CN109466728A - Unpowered dive floating movement technique and system applied to deep-submarine - Google Patents
Unpowered dive floating movement technique and system applied to deep-submarine Download PDFInfo
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- CN109466728A CN109466728A CN201811318825.2A CN201811318825A CN109466728A CN 109466728 A CN109466728 A CN 109466728A CN 201811318825 A CN201811318825 A CN 201811318825A CN 109466728 A CN109466728 A CN 109466728A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/18—Control of attitude or depth by hydrofoils
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/22—Adjustment of buoyancy by water ballasting; Emptying equipment for ballast tanks
Abstract
The invention belongs to sub-aqua diving device sub-aqua sport control technology fields, disclose a kind of unpowered dive floating movement technique and system applied to deep-submarine, the modes such as integrated use hydroplane, vertical rudder, dive ballast, floating ballast, pitch conditioning system, make submersible in certain Angle of Trim dive or floating, so that in dive or floating-upward process submersible more tend in the movement direction it is streamlined, water body pressure reduction when flowing through submersible outer surface is in soft phase, it is effectively reduced viscous pressure resistance, to reduce drag overall.The present invention improves the speed of dive floating, so that submersible has longer underwater effective operation time；Building block of the present invention generally based on conventional diving device, the dive floating movement velocity of submersible is improved by modes such as functions expanding, position adjustment and combined applications, the non-activity duration is reduced, from economy, operating habit and construction experience, more comprehensive advantage.
Description
Technical field
The invention belongs to sub-aqua diving device control technology field more particularly to a kind of nothing applied to deep-submarine are dynamic
Power dive floating movement technique and system.In particular to a kind of about be applied to deep manned submersible Novel unpowered under
Latent floating movement technique.
Background technique
Currently, the prior art commonly used in the trade is such that
The region that ocean depth is located at 6500-11000 meters is known as abyss area, ecology specific to the area of abyss, biology
It is forward position and the hot spot of Marine Sciences with abysses problem in science such as geology.Study abyss, it is necessary first to can make in abyss area
The marine engineering equipment dive of industry to the region carries out operation, wherein for manned underwater vehicle since its work capacity is strong, scientist can
It is at present in the world using one of more extensive submarine engineering equipment to carry out the advantages such as live site observation.
Since deep-submarine is limited by weight, volume, institute's band limited energy does not use as far as possible in snorkeling movement
Ship carries the energy, and this movement without using the energy is known as " unpowered dive, which is floated, to be moved ".
In the manned underwater vehicle to have come into operation, including Chinese " flood dragon number ", Russian " the Peace ", the U.S. " A Er
Code " etc., almost all using no Angle of Trim, horizontal dive floating mode, and by jettisoning drop able ballast realize dive with it is upper
It is floating.Which dive since latent water resistance area of the device in dive floating direction itself is very big, dive ascent rate is very slow.
With the increase of submerged depth, if still using above-mentioned dive floating method, by taking flood dragon number as an example, Quan Haishen is realized (i.e.
Dive floating interval of floating dock 11000m) needs about 8 hours, and a manned underwater vehicle usual underwater operation time is only 12 hours,
If a large amount of time is used for dive floating-upward process, this will lose the valuable seabed operation time.Therefore, how to accelerate in dive
Floating speed is also important one of technological challenge.
In conclusion problem of the existing technology is:
(1) diving, water resistance area of the device in dive floating direction itself is very big, and dive ascent rate is very slow；
(2) throwing load can be abandoned by increasing, increase negative buoyancy force during dive or increases positive buoyancy in floating-upward process
Movement velocity is improved, once throwing loading system failure, then submersible has very big security risk；
(3) if in dive and floating, increase movement velocity by driven by energy propeller entrained by latent device, then greatly
Width reduces the electricity that can be used for operation.
Solve the difficulty and meaning of above-mentioned technical problem:
Difficulty is: how to accelerate dive ascent rate is the difficult point that the prior art solves；
After the difficulty for solving the prior art, bring meaning are as follows:
In view of submersible existing system has reached its maturity, if additional technical risk can be brought by introducing new system,
And if by improving existing system, and in the case where not utilizing finite energy resource entrained by submersible, it improves under submersible
Latent ascent rate is the technical problem that the present invention wants emphasis to solve.Due to the submersible single underwater operation time be it is fixed (or
Extended capability is lesser), by solving the above problems, for deep-submarine, it is possible to reduce the non-activity duration increases underwater
Can the activity duration, the operations such as observed, sampled, improving the economy of submersible.
Summary of the invention
In view of the problems of the existing technology, the present invention provides a kind of unpowered dives applied to deep-submarine
Floating movement technique and system.The present invention provides a kind of special suitable for conventional deep manned submersible structural shape and operation
Point is able to achieve the quick dive floating movement of submersible without the help of latent device self power, and too without departing from lash ship placement
Far, it is easy to the Novel unpowered dive floating movement technique and system applied to deep manned submersible of marine implementation.
The invention is realized in this way a kind of unpowered dive floating kinematic system applied to deep-submarine, packet
It includes:
The dive ballast and floating ballast of submersible fore body are set；
Fore body autoclave positioned at submersible fore body and the stern autoclave positioned at submersible stern part, fore body autoclave and stern
Portion's autoclave is connected by liquid line；
Trim regulating pump is provided among liquid line；
A certain amount of mercury, seawater or other liquid are provided in pipeline and in fore body autoclave and stern autoclave to be situated between
Matter；
It is provided with vertical rudder and hydroplane on submersible, is connected as respectively with the executing agency that comes about corresponding inside submersible
One；
Fore body autoclave, stern autoclave, trim regulating pump, liquid line and a certain amount of mercury, seawater or other liquid
Body medium constitutes submersible pitch conditioning system；
Pitch conditioning system be used for seabed operation when trim regulating effect, also provide for initial descent movement angle with
And float to the leveling of the submersible after the water surface.
Further, the fore body autoclave and stern autoclave are all made of titanium alloy, aluminium alloy, stainless steel material, shape
For sphere or cylindrical body.
Further, trim regulating pump is opened and closed by control valve, changes liquid in pipe flow direction.
Further, dive ballast and floating ballast are arranged below submersible fore body, and dive ballast and floating ballast are iron
Block, lead, shape are square, cuboid, cylindrical body.
Further, vertical rudder and hydroplane are used to control direction of the submersible when seabed is cruised, and are also used to control diving
The direction of motion of the device in dive and floating, makes submersible helically line dive and floating；The vertical rudder is arranged in submersible
Stern, hydroplane are arranged in submersible fore body, stern and middle part；Hydroplane each one in two side of a ship of submersible；Vertical rudder and level
Rudder is streamlined.
Another object of the present invention is to provide a kind of unpowered dive floating movement sides applied to deep-submarine
Method, comprising:
1) cooperation suspension cable is hung by folding arm crane or A type to hang latent device into water, complete water surface inspection；
2) start hydraulic power source, after making ballast water tank water pouring full water, adjustment liquid in pipe sendout is pumped by trim regulating, by stern
The liquid of portion's autoclave injects fore body autoclave by pipeline, makes submersible in trim certain angle, when ballast water tank water pouring full water
Afterwards, submersible hull wide-angle angle of depression state dive；
3) vertical rudder and hydroplane angle are adjusted, submersible is made to carry out spiral revolution dive campaign；
4) when submersible abandons dive ballast close to seabed, starting hydraulic system adjustment mercury, seawater or other liquid are situated between
Matter sendout makes hull be in neutral buoyancy or micro- positive buoyancy and horizontality；
5) submersible is cruised and Fixed Point Operation under water by main thruster, vertical thrusters and sideways-acting propeller；
6) set job task is completed, floats, abandons floating ballast, latent device is made to be in big-elevation floating；
7) by making rudder, vertical rudder and hydroplane angle is adjusted, submersible is made to carry out spiral revolution ascending motion；
8) when latent device is floated to close to the water surface, trim regulating pump is by mercury, seawater or other liquid in fore body autoclave
Body medium is adjusted by pipeline into stern autoclave, and submersible hull is in horizontality, meanwhile, exhaust valve is opened using height
Tank of calming the anger blows down the water in ballast tank, increases latent device by buoyancy, raises freeboard.
Further, in step 2), trim certain angle includes but is not limited to 15 degree, 30 degree, 45 degree, 60 degree.
Further, in step 6), big-elevation angle includes but is not limited to 15 degree, 30 degree, 45 degree, 60 degree.
Another object of the present invention is to provide it is a kind of at least carry it is described applied to deep-submarine it is unpowered under
The deep-sea scientific investigation ship of latent floating kinematic system.
In conclusion advantages of the present invention and good effect are as follows:
The modes such as integrated use hydroplane of the present invention, vertical rudder, dive ballast, floating ballast, pitch conditioning system, make to dive
Hydrophone is in certain Angle of Trim dive or floating, so that submersible more tends to streamline in the movement direction in dive or floating-upward process
Type, water body pressure reduction when flowing through submersible outer surface is in soft phase, is effectively reduced viscous pressure resistance, to reduce total
Resistance, improve dive floating speed so that submersible have it is longer under water can the activity duration.
The present invention makes submersible twist turn round fortune by controlled level rudder and vertical rudder in dive and floating-upward process
Dynamic, latent device in-position is not far from a upright position is laid when dive, can be more nearly predetermined operation position, it is unnecessary to reduce
Latent device will not be too far from lash ship when the time is lost, and floating, convenient for recycling；
The trim regulating as composed by bow, stern autoclave, trim regulating pump, liquid line and its internal liquid in the present invention
System has expanded pitch conditioning system new job function on traditional application foundation, for provide initial descent movement angle with
And the leveling of the submersible after the water surface is floated to, submersible does not need to increase new system, has preferably played the effect of existed system
Can, increase economy；
The present invention is mainly greater than buoyancy then dive by latent device self gravity, abandons floating ballast, and buoyancy is greater than gravity then
The principle of floating hardly needs latent device energy source and power, can reduce whole electrical demand, cost is greatly reduced.
Building block of the present invention generally based on conventional diving device is adjusted and is combined by functions expanding, position
Using etc. modes improve the dive floating movement velocity of submersible, the non-activity duration is reduced, from economy, operating habit and construction
Empirically, more comprehensive advantage.
Therefore, the present invention can be applied in the unpowered dive of deep-submarine and in floating extensively.
Detailed description of the invention
Fig. 1 is that the unpowered dive floating kinematic system provided in an embodiment of the present invention applied to deep-submarine is illustrated
Figure.
Fig. 2 is the unpowered dive floating kinematic system applied to deep-submarine of the present invention in embodiment in water
Face original state top view.
Fig. 3 is that the unpowered dive floating kinematic system applied to deep-submarine of the present invention in embodiment is inclined greatly
Angle dive schematic diagram.
Fig. 4 is the unpowered dive floating kinematic system spiral applied to deep-submarine of the present invention in embodiment
Turn round dive movement profiles.
Fig. 5 is that the unpowered dive floating kinematic system applied to deep-submarine of the present invention in embodiment is abandoned
In seabed operation state diagram after dive ballast.
Fig. 6 is that the unpowered dive floating kinematic system applied to deep-submarine of the present invention in embodiment is faced upward greatly
Angle floating state diagram.
Fig. 7 is that the big unpowered dive floating kinematic system applied to deep-submarine of the present invention in embodiment is returned
State diagram after to the water surface.
In figure: 1, dive ballast；2, floating ballast；3, fore body autoclave；4, stern autoclave；5, liquid line；6, it indulges
Incline adjusting pump；7, mercury, seawater or other liquid mediums；8, vertical rudder；9, hydroplane；10, manipulator；11, fore body laterally pushes away
Into device；12, ballast water tank water；13, stern promotes mainly device；14, stern lateral boost device；15, vertical thrusters.
Fig. 8 is floating resistance of motion comparison diagram of the present invention under the different speed of a ship or plane that embodiment provides, different Angle of Trims.
Fig. 9 is dive resistance of motion comparison diagram of the present invention under the different speed of a ship or plane that embodiment provides, different Angle of Trims.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to embodiments, to the present invention
It is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not used to
Limit the present invention.
The present invention provides one kind and is suitable for conventional deep manned submersible structural shape and operating feature, without the help of latent
Device self power is able to achieve the quick dive floating movement of submersible, and too far without departing from lash ship placement, is easy to marine implementation
The Novel unpowered dive floating movement technique and system applied to deep manned submersible.
Below with reference to concrete analysis, the invention will be further described.
As shown in Fig. 1-Fig. 7, transportation by driving in the unpowered dive provided in an embodiment of the present invention applied to deep-submarine
Dynamic system, a set of dive ballast 1 and a set of floating ballast 2 including submersible fore body is arranged in, one is located at submersible fore body
Fore body autoclave 3 and an autoclave 4 for being located at submersible stern part, the two be connected by liquid line 5, set among pipeline
It is equipped with trim regulating pump 6, a certain amount of mercury, seawater or other liquid is provided in pipeline and in fore body and stern autoclave and is situated between
Matter 7 is provided with a set of vertical rudder and a set of hydroplane on submersible, is connected as one with the executing agency that comes about inside submersible respectively
Body.
As the preferred embodiment of the present invention, the fore body autoclave, stern autoclave, trim regulating pump, liquid line
And internal liquid etc. constitutes submersible pitch conditioning system, and traditionally, indulging when pitch conditioning system is only used for seabed operation
Incline adjustment effect, heretofore described pitch conditioning system also provides for initial descent fortune in addition to continuing to play traditional function
It moves angle and floats to the submersible leveling after the water surface.The fore body autoclave and stern autoclave one are arranged in submersible
Fore body, one is arranged in stern, and the water pressure of submersible maximum diving depth should can be born in structure, titanium alloy, aluminium can be used
The materials such as alloy, stainless steel can be sphere or cylindrical body in shape；The liquid line is for connecting fore body autoclave and stern
Autoclave, pipeline material determine that mercury, seawater or fresh water etc. usually can be used in the liquid according to carried liquid；It is described vertical
The adjusting pump that inclines is opened and closed by control valve, changes liquid in pipe flow direction.
As the preferred embodiment of the present invention, the dive ballast and floating ballast should be arranged in below submersible fore body,
Ballast can be iron block, lead etc., and shape can be square, cuboid, cylindrical body etc., be set according to submersible general layout space
Meter.
As the preferred embodiment of the present invention, the vertical rudder and hydroplane are conventionally applied only to control submersible in seabed
Direction when cruise, the direction of motion of the present invention using vertical rudder and hydroplane control submersible in dive and floating, makes to dive
Hydrophone can helically line dive and floating, without departing from predetermined position hypertelorism, the vertical rudder is typically located at submersible stern
Portion, hydroplane may be arranged at submersible fore body, stern and middle part etc., and the hydroplane each one in two side of a ship of submersible；In general, being
Reduction water resistance, vertical rudder and hydroplane should be streamlined.
Submersible front lower portion is equipped with manipulator 10；Submersible front is equipped with fore body sideways-acting propeller 11, on submersible
Portion is equipped with ballast water tank water 12；Submersible rear portion is equipped with stern and promotes mainly device 13, stern lateral boost device.Installation in the middle part of submersible
There are vertical thrusters 15.
Unpowered dive floating movement technique provided in an embodiment of the present invention applied to deep-submarine, comprising:
1) cooperation suspension cable is hung by folding arm crane or A type to hang latent device into water, complete water surface inspection, device original state of diving
In horizontality, as depicted in figs. 1 and 2.
2) start hydraulic power source, after making ballast water tank water pouring full water, adjustment liquid in pipe sendout is pumped by trim regulating, by stern
The liquid of portion's autoclave injects fore body autoclave by pipeline, makes submersible in trim certain angle, including but not limited to 15 degree,
30 degree, 45 degree, 60 degree etc., after ballast water tank water pouring full water, submersible hull wide-angle angle of depression state starts dive, such as Fig. 3 institute
Show；
3) in order not to make submersible deviate lash ship hypertelorism, aquanaut adjusts vertical rudder and hydroplane by making rudder
Angle makes submersible carry out spiral revolution dive campaign, as shown in Figure 4；
4) when submersible abandons dive ballast close to seabed (within 200 meters), starting hydraulic system adjusts mercury sendout,
Hull is set to be substantially at neutral buoyancy or micro- positive buoyancy and horizontality, as shown in Figure 5；
5) submersible passes through main thruster, vertical thrusters and sideways-acting propeller under water and is cruised and pinpointed under water work
Industry；
6) set job task is completed, starts to do floating preparation.Floating ballast is abandoned, latent device is made to be in big-elevation floating,
The elevation angle includes but is not limited to 15 degree, 30 degree, 45 degree, 60 degree etc., as shown in Figure 6；
7) similar to dive process, in order not to make submersible deviate lash ship hypertelorism, aquanaut is adjusted by making rudder
Vertical rudder and hydroplane angle make submersible carry out spiral revolution ascending motion；
8) when latent device is floated to close to the water surface, trim regulating pump by the liquid in fore body autoclave by pipeline adjust to
In stern autoclave, submersible hull is substantially at horizontality, as shown in Figure 7；Meanwhile it opening exhaust valve and utilizing high pressure gas holder
Water in ballast tank is blown down, so that latent device increases buoyancy, raises freeboard；
It is identical as routine operation, submersible is recycled on deck, aquanaut completes after equipment checks, cabin out.
Application of the invention is further described below with reference to emulation experiment.
Submersible streamflow regime numerical simulation mould when horizontal, 30 degree of inclination angles and 45 degree of inclination angle dives is respectively adopted in the present invention
Quasi-, upper left is 45 degree, and 30 degree of You Shangwei, here is horizontal, it is seen that wake flow cleanliness is best at 45 degree.
Submersible streamflow regime numerical simulation mould when horizontal, 30 degree of inclination angles and 45 degree of inclination angles floatings is respectively adopted in the present invention
Quasi-, upper left is 45 degree, and 30 degree of You Shangwei, here is horizontal, it is seen that wake flow cleanliness is best at 45 degree.
If Fig. 8 is the floating resistance of motion comparison under the different speed of a ship or plane, different Angle of Trims, as can be seen from Fig. 8, with the 3 section speed of a ship or plane
For, the vertical plane resistance of submersible floating movement can be reduced by about 60%, due to the reduction of resistance, can greatly improve movement speed
Degree reduces floating interval of floating dock.
If Fig. 9 is the dive resistance of motion comparison under the different speed of a ship or plane, different Angle of Trims, as can be seen from Fig. 9, with the 3 section speed of a ship or plane
For, the vertical plane resistance of submersible dive campaign can be reduced by about 30%, due to the reduction of resistance, can greatly improve movement speed
Degree reduces Diving Time.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (9)
1. a kind of unpowered dive floating kinematic system applied to deep-submarine, which is characterized in that described to be applied to greatly
The unpowered dive floating kinematic system of depth submersible includes:
The dive ballast and floating ballast of submersible fore body are set；
Fore body autoclave positioned at submersible fore body and the stern autoclave positioned at submersible stern part, fore body autoclave and stern are resistance to
Pressure tank is connected by liquid line；
Trim regulating pump is provided among liquid line；
A certain amount of mercury, seawater or other liquid are provided in liquid line and in fore body autoclave and stern autoclave to be situated between
Matter；
It is provided with vertical rudder and hydroplane on submersible, is connected as one with the executing agency that comes about corresponding inside submersible respectively
Body；
Fore body autoclave, stern autoclave, trim regulating pump, liquid line and a certain amount of mercury, seawater or other liquid are situated between
Texture is at submersible pitch conditioning system；
Pitch conditioning system be used for seabed operation when trim regulating effect, also provide for initial descent movement angle and on
Submersible leveling after climbing up on top of the water.
2. being applied to the unpowered dive floating kinematic system of deep-submarine as described in claim 1, which is characterized in that
The fore body autoclave and stern autoclave are all made of titanium alloy, aluminium alloy, stainless steel material, and shape is sphere or cylindrical body.
3. being applied to the unpowered dive floating kinematic system of deep-submarine as described in claim 1, which is characterized in that
Trim regulating pump is opened and closed by control valve, changes liquid in pipe flow direction.
4. being applied to the unpowered dive floating kinematic system of deep-submarine as described in claim 1, which is characterized in that
Dive ballast and floating ballast are arranged below submersible fore body, and dive ballast and floating ballast are iron block, lead, and shape is positive
Cube, cuboid, cylindrical body.
5. being applied to the unpowered dive floating kinematic system of deep-submarine as described in claim 1, which is characterized in that
Vertical rudder and hydroplane are used to control direction of the submersible when seabed is cruised, and are also used to control submersible in dive and floating
The direction of motion, make submersible helically line dive and floating；The vertical rudder is arranged in submersible stern part, and hydroplane is arranged in
Submersible fore body, stern and middle part；Hydroplane each one in two side of a ship of submersible；Vertical rudder and hydroplane are streamlined.
6. a kind of be applied to greatly applied to the unpowered dive floating kinematic system of deep-submarine as described in claim 1
The unpowered dive floating movement technique of depth submersible, which is characterized in that described applied to the unpowered of deep-submarine
Dive floating movement technique, comprising:
1) cooperation suspension cable is hung by folding arm crane or A type to hang latent device into water, complete water surface inspection；
2) start hydraulic power source, after making ballast water tank water pouring full water, adjustment liquid in pipe sendout is pumped by trim regulating, stern is resistance to
It presses the liquid of tank to inject fore body autoclave by pipeline, makes submersible in trim certain angle, after ballast water tank water pouring full water, dive
The angle of depression state dive of hydrophone hull wide-angle；
3) vertical rudder and hydroplane angle are adjusted, submersible is made to carry out spiral revolution dive campaign；
4) when submersible abandons dive ballast, starting hydraulic system adjustment mercury, seawater or other liquid mediums point close to seabed
Dosage makes hull be in neutral buoyancy or micro- positive buoyancy and horizontality；
5) submersible is cruised and Fixed Point Operation under water by main thruster, vertical thrusters and sideways-acting propeller；
6) set job task is completed, floats, abandons floating ballast, latent device is made to be in big-elevation floating；
7) by making rudder, vertical rudder and hydroplane angle is adjusted, submersible is made to carry out spiral revolution ascending motion；
8) when latent device is floated to close to the water surface, mercury, seawater or other liquid in fore body autoclave are situated between by trim regulating pump
Matter is adjusted by pipeline into stern autoclave, and submersible hull is in horizontality, meanwhile, it opens exhaust valve and utilizes high pressure gas
Tank blows down the water in ballast tank, increases latent device by buoyancy, raises freeboard.
7. being applied to the unpowered dive floating movement technique of deep-submarine as claimed in claim 6, which is characterized in that
In step 2), trim certain angle includes but is not limited to 15 degree, 30 degree, 45 degree, 60 degree.
8. being applied to the unpowered dive floating movement technique of deep-submarine as claimed in claim 6, which is characterized in that
In step 6), big-elevation angle includes but is not limited to 15 degree, 30 degree, 45 degree, 60 degree.
9. a kind of at least carry the depth for being applied to the unpowered dive floating kinematic system of deep-submarine described in claim 1
Extra large scientific investigation ship.
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| CN110665881A (en) * | 2019-10-18 | 2020-01-10 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | Automatic cleaning device and cleaning method for underwater anchor chain |
| CN111254982A (en) * | 2020-01-20 | 2020-06-09 | 中交第三航务工程局有限公司 | Pushing process of underwater cable-stayed suspension tunnel |
| CN111547212A (en) * | 2020-06-02 | 2020-08-18 | 哈尔滨工程大学 | Buoyancy control method for unpowered rapid submerged-floating AUV |
| CN113104186A (en) * | 2021-05-21 | 2021-07-13 | 中国船舶科学研究中心 | Novel low-noise trim balance system for submersible vehicle and operation method thereof |
| CN113184151A (en) * | 2021-06-03 | 2021-07-30 | 中国船舶科学研究中心 | Buoyancy adjusting system and method for medium-shallow depth submersible |
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| CN113911304A (en) * | 2021-11-15 | 2022-01-11 | 中国船舶科学研究中心 | Navigation attitude conversion mechanism of underwater unmanned vehicle and operation method |
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| CN110203362B (en) * | 2019-07-30 | 2019-12-06 | 上海彩虹鱼海洋科技股份有限公司 | Method for changing navigation state of underwater robot and navigation state-variable underwater robot |
| CN110203362A (en) * | 2019-07-30 | 2019-09-06 | 上海彩虹鱼海洋科技股份有限公司 | A kind of method changing underwater robot boat state and variable boat state underwater robot |
| CN110665881B (en) * | 2019-10-18 | 2020-09-25 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | Automatic cleaning device and cleaning method for underwater anchor chain |
| CN110665881A (en) * | 2019-10-18 | 2020-01-10 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | Automatic cleaning device and cleaning method for underwater anchor chain |
| CN111254982B (en) * | 2020-01-20 | 2021-05-14 | 中交第三航务工程局有限公司 | Pushing process of underwater cable-stayed suspension tunnel |
| CN111254982A (en) * | 2020-01-20 | 2020-06-09 | 中交第三航务工程局有限公司 | Pushing process of underwater cable-stayed suspension tunnel |
| CN111547212A (en) * | 2020-06-02 | 2020-08-18 | 哈尔滨工程大学 | Buoyancy control method for unpowered rapid submerged-floating AUV |
| CN113104186A (en) * | 2021-05-21 | 2021-07-13 | 中国船舶科学研究中心 | Novel low-noise trim balance system for submersible vehicle and operation method thereof |
| CN113184151A (en) * | 2021-06-03 | 2021-07-30 | 中国船舶科学研究中心 | Buoyancy adjusting system and method for medium-shallow depth submersible |
| CN113479309A (en) * | 2021-07-22 | 2021-10-08 | 中国船舶科学研究中心 | Manned submersible unpowered trim auxiliary restraining device and operation method |
| CN113479309B (en) * | 2021-07-22 | 2022-04-26 | 中国船舶科学研究中心 | Manned submersible unpowered trim auxiliary restraining device and operation method |
| CN113911304A (en) * | 2021-11-15 | 2022-01-11 | 中国船舶科学研究中心 | Navigation attitude conversion mechanism of underwater unmanned vehicle and operation method |
| CN113911304B (en) * | 2021-11-15 | 2022-09-13 | 中国船舶科学研究中心 | Navigation attitude conversion mechanism of underwater unmanned vehicle and operation method |
| CN115092344A (en) * | 2022-07-14 | 2022-09-23 | 中国科学院沈阳自动化研究所 | Counterweight and weight layout method for posture adjustment of large-depth underwater robot |
| CN115092344B (en) * | 2022-07-14 | 2024-03-19 | 中国科学院沈阳自动化研究所 | Counterweight and weight layout method for posture adjustment of large-depth underwater robot |
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