance for improving ability in seabed monitoring.

关 键 词：底栖型潜水器 UBV 海床空间 球体滚进 概念设计 

分 类 号：P751[交通运输工程—港口、海岸及近海工程]