机器人在管道提升式深海采矿系统中智能化的挑战与发展趋势  

Challenges and development trend of intelligent robot in pipe lifting deep sea mining system

作　　者：沈义俊 张炜峰 周健一 全嘉鑫 李文庆 刘悦凡 张瑞永 李萌[1,2] SHEN Yijun;ZHANG Weifeng;ZHOU Jianyi;QUAN Jiaxin;LI Wenqing;LIU Yuefan;ZHANG Ruiyong;LI Meng(State Key Laboratory of Marine Resources Utilization in South China Sea,Hainan University,Haikou 570228,China;School of Marine Science and Engineering,Hainan University,Haikou 570228,China)

机构地区：[1]海南大学南海海洋资源利用国家重点实验室,海口570228 [2]海南大学海洋科学与工程学院,海口570228

出　　处：《科技导报》2024年第12期92-106,共15页Science & Technology Review

摘　　要：近年来对深海矿物资源的开采需求逐步增大,为了解决传统的管道提升式采矿系统的缺陷,提出将智能化机器人引入来实现高效、精准的矿物采集和结构物的健康监测。但由于深海环境复杂,与陆地上机器人相比,水下机器人的设计需要考虑海洋带来的阻力、噪声等多方面的影响。从水动力学、水下定位和水下视觉3个方面介绍了管道提升式深海采矿系统中采矿机器人的发展与技术难点,概述了机器人管道检测技术。探讨了深海资源开采水下机器人的技术发展方向。In recent years,the demand for deep-sea mineral resources has gradually increased.In order to solve the shortcomings of traditional pipe lifting mining system,intelligent robots are proposed to realize efficient and accurate mineral collection and health monitoring of the structure.However,due to the complexity of the deep-sea environment,compared with robots on land,the design of underwater robots needs to take into account the effects of resistance,noise,and other aspects brought by the ocean.This paper introduces the development and technical difficulties of mining robots in pipe-lifting deep-sea mining systems from three aspects:hydrodynamics,underwater localization,and underwater vision.Meanwhile,it provides an overview of robotic pipeline inspection technology.On this basis,this paper discusses the technological development direction of underwater robots for deep-sea resource mining.

关 键 词：深海采矿机器人 管道检测机器人 水下动力学 水下定位 水下视觉 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TD424[自动化与计算机技术—控制科学与工程]