水下机器人应用及展望  

Application and Prospect of Unmanned Underwater Vehicle

作　　者：李硕[1,2] 吴园涛 李琛[3] 赵宏宇[1] 李一平[1,2] LI Shuo;WU Yuantao;LI Chen;ZHAO Hongyu;LI Yiping(State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016,China;University of Chinese Academy of Sciences,Beijing 100049,China;Bureau of Major R&D Programs,Chinese Academy of Sciences,Beijing 100864,China)

机构地区：[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]中国科学院大学,北京100049 [3]中国科学院重大科技任务局,北京100864

出　　处：《中国科学院院刊》2022年第7期910-920,共11页Bulletin of Chinese Academy of Sciences

基　　金：中国科学院海洋大科学研究中心重点部署项目(COMS2019Z02)

摘　　要：水下机器人是人类探索海洋、认识海洋的先进技术手段之一,是我国建设海洋强国的重要装备支撑。文章介绍了国内外水下机器人的发展现状,重点阐述以中国科学院沈阳自动化研究所为代表研制的我国谱系化水下机器人在深海资源勘查和科学研究、深渊科考、南极和北极调查中的最新应用成果。结合当前水下机器人研究基础,展望未来水下机器人的发展和应用方向。通过研发适应极端海洋环境的深远海科考装备,实现从航次型科考模式向深海长期驻留型科考模式的技术跨越,实现从有人科考向无人化科考模式的革命性转变。Unmanned underwater vehicle(UUV)is one of the advanced technologies for human to explore and understand the ocean.It is an important equipment for China’s construction of a marine power.This study introduces the current development status of UUV,with special focus on the latest application achievements of China’s pedigree UUV developed by Shenyang Institute of Automation,Chinese Academy of Sciences,in deep-sea mineral resource exploration,deep-sea scientific research,abyss research and North-South polar expedition.Combined with the current research basis of UUV,the development and application of underwater vehicle in the future are prospected.Through the research and development of far-reaching marine scientific research equipment adapted to extreme marine environment,the technological leap from voyage type scientific research mode to deep-sea long-term resident scientific research mode is realized,and the revolutionary transformation from manned scientific research mode to unmanned scientific research mode is also realized.

关 键 词：水下机器人 深海资源调查 深海科学研究 深渊科考 极地应用 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] P715[自动化与计算机技术—控制科学与工程]