CN105775079B - The movement connecting device of noncontact under water of autonomous underwater vehicle and water surface movable platform - Google Patents
The movement connecting device of noncontact under water of autonomous underwater vehicle and water surface movable platform Download PDFInfo
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- CN105775079B CN105775079B CN201610260569.0A CN201610260569A CN105775079B CN 105775079 B CN105775079 B CN 105775079B CN 201610260569 A CN201610260569 A CN 201610260569A CN 105775079 B CN105775079 B CN 105775079B
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- underwater vehicle
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- autonomous underwater
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 116
- 230000008054 signal transmission Effects 0.000 claims abstract description 28
- 238000004891 communication Methods 0.000 claims abstract description 20
- 230000000007 visual effect Effects 0.000 claims abstract description 13
- 230000001681 protective effect Effects 0.000 claims abstract description 10
- 239000000725 suspension Substances 0.000 claims description 12
- 238000003032 molecular docking Methods 0.000 claims description 5
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims description 3
- 238000010521 absorption reaction Methods 0.000 claims description 2
- 238000001514 detection method Methods 0.000 abstract description 7
- 238000011084 recovery Methods 0.000 abstract description 3
- 230000000694 effects Effects 0.000 description 5
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 239000003643 water by type Substances 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 229910052742 iron Inorganic materials 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Connecting device is moved the invention discloses the noncontact under water of a kind of autonomous underwater vehicle and water surface movable platform, the device includes water surface movable platform side part and autonomous underwater vehicle side part；Wherein water surface movable platform side part mainly includes water surface movable platform hull, noncontact is plugged into main control unit, horn-like guide port, transmitting non-contact electric energy primary coil, water surface movable platform side antenna signal transmission, electromagnet locking unit, water surface movable platform side acoustics communicates locating module, cylinder type guide port etc., autonomous underwater vehicle side part mainly includes visual guidance component, autonomous underwater vehicle side acoustics communication module, autonomous underwater vehicle side antenna signal transmission, submarine navigation device main body, transmitting non-contact electric energy secondary coil, electromagnetic locking block, taper protective case.The present apparatus increases the investigative range of autonomous underwater vehicle and the flexibility of correlation detection tasks carrying, and reduces the cost recovery of autonomous underwater vehicle.
Description
Technical field
The invention belongs to marine technology engineering field, it is related to a kind of connecting device, especially a kind of autonomous underwater vehicle
Connecting device is moved in noncontact under water with water surface movable platform.
Background technology
21 century is the century of ocean, and the ocean for accounting for global 71% area will be next century, is also that the following mankind rely
With the resource of existence.In recent years, autonomous underwater vehicle as marine exploration platform in terms of marine environment, resource, geology
Detection and research in, have been obtained for increasingly being widely applied.But autonomous underwater vehicle endurance is poor, data are passed
Defeated real-time is not strong, lays and limits it with the situation such as recovery complexity and be more widely applied.It is autonomous under water to navigate for the problem
The underwater mating technology of row device is progressively risen in recent years.Patent CN201110178669.6 discloses a set of autonomous underwater navigation
Device and submarine observation network docking facilities, Autonomous Underwater Vehicle lead mouth guiding and can reliably rest in POP by horn-like
Main body, realizes the transmission of electric energy and signal between Autonomous Underwater Vehicle and seabed observation network.Patent
CN201310668750.1 discloses the docking platform system of direction that can automatically adjust, and it is successful that docking can be greatly improved in the system
Probability.
But the above-mentioned docking platform system referred to is laid on seabed and is connected with submarine observation network.In order to complete correlation
Task of plugging into, autonomous underwater vehicle needs to navigate by water to seabed to fix to plug into place, so not only greatly limit under water
The investigative range of autonomous navigation device, and because place of plugging into is fixed also so that marine exploration task has limitation.Therefore, it is
Increase the investigative range of autonomous underwater vehicle and the flexibility of correlation detection tasks carrying, the present invention proposes autonomous boat under water
The movement connecting device of noncontact under water of row device and water surface movable platform.
The content of the invention
Connect it is an object of the invention to provide the movement of noncontact under water of a kind of autonomous underwater vehicle and water surface movable platform
Device is refuted, to realize that autonomous underwater vehicle is plugged into task in the plug into noncontact movement of platform of any waters and the water surface, so that
Increase the investigative range of autonomous underwater vehicle and the flexibility of correlation detection tasks carrying.
The movement connecting device of noncontact under water of the autonomous underwater vehicle of the present invention and water surface movable platform includes the water surface
Mobile platform side part and autonomous underwater vehicle side part；
Described water surface movable platform sides point include water surface movable platform hull, noncontact and plugged into main control unit, video
Monitoring module, horn-like guide port, transmitting non-contact electric energy primary coil, water surface movable platform side antenna signal transmission, electromagnetism
Iron locking unit, locking unit fixture, water surface movable platform side acoustics communication locating module, cylinder type guide port, guiding lamp
Fixture, under water guiding lamp, suspension linkage member, horn-like guide port osculum end and transmitting non-contact electric energy primary coil coaxial line
And be rigidly connected, locking unit fixture is in circumferentially to be uniformly distributed and passed with non-contact electric energy on horn-like guide port central shaft
Defeated primary coil is rigidly connected, and be rigidly connected an electromagnet locking unit on each locking unit fixture, cylinder type guide port with
Locking unit fixture be rigidly connected and with horn-like guide port coaxial line, water surface movable platform side acoustics communication locating module with
Guiding lamp fixture is rigidly connected with cylinder type guide port, and water surface movable platform side acoustics communicates what locating module was sent
Beam position is water-bed, guide under water lamp be rigidly connected with guiding lamp fixture and with cylinder type guide port coaxial line, guide under water
Lamp to emit beam and point to horn-like guide port, water surface movable platform side antenna signal transmission and noncontact electricity by cylinder type guide port
Primary coil diameter parallel can be transmitted and be rigidly connected, suspension linkage member upper end is rigidly connected with water surface movable platform hull, hanged
Hang connector lower end to be rigidly connected with transmitting non-contact electric energy primary coil and cylinder type guide port respectively, video monitor module is consolidated
Be connected to suspension linkage member and its visual angle towards horn-like guide port, its center axis parallel to horn-like guide port central shaft
Line, noncontact main control unit of plugging into is fixedly secured in water surface movable platform hull.
Described autonomous underwater vehicle sidepiece point includes visual guidance component, autonomous underwater vehicle side acoustics communication mould
Block, autonomous underwater vehicle side antenna signal transmission, submarine navigation device main body, transmitting non-contact electric energy secondary coil, electromagnetic lock
Tight block, taper protective case, visual guidance component and autonomous underwater vehicle side acoustics communication module are fixed on submarine navigation device master
The cavity the inside in body portion and diameter parallel of the axis of the two with submarine navigation device main body, transmitting non-contact electric energy
Level coil, electromagnetic locking block and taper protective case are coaxially fixed by socket ROV main body under water, autonomous underwater vehicle
Side antenna signal transmission and transmitting non-contact electric energy secondary coil diameter parallel are simultaneously rigidly connected.
Described locking unit fixture and electromagnet locking unit is three.
The movement connecting device course of work of noncontact under water of autonomous underwater vehicle and water surface movable platform is as follows：
Noncontact is assigned to plug into after task, water surface movable platform in presumptive area surface navigation, autonomous underwater vehicle from
It is main to navigate to the waters, and positioning is communicated to water surface movable platform side acoustics by autonomous underwater vehicle side acoustics communication module
The positional information of module request water surface movable platform.Autonomous underwater vehicle is after water surface movable platform, in visual guidance group
Under part auxiliary, autonomous underwater vehicle is navigated by water to horn-like guide port guide area, and under horn-like guide port guide function,
Into cylinder type guide port, during this, taper protective case, which is played, slows down impact force effect.Autonomous underwater vehicle is moved with the water surface
After moving platform is docked successfully, noncontact plug into main control unit control open electromagnet locking unit, make electromagnet locking unit inhale
Attached electromagnetic locking block, so that water surface movable platform completes the locking function to autonomous underwater vehicle.After success is locked, under water certainly
Main ROV forms a fixed connection with water surface movable platform, navigates by water together.Noncontact plug into main control unit open non-contact electric energy
With the task of signal transmission, pass through the coupling of transmitting non-contact electric energy primary coil and transmitting non-contact electric energy secondary coil
Transmitting non-contact electric energy of the water surface movable platform to autonomous underwater vehicle is realized, passes through water surface movable platform side signal transmission day
Line and autonomous underwater vehicle side antenna signal transmission realize the two-way noncontact of water surface movable platform and autonomous underwater vehicle
Signal transmission.Autonomous underwater vehicle is completed after non-contact electric energy and signal transmission task, and noncontact is plugged into main control unit closing
Electromagnet locking unit, autonomous underwater vehicle contrary turning propeller exits water surface movable platform, and the detection for opening next cycle is appointed
Business.Video monitor module can play video monitor effect to whole process, and operating personnel can monitor unusual condition in time, go forward side by side
The corresponding emergency processing of row.
The movement connecting device of noncontact under water of the autonomous underwater vehicle of the present invention and water surface movable platform, make use of water
The flexible advantage of face mobile platform, and plugged into equipment by corresponding noncontact, the noncontact movement for realizing the two connects
Refute function, relative to traditional seabed noncontact connection modes, the device increase autonomous underwater vehicle investigative range and
The flexibility of correlation detection tasks carrying, and reduce the cost recovery of autonomous underwater vehicle.
Brief description of the drawings
Fig. 1 is water surface movable platform structure schematic diagram；
Fig. 2 is autonomous underwater vehicle structural representation；
Fig. 3 is the schematic diagram after autonomous underwater vehicle is normally docked with water surface movable platform.
In figure：1. water surface movable platform hull, 2. noncontacts are plugged into main control unit, 3. video monitor modules, and 4. is horn-like
Guide port, 5. transmitting non-contact electric energy primary coils, 6. water surface movable platform side antenna signal transmissions, 7. electromagnet locking is single
Member, 8. locking unit fixtures, 9. water surface movable platform side acoustics communication locating module, 10. cylinder type guide ports, 11. guidings
Lamp fixture, 12. guide lamp, 13. suspension linkage members, 14. visual guidance components, 15. autonomous underwater vehicle side acoustics under water
Communication module, 16. autonomous underwater vehicle side antenna signal transmissions, 17. submarine navigation device main bodys, 18. transmitting non-contact electric energies
Secondary coil, 19. electromagnetic locking blocks, 20. taper protective cases.
Embodiment
The present invention is further illustrated below in conjunction with accompanying drawing.
Reference picture 1- Fig. 3, the movement of noncontact under water of autonomous underwater vehicle with water surface movable platform of the invention is plugged into
Device includes water surface movable platform side part and autonomous underwater vehicle side part；
Described water surface movable platform sides point include water surface movable platform hull 1, noncontact plug into main control unit 2, regard
Frequency monitoring module 3, horn-like guide port 4, transmitting non-contact electric energy primary coil 5, water surface movable platform side antenna signal transmission
6th, three electromagnet locking units 7, three locking unit fixtures 8, water surface movable platform side acoustics communication locating module 9, circles
Cartridge type guide port 10, under water guiding lamp fixture 11, guiding lamp 12, suspension linkage member 13, the horn-like osculum end of guide port 4 with it is non-
Contact electric energy transmits the coaxial line of primary coil 5 and is rigidly connected, and three locking unit fixtures 8 are in horn-like guide port 4
Heart axle is uniformly distributed in circumferential and (is spaced 120 degree) and be rigidly connected with transmitting non-contact electric energy primary coil 5, three electromagnet locks
Tight unit 7 is rigidly connected with corresponding locking unit fixture 8, and cylinder type guide port 10 connects with the rigidity of locking unit fixture 8
Connect and with the horn-like coaxial line of guide port 4, water surface movable platform side acoustics communication locating module 9 and guiding lamp fixture 11 with
Cylinder type guide port 10 is rigidly connected, and the beam position that water surface movable platform side acoustics communication locating module 9 is sent is water-bed,
Under water guiding lamp 12 be rigidly connected with guiding lamp fixture 11 and with the coaxial line of cylinder type guide port 10, lamp 12 is guided under water and is sent
Light points to horn-like guide port 4, water surface movable platform side antenna signal transmission 6 and non-contact electric energy by cylinder type guide port 10
The transmission diameter parallel of primary coil 5 is simultaneously rigidly connected, and the upper end of suspension linkage member 13 is rigidly connected with water surface movable platform hull 1,
The lower end of suspension linkage member 13 is rigidly connected with transmitting non-contact electric energy primary coil 5 and cylinder type guide port 10 respectively, video prison
Suspension linkage member 13 is fixed in depending on module 3 and its visual angle is led towards horn-like guide port 4, its center axis parallel to horn-like
Draw the central axis of mouth 4, noncontact main control unit 2 of plugging into is fixedly secured in water surface movable platform hull 1.
Described autonomous underwater vehicle sidepiece point includes visual guidance component 14, the communication of autonomous underwater vehicle side acoustics
Module 15, autonomous underwater vehicle side antenna signal transmission 16, submarine navigation device main body 17, transmitting non-contact electric energy secondary coil
18th, electromagnetic locking block 19, taper protective case 20, visual guidance component 14 and autonomous underwater vehicle side acoustics communication module 15 are consolidated
It is scheduled on inside the cavity in 17 portions of submarine navigation device main body and axis of the axis of the two with submarine navigation device main body 17 is put down
OK, transmitting non-contact electric energy secondary coil 18, electromagnetic locking block 19 and taper protective case 20 are coaxially fixed by socket under water
ROV main body 17, autonomous underwater vehicle side antenna signal transmission 16 and the diameter parallel of transmitting non-contact electric energy secondary coil 18
And be rigidly connected.
The movement connecting device course of work of noncontact under water of autonomous underwater vehicle and water surface movable platform is as follows：
Noncontact is assigned to plug into after task, water surface movable platform in presumptive area surface navigation, autonomous underwater vehicle from
It is main to navigate to the waters and fixed to the communication of water surface movable platform side acoustics by autonomous underwater vehicle side acoustics communication module 15
Position module 9 asks the positional information of water surface movable platform.Autonomous underwater vehicle is after water surface movable platform, in visual guidance
Under component 14 is aided in, autonomous underwater vehicle is navigated by water to the horn-like guide area of guide port 4, and guided in horn-like guide port 4
Under effect, into cylinder type guide port 10, during this, taper protective case 20, which is played, slows down impact force effect.Autonomous navigation under water
After device is docked successfully with water surface movable platform, electromagnet locking unit 7 is opened in the noncontact control of main control unit 2 of plugging into, and makes electromagnetism
The absorption electromagnetic locking of iron locking unit 7 block 19, so that water surface movable platform completes the locking function to autonomous underwater vehicle.Into
After work(locking, autonomous underwater vehicle forms a fixed connection with water surface movable platform, navigates by water together.Noncontact is plugged into main control unit
2 open the task of non-contact electric energy and signal transmission, pass through transmitting non-contact electric energy primary coil 5 and transmitting non-contact electric energy
Transmitting non-contact electric energy of the water surface movable platform to autonomous underwater vehicle is realized in the coupling of level coil 18, is moved by the water surface
Moving platform side antenna signal transmission 6 and autonomous underwater vehicle side antenna signal transmission 16 realize water surface movable platform and under water oneself
The two-way non contact signal transmission of main ROV.Autonomous underwater vehicle is completed after non-contact electric energy and signal transmission task, non-
Main control unit 2 of plugging into closes electromagnet locking unit 7, and autonomous underwater vehicle contrary turning propeller exits water surface movable and put down
Platform, opens the detection mission in next cycle.Video monitor module 3 can play video monitor effect, operating personnel to whole process
Unusual condition can be monitored in time, and carries out corresponding emergency processing.
Claims (2)
1. the movement connecting device of noncontact under water of autonomous underwater vehicle and water surface movable platform, it is characterized in that being moved including the water surface
Moving platform side part and autonomous underwater vehicle side part；
Described water surface movable platform sides point include water surface movable platform hull (1), noncontact plug into main control unit (2), regard
Frequency monitoring module (3), horn-like guide port (4), transmitting non-contact electric energy primary coil (5), water surface movable platform side signal are passed
Defeated antenna (6), some electromagnet locking units (7), some locking unit fixtures (8), the communication of water surface movable platform side acoustics
Locating module (9), cylinder type guide port (10), under water guiding lamp fixture (11), guiding lamp (12), suspension linkage member (13),
Horn-like guide port (4) osculum end and transmitting non-contact electric energy primary coil (5) coaxial line and it is rigidly connected, locking unit is fixed
Part (8) is uniformly distributed and rigid with transmitting non-contact electric energy primary coil (5) on horn-like guide port (4) central shaft in circumferential
Connection, be rigidly connected on each locking unit fixture (8) an electromagnet locking unit (7) respectively, cylinder type guide port (10) with
Locking unit fixture (8) be rigidly connected and with horn-like guide port (4) coaxial line, water surface movable platform side acoustics communication positioning
Module (9) is rigidly connected with guiding lamp fixture (11) with cylinder type guide port (10), and water surface movable platform side acoustics
The beam position that communication locating module (9) is sent is water-bed, and lamp (12) is guided under water and is rigidly connected simultaneously with guiding lamp fixture (11)
With cylinder type guide port (10) coaxial line, under water guide lamp (12) emit beam via cylinder type guide port (10) point to it is horn-like
Guide port (4), water surface movable platform side antenna signal transmission (6) and transmitting non-contact electric energy primary coil (5) diameter parallel are simultaneously
It is rigidly connected, suspension linkage member (13) upper end is rigidly connected with water surface movable platform hull (1), suspension linkage member (13) lower end point
It is not rigidly connected with transmitting non-contact electric energy primary coil (5) and cylinder type guide port (10), video monitor module (3) is fixed in
The visual angle of suspension linkage member (13) and video monitor module is towards horn-like guide port (4), the central shaft of video monitor module
Line is parallel to the central axis of horn-like guide port (4), and noncontact main control unit (2) of plugging into is fixedly secured in water surface movable platform
Hull (1)；
Described autonomous underwater vehicle sidepiece point includes visual guidance component (14), autonomous underwater vehicle side acoustics communication mould
Block (15), autonomous underwater vehicle side antenna signal transmission (16), submarine navigation device main body (17), transmitting non-contact electric energy are secondary
Coil (18), electromagnetic locking block (19), taper protective case (20), visual guidance component (14) and autonomous underwater vehicle side acoustics
Communication module (15) be fixed on inside the cavity of submarine navigation device main body (17) bow and the axis of the two and underwater navigation
The diameter parallel of device main body (17), transmitting non-contact electric energy secondary coil (18), electromagnetic locking block (19) and taper protective case
(20) be coaxially fixed by socket ROV main body (17) under water, autonomous underwater vehicle side antenna signal transmission (16) with it is non-
Contact electric energy transmission secondary coil (18) diameter parallel is simultaneously rigidly connected；
Water surface movable platform side part and autonomous underwater vehicle side part docking after, noncontact plug into main control unit (2) control
Electromagnet locking unit (7) absorption electromagnetic locking block (19) is opened, locking is realized；Transmitting non-contact electric energy secondary coil (18) with
Transmitting non-contact electric energy is realized in transmitting non-contact electric energy primary coil (5) coupling；Autonomous underwater vehicle side antenna signal transmission
(16) two-way non contact signal transmission is carried out with water surface movable platform side antenna signal transmission (6).
2. dress of plugging into is moved in the noncontact under water of autonomous underwater vehicle according to claim 1 and water surface movable platform
Put, it is characterized in that, described electromagnet locking unit (7) is three with locking unit fixture (8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610260569.0A CN105775079B (en) | 2016-04-25 | 2016-04-25 | The movement connecting device of noncontact under water of autonomous underwater vehicle and water surface movable platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201610260569.0A CN105775079B (en) | 2016-04-25 | 2016-04-25 | The movement connecting device of noncontact under water of autonomous underwater vehicle and water surface movable platform |
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| CN105775079A CN105775079A (en) | 2016-07-20 |
| CN105775079B true CN105775079B (en) | 2017-07-11 |
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| CN106564573B (en) * | 2016-10-28 | 2018-01-12 | 浙江大学 | Profiling observation and underwater docking system based on photovoltaic generation |
| CN106428485B (en) * | 2016-11-01 | 2018-08-28 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | Novel submarine hydrophone for the two-way guiding capture recycling AUV of long range acousto-optic |
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| CN106976532A (en) * | 2017-03-21 | 2017-07-25 | 哈尔滨工程大学 | Netted infundibulate mini underwater vehicle retracting device |
| CN106892057A (en) * | 2017-03-21 | 2017-06-27 | 哈尔滨工程大学 | Toroidal mini underwater vehicle retracting device |
| CN106956760B (en) * | 2017-03-29 | 2019-06-11 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | The latent device of cable control of AUV is recycled under High-efficient Water |
| CN107589755A (en) * | 2017-08-24 | 2018-01-16 | 浙江大学 | It is a kind of to be used for the removable platform plugged into and its control method under water |
| CN108345313A (en) * | 2018-01-19 | 2018-07-31 | 浙江大学 | A kind of interconnection method of submarine navigation device and connection station |
| CN108688782B (en) * | 2018-06-14 | 2019-06-21 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | A kind of AUV underwater |
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| CN109178260B (en) * | 2018-08-23 | 2019-07-23 | 杭州电子科技大学 | A kind of docking system and interconnection method of unmanned boat and AUV |
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| CN109334897B (en) * | 2018-11-15 | 2019-09-20 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | A kind of underwater recovery system of AUV |
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| CN111284633A (en) * | 2018-12-06 | 2020-06-16 | 中国科学院沈阳自动化研究所 | Towing device for autonomously recovering AUV (autonomous Underwater vehicle) of USV (Universal Serial bus) and recovery method thereof |
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| CN111332436B (en) * | 2020-04-13 | 2021-01-22 | 上海交通大学 | Intelligent underwater robot docking device |
| CN113830267A (en) * | 2020-05-25 | 2021-12-24 | 邵峥业 | Underwater butt joint device of autonomous underwater robot |
| CN112339940A (en) * | 2020-10-29 | 2021-02-09 | 吴凯忠 | Autonomous salvaging and capturing device and method for underwater vehicle for ocean exploration |
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| CN113895599B (en) * | 2021-12-09 | 2022-03-25 | 浙江大学 | Long-term on-duty AUV (autonomous underwater vehicle) submarine connection base station and non-contact operation and maintenance system and method thereof |
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| KR100831646B1 (en) * | 2007-02-15 | 2008-05-22 | 한국해양연구원 | Underwater guidance and docking device for underwater vehicles using an annular disk shaped with four quadrant acoustic transducers and a camera |
| CN102320362B (en) * | 2011-06-29 | 2013-06-12 | 浙江大学 | Docking device of autonomous underwater vehicle and submarine observation network |
| CN202896863U (en) * | 2012-09-26 | 2013-04-24 | 浙江大学 | Mixed type underwater navigation probe |
| CN103708012B (en) * | 2013-12-11 | 2016-04-13 | 浙江大学 | Deep-sea AUV docking platform is towards variotrol |
| CN105501415A (en) * | 2015-12-15 | 2016-04-20 | 浙江大学 | Automatic tail end docking device and method for deep sea AUV docking |
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