上海海洋大学学报2026，Vol.35Issue(5)：1171-1184,14.DOI:10.12024/jsou.20260105027
小型特种船舶水下维护机器人研究现状及进展
Research status and progress of underwater maintenance robots for small special-purpose vessels
摘要
Abstract
To address the challenges of restricted operating space,variable hull curvature,and increasingly stringent environmental regulations in the underwater maintenance of small special-purpose vessels,this paper systematically reviews and evaluates key technologies applicable to underwater maintenance robots for such vessels.It analyzes the current technical status of underwater maintenance robots both domestically and internationally,with special emphasis on comparing the stability of adhesion mechanisms,namely magnetic adhesion,negative pressure adhesion,and mechanical gripping,on surfaces with variable curvature and non-magnetic substrates.The motion performance of various drive systems under complex operating conditions is assessed,and mainstream cleaning techniques such as brushing and water jetting are summarized.The study reveals the evolutionary trends of existing technologies in adaptive adhesion,high-precision actuation,and environmentally friendly operations.It further explores detection and intervention approaches tailored to non-magnetic composite-material vessels and examines the performance requirements specified in current technical standards for biofouling prevention and pollutant capture.The findings indicate that future underwater maintenance robots for small special-purpose vessels should advance toward AI-based path planning,multi-modal SLAM navigation,and modular multi-functional payloads to achieve efficient,precise,and environmentally sustainable maintenance operations.This work provides a reference for the development of intelligent underwater maintenance equipment for small special-purpose vessels and holds significant importance for enhancing maintenance efficiency of small vessels in China while meeting aquatic ecological protection requirements.关键词
小型特种船舶/小型水下维护机器人/爬壁吸附/驱动行走方式/清洁技术Key words
small special-purpose vessel/small underwater maintenance robot/wall-climbing adhesion/driving and locomotion methods/cleaning technology分类
信息技术与安全科学引用本文复制引用
姜哲,穆静,袁祥,蔡雅萱,隋恒寿,张学文,罗高生,杨朋朋..小型特种船舶水下维护机器人研究现状及进展[J].上海海洋大学学报,2026,35(5):1171-1184,14.基金项目
国家重点研发计划(2022YFD2401100) （2022YFD2401100）
行业委托课题"远洋渔船自动化清洗检测系统研发"专项(COFC-C-R-2024-012) （COFC-C-R-2024-012）
