CN109501984B - Foldable wing sail and underwater unmanned platform - Google Patents
Foldable wing sail and underwater unmanned platform Download PDFInfo
- Publication number
- CN109501984B CN109501984B CN201811425060.2A CN201811425060A CN109501984B CN 109501984 B CN109501984 B CN 109501984B CN 201811425060 A CN201811425060 A CN 201811425060A CN 109501984 B CN109501984 B CN 109501984B
- Authority
- CN
- China
- Prior art keywords
- wing
- sail
- fixed
- wing sail
- sails
- 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.)
- Active
Links
Images
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
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B1/00—Hydrodynamic or hydrostatic features of hulls or of hydrofoils
- B63B1/16—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving additional lift from hydrodynamic forces
- B63B1/24—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving additional lift from hydrodynamic forces of hydrofoil type
- B63B1/28—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving additional lift from hydrodynamic forces of hydrofoil type with movable hydrofoils
- B63B1/30—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving additional lift from hydrodynamic forces of hydrofoil type with movable hydrofoils retracting or folding
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Other Liquid Machine Or Engine Such As Wave Power Use (AREA)
Abstract
The invention provides a foldable wing sail and an underwater unmanned platform. The foldable wing sail is arranged at one end of the fixed wing, one end of the fixed wing is connected with the hull, the other end of the fixed wing is provided with the wing sail, a folding mechanism and a steering mechanism are arranged between the fixed wing and the wing sail, the folding mechanism is used for switching the coplanar and vertical states of the wing sail and the fixed wing, and the steering mechanism is used for adjusting the incident flow angle of the wing sail when the wing sail is vertical to the fixed wing. The foldable wing sail, the fixed wing and the boat body can form an underwater unmanned platform with self-navigation capability. The invention utilizes ocean current to generate propulsion power for the underwater unmanned platform, solves the problem of autonomous propulsion energy of the underwater unmanned platform, and enhances the endurance and the survival capability.
Description
Technical Field
The invention relates to the field of underwater operation equipment, in particular to a foldable wing sail and an underwater unmanned platform.
Background
The ocean is a treasure house of human beings, and the ocean resources are important strategic resources in China. The acquisition of data of marine hydrology, geography and the like is a basic premise and an important step for utilizing marine resources. The existing information acquisition of the ocean in China is mainly carried out by means of artificial satellites, ocean survey vessels and the like. Based on satellite-based marine information collection, essentially only information above sea level can be collected. For information hidden below sea level, the information gathering capabilities of the satellite will be greatly diminished. At this time, the information collection is mainly carried out by means of the marine survey vessel. However, the number of the existing marine survey vessels in China is limited, and the marine survey vessels cannot be deployed in various important sea areas of the ocean in the world and can be used for all-weather real-time detection and monitoring. When the marine geographic environment changes under the action of man-made or non-man-made, the information collection mode based on the artificial satellite and the marine survey vessel cannot timely and effectively update the information.
An unmanned Autonomous Underwater Vehicle (AUV), which is a kind of underwater robot, manages and controls itself to complete a given mission by relying on its own Autonomous ability. The ocean current propelling technology for the foldable wing sails of the underwater unmanned platform is characterized in that on the basis of the existing underwater unmanned platform, the wing sails of the underwater unmanned platform are folded and unfolded to be vertical to the body of a vehicle to form the wing sails in a sea area with proper ocean current. And adjusting the attack angle of the wing sail according to the course, the ocean current direction and the flow velocity so as to obtain more ideal propelling power and assist in driving the AUV.
The inventor is based on practical experience and professional knowledge researched and developed in the field, and actively carries out research and innovation by matching with the application of theory, so that an underwater unmanned platform with a novel structure and a propulsion mode is created, and the underwater unmanned platform is more practical. After continuous research, design and calculation, simulation verification and improvement, the invention with practical value is finally created.
Disclosure of Invention
The purpose of the invention is as follows: in order to overcome the defects in the prior art, the invention provides a foldable wing sail and an application thereof on an underwater unmanned platform.
The technical scheme is as follows: in order to solve the technical problems, the foldable wing sail provided by the invention is characterized in that the wing sail is arranged at one end of a fixed wing, a folding mechanism and a steering mechanism are connected between the fixed wing and the wing sail, the folding mechanism is used for switching the coplanar and vertical states of the wing sail and the fixed wing, and the steering mechanism is used for adjusting the incident flow angle of the wing sail when the wing sail is vertical to the fixed wing; the other end of the fixed wing is connected with the boat body.
Preferably, the fixed wing includes a first fixed wing, a second fixed wing, a third fixed wing and a fourth fixed wing installed on both sides of the hull, the first fixed wing and the third fixed wing are symmetrical to each other with the central axis of the hull as the symmetry axis, and the first fixed wing is parallel to the second fixed wing.
Preferably, the wing sails include a first wing sail connected to the first fixed wing, a second wing sail connected to the second fixed wing, a third wing sail connected to the third fixed wing, and a fourth wing sail connected to the fourth fixed wing, the first wing sail and the third wing sail being folded upward, and the second wing sail and the fourth wing sail being folded downward.
The invention also provides application of the structure in an underwater unmanned platform, which comprises a boat body and a fixed wing, and is characterized in that: one end of the fixed wing is fixedly connected with the hull, the other end of the fixed wing is provided with the foldable wing sail, a folding mechanism and a steering mechanism are arranged between the fixed wing and the wing sail, the folding mechanism is used for switching the coplanar and vertical states of the wing sail and the fixed wing, and the steering mechanism is used for adjusting the incident flow angle of the wing sail when the wing sail is vertical to the fixed wing.
Preferably, the fixed wings include a first fixed wing, a second fixed wing, a third fixed wing and a fourth fixed wing which are installed on both sides of the hull, and the wing sails include a first wing sail, a second wing sail, a third wing sail and a fourth wing sail.
Preferably, the platform comprises a battery energy storage module, a conventional propulsion subsystem, a foldable wing sail subsystem, a positioning and speed measurement subsystem, an intelligent detection and control subsystem, a data storage subsystem and a communication subsystem.
The ocean current propulsion method of the underwater unmanned platform is characterized in that when an included angle between the sailing direction of the boat body and the ocean current direction is-90 degrees, the AUV is enabled to advance towards a specified course angle by adjusting the angle of the wing sail; when the angle between the sailing direction of the boat body and the direction of ocean current is larger than 90 degrees, the self-sailing power of the boat body is provided by the battery energy storage module and the traditional propulsion subsystem.
Preferably, a solar power generation film having a protective color characteristic is applied to the hull surface, and when the hull is in a reverse flow, the solar power generation film floats up to the water surface to be charged by solar energy, thereby storing the sailing power.
As model verification, the chord length of the wing sail is 0.2m, the camber is 0.1, the thickness is 15mm, the spread length is 0.2m, and the head and the tail are in arc transition; the outer contour of the fixed wing is consistent with that of the wing sail, and 5mm is increased outwards in the thickness direction; the length of the main boat body is 0.6 m.
When the foldable wing sail of the underwater unmanned platform is used, the wing sail is formed by folding and unfolding the boat wing to be vertical to the boat body of an aircraft in a sea area with proper ocean current on the basis of the existing underwater unmanned platform by using an ocean current propulsion technology. And reasonably planning the navigation track according to the AUV navigation task, the ocean current direction and flow velocity and the ocean current direction and speed, and reasonably planning the navigation track and adjusting the sailing angle to obtain more ideal propulsion power to drive the AUV to navigate.
Has the advantages that: the novel foldable wing sail is designed for the underwater unmanned platform, and the ocean current can be used for generating propulsion power for the AUV, so that the autonomous problem of the AUV in propulsion energy is solved, and the survival capability of the AUV in hostile or severe environments is enhanced. The target is small, the detection is not easy, the action is hidden, and meanwhile, the energy autonomy technology is adopted, so that a mother ship or a connecting device and the like are not needed for recovery or close charging, and the endurance time is long. Therefore, the target detection and information collection by the AUV can be more concealed and durable.
In addition to the technical problems addressed by the present invention, the technical features constituting the technical solutions, and the advantages brought by the technical features of the technical solutions described above. To make the objects, technical solutions and advantages of the present invention clearer, other technical problems that the present invention can solve, other technical features included in the technical solutions and advantages brought by the technical features will be more clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Drawings
FIG. 1 is a schematic structural diagram of an embodiment of the present invention;
FIG. 2 is a schematic view of the sail of FIG. 1 in its deployed and attached configuration;
FIG. 3 is a schematic view of the erection of the foldable wing sail;
FIG. 4 is a system architecture diagram of an embodiment of the present invention;
FIG. 5 is a perspective view of a wing-body fused AUV configuration (wing sail not deployed);
FIG. 6 is a perspective view of a wing-body fused AUV configuration (with the wing sail deployed);
FIG. 7 is a perspective view of the collapsible wing in an erected deformed condition;
FIG. 8 is a top plan view of the collapsible span open erect deformed state;
FIG. 9 is a view of the collapsible wing in the erect deformed state (the lower left and upper right sails rotated 180 °);
fig. 10 is a foldable wing-open erected working condition 1;
FIG. 11 is the foldable wing open erect operational condition 2;
fig. 12 is the foldable wing open erected working condition 3;
in the figure: the boat comprises a main boat body 1, a fixed wing 2, a wing sail 3, a folding motor 4-1, a worm gear reducer 4-2, a connecting rod 4-3 and a steering motor 5.
Detailed Description
Example (b):
the underwater unmanned self-propelled platform model applying the foldable wing sail is shown in fig. 1. The model has four wing sails 3, four fixed wings 2 and a main hull 1. The chord length of the wing sail 3 is 0.2m, the camber is 0.1, the thickness is 15mm, the spread length is 0.2m, and the head and the tail are in arc transition; because the wing sail 3 extends out of the fixed wing 2, the appearance of the fixed wing 2 is basically consistent with that of the wing sail 3, and only the thickness direction is 5mm more outwards; the length of the main hull 1 is 0.6 m.
The installation structure is shown in fig. 2 and fig. 3, the wing sail 3 and the steering motor 5 are fixedly installed through an installation fixing piece and a screw, an output shaft of the steering motor 5 is fixedly connected with an output shaft of a worm gear reducer 4-2 through a connecting rod 4-3, an input shaft of the worm gear reducer 4-2 is fixedly connected with a power output shaft of a folding motor 4-1, the folding motor 4-1 and the fixed wing 2 are fixedly installed and fixed through the fixing piece and the screw, the worm gear reducer 4-2 realizes the upward/downward 90-degree folding of the wing sail 3, and the free rotation (the adjustment of the sailing direction) of the wing sail 3 along the central axis is realized through the output shaft of the steering motor 5 fixedly installed on the connecting rod 4-3. The installation and fixation modes can adopt interference fit, and the folding motor 4-1 and the steering motor 5 both adopt waterproof structural designs.
As shown in fig. 4, the underwater unmanned platform prototype mainly comprises a battery energy storage module, a traditional propulsion subsystem, a foldable wing sail subsystem, a positioning and speed measuring subsystem, an intelligent detection and control subsystem, a data storage subsystem and a communication subsystem.
The battery energy storage module provides a power energy source for the whole underwater unmanned platform, and the main function of the battery energy storage module is to provide a basic power energy source for other modules or subsystems.
The traditional propulsion subsystem is mainly responsible for providing power required by navigation of the underwater unmanned platform, and when the underwater unmanned platform navigates, the propeller propulsion subsystem generates propulsion power to provide power for normal navigation of the underwater unmanned platform. The energy-saving propeller mainly comprises a propeller control module, a propeller thruster, an energy consumption control module and the like. The foldable wing sail propulsion subsystem is mainly responsible for providing power required by navigation of the underwater unmanned platform, and when the underwater unmanned platform navigates, ocean current is used for driving the foldable wing sail to directly generate propulsion power so as to provide auxiliary power for navigation of the underwater unmanned platform. The locking and unlocking device mainly comprises a folding control module, a rotating control module and a locking and unlocking control module.
The positioning and speed measuring subsystem is mainly used for comprehensively positioning and measuring the AUV in real time through modules such as satellite positioning, inertial navigation, depth measurement and the like. Mainly comprises a satellite positioning module, an inertial navigation module, a depth measurement module and a speed measurement module
The intelligent detection and control subsystem mainly obtains original data of a target object through means such as sonar and underwater camera shooting so as to be processed by the detection control kernel module and obtain information.
The data storage subsystem mainly collects various data of the modules during the AUV navigation and stores the data so as to be sent to the test data collection equipment by the communication subsystem at a proper time.
The communication subsystem is an infrastructure for information exchange between the underwater unmanned platform and other external systems (mainly referred to as test data collection equipment) and provides necessary software and hardware modules for communication between the underwater unmanned platform and the remote control center.
The folding and unfolding method of the foldable wing sail is sketched as shown in fig. 5-12. The double-layer wing sail can adopt a stacked sail retracting mode, and each layer of the left double-layer wing sail and the right double-layer wing sail is designed into a stacked mode. When the wing sail is not in operation, the foldable wing sail structure is shown in figure 5. Under the condition that the ocean current flow field is proper, the sails of each layer of wing sail extend to the left and the right to the designated positions, as shown in fig. 6. Then the wing sails take the edge of the plane when folded as the axis, and the upper and lower layers of wing sails rotate 90 degrees in opposite directions respectively, as shown in fig. 7 and 8. Then, the two wing sails at the upper left and the lower right are respectively rotated by 180 degrees along the central axis of the respective erection surface, so that the circular arc concave-convex directions of all the wing sails are consistent, and the deformation is completed, as shown in fig. 9. All the wing sails then start to work, and the best thrust effect can be produced by adjusting the appropriate angle of attack, as shown in fig. 10-12. When the wing sail needs to be collected due to improper flow, the process needs to be reversely evolved, namely: firstly, respectively rotating a left lower wing sail and a right upper wing sail for 180 degrees along the central axis of the respective erection surface; secondly, the edges of the erected wing sails on the upper and lower layers are rotated by 90 degrees in opposite directions respectively when being folded, and then the wing sails are changed into a horizontal extension state; and finally, the wing in the horizontal stretching state is retracted into the laminated mode.
When the course angle is between-90 degrees and 90 degrees, the AUV can advance towards the appointed course angle by adjusting the angle of the wing sail; when hull navigation direction and ocean current direction angle are greater than 90, hull self-navigation power is provided by battery energy storage module and traditional propulsion subsystem to lay the solar energy power generation film that has the protection color characteristic on hull surface, when hull is against the current, then come up to the surface of water and carry out solar charging, deposit navigation power.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or the orientations or positional relationships that the products of the present invention are conventionally placed in use, and are only used for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
The invention provides a brand-new thought and method for the structure of the underwater unmanned platform, and the method and the way for realizing the technical scheme are many, and the preferred embodiment is provided by way of example. Numerous modifications, changes, and substitutions will occur to those skilled in the art without departing from the invention. It should be understood that various alternatives to the embodiments of the invention described herein may be employed in practicing the invention. It is intended that the following claims define the scope of the invention and that methods and structures within the scope of these claims and their equivalents be covered thereby. All the components not specified in the present embodiment can be realized by the prior art.
Claims (2)
1. The utility model provides an unmanned platform under water, includes hull and stationary vane, its characterized in that: one end of the fixed wing is fixedly connected with the hull, the other end of the fixed wing is provided with a foldable wing sail, a folding mechanism and a steering mechanism are arranged between the fixed wing and the wing sail, the folding mechanism is used for switching the coplanar and vertical states of the wing sail and the fixed wing, and the steering mechanism is used for adjusting the incident flow angle of the wing sail when the wing sail is vertical to the fixed wing; the fixed wings comprise a first fixed wing, a second fixed wing, a third fixed wing and a fourth fixed wing which are arranged on two sides of the boat body;
the first fixed wing and the third fixed wing are symmetrical to each other by taking the central axis of the boat body as a symmetrical axis, and the first fixed wing and the second fixed wing are parallel; the wing sails comprise a first wing sail, a second wing sail, a third wing sail and a fourth wing sail; the wing sail adopts a stacked sail retracting mode, and each layer of the wing sail is designed into a stacked mode;
when the included angle between the sailing direction of the boat body and the ocean current direction is between-90 degrees and 90 degrees, the steering mechanism adjusts the angle of the wing sail to enable the underwater unmanned platform to move forward towards the appointed course angle; the wing sails extend to the designated positions from left to right, then the wing sails rotate 90 degrees in opposite directions respectively by taking the edge of a plane when the wing sails are folded as an axis, and then the upper left wing sail and the lower right wing sail rotate 180 degrees along the central axis of the erected surface respectively, so that the arc concave-convex directions of all the wing sails are consistent, and the deformation is completed; then all the wing sails start to enter a working state, and the optimal thrust effect is generated by adjusting the incident flow angle;
when the angle between the sailing direction of the boat body and the ocean current direction is larger than 90 degrees, the wing sails are folded, firstly, the left lower wing sail and the right upper wing sail rotate 180 degrees along the central axes of the respective erection surfaces respectively; secondly, the edges of the erected wing sails on the upper and lower layers are rotated by 90 degrees in opposite directions respectively when being folded, and then the wing sails are changed into a horizontal extension state; and finally, the wing in the horizontal stretching state is retracted into the laminated mode.
2. The underwater unmanned platform of claim 1, wherein: the system comprises a battery energy storage module, a traditional propulsion subsystem, a foldable wing sail subsystem, a positioning and speed measuring subsystem, an intelligent detection and control subsystem, a data storage subsystem and a communication subsystem.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811425060.2A CN109501984B (en) | 2018-11-27 | 2018-11-27 | Foldable wing sail and underwater unmanned platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811425060.2A CN109501984B (en) | 2018-11-27 | 2018-11-27 | Foldable wing sail and underwater unmanned platform |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109501984A CN109501984A (en) | 2019-03-22 |
| CN109501984B true CN109501984B (en) | 2020-06-16 |
Family
ID=65750800
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811425060.2A Active CN109501984B (en) | 2018-11-27 | 2018-11-27 | Foldable wing sail and underwater unmanned platform |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109501984B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110682994A (en) * | 2019-07-29 | 2020-01-14 | 浙江海洋大学 | Ship easy-to-move device |
| CN111306401A (en) * | 2020-04-17 | 2020-06-19 | 上海海事大学 | A rotatable sail formula is underwater robot independently for conduit detects |
| CN115258107B (en) * | 2022-07-21 | 2023-11-21 | 江苏科技大学 | Folding T-shaped wing for wing body fusion underwater glider and working method thereof |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8939804B2 (en) * | 2011-06-27 | 2015-01-27 | John Hincks Duke | Wave-powered autonomous plankton collector |
| CN103625622B (en) * | 2013-11-11 | 2016-01-06 | 华南理工大学 | A kind of vertical coursekeeping can handle underwater towed vehicle, |
| CN104192259A (en) * | 2014-09-03 | 2014-12-10 | 西北工业大学 | Wave-driven underwater vehicle |
| CN204871553U (en) * | 2015-07-03 | 2015-12-16 | 张辉 | Water sail |
| CN107444589B (en) * | 2017-07-13 | 2020-09-18 | 华中科技大学 | Deformable observation method for deep sea underwater observation platform |
| CN108545162B (en) * | 2018-06-20 | 2023-04-28 | 天津中德应用技术大学 | Underwater gliding robot based on water jet driving |
-
2018
- 2018-11-27 CN CN201811425060.2A patent/CN109501984B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN109501984A (en) | 2019-03-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN207510668U (en) | A kind of solar energy unmanned boat of closed hull space long-distance remote control seawater sampling | |
| Silva et al. | Rigid wing sailboats: A state of the art survey | |
| CN110481777B (en) | Water-air amphibious unmanned rescue platform | |
| US10331131B2 (en) | Systems and methods for payload integration and control in a multi-mode unmanned vehicle | |
| CN109501984B (en) | Foldable wing sail and underwater unmanned platform | |
| US9096106B2 (en) | Multi-role unmanned vehicle system and associated methods | |
| Webb et al. | SLOCUM: An underwater glider propelled by environmental energy | |
| CN107878670B (en) | Solar energy double-body unmanned ship for remote seawater sampling of small-radius box-type connecting bridge | |
| CN105644752A (en) | Novel wind-solar complementary power supply type unmanned sailing ship and control method thereof | |
| CN113859530B (en) | Multi-purpose cross-medium aircraft carrying AUV | |
| CN108860454B (en) | All-weather long-voyage unmanned sailing ship design method | |
| CN205738030U (en) | A kind of unmanned sailing boat of novel wind-solar complementary energy supply and control method thereof | |
| CN207510667U (en) | Arc-shaped box connecting bridge long-distance remote control seawater sampling solar energy binary unmanned boat | |
| CN107416203B (en) | Unmanned vehicle driven by water-air amphibious solar energy and capable of continuously residing on water surface | |
| CN108016573B (en) | Remote control seawater sampling solar unmanned ship with steerable wing-shaped stable side body | |
| CN207510644U (en) | A kind of solar energy binary unmanned boat of long-distance remote control seawater sampling | |
| CN208007217U (en) | A kind of three body unmanned boat of solar energy of long-distance remote control seawater sampling | |
| CN109649590A (en) | A kind of wave energy and solar energy composite generate electricity four body unmanned boats | |
| CN209051572U (en) | Foldable wing sail and ocean current promote underwater unmanned platform | |
| CN109436267B (en) | Ocean current propulsion method for underwater unmanned platform | |
| CN208855818U (en) | A kind of long continuation of the journey seawater sampling wave energy solar energy binary unmanned boat of self-righting | |
| Neal | A hardware proof of concept of a sailing robot for ocean observation | |
| Chen et al. | A bio-inspired foldable-wing wave energy converter for ocean robots | |
| Wang et al. | Development of the control system for a wave driven glider | |
| Tian et al. | Research progress and prospects of gliding robots applied in ocean observation |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |