自主水下机器人水下接驳插拔传输与无线感应传输研究现状及对比分析

水下对接传输技术作为自主水下机器人（autonomous underwater vehicle，简称AUV）水下能源补给及数据传输的重要方式，受到国内外的重点关注，目前采用的水下对接传输方式主要分为接驳插拔传输及无线感应传输。在探究国内外AUV水下对接研究概况的基础上，归纳、总结以上两种传输方式的研究现状，分析对比其在对接传输效率、发展限制因素、对接控制技术等方面的区别。通过分析发现，接驳插拔传输在传输效率及功率方面具备优势，无线感应传输则具有更高的简易性、经济性。此发现为不同作业需求下传输方式的选择提供了基础。通过技术发展限制因素对比得出，在未来技术发展方向上，接驳插拔传输技术需提升系统稳定性、灵活性及费效比，无线感应传输需解决能量损耗、系统鲁棒性及涡旋损耗等问题。对两种传输技术未来发展前景及方向的预测，能够为AUV水下传输的发展提供重要参考。

Research status and comparative analysis of underwater wired transmission and wireless inductive transmission of autonomous underwater robot

As an important way of underwater energy supply and data transmission for autonomous underwater robots, underwater docking transmission technology has received much attention both at home and abroad, and the currently adopted underwater docking transmission methods are mainly divided into docking and plugging transmission and wireless induction transmission. Based on the overview of AUV underwater docking research at home and abroad, we summarize the research status of the above two transmission methods, and analyze and compare their differences in docking transmission efficiency, development constraints, and docking control technology. Through the analysis, it is found that docking and plugging transmission has advantages in transmission efficiency and power, while wireless induction transmission has higher simplicity and economy, and this finding provides a basis for the selection of transmission methods under different operational requirements. The comparison of the technical development constraints shows that the future development direction of the technology is to improve the system stability, flexibility and cost-efficiency ratio, while the wireless induction transmission needs to solve the problems of energy loss, system robustness and vortex loss, etc. The prediction of the future development prospects and directions of the two transmission technologies can provide an important reference for the development of AUV underwater transmission.