CN109050838A - The underwater helicopter promoted based on vector - Google Patents
The underwater helicopter promoted based on vector Download PDFInfo
- Publication number
- CN109050838A CN109050838A CN201810935264.4A CN201810935264A CN109050838A CN 109050838 A CN109050838 A CN 109050838A CN 201810935264 A CN201810935264 A CN 201810935264A CN 109050838 A CN109050838 A CN 109050838A
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- Prior art keywords
- motor
- underwater
- vector
- main body
- middle casing
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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
- 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
- B63H5/00—Arrangements on vessels of propulsion elements directly acting on water
- B63H5/07—Arrangements on vessels of propulsion elements directly acting on water of propellers
- B63H5/08—Arrangements on vessels of propulsion elements directly acting on water of propellers of more than one propeller
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- 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 helicopters promoted based on vector.The upper and lower ends that upper housing and lower case are fixed on middle casing form main body cover, main body cover is flat disc structure, four groups of vector propulsion assemblies are installed around main body cover, four groups of vector propulsion assemblies are circumferentially-spaced uniformly distributed along main body cover, in each vector propulsion assembly, steering engine body is fixed on middle casing outer peripheral surface, and the rotation axis of steering engine radially and is fixedly connected with motor body side along middle casing, and motor output shaft is fixedly connected with propeller；Four steering engines are horizontally disposed and the driving of axial line coplanar horizontal of rotation axis turns to.Body of the present invention uses disc shaped shell, is particularly suitable for the relevant works modes such as the complete cycle steering of underwater zero radius of gyration of helicopter；5 underwater freedom degrees are provided by four groups of vector propulsion assemblies, the mobility of underwater helicopter is effectively increased and reduces propeller quantity.
Description
Technical field
The present invention relates to mobility strong, the new concept submersible of operation between the working terminal of seabed is travelled to and fro between, is specifically related to
A kind of underwater helicopter promoted based on vector.
Background technique
So far from the twenties, the mankind did not always stop the development to modern submersible.1934, the mankind arrived for the first time
Biology is observed up to deep-sea 914m depth；Nineteen sixty, mankind's dive to the innermost Pacific Ocean Mariana Trench in ocean,
Depth is up to 10913m.The sixties, with the U.S. " Alfven " number for representative second generation submersible on original observing function,
It has been also equipped with some simple operations of execution and marine resources investigation task dispatching function.To the middle and later periods in 20th century, endangered by petroleum twice
The influence of machine, offshore oil production technique are carried forward vigorously, and the unmanned remotely controlled submersible vehicle ROV of new generation with work capacity makes
Submersible development reaches another peak.All kinds of Novel submarine hydrophones of in the 21st century, have obtained further development, underwater glider
(Glider) and all kinds of untethered autonomous submersibles (AUV) are gradually widely applied in hydrospace detection and investigation.
Until currently, the numerous submersibles occurred in the world are although many kinds of, but still lacked during daily use
Weary high maneuverability and high efficiency.Such as tethered submersible (ROV), untethered autonomous submersible (AUV), manned submersible (HOV) and
Underwater glider (Glider) etc., regardless of the high maneuverability for which type of submersible, moved under water begins
It is the guarantee of the submersible Efficient Operation eventually, and the influence changed derived from structural design or external environment, how to improve
The running mobility of submersible is still one of urgently to think deeply and solve the problems, such as at present.
In addition, being also difficult to have higher comprehensive anti-current ability for diving under water device technology at this stage.In mesh
In preceding latent device structure design, to improve its route speed and providing the power of its left and right turn, direction of advance generally needs to configure
Two paddles, and lateral general configuration one, so lateral anti-current ability of submersible is smaller.And in actual application environment, ocean current
Be it is multidirectional, this requires submersible have good comprehensive anti-current ability, with cope with from all directions incoming flow rush
It hits.
Based on problem above and challenge, it is proposed that a kind of novel autonomous underwater robot, it is desirable that its with high maneuverability,
High independence service ability, to realize underwater efficient operation, to provide valuable think of for the following underwater helicopter design optimization
Road.
Underwater helicopter is suitable for the various work stations of the seabed operations such as submarine observation network, deep-sea space station or observation system
The energy and information transfer between point work, while the also detection operations under achievable shallow-water environment.
And for this critical issue of the mobility of submersible is improved, having lacked in the prior art need to be quick on the draw, is fast
The fast underwater helicopter of degree can be realized under water simultaneously and drift along vertically, the steering of straight ahead (depthkeeping), complete cycle, determine angle underriding
(climbing), horizontal many multi-functional underwater helicopters such as (climbing) that dive, forward speed and turning velocity are not influencing precisely
It can not accomplish while property quick, efficient, stable.
Summary of the invention
To make up defect of the existing untethered autonomous submersible (AUV) in mobility, technology to be solved by this invention is asked
Topic is to propose a kind of underwater helicopter promoted based on vector, which is quick on the draw, speed is fast, can be real under water
Existing high maneuverability, the operation of high independence, mobility strong can travel to and fro between operation between the working terminal of seabed.
In order to solve the above technical problems, the present invention adopts the following technical scheme:
The present invention includes upper housing, lower case, steering engine, motor, propeller and middle casing, the upper housing and lower case
The upper and lower ends for being fixed on middle casing form main body cover, and main body cover is flat disc structure, the week of main body cover
It encloses and four groups of vector propulsion assemblies is installed, four groups of vector propulsion assemblies are circumferentially-spaced uniformly distributed along main body cover, and each vector promotes
Component includes steering engine, motor, propeller, and steering engine body is fixed on middle casing outer peripheral surface, and the rotation axis of steering engine is along middle casing
Radially and it is fixedly connected with motor body side, motor output shaft is fixedly connected with propeller；Four groups of vectors promote
Four steering engines of component are horizontally disposed and axial line coplanar horizontal of rotation axis, drive respective motor output shaft realize 0~
180 ° of steering.
The gravity of the underwater helicopter entirety is less than itself underwater buoyancy.
In the vector propulsion assembly, the direction of motor is driven using steering engine and then changes the direction of generation thrust, benefit
Thrust is generated with motor, propeller and changes thrust size, and four groups of vector propulsion assembly work in combination realizations are described to go straight up under water
The advancing movement of machine.
The upper housing and described 12 grooves of lower case edge uniform ring cloth, bottom portion of groove are provided with tapped through hole, respectively
It is fixed on middle casing by nuts and bolt, becomes the whole main body cover for forming underwater helicopter.
The upper housing upper surface and lower case lower surface are waveform curved surface.
Main body cover surface is handled using AB epoxy resin and 704 silicone rubber seals.
The steering engine is fixedly installed in middle casing outer peripheral surface by connector and tapping screw.
Be equipped with bracket among the middle casing, bracket is equipped with driving circuit, driving circuit respectively with four groups of vectors
The steering engine of propulsion assembly is connected with motor.
The main body cover center is equipped with depth transducer and attitude transducer, depth transducer and attitude transducer
It is installed on the bracket of middle casing.
According to technical solution of the present invention, underwater helicopter is integrally in dish, is moved when horizontal movement for low resistance, vertical to transport
It is moved when dynamic for high-damping, is approximate zero damping movement when being pivoted.
Beneficial effects of the present invention are as follows:
Four steering engines of body surrounding of the present invention cooperate the regulation in four motor orientation to push away using 4*180 ° of vector
Into the mobility to improve helicopter, the appropriate propulsion system of 4 vector propulsion assemblies composition can provide 5 freedom degrees,
For the underwater helicopter of 6DOF, it is capable of providing sufficiently high mobility.
The upper-lower casing of body of the present invention uses disc shaped shell, and disc shaped shell provides the low-resistance of horizontal movement direction
It is complete that horizontal high-speed motion, zero radius of gyration may be implemented in Buddhist nun, the approximate zero damping of direction of rotation and the high-damping of vertical direction
Have enough to meet the need to and depthkeeping advance, while vertical direction high-damping avoids the generation of oscillation.
Present invention reduces costs, only realize 5 underwater freedom degrees with 4 propellers, are reducing the same of development cost
When, exposed components as few as possible are also in the underwater operation ring of complicated severe (complicated badly includes that suspended matter is more, corrosivity is strong)
The functional reliability of underwater Helicopter System is effectively increased in border.
Detailed description of the invention
Fig. 1 is the exploded perspective schematic diagram of mechanical structure of the present invention.
Fig. 2 is the top view of complete cycle divertical motion mode of the invention.
Fig. 3 is the top view of complete cycle divertical motion mode of the invention.
Fig. 4 is the top view of underwater fixed depth plane motion mode of the present invention.
Fig. 5 is the perspective view of underwater fixed depth plane motion mode of the present invention.
Fig. 6 is the perspective view of the vertical porpoising mode of the present invention.
Fig. 7 is the top view of the vertical porpoising mode of the present invention.
Fig. 8 is the top view that the present invention realizes depthkeeping while complete cycle divertical motion mode.
In figure: upper housing 13, lower case 15, steering engine 3,6,7,12, motor 1,4,9,10, propeller 2,5,8,11, bracket
14, middle casing, connector.
Specific embodiment
Specific embodiments of the present invention will be described in further detail with reference to the accompanying drawing.
As shown in Figure 1, body includes upper housing 13, lower case 15, steering engine 3,6,7,12, electricity in present invention specific implementation
Machine 1,4,9,10, propeller 2,5,8,11 and middle casing, upper housing 13 and lower case 15 are fixed on up and down the two of middle casing
End forms main body cover, and main body cover is flat disc structure, passes through middle casing between upper housing 13 and lower case 15
It is fixedly connected to form the main body cover of underwater helicopter, centre is subject to sealing ring waterproof sealing, and uses AB epoxy resin and 704
Silicone rubber seal handles main body cover surface.
Four groups of vector propulsion assemblies are installed, four groups of vector propulsion assemblies are between main body cover circumferential direction around main body cover
Every uniformly distributed, each vector propulsion assembly includes steering engine 3,6,7,12, motor 1,4,9,10, propeller 2,5,8,11, steering engine 3,6,
7,12 bodies are fixed on middle casing outer peripheral surface, and the rotation axis of steering engine 3,6,7,12 radially and is fixedly connected along middle casing
1,4,9,10 body side of motor, 1,4,9,10 output shaft of motor are fixedly connected with propeller 2,5,8,11；Four groups of vectors promote
Horizontally disposed and rotation axis the axial line coplanar horizontal of four steering engines 3,6,7,12 of component, drive respective motor 1,4,9,
10 output shafts realize 0~180 ° of steering, provide 4 × 180 ° of four vectors and promote.
As shown in Figure 1, specifically: first group of vector propulsion assembly includes steering engine 3, motor 1, propeller 2, steering engine 3
Body is fixed on middle casing outer peripheral surface, and the rotation axis of steering engine 3 radially and is fixedly connected with 1 body side of motor along middle casing
Portion, 1 output shaft of motor are fixedly connected with propeller 2.Second group of vector propulsion assembly includes steering engine 6, motor 4, propeller 5, rudder
6 body of machine is fixed on middle casing outer peripheral surface, and the rotation axis of steering engine 6 radially and is fixedly connected with 4 machine of motor along middle casing
Side portion, 4 output shaft of motor are fixedly connected with propeller 5.Third group vector propulsion assembly includes steering engine 7, motor 9, propeller
8,7 body of steering engine is fixed on middle casing outer peripheral surface, and the rotation axis of steering engine 7 radially and is fixedly connected with motor along middle casing
9 body sides, 9 output shaft of motor are fixedly connected with propeller 8.4th group of vector propulsion assembly includes steering engine 12, motor 10, spiral shell
Paddle 11 is revolved, 12 body of steering engine is fixed on middle casing outer peripheral surface, and the rotation axis of steering engine 12 is radially and fixed along middle casing
10 body side of motor is connected, 10 output shaft of motor is fixedly connected with propeller 11.
In specific implementation, 15 12 grooves of edge uniform ring cloth of upper housing 13 and lower case, it is logical that bottom portion of groove is provided with screw thread
Hole is fixed on middle casing by nuts and bolt respectively, becomes the whole main body cover for forming underwater helicopter.Upper housing
13 upper surfaces and 15 lower surface of lower case are waveform curved surface, can reduce underwater resistance.
Steering engine 3,6,7,12 is fixedly installed in middle casing outer peripheral surface by connector and tapping screw, fully ensures that connection
It is firm.In specific implementation, the adjusting of counterweight is also carried out to system using small steel ball, as far as possible reduction system gravity, improves system
System vertical direction self-stable ability.
Bracket 14 is equipped among middle casing, four ends of bracket 14 are fixed by welding on middle casing, and bracket 14 is pacified
Equipped with driving circuit, driving circuit is connect with the steering engine of four groups of vector propulsion assemblies and motor respectively.Four groups of vector propulsion assemblies
Contour be uniformly installed on around main body cover forms the control system that underwater helicopter is capable of directed movement everywhere.It is specific next
It says, each motor combines to form a propeller with propeller, and propeller is connect with corresponding steering engine using connector again
0~180 ° of vector propulsion assembly is formed, thus, it is possible to which 0~180 ° of steering can be achieved in the case where steering engine acts on, provides 4*180 ° of arrow
Amount promotes.Four vector propulsion assemblies collaborative works can provide 4*180 ° of vector propulsion system, and vector propulsion system can
5 freedom degrees are had altogether to provide, and are straight line and rotation (rolling), the rotation of Y-axis (trim), the straight line of Z axis and the rotation of X-axis respectively
Turn.
In specific implementation, main body cover center is equipped with depth transducer and attitude transducer, depth transducer and appearance
State sensor is installed on the bracket 14 of middle casing.Depth transducer is located at underwater depth, appearance for detecting underwater helicopter
State sensor is used to detect the posture of underwater helicopter.The electronic components such as depth transducer and attitude transducer are sealed in main body
Shell is interior or does part encapsulation process.
As shown in Fig. 2, four vector propulsion assemblies can change propeller in the case where keeping helicopter Soil stability
Direction of propulsion, to realize the switching of operating mode and the promotion of mobility.Four propellers are in that different direction of propulsion are
Different operating modes can be achieved, as underwater fixed depth advance, vertically drift along, dive and climb, the complete cycle of zero radius of gyration steering,
Zero pitch angle climbs or dives.
It is direction of advance with motor 4,4 propellers can play the role of Powered Propulsion, and motor 4 and motor 10 can be realized
The adjusting of roll angle and the adjusting of direction of advance may be implemented in the adjusting of helicopter pitch angle, motor 1 and motor 9.Particularly,
When part propeller executes a certain movement, remaining propeller may be performed simultaneously other movements, such as when four propellers are same
When pushing ahead, the pitch angle of motor 10 adjusts directly effect and is embodied on the pitch angle of helicopter entirety.
As shown in Fig. 2, the disc shaped shell of helicopter main body provides the low resistance of horizontal movement direction, Z axis direction of rotation
Approximate zero damping and vertical direction high-damping, the excellent hydrodynamic characterisitic of horizontal movement direction may be implemented, can be complete
The full complete cycle for realizing zero radius of gyration turns to, and very can easily realize that (high-damping of vertical direction is effectively kept away for depthkeeping advance
Exempt from the generation of oscillation).
The working principle of the invention process includes the complete cycle of zero radius of gyration turning to, underwater fixed depth plane motion, determining angle
It dives (climbing), the different main operation modes of vertical porpoising, below each main operation modes is unfolded to illustrate:
1, the complete cycle of zero radius of gyration turns to: when complete cycle turns to, the steering engine of all four groups of vector propulsion assemblies is controlled respectively
It is horizontally disposed from the output shaft of motor.Specific implementation is as shown in Figures 2 and 3.
When pinpointing complete cycle steering, when the motor 4 and motor 10 that are located at symmetrical two sides are stationary, positioned at symmetrical two sides
When motor 1 and motor 9 rotate in opposite directions offer unidirectional torque, since the design of disc shaped shell is in Z axis rotation side
To damping be approximately zero, underwater helicopter will can turn to the complete cycle of zero radius of gyration easy to accomplish in fixed point, thus
Realize fixed point complete cycle observation or operation.When needing while realizing depthkeeping, motor 4 and motor 10 can be adjusted to provide depthkeeping vertically
Required power, as shown in Figure 8.
2, underwater fixed depth plane motion: the steering engine of all four groups of vector propulsion assemblies controls the output shaft water of respective motor
Plain cloth is set.For example, 4 motor direction of propulsion are the power that all propeller collaboration offers are advanced after horizontal direction, it is possible thereby to
Reach maximum onward impulse configuration.
As shown in Figure 4 and Figure 5, one of 10 output shaft of motor can be in tilted layout for specific implementation, and control body maintains
Horizontal movement, 10 output shaft of excess-three motor are horizontally disposed.In such as figure, motor 10 is responsible for deep-controlled execution, motor 10
Pitch angle the change that helicopter pitch angle can be realized is constantly regulate by steering engine 12, to control the plane of movement of helicopter
In a certain constant depth.
3, determine angle to dive (climbing): as shown in Figure 4 and Figure 5, when the direction of propulsion of motor 10 becomes a certain fixed angle
When (non-horizontal), the pitch angle that underwater helicopter can be certain realizes the movement dived and climbed.When pitch angle is sufficiently large,
It is believed that underwater helicopter is floated and is sunk with 90 ° of pitch angle.It is inner in above-mentioned motor pattern (mode 2, mode 3),
The direction that meets water of helicopter is the horizontal low resistance direction of disc shaped shell, there is preferable hydrodynamic performance, while vertical side
To high-damping also effectively prevent the oscillatory condition in above-mentioned movement.
4, vertical porpoising: the steering engine of all four groups of vector propulsion assemblies control the output shaft of respective motor vertically to
It is upper or downward.Specific implementation as shown in Figure 6 and Figure 7, wherein the output shaft of the motor of three four groups of vector propulsion assemblies vertically to
On, the output shaft of the motor of another four groups of vector propulsion assemblies is straight down.
All propeller collaborations provide the power of vertical direction, it is possible thereby to reach the maximum power configuration that drifts along.Dish
Housing vertical direction is high-damping, and in contrast efficiency is lower when drifting along vertically, if vertical direction move distance is long, in use
State climbing or dive and having higher vertical motion efficiency for 90 ° of pitch angles.
Body of the present invention uses disc shaped shell, and it is corresponding to be particularly suitable for complete cycle steering of underwater zero radius of gyration of helicopter etc.
Operating mode；5 underwater freedom degrees are provided by 4 groups of vector propulsion assemblies, effectively increase the mobility of underwater helicopter
And reduce propeller quantity.
The present invention solves untethered this key technical problem of autonomous submersible (AUV) mobility, reaction spirit as a result,
It is quick, speed is fast, can realize complete cycle steerings of zero radius of gyration, underwater fixed depth plane motion simultaneously under water, determine angle and dive (to climb
Rise), the functions such as vertical porpoising, being especially able to achieve fixed point complete cycle turns to, and forward speed and turning velocity are not influencing essence
It keeps quick, efficient while parasexuality, stablize, there is prominent significant technical effect.
Claims (8)
1. a kind of underwater helicopter promoted based on vector, it is characterised in that: including upper housing (13), lower case (15), steering engine
(3,6,7,12), motor (1,4,9,10), propeller (2,5,8,11) and middle casing, the upper housing (13) and lower case
(15) upper and lower ends for being fixed on middle casing form main body cover, and main body cover is flat disc structure, main body cover
Around four groups of vector propulsion assemblies are installed, four groups of vector propulsion assemblies are circumferentially-spaced uniformly distributed along main body cover, each vector
Propulsion assembly includes steering engine (3,6,7,12), motor (1,4,9,10), propeller (2,5,8,11), steering engine (3,6,7,12) body
It is fixed on middle casing outer peripheral surface, the rotation axis of steering engine (3,6,7,12) radially and is fixedly connected with motor along middle casing
(1,4,9,10) body side, motor (1,4,9,10) output shaft are fixedly connected with propeller (2,5,8,11)；Described four groups
Four steering engines (3,6,7,12) horizontally disposed and rotation axis axial line coplanar horizontal of vector propulsion assembly drives respective
Motor (1,4,9,10) output shaft realizes 0~180 ° of steering.
2. a kind of underwater helicopter promoted based on vector according to claim 1, it is characterised in that:
In the vector propulsion assembly, the direction of motor is driven using steering engine (3,6,7,12) and then changes the side of generation thrust
To, thrust is generated using motor (1,4,9,10), propeller (2,5,8,11) and changes thrust size, four groups of vector propulsion assemblies
Work in combination realizes the advancing movement of the underwater helicopter.
3. a kind of underwater helicopter promoted based on vector according to claim 1, it is characterised in that:
The upper housing (13) and the lower case (15) edge 12 grooves of uniform ring cloth, bottom portion of groove are provided with tapped through hole,
It is fixed on middle casing by nuts and bolt respectively, becomes the whole main body cover for forming underwater helicopter.
4. a kind of underwater helicopter promoted based on vector according to claim 1, it is characterised in that:
Upper housing (13) upper surface and lower case (15) lower surface are waveform curved surface.
5. a kind of underwater helicopter promoted based on vector according to claim 1, it is characterised in that:
Main body cover surface is handled using AB epoxy resin and 704 silicone rubber seals.
6. a kind of underwater helicopter promoted based on vector according to claim 1, it is characterised in that:
The steering engine (3,6,7,12) is fixedly installed in middle casing outer peripheral surface by connector and tapping screw.
7. a kind of underwater helicopter promoted based on vector according to claim 1, it is characterised in that:
Be equipped with bracket (14) among the middle casing, bracket (14) is equipped with driving circuit, driving circuit respectively with four groups
The steering engine of vector propulsion assembly is connected with motor.
8. a kind of underwater helicopter promoted based on vector according to claim 1, it is characterised in that:
The main body cover center is equipped with depth transducer and attitude transducer, depth transducer and attitude transducer installation
In the bracket (14) of middle casing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810935264.4A CN109050838A (en) | 2018-08-16 | 2018-08-16 | The underwater helicopter promoted based on vector |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810935264.4A CN109050838A (en) | 2018-08-16 | 2018-08-16 | The underwater helicopter promoted based on vector |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109050838A true CN109050838A (en) | 2018-12-21 |
Family
ID=64686206
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810935264.4A Pending CN109050838A (en) | 2018-08-16 | 2018-08-16 | The underwater helicopter promoted based on vector |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110338116A (en) * | 2019-07-11 | 2019-10-18 | 华南农业大学 | Autonomous wind and wave resistance job platform and control method suitable for marine mesh cage cultivation |
| CN113075932A (en) * | 2021-03-30 | 2021-07-06 | 浙江大学 | UUV vector propulsion control method based on 3-RPS parallel mechanism |
| CN113148017A (en) * | 2021-05-13 | 2021-07-23 | 中科长城海洋信息系统有限公司 | Attitude adjusting device and method and submerged buoy system |
| CN113148082A (en) * | 2021-04-23 | 2021-07-23 | 江苏科技大学 | Four-rotor underwater robot under linkage control of propeller and control method thereof |
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| CN113148017A (en) * | 2021-05-13 | 2021-07-23 | 中科长城海洋信息系统有限公司 | Attitude adjusting device and method and submerged buoy system |
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