摘要
深海环境的长周期监测已成为人类分析和认识海洋生态系统和海洋环境变换过程的必要手段,而深海长期驻留自主水下机器人(LRAUV)系统则是实现深海环境长周期监测的有效装备,成为近年来深海领域的研究热点。本文通过梳理、总结前人的研究,首先对LRAUV系统的含义及其工作模式进行了介绍;对LRAUV系统的典型应用领域进行了分析与展望;然后,对国内外LRAUV系统进行了综述,包括其配置、功能与技术参数等内容,并总结了其发展趋势;最后对LRAUV系统长期生存、基站支撑、AUV自主对接、能源补充及数据传输、探测作业等关键技术的研究现状、难点问题及未来发展方向进行了综述与分析。
Long-term monitoring of the deep-sea environment becomes a necessary means for human to analyze and understand the marine ecosystem and the transformation process of the marine environment.The deep-sea long-term resident autonomous underwater vehicle(LRAUV)system is an effective equipment to realize long-term monitoring of the deep-sea environment,and becomes a research hot-spot in the deep-sea field in recent years.After combing and summarizing previous studies,the meaning and working mode of the LRAUV system are introduced in this paper.And the application fields of the LRAUV systems are analyzed and prospected.Then,the LRAUV systems at home and abroad are reviewed,including their configuration,functions and technical parameters,and their development trends are summarized.Finally,the research status,difficulties and future development directions of key technologies of the LRAUV system including long-term survival,docking station supporting,AUV autonomous docking,energy supplement and data transmission,and detection operations,are summarized and analyzed.
作者
徐会希
吕凤天
石凯
朱宝彤
陈仲
XU Huixi;LÜFengtian;SHI Kai;ZHU Baotong;CHEN Zhong(State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016,China;Institutes for Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Shenyang 110169,China;Key Laboratory of Marine Robotics,Liaoning Province,Shenyang 110169,China)
出处
《机器人》
EI
CSCD
北大核心
2023年第6期720-736,共17页
Robot
基金
国家重点研发计划(2021YFC2800100)
中国科学院战略性先导科技专项(XDA22040103)
辽宁省自然科学基金(2022-MS-035)。
关键词
环境监测
自主水下机器人(AUV)
长期驻留
自主对接
自主探测
environment monitoring
AUV(autonomous underwater vehicle)
long-term residency
autonomous docking
autonomous exploration
作者简介
通信作者:吕凤天(1990-),男,博士,助理研究员。研究领域:AUV对接导引,AUV环境视觉感知。lvfengtian@sia.cn;徐会希(1975-),男,硕士,研究员。研究领域:AUV系统;石凯(1981-),男,博士,研究员。研究领域:AUV运动控制技术。
