哈尔滨工程大学学报2025，Vol.46Issue(7)：1253-1267,15.DOI:10.11990/jheu.202404017
输水隧洞检测机器人发展现状及关键技术研究
Development and key technology research of AUVs in water conveyance tunnel detection
摘要
Abstract
Autonomous underwater vehicles(AUVs)have emerged as a promising solution for water conveyance tunnel inspection,given their flexibility and autonomous navigation capabilities.However,the narrow spaces,com-plex flow dynamics,and low-light conditions of these tunnels present significant challenges to AUV navigation,po-sitioning,motion control,and defect detection.This paper reviews successful applications of underwater robots for tunnel inspection both domestically and internationally,with a focus on key AUV technologies,including flow field hydrodynamic analysis,motion control,navigation and positioning,and intelligent defect detection.The paper i-dentifies the challenges associated with these technologies and proposes research schemes informed by relevant theo-retical and engineering practices.关键词
自治式水下机器人/输水隧洞检测/水动力/运动控制/导航定位/路径规划/安全评价/缺陷识别Key words
autonomous underwater vehicle/water conveyance tunnel detection/hydrodynamic analysis/motion control/navigation and positioning/path planning/safety evaluation/defect recognition分类
信息技术与安全科学引用本文复制引用
孙玉山,张力文,张国成,曹建,庞硕..输水隧洞检测机器人发展现状及关键技术研究[J].哈尔滨工程大学学报,2025,46(7):1253-1267,15.基金项目
黑龙江省自然科学基金重点项目(ZD2020E005) （ZD2020E005）
国家自然科学基金项目(52071104). （52071104）
