“海斗一号”全海深ARV收放装置设计与优化  

Design and optimization of the full-ocean-depth ARV deployment and recovery system for“Haidou-1”

作　　者：陈聪 唐元贵[1,2,3] 陆洋[1,2,3] 孙天俊 何震[1,2,3] CHEN Cong;TANG Yuangui;LU Yang;SUN Tianjun;HE Zhen(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;Key Laboratory of Marine Robotics,Liaoning Province,Shenyang 110169,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110169 [3]辽宁省水下机器人重点实验室,辽宁沈阳110169

出　　处：《海洋工程》2024年第6期159-169,共11页The Ocean Engineering

基　　金：国家自然科学基金面上项目(62173320);国家重点研发计划项目(2023YFC2813000)。

摘　　要：面对深渊等极端海洋环境下的科考需求,自主遥控水下机器人(autonomous and remotely-operated vehicle,简称ARV)凭借其探测范围大和能局部采样作业的综合能力和特点,在深海领域发挥着越来越重要的作用。文章以中国首台具备探测与作业能力的全海深自主遥控水下机器人——“海斗一号”为研究对象。“海斗一号”在探测作业时,通过光纤微缆与母船保持实时通信,其特有的光纤压坠器装置对光纤链路的稳定性起到至关重要的作用。基于此,设计了一套“海斗一号”专用的布放回收装置,并探索形成了一套有效的布放回收方法,实现了“海斗一号”与光纤压坠器的安全布放与回收;针对布放回收过程中“海斗一号”的起吊架需应对不同起吊工况的需求,基于“海斗一号”轻量化的设计要求,提出采用多工况拓扑优化设计方法开展起吊架构型设计,对最终设计构型在2种工况下分别进行了有限元数值仿真,进一步完成了压载试验和海试应用验证。结果表明,文中所述“海斗一号”收放装置设计及优化方法切实有效,满足“海斗一号”开展深渊科考时的需求,为ARV布放回收及其装置优化设计提供了工程经验和理论指导。Aimed at the scientific exploration needs in extreme marine environments such as the abyss,the autonomous and remotelyoperated vehicle(ARV)plays an increasingly significant role in the deep-sea domain due to its capabilities and characteristics of extensive range detection and localized sampling operations.Taking China’s first full-depth ocean ARV with detection and operation capabilities,the“Haidou-1”,as the research object,the ARV maintains real-time communication with the mother ship through an optical fiber micro-cable during detection operations.The unique fiber optic dropper device plays a crucial role in stabilizing the fibreoptic link.Based on this,a specific deployment and recovery system for“Haidou-1”was designed,and an effective deployment and recovery method was explored and formed,realizing the safe deployment and recovery of“Haidou-1”and the fiber optic dropper.Regarding the needs of different lifting conditions during the deployment and recovery process,and based on the lightweight design requirements of“Haidou-1”,a multi-condition topological optimization design method was proposed for the design of the lifting frame.The final design configuration was subjected to finite element numerical simulation under two conditions,further completing the ballast test and sea trial application verification.The results demonstrate that the described design and optimization method for the“Haidou-1”deployment and recovery system is indeed effective,meeting the needs of“Haidou-1”for abyssal scientific exploration,providing engineering experience,and theoretical guidance for the ARV deployment and recovery and its device optimization design.

关 键 词：自主遥控水下机器人(ARV) 布放回收 起吊架 拓扑优化 

分 类 号：P751[交通运输工程—港口、海岸及近海工程] TP242[天文地球—海洋科学]