“海斗号”全海深自主遥控水下机器人参数化设计方法与试验研究  

Parametric Design Method and Experimental Research on Haidou Full-depth Ocean Autonomous and Remotely-operated Vehicle

作　　者：唐元贵[1,2] 王健 陆洋 要振江[1,3] TANG Yuangui;WANG Jian;LU Yang;YAO Zhenjiang(State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016,China;Institutes for Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Shenyang 110016,China;University of Chinese Academy of Sciences,Beijing 100049,China)

机构地区：[1]中国科学院沈阳自动化研究所机器人学国家重点实验室,辽宁沈阳110016 [2]中国科学院机器人与智能制造创新研究院,辽宁沈阳110016 [3]中国科学院大学,北京100049

出　　处：《机器人》2019年第6期697-705,共9页Robot

基　　金：中国科学院战略性先导科技专项(XDB06050200);国家重点研发计划(2017YFC0300800)

摘　　要：以"海斗号"全海深自主遥控水下机器人(ARV)高效地实现深渊探测为目标,在分析其面向使命的典型性能指标的基础上,提出运用模糊层次分析法,构建"海斗号"总体设计的参数化模型.通过模型参数配置和优化,实现"海斗号"以最小时间成本完成深渊探测的目标.通过2次马里亚纳海沟深渊科考航次的海上试验,实现了"海斗号"与大垂直剖面深渊探测需求的匹配性,验证了本文参数化设计方法的有效性.For Haidou full-depth ocean autonomous and remotely-operated vehicle(ARV) to accomplish the hadal trench detection with a high efficiency, a parameterized model is proposed for the overall design of Haidou using the fuzzy analytic hierarchy process, based on the analysis on the mission-oriented typical performance indices. The target of the hadal trench detection in minimum time was completed by Haidou through the parametric configuration and optimization of the model.Two sea trials have been carried out in the Challenger Deep of Mariana Trench. Results show that Haidou meets the requirements of hadal trench detection with large vertical depth, which verifies the effectiveness of the proposed parametric design method.

关 键 词：全海深 自主遥控水下机器人(ARV) 模糊层次分析法 参数化设计 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]