海上网箱网衣检测用框架式AUV设计与试验

Frame-type AUV design and experiment for sea cage net damage detection

大型网箱(围网)养殖是我国对深远海水体资源利用的重要途径,网衣破损检测是网箱养殖可以正常运行的基础条件,利用低成本高可靠性的框架式AUV进行网衣破损检测是可行的技术方案之一。基于技术、成本和使用便利性等要求,提出了框架式AUV螺旋式网衣破损检测策略,对其进行了运动建模和动力计算,获得了控制方法及与海流等相关的工作条件。根据模型分析进行了框架式AUV系统参数设计,开发了3自由度AUV控制系统软硬件、水下视频监控装置及工作距离1.5 km的微波通讯系统。所研发系统在象山港海域大型网箱进行了现场试验,结果表明在流速小于0.8 m/s时,能够在大潮和小潮分别获得最远0.9 m和1.5m的清晰视觉图像,可以方便地判断网衣破损情况,满足实际要求,为大规模推广应用打下了良好基础。

Large cage net（ purse net） is a vital way to utilize the sea water resources of deep sea. Net damage detecting is the basic condition for its normal running. Low cost and high reliable frame-type AUV is a feasible technical method to conduct the function. Based on the requirement of technique,cost and convenient operation,this paper proposes a cage net spiraling detection strategy of frame-type AUV,sets up the motion model and computes the driving force. The control method and working conditions relative with water current etc. were obtained. According to the model analysis,this paper designs the frame-type AUV structure,develops the 3 degree of freedom control hard / software and underwater video supervising / microwave communication system with 1. 5 km working distance. The equipment developed is verified in Xiangshangang Bay of Zhejiang Province,China. The results show the system can acquire clear cage net pictures within 0. 9m and 1. 5 m distance in spring and neap tide respectively from underwater when the flow velocity is less than0. 8 m / s,and its damage situation can be easily judged,which meets the practical requirement and provides stable foundation for large scale application.