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首页> 外文期刊>Current development in oceanography >UNDERWATER ROBOTIC VEHICLE FOR SHIP HULL INSPECTION: MECHANICAL DESIGN AND HYDRODYNAMICS
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UNDERWATER ROBOTIC VEHICLE FOR SHIP HULL INSPECTION: MECHANICAL DESIGN AND HYDRODYNAMICS

机译：船体检查用水下机器人：机械设计和水动力

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摘要

The inspection of ship hull thickness and marine structures using underwater vehicles has merged as a unique and challenging application of robotics. The problem poses rich questions in physical design and operation, perception and navigation, and planning, driven by difficulties arising from the acoustic environment, poor water quality and the highly complex structures to be inspected. This technological problem has motivated to a group of researchers of the Federal University of ABC for the development of a Hybrid Remotely Operated Vehicle (HROV) having ultrasonic transducers to check the thickness of the hull and possible cracks. This vehicle is classified as a hybrid robot due to two operation modes: free-flying and crawler. While the first mode the vehicle uses the thrusters at the second mode this use the motorized tracks for its locomotion on the surface of the ship hull. The adherence to the ship hull is guaranteed by applying a force normal to the hull surface from vertical thrusters. This work describes in detail the mechanical design and reports the drag hydrodynamic coefficients of the HROV. The results of both structural and hydrodynamic simulations of the vehicle verified its operation at maximum velocity of 1 m/s with low hydrodynamic drag. The drag coefficients of the vehicle for surge, sway and heave motions are observed not to depend on the tested range of Reynolds numbers, i.e. for 1.0 × 10~5 ＜ Re ＜ 9.95 × 10~5, a result important for the model-based control system design.
机译：使用水下航行器检查船体厚度和海洋结构已经合并为机器人技术的独特且具有挑战性的应用。由于声学环境，水质差和要检查的结构非常复杂而引起的困难，该问题在物理设计和操作，感知和导航以及规划方面提出了很多问题。这一技术问题促使ABC联邦大学的一组研究人员开发了一种混合动力远程驾驶车辆（HROV），该车辆具有超声换能器来检查船体的厚度和可能的裂缝。由于两种操作模式，该车被归类为混合动力机器人：自由飞行和爬行。在第一种模式下，车辆在第二种模式下使用推进器，而在第二种模式下，则使用机动化的履带在船体表面上进行运动。通过垂直推进器施加垂直于船体表面的力，可以确保对船体的粘附。这项工作详细描述了机械设计并报告了HROV的阻力流体动力系数。车辆的结构和流体动力学仿真结果均证明了其在1 m / s的最大速度下具有低流体动力学阻力的运行。观察到车辆的喘振，摇摆和升沉运动的阻力系数不取决于雷诺数的测试范围，即对于1.0×10〜5 ＜Re ＜9.95×10〜5，这对于基于模型的结果很重要控制系统设计。

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