CN106695834A - Double-body detection underwater robot device and control method - Google Patents
Double-body detection underwater robot device and control method Download PDFInfo
- Publication number
- CN106695834A CN106695834A CN201710094821.XA CN201710094821A CN106695834A CN 106695834 A CN106695834 A CN 106695834A CN 201710094821 A CN201710094821 A CN 201710094821A CN 106695834 A CN106695834 A CN 106695834A
- Authority
- CN
- China
- Prior art keywords
- robot
- underwater robot
- vertical
- tail
- middle wing
- 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.)
- Pending
Links
- 238000001514 detection method Methods 0.000 title claims abstract description 15
- 238000000034 method Methods 0.000 title claims abstract description 9
- 238000012544 monitoring process Methods 0.000 claims abstract description 11
- 239000000523 sample Substances 0.000 claims description 8
- 239000003381 stabilizer Substances 0.000 claims description 3
- 238000001727 in vivo Methods 0.000 claims description 2
- 230000003028 elevating effect Effects 0.000 abstract 1
- 230000000087 stabilizing effect Effects 0.000 abstract 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 10
- 238000013461 design Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 7
- 230000006641 stabilisation Effects 0.000 description 4
- 238000011105 stabilization Methods 0.000 description 4
- 238000007667 floating Methods 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000005888 antibody-dependent cellular phagocytosis Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000002153 concerted effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- DMBHHRLKUKUOEG-UHFFFAOYSA-N diphenylamine Chemical compound C=1C=CC=CC=1NC1=CC=CC=C1 DMBHHRLKUKUOEG-UHFFFAOYSA-N 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 230000002045 lasting effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 238000012857 repacking Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators 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
- 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
-
- 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
- B63G8/16—Control of attitude or depth by direct use of propellers or jets
-
- 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
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Robotics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention provides a double-body detection underwater robot device and a control method. A robot main body is of a double-body structure consisting of a middle wing-shaped body and two streamline boat bodies symmetrically arranged on two sides of the middle wing-shaped body, wherein an elevating rudder is arranged at the tail end of the middle wing-shaped body; a core control cabin and two vertical thruster cabins arranged at the front and the back are arranged in the middle wing-shaped body; a vertical thruster is arranged in each vertical thruster cabin; a stabilizing wing is arranged on the side surface of the tail part of each streamline boat body; an airfoil profile vertical wing is arranged at the tail part of each streamline boat body; a main thruster is arranged at the tail end of each streamline boat body; battery cabins and detection equipment cabins are further arranged in the two streamline boat bodies; wall touch sonars are further arranged on the robot main body. The double-body detection underwater robot device can make an intelligent decision and can be switched among different operation modes according to a relative flowing speed, so that the posture can be kept stable, and functions of fixed-speed continuation, posture holding, hovering monitoring and the like are realized.
Description
Technical field
The present invention relates to a kind of binary detection underwater robot device and control method, belong to detection underwater robot technology
Field.
Background technology
Due to the demand of river marine resources development and to hydrological environment monitoring in the urgent need to many national in the world
Renewal hydrologic monitoring system is just continued to develop, the monitoring method and device of more and more high-efficiency and economics are gradually used, under water machine
One of important means that device people monitors as marine environment detection and resource investigation is increasingly paid attention to by various countries.Underwater robot
It is a kind of portable and itself can be used as the carrying platform of subaqueous survey sensor.It is monitored relative to it using underwater robot
His traditional platform is with the obvious advantage.Underwater robot have it is round-the-clock, portable, the characteristics of task can be performed in complex water areas.Just
It is that these features determine that underwater robot is one of good platform of hydrological environment monitoring.Sensed as good subaqueous survey
The carrying platform of device takes into account flexibility and stability, to ensure detection mission data, it is necessary to underwater robot is in complex environment
Authenticity.
Using the robot of rudder oar joint manipulation in the case where speed is higher, can more rapidly adjust latent deep, and due to
Non-helical oar adjustment is latent deep, and the relative robot using vertical thrusters control attitude is in hgher efficiency, energy consumption is less, in high speed
Can guarantee that attitude stabilization；The robot manipulated using many oars, when speed is relatively low, can quickly and effectively adjust attitude, and
The functions such as hovering, cruise can be realized.Related practical experience is shown, is individually existed using the robot of both arrangements
Have in clearly disadvantageous：Attitude is difficult to realize in low speed using the underwater robot of rudder oar joint manipulation accurately to control
System, realizes that the motor-driven response time is more long, and the influence for detection data is very big；The underwater robot manipulated using many oars, in machine
When device people gradually increases with respect to water velocity, the efficiency of vertical thrusters is reduced rapidly, acts on small for gesture stability, in stream
Speed it is larger in the case of be difficult rapidly realize it is motor-driven and keep depth navigation, or even can not complete dive float etc. action.It is existing
Space is limited in some robot cabins, and the equipment and number of batteries of carrying are limited, it is difficult to meet different task needs, while continuous
Boat power is also because number of batteries can not get a promotion less.
With reference to existing scheme advantage and be directed to above-mentioned the deficiencies in the prior art, the present invention proposes a kind of detection of binary under water
Robot, under water under complex environment, can keep the ability of attitude and maneuverability, possess and carry different detecting devices
Ability, while meeting over long distances, prolonged detection mission.
The content of the invention
The invention aims to river prospecting, monitoring provides that one portable, reliability, intelligence, modular platform and
A kind of binary detection underwater robot device and control method are provided.
The object of the present invention is achieved like this：A kind of binary detects underwater robot device, and robot body is in
Between wing body and be symmetricly set on two of middle wing body both sides streamlined hulls composition couple structures, in middle wing body
Tail end is provided with elevator, middle wing two vertical thrusters cabins for being provided with core control cabinet and front and rear arrangement in vivo, often
Vertical thrusters are provided with individual vertical thrusters cabin, the side of each streamlined submarine tail is provided with stabilizer, each stream
Aerofoil profile vertical tail, is provided with line style submarine tail, the tail end of each streamlined hull is provided with promotes mainly propeller, two streams
Battery flat and probe compartment are additionally provided with line style hull, control computer, mission planning meter are provided with core control cabinet
Calculation machine, attitude transducer, Emergency Device control panel, are additionally provided with wall and touch sonar on the robot body.
Present invention additionally comprises such some architectural features：
1. it is provided with radio, the GPS/ Big Dippeves, the integrated conformal antennas together of WiFi in aerofoil profile vertical tail,.
2. a kind of binary detects the control method of underwater robot device, including said apparatus,
(1) in constant speed depth-keeping navigation, if present speed is less than critical speed, two vertical thrusters work carry out depth
And pose adjustment；If present speed is more than critical speed, the angle for changing elevator carries out depth adjustment；
(2) it is deep with latent using elevator control attitude in cruise；
(3) when monitoring is hovered, two are promoted mainly control robot in the position of longitudinal direction and angle of heading, and two hang down and push away control
Robot processed is in the position of depth direction and trim；
(4) in maneuver, making two to promote mainly propeller, that there are different rotating speeds to produce differentials to realize is motor-driven.
Compared with prior art, the beneficial effects of the invention are as follows：The present invention is promoted mainly double hanging down and is pushed away plus risen due to hull using double
Drop rudder design, Solid rocket engine mode flexibly, with going out the ability that different Solid rocket engine modes are taken in decision-making certainly, strong adaptability, with
The robot of oar rudder control is compared, with can rapidly adjust attitude, the ability with floating upward quickly dive.By four propulsions
The rotating of device, can keep attitude stabilization under complicated current, realize that constant speed is continued a journey, and attitude keeps, the function such as hovering monitoring, protect
Stability and flexibility that whole robot is used are demonstrate,proved.Whole robot modularized design, equipment is carried the reserved unification in cabin and is connect
Mouthful, different equipment, such as ADCP, multibeam sonar etc. can be carried according to the different demand of task, while also allow for changing and
Maintenance of equipment, dependable performance high with autgmentability, maintenance repacking cost it is small the characteristics of.The present invention is gathered around due to using catamaran design
There is roomy kayak body and abundant inner space, compared to the underwater robot of same length, more equipment and battery can be carried,
With preferable autgmentability and lasting cruise-ability.Two groups of propeller lateral separations get a promotion, when propeller is operated with differential,
Can produce and bigger turn bow torque.Mobility is stronger, and roomy kayak body can be maintained at the stability in water, to the detection carried
Equipment provides a stabilised platform.
Brief description of the drawings
Fig. 1 is concrete structure schematic diagram of the invention；
Fig. 2 is overall structure diagram of the invention；
Fig. 3 is top view of the invention；
Fig. 4 is side view of the invention；
Fig. 5 is front view of the invention；
Fig. 6 is underwater robot inactive state floading condition schematic diagram of the invention；
Fig. 7 is underwater robot steering campaign schematic diagram of the invention；
Fig. 8 is pose adjustment (containing hovering) schematic diagram under underwater robot low speed of the invention；
Fig. 9 is underwater robot dive schematic diagram of the invention；
Figure 10 is that underwater robot of the invention turns first schematic diagram；
Figure 11 is underwater robot control system switch decision figure of the invention.
Specific embodiment
The present invention is described in further detail with specific embodiment below in conjunction with the accompanying drawings.
As shown in Figure 1, the present invention by probe compartment 1, main body 2, obstacle avoidance sonar 3, battery flat 4, stabilizer 5, aerofoil profile
Vertical tail, 6, promote mainly 7, elevator 8, core control cabinet 9, vertical thrusters 10 and constitute.Described probe compartment 1 uses module
Change design, the installation of different detecting devices can be met, and the weather proof receptacle of uniform sizes is left in cabin, equipment can be quick
Be connected with robot, with modularization and the characteristics of versatility, namely described probe compartment 1 can be according to different tasks
Detecting devices needed for needing installation, with modularization and versatility.Underwater robot of the invention uses catamaran design, front and rear
Two hang down push away, left and right two propeller arrangements promoted mainly, connected by wing bay section between two binarys；Using conformal day
Line, the Big Dipper is communicated and is positioned, radio, and the module such as WiFi is integrated in wing antenna, to reduce the attached body quantity of hull, so as to subtract
It is small because attached body produce resistance.
The main body 2 of robot of the invention uses the streamlined hull design of left and right binary to reduce resistance under water, main body
Inside it is provided with battery flat 4 and probe compartment 1；Centre is airfoil body, and control cabinet 9, probe compartment 1 and two are provided with vivo
Vertical thrusters cabin 10, rear portion is provided with an elevator 8；Described main body module is fixedly connected by welding.
Be integrated in the antennas such as radio, the GPS/ Big Dippeves, WiFi in aerofoil profile vertical tail, 6 by conformal antenna of the invention.This sets
Meter effective while robot normal communication is ensured can reduce the attached body quantity of underwater robot, and keep hull streamlined complete
Whole property, is reduced due to the influence of the resistance that attached body is produced.
The body posterior central in aerofoil profile of elevator of the invention 8, control robot is in the case that relative velocity is higher
Floating dive and adjustment robot pose.Hull adds setting for elevator using double double vertical thrusters (hereinafter referred to as hang down and push away) of promoting mainly
Meter, it is ensured that the good mobility under complicated current of robot, when relative velocity is smaller, uses double vertical propulsion row attitudes
Control, in the case where relative velocity is larger, depth adjustment and gesture stability is carried out using elevator.
Be provided with core control cabinet 9 of the invention base control computer, mission planning computer, attitude transducer,
The control devices such as Emergency Device control panel and key sensor.Attitude transducer can obtain in real time current robot it is first to
Angle, roll angle, Angle of Trim and acceleration, the data that control computer is measured according to attitude transducer, extrapolate current pose and
Speed, the dbjective state with required by task is contrasted, and makes corresponding decision.
The vertical thrusters 10 of two fore-and-aft directions of the invention arrangement, can control robot when relative velocity is relatively low on
Floating dive and adjustment robot pose.When relative velocity is smaller, two hang down push away work.When needing dive, control computer root
The data obtained according to attitude transducer, need with reference to task, using corresponding strategy, are hung down to two and push away the corresponding rotating speed of distribution, produce
The raw trim (can also keep zero pitch) for needing, as shown in Figure 8；Adjustment attitude simultaneously produces downward power, makes it make a concerted effort downwards, to enter
Row dive, as shown in Figure 9.
Described probe compartment 1, obstacle avoidance sonar 3, battery flat 4, the watertight that has standard in the cabin of core control cabinet 9 connect
Head.The watertight connector includes power line and holding wire, (netting twine, Serial Port Line etc.), can be different according to the different choice of equipment
Watertight connector, is quickly installed and detaching equipment, the signal port such as optional RS232 rs 232 serial interface signals, CAN, RJ45 netting twines.
Underwater robot of the invention can make intelligent decision under complicated current according to relative velocity, switch different
Maneuverability pattern, so as to keep attitude stabilization, realizes that constant speed is continued a journey, and attitude keeps, the function such as hovering monitoring.Set to the detection carried
It is standby that a reliable platform is provided.
When in use, by this robot placement water, this robot buoyancy is slightly larger than gravity, is slightly to float under inactive state
The water surface, as shown in Figure 6；
When underwater robot needs to advance or retreat linear motion, promote mainly for two and rotate forward simultaneously or invert, robot
Internal attitude transducer perceives the pose of now robot, judges whether according to linear motion, if angle of heading is with drift angle not
When consistent, control computer uses corresponding strategy and algorithm, exports and promotes mainly different signals to two, exports different rotating speeds,
Attitude is corrected in real time, to ensure the linear motion of robot.
When being cruised, because current are larger with respect to hull flow velocity, vertical pusher efficiency is poor, by grasping elevator
The quick dive of robot can be made.After detecting devices according to carrying measures hull relative velocity, according to certain algorithm, judge
After controlling hull attitude ratio to push away efficiency high using hanging down using rudder under the flow velocity, closing is hung down and is pushed away, and gesture stability is carried out using elevator.
Such as need the latent depth for changing robot, as shown in Figure 7, manipulate elevator, robot is produced different trims, carry out dive.
After reaching submerged depth, certain rudder angle is grasped, to keep certain attitude to be operated.Under cruise mode, robot is using liter
Drop rudder adjustment is latent deep, the energy very little consumed in controlling depth, with good endurance.
When hovering monitoring is carried out, attitude transducer obtains current robot pose data, and control computer is calculated to be worked as
Preceding state, the attitude needed with task is contrasted, and using corresponding strategy, different rotating speeds, two is distributed to four propellers
Control robot is promoted mainly in the position of longitudinal direction and angle of heading, two vertical pushing away control robot in the position of depth direction and indulge
Incline, produce different power, adjust current pose, as shown in Figure 8.In this mode, ensure that and detected under complicated current
The stabilization of device measuring data and to some region of accurately detecting.
When needing to carry out maneuver, the data that control computer is measured by robot from belt sensor are judged
Oneself state, using corresponding strategy, distribution different rotating speeds is promoted mainly to two, produces differential to realize that motor-driven (this robot is resonable
Think that situation year can realize the steering of 180 ° of original place), as shown in Figure 10.
Holding normal work rotary speed working, hull relative velocity V are pushed away when hanging downrGradually increase, the vertical direction thrust F of robotv
It is gradually reduced, the vertical thrust F under relative static conditions are reduced to020%, i.e. Fv=20%F0, relative velocity now is then
It is critical speed VC。
When constant speed depth-keeping navigation is carried out, current pose and acceleration information is obtained by depth gauge and attitude transducer,
According to respective algorithms, current state and speed are extrapolated.If robot current depth and pose need adjustment, computer pair
Current state carries out decision-making, if judging that present speed is less than critical speed V according to carrying equipment informationC, then hung down using two
Pushing away 10 carries out depth and pose adjustment；If judging, present speed is more than critical speed VC, then by changing the angle of elevator 8
Carry out depth adjustment.Decision process is as shown in Figure 11.
Two binary front portions can carry binocular identification equipment or two subaqueous sound ranging equipment, improve identification avoidance speed and
Success rate.Two binarys and wing body have more abundant space, can carry more batteries and equipment, possess good continuation of the journey
Property and autgmentability.Unique catamaran design, possesses good stability, high-precision sensor can be carried in the middle part of wing body, also
The influence of the data distortion caused because kayak body Curvature change produces water flow variation can be reduced.
Claims (3)
1. a kind of binary detects underwater robot device, it is characterised in that：Robot body is by middle wing body and symmetrically sets
Two streamlined hull composition couple structures in middle wing body both sides are put, the tail end of middle wing body is provided with lifting
Rudder, middle wing two vertical thrusters cabins for being provided with core control cabinet and front and rear arrangement in vivo, each vertical thrusters cabin
Vertical thrusters are inside provided with, the side of each streamlined submarine tail is provided with stabilizer, in each streamlined submarine tail
Aerofoil profile vertical tail, is provided with, the tail end of each streamlined hull is provided with promotes mainly propeller, is also set in two streamlined hulls
Battery flat and probe compartment are equipped with, control computer, mission planning computer, attitude sensing are provided with core control cabinet
Device, Emergency Device control panel, are additionally provided with wall and touch sonar on the robot body.
2. a kind of binary according to claim 1 detects underwater robot device, it is characterised in that：Set in aerofoil profile vertical tail,
It is equipped with radio, the GPS/ Big Dippeves, the integrated conformal antennas together of WiFi.
3. a kind of binary detects the control method of underwater robot device, it is characterised in that：Including the binary described in claim 2
Detection underwater robot device,
(1) in constant speed depth-keeping navigation, if present speed is less than critical speed, two vertical thrusters work carry out depth and appearance
State is adjusted；If present speed is more than critical speed, the angle for changing elevator carries out depth adjustment；
(2) it is deep with latent using elevator control attitude in cruise；
(3) when monitoring is hovered, two are promoted mainly control robot in the position of longitudinal direction and angle of heading, and two hang down and push away control machine
Device people is in the position of depth direction and trim；
(4) in maneuver, making two to promote mainly propeller, that there are different rotating speeds to produce differentials to realize is motor-driven.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710094821.XA CN106695834A (en) | 2017-02-22 | 2017-02-22 | Double-body detection underwater robot device and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710094821.XA CN106695834A (en) | 2017-02-22 | 2017-02-22 | Double-body detection underwater robot device and control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106695834A true CN106695834A (en) | 2017-05-24 |
Family
ID=58917153
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710094821.XA Pending CN106695834A (en) | 2017-02-22 | 2017-02-22 | Double-body detection underwater robot device and control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106695834A (en) |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107140161A (en) * | 2017-06-28 | 2017-09-08 | 舟山遨拓海洋工程技术有限公司 | A kind of binary AUV loading device equipped systems based on detection target under water |
| CN107957729A (en) * | 2017-10-13 | 2018-04-24 | 中国船舶重工集团公司七五0试验场 | Underwater robot makes a return voyage control method, computer and storage medium automatically |
| CN108319276A (en) * | 2017-12-26 | 2018-07-24 | 上海交通大学 | Underwater robot attitude regulation control device and method based on Boolean network |
| CN108715219A (en) * | 2018-06-28 | 2018-10-30 | 苏州津启海洋装备驱动有限公司 | A kind of high anti-current submersible of high speed |
| CN108791768A (en) * | 2018-07-12 | 2018-11-13 | 广州海洋地质调查局 | It is a kind of to be used for underwater depthkeeping towed body |
| CN108803662A (en) * | 2018-07-11 | 2018-11-13 | 哈尔滨工程大学 | A kind of propulsion control system of underwater seismic wave detection flight node |
| CN109533241A (en) * | 2018-12-14 | 2019-03-29 | 南京信息工程大学 | A kind of intelligence flap underwater robot |
| CN109533243A (en) * | 2018-12-06 | 2019-03-29 | 上海交通大学 | Deep-sea unmanned remote-controlled vehicle |
| CN110588926A (en) * | 2019-09-17 | 2019-12-20 | 哈尔滨工程大学 | Underwater monitoring device and laying and recycling method |
| CN111301646A (en) * | 2020-03-25 | 2020-06-19 | 哈尔滨工程大学 | Autonomous underwater robot for under-ice detection |
| CN111959700A (en) * | 2020-08-05 | 2020-11-20 | 上海交通大学 | Underwater mobile detection platform and detection method thereof |
| CN112706904A (en) * | 2021-01-26 | 2021-04-27 | 自然资源部第一海洋研究所 | Underwater robot |
| CN113277041A (en) * | 2021-06-10 | 2021-08-20 | 江苏海洋大学 | New concept unmanned underwater vehicle |
| CN115140279A (en) * | 2022-08-16 | 2022-10-04 | 广东海洋大学 | Novel underwater gliding robot |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1640765A (en) * | 2004-12-16 | 2005-07-20 | 上海交通大学 | Semi-independent submersible device |
| CN104648643A (en) * | 2013-11-15 | 2015-05-27 | 中国科学院沈阳自动化研究所 | Arrangement structure of underwater robot propelling device |
| CN105644743A (en) * | 2014-11-10 | 2016-06-08 | 中国科学院沈阳自动化研究所 | Long-term fixed-point observation type underwater robot with three-body configuration |
| CN106347610A (en) * | 2016-11-16 | 2017-01-25 | 深圳潜行创新科技有限公司 | Submersible |
| CN206475196U (en) * | 2017-02-22 | 2017-09-08 | 哈尔滨工程大学 | A kind of binary detects underwater robot device |
-
2017
- 2017-02-22 CN CN201710094821.XA patent/CN106695834A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1640765A (en) * | 2004-12-16 | 2005-07-20 | 上海交通大学 | Semi-independent submersible device |
| CN104648643A (en) * | 2013-11-15 | 2015-05-27 | 中国科学院沈阳自动化研究所 | Arrangement structure of underwater robot propelling device |
| CN105644743A (en) * | 2014-11-10 | 2016-06-08 | 中国科学院沈阳自动化研究所 | Long-term fixed-point observation type underwater robot with three-body configuration |
| CN106347610A (en) * | 2016-11-16 | 2017-01-25 | 深圳潜行创新科技有限公司 | Submersible |
| CN206475196U (en) * | 2017-02-22 | 2017-09-08 | 哈尔滨工程大学 | A kind of binary detects underwater robot device |
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107140161A (en) * | 2017-06-28 | 2017-09-08 | 舟山遨拓海洋工程技术有限公司 | A kind of binary AUV loading device equipped systems based on detection target under water |
| CN107957729B (en) * | 2017-10-13 | 2020-11-24 | 中国船舶重工集团公司七五0试验场 | Automatic return control method for underwater robot, computer and storage medium |
| CN107957729A (en) * | 2017-10-13 | 2018-04-24 | 中国船舶重工集团公司七五0试验场 | Underwater robot makes a return voyage control method, computer and storage medium automatically |
| CN108319276A (en) * | 2017-12-26 | 2018-07-24 | 上海交通大学 | Underwater robot attitude regulation control device and method based on Boolean network |
| CN108715219A (en) * | 2018-06-28 | 2018-10-30 | 苏州津启海洋装备驱动有限公司 | A kind of high anti-current submersible of high speed |
| CN108803662A (en) * | 2018-07-11 | 2018-11-13 | 哈尔滨工程大学 | A kind of propulsion control system of underwater seismic wave detection flight node |
| CN108791768A (en) * | 2018-07-12 | 2018-11-13 | 广州海洋地质调查局 | It is a kind of to be used for underwater depthkeeping towed body |
| CN109533243A (en) * | 2018-12-06 | 2019-03-29 | 上海交通大学 | Deep-sea unmanned remote-controlled vehicle |
| CN109533241A (en) * | 2018-12-14 | 2019-03-29 | 南京信息工程大学 | A kind of intelligence flap underwater robot |
| CN109533241B (en) * | 2018-12-14 | 2023-08-15 | 南京信息工程大学 | Intelligent flap underwater robot |
| CN110588926A (en) * | 2019-09-17 | 2019-12-20 | 哈尔滨工程大学 | Underwater monitoring device and laying and recycling method |
| CN111301646B (en) * | 2020-03-25 | 2021-11-09 | 哈尔滨工程大学 | Autonomous underwater robot for under-ice detection |
| CN111301646A (en) * | 2020-03-25 | 2020-06-19 | 哈尔滨工程大学 | Autonomous underwater robot for under-ice detection |
| CN111959700A (en) * | 2020-08-05 | 2020-11-20 | 上海交通大学 | Underwater mobile detection platform and detection method thereof |
| CN112706904A (en) * | 2021-01-26 | 2021-04-27 | 自然资源部第一海洋研究所 | Underwater robot |
| CN113277041A (en) * | 2021-06-10 | 2021-08-20 | 江苏海洋大学 | New concept unmanned underwater vehicle |
| CN115140279A (en) * | 2022-08-16 | 2022-10-04 | 广东海洋大学 | Novel underwater gliding robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106695834A (en) | Double-body detection underwater robot device and control method | |
| Furlong et al. | Autosub long range: A long range deep diving AUV for ocean monitoring | |
| CN108312151B (en) | Drift detection underwater robot device and control method | |
| CN106043632B (en) | A kind of application method of deep-sea unmanned submariner device | |
| CN103310610B (en) | Mobile ocean observation net based on intelligent buoy and intelligent submersible vehicle | |
| CN109018271B (en) | Novel large-span hybrid drive unmanned underwater vehicle | |
| CN100532192C (en) | Hybrid type underwater sailing device | |
| CN100357155C (en) | Buoyancy and propellor dual-driving-mode long-distance autonomous underwater robot | |
| CN107878670B (en) | Solar energy double-body unmanned ship for remote seawater sampling of small-radius box-type connecting bridge | |
| JP2007276609A (en) | Underwater glider | |
| JP2007276609A5 (en) | ||
| CN107284631A (en) | The submersible with vertical thrust device based on fluid lift force | |
| CN209280363U (en) | A kind of solar energy combines driving seawater sampling unmanned boat with wave energy | |
| CN108945366A (en) | It is a kind of support sail promote navigate by water device | |
| CN107215429B (en) | A kind of nobody half submarine of novel small-waterplane-area monomer | |
| Egeskov et al. | Design, construction and hydrodynamic testing of the AUV MARIUS | |
| CN113359785B (en) | Microminiature AUV underwater motion and hovering control method | |
| CN108016576A (en) | Self-righting unmanned boat | |
| CN116540730B (en) | Multi-tug cooperation berthing intelligent auxiliary system and method | |
| CN109606577A (en) | A kind of marine environmental monitoring green energy resource small-waterplane-area binary unmanned boat | |
| CN109323887A (en) | A kind of multi-level propulsion space and time continuous seawater parameter sampling monitoring unmanned boat | |
| CN206475196U (en) | A kind of binary detects underwater robot device | |
| Aage et al. | Hydrodynamic manoeuvrability data of a flatfish type AUV | |
| CN205916310U (en) | Unmanned submerge ware in deep sea | |
| JP4417543B2 (en) | Submersible and distribution measuring method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170524 |