模块化自主水下机器人开发与应用  

Development and Application of Modular Autonomous Underwater Vehicle

作　　者：武建国[1,2] 任志刚 吕日恒 WU Jianguo;REN Zhigang;LV Riheng(Hebei University of Technology,Tianjin 300401,China;Tianjin Hanhai Lanfan Marine Technology Co.,Ltd,Tianjin 300450,China;The Eighth Geological Brigade of Hebei Geological and Mineral Resources Exploration and Development Bureau,Qinhuangdao 066000,China;National Ocean Technology Center,Tianjin 300112,China)

机构地区：[1]河北工业大学,天津300401 [2]天津瀚海蓝帆海洋科技有限公司,天津300457 [3]河北省地质矿产勘查开发局第八地质大队,秦皇岛066000 [4]国家海洋技术中心,天津300112

出　　处：《海洋信息技术与应用》2022年第1期10-20,共11页JOURNAL OF MARINE INFORMATION TECHNOLOGY AND APPLICATION

摘　　要：当前智能化装备采用模块化设计理念,在许多行业领域里得到了广泛的推广应用,凸显了模块化设计理念的优越性和先进性。本文即以模块化设计理念为主导,将自主水下机器人(AUV)按功能划分为艏部模块、能源模块、主控及导航模块、艉部推进模块及载荷扩展模块。每个模块具备相同的机械电气接口,实现了模块的快速更换与功能增减。在该设计理念下,实现了自主水下机器人的系列化。为海洋技术领域在水声定位与验证,组网与高机动遥测遥控系统,环保监测,水下涵道探测,水底地形地貌探测,以及海洋水体立体监测等方面提供了有力支持和保障,通过相关部门的应用,取得了良好的效果并赢得了好评。本文以河北工业大学和天津瀚海蓝帆海洋科技有限公司技术团队研发的系列产品为例,通过不断地进行产品的迭代更新,充分展示了产品快速地成熟化。为此本文愿与广大同行深入交流,为促进我国海洋智能装备国产化推广应用和市场竞争力共同努力。At present,the intelligent equipment adopts the concept of modular design,which has been widely used in many fields,highlighting the superiority and advancement of the modular design concept.In this paper,the autonomous underwater vehicle(AUV)is divided into bow module,energy module,main control and navigation module,stern propon module,and load expansion module according to their different functions.Each module has the same mechanical and electrical interface,which enableing the rapid replacement of the module and function changes.Under this design concept,the serialization of autonomous underwater vehicle(AUV)is realized.It provides strong support and guarantee for the field of marine technology in the areas of underwater acoustic positioning and verification,networking and high-mobility telemetry and telecontrol system,environmental monitoring,underwater culvert detection,underwater topography detection,and 3D monitoring of ocean water bodies.Application in relevant departments achieved good results.Hebei University of Technology and Tianjin Hanhailanfan Ocean Technology Co.,Ltd.researched and developed a series of products.Through continuous product iteration update,it fully demonstrated the rapid maturation of products.

关 键 词：水下机器人 模块化 功能重组 机械接口 

分 类 号：P756[天文地球—海洋科学]