CN106335617B - Underwater robot energy supplying system, underwater robot and underwater crowd's system - Google Patents
Underwater robot energy supplying system, underwater robot and underwater crowd's system Download PDFInfo
- Publication number
- CN106335617B CN106335617B CN201610829283.XA CN201610829283A CN106335617B CN 106335617 B CN106335617 B CN 106335617B CN 201610829283 A CN201610829283 A CN 201610829283A CN 106335617 B CN106335617 B CN 106335617B
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- underwater robot
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- 238000004891 communication Methods 0.000 claims abstract description 24
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims abstract description 16
- 229910052744 lithium Inorganic materials 0.000 claims abstract description 16
- 238000000034 method Methods 0.000 claims abstract description 7
- 230000005611 electricity Effects 0.000 claims description 13
- 230000008859 change Effects 0.000 claims description 5
- 230000000694 effects Effects 0.000 claims description 4
- 230000009471 action Effects 0.000 claims description 3
- 238000000465 moulding Methods 0.000 claims description 2
- 230000008569 process Effects 0.000 abstract description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 10
- 238000010586 diagram Methods 0.000 description 4
- 238000011161 development Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000009826 distribution Methods 0.000 description 2
- 238000005265 energy consumption Methods 0.000 description 2
- 240000004343 Indigofera suffruticosa Species 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 208000016253 exhaustion Diseases 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 230000002045 lasting effect Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H5/00—Arrangements on vessels of propulsion elements directly acting on water
- B63H5/07—Arrangements on vessels of propulsion elements directly acting on water of propellers
- B63H5/08—Arrangements on vessels of propulsion elements directly acting on water of propellers of more than one propeller
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H5/00—Arrangements on vessels of propulsion elements directly acting on water
- B63H5/07—Arrangements on vessels of propulsion elements directly acting on water of propellers
- B63H5/125—Arrangements on vessels of propulsion elements directly acting on water of propellers movably mounted with respect to hull, e.g. adjustable in direction, e.g. podded azimuthing thrusters
-
- H02J7/0022—
Abstract
The present invention relates to a kind of underwater robot energy supplying system, underwater robot and underwater crowd's system, the head end of underwater robot is provided with manipulator in this underwater robot energy supplying system, its end is provided with bare terminal end, and underwater robot and is provided with charge and discharge control module；Power circuit contact wherein is provided with manipulator, bare terminal end, and each power circuit contact connects charge and discharge control module；Charge and discharge control module is suitable to realize by corresponding power circuit contact carries out charge or discharge to lithium battery in underwater robot；The present invention can improve underwater traveling efficiency, reduce the power consumption in traveling process, and electric energy is set to evenly distribute to each underwater robot, extend cruising time, and mode is drawn close by three stages substep, sub-marine situations complexity is overcome, the work characteristics to have a wide reach, underwater robot is met using three kinds of communication modes and convergence is completed under different spacing.
Description
Technical field
The present invention relates to a kind of underwater robot energy supplying system, underwater robot and underwater crowd's system.
Background technology
21 century, it is the century of ocean, the abundant energy that ocean is contained and resource are mankind's resource exhaustions on the ground
Situation under the important supply depended on for existence.Meanwhile 21 century is also the century intelligently equipped, the extensive use of intelligence system is big
The big efficiency for improving work, become the new highland of national strategy development.Then, it is not by intelligent application Yu Haiyang
The mediocre development trend doubted.At present, the principal mode of underwater intelligent equipment is underwater robot, and major function has exploration, collection,
Maintenance, capital construction, military and search and rescue etc..Seafari wherein is carried out for human development ocean using underwater robot, moves towards deep
Indigo plant has great significance.The stationkeeping ability of underwater robot is for submarine sampling simultaneously, the sides such as salvaging lost objects are retrieved a loss
Face has great significance.
The content of the invention
It is an object of the invention to provide a kind of underwater robot energy supplying system, to meet that underwater multi-robot is continued a journey at a distance
Need.
In order to solve the above-mentioned technical problem, the invention provides a kind of underwater robot energy supplying system, including：Underwater
The head end of people is provided with manipulator, and its end is provided with bare terminal end, and underwater robot and is provided with charge and discharge control module；Wherein institute
State in manipulator, bare terminal end and be provided with power circuit contact, and each power circuit contact connects charge and discharge control module；It is described
Charge and discharge control module is suitable to realize by corresponding power circuit contact carries out charge or discharge to lithium battery in underwater robot.
Another aspect, present invention also offers underwater robot, to improve underwater traveling efficiency.
The main body of the underwater robot is in fusiformis；The power set include three propeller type electric motor thrusters, and
Outer wall is distributed in 120 °；The processor module is suitable to three propeller type electric motor thrusters of control and cooperated, with control
Underwater robot is advanced under water.
Further, ring-shaped guide rail is provided with around outer wall, the braced wing root of the propeller type electric motor thruster, which is provided with, to be embedded in
The carriage of circular orbit；The processor module is suitable to drive propeller type electric motor thruster along annular by carriage
Guide rail moves, to change the angle between each propeller type electric motor thruster.
Further, the underwater robot also includes：Camera device, the communicator being connected with processor module；It is described
Processor module identifies target by camera device, and builds communication network by communicator to realize tracking and positioning；
The communicator includes mechanical wave communication module, sonar module and infrared module；Wherein mechanical wave communication module is suitable to production
The raw mechanical wave for telecommunication；Sonar module is suitable to produce the high-frequency ultrasonic for middle distance communication；It is and infrared
Wire module is suitable to produce the infrared signal for Near Field Communication.
Further, the underwater robot also includes：The outer wall of the main body is provided with photovoltaic battery panel, and passes through discharge and recharge
Control module charges to lithium battery.
The third aspect, present invention also offers a kind of underwater crowd system.
The underwater crowd system includes at least two underwater robots, and artificial for coordinating each machine
The server of work.
Further, each underwater robot is suitable to scan for activity in respective zone of action, when a wherein underwater
After people has found target, target location is sent to server, and each underwater robot is notified by server；And the server
Suitable for determining a Rendezvous Point according to the current position of each underwater robot and target location, i.e. server notifies each underwater robot
March to the Rendezvous Point to be converged, and objective is gone in queue.
Further, the underwater robot queue, i.e., each underwater robot join end to end, and latter underwater robot passes through machine
Tool hand clamps the bare terminal end of previous underwater robot；The power circuit contact of the manipulator of i.e. latter underwater robot and previous water
The power circuit contact of the bare terminal end of lower robot is connected；The charge and discharge control module of forward and backward underwater robot passes through corresponding
Processor module calculates the electricity of respective lithium battery, and the electricity for adjusting lithium battery in each underwater robot makes electricity be averaged.
Further, the main body of the underwater robot is in fusiformis；The power set push away including three propeller type motors
Enter device；The processor module is suitable to three propeller type electric motor thrusters of control and cooperated, to control underwater robot water
Lower traveling；And ring-shaped guide rail is provided with around outer wall, the braced wing root of the propeller type electric motor thruster is provided with embedded in annular
The carriage of track；The processor module is suitable to drive propeller type electric motor thruster along ring-shaped guide rail by carriage
It is mobile, to change the angle between each propeller type electric motor thruster；After each underwater robot forms queue, each underwater
The propeller type electric motor thruster of people is in 120 ° of distributions, and suitable for being staggered.
Fourth aspect, present invention also offers a kind of method of work of underwater crowd system, including：
Collaborative Control is realized to each underwater robot by underwater crowd system.
The invention has the advantages that the underwater robot energy supplying system of the present invention, underwater robot, underwater crowd
System and its method of work can improve underwater traveling efficiency, reduce the power consumption in traveling process, and enable electric energy
Evenly distribute to each underwater robot, extend cruising time, and mode is also drawn close by three stages substep, overcome underwater feelings
Condition is complicated, the work characteristics to have a wide reach, and meet underwater robot using three kinds of communication modes completes to converge under different spacing
It is poly-.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
The control principle drawing of the underwater robot energy supplying system of Fig. 1 present invention；
Fig. 2 is the underwater robot stereogram of the present invention；
Fig. 3 is the top view of the underwater robot of the present invention；
Fig. 4 is the partial view of the underwater robot of the present invention；
Fig. 5 is structural representation one after the propeller type electric motor thruster of the underwater robot of the present invention moves；
Fig. 6 is structural representation two after the propeller type electric motor thruster of the underwater robot of the present invention moves；
Fig. 7 is the region of search schematic diagram of underwater crowd's system；
Fig. 8 is underwater robot queue schematic diagram；
Fig. 9 is that the propeller type electric motor thruster after underwater robot queue is in the schematic diagram being staggered.
In figure：Main body 1, propeller type electric motor thruster 2, braced wing 201, ring-shaped guide rail 3, carriage 4, driven wheels
401st, active wheels 402, manipulator 5, bare terminal end 6.
Embodiment
In conjunction with the accompanying drawings, the present invention is further explained in detail.These accompanying drawings are simplified schematic diagram, only with
Illustration illustrates the basic structure of the present invention, therefore it only shows the composition relevant with the present invention.
Embodiment 1
As shown in figure 1, the present embodiment 1 provides a kind of underwater robot energy supplying system, the head end of underwater robot is provided with
Manipulator 5, its end are provided with bare terminal end 6, and underwater robot and are provided with charge and discharge control module；Wherein described manipulator,
Power circuit contact is provided with bare terminal end, and each power circuit contact connects charge and discharge control module；The charge and discharge is automatically controlled
Molding block is suitable to realize by corresponding power circuit contact carries out charge or discharge to lithium battery in underwater robot.
The charge and discharge control module for example includes but is not limited to use LT1513, FS1610, and control chip
TPS2419。
Specifically, the charge and discharge control module passes through input and output handover module and the line of corresponding power circuit contact
Be connected, wherein, the input and output handover module such as, but not limited to uses alternative analog switch, and the module switch by
The control of device module is managed, and the processor module is suitable to obtain battery current electric quantity from charge and discharge control module, and pass through
Wireless communication mode is sent to server described in another underwater robot or embodiment 3.
Embodiment 2
As shown in Figures 2 to 6, on the basis of embodiment 1, the present embodiment 2 provides a kind of underwater robot.
The underwater robot includes：The main body 1 of the underwater robot is in fusiformis；The power set include three spiral shells
Rotary propeller type electric motor thruster, and it is distributed in outer wall in 120 °；The processor module, which is suitable to three propeller type motors of control, to be pushed away
Enter device collaborative work, to control underwater robot to advance under water.
Specifically, traveling mode includes but is not limited to rise and fall, turned to, traversing, trim the underwater robot under water, specifically
Advance as shown in table 1 with the corresponding relation of each propeller type electric motor thruster.
The mapping table that underwater robot is advanced with each propeller type electric motor thruster
| Traveling mode | Propeller one | Propeller two | Propeller three |
| Rise | Rotate forward | Rotate forward | Rotate forward |
| Sink | Reversion | Reversion | Reversion |
| It is adjusted to horizontal attitude | Rotate forward | Reversion | Reversion |
| It is adjusted to vertical posture | Reversion | Rotate forward | Rotate forward |
| Advance | Reversion | Reversion | Reversion |
| Retreat | Rotate forward | Rotate forward | Rotate forward |
| Turn left when horizontal | Do not turn or invert | Reversion | Rotate forward |
| Turned right when horizontal | Do not turn or invert | Reversion | Rotate forward |
| Oblique updip when horizontal | Rotate forward | Reversion | Reversion |
| Tiltedly had a down dip when horizontal | Reversion | Rotate forward | Rotate forward |
In table 1, the first propeller type electric motor thruster is referred to as propeller one, by that analogy.
Preferably, turn to further improve in underwater robot traveling efficiency, such as reduction underwater robot traveling
Curved radius；Ring-shaped guide rail 3 is provided with around outer wall, the root of braced wing 201 of the propeller type electric motor thruster is provided with embedded in annular
The carriage 4 of track；The processor module is suitable to drive propeller type electric motor thruster to lead along annular by carriage 4
Rail 3 moves (as shown in Fig. 4 arrows F1), to change the angle between each propeller type electric motor thruster.
Specifically, the carriage 4 includes：Driven wheels 401 in ring-shaped guide rail 3, and in main body 1
Active wheels 402, and the active wheels 402 rotate by a direct current motor driven, and the direct current generator is by processor module
Control；Preferably, the traveling track of the active wheels 402 is located at the inwall of main body 1, in the active wheels 402 at least provided with
One spreadet spreadet wheel, and traveling track is provided with the locking tooth coordinated with the spreadet spreadet wheel, after direct current generator stalls, spreadet spreadet wheel
Coordinate with locking tooth, the position of carriage 4, propeller type electric motor thruster is locked.
Such as when underwater robot is turned under water, the first propeller type electric motor thruster is as turning fulcrum, second,
Three propeller type electric motor thrusters move towards, and close up (as shown in arrow F2 in Fig. 5 and arrow F3), i.e., with the first propeller
Formula electric motor thruster is with the setting substantially symmetrical about its central axis of main body 1；Wherein, the first propeller type electric motor thruster does not turn or inverted, its
Two propeller type electric motor thrusters of remaininging rotate forward, and then realize underwater robot minor-circle turn, reduce radius of turn, reduce energy
Consumption.
As a kind of form turned under water, as shown in fig. 6, when underwater robot is adjusted to horizontal attitude by perpendicular attitude
When (as shown in arrow F4), as turning fulcrum, second, third propeller type motor promotes the first propeller type electric motor thruster
Device moves towards, and closes up, i.e., with the first propeller type electric motor thruster with the setting substantially symmetrical about its central axis of main body 1；Wherein, first
Propeller type electric motor thruster inverts, and remaining two propeller type electric motor thruster rotates forward, and then realizes the quick appearance of underwater robot
State adjusts, and saves electrical demand during pose adjustment.
As a kind of optional embodiment of underwater robot, the underwater robot also includes：With processor module
Connected camera device, communicator；The processor module identifies target by camera device, and passes through communicator structure
Communication network is built to realize tracking and positioning；Specifically, lash ship (server can be located on lash ship) is by receiving each underwater machine
The communicator of device people positions to corresponding underwater robot.
Further, the communication mode of this underwater robot such as, but not limited to draws close mode using three stages substep, that is, exists
Two robots gradually draw close during with three kinds of communications and identification technology, there is high efficiency, high-intelligentization, high stability
Feature.Specifically, the process of drawing close of complexity is divided into three different phases according to three kinds of communication modes, it is adapted using three kinds
Communication modes can make more underwater robots close to target and cooperate with positioned (alternation, keep a part to mesh
Mark is trailed and uninterruptedly positioned, and another part goes up floating charging in good time).
Communication modes can also use any communication modes known in the art.
In the present embodiment, because the sub-marine situations residing for underwater robot are complicated, and the work that working region haves a wide reach
Make feature, it is necessary to which the distance in the two underwater human world drawn close is often long or short rather than relatively-stationary, not
Under same distance condition, mutually drawn close by being best suitable for it until entering the mode of coordinated distance.
Therefore, mechanical wave communication module, sound are included as a kind of optional embodiment of communicator, the communicator
Module and infrared module；Wherein mechanical wave communication module is suitable to produce the mechanical wave for telecommunication；Sonar module
Suitable for producing the high-frequency ultrasonic for middle distance communication；And infrared module is suitable to produce for the infrared of Near Field Communication
Signal.
Specifically, when two underwater robots are at a distance of such as, but not limited to more than 100m, it is underwater by mechanical wave control two
Robot is drawn close, and when robot is drawn close to below 50m, the refined orientation of two underwater robots is determined by high-frequency ultrasonic,
Further drawn close again；When the distance of two underwater robots is less than 50cm, carry out following docking by infrared signal, with structure
Into underwater crowd's Collaborative Control group.
The underwater robot also includes：The outer wall of the main body is provided with photovoltaic battery panel, and passes through charge and discharge control mould
Block charges to lithium battery.
The processor module such as, but not limited to uses ARM9 processors.
Embodiment 3
As shown in Figure 7 to 9, the present embodiment 3 additionally provides a kind of underwater crowd system, including at least two strictly according to the facts
The underwater robot described in example 2 is applied, and for coordinating the server of each robot work.
Each underwater robot is suitable to scan for activity in respective zone of action, when a wherein underwater robot finds mesh
After mark, target location is sent to server (on lash ship), and each underwater robot is notified by server；And the clothes
Business device is suitable to determine a Rendezvous Point (such as Fig. 7 according to the current position of each underwater robot (such as A and B in Fig. 7) and target location
It is middle y), i.e., server notifies each underwater robot to march to the Rendezvous Point and converged, and objective (such as Fig. 7 is gone in queue
Shown in middle x).Wherein converge path as shown in phantom in Figure 7, Rendezvous Point y is moved to objective x path by each underwater
After people lines up while carry out, as shown in solid in Fig. 7.
The Rendezvous Point is specially the place that minimum power consumption is arrived at after each underwater robot converges.
The underwater robot queue, i.e., each underwater robot are joined end to end, and latter underwater robot is pressed from both sides by manipulator
Hold the bare terminal end of previous underwater robot；The power circuit contact of the manipulator of i.e. latter underwater robot and previous underwater
The power circuit contact of the bare terminal end of people is connected；The charge and discharge control module of forward and backward underwater robot passes through respective processor
Module calculates the electricity of respective lithium battery, and the electricity for adjusting lithium battery in each underwater robot makes electricity be averaged, Jin Erda
To evenly distributing electricity, and extend the purpose of endurance by overcoming water resistance to reach.
Specifically, if more than two underwater robots form queue, it is determined that the lithium battery of a certain underwater robot
Highest is measured, then charge or discharge loop is built by the manipulator of each underwater robot, bare terminal end, by electricity highest lithium battery
Electricity the lithium battery of other underwater robots is charged, redistribute electric energy, and can guarantee that in queue positioned at head
The underwater robot at end can obtain electric energy lasting enough, then lead underwater robot queue to go to destination jointly.
And resistance in water can be effectively reduced by forming queue, the effect for saving electric energy is played.
The main body of the underwater robot is in fusiformis；The power set include three propeller type electric motor thrusters；Institute
State processor module and be suitable to three propeller type electric motor thrusters collaborative works of control, to control underwater robot to advance under water；
And ring-shaped guide rail is provided with around outer wall, the braced wing root of the propeller type electric motor thruster is provided with the cunning embedded in circular orbit
Dynamic device；The processor module is suitable to drive propeller type electric motor thruster to move along ring-shaped guide rail by carriage, with
Change the angle between each propeller type electric motor thruster；After each underwater robot forms queue, the spiral shell of each underwater robot
Rotary propeller type electric motor thruster is in 120 ° of distributions, and suitable for being staggered, so that underwater robot lines up to drop during traveling
Low energy consumption, extend the underwater operation time of underwater robot.
Embodiment 4
On the basis of embodiment 1 to 3, the present embodiment 4 provides a kind of method of work of underwater crowd system.
Collaborative Control is realized to each underwater robot by underwater crowd system.
Wherein described underwater robot group system as described in Example 3, the course of work on underwater crowd's system
Discuss, repeated no more here in embodiment 3.
It is complete by above-mentioned description, relevant staff using the above-mentioned desirable embodiment according to the present invention as enlightenment
Various changes and amendments can be carried out without departing from the scope of the technological thought of the present invention' entirely.The technology of this invention
Property scope is not limited to the content on specification, it is necessary to determines its technical scope according to right.
Claims (8)
- A kind of 1. underwater robot, it is characterised in thatThe main body of the underwater robot is in fusiformis, and including power set and processor module；The power set include three propeller type electric motor thrusters, and are distributed in outer wall in 120 °；The processor module is suitable to three propeller type electric motor thrusters of control and cooperated, to control underwater robot underwater Advance；Ring-shaped guide rail is provided with around outer wall, the braced wing root of the propeller type electric motor thruster is provided with the cunning embedded in circular orbit Dynamic device；The processor module is suitable to drive propeller type electric motor thruster to move along ring-shaped guide rail by carriage, to change Angle between each propeller type electric motor thruster.
- 2. underwater robot according to claim 1, it is characterised in that the underwater robot also includes：With processor The connected camera device of module, communicator；The processor module identifies target by camera device, andCommunication network is built by communicator to realize tracking and positioning；The communicator includes mechanical wave communication module, sonar module and infrared module；WhereinMechanical wave communication module is suitable to produce the mechanical wave for telecommunication；Sonar module is suitable to produce the high-frequency ultrasonic for middle distance communication；AndInfrared module is suitable to produce the infrared signal for Near Field Communication.
- 3. underwater robot according to claim 2, it is characterised in that the underwater robot also includes：The outer wall of the main body is provided with photovoltaic battery panel, and lithium battery is charged by charge and discharge control module.
- 4. a kind of underwater crowd system, it is characterised in that including at least two underwaters as claimed in claim 1 People, and for coordinating the server of each robot work.
- 5. underwater crowd system according to claim 4, it is characterised in thatEach underwater robot is suitable to scan for activity in respective zone of action, when a wherein underwater robot finds target Afterwards, target location is sent to server, and each underwater robot is notified by server；AndThe server is suitable to determine a Rendezvous Point according to the current position of each underwater robot and target location, i.e.,Server notifies each underwater robot to march to the Rendezvous Point and converged, and objective is gone in queue.
- 6. underwater crowd system according to claim 5, it is characterised in thatThe underwater robot queue, i.e., each underwater robot joins end to end, before latter underwater robot is by manipulator clamping The bare terminal end of one underwater robot；I.e.The power circuit contact of the manipulator of latter underwater robot and the power circuit of the bare terminal end of previous underwater robot touch Point is connected；The charge and discharge control module of forward and backward underwater robot calculates the electricity of respective lithium battery by respective processor module, And the electricity for adjusting lithium battery in each underwater robot makes electricity be averaged.
- A kind of 7. method of work of underwater crowd's system as claimed in claim 4, it is characterised in that including：Collaborative Control is realized to each underwater robot by underwater crowd system.
- A kind of 8. energy supplying system of underwater robot as claimed in claim 1, it is characterised in thatThe head end of underwater robot is provided with manipulator, and its end is provided with automatically controlled provided with charge and discharge in bare terminal end, and underwater robot Molding block；WhereinPower circuit contact is provided with the manipulator, bare terminal end, and each power circuit contact connects charge and discharge control mould Block；The charge and discharge control module is suitable to realize by corresponding power circuit contact fills to lithium battery in underwater robot Electricity or electric discharge.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610829283.XA CN106335617B (en) | 2016-09-18 | 2016-09-18 | Underwater robot energy supplying system, underwater robot and underwater crowd's system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610829283.XA CN106335617B (en) | 2016-09-18 | 2016-09-18 | Underwater robot energy supplying system, underwater robot and underwater crowd's system |
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| CN106335617A CN106335617A (en) | 2017-01-18 |
| CN106335617B true CN106335617B (en) | 2018-02-23 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107600373B (en) * | 2017-09-05 | 2019-02-26 | 武汉大学 | A kind of minitype bionic underwater robot independent navigation return charging method and system |
| CN110065607B (en) * | 2019-05-17 | 2021-07-06 | 中国科学院自动化研究所 | Auxiliary bionic robot fish |
| CN110954965A (en) * | 2019-11-29 | 2020-04-03 | 哈尔滨工程大学 | Multi-ROV system and shallow water coral detection method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104201512A (en) * | 2014-09-09 | 2014-12-10 | 哈尔滨工程大学 | Underwater charging connecting mechanism |
| CN104317302A (en) * | 2014-09-28 | 2015-01-28 | 江苏华宏实业集团有限公司 | Intellectualized underwater robot system |
| CN104518532A (en) * | 2013-09-28 | 2015-04-15 | 南京专创知识产权服务有限公司 | Robotic fish underwater automatic charging system |
| CN104898594A (en) * | 2015-04-02 | 2015-09-09 | 山东省科学院海洋仪器仪表研究所 | Communication device and communication method for underwater robot group cooperative control |
| CN105429257A (en) * | 2015-12-02 | 2016-03-23 | 哈尔滨工程大学 | AUV intelligent charging device and charging method |
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2016
- 2016-09-18 CN CN201610829283.XA patent/CN106335617B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104518532A (en) * | 2013-09-28 | 2015-04-15 | 南京专创知识产权服务有限公司 | Robotic fish underwater automatic charging system |
| CN104201512A (en) * | 2014-09-09 | 2014-12-10 | 哈尔滨工程大学 | Underwater charging connecting mechanism |
| CN104317302A (en) * | 2014-09-28 | 2015-01-28 | 江苏华宏实业集团有限公司 | Intellectualized underwater robot system |
| CN104898594A (en) * | 2015-04-02 | 2015-09-09 | 山东省科学院海洋仪器仪表研究所 | Communication device and communication method for underwater robot group cooperative control |
| CN105429257A (en) * | 2015-12-02 | 2016-03-23 | 哈尔滨工程大学 | AUV intelligent charging device and charging method |
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