CN106394845A - Seaborne detection robot driven by both wave energy and wind energy - Google Patents
Seaborne detection robot driven by both wave energy and wind energy Download PDFInfo
- Publication number
- CN106394845A CN106394845A CN201611022392.7A CN201611022392A CN106394845A CN 106394845 A CN106394845 A CN 106394845A CN 201611022392 A CN201611022392 A CN 201611022392A CN 106394845 A CN106394845 A CN 106394845A
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- energy
- wind energy
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- float
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H9/00—Marine propulsion provided directly by wind power
- B63H9/04—Marine propulsion provided directly by wind power using sails or like wind-catching surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H19/00—Marine propulsion not otherwise provided for
- B63H19/02—Marine propulsion not otherwise provided for by using energy derived from movement of ambient water, e.g. from rolling or pitching of vessels
- B63H19/04—Marine propulsion not otherwise provided for by using energy derived from movement of ambient water, e.g. from rolling or pitching of vessels propelled by water current
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T70/00—Maritime or waterways transport
- Y02T70/50—Measures to reduce greenhouse gas emissions related to the propulsion system
- Y02T70/5218—Less carbon-intensive fuels, e.g. natural gas, biofuels
- Y02T70/5236—Renewable or hybrid-electric solutions
Abstract
The invention relates to a seaborne detection robot which comprises a waterborne floating body device, a middle connecting device and a power driving device. The waterborne floating body device adopts a ship-shaped structure, stabilization bodies, an airtight cabin, a solar cell panel, a GPS, a communication antenna and a sensor are arranged on the waterborne floating body device, and the airtight cabin is internally provided with a storage battery and a communication controller; the middle connecting device is a flexible cable made from special materials and can transmit electric energy, signals and kinetic energy; and the power driving device comprises a wind energy driving assembly and a wave energy driving assembly. According to the seaborne detection robot driven by both wave energy and wind energy, the purpose of making the seaborne detection robot to sail along a preset track is achieved by jointly utilizing renewable sources of wave energy and wind energy as direct driving force, an underwater glider driven by wave energy as active power to pull the waterborne floating body device to move forward underwater and thrust generated by a propeller driven by wind energy as auxiliary power and automatic cruise control of the communication controller.
Description
Technical field
The present invention relates to a kind of sea robot, more particularly to a kind of sea combining driving using wave energy and wind energy
Sniffing robot.
Background technology
Ocean accounts for the surface area of the earth 71% and 97% water yield, and the vast oceans not only have impact on global climate and become
Change, contain abundant mineral resources, food resource and energy etc. simultaneously, be the warehouse of human future.In recent years, people are sight
The research and development of the various oceanographic equipments of marine resources development and marine environmental monitoring are invested.At present, grinding for these aspects
Study carefully and focus primarily upon as sniffing robot waterborne etc..Sniffing robot waterborne is mainly used in executing dangerous and uncomfortable tenant in common's ship
Only carrying out of task, is mainly used in scientific research, detection, search and rescue, navigation and prospecting etc..The thrust power of tradition sniffing robot waterborne
The multiplex hydraulic pressure of system, motor etc. it would be desirable to be able to source supply, endurance limited it is impossible to realize continuously permanent operation.In recent years, went out
Show the marine robot that many utilization regenerative resources drive, such as using the motor-driven buoy of powered by wave energy.But, using many
The marine robot that kind of regenerative resource combines driving is more rare, novelty of the present invention design a kind of utilize wave energy and
Wind energy combines the marine sniffing robot of driving.
Content of the invention
The deficiency existing in order to avoid prior art, overcomes energy recharge hardly possible, endurance is limited, it is continuously long to realize
Operation long and the low problem of renewable energy comprehensive utilization rate.The present invention provides one kind to combine driving using wave energy and wind energy
Marine sniffing robot, and this marine robot has stronger mobility and continuous operational capabilities.
The technical solution adopted for the present invention to solve the technical problems is：A kind of combine driving using wave energy and wind energy
Marine sniffing robot, including water floating body device, intermediate junction device, Power Drive Unit.
Described water floating body device includes float matrix, communication antenna, subtracts and shake body I, battery, communication controller, the sun
Can cell panel, sealing strip, sealed compartment, sealed compartment dividing plate, sensor, subtract and shake body II, GPS.Float matrix is using similar hull knot
Structure, material is fiberglass, can reduce ship resistance；It is respectively mounted to subtract in float matrix both sides and shake body I and subtract and shake body II, permissible
So that it is more steady during whole upper float navigation；There is a sealed compartment in the front of float matrix, by sealed compartment dividing plate
Sealed compartment is divided into two cabins and is installed into battery and communication controller respectively, wherein battery for rudder motor and can lead to
The power electronic equipment such as news controller, and in communication controller, it is integrated with STM32 development board, can be with control flaps motor and place
The signal that reason GPS, sensor record；Sealed compartment is sealed by solar panel and sealing strip by trip bolt, keeps in cabin
It is dried, and solar panel can be by the electrical power storage producing in the middle of battery；Sensor is ADCP sensor, permissible
Record the data such as flow velocity, the flow of ocean current；GPS and communication antenna are arranged on the middle part of float matrix by trip bolt,
Wherein GPS can record real time position, realizes being accurately positioned, and communication antenna can make communication controller and ground base station carry out reality
When data transfer.
Described intermediate junction device refers to flexible cable, and flexible cable upper end is connected with the bottom surface of float matrix, under
End is connected with the upper lift ring of aerodone.Flexible cable is made using special elastomeric material, and inside is inlaid with steering wheel power supply
Line and steering wheel holding wire, by electric energy and signal transmission to rudder motor.During navigation, flexible cable can be by float matrix
The up and down motion being produced by action of wave force passes to underwater glider.
Described Power Drive Unit includes wind energy drive component and powered by wave energy assembly.
Described wind energy drive component includes big rotary shaft, blade group I, blade group II, rolling bearing units I, rolling bearing units II, big
Fixed plate, bevel pinion, bevel gear wheel, little fixed mount, screw, little rotary shaft.Big fixed plate is arranged on by trip bolt
On float matrix, in big fixed plate upper shed and install rolling bearing units I；Big rotary shaft and rolling bearing units I assemble, and key is passed through in lower end
Connect and bevel pinion is installed；Blade group I and blade group II are fixed on the upper end of big rotary shaft using interference fit, and blade group has
There are fairshaped blade and bracing frame, and 60 ° of angles of two groups of differences when installing, can preferably receive the wind from all directions
Can, the thick special construction of the thin other end in blade one end is it is ensured that only rotate in one direction, it is to avoid screw inverts
Impact propulsion effect；Rolling bearing units II is connected by little fixed mount with big fixed plate, is equipped with little rotary shaft in rolling bearing units II；Little
The front end of rotary shaft is connected with bevel gear wheel by key, and rear end is connected with screw by key；Bevel pinion is nibbled with bevel gear wheel
Close.In motion process, wind energy is converted to kinetic energy by blade group, then by Bevel Gear Transmission, kinetic energy is passed to screw,
Produce propulsive force forward eventually.
Described powered by wave energy assembly includes upper lift ring, left side flap, fin fix bar, aerodone pedestal, rudder blade, rudder drive
Dynamic motor rack, rudder motor, right side flap, fin gag lever post.Aerodone pedestal is using a bolted sub-assembly,
Top is bolted upper lift ring, and afterbody is provided with rudder motor frame；Rudder motor is arranged in rudder motor frame
Face, and receive the power supply from upper float and signal, drive rudder blade to rotate, realize controlling the purpose in underwater glider direction；Left
Side flap and right side flap are fixed on above fin fix bar and fin gag lever post by soket head cap screw, and then are fixed on gliding
On machine pedestal.In motion process, the up and down motion of underwater glider makes 6 groups of fins that rotation clockwise and counterclockwise occurs,
The rotation of fin is interacted with current and produces a propulsive force forward, and rudder blade rotates control direction, thus jointly realizing sliding
The motion of Xiang machine.
A kind of using wave energy and wind energy combine driving marine sniffing robot utilize regenerative resource wave energy and wind
Can be used as direct drive power, the underwater glider of powered by wave energy draws water floating body under water as active force and advances, wind energy
The thrust that the screw driving produces is as auxiliary power, and by the auto-cruising control of communication controller, jointly reaches and allow
The purpose that marine sniffing robot navigates by water along desired trajectory.
Brief description
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is the general structure schematic diagram of the present invention.
Fig. 2 is the wind energy drive component schematic diagram of the present invention.
Fig. 3 is the powered by wave energy component diagram of the present invention.
In figure 1. float matrix, 2. communication antenna, 3. subtract and shake body I, 4. battery, 5. communication controller, 6. solar-electricity
Pond plate, 7. sealing strip, 8. sealed compartment, 9.GPS, 10. subtract and shake body II, 11. sensors, 12. sealed compartment dividing plates, 13. flexible cables,
14. big rotary shafts, 15. blade groups I, 16. blade groups II, 17. rolling bearing units I, 18. big fixed plates, 19. bevel pinions, 20. bands
Seat bearing I I, 21. bevel gear wheels, 22. little fixed mounts, 23. little rotary shafts, 24. screws, 25. upper lift rings, 26. left side flap,
27. fin fix bars, 28. aerodone pedestals, 29. rudder blades, 30. rudder motor frames, 31. rudder motors, 32. right side flap
Piece, 33. fin gag lever posts.
Specific embodiment
Refering to Fig. 1-Fig. 3, a kind of marine sniffing robot combining driving using wave energy and wind energy of the present embodiment, including
Water floating body device, intermediate junction device, Power Drive Unit.
Described water floating body device includes float matrix (1), communication antenna (2), subtracts and shake body I (3), battery (4), communication
Controller (5), solar panel (6), sealing strip (7), sealed compartment (8), sealed compartment dividing plate (12), sensor (11), subtract and shake
Body II (10), GPS (9).Float matrix (1) is fiberglass using similar Ship Structure, material, can reduce ship resistance；?
Float matrix (1) both sides are respectively mounted to subtract and shake body I (3) and subtract and shake body II (10), so that during whole upper float navigation
More steady；There is a sealed compartment (8) in the front of float matrix (1), by sealed compartment dividing plate (12), sealed compartment (8) is divided into
Two cabins are simultaneously installed into battery (4) and communication controller (5) respectively, wherein battery (4) can for rudder motor (31) and
The power electronic equipment such as communication controller (5), and in communication controller (5), it is integrated with STM32 development board, can be driven with control flaps
Motor (31) and process GPS (9), the signal that records of sensor (11)；Solar panel (6) and sealing strip (7) pass through fastening
Sealed compartment (8) is sealed by screw, keeps being dried in cabin, and solar panel (6) can be by the electrical power storage producing to storage
In the middle of battery (4)；Sensor (11) is ADCP sensor, can record the data such as flow velocity, the flow of ocean current；GPS (9) and communication
Antenna (2) is arranged on the middle part of float matrix (1) by trip bolt, and wherein GPS (9) can record real time position, real
Now it is accurately positioned, communication antenna (2) can make communication controller (5) and ground base station carry out real-time Data Transmission.
Described intermediate junction device refers under flexible cable (13), flexible cable (13) upper end and float matrix (1)
Bottom surface connects, and lower end is connected with the upper lift ring (25) of aerodone.Flexible cable is made using special elastomeric material, internal
It is inlaid with steering wheel power line and steering wheel holding wire, by electric energy and signal transmission to rudder motor (31).During navigation, soft
The up and down motion that float matrix (1) is produced by action of wave force can be passed to underwater glider by property hawser.
Described Power Drive Unit includes wind energy drive component and powered by wave energy assembly.
Described wind energy drive component includes big rotary shaft (14), blade group I (15), blade group II (16), rolling bearing units I
(17), rolling bearing units II (20), big fixed plate (18), bevel pinion (19), bevel gear wheel (21), little fixed mount (22), spiral
Oar (24), little rotary shaft (23).Big fixed plate (18) is arranged on float matrix (1) by trip bolt, in big fixed plate
(18) upper shed install rolling bearing units I (17)；Big rotary shaft (14) and rolling bearing units I (17) assemble, and lower end is passed through bonded
Bevel pinion (19) is installed；Blade group I (15) and blade group II (16) are fixed on the upper of big rotary shaft (14) using interference fit
End, blade group has fairshaped blade and bracing frame, and 60 ° of angles of two groups of differences when installing, and can preferably receive
From the wind energy of all directions, the thick special construction of the thin other end in blade one end is it is ensured that only rotate in one direction, it is to avoid
There is reversion impact propulsion effect in screw (24)；Little fixed mount (22) is by rolling bearing units II (20) with big fixed plate (18) even
Connect, in rolling bearing units II (20), be equipped with little rotary shaft (23)；Key and bevel gear wheel (21) are passed through in the front end of little rotary shaft (23)
Connect, rear end is connected with screw (24) by key；Bevel pinion (19) is engaged with bevel gear wheel (21).In motion process, leaf
Wind energy is converted to kinetic energy by piece group, then by Bevel Gear Transmission, kinetic energy is passed to screw (24), finally produces forward
Propulsive force.
Described powered by wave energy assembly includes upper lift ring (25), left side flap (26), fin fix bar (27), aerodone base
Frame (28), rudder blade (29), rudder motor frame (30), rudder motor (31), right side flap (32), fin gag lever post (33).
Aerodone pedestal (28) is using a bolted sub-assembly, and top is bolted upper lift ring (25), and afterbody is installed
There is rudder motor frame (30)；Rudder motor (31) is arranged on rudder motor frame (30) above, and receives from upper float
Power supply and signal, drive rudder blade (29) rotate, realize control underwater glider direction purpose；Left side flap (26) and right side
Fin (32) is fixed on fin fix bar (27) and fin gag lever post (33) above by soket head cap screw, and then is fixed on gliding
On machine pedestal (28).In motion process, the up and down motion of underwater glider makes 6 groups of fins that rotation clockwise and counterclockwise occurs
Turn, the rotation of fin is interacted with current and produces a propulsive force forward, rudder blade (29) rotates control direction, thus jointly
Realize the motion of aerodone.
Claims (6)
1. a kind of using wave energy and wind energy combine driving marine sniffing robot it is characterised in that：One kind utilizes wave energy
And wind energy combines the marine sniffing robot of driving, including water floating body device, intermediate junction device, Power Drive Unit.
2. water floating body device according to claim 1, it is characterized in that including float matrix, communication antenna, subtract shake body I,
Battery, communication controller, solar panel, sealing strip, sealed compartment, sealed compartment dividing plate, sensor, subtract and shake body II, GPS.
Float matrix is fiberglass using similar Ship Structure, material, can reduce ship resistance；It is respectively mounted in float matrix both sides
Subtract and shake body I and subtract and shake body II, so that more steady during whole upper float navigation；There is one in the front of float matrix
Sealed compartment is divided into two cabins by sealed compartment dividing plate and is installed into battery and communication controller, wherein electric power storage respectively by sealed compartment
Pond can be the power electronic equipment such as rudder motor and communication controller, and is integrated with STM32 development board in communication controller,
The signal that can be recorded with control flaps motor and process GPS, sensor；Solar panel and sealing strip pass through trip bolt
Sealed compartment is sealed, keeps being dried in cabin, and solar panel can be by the electrical power storage producing in the middle of battery；Pass
Sensor is ADCP sensor, can record the data such as flow velocity, the flow of ocean current；GPS and communication antenna are installed by trip bolt
In the middle part of float matrix, wherein GPS can record real time position, realizes being accurately positioned, and communication antenna can make communication
Controller and ground base station carry out real-time Data Transmission.
3. intermediate junction device according to claim 1, is characterized in that referring to flexible cable, flexible cable upper end and float matrix
Bottom surface connect, lower end is connected with the upper lift ring of aerodone.Flexible cable is made using special elastomeric material, internal
It is inlaid with steering wheel power line and steering wheel holding wire, by electric energy and signal transmission to rudder motor.During navigation, flexible cable
The up and down motion that float matrix can be produced by rope by action of wave force passes to underwater glider.
4., according to claim 1 Power Drive Unit, it is characterized in that including wind energy drive component and powered by wave energy assembly.
5. wind energy drive component according to claim 4, is characterized in that including big rotary shaft, blade group I, blade group II, band
Seat bearing I, rolling bearing units II, big fixed plate, bevel pinion, bevel gear wheel, little fixed mount, screw, little rotary shaft.Fixing greatly
Plate is arranged on float matrix by trip bolt, in big fixed plate upper shed and install rolling bearing units I；Big rotary shaft with usher to seat
Bearing I is assembled, and lower end is by bonded installation bevel pinion；Blade group I and blade group II are fixed on big rotation using interference fit
The upper end of rotating shaft, blade group has fairshaped blade and bracing frame, and 60 ° of angles of two groups of differences when installing, can be more preferable
Reception be derived from the wind energy of all directions, the thick special construction of the thin other end in blade one end is it is ensured that only revolve in one direction
Turn, it is to avoid screw occurs reversion impact propulsion effect；Rolling bearing units II is connected by little fixed mount with big fixed plate, axle of usheing to seat
Hold and in II, be equipped with little rotary shaft；The front end of little rotary shaft is connected with bevel gear wheel by key, and key is passed through with screw even in rear end
Connect；Bevel pinion is engaged with bevel gear wheel.In motion process, wind energy is converted to kinetic energy by blade group, is then passed by bevel gear
Dynamic propulsive force kinetic energy being passed to screw, finally producing forward.
6. powered by wave energy assembly according to claim 4, it is characterized in that including upper lift ring, left side flap, fin fix bar,
Aerodone pedestal, rudder blade, rudder motor frame, rudder motor, right side flap, fin gag lever post.Aerodone pedestal is to utilize
A bolted sub-assembly, top is bolted upper lift ring, and afterbody is provided with rudder motor frame；Rudder motor
It is arranged on above rudder motor frame, and receives the power supply from upper float and signal, drive rudder blade to rotate, realize controlling under water
The purpose in aerodone direction；Left side flap and right side flap are fixed on fin fix bar and fin gag lever post by soket head cap screw
Above, and then be fixed on aerodone pedestal.In motion process, the up and down motion of underwater glider makes 6 groups of fins generations suitable
Hour hands and rotation counterclockwise, the rotation of fin and current interact and produce a propulsive force forward, and rudder blade rotation controls
Direction, thus jointly realize the motion of aerodone.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611022392.7A CN106394845A (en) | 2016-11-17 | 2016-11-17 | Seaborne detection robot driven by both wave energy and wind energy |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611022392.7A CN106394845A (en) | 2016-11-17 | 2016-11-17 | Seaborne detection robot driven by both wave energy and wind energy |
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| CN106394845A true CN106394845A (en) | 2017-02-15 |
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| CN201611022392.7A Pending CN106394845A (en) | 2016-11-17 | 2016-11-17 | Seaborne detection robot driven by both wave energy and wind energy |
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Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107229223A (en) * | 2017-06-07 | 2017-10-03 | 哈尔滨工程大学 | A kind of intelligent switching system of many drive patterns of ocean energy unmanned boat |
| CN107310707A (en) * | 2017-07-10 | 2017-11-03 | 中国海洋大学 | A kind of unmanned water surface ROV |
| CN107697257A (en) * | 2017-08-31 | 2018-02-16 | 武汉理工大学 | Green energy consumption ship based on double-purpose propeller |
| CN108248756A (en) * | 2017-12-28 | 2018-07-06 | 中国船舶重工集团公司第七0研究所 | A kind of hull applied to wave energy autonomous navigation device |
| CN108995776A (en) * | 2018-08-06 | 2018-12-14 | 中船重工（海南）飞船发展有限公司 | It is a kind of to utilize the small-sized from navigation generation platform of water surface wave power technology |
| CN109131749A (en) * | 2018-08-29 | 2019-01-04 | 国家海洋局第二海洋研究所 | A kind of long-range real-time control formula oceanographic buoy of self-propulsion type |
| CN109139377A (en) * | 2018-11-14 | 2019-01-04 | 河北工业大学 | A kind of wind energy collecting peculiar to vessel utilizes device |
| CN109178228A (en) * | 2018-08-30 | 2019-01-11 | 中国科学院广州能源研究所 | The floating marine formula complex platform driven by green energy resource |
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| CN109591986A (en) * | 2018-12-29 | 2019-04-09 | 中国船舶重工集团公司第七0研究所 | A kind of underwater endurance damping device suitable for wave energy glider |
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| CN110803255A (en) * | 2019-10-28 | 2020-02-18 | 中国海洋大学 | Variable length wave glider armoured cable |
| CN110920814A (en) * | 2019-10-28 | 2020-03-27 | 中国海洋大学 | Novel single-structure wave glider |
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| CN111717359A (en) * | 2020-06-12 | 2020-09-29 | 西北工业大学 | Wave glider with evaporation waveguide monitoring system |
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| CN107229223B (en) * | 2017-06-07 | 2020-01-17 | 哈尔滨工程大学 | Intelligent switching system of multi-drive mode of ocean energy unmanned ship |
| CN107229223A (en) * | 2017-06-07 | 2017-10-03 | 哈尔滨工程大学 | A kind of intelligent switching system of many drive patterns of ocean energy unmanned boat |
| CN107310707A (en) * | 2017-07-10 | 2017-11-03 | 中国海洋大学 | A kind of unmanned water surface ROV |
| CN107310707B (en) * | 2017-07-10 | 2023-08-15 | 中国海洋大学 | Unmanned surface vehicle |
| CN107697257B (en) * | 2017-08-31 | 2019-04-19 | 武汉理工大学 | Green energy consumption ship based on double-purpose propeller |
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| CN108995776A (en) * | 2018-08-06 | 2018-12-14 | 中船重工（海南）飞船发展有限公司 | It is a kind of to utilize the small-sized from navigation generation platform of water surface wave power technology |
| CN109131749A (en) * | 2018-08-29 | 2019-01-04 | 国家海洋局第二海洋研究所 | A kind of long-range real-time control formula oceanographic buoy of self-propulsion type |
| CN109178228A (en) * | 2018-08-30 | 2019-01-11 | 中国科学院广州能源研究所 | The floating marine formula complex platform driven by green energy resource |
| CN109139377A (en) * | 2018-11-14 | 2019-01-04 | 河北工业大学 | A kind of wind energy collecting peculiar to vessel utilizes device |
| CN109455275A (en) * | 2018-12-10 | 2019-03-12 | 中国海洋大学 | A kind of cable bindiny mechanism for wave glider with pooling feature |
| CN109591986A (en) * | 2018-12-29 | 2019-04-09 | 中国船舶重工集团公司第七0研究所 | A kind of underwater endurance damping device suitable for wave energy glider |
| CN109911119A (en) * | 2019-03-08 | 2019-06-21 | 中国海洋大学 | A kind of cable joint bindiny mechanism suitable for wave glider |
| CN110040230A (en) * | 2019-04-26 | 2019-07-23 | 哈尔滨工程大学 | It is a kind of that wave energy is converted into the ocean vehicle that low frequency pitching realizes propulsion |
| CN110040230B (en) * | 2019-04-26 | 2020-05-19 | 哈尔滨工程大学 | Ocean carrier for converting wave energy into low-frequency pitching motion to realize propulsion |
| CN110654519B (en) * | 2019-09-02 | 2021-07-09 | 中国地质大学（武汉） | Wind-light-electricity hybrid power driving type self-acquisition energy power generation type motor sailing boat |
| CN110654519A (en) * | 2019-09-02 | 2020-01-07 | 中国地质大学（武汉） | Wind-light-electricity hybrid power driving type self-acquisition energy power generation type motor sailing boat |
| CN110803255A (en) * | 2019-10-28 | 2020-02-18 | 中国海洋大学 | Variable length wave glider armoured cable |
| CN110920814A (en) * | 2019-10-28 | 2020-03-27 | 中国海洋大学 | Novel single-structure wave glider |
| CN110920814B (en) * | 2019-10-28 | 2024-02-23 | 中国海洋大学 | Single-structure wave glider |
| CN110803255B (en) * | 2019-10-28 | 2024-04-05 | 中国海洋大学 | Length-variable wave glider armoured cable |
| CN110979571A (en) * | 2019-12-20 | 2020-04-10 | 自然资源部第一海洋研究所 | Ocean monitoring devices convenient to remove |
| CN111717359A (en) * | 2020-06-12 | 2020-09-29 | 西北工业大学 | Wave glider with evaporation waveguide monitoring system |
| CN112505796A (en) * | 2020-10-20 | 2021-03-16 | 中国环境科学研究院 | Real-time monitoring system and method for personnel activity track in marine type natural protection area |
| CN114740792A (en) * | 2022-06-13 | 2022-07-12 | 青岛海舟科技有限公司 | Wave glider control system with distributed architecture |
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