CN104678932A - Device and method for indicating water level and controlling emergency safety of submersible device - Google Patents
Device and method for indicating water level and controlling emergency safety of submersible device Download PDFInfo
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- CN104678932A CN104678932A CN201310640121.8A CN201310640121A CN104678932A CN 104678932 A CN104678932 A CN 104678932A CN 201310640121 A CN201310640121 A CN 201310640121A CN 104678932 A CN104678932 A CN 104678932A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25314—Modular structure, modules
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention relates to the field of submersible device water level indicating communication and emergency safety guarantee, in particular to a device and a method for indicating water level and controlling emergency safety of a submersible device. The device comprises a water level positioning communication and emergency safety management module, a stroboscope lamp module, a radio communication module, an emergency load rejection flotation execution control module, an emergency energy source supply module, a satellite communication module and a pressure switch module, wherein the water level positioning communication and emergency safety management module is respectively connected to the above modules and is connected to an automatic pilot; the satellite communication module is connected to the water level positioning communication and emergency safety management module; a GPS (Global Positioning System) receiving module is connected to the satellite communication module and is used for receiving satellite positioning position information. According to the device and the method, the light indication, physical position indication, short-distance communication, global satellite communication and emergency safety control on the submersible device are implemented by the coordinated management of all the function modules; the device and the method are higher in value of application to various submersible devices, especially autonomous submersible devices.
Description
Technical field
The present invention relates to a kind of underwater vehicle water surface and show a communication and emergent field of security guarantee, specifically a kind of underwater vehicle water surface shows position and emergent safety control and method.
Background technology
Due to the active demand that exploitation and the marine environment of ocean resources are explored, make diving under water device correlation technique obtain fast development, and how to ensure that the safety of underwater vehicle is particularly important especially.
Because various underwater vehicle is especially from principal mode underwater vehicle finished voyage or because of a fault throwing year upper floatation surface, very difficult discovery underwater vehicle in boundless sea, and marine natural environmental condition is complicated and changeable, and underwater vehicle drifts with the tide at the water surface, floating indefinite.Reclaim if find not in time, very easily cause losing.Fail for a certain reason in addition to realize throwing to carry action, cause underwater vehicle to be lost, even floating water surface bank base or lash ship are not known yet, can cause the loss of underwater vehicle yet.
The current diving under water device water surface shows that position and communication and security control are also in development period, therefore quick position, search after floatation surface on underwater vehicle are found, timely recovery underwater vehicle proposes requirements at the higher level, underwater vehicle fault performs Emergency Device action and floats also can realize throwing carrying under ensureing underwater vehicle and nonserviceabling in addition, at utmost ensures the safety of underwater vehicle.
Summary of the invention
For the problems referred to above, the present invention is to solve the laggard row of floatation surface shows that a communication comprises light, positional information on underwater vehicle, passback underwater vehicle status information etc., the technical matters such as floatation surface and emergency process floating in reliable, the safety simultaneously ensureing underwater vehicle.Light shows position process, physical location shows that position processes, short-distance wireless Communication processing, Global Satellite Communication processing to the object of the present invention is to provide one to realize, and realizes underwater vehicle and to meet an urgent need security control process equal controller and method.
The technical scheme that the present invention is adopted for achieving the above object is:
A kind of underwater vehicle water surface shows position and emergent safety control, comprise stroboscopic lamp module 1, radiocommunication module 4, the execution of Emergency Device floating control module 6, Emergency power source supplying module 7 and pressure switch module 8, water surface orientation and communication is connected with above-mentioned module respectively with emergent safety management module 5, and be connected to robot pilot, satellite communication module 3 is connected to water surface orientation and communication and emergent safety management module 5, GPS receiver module 2 is connected to satellite communication module 3, for receiving satellite positioning location information.
Described water surface orientation and communication and emergent safety management module 5 comprise embedded microprocessor 9 and are connected to robot pilot by CAN communication control circuit 11, for the treatment of the control signal that robot pilot sends;
Embedded microprocessor 9 is connected to satellite communication module 3 and radiocommunication module 4 by power drive control circuit 13, realizes satellite communication module 3 and the control of radiocommunication module 4 power switch;
Embedded microprocessor 9 is connected to satellite communication module 3 and radiocommunication module 4 by serial communication control circuit 14, realizes data communication;
Embedded microprocessor 9 is connected to Emergency Device floating by emergency flight control output circuit 15 and performs control module 6, realizes Emergency Device action;
Embedded microprocessor 9 is connected to stroboscopic lamp module 1 by stroboscopic lamp module for power supply Drive and Control Circuit 16, drives and power supply for stroboscopic lamp module 1 stroboscopic;
Embedded microprocessor 9 connection status detects and signal input testing circuit 17, for detecting the state of underwater robot.
Described stroboscopic lamp module 1 is light emitting diode is sealed in the device in high strength watertight pressure-resistant translucent cover;
Described Emergency power source supplying module 7 connects power switching circuit 10 and power converting circuit 12 in turn, and embedded microprocessor 9, and water supply face orientation and communication and emergent safety management module 5 are powered.
Described Emergency Device floats and performs the control module of control module 6 by multiple-pole switch tandem compound.
Described satellite communication module 3 comprises satellite communication device and control circuit.
Described control circuit comprises serial communication interface circuit and drives feed circuit, and serial communication interface circuit connects GPS receiver module 2, receives the locator data that GPS receiver module 2 receives.
A kind of underwater vehicle water surface shows position and emergent method of controlling security, and water surface orientation and communication and emergent safety management module 5 resolve CAN data, and carry out message exchange with robot pilot;
If under robot pilot is operated in mission operational configuration, then water surface orientation and communication and emergent safety management module 5 carry out data communication, under judging whether robot pilot is operated in normal mission operational configuration with robot pilot;
If under robot pilot is operated in normal mission operational configuration, then the water surface shows that position and emergent safety control internal unit are by robot pilot instruction control operation, monitor the duty of robot pilot and the self-inspection work of in-house facility simultaneously, judge whether to break down;
If do not have fault to occur, then according to robot pilot instruction control operation.
If robot pilot is not mission sail mode, then starts and firmly examine pattern, water surface orientation and communication operates controlling to perform corresponding hard inspection according to robot pilot instruction to emergent safety management module 5.
During the improper mission duty of robot pilot, water surface orientation and communication and emergent safety management module 5 are by emergent for execution safe mode.
Described emergent safe mode comprises following process:
Monitoring pressure in real time on off state, if pressure switch state is for opening, then robot pilot is at the water surface, perform emergent safety throw carry action after then open stroboscopic lamp module 1 and carry out light and show position, open satellite communication module 3 to carry out satellite and show position and communication, open radiocommunication module 4 and carry out wirelessly giving instructions by telegraph position and communication;
If pressure switch state is closed, then robot pilot under water, and perform safety of meeting an urgent need and throw a year action, all devices keeps mourning in silence, and wait floats up to the water surface.
Open satellite communication module 3 to carry out satellite and show that position and communication comprise the following steps:
The locator data that satellite communication module 3 is received by serial communication reception GPS receiver module 2, after carrying out process parsing within a processor, bank base receiving end is given by locating information on the one hand by satellite communication device, give water surface orientation and communication and emergent safety management module 5 on the one hand, simultaneously according to the information that instruction forwarding water surface orientation and communication and emergent safety management module 5 are brought.
Described radiocommunication module 4 of opening carries out wirelessly giving instructions by telegraph position and communication comprises following process:
Radiocommunication module 4 sends underwater robot status information, navigator fix information and the GPS locating information that water surface orientation and communication and emergent safety management module 5 are brought.
Start emergent safe condition failure or robot pilot power failure time, water surface orientation and communication and emergent safety management module 5 are powered by Emergency power source supplying module 7, perform control module 6 to stroboscopic lamp module 1, satellite communication module 3, radiocommunication module 4, Emergency Device floating simultaneously and power.
The present invention has following beneficial effect and advantage:
1. structure of the present invention is simple, volume is little, lightweight, the inner integrated battery group energy, cruising time is long, for whole device provides energy source and power.Can work alone completely, simultaneously can carry out exchanges data with underwater vehicle again and monitor underwater vehicle navigating by water main control system, can embed and be installed in various types of underwater vehicle.
2. the invention provides that light shows position, physical location shows position, short-distance wireless communication, Global Satellite communication and realize underwater vehicle and to meet an urgent need security control process etc., powerful, meet and all at present the functional requirements such as position, communication, security control are shown to underwater vehicle, source calibration function can also be provided for underwater vehicle.
3. the present invention ensures the safety of underwater vehicle to the full extent, reduces possible loss.
4. each functional module integrated installation of the present invention is in a water-stop cabin, can meet the underwater vehicle application demand of different depth.
Accompanying drawing explanation
Fig. 1 is overall construction drawing of the present invention;
Fig. 2 is water surface orientation and communication of the present invention and emergent safety management module cut-away view;
Fig. 3 is logical flow chart of the present invention;
Fig. 4 is emergency processing workflow diagram of the present invention.
Embodiment
Below in conjunction with drawings and Examples, the present invention is described in further detail.
As shown in Figure 1, be overall construction drawing of the present invention.
Stroboscopic lamp module 1, GPS receiver module 2, satellite communication module 3, radiocommunication module 4, water surface orientation and communication and emergent safety management module 5, Emergency Device floats and performs control 6, Emergency power source supplying module 7 and pressure switch 8.
Stroboscopic lamp module 1 show position and with water surface orientation and communication and emergent safety management module 5 connection control.
GPS receiver module 2 and satellite communication module 3 connection control and data exchange processing.
The global communication of satellite communication module 3 and with water surface orientation and communication and emergent safety management module 5 connection control and data exchange processing.
The wireless telecommunications of radiocommunication module 4 and with water surface orientation and communication and emergent safety management module 5 connection control and data exchange processing.
Emergency Device float perform control 6 perform emergent security controlling actions and with water surface orientation and communication and emergent safety management module 5 connection control and a series of Logic judgment process.
Emergency power source supplying module 7 is connected with emergent safety management module 5 with water surface orientation and communication.
Pressure switch 8 and water surface orientation and communication are connected with emergent safety management module 5 and Logic judgment process.
Be illustrated in figure 2 the water surface orientation and communication of invention and emergent safety management module cut-away view.
Water surface orientation and communication and emergent safety management module 5 comprise embedded microprocessor 9 and are connected to robot pilot by CAN communication control circuit 11, for the treatment of the control signal that robot pilot sends;
Embedded microprocessor 9 is connected to satellite communication module 3 and radiocommunication module 4 by power drive control circuit 13, realizes satellite communication module 3 and the control of radiocommunication module 4 power switch;
Embedded microprocessor 9 is connected to satellite communication module 3 and radiocommunication module 4 by serial communication control circuit 14, realizes data communication;
Embedded microprocessor 9 is connected to Emergency Device floating by emergency flight control output circuit 15 and performs control module 6, realizes Emergency Device action;
Embedded microprocessor 9 is connected to stroboscopic lamp module 1 by stroboscopic lamp module for power supply Drive and Control Circuit 16, drives and power supply for stroboscopic lamp module 1 stroboscopic;
Embedded microprocessor 9 connection status detects and signal input testing circuit 17, for detecting the state of underwater robot.
Adopt embedded microprocessor, each functional module of coordinated management, realize light and show that position processes, physical location shows that position processes, short-distance wireless Communication processing, Global Satellite Communication processing, merge various data and carry out overall treatment, computing, decision-making etc.Realize simultaneously underwater vehicle meet an urgent need security control process and with the navigation communication of main control system and data exchange processing.
Satellite communication device comprises mobile-satellite (iridium satellite) communication module, Big Dipper communication module, Globalstar (Globalstar) communication module;
Control circuit adopts embedded microprocessor design, integrated serial communication interface circuit and give GPS receiver module 2, satellite communication device feed circuit, the locator data that serial communication interface GPS receiver module 2 receives, after carrying out process parsing within a processor, bank base receiving end is given by locating information on the one hand by satellite communication device, give water surface orientation and communication and emergent safety management module 5 on the one hand, according to instruction, the information that water surface orientation and communication and emergent safety management module 5 send over is sent by satellite communication device simultaneously;
When the normal mission work of robot pilot or hardware check, water surface orientation and communication and emergent safety management module 5 receive robot pilot steering order, and monitor autopilot operation and self-inspection work, water surface orientation and communication and emergent safety management module 5 resolve robot pilot steering order simultaneously, and perform corresponding action according to instruction.When the improper mission of robot pilot works, water surface orientation and communication and emergent safety management module 5 are floated by Emergency Device and perform control module 6 and control to export emergent safety and throws a year action, then judge whether at the water surface by pressure switch 8, if under water (depth of water less than 3 meters), keep silent status; If perform after emergent safety throws and carry action at the water surface, open stroboscopic lamp module 1 and carry out light and show position, open satellite communication mould 3 and carry out satellite and show position and communication, open radiocommunication module 4 and carry out wirelessly giving instructions by telegraph position and communication.
When the normal mission of robot pilot works, water surface orientation and communication and emergent safety management module 5 carry out exchanges data with robot pilot, monitor the self-inspection of autopilot operation and in-house facility simultaneously.
When the improper mission work of robot pilot or fault, water surface orientation and communication and emergent safety management module 5 perform emergent safe mode, control to export emergent throwing safely carry an action by Emergency Device floating execution control module 6 multiple-pole switch combinative movement.
The locator data that satellite communication module 3 is received by serial communication reception GPS receiver module 2, after carrying out process parsing within a processor, bank base receiving end is given by locating information on the one hand by satellite communication device, give water surface orientation and communication and emergent safety management module 5 on the one hand, simultaneously according to the information that instruction forwarding water surface orientation and communication and emergent safety management module 5 are brought.
Radiocommunication module 4 sends underwater robot status information, navigator fix information and the GPS locating information that water surface orientation and communication and emergent safety management module 5 are brought.
Water surface orientation and communication and emergent safety management module 5 are to the control and management of each functional module, data processing, state-detection and Logic judgment process etc.
Enter emergency rating or robot pilot power failure time, water surface orientation and communication and emergent safety management module 5 are powered by Emergency power source supplying module 7, perform control module 6 to stroboscopic lamp module 1, satellite communication module 3, radiocommunication module 4, Emergency Device floating simultaneously and power.
Be illustrated in figure 3 logical flow chart of the present invention.
CAN data resolved by robot pilot, and carry out message exchange with main frame;
If under robot pilot is operated in mission operational configuration, then water surface orientation and communication and emergent safety management module 5 carry out data communication, under judging whether robot pilot is operated in normal mission operational configuration with robot pilot;
If under robot pilot is operated in normal mission operational configuration, then the water surface shows that position and emergent safety control internal unit are by robot pilot instruction control operation, monitor the duty of robot pilot and the self-inspection work of in-house facility simultaneously, judge whether to break down;
If do not have fault to occur, then perform Host Control Command.
If robot pilot is not mission sail mode, then starts and firmly examine pattern, water surface orientation and communication operates controlling to perform corresponding hard inspection according to robot pilot instruction to emergent safety management module 5.
When the improper mission work of robot pilot or fault, water surface orientation and communication and emergent safety management module 5 are by emergent for execution safe mode.
Be illustrated in figure 4 emergency processing workflow diagram of the present invention.
Emergent safe mode comprises following process:
Monitoring pressure in real time on off state, if pressure switch state is for opening, then robot pilot is at the water surface, perform emergent safety throw carry action after then open stroboscopic lamp module 1 and carry out light and show position, open satellite communication module 3 to carry out satellite and show position and communication, open radiocommunication module 4 and carry out wirelessly giving instructions by telegraph position and communication;
If pressure switch state is closed, then robot pilot under water, and perform safety of meeting an urgent need and throw a year action, all devices keeps mourning in silence, and wait floats up to the water surface.
Open satellite communication module 3 to carry out satellite and show that position and communication comprise the following steps:
The locator data that satellite communication module 3 is received by serial communication reception GPS receiver module 2, after carrying out process parsing within a processor, bank base receiving end is given by locating information on the one hand by satellite communication device, give water surface orientation and communication and emergent safety management module 5 on the one hand, simultaneously according to the information that instruction forwarding water surface orientation and communication and emergent safety management module 5 are brought.
Described radiocommunication module 4 of opening carries out wirelessly giving instructions by telegraph position and communication comprises following process:
Radiocommunication module 4 sends underwater robot status information, navigator fix information and the GPS locating information that water surface orientation and communication and emergent safety management module 5 are brought.
Start emergent safe condition failure or robot pilot power failure time, water surface orientation and communication and emergent safety management module 5 are powered by Emergency power source supplying module 7, perform control module 6 to stroboscopic lamp module 1, satellite communication module 3, radiocommunication module 4, Emergency Device floating simultaneously and power.
A kind of water surface that the present invention is exactly comprehensive various factors and invents shows position and emergent safety control and method, employing embedded development designs, each functional module of coordinated management, realize light and show that position processes, physical location shows that position processes, short distance communication process, Global Satellite Communication processing, realize underwater vehicle to meet an urgent need security control process etc., merge various data and carry out overall treatment, computing, decision-making etc.Especially prior using value is had from principal mode diving instruments for various underwater vehicle.
Claims (10)
1. a underwater vehicle water surface shows position and emergent safety control, comprise water surface orientation and communication and emergent safety management module (5) stroboscopic lamp module (1), radiocommunication module (4), Emergency Device to float and perform control module (6), Emergency power source supplying module (7), satellite communication module (3) and pressure switch module (8), it is characterized in that: water surface orientation and communication is connected with above-mentioned module respectively with emergent safety management module (5), and is connected to robot pilot.Satellite communication module (3) is connected to water surface orientation and communication and emergent safety management module (5), and GPS receiver module (2) is connected to satellite communication module (3), for receiving satellite positioning location information.
2. the underwater vehicle water surface according to claim 1 shows position and emergent safety control, it is characterized in that:
Described water surface orientation and communication and emergent safety management module (5) comprise embedded microprocessor (9) and are connected to robot pilot by CAN communication control circuit (11), for the treatment of the control signal that robot pilot sends;
Embedded microprocessor (9) is connected to satellite communication module (3) and radiocommunication module (4) by power drive control circuit (13), realizes satellite communication module (3) and the control of radiocommunication module (4) power switch;
Embedded microprocessor (9) is connected to satellite communication module (3) and radiocommunication module (4) by serial communication control circuit (14), realizes data communication;
Embedded microprocessor (9) is connected to Emergency Device floating by emergency flight control output circuit (15) and performs control module (6), realizes Emergency Device action;
Embedded microprocessor (9) is connected to stroboscopic lamp module (1) by stroboscopic lamp module for power supply Drive and Control Circuit (16), drives and power supply for stroboscopic lamp module (1) stroboscopic;
Embedded microprocessor (9) connection status detects and signal input testing circuit (17), for detecting the state of underwater robot.
3. the underwater vehicle water surface according to claim 1 shows position and emergent safety control, it is characterized in that: described stroboscopic lamp module (1) is the device be sealed in by light emitting diode in high strength watertight pressure-resistant translucent cover.
4. the underwater vehicle water surface according to claim 1 shows position and emergent safety control, it is characterized in that: described Emergency power source supplying module (7) connects power switching circuit (10) and power converting circuit (12) in turn, with embedded microprocessor (9), water supply face orientation and communication and emergent safety management module (5) are powered.
5. the underwater vehicle water surface according to claim 1 shows position and emergent safety control, it is characterized in that: described Emergency Device floats and performs the control module of control module (6) by multiple-pole switch tandem compound.
6. the underwater vehicle water surface according to claim 1 shows position and emergent safety control, it is characterized in that: described satellite communication module (3) comprises satellite communication device and control circuit;
Described control circuit comprises serial communication interface circuit and drives feed circuit, and serial communication interface circuit connects GPS receiver module (2), receives the locator data that GPS receiver module (2) receives.
7. the underwater vehicle water surface shows position and an emergent method of controlling security, it is characterized in that:
Water surface orientation and communication and emergent safety management module (5) resolve CAN data, and carry out message exchange with robot pilot;
If under robot pilot is operated in mission operational configuration, then water surface orientation and communication and emergent safety management module (5) carry out data communication, under judging whether robot pilot is operated in normal mission operational configuration with robot pilot;
If under robot pilot is operated in normal mission operational configuration, then the water surface shows that position and emergent safety control internal unit are by robot pilot instruction control operation, monitor the duty of robot pilot and the self-inspection work of in-house facility simultaneously, judge whether to break down;
If do not have fault to occur, then according to robot pilot instruction control operation.
8. a kind of underwater vehicle water surface according to claim 7 shows position and emergent method of controlling security, it is characterized in that: if robot pilot is not mission sail mode, then start and firmly examine pattern, water surface orientation and communication and emergent safety management module (5) will control to perform according to robot pilot instruction examines operation accordingly firmly.
9. a kind of underwater vehicle water surface according to claim 7 shows position and emergent method of controlling security, it is characterized in that: during the improper mission duty of robot pilot, and water surface orientation and communication and emergent safety management module (5) are by emergent for execution safe mode;
Described emergent safe mode comprises following process:
Monitoring pressure in real time on off state, if pressure switch state is for opening, then robot pilot is at the water surface, perform emergent safety throw carry action after then open stroboscopic lamp module (1) and carry out light and show position, open satellite communication module (3) to carry out satellite and show position and communication, open radiocommunication module (4) and carry out wirelessly giving instructions by telegraph position and communication;
If pressure switch state is closed, then robot pilot under water, and perform safety of meeting an urgent need and throw a year action, all devices keeps mourning in silence, and wait floats up to the water surface.
Open satellite communication module (3) to carry out satellite and show that position and communication comprise the following steps:
The locator data that satellite communication module (3) is received by serial communication reception GPS receiver module (2), after carrying out process parsing within a processor, bank base receiving end is given by locating information on the one hand by satellite communication device, give water surface orientation and communication and emergent safety management module (5) on the one hand, simultaneously according to the information that instruction forwarding water surface orientation and communication and emergent safety management module (5) are brought.
Described radiocommunication module (4) of opening carries out wirelessly giving instructions by telegraph position and communication comprises following process:
Underwater robot status information, navigator fix information and GPS locating information that radiocommunication module (4) transmission water surface orientation and communication and emergent safety management module (5) are brought.
10. a kind of underwater vehicle water surface according to claim 9 shows position and emergent method of controlling security, it is characterized in that: start emergent safe condition failure or robot pilot power failure time, water surface orientation and communication and emergent safety management module (5) are powered by Emergency power source supplying module (7), float to stroboscopic lamp module (1), satellite communication module (3), radiocommunication module (4), Emergency Device simultaneously and perform control module (6) power supply.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310640121.8A CN104678932A (en) | 2013-11-30 | 2013-11-30 | Device and method for indicating water level and controlling emergency safety of submersible device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310640121.8A CN104678932A (en) | 2013-11-30 | 2013-11-30 | Device and method for indicating water level and controlling emergency safety of submersible device |
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| CN104678932A true CN104678932A (en) | 2015-06-03 |
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| CN201310640121.8A Pending CN104678932A (en) | 2013-11-30 | 2013-11-30 | Device and method for indicating water level and controlling emergency safety of submersible device |
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| CN105947146A (en) * | 2016-05-12 | 2016-09-21 | 中国船舶重工集团公司第七○二研究所 | Emergency load rejection and position indicating device and method of unmanned underwater vehicle |
| CN106774049A (en) * | 2015-11-23 | 2017-05-31 | 中国科学院沈阳自动化研究所 | For the orientation and communication and supervision emergency flight control system and method for underwater robot |
| CN109839838A (en) * | 2017-11-29 | 2019-06-04 | 中国科学院沈阳自动化研究所 | It is synchronized and integrating device of meeting an urgent need from principal mode submersible high-accuracy self-adaptation |
| CN112230639A (en) * | 2019-06-28 | 2021-01-15 | 中国科学院沈阳自动化研究所 | Remote recovery control system and method for autonomously remotely controlling underwater robot |
| CN112859823A (en) * | 2019-11-27 | 2021-05-28 | 中国科学院沈阳自动化研究所 | Control system and control method for full-sea-depth autonomous remote control underwater robot |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106774049A (en) * | 2015-11-23 | 2017-05-31 | 中国科学院沈阳自动化研究所 | For the orientation and communication and supervision emergency flight control system and method for underwater robot |
| CN105947146A (en) * | 2016-05-12 | 2016-09-21 | 中国船舶重工集团公司第七○二研究所 | Emergency load rejection and position indicating device and method of unmanned underwater vehicle |
| CN105947146B (en) * | 2016-05-12 | 2018-01-26 | 中国船舶重工集团公司第七○二研究所 | UAV navigation Emergency Device shows a device and method |
| CN109839838A (en) * | 2017-11-29 | 2019-06-04 | 中国科学院沈阳自动化研究所 | It is synchronized and integrating device of meeting an urgent need from principal mode submersible high-accuracy self-adaptation |
| CN112230639A (en) * | 2019-06-28 | 2021-01-15 | 中国科学院沈阳自动化研究所 | Remote recovery control system and method for autonomously remotely controlling underwater robot |
| CN112859823A (en) * | 2019-11-27 | 2021-05-28 | 中国科学院沈阳自动化研究所 | Control system and control method for full-sea-depth autonomous remote control underwater robot |
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