基于海管维修的UVMS运动规划方法  

Underwater Vehicle-manipulator Systems Motion Planning Method Based on Subsea Pipeline Maintenanc

作　　者：郭宇礼 魏延辉 谢吉顺 王佐强 章仲怡 GUO Yu-li;WEI Yan-hui;XIE Ji-shun;WANG Zuo-qiang;ZHANG Zhong-yi(Bohai Petroleum Aviation Construction Engineering Co.,Ltd.,Tianjin 300452,China;College of Intelligent Systems Science and Engineering,Harbin Engineering University,Harbin 150001,China)

机构地区：[1]渤海石油航务建筑工程有限责任公司,天津300452 [2]哈尔滨工程大学智能科学与工程学院,哈尔滨150001

出　　处：《自动化与仪表》2021年第4期24-29,50,共7页Automation & Instrumentation

基　　金：黑龙江省自然科学基金项目(E2017024);“十三五”海军预研项目(J040717005);国防基础科研项目(A0420132202);中国国家科学技术部国际合作项目(2014DFR10010)。

摘　　要：定期对海底海管进行检测维修对保障海上油气田的正常生产具有重要作用,采用水下机器人-水下机械臂(简称UVMS系统)进行海管检测和维修能够实现无人自主化作业,减少检修成本,具有工程价值和现实意义。该文针对UVMS系统在海管检测和维修中局部自由度冗余导致的任务分配问题,提出了一种基于模糊逻辑的UVMS运动学任务规划方法,通过仿真实验验证了该运动规划方法的可行性和有效性,能够满足海管维修作业的要求。Inspection and maintenance of submarine pipelines,regularly,are prominent to ensure the normal production of offshore oil-gas field.The underwater vehicle-manipulator systems(UVMS)for submarine pipeline inspection and maintenance achieve engineering value and practical significance by realizing unmanned autonomous operations and reducing maintenance costs.Aiming at the task allocation problem caused by redundancy at local degrees of freedom in the UVMS when inspecting and repairing of the subsea pipeline,this paper proposes a kinematic task planning method based on fuzzy logic for UVMS.The simulation experiment verified the feasibility and effectiveness of the FKTP method,it can meet the requirements of subsea pipeline maintenance operations.

关 键 词：海管维修 水下机器人-机械臂系统 模糊逻辑 运动学规划 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]