深海潜水器ARV关键技术

Key Techniques of Deep-sea Submersible ARV

较为详细地介绍了一种全新概念的深海潜水器(ARV),此潜水器综合了自治水下机器人(AUV)和遥控水下机器人(ROV)的各自优势,既可以像AUV一样依靠预设指令进行自主巡航,又可以像ROV一样,通过水面视频画面控制进行精细作业。其最大的特点是用微细光缆代替了传统的脐带电缆,使ARV更具远距离、大深度、实时操作、机动灵活等特点。介绍了其系统组成、关键技术和国内外发展水平及其发展的重要意义。

This paper introduces a novel deep-sea submersible called autonomous remotely vehicle （ARV） which synthesizes the advantage of autonomous underwater vehicle （AUV） and remotely operated vehicle （ROV）. The ARV can operate as an AUV for self-cruise depending on the preinstall order,and it can also work as a ROV for fine operation via the controlling of surface video frame. The maximum characteristic of the ARV is using fiber optic micro cable instead of traditional umbilical cable which makes the ARV have more traits,such as remote control、real time operation、automotive agility and so on. In the paper,the makeup and the key techniques of the ARV are introduced. The development level of ARV and its significance are also given in this paper.