摘要
对水下机器人布放回收这一领域的研究进行了综述并对未来研究进行了展望。首先分析了水下机器人布放回收的不同方式,主要可分为水面有人舰船、水面无人船、潜艇以及大型水下机器人布放回收方式。接着举出不同回收方式的国内外例证并对其优缺点进行总结。随后探讨和分析了实现布放回收所需的关键技术,包括自主对接技术、定位引导技术、锁紧定位技术及对接回收策略,并对技术现状及装备进行举例分析。最后对水下机器人布放回收的研究方向和重点进行了展望。综述表明,水下机器人布放回收的结构和所需关键技术还需持续研究,特别需要关注的是随着布放回收技术研究的不断深入,未来水下机器人布放回收系统将向自主化、无人化、通用化发展。
This paper reviews the research in the field of underwater robot launch and recycling,and looks forward to future research.Firstly,the different launch and recovery methods of underwater robot which can be mainly divided into surface manned ship launch and recovery methods,surface unmanned ship launch and recovery methods,submarine launch and recovery methods and large underwater robot launch and recovery methods are analyzed.Secondly,the domestic and foreign examples of different recovery methods are cited and their advantages and disadvantages are summarized.Then,the key technologies required to realize launch and recovery including autonomous docking technology,positioning guidance technology,locking positioning technology and docking recovery strategy are discussed and analyzed,and the technical status and equipment are analyzed as examples.Finally,the research direction and focus of underwater robot launch and recovery are prospected.The review shows that the structure and key technologies required for the launch and recovery of underwater robots still need to be continuously studied,and it is particularly important to pay attention to the fact that with the continuous deepening of the research on launch and recovery technology,autonomous underwater vehicle launch and recovery system will develop towards autonomy,unmanned and generalization in the future.
作者
孟令帅
李明烁
林扬
王智超
MENG Lingshuai;LI Mingshuo;LIN Yang;WANG Zhichao(State Key Laboratory of Robotics,Shenyang Institute of Automation,Shenyang 110016,China;Institutes for Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Shenyang 110169,China;School of Mechanical Engineering,Shenyang University of Technology,Shenyang 110870,China;Unit No.32033 of PLA,Haikou 570100,China)
出处
《无人系统技术》
2024年第1期1-19,共19页
Unmanned Systems Technology
基金
辽宁省自然科学基金(2021-MS-034)
兴沈英才支持计划(RC220524)
机器人学国家重点实验室自主课题(2020-Z13)。
关键词
水下机器人
布放回收
导航定位
锁紧定位
对接回收策略
无人化
Unmanned Underwater Vehicle
Launch and Recovery
Navigational Positioning
Locking Positioning
Docking Recovery Strategy
Unmanned
