CN105775075A - Wave gliding device easy to recycle and recycling method for wave gliding device - Google Patents

Wave gliding device easy to recycle and recycling method for wave gliding device Download PDF

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Publication number
CN105775075A
CN105775075A CN201610115673.0A CN201610115673A CN105775075A CN 105775075 A CN105775075 A CN 105775075A CN 201610115673 A CN201610115673 A CN 201610115673A CN 105775075 A CN105775075 A CN 105775075A
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CN
China
Prior art keywords
suspender belt
suspension hook
submerged
wave glider
suspension
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CN201610115673.0A
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Chinese (zh)
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CN105775075B (en
Inventor
廖煜雷
王磊峰
李晔
李鸣
李一鸣
王子豪
王汝鹏
沈鹏
严日华
姜权权
张蔚欣
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Harbin Engineering University
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Harbin Engineering University
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Priority to CN201610115673.0A priority Critical patent/CN105775075B/en
Publication of CN105775075A publication Critical patent/CN105775075A/en
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63CLAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C11/00Equipment for dwelling or working underwater; Means for searching for underwater objects
    • B63C11/52Tools specially adapted for working underwater, not otherwise provided for

Abstract

The invention provides a wave gliding device easy to recycle and a recycling method for the wave gliding device. The wave gliding device easy to recycle comprises a floating body and a submerged body. A computer control system and a wireless antenna are arranged on the floating body. The wireless antenna communicates with a radio station on a mother ship. The submerged body is provided with a submerged body steering engine and a rudderstock. An umbilical belt is arranged between the floating body and the submerged body. A lifting hook and lifting belt releasing device is further installed on a rigid support of the submerged body. A lifting point is arranged on the hook and lifting belt releasing device and connected with a lifting belt. A lifting hook is arranged at the end of the lifting belt. The rudderstock is connected with a flexible line. The end of the flexible line is fixedly connected with a locking pin of the lifting hook and lifting belt releasing device. The wave gliding device is simple in structure and easy to achieve, the state of the lifting hook and lifting belt releasing device is controlled through the arranged locking pin, the lifting belt and the lifting hook are released reliably and simply, and after the lifting belt and the lifting hook float out of the water surface, recycling work can be conducted.

Description

A kind of wave glider being easily recycled and recovery method thereof
Technical field
The present invention relates to a kind of xxx, particularly relate to a kind of wave glider being easily recycled and recovery method thereof, belong to xxx.
Background technology
Wave glider is a kind of novel unmanned marine exploration platform, ocean wave energy is converted into self onward impulse by the underwater surface the utilizing buoyancy aid-umbilical cord-submerged body couple structure that is flexible coupling, rely on the solar panel that upper deck carries is that each electric appliance load is powered simultaneously, long-term path trace can be carried out on wide ocean and position keeps, can also act as intermediate station, instruction and data exchange is carried out with the detector of other kinds type, provide new approaches for ocean observation technology, have very vast potential for future development.
In order to better absorb wave energy, umbilical cord is typically designed longer, is generally 3m-8m, and wave glider working environment is generally the marine site that stormy waves is bigger, and the recovery making its safety under such environment is extremely difficult.
The recovery method that will be readily apparent includes following several:
1, towage is reclaimed.The method personnel safety is secure, but for guarantee equipment safe towage speed can not be too fast, test marine site farther out time towage overlong time;In towage process, submerged body constantly water outlet can enter water, it is easy to damaged blade and axle;Towage process is evaded dealing ship and underwater obstacle is comparatively difficult.
2, large-scale experiment lash ship is utilized, by wave glider buoyancy aid and submerged body integral lifting.The method needs sling height more than umbilical cord length, and this needs the test lash ship of Large-scale professional, and expense is much more expensive;Sling height bigger under the severe sea condition that stormy waves is bigger is all extremely dangerous for personnel and equipment.
3, by diver's dive, at wave glider submerged body part hanging hook, first submerged body part is lifted to lash ship, after buoyancy aid part is lifted to lash ship.The method when stormy waves is bigger to the dangerous property of the personal safety of diver.
Summary of the invention
The invention aims to avoid tradition wave glider to be likely to, in the sling height that the severe stormy waves environment time receiving next time is higher, the danger that brings and provide a kind of wave glider being easily recycled and recovery method thereof.
The object of the present invention is achieved like this: a kind of wave glider being easily recycled, including buoyancy aid and submerged body, described buoyancy aid is provided with computer control system and wireless aerial, described wireless aerial and the radio set communication on lash ship, described submerged body is provided with submerged body steering wheel and rudder stock, umbilicus band it is provided with between buoyancy aid and submerged body, the rigid support of described submerged body is also equipped with suspension hook suspender belt release device, described suspension hook suspender belt release device is provided with suspension centre, suspension centre is connected to suspender belt, the end of suspender belt is provided with suspension hook, described rudder stock is connected to flex, the end of flex is connected with the lock pin of suspension hook suspender belt release device.
A kind of recovery method of the wave glider being easily recycled:
The first step: the radio set of lash ship sends instruction, the wireless aerial on buoyancy aid receives radio signal, and computer control system sends instruction to steering wheel, makes steering wheel beat the rudder angle of the hard over angle more than normal/cruise state, makes rudder stock rotate;
Second step: rudder stock rotation process tension flex also pulls out lock pin, the lock-out state of contact suspension hook suspender belt release device, suspension hook is released together along with suspender belt and emerges under the effect of buoyancy;
3rd step: after suspension hook emerges, the lifting appliance of lash ship catches suspension hook, it is achieved the recovery of submerged body;
4th step: after submerged body is recovered to lash ship, the lifting appliance of lash ship is recycled to lash ship by the buoyancy aid of slinging of the suspension ring on buoyancy aid.
Present invention additionally comprises so some architectural features:
1. described in, suspension hook suspender belt release device includes the reel bracket being arranged on rigid support and the reel being hinged on reel bracket, described lock pin has circular hole also cross what arrange on reel bracket and reel, described suspension centre is arranged on the end of reel, and described suspender belt is wrapped on reel.
2. described in, suspension hook suspender belt release device includes the rope closing box being arranged on rigid support, rope closing box upper end thereof is provided with capping, described suspension centre is arranged on the sidewall of rope closing box, and described suspender belt and suspension hook are arranged in rope closing box, and described lock pin is positioned at the through hole that rope closing box is arranged with capping junction.
3. pair of bearing that suspension hook suspender belt release device described in includes being arranged on rigid support and be arranged on axle therebetween, described suspension centre is arranged on axle, and described suspender belt is wrapped on axle, and the end of described lock pin and axle is connected.
4. the length of suspender belt described in is more than the length of umbilical cord.
nullCompared with prior art,The invention has the beneficial effects as follows: the wave glider being easily recycled provided by the invention and recovery method thereof,Simple in construction is easily achieved,The state of suspension hook suspender belt release device is controlled by the lock pin arranged,The simple and reliable release achieving suspender belt and suspension hook,After suspender belt with suspension hook emersion to the water surface,Just may be recovered work,Reclaim required sling height less than traditional requirement,Tradition wave glider is avoided to be likely to the danger brought in the sling height that the severe stormy waves environment time receiving next time is higher,First the removal process of the present invention reclaims submerged body part,Rear recovery buoyancy aid part,The wave glider speed of a ship or plane is not caused significantly affect while reduce required sling height,Only need small-sized amateur lash ship can realize the recovery of wave glider,The release process being connected to the suspension hook suspender belt of submerged body remotely operates on lash ship and can realize,Whole removal process is simple,Safe and reliable.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of the present invention;
Fig. 2 is suspension hook suspender belt release device scheme one scheme of installation of the present invention;
Fig. 3 is suspension hook suspender belt release device scheme one structural representation of the present invention;
Fig. 4 is suspension hook suspender belt release device scheme two scheme of installation of the present invention;
Fig. 5 is suspension hook suspender belt release device scheme two structural representation of the present invention;
Fig. 6 is suspension hook suspender belt release device scheme three scheme of installation of the present invention;
Fig. 7 is suspension hook suspender belt release device scheme three structural representation of the present invention;
Fig. 8 is the submerged body partial recycle procedure schematic diagram of the present invention;
Fig. 9 is the buoyancy aid partial recycle procedure schematic diagram of the present invention.
Detailed description of the invention
Below in conjunction with accompanying drawing and detailed description of the invention, the present invention is described in further detail.
In conjunction with Fig. 1,2,3, include on the basis of buoyancy aid 1, submerged body 2, umbilical cord 3, wireless aerial 4, computer control system 5, steering wheel 6 at conventional wave glider, discharging device 7 with the suspension hook suspender belt of lock function be installed on wave glider submerged body part rigid support 8 and firm with submerged body support 8 be connected, installation site is near umbilical cord 3 and tail end side, submerged body 2 junction 9;Suspension hook suspender belt release device 7 is locked by lock pin 10 when wave glider normal/cruise state, lock pin 10 is connected to the rudder stock 12 of submerged body steering wheel 6 by a flex 11, and described flex 11 length should be greater than or equal to the length that the lucky tensioning of flex is corresponding when rudder angle reaches the hard over angle of the wave glider normal/cruise state of plus or minus.
The length of suspender belt 13 is more than umbilical cord 3 length;Suspender belt 13 one end connecting shackle 14, the other end lies in submerged body suspension centre 15 place;Described suspension centre 15 position is near umbilical cord 3 and submerged body 2 junction 9, and the version discharging device 7 to described suspension hook suspender belt is relevant.When wave glider normal/cruise state, suspender belt 13 is wound in suspension hook suspender belt release device 7 by restriction;
Described suspension hook suspender belt release device is optional but is not limited to following several technical scheme.
In conjunction with Fig. 2,3 describing the solution of the present invention one, suspension hook suspender belt release device is the reel 16 that can be locked by lock pin 10, and when lock pin 10 locks, reel 16 cannot rotate, and when lock pin 10 is drawn out, reel 16 can rotate.Suspension centre 15 is arranged on reel 16.Described lock pin 10 is connected to the rudder stock 12 of submerged body steering wheel 6 by a flex 11, and described flex 11 length should be greater than or equal to the length that the lucky tensioning of flex is corresponding when rudder angle reaches the hard over angle of the wave glider normal/cruise state of plus or minus.
During wave glider normal/cruise state, suspender belt 13 is by restriction continuous winding on reel 16, and during recovery, rudder stock 12 rotates tension flex 11 and pulls out lock pin 10, and reel 16 can rotate, and suspension hook 14 and suspender belt 13 are released.
In conjunction with Fig. 4,5 describing the solution of the present invention two, suspension hook suspender belt release device is an openable rope closing box 18 of capping 17.Covering 17 sides to be locked by lock pin 19, cover 17 opposite sides hinged with rope closing box 18, hinged place produces pre-moment of torsion by torsionspring 19.When lock pin 19 locks, capping 17 cannot be opened, and when lock pin 19 is drawn out, capping 17 flicks under torsionspring 19 moment of torsion effect.Suspension centre 20 is arranged and rope closing box 18 inwall.Described lock pin 19 is connected to the rudder stock 12 of submerged body steering wheel 6 by a flex 11, and described flex 11 length should be greater than or equal to the length that the lucky tensioning of flex is corresponding when rudder angle reaches the hard over angle of the wave glider normal/cruise state of plus or minus.
During wave glider normal/cruise state, suspender belt 13 is accommodated in rope closing box 18 by restriction, and during recovery, rudder stock 12 rotates tension flex 11 and pulls out lock pin 19, and capping 17 flicks, and suspension hook 14 and suspender belt 13 are released.
In conjunction with Fig. 6,7 describing the solution of the present invention three, suspension hook suspender belt release device is made up of a bearing arrangement.Axle 21 is installed on the support 22 being made up of two bearings, and described support 22 is fixed on wave glider submerged body support 8.Described axle 21, can slide laterally along dead eye relative to described bearing 22 except can rotating under the effect of certain power in the axial direction, and can depart from bearing 22 under the effect of lasting power in the axial direction and independence.Suspension centre 23 can be disposed at described support 22, or to utilize umbilical cord 3 and submerged body support 8 junction 9 be suspension centre.Described axle is connected to the rudder stock 12 of submerged body steering wheel 6 by a flex 11, and described flex 11 length should be greater than or equal to the length that the lucky tensioning of flex is corresponding when rudder angle reaches the hard over angle of the wave glider normal/cruise state of plus or minus.
During wave glider normal/cruise state, suspender belt 13 is by restriction continuous winding axle 21 between two bearings 22, during recovery, rudder stock 12 rotates tension flex 11 and makes described axle 21 slide laterally and depart from bearing relative to described bearing 22 along dead eye, and suspension hook 14 and suspender belt 13 are released.
In conjunction with Fig. 1, described suspension hook suspender belt 13,14 has positive buoyancy, discharged after device 7 discharges by suspension hook suspender belt and can emerge under buoyancy, described buoyancy is preferably derived from suspension hook and suspender belt itself, also the optional device that other offer buoyancy being connected with suspension hook or suspender belt are provided, such as buoyancy material, for instance air bag.
In conjunction with Fig. 1, when reclaiming, lash ship radio set 24 sends instruction, the wireless aerial 4 installed on wave glider buoyancy aid receives radio signal, wave glider controls system 5 and sends instruction to steering wheel 6, drive the steering wheel 6 dozens rudder angle more than the hard over angle of wave glider normal/cruise state, and be not limited within the scope of positive and negative 180 degree.Rudder stock 12 rotation process tension flex 11 also pulls out lock pin 10, releases the lock-out state of suspension hook suspender belt release device 7, and suspension hook suspender belt 13,14 is released and emerges under buoyancy.
In conjunction with Fig. 8, first reclaim wave glider submerged body part 2.After suspension hook 14 emerges, lash ship lifting appliance catches the suspension hook of emersion, under lifting appliance tensile force f 1 acts on, first submerged body part 2 being hoisted to lash ship 25, removal process those skilled in the art of submerged body part 2 can complete according to its knowledge and experience under relatively low sling height.
In conjunction with Fig. 9, after submerged body part 2 has been recovered to lash ship 25, buoyancy aid part 1 is hoisted to lash ship 25 under lifting appliance tensile force f 2 acts on, and removal process those skilled in the art of buoyancy aid part 1 can complete according to its knowledge and experience under relatively low sling height.
In conjunction with Fig. 1,8,9, the recovery order of described removal process is first reclaim submerged body part 2, rear recovery buoyancy aid part 1.
Include on the basis of buoyancy aid, submerged body, umbilical cord, wireless aerial, computer control system, steering wheel at conventional wave glider, discharging device with the suspension hook suspender belt of lock function be installed on wave glider submerged body part rigid support and firm with submerged body support be connected, installation site is near umbilical cord and tail end side, submerged body junction;Suspension hook suspender belt release device is locked by lock pin when wave glider normal/cruise state, lock pin is connected to the rudder stock of submerged body steering wheel by a flex, and described flex length should be greater than or equal to the length that the lucky tensioning of flex is corresponding when rudder angle reaches the hard over angle of the wave glider normal/cruise state of plus or minus.
The length of suspender belt is more than umbilical cord length;Suspender belt one end connecting shackle, the other end lies in submerged body suspension centre place;When wave glider normal/cruise state, suspender belt is wound in suspension hook suspender belt release device by restriction;Suspension hook suspender belt has positive buoyancy, can emerge after being discharged device release by suspension hook suspender belt under buoyancy.Described suspension centre position is near umbilical cord and submerged body junction, and the version discharging device to described suspension hook suspender belt is relevant.When wave glider normal/cruise state, suspender belt is wound in suspension hook suspender belt release device by restriction;
Described suspension hook suspender belt release device is optional but is not limited to following several technical scheme.
Scheme one, suspension hook suspender belt release device is the reel that can be locked by lock pin, and during lock pin locking, reel cannot rotate, and when lock pin is drawn out, reel can rotate.
Suspension centre is arranged on reel.
Described lock pin is connected to the rudder stock of submerged body steering wheel by a flex, and described flex length should be greater than or equal to the length that the lucky tensioning of flex is corresponding when rudder angle reaches the hard over angle of the wave glider normal/cruise state of plus or minus.
During wave glider normal/cruise state, suspender belt is limited continuous winding on reel, and during recovery, rudder stock rotates tension flex and pulls out lock pin, and reel can rotate, and suspension hook and suspender belt are released.
Scheme two, suspension hook suspender belt release device is an openable rope closing box of capping.Capping side is locked by lock pin, and capping opposite side is hinged with rope closing box, and hinged place produces pre-moment of torsion by torsionspring.During lock pin locking, capping cannot be opened, and when lock pin is drawn out, is sealed under torsionspring moment of torsion effect and flicks.
Suspension centre is arranged and rope closing box inwall.
Described lock pin is connected to the rudder stock of submerged body steering wheel by a flex, and described flex length should be greater than or equal to the length that the lucky tensioning of flex is corresponding when rudder angle reaches the hard over angle of the wave glider normal/cruise state of plus or minus.
During wave glider normal/cruise state, suspender belt is accommodated in rope closing box by restriction, and during recovery, rudder stock rotates tension flex and pulls out lock pin, and capping flicks, and suspension hook and suspender belt are released.
Scheme three, suspension hook suspender belt release device is made up of a bearing arrangement.Axle is installed on the support being made up of two bearings, and described support is fixed on wave glider submerged body support.Described axle, can slide laterally along dead eye relative to described bearing except can rotating under the effect of certain power in the axial direction, and can depart from and independence with bearing under the effect of lasting power in the axial direction.
Suspension centre can be disposed at described support, or to utilize umbilical cord and submerged body support junction be suspension centre.
Described axle is connected to the rudder stock of submerged body steering wheel by a flex, and described flex length should be greater than or equal to the length that the lucky tensioning of flex is corresponding when rudder angle reaches the hard over angle of the wave glider normal/cruise state of plus or minus.
During wave glider normal/cruise state, suspender belt is limited on continuous winding axle between two bearings, and during recovery, rudder stock rotates tension flex and makes described axle slide laterally and depart from bearing relative to described bearing along dead eye, and suspension hook and suspender belt are released.
Described suspension hook suspender belt has positive buoyancy, can emerging under buoyancy after being discharged device release by suspension hook suspender belt, described buoyancy is preferably derived from suspension hook and suspender belt itself, it is possible to choosing derives from the device of other offer buoyancy being connected with suspension hook or suspender belt, such as buoyancy material, for instance air bag.
When reclaiming, lash ship radio set sends instruction, the wireless aerial installed on wave glider buoyancy aid receives radio signal, wave glider controls system and sends instruction to steering wheel, drive steering wheel to beat the rudder angle of the hard over angle more than wave glider normal/cruise state, and be not limited within the scope of positive and negative 180 degree.Rudder stock rotation process tension flex also pulls out lock pin, releases the lock-out state of suspension hook suspender belt release device, and suspension hook suspender belt is released and emerges under buoyancy.Lash ship lifting appliance is caught the suspension hook of emersion and submerged body part is hoisted to lash ship, finally buoyancy aid part is hoisted to lash ship, and removal process completes.
Namely first the present invention reclaims wave glider submerged body part.After suspension hook emerges, lash ship lifting appliance catches the suspension hook of emersion, first submerged body part is hoisted to lash ship under lifting appliance pulling force effect, and removal process those skilled in the art of submerged body part can complete according to its knowledge and experience under relatively low sling height.
After submerged body part is recovered to lash ship, buoyancy aid part being hoisted under lifting appliance pulling force effect lash ship, removal process those skilled in the art of buoyancy aid part can complete according to its knowledge and experience under relatively low sling height.
Briefly, the recovery order of the described removal process of the present invention is first reclaim submerged body part, rear recovery buoyancy aid part.
Include on the basis of buoyancy aid, submerged body, umbilical cord, wireless aerial, computer control system, steering wheel at conventional wave glider, discharged device with the suspension hook suspender belt of lock function and be installed on tradition wave glider submerged body part rigid support and firm with submerged body support be connected;Suspension hook suspender belt release device is locked by lock pin when wave glider normal/cruise state, and lock pin is connected to the rudder stock of submerged body steering wheel by a flex.Suspender belt one end connecting shackle, the other end lies in submerged body suspension centre place.When wave glider normal/cruise state, suspender belt is wound in suspension hook suspender belt release device by restriction.When reclaiming, lash ship radio set sends instruction, the wireless aerial installed on wave glider buoyancy aid receives radio signal, and wave glider controls the rudder stock of system drive steering wheel and rotates to strain flex and to pull out lock pin, and suspension hook suspender belt is released and emerges under buoyancy.Lash ship lifting appliance is caught the suspension hook of emersion and submerged body part is hoisted to lash ship, finally buoyancy aid part is hoisted to lash ship, and removal process completes.
It is to be understood that; other ways of realization similar with the principle of the invention; such as by the mode of other non-lock pins realize suspension hook suspender belt release device locking with unlock; other modes of non-twined that adopt such as suspender belt are fixed on suspension hook suspender belt release device; such as realize reclaiming transmission and the reception of order by underwater sound mode or other communication modes, for instance realized the releasing etc. of the lock-out state of suspension hook suspender belt release device by the motor that additionally increases but not steering wheel also within scope.

Claims (6)

1. the wave glider that a kind is easily recycled, including buoyancy aid and submerged body, described buoyancy aid is provided with computer control system and wireless aerial, described wireless aerial and the radio set communication on lash ship, described submerged body is provided with submerged body steering wheel and rudder stock, umbilicus band it is provided with between buoyancy aid and submerged body, it is characterized in that: the rigid support of described submerged body is also equipped with suspension hook suspender belt release device, described suspension hook suspender belt release device is provided with suspension centre, suspension centre is connected to suspender belt, the end of suspender belt is provided with suspension hook, described rudder stock is connected to flex, the end of flex is connected with the lock pin of suspension hook suspender belt release device.
2. a kind of wave glider being easily recycled according to claim 1, it is characterized in that: described suspension hook suspender belt release device includes the reel bracket being arranged on rigid support and the reel being hinged on reel bracket, described lock pin has circular hole also cross what arrange on reel bracket and reel, described suspension centre is arranged on the end of reel, and described suspender belt is wrapped on reel.
3. a kind of wave glider being easily recycled according to claim 1, it is characterized in that: described suspension hook suspender belt release device includes the rope closing box being arranged on rigid support, rope closing box upper end thereof is provided with capping, described suspension centre is arranged on the sidewall of rope closing box, described suspender belt and suspension hook are arranged in rope closing box, and described lock pin is positioned at the through hole that rope closing box is arranged with capping junction.
4. a kind of wave glider being easily recycled according to claim 1, it is characterized in that: pair of bearing that described suspension hook suspender belt release device includes being arranged on rigid support and be arranged on axle therebetween, described suspension centre is arranged on axle, described suspender belt is wrapped on axle, and described lock pin is connected with the end of axle.
5. any one wave glider being easily recycled according to claim 1 or 2 or 3 or 4, it is characterised in that: the length of described suspender belt is more than the length of umbilical cord.
6. a recovery method for the wave glider being easily recycled, the wave glider that any one is easily recycled including Claims 1-4, it is characterised in that:
The first step: the radio set of lash ship sends instruction, the wireless aerial on buoyancy aid receives radio signal, and computer control system sends instruction to steering wheel, makes steering wheel beat the rudder angle of the hard over angle more than normal/cruise state, makes rudder stock rotate;
Second step: rudder stock rotation process tension flex also pulls out lock pin, the lock-out state of contact suspension hook suspender belt release device, suspension hook is released together along with suspender belt and emerges under the effect of buoyancy;
3rd step: after suspension hook emerges, the lifting appliance of lash ship catches suspension hook, it is achieved the recovery of submerged body;
4th step: after submerged body is recovered to lash ship, the lifting appliance of lash ship is recycled to lash ship by the buoyancy aid of slinging of the suspension ring on buoyancy aid.
CN201610115673.0A 2016-03-01 2016-03-01 A kind of wave glider and its recovery method being easily recycled Active CN105775075B (en)

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Publication number Priority date Publication date Assignee Title
CN108469731A (en) * 2018-02-28 2018-08-31 哈尔滨工程大学 A kind of wave glider malfunction monitoring and robust control method
CN108639279A (en) * 2018-06-12 2018-10-12 哈尔滨工程大学 A kind of wave glider for capableing of Emergency recovery
CN108829102A (en) * 2018-06-12 2018-11-16 哈尔滨工程大学 The wave glider course heading control method that adaptive bow is merged to information
CN108829102B (en) * 2018-06-12 2021-01-05 哈尔滨工程大学 Course control method of wave glider with self-adaptive heading information fusion
CN112606976A (en) * 2020-12-22 2021-04-06 国家海洋技术中心 Submersible wave glider

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