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自主水面船舶水下传感器最优定位的船体和空中全自主推进系统设计。

Hull and Aerial Holonomic Propulsion System Design for Optimal Underwater Sensor Positioning in Autonomous Surface Vessels.

机构信息

Faculty of Engineering, Federal University of Juiz de Fora, Juiz de Fora 36036-110, Brazil.

Department of Electroelectronics, CEFET-MG, Leopoldina 30.510-000, Brazil.

出版信息

Sensors (Basel). 2021 Jan 15;21(2):571. doi: 10.3390/s21020571.

DOI:10.3390/s21020571
PMID:33467424
原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC7830698/
Abstract

Acoustic Doppler Current Profiler (ADCP) sensors measure water inflows and are essential to evaluate the Flow Curve (FC) of rivers. The FC is used to calibrate hydrological models responsible for planning the electrical dispatch of all power plants in several countries. Therefore, errors in those measures propagate to the final energy cost evaluation. One problem regarding this sensor is its positioning on the vessel. If placed on the bow, it becomes exposed to flowing obstacles, and if it is installed on the stern, the redirected water from the boat and its propulsion system change the sensor readings. To improve the sensor readings, this paper proposes the design of a catamaran-like Autonomous Surface Vessel (ASV) with an optimized hull design, aerial propulsion, and optimal sensor placement to keep them protected and precise, allowing inspections in critical areas such as ultra-shallow waters and mangroves.

摘要

声学多普勒海流剖面仪 (ADCP) 传感器测量水流，是评估河流流量曲线 (FC) 的重要工具。FC 用于校准水文模型，该模型负责规划多个国家所有电厂的电力调度。因此，这些测量中的误差会传播到最终的能源成本评估中。该传感器存在一个问题，即其在船舶上的定位。如果安装在船首，它会暴露在流动障碍物中，如果安装在船尾，船和其推进系统产生的转向水流会改变传感器读数。为了提高传感器的读数，本文提出了一种类似于双体船的自主水面船舶 (ASV) 的设计，该设计具有优化的船体设计、空中推进和优化的传感器放置，以保持其精确性和安全性，从而可以在超浅水区和红树林等关键区域进行检查。

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