从有缆遥控水下机器人到自治水下机器人

From Remotely Operated Vehicles to Autonomous Undersea Vehicles

文章给出了水下机器人的定义 ,依据定义进行了分类 ,简要回顾了几类重要水下机器人的进展 ,指出了无人无缆自治水下机器人 (AUVs)是当今水下机器人研究与开发的热点 ,介绍了最近 2 0年沈阳自动化研究所与国内外有关单位合作 ,在水下机器人领域从无人有缆遥控水下机器人 (ROVs)到AUVs的研究开发工作 ,它从一个侧面反映了我国在这一领域的进展情况。

A clear definition and a very fine classification of the unmanned undersea vehicles are given in this paper.Following a brief introduction of the advances on the unmanned undersea vehicles the paper points out that the autonomous underwater vehicles at present is a hot spot in the research realm of the unmanned undersea vehicles. This paper describes the research and development achievements pertinent to the unmanned undersea vehicles in Shenyang Institute of Automation (SIA), Chinese Academy of Sciences with the cooperation of organizations home and abroad in the last two decades.SIA started to be engaged in the research and development of the remotely operated tethered vehicles in the end of 1970's. This paper gives a wide introduction of the critical characteristics and technical descriptions of the first remotely operated tethered vehicle “HR-01” in China, the first autonomous underwater vehicle “Explorer' and the autonomous underwater vehicle CR-01 (6 000 m). [