数字海洋与水下攻防2024，Vol.7Issue(4)：389-396,8.DOI:10.19838/j.issn.2096-5753.2024.04.005
海管监测ARV总体设计与试验
Overall Design and Implementation of Marine Pipeline Monitoring ARV
摘要
Abstract
In deepwater offshore pipeline monitoring,especially for the monitoring of mud point location and pipeline buckling,the existing monitoring technology scheme using ROV(Remotely 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 ARV(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,which 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 with modular design idea,and the design scheme of the hull,the pressurization chamber,the propulsion system and the control system is emphatically described.In order to verify the motion control performance of ARV,experimental tests are carried out in the deep pool,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 and the control system of ARV.关键词
ARV/海管监测/总体设计/动力定位Key words
ARV/marine pipeline monitoring/overall design/dynamic positioning分类
海洋科学引用本文复制引用
周楠,魏佳广,谢维维,冯晓伟..海管监测ARV总体设计与试验[J].数字海洋与水下攻防,2024,7(4):389-396,8.基金项目
自然科学基金项目"AUV集群自组织协同监视方法研究"(52371310). （52371310）
