CN101234665A - Small-sized underwater observation robot - Google Patents
Small-sized underwater observation robot Download PDFInfo
- Publication number
- CN101234665A CN101234665A CNA2008101012922A CN200810101292A CN101234665A CN 101234665 A CN101234665 A CN 101234665A CN A2008101012922 A CNA2008101012922 A CN A2008101012922A CN 200810101292 A CN200810101292 A CN 200810101292A CN 101234665 A CN101234665 A CN 101234665A
- Authority
- CN
- China
- Prior art keywords
- circuit
- control
- signal
- waterborne
- under
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The invention relates to a mini-size underwater observing robot, which comprises an underwater robot body and an above-water control box, wherein, two sides of an electronic cabin on the underwater robot body are horizontally provided with a left propeller, a right propeller and a lamp; a middle part on the electronic cabin is vertically provided with a vertical propeller; a bracket and a manipulator are arranged together with a lower part of the electronic cabin, the interior of which is provided with a compass, a temperature gauge, a depth gauge and a control circuit board; a front part on the electronic cabin is provided with a camera with variable focus, a camera pan and tilt and a lamp; a back part on the electronic cabin is provided with a camera with fixed focus; video images are transferred to a display on the above-water control box through shielded cable; the above-water control box consists of a control panel, a control circuit, a liquid crystal display and a chassis body. The invention transfers the shapes and the movement state of observed objects under water to the above-water control box through a video sensor, so the repair personnel can analyze the images; besides, the arranged manipulator can carry out grabbing work with light weight.
Description
Technical field
The invention belongs to the photoelectric monitoring field, particularly a kind of small-scale workshops robot that is used for underwater exploration.
Background technology
Along with expanding economy, human detection to resource under water with utilize more and more widely, as building of power station, nuclear station, dam.Small-sized underwater observations robot is salvaged aspects such as lifesaving, the measurement of nuclear power commercial unit, reservoir dam detection and is had great importance in marine petroleum development, marine scientific research, seabed mineral reserve exploration exploitation, seabed, some narrow, polluted waters particularly, and operation under the shallow-water environment of certain danger is arranged, increasing to the demand of small-sized underwater observations robot.Some special equipment is in underwater operation throughout the year, and its running state can't be understood in real time, brings huge potential safety hazard for normal engineering production.At present, above-mentioned observation for subsea equipment all is to take out water surface observation or adopt import underwater observations robot product basically, its price, maintenance cost are all quite expensive, have restricted the progress that engineering is produced to a great extent, and production has brought inconvenience to engineering.
Summary of the invention
The technical problem to be solved in the present invention: for overcome exist in the prior art can not grasp the operating state of subsea equipment in real time and the deficiency of the potential safety hazard brought and existing observation product price, maintenance cost costliness, provide a kind of can be by video sensor profile, the operating state image of equipment under test are sent to control box waterborne in real time under water, use for the service personnel analysis, and the manipulator of configuration can carry out the extracting operation of lightweight.
The technical solution adopted for the present invention to solve the technical problems: a kind of small-sized underwater observations robot, it comprises under-water robot body and two parts of control box waterborne, it is characterized in that: described under-water robot body electronic compartment 6 both sides are equipped with left propelling unit 9, right propelling unit 10, illuminating lamp 4; In electronic compartment 6 middle part vertical direction vertical pusher 11 is installed, each propelling unit is formed by being encapsulated in in-to-in DC machine and screw propeller, and support 8, manipulator 7 are installed together with electronic compartment 6 bottoms; Pick up camera 1, preceding camera pan-tilt 2 before electronic compartment 6 anterior installations, back pick up camera 3 is installed at the rear portion, and electronic compartment 6 inside are equipped with control circuit; Control circuit comprises analog to digital conversion circuit, master controller, serial communication circuit, signal differential translation circuit, motor-drive circuit under water; Have the output cable socket at electronic compartment 6 tops, by shielded cable 5 to control box waterborne;
Described control box waterborne comprises control panel 12, control circuit, LCDs 13, machine case body 14 4 parts, control panel 12 is made up of main thruster, the propeller control rocking bar that hangs down, zoom and focusing button, power switch button, video switch button, brightness of illumination knob, display screen contrast knob, manipulator push rod, The Cloud Terrace push rod, and control panel 12 joins by four columns and machine case body 14 bottoms; Control circuit is installed in machine case body 14 bottoms, comprises propeller control circuit, manipulator and camera pan-tilt control circuit, pick up camera control circuit, illuminating lamp control circuit, data processing circuit; Wherein data processing circuit comprises signal filter circuit, analog to digital conversion circuit, master controller waterborne, serial communication circuit, signal differential translation circuit; LCDs 13 is installed in machine case body 14 tops.
Described electronic compartment 6 front end face are the 45 degree conical surfaces.
The preceding pick up camera 1 of described electronic compartment 6 anterior configurations is a variable-focus video camera, and back pick up camera 3 is the infrared illumination focusing video camera, and preceding camera pan-tilt 2 is the one dimension The Cloud Terrace of pitch orientation, and range of movement is ± 60 °.
Also be equipped with in the described electronic compartment 6 be used to fathom, the depth index of temperature and the electronic compass that temperature is taken into account state of kinematic motion.
The manipulator 7 that install described electronic compartment 6 bottoms is the small-sized clipping manipulator of single degree of freedom, becomes 30 degree that clamping ability 1Kg is installed with level.
The sealing means that described left propelling unit 9, right propelling unit 10 and vertical pusher 11 adopt is: stationary ring employing degree of finish is 0.8 ceramic plane, rotating ring employing degree of finish is 0.8 graphite, under the auxiliary seal of the pressure effect of stainless steel spring and butadiene acrylonitrile rubber, can finish the dynamic seal under the 50m environmental conditions under water, the kinematic velocity of sealing surface is not less than 12m/s.
Described control box body waterborne is black engineering plastics instrument containers, and lower box also is equipped with direct supply.
Propeller control circuit, manipulator and camera pan-tilt control circuit, pick up camera control circuit, the concrete feature of illuminating lamp control circuit that described control box control circuit waterborne comprises are as follows:
The propeller control circuit receives the control signal of the propeller control rocking bar in the control panel 12, at first signal filter circuit carries out the signal filtering processing in control box control circuit waterborne, again through analog to digital conversion circuit to master controller waterborne, travel direction is judged simultaneously, master controller waterborne with control signal and direction signal through serial communication circuit, again through the signal differential translation circuit, through cable 5 transmission and the conversion of under-water robot signal differential translation circuit, reach serial communication circuit, give motor-drive circuit via the under-water robot main controller circuit with control signal, motor-drive circuit exports the motor of underwater robot propeller to; Each propelling unit principle of work is identical, distinguishes by word indicating on the control panel 12.
Manipulator and camera pan-tilt control circuit receive manipulator push rod and the The Cloud Terrace push rod control signal in the control panel 12, at first signal filter circuit carries out the signal filtering processing in control box control circuit waterborne, again through analog to digital conversion circuit to master controller waterborne, travel direction is judged simultaneously, master controller output control signal waterborne and direction signal are through serial communication circuit, again through the signal differential translation circuit, through cable transmission and the conversion of under-water robot signal differential translation circuit, reach serial communication circuit, give motor-drive circuit via the under-water robot main controller circuit with control signal, motor-drive circuit exports the under-water robot manipulator to, the motor of The Cloud Terrace.
The pick up camera control circuit receives the zoom and focusing push button control signal in the control panel 12, at first signal filter circuit carries out the signal filtering processing in control box control circuit board waterborne, again through master controller I/O port interpretation circuit waterborne to serial communication circuit, again through the signal differential translation circuit, through cable transmission and the conversion of under-water robot signal differential translation circuit, reach serial communication circuit, export high-low level to video switch circuit, preceding pick up camera zoom and focusing circuit via under-water robot main controller circuit controller corresponding port;
The illuminating lamp control circuit receives the brightness of illumination knob controlling signal in the control panel 12, at first signal filter circuit carries out the signal filtering processing in control box control circuit board waterborne, again through analog to digital conversion circuit to master controller waterborne, master controller output control signal waterborne is through serial communication circuit, again through the signal differential translation circuit, through cable transmission and the conversion of under-water robot signal differential translation circuit, reach serial communication circuit, give the illuminating lamp control circuit with control signal via the under-water robot main controller circuit.
Described cable 5 is six core leads of silicone tube encapsulation, and two pairs of twist paired signal lines link to each other with under-water robot control circuit signal differential translation circuit with control box control circuit signal differential translation circuit waterborne respectively, and a pair of power lead links to each other with direct supply.
The auxilliary read-out of one 1602 character types also is housed on the described control panel 12, is used to show the temperature of the degree of depth, orientation and the robot place environment of under-water robot body.
Described machine case body 14 right sides also have charging, video output, shielded cable interface.
The present invention compared with prior art has following advantage:
1, characteristics of the present invention mainly show: have the functions such as observation, narrow zone safety monitoring, investigation, search of cruising of diving under water, volume is little, and is with low cost, be easy to carry, flexible operation, can real-time monitored the state of measured object under water, umbilical cable wire stylet number is less, is fit to batch manufacturing;
2, under-water robot of the present invention has been equipped with the sensor of difference in functionality, for operating personal provides abundant information data;
3, the present invention can be applied to nuclear-power reactor overhaul pipe inspection and oil, culture under water, engage in archaeological studies, some danger or the unapproachable occasion of people such as mine locating, shipping, underwater engineering monitoring.
Description of drawings
Fig. 1 is a system architecture diagram of the present invention;
Fig. 2 is a under-water robot body construction scheme drawing of the present invention;
Fig. 3 is a control box structural representation waterborne of the present invention;
Fig. 4 is a propeller control schematic block circuit diagram of the present invention;
Fig. 5 is manipulator of the present invention and camera pan-tilt control circuit functional block diagram;
Fig. 6 is a pick up camera control circuit functional block diagram of the present invention;
Fig. 7 is an illuminating lamp control circuit functional block diagram of the present invention;
The specific embodiment
Below in conjunction with accompanying drawing and concrete real-time mode the present invention is described in further detail.
The present invention is a kind of small-sized underwater observations robot of cable that has, and is made up of under-water robot body and control box two parts waterborne, and as shown in Figure 1, two parts connect by six core umbilical cables.
As shown in Figure 2, the under-water robot body is made up of propeller type propelling unit, preceding pick up camera 1, preceding camera pan-tilt 2, back pick up camera 3, electronic compass, heat indicator, depth index, illuminating lamp 4, cable 5, electronic compartment 6, control circuit board, manipulator 7, support 8.
In electronic compartment 6 both sides left propelling unit 9, right propelling unit 10 are installed, motion such as control robot is advanced, retreats, turned left, right-hand rotation.Electronic compartment 6 front part sides are equipped with the LED illuminating lamp 4 of two groups of parallel connections, for preceding pick up camera provides illumination; In electronic compartment 6 middle part vertical direction the propelling unit 11 that hangs down is installed, control robot rises, sinks to moving; Manipulator 7, support 8 are installed together with electronic compartment 6 bottoms, manipulator 7 becomes 30 ° of installations with cabin body 6 bottoms, make the manipulator 7 can gripping and the concordant object in support 8 bottoms, the gripping dead band be can not occur, can manipulator dust collecting fan or other power tools be under water changed the outfit according to the real work needs simultaneously; At varifocal forward sight pick up camera 1 attached one dimension pitching rotary head 2 of electronic compartment 6 anterior installations, the pick up camera pitch angle is ± 60 °; At electronic compartment 6 rear portions an infrared illumination focusing video camera 3 is installed, is used for keeping out of the way barrier behind the under-water robot; Electronic compartment 6 front end faces are 45 ° the conical surface, and the front and rear part is transparent dome-type plexiglass tent.In electronic compartment 6 inside digital electronic compass, heat indicator, depth index and control circuit are installed, can learn motion orientation, the degree of depth of robot by compass, depth index, heat indicator records the operating environment temperature; Wherein control circuit comprises analog to digital conversion circuit, master controller, serial communication circuit, signal differential translation circuit, motor-drive circuit under water; Have the output cable interface at electronic compartment 6 tops, by shielded cable 5 to control box waterborne.
As shown in Figure 3, control box waterborne comprises control panel 12, control circuit, LCDs 13, machine case body 14 4 parts, control panel 12 is made up of propeller control rocking bar, zoom and focusing button, power switch button, video switch button, brightness of illumination knob, display screen contrast knob, manipulator push rod, The Cloud Terrace push rod, and control panel 12 links to each other with machine case body 14 bottoms by four columns; Control circuit is installed in machine case body 14 bottoms, and is furnished with fan; Wherein control circuit comprises propeller control circuit, manipulator and camera pan-tilt control circuit, pick up camera control circuit, illuminating lamp control circuit, data processing circuit; Wherein data processing circuit comprises signal filter circuit, analog to digital conversion circuit, master controller waterborne, serial communication circuit, signal differential translation circuit; Read-out 13 is selected 8.4 inches LCDs for use, is installed in machine case body 14 tops; Machine case body 14 right sides have charging, video output, shielded cable interface.Charging inlet can be used to storage battery in the cabinet is charged; Video output interface can external other video monitors or video recorder, makes equipment have extensibility.
Operating personal only need be pulled corresponding rocking bar, push rod, button, knob on the control panel 12, just can realize vertical, the vertical motion control of under-water robot body and manipulator 7, the action control of The Cloud Terrace 2, the function control of Zoom camera 1, simple to operate, easy to use.In addition, the auxilliary read-out of one 1602 character types is housed also on control panel 12, is used to show the temperature of the degree of depth, orientation and the robot place environment of under-water robot body.
The propeller control circuit that control box control circuit wherein waterborne comprises, manipulator and camera pan-tilt control circuit, pick up camera control circuit, the illuminating lamp control circuit specific embodiment are as follows:
As shown in Figure 4, the propeller control circuit receives the control signal of the propeller control rocking bar in the control panel 12, at first signal filter circuit carries out the signal filtering processing in control box control circuit waterborne, again through analog to digital conversion circuit to master controller waterborne, travel direction is judged simultaneously, master controller waterborne with control signal and direction signal through serial communication circuit, again through the signal differential translation circuit, through cable 5 transmission and the conversion of under-water robot signal differential translation circuit, reach serial communication circuit, give motor-drive circuit via the under-water robot main controller circuit with control signal, motor-drive circuit exports the motor of underwater robot propeller to.Each propelling unit principle of work is identical, distinguishes by word indicating on the control panel 12;
As shown in Figure 5, manipulator and camera pan-tilt control circuit receive manipulator push rod and the The Cloud Terrace push rod control signal in the control panel 12, at first signal filter circuit carries out the signal filtering processing in control box control circuit waterborne, again through analog to digital conversion circuit to master controller waterborne, travel direction is judged simultaneously, master controller output control signal waterborne and direction signal are through serial communication circuit, again through the signal differential translation circuit, through cable 5 transmission and the conversion of under-water robot signal differential translation circuit, reach serial communication circuit, give motor-drive circuit via the under-water robot main controller circuit with control signal, motor-drive circuit exports the under-water robot manipulator to, the motor of The Cloud Terrace;
As shown in Figure 6, the pick up camera control circuit receives the zoom and focusing push button control signal in the control panel 12, at first signal filter circuit carries out the signal filtering processing in control box control circuit board waterborne, again through master controller I/O port interpretation circuit waterborne to serial communication circuit, again through the signal differential translation circuit, through cable 5 transmission and the conversion of under-water robot signal differential translation circuit, reach serial communication circuit, export high-low level to video switch circuit, preceding pick up camera zoom and focusing circuit via under-water robot main controller circuit corresponding port;
As shown in Figure 7, the illuminating lamp control circuit receives the brightness of illumination knob controlling signal in the control panel 12, at first signal filter circuit carries out the signal filtering processing in control box control circuit board waterborne, again through analog to digital conversion circuit to master controller waterborne, master controller output control signal waterborne is through serial communication circuit, again through the signal differential translation circuit, through cable 5 transmission and the conversion of under-water robot signal differential translation circuit, reach serial communication circuit, give the illuminating lamp control circuit with control signal via the under-water robot main controller circuit.
The small-sized underwater observations robot of design-calculated of the present invention can be realized two kinds of work operations under the environment, promptly only needs the operating environment and the operating environment that need finish some lightweight gripping work of observation.Since volume of the present invention little (480 * 280 * 250mm), can closely observe equipment under test, improved survey precision.(12kg) in light weight is easy to carry, safe and reliable for the under-water robot body, and controller adopts the low-power consumption chip without exception, so total system power is little, is fit to long-term underwater operation.
Claims (12)
1, a kind of small-sized underwater observations robot, it comprises under-water robot body and two parts of control box waterborne, it is characterized in that: described under-water robot body electronic compartment (6) both sides are equipped with left propelling unit (9), right propelling unit (10), illuminating lamp (4); Vertical direction is equipped with vertical pusher (11) at electronic compartment (6) middle part, and each propelling unit is formed by being encapsulated in in-to-in DC machine and screw propeller, and support (8), manipulator (7) are installed together with electronic compartment (6) bottom; Pick up camera (1), preceding camera pan-tilt (2) before the anterior installation of electronic compartment (6), back pick up camera (3) is installed at the rear portion, and electronic compartment (6) inside is equipped with control circuit; Control circuit comprises analog to digital conversion circuit, master controller, serial communication circuit, signal differential translation circuit, motor-drive circuit under water; Have the output cable socket at electronic compartment (6) top, by shielded cable (5) to control box waterborne;
Described control box waterborne comprises control panel (12), control circuit, LCDs (13), machine case body (14) four parts, control panel (12) is made up of main thruster, the propeller control rocking bar that hangs down, zoom and focusing button, power switch button, video switch button, brightness of illumination knob, display screen contrast knob, manipulator push rod, The Cloud Terrace push rod, and control panel (12) joins by four columns and machine case body (14) bottom; Control circuit is installed in machine case body (14) bottom, comprises propeller control circuit, manipulator and camera pan-tilt control circuit, pick up camera control circuit, illuminating lamp control circuit, data processing circuit; Wherein data processing circuit comprises signal filter circuit, analog to digital conversion circuit, master controller waterborne, serial communication circuit, signal differential translation circuit; LCDs (13) is installed in machine case body (14) top.
2, a kind of small-sized underwater observations robot according to claim 1 is characterized in that: described electronic compartment (6) front end face is the 45 degree conical surfaces.
3, a kind of small-sized underwater observations robot according to claim 1 is characterized in that: described manipulator (7) becomes 30 ° of installations with cabin body (6) bottom.
4, a kind of small-sized underwater observations robot according to claim 1, it is characterized in that: the preceding pick up camera (1) of the anterior configuration of described electronic compartment (6) is a variable-focus video camera, back pick up camera (3) is the infrared illumination focusing video camera, preceding camera pan-tilt (2) is the one dimension The Cloud Terrace of pitch orientation, and range of movement is ± 60 °.
5, a kind of small-sized underwater observations robot according to claim 1 is characterized in that: also be equipped with in the described electronic compartment (6) be used to fathom, the depth index of temperature and the electronic compass that temperature is taken into account state of kinematic motion.
6, a kind of small-sized underwater observations robot according to claim 1 is characterized in that the manipulator (7) that install described electronic compartment (6) bottom is the small-sized clipping manipulator of single degree of freedom, clamping ability 1Kg.
7, a kind of small-sized underwater observations robot according to claim 1, it is characterized in that: the sealing means that described left propelling unit (9), right propelling unit (10) and vertical pusher (11) adopt is: stationary ring employing degree of finish is 0.8 ceramic plane, rotating ring employing degree of finish is 0.8 graphite, under the auxiliary seal of the pressure effect of stainless steel spring and butadiene acrylonitrile rubber, can finish the dynamic seal under the 50m environmental conditions under water, the kinematic velocity of sealing surface is not less than 12m/s.
8, a kind of small-sized underwater observations robot according to claim 1, it is characterized in that: described control box body waterborne is black engineering plastics instrument containers, and lower box also is equipped with direct supply.
9, a kind of small-sized underwater observations robot according to claim 1, it is characterized in that: propeller control circuit, manipulator and camera pan-tilt control circuit, pick up camera control circuit, the concrete feature of illuminating lamp control circuit that described control box control circuit waterborne comprises are as follows:
The propeller control circuit receives the control signal of the propeller control rocking bar in the control panel (12), at first signal filter circuit carries out the signal filtering processing in control box control circuit waterborne, again through analog to digital conversion circuit to master controller waterborne, travel direction is judged simultaneously, master controller waterborne with control signal and direction signal through serial communication circuit, again through the signal differential translation circuit, transmit through the conversion of under-water robot signal differential translation circuit through cable (5), reach serial communication circuit, give motor-drive circuit via the under-water robot main controller circuit with control signal, motor-drive circuit exports the motor of underwater robot propeller to; Each propelling unit principle of work is identical, goes up word indicating by control panel (12) and distinguishes.
Manipulator and camera pan-tilt control circuit receive manipulator push rod and the The Cloud Terrace push rod control signal in the control panel (12), at first signal filter circuit carries out the signal filtering processing in control box control circuit waterborne, again through analog to digital conversion circuit to master controller waterborne, travel direction is judged simultaneously, master controller output control signal waterborne and direction signal are through serial communication circuit, again through the signal differential translation circuit, through cable transmission and the conversion of under-water robot signal differential translation circuit, reach serial communication circuit, give motor-drive circuit through the under-water robot main controller circuit with control signal, motor-drive circuit exports the under-water robot manipulator to, the motor of The Cloud Terrace.
The pick up camera control circuit receives the zoom and focusing push button control signal in the control panel (12), at first signal filter circuit carries out the signal filtering processing in control box control circuit board waterborne, again through master controller I/O port interpretation circuit waterborne to serial communication circuit, again through the signal differential translation circuit, through cable transmission and the conversion of under-water robot signal differential translation circuit, reach serial communication circuit, export high-low level to video switch circuit, preceding pick up camera zoom and focusing circuit via under-water robot main controller circuit controller corresponding port;
The illuminating lamp control circuit receives the brightness of illumination knob controlling signal in the control panel (12), at first signal filter circuit carries out the signal filtering processing in control box control circuit board waterborne, again through analog to digital conversion circuit to master controller waterborne, master controller output control signal waterborne is through serial communication circuit, again through the signal differential translation circuit, through cable transmission and the conversion of under-water robot signal differential translation circuit, reach serial communication circuit, give the illuminating lamp control circuit with control signal via the under-water robot main controller circuit.
10, a kind of small-sized underwater observations robot according to claim 1, it is characterized in that: described cable (5) is six core leads of silicone tube encapsulation, two pairs of twist paired signal lines, link to each other with under-water robot control circuit signal differential translation circuit with control box control circuit signal differential translation circuit waterborne respectively, a pair of power lead links to each other with direct supply.
11, a kind of small-sized underwater observations robot according to claim 1, it is characterized in that: the auxilliary read-out of one 1602 character types also is housed on the described control panel (12), is used to show the temperature of the degree of depth, orientation and the robot place environment of under-water robot body.
12, a kind of small-sized underwater observations robot according to claim 1 is characterized in that: described machine case body (14) right side also has charging, video output, shielded cable interface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008101012922A CN101234665B (en) | 2008-03-03 | 2008-03-03 | Small-sized underwater observation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008101012922A CN101234665B (en) | 2008-03-03 | 2008-03-03 | Small-sized underwater observation robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101234665A true CN101234665A (en) | 2008-08-06 |
| CN101234665B CN101234665B (en) | 2011-02-09 |
Family
ID=39918635
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2008101012922A Expired - Fee Related CN101234665B (en) | 2008-03-03 | 2008-03-03 | Small-sized underwater observation robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101234665B (en) |
Cited By (60)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102193276A (en) * | 2010-03-18 | 2011-09-21 | 何浩权 | Unmanned submersible photographical boat |
| CN101661804B (en) * | 2008-08-28 | 2012-08-29 | 国核电站运行服务技术有限公司 | Radiation resistant underwater monitoring robot |
| CN102653312A (en) * | 2012-05-09 | 2012-09-05 | 深圳市博世康线缆有限责任公司 | Real-time monitoring type submarine equipment applicable to salvaging and fishing |
| CN102905430A (en) * | 2012-10-12 | 2013-01-30 | 中广核检测技术有限公司 | Lighting drive control system for nuclear non-destructive testing equipment |
| CN102903406A (en) * | 2012-10-12 | 2013-01-30 | 中广核检测技术有限公司 | Video inspection system of nuclear power station reactor pressure container |
| CN102975830A (en) * | 2012-11-26 | 2013-03-20 | 武汉劳雷绿湾船舶科技有限公司 | Hybrid power underwater robot |
| CN103118246A (en) * | 2012-11-20 | 2013-05-22 | 刘雁春 | Fishery submarine video monitor |
| CN103192965A (en) * | 2013-03-18 | 2013-07-10 | 浙江海洋学院 | Giant squid bionic sea floor exploration intelligent robot |
| CN103327247A (en) * | 2013-06-17 | 2013-09-25 | 山东神思电子技术股份有限公司 | Portrait collection operation device and method |
| CN103399512A (en) * | 2013-08-07 | 2013-11-20 | 天门市江汉石油三机传动设备有限公司 | Dual display intelligent vibration ageing controller |
| CN103419916A (en) * | 2013-08-15 | 2013-12-04 | 青岛远创机器人自动化有限公司 | Shallow-water miniature-underwater robot system |
| CN103425110A (en) * | 2013-08-19 | 2013-12-04 | 青岛远创机器人自动化有限公司 | Shallow water observation-level streamline type small-size underwater robot control system |
| CN103439892A (en) * | 2013-08-15 | 2013-12-11 | 青岛远创机器人自动化有限公司 | Deck control device of miniature underwater robot for shallow water |
| CN103439894A (en) * | 2013-08-19 | 2013-12-11 | 青岛远创机器人自动化有限公司 | Deck control system of shallow miniature underwater robot |
| CN103439935A (en) * | 2013-08-15 | 2013-12-11 | 青岛远创机器人自动化有限公司 | Underwater robot control system based on state machine model |
| CN103454697A (en) * | 2013-09-26 | 2013-12-18 | 上海海事大学 | Complete-coverage underwater search and rescue device and search and rescue method thereof |
| CN103507927A (en) * | 2012-06-29 | 2014-01-15 | 新昌县冠阳技术开发有限公司 | Robot capable of implementing underwater vertical climbing |
| CN103548788A (en) * | 2013-10-28 | 2014-02-05 | 莱州海益苗业有限公司 | Trepang catching device |
| CN103796912A (en) * | 2011-05-17 | 2014-05-14 | 艾尼股份公司 | Autonomous underwater system for 4D environmental monitoring |
| CN103885404A (en) * | 2014-03-06 | 2014-06-25 | 青岛罗博飞海洋技术有限公司 | Method for controlling four-propeller thruster of underwater robot |
| CN103885391A (en) * | 2012-12-19 | 2014-06-25 | 中国科学院沈阳自动化研究所 | Small autonomous underwater robot power management system |
| CN104090579A (en) * | 2014-04-23 | 2014-10-08 | 山东省科学院海洋仪器仪表研究所 | Underwater section monitoring robot controller and automatic trajectory tracking controlling method |
| CN104401470A (en) * | 2014-10-17 | 2015-03-11 | 浙江海洋学院 | Underwater measurement robot |
| CN104567984A (en) * | 2015-01-07 | 2015-04-29 | 段子扬 | Novel underwater detection platform |
| CN104731053A (en) * | 2015-01-22 | 2015-06-24 | 马鞍山纽泽科技服务有限公司 | Multifunctional underwater monitoring and fishing operation system |
| CN104890844A (en) * | 2015-07-01 | 2015-09-09 | 青岛远创机器人自动化有限公司 | Six-propeller underwater robot |
| CN105468020A (en) * | 2015-12-29 | 2016-04-06 | 天津海之声科技有限公司 | Distributed control-based underwater robot system |
| CN105487430A (en) * | 2014-09-19 | 2016-04-13 | 中国科学院沈阳自动化研究所 | Method and system for automatic cleaning of underwater holder |
| CN105634298A (en) * | 2016-03-17 | 2016-06-01 | 天津超智海洋科技有限公司 | ROV power source system |
| CN105667745A (en) * | 2016-01-21 | 2016-06-15 | 王昕� | Autonomous underwater vehicle and control method thereof |
| CN105818944A (en) * | 2016-04-01 | 2016-08-03 | 深圳潜水侠创新动力科技有限公司 | Remote control submarine applied to underwater detection |
| CN106005318A (en) * | 2016-06-21 | 2016-10-12 | 上海遨拓深水装备技术开发有限公司 | Bathyscaph for detecting deep sea pipelines and working method of bathyscaph |
| CN106131388A (en) * | 2016-08-24 | 2016-11-16 | 南京本来信息技术有限公司 | Submarine target image collecting device |
| CN106303184A (en) * | 2016-10-12 | 2017-01-04 | 青岛罗博飞海洋技术有限公司 | A kind of Underwater Camera |
| CN106477010A (en) * | 2016-12-09 | 2017-03-08 | 武汉益士天慧科技有限公司 | Underwater robot |
| RU2615029C1 (en) * | 2016-02-26 | 2017-04-03 | Акционерное общество "Центральное конструкторское бюро "Лазурит" | Rescue underwater vehicle |
| CN106681352A (en) * | 2015-11-06 | 2017-05-17 | 中国科学院沈阳自动化研究所 | Underwater robot control method of rotatable rudder propeller |
| CN107226185A (en) * | 2016-10-20 | 2017-10-03 | 天津科技大学 | A kind of full free degree cable control underwater robot of microminiature |
| CN107235131A (en) * | 2017-05-25 | 2017-10-10 | 深圳微孚智能信息科技有限公司 | A kind of underwater robot that can be live |
| CN107264749A (en) * | 2017-06-21 | 2017-10-20 | 上海电机学院 | A kind of Qu Wu robots under water |
| CN107310699A (en) * | 2017-08-07 | 2017-11-03 | 西安工业大学 | A kind of underwater robot remote control case |
| CN107717973A (en) * | 2017-09-14 | 2018-02-23 | 昆明理工大学 | A kind of robot control system salvaged for underwater material evidence and method |
| CN108382548A (en) * | 2018-01-30 | 2018-08-10 | 福建聚云科技股份有限公司 | One kind repairing sized underwater observation robot based on environmental ecology |
| CN108408003A (en) * | 2018-02-10 | 2018-08-17 | 长春伯灵科技有限公司 | A kind of undersea detection multi-function robot |
| CN108408009A (en) * | 2018-05-13 | 2018-08-17 | 上海海洋大学 | A kind of intelligent submarine navigation device based on Raspberry Pi Raspberry Pi controllers |
| CN108557041A (en) * | 2018-04-18 | 2018-09-21 | 河海大学 | A kind of bimodal underwater robot with six degrees of freedom and its control method |
| CN109050835A (en) * | 2018-08-06 | 2018-12-21 | 江苏科技大学 | Full driving autonomous underwater robot structure and recycling three-dimensional path tracking |
| CN109189095A (en) * | 2018-09-27 | 2019-01-11 | 东华理工大学 | A kind of miniature underwater robot video detection and control system |
| CN109660758A (en) * | 2018-11-26 | 2019-04-19 | 中广核核电运营有限公司 | A kind of nuclear power station reactor core underwater wireless high definition photographic means and system |
| CN109911153A (en) * | 2019-02-28 | 2019-06-21 | 苏州臻迪智能科技有限公司 | A kind of unmanned machine of fixable type switching camera angle |
| CN110579959A (en) * | 2018-06-07 | 2019-12-17 | 深圳市吉影科技有限公司 | Closed-loop motion control method and system of three-push underwater unmanned aerial vehicle |
| CN110606178A (en) * | 2019-10-28 | 2019-12-24 | 南京工程学院 | Submarine observation underwater robot based on trinocular vision and control method thereof |
| CN110745220A (en) * | 2019-11-07 | 2020-02-04 | 江苏科技大学 | Microminiature underwater robot with power-off protection function and power-off control method |
| CN110758693A (en) * | 2019-12-25 | 2020-02-07 | 上海遨拓深水装备技术开发有限公司 | Unmanned underwater vehicle control and data management platform |
| CN111232165A (en) * | 2019-12-30 | 2020-06-05 | 陕西格兰浮智能科技有限公司 | Underwater robot controller |
| CN111252218A (en) * | 2020-01-20 | 2020-06-09 | 江苏科技大学 | A monitoring sampling underwater robot for ocean or inland river lake |
| CN112269342A (en) * | 2020-11-06 | 2021-01-26 | 北京中星时代科技有限公司 | Multi-path serial port communication circuit board |
| RU2747752C1 (en) * | 2020-04-03 | 2021-05-13 | Акционерное общество "Центральное конструкторское бюро "Лазурит" | Photoluminescent information system and submarine light sign |
| CN113859486A (en) * | 2021-09-30 | 2021-12-31 | 广西科学院 | Deep sea breeding monitoring system and control method thereof |
| WO2023201896A1 (en) * | 2022-04-19 | 2023-10-26 | 江苏科技大学 | Control system and control method for vector propeller of underwater robot, and vector angle selection method |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5355818A (en) * | 1992-08-27 | 1994-10-18 | Strait Imaging Research | Portable inspection equipment for ocean going vessels |
| GB2359049A (en) * | 2000-02-10 | 2001-08-15 | H2Eye | Remote operated vehicle |
| CN100413755C (en) * | 2004-12-16 | 2008-08-27 | 上海交通大学 | Semi-independent submersible device |
| CN1876486A (en) * | 2006-06-30 | 2006-12-13 | 中国科学院光电技术研究所 | Multifunctional underwater robot |
| CN201325591Y (en) * | 2008-08-28 | 2009-10-14 | 国核电站运行服务技术有限公司 | Radiation resistant underwater monitoring robot |
-
2008
- 2008-03-03 CN CN2008101012922A patent/CN101234665B/en not_active Expired - Fee Related
Cited By (79)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101661804B (en) * | 2008-08-28 | 2012-08-29 | 国核电站运行服务技术有限公司 | Radiation resistant underwater monitoring robot |
| CN102193276A (en) * | 2010-03-18 | 2011-09-21 | 何浩权 | Unmanned submersible photographical boat |
| CN103796912A (en) * | 2011-05-17 | 2014-05-14 | 艾尼股份公司 | Autonomous underwater system for 4D environmental monitoring |
| CN103796912B (en) * | 2011-05-17 | 2018-01-02 | 艾尼股份公司 | Autonomous underwater system for 4D environmental monitorings |
| US9718524B2 (en) | 2011-05-17 | 2017-08-01 | Eni S.P.A. | Autonomous underwater system for a 4D environmental monitoring |
| US10611447B2 (en) | 2011-05-17 | 2020-04-07 | Eni S.P.A. | Autonomous underwater system for a 4D environmental monitoring |
| CN102653312A (en) * | 2012-05-09 | 2012-09-05 | 深圳市博世康线缆有限责任公司 | Real-time monitoring type submarine equipment applicable to salvaging and fishing |
| CN103507927A (en) * | 2012-06-29 | 2014-01-15 | 新昌县冠阳技术开发有限公司 | Robot capable of implementing underwater vertical climbing |
| CN102905430A (en) * | 2012-10-12 | 2013-01-30 | 中广核检测技术有限公司 | Lighting drive control system for nuclear non-destructive testing equipment |
| CN102903406A (en) * | 2012-10-12 | 2013-01-30 | 中广核检测技术有限公司 | Video inspection system of nuclear power station reactor pressure container |
| CN103118246A (en) * | 2012-11-20 | 2013-05-22 | 刘雁春 | Fishery submarine video monitor |
| CN102975830A (en) * | 2012-11-26 | 2013-03-20 | 武汉劳雷绿湾船舶科技有限公司 | Hybrid power underwater robot |
| CN103885391A (en) * | 2012-12-19 | 2014-06-25 | 中国科学院沈阳自动化研究所 | Small autonomous underwater robot power management system |
| CN103192965A (en) * | 2013-03-18 | 2013-07-10 | 浙江海洋学院 | Giant squid bionic sea floor exploration intelligent robot |
| CN103192965B (en) * | 2013-03-18 | 2015-09-02 | 浙江海洋学院 | Huge squid bionic sea floor exploration intelligent robot |
| CN103327247A (en) * | 2013-06-17 | 2013-09-25 | 山东神思电子技术股份有限公司 | Portrait collection operation device and method |
| CN103399512A (en) * | 2013-08-07 | 2013-11-20 | 天门市江汉石油三机传动设备有限公司 | Dual display intelligent vibration ageing controller |
| CN103399512B (en) * | 2013-08-07 | 2016-12-28 | 天门市江汉石油三机传动设备有限公司 | Dual display intelligent vibration ageing controller |
| CN103439892A (en) * | 2013-08-15 | 2013-12-11 | 青岛远创机器人自动化有限公司 | Deck control device of miniature underwater robot for shallow water |
| CN103439935A (en) * | 2013-08-15 | 2013-12-11 | 青岛远创机器人自动化有限公司 | Underwater robot control system based on state machine model |
| CN103439935B (en) * | 2013-08-15 | 2015-12-02 | 青岛远创机器人自动化有限公司 | A kind of underwater robot control system based on state machine model |
| CN103419916A (en) * | 2013-08-15 | 2013-12-04 | 青岛远创机器人自动化有限公司 | Shallow-water miniature-underwater robot system |
| CN103439894A (en) * | 2013-08-19 | 2013-12-11 | 青岛远创机器人自动化有限公司 | Deck control system of shallow miniature underwater robot |
| CN103425110A (en) * | 2013-08-19 | 2013-12-04 | 青岛远创机器人自动化有限公司 | Shallow water observation-level streamline type small-size underwater robot control system |
| CN103425110B (en) * | 2013-08-19 | 2016-05-11 | 青岛远创机器人自动化有限公司 | A kind of shallow water is observed the streamlined small underwater robot control system of level |
| CN103439894B (en) * | 2013-08-19 | 2016-10-05 | 青岛远创机器人自动化有限公司 | A kind of shallow small underwater robot deck control system |
| CN103454697A (en) * | 2013-09-26 | 2013-12-18 | 上海海事大学 | Complete-coverage underwater search and rescue device and search and rescue method thereof |
| CN103454697B (en) * | 2013-09-26 | 2016-05-04 | 上海海事大学 | A kind of all standing search and rescue device and rescue method thereof under water |
| CN103548788A (en) * | 2013-10-28 | 2014-02-05 | 莱州海益苗业有限公司 | Trepang catching device |
| CN103885404A (en) * | 2014-03-06 | 2014-06-25 | 青岛罗博飞海洋技术有限公司 | Method for controlling four-propeller thruster of underwater robot |
| CN103885404B (en) * | 2014-03-06 | 2016-08-17 | 青岛罗博飞海洋技术有限公司 | Underwater robot quadruple screw propeller propeller control method |
| CN104090579A (en) * | 2014-04-23 | 2014-10-08 | 山东省科学院海洋仪器仪表研究所 | Underwater section monitoring robot controller and automatic trajectory tracking controlling method |
| CN105487430B (en) * | 2014-09-19 | 2018-07-31 | 中国科学院沈阳自动化研究所 | A kind of method and system of underwater holder automated cleaning |
| CN105487430A (en) * | 2014-09-19 | 2016-04-13 | 中国科学院沈阳自动化研究所 | Method and system for automatic cleaning of underwater holder |
| CN104401470A (en) * | 2014-10-17 | 2015-03-11 | 浙江海洋学院 | Underwater measurement robot |
| CN104401470B (en) * | 2014-10-17 | 2016-09-21 | 浙江海洋学院 | A kind of subaqueous survey robot |
| CN104567984A (en) * | 2015-01-07 | 2015-04-29 | 段子扬 | Novel underwater detection platform |
| CN104731053A (en) * | 2015-01-22 | 2015-06-24 | 马鞍山纽泽科技服务有限公司 | Multifunctional underwater monitoring and fishing operation system |
| CN104890844A (en) * | 2015-07-01 | 2015-09-09 | 青岛远创机器人自动化有限公司 | Six-propeller underwater robot |
| CN106681352B (en) * | 2015-11-06 | 2019-01-25 | 中国科学院沈阳自动化研究所 | A kind of underwater robot control method of rotatable rudder propeller |
| CN106681352A (en) * | 2015-11-06 | 2017-05-17 | 中国科学院沈阳自动化研究所 | Underwater robot control method of rotatable rudder propeller |
| CN105468020A (en) * | 2015-12-29 | 2016-04-06 | 天津海之声科技有限公司 | Distributed control-based underwater robot system |
| CN105667745A (en) * | 2016-01-21 | 2016-06-15 | 王昕� | Autonomous underwater vehicle and control method thereof |
| RU2615029C1 (en) * | 2016-02-26 | 2017-04-03 | Акционерное общество "Центральное конструкторское бюро "Лазурит" | Rescue underwater vehicle |
| CN105634298A (en) * | 2016-03-17 | 2016-06-01 | 天津超智海洋科技有限公司 | ROV power source system |
| CN105818944A (en) * | 2016-04-01 | 2016-08-03 | 深圳潜水侠创新动力科技有限公司 | Remote control submarine applied to underwater detection |
| CN105818944B (en) * | 2016-04-01 | 2018-07-17 | 深圳潜水侠创新动力科技有限公司 | A kind of remote control submarine applied to undersea detection |
| CN106005318A (en) * | 2016-06-21 | 2016-10-12 | 上海遨拓深水装备技术开发有限公司 | Bathyscaph for detecting deep sea pipelines and working method of bathyscaph |
| CN106131388A (en) * | 2016-08-24 | 2016-11-16 | 南京本来信息技术有限公司 | Submarine target image collecting device |
| CN106303184A (en) * | 2016-10-12 | 2017-01-04 | 青岛罗博飞海洋技术有限公司 | A kind of Underwater Camera |
| CN107226185A (en) * | 2016-10-20 | 2017-10-03 | 天津科技大学 | A kind of full free degree cable control underwater robot of microminiature |
| CN106477010A (en) * | 2016-12-09 | 2017-03-08 | 武汉益士天慧科技有限公司 | Underwater robot |
| CN107235131A (en) * | 2017-05-25 | 2017-10-10 | 深圳微孚智能信息科技有限公司 | A kind of underwater robot that can be live |
| CN107264749A (en) * | 2017-06-21 | 2017-10-20 | 上海电机学院 | A kind of Qu Wu robots under water |
| CN107264749B (en) * | 2017-06-21 | 2019-11-19 | 上海电机学院 | A kind of underwater pickup robot |
| CN107310699A (en) * | 2017-08-07 | 2017-11-03 | 西安工业大学 | A kind of underwater robot remote control case |
| CN107717973A (en) * | 2017-09-14 | 2018-02-23 | 昆明理工大学 | A kind of robot control system salvaged for underwater material evidence and method |
| CN108382548A (en) * | 2018-01-30 | 2018-08-10 | 福建聚云科技股份有限公司 | One kind repairing sized underwater observation robot based on environmental ecology |
| CN108408003A (en) * | 2018-02-10 | 2018-08-17 | 长春伯灵科技有限公司 | A kind of undersea detection multi-function robot |
| CN108557041A (en) * | 2018-04-18 | 2018-09-21 | 河海大学 | A kind of bimodal underwater robot with six degrees of freedom and its control method |
| CN108557041B (en) * | 2018-04-18 | 2020-02-21 | 河海大学 | Bimodal six-degree-of-freedom underwater robot and control method thereof |
| CN108408009A (en) * | 2018-05-13 | 2018-08-17 | 上海海洋大学 | A kind of intelligent submarine navigation device based on Raspberry Pi Raspberry Pi controllers |
| CN110579959A (en) * | 2018-06-07 | 2019-12-17 | 深圳市吉影科技有限公司 | Closed-loop motion control method and system of three-push underwater unmanned aerial vehicle |
| CN109050835B (en) * | 2018-08-06 | 2021-07-13 | 江苏科技大学 | Full-drive autonomous underwater robot structure and recovery three-dimensional path tracking method |
| CN109050835A (en) * | 2018-08-06 | 2018-12-21 | 江苏科技大学 | Full driving autonomous underwater robot structure and recycling three-dimensional path tracking |
| CN109189095A (en) * | 2018-09-27 | 2019-01-11 | 东华理工大学 | A kind of miniature underwater robot video detection and control system |
| CN109660758A (en) * | 2018-11-26 | 2019-04-19 | 中广核核电运营有限公司 | A kind of nuclear power station reactor core underwater wireless high definition photographic means and system |
| CN109911153A (en) * | 2019-02-28 | 2019-06-21 | 苏州臻迪智能科技有限公司 | A kind of unmanned machine of fixable type switching camera angle |
| CN110606178A (en) * | 2019-10-28 | 2019-12-24 | 南京工程学院 | Submarine observation underwater robot based on trinocular vision and control method thereof |
| CN110606178B (en) * | 2019-10-28 | 2024-04-23 | 南京工程学院 | Submarine observation underwater robot based on three-eye vision and control method thereof |
| CN110745220A (en) * | 2019-11-07 | 2020-02-04 | 江苏科技大学 | Microminiature underwater robot with power-off protection function and power-off control method |
| CN110758693A (en) * | 2019-12-25 | 2020-02-07 | 上海遨拓深水装备技术开发有限公司 | Unmanned underwater vehicle control and data management platform |
| CN111232165A (en) * | 2019-12-30 | 2020-06-05 | 陕西格兰浮智能科技有限公司 | Underwater robot controller |
| CN111252218A (en) * | 2020-01-20 | 2020-06-09 | 江苏科技大学 | A monitoring sampling underwater robot for ocean or inland river lake |
| RU2747752C1 (en) * | 2020-04-03 | 2021-05-13 | Акционерное общество "Центральное конструкторское бюро "Лазурит" | Photoluminescent information system and submarine light sign |
| CN112269342B (en) * | 2020-11-06 | 2022-04-19 | 北京中星时代科技有限公司 | Multi-path serial port communication circuit board |
| CN112269342A (en) * | 2020-11-06 | 2021-01-26 | 北京中星时代科技有限公司 | Multi-path serial port communication circuit board |
| CN113859486A (en) * | 2021-09-30 | 2021-12-31 | 广西科学院 | Deep sea breeding monitoring system and control method thereof |
| WO2023201896A1 (en) * | 2022-04-19 | 2023-10-26 | 江苏科技大学 | Control system and control method for vector propeller of underwater robot, and vector angle selection method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101234665B (en) | 2011-02-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101234665B (en) | Small-sized underwater observation robot | |
| CN102975830A (en) | Hybrid power underwater robot | |
| CN203111482U (en) | Hybrid power underground robot | |
| CN102951275A (en) | Microminiature operation underwater robot of nuclear power plant | |
| CN203601547U (en) | Underwater robot | |
| CN109018268B (en) | Full electric drive operation formula ROV platform of large depth | |
| CN206664902U (en) | Underwater detection robot | |
| CN207607623U (en) | One kind repairing sized underwater observation robot based on environmental ecology | |
| CN110116794B (en) | Mini underwater robot capable of monitoring water quality and water sample collection method | |
| CN202703877U (en) | Image processing-based self-control underwater robot | |
| CN102975833A (en) | Teleoperation unmanned submersible for detecting and disposing submarine target | |
| CN102565870A (en) | Deep-sea visual geochemical multi-parameter in-situ comprehensive detection system | |
| CN101170682A (en) | Remote monitoring system for deep water mesh box | |
| CN106628066A (en) | Underwater real-time detection and inspection device for pumps and gates | |
| CN106625700B (en) | Large-scale water intaking tunnel monitoring robot that crawls | |
| CN111252218A (en) | A monitoring sampling underwater robot for ocean or inland river lake | |
| CN105544641B (en) | A kind of two-way advancing hydraulic pressure grab bucket monitoring system in deep-sea | |
| CN105775073A (en) | Modular underwater teleoperator | |
| CN107678033A (en) | A kind of underwater real-time prospecting apparatus for zero visibility waters | |
| CN108341038A (en) | Underwater foundation facility detects robot | |
| CN110565708A (en) | Bridge underwater pile foundation detection system | |
| CN104401470A (en) | Underwater measurement robot | |
| CN106926995A (en) | It is a kind of to be suitable to the walking robot of environments such as subsea | |
| CN210083511U (en) | Mini underwater robot capable of monitoring water quality | |
| CN112278211A (en) | Accurate navigation intelligent inspection robot for cable pipe gallery water environment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20110209 Termination date: 20150303 |
|
| EXPY | Termination of patent right or utility model |