自治式水下机器人回收系统的研究与设计

本文介绍了我们承担研制的国家“８６３”计划１０００ｍ及６０００ｍ无缆水下机器人的回收系统．回收系统在４级海况下不用专用母船能够成功地回收水下机器人，依据母船、海况、水下机器人及其他具体情况，介绍了两种不同的回收方案和回收器，经海上试验证明是有效和可行的。

This paper introduces the recovering system developed by us for the 1000-meter and 6000-meter untethered autonomous underwater vehicles(AUVs)which are two of the projects in the State High-tech863 Program. This recovering system can recover the underwater robots in a 4 grade sea condition withoutthe help of specific surface supporting vessels.Two different recovering schemes and recovering units arerepresented according to surface supporting vessel, sea status,AUV and other conditions.Results of sea tri-als show that this recovering system is effective and reliable.