深水油气平台水下结构运维机器人技术进展  

Development and trends of underwater robots for inspection,maintenance and repair for offshore oil and gas platforms:A review

作　　者：姜哲 赵宇 黄建虾 王芳[1] 陈祎 罗传坤 罗高生 JIANG Zhe;ZHAO Yu;HUANG Jianxia;WANG Fang;CHEN Yi;LUO Chuankun;LUO Gaosheng(Shanghai Engineering Research Center of Hadal Science and Technology,College of Engineering Science and Technology,Shanghai Ocean University,Shanghai 201306,China;Shanghai Jiao Tong University Underwater Engineering Institute Co.,Ltd.,Shanghai 200231,China;CNOOC EnerTech Equipment Technology Co.,Ltd.,Tianjin 415599,China)

机构地区：[1]上海海洋大学,工程学院上海深渊科学工程技术研究中心,上海201306 [2]上海交大海洋水下工程科学研究院有限公司,上海200231 [3]中海油能源发展装备技术有限公司,天津415599

出　　处：《科技导报》2024年第13期6-15,共10页Science & Technology Review

基　　金：上海市产业协同创新(科技)项目(XTCX-KJ-2023-2-15);上海市科委创新行动计划项目(20dz1206500);中海油能源发展装备技术有限公司数字化重点攻关项目。

摘　　要：“深海一号”半潜式生产储油平台的投入使用标志着中国深水油气田开发能力和深水海洋工程装备建造水平实现了走进深水的重大跨越。总结了近10年海洋工程领域新型的水下结构运维专用机器人,综述了清洗、检测和维修等水下运维机器人技术国内外发展现状,分析了新型机器人所特有的共性关键技术问题,探讨了基于路径规划与自主导航的水下自主作业技术、基于数字孪生与人工智能技术的水下运维作业模拟与应急预案评估、多传感器融合的水下作业技术等水下运维机器人智能化技术发展趋势。The deployment of semi-submersible production and storage oil platform"Deepsea No.1"signifies a significant leap in China's ability to develop deep-water oil and gas fields and to construct deep-water ocean engineering equipment.However,due to prolonged offshore operations,deep-water oil and gas platforms face environmental challenges such as corrosion from seawater,marine organism attachment,wind and wave flow.As a result,the development of underwater operation and maintenance of deep-water platform structures,including cleaning,inspection,and repair,has become a key factor for ensuring long-term safe operation.Currently,shallow-water platforms mainly rely on divers for operations.With increasing water depths,the use of underwater robots for inspection,maintenance and repair(IMR)has become an inevitable trend.Nevertheless,traditional remotely operated vehicles(ROVs)are expensive and difficult to operate because of their sizes.This paper mainly summarizes novel underwater IMR robots for marine engineering applications developed in the past decade,reviews domestic and international status of underwater maintenance robots,and discuses some typical case studies.Finally,common key technical issues of new robots and the trend for intelligent technology development in underwater maintenance robots are addressed.

关 键 词：深水油气平台 水下运维机器人 智能化 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TE95[自动化与计算机技术—控制科学与工程]