水下机器人自主操作--机遇、进展与挑战  

Underwater Vehicle Autonomous Manipulation--Opportunities,Advances and Challenges

作　　者：徐明浩 司马灿[1,2] 朱忠 倪天[1,2] 吴海波 郭佳[1,2] 吴雨 XU Minghao;SIMA Can;ZHU Zhong;NI Tian;WU Haibo;GUO Jia;WU Yu(China Ship Scientific Research Center,Wuxi 214082,China;Taihu Laboratory of Deepsea Technological Science,Wuxi 214082,China)

机构地区：[1]中国船舶科学研究中心,无锡214082 [2]深海技术科学太湖实验室,无锡214082

出　　处：《船舶》2024年第6期60-80,共21页Ship & Boat

基　　金：广东省海洋经济发展(海洋六大产业)专项资金项目冷泉环境智能采样装置研究及应用粤自然资合[2023]30号[GDNRC(2023)30];原位长周期研究系统平台重要设备样机研制(LQ-GJ-03-01)。

摘　　要：21世纪以来,随着人类对海洋资源的探索不断加深,水下非结构化环境中日趋精细复杂的操作任务对潜器的作业能力提出了更高要求和挑战。利用机械臂与周围环境实体进行交互是潜器水下作业能力的重要体现,然而,当前水下自主操作技术尚处于起步阶段,各类干预任务过度依赖人员控制,在连续作业时效率低下,故提高水下作业操作的自主程度是未来海洋装备发展的必然趋势。该文详细介绍了目前水下作业操作技术的发展概况与存在问题,通过对比传统遥控操作手段的局限说明水下机器人自主操作在海洋工程等领域的巨大潜力;综述了水下机器人自主操作技术的研究现状,分析了制约该技术发展的若干因素与挑战,并指明水下机器人自主操作向工程化应用所需突破的关键核心技术;最后,对该领域今后的发展方向作出展望。Since the 21st century,human exploration of marine resources deepens,the increasingly sophisticated manipulation tasks in unstructured underwater environment put forward higher requirements and challenges for submersibles'operational capability.Interacting with the surroundings with robotic arm is a very important manifestation of such capability.However,autonomous underwater manipulation at this stage is yet in its infancy and various underwater intervention missions still rely highly on manual control,which is very likely to lead to inefficiency in continuous operation.Hence,improving the autonomy in underwater vehicle’s manipulation ability is an inevitable trend of marine equipment in the future.Overviews and existing problems of underwater manipulation are introduced in detail in this paper,and the enormous potential of autonomous underwater manipulation in ocean engineering and other fields is illustrated by comparing the limitations of traditional remotely controlled approaches.The current status of autonomous underwater manipulation is systematically reviewed and main limiting factors and challenges that constrain the development of this domain are analyzed,and the key technologies need to be developed towards industry application are pointed out.Finally,prospects for further development of this area in the future are made.

关 键 词：水下机器人 无人系统 水下干预 自主操作 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]