CN107902059A - A kind of medium-sized modularization AUV - Google Patents
A kind of medium-sized modularization AUV Download PDFInfo
- Publication number
- CN107902059A CN107902059A CN201711359202.5A CN201711359202A CN107902059A CN 107902059 A CN107902059 A CN 107902059A CN 201711359202 A CN201711359202 A CN 201711359202A CN 107902059 A CN107902059 A CN 107902059A
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- auv
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- fore body
- stern
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- 238000009434 installation Methods 0.000 claims abstract description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 5
- 239000000463 material Substances 0.000 claims description 4
- 230000001681 protective effect Effects 0.000 claims description 4
- UJCHIZDEQZMODR-BYPYZUCNSA-N (2r)-2-acetamido-3-sulfanylpropanamide Chemical compound CC(=O)N[C@@H](CS)C(N)=O UJCHIZDEQZMODR-BYPYZUCNSA-N 0.000 claims description 3
- 229910000838 Al alloy Inorganic materials 0.000 claims description 3
- 241001669680 Dormitator maculatus Species 0.000 claims description 3
- 239000000956 alloy Substances 0.000 claims description 3
- 230000005484 gravity Effects 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims 1
- 238000013461 design Methods 0.000 abstract description 12
- 239000000969 carrier Substances 0.000 abstract description 4
- 238000004891 communication Methods 0.000 abstract description 4
- 238000004064 recycling Methods 0.000 abstract description 3
- 230000009286 beneficial effect Effects 0.000 abstract 1
- 238000005266 casting Methods 0.000 abstract 1
- 230000004888 barrier function Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 210000004209 hair Anatomy 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
-
- 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
- B63G8/08—Propulsion
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Toys (AREA)
Abstract
The present invention provides a kind of medium-sized modularization AUV, application target is positioned as underwater robot.Can any swap modules according to demand, possesses wireless communication function, support wireless online programming, AUV main carriers design streamlining vertical section, stern are designed by the way of four propellers are uniformly distributed, pass through jointly controlling for four propellers, fore body module touches sonar and line-throwing appliance equipped with wall, inertial navigation system, doppler velocimeter and alignment system are used cooperatively, and throw loading system immediately below main control module, beneficial effects of the present invention are：Disparate modules Quick Casting can be achieved, easy for installation, dependable performance, ship resistance is low, designs the advantages that reasonable, realizes the convenient recycling of AUV so that the standardization and the marketization of medium-sized AUV is possibly realized.
Description
Technical field
The present invention relates to underwater robot field, more particularly to a kind of medium-sized modularization AUV.
Technical background
The continuous continuous expansion deepened, explore scope recognized with the mankind ocean, the requirement to AUV are also constantly carrying
Height, but the large-scale and AUV of ultra-large type needs suitable operation device to ensure storage, transmitting and recycling on female platform at sea,
It is not only complicated, it is of high cost, Operation and Maintenance personnel it is also proposed with very high requirement.The task that medium-sized AUV can undertake is most.
Although small-sized AUV have the characteristics that have it is small, of low cost, navigation it is flexible, easy to use, be limited to bulk,
The pedestal sensors such as doppler velocimeter, inertial navigation carry difficulty, and achieved function is limited, and load capacity and navigation accuracy are not
Foot, therefore, it is one of major issue of underwater robot technical field to study a medium-sized modularization AUV.
Domestic medium-sized AUV uses integral structure more at present, and dismounting restructuring is difficult, therefore establishes standard and interface specification,
To improving product competitiveness, life cycle cost is reduced, unmanned systems ability is improved, it is important to realize that the interoperability on battlefield has
Meaning, therefore a practical medium-sized modularization AUV becomes one of main problem of technological break-through.
The content of the invention
The present invention provides a kind of medium-sized modularization AUV, using the theory of modularized design, can arbitrarily increase and decrease according to demand
Module, possesses wireless communication function, supports wireless online programming, AUV main carriers design streamlining vertical section, drops as much as possible
Low ship resistance, stern are designed by the way of four propellers are uniformly distributed, by jointly controlling for four propellers, add machine
While dynamic property, the complexity of driving mechanism is reduced, the wall of fore body module touches sonar and the barrier during navigation is touched
Hit carry out early warning, improve security of system, and line-throwing appliance be housed, easy to mission after AUV recycle, inertial navigation system,
Doppler velocimeter and alignment system are used cooperatively, and improve navigation accuracy, throw loading system immediately below main control module, AUV
Performance safety is reliable, realizes the modularized design of medium-sized AUV so that the standardization and the marketization of medium-sized AUV is possibly realized.
In order to solve the above technical problems, the embodiment of the present application provides a kind of medium-sized modularization AUV, including fore body module,
Doppler velocimeter module, energy module, main control module and stern module, it is characterised in that the fore body module, Doppler
O-ring seal and electric connector are equipped between current meter module, energy module, main control module and stern module, and forms one
Hollow seal nacelle, fore body module are hemispherical dome structure, are equipped with camera and headlamp at the center of front side, spherical side wall face into
" ten " character form structure touches sonar equipped with four walls, and it is ° angle cloth that described four walls, which are touched between sonar central axes and AUV central axes,
Put, upper end wall, which is touched on the right side of sonar, is equipped with line-throwing appliance, and it is identical that the line-throwing appliance installation direction and upper end wall touch sonar, fore body module
Upside is equipped with ultra short baseline locating system, is equipped with altimeter on the downside of fore body module, fore body rear side is equipped with doppler velocimeter
Module, the doppler velocimeter module are hollow cylindrical structure, and downside is equipped with doppler velocimeter, and upside is equipped with inflation
Mouthful, left side is equipped with mechanical switch, and right side is equipped with data port, and rear side is equipped with energy module, and the energy module is hollow cylinder
Body structure, is internally provided with battery pack, and upside is equipped with charge port, and upside both ends are equipped with two identical hoisting rings, and rear side is equipped with master
Module is controlled, the main control module is hollow cylindrical structure, is internally provided with automatic pilot and inertial navigation system, before upside
End is equipped with antenna, and antenna section is NACA linear structures, and upside rear end is equipped with wireless telecommunications, and downside, which is equipped with, throws loading system, rear side
Equipped with stern module, the stern module section is parabolic shaped structure, is internally provided with motor driver, stern sidewalls
Face is equipped with four propellers into " ten " character form structure, is equipped with rudder plate between adjacent two propellers, propeller front end is equipped with water
Close cable, watertight cable front end are equipped with protective cover, and bail is respectively equipped with the front end of AUV and rearmost end and only swings ring.
As the preferred embodiment of this programme, the fore body module, doppler velocimeter module, energy module, master control
Module and stern module are 5A06 aluminum alloy materials, and buoyancy is equal to gravity in water.
As the preferred embodiment of this programme, the inertial navigation system center is located on AUV central axes.
As the preferred embodiment of this programme, underwater electrical connector is equipped between the antenna and main control module.
As the preferred embodiment of this programme, the fore body module is open-shelf structure, and the residue of hemispherical dome structure is empty
Between filled by buoyancy material.
The one or more technical solutions provided in the embodiment of the present application, have at least the following technical effects or advantages：
1st, using the theory of modularized design, can any swap modules according to demand, possess wireless communication function, support nothing
Line online programming, realizes the modularized design of medium-sized AUV so that the standardization and the marketization of medium-sized AUV is possibly realized.
2nd, AUV main carriers design streamlining vertical section, reduces ship resistance as much as possible, extends cruising time；
3rd, stern design, by jointly controlling for four propellers, adds machine by the way of four propellers are uniformly distributed
While dynamic property, the complexity of driving mechanism is reduced, the rudder plate between propeller adds the stability of AUV；
4th, the wall of fore body module touches sonar and carries out early warning to the barrier collision during navigation, improves security of system,
And line-throwing appliance is housed, easy to mission after AUV recycling；
5th, inertial navigation system, doppler velocimeter and alignment system are used cooperatively, and improve navigation accuracy；
6th, throw loading system immediately below the main control module, AUV is thrown carry after, antenna will emerge at first, easy to communicating and
Positioning, performance safety are reliable.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is attached drawing needed in technology description to be briefly described, it should be apparent that, drawings in the following description are only this hairs
Some bright embodiments, for those of ordinary skill in the art, without having to pay creative labor, can be with
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is the front view of the embodiment of the present application structure.
Fig. 2 is the top view of the embodiment of the present application structure.
Fig. 3 is the side view of the embodiment of the present application structure.
In Fig. 1-Fig. 3,1. fore body modules, 2. doppler velocimeter modules, 3. energy modules, 4. main control modules, 5. sterns
Module, 6. walls touch sonar, 7. cameras, 8. headlamps, 9. line-throwing appliances, 10. ultra short baseline locating systems, 11. mechanical switch,
12. inflating port, 13. data ports, 14. charge ports, 15. hoisting rings, 16. antennas, 17. wireless telecommunications, 18. protective covers, 19. promote
Ring, 21. bails, 22. rudder plates, 23. altimeters, 24. doppler velocimeters, 25. throwing loading systems are only swung in device, 20..
Embodiment
The present invention provides a kind of medium-sized modularization AUV, using the theory of modularized design, can arbitrarily increase and decrease according to demand
Module, possesses wireless communication function, supports wireless online programming, AUV main carriers design streamlining vertical section, drops as much as possible
Low ship resistance, stern are designed by the way of four propellers are uniformly distributed, by jointly controlling for four propellers, add machine
While dynamic property, the complexity of driving mechanism is reduced, the wall of fore body module touches sonar and the barrier during navigation is touched
Hit carry out early warning, improve security of system, and line-throwing appliance be housed, easy to mission after AUV recycle, inertial navigation system,
Doppler velocimeter and alignment system are used cooperatively, and improve navigation accuracy, throw loading system immediately below main control module, AUV
Performance safety is reliable, realizes the modularized design of medium-sized AUV so that the standardization and the marketization of medium-sized AUV is possibly realized.
In order to better understand the above technical scheme, in conjunction with appended figures and specific embodiments to upper
Technical solution is stated to be described in detail.
As shown in Figure 1-Figure 3, a kind of medium-sized modularization AUV described in the present embodiment, including fore body module 1, doppler flow
Fast instrument module 2, energy module 3, main control module 4 and stern module 5, it is characterised in that the fore body module 1, doppler flow
O-ring seal and electric connector are equipped between fast instrument module 2, energy module 3, main control module 4 and stern module 5, and forms one
A hollow seal nacelle, fore body module 1 are hemispherical dome structure, and camera 7 and headlamp 8, spherical side wall are equipped with the center of front side
Sonar 6 is touched in face into " ten " character form structure equipped with four walls, and described four walls, which are touched between 6 central axes of sonar and AUV central axes, is
45° angle arranges that upper end wall touches the right side of sonar 6 and is equipped with line-throwing appliance 9, and 9 installation direction of line-throwing appliance touches 6 phase of sonar with upper end wall
Together, the upside of fore body module 1 is equipped with ultra short baseline locating system 10, is equipped with altimeter 23 on the downside of fore body module 1, after fore body module 1
Side is equipped with doppler velocimeter module 2, and the doppler velocimeter module 2 is hollow cylindrical structure, and how general downside be equipped with
Current meter 24 is strangled, upside is equipped with inflating port 12, and left side is equipped with mechanical switch 11, and right side is equipped with data port 13, and rear side is equipped with the energy
Module 3, the energy module 3 are hollow cylindrical structure, are internally provided with battery pack, and upside is equipped with charge port 14, upside two
End is equipped with two identical hoisting rings 15, and rear side is equipped with main control module 4, and the main control module 4 is hollow cylindrical structure, interior
Portion is equipped with automatic pilot and inertial navigation system, and upper front end is equipped with antenna 16, and 16 section of antenna is NACA linear structures, on
Side rear end is equipped with wireless telecommunications 17, and downside, which is equipped with, throws loading system 25, and rear side is equipped with stern module 5,5 section of stern module
For parabolic shaped structure, motor driver is internally provided with, 5 side wall of stern module is equipped with four propellers into " ten " character form structure
19, rudder plate 22 is equipped between adjacent two propellers 19, and 19 front end of propeller is equipped with watertight cable, and watertight cable front end is equipped with
Protective cover 18, bail 21 is respectively equipped with the front end of AUV and rearmost end and only swings ring 20.
Wherein, in practical applications, a kind of medium-sized modularization AUV, it is characterised in that the fore body module 1,
Doppler velocimeter module 2, energy module 3, main control module 4 and stern module 5 are 5A06 aluminum alloy materials, in water buoyancy
Equal to gravity, difference in functionality module can be made not have to re-start buoyancy trim when recombinating.
Wherein, in practical applications, a kind of medium-sized modularization AUV, it is characterised in that the inertial navigation system
System center is located on AUV central axes, simplifies the complexity of navigation system calculating, improves navigation accuracy.
Wherein, in practical applications, a kind of medium-sized modularization AUV, it is characterised in that the antenna 16 and master
Underwater electrical connector is equipped between control module 4, when antenna causes antenna leak due to hitting, colliding with when extraneous factor, water can not
Into AUV main nacelles, positive buoyancy is integrally remained as, can farthest ensure the safety of AUV.
Wherein, in practical applications, a kind of medium-sized modularization AUV, it is characterised in that the fore body module 1
For open-shelf structure, the remaining space of hemispherical dome structure is filled by buoyancy material, and open-shelf structure can mitigate answering for integral type processing
Miscellaneous degree, buoyancy material can provide positive buoyancy and ensure the fluid line style of fore body module outer surface.
The above described is only a preferred embodiment of the present invention, not make limitation in any form to the present invention, though
So the present invention is disclosed above with preferred embodiment, but is not limited to the present invention, any to be familiar with this professional technology people
Member, without departing from the scope of the present invention, when the technology contents using the disclosure above make a little change or modification
For the equivalent embodiment of equivalent variations, as long as being the content without departing from technical solution of the present invention, the technical spirit according to the present invention
Any simple modification, equivalent change and modification made to above example, in the range of still falling within technical solution of the present invention.
Claims (5)
1. a kind of medium-sized modularization AUV, including fore body module (1), doppler velocimeter module (2), energy module (3), master control
Module (4) and stern module (5), it is characterised in that the fore body module (1), doppler velocimeter module (2), energy mould
O-ring seal and electric connector are equipped between block (3), main control module (4) and stern module (5), and forms a hollow seal
Nacelle, fore body module (1) are hemispherical dome structure, are equipped with camera (7) and headlamp (8) at the center of front side, spherical side wall face into
" ten " character form structure touches sonar (6) equipped with four walls, and described four walls, which are touched between sonar (6) central axes and AUV central axes, is
45° angle arranges that upper end wall touches on the right side of sonar (6) and is equipped with line-throwing appliance (9), and the line-throwing appliance (9) installation direction is touched with upper end wall
Sonar (6) is identical, and ultra short baseline locating system (10) is equipped with the upside of fore body module (1), altimeter is equipped with the downside of fore body module (1)
(23), doppler velocimeter module (2) is equipped with rear side of fore body module (1), the doppler velocimeter module (2) is open circles
Column structure, downside are equipped with doppler velocimeter (24), and upside is equipped with inflating port (12), and left side is equipped with mechanical switch (11), right
Side is equipped with data port (13), and rear side is equipped with energy module (3), and the energy module (3) is hollow cylindrical structure, and inside is set
There is battery pack, upside is equipped with charge port (14), and upside both ends are equipped with two identical hoisting rings (15), and rear side is equipped with main control module
(4), the main control module (4) is hollow cylindrical structure, is internally provided with automatic pilot and inertial navigation system, before upside
End is equipped with antenna (16), and antenna (16) section is NACA linear structures, and upside rear end is equipped with wireless telecommunications (17), and downside, which is equipped with, throws
Loading system (25), rear side are equipped with stern module (5), and described stern module (5) section is parabolic shaped structure, is internally provided with electricity
Machine driver, stern module (5) side wall are equipped with four propellers (19), adjacent two propellers into " ten " character form structure
(19) rudder plate (22) is equipped between, propeller (19) front end is equipped with watertight cable, and watertight cable front end is equipped with protective cover (18),
The front end of AUV and rearmost end are respectively equipped with bail (21) and only swing ring (20).
2. a kind of medium-sized modularization AUV according to claim 1, it is characterised in that the fore body module (1), how general
It is 5A06 aluminum alloy materials to strangle current meter module (2), energy module (3), main control module (4) and stern module (5), in water
Buoyancy is equal to gravity.
A kind of 3. medium-sized modularization AUV according to claim 1, it is characterised in that the inertial navigation system center
On AUV central axes.
4. a kind of medium-sized modularization AUV according to claim 1, it is characterised in that the antenna (16) and master control mould
Underwater electrical connector is equipped between block (4).
5. a kind of medium-sized modularization AUV according to claim 1, it is characterised in that the fore body module (1) is open-shelf
Formula structure, the remaining space of hemispherical dome structure are filled by buoyancy material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201711359202.5A CN107902059A (en) | 2017-12-17 | 2017-12-17 | A kind of medium-sized modularization AUV |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711359202.5A CN107902059A (en) | 2017-12-17 | 2017-12-17 | A kind of medium-sized modularization AUV |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108609136A (en) * | 2018-04-25 | 2018-10-02 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | A kind of continuous motor driven hydro section detection sampler can be applied to complicated marine site |
| CN109334922A (en) * | 2018-11-29 | 2019-02-15 | 天津瀚海蓝帆海洋科技有限公司 | A kind of modular small deep-sea AUV |
| CN109747800A (en) * | 2019-01-15 | 2019-05-14 | 哈尔滨工程大学 | A kind of miniature AUV of drive lacking |
| CN109941410A (en) * | 2019-04-26 | 2019-06-28 | 安徽理工大学 | A kind of modularization AUV |
| CN111846170A (en) * | 2020-08-11 | 2020-10-30 | 中国科学院沈阳自动化研究所 | Autonomous underwater robot structure capable of cruising in large range |
| CN111928841A (en) * | 2020-09-15 | 2020-11-13 | 天津瀚海蓝帆海洋科技有限公司 | Modular pipeline surveying underwater robot |
| RU2738281C1 (en) * | 2020-04-03 | 2020-12-11 | Общество с ограниченной ответственностью "ТехноСтандарт" (ООО "ТехноСтандарт") | Oceanika-kit modular unmanned underwater vehicle |
| CN112835107A (en) * | 2020-12-31 | 2021-05-25 | 华中科技大学 | Submarine cable electromagnetic detection system and autonomous underwater robot equipment |
| CN113232809A (en) * | 2021-07-12 | 2021-08-10 | 天津海翼科技有限公司 | Modular small AUV device |
| CN113401277A (en) * | 2021-07-06 | 2021-09-17 | 中国人民解放军国防科技大学 | Standard load cabin for modular underwater intelligent equipment platform |
| CN113928518A (en) * | 2021-12-07 | 2022-01-14 | 重庆大学 | Underwater vector propulsion device with variable posture |
| RU2804404C1 (en) * | 2023-05-16 | 2023-09-28 | Федеральное государственное бюджетное образовательное учреждение высшего образования "Петербургский государственный университет путей сообщения Императора Александра I" | Modular autonomous unmanned underwater vessel |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108609136A (en) * | 2018-04-25 | 2018-10-02 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | A kind of continuous motor driven hydro section detection sampler can be applied to complicated marine site |
| CN109334922A (en) * | 2018-11-29 | 2019-02-15 | 天津瀚海蓝帆海洋科技有限公司 | A kind of modular small deep-sea AUV |
| CN109747800A (en) * | 2019-01-15 | 2019-05-14 | 哈尔滨工程大学 | A kind of miniature AUV of drive lacking |
| CN109941410A (en) * | 2019-04-26 | 2019-06-28 | 安徽理工大学 | A kind of modularization AUV |
| RU2738281C1 (en) * | 2020-04-03 | 2020-12-11 | Общество с ограниченной ответственностью "ТехноСтандарт" (ООО "ТехноСтандарт") | Oceanika-kit modular unmanned underwater vehicle |
| CN111846170A (en) * | 2020-08-11 | 2020-10-30 | 中国科学院沈阳自动化研究所 | Autonomous underwater robot structure capable of cruising in large range |
| CN111846170B (en) * | 2020-08-11 | 2024-07-19 | 中国科学院沈阳自动化研究所 | Autonomous underwater robot structure cruises on a large scale |
| CN111928841A (en) * | 2020-09-15 | 2020-11-13 | 天津瀚海蓝帆海洋科技有限公司 | Modular pipeline surveying underwater robot |
| CN112835107A (en) * | 2020-12-31 | 2021-05-25 | 华中科技大学 | Submarine cable electromagnetic detection system and autonomous underwater robot equipment |
| CN113401277A (en) * | 2021-07-06 | 2021-09-17 | 中国人民解放军国防科技大学 | Standard load cabin for modular underwater intelligent equipment platform |
| CN113232809A (en) * | 2021-07-12 | 2021-08-10 | 天津海翼科技有限公司 | Modular small AUV device |
| CN113928518A (en) * | 2021-12-07 | 2022-01-14 | 重庆大学 | Underwater vector propulsion device with variable posture |
| CN113928518B (en) * | 2021-12-07 | 2024-06-11 | 重庆大学 | Underwater vector propulsion device with variable gesture |
| RU2804404C1 (en) * | 2023-05-16 | 2023-09-28 | Федеральное государственное бюджетное образовательное учреждение высшего образования "Петербургский государственный университет путей сообщения Императора Александра I" | Modular autonomous unmanned underwater vessel |
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