一种智能水下机器人进行大范围海洋环境监测的方案与实验

Design and experiment of an autonomous underwater vehicle for monitoring large-scale marine environment

采用智能水下机器人进行海洋环境的立体监测具有监测范围广,自主性强的特点。本文在探讨世界各国采用智能水下机器人进行海洋环境监测的情况的基础上,介绍了自主研发的智能水下机器人海洋大范围环境数据的自主采集系统,其主要优点是:相对于其他机器人,可实现"大范围"海洋环境数据的采集;相对于固定式浮标,可实现海洋环境数据的"自主"采集。并给出了自主采集流程和软件分层递阶体系结构。在真实海域中,采用智能水下机器人,进行了国内首次大范围环境数据采集实航实验。实验结果表明采用智能水下机器人进行海洋环境的立体监测是切实可行的。

Autonomous underwater vehicle （AUV） can be used for monitoring three-dimensional marine environ- ment, thanks to its characters of covering large area and strong automation. The authors introduce marine monitor- ing technology by AUV in the world, and then present their own autonomous marine monitoring system. The sys- tem has two advantages： it can cover larger area than other AUVs and collect more autonomous data acquisition than a fixed float meter. The scheme of data acquisition, the procedure of autonomous acquisition and layered software architecture are given. The large-area field trial is first carried out in China, which shows that marine en- vironmental three-dimensional monitoring by AUV is practical.