Design Of Underwater Loading Device For AUV System

71% of earth surface is ocean which contains a large number of biological resources, energy, water and metal resources and underwater robots is an important tool for marine exploration and development. It is of great significance to focus our research on carry and release technology of Autonomous Underwater Vehicle, AUV, as a new type of underwater work platform, whose value reflects in the ability to carry and release other instruments to a large extent.This thesis mainly develops an underwater mounting device for AUV system which is made up of release unit and beacon unit. The release unit is linked to AUV and the beacon unit can not only be carried and released by AUV from release unit but also can carry and release simulated load underwater and float to the sea level at last, so, by using this device, disadvantage of “one release” by AUV could be eliminated and efficiency of marine development will be improved as the underwater mounting device can flexibly carry a variety of underwater loads to complete underwater tasks which avoids repeatedly developing mounting device with different functions.Firstly, the underwater carry and release technology is surveyed worldwide. At the aim of improving reliability and safety of underwater releasing the release mechanism is designed and the mechanism has a good interchangeability which not only can be used as the interface between release unit and beacon unit but also can be used as the interface between beacon unit and simulated load.Then, the design of structure and controller for release unit and beacon unit is proposed and relevant debugging is completed. Among the underwater mounting device, release unit is controlled by AUV to carry and release the beacon unit and beacon unit is used to carry and release load through pre-programmed method, floating to the sea after releasing load. In addition, this thesis presents a steady-state superposition algorithm of moving body to forecast device's floating time and initial drift range at sea. Further, based on the Fluent fluid simulation software, automatic calculation of recovery forecast over different depths and currents speeds is achieved to provide a theoretical basis for recovering device at sea.Finally, it verifies device's pressure sealing performance and capability of operational function through pressure and functional tests on land and verifies the accuracy of beacon's floating time calculated by steady state superposition algorithm. The reliability of underwater releasing and the feasibility of recovery at sea are validated though lake and sea trials which proves that the underwater mounting device fulfills the underwater operations capabilities.