海面移动机器人自主回收仿生捕获与变刚度镇定控制

The autonomous recovery technology is the key to the successful operation of sea surface mobile robot (SSMR). At present, the related research at home and abroad has just begun, and most of which are lingering at the conceptual design stage. Aiming to solve this problem, the applicant has developed an autonomous recovery system based on an Omni-directional floating bracket in previous study. It was found that after the SSMR entered the bracket, the violent relative movement between the bracket and the SSMR occurs due to the interference of wind and waves. Therefore, it is urgent to study the capture method with large misalignment tolerance, high precision and high efficiency, to realize accurate capture of dynamic targets. Moreover, the capture method can reduce the relative movement amplitude of the SSMR and the recovery device for convenient locking by active control. This research is the continuation and further development of our earlier work, which is attempted to find possible solutions to the critical scientific problems of “flexible capture mechanism of dynamic target under complex sea conditions” and “direct disturbance suppression mechanism based on dynamic stiffness adjustment”, by developing snake-like soft capture device based on pneumatic artificial muscle, studying the dynamic target capture strategy based on spatio-temporal context, and studying the active variable stiffness stabilization control method of snake-like manipulator. As an international frontier research, this project originates from the country's major strategic needs, and is expected to achieve the breakthroughs and innovations in a number of technologies. The project has a considerable academic value and a broad prospect of application in the field of marine science and engineering.

自主回收技术是海面移动机器人能否成功运行的关键。目前国内外相关研究刚刚开始，大多停留在概念设计阶段。针对这一问题，申请人前期研制了一套全方位浮动托架式海面移动机器人自主回收系统，发现在机器人驶入托架后，由于风浪涌流的干扰会发生剧烈的相对运动，迫切需要一种大容差、高精度、高效率的捕获方法实现动态目标精准捕获，并在捕获后通过主动控制减小海面机器人与回收装置的相对运动幅度以方便锁定。本项目是对前期工作的进一步深化，拟通过基于气动人工肌肉的仿蛇软体捕获装置设计、基于时空上下文的动态目标捕获策略研究、蛇形机械臂主动变刚度镇定控制方法研究，解决“复杂海况下动态目标柔性捕获机理”和“基于动态刚度调节的直接扰动抑制机制”两个关键科学问题。本项目源于国家重大战略需求，属于国际前沿研究，有望取得多项技术的突破和创新，具有重要的学术价值，在海洋科学与工程领域的应用前景广阔。

美国国防部发布的《无人系统2013-2038年路线图》列出了未来无人艇应用的七大关键技术，其中布放回收技术是无人水面艇能否成功运行的关键。当前使用的无人水面艇布放回收技术，大多是以搭载在大型舰艇上的刚性充气艇为基础发展而来，适用于低航速、低海况情形，需要人力参与（如操纵起重机、挂接无人艇等），效率低、危险性大。目前，无人艇的自主布放回收技术还属于世界性的难题，尚没有成熟的技术能够应用，可以借鉴的技术也有限，其难点在于，在风浪涌流的干扰下无人艇与回收装置会发生剧烈的相对运动，迫切需要一种大容错、高精度、高效率的捕获方法实现动态目标精准捕获，并在捕获后通过主动控制减小无人艇与回收装置的相对运动幅度以避免碰撞。针对这一问题，本项目围绕基于气动人工肌肉的仿蛇软体捕获装置设计、基于时空上下文的动态目标捕获策略研究、蛇形机械臂主动变刚度镇定控制方法研究三个主要内容开展研究，解决了“复杂海况下动态目标柔性捕获机理”和“基于动态刚度调节的直接扰动抑制机制”两个关键科学问题。基于上述研究成果，研制了抛射式、浮动托架式、充气托架式三套自主布放回收装备，实现了复杂海况下三吨级无人艇的自主布放回收作业，回收时间小于20分钟，成功率大于80%。部分系统已经完成定型设计，随“精海”系列无人艇实现了业务化运行。相关成果已发表 SCI 论文8篇，授权国家发明专利3项。本项目源于国家重大战略需求，属于国际前沿研究，有望取得多项技术的突破和创新，具有重要的学术价值，在海洋科学与工程领域的应用前景广阔。

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