船体表面海生物水下清洗机器人研究现状及关键技术进展  

Research Status and Key Technology Progress of Marine Biological Underwater Cleaning Robot on Hull Surface

作　　者：王继祥 张增猛 李洪波[3] 弓永军 WANG Jixiang;ZHANG Zengmeng;LLHongbo;GONG Yongjun(Dalian Martime University,Naval Architecture and Ocean Engineering College,Dalian 116026,Liaoning,China;Dalian Martime University,Liaoning Provincial Key Laboratory of Rescue and Salvage Engineering,Dalian 116026,Liaoning,China;Salvage Engineering Feet,China Yantai Salvage,Yantai 264012,Shandong,China)

机构地区：[1]大连海事大学船舶与海洋工程学院,辽宁大连116026 [2]大连海事大学救助与打捞工程辽宁省重点实验室,辽宁大连116026 [3]烟台打捞局救捞工程船队,山东烟台264012

出　　处：《船舶工程》2024年第2期146-164,共19页Ship Engineering

基　　金：国家自然科学基金项目(52175043,U908228);辽宁省自然科学基金项目(2020-HYLH-18);大连理工大学精密/特种加工及微制造技术教育部重点实验室(B类)开放课题基金资助项目(B202202);中央高等学校基本科研业务费(3132023513)。

摘　　要：目前,船体海生物清洗多采用人工清洗,随着国内船舶维护保养需求的增加以及机械自动化技术的发展,利用清洗机器人替代人工作业成为必然趋势。清洗技术、表面吸附方式、爬壁行走及驱动装置、感知技术和路径规划是船体海生物清洗机器人的关键技术,其性能决定机器人清洗的效率及质量。文章概述了船体海生物清洗机器人的发展历程及其关键技术的研究进展。针对船体海生物清洗机器人表面适应性与清洗完成度低、灵活性差、环境污染和成本高等问题,指出今后船体海生物清洗机器人的发展策略。At present,the manual cleaning is mostly used in hull sea biological cleaning.With the increase of domestic ship maintenance demand and the development of mechanical automation technology,it is an inevitable trend to replace manual operation with cleaning robot.Cleaning technology,surface adsorption method,wall-climbing walking and driving device,sensing technology,and path planning are the key technologies of the hull marine biological cleaning robot,and their performance determine the efficiency and quality of the robot cleaning.The research progress of the development process and key technologies of the hull marine biological cleaning robot are summarized.Aiming at the problems of low surface adaptability and cleaning completion,poor flexibility,environmental pollution and high cost of hull sea biological cleaning robot,the development strategy of hull sea biological cleaning robot in the future is pointed out.

关 键 词：海生物附着 船体清洗技术 清洗机器人 爬壁吸附装置 路径规划 

分 类 号：U672.7[交通运输工程—船舶及航道工程]