CN109870696A - A kind of sonar robot group for marine surveys - Google Patents
A kind of sonar robot group for marine surveys Download PDFInfo
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- CN109870696A CN109870696A CN201910258512.0A CN201910258512A CN109870696A CN 109870696 A CN109870696 A CN 109870696A CN 201910258512 A CN201910258512 A CN 201910258512A CN 109870696 A CN109870696 A CN 109870696A
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- sonar
- sealed body
- robot
- sonar robot
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Abstract
The invention discloses a kind of sonar robot groups for marine surveys, sonar robot group includes a pair of of the sonar robot being attached by connecting line, the sonar robot includes: asymmetric spherical sealed main body, and the medial surface of the sealed body is connect by the connecting line with the inside of another sealed body；The medial surface of the sealed body is provided with sonar equipment, and lateral surface is provided with solar battery；The variable volume of the sealed body adjusts the sealed body submerged or rises to the water surface, and the lateral surface end density for adjusting the sealed body is more than or less than the density at the medial surface end.Sonar robot group of the invention realizes uninterrupted monitoring by the sonar robot of two reverse symmetries, and automatic realize continues to monitor seabed situation.
Description
Technical field
The present invention relates to seabed monitoring technical field, especially a kind of sonar robot group for marine surveys.
Background technique
Resourceful in ocean, containing a large amount of biology, the research to benthon can bring many sides for the mankind
It helps, therefore benthon is monitored, be very important.Spy to be for coastal waters continue to monitor be conducive to ocean transport
Row state is simulated.
It can not be equipment power supply using solar power generation in monitoring but since seabed sunlight itself is few, and replace battery
It not only bothers, it is not easy to realize, seabed truth can not be accurately monitored.
Summary of the invention
In view of the deficiencies of the prior art, the present invention proposes a kind of sonar robot groups for marine surveys, can hide
Seabed monitors subsea environment.
In order to achieve the above-mentioned object of the invention, the present invention is the following technical schemes are provided: a kind of sonar machine for marine surveys
Device people's group, sonar robot group include a pair of of the sonar robot being attached by connecting line, the sonar robot
Include:
The medial surface of asymmetric spherical sealed main body, the sealed body passes through the connecting line and another sealed body
Inside connection；
The medial surface of the sealed body is provided with sonar equipment, and lateral surface is provided with solar battery；
The variable volume of the sealed body adjusts the sealed body submerged or rises to the water surface, and adjusts institute
The lateral surface end density for stating sealed body is more than or less than the density at the medial surface end.
Further, the sealed body includes air bag, gas compressor and control device, is equipped in the sealed body
Heavy pressure gas chamber, the gas compressor both ends are connected to the heavy pressure gas chamber with the air bag respectively, the high pressure gas
The gas-guide tube with regulating valve, the heavy pressure gas chamber, the gas compressor, the air bag are additionally provided between chamber and the air bag
Gas circulation channel is constituted with the gas-guide tube；The air bag is fixed on the sealed body outer wall, the sonar unit with
The control device connection being located in the sealed body, the gas compressor are connect with the control device.
Further, high-pressure gas tank, the output end of the gas compressor and the height are equipped in the sealed body
Gas tank connection is pressed, arrival end is located in the sealed body, and the high-pressure gas tank is connected with vent valve；The sealed body
Connected and composed for two parts air-tight movable: two parts close to when sink to seabed, far from when bubble through the water column；The sonar unit with set
Control device connection in the sealed body, the gas compressor are connect with the control device.
Further, the sealed body further includes having propeller, and the propeller is fixed on the sealed body, with
The control device connection.
Further, the line plays described two sonar robot communications.
Further, the control device includes controller, collects the signal that the sonar unit is collected, and control institute
State propeller running.
Further, the control device further includes rechargeable battery, memory and communication apparatus, and the rechargeable battery is deposited
Reservoir and communication apparatus are connect with the controller.
Further, the sealed body is equipped with the infrared eye connecting with the control device.
Further, the propeller is equipped at least one, and controlled rotation is connected on the sealed body.
Further, the air bag is fixed on the outboard end of the sealed body.
Further, transparency window is covered with outside the infrared eye.
Further, the controlled rotation is connected as horizontal 0-180 degree rotation.
Further, the sealed body is made of asymmetric two hemisphere of Density Distribution height.
Further, stating sealed body further includes pressure gauge, measures the pressure in the sealed body, is filled through the control
It sets and is connected to the vent valve.
The present invention also provides a kind of detection methods of sonar robot group for marine surveys, and the method includes making
It is carried out with the sonar robot group of any one of such as claim 1-7:
(1) in the operating condition, the first sonar robot of described two sonar robots floats on the surface, the second sonar
Robot submerged, the sonar equipment on the inside of described two sonar robots is detected simultaneously, while solar-electricity
It charges to first sonar robot in pond；
(2) in the second sonar robot electric quantity deficiency, second sonar robot adjust its sealed body with
It floats to the surface, while first sonar robot adjusts its sealed body with submerged, completes position and exchanges, realizes the sun
Energy battery charges to second sonar robot.
Further, the propeller of the sonar equipment pushes it to be maintained at fixed position.
Further, the sonar robot being in water will be detected signal and be transmitted to and kept afloat by the connecting line
Sonar robot.
Compared with prior art, the invention has the following advantages that the volume of sonar robot group of the invention by variation
The lateral surface end density for adjusting the sealed body is more than or less than the density at the medial surface end, so that two reverse symmetries
Sonar robot, which constantly shifts one's position, carries out solar recharging, realizes uninterrupted monitoring, and automatic realize continues to monitor seabed situation.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
The structure shown according to these attached drawings obtains other attached drawings.
Fig. 1 is the structural schematic diagram of sonar robot group of the invention；
Fig. 2 is one embodiment of the sonar robot of sonar robot group of the invention；
Fig. 3 is another embodiment of the sonar robot of sonar robot group of the invention.
Fig. 4 is the lateral surface end density of sonar robot of the present invention including sonar robot group and the density at medial surface end
The schematic diagram of regulative mode.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiment is only a part of the embodiments of the present invention, instead of all the embodiments.Base
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts it is all its
His embodiment, shall fall within the protection scope of the present invention.
It is to be appreciated that if relating to directionality instruction (such as up, down, left, right, before and after ...) in the embodiment of the present invention,
Then directionality instruction be only used for explain under a certain particular pose (as shown in the picture) between each component relative positional relationship,
Motion conditions etc., if the particular pose changes, directionality instruction is also correspondingly changed correspondingly.
It in addition, the technical solution between each embodiment can be combined with each other, but must be with ordinary skill
Based on personnel can be realized, this technical side will be understood that when the combination of technical solution appearance is conflicting or cannot achieve
The combination of case is not present, also not the present invention claims protection scope within.
Fig. 1 shows the structure of sonar robot group of the invention.As shown in Figure 1, sonar robot group includes logical
A pair of of sonar robot that connecting line 4 is attached is crossed, sonar robot includes: asymmetric spherical sealed main body 1, sealed body
1 medial surface is connect by connecting line 4 with the inside of another sealed body 1, and preferably connecting line 4 plays two sonar robot communications
Effect, the sonar robot being in water by signal is detected is transmitted to the sonar machine kept afloat by connecting line 4
People；The medial surface of sealed body 1 is provided with sonar equipment 3, and lateral surface is provided with solar battery 2；The volume of sealed body 1 can
Become, the density at the medial surface end is more than or less than by the lateral surface end density that the volume of variation adjusts sealed body 1, so that
The sonar robot of two reverse symmetries, which constantly shifts one's position, carries out solar recharging, realizes uninterrupted monitoring.
Fig. 2 shows one embodiment of the sonar robot of sonar robot group of the invention.Sonar robot, including
Sealed body 1, sealed body 1 include solar battery 2, sonar equipment 3, air bag 6, gas compressor 9, are set in sealed body 1
There is heavy pressure gas chamber 5,9 both ends of gas compressor are connected to heavy pressure gas chamber 5 with the air bag 6 respectively, heavy pressure gas chamber 5 and gas
The gas-guide tube 11 with regulating valve 7 is additionally provided between capsule 6, heavy pressure gas chamber 5, gas compressor 9, air bag 6 and gas-guide tube 11 are constituted
Gas circulation channel；Air bag 6 is fixed on 1 outer wall of sealed body, sonar unit 3 and the control device being located in sealed body 1
10 connections, gas compressor 9 are connect with control device 10.
Heavy pressure gas chamber 5 and gas compressor 9 are set in sealed body 1, and the entrance and air bag 6 of gas compressor 9 connect
It is logical, the gas in air bag 6 is subjected to compression processing, is delivered in heavy pressure gas chamber 5, when needing to fill air bag 6, by high pressure gas
Compressed gas in body cavity 5 is sent through gas-guide tube 11 into air bag 6, and concrete operations are to open regulating valve 7 on gas-guide tube 11.
Above-mentioned gas circulate operation is that regulation sealed body 1 rises or falls, using the volume change for changing air bag 6, makes
Buoyancy suffered by sealed body 1 is obtained to change.Specifically, when needing to give this sonar robot to seabed, gas compressor 9
The gas of air bag 6 is sucked out completely, the high pressure gas of formation is delivered to heavy pressure gas chamber 5, until air bag 6 is contracted to minimum volume,
Buoyancy suffered by sealed body 1 can sink down into seabed less than its self weight at this time.Conversely, when sonar robot gos up or rises to sea,
Regulating valve 7 is opened, the high pressure gas in heavy pressure gas chamber 5 is emitted into air bag 6 through gas-guide tube 11, the exhaust of adjustable control regulation valve 7
Amount controls the volume of air bag 6, to reach the regulation of the rate of climb and height.
It is the fixed metal sealing chamber of volume, pressure-resistant 30MPa, such as bottle that above-mentioned parts, which are specifically respectively as follows: heavy pressure gas chamber 5,
The pressure resistance shape such as shape, can-like, the entrance with one-way conduction, entrance are connected to gas compressor 9, and outlet connects with gas-guide tube 11
It connects.Air bag 6 is cavity, such as rubber made of elastic material, and deformation occurs for energy, and volume is 15-25 times of heavy pressure gas chamber 5.It adjusts
Section valve 7 can be set as DYN dynamic, can be by control device 10 come regulating switch such as solenoid valve.
It is equipped with sonar unit 3 on the top of sealed body 1, subsea environment is monitored using sonar unit 3.Wherein sound
Device 3 specifically includes passive sonar, active sonar, and active sonar emits sound wave into water, by receiving immersed body reflection
Echo find target, and measure its parameter；Target range can be estimated by the time difference that transmitting original sound wave and echo reach；Mesh
Mark orientation then passes through the difference that measurement receives in acoustic matrix between two submatrixs and obtains.Active sonar is by transmitter, acoustic matrix, receiver (packet
Include signal processing), display console several parts composition.And passive sonar detects target by receiving the radiated noise of target,
And measure its parameter；It is made of reception acoustic matrix, receiver (signal processing) and display console three parts.Sonar unit 3 with
Control device 10 connects, and the work of sonar unit 3 and collected information are regulated and controled by control device 10.
Sealed body 1 as the asymmetric sphere of Density Distribution height, lightness sensation in the upper and heaviness in the lower, it is ensured that the sonar unit above it
3 can be in top always, be monitored to the subsea environment of surrounding.In actual setting, in 1 sphere of sealed body, high pressure
Air chamber 5 is located at top, remaining equipment is located at lower part.
It is equipped with propeller 8 in the lower section of sonar robot, drives sonar robot to move in marine front and back using propeller 8
Dynamic, especially propeller 8 is connected to sonar robot lower part through shaft 81, propeller 8 around the shaft 81 rotational angle be 0-180
Degree, this means that propeller 8 can arbitrarily adjust the direction of advance of sonar robot.
Propeller 8 is orbiting vane or water jet, and side is connect through bearing block with shaft 81, and propeller 8 is in shaft
Completion is driven by motor in rotation on 81.Above-mentioned propeller 8 and motor are connect with control device 10, by control device 10
Regulation operation.
Propeller 8 is equipped at least one, and optimal number is three, is distributed in 1 lower section of sealed body.
Control device 10 includes controller, for collecting the signal of the collection of sonar unit 3, and controls the operation of propeller 8；
It further include rechargeable battery, memory and communication apparatus, rechargeable battery, memory and communication apparatus are connect with controller.
It is additionally provided with infrared eye on sealed body 1, the biological situation in seabed is monitored by infrared mode, is taken the photograph infrared
As being covered with transparency window outside device.
Rechargeable battery provides the power supply of all electrical equipments, can be full of in advance；Memory convenient for storage sonar unit 3 and
The information that infrared eye is collected；The information of above-mentioned collection can be sent to service station by communication apparatus.
Fig. 3 is another embodiment of the sonar robot of sonar robot group of the invention.Sonar robot packet
Sealed body 1, sonar unit 3, gas compressor 9 and control device 10 are included, is equipped with high-pressure gas tank 5, gas in sealed body 1
The output end of compressor 9 is connected to high-pressure gas tank 5, and arrival end is located in sealed body 1, and high-pressure gas tank 5 is connected with deflation
Pipe 11 ', bleeder pipe 11 ' are equipped with vent valve 7；Sealed body 1 is that two parts air-tight movable connects and composes: two parts close to when it is heavy
Enter seabed, bubbles through the water column when separate；Sonar unit 3 is fixed on 1 upper surface of sealed body, with the control being located in sealed body 1
Device 10 processed connects, and gas compressor 9 is connect with control device 10.
Sealed body 1 is set as to the part of two movable sealed connections, when two parts separate, so that sealed body 1
Volume increase, can have biggish buoyancy in water, and bubble through the water column；And when two parts close up, entire sealing master
The volume of body 1 is minimum, and the buoyancy being subject to is less than its own weight, and makes sealed body 1 that can sink down into seabed；In sealed body
Setting high-pressure gas tank 5 and gas compressor 9 in 1, change according to volume needed for 1 place different depth of sealed body, to adjust
The gas controlled in high-pressure gas tank 5 and sealed body 1 is distributed: when if desired sinking, gas compressor 9 is extracted in sealed body 1
Gas, be sent into high-pressure gas tank 5 in；Conversely, the high pressure gas in high-pressure gas tank 5 is output to sealing through vent valve when floating
In main body 1.
Preferably, it is equipped with barometer in sealed body 1, measures the air pressure in sealed body 1；Through control device come with put
Air valve 7 connects, it is ensured that the stable gas pressure in sealed body 1.When especially having staff in sealed body 1, in pressure
Power should maintain under normal pressure.
It is the fixed metal sealing chamber of volume, pressure-resistant 30MPa, such as bottle that above-mentioned parts, which are specifically respectively as follows: high-pressure gas tank 5,
The pressure resistance shape such as shape, can-like, the entrance with one-way conduction, entrance be connected to gas compressor 9, export be connected with vent valve and
Connection in sealed body 1.
It is equipped with sonar unit 3 on the top of sealed body 1 again, subsea environment is monitored using sonar unit 3.Wherein
Sonar unit 3 specifically includes passive sonar, active sonar, and active sonar emits sound wave into water, anti-by receiving immersed body
The echo discovery target penetrated, and measure its parameter；Target range can be estimated by the time difference that transmitting original sound wave and echo reach；
Target bearing then passes through the difference that measurement receives in acoustic matrix between two submatrixs and obtains.Active sonar is by transmitter, acoustic matrix, receiver
The several part compositions of (including signal processing), display console.And passive sonar detects mesh by receiving the radiated noise of target
Mark, and measure its parameter；It is made of reception acoustic matrix, receiver (signal processing) and display console three parts.Sonar unit 3
It is connect with control device 10, the work of sonar unit 3 and collected information are regulated and controled by control device 10.
Sealed body 1 as asymmetric two hemisphere of Density Distribution height, lightness sensation in the upper and heaviness in the lower, it is ensured that the sonar above it
Device 3 can be in top always, be monitored to the subsea environment of surrounding.In actual setting, in 1 sphere of sealed body,
High-pressure gas tank 5 is located at top, remaining equipment is located at lower part.
Several electric pushrods 13 are set at two hemisphere docking, are folded in the periphery setting of several electric pushrods 13 resistance to
Press mold 12 drives resistance to press mold to trail under the action of electric pushrod 13, while two hemisphere are located remotely from each other, and expand sealing
The volume of main body 1；If resistance to press mold is driven to shrink, two hemisphere gradually close up, and reduce the volume of sealed body 1.Fold resistance to press mold
Upper and lower side be tightly connected respectively with two hemisphere, and folding resistance to press mold itself is cyclic structure, so that at two hemisphere
In the case that separate or when closing up, it is ensured that seawater will not be entered in sealed body 1 by folding resistance to press mold.
It is equipped with propeller 8 in the lower section of sonar robot, drives sonar robot to move in marine front and back using propeller 8
Dynamic, especially propeller 8 is connected to sonar robot lower part through shaft 81, propeller 8 around the shaft 81 rotational angle be 0-180
Degree, this means that propeller 8 can arbitrarily adjust the direction of advance of sonar robot.
Propeller 8 is orbiting vane or water jet, and side is connect through bearing block with shaft 81, and propeller 8 is in shaft
Completion is driven by motor in rotation on 81.Above-mentioned propeller 8 and motor are connect with control device 10, by control device 10
Regulation operation.
Propeller 8 is equipped at least one, and optimal number is three, is distributed in 1 lower section of sealed body.
Control device 10 includes controller, for collecting the signal of the collection of sonar unit 3, and controls the operation of propeller 8；
It further include rechargeable battery, memory and communication apparatus, rechargeable battery, memory and communication apparatus are connect with controller.
It is additionally provided with infrared eye on sealed body 1, the biological situation in seabed is monitored by infrared mode, is taken the photograph infrared
As being covered with transparency window outside device.
Rechargeable battery provides the power supply of all electrical equipments, can be full of in advance；Memory convenient for storage sonar unit 3 and
The information that infrared eye is collected；The information of above-mentioned collection can be sent to service station by communication apparatus.
The detection method of sonar robot group for marine surveys of the invention is as follows:
(1) in the operating condition, the first sonar robot of described two sonar robots floats on the surface, the second sonar
Robot submerged, the sonar equipment 3 on the inside of described two sonar robots is detected simultaneously, while solar-electricity
It charges to first sonar robot in pond 2；
(2) in the second sonar robot electric quantity deficiency, second sonar robot adjust its sealed body 1 with
It floats to the surface, while first sonar robot adjusts its sealed body 1 with submerged, completes position and exchanges, realizes too
Positive energy battery 2 charges to second sonar robot.Preferably, the propeller 8 of the sonar robot pushes it to be maintained at
Fixed position.The sonar robot being preferably located in water will be detected signal and be transmitted to and kept afloat by the connecting line 4
Sonar robot.
Sonar robot group of the invention, is circulated using gas passage, is changed itself suffered buoyancy size, can be sunk
Enter seabed or bubble through the water column, is more than or less than in described by the lateral surface end density that the volume of variation adjusts the sealed body
The density of lateral ends, so that the sonar robot of two reverse symmetries, which constantly shifts one's position, carries out solar recharging, between realizing not
Disconnected monitoring, automatic realize continue to monitor seabed situation.
Fig. 4 is the lateral surface end density of sonar robot of the present invention including sonar robot group and the density at medial surface end
The schematic diagram of regulative mode.Sealed body 1 as asymmetric two hemisphere of Density Distribution height, lightness sensation in the upper and heaviness in the lower.Ensure
Sonar unit 3 can be in top when in water, be monitored to the subsea environment of surrounding.When on the water, solar battery 2 is located at upper
Side, receives sunlight.It is shown in Fig. 4, controller 10,9 equal controller of gas compressor is provided in sealed body 1, and
Vertical slide bar 14, control device can slide up and down on slide bar 14, and the upper surface end density for adjusting sealed body 1 is greater than or small
Density in the lower surface end.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (10)
1. a kind of sonar robot group for marine surveys, it is characterised in that: sonar robot group includes passing through connection
A pair of of sonar robot that line is attached, the sonar robot include:
Asymmetric spherical sealed main body, the medial surface of the sealed body pass through the inside of the connecting line and another sealed body
Connection；
The medial surface of the sealed body is provided with sonar equipment, and lateral surface is provided with solar battery；
The variable volume of the sealed body adjusts the sealed body submerged or rises to the water surface, and adjusts described close
The lateral surface end density for sealing main body is more than or less than the density at the medial surface end.
2. sonar robot as described in claim 1 group, it is characterised in that: the sealed body includes air bag, gas compression
Machine and control device adjust the volume of the sealed body by the air bag；Heavy pressure gas chamber is equipped in the sealed body,
The gas compressor both ends are connected to the heavy pressure gas chamber with the air bag respectively, the heavy pressure gas chamber and the air bag
Between be additionally provided with the gas-guide tube with regulating valve, the heavy pressure gas chamber, the gas compressor, the air bag and the gas-guide tube
Constitute gas circulation channel；The air bag is fixed on the sealed body outer wall, the sonar unit and is located at the sealing
The main intracorporal control device connection, the gas compressor are connect with the control device.
3. sonar robot as described in claim 1 group, it is characterised in that: high-pressure gas tank is equipped in the sealed body,
The output end of the gas compressor is connected to the high-pressure gas tank, and arrival end is located in the sealed body, the high pressure
Gas tank is connected with vent valve；The sealed body is that two parts air-tight movable connects and composes: two parts close to when the upper table
Face end density is greater than the density at the lower surface end, and upper surface end density is less than the density at the lower surface end when separate；
The sonar unit is connect with the control device being located in the sealed body, and the gas compressor and the control fill
Set connection.
4. sonar robot as claimed in claim 2 or claim 3 group, it is characterised in that: the sealed body further includes having propeller,
The propeller is fixed on the sealed body, is connect with the control device.
5. sonar robot as claimed in claim 2 or claim 3 group, it is characterised in that: the line plays described two sonar robots
The effect of communication.
6. sonar robot as claimed in claim 2 or claim 3 group, it is characterised in that: the control device further include rechargeable battery,
Memory and communication apparatus, the rechargeable battery, memory and communication apparatus are connect with the controller.
7. sonar robot as claimed in claim 2 or claim 3 group, it is characterised in that: the air bag is fixed on the sealed body
Outboard end.
8. a kind of detection method of the sonar robot group for marine surveys, it is characterised in that: the method includes use as
The sonar robot group of any one of claim 1-7 carries out:
(1) in the operating condition, the first sonar robot of described two sonar robots floats on the surface, the second sonar machine
People's submerged, the sonar equipment on the inside of described two sonar robots is detected simultaneously, while solar battery pair
The charging of first sonar robot；
(2) in the second sonar robot electric quantity deficiency, second sonar robot adjust its sealed body with float to
The water surface, while first sonar robot adjusts its sealed body with submerged, completes position and exchanges, realizes solar-electricity
It charges to second sonar robot in pond.
9. method according to claim 8, it is characterised in that: the propeller of the sonar equipment pushes it to be maintained at fixed bit
It sets.
10. method as claimed in claim 8 or 9, it is characterised in that: the sonar robot being in water passes through the connecting line
Signal will be detected and be transmitted to the sonar robot to keep afloat.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910258512.0A CN109870696A (en) | 2019-04-01 | 2019-04-01 | A kind of sonar robot group for marine surveys |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910258512.0A CN109870696A (en) | 2019-04-01 | 2019-04-01 | A kind of sonar robot group for marine surveys |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109870696A true CN109870696A (en) | 2019-06-11 |
Family
ID=66921753
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910258512.0A Withdrawn CN109870696A (en) | 2019-04-01 | 2019-04-01 | A kind of sonar robot group for marine surveys |
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| Country | Link |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113443105A (en) * | 2021-07-15 | 2021-09-28 | 哈尔滨工程大学 | Protective device for sonar monitoring robot |
| CN114368434A (en) * | 2022-01-10 | 2022-04-19 | 国网河南省电力公司电力科学研究院 | Soft robot motion control method |
| CN114954867A (en) * | 2022-06-01 | 2022-08-30 | 钱慧慧 | Recovery type underwater sound reconnaissance equipment and recovery method |
-
2019
- 2019-04-01 CN CN201910258512.0A patent/CN109870696A/en not_active Withdrawn
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113443105A (en) * | 2021-07-15 | 2021-09-28 | 哈尔滨工程大学 | Protective device for sonar monitoring robot |
| CN113443105B (en) * | 2021-07-15 | 2022-06-28 | 哈尔滨工程大学 | Protective device for sonar monitoring robot |
| CN114368434A (en) * | 2022-01-10 | 2022-04-19 | 国网河南省电力公司电力科学研究院 | Soft robot motion control method |
| CN114368434B (en) * | 2022-01-10 | 2023-08-08 | 国网河南省电力公司电力科学研究院 | Motion control method for soft robot |
| CN114954867A (en) * | 2022-06-01 | 2022-08-30 | 钱慧慧 | Recovery type underwater sound reconnaissance equipment and recovery method |
| CN114954867B (en) * | 2022-06-01 | 2024-06-04 | 南京东谙科技咨询有限公司 | Recovery type underwater sound reconnaissance equipment and recovery method |
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Application publication date: 20190611 |