回转形AUV水下通用对接装置的设计与实现

摘要

自主式水下机器人(autonomous underwater vehicle,AUV),尤其是回转形AUV,是海底探测 、海洋地貌观察和军事海洋学研究的重要工具,但其续航能力一直是限制其完成远距离和长时间工作的关键问题.目前已研制出的水下对接装置只能与特定尺寸的水下机器人完成对接,通用性较差.为了解决不同尺寸回转形AUV的能源补充及数据上传下载的问题,介绍了目前存在的水下对接形式,并在此基础上设计了一款通用性水下对接装置.该装置采用水下灯光导引方式对AUV进行导引定位,当AUV进入对接装置后通过导流罩对AUV进行导向,最终采用丝杠滑台装置夹持固定AUV.该装置可以为不同尺寸的回转形AUV补充能源并提供数据上传下载服务,提高了AUV的续航力 、数据收集能力,扩大了巡航范围.最后在水池中对该水下对接装置的灯光引导 、夹持装置进行了测试,验证了该水下对接装置整体的可靠性及可行性.结果表明该装置结构简单,通用性较强,稳定可靠,对水下对接装置的总体设计具有一定的借鉴和指导意义.%Autonomous underwater vehicle (AUV ) , especially the revolving AUV , is an important tool in the sea floor exploration ,ocean landform observation and marine military ocea-nography research ,but the endurance has been a key issue to limit its completion of long distance and long hours .At present ,the underwater docking device only can dock with AUV with the par-ticular size and has poor versatility .In order to solve the problem of providing energy supplement and data uploading /downloading for different sizes of revolving AUVs ,the different underwater docking forms were introduced and a universal underwater docking device was designed on this basis .The device used the underwater lighting guidance to guide the positioning of AUV , through the shroud to guide the AUV navigation when AUV entered the docking device ,and used the screw slide to clamp and fix AUV finally .The device could provide energy supplement and upload/download tasks for different sizes of revolving AUVs ,and improve its endurance ,da-ta collection capabilities and cruising range . The light guide and clamping device of the underwater docking device were tested in the pool ,and the reliability and feasibility of the under-water docking device were verified .The device is simple ,versatile ,stable and reliable ,in addi-tion ,it has a certain reference for the overall design of the underwater docking device .