, PANG Yong-jie1,2, TANG Xu-dong1,2" /> 一种智能水下机器人进行大范围海洋环境监测的方案与实验
检索
E-mail
RSS

作者投稿 主编审稿 专家审稿 远程编辑

热带海洋学报 ›› 2009, Vol. 28 ›› Issue (4): 12-16.doi: 10.11978/j.issn.1009-5470.2009.04.012cstr: 32234.14.j.issn.1009-5470.2009.04.012

• 海洋调查与观测 • 上一篇    下一篇

一种智能水下机器人进行大范围海洋环境监测的方案与实验

李晔,庞永杰,唐旭东   

  1. 1. 哈尔滨工程大学 水下机器人技术国防科技重点实验室

    2. 哈尔滨工程大学 哈尔滨工程大学船舶工程学院

  • 收稿日期:2008-10-09 修回日期:2008-11-27 出版日期:2009-08-08 发布日期:2010-02-05
  • 通讯作者: 李晔

Ocean Environmental Three-dimensional Monitor by AUV

LI Ye1, 2， PANG Yong-jie1, 2， TANG Xu-dong1, 2   

  1. 1．State Key Laboratory of Autonomous Underwater Vehicle, Harbin Engineering University, Harbin 150001, China；

    2．College of Ship Building Engineering, Harbin Engineering University, Harbin 150001, China

  • Received:2008-10-09 Revised:2008-11-27 Online:2009-08-08 Published:2010-02-05
  • Contact: LI Ye

PDF (PC)

赞

被引次数

18 | 1

摘要： 采用智能水下机器人进行海洋环境的立体监测具有监测范围广，自主性强的特点。本文在探讨世界各国采用智能水下机器人进行海洋环境监测的情况的基础上，介绍了自主研发的智能水下机器人海洋大范围环境数据的自主采集系统，其主要优点是：相对于其他机器人，可实现“大范围” 海洋环境数据的采集；相对于固定式浮标，可实现海洋环境数据的“自主”采集。并给出了自主采集流程和软件分层递阶体系结构。在真实海域中，采用智能水下机器人，进行了国内首次大范围环境数据采集实航实验。实验结果表明采用智能水下机器人进行海洋环境的立体监测是切实可行的。

关键词: 海洋环境, 海洋环境, 监测, 监测, 数据采集, 数据采集

Abstract: Autonomous underwater vehicle (AUV) can be used for monitoring three-dimensional marine environment, thanks to its characters of covering large area and strong automation. The authors introduce marine monitoring technology by AUV in the world, and then present their own autonomous marine monitoring system. The system has two advantages: it can cover larger area than other AUVs and collect more autonomous data acquisition than a fixed float meter. The scheme of data acquisition, the procedure of autonomous acquisition and layered software architecture are given. The large-area field trial is first carried out in China, which shows that marine environmental three-dimensional monitoring by AUV is practical.

Key words: autonomous underwater vehicle, autonomous underwater vehicle, ocean environment, ocean environment, monitor, monitor, data acquisition, data acquisition

中图分类号: 

  • P715.5，P761