CN105775075B - A kind of wave glider and its recovery method being easily recycled - Google Patents
A kind of wave glider and its recovery method being easily recycled Download PDFInfo
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- CN105775075B CN105775075B CN201610115673.0A CN201610115673A CN105775075B CN 105775075 B CN105775075 B CN 105775075B CN 201610115673 A CN201610115673 A CN 201610115673A CN 105775075 B CN105775075 B CN 105775075B
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- suspender belt
- suspension hook
- release device
- suspension
- submerged body
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, 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
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
Abstract
The present invention provides a kind of wave glider and its recovery method being easily recycled, including floating body and submerged body, computer control system and wireless antenna are provided with the floating body, the wireless antenna is communicated with the radio station on lash ship, submerged body steering wheel and rudder stock are provided with the submerged body, umbilical cord is provided between floating body and submerged body, suspension hook suspender belt release device is also equipped with the rigid support of the submerged body, suspension centre is provided with the suspension hook suspender belt release device, suspender belt is connected with suspension centre, the end of suspender belt is provided with suspension hook, flex is connected with the rudder stock, the end of flex is connected with the lock pin of suspension hook suspender belt release device.The present invention is simple in construction to be easily achieved, and is controlled the state of suspension hook suspender belt release device by the lock pin of setting, simple and reliable realizes the release of suspender belt and suspension hook, after after suspender belt and suspension hook emersion to the water surface, just be may be recovered work.
Description
Technical field
The present invention relates to a kind of wave glider and its recovery method being easily recycled.
Background technology
Wave glider is a kind of new unmanned marine exploration platform, utilizes the soft company of underwater surface of floating body-umbilical cord-submerged body
Connect couple structure and ocean wave energy is converted into the onward impulse of itself, while the solar panel carried by upper deck is
Each electric appliance load is powered, and long-term path trace and position holding can be carried out on wide ocean, intermediate station is can also act as,
Instruction and data is carried out with the detector of other kinds type to exchange, and provides new approaches for ocean observation technology, there is very wide
Wealthy development prospect.
In order to preferably absorb wave energy, umbilical cord is typically designed longer, usually 3m-8m, and wave glider work
Environment, which is generally under the larger marine site of stormy waves, such environment, make it that its safe recovery is extremely difficult.
The recovery method that will be readily apparent includes following several：
1st, towage is reclaimed.This method personnel safety is secure, but to ensure that equipment safety towage speed can not be too fast, examination
Towage overlong time when testing marine site farther out；During towage submerged body can constantly water outlet enter water, easy damaged blade and axle；Towage
During evade dealing ship and underwater obstacle is more difficult.
2nd, using large-scale experiment lash ship, by wave glider floating body and submerged body integral lifting.The method needs sling height
More than umbilical cord length, this needs the experiment lash ship of Large-scale professional, and expense is very expensive；It is larger under the larger severe sea condition of stormy waves
Sling height it is extremely dangerous for personnel and equipment.
3rd, by diver's dive, in wave glider submerged body part hanging hook, submerged body part is first lifted to lash ship, after will
Floating body part is lifted to lash ship.Personal safety dangerous property of the method when stormy waves is larger to diver.
The content of the invention
The invention aims to avoid traditional wave glider in the time receiving higher lifting next time of severe stormy waves environment
Height may bring danger and a kind of wave glider and its recovery method being easily recycled is provided.
The object of the present invention is achieved like this：A kind of wave glider being easily recycled, including floating body and submerged body, it is described
Computer control system and wireless aerial are provided with floating body, the wireless aerial is communicated with the radio station on lash ship,
Submerged body steering wheel and rudder stock are provided with the submerged body, is provided between floating body and submerged body on umbilical cord, the rigid support of the submerged body
It is also equipped with being provided with suspension centre, suspension centre in suspension hook suspender belt release device, the suspension hook suspender belt release device and is connected with suspender belt, hangs
The end of band, which is provided with suspension hook, the rudder stock, is connected with flex, and the end of flex is consolidated with the lock pin of suspension hook suspender belt release device
Even.
A kind of recovery method for the wave glider being easily recycled：
The first step：The wireless aerial that the radio station of lash ship is sent on instruction, floating body receives radio signal, computer
Control system sends instruction to steering wheel, steering wheel is beaten the rudder angle of the hard over angle more than normal/cruise state, rotates rudder stock；
Second step：Rudder stock rotation process tenses flex and pulls out lock pin, contacts the lock-out state of suspension hook suspender belt release device,
Suspension hook is released and emerged in the presence of buoyancy together with suspender belt；
3rd step：After suspension hook emerges, the lifting appliance capture suspension hook of lash ship realizes the recovery of submerged body；
4th step：Submerged body is recovered to after lash ship, and the lifting appliance of lash ship is sling floating body by the suspension ring on floating body and is recycled to
Lash ship.
Present invention additionally comprises some such architectural features：
1. described in suspension hook suspender belt release device include be arranged on rigid support on reel bracket and be hinged on reel bracket
Reel, the lock pin is also cross the circular hole that has set on reel bracket and reel, and the suspension centre is arranged on the end of reel, described
Suspender belt is wrapped on reel.
2. described in suspension hook suspender belt release device include be arranged on rigid support on rope closing box, rope closing box upper end is hinged installation
There is capping, the suspension centre is arranged on the side wall of rope closing box, the suspender belt and suspension hook are arranged in rope closing box, and the lock pin is located at
In the through hole that rope closing box is set with capping junction.
3. described in suspension hook suspender belt release device include a pair of bearing for being arranged on rigid support and install therebetween
Axle, the suspension centre is arranged on axle, and the suspender belt is wrapped on axle, and the end of the lock pin and axle is connected.
4. described in suspender belt length be more than umbilical cord length.
Compared with prior art, the beneficial effects of the invention are as follows：Wave glider that what the present invention was provided be easily recycled and
Its recovery method, it is simple in construction to be easily achieved, the state of suspension hook suspender belt release device is controlled by the lock pin of setting, it is simple and reliable
Realize the release of suspender belt and suspension hook, after after suspender belt and suspension hook emersion to the water surface, work is just may be recovered, required for reclaiming
Sling height it is smaller than traditional requirement, it is to avoid traditional wave glider is high in the time receiving higher lifting next time of severe stormy waves environment
The danger that may be brought is spent, removal process of the invention reclaims submerged body part first, it is rear to reclaim floating body part, wave is not being slided
The Xiang device speed of a ship or plane reduces required sling height while causing to significantly affect, it is that wave can be achieved only to need small-sized amateur lash ship
The recovery of glider, be connected to submerged body suspension hook suspender belt release process on lash ship remote operation can be achieved, it is whole to reclaim
Process is simple and easy to apply, safe and reliable.
Brief description of the drawings
Fig. 1 is the overall structure diagram of the present invention；
Fig. 2 is the scheme of installation of suspension hook suspender belt release device scheme one of the present invention；
Fig. 3 is the structural representation of suspension hook suspender belt release device scheme one of the present invention；
Fig. 4 is the scheme of installation of suspension hook suspender belt release device scheme two of the present invention；
Fig. 5 is the structural representation of suspension hook suspender belt release device scheme two of the present invention；
Fig. 6 is the scheme of installation of suspension hook suspender belt release device scheme three of the present invention；
Fig. 7 is the structural representation of suspension hook suspender belt release device scheme three of the present invention；
Fig. 8 is the submerged body partial recycle procedure schematic diagram of the present invention；
Fig. 9 is the floating body partial recycle procedure schematic diagram of the present invention.
Embodiment
The present invention is described in further detail with embodiment below in conjunction with the accompanying drawings.
With reference to Fig. 1,2,3, floating body 1, submerged body 2 have been included in conventional wave glider, umbilical cord 3, wireless aerial 4, has been calculated
On the basis of machine control system 5, steering wheel 6, the suspension hook suspender belt release device 7 with lock function is installed on wave glider submerged body
Part rigid support 8 and with the firm connection of submerged body support 8, installation site is close to umbilical cord 3 and the tail end side of 2 junction of submerged body 9；Hang
Hook block band release device 7 is locked in wave glider normal/cruise state by lock pin 10, and lock pin 10 is connected by a flex 11
In the rudder stock 12 of submerged body steering wheel 6, the length of flex 11 should be greater than or equal to when rudder angle is reaching positive or negative wave glider just
Flex is tensioned corresponding length just during the hard over angle of normal operational configuration.
The length of suspender belt 13 is more than the length of umbilical cord 3；One end connecting shackle 14 of suspender belt 13, the other end lies in submerged body suspension centre 15
Place；The position of suspension centre 15 close to umbilical cord 3 and the junction 9 of submerged body 2, and with the structure of the suspension hook suspender belt release device 7
Form is related.In wave glider normal/cruise state, suspender belt 13 is wound in suspension hook suspender belt release device 7 by limitation；
The suspension hook suspender belt release device is optional but is not limited to following several technical schemes.
The solution of the present invention one is described with reference to Fig. 2,3, suspension hook suspender belt release device is the reel 16 that can be locked by lock pin 10,
When lock pin 10 is locked, reel 16 can not be rotated, when lock pin 10 is drawn out, and reel 16 can be rotated.Suspension centre 15 is arranged in reel 16
On.The lock pin 10 is connected to the rudder stock 12 of submerged body steering wheel 6 by a flex 11, and the length of flex 11 should be greater than or equal to working as
Flex is tensioned corresponding length just when rudder angle reaches the hard over angle of positive or negative wave glider normal/cruise state.
During wave glider normal/cruise state, suspender belt 13 by limitation continuous winding on reel 16, during recovery, rudder stock 12
Rotate and tense flex 11 and pull out lock pin 10, reel 16 can be rotated, and suspension hook 14 is released with suspender belt 13.
The solution of the present invention two is described with reference to Fig. 4,5, suspension hook suspender belt release device is a 17 openable rope closing boxes of capping
18.Cover 17 sides to lock by lock pin 19,17 opposite sides of capping are hinged with rope closing box 18, and hinged place is produced by torsionspring 30
Raw pre- moment of torsion.When lock pin 19 is locked, capping 17 can not be opened, when lock pin 19 is drawn out, and capping 17 is made in the moment of torsion of torsionspring 30
Flicked under.Suspension centre 20 is arranged and the inwall of rope closing box 18.The lock pin 19 is connected to the rudder stock of submerged body steering wheel 6 by a flex 11
12, the length of flex 11 should be greater than or equal to the maximum rudder that positive or negative wave glider normal/cruise state is reached when rudder angle
Flex is tensioned corresponding length just during angle.
During wave glider normal/cruise state, suspender belt 13 is accommodated in rope closing box 18 by limitation, during recovery, 12 turns of rudder stock
Dynamic to tense flex 11 and pull out lock pin 19, capping 17 is flicked, and suspension hook 14 is released with suspender belt 13.
The solution of the present invention three is described with reference to Fig. 6,7, suspension hook suspender belt release device is made up of a bearing arrangement.Axle 21 is pacified
Loaded on the support 22 being made up of two bearings, the support 22 is fixed on wave glider submerged body support 8.The axle 21 is relative
In the bearing in addition to it can rotate, it can be slid laterally in the presence of certain power in the axial direction along bearing hole, and
Can be with bearing disengaging independently in the presence of lasting power in the axial direction.Suspension centre 23 can be disposed at the support 22, or
It is suspension centre using umbilical cord 3 and the junction 9 of submerged body support 8.The axle is connected to the rudder stock 12 of submerged body steering wheel 6 by a flex 11,
The length of flex 11 should be greater than or equal to the hard over angle that positive or negative wave glider normal/cruise state is reached when rudder angle
When flex be tensioned corresponding length just.
During wave glider normal/cruise state, suspender belt 13 on axle 21 between two bearings, is reclaimed by limitation continuous winding
When, rudder stock 12, which is rotated, to be tensed flex 11 and make it that the axle 21 slides laterally along bearing hole relative to the bearing and departs from axle
Hold, suspension hook 14 is released with suspender belt 13.
With reference to Fig. 1, the suspension hook suspender belt 13,14 has positive buoyancy, can be after being discharged by suspension hook suspender belt release device 7
Emerged under buoyancy, the buoyancy is preferably derived from suspension hook and suspender belt in itself, it is also optional to derive from and suspension hook or suspender belt
The device of other offer buoyancy of connection, such as such as buoyancy material, air bag.
With reference to Fig. 1, when being reclaimed, lash ship radio station 24 sends installed on instruction, wave glider floating body wireless
Electric antenna 4 receives radio signal, and wave glider control system 5 sends instruction to steering wheel 6, and driving steering wheel 6 dozens is more than wave
The rudder angle of the hard over angle of glider normal/cruise state, and be not limited in the range of positive and negative 180 degree.The rotation process of rudder stock 12 is drawn
Tight flex 11 simultaneously pulls out lock pin 10, releases the lock-out state of suspension hook suspender belt release device 7, suspension hook suspender belt 13,14 be released and
Emerged under buoyancy.
With reference to Fig. 8, wave glider submerged body part 2 is reclaimed first.After suspension hook 14 emerges, lash ship lifting appliance is caught
The suspension hook of emersion is obtained, submerged body part 2 is hoisted to lash ship 25, time of submerged body part 2 first under lifting appliance pulling force F1 effects
Receipts process those skilled in the art can complete according to its knowledge and experience under relatively low sling height.
With reference to Fig. 9, after being recovered to lash ship 25 in submerged body part 2, by floating body part under lifting appliance pulling force F2 effects
1 is divided to be hoisted to lash ship 25, removal process those skilled in the art of floating body part 1 can be relatively low according to its knowledge and experience
Sling height under complete.
With reference to Fig. 1,8,9, the recovery order of the removal process is rear to reclaim floating body part 1 first to reclaim submerged body part 2.
Include floating body, submerged body, umbilical cord, wireless aerial, computer control system, steering wheel in conventional wave glider
On the basis of, the suspension hook suspender belt release device with lock function is installed on wave glider submerged body part rigid support and and submerged body
The firm connection of support, installation site is close to umbilical cord and submerged body junction tail end side；Suspension hook suspender belt release device is glided in wave
Locked during device normal/cruise state by lock pin, lock pin is connected to the rudder stock of submerged body steering wheel by a flex, the flex length should
Flex tensioning pair just during more than or equal to the hard over angle that positive or negative wave glider normal/cruise state is reached when rudder angle
The length answered.
The length of suspender belt is more than umbilical cord length；Suspender belt one end connecting shackle, the other end is lain at submerged body suspension centre；Slided in wave
Suspender belt, which is limited, during Xiang device normal/cruise state is wound in suspension hook suspender belt release device；Suspension hook suspender belt has positive buoyancy, is being hung
It can be emerged after hook block band release device release under buoyancy.The suspension centre position connects close to umbilical cord and submerged body
Place is met, and it is related to the structure type of the suspension hook suspender belt release device.The suspender belt quilt in wave glider normal/cruise state
Limitation is wound in suspension hook suspender belt release device；
The suspension hook suspender belt release device is optional but is not limited to following several technical schemes.
Scheme one, suspension hook suspender belt release device is the reel that can be locked by lock pin, and when lock pin is locked, reel can not be rotated,
When lock pin is drawn out, reel can be rotated.
Suspension centre is arranged on reel.
The lock pin is connected to the rudder stock of submerged body steering wheel by a flex, and the flex length should be greater than or equal to working as rudder angle
Flex is tensioned corresponding length just when reaching the hard over angle of positive or negative wave glider normal/cruise state.
During wave glider normal/cruise state, suspender belt is by limitation continuous winding on reel, and during recovery, rudder stock, which is rotated, to be drawn
Tight flex simultaneously pulls out lock pin, and reel can be rotated, and suspension hook is released with suspender belt.
Scheme two, suspension hook suspender belt release device is an openable rope closing box of capping.Capping side is locked by lock pin, is sealed
Lid opposite side is hinged with rope closing box, and hinged place produces pre- moment of torsion by torsionspring.When lock pin is locked, capping can not be opened, lock
When pin is drawn out, it is sealed under the effect of torsionspring moment of torsion and flicks.
Suspension centre is arranged and rope closing box inwall.
The lock pin is connected to the rudder stock of submerged body steering wheel by a flex, and the flex length should be greater than or equal to working as rudder angle
Flex is tensioned corresponding length just when reaching the hard over angle of positive or negative wave glider normal/cruise state.
During wave glider normal/cruise state, suspender belt, which is limited, to be accommodated in rope closing box, during recovery, and rudder stock, which is rotated, to be tensed
Flex simultaneously pulls out lock pin, and capping is flicked, and suspension hook is released with suspender belt.
Scheme three, suspension hook suspender belt release device is made up of a bearing arrangement.Axle is installed on the branch being made up of two bearings
On frame, the support is fixed on wave glider submerged body support.The axle relative to the bearing in addition to it can rotate, certain
Power in the axial direction in the presence of can be slid laterally along bearing hole, and in the presence of lasting power in the axial direction
Can be with bearing disengaging independently.
Suspension centre can be disposed at the support, or it is suspension centre with submerged body support junction to utilize umbilical cord.
The axle is connected to the rudder stock of submerged body steering wheel by a flex, and the flex length should be greater than or equal to when rudder angle reaches
To positive or negative wave glider normal/cruise state hard over angle when flex be tensioned corresponding length just.
During wave glider normal/cruise state, suspender belt is by limitation continuous winding on axle between two bearings, during recovery, rudder
Bar, which is rotated, to be tensed flex and make it that the axle slides laterally along bearing hole relative to the bearing and departs from bearing, suspension hook and suspender belt
It is released.
The suspension hook suspender belt has positive buoyancy, can be in emersion under buoyancy after being discharged by suspension hook suspender belt release device
The water surface, the buoyancy is preferably derived from suspension hook and suspender belt in itself, also optional from other offers being connected with suspension hook or suspender belt
The device of buoyancy, such as buoyancy material, such as air bag.
When being reclaimed, lash ship radio station sends the wireless aerial installed on instruction, wave glider floating body and received
Radio signal, wave glider control system sends instruction to steering wheel, and driving steering wheel is beaten more than wave glider normal/cruise
The rudder angle of the hard over angle of state, and be not limited in the range of positive and negative 180 degree.Rudder stock rotation process tenses flex and pulls out lock
Pin, releases the lock-out state of suspension hook suspender belt release device, and suspension hook suspender belt is released and emerged under buoyancy.Lash ship rises
Hang the suspension hook of equipment capture emersion and submerged body part is hoisted to lash ship, floating body part is finally hoisted to lash ship, removal process
Complete.
Namely the present invention reclaims wave glider submerged body part first.After suspension hook emerges, lash ship lifting appliance is caught
The suspension hook of emersion is obtained, submerged body part is hoisted to lash ship, the removal process of submerged body part first under lifting appliance pulling force effect
Those skilled in the art can complete according to its knowledge and experience under relatively low sling height.
After being recovered to lash ship in submerged body part, floating body part is hoisted to lash ship under lifting appliance pulling force effect,
Removal process those skilled in the art of floating body part can complete according to its knowledge and experience under relatively low sling height.
Briefly, the recovery order of the removal process of the invention reclaims floating body part afterwards first to reclaim submerged body part
Point.
Include floating body, submerged body, umbilical cord, wireless aerial, computer control system, steering wheel in conventional wave glider
On the basis of, the suspension hook suspender belt release device with lock function be installed on traditional wave glider submerged body part rigid support and with
The firm connection of submerged body support；Suspension hook suspender belt release device is locked in wave glider normal/cruise state by lock pin, lockpin ventilating
Cross the rudder stock that a flex is connected to submerged body steering wheel.Suspender belt one end connecting shackle, the other end is lain at submerged body suspension centre.In wave gliding
Suspender belt, which is limited, during device normal/cruise state is wound in suspension hook suspender belt release device.When being reclaimed, lash ship radio station sends
The wireless aerial installed on instruction, wave glider floating body receives radio signal, wave glider control system driving rudder
The rudder stock of machine is rotated to tense flex and pull out lock pin, and suspension hook suspender belt is released and emerged under buoyancy.Lash ship rises
Hang the suspension hook of equipment capture emersion and submerged body part is hoisted to lash ship, floating body part is finally hoisted to lash ship, removal process
Complete.
It should be appreciated that other ways of realization similar with the principle of the invention, such as realized by way of other non-lock pins
The locking of suspension hook suspender belt release device is with unlocking, and such as suspender belt is fixed on suspension hook suspender belt using the other modes of non-twined to be released
Device is put, for example, the transmission and reception for reclaiming order are realized by underwater sound mode or other communication modes, such as by additionally increasing
Plus motor rather than steering wheel realize releasing of lock-out state of suspension hook suspender belt release device etc. also within the scope of the present invention.
Claims (5)
1. it is provided with computer control system on a kind of wave glider being easily recycled, including floating body and submerged body, the floating body
And wireless aerial, the radio station on the wireless aerial and lash ship communicates, be provided with the submerged body submerged body steering wheel and
Rudder stock, is provided with umbilical cord between floating body and submerged body, it is characterised in that：Suspension hook suspender belt is also equipped with the rigid support of the submerged body
It is provided with release device, the suspension hook suspender belt release device on suspension centre, suspension centre and is connected with suspender belt, the end of suspender belt, which is provided with, hangs
Flex is connected with hook, the rudder stock, the end of flex is connected with the lock pin of suspension hook suspender belt release device, the length of the suspender belt
More than the length of umbilical cord.
2. a kind of wave glider being easily recycled according to claim 1, it is characterised in that：The suspension hook suspender belt release
Device includes the reel bracket being arranged on rigid support and the reel being hinged on reel bracket, and the lock pin is also cross reel bracket
With the circular hole that has set on reel, the suspension centre is arranged on the end of reel, and the suspender belt is wrapped on reel.
3. a kind of wave glider being easily recycled according to claim 1, it is characterised in that：The suspension hook suspender belt release
Device includes the rope closing box being arranged on rigid support, and rope closing box upper end, which is hinged, is provided with capping, and the suspension centre is arranged on rope closing
On the side wall of box, the suspender belt and suspension hook are arranged in rope closing box, and the lock pin is located at what rope closing box was set with capping junction
In through hole.
4. a kind of wave glider being easily recycled according to claim 1, it is characterised in that：The suspension hook suspender belt release
Device includes the axle of a pair of bearing and installation therebetween on rigid support, and the suspension centre is arranged on axle, described
Suspender belt is wrapped on axle, and the end of the lock pin and axle is connected.
5. a kind of recovery method for the wave glider being easily recycled, including Claims 1-4 any one ripple for being easily recycled
Unrestrained glider, it is characterised in that：
The first step：The wireless aerial that the radio station of lash ship is sent on instruction, floating body receives radio signal, computer controls
System sends instruction to steering wheel, steering wheel is beaten the rudder angle of the hard over angle more than normal/cruise state, rotates rudder stock；
Second step：Rudder stock rotation process tenses flex and pulls out lock pin, releases the lock-out state of suspension hook suspender belt release device, suspension hook
It is released and is emerged in the presence of buoyancy together with suspender belt, the flex length is more than or equal to when rudder angle reaches
Flex is tensioned corresponding length just during the hard over angle of positive or negative wave glider normal/cruise state；
3rd step：After suspension hook emerges, the lifting appliance capture suspension hook of lash ship realizes the recovery of submerged body；
4th step：Submerged body is recovered to after lash ship, and the lifting appliance of lash ship slings floating body by the suspension ring on floating body and is recycled to lash ship.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610115673.0A CN105775075B (en) | 2016-03-01 | 2016-03-01 | A kind of wave glider and its recovery method being easily recycled |
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| CN201610115673.0A CN105775075B (en) | 2016-03-01 | 2016-03-01 | A kind of wave glider and its recovery method being easily recycled |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108469731B (en) * | 2018-02-28 | 2020-12-22 | 哈尔滨工程大学 | Fault monitoring and robust control method for wave glider |
| CN108639279B (en) * | 2018-06-12 | 2020-04-03 | 哈尔滨工程大学 | Wave glider capable of being recovered in emergency |
| 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 |
| CN108945317B (en) * | 2018-07-17 | 2023-11-07 | 湖南科技大学 | Cabin-mounted submerged full-hydraulic horizontal release device |
| CN110920814B (en) * | 2019-10-28 | 2024-02-23 | 中国海洋大学 | Single-structure wave glider |
| CN112606976A (en) * | 2020-12-22 | 2021-04-06 | 国家海洋技术中心 | Submersible wave glider |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| AR085449A1 (en) * | 2011-03-17 | 2013-10-02 | Liquid Robotics Inc | UNDIMOTRIC ENERGY POWERED DEVICE WITH ONE OR MORE THREATS THAT HAVE ONE OR MORE RIGID SECTIONS |
| CN202337352U (en) * | 2011-11-23 | 2012-07-18 | 国家海洋环境监测中心 | Multifunctional universal seabed base |
| CN102582812A (en) * | 2012-03-07 | 2012-07-18 | 北京南风科创应用技术有限公司 | Wave propeller |
| CN202501847U (en) * | 2012-03-28 | 2012-10-24 | 国家海洋局第二海洋研究所 | Shallow sea recovery type hydrographic survey base system |
| US20140064026A1 (en) * | 2012-09-04 | 2014-03-06 | Apache Corporation | Wave glider with streamer orientation sensor |
| CN203698637U (en) * | 2014-01-23 | 2014-07-09 | 于佳弘 | Autarkic ocean monitoring platform and propelling plant |
| CN104149959B (en) * | 2014-06-30 | 2016-08-17 | 浙江大学 | A kind of wave power-actuated sea aerodone |
| CN203996841U (en) * | 2014-08-08 | 2014-12-10 | 天津深之蓝海洋设备科技有限公司 | A kind of simple and easy regenerative apparatus that lays of underwater glider |
| CN104192259A (en) * | 2014-09-03 | 2014-12-10 | 西北工业大学 | Wave-driven underwater vehicle |
| CN104590496B (en) * | 2015-01-08 | 2017-02-22 | 浙江大学 | Long-distance autonomous wave glider without power consumption |
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