Article(id=1240655140617777445, tenantId=1146029695717560320, journalId=1240618002186551303, issueId=1240655131507740845, articleNumber=null, orderNo=null, doi=10.3969/j.issn.1000-4653.2025.03.021, pmid=null, cstr=null, oa=null, hot=null, price=null, onlineType=0, articleFormat=0, articleType=null, articleTypeStr=null, receivedDate=1712764800000, receivedDateStr=2024-04-11, revisedDate=null, revisedDateStr=null, acceptedDate=null, acceptedDateStr=null, onlineDate=1773724835780, onlineDateStr=2026-03-17, pubDate=1758729600000, pubDateStr=2025-09-25, doiRegisterDate=null, doiRegisterDateStr=null, onlineIssueDate=1773724835780, onlineIssueDateStr=2026-03-17, onlineJustAcceptDate=null, onlineJustAcceptDateStr=null, onlineFirstDate=null, onlineFirstDateStr=null, sourceXml=null, magXml=null, createTime=1773724835780, creator=13701087609, updateTime=1773724835780, updator=13701087609, issue=Issue{id=1240655131507740845, tenantId=1146029695717560320, journalId=1240618002186551303, year='2025', volume='48', issue='3', pageStart='1', pageEnd='184', issueExtLink='null', onlineDate='null', pubDate='null', beforeIssueId=null, nextIssueId=null, price=null, status=1, issueComplete=1, articleOrder=1, issueType=-1, specialIssue=null, createTime=1773724833608, creator=13701087609, updateTime=1773725188865, updator=13701087609, preIssue=null, nextIssue=null, ext={EN=IssueExt(id=1240656621609742880, tenantId=1146029695717560320, journalId=1240618002186551303, issueId=1240655131507740845, language=EN, specialIssueTitle=, coverIllustrator=null, specialIssueEditor=, specialIssueAbout=), CN=IssueExt(id=1240656621613937185, tenantId=1146029695717560320, journalId=1240618002186551303, issueId=1240655131507740845, language=CN, specialIssueTitle=, coverIllustrator=null, specialIssueEditor=, specialIssueAbout=)}, issueFiles=null}, startPage=176, endPage=184, ext={EN=ArticleExt(id=1240655140840075572, articleId=1240655140617777445, tenantId=1146029695717560320, journalId=1240618002186551303, language=EN, title=Design and application of the Intelligent Cargo Hold Clearing Robot system for bulk carrier, columnId=1240655021340160960, journalTitle=Navigation of China, columnName=Intelligent Shipping, runingTitle=null, highlight=null, articleAbstract=

Aiming to address the issues associated with traditional artificial cargo hold clearing operations, such as high risk, low efficiency and an insufficient level of automation, this paper introduces the Intelligent Cargo Hold Clearing Robot (ICHCR) system for bulk carriers. Based on dual-mode control, the ICHCR system achieves unmanned operation and robot-shore collaborative intelligent cargo hold clearing. The article presents an intelligent robot hardware system for cargo hold clearing and a cloud control platform for immersive operation. Intelligent control methods for the ICHCR are investigated, including perception and localization inside the cargo holds, and dual control modes of cloud control and autonomous navigation operation. Other core technologies include robot-shore cooperative cargo hold clearing. Finally, the system was applied and validated on a 70,000-tonne Panamax bulk carrier in a grain port. Experimental results demonstrate that the ICHCR system improves the safety of cargo hold clearing operations, optimizing the overall process and reduces time consumption, meeting the requirements of safety and efficiency.

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针对传统散货船人工清舱危险性高、效率低和智能化水平不足等问题，设计了一种基于双控制模式的智能清舱机器人系统，实现了舱内无人化、机岸协同的智能化清舱作业。构建了面向船舱内清舱作业的智能机器人硬件系统，研发了沉浸式云控清舱操作平台；研究了智能化清舱机器人控制方法，包括舱内感知定位、云控与自主导航作业双控制模式以及机岸协同清舱作业等核心技术。最后，以某粮食港口的7万t巴拿马级散货船为对象展开应用验证。结果表明，所提系统提高了清舱作业安全性的同时优化了整体流程，缩短了作业流程整体耗时，可以满足安全且高效的清舱需求。

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孟杰（1993—），男，副研究员，博士，研究方向为智能机器人。E-mail:mengjie09@whut.edu.cn

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孟杰（1993—），男，副研究员，博士，研究方向为智能机器人。E-mail:mengjie09@whut.edu.cn

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