(1. 中国科学院沈阳自动化研究所机器人学国家重点实验室，沈阳110016；
2. 中国科学院机器人与智能制造创新研究院，沈阳110169；
3. 辽宁省水下机器人重点实验室，沈阳110169)
摘 要: 自20世纪90年代以来，深海自主水下机器人技术得到了长足的发展，在深海资源调查、海洋科学研究以及海洋工程等领域得到了广泛的应用。我国的深海自主水下机器人研究与大洋矿产资源调查是同步发展的。本文简要介绍了30年来我国深海自主水下机器人的发展现状，以具有代表性的“潜龙”系列自主水下机器人研发过程为例给出了面对的技术挑战，以及在大洋矿产资源调查中的应用情况和取得的部分成果。最后，对未来深海调查装备的发展提出了若干设想和建议。
关键字: 深海；自主水下机器人；矿产资源调查；多金属结核；热液硫化物
（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
