(1. 中國科學(xué)院沈陽自動(dòng)化研究所機(jī)器人學(xué)國家重點(diǎn)實(shí)驗(yàn)室，沈陽110016；
2. 中國科學(xué)院機(jī)器人與智能制造創(chuàng)新研究院，沈陽110169；
3. 遼寧省水下機(jī)器人重點(diǎn)實(shí)驗(yàn)室，沈陽110169)
摘 要: 自20世紀(jì)90年代以來，深海自主水下機(jī)器人技術(shù)得到了長足的發(fā)展，在深海資源調(diào)查、海洋科學(xué)研究以及海洋工程等領(lǐng)域得到了廣泛的應(yīng)用。我國的深海自主水下機(jī)器人研究與大洋礦產(chǎn)資源調(diào)查是同步發(fā)展的。本文簡要介紹了30年來我國深海自主水下機(jī)器人的發(fā)展現(xiàn)狀，以具有代表性的“潛龍”系列自主水下機(jī)器人研發(fā)過程為例給出了面對的技術(shù)挑戰(zhàn)，以及在大洋礦產(chǎn)資源調(diào)查中的應(yīng)用情況和取得的部分成果。最后，對未來深海調(diào)查裝備的發(fā)展提出了若干設(shè)想和建議。
關(guān)鍵字: 深海；自主水下機(jī)器人；礦產(chǎn)資源調(diào)查；多金屬結(jié)核；熱液硫化物
（1. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China;
2. Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169 China;
3. Key Laboratory of Marine Robotics, Liaoning Province, Shenyang 110169, China）
Abstract:Since 1990s, the deep-sea autonomous underwater vehicle technology with the rapid development has been widely used in deep-sea resources investigation, marine scientific research and marine engineering. The research of deep-sea autonomous underwater vehicles and the survey of ocean mineral resources were developing synchronously in China. This paper briefly introduced the development status of deep-sea autonomous underwater vehicles(AUV), taking the development process of the “Qianlong” AUVs as example to show the technical challenges we face, as well as their application and part of achievements in oceanic mineral resource surveys in the past 30 years. At the end, some assumptions and suggestions for the future development of deep-sea survey equipment were put forward.
Key words: deep-sea; autonomous underwater vehicle; mineral resources survey; polymetallic nodules; hydrothermal sulfide
