CN101007566A - Hybrid type underwater sailing device - Google Patents
Hybrid type underwater sailing device Download PDFInfo
- Publication number
- CN101007566A CN101007566A CN 200710056506 CN200710056506A CN101007566A CN 101007566 A CN101007566 A CN 101007566A CN 200710056506 CN200710056506 CN 200710056506 CN 200710056506 A CN200710056506 A CN 200710056506A CN 101007566 A CN101007566 A CN 101007566A
- Authority
- CN
- China
- Prior art keywords
- withstand voltage
- voltage storehouse
- body cover
- cover
- hybrid type
- 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
Abstract
A hybrid underwater craft. It includes framework consisting of head shield, body shield and tail shield; triangular wings and vertical fixing tail rudder installed out the body shield; height gauge installed below the tail shield; navigational module installed in head shield; central pressure resistance cabin installed in the body shield; left and right pressure resistance cabins installed in the body shield; underwater sound communication module installed in the body shield; buoyant force drive system, control system, pitching adjusting module installed between the body shield and central pressure resistance cabin and pitching adjusting module supporting bar used for support pitching adjusting module; two conduit airscrew propeller connected on the rear-end of tail cup firmly and symmetrically. The invention uses the delta wing which both has gliding property and AUV operating performance as wings of craft, the loaded corresponding measuring sensor and the task module can realize monitoring and investigation of large area waters long term, and can monitor, expedite and trace the specific target precisely and rapidly.
Description
Technical field
The present invention relates to a kind of submarine navigation.Particularly relate to a kind of two kinds of functions set of glider and AUV that integrate, can carry that survey sensor is long-time to be realized the monitoring in waters and the hybrid type underwater sailing device of exploration on a large scale.
Background technology
In order to protect the marine environment, efficiently utilize marine resources, hydrospace detection is essential.To the detection of ocean, it is far from being enough only relying on manpower, must rely on the hydrospace detection instrument to a great extent.Developed country mainly contains two kinds to the used submarine navigation device of underwater environment monitoring at present; A kind of is to rely on battery to provide the under-water self-navigation device (AUV) of the energy, its major defect to be, restricts because of being subjected to the energy, and voyage is very short, generally arrives the hundreds of kilometer at several kilometers, and maximum is no more than 1000 kilometers, and production time is limited, is generally several hours to tens hours; Another kind is underwater glider (underwater glider), Henry Stommel had proposed original notion in 1989, gravity and buoyancy with object is converted into advancing drive power dexterously, nineteen ninety-five, SLOCUM produced principle prototype, Seaglider in 1999 and Spray succeed in developing underwater glider, energy seldom only is provided, voyage has all surpassed 2000 kilometers, the submarine navigation time reaches hundreds of sky even nearly 1 year, but underwater glider can only be done zigzag navigation under water, its flight path and positioning control difficulty, even can't realize, and the speed of a ship or plane is slower.
Summary of the invention
Technical matters to be solved by this invention is, a kind of integrate glider and two kinds of functions set of AUV are provided, and can carry to measure changes that sensor is long-time to be realized the monitoring in waters and the hybrid type underwater sailing device of exploration on a large scale.
The technical solution adopted in the present invention is: a kind of hybrid type underwater sailing device includes: the skeleton that is made of head cover, body cover, afterbody cover; Be installed in the delta wing of body cover both sides external respectively; Be arranged on the CTD sensor of body cover exterior bottom; Be arranged on the vertical fixing tail vane at rear portion, the body cover outside; Be arranged on the altimeter of afterbody cover downside; Be installed in the navigation module in the head cover; Be arranged on the withstand voltage storehouse, centre that body cover in-to-in is made up of centre withstand voltage storehouse head shell and middle withstand voltage storehouse afterbody housing; Be arranged on the body cover inner and be respectively formed in the middle of the withstand voltage storehouse of forming by left side little withstand voltage storehouse afterbody housing and little withstand voltage storehouse, left side head shell, left side of both sides, withstand voltage storehouse, and the withstand voltage storehouse of forming by the little withstand voltage storehouse of right side little withstand voltage storehouse head shell and right side afterbody housing, right side; Be arranged on the underwater sound communication module in the body cover; Be arranged on the floating force driving system in body cover and the middle withstand voltage storehouse head shell; Control system in the middle of being arranged in the head shell of withstand voltage storehouse; Be arranged on the pitch regulation piece in the afterbody housing of middle withstand voltage storehouse and be fixed on the pitch regulation piece strut bar that the interior bottom of afterbody housing, middle withstand voltage storehouse is used for the supporting pitch regulating block; Two shrouded propeller propelling units on the afterbody that is fixedly connected on hood of symmetry.
On hood, also be provided with and throw loads and coupled releasing mechanism.
Withstand voltage storehouse, described centre, withstand voltage storehouse, left side, withstand voltage storehouse, right side are to be made of seal casinghousing.
Fill buoyant material between the space of the skeleton that constitutes by head cover, body cover, afterbody cover and be connected with the waters, outside.
Described floating force driving system includes and is arranged on the outer leather bag in the body cover and is arranged on interior interior leather bag and the hydraulic efficiency pressure system of middle withstand voltage storehouse head shell.
Described hydraulic efficiency pressure system is to be made of servomotor, high pressure injection plug pump, check valve, electromagnetism two-port valve, filter and connecting pipeline.
Described navigation module is made up of inertial navigation system INS, Doppler log DVL, global position system GPS.
Withstand voltage storehouse, described centre, withstand voltage storehouse, left side, withstand voltage storehouse, right side are flat pattern.
The described skeleton that is made of head cover, body cover, afterbody cover is a flat pattern.
Hybrid type underwater sailing device of the present invention, have simple in structure, easy to make, the aircraft fuselage is made flat, help improving the glide efficient when gliding, adopt simultaneously and take into account the wing of the delta wing of gliding ability and AUV operating characteristic as aircraft, the realization aircraft is gathered glider and two kinds of functions of AUV.The advantage of water self-navigation device (AUV) rolls into one, and carries corresponding survey sensor and task module, can realize for a long time the monitoring and the exploration in waters on a large scale, can also carry out operations such as accurate fast speed monitoring, investigation, tracking to objectives.
Description of drawings
Fig. 1 is the birds-eye view of overall appearance structure of the present invention;
Fig. 2 is the lateral plan of Fig. 1;
Fig. 3 integral structure scheme drawing of the present invention;
Fig. 4 is the floating force driving system principle schematic.
Wherein:
1-1,1-2: delta wing 2: body cover
3: underwater sound communication module 4: head cover
5: vertical fixing tail vane 6: the afterbody cover
7-1,7-2: shrouded propeller propelling unit 8:CTD sensor
9: navigation module 10: the wireless transmission receiving wire
11: altimeter 12: pitch regulation piece strut bar
13: pitch regulation piece 14: little withstand voltage storehouse, left side afterbody housing
15: middle withstand voltage storehouse afterbody housing 16: hydraulic efficiency pressure system
17: interior leather bag 18: outer leather bag
19: little withstand voltage storehouse, left side head shell 20: little withstand voltage storehouse, right side head shell
21: middle withstand voltage storehouse head shell 22: little withstand voltage storehouse, right side afterbody housing
23: control system 24: throw loads
25: servomotor 26: high pressure injection plug pump
27: check valve 28: the electromagnetism two-port valve
29: filter
The specific embodiment
Below in conjunction with embodiment hybrid type underwater sailing device of the present invention is made a detailed description.
Hybrid type underwater sailing device of the present invention includes: by the skeleton that head cover 4, body cover 2, afterbody cover 6 connect and compose, the skeleton that is constituted is a flat pattern.In body cover 2 both sides external delta wing 1-1,1-2 are installed symmetrically respectively; Be provided with CTD sensor 8 in body cover 2 exterior bottom; Be provided with vertical fixing tail vane 5 at rear portion, body cover 2 outside; All cover 6 downsides at tail and be provided with altimeter 11; Navigation module 9 is installed in head cover 4, and described navigation module 9 is made up of inertial navigation system INS, Doppler log DVL, global position system GPS; On hood 6, also be provided with and throw loads 24 and coupled releasing mechanism.
Be provided with the withstand voltage storehouse of being made up of withstand voltage storehouse, centre head shell 21 and middle withstand voltage storehouse afterbody housing 15, centre in body cover 2 inside, withstand voltage storehouse head shell 21 and middle withstand voltage storehouse afterbody housing 15 adopt the O-ring seals sealing between the two in the middle of it; Also be provided with both sides, withstand voltage storehouse in the middle of being respectively formed in body cover 2 inside, the withstand voltage storehouse of forming by left side little withstand voltage storehouse afterbody housing 14 and little withstand voltage storehouse, left side head shell 19, left side, and the withstand voltage storehouse of forming by the little withstand voltage storehouse of little withstand voltage storehouse, right side head shell 20 and right side afterbody housing 22, right side.The employing O-ring seals sealing between the two of its little withstand voltage storehouse afterbody housing 14 in left side and little withstand voltage storehouse, left side head shell 19, the little withstand voltage storehouse in little withstand voltage storehouse, right side head shell 20 and right side afterbody housing 22 employing O-ring seals sealing between the two.Wherein, withstand voltage storehouse, described centre, withstand voltage storehouse, left side, withstand voltage storehouse, right side are to be made of seal casinghousing, and its shape is flat pattern.
In body cover 2, also be provided with underwater sound communication module 3, and be arranged on the floating force driving system in body cover 2 and the middle withstand voltage storehouse head shell 21.Described floating force driving system includes the outer leather bag 18 that is arranged in the body cover 2 and the interior leather bag 17 and the hydraulic efficiency pressure system 16 that are arranged in the middle withstand voltage storehouse head shell 21.Described hydraulic efficiency pressure system 16 is to be made of servomotor 25, high pressure injection plug pump 26, check valve 27, electromagnetism two-port valve 28, filter 29 and connecting pipeline.
In withstand voltage storehouse, centre head shell 21, be provided with control system 23; In withstand voltage storehouse, centre afterbody housing 15, be provided with pitch regulation piece 13 Hes, bottom in the middle of being fixed in the withstand voltage storehouse afterbody housing 15 is used for the pitch regulation piece strut bar 12 of supporting pitch regulating block 13, wherein, pitch regulation piece 13 is power brick, and is enclosed within on the pitch regulation piece strut bar 12; Pitch regulation piece strut bar 12 is fixed on whole glider center, fixedly mounts tooth bar thereon, and be screwed; Pitch regulation piece 13 is as a mass, and be installed with motor and gear in its end, motor is by the rotation of power brick power supply driven wheel, and gear and the tooth bar engagement that is fixed on the pitch regulation piece strut bar, thereby make pitch regulation piece 13 to seesaw along pitch regulation piece strut bar 12; On the afterbody of hood 6, go back two shrouded propeller propelling unit 7-1, the 7-2 of being fixedly connected with of symmetry, promptly on the hood 6 that is fixedly connected on aircraft axis both sides of two shrouded propeller propelling unit 7-1,7-2 symmetry.Floating force driving system is arranged in the front portion of aircraft, gives the propeller propulsion system layout slot milling of back so on the one hand; On the other hand, it is consistent that the attitude that makes the buoyancy-driven process produce changes the attitude variation that needs with glide, alleviated the amplitude that the pitch attitude Adjustment System is regulated, and reduced the consumption of energy.Usually make the density of the density of aircraft and seawater identical under the state, and quality along antero posterior axis to being evenly distributed, therefore when pitch regulation piece 13 when pitch regulation piece strut bar 12 seesaws, will inevitably cause that along the respective change of axis direction mass distribution, aircraft will realize corresponding luffing like this.
Fill buoyant material between the space of the skeleton that constitutes by head cover 4, body cover 2, afterbody cover 6 and be connected with the waters, outside.
Hybrid type underwater sailing device principle of work of the present invention is, when aircraft is in the glider pattern, adopts floating force driving system to drive, and the gravity of aircraft and buoyancy equate under the state usually.When two-port valve 28 is in the next, promptly outer leather bag 18 and interior leather bag 17 communicate, in hydraulic oil outside under extraneous hydraulic pressure effect in the leather bag 18 flows to through two-port valve 28 in the leather bag 17 time overall volume of aircraft will reduce, at this moment the gravity of aircraft in water will be greater than buoyancy, at this moment two-port valve 28 is in upper i.e. outer leather bag 18 and interior leather bag 17 partitions, aircraft will keep gravity greater than buoyancy like this, and aircraft integral body will be sunk; When two-port valve is in upper, promptly outer leather bag 18 and interior leather bag 17 cut off, servomotor 25 drives high pressure injection plug pump 26 work, hydraulic oil in the interior leather bag 17 is transported in the outer leather bag 18 through filter 29, the overall volume of aircraft will increase, at this moment the buoyancy of aircraft in water will be greater than gravity, and aircraft integral body will float.When aircraft during at the water surface, buoyancy system is that aircraft gravity descends aircraft greater than buoyancy, in aircraft decline process, regulate the position of the pitch regulation piece 13 of aircraft, pitch regulation piece 13 moves to cephalad direction, at this moment the aircraft center of gravity will move forward, the aircraft head descends with certain angle of glide downwards, at this moment at gravity with because under the effect that the lift that makes progress perpendicular to wing that the angle of attack produces is made a concerted effort, produce a component forward, under the effect of this power, aircraft will be glided forward when descending; When aircraft is navigated by water certain depth, buoyancy system starts makes the buoyancy of aircraft greater than gravity, aircraft is with upward movement, at this moment regulating pitch regulation piece 13 moves to caudal directions, the center of gravity of aircraft will be moved backward, and the aircraft head is upwards with certain angle of attack come-up, at this moment because buoyancy and since angle of attack effect produce perpendicular under the downward negative lift effect of wing, produce a component forward, aircraft will be glided forward in come-up.Aircraft constantly repeats above-mentioned decline and rising glide process under the effect of floating force driving system, aircraft will be navigated by water forward with the serration track.Entrained different sensors (as CTD) can be measured corresponding ocean sectional parameter in the glide process.
When aircraft is in AUV pattern following time: at first the work gravity and the buoyancy that make aircraft of floating force driving system is roughly the same, quits work then.The shrouded propeller propelling unit 7-1 of aircraft afterbody and 7-2 begin rotation under driven by motor, and two angle of rake blade rotation directions of shrouded propeller make one left-handed, a dextrorotation, make shrouded propeller propelling unit rotation side opposite, make angle of rake thrust all backward but the moment of rotation that produces can cancel out each other, if the roll that the work of the identical then propelling unit of the angle of rake rotating speed of two shrouded propellers can not bring aircraft only can produce thrust forward.Under the AUV pattern, pitch regulation piece 13 moving on pitch regulation piece strut bar 12 in the middle of the pitch regulation of aircraft still relies in the withstand voltage storehouse 15 realized, head is navigated by water downwards with certain angle of attack downwards under the angle of rake effect of shrouded propeller when pitch regulation piece 13 moves then aircraft to cephalad direction, when face upward control system 13 to caudal directions move then aircraft under the angle of rake effect of shrouded propeller with head upwards with the upwards navigation of certain angle of attack.Under the AUV pattern, the side commentaries on classics control of aircraft relies on two angle of rake different rotating speeds of shrouded propeller to control and realizes, specific implementation is as follows: when aircraft is navigated by water to the left, the rotating speed that needs control shrouded propeller propelling unit 7-1 and 7-1, make the rotating speed of right side shrouded propeller propelling unit 7-2 greater than the rotating speed of left side shrouded propeller propelling unit 7-1, this be since the thrust of shrouded propeller propelling unit 7-2 greater than the thrust of shrouded propeller propelling unit 7-1, so can produce a side left distance of walking around, aircraft will realize the side commentaries on classics with certain radius of turn under the effect of this commentaries on classics distance, cross aircraft in this process and can produce certain roll, but under the stabilization of vertical fixing tail vane, aircraft unstability can not occur within the specific limits.The rotating to the right process of aircraft is with turning course is identical to the left, but this is to want the rotating speed of the rotating speed of shrouded propeller propelling unit 7-1 greater than shrouded propeller propelling unit 7-2.
When aircraft when static, the pitch regulation piece 13 of adjusting aircraft moves to bottom to afterbody along pitch regulation piece strut bar 12, aircraft will make progress by head, tail down is vertically in standing in water, at this moment if two shrouded propeller propelling unit 7-1,7-2 advances aircraft with the same rotational speed rotation, then aircraft will be implemented in the vertical uplift in the waters, on the contrary aircraft pitch regulation piece 13 is moved to topmost to head along pitch regulation piece strut bar 12, so latter two shrouded propeller propelling unit 7-1,7-2 advances aircraft then can realize the vertical decline of aircraft with the same rotational speed rotation.
The attitude measurement of aircraft, navigation, buoyancy system control, the angle of rake control of shrouded propeller all realizes by control system 23, wherein the navigationsystem device is made up of inertial navigation system (INS) Doppler log (DVL) and global positioning system (GPS), control system adopts the distribution hierarchical control system architecture based on the CAN bus, microcontroller adopts the P87C591 of PHILIPS company, it is to be derived and 8 micro controller systems of CAN controller (CANController) in the strap that comes by 80C51, the comprising and strengthened independently SJA1000 CAN bus controller of PHILIPS semiconductor company of success.
When running into emergency situation and need float, aircraft take one of following dual mode to realize emergency ascent: 1. if the aircraft electricity ratio is sufficient and do not need floating upward quickly according to urgency level, then floating force driving system work, make hydraulic oil under the effect of hydraulic efficiency pressure system 16, flow to by interior leather bag 17 outside leather bag 18, the aircraft volume increases, make buoyancy greater than the gravity of aircraft like this, aircraft realizes come-up.2. if situation is more urgent, need to realize floating upward quickly, then aircraft will be fixed the mechanism opening of throwing loads 24, and throwing loads 24 separates with aircraft and tosses, and then the quality of aircraft will alleviate, and aircraft buoyancy is realized emergency ascent greater than gravity.
Claims (10)
1. a hybrid type underwater sailing device is characterized in that, includes: by the skeleton of head cover (4), body cover (2), afterbody cover (6) formation; Be installed in the delta wing (1-1,1-2) of body cover (2) both sides external respectively; Be arranged on the vertical fixing tail vane (5) at rear portion, body cover (2) outside; Be arranged on the altimeter (11) of afterbody cover (6) downside; Be installed in the navigation module (9) in the head cover (4); Be arranged on the withstand voltage storehouse, centre that body cover (2) in-to-in is made up of withstand voltage storehouse, centre head shell (21) and middle withstand voltage storehouse afterbody housing (15); Be arranged on body cover (2) inner and be respectively formed in the middle of the withstand voltage storehouse of forming by little withstand voltage storehouse afterbody housing in left side (14) and left side little withstand voltage storehouse head shell (19), left side of both sides, withstand voltage storehouse, and the withstand voltage storehouse of forming by little withstand voltage storehouse, right side head shell (20) and the little withstand voltage storehouse afterbody housing in right side (22), right side; Be arranged on the underwater sound communication module (3) in the body cover (2); Be arranged on the floating force driving system in body cover (2) and the middle withstand voltage storehouse head shell (21); Control system (23) in the middle of being arranged in the withstand voltage storehouse head shell (21); Be arranged on the pitch regulation piece (13) in the middle withstand voltage storehouse afterbody housing (15) and be fixed on the pitch regulation piece strut bar (12) that the interior bottom of middle withstand voltage storehouse afterbody housing (15) is used for supporting pitch regulating block (13); Two shrouded propeller propelling units (7-1,7-2) on the afterbody that is fixedly connected on hood (6) of symmetry.
2. hybrid type underwater sailing device according to claim 1 is characterized in that, also is provided with CTD sensor (8) in body cover (2) exterior bottom.
3. hybrid type underwater sailing device according to claim 1 is characterized in that, also is provided with to throw loads (24) and coupled releasing mechanism on hood (6).
4. hybrid type underwater sailing device according to claim 1 is characterized in that, withstand voltage storehouse, described centre, withstand voltage storehouse, left side, withstand voltage storehouse, right side are to be made of seal casinghousing.
5. hybrid type underwater sailing device according to claim 1 is characterized in that, fills buoyant material between the space of the skeleton that is made of head cover (4), body cover (2), afterbody cover (6) and is connected with the waters, outside.
6. hybrid type underwater sailing device according to claim 1, it is characterized in that described floating force driving system includes and is arranged on the outer leather bag (18) in the body cover (2) and is arranged on middle withstand voltage storehouse head shell (21) interior interior leather bag (17) and hydraulic efficiency pressure system (16).
7. hybrid type underwater sailing device according to claim 6, it is characterized in that described hydraulic efficiency pressure system (16) is to be made of servomotor (25), high pressure injection plug pump (26), check valve (27), electromagnetism two-port valve (28), filter (29) and connecting pipeline.
8. hybrid type underwater sailing device according to claim 1 is characterized in that, described navigation module (9) is made up of inertial navigation system INS, Doppler log DVL, global position system GPS.
9. hybrid type underwater sailing device according to claim 1 is characterized in that, withstand voltage storehouse, described centre, withstand voltage storehouse, left side, withstand voltage storehouse, right side are flat pattern.
10. hybrid type underwater sailing device according to claim 1 is characterized in that, the described skeleton that is made of head cover (4), body cover (2), afterbody cover (6) is a flat pattern.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007100565064A CN100532192C (en) | 2007-01-23 | 2007-01-23 | Hybrid type underwater sailing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007100565064A CN100532192C (en) | 2007-01-23 | 2007-01-23 | Hybrid type underwater sailing device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101007566A true CN101007566A (en) | 2007-08-01 |
| CN100532192C CN100532192C (en) | 2009-08-26 |
Family
ID=38696289
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2007100565064A Active CN100532192C (en) | 2007-01-23 | 2007-01-23 | Hybrid type underwater sailing device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN100532192C (en) |
Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101247184B (en) * | 2008-03-13 | 2010-09-08 | 哈尔滨工程大学 | Communication repeater system for underwater robot |
| CN101832775A (en) * | 2010-05-26 | 2010-09-15 | 南京信息工程大学 | Deep ocean work and underwater vehicle combined navigation system and underwater initial alignment method |
| CN102046461A (en) * | 2008-06-09 | 2011-05-04 | 联邦国有制企业圣彼得堡Malakhit机械制造海事局 | Cruciform tail control surfaces of an undersea vehicle |
| CN103832564A (en) * | 2014-03-14 | 2014-06-04 | 中国计量学院 | Shuttle-shaped underwater glider design and control method |
| CN103869818A (en) * | 2014-02-27 | 2014-06-18 | 中国船舶重工集团公司第七一〇研究所 | Method for adjusting parameters of unmanned underwater vehicle processor |
| CN104678929A (en) * | 2013-11-30 | 2015-06-03 | 中国科学院沈阳自动化研究所 | Automatic pilot system and method for autonomous underwater robot |
| CN106530660A (en) * | 2016-12-06 | 2017-03-22 | 北京臻迪机器人有限公司 | Underwater unmanned ship control system |
| CN106904260A (en) * | 2017-03-21 | 2017-06-30 | 哈尔滨工程大学 | A kind of underwater dish aerodone |
| CN107117266A (en) * | 2017-05-11 | 2017-09-01 | 江苏科技大学 | A kind of self balancing device, unmanned vehicles and its control system |
| CN107310700A (en) * | 2017-07-06 | 2017-11-03 | 深圳潜行创新科技有限公司 | A kind of underwater vehicle |
| CN109018271A (en) * | 2018-06-27 | 2018-12-18 | 哈尔滨工程大学 | A kind of novel big span combination drive UAV navigation |
| CN109333552A (en) * | 2018-11-12 | 2019-02-15 | 张子悦 | A kind of underwater cleaning robot of the colloidal silica ala with bat wing |
| TWI673206B (en) * | 2018-09-27 | 2019-10-01 | National Taiwan University Of Science And Technology | Center of gravity adjusting device for aquatic veheicle motion control |
| CN111232165A (en) * | 2019-12-30 | 2020-06-05 | 陕西格兰浮智能科技有限公司 | Underwater robot controller |
| CN112173055A (en) * | 2020-09-24 | 2021-01-05 | 广东石油化工学院 | Winged hydraulic extrusion propulsion type intelligent underwater unmanned vehicle |
| CN112224367A (en) * | 2020-09-25 | 2021-01-15 | 广东石油化工学院 | Winged extruded water bag type intelligent underwater unmanned aircraft |
| CN114104199A (en) * | 2022-01-26 | 2022-03-01 | 青岛国数信息科技有限公司 | Low-power-consumption self-elevating submerged buoy based on glider and working method thereof |
| CN114194354A (en) * | 2021-12-10 | 2022-03-18 | 海鹰企业集团有限责任公司 | Design method of bionic type flow guide cover with noise reduction function |
| CN114228900A (en) * | 2021-11-26 | 2022-03-25 | 青岛海安航行设备有限公司 | Small unmanned underwater vehicle easy to maintain |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102862667B (en) * | 2012-09-26 | 2014-09-10 | 浙江大学 | Mixed type underwater navigation detector |
-
2007
- 2007-01-23 CN CNB2007100565064A patent/CN100532192C/en active Active
Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101247184B (en) * | 2008-03-13 | 2010-09-08 | 哈尔滨工程大学 | Communication repeater system for underwater robot |
| CN102046461A (en) * | 2008-06-09 | 2011-05-04 | 联邦国有制企业圣彼得堡Malakhit机械制造海事局 | Cruciform tail control surfaces of an undersea vehicle |
| CN102046461B (en) * | 2008-06-09 | 2013-08-28 | 联邦国有制企业"圣彼得堡Malakhit机械制造海事局" | Cruciform tail control surfaces of undersea vehicle |
| CN101832775A (en) * | 2010-05-26 | 2010-09-15 | 南京信息工程大学 | Deep ocean work and underwater vehicle combined navigation system and underwater initial alignment method |
| CN104678929A (en) * | 2013-11-30 | 2015-06-03 | 中国科学院沈阳自动化研究所 | Automatic pilot system and method for autonomous underwater robot |
| CN103869818A (en) * | 2014-02-27 | 2014-06-18 | 中国船舶重工集团公司第七一〇研究所 | Method for adjusting parameters of unmanned underwater vehicle processor |
| CN103832564A (en) * | 2014-03-14 | 2014-06-04 | 中国计量学院 | Shuttle-shaped underwater glider design and control method |
| CN106530660A (en) * | 2016-12-06 | 2017-03-22 | 北京臻迪机器人有限公司 | Underwater unmanned ship control system |
| CN106904260A (en) * | 2017-03-21 | 2017-06-30 | 哈尔滨工程大学 | A kind of underwater dish aerodone |
| CN107117266A (en) * | 2017-05-11 | 2017-09-01 | 江苏科技大学 | A kind of self balancing device, unmanned vehicles and its control system |
| CN107310700A (en) * | 2017-07-06 | 2017-11-03 | 深圳潜行创新科技有限公司 | A kind of underwater vehicle |
| CN109018271A (en) * | 2018-06-27 | 2018-12-18 | 哈尔滨工程大学 | A kind of novel big span combination drive UAV navigation |
| TWI673206B (en) * | 2018-09-27 | 2019-10-01 | National Taiwan University Of Science And Technology | Center of gravity adjusting device for aquatic veheicle motion control |
| CN109333552A (en) * | 2018-11-12 | 2019-02-15 | 张子悦 | A kind of underwater cleaning robot of the colloidal silica ala with bat wing |
| CN111232165A (en) * | 2019-12-30 | 2020-06-05 | 陕西格兰浮智能科技有限公司 | Underwater robot controller |
| CN112173055A (en) * | 2020-09-24 | 2021-01-05 | 广东石油化工学院 | Winged hydraulic extrusion propulsion type intelligent underwater unmanned vehicle |
| CN112224367A (en) * | 2020-09-25 | 2021-01-15 | 广东石油化工学院 | Winged extruded water bag type intelligent underwater unmanned aircraft |
| CN114228900A (en) * | 2021-11-26 | 2022-03-25 | 青岛海安航行设备有限公司 | Small unmanned underwater vehicle easy to maintain |
| CN114194354A (en) * | 2021-12-10 | 2022-03-18 | 海鹰企业集团有限责任公司 | Design method of bionic type flow guide cover with noise reduction function |
| CN114194354B (en) * | 2021-12-10 | 2024-01-23 | 海鹰企业集团有限责任公司 | Design method of bionic type air guide sleeve with noise reduction function |
| CN114104199A (en) * | 2022-01-26 | 2022-03-01 | 青岛国数信息科技有限公司 | Low-power-consumption self-elevating submerged buoy based on glider and working method thereof |
| CN114104199B (en) * | 2022-01-26 | 2022-04-29 | 青岛国数信息科技有限公司 | Low-power-consumption self-elevating submerged buoy based on glider and working method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN100532192C (en) | 2009-08-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN100532192C (en) | Hybrid type underwater sailing device | |
| CN100445167C (en) | Hybrid driven under-water self-navigation device | |
| CN100431918C (en) | Mixed submarine navigation device | |
| CN103832564B (en) | A kind of design of shuttle shape underwater glider and control method | |
| CN100443369C (en) | Deep-sea solar diving device | |
| CN102963514B (en) | Portable underwater marine environmental monitoring aerodone | |
| AU2012327253B2 (en) | Wave-powered endurance extension module for unmanned underwater vehicles | |
| CN109018271B (en) | Novel large-span hybrid drive unmanned underwater vehicle | |
| CN100357155C (en) | Buoyancy and propellor dual-driving-mode long-distance autonomous underwater robot | |
| CN105644743A (en) | Long-term fixed-point observation type underwater robot with three-body configuration | |
| CN107284631A (en) | The submersible with vertical thrust device based on fluid lift force | |
| CN103310610A (en) | Mobile ocean observation net based on intelligent buoy and intelligent submersible device | |
| CN103507929A (en) | Combination wing anti-stream-pattern underwater glider | |
| CN113859530B (en) | Multi-purpose cross-medium aircraft carrying AUV | |
| CN103895846B (en) | A kind of attitude-control device for flying wing type underwater glider and control method | |
| Zufferey et al. | Sailmav: Design and implementation of a novel multi-modal flying sailing robot | |
| CN106695834A (en) | Double-body detection underwater robot device and control method | |
| CN108945366A (en) | It is a kind of support sail promote navigate by water device | |
| CN101628620A (en) | Underwater airplane | |
| CN104386228A (en) | Fishtail type flapping hybrid power underwater glider structure | |
| CN2861004Y (en) | Transformable airship | |
| CN103661818A (en) | Unmanned intelligent surveying vessel | |
| Aage et al. | Hydrodynamic manoeuvrability data of a flatfish type AUV | |
| CN203638055U (en) | Driverless intelligent surveying vessel | |
| CN207758961U (en) | A kind of unmanned boat |
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 |