CN108545163A - A kind of underwater robot of imitative jellyfish movement - Google Patents
A kind of underwater robot of imitative jellyfish movement Download PDFInfo
- Publication number
- CN108545163A CN108545163A CN201810691218.4A CN201810691218A CN108545163A CN 108545163 A CN108545163 A CN 108545163A CN 201810691218 A CN201810691218 A CN 201810691218A CN 108545163 A CN108545163 A CN 108545163A
- Authority
- CN
- China
- Prior art keywords
- iron block
- underwater robot
- swing
- steering engine
- shell
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
- B63H—MARINE PROPULSION OR STEERING
- B63H1/00—Propulsive elements directly acting on water
- B63H1/30—Propulsive elements directly acting on water of non-rotary type
- B63H1/32—Flaps, pistons, or the like, reciprocating in propulsive direction
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/12—Use of propulsion power plant or units on vessels the vessels being motor-driven
- B63H21/17—Use of propulsion power plant or units on vessels the vessels being motor-driven by electric motor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/12—Use of propulsion power plant or units on vessels the vessels being motor-driven
- B63H21/17—Use of propulsion power plant or units on vessels the vessels being motor-driven by electric motor
- B63H2021/171—Use of propulsion power plant or units on vessels the vessels being motor-driven by electric motor making use of photovoltaic energy conversion, e.g. using solar panels
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Toys (AREA)
Abstract
The invention discloses a kind of underwater robots of imitative jellyfish movement, including shell, solar panel, swing steering engine, steering iron block, swing flabellum, driving steering engine, heavy burden iron block, accumulator and master board；Case top uses translucent cover, solar panel to be set to below the translucent cover, in shell；Heavy burden iron block, swing steering engine, driving steering engine, power supply and master board are fixed in shell；It is multiple to swing flabellum, is circumferentially laid in peripheral side along shell with can swinging up and down, and be connected with swing steering engine；Iron block is turned to swing steering engine to be connected；Master board is connected with swing steering engine, driving steering engine respectively；Solar panel is connected with accumulator.Underwater robot structure of the present invention is simple, can effectively realize the efficient movement to underwater robot and continue a journey for a long time.
Description
Technical field
The present invention relates to a kind of underwater intelligent equipment, and in particular to a kind of underwater robot of underwater imitative jellyfish movement.
Background technology
People never stop the exploration of Yu Haiyang, what the unknown species of sea floor world and marvellous scene were pursued at people
Target, but the limitation of the physical qualification of people can only carry out operation in shallow water area, not reach deep-sea.By being given birth to ocean
The observation of object, the shape that the mankind imitate fish have built fairshaped hull, and present underwater robot mostly uses greatly propeller
Structure realizes the transformation of degree of freedom by being placed on the propeller of different location, but underwater environment is complicated, by flow, light
The motion control of the influences such as line, submerged reef, underwater robot is significantly influenced.By bionical means, ocean life is imitated
The motor pattern of object explores ocean for us and has a good application prospect and real value.
A kind of spherical underwater robot as disclosed in patent No. CN107697244A, elliptical in its outer shape, propeller installation
In the waist of machine, camera and gripper equipment are also carried in bottom, but the crank of this underwater robot, entirety are steady
It is qualitative inadequate, it is easy to be influenced to overturn by ocean current in the seawater.A kind of for another example underwater robot disclosed in CN107508362A
Wireless charging system, is artificially powered carrier with machine, and battery passes through the wireless energy transfer mould based on magnetic resonance as power supply source
Block realizes wireless charging, and problem is that robot is small, by the power generator of carrying, the generated energy very little that can accomplish, and nothing
Method meets working long hours for robot.
Invention content
The purpose of the present invention is to solve the deficiencies in the prior art, and providing one kind can effectively carry out for a long time
Continuation of the journey and the underwater robot for using novel type of drive.
In order to achieve the above object, the present invention provides a kind of underwater robots of imitative jellyfish movement, including shell, the sun
It can power generation plate, swing steering engine, steering iron block, swing flabellum, driving steering engine, heavy burden iron block, accumulator and master board；Shell top
Portion uses translucent cover, solar panel to be set to below the translucent cover, in shell；Heavy burden iron block, swing steering engine, power supply and master control
Making sheet is fixed in shell；It is multiple to swing flabellum, is set to the shell peripheral side with can swinging up and down；The driving rudder
Machine quantity is corresponding with flabellum is swung, and is circumferentially laid in peripheral side along the shell, and passed respectively with corresponding swing flabellum
It is dynamic to be connected；Iron block is turned to swing steering engine transmission to be connected；Master board is connected with swing steering engine, driving steering engine respectively；Solar energy
Power generation plate is connected with accumulator.
Further, heavy burden iron block is 1 with the weight ratio for turning to iron block:1；Heavy burden iron block is set to lower central position in shell
Set place；When heavy burden iron block is with iron block line and underwater robot coaxial line is turned to, turn to iron block to the height of case top and
The height ratio of heavy burden iron block to case top is 1:3.
Further, shell includes upper hemispherical translucent cover and lower taper shell；Heavy burden iron block is fixed at conical shell
Internal lower part；It is six to swing flabellum, is laid in hemisphere translucent cover lower part side.
Further, underwater robot of the present invention further includes underwater ultrasound sensor；Underwater ultrasound sensor is fixed at
On the outside of hemisphere translucent cover.
Further, underwater robot further includes camera；Camera is set in the hemisphere translucent cover, or is set to taper
Hull outside.
Further, above-mentioned underwater robot further includes detection sensor；Detection sensor is set on shell.
Further, solar panel passes sequentially through input/output module, Voltage stabilizing module is connected with accumulator；Accumulator
Serial electric quantity metering module feeds back the electricity of the current storage of accumulator by module for metering electric quantity to master board.
The present invention has the following advantages compared with prior art：
1, the configuration of the present invention is simple can effectively realize the efficient movement to underwater robot and continue a journey for a long time.
2, the opening and closing of the invention that simulation jellyfish is swung up and down by swinging flabellum are swung, and realize that robot is efficient, high motor-driven
Sub-aqua sport；By swinging the complete opening of flabellum, control robot keeps afloat, and solar energy is carried out by solar panel
Power generation continues a journey to robot.
3, the present invention changes the center of gravity of robot to be adjusted to robot steering using the change in location of rotation iron block
Control；And barrier evacuation is carried out by the underwater ultrasound sensor of carrying.
4, underwater robot of the present invention can carry camera and all kinds of detection sensors carry out the relevant exploration in seabed.
Description of the drawings
Fig. 1 is the structural schematic diagram of the underwater robot of the imitative jellyfish movement of the present invention；
Fig. 2 is the vertical view of underwater robot in Fig. 1；
Fig. 3 is centre-of gravity shift schematic diagram when underwater robot is with steering iron block rotation in Fig. 1；
Fig. 4 is AUV Control schematic diagram of the present invention；
Fig. 5 is the connection diagram of swing steering engine and steering iron block in Fig. 1；
Fig. 6 is driving motor and the connection diagram for swinging flabellum in Fig. 1.
In figure, 1- hemisphere translucent covers, 2- solar panels, 3- swing steering engines, 4- master boards, 5- steering iron blocks, 6-
Power supply, 7- swing flabellum, 8- heavy burden iron blocks, and 9- drives steering engine, 10- conical shells, 11- rotation axis.
Specific implementation mode
The present invention is described in detail below in conjunction with the accompanying drawings.
As shown in Figure 1, the underwater robot external shell that the present invention imitates jellyfish movement includes 1 He of hemisphere translucent cover on top
The conical shell 10 of lower part, the two hollow outer sealing, carries out water-proofing treatment.It is fixed with inside hemisphere translucent cover 1 fixed flat
Platform, each solar panel 2 cut oblique placement in 45 degree of angles with fixed platform, are uniformly distributed and face four direction.Under fixed platform
Aspect is equipped with swing steering engine 3, and rotate gear is fixed in 3 rotation axis 11 of swing steering engine.Turn to iron block 5 by particularly customized,
It is welded on a rigidity to swing on iron, similar iron hammer shape is fixed in the rotate gear of swing steering engine 3, works as swing steering engine
It when receiving instruction and turning an angle, correspondingly rotates gear and can drive and turn to iron block 5 and turn an angle, as shown in Figure 5.Such as
Shown in Fig. 2,1 lower end of hemisphere translucent cover is uniformly distributed along the circumference 6 and drives steering engine 9（The driving steering engine uses waterproof construction, is set to underwater
The hull outside of robot）, swing flabellum 7 and be nested in the rotation axis 11 of corresponding driving steering engine 9, driving steering engine passes through certain angle
The rotation of degree, which drives, swings the swing certain angle of flabellum 7, as shown in Figure 6.Meanwhile being fixed with main control in hemisphere translucent cover 1
Plate 4 and power supply 6, power supply 6 can carry out charging replacement, the service life was up to 2 years or more using the lead-acid accumulator of 12v.Simultaneously
Solar panel 2 is connected with power supply 6 by power management module, and voltage conversion is carried out in module.Power management module includes
Input/output module, Voltage stabilizing module, module for metering electric quantity, solar panel pass sequentially through input/output module, Voltage stabilizing module
Power generation electricity is stored into accumulator, accumulator is exported by Voltage stabilizing module and module for metering electric quantity to control panel and steering engine etc.
Electrical appliance is powered, specifically, Voltage stabilizing module powers the power conversion of 12v at the voltage of other circuits, such as 3.3v of controller
It powers etc. with the 5v of steering engine；Input/output module correspond to respectively 3.3v, 5v and 12v power interface；Module for metering electric quantity can be with
The electricity of current storage is fed back to master board.When electric quantity of power supply exhausts, generated electricity to accumulator by solar panels
Charging.As shown in Figure 2.Master board 4 is connected with each steering engine（Including swing steering engine and driving steering engine）, control steering engine operating.Under
Portion's conical shell 10 is fixed at 1 lower end of hemisphere translucent cover, and lower inside center position is fixed with heavy burden iron block 8, this is negative
Weight iron block 8 is remained unchanged relative to the external of conical shell 10.When heavy burden iron block 8 and the line and conical shell that turn to iron block 3
When 10 coaxial line, the height at the top of iron block 3 to hemisphere translucent cover 1 is turned at a distance from heavy burden iron block 8 to 1 top of hemisphere translucent cover
Than being 1:3.
Underwater robot can also carry underwater ultrasound sensor, camera and all kinds of detection sensors simultaneously, carry out obstacle
Object is hidden to be explored with seabed.Detection sensor such as depth transducer obtains bathymetric data by detecting current hydraulic pressure；Or water quality
Sensor can detect the data such as pH value and the dissolved oxygen of seawater.
As shown in figure 4, the course of work of underwater robot is as follows：When underwater robot enters water, swings flabellum 7 and hang down position
In the peripheral side of conical shell 10, underwater robot is integrally conical state, and due to the presence of heavy burden iron block 8, this body weight is big
It, can submerged in the buoyancy of water.Master board sends out work order, and six driving steering engines rotate certain model with certain frequency
It encloses, the effect brought, which is the swing flabellum 9 of connection, to be swung up and down, to push underwater robot to move, motion principle and water
Female opening and closing tentacle movement is consistent.When there is barrier in front, the underwater ultrasound sensor of carrying can detect, send a signal to master
Control panel 4 sends out instruction by master board 4, and swing steering engine 3 is allowed to rotate, and turning to iron block 5 can also shift so that half ball cover
Center of gravity deflects（As shown in Figure 3）, to realize divertical motion.The 6 serial electric quantity metering module of power supply of underwater robot simultaneously（It should
Module for metering electric quantity is by integrated sample resistance, the size of current flowed through by resistance test unit interval inner looping, electric current
It changes over time, will produce different pressure differences after flowing through different electric currents, integrated, obtained by the electric current that this is changed
The electricity of present battery）.The master board 4 of underwater robot detects whithin a period of time, when supply current is less than normal value,
System judges that robot electric quantity is remaining insufficient, charges.At this moment master board 4 sends out control instruction, adjusts driving rudder
Machine, which slowly rotates, makes swing flabellum open, and the buoyancy suffered by robot can be increasingly greater than gravity itself at this time, slowly floats, until
On climbing up on top of the water completely, the solar panel 2 of carrying can carry out charging operation, ensure the long-time continuation of the journey of underwater robot
Work.
Claims (7)
1. a kind of underwater robot of imitative jellyfish movement, it is characterised in that：The underwater robot includes shell, solar power generation
Plate, swing steering engine turn to iron block, swing flabellum, driving steering engine, heavy burden iron block, accumulator and master board；The case top
Using translucent cover, the solar panel is set to below the translucent cover, in the shell；The heavy burden iron block, swing steering engine,
Power supply and master board are fixed in the shell；The swing flabellum is multiple, is set to the shell with can swinging up and down
External side；The driving steering engine quantity is corresponding with flabellum is swung, and is circumferentially laid in peripheral side along the shell, and respectively
It is connected with the transmission of corresponding swing flabellum；The steering iron block is connected with swing steering engine；The master board respectively with swing rudder
Machine, driving steering engine are connected；The solar panel is connected with the accumulator.
2. underwater robot according to claim 1, it is characterised in that：The heavy burden iron block and the weight ratio for turning to iron block
It is 1:1；The heavy burden iron block is disposed in the housing at lower central position；When the heavy burden iron block with turn to iron block line with
When the underwater robot coaxial line, the height of the height and heavy burden iron block to case top of the steering iron block to case top
Than being 1:3.
3. underwater robot according to claim 1, it is characterised in that：The shell includes upper hemispherical translucent cover under
Portion's conical shell；The heavy burden iron block is fixed at lower part in the conical shell；The swing flabellum is six, is laid in
Hemisphere translucent cover lower part side.
4. underwater robot according to claim 3, it is characterised in that：The underwater robot further includes that underwater ultrasound passes
Sensor；The underwater ultrasound sensor is fixed on the outside of the hemisphere translucent cover.
5. underwater robot according to claim 4, it is characterised in that：The underwater robot further includes camera；Institute
Camera is stated in the hemisphere translucent cover, or on the outside of the conical shell.
6. underwater robot according to claim 5, it is characterised in that：The underwater robot further includes detection sensing
Device；The detection sensor is set on the shell.
7. underwater robot according to claim 1, it is characterised in that：It is defeated that the solar panel passes sequentially through input
Go out module, Voltage stabilizing module is connected with accumulator；The accumulator serial electric quantity metering module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810691218.4A CN108545163A (en) | 2018-06-28 | 2018-06-28 | A kind of underwater robot of imitative jellyfish movement |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810691218.4A CN108545163A (en) | 2018-06-28 | 2018-06-28 | A kind of underwater robot of imitative jellyfish movement |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108545163A true CN108545163A (en) | 2018-09-18 |
Family
ID=63493175
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810691218.4A Pending CN108545163A (en) | 2018-06-28 | 2018-06-28 | A kind of underwater robot of imitative jellyfish movement |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108545163A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109533241A (en) * | 2018-12-14 | 2019-03-29 | 南京信息工程大学 | A kind of intelligence flap underwater robot |
| WO2020211580A1 (en) * | 2019-04-19 | 2020-10-22 | 南京涵铭置智能科技有限公司 | Unmanned underwater vehicle capable of steering by changing gravity and control method therefor |
| CN114954875A (en) * | 2022-07-14 | 2022-08-30 | 郜旭 | Frog-imitating underwater robot |
| CN115107900A (en) * | 2022-07-28 | 2022-09-27 | 南京信息工程大学 | Deformable foot end mechanism |
| CN115140284A (en) * | 2022-07-14 | 2022-10-04 | 郜旭 | Underwater robot of bionic frog |
| CN115246468A (en) * | 2022-07-20 | 2022-10-28 | 广东工业大学 | Bionic jellyfish robot and control method thereof |
Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201849653U (en) * | 2010-11-12 | 2011-06-01 | 高川 | Bionic underwater robot |
| DE202011106150U1 (en) * | 2011-09-28 | 2012-01-10 | Helmut-Wolfgang Merten | Rotors, propellers and the like, having a sandy fish skin surface profile |
| CN103342163A (en) * | 2013-07-19 | 2013-10-09 | 卢小平 | Bionic swimming device |
| CN203780780U (en) * | 2013-09-30 | 2014-08-20 | 吴宝举 | Solar underwater robot |
| CN105235826A (en) * | 2015-10-22 | 2016-01-13 | 黑龙江省博凯科技开发有限公司 | Multifunctional marine environment monitoring platform |
| CN105620708A (en) * | 2014-11-28 | 2016-06-01 | 中国科学院沈阳自动化研究所 | Underwater electric steering engine and rudder angle detection method |
| CN105752180A (en) * | 2016-03-30 | 2016-07-13 | 广东工业大学 | Home entertainment rolling robot |
| CN107651143A (en) * | 2017-09-13 | 2018-02-02 | 北京邮电大学 | A kind of underwater sail power intelligent spherical robot |
| CN107697244A (en) * | 2017-11-07 | 2018-02-16 | 哈尔滨工程大学 | The spherical underwater robot promoted based on vector |
| CN207106832U (en) * | 2017-06-30 | 2018-03-16 | 大连海事大学 | A kind of Intelligent bionic machinery fish of solar recharging |
| CN107878681A (en) * | 2017-11-22 | 2018-04-06 | 南京信息工程大学 | A kind of ocean wave buoy of remote control |
| CN107933856A (en) * | 2017-12-07 | 2018-04-20 | 青岛爱智鱼智能装备有限责任公司 | A kind of underwater robot |
| CN208344515U (en) * | 2018-06-28 | 2019-01-08 | 南京信息工程大学 | A kind of underwater robot of imitative jellyfish movement |
-
2018
- 2018-06-28 CN CN201810691218.4A patent/CN108545163A/en active Pending
Patent Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201849653U (en) * | 2010-11-12 | 2011-06-01 | 高川 | Bionic underwater robot |
| DE202011106150U1 (en) * | 2011-09-28 | 2012-01-10 | Helmut-Wolfgang Merten | Rotors, propellers and the like, having a sandy fish skin surface profile |
| CN103342163A (en) * | 2013-07-19 | 2013-10-09 | 卢小平 | Bionic swimming device |
| CN203780780U (en) * | 2013-09-30 | 2014-08-20 | 吴宝举 | Solar underwater robot |
| CN105620708A (en) * | 2014-11-28 | 2016-06-01 | 中国科学院沈阳自动化研究所 | Underwater electric steering engine and rudder angle detection method |
| CN105235826A (en) * | 2015-10-22 | 2016-01-13 | 黑龙江省博凯科技开发有限公司 | Multifunctional marine environment monitoring platform |
| CN105752180A (en) * | 2016-03-30 | 2016-07-13 | 广东工业大学 | Home entertainment rolling robot |
| CN207106832U (en) * | 2017-06-30 | 2018-03-16 | 大连海事大学 | A kind of Intelligent bionic machinery fish of solar recharging |
| CN107651143A (en) * | 2017-09-13 | 2018-02-02 | 北京邮电大学 | A kind of underwater sail power intelligent spherical robot |
| CN107697244A (en) * | 2017-11-07 | 2018-02-16 | 哈尔滨工程大学 | The spherical underwater robot promoted based on vector |
| CN107878681A (en) * | 2017-11-22 | 2018-04-06 | 南京信息工程大学 | A kind of ocean wave buoy of remote control |
| CN107933856A (en) * | 2017-12-07 | 2018-04-20 | 青岛爱智鱼智能装备有限责任公司 | A kind of underwater robot |
| CN208344515U (en) * | 2018-06-28 | 2019-01-08 | 南京信息工程大学 | A kind of underwater robot of imitative jellyfish movement |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109533241A (en) * | 2018-12-14 | 2019-03-29 | 南京信息工程大学 | A kind of intelligence flap underwater robot |
| CN109533241B (en) * | 2018-12-14 | 2023-08-15 | 南京信息工程大学 | Intelligent flap underwater robot |
| WO2020211580A1 (en) * | 2019-04-19 | 2020-10-22 | 南京涵铭置智能科技有限公司 | Unmanned underwater vehicle capable of steering by changing gravity and control method therefor |
| CN114954875A (en) * | 2022-07-14 | 2022-08-30 | 郜旭 | Frog-imitating underwater robot |
| CN115140284A (en) * | 2022-07-14 | 2022-10-04 | 郜旭 | Underwater robot of bionic frog |
| CN115246468A (en) * | 2022-07-20 | 2022-10-28 | 广东工业大学 | Bionic jellyfish robot and control method thereof |
| CN115246468B (en) * | 2022-07-20 | 2023-06-20 | 广东工业大学 | Bionic jellyfish robot and control method thereof |
| CN115107900A (en) * | 2022-07-28 | 2022-09-27 | 南京信息工程大学 | Deformable foot end mechanism |
| CN115107900B (en) * | 2022-07-28 | 2023-04-18 | 南京信息工程大学 | Deformable foot end mechanism |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108545163A (en) | A kind of underwater robot of imitative jellyfish movement | |
| CN108820173B (en) | The deformation submersible and its working method promoted based on buoyancy-driven with no axial vector | |
| CN102963514B (en) | Portable underwater marine environmental monitoring aerodone | |
| CN102632980B (en) | Underwater glider utilizing ocean wave energy and charging method | |
| CN108859637A (en) | A kind of spherical shape amphibious robot | |
| CN108408007A (en) | Hybrid power underwater robot | |
| CN113086136B (en) | Compound propulsion bionic jellyfish robot | |
| CN108312151A (en) | It drifts about and detects underwater robot device and control method | |
| CN107585273A (en) | underwater salvage robot | |
| CN109115979A (en) | Portable multi-function solid water quality detection device | |
| CN105676874A (en) | Low-energy-consumption miniature underwater exploration robot based on sonar remote control, and control method | |
| CN207389479U (en) | A kind of water vessel and its control system | |
| CN105799876A (en) | Bionic intelligent robot fish | |
| CN104724269B (en) | A kind of space maneuver tail swing propulsion plant | |
| CN113089610B (en) | A full intelligent floating rubbish cleaning device for small-size open waters | |
| CN209043886U (en) | A kind of portable multi-function solid water quality detection device | |
| CN1189354C (en) | Man-controlled machine fish | |
| CN110316341A (en) | A kind of bionic machine sailfish | |
| CN110282102A (en) | The unmanned underwater gliding probe microphone of cake type | |
| CN110203359A (en) | Imitative leopard triangular bream Fu fish underwater robot | |
| CN108844484A (en) | A kind of complete extra large depth AUV overall-in-one control schema cabin and control method | |
| CN112693570A (en) | Water surface garbage cleaning robot fish based on motion of auxiliary tail fin of pectoral fin | |
| CN208344515U (en) | A kind of underwater robot of imitative jellyfish movement | |
| CN106956751A (en) | The flying wing type sea aerodone system and implementation of powered by wave energy | |
| CN105539784A (en) | Web wing type wave energy underwater gliding measurement platform and measurement method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |