摘要
在过去的二十年中,水下机器人技术得到了快速发展,各种新型的水下机器人不断涌现。本文介绍了一种新型混合式水下机器人——自主/遥控水下机器人(ARV),ARV结合了自主水下机器人(AUV)和遥控水下机器人(ROV)的特点,自带能源并携带光纤微缆,具有多种工作模式,可实现大范围的精确调查和局部区域的定点作业,文章重点介绍自主/遥控水下机器人的国内外研究现状及成功应用的案例。
In the past 20 years, Underwater Vehicle technology has been developed rapidly. Various kind ofnovel underwater vehicle has been coming forth continuously. This paper introduces a novel type of hybrid underwatervehicle - Autonomous & Remotely Operated Vehicle. ARV features with different operation modes(autonomous, semi-autonomous, and remote control). It’s equipped with power supplies and a fiber optic microcable. AUV mode enables the vehicle to make underwater exploration in a large scale,while ROV mode is designedto investigate in limited aera with accuracy. The paper also introduces domestic and foreign research situation,and successful application cases of ARV.
作者
李一平
李硕
张艾群
Li Yiping;Li Shuo;Zhang Aiqun(State Key Laboratory of Robotics, Shenyang Institute of Automation Chinese Academy of Science, Shenyang 110016, China)
基金
全海深无人潜水器关键技术研究(XDB06050200)
