CN106347586B - Integrated all-dimensional all-weather sea and sky monitoring system - Google Patents
Integrated all-dimensional all-weather sea and sky monitoring system Download PDFInfo
- Publication number
- CN106347586B CN106347586B CN201610685251.7A CN201610685251A CN106347586B CN 106347586 B CN106347586 B CN 106347586B CN 201610685251 A CN201610685251 A CN 201610685251A CN 106347586 B CN106347586 B CN 106347586B
- Authority
- CN
- China
- Prior art keywords
- water
- aerial vehicle
- unmanned aerial
- suspended
- floating platform
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 238000012544 monitoring process Methods 0.000 title claims abstract description 20
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 75
- 230000005540 biological transmission Effects 0.000 claims abstract description 9
- 230000003287 optical effect Effects 0.000 claims abstract 2
- 239000013307 optical fiber Substances 0.000 claims abstract 2
- 230000000712 assembly Effects 0.000 claims description 8
- 238000000429 assembly Methods 0.000 claims description 8
- 230000010354 integration Effects 0.000 claims description 3
- 238000004873 anchoring Methods 0.000 claims description 2
- 230000003068 static effect Effects 0.000 claims description 2
- 238000000034 method Methods 0.000 claims 1
- 230000008054 signal transmission Effects 0.000 abstract description 2
- 230000033001 locomotion Effects 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 239000000835 fiber Substances 0.000 description 2
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 1
- 238000009360 aquaculture Methods 0.000 description 1
- 244000144974 aquaculture Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
-
- 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
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Remote Sensing (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Arrangements For Transmission Of Measured Signals (AREA)
Abstract
An integrated omnibearing all-weather sea-sky monitoring system belongs to marine environment monitoring equipment; the system comprises a water surface floating platform, a four-suspended-wing water unmanned aerial vehicle, an underwater robot and a ground control end, wherein the water surface floating platform is respectively communicated with the four-suspended-wing water unmanned aerial vehicle and the underwater robot through a zero-buoyancy line of a cable with an optical fiber, the water surface floating platform serving as a signal transfer line, supplying power to the system and monitoring water and underwater information transmits electric energy and optical signals to the four-suspended-wing water unmanned aerial vehicle and the underwater robot through the zero-buoyancy line, and the water surface floating platform is communicated with the ground control end in a wireless data transmission mode; the system realizes energy supply for working in any sea area for a long time, reduces underwater signal transmission cost, improves image transmission quality, achieves remote control, is convenient to operate, realizes comprehensive and all-weather monitoring on water and underwater, and has large monitoring area and long operation time.
Description
Technical Field
The invention belongs to marine environment monitoring equipment, and particularly relates to a marine overall environment monitoring system which combines an overwater unmanned aerial vehicle and an underwater robot and takes a water surface floating platform as a center.
Background
The traditional marine environment monitoring systems mainly comprise buoys, submerged buoys, survey ships, large underwater robots and the like, and the marine detection systems are difficult to meet the requirement of marine environment monitoring diversification. Such as: (1) the buoy and the submerged buoy can work for a long time, are convenient to use and can be monitored in real time, but the positions of the buoy and the submerged buoy are fixed and cannot be flexibly moved; (2) the survey vessel can monitor the water area flexibly, but needs a large amount of personnel to support, and the operation cost is expensive; (3) the large-scale underwater operation robot is complex in structure and use, not only limited by a power supply and incapable of working for a long time, but also working underwater, limited in communication and incapable of transmitting data remotely. Therefore, the traditional marine environment monitoring system cannot meet the requirements of various fields such as national security, marine environment research, aquaculture and the like at the present stage.
Disclosure of Invention
The invention aims to solve the technical problem of providing an integrated all-dimensional all-weather sea and sky monitoring system which takes a water surface floating platform as a center and combines an overwater unmanned aerial vehicle and an underwater robot, and achieving the purposes of solving the problems that the existing marine environment monitoring system is complex in operation, difficult in communication, incapable of moving flexibly and incapable of working for a long time.
The purpose of the invention is realized as follows: all-round all-weather sea sky monitored control system of integration includes surface of water floating platform, four-rotor unmanned aerial vehicle on water, underwater robot and ground control end, the structure of surface of water floating platform is: a solar cell panel and a storage battery are arranged in the shell, an electromagnetic wave transmitting antenna is assembled on the outer part of the upper end of the shell, and a fixed anchor chain is connected with the shell; the four-suspended-wing water unmanned aerial vehicle comprises an unmanned aerial vehicle framework, motor suspended blade assemblies and a sealed cabin type controller, wherein the four motor suspended blade assemblies are assembled at four corner ends of the unmanned aerial vehicle framework, and the sealed cabin type controller is fixedly arranged at the lower side part of the center of the unmanned aerial vehicle framework; the underwater robot comprises a robot framework, a vertical propeller, a sealed robot control cabin, a mechanical arm and a horizontal propeller, wherein the vertical propeller and the horizontal propeller are respectively arranged on the robot framework in a vertical direction and a horizontal direction and are mutually vertically arranged; zero buoyancy line with optic fibre and cable communicates surface of water floating platform respectively with four-flap unmanned aerial vehicle on water and underwater robot, and the surface of water floating platform as the signal transfer and for system's power supply and monitoring information on water, under water passes through zero buoyancy line four-flap unmanned aerial vehicle on water and underwater robot transmission electric energy and light signal, the surface of water floating platform passes through wireless data transmission mode and ground control end intercommunication.
The invention has the beneficial effects that:
1. the water surface floating platform uses a power supply system consisting of a solar cell panel and a storage battery, can realize long-time work in any sea area, and solves the problem of energy supply of the whole system during long voyage.
2. And the underwater robot and the ground control end exchange information by using the middle and middle rotating of the water surface floating platform. The underwater robot is connected with the water surface floating platform through a zero-buoyancy line, so that the underwater signal transmission cost is reduced, and the image transmission quality is improved; the wireless data transmission between the water surface floating platform and the ground control end enables operators to control the detection system remotely, the operation is convenient, and the cost is saved; meanwhile, the water surface floating platform can monitor the water information in real time through the four-suspension-wing water unmanned aerial vehicle.
3. Can realize large-range water and water integrated monitoring operation. The system can monitor underwater, water surface and water information simultaneously, can transfer to a designated position as required, when the monitoring sea area is transferred, the anchor chain is withdrawn by the floating platform anchoring system, the underwater robot and the four-suspension-wing water unmanned aerial vehicle drag the floating platform to move, and the anchor chain is put down again by the floating platform after the underwater robot and the four-suspension-wing water unmanned aerial vehicle reach the designated position.
Drawings
FIG. 1 is a schematic diagram of the overall configuration of an integrated omnibearing all-weather sea-sky monitoring system;
FIG. 2 is a schematic view of the water surface floating platform;
FIG. 3 is a schematic view of a subsea robot configuration;
fig. 4 is a schematic view of a four-winged seaplane configuration.
Description of part numbers in the figures:
1. surface of water floating platform, 2, four-winged water unmanned aerial vehicle, 3, underwater robot, 4, ground control end, 5, electromagnetic wave transmitting antenna, 6, solar cell panel, 7, casing, 8, battery, 9, fixed anchor chain, 10, robot skeleton, 11, perpendicular propeller, 12, sealed robot control cabin, 13, arm, 14, horizontal propeller, 15, unmanned aerial vehicle skeleton, 16, motor suspended blade assembly, 17, sealed cabin formula controller.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The utility model provides an all-round all-weather sea sky monitored control system of integration includes surface of water floating platform 1, four-rotor unmanned aerial vehicle 2 on water, underwater robot 3 and ground control end 4, the structure of surface of water floating platform 1 is: a solar cell panel 6 and a storage battery 8 are arranged in the shell 7, an electromagnetic wave transmitting antenna 5 is assembled on the outer part of the upper end of the shell 7, and a fixed anchor chain 9 is connected with the shell 7; the four-suspended-wing water unmanned aerial vehicle 2 is composed of an unmanned aerial vehicle framework 15, motor suspended blade assemblies 16 and a sealed cabin type controller 17, wherein the four motor suspended blade assemblies 16 are assembled at four corner ends of the unmanned aerial vehicle framework 15, and the sealed cabin type controller 17 is fixedly arranged at the lower side part of the center of the unmanned aerial vehicle framework 15; the underwater robot 3 comprises a robot framework 10, a vertical propeller 11, a sealed robot control cabin 12, a mechanical arm 13 and a horizontal propeller 14, wherein the vertical propeller 11 and the horizontal propeller 14 are respectively arranged on the robot framework 10 in a vertical direction and a horizontal direction and are mutually vertically arranged, the sealed robot control cabin 12 is fixedly arranged at the middle part of the robot framework 10, and the mechanical arm 13 is arranged at one side end part of the robot framework 10; zero buoyancy line with optic fibre and cable communicates surface of water floating platform 1 respectively with four-flap unmanned aerial vehicle 2 on water and 3 underwater robot, as the signal transfer with for the system power supply and monitor on water, surface of water floating platform 1 of information under water transmits electric energy and light signal through zero buoyancy line to four-flap unmanned aerial vehicle 2 on water and 3 underwater robot, surface of water floating platform 1 communicates with ground control end 4 through wireless data transmission mode. The number of the vertical propellers 11 and the number of the horizontal propellers 14 on the underwater robot 3 are respectively 4 and 2. Motors of four motor suspended blade assemblies 16 on the four-suspended-wing water unmanned aerial vehicle 2 are waterproof motors.
During the control operation, surface of water floating platform 1 is used for ground control end 4 and underwater robot 3, four-rotor unmanned aerial vehicle 2's on water signal transfer to for entire system provides the electric energy, gather surface of water information simultaneously. The underwater robot 3 transmits the acquired information measured by underwater image information, temperature, depth, posture and the like back to the water surface floating platform 1; the 2 horizontal propellers 14 and the 4 vertical propellers 11 respectively complete the advancing, retreating, left and right steering, up and down, rolling, pitching motion and attitude control of the underwater robot 3, and the mechanical arm 13 completes underwater operation. The four-suspended-wing water unmanned aerial vehicle 2 sends acquired information measured by sea and air image information, space temperature, wind speed and direction, posture and the like to the water surface floating platform 1; the motor suspended blade assembly 16 is responsible for the vertical and horizontal movement of the four-suspended-wing water unmanned aerial vehicle 2, and the sealed cabin type controller 17 is used for assuming the flight control of the four-suspended-wing water unmanned aerial vehicle 2 and simultaneously becomes a buoyancy cabin when the four-suspended-wing water unmanned aerial vehicle 2 is static on the water surface. The ground control end 4 displays and stores images and information returned by the water surface floating platform 1, and controls the motion and operation of the water surface floating platform 1, the underwater robot 3 and the four-suspended-wing water unmanned aerial vehicle 2.
Claims (3)
1. The utility model provides an all-round all-weather sea sky monitored control system of integration, includes surface of water floating platform (1), four-rotor unmanned aerial vehicle on water (2), underwater robot (3) and ground control end (4), the structure of surface of water floating platform (1) is: a solar cell panel (6) and a storage battery (8) are arranged in the shell (7), an electromagnetic wave transmitting antenna (5) is assembled on the outer part of the upper end of the shell (7), and a fixed anchor chain (9) is connected with the shell (7); the four-suspended-wing water unmanned aerial vehicle (2) is composed of an unmanned aerial vehicle framework (15), motor suspended blade assemblies (16) and a sealed cabin type controller (17), wherein the four motor suspended blade assemblies (16) are assembled on four corner ends of the unmanned aerial vehicle framework (15), and the sealed cabin type controller (17) is fixedly arranged on the lower side part of the center of the unmanned aerial vehicle framework (15); the underwater robot (3) comprises a robot framework (10), a vertical propeller (11), a sealed robot control cabin (12), a mechanical arm (13) and a horizontal propeller (14), wherein the vertical propeller (11) and the horizontal propeller (14) are respectively arranged on the robot framework (10) in a vertical direction and a horizontal direction and are mutually and vertically arranged, the sealed robot control cabin (12) is fixedly arranged at the middle part of the robot framework (10), and the mechanical arm (13) is arranged at one side end part of the robot framework (10); the method is characterized in that: the water surface floating platform (1) is communicated with the four-suspended-wing water unmanned aerial vehicle (2) and the underwater robot (3) through a zero-buoyancy line with optical fibers and cables and used as signal transfer, power supply for a system and transmission of electric energy and optical signals to the four-suspended-wing water unmanned aerial vehicle (2) and the underwater robot (3) through the zero-buoyancy line, and the water surface floating platform (1) is communicated with the ground control end (4) through a wireless data transmission mode; when the sea area needs to be transferred and monitored, the anchor chain is retracted by the floating platform anchoring system, the underwater robot and the four-wing-suspended overwater unmanned aerial vehicle drag the floating platform to move, and the anchor chain is put down again by the floating platform after the underwater robot and the four-wing-suspended overwater unmanned aerial vehicle reach the designated position; when the four-suspended-wing water unmanned aerial vehicle (2) is static on the water surface, the sealed cabin type controller (17) becomes a buoyancy cabin.
2. The integrated all-round all-weather sea and sky monitoring system of claim 1, wherein: the number of the vertical propellers (11) and the number of the horizontal propellers (14) on the underwater robot (3) are respectively 4 and 2.
3. The integrated all-round all-weather sea and sky monitoring system of claim 1, wherein: motors of four motor suspended blade assemblies (16) on the four-suspended-wing water unmanned aerial vehicle (2) are waterproof motors.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610685251.7A CN106347586B (en) | 2016-08-18 | 2016-08-18 | Integrated all-dimensional all-weather sea and sky monitoring system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610685251.7A CN106347586B (en) | 2016-08-18 | 2016-08-18 | Integrated all-dimensional all-weather sea and sky monitoring system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106347586A CN106347586A (en) | 2017-01-25 |
| CN106347586B true CN106347586B (en) | 2021-11-12 |
Family
ID=57843480
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610685251.7A Expired - Fee Related CN106347586B (en) | 2016-08-18 | 2016-08-18 | Integrated all-dimensional all-weather sea and sky monitoring system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106347586B (en) |
Families Citing this family (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107231181B (en) * | 2017-05-03 | 2021-01-01 | 上海交通大学 | Cross-medium communication air-sea cooperative monitoring system and use method thereof |
| CN107444595B (en) * | 2017-10-11 | 2023-01-20 | 广东海洋大学 | Operation-level underwater robot |
| CN108006439B (en) * | 2017-11-07 | 2022-11-08 | 中国矿业大学(北京) | Chemical dangerous gas leakage ground-air integrated monitoring and early warning technology and equipment |
| CN108248859A (en) * | 2017-12-28 | 2018-07-06 | 上海交通大学 | Captive air-sea is dwelt aircraft systems more |
| CN110161200A (en) * | 2018-02-01 | 2019-08-23 | 山东省水利科学研究院 | A kind of efficient Reservoir Water Quality monitoring method |
| CN108195357A (en) * | 2018-02-12 | 2018-06-22 | 交通运输部天津水运工程科学研究所 | A kind of observation and analysis system for coastal waters wave water level scene |
| CN109084745A (en) * | 2018-06-12 | 2018-12-25 | 哈尔滨工程大学 | Submarine cable inspection submarine navigation device intelligent monitor system and Combinated navigation method |
| CN108516068A (en) * | 2018-06-15 | 2018-09-11 | 深圳纳瓦科技有限公司 | A kind of signal transferring device and underwater robot |
| CN109018207A (en) * | 2018-08-29 | 2018-12-18 | 国家海洋局第二海洋研究所 | A kind of primary-secondary type oceanographic observation submerged buoy system |
| CN110127008B (en) * | 2019-05-20 | 2024-01-30 | 浙江大学滨海产业技术研究院 | Tracking system of autonomous underwater robot |
| CN110104191B (en) * | 2019-05-27 | 2024-03-26 | 浙江省舟山中学 | Unmanned aerial vehicle-based underwater water sample automatic acquisition device |
| CN112572800B (en) * | 2019-09-29 | 2024-03-01 | 西藏谦诚信息科技有限公司 | Water area safety detection system |
| CN111776148B (en) * | 2020-04-24 | 2022-06-24 | 上海交通大学 | Sea-air submarine integrated inspection system based on small unmanned ship |
| CN111392008A (en) * | 2020-05-09 | 2020-07-10 | 魏元梅 | Underwater environment detection device |
| CN111834729B (en) * | 2020-07-29 | 2022-06-21 | 中国船舶工业集团公司第七0八研究所 | Scientific investigation ship meteorological radar and satellite communication C antenna interlocking control device |
| CN112484782A (en) * | 2020-12-04 | 2021-03-12 | 武汉城市职业学院 | Hybrid topology type lake water quality monitoring system based on multi-rotor unmanned aerial vehicle |
| RU205927U1 (en) * | 2021-04-27 | 2021-08-12 | Федеральное государственное бюджетное образовательное учреждение высшего образования "Казанский национальный исследовательский технический университет им. А.Н. Туполева - КАИ" | MOBILE ABOVE PLATFORM FOR BASING AN AUTONOMOUS UNHABITABLE UNDERWATER VEHICLE |
| CN114604364B (en) * | 2021-06-08 | 2023-05-16 | 中国科学院海洋研究所 | Tethered underwater helicopter profile measurement system and method |
| CN114954866A (en) * | 2022-05-31 | 2022-08-30 | 南通理工学院 | Intelligent monitor for offshore underwater monitoring |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10310550A1 (en) * | 2003-03-02 | 2004-09-30 | Fred Hocker | System for investigating inshore water bodies comprises at least one unmanned floating element and at least one unmanned submerged element, and a base station with remote control and data processing means |
| CN101989374A (en) * | 2009-11-09 | 2011-03-23 | 上海海洋大学 | Ocean storm surge disaster early warning system and method thereof |
| CN102951275A (en) * | 2012-11-08 | 2013-03-06 | 北京航空航天大学 | Microminiature operation underwater robot of nuclear power plant |
| CN103310610A (en) * | 2013-06-03 | 2013-09-18 | 上海交通大学 | Mobile ocean observation net based on intelligent buoy and intelligent submersible device |
| CN104142688A (en) * | 2014-08-06 | 2014-11-12 | 深圳乐智机器人有限公司 | Underwater robot platform |
| CN105059485A (en) * | 2015-07-30 | 2015-11-18 | 烟台仁达自动化装备科技有限公司 | System for controlling benthonic home position video and monitoring water quality |
-
2016
- 2016-08-18 CN CN201610685251.7A patent/CN106347586B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10310550A1 (en) * | 2003-03-02 | 2004-09-30 | Fred Hocker | System for investigating inshore water bodies comprises at least one unmanned floating element and at least one unmanned submerged element, and a base station with remote control and data processing means |
| CN101989374A (en) * | 2009-11-09 | 2011-03-23 | 上海海洋大学 | Ocean storm surge disaster early warning system and method thereof |
| CN102951275A (en) * | 2012-11-08 | 2013-03-06 | 北京航空航天大学 | Microminiature operation underwater robot of nuclear power plant |
| CN103310610A (en) * | 2013-06-03 | 2013-09-18 | 上海交通大学 | Mobile ocean observation net based on intelligent buoy and intelligent submersible device |
| CN104142688A (en) * | 2014-08-06 | 2014-11-12 | 深圳乐智机器人有限公司 | Underwater robot platform |
| CN105059485A (en) * | 2015-07-30 | 2015-11-18 | 烟台仁达自动化装备科技有限公司 | System for controlling benthonic home position video and monitoring water quality |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106347586A (en) | 2017-01-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106347586B (en) | Integrated all-dimensional all-weather sea and sky monitoring system | |
| CN105292398B (en) | A kind of unmanned boat-carrying unmanned plane hybrid system | |
| CN108528640B (en) | Blocking cable type automatic butt joint recycling device and method based on slideway recycling UUV | |
| CN106737703B (en) | Underwater rescue mode based on underwater rescue robot | |
| CN203786566U (en) | Submarine cable maintenance underwater robot system | |
| CN104192259A (en) | Wave-driven underwater vehicle | |
| CN203593143U (en) | Wind-solar complementary type unmanned ocean monitoring boat | |
| CN108248859A (en) | Captive air-sea is dwelt aircraft systems more | |
| CN203780780U (en) | Solar underwater robot | |
| CN110803256B (en) | Portable multi-functional buoy of seat bottom formula | |
| CN111268071A (en) | Split towing cable type water surface-underwater unmanned aircraft | |
| CN110217064B (en) | Amphibious submersible vehicle | |
| CN111038648B (en) | Intelligent measuring device for hydraulic engineering management | |
| CN105711777A (en) | Micro-miniature modularized AUV (autonomous underwater vehicle) | |
| CN211731772U (en) | Split towing cable type water surface-underwater unmanned aircraft | |
| CN206307256U (en) | Underwater robot and underwater robot system | |
| CN110696575B (en) | Amphibious observer for observing underwater environment | |
| CN209427018U (en) | A kind of empty amphibious aircraft of novel photoelectric mixing water | |
| CN115571286A (en) | Unmanned aerial vehicle offshore airport | |
| CN215706956U (en) | Anchor coefficient data transmission integrated sonar monitoring buoy system | |
| CN215096849U (en) | Air-water amphibious primary-secondary system | |
| CN111792005A (en) | Multi-towed-body full-navigation depth-keeping and vector distribution technology | |
| CN112660345A (en) | Six-degree-of-freedom underwater detection robot | |
| CN218142065U (en) | Underwater sonar searching machine and underwater searching system | |
| CN108710378A (en) | A kind of device and its control method for underwater kit wireless communication |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20211112 |