海管监测ARV总体设计与试验

Overall design and implementation of Marine pipe detection ARV

摘要:

在深水海管监测中,特别是对于海管的着泥点定位和管线屈曲的监测,现有的采用ROV(Romotely Operated Vehicle)搭配多功能作业母船的监测技术方案存在监测成本高,船舶交叉作业风险高等缺点。本文提出一种具备扁平体构型、多推进器布置的新型混合式水下机器人(Autonomous Remotely Vehicle)。该ARV兼顾了AUV(Autonomous Underwater Vehicle)智能性和ROV实时传输能力,提高了探测和搜索能力,可以满足海管铺设过程中自主性和实时监测的需求。根据设计目标和任务要求,采用模块化的设计思想,完成了对ARV的总体设计,并着重给出了艇型、耐压舱、推进系统以及控制系统的设计方案。为验证ARV的运动控制性能,在校内深水池进行试验测试,完成ARV定深、定向、定速控制实验,同时模拟实际海管铺设监测,实验结果表明本文所设计的控制系统能够有效支持ARV完成相关作业,验证了ARV的总体设计方法和控制系统的可行性和有效性。

Abstract:

In deepwater offshore pipeline monitoring, especially for the monitoring of mud point location and pipeline buckling, the existing monitoring technology scheme using ROV(Romotely Operated Vehicle) with multi-function operating mother ship has the disadvantages of high monitoring cost and high risk of ship crossing. In this paper, a new hybrid Autonomous Remotely Vehicle (Autonomous Remotely Vehicle) with a flat body configuration and multi-propeller arrangement is proposed. The ARV takes into account the intelligence of AUV(Autonomous Underwater Vehicle) and the real-time transmission ability of ROV, improves the detection and search ability, and can meet the requirements of autonomy and real-time monitoring in the process of offshore pipeline laying. According to the design objectives and task requirements, the overall design of the ARV is completed by adopting the modular design idea, and the design scheme of the hull, the pressurization chamber, the propulsion system and the control system is emphatically given. In order to verify the motion control performance of ARV, experimental tests are carried out in the deep pool of the school, and the ARV depth, orientation and constant speed control experiments are completed. At the same time, the actual monitoring of sea pipe is simulated. The experimental results show that the control system designed in this paper can effectively support ARV to complete the related work, and verify the feasibility and effectiveness of the overall design method of ARV and the control system.