Liu Kaixin, Ding Mingxuan, Pan Biye, Yu Peiye, Lu Dake, Chen Siwen, Zhang Shuo, Wang Gang
National Key Laboratory of Autonomous Marine Vehicle Technology, Harbin Engineering University, Harbin, 150001, China.
Nanhai Institute, Harbin Engineering University, Sanya, 572024, China.
Nat Commun. 2024 Nov 27;15(1):10284. doi: 10.1038/s41467-024-54600-8.
Underwater robots can collect comprehensive information on species and habitats when conducting seabed operations, enhancing localized insights and expanding underwater ecological understanding. One approach uses autonomous underwater vehicles, but proximity operations may disturb sediments and compromise observation quality. Another approach uses wheeled or legged benthic robots, but unavoidable contact limits their application in delicate ecosystems like coral reefs. To address these challenges, we propose a maneuverable underwater vehicle for near-seabed observations. This vehicle moves with minimal turbulence and shows strong resistance to external disturbances, enabling high-quality seabed observation as close as 20 cm. It rapidly detects intense disturbances like turbulence and wall effects, allowing real-time path planning to prevent bottoming. Multiple tests in various marine environments, including sandy areas, coral reefs, and sheer rock, show low sediment disturbance and improved adaptability to rugged underwater terrain.
水下机器人在进行海底作业时可以收集有关物种和栖息地的全面信息，增强局部洞察力并扩展对水下生态的理解。一种方法是使用自主水下航行器，但近距离作业可能会扰动沉积物并影响观测质量。另一种方法是使用轮式或腿式底栖机器人，但不可避免的接触限制了它们在珊瑚礁等脆弱生态系统中的应用。为应对这些挑战，我们提出了一种用于近海底观测的可操纵水下航行器。该航行器以最小的湍流移动，并对外部干扰具有很强的抵抗力，能够在距离海底仅20厘米的地方进行高质量的海底观测。它能快速检测到诸如湍流和壁面效应等强烈干扰，从而实现实时路径规划以防止触底。在包括沙地、珊瑚礁和陡峭岩石在内的各种海洋环境中进行的多次测试表明，该航行器对沉积物的扰动较小，并且对崎岖的水下地形具有更好的适应性。
