新型复合式水下机器人设计研究

Design and research of new hybrid underwater vehicle

新型水下机器人是在远程遥控水下机器人ROV、自主航行水下机器人AUV、水下滑翔机AUG的基础上提出的全新融合体,兼顾了ROV,AUV,AUG的优点(简称ARG),其由上位机地面站和ARG本体组成。地面站由OpenWrt路由器、MCU、PC、电力载波模块、高清显示屏、工控屏和移动终端组成。ARG本体由水动力外壳、净浮力装置、重心调节装置、水平推进动力系统、电源系统、通信系统、传感器系统、视频采集系统组成。地面站与ARG之间的信息通信方式有电力载波、WiFi、GSM通信。ARG本体通过重心调节装置、净浮力调整装置和水平推进动力系统,实现全自由度运动、定深悬停及无动力滑翔。结合GPS定位和上位机软件,ARG具有航迹规划、航迹显示、采集信息及航行日志输出等功能,图像采集系统可实现4K高清实时采集传输。

The new underwater vehicle is an entirely new fusion body designed based on the remotely operated vehicle(ROV),autonomous underwater vehicle(AUV),and autonomous underwater glider(AUG). It combines the advantages of ROV,AUV and AUG,which is named autonomous remotely glider(ARG)for short. The designed vehicle is composed of upper computer ground station and ARG body,in which the former consists of OpenWrt router,MCU,PC,power carrier module,HD display screen,industrial control screen and mobile terminal,while the later consists of hydrodynamic enclosure,net buoyancy device,center of gravity adjustment device,horizontal propulsion power system,power supply system,communication system,sensor system and video acquisition system. The information communication modes between the ground station and ARG include power carrier,WiFi and GSM communication. The ARG body achieves full freedom motion,fixed depth hover and non-powered glide by the center of gravity adjustment device,net buoyancy adjustment device and horizontal propulsion power system.Integrated with GPS positioning and upper computer software, ARG has the functions of track planning, track display,information collection and navigation log output. The image acquisition system can realize 4 K HD real-time collection and transmission.