Design And Experimental Study Of AUV Launch And Recovery System Based On Unmanned Ship

Autonomous Underwater Robot(AUV)is a kind of underwater working robot.Because the underwater working environment is harsh and dangerous,and the working depth of human is very limited,Therefore,AUV is often used to carry out various underwater operations in the exploitation of submarine mineral resources and the construction of Marine ranches.AUV underwater operations have the characteristics of long operation time,high intensity and high flexibility.However,Because the AUV is too small to carry its own power supply and data acquisition system,so it is necessary to recover the AUV to the mother ship or shore for energy replenishment or data collection after a period of time.Scientific research institutions at home and abroad have developed AUV launch and recovery systems with different structural forms and shapes.At present,the AUV launch and recovery system mainly has the following problems:(1)Requires mother ship or mother boat intervention and does not integrate the AUV with the launch and recovery system;(2)It requires human participation and low degree of automation;(3)The cost launch and recovery underwater or overwater is too high;(4)The existing launch and recovery system cannot complete the distribution and recovery of the cluster AUV.Based on the above four problems,this paper designs a new AUV distribution and recovery system,which solves the problems of high cost and low degree of automation of AUV distribution and recovery.In addition,combined with the advantages of high automation unmanned ship,the combination of unmanned ship and the deployment and recovery system is realized,which reduces human intervention and improves the degree of automation.In terms of mechanical structure design,this paper using SolidWorks software finished cloth recovery system design,the three-dimensional structure of the mechanical structure of intensity and optimization,the stress of the mechanical components and variable analysis.According to the function of the launch and recovery system,the selection,design and calculation of PLC,winch,motor and reducer for the AUV distribution and recovery system are completed.The hydrodynamic characteristics of the AUV were analyzed by Fluent software,and the stress of the AUV under the condition of still water and flow measurement was obtained.The water resistance coefficient and the change rule of the water resistance of the AUV were obtained.According to the control logic of AUV distribution and recovery control system and tensioning structure,the PLC program was programmed and debugated,and the feasibility of the control logic was verified through experiments.