一种基于AUV的大水域水质三维空间分层检测系统设计模式

A Design Pattern of Three-Dimensional Spatial Layering Detection System for Large Water Areas Based on Autonomous Underwater Vehicle

摘要: 近年来，江河湖库等大水域水质空间异质性调查，以及水体表层与水下、上下游/左右岸等污染分布的立体化检测应用需求显著增长。不同于有缆遥控水下机器人(ROV)的技术路线，本文提出一种基于自主水下机器人(AUV)的大水域水质三维空间分层检测系统(简称：WGD-AUV系统)设计模式；通过AUV搭载多参数(5~12种/类)水质传感器，AUV按照电子地图预置路径规划，自主避碰–避障和长航时航行，以及与岸基仪器协同工作，以实现全测量域的水质三维(水深及经纬度)空间分层检测和点测数据校核与全域数据的测验整编。本文提出的新型WG-AUV系统设计模式，为适应我国的大水域水质分异性调查和污染分布的立体化监测提供了有效解决方案。

Abstract: In recent years, the demand for water quality detection based three-dimensional space layered for large water areas such as rivers, lakes and reservoirs, as well as water surface and underwater, upstream and downstream/left and right banks, has increased significantly. Different from the technical route of remote operated underwater vehicle (ROV), the paper proposes a design pattern of water quality detection system based three-dimensional space layered for large water areas by autonomous underwater vehicle (AUV), this water quality detection system, for short: WGD-AUV system. By AUV with multiple parameter (5~12/kinds) water quality sensors, AUV according to the preset electronic map path planning, autonomous avoidance collision and obstacle, long-endurance, and shore-based instrument to work together, to achieve three-dimensional space layered detection of water quality in the whole measurement domain, and point-test data check and whole-field data test compilation. The design pattern of new WG-AUV system proposed in this paper provides an effective solution for the investigation of water quality differentiation and three-dimensional monitoring of pollution distribution in large water areas of our country.