水面垃圾清理机器人结构及自主控制研究综述

Review of Research on Structure and Autonomous Control of Water Surface Garbage Cleaning Robots

水面垃圾日益增多,传统清理方式在安全、效率和智能方面难以满足应用的需求,水面垃圾清理机器人应运而生,成为该领域的研究焦点。经过20多年的发展,水面垃圾清理机器人已从研究进入实际应用阶段,出现了很多结构类型,实现了从垃圾检测到收集的全自主作业,积累了大量的文献,但目前还没有较全面的综述。梳理了相关研究文献,对水面垃圾清理机器人的结构进行了归类,总结了各类型的特点;分析了水面垃圾清理机器人自主控制系统的典型结构,探讨了其感知、决策和控制三大关键技术。最后,针对应用场景提出的挑战,对水面垃圾清理机器人的发展趋势进行了讨论,以期为水面垃圾清理机器人的进一步研究和应用提供参考。

With the amount of garbage on water surface ever increasing,traditional cleaning methods are no longer able to meet the requirements for safety,efficiency,as well as intelligence in applications.Hence,water surface garbage cleaning robots have emerged and become the focus of development in this field.After more than 20 years of development,it has entered the stage of practical application from research with various structure types designed and the realization of fully autonomous operations from garbage detection to collection.A large amount of literature has been accumulated,but there is still no comprehensive review.Therefore,this paper aims to provide an extensive review of development of water sur-face garbage cleaning robots in literature.The structures of the water surface garbage cleaning robots are classified with the characteristics of each type summarized.The typical framework of an autonomous water surface garbage cleaning robot is analyzed,and its three key technologies of perception,decision-making,and control are highlighted and dis-cussed.Finally,the paper explores the trends of development for technologies in water surface garbage cleaning robots,which are centered on the challenges presented by current applications,to provide a reference for further research and application of water surface garbage cleaning robots.