随着全世界广泛聚焦深海资源勘探以及人类对海洋环境保护意识的不断加强，自主水下机器人（Autonomous Underwater Vehicle，AUV）取得广泛应用。当前AUV作业完成后或需补充能源时，需通过有人船舶多人配合操作对其回收，危险系数高且工作效率低。为解决有人船舶回收AUV存在的问题，设计一种基于水面无人船（Unmanned Surface Vehicle，USV）的倾斜滑道式自主回收AUV装置，从工作原理、机械设计、力学理论及仿真分析等方面展开研究，最终搭建系统原理样机并进行试验。经试验验证，该装置能稳定可靠地实现对AUV的自主回收。为未来无人化、高效化自主回收AUV系统的实现提供一定技术储备。
With the world's extensive focus on deep-sea resource exploration and mankind's increasing awareness of marine environmental protection, autonomous underwater vehicle (AUV) have been widely used. Currently, AUVs need to be recovered by manned vessels with the cooperation of many people after the completion of operation or when they need to replenish energy, which has a high risk factor and low working efficiency. In order to solve the problems of AUV recovery by manned vessels, a tilting chute type autonomous recovery AUV device based on unmanned surface vehicle (USV) is designed in this paper, and the research is carried out in terms of the working principle, mechanical design, mechanical theory and simulation analysis, and the system prototype is finally constructed and tested. After test verification, the device can achieve the autonomous recovery of AUV stably and reliably. It provides certain technical reserve for the realization of unmanned and efficient autonomous recovery system of AUV in the future.
2025,47(5): 50-55 收稿日期：2024-3-15
DOI：10.3404/j.issn.1672-7649.2025.05.008
分类号：TP249
基金项目：国家自然科学基金资助项目（52301391）；机器人学国家重点实验室自主课题（2022-Z05）；沈阳市中青年科技创新人才支持计划（RC220524）；异构机器人协同作业自主部署方法研究（2023JC3G01）
作者简介：张明远（2000 – ），男，硕士研究生，研究方向为水下机器人设计
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