A Research On The Sample Technology Of Autonomous Underwater Vehicle

Marine resource is an important material basis for our country's sustainable development strategy. Before we explore the geological structure or the resources of the seabed, we need conduct sampling and research on the seabed sediment. In order to carry out exploration of seabed resources, or submarine geological structure survey for geological studies, we have to carry out sample and research for marine sediment. In order to make full use of marine resources, we must know the original information and data of marine resources. At present, seabed sampling mainly depends on hydraulic grab and tube sampler on the large research ships. It is a huge project. Small, convenient, economical sampling system will be paid more and more attention.AUV is an important member of the Deep-sea robot family. It has been widely used in undersea exploration and energy development. The sampling system is equipped on the AUV. The system is a small, innovative research for seabed sampling. It is also a very useful research topic of AUV operational capacity expansion. The paper makes a detail discuss and research in the following aspects:(1) The paper researches the current development of seabed sampling inside and outside, it aims at the current status of seabed sampling which need a lot of work, and make a exploration and study for the importance of sampling.(2) It focuses on the specific requirements of sampling system for autonomous underwater vehicles, including small, low power consumption and reliability. And we fulfill the system design of scheme, development, debugging and upswing.(3) The paper makes a deeply research of sampling methods, mechanical design., including studies of gravity grab samples ,underwater winches, cables and the experiment of its strength.(4) The paper makes a deeply research for the control part of the sampling system. The sea environment is very bad, the grab's control of winch, and the heel, trim levels, and the size of the flow all have a very success significant impact to the sampling. The reasonable and effective control is the key to the success of sampling.(5) After the development of sampling system, we carry out a large number of labs, pool and ocean experiments, and the system took part in two sea trials, and the system has been proved to be a successful system.Finally, we make a brief summary of the sampling system of autonomous underwater robots and the harvest. As a pre-research project, the paper provides some innovative and feasible approaches. Meanwhile, we summed up some areas for improvement, and give some suggestions to the follow-up researches.