基于水下机器人定位与探测方法研究综述

A Review of Research on Localization and Detection Methods Based on Underwater Robot

深海作为人类尚未完全开发的宝地已经逐渐成为各界研究人员工作的战略目标,而水下机器人能够代替人类进行水下的各种危险操作与探索工作,故当前水下机器人已广泛应用于诸多领域,协助人类进行水下开发与研究。其中水下目标探测与定位技术是水下机器人的重要研究内容。文章介绍并比较了几个应用于水下距离探测的方法、基本原理以及机理。阐述了超声波传感器水下测距、激光雷达水下测距、水下双目视觉测距等目前被广泛使用的方法,并结合水下机器人探测技术和应用现状对未来研究进行分析和展望。

Since sea resources have not been fully developed,the deep sea has gradually become the strategic goal of many researchers,and underwater robots can help humans complete some work,so underwater robot has been widely used in many fields to complete underwater research and work.Underwater target detection and positioning technology is an important research content of underwater robot.The paper introduces and compares several methods,basic principles and properties applied to underwater distance detection.The widely used methods such as sonar ranging,laser underwater ranging and underwater binocular vision ranging are expounded.Combined with the detection technology and application status of underwater robot,the future research is analyzed and presented.