基于USV的AUV布放回收系统设计与实现  

Design and implementation of launch and recovery system for AUV based on USV

作　　者：李明烁 孟令帅[2,3] 谷海涛[2,3] 曹新星[2,3,4] 张明远 LI Mingshuo;MENG Lingshuai;GU Haitao;CAO Xinxing;ZHANG Mingyuan(School of Mechanical Engineering,Shenyang University of Technology,Shenyang 110870,China;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 110169,China;School of Mechanical Engineering and Automation,Northeastern University,Shenyang 110819,China;University of Chinese Academy of Sciences,Beijing 100049,China)

机构地区：[1]沈阳工业大学机械工程学院,辽宁沈阳110870 [2]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 [3]中国科学院机器人与智能制造创新研究院,辽宁沈阳110169 [4]东北大学机械工程与自动化学院,辽宁沈阳110819 [5]中国科学院大学,北京100049

出　　处：《工程设计学报》2023年第5期650-656,共7页Chinese Journal of Engineering Design

基　　金：中国科学院沈阳自动化研究所机器人学国家重点实验室资助项目(E11Z0902);辽宁省自然科学基金资助项目(E1310901)。

摘　　要：为了解决目前布放回收自主水下机器人(autonomous underwater vehicle,AUV)自动化水平低、工作效率低、危险性高等问题,研制了一款基于无人水面船(unmanned surface vessel,USV)的AUV自主布放回收系统。首先,通过分析国内外常用AUV布放回收方式和布放回收系统,设计了AUV布放回收系统,并对其工作原理进行分析;其次,分别从力学分析、数值仿真等角度研究了布放回收系统的动力学、静力学及接触碰撞问题;最后,搭建了系统原理样机并进行了陆上实验和湖上实验,通过实验验证了所设计的布放回收系统稳定可靠、操作简单、通用性好,可以有效提高AUV自主布放回收的效率。所设计的基于USV的AUV布放回收系统具有良好的应用前景。In order to solve the problems of low automation level,low work efficiency and high risk when launching and recovering autonomous underwater vehicle(AUV),an launch and recovery system(LARS)for AUV based on unmanned surface vessel(USV)was developed.Firstly,by analyzing commonly used AUV launch and recovery modes and LARS at home and aboard,an AUV LARS was designed,and its working principle was analyzed;secondly,the dynamics,statics and contact collision issues of the LARS were studied from the perspectives of mechanical analysis and numerical simulation;finally,a principle prototype of the system was built and land and lake experiments were conducted.The experiments verified that the designed LARS was stable,reliable,easy to operate,and had good universality,which could effectively improve the efficiency of autonomous launch and recovery of AUV.The designed AUV LARS based on USV has good application prospects.

关 键 词：自主水下机器人 布放回收系统 结构设计 力学分析 湖上测试 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]