CN104002942A - Micro autonomous submersible - Google Patents
Micro autonomous submersible Download PDFInfo
- Publication number
- CN104002942A CN104002942A CN201410253181.9A CN201410253181A CN104002942A CN 104002942 A CN104002942 A CN 104002942A CN 201410253181 A CN201410253181 A CN 201410253181A CN 104002942 A CN104002942 A CN 104002942A
- Authority
- CN
- China
- Prior art keywords
- module
- submersible
- propulsion
- navigation
- vision
- 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.)
- Pending
Links
Abstract
The invention relates to a micro autonomous submersible, and belongs to the field of unmanned submersibles and underwater robots. The micro autonomous submersible is composed of a communication module (1), a sensing module (2), a navigation module (3), a vision module (4), a propulsion module (5), a control module (6), a central module (7), a battery pack (8) and a main shell (9), wherein the communication module (1) , the sensing module (2), the navigation module (3), the vision module (4) and the control module (6) coordinate with each other to complete scheduled tasks under the unified management of the central module(7); the propulsion module (5) is controlled by the control module to complete the actions of hovering, advancing or retreating. The communication module (1), the sensing module (2), the navigation module (3), the vision module (4), the propulsion module (5), the control module (6) and the central module (7) are all arranged on the main shell (9) and powered by the battery pack (8). The submersible has the advantages of hidden property, mobility, intelligence, low cost, and the like, and is capable of performing long-distance working, applicable to the fields of underwater archaeology, underwater exploration, and the like, and wide in application range.
Description
Technical field
The present invention relates to a kind of miniature autonomous submersible, is a kind of micro-unmanned submersible of carrying out medium-long range waters Underwater Target Detection, tracking and identification, belongs to unmanned submersible and under-water robot field.
Background technology
Micro-unmanned submersible have cost low, easy to carry, simple to operate, can enter the advantage such as small space under water, the field such as archaeology, exploration, marine life investigation under water has a wide range of applications under water.Commercial micro-unmanned submersible has the micro-unmanned submersible (flood dragon manned submersible with) of the micro-unmanned Submarine of the HydroView of VideoRay pro series mini unmanned submersible, the Aquabotix company of Britain of VideoRay company of the U.S., the Dutch Seascape under-water robot builder-150 of company, Shenyang China Institute of Automation. and the size of these miniature submersible hydrophones is generally at tens centimetres, and weight is generally at several kilograms.But these submersibles all belong to remote-operated vehicle, action radius is in hundred meters; These submersible capacity of will a little less than, cannot be used for the operation of medium-long range marine site.
Summary of the invention
Autonomous submersible is a kind of self-powered, and activity and operation are carried out in the instruction that can transmit according to preset program or base station command centre voluntarily, or obtain underwater environment information by sensor and carry out activity and operation, and its maximum feature is to have intelligence and capacity of self-government.
The object of the invention is that existing submersible action radius is little in order to solve, a little less than capacity of will, cannot be used for the problem of medium-long range marine site operation, design has realized a kind of miniature autonomous submersible, this submersible can carry out underwater exploration, location, tracking and identification intended target in upper km to tens km waters far away, obtain target video image and relevant information, and transmit information back to base station.
In order to address the above problem, basic ideas of the present invention are as follows:
(1) miniature autonomous submersible floats near the water surface, obtains navigation information by global positioning system (GPS), and then dive is under water, by inertial navigation system (INS) controlled motion direction; Miniature autonomous submersible need to repeatedly float near water surface site and obtain GPS navigation information, INS measured error is revised, make submersible arrive the even desired location of tens kms of several kms by predefined paths expeditiously, realize Underwater Target Detection, tracking, intellectual analysis and the understanding of medium-long range apart from marine site;
(2) adopt four pieces of rotating electric propeller propelling units, be symmetrically distributed in submersible both sides, each piece of propelling unit connects a direction motor by S. A..Direction motor drives S. A. to rotate, and changes propeller thrust direction.Angle of rake thrust direction, angle of rake rotating and angle of rake rotative speed are three dynamical parameters of submersible, control this three parameters, can realize submersible hovers, moves ahead and falls back, turns left and right-hand rotation, floating and sinking, the motion such as oblique in water, the combination of these motions, can realize the high efficiency any direction motion of submersible maneuverability;
(3) at submersible front and rear, monopod video camera is all installed, when submersible moves ahead and retreats, can obtains motion front scene image; Pick up camera moves by The Cloud Terrace, can obtain the scene image of submersible left and right, upper inferior direction, improves scene image and obtains efficiency.Front and rear at submersible is also provided with sonar distance measuring sensor, completes the barrier task of keeping away that moves ahead and retreat.
Describe content of the present invention below in detail.
As shown in Figure 1, the present invention is by communication module (1), sensing module (2), navigation module (3), vision module (4), propulsion die (5), control module (6), central authorities' computing modules (7), battery pack (8) and main casing (9) composition, connection between each component part and communication relation are as shown in Figure 5, communication module (1), sensing module (2), navigation module (3), vision module (4), control module (6) is under the unified management of central computing module (7), co-ordination completes preplanned mission, propulsion die (5) completes hovering under the control of control module (6), the motion such as move ahead or retreat.It is upper that communication module (1), sensing module (2), navigation module (3), vision module (4), propulsion die (5), control module (6), central computing module (7) are all installed on main casing (9), powered by battery pack (8).
Communication module (1) completes information reception and information sends task.This module receives from the various instructions of base station and the information of other submersible, to plan task and the motion of submersible.This module sends submersible status information, submarine target graphicinformation and warning information to base station, send exchange of information to other submersible.
Sensing module (2) is made up of the degree of depth (pressure) meter and leakage survey sensor.The degree of depth (pressure) meter provides submersible submerged depth, ensures submersible constant depth operation under water; Reveal survey sensor and be used for measuring submersible air pressure inside, if pressure variation illustrates that submersible has leakage.
Navigation module (3) is made up of global positioning system (GPS) and inertial navigation system (INS).GPS and INS determine initial position and the attitude information of submersible jointly, and submersible dive, after desired depth, is moved by contemplated route direction.For the accumulation of error of eliminating INS generation causes submersible motion standoff, submersible is wanted timing or set a distance floating, approaches the water surface and receives GPS information, correction INS error.
Vision module (4) is made up of monopod video camera, wave beam sonar and high-performance embedded computing machine.Wave beam sonar is mainly used in surveying sunken danger or target, and monopod video camera is mainly used in obtaining submarine target image, and high-performance embedded computing machine is for efficiently completing detection, follow the tracks of and identify the calculation tasks such as target.Monopod video camera and wave beam sonar information fusion, complete location and the tracing task of target.
Propulsion die (5) adopts independently four pieces of rotating electric propeller propelling units, and every piece of angle of rake direction of propulsion is by a step motor control.Four pieces of propelling units are symmetrically distributed in submersible both sides.Angle of rake rotating, angle of rake rotative speed, angle of rake direction of propulsion are three dynamical parameters of submersible, control this three dynamical parameters, can realize submersible hovering in water, forward and oppositely, left-hand rotation right-hand rotation, floating and dive, the motion such as oblique; The combination of these motions, realizes the high efficiency motion of submersible maneuverability.For example, Fig. 2,3,4 shows the side-looking surface structure schematic diagram when adjusting angle of rake direction of propulsion and can realize submersible and move along level, the different directions such as vertical and oblique.
Control module (6) is controlled submersible and is operated in two kinds of patterns, and one is the mode of operation that cruises, and one is search pattern.While cruising mode of operation, the signal that this module receives depth meter and inertial gyroscope, calculates the deviation of current course line and contemplated route and controls the direction that miniature submersible hydrophone advances; This module receives sonar navigation information, controls submersible and completes the barrier task of keeping away.When search pattern, by pick up camera and the operation of sonar information co-controlling submersible, comprise the motions such as head for target, tracking target, surrounding target, and obtain target image, by image recognition and localizing objects, or the privileged site of target, such as hatch door, screw propeller etc.Also can the target approach inner small space of submersible, motions such as completing hovering, move ahead or retreat, obtains target internal image.
Central authorities' computing modules (7) are the brains of submersible, the planning of executing the task, task scheduling, system state monitoring, the system task such as save oneself.
Battery pack (8) is positioned at submersible bottom, separates with submersible, and charging is convenient, changes battery convenient.Battery can be exported voltage and the power of plurality of specifications, is each module for power supply.
Beneficial effect:
Contrast existing product, the present invention has the features such as disguise, manoevreability, intelligent, low cost, can carry out long distance work, applied widely.
Brief description of the drawings
Fig. 1 is the plan structure schematic diagram of the miniature autonomous submersible of the present invention.
Fig. 2 is the side-looking structural representation of cruise mode of the present invention.
Fig. 3 is vertically the float side-looking structural representation of dive campaign of the present invention.
Fig. 4 is the side-looking structural representation of the oblique motion of moving under water of the present invention.
Fig. 5 is miniature submersible hydrophone composition module relationship schematic diagram.
Reference numeral: communication module-1; Sensing module-2; Navigation module-3; Control module-4; Vision module-5; Propulsion die-6; Central authorities computing module-7; Battery pack-8; Main casing-9.
Embodiment
Below in conjunction with drawings and Examples, working process of the present invention is described further:
Miniature autonomous submersible is under off working state, and battery pack (8) separates placement with submersible main casing (9), to ensure the safety of submersible, facilitates battery charging and changes.
Before miniature autonomous submersible work, battery pack (8) is first installed.Battery pack (8) and submersible main casing (9) are closely to link together by fastener and elaxtic seal, ensure the sealing property of miniature submersible hydrophone.To a certain degree fastening, submersible is in sealing state, then continues fasteningly, and the air pressure in submersible improves, for the automatic detection of leaks of submersible provides physical measurement parameter.After battery is installed, central computing module starts self-check program automatically, comprises the self-inspection work such as power supply status, submersible sealing, modules.After self-inspection finishes, system is in dormant state.
Before lower water, submersible is activated by wireless launcher in base station, and to submersible, assignment instructions is installed, and comprises the flight path that moves under water, destination coordinate, target type, the character etc. of executing the task.Install, system is in dormant state.Instruction process is installed can be repeated, such as, in the time that task changes, can again activate submersible, again to submersible, assignment instructions is installed.
Under submersible, after water, submersible is met the low resistance activation submersible that water presents.Under the instruction control that submersible sends at central computing module (7), start diving, arrive desired depth, start to cruise by preset flight path.The error standoff producing in order to eliminate inertial navigation system, submersible, in predetermined time or range points, floats to and approaches the water surface, receives GPS locating information, proofreaies and correct flight path.
When moving under water under water, submersible surveyed the obstacle in front by wave beam sonar.In water, maximum obstacles is fish, and this obstacle generally all moves, and the submersible that can dissociate, and therefore, runs into small-sized moving obstacle, can suitably slow down or maintenance speed moves ahead.If run into static state or the slow obstacle that moves, can, according to the size of obstacle and sense of motion, determine the sense of motion of submersible.
If arrival desired target location, such as target is submerged wreck, size generally at several meters to more than tens meters, size is far longer than the aquatic organisms such as fish.By wave beam sonar detection of a target object, pick up camera obtains target image, and under the guiding of wave beam sonar, pick up camera obtains image the storage of target various piece; Submersible can target approach inside, obtains target internal image storage; Image is analyzed and identified, identification target privileged site, and privileged site is carried out to mark etc.
Submersible floats to the water surface, the relevant informations such as image can be sent to base station by communication module 1, also can make a return voyage, and storage information is passed to ground station.
For content of the present invention and implementation method are described, this specification sheets has provided specific embodiment.The object of introducing in an embodiment details is not the scope of restriction claims, but helps to understand the method for the invention.One skilled in the art should appreciate that: not departing from the spirit and scope of the present invention and claims thereof, various amendments, the variation to most preferred embodiment step or to replace be all possible.Therefore, the present invention should not be limited to most preferred embodiment and the disclosed content of accompanying drawing.
Claims (4)
1. a miniature autonomous submersible, it is characterized in that, this submersible is made up of communication module (1), sensing module (2), navigation module (3), vision module (4), propulsion die (5), control module (6), central module (7), battery pack (8), main casing (9); Communication module (1), sensing module (2), navigation module (3), vision module (4), control module (6) are under the unified management of central module (7), co-ordination completes preplanned mission, and propulsion die (5) completes hovering or moves ahead or retreat or floating or dive or oblique movement under the control of control module (6); It is upper that communication module (1), sensing module (2), navigation module (3), vision module (4), propulsion die (5), control module (6), central module (7) are all installed on main casing (9), powered by battery pack (8).
2. the miniature autonomous submersible of one according to claim 1, it is characterized in that, described navigation module (3) is made up of global positioning system (GPS) and inertial navigation system (INS), when submersible moves under water under water, timing and repeatedly floating to of set a distance approach the water surface, obtain GPS information, revise INS systematic error, under central module (7) management, control module (6) is under navigation module (3) guiding, controlling propulsion die (5) drives submersible to arrive predetermined waters, carrying out submarine target by vision module (4) detects, location, follow the tracks of and identification mission.
3. the miniature autonomous submersible of one according to claim 1, is characterized in that, described vision module (4) is made up of monopod video camera, wave beam sonar and high-performance embedded computing machine; Submersible front and rear is all provided with monopod video camera and wave beam sonar, and wave beam sonar is surveyed sunken danger or target, and pick up camera obtains submarine target image, and high-performance embedded computing machine efficiently completes detection, follows the tracks of and identification target calculation task.
4. the miniature autonomous submersible of one according to claim 1, it is characterized in that, described propulsion die (5) comprises independently four pieces of rotating electric propeller propelling units, every piece of angle of rake direction of propulsion is by a step motor control, four pieces of propelling units are symmetrically distributed in submersible both sides, realize by controlling angle of rake rotating, rotative speed and direction of propulsion that submersible hovers under water and the motion of any direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410253181.9A CN104002942A (en) | 2014-06-09 | 2014-06-09 | Micro autonomous submersible |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410253181.9A CN104002942A (en) | 2014-06-09 | 2014-06-09 | Micro autonomous submersible |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104002942A true CN104002942A (en) | 2014-08-27 |
Family
ID=51363907
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410253181.9A Pending CN104002942A (en) | 2014-06-09 | 2014-06-09 | Micro autonomous submersible |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104002942A (en) |
Cited By (44)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104210629A (en) * | 2014-09-28 | 2014-12-17 | 江苏华宏实业集团有限公司 | Underwater barrier block avoiding method |
| CN104267643A (en) * | 2014-09-27 | 2015-01-07 | 江苏华宏实业集团有限公司 | Target positioning recognition system of underwater robot |
| CN104527952A (en) * | 2014-12-23 | 2015-04-22 | 浙江大学 | Minitype autonomous underwater vehicle |
| CN104574824A (en) * | 2014-12-19 | 2015-04-29 | 苏州汉克山姆照明科技有限公司 | Underwater searchlight with warning device |
| CN104554677A (en) * | 2014-12-31 | 2015-04-29 | 青岛海山海洋装备有限公司 | Stable diving device and method and underground unmanned underwater vehicle comprising stable driving device |
| CN104773273A (en) * | 2015-04-13 | 2015-07-15 | 郭道育 | Deep falling prevention method for submersible |
| CN104777845A (en) * | 2015-04-15 | 2015-07-15 | 上海海事大学 | Underwater main body device of underwater robot and autonomous obstacle avoidance method |
| CN104898594A (en) * | 2015-04-02 | 2015-09-09 | 山东省科学院海洋仪器仪表研究所 | Communication device and communication method for underwater robot group cooperative control |
| CN104960651A (en) * | 2015-07-16 | 2015-10-07 | 安徽科微智能科技有限公司 | Underwater exploring robot with function of autonomous navigation |
| CN105070104A (en) * | 2015-08-04 | 2015-11-18 | 李小春 | Data communication based ship underwater submerged rock avoiding method |
| CN105129057A (en) * | 2015-08-04 | 2015-12-09 | 李勇妹 | Submerged reef avoid method using dual-image filtering |
| CN105129058A (en) * | 2015-08-04 | 2015-12-09 | 李勇妹 | Submerged reef avoid system using dual-image filtering |
| CN105151255A (en) * | 2015-10-25 | 2015-12-16 | 宁波市鄞州发辉机械科技有限公司 | Underwater monitoring system |
| CN105235841A (en) * | 2015-10-25 | 2016-01-13 | 宁波市鄞州发辉机械科技有限公司 | High-maneuverability submersible |
| CN105346695A (en) * | 2015-11-20 | 2016-02-24 | 浙江大学 | Quad-rotor mini-type underwater vehicle |
| CN105501418A (en) * | 2015-12-22 | 2016-04-20 | 极翼机器人(上海)有限公司 | Novel diving device |
| CN105799891A (en) * | 2016-04-28 | 2016-07-27 | 无锡觅睿恪科技有限公司 | Underground unmanned vehicle |
| CN105857552A (en) * | 2016-03-18 | 2016-08-17 | 浙江三力士智能装备制造有限公司 | Novel autonomous underwater vehicle |
| CN105856995A (en) * | 2016-04-08 | 2016-08-17 | 吉林大学 | Duct type low-diving aircraft |
| CN106005321A (en) * | 2016-07-05 | 2016-10-12 | 杭州畅动智能科技有限公司 | Biomimetic robotic fish and fish-head floating and sinking control method |
| CN106124002A (en) * | 2016-08-30 | 2016-11-16 | 武汉翌鑫电气有限责任公司 | Water level sensing system based on wireless transmission means |
| CN106272469A (en) * | 2016-09-18 | 2017-01-04 | 河海大学常州校区 | Investigation positioning robot and method of work, control system under water |
| CN106568480A (en) * | 2016-11-07 | 2017-04-19 | 叶伟才 | Anti-loss seawater environment monitor |
| CN106672182A (en) * | 2016-10-28 | 2017-05-17 | 湖南科技大学 | Underwater submerged plate |
| EP3226095A1 (en) * | 2016-03-31 | 2017-10-04 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | System and method of navigation of an autonomously navigated submersible vehicle at entering a catch station |
| CN107264752A (en) * | 2017-06-23 | 2017-10-20 | 上海交通大学 | A kind of quadruple screw propeller promote without rudder autonomous underwater vehicle under water |
| CN107329470A (en) * | 2017-06-07 | 2017-11-07 | 北京臻迪科技股份有限公司 | A kind of control method for the robot that paddles, device and the robot that paddles |
| CN107728627A (en) * | 2017-10-13 | 2018-02-23 | 中国船舶重工集团公司七五0试验场 | Underwater robot makes a return voyage control method, computer and storage medium |
| CN108120429A (en) * | 2016-11-30 | 2018-06-05 | 中国科学院沈阳自动化研究所 | A kind of autonomous underwater robot pinpoints profile measurement method for a long time |
| CN108332058A (en) * | 2017-01-19 | 2018-07-27 | 常熟海量声学设备科技有限公司 | A kind of autonomy remote-controlled vehicle submarine pipeline detecting and tracking device |
| CN108345332A (en) * | 2018-01-31 | 2018-07-31 | 上海彩虹鱼深海装备科技有限公司 | A kind of deep-sea picture charge pattern acquisition system, method and device |
| CN108674614A (en) * | 2018-05-27 | 2018-10-19 | 张军 | A kind of quadruple screw propeller submarine navigation device and its control method |
| CN109229311A (en) * | 2018-09-14 | 2019-01-18 | 中船（浙江）海洋科技有限公司 | The novel bionical devil ray underwater robot of push structure |
| CN109240286A (en) * | 2018-08-31 | 2019-01-18 | 杭州电子科技大学 | Underwater robot intelligent self-rescue method, electronic equipment and system |
| CN109515651A (en) * | 2018-11-12 | 2019-03-26 | 西安交通大学 | A kind of modularization underwater robot based on integrated form vector propeller |
| CN110053743A (en) * | 2019-04-27 | 2019-07-26 | 扆亮海 | A kind of remote-controlled robot for accurately measuring under water |
| WO2019184662A1 (en) * | 2018-03-26 | 2019-10-03 | 中国海洋大学 | Deformable underwater vehicle based on buoyancy driving and shaftless vector propulsion and operating method thereof |
| CN110488847A (en) * | 2019-08-09 | 2019-11-22 | 中国科学院自动化研究所 | The bionic underwater robot Hovering control mthods, systems and devices of visual servo |
| CN110816795A (en) * | 2019-11-29 | 2020-02-21 | 吉林大学 | Unmanned submersible operated by multiple degrees of freedom |
| CN111263044A (en) * | 2020-02-19 | 2020-06-09 | 南京信息工程大学 | Underwater shooting and image processing device and method |
| CN112243194A (en) * | 2020-10-13 | 2021-01-19 | 上海正阳电子有限公司 | Self-dive type mobile sensor device, control method, computer device, and storage medium |
| CN113405957A (en) * | 2021-05-31 | 2021-09-17 | 清华大学深圳国际研究生院 | Water body suspended particulate matter observation system based on movable platform |
| RU212707U1 (en) * | 2022-04-26 | 2022-08-03 | Федеральное государственное бюджетное образовательное учреждение высшего образования "Казанский национальный исследовательский технический университет им. А.Н. Туполева - КАИ" | Small-sized remote-controlled uninhabited underwater vehicle made of composite materials |
| WO2022246504A1 (en) * | 2021-05-25 | 2022-12-01 | UAM Tec Pty Ltd | An underwater probe or submersible |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070283871A1 (en) * | 2004-11-23 | 2007-12-13 | Millum Collin G | Underwater remotely operated vehicle |
| CN101797968A (en) * | 2010-03-29 | 2010-08-11 | 哈尔滨工程大学 | Open-shelf underwater detecting robot mechanism |
| CN102495420A (en) * | 2011-12-13 | 2012-06-13 | 大连海事大学 | Underwater object precision positioning system and method |
| CN103287557A (en) * | 2013-05-31 | 2013-09-11 | 深圳市优必选科技有限公司 | Novel underwater robot movement control device |
-
2014
- 2014-06-09 CN CN201410253181.9A patent/CN104002942A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070283871A1 (en) * | 2004-11-23 | 2007-12-13 | Millum Collin G | Underwater remotely operated vehicle |
| CN101797968A (en) * | 2010-03-29 | 2010-08-11 | 哈尔滨工程大学 | Open-shelf underwater detecting robot mechanism |
| CN102495420A (en) * | 2011-12-13 | 2012-06-13 | 大连海事大学 | Underwater object precision positioning system and method |
| CN103287557A (en) * | 2013-05-31 | 2013-09-11 | 深圳市优必选科技有限公司 | Novel underwater robot movement control device |
Non-Patent Citations (3)
| Title |
|---|
| 孙玉山等: "潜水器导航技术研究现状与展望", 《机器人技术与应用》 * |
| 李岳明: "多功能自主式水下机器人运动控制研究", 《中国博士学位论文全文数据库（电子期刊）工程科技Ⅱ辑》 * |
| 蒋新松: "《水下机器人》", 30 November 2000, 辽宁科学技术出版社 * |
Cited By (55)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104267643A (en) * | 2014-09-27 | 2015-01-07 | 江苏华宏实业集团有限公司 | Target positioning recognition system of underwater robot |
| CN104267643B (en) * | 2014-09-27 | 2016-08-31 | 江苏华宏实业集团有限公司 | Underwater robot target positioning identification system |
| CN104210629A (en) * | 2014-09-28 | 2014-12-17 | 江苏华宏实业集团有限公司 | Underwater barrier block avoiding method |
| CN104574824A (en) * | 2014-12-19 | 2015-04-29 | 苏州汉克山姆照明科技有限公司 | Underwater searchlight with warning device |
| CN104527952A (en) * | 2014-12-23 | 2015-04-22 | 浙江大学 | Minitype autonomous underwater vehicle |
| CN104554677A (en) * | 2014-12-31 | 2015-04-29 | 青岛海山海洋装备有限公司 | Stable diving device and method and underground unmanned underwater vehicle comprising stable driving device |
| CN104898594B (en) * | 2015-04-02 | 2018-03-13 | 山东省科学院海洋仪器仪表研究所 | A kind of communicator and method for underwater crowd's Collaborative Control |
| CN104898594A (en) * | 2015-04-02 | 2015-09-09 | 山东省科学院海洋仪器仪表研究所 | Communication device and communication method for underwater robot group cooperative control |
| CN104773273A (en) * | 2015-04-13 | 2015-07-15 | 郭道育 | Deep falling prevention method for submersible |
| CN104777845A (en) * | 2015-04-15 | 2015-07-15 | 上海海事大学 | Underwater main body device of underwater robot and autonomous obstacle avoidance method |
| CN104777845B (en) * | 2015-04-15 | 2018-04-03 | 上海海事大学 | The underwater body apparatus and automatic obstacle avoiding method of underwater robot |
| CN104960651A (en) * | 2015-07-16 | 2015-10-07 | 安徽科微智能科技有限公司 | Underwater exploring robot with function of autonomous navigation |
| CN105129057A (en) * | 2015-08-04 | 2015-12-09 | 李勇妹 | Submerged reef avoid method using dual-image filtering |
| CN105129058A (en) * | 2015-08-04 | 2015-12-09 | 李勇妹 | Submerged reef avoid system using dual-image filtering |
| CN105070104A (en) * | 2015-08-04 | 2015-11-18 | 李小春 | Data communication based ship underwater submerged rock avoiding method |
| CN105235841B (en) * | 2015-10-25 | 2017-06-20 | 宁波市鄞州发辉机械科技有限公司 | A kind of high maneuverability submersible |
| CN105151255A (en) * | 2015-10-25 | 2015-12-16 | 宁波市鄞州发辉机械科技有限公司 | Underwater monitoring system |
| CN105235841A (en) * | 2015-10-25 | 2016-01-13 | 宁波市鄞州发辉机械科技有限公司 | High-maneuverability submersible |
| CN105151255B (en) * | 2015-10-25 | 2017-06-20 | 宁波市鄞州发辉机械科技有限公司 | A kind of underwater monitoring system |
| CN105346695A (en) * | 2015-11-20 | 2016-02-24 | 浙江大学 | Quad-rotor mini-type underwater vehicle |
| CN105501418A (en) * | 2015-12-22 | 2016-04-20 | 极翼机器人(上海)有限公司 | Novel diving device |
| CN105501418B (en) * | 2015-12-22 | 2017-09-01 | 极翼机器人(上海)有限公司 | A kind of diving outfit |
| CN105857552A (en) * | 2016-03-18 | 2016-08-17 | 浙江三力士智能装备制造有限公司 | Novel autonomous underwater vehicle |
| EP3226095A1 (en) * | 2016-03-31 | 2017-10-04 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | System and method of navigation of an autonomously navigated submersible vehicle at entering a catch station |
| WO2017167913A1 (en) * | 2016-03-31 | 2017-10-05 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | System and method for navigating a self-navigating submersible when entering a holding station |
| US10942526B2 (en) | 2016-03-31 | 2021-03-09 | Fraunhofer-Gesellschaft Zur Foerderung Der Angewandten Forschung E.V. | System for navigation of an autonomously navigating submersible body during entry into a docking station, method |
| CN105856995A (en) * | 2016-04-08 | 2016-08-17 | 吉林大学 | Duct type low-diving aircraft |
| CN105799891A (en) * | 2016-04-28 | 2016-07-27 | 无锡觅睿恪科技有限公司 | Underground unmanned vehicle |
| CN106005321B (en) * | 2016-07-05 | 2018-07-24 | 杭州畅动智能科技有限公司 | Bionic machine fish and fish head float and sinking control method |
| CN106005321A (en) * | 2016-07-05 | 2016-10-12 | 杭州畅动智能科技有限公司 | Biomimetic robotic fish and fish-head floating and sinking control method |
| CN106124002A (en) * | 2016-08-30 | 2016-11-16 | 武汉翌鑫电气有限责任公司 | Water level sensing system based on wireless transmission means |
| CN106272469B (en) * | 2016-09-18 | 2018-10-23 | 河海大学常州校区 | Underwater investigation positioning robot and working method, control system |
| CN106272469A (en) * | 2016-09-18 | 2017-01-04 | 河海大学常州校区 | Investigation positioning robot and method of work, control system under water |
| CN106672182A (en) * | 2016-10-28 | 2017-05-17 | 湖南科技大学 | Underwater submerged plate |
| CN106568480A (en) * | 2016-11-07 | 2017-04-19 | 叶伟才 | Anti-loss seawater environment monitor |
| CN108120429A (en) * | 2016-11-30 | 2018-06-05 | 中国科学院沈阳自动化研究所 | A kind of autonomous underwater robot pinpoints profile measurement method for a long time |
| CN108332058A (en) * | 2017-01-19 | 2018-07-27 | 常熟海量声学设备科技有限公司 | A kind of autonomy remote-controlled vehicle submarine pipeline detecting and tracking device |
| CN107329470A (en) * | 2017-06-07 | 2017-11-07 | 北京臻迪科技股份有限公司 | A kind of control method for the robot that paddles, device and the robot that paddles |
| CN107264752A (en) * | 2017-06-23 | 2017-10-20 | 上海交通大学 | A kind of quadruple screw propeller promote without rudder autonomous underwater vehicle under water |
| CN107728627A (en) * | 2017-10-13 | 2018-02-23 | 中国船舶重工集团公司七五0试验场 | Underwater robot makes a return voyage control method, computer and storage medium |
| CN108345332A (en) * | 2018-01-31 | 2018-07-31 | 上海彩虹鱼深海装备科技有限公司 | A kind of deep-sea picture charge pattern acquisition system, method and device |
| WO2019184662A1 (en) * | 2018-03-26 | 2019-10-03 | 中国海洋大学 | Deformable underwater vehicle based on buoyancy driving and shaftless vector propulsion and operating method thereof |
| CN108674614A (en) * | 2018-05-27 | 2018-10-19 | 张军 | A kind of quadruple screw propeller submarine navigation device and its control method |
| WO2019228235A1 (en) * | 2018-05-27 | 2019-12-05 | Zhang Yijun | Underwater vessel having four propellers and control method thereof |
| CN109240286A (en) * | 2018-08-31 | 2019-01-18 | 杭州电子科技大学 | Underwater robot intelligent self-rescue method, electronic equipment and system |
| CN109229311A (en) * | 2018-09-14 | 2019-01-18 | 中船（浙江）海洋科技有限公司 | The novel bionical devil ray underwater robot of push structure |
| CN109515651A (en) * | 2018-11-12 | 2019-03-26 | 西安交通大学 | A kind of modularization underwater robot based on integrated form vector propeller |
| CN110053743A (en) * | 2019-04-27 | 2019-07-26 | 扆亮海 | A kind of remote-controlled robot for accurately measuring under water |
| CN110488847A (en) * | 2019-08-09 | 2019-11-22 | 中国科学院自动化研究所 | The bionic underwater robot Hovering control mthods, systems and devices of visual servo |
| CN110816795A (en) * | 2019-11-29 | 2020-02-21 | 吉林大学 | Unmanned submersible operated by multiple degrees of freedom |
| CN111263044A (en) * | 2020-02-19 | 2020-06-09 | 南京信息工程大学 | Underwater shooting and image processing device and method |
| CN112243194A (en) * | 2020-10-13 | 2021-01-19 | 上海正阳电子有限公司 | Self-dive type mobile sensor device, control method, computer device, and storage medium |
| WO2022246504A1 (en) * | 2021-05-25 | 2022-12-01 | UAM Tec Pty Ltd | An underwater probe or submersible |
| CN113405957A (en) * | 2021-05-31 | 2021-09-17 | 清华大学深圳国际研究生院 | Water body suspended particulate matter observation system based on movable platform |
| RU212707U1 (en) * | 2022-04-26 | 2022-08-03 | Федеральное государственное бюджетное образовательное учреждение высшего образования "Казанский национальный исследовательский технический университет им. А.Н. Туполева - КАИ" | Small-sized remote-controlled uninhabited underwater vehicle made of composite materials |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104002942A (en) | Micro autonomous submersible | |
| EP3271240B1 (en) | Communications among water environment mobile robots | |
| Ryuh et al. | A school of robotic fish for mariculture monitoring in the sea coast | |
| CN106114095B (en) | A kind of amphibious sniffing robot | |
| CN104142688A (en) | Underwater robot platform | |
| CN108312151B (en) | Drift detection underwater robot device and control method | |
| Carreras et al. | Sparus II, design of a lightweight hovering AUV | |
| Maki et al. | Docking method for hovering type AUVs by acoustic and visual positioning | |
| CN109324629A (en) | In the air, the water surface and underwater dwell aircraft and its control method more | |
| Martins et al. | UX 1 system design-A robotic system for underwater mining exploration | |
| CN109131801A (en) | The voluntary recall device and control method of the complete deep unmanned submersible in sea | |
| CN109144105A (en) | A kind of hull bottom intelligence underwater cleaning robot, control system and control method | |
| CN111452939A (en) | Autonomous line-inspection underwater helicopter for diversion tunnel detection | |
| Jain et al. | A review paper on: autonomous underwater vehicle | |
| CN104527952A (en) | Minitype autonomous underwater vehicle | |
| Jung et al. | A study on unmanned surface vehicle combined with remotely operated vehicle system | |
| Huixi et al. | Heterogeneous oceanographic exploration system based on USV and AUV: A survey of developments and challenges | |
| CN201872911U (en) | Near-surface automatic mobile monitoring station | |
| CN109240315A (en) | A kind of underwater automatic obstacle avoiding system and underwater barrier-avoiding method | |
| Stone et al. | Design and deployment of a four-degrees-of-freedom hovering autonomous underwater vehicle for sub-ice exploration and mapping | |
| Aissi et al. | Autonomous solar USV with an automated launch and recovery system for UAV: State of the art and Design | |
| CN101854390A (en) | Movable underwater observation network analog platform | |
| Maki et al. | AUV Tri-TON—A hover-capable platform for 3D visualization of complicated surfaces | |
| Shin et al. | Fish robots for water pollution monitoring using ubiquitous sensor networks with sonar localization | |
| CN113335480A (en) | Intelligent underwater robot with umbilical cable based on Beidou positioning |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20140827 |