长航时深海水下无人机器人主动式上浮抛载设计与实现  

Design and Implementation of Long Endurance Autonomous Underwater Vehicle Proactive Floating-up Jettison System in Deep Sea

作　　者：刘菲菲 郑荣[1,2] LIU Feifei;ZHENG Rong(Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016,China;Institutes for Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Shenyang 110016,China)

机构地区：[1]中国科学院沈阳自动化研究所,沈阳110016 [2]中国科学院机器人与智能制造创新研究院,沈阳110016

出　　处：《机械工程师》2023年第4期145-148,共4页Mechanical Engineer

基　　金：国家基础科研项目“AUV集群试验测试技术”(E01Z091601)。

摘　　要：从长航时深海自主水下机器人的应用背景出发,介绍了一种新型的主动式通电上浮抛载装置,该装置有别于较为通用的断电抛载模式,采用三级递进式的上电抛载机构设置,在节约深海AUV宝贵电能的同时,可满足抛载装置高可靠性的要求。文中从技术难点、结构组成、工作原理及仿真分析计算4个方面展开阐述,并提出不同工作深度的深海AUV浮力状态计算和抛载质量设计方法,最后对抛载装置在设计上的注意事项及其应用前景进行了总结。Based on the application background of long endurance autonomous underwater vehicle(AUV),a new type of proactive power-on floating-up jettison system is introduced,which is different from the more general power-off jettison system.The three-level of power-on floating-up jettison mechanism is adopted to save the valuable electric energy of AUV and meet the requirements of high reliability of the jettison system.This paper briefly describes the technical difficulties,structural component,operation principle and simulation analysis,and set forth the calculation method of releasing the weight of jettison block and buoyancy calculation of deep-sea AUV under the various operating depth of ocean.Finally,the important notice point in the design and the application prospect of the jettison system are summarized.

关 键 词：抛载 水下机器人 长航时 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]