CN105329418B - A kind of unmanned boat-carrying underwater robot hybrid system - Google Patents
A kind of unmanned boat-carrying underwater robot hybrid system Download PDFInfo
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- CN105329418B CN105329418B CN201510922767.4A CN201510922767A CN105329418B CN 105329418 B CN105329418 B CN 105329418B CN 201510922767 A CN201510922767 A CN 201510922767A CN 105329418 B CN105329418 B CN 105329418B
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- 238000004891 communication Methods 0.000 claims abstract description 61
- 239000003643 water by type Substances 0.000 claims abstract description 8
- 238000004804 winding Methods 0.000 claims description 18
- 238000005259 measurement Methods 0.000 claims description 16
- DMBHHRLKUKUOEG-UHFFFAOYSA-N diphenylamine Chemical compound C=1C=CC=CC=1NC1=CC=CC=C1 DMBHHRLKUKUOEG-UHFFFAOYSA-N 0.000 claims description 14
- 230000005611 electricity Effects 0.000 claims description 13
- 239000002828 fuel tank Substances 0.000 claims description 7
- 238000000034 method Methods 0.000 claims description 7
- 230000008569 process Effects 0.000 claims description 7
- 238000002485 combustion reaction Methods 0.000 claims description 5
- 238000013500 data storage Methods 0.000 claims description 5
- 230000005888 antibody-dependent cellular phagocytosis Effects 0.000 claims description 4
- 238000012806 monitoring device Methods 0.000 claims description 4
- 230000001737 promoting effect Effects 0.000 claims description 3
- 230000004044 response Effects 0.000 abstract description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 6
- 230000008901 benefit Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 3
- 150000001875 compounds Chemical class 0.000 description 2
- 239000000446 fuel Substances 0.000 description 2
- 230000002452 interceptive effect Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B45/00—Arrangements or adaptations of signalling or lighting devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B79/00—Monitoring properties or operating parameters of vessels in operation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/20—Use of propulsion power plant or units on vessels the vessels being powered by combinations of different types of propulsion units
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63J—AUXILIARIES ON VESSELS
- B63J99/00—Subject matter not provided for in other groups of this subclass
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Toys (AREA)
Abstract
The invention provides a kind of unmanned boat-carrying underwater robot hybrid system, including unmanned boat, underwater robot and connection system, unmanned boat mainly includes hull and the onboard control system being arranged on hull, boat-carrying power-equipment and boat-carrying application apparatus；Underwater robot includes underwater human body and submerged applications equipment, and underwater human body configures underwater control equipment, underwater engine equipment and operation equipment；Connection system includes connecting cable and communication system, connects cable and is bundled formed by communication cable, charge cable, towing cable, by connecting cable connection between unmanned boat and underwater robot, and is exchanged data by communication system.The present invention mixes communication system with onboard control system as core, uses internal bus and Communication Card to be uniformly controlled unmanned boat and underwater person cooperative work；Platform is relayed as waters carrying platform and communication, the demand such as response underwater robot delivers, makes a return voyage, parks, communication and power supply using unmanned boat.
Description
Technical field
The present invention relates to unmanned robot automation field, be specifically related to a kind of unmanned boat-carrying underwater robot hybrid system.
Background technology
Unmanned boat, as the intelligent automation product of a kind of high performance-price ratio, in waters military affairs patrol, assists the aspects such as operation, marine site are surveyed and drawn, offshore oilfield pipeline is patrolled and examined to have application very well, but during its separate operaton, it is difficult to underwater operation on the spot；And underwater robot can be used for performing different tasks under water with its special performance, it is widely used in the every field such as military affairs, maritime affairs, offshore oil, marine salvage, pipeline detection and scientific research of seas, but when it is applied individually to any large-scale marine site, need to be driven lash ship by staff and run to operating area, then drive underwater robot operation, be also required to when making a return voyage artificially participate in.It is embodied in following aspect:
The most existing unmanned boat can only be in water surface operation, it is impossible to meet job requirements the most complicated；
The most existing underwater robot goes to sea and makes a return voyage to be needed to carry lash ship, it is difficult to moves horizontally at a distance and independently makes a return voyage；
The most existing underwater robot is when deepwater regions operation, it is difficult to effectively process the remote real-time Transmission of mass data.
Summary of the invention
The technical problem to be solved in the present invention is, for existing unmanned boat and underwater robot above shortcomings, a kind of unmanned boat-carrying underwater robot hybrid system is provided, platform is relayed as waters carrying platform and communication, the demand such as response underwater robot delivers, makes a return voyage, parks, communication and power supply using unmanned boat.
In order to solve above-mentioned technical problem, the technical solution adopted in the present invention is:
A kind of unmanned boat-carrying underwater robot hybrid system, including unmanned boat, underwater robot and connection system, described unmanned boat mainly includes hull and the onboard control system being arranged on hull, boat-carrying power-equipment and boat-carrying application apparatus；Described underwater robot includes underwater human body and submerged applications equipment, and underwater human body configures underwater control equipment, underwater engine equipment and operation equipment；Described connection system includes connecting cable and communication system, and described connection cable is bundled formed by communication cable, charge cable, towing cable, by connecting cable connection between unmanned boat and underwater robot, and is exchanged data by communication system；Described hull is provided with boat-carrying nacelle and application apparatus cabin, boat-carrying application apparatus is arranged on application apparatus cabin, on the quarter and each cabin edge lays cushion rubber bumper, described boat-carrying nacelle is mainly provided with parks platform, winding drum, lifting motor, lifting motor is connected with winding drum, connection cable on underwater robot is rolled up on winding drum, and lifting motor is for slinging underwater robot by winding drum, and makes underwater robot be accommodated to park on platform in delivery way.
By such scheme, described onboard control system includes boat-carrying Programmable Logic Controller, shipborne navigational aid；Described shipborne navigational aid includes GNSS, IMU Inertial Measurement Unit；GNSS is used for realizing unmanned boat location and independent navigation, and IMU Inertial Measurement Unit is used for realizing unmanned boat and determines appearance.
By such scheme, described boat-carrying application apparatus is provided with weather monitoring device, video equipment, voice system and alarm equipment.
By such scheme, described boat-carrying power-equipment includes that boat-carrying power supply, boat-carrying motor and boat-carrying propeller, described boat-carrying power supply include set of cells and fuel tank, and wherein fuel tank arranges sensor and uploads combustion situation in real time；Described boat-carrying motor includes brshless DC motor and Diesel engine, described boat-carrying propeller includes tail undercarriage, afterbody steering wheel and flank propeller, wherein Diesel engine built-in generator is given battery-powered and drives tail undercarriage, battery driven brshless DC motor and afterbody steering wheel in operation process, brshless DC motor drives flank propeller works, and flank propeller is used for ensureing that unmanned boat is fixed relative to waters.
By such scheme, described hull being additionally provided with comprehensive avoidance equipment, including digital radar, laser radar and Forward-looking Sonar, comprehensive avoidance equipment ensures unmanned boat all-position safety avoidance for multiple scaaning.
By such scheme, described communication system includes that boat-carrying communication apparatus and underwater communication equipment, described boat-carrying communication apparatus include that the Big Dipper, LTE, boat-carrying data radio station and boat-carrying figure conduct electricity platform；Described underwater communication equipment includes wired Communication Card, described boat-carrying communication apparatus includes that the Big Dipper, LTE and boat-carrying data radio station and boat-carrying figure conduct electricity platform, wherein the conduct electricity video antenna of platform of the Beidou antenna of the Big Dipper, the radio antenna of boat-carrying data radio station and boat-carrying figure is all arranged on unmanned boat top, the Big Dipper, LTE and boat-carrying data radio station are mutually for communication, and the boat-carrying figure platform that conducts electricity transmits video and view data in real time；Boat-carrying Programmable Logic Controller forms linkage by the Big Dipper, LTE and boat-carrying data radio station with measurement and control center, it is achieved data storage, wave record playback function；Described underwater communication equipment includes wired Communication Card, and Communication Card is in communication cable accesses onboard control system.
By such scheme, described underwater control equipment includes underwater manipulator, underwater navigation equipment, and underwater navigation equipment is used for ensureing that underwater robot is accurately positioned and independent navigation.
By such scheme, described underwater engine equipment include promoting mainly motor and propeller, heavily push away motor and propeller, side pushes away motor and propeller, underwater battery group, underwater battery group is connected with boat-carrying set of cells via charge cable.
By such scheme, described submerged applications equipment includes ADCP measurement instrument, depth gauge, forward sight photographic head and regards down photographic head.
The invention has the beneficial effects as follows:
1, this hybrid system will control unmanned boat and underwater robot work compound, form the water surface upper and lower three-dimensional operating system, it is integrated with unmanned boat and underwater robot advantage, give full play to unmanned boat load, transport and ability to communicate, give full play to the advantage of underwater robot deepwater work simultaneously, ensure underwater task efficiency and frequency on duty, expand the application of robot；
2, unmanned boat can carry fast automatic the navigating to of underwater robot and specifies waters, and completes comprehensive automatic obstacle-avoiding by digital radar, laser radar and Forward-looking Sonar；Underwater robot can give full play to the advantage of its operation the most on the spot, completes associative operation task under water, and each item data is real-time transmitted to unmanned boat, unmanned boat be sent to measurement and control center by boat-carrying communication apparatus is unified after integrating；Underwater robot is interactive with unmanned boat communication by communication cable, completes operation task after accepting the control instruction of unmanned boat, returns underwater robot state and Monitoring Data simultaneously；Underwater robot can be affiliated on unmanned boat automatically when Suspend Job, unmanned boat be quickly carried to next operating area or make a return voyage；
3, in hybrid system, boat-carrying nacelle provides stopping platform for underwater robot, uses and connects cable guiding underwater robot lifting and stop；Battery-powered to boat-carrying by Diesel engine built-in generator, and powered for a long time to underwater robot by charge cable；
4, boat-carrying Programmable Logic Controller possesses data storage, wave record playback function, can record each item data of system job process, forms linkage by boat-carrying communication apparatus with measurement and control center；
5, conducted electricity the big data long-distance transmissions of platform completion system operation on the spot by boat-carrying figure；
6, hybrid system can monitor whole system combustion situation, and analyzes usage trend, it is judged that after fuel shortage or whole task complete, unmanned boat carries underwater robot and automatically makes a return voyage；
7, this hybrid system can be extended to the corresponding multiple underwater robots of a unmanned boat.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention unmanned boat-carrying underwater robot hybrid system；
Fig. 2 is underwater robot schematic diagram in the present invention；
nullIn figure: 1. unmanned boat，2. cushion rubber bumper，3. underwater robot，4. boat-carrying cabin，5. application cabin，6. park platform，7. winding drum，8. lifting motor，9. boat-carrying Programmable Logic Controller，10. shipborne navigational aid，11. boat-carrying communication apparatus，12. weather monitoring devices，13. video equipments，14. speech ciphering equipments，15. alarm equipments，16. boat-carrying set of cells，17. fuel tanks，18. Diesel engines，19. tail undercarriages，20. afterbody steering wheels，21. brshless DC motors，22. flank propellers，23. Beidou antennas，24. radio antennas，25. video antennas，26. digital radars，27. laser radars，28. Forward-looking Sonar，31. underwater human bodies，32. underwater manipulators，33. heavily push away motor and propeller，34. connect cable，35. underwater navigation equipment，36. underwater communication equipment，37. underwater battery groups，38. promote mainly motor and propeller，39. fathometers，40.ADCP measurement instrument，41. underwater robot pins，42. sides push away motor and propeller，Regard photographic head 43. times，44. operation equipment，45. forward sight photographic head.
Detailed description of the invention
In order to the technical characteristic of the present invention, purpose and effect are more clearly understood from, the now detailed description of the invention of the comparison accompanying drawing explanation present invention.
With reference to shown in Fig. 1 ~ Fig. 2, unmanned boat-carrying underwater robot hybrid system of the present invention, including unmanned boat 1, underwater robot 3 and connection system, unmanned boat 1 mainly includes hull and the onboard control system being arranged on hull, boat-carrying power-equipment and boat-carrying application apparatus；Underwater robot 3 includes underwater human body 31 and submerged applications equipment, and underwater human body 31 configures underwater control equipment, underwater engine equipment and operation equipment 44；Connection system includes connecting cable 34 and communication system, connects cable 34 and is bundled formed by communication cable, charge cable, towing cable, is connected by connection cable 34, and exchanged data by communication system between unmanned boat 1 and underwater robot 3.
Hull is provided with boat-carrying nacelle 4 and application apparatus cabin 5, and boat-carrying application apparatus is arranged on application apparatus cabin 5, on the quarter and each cabin edge lays cushion rubber bumper 2；Boat-carrying nacelle 4 is mainly provided with parks platform 6, winding drum 7, lifting motor 8, lifting motor 8 is connected with winding drum 7, connection cable on underwater robot 3 volume 34 is on winding drum 7, lifting motor 8 is for slinging underwater robot 3 by winding drum 7, and makes underwater robot 3 be accommodated to park on platform 6 in delivery way；Before 3 times water of underwater robot, first lifting motor 8 is rotated clockwise (winding drum 7 take-up) underwater robot 3 of somewhat slinging, then boat-carrying Programmable Logic Controller 9 control park platform 6 move forward and launch outlet after, lifting motor 8 rotates counterclockwise (winding drum 7 unwrapping wire) and slowly puts down underwater robot 3；After underwater robot 3 operation completes, automatically unmanned boat 1 is swum back, lifting motor 8 rotates clockwise (winding drum 7 take-up) simultaneously, underwater robot 3 arrives boat-carrying nacelle 4 times, (winding drum 7 take-up) is rotated clockwise until underwater robot 3 is vertically sling by lifting motor 8, then boat-carrying Programmable Logic Controller 9 controls to park platform 6 and move to stern and close outlet, controls lifting motor 8 and rotates counterclockwise (winding drum 7 unwrapping wire), makes the complete drag and drop of underwater robot 3 park on platform 6.
Onboard control system includes boat-carrying Programmable Logic Controller 9, shipborne navigational aid 10, hybrid system, with the boat-carrying Programmable Logic Controller 9 of onboard control system as core, uses internal bus and Communication Card to be uniformly controlled each equipment coordination work on unmanned boat 1 and underwater robot 3；Boat-carrying 10 equipment that navigate are provided with GNSS, IMU Inertial Measurement Unit；GNSS is used for realizing unmanned boat 1 and positions and independent navigation, and IMU Inertial Measurement Unit is used for realizing unmanned boat 1 and determines appearance.
Boat-carrying application apparatus is provided with weather monitoring device 12, video equipment 13, voice system 14 and alarm equipment 15.
Boat-carrying power-equipment includes boat-carrying power supply, boat-carrying motor and boat-carrying propeller, and boat-carrying power supply includes set of cells 16 and fuel tank 17, and wherein fuel tank 17 arranges sensor and uploads combustion situation in real time；Boat-carrying motor includes brshless DC motor 21 and Diesel engine 18, boat-carrying propeller includes tail undercarriage 19, afterbody steering wheel 20 and flank propeller 22, wherein Diesel engine 18 built-in generator is powered to set of cells 16 and drives tail undercarriage 19, in operation process, set of cells 16 drives brshless DC motor 21 and afterbody steering wheel 20, brshless DC motor 21 drives flank propeller 22 to work, and flank propeller 22 is used for ensureing that the relative waters of unmanned boat 1 is fixed.
Being additionally provided with comprehensive avoidance equipment on hull, including digital radar 26, laser radar 27 and Forward-looking Sonar 28, comprehensive avoidance equipment multiple scaaning ensures unmanned boat all-position safety avoidance.
Communication system includes boat-carrying communication apparatus 11 and underwater communication equipment 36, boat-carrying communication apparatus 11 includes that the Big Dipper, LTE, boat-carrying data radio station and boat-carrying figure conduct electricity platform, wherein the conduct electricity video antenna 25 of platform of the Beidou antenna 23 of the Big Dipper, the radio antenna 24 of boat-carrying data radio station and boat-carrying figure is all arranged on unmanned boat 1 top, the Big Dipper, LTE and boat-carrying data radio station are mutually for communication, and the boat-carrying figure platform that conducts electricity transmits video and view data in real time；Boat-carrying Programmable Logic Controller 9 forms linkage by the Big Dipper, LTE and boat-carrying data radio station with measurement and control center, it is achieved data storage, wave record playback function；Underwater communication equipment 36 includes wired Communication Card, and Communication Card is in communication cable accesses onboard control system.
Underwater control equipment includes underwater manipulator 32, underwater navigation equipment 35, and underwater navigation equipment 35 is used for ensureing that underwater robot 3 is accurately positioned, and can independent navigation.
Underwater engine equipment include promoting mainly motor and propeller 38, heavily push away motor and propeller 33, side pushes away motor and propeller 42, underwater battery group 37, underwater battery group 37 is connected with boat-carrying set of cells 16 via charge cable, underwater battery group 37 receives the power supply of boat-carrying set of cells 16, and drives and promote mainly motor, heavily push away motor and side pushes away motor work.
Submerged applications equipment includes ADCP measurement instrument 40, depth gauge 39, forward sight photographic head 45 and the lower photographic head 43 etc. that regards, forward sight photographic head 45 and lower assist to fulfil assignment process depending on photographic head 43.
Hybrid system of the present invention controls unmanned boat 1 and underwater robot 3 work compound, forms the water surface upper and lower three-dimensional operating system；Unmanned boat 1 can carry that underwater robot 3 is fast automatic navigates to specify waters, and completes comprehensive automatic obstacle-avoiding by digital radar 26, laser radar 27 and Forward-looking Sonar 28；Underwater robot 3 is interactive with unmanned boat 1 communication by communication cable, completes operation task after the control instruction accepting unmanned boat 1, returns underwater robot state and Monitoring Data simultaneously.Boat-carrying Programmable Logic Controller 9 possesses data storage, wave record playback function, can record each item data of system job process, forms linkage by boat-carrying communication apparatus 11 with measurement and control center.Conducted electricity the big data long-distance transmissions of platform completion system operation on the spot by boat-carrying figure.
Boat-carrying nacelle 4 provides stopping platform for underwater robot 3, uses connection cable 34 to guide underwater robot 3 to lift and stop；Hybrid system is powered to boat-carrying set of cells 16 by Diesel engine 18 built-in generator, and is powered for a long time to underwater robot 3 by charge cable；Hybrid system can monitor whole system combustion situation, and analyzes usage trend, it is judged that after fuel shortage or whole task complete, and unmanned boat is taken 1 band underwater robot 3 and automatically maked a return voyage.
The above-described presently preferred embodiments of the present invention that is only, the interest field that certainly can not limit the present invention with this, therefore change according to the equivalence that scope of the present invention patent is made, still belong to protection scope of the present invention.
Claims (9)
1. a unmanned boat-carrying underwater robot hybrid system, it is characterised in that: include that unmanned boat, underwater robot and connection system, described unmanned boat mainly include hull and the onboard control system being arranged on hull, boat-carrying power-equipment and boat-carrying application apparatus；Described underwater robot includes underwater human body and submerged applications equipment, and underwater human body configures underwater control equipment, underwater engine equipment and operation equipment；Described connection system includes connecting cable and communication system, and described connection cable is bundled formed by communication cable, charge cable, towing cable, by connecting cable connection between unmanned boat and underwater robot, and is exchanged data by communication system；Described hull is provided with boat-carrying nacelle and application apparatus cabin, boat-carrying application apparatus is arranged on application apparatus cabin, on the quarter and each cabin edge lays cushion rubber bumper, described boat-carrying nacelle is mainly provided with parks platform, winding drum, lifting motor, lifting motor is connected with winding drum, connection cable on underwater robot is rolled up on winding drum, and lifting motor is for slinging underwater robot by winding drum, and makes underwater robot be accommodated to park on platform in delivery way.
Unmanned boat-carrying underwater robot hybrid system the most according to claim 1, it is characterised in that: described onboard control system includes boat-carrying Programmable Logic Controller, shipborne navigational aid；Described shipborne navigational aid includes GNSS, IMU Inertial Measurement Unit；GNSS is used for realizing unmanned boat location and independent navigation, and IMU Inertial Measurement Unit is used for realizing unmanned boat and determines appearance.
Unmanned boat-carrying underwater robot hybrid system the most according to claim 1, it is characterised in that: described boat-carrying application apparatus is provided with weather monitoring device, video equipment, voice system and alarm equipment.
Unmanned boat-carrying underwater robot hybrid system the most according to claim 1, it is characterized in that: described boat-carrying power-equipment includes boat-carrying power supply, boat-carrying motor and boat-carrying propeller, described boat-carrying power supply includes set of cells and fuel tank, and wherein fuel tank arranges sensor and uploads combustion situation in real time；Described boat-carrying motor includes brshless DC motor and Diesel engine, described boat-carrying propeller includes tail undercarriage, afterbody steering wheel and flank propeller, wherein Diesel engine built-in generator is given battery-powered and drives tail undercarriage, battery driven brshless DC motor and afterbody steering wheel in operation process, brshless DC motor drives flank propeller works, and flank propeller is used for ensureing that unmanned boat is fixed relative to waters.
Unmanned boat-carrying underwater robot hybrid system the most according to claim 1, it is characterized in that: on described hull, be additionally provided with comprehensive avoidance equipment, including digital radar, laser radar and Forward-looking Sonar, comprehensive avoidance equipment ensures unmanned boat all-position safety avoidance for multiple scaaning.
Unmanned boat-carrying underwater robot hybrid system the most according to claim 1, it is characterized in that: described communication system includes that boat-carrying communication apparatus and underwater communication equipment, described boat-carrying communication apparatus include that the Big Dipper, LTE, boat-carrying data radio station and boat-carrying figure conduct electricity platform；Described underwater communication equipment includes wired Communication Card, described boat-carrying communication apparatus includes that the Big Dipper, LTE and boat-carrying data radio station and boat-carrying figure conduct electricity platform, wherein the conduct electricity video antenna of platform of the Beidou antenna of the Big Dipper, the radio antenna of boat-carrying data radio station and boat-carrying figure is all arranged on unmanned boat top, the Big Dipper, LTE and boat-carrying data radio station are mutually for communication, and the boat-carrying figure platform that conducts electricity transmits video and view data in real time；Boat-carrying Programmable Logic Controller forms linkage by the Big Dipper, LTE and boat-carrying data radio station with measurement and control center, it is achieved data storage, wave record playback function；Described underwater communication equipment includes wired Communication Card, and Communication Card is in communication cable accesses onboard control system.
Unmanned boat-carrying underwater robot hybrid system the most according to claim 1, it is characterised in that: described underwater control equipment includes underwater manipulator, underwater navigation equipment, and underwater navigation equipment is used for ensureing that underwater robot is accurately positioned and independent navigation.
Unmanned boat-carrying underwater robot hybrid system the most according to claim 1, it is characterized in that: described underwater engine equipment include promoting mainly motor and propeller, heavily push away motor and propeller, side pushes away motor and propeller, underwater battery group, underwater battery group is connected with boat-carrying set of cells via charge cable.
Unmanned boat-carrying underwater robot hybrid system the most according to claim 1, it is characterised in that: described submerged applications equipment includes ADCP measurement instrument, depth gauge, forward sight photographic head and regards down photographic head.
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| CN201510922767.4A CN105329418B (en) | 2015-12-11 | 2015-12-11 | A kind of unmanned boat-carrying underwater robot hybrid system |
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| CN201510922767.4A CN105329418B (en) | 2015-12-11 | 2015-12-11 | A kind of unmanned boat-carrying underwater robot hybrid system |
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| CN111942530A (en) * | 2020-08-24 | 2020-11-17 | 上海海洋大学 | Unmanned ship device connected with underwater robot |
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| CN113049052B (en) * | 2021-03-25 | 2023-08-15 | 长江水利委员会水文局长江下游水文水资源勘测局(长江水利委员会水文局长江下游水环境监测中心) | Flow measurement method for river with large sand content |
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| CN114275106B (en) * | 2021-12-21 | 2022-12-09 | 上海交通大学 | Sea-air-underwater integrated self-supply detection device and detection method thereof |
| CN115214862A (en) * | 2022-07-19 | 2022-10-21 | 广州大学 | Modularized underwater robot and control method thereof |
| CN116039864B (en) * | 2023-02-02 | 2024-08-23 | 陕西环保产业创新中心有限公司 | Multifunctional water surface airborne unmanned ship platform |
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| CN102826210A (en) * | 2012-09-18 | 2012-12-19 | 哈尔滨工程大学 | Autonomous underwater vehicle (AUV) deployment device |
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| CN105000135A (en) * | 2015-07-16 | 2015-10-28 | 珠海云洲智能科技有限公司 | Unmanned ship robot automatic collecting and releasing system |
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| JPH01127487A (en) * | 1987-11-10 | 1989-05-19 | Sasebo Sentan Gijutsu Kaihatsu Kyodo Kumiai | Underwater robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102826210A (en) * | 2012-09-18 | 2012-12-19 | 哈尔滨工程大学 | Autonomous underwater vehicle (AUV) deployment device |
| CN103213662A (en) * | 2013-04-16 | 2013-07-24 | 浙江海洋学院 | Slave-main type marine environment detection intelligent robot |
| CN105000135A (en) * | 2015-07-16 | 2015-10-28 | 珠海云洲智能科技有限公司 | Unmanned ship robot automatic collecting and releasing system |
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