“深海一号”半潜式生产储油平台的投入使用标志着中国深水油气田开发能力和深水海洋工程装备建造水平实现了走进深水的重大跨越。总结了近10年海洋工程领域新型的水下结构运维专用机器人，综述了清洗、检测和维修等水下运维机器人技术国内外发展现状，分析了新型机器人所特有的共性关键技术问题，探讨了基于路径规划与自主导航的水下自主作业技术、基于数字孪生与人工智能技术的水下运维作业模拟与应急预案评估、多传感器融合的水下作业技术等水下运维机器人智能化技术发展趋势。
The deployment of semi-submersible production and storage oil platform "Deepsea No.1" signifies a significant leap in China's ability to develop deep-water oil and gas fields and to construct deep-water ocean engineering equipment. However, due to prolonged offshore operations, deep-water oil and gas platforms face environmental challenges such as corrosion from seawater, marine organism attachment, wind and wave flow. As a result, the development of underwater operation and maintenance of deep-water platform structures, including cleaning, inspection, and repair, has become a key factor for ensuring long-term safe operation. Currently, shallow-water platforms mainly rely on divers for operations. With increasing water depths, the use of underwater robots for inspection, maintenance and repair (IMR) has become an inevitable trend. Nevertheless, traditional remotely operated vehicles (ROVs) are expensive and difficult to operate because of their sizes. This paper mainly summarizes novel underwater IMR robots for marine engineering applications developed in the past decade, reviews domestic and international status of underwater maintenance robots, and discuses some typical case studies. Finally, common key technical issues of new robots and the trend for intelligent technology development in underwater maintenance robots are addressed .
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