CN108189989A - A kind of intelligent deepwater work system based on action simulation - Google Patents
A kind of intelligent deepwater work system based on action simulation Download PDFInfo
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- CN108189989A CN108189989A CN201810050058.5A CN201810050058A CN108189989A CN 108189989 A CN108189989 A CN 108189989A CN 201810050058 A CN201810050058 A CN 201810050058A CN 108189989 A CN108189989 A CN 108189989A
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- 238000004088 simulation Methods 0.000 title claims abstract description 30
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 82
- 238000004891 communication Methods 0.000 claims abstract description 80
- 238000002347 injection Methods 0.000 claims abstract description 13
- 239000007924 injection Substances 0.000 claims abstract description 13
- 230000001737 promoting effect Effects 0.000 claims abstract description 3
- 230000000875 corresponding effect Effects 0.000 claims description 60
- 230000007613 environmental effect Effects 0.000 claims description 36
- 230000033001 locomotion Effects 0.000 claims description 30
- 238000009434 installation Methods 0.000 claims description 19
- 239000007788 liquid Substances 0.000 claims description 18
- 238000012545 processing Methods 0.000 claims description 15
- 230000005540 biological transmission Effects 0.000 claims description 14
- 238000010248 power generation Methods 0.000 claims description 11
- 238000013461 design Methods 0.000 claims description 3
- 238000010992 reflux Methods 0.000 claims description 3
- 238000004078 waterproofing Methods 0.000 claims description 3
- 108091006146 Channels Proteins 0.000 claims 2
- 102000010637 Aquaporins Human genes 0.000 claims 1
- 108010063290 Aquaporins Proteins 0.000 claims 1
- 238000000151 deposition Methods 0.000 claims 1
- 230000005611 electricity Effects 0.000 claims 1
- 238000004140 cleaning Methods 0.000 description 8
- 238000005516 engineering process Methods 0.000 description 4
- 238000001514 detection method Methods 0.000 description 3
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- 238000000605 extraction Methods 0.000 description 2
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- 238000004458 analytical method Methods 0.000 description 1
- 230000006837 decompression Effects 0.000 description 1
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- 238000009792 diffusion process Methods 0.000 description 1
- 230000009189 diving Effects 0.000 description 1
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Classifications
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- 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
Abstract
A kind of intelligent deepwater work system based on action simulation,Including deepwater work device,Action simulating device,Capturing apparatus,Deep water communication device,Driving device,Virtual reality device,Positioning device,Wireless device and control centre,Deepwater work device includes deepwater work platform,Deepwater work storehouse,Personnel operate storehouse,Deepwater work robot,Telescopic mechanical arm,Article storage silo,Drainage channel and water storehouse,Action simulating device is set to personnel's operation storehouse interior location capturing apparatus and includes the first camera and second camera,Deep water communication device includes the first communication module and the second communication module,Driving device, which includes promoting, to be pumped,Injection catheter,Jet port and waterproof storage battery,Virtual reality device is set to personnel and operates storehouse interior location,Positioning device is set to deepwater work robot interior position and is connect with the second communication module,Wireless device is set to control centre's interior location,Control centre is set to deepwater work platform interior position.
Description
Technical field
The present invention relates to deepwater work field, more particularly to a kind of intelligent deepwater work system based on action simulation.
Background technology
With the raising that the rapid development and cartoon making of computer hardware technique require, in developed country, movement is caught
It catches and has come into practical stage, the motion capture device for having multiple commercial vendors to have launched a variety of commercializations is successfully used
In many aspects such as virtual reality, game, ergonomics research, simulated training, biomechanics Research.Come from the angle of technology
It says, motion-captured essence seeks to measure, tracks, records the movement locus of object in three dimensions.Typical movement is caught
Equipment is caught generally to be made of following components：Sensor, signal capture equipment, data transmission set and data processing are set
It is standby.Deepwater work generally refers to the underwater operation depth of water more than 35 meters, and must not carry out deepwater work encountering bad weather.
So, after how being combined motion capture equipment, underwater robot and deepwater work, deepwater work personnel are obtained
Action message control the action of corresponding underwater human simulation deepwater work personnel, avoiding under the severe world can not be into
The row deepwater work and deepwater work accident rate for reducing deepwater work personnel is current urgent problem.
Invention content
Goal of the invention：The shortcomings that in order to overcome in background technology, an embodiment of the present invention provides one kind to be based on action simulation
Intelligent deepwater work system, the problem of can effectively solve the problem that involved in above-mentioned background technology.
Technical solution：
A kind of intelligent deepwater work system based on action simulation, including deepwater work device, action simulating device, intake dress
It puts, deep water communication device, driving device, virtual reality device, positioning device, wireless device and control centre, the deep water
Apparatus for work includes deepwater work platform, deepwater work storehouse, personnel's operation storehouse, deepwater work robot, telescopic mechanical arm, article
Storage silo, drainage channel and water storehouse, the deepwater work platform are set to above the water surface, and the deepwater work storehouse is set to
The deepwater work platform interior lower position, for placing deepwater work robot；Personnel's operation setting is in the depth
Water job platform inner upper position carries out operation deepwater work robot for providing deepwater work personnel；The deep water is made
Industry robot is provided with several using waterproofing design and is set to deepwater work storehouse interior location, for carrying out deep water work
Industry；The telescopic mechanical arm is provided with several and is set to deepwater work robot side position, specified for performing
Operation；Article storage silo quantity is consistent with deepwater work robot quantity and is set to the deepwater work robot interior top
Position, for storing specified object；The drainage channel is set to deepwater work robot interior position and is deposited respectively with article
Warehouse and water storehouse connection, for the liquid in article storage silo to be imported water storehouse；The water storehouse quantity is stretched with described
Contracting Work robot quantity is consistent and is set to the flexible Work robot interior location, for storing and drawing liquid；Institute
State action simulating device be provided with several and be set to personnel operate storehouse interior location tied up with corresponding deepwater work robot
It is fixed, for obtaining the action message of deepwater work personnel；The capturing apparatus includes the first camera and second camera, institute
State the first camera be set to the deepwater work platform side coil put, deepwater work storehouse interior location, personnel operate storehouse inside
Position and article storage silo interior location are put, position in deepwater work storehouse for obtaining the deepwater work platform side coil
It puts, personnel operate the environmental images of storehouse interior location and article storage silo interior location；If the second camera is provided with
It does a and is set to deepwater work robot side position, for absorbing the environmental images around deepwater work robot；
The deep water communication device includes the first communication module and the second communication module, and first communication module is set in control
Interior portion position, for being connect with the second communication module；The second communication module quantity and deepwater work robot quantity one
Cause and be set to the deepwater work robot interior position, for respectively with deepwater work robot, telescopic mechanical arm, article
Storage silo, water storehouse, the first camera and the connection of the first communication module；The driving device include promote pump, injection catheter,
Jet port and waterproof storage battery, it is described that pump is promoted to be set to deepwater work robot interior position and connect with the second communication module
It connects, for liquid to be sprayed with high speed by jet port；The injection catheter is set to deepwater work robot interior position simultaneously
Respectively with water storehouse and propulsion pump connection, pumped for importing to promote the liquid in water storehouse；If the jet port is provided with
It does a and is set to deepwater work robot outside end-position with pump and the second communication module is promoted to connect, pushed away for adjustment
Into the high-velocity flow direction of pump injection；The waterproof storage battery quantity is consistent with deepwater work robot quantity and is set to described
Deepwater work robot interior position, for providing electric power；The virtual reality device is provided with several and is set to personnel
Storehouse interior location is operated, for providing virtual reality scenario and virtual reality experience for deepwater work human body；The positioning dress
It is consistent with deepwater work robot quantity and be set to the deepwater work robot interior position and second logical to put quantity
Module connection is interrogated, for positioning the deepwater work robot location and obtaining the location data of corresponding position；It is described without traditional thread binding
Install and be placed in control centre's interior location, for respectively with action simulating device, the first camera, the first communication module, virtual
Real device, control centre, external equipment, water life-saving center and network connection；The control centre is set to the depth
Water job platform interior location, for performing specified operation.
As a kind of preferred embodiment of the present invention, check valve is both provided with inside the drainage channel and injection catheter,
For preventing liquid reflux.
As a kind of preferred embodiment of the present invention, the action simulating device includes motion capture equipment, action transmission mould
Block and action processing module, the motion capture equipment are worn on deepwater work personnel's body external position and and wireless device
Connection, for obtaining the action message of deepwater work personnel；The action transmission module is set in the motion capture equipment
Portion position is simultaneously connect with wireless device, for the action message of acquisition to be transmitted to action processing module；The action processing mould
Block is set to the motion capture equipment interior location and is connect with wireless device, for according to the action message generation received
The corresponding action simulation signal of deepwater work robot.
As a kind of preferred embodiment of the present invention, the deepwater work platform further includes lifting gear, the lifting gear
Including liftway and hoistable platform, the liftway be set to the deepwater work platform interior position and respectively with depth
Water operation storehouse and personnel operate storehouse connection, for providing hoistable platform movement；It is logical that the hoistable platform is set to the lifting
Road interior location is simultaneously connect with wireless device, for being moved inside liftway.
As a kind of preferred embodiment of the present invention, the lifting gear further includes fluctuating orbit, lifting motor and lifting
Idler wheel, the fluctuating orbit are set to side coil inside liftway and put, moved for providing hoistable platform；The lifting
Motor is set to hoistable platform interior location and is connect with wireless device, for driving lifting idler wheel operation；The lifting idler wheel
Hoistable platform side position is set to, is moved on the sub- fluctuating orbit of hoistable platform for driving.
As a kind of preferred embodiment of the present invention, the deepwater work platform further includes power generation storehouse, generator and power supply
Device, the power generation storehouse is set to the deepwater work platform interior position, for placing generator；The generator is set to
The power generation storehouse interior location, for providing electric power；The confession electric installation is set to the deepwater work storehouse, personnel operate storehouse,
At power generation storehouse, liftway and control centre position, for providing the electric power of generator generation.
As a kind of preferred embodiment of the present invention, the deepwater work platform further includes refuse disposal installation, the rubbish
Processing unit includes rubbish liftway and flexible door body, on the rubbish liftway top end surface and deepwater work platform
Square surface keeps same level and is set to the deepwater work platform interior position, is moved down on rubbish storage storehouse for providing
It is dynamic；The flexible door body is set to the rubbish liftway and deepwater work platform overhead surface junction and and wireless device
Connection, for switching rubbish liftway.
As a kind of preferred embodiment of the present invention, the refuse disposal installation further includes rubbish storage storehouse, and the rubbish is deposited
Warehouse is set to the rubbish liftway interior location and is provided with garbage throw-in port, is obtained for storing deepwater work robot
The rubbish taken.
As a kind of preferred embodiment of the present invention, the refuse disposal installation further includes suspention unmanned plane, the suspention nothing
Man-machine setting is connect in rubbish storage storehouse top position and with wireless device, for suspending rubbish storage storehouse in midair to specific bit
It puts.
As a kind of preferred embodiment of the present invention, the refuse disposal installation further includes attachment device and laser ranging
Instrument, the attachment device be set to it is described suspention unmanned plane and rubbish storage storehouse link position at, for respectively with it is described
Suspend unmanned plane and the connection of rubbish storage storehouse in midair；The laser range finder is set to the article storage silo and rubbish storage storehouse
Interior location is simultaneously connect with wireless device, for obtaining the rubbish elevation information inside rubbish storage storehouse.
The present invention realizes following advantageous effect：1. the intelligence deepwater work system is after enabled instruction is received, in real time
Acquisition personnel operate the action message of the action simulating device in storehouse, then extract the action simulating device of startup and control with opening
The deepwater work robot of dynamic action simulating device binding enters deepwater work region, then by virtual reality device to use
Family provides virtual reality experience corresponding with deepwater work region, while obtains the action message of deepwater work human body and control depth
Water work machine human simulation respective action carries out deepwater work.
2. deepwater work personnel can enter the deep water being connect with liftway by the liftway of deepwater work platform
Operation storehouse and personnel operate storehouse.
3. the intelligence deepwater work system is capable of providing water area refuse cleaning function, and after the storage of rubbish storage storehouse is full
Control suspention unmanned plane suspends in rubbish cleaning storehouse to the rubbish cleaning station point of planning in midair to be replaced.
Description of the drawings
Attached drawing herein is incorporated into specification and forms the part of this specification, shows the implementation for meeting the disclosure
Example, and in specification together for explaining the principle of the disclosure.Fig. 1 is that the deepwater work that the one of example of the present invention provides is put down
The side sectional view of platform；
Fig. 2 is the side schematic view of deepwater work robot that the one of example of the present invention provides；
Fig. 3 is the side sectional view of deepwater work robot that the one of example of the present invention provides；
Fig. 4 is the partial schematic diagram of lifting gear that the one of example of the present invention provides；
Fig. 5 is the side sectional view of refuse disposal installation that the one of example of the present invention provides；
Fig. 6 is the electronic device connection figure of intelligent deepwater work system that the one of example of the present invention provides.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.
Embodiment one
With reference to figure 1-3, shown in Fig. 6, Fig. 1 is the side sectional view of deepwater work platform that the one of example of the present invention provides；
Fig. 2 is the side schematic view of deepwater work robot that the one of example of the present invention provides；For the present invention, one of them shows Fig. 3
The side sectional view for the deepwater work robot that example provides；Fig. 6 is the intelligent deepwater work that the one of example of the present invention provides
The electronic device connection figure of system.
Specifically, the present embodiment provides a kind of intelligent deepwater work system based on action simulation, filled including deepwater work
Put 1, action simulating device 2, capturing apparatus 3, deep water communication device 4, driving device 5, virtual reality device 6, positioning device 7,
Wireless device 8 and control centre 9, deepwater work device 1 include deepwater work platform 10, deepwater work storehouse 11, personnel's operation
Storehouse 12, deepwater work robot 13, telescopic mechanical arm 14, article storage silo 15, drainage channel 16 and water storehouse 17, deep water are made
Industry platform 10 is set to above the water surface, and deepwater work storehouse 11 is set to 10 lower inside position of deepwater work platform, for placing
Deepwater work robot 13；Personnel's operation setting is in 10 inner upper position of deepwater work platform, for providing deepwater work people
Member carries out operation deepwater work robot 13；Deepwater work robot 13 is provided with several using waterproofing design and is set to depth
11 interior location of water operation storehouse, for carrying out deepwater work；Telescopic mechanical arm 14 is provided with several and is set to deepwater work
13 side position of robot, for performing specified operation；15 quantity of article storage silo is consistent with deepwater work robot 13 quantity
And 13 inner tip position of deepwater work robot is set to, for storing specified object；Drainage channel 16 is set to deep water work
13 interior location of industry robot is simultaneously connect with article storage silo 15 and water storehouse 17 respectively, for will be in article storage silo 15
Liquid imports water storehouse 17；17 quantity of water storehouse is consistent with flexible Work robot quantity and is set in flexible Work robot
Portion position, for storing and drawing liquid；Action simulating device 2, which is provided with several and is set to personnel, operates position in storehouse 12
It puts and is bound with corresponding deepwater work robot 13, for obtaining the action message of deepwater work personnel；Capturing apparatus 3 includes the
One camera 30 and second camera 31, the first camera 30 are set to 10 side position of deepwater work platform, deepwater work
11 interior location of storehouse, personnel operate 15 interior location of 12 interior location of storehouse and article storage silo, are put down for obtaining deepwater work
10 side position of platform, 11 interior location of deepwater work storehouse, personnel operate position in 12 interior location of storehouse and article storage silo 15
The environmental images put；Second camera 31 is provided with several and is set to 13 side position of deepwater work robot, for taking the photograph
Take the environmental images around deepwater work robot 13；Deep water communication device 4 includes the first communication module 40 and the second communication
Module 41, the first communication module 40 are set to 9 interior location of control centre, for being connect with the second communication module 41；Second is logical
News 41 quantity of module is consistent with deepwater work robot 13 quantity and is set to 13 interior location of deepwater work robot, for dividing
Not with deepwater work robot 13, telescopic mechanical arm 14, article storage silo 15, water storehouse 17, the first camera 30 and first
Communication module 40 connects；Driving device 5 includes promoting pump 50, injection catheter 51, jet port 52 and waterproof storage battery 53, promotes
Pump 50 is set to 13 interior location of deepwater work robot and is connect with the second communication module 42, for liquid to be passed through at a high speed
Jet port 52 sprays；Injection catheter 51 be set to 13 interior location of deepwater work robot and respectively with water storehouse 17 and promote
50 connection of pump, pump 50 is promoted for the liquid in water storehouse 17 to be imported；Jet port 52 is provided with several and is set to deep water
13 outside end-position of Work robot promotes 50 injection of pump with 50 and second communication module 41 of pump is promoted to connect, for adjusting
High-velocity flow direction；53 quantity of waterproof storage battery is consistent with deepwater work robot 13 quantity and is set to deepwater work machine
13 interior location of people, for providing electric power；Virtual reality device 6, which is provided with several and is set to personnel, operates position in storehouse 12
It puts, for providing virtual reality scenario and virtual reality experience for deepwater work human body；7 quantity of positioning device and deepwater work
13 quantity of robot is consistent and is set to 13 interior location of deepwater work robot and is connect with the second communication module 41, for positioning
13 position of deepwater work robot and the location data for obtaining corresponding position；Wireless device 8 is set to position in control centre 9
Put, for respectively with action simulating device 2, the first camera 30, the first communication module 40, virtual reality device 6 and control
Center 9 connects；Control centre 9 is set to 10 interior location of deepwater work platform, for performing specified operation.
As a kind of preferred embodiment of the present invention, check valve is both provided with inside drainage channel 16 and injection catheter 51
18, for preventing liquid reflux.
As a kind of preferred embodiment of the present invention, action simulating device 2 includes motion capture equipment 20, action transmission module
21 and action processing module 22, motion capture equipment 20 be worn on deepwater work personnel's body external position and and wireless device
8 connections, for obtaining the action message of deepwater work personnel；Action transmission module 21 is set to position in motion capture equipment 20
It puts and is connect with wireless device 8, for the action message of acquisition to be transmitted to action processing module 22；Action processing module 22 is set
It is placed in 20 interior location of motion capture equipment and is connect with wireless device 8, for generating deep water according to the action message received
13 corresponding action simulation signal of Work robot.
As the present invention a kind of preferred embodiment, deepwater work platform 10 further include power generation storehouse 106, generator 107 and
For electric installation 108, power generation storehouse 106 is set to 10 interior location of deepwater work platform, for placing generator 107；Generator 107
Power generation 106 interior location of storehouse is set to, for providing electric power；Deepwater work storehouse 11 is set to for electric installation 108, personnel operate storehouse
12nd, at power generation 9 position of storehouse 106, liftway 101 and control centre, for providing the electric power of the generation of generator 107.
Wherein, deepwater work robot 13 is provided with several telescopic mechanical arms 14；First communication module 40 is in real time to connection
All second communication modules 41 send connecting detection information, the second communication module 41 receives connecting detection information then to first
Communication module 40 returns to successful connection information, and the depth of connection is controlled if the second communication module 41 does not receive connecting detection information
Water Work robot 13 floats up to the water surface；Control centre 9 is to action simulating device 2, the first camera 30, the first communication module
40th, virtual reality device 6, hoistable platform 102, lifting motor 104, flexible door body 111, suspention unmanned plane 113, laser range finder
115th, external equipment and water life-saving center send information and/or instruction passes through wireless device 8；Intelligent deepwater work system
Each electronic device complete after instruction by 8 and/or first communication module 40 of the wireless device of connection and/or the performing
Two communication modules 41 return to corresponding instruction to control centre 9 and complete information；Electronic device in action simulating device 2 with it is corresponding
Deepwater work robot 13 and be set to the electronic device of 13 position of deepwater work robot and bind and be provided with corresponding
Code storage is bound in control centre 9.
Specifically, the enabled instruction that wireless device 8 receives external equipment transmission then sends it to control centre 9, control
Center 9 processed receive start operating instruction then deepwater work robot 13 into deepwater work storehouse 11 send enabled instruction and to
The first camera 30 that personnel are operated in storehouse 12 sends real time shooting and instructs, the deepwater work robot 13 in deepwater work storehouse 11
It receives, controls and itself enter state to be launched, the first camera 30 that personnel are operated in storehouse 12 receives then real time shooting people
Member, which operates the environmental images in storehouse 12 and the personnel of intake are operated the environmental images in storehouse 12, returns to control centre 9, controls
Center 9 receives, and operate the environmental images in storehouse 12 according to the personnel of intake analyzes internal body's information in real time, if analyzing
Personnel operate storehouse 12 in the presence of human body then control centre 9 to personnel operation storehouse 12 in action simulating device 2 motion capture
Equipment 20 sends enabled instruction, and the motion capture equipment 20 that personnel operate the action simulating device 2 in storehouse 12 is received, controlled
Itself enter starting state, obtain action message in real time and the action message got is returned into control centre 9, control centre
9 receive, and analyze 20 information of motion capture equipment of action simulating device 2 that the action message of acquisition includes and obtain itself
The binding coding of the motion capture equipment 20 of storage, if control centre 9 gets tying up for the motion capture equipment 20 of itself storage
Code of delimiting the organizational structure then extracts binding and encodes 13 information of deepwater work robot included, motion capture device information, virtual reality device 6
Information, 31 information of second camera, 41 information of the second communication module, 17 information of water storehouse, 14 information of telescopic mechanical arm, article are deposited
15 information of warehouse and 7 information of positioning device and the corresponding second camera of 31 information of second camera included to binding coding
31 send real time shooting instruction, the reality that the corresponding second camera 31 of 31 information of second camera that binding coding includes receives
When intake deepwater work robot 13 around environmental images and the environmental images of intake are returned into control centre 9, in control
The heart 9 receives, and second is sent to the corresponding deepwater work robot 13 of 13 information of deepwater work robot that binding coding includes
The environmental images of 31 real time shooting of camera and mobile dive instruction（Pass through the first communication module 40 using wireless device 8
Corresponding second communication module 41 of 41 information of the second communication module included to binding coding sends corresponding instruction and information,
The deepwater work robot 13 of connection is sent to by the second communication module 41 again）And the virtual reality device included is encoded to binding
The corresponding virtual reality device 6 of 6 information sends the environmental images of 31 real time shooting of second camera and virtual reality modelling refers to
It enables, the corresponding deepwater work robot 13 of 13 information of deepwater work robot that binding coding includes receives, and is taken the photograph according to second
The deepwater work region of corresponding depth itself is slipped into from deepwater work storehouse 11 as the environmental images of first 31 real time shooting control, binding
It encodes the corresponding virtual reality device 6 of 6 information of virtual reality device included to receive, according to the second camera received
The environmental images of 31 real time shootings carry out virtual reality scenario simulation and virtual reality simulation information are returned to control centre 9,
Control centre 9 receives, corresponding 20 sending action of motion capture equipment of motion capture device information included to binding coding
Instruction is captured, the corresponding motion capture equipment 20 of motion capture device information that binding coding includes receives, and obtains wear in real time
Wear the action message of the deepwater work personnel of motion capture equipment 20 and by the action message real-time Transmission of acquisition to action simulation
The action transmission module 21 of device 2, the action transmission module 21 of action simulating device 2 receives real-time action information then will be real-time
The action message real-time Transmission received receives real-time action information then root to processing module 22, action processing module 22 is acted
According to the 13 corresponding action simulation signal of real-time action information generation deepwater work robot received（Corresponding action simulation letter
Number refer to that the action message of user then generates deepwater work robot 13 if lift hand and can simulate the corresponding action simulation of lift hand
Signal）And the 13 respective action analog signal of deepwater work robot of generation is sent to control centre 9, control centre 9 in real time
It receives, the corresponding deepwater work robot 13 of 13 information of deepwater work robot and telescopic machine included to binding coding
The corresponding 14 sending action analog signal of telescopic mechanical arm of 14 information of tool arm（Pass through the first communication module using wireless device 8
40 corresponding second communication modules 41 of 41 information of the second communication module included to binding coding send corresponding instruction and letter
Breath, then the deepwater work robot 13 of connection and telescopic mechanical arm 14 are sent to by the second communication module 41）, binding coding packet
The corresponding deepwater work robot 13 of 13 information of deepwater work robot and 14 information of telescopic mechanical arm contained is corresponding flexible
Mechanical arm 14 receives, according to the corresponding action of action simulation signal imitation received, until deepwater work finishes.（Deep water
Operating personnel can not the corresponding deepwater work robot 13 of simulated operation performs directly in personnel's operation storehouse 12 by diving under water
Corresponding deepwater work can reduce the accident rate of deepwater work personnel, eliminate the decompression time of each deepwater work personnel,
Deepwater work efficiency can be improved.）
Specifically, itself is controlled from deep water according to the environmental images of 31 real time shooting of second camera in deepwater work robot 13
It is further comprising the steps of when the deepwater work region of corresponding depth is slipped into operation storehouse 11：
Inside the corresponding deepwater work robot 13 of 13 information of deepwater work robot that control centre 9 includes to binding coding
Water storehouse 17 send liquid supplementary instructions and to its（It refers to that 13 information of deepwater work robot that binding coding includes corresponds to
Deepwater work robot 13）The interior deepwater work robot 13 that pump 50 is promoted to send propulsion instruction and included to binding coding believes
Cease corresponding 13 end-position of deepwater work robot jet port 52 send second camera 31 absorb environmental images and
Angle adjust instruction, the storage inside the corresponding deepwater work robot 13 of 13 information of deepwater work robot that binding coding includes
Sump 17 receives, and controls and itself draws the liquid around deepwater work robot 13, the deepwater work machine that binding coding includes
Propulsion pump 50 inside the corresponding deepwater work robot 13 of 13 information of device people receives, and controls itself by the water storehouse of connection
Liquid in 17 is sprayed with high speed by jet port 52, is generated thrust and is accelerated 13 mobile speed in water of deepwater work robot
Degree, the jet port 52 inside the corresponding deepwater work robot 13 of 13 information of deepwater work robot that binding coding includes receive
It is controlled to the environmental images then absorbed according to the second camera 31 received and itself adjusts corresponding angle, to control flexible make
Industry robot can quickly dive into the deep water operating area.（Made using wireless device 8 by the first communication module 40 to deep water
Corresponding second communication module 41 of 41 information of the second communication module that the corresponding binding coding of industry robot 13 includes, which is sent, to be corresponded to
Instruction and information, then the water storehouse 17 of connection is sent to by the second communication module 41, promotes pump 50 and jet port 52.）
Specifically, it is corresponded in deepwater work robot 13 and telescopic mechanical arm 14 according to the action simulation signal imitation received
Action carry out deepwater work when, it is further comprising the steps of：
Control centre 9 to be set to 10 side position of deepwater work platform the first camera 30 send real time shooting instruction and
Real time shooting instruction is sent to the second camera 31 for the deepwater work robot 13 for carrying out deepwater work（Utilize wireless device
8 encode include second by the first communication module 40 to binding corresponding with the deepwater work robot 13 for carrying out deepwater work
Corresponding second communication module 41 of 41 information of communication module sends corresponding instruction, then is sent to connection by the second communication module 41
Second camera 31）, the first camera 30 receives, and real time shooting stretches and the environmental images around job platform and will take the photograph
The environmental images around deepwater work platform 10 taken return to control centre 9 in real time, carry out the deepwater work machine of deepwater work
The second camera 31 of device people 13 receives the environment around the then deepwater work robot 13 of real time shooting progress deepwater work
Environmental images around the deepwater work robot 13 of intake are simultaneously returned to control centre 9 by image, and control centre 9 receives then
According to the environmental images around deepwater work platform 10 and the environmental images around deepwater work robot 13, analysis is in real time
It is no to have drowned human body, if the drowned body image of the extraction of You Ze control centres 9 and to the deepwater work robot for carrying out deepwater work
13 send drowned body image and lower section close to instruction（It is i.e. deep to carrying out by the first communication module 40 using wireless device 8
Corresponding second communication of 41 information of the second communication module that the corresponding binding coding of deepwater work robot 13 of water operation includes
Module 41 sends corresponding instruction, then the deepwater work robot 13 of connection is sent to by the second communication module 41, and according to excessive
The deepwater work robot 13 that water human body quantity sends corresponding number with charge free is gone to）, carry out the deepwater work robot 13 of deepwater work
It receives, drowned human body lower position is gone to according to drowned body image and arrival information is returned into control after arrival
Center 9（Arrival information is returned to the second communication module 41 of connection by the deepwater work robot 13 for carrying out deepwater work, the
Two communication modules 41 receive, then the arrival information received is returned to the first communication module 40, and the first communication module 40 connects
It receives, information will be reached, control centre 9 is returned to by wireless device 8）, control centre 9 received then to reaching drowned human body
The article storage silo 15 of the deepwater work robot 13 of lower position sends open command, and article storage silo 15 is received, controlled
It itself opens and completion information will be opened and return to control centre 9, control centre 9 is received then to position below the drowned human body of arrival
The deepwater work robot 13 put sends drowned body image and human body store instruction and to reaching drowned human body lower position
The article storage silo 15 of deepwater work robot 13 send out code, reach the deepwater work machine of drowned human body lower position
Device people 13 receives, and the drowned human body of top is packed into 15 interior location of article storage silo and has been loaded into after the completion of being packed into
Control centre 9 is returned into information, the article storage silo 15 for reaching the deepwater work robot 13 of drowned human body lower position connects
It receives, itself is controlled to close the article storage silo 15 of connection and closing is completed information and returns to control centre 9, in control
The heart 9 receives, and send its second camera 31 to the deepwater work robot 13 of the article storage silo 15 equipped with human body takes the photograph in real time
The environmental images taken and floating reset instruction and using wireless device 8 to water life-saving center send drowned body image and
Drowned information, the deepwater work robot 13 of the article storage silo 15 equipped with human body receive then real-time according to second camera 31
The environmental images of intake, which control, itself to float into deepwater work storehouse 11.（Control centre 9 to deepwater work robot 13 and
Article storage silo 15 send information and/or instruction by wireless device 8 to the first communication module 40 send corresponding information and/
Or instruction, then binding corresponding with deepwater work robot 13 is sent to by the first communication module 40 and encodes the include second communication
Corresponding second communication module 41 of 41 information of module, the second communication module 41, which receives, then sends out corresponding information and/or instruction
The correspondence electronic device of connection is given, the electronic device that 9 information of control centre is then connect with the second communication module 41 is returned to and incites somebody to action
Instruction completes information and returns to the first communication module 40 of connection, then return to wireless device 8 by the first communication module 40, finally
Control centre 9 is returned to by wireless device 8.）
Embodiment two
With reference to figure 4, shown in Fig. 6, Fig. 4 is the partial schematic diagram of lifting gear that the one of example of the present invention provides.
The present embodiment and embodiment one are substantially consistent, and difference part is, in the present embodiment, deepwater work platform 10 is also
Including lifting gear 100, lifting gear 100 includes liftway 101 and hoistable platform 102, and liftway 101 is set to depth
10 interior location of water job platform is simultaneously connect with deepwater work storehouse 11 and personnel's operation storehouse 12 respectively, for providing hoistable platform
102 movements；Hoistable platform 102 is set to 101 interior location of liftway and is connect with wireless device 8, in liftway
101 inside are mobile.
As the present invention a kind of preferred embodiment, lifting gear 100 further include fluctuating orbit 103, lifting motor 104 and
Idler wheel 105 is lifted, fluctuating orbit 103 is set to 101 inside side coil of liftway and puts, carried out for providing hoistable platform 102
It is mobile；Lifting motor 104 is set to 102 interior location of hoistable platform and is connect with wireless device 8, and idler wheel is lifted for driving
105 operations；Lifting idler wheel 105 is set to 102 side position of hoistable platform, for driving the sub- fluctuating orbit of hoistable platform 102
It is moved on 103.
Wherein, the first camera 30 is also disposed on 101 interior location of liftway, for absorbing inside liftway 101
Environmental images；Hoistable platform 102 in liftway 101 is provided with 11 button of deepwater work storehouse and personnel operate storehouse 12 and press
Button；The top of liftway 101 is provided with declines button, deepwater work storehouse 11 and personnel operate storehouse 12 be provided with rising button with
And declines button.
Specifically, when deepwater work personnel enter personnel and operate storehouse 12 or deepwater work storehouse 11, include the following steps：
Control centre 9 sends real time shooting instruction to the first camera 30 being set to inside liftway 101, is set to lifting
The first camera 30 inside channel 101 receives the environmental images inside then real time shooting liftway 101 and by intake
101 internal environment image of liftway returns to control centre 9, and control centre 9 is received then according to 101 inner loop of liftway
Border image analyzes 102 human body information of hoistable platform in real time, the control centre 9 if analyzing on hoistable platform 102 with the presence of human body
To there are the 102 send button status information of hoistable platform of human body, the hoistable platform 102 there are human body receives, and obtains itself
Stepping on status information and the button got being stepped on status information for button returns to control centre 9, and control centre 9 receives
Then real-time analysis button steps on status information, and it is flat to lifting to operate control centre 9 if 12 button of storehouse is operated if the personnel that analyze
Lifting motor 104 inside platform 102 sends personnel and operates 12 move of storehouse, and lifting motor 104 is received, is drivingly connected
The hoistable platform 102 of the lifting control connection of idler wheel 105 is moved to corresponding personnel and operates storehouse 12；If analyze deepwater work storehouse 11
Button is operated then control centre 9 and sends 11 move of deepwater work storehouse to the lifting motor 104 inside hoistable platform 102,
Lifting motor 104 receives, and the hoistable platform 102 of lifting idler wheel 105 control connection being drivingly connected is moved to corresponding deep water
Operation storehouse 11；Control centre 9 analyzes the environmental images inside the liftway 101 of real time shooting, if analyzing human body from lifting
Platform 102 enters personnel operation storehouse 12 or deepwater work storehouse 11, and then control centre 9 sends reset instruction to lifting motor 104, rises
Drop motor 104 receives, and the hoistable platform 102 of lifting idler wheel 105 control connection being drivingly connected is reset to initial position.
Embodiment three
With reference to shown in figure 5-6, Fig. 5 is the side sectional view of refuse disposal installation that the one of example of the present invention provides.
The present embodiment and embodiment one are substantially consistent, and difference part is, in the present embodiment, deepwater work platform 10 is also
Including refuse disposal installation 109, refuse disposal installation 109 includes rubbish liftway 110 and flexible door body 111, rubbish liter
Drop 110 top end surface of channel keeps same level with 10 overhead surface of deepwater work platform and is set to deepwater work platform 10
Interior location moves up and down for providing rubbish storage storehouse 112；Flexible door body 111 is set to rubbish liftway 110 and deep water
10 overhead surface junction of job platform is simultaneously connect with wireless device 8, for switching rubbish liftway 110.
As a kind of preferred embodiment of the present invention, refuse disposal installation 109 further includes rubbish storage storehouse 112, rubbish storage
Storehouse 112 is set to 110 interior location of rubbish liftway and is provided with garbage throw-in port 116, for storing deepwater work machine
The rubbish that people 13 obtains.
As a kind of preferred embodiment of the present invention, refuse disposal installation 109 further includes suspention unmanned plane 113, suspends nobody in midair
Machine 113 is set to 112 top position of rubbish storage storehouse and is connect with wireless device 8, for suspending rubbish storage storehouse 112 in midair to specified
Position.
As a kind of preferred embodiment of the present invention, refuse disposal installation 109 further includes attachment device 114 and laser ranging
Instrument 115, attachment device 114 be set to suspention unmanned plane 113 and rubbish storage storehouse 112 link position at, for respectively with
Suspention unmanned plane 113 and rubbish storage storehouse 112 connect；Laser range finder 115 is set to article storage silo 15 and rubbish is deposited
112 interior location of warehouse is simultaneously connect with wireless device 8, for obtaining the rubbish elevation information inside rubbish storage storehouse 112.
Specifically, it is sent it in control if wireless device 8 receives the rubbish cleaning instruction of external equipment transmission
The heart 9, control centre 9 receive, and the second camera 31 of the deepwater work robot 13 into deepwater work storehouse 11 is sent in real time
Acquisition instruction, the second camera 31 of deepwater work robot 13 receives then to be obtained around deepwater work robot 13 in real time
Environmental images are simultaneously returned to control centre 9, and control centre 9 receives the deepwater work machine then into deepwater work storehouse 11
The article storage silo 15 of people 13 sends open command and deepwater work robot 13 into deepwater work storehouse 11 and it is flexible
The environmental images and rubbish cleaning instruction that the second camera 31 that mechanical arm 14 sends deepwater work robot 13 absorbs, deep water
The article storage silo 15 of deepwater work robot 13 in operation storehouse 11 receives, and controls and itself opens, deepwater work robot
13 and its telescopic mechanical arm 14 receive then deepwater work robot 13 according to the second camera of deepwater work robot 13
The environmental images of 31 intakes are in default waters（Default waters refers to that diffusion is default partly around centered on deepwater work platform 10
Diameter range, pre-set radius can be 0-100 kilometers, in the present embodiment preferably 10 kilometer radius）It is gone on patrol, stretch machinery
Arm 14 captures water area refuse according to the environmental images that the second camera 31 of deepwater work robot 13 absorbs and is put into article in real time
In storage silo 15, meanwhile, the default height of article storage silo 15 of control centre 9 to the deepwater work robot 13 for carrying out rubbish cleaning
The laser range finder 115 of degree sends barrier and obtains information, carries out the article storage of the deepwater work robot 13 of rubbish cleaning
15 preset height of storehouse（Preset height refers to be set to 9/10ths positions of 15 total depth of article storage silo, i.e. laser range finder
The distance of 115 position and the door of article storage silo 15 is 1/10th of 15 total depth of article storage silo）Laser ranging
Instrument 115 receives, and controls and itself obtains default minute in real time（Default minute refers to 0-30 minutes, is preferably in the present embodiment
5 minutes）Obstacle information and detecting that obstacle information returns to control centre 9 by barrier, control centre 9 receives
Then extract the laser range finder of 115 information of laser range finder for sending obstacle information and the transmission obstacle information to extraction
The corresponding deepwater work robot 13 of 115 information sends the environmental images that the second camera 31 of deepwater work robot 13 absorbs
And rubbish topples over instruction, deepwater work robot 13 receives, and controls what itself was absorbed according to the second camera 31 of itself
The rubbish of article storage silo 15 is inclined 116 position of garbage throw-in port that environmental images control itself to return to deepwater work storehouse 11
It will and after the completion of toppling over topple over completion information and return to control centre 9, control centre 9 receives, and topples over completion to rubbish
Deepwater work robot 13 send environmental images that the second camera 31 of deepwater work robot 13 absorbs and rubbish is clear
Reason instruction simultaneously sends height measurement information, deepwater work to the laser range finder 115 for being set to 112 apical position of rubbish storage storehouse
Robot 13 and its telescopic mechanical arm 14 receive then deepwater work robot 13 according to the second of deepwater work robot 13
The environmental images that camera 31 absorbs are gone on patrol in default waters, are set to the Laser Measuring of 112 apical position of rubbish storage storehouse
Distance meter 115 receives, and controls and itself obtains rubbish elevation information in the rubbish storage storehouse 112 and rubbish of acquisition is high in real time
Degree information returns to control centre 9, and control centre 9 receives the rubbish that rubbish storage storehouse 112 is then analyzed according to rubbish elevation information
Whether rubbish height has more than preset height, if You Ze control centres 9 push up to 112 place rubbish liftway 110 of rubbish storage storehouse
The flexible door body 111 at end sends open command and sends rubbish cleaning position to the suspention unmanned plane 113 on 112 top of rubbish storage storehouse
It puts and suspends flight directive in midair, the flexible door body 111 of rubbish liftway 110 receives, and autogenous shrinkage is controlled to open rubbish liter
Channel 110 drops, and the suspention unmanned plane 113 on 112 top of rubbish storage storehouse, which receives, then utilizes the rubbish of the control connection of attachment device 114
Rubbish storage silo 112 flies to replacement rubbish storage storehouse 112 at rubbish clear position and is back to initial position（Rubbish clear position
Refer to that the rubbish storage website of water area refuse is placed in the planning of storage, and is provided with several vacant rubbish storage storehouses 112, suspend in midair
Nobody disconnects after the rubbish storage storehouse 112 for storing full rubbish is suspended in midair to rubbish storage website with the rubbish storage storehouse 112 connecting
Then connection suspends unmanned plane 113 in midair and is connect with vacant rubbish storage storehouse 112 and suspended in midair return）；Control centre 9 simultaneously
Rubbish storage storehouse 112, which is sent, to the deepwater work robot 13 for the laser range finder 115 for sending obstacle information replaces instruction, hair
The deepwater work robot 13 of the laser range finder 115 of obstacle information is sent to receive, operation suspension floats on water surface
（After rubbish storage storehouse 112 returns and resets, control centre 9 makees again to the deep water for the laser range finder 115 for sending obstacle information
Industry robot 13 sends rubbish and topples over instruction）.
The above embodiments merely illustrate the technical concept and features of the present invention, and the purpose is to allow be familiar with the skill of the technical field
Art personnel can understand present disclosure and implement according to this, can not be limited the scope of the invention with this.All bases
Equivalent changes or modifications made by spirit of the invention, should be covered by the protection scope of the present invention.
Claims (10)
1. a kind of intelligent deepwater work system based on action simulation, including deepwater work device, action simulating device, intake dress
It puts, deep water communication device, driving device, virtual reality device, positioning device, wireless device and control centre, feature exist
In the deepwater work device includes deepwater work platform, deepwater work storehouse, personnel's operation storehouse, deepwater work robot, stretches
Mechanical arm, article storage silo, drainage channel and water storehouse, the deepwater work platform are set to above the water surface, the deep water
Operation storehouse is set to the deepwater work platform interior lower position, for placing deepwater work robot；Personnel's operation
The deepwater work platform interior top position is set to, operation deepwater work machine is carried out for providing deepwater work personnel
People；The deepwater work robot is provided with several using waterproofing design and is set to deepwater work storehouse interior location,
For carrying out deepwater work；The telescopic mechanical arm is provided with several and is set to deepwater work robot side coil
It puts, for performing specified operation；Article storage silo quantity is consistent with deepwater work robot quantity and is set to the deep water and makees
Industry robot interior apical position, for storing specified object；The drainage channel is set to deepwater work robot interior position
It puts and is connect respectively with article storage silo and water storehouse, for the liquid in article storage silo to be imported water storehouse；The storage
Sump quantity is consistent with the flexible Work robot quantity and is set to the flexible Work robot interior location, for depositing
It stores up and draws liquid；The action simulating device, which is provided with several and is set to personnel, operates storehouse interior location and corresponding depth
Water Work robot is bound, for obtaining the action message of deepwater work personnel；The capturing apparatus include the first camera with
And second camera, first camera be set to the deepwater work platform side coil put, deepwater work storehouse interior location,
Personnel operate storehouse interior location and article storage silo interior location, are put for obtaining the deepwater work platform side coil, is deep
Water operation storehouse interior location, personnel operate the environmental images of storehouse interior location and article storage silo interior location；Described second
Camera is provided with several and is set to deepwater work robot side position, for absorbing deepwater work robot week
The environmental images enclosed；The deep water communication device includes the first communication module and the second communication module, the first communication mould
Block is set to control centre's interior location, for being connect with the second communication module；The second communication module quantity is made with deep water
Industry robot quantity is consistent and is set to the deepwater work robot interior position, for respectively with deepwater work robot,
Telescopic mechanical arm, article storage silo, water storehouse, the first camera and the connection of the first communication module；The driving device includes
Pump, injection catheter, jet port and waterproof storage battery are promoted, it is described that pump is promoted to be set to deepwater work robot interior position simultaneously
It is connect with the second communication module, for liquid to be sprayed with high speed by jet port；The injection catheter is set to deepwater work
Robot interior position is simultaneously connected with water storehouse and propulsion pump respectively, is pumped for importing to promote the liquid in water storehouse；Institute
Jet port is stated to be provided with several and be set to end-position and propulsion pump and the second communication mould outside deepwater work robot
Block connects, for adjusting the high-velocity flow direction for promoting pump injection；The waterproof storage battery quantity and deepwater work machine number
Amount is consistent and is set to the deepwater work robot interior position, for providing electric power；The virtual reality device is provided with
Several are simultaneously set to personnel and operate storehouse interior location, for providing virtual reality scenario for deepwater work human body and virtually showing
Entity is tested；The positioning device quantity is consistent with deepwater work robot quantity and is set to the deepwater work robot
Interior location is connect with the second communication module, for positioning the deepwater work robot location and obtaining the positioning of corresponding position
Data；The wireless device is set to control centre's interior location, for respectively with action simulating device, the first camera,
One communication module, virtual reality device, control centre, external equipment, water life-saving center and network connection；In the control
The heart is set to the deepwater work platform interior position, for performing specified operation.
A kind of 2. intelligent deepwater work system based on action simulation according to claim 1, which is characterized in that the row
Check valve is both provided with inside aquaporin and injection catheter, for preventing liquid reflux.
3. a kind of intelligent deepwater work system based on action simulation according to claim 1, which is characterized in that described dynamic
Make simulator and include motion capture equipment, action transmission module and action processing module, the motion capture equipment wearing
It connect in deepwater work personnel's body external position and with wireless device, for obtaining the action message of deepwater work personnel；Institute
It states action transmission module to be set to the motion capture equipment interior location and connect with wireless device, for by the action obtained
Information is transmitted to action processing module；It is described action processing module be set to the motion capture equipment interior location and with it is wireless
Device connects, for according to the corresponding action simulation signal of action message generation deepwater work robot received.
A kind of 4. intelligent deepwater work system based on action simulation according to claim 1, which is characterized in that the depth
Water job platform further includes lifting gear, and the lifting gear includes liftway and hoistable platform, and the liftway is set
It is placed in the deepwater work platform interior position and operates storehouse with deepwater work storehouse and personnel respectively and connect, for providing lifting
Platform moves；The hoistable platform is set to the liftway interior location and is connect with wireless device, for logical in lifting
It is mobile inside road.
A kind of 5. intelligent deepwater work system based on action simulation according to claim 4, which is characterized in that the liter
Falling unit further includes fluctuating orbit, lifting motor and lifting idler wheel, the fluctuating orbit and is set to side inside liftway
Position is moved for providing hoistable platform；The lifting motor is set to hoistable platform interior location and and wireless device
Connection, for driving lifting idler wheel operation；The lifting idler wheel is set to hoistable platform side position, for driving hoistable platform
It is moved on sub- fluctuating orbit.
A kind of 6. intelligent deepwater work system based on action simulation according to claim 1, which is characterized in that the depth
Water job platform further includes power generation storehouse, generator and for electric installation, and the power generation storehouse is set in the deepwater work platform
Portion position, for placing generator；The generator is set to the power generation storehouse interior location, for providing electric power；The confession
Electric installation is set to the deepwater work storehouse, personnel operate storehouse, at generate electricity storehouse, liftway and control centre position, is used for
The electric power of generator generation is provided.
A kind of 7. intelligent deepwater work system based on action simulation according to claim 1, which is characterized in that the depth
Water job platform further includes refuse disposal installation, and the refuse disposal installation includes rubbish liftway and flexible door body, institute
Rubbish liftway top end surface is stated to keep same level with deepwater work platform overhead surface and be set to the deep water work
Industry platform interior position moves up and down for providing rubbish storage storehouse；The flexible door body is set to the rubbish liftway
With deepwater work platform overhead surface junction and being connect with wireless device, for switching rubbish liftway.
A kind of 8. intelligent deepwater work system based on action simulation according to claim 7, which is characterized in that the rubbish
Rubbish processing unit further includes rubbish storage storehouse, and the rubbish storage storehouse is set to the rubbish liftway interior location and sets
There is garbage throw-in port, for storing the rubbish of deepwater work robot acquisition.
A kind of 9. intelligent deepwater work system based on action simulation according to claim 1, which is characterized in that the rubbish
Rubbish processing unit further includes suspention unmanned plane, the suspention unmanned plane be set to rubbish storage storehouse top position and with it is wireless
Device connects, for suspending rubbish storage storehouse to designated position in midair.
10. a kind of intelligent deepwater work system based on action simulation according to claim 1, which is characterized in that described
Refuse disposal installation further includes attachment device and laser range finder, the attachment device be set to the suspention unmanned plane and
At the link position in rubbish storage storehouse, for being connect respectively with the suspention unmanned plane and rubbish storage storehouse；The Laser Measuring
Distance meter is set to the article storage silo and rubbish storage storehouse interior location and is connect with wireless device, is deposited for obtaining rubbish
Rubbish elevation information inside warehouse.
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| CN102616354A (en) * | 2011-01-27 | 2012-08-01 | 陈友余 | Underwater rescue mini-type submarine for mine disaster |
| CN106864706A (en) * | 2015-12-11 | 2017-06-20 | 上海航士海洋装备有限公司 | Workbench and implementation under intelligent water |
| CN205632986U (en) * | 2016-05-31 | 2016-10-12 | 河南海力特装备工程有限公司 | Pump package impulse type underwater vehicle |
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