CN110155281A - A kind of unmanned conveying ship of AUV cluster - Google Patents
A kind of unmanned conveying ship of AUV cluster Download PDFInfo
- Publication number
- CN110155281A CN110155281A CN201910520916.2A CN201910520916A CN110155281A CN 110155281 A CN110155281 A CN 110155281A CN 201910520916 A CN201910520916 A CN 201910520916A CN 110155281 A CN110155281 A CN 110155281A
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- Prior art keywords
- auv
- cluster
- auv cluster
- unmanned conveying
- frame
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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
- B63G6/00—Laying of mines or depth charges; Vessels characterised thereby
-
- 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
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Cleaning Or Clearing Of The Surface Of Open Water (AREA)
Abstract
A kind of unmanned conveying ship of AUV cluster, including the unmanned conveying ship light shell of AUV cluster, the inside of the unmanned conveying ship light shell of the AUV cluster has been sequentially distributed fore body Buoyance adjustment water tank by head to tail, electronic compartment, AUV cluster carries cabin, battery bay and stern Buoyance adjustment water tank, control equipment is carried inside electronic compartment, outboard battery is carried in battery bay, the disposed outside of the unmanned conveying ship light shell of AUV cluster has bow elevator, stern rudder, stern elevator and main thruster, the outside of the unmanned conveying ship light shell of AUV cluster is also equipped with forward sight anticollision sonar simultaneously, GPS antenna, inertial navigation equipment, warm depth salt sensor, acoustic Doppler tachometer, underwater sound communication energy converter and communication antenna；The upper and lower side that the AUV cluster carries cabin is respectively arranged with upper layer open and close door and lower layer's open and close door, and the AUV cluster carries installation multiple groups AUV cluster inside cabin and carries module.The concealment that AUV cluster lays recycling, reliable operation can be effectively improved.
Description
Technical field
The present invention relates to unmanned conveying ship technical field, the unmanned conveying ships of especially a kind of AUV cluster.
Background technique
As unmanned plane, unmanned battlebus, machine soldier gradually afield show increasing power, unmanned war
Development showed clearly blueprint relatively.Independence is high, assembly is simple because it has by AUV (autonomous type underwater robot)
The advantages such as list, using flexible, at low cost are all widely applied in military and civil field, such as using AUV come the army of execution
The tasks such as thing scouting, search and rescue, hydrology prospecting, marine environmental monitoring.AUV cluster completes a certain with the form collaboration formed into columns
Business can effectively expand task execution range, improve task execution efficiency.
Currently, AUV, which lays recycling, relies primarily on surface ship or submarine, when AUV carries out task, surface vessel or submarine exist
It is nearby waited, when carrying out hidden task, surface ship or submarine are easily detected by investigation, lead to mission failure；In offshore
The support difficulty of shallow sea field, surface ship or submarine is bigger.And in order to improve the concealment of operation, guarantee surface ship or latent
Ship safety when progress AUV lays recycling outside safe distance range, is needed by AUV itself navigation to target sea area, consumption
AUV portion of energy.In addition, carrying out laying recycling using surface ship or submarine, surface ship or submarine need to avoid investigation navigation
Recycling is laid to predetermined maritime area progress AUV, it is effective to the task of emergency task poor.
Summary of the invention
The applicant provides a kind of unmanned conveying ship of AUV cluster for the disadvantage in above-mentioned existing production technology, so as to
Effectively improve the concealment that AUV cluster lays recycling, avoid submarine or surface ship enter offshore shallow water area or too close to
The antisubmarine armipotent region of enemy greatly reduces and carries the task hardly possible that AUV cluster goes to the submarine on region of war etc. to support naval vessels
Degree and degree of danger；AUV shipping energy consumption is saved, improves AUV operation time, while prepattern can be used, realizes that AUV cluster exists
Long-term preset, the actual effect of raising reply emergency task in crucial sea area.
The technical solution adopted in the present invention is as follows:
A kind of unmanned conveying ship of AUV cluster, including the unmanned conveying ship light shell of AUV cluster, the unmanned conveying of the AUV cluster
The inside of ship light shell has been sequentially distributed fore body Buoyance adjustment water tank, electronic compartment, AUV cluster by head to tail and has carried cabin, battery
Cabin and stern Buoyance adjustment water tank, electronic compartment inside carry control equipment, carry outboard battery, AUV cluster in battery bay
The disposed outside of unmanned conveying ship light shell has bow elevator, stern rudder, stern elevator and main thruster, while AUV collection
The outside of the unmanned conveying ship light shell of group is also equipped with the deep salt sensor of forward sight anticollision sonar, GPS antenna, inertial navigation equipment, temperature, sound
Learn Doppler log, underwater sound communication energy converter and communication antenna；The upper and lower side that the AUV cluster carries cabin is respectively arranged with
Layer open and close door and lower layer's open and close door, the AUV cluster carry installation multiple groups AUV cluster inside cabin and carry module.
Its further technical solution is:
The structure of single group AUV cluster carrying module are as follows: including AUV cluster-based storage frame, the AUV cluster-based storage puts up frame
Type structure, and vertically-mounted multiple recovering mechanisms inside it, the recovering mechanism pass through circular mounting ring and AUV cluster-based storage
Frame is fixed, and the top surface of AUV cluster-based storage frame is provided with multiple storage rack top covers able to turn on or off.
The structure of the recovering mechanism are as follows: including lifting device pedestal, the lifting device pedestal and AUV cluster-based storage frame
Internal circular mounting ring is fixedly connected, and the lifting device base interior is equipped with lifting device, the lifting device along
Lifting device pedestal slides up and down, the front end of the head of lifting device while hinged hydraulic folding arm and AUV carrying frame, hydraulic folding arm
Output end and AUV carry frame it is hinged, under the actuation of hydraulic folding arm, AUV carry frame can be around the hinge joint of itself and lifting device
Rotation；The head end that AUV carries frame is also fixedly installed with AUV and lays recycling to interface, AUV laid by AUV recycle to interface into
Enter AUV to carry in frame.
The AUV lays recycling to interface into " horn mouth " structure.
Multiple position sensors are installed on the lifting device pedestal.
Beneficial effects of the present invention are as follows:
Structure of the invention is compact, reasonable, easy to operate, and the unmanned conveying ship of the AUV cluster is carried by electronic compartment, AUV cluster
Cabin, battery bay, bow stern buoyancy adjustment water tank, manipulation device and nav-com installation composition；Wherein AUV cluster carrying cabin includes
AUV cluster carries module and lays recyclable device.The unmanned conveying ship of the AUV cluster realizes the delivery of AUV cluster to target sea area
With lay, improve AUV group operation task concealment；Submarine or surface ship is avoided to enter offshore shallow water area or excessively lean on
The nearly antisubmarine armipotent region of enemy greatly reduces the task that AUV cluster goes to the submarine on region of war etc. to support naval vessels that carries
Difficulty and degree of danger；The AUV energy is saved, the activity duration is extended；And AUV cluster can be realized in the preset of specified sea area.
Meanwhile the present invention is also equipped with following advantage:
1) the unmanned conveying ship of the AUV cluster can realize AUV cluster to the delivery in target sea area and lay, raising AUV cluster
The concealment of job task；The shipping energy consumption for saving AUV simultaneously, improves work capacity；
2) the unmanned conveying ship of the AUV cluster can avoid submarine or surface ship enters offshore shallow water area or too close to enemy
The armipotent region Fang Fanqian greatly reduces and carries the task difficulty that AUV cluster goes to the submarine on region of war etc. to support naval vessels
And degree of danger；
3) the unmanned conveying ship of the AUV cluster can realize that presetting system of the AUV cluster in predetermined maritime area is laid, and improve AUV cluster
To the actual effect of emergency task reaction；
But 4) the unmanned conveying ship of the AUV cluster uses modularized design, can support diversified load, such as carries mine-laying dress
The weapons such as tool, torpedo, to complete different operations, combat duty.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention (half sectional view).
Fig. 2 is the structural schematic diagram that AUV cluster of the present invention carries module.
Fig. 3 is the structural schematic diagram that AUV of the present invention carries recovering mechanism.
Fig. 4 is the structural schematic diagram when present invention lays recycling.
Fig. 5 is that AUV cluster of the present invention carries structural schematic diagram (state one) when module lays recycling.
Fig. 6 is that AUV cluster of the present invention carries structural schematic diagram (state two) when module lays recycling.
Fig. 7 is that AUV cluster of the present invention carries structural schematic diagram (state three) when module lays recycling.
Fig. 8 is that AUV cluster of the present invention carries structural schematic diagram (state four) when module lays recycling.
Wherein: 1, the unmanned conveying ship light shell of AUV cluster；2, fore body Buoyance adjustment water tank；3, bow elevator；4, electronics
Cabin；5, AUV cluster carries cabin；6, upper layer open and close door；7, AUV cluster carries module；8, lower layer's open and close door；9, battery bay；10,
Stern Buoyance adjustment water tank；11, stern rudder；12, stern elevator；13, main thruster；14, forward sight anticollision sonar；15, the underwater sound
Communicate energy converter；16, GPS antenna；17, communication antenna；18, inertial navigation equipment；19, the deep salt sensor of temperature；20, acoustic Doppler meter
The gift of money for a friend going on a journey；
701, AUV cluster-based storage frame；702, AUV carries frame；703, hydraulic folding arm；704, AUV lays recycling to interface；
705, lifting device；706, storage rack top cover；707, lifting device pedestal；708,AUV；709, recovering mechanism；710, round peace
Fill ring；711, position sensor.
Specific embodiment
Specific embodiments of the present invention will be described below with reference to the accompanying drawings.
As shown in Figure 1, Figure 2, Figure 3 and Figure 4, the unmanned conveying ship of the AUV cluster of the present embodiment, including nobody is defeated for AUV cluster
Ship light shell 1 is sent, the inside of the unmanned conveying ship light shell 1 of AUV cluster has been sequentially distributed fore body Buoyance adjustment water tank by head to tail
2, electronic compartment 4, AUV cluster carry cabin 5, battery bay 9 and stern Buoyance adjustment water tank 10, carry control inside electronic compartment 4 and set
It is standby, outboard battery is carried in battery bay 9, the disposed outside of the unmanned conveying ship light shell 1 of AUV cluster has bow elevator 3, stern
Rudder 11, stern elevator 12 and main thruster 13, while the outside of the unmanned conveying ship light shell 1 of AUV cluster is also equipped with
The deep salt sensor 19 of forward sight anticollision sonar 14, GPS antenna 16, inertial navigation equipment 18, temperature, acoustic Doppler tachometer 20, the underwater sound are logical
Believe energy converter 15 and communication antenna 17；The upper and lower side that AUV cluster carries cabin 5 is respectively arranged with upper layer open and close door 6 and lower layer's opening and closing
Door 8, AUV cluster carries installation multiple groups AUV cluster inside cabin 5 and carries module 7.
The structure of single group AUV cluster carrying module 7 are as follows: including AUV cluster-based storage frame 701, AUV cluster-based storage frame 701 at
Frame-like structures, and vertically-mounted multiple recovering mechanisms 709 inside it, recovering mechanism 709 by circular mounting ring 710 with
AUV cluster-based storage frame 701 is fixed, and the top surface of AUV cluster-based storage frame 701 is provided with multiple storage rack top covers 706 able to turn on or off.
The structure of recovering mechanism 709 are as follows: including lifting device pedestal 707, lifting device pedestal 707 and AUV cluster-based storage
Circular mounting ring 710 inside frame 701 is fixedly connected, and lifting device 705, lifting dress are equipped with inside lifting device pedestal 707
It sets 705 to slide up and down along lifting device pedestal 707, hinged hydraulic folding arm 703 and AUV take simultaneously on the head of lifting device 705
The front end of carrier 702, the output end and AUV of hydraulic folding arm 703 carry frame 702 hingedly, under the actuation of hydraulic folding arm 703, AUV
Carrying frame 702 can rotate around the hinge joint of itself and lifting device 705；The head end that AUV carries frame 702 is also fixedly installed with AUV cloth
Receipts are put back to interface 704, AUV708 lays recycling by AUV and enters in AUV carrying frame 702 to interface 704.
AUV lays recycling to interface 704 into " horn mouth " structure.
Multiple position sensors 711 are installed on lifting device pedestal 707.
Specific structure of the invention are as follows:
As shown in Figure 1, the inner space of unmanned conveying 1 envelope of ship light shell of AUV cluster of the present invention is according to main
Function is divided into: fore body Buoyance adjustment water tank 2, electronic compartment 4, AUV cluster carry cabin 5, battery bay 9 and stern Buoyance adjustment
Water tank 10.Fore body Buoyance adjustment water tank 2, stern Buoyance adjustment water tank 10 realize underwater equilibrium, trim regulating and to convey ship
It floats up to the water surface and the function of freeboard is provided；Control equipment is carried inside electronic compartment 4, realizes the intelligence of the unmanned conveying ship of AUV cluster
Control；Outboard battery is carried in battery bay 9, provides power source for the unmanned conveying ship of AUV cluster.AUV cluster nobody
It conveys except ship light shell 1, it is external attached to be disposed with bow elevator 3, stern rudder 11, stern elevator 12 and main thruster 13 etc.
Body is, it can be achieved that the navigation control function such as the unmanned propulsion for conveying ship, Heading control, deep-controlled.In AUV cluster, nobody is defeated simultaneously
It send and carries the navigation equipments such as forward sight anticollision sonar 14, GPS antenna 16, inertial navigation equipment 18, acoustic Doppler tachometer 20 on ship, it is real
The navigation locating function of existing AUV cluster；The communication equipments such as underwater sound communication energy converter 15, communication antenna 17, realize AUV cluster nobody
Convey ship and AUV cluster, submarine, the communication between surface vessel.
As shown in Figure 1, Figure 2 and Figure 3, AUV cluster carry cabin 5 by upper layer open and close door 6, multiple AUV clusters carry module 7,
Lower layer's open and close door 8 is constituted.Wherein AUV cluster carries module 7 and carries recovering mechanism by AUV cluster-based storage frame 701, multiple AUV
709, storage rack top cover 706 forms.Storage rack top cover 706 and AUV cluster-based storage frame 701 are hinged.AUV carries recovering mechanism 709
Frame 702, hydraulic folding arm 703, AUV are carried by AUV again and lay recycling to interface 704, lifting device 705, lifting device pedestal 707
Composition.AUV carries recovering mechanism 709 and is fixedly connected by lifting device pedestal 707 with AUV cluster-based storage frame 701.Lifting device
705 can slide up and down along lifting device pedestal 707.703 lower end of hydraulic folding arm and AUV carry the leading portion of frame 702 respectively with lifting
Device 705 is hinged；The upper end of hydraulic folding arm 703 and AUV carry frame 702 hingedly simultaneously, under the actuation of hydraulic folding arm 703, AUV
Carrying frame 702 can rotate around the hinge joint of itself and lifting device 705.The head end that AUV carries frame 702 is fixedly installed with AUV and lays
Recycling has to interface 704 and opens, closes two states.AUV708 lays recycling to interface 704 and the AUV cluster by AUV
Unmanned conveying ship docking, AUV708 carry frame 702 by AUV in storage state and are locked.
In practical work process:
The unmanned conveying ship of the AUV cluster carries multiple AUV708 for having operation, detectivity, is kept away by the forward sight of carrying
It touches the navigation equipments such as sonar 14, GPS antenna 16, inertial navigation equipment 18, acoustic Doppler tachometer 20 and carries AUV708 autonomous navigation
Arrive at target sea area.
As shown in figure 4, the unmanned conveying ship of the AUV cluster passes through fore body Buoyance adjustment water tank 2 and stern after arriving at target sea area
The conveying ship unmanned to AUV cluster of portion's Buoyance adjustment water tank 10 realizes Hovering control, and that realizes AUV cluster lays recycling.
During laying, the upper layer open and close door 6 that AUV cluster carries cabin 5 is opened, after storage rack top cover 706 is opened, lifting dress
Set 705 drive AUV carry frame 702, hydraulic folding arm 703 and AUV lay recycling to interface 704 along lifting device pedestal 707 to
It is raised.AUV708 is carried in AUV and is in locking state in frame 702 at this time, and AUV lays recycling and is in closing shape to interface 704
State, as shown in Figure 5.It is locked after lifting device 705 reaches designated position, hydraulic folding arm 703 pushes AUV to carry frame 702 around it
It is rotated with the hinge joint of lifting device 705, lays recycling to interface 704 at horizontal when AUV carries frame 702, AUV708 and AUV
After state, hydraulic folding arm 703 is locked, as shown in Figure 6.Hereafter, AUV lays recycling and opens to interface 704, at " horn mouth " form,
As shown in Figure 7.Finally, AUV carry frame 702 discharge AUV708, AUV708 self-propelled device effect under leave the AUV cluster without
People conveys ship, as shown in Figure 8.After the completion of laying, AUV lays recycling and closes to interface 704；Hydraulic folding arm 703 recycles, and makes AUV
It is parallel with lifting device 705 to carry frame 702；Lifting device 705 drives AUV to carry frame 702 and is recycled to along lifting device pedestal 707
In AUV cluster-based storage frame 701, storage rack top cover 706 is closed, and is completed this AUV and is carried the AUV708 carried in recovering mechanism 709.
Each AUV carries recovering mechanism 709 and repeats the above process, until discharging whole AUV708 that the unmanned conveying ship of the AUV cluster carries
Afterwards, upper layer open and close door 6 is closed.
After AUV cluster is laid, AUV708 can carry out formulation task, and pass the information on to the unmanned conveying ship of AUV, AUV without
People conveys ship and sits heavy seabed or float up to the water surface by communication equipments such as underwater sound communication energy converter 15, communication antennas 17, as AUV
With the communication relay station of surface vessel, aircraft, bank base control centre or submarine.
After AUV cluster completion task, near navigation to the unmanned conveying ship of AUV cluster, upper layer open and close door 6 is opened, and AUV is carried
Recovering mechanism 709 starts to recycle AUV708.Its removal process is opposite with process is laid: lifting device 705 rises in place,
Hydraulic folding arm 703 pushes AUV to carry frame 702 and is in horizontality and locks, and AUV lays recycling and opens to interface 704, AUV708
After laying recycling to the docking in place of interface 704 by AUV, AUV carries frame 702 and locks to AUV708；Hydraulic folding arm 703 recycles,
Carrying AUV, frame 702 is parallel with lifting device 705, and lifting device 705 drives AUV to carry frame 702 and is recycled to AUV cluster-based storage
In frame 701, and close storage rack top cover 706.It repeats the above process, completes the recycling of all AUV708.After the completion of recycling, close
Upper layer open and close door 6.
To improve the actual effect to emergency task, the unmanned conveying ship of the AUV cluster can carry AUV cluster and sit in specified sea area
Heavy seabed, and keep silent；And activated according to the condition of scheduled time or setting, it lays AUV708 and carries out task.Together
When, AUV cluster carries cabin 5 and can replace AUV cluster according to different job tasks and carry module 7, carry other payload simultaneously
Laying for payload is carried out by upper layer open and close door 6 or lower layer's open and close door 8, becomes multifunctional water lower platform.
Above description is explanation of the invention, is not intended to limit the invention, and limited range of the present invention is referring to right
It is required that within protection scope of the present invention, any type of modification can be made.
Claims (5)
1. a kind of unmanned conveying ship of AUV cluster, it is characterised in that: including unmanned conveying ship light shell (1) of AUV cluster, the AUV
The inside of unmanned conveying ship light shell (1) of cluster by head to tail be sequentially distributed fore body Buoyance adjustment water tank (2), electronic compartment (4),
AUV cluster carries cabin (5), battery bay (9) and stern Buoyance adjustment water tank (10), and control equipment is carried inside electronic compartment (4),
Outboard battery is carried in battery bay (9), the disposed outside of unmanned conveying ship light shell (1) of AUV cluster has bow elevator
(3), stern rudder (11), stern elevator (12) and main thruster (13), while unmanned conveying ship light shell (1) of AUV cluster
Outside be also equipped with the deep salt sensor (19) of forward sight anticollision sonar (14), GPS antenna (16), inertial navigation equipment (18), temperature, acoustics
Doppler log (20), underwater sound communication energy converter (15) and communication antenna (17)；Above and below AUV cluster carrying cabin (5)
End is respectively arranged with upper layer open and close door (6) and lower layer's open and close door (8), and the AUV cluster, which carries, installs multiple groups AUV inside cabin (5)
Cluster carries module (7).
2. the unmanned conveying ship of a kind of AUV cluster as described in claim 1, it is characterised in that: single group AUV cluster carries module
(7) structure are as follows: including AUV cluster-based storage frame (701), the AUV cluster-based storage frame (701) is at frame-like structures, and at it
Inner vertical installs multiple recovering mechanisms (709), and the recovering mechanism (709) is deposited by circular mounting ring (710) with AUV cluster
It stores up frame (701) to fix, the top surface of AUV cluster-based storage frame (701) is provided with multiple storage rack top covers (706) able to turn on or off.
3. the unmanned conveying ship of a kind of AUV cluster as claimed in claim 2, it is characterised in that: the knot of the recovering mechanism (709)
Structure are as follows: including lifting device pedestal (707), the circle of the lifting device pedestal (707) and AUV cluster-based storage frame (701) inside
Shape mounting ring (710) is fixedly connected, and is equipped with lifting device (705) inside the lifting device pedestal (707), the lifting dress
It sets (705) to slide up and down along lifting device pedestal (707), the head of lifting device (705) while hinged hydraulic folding arm (703)
The front end of frame (702) is carried with AUV, the output end and AUV of hydraulic folding arm (703) carry frame (702) hingedly, in hydraulic folding arm
(703) under actuation, AUV carries frame (702) and can rotate around the hinge joint of itself and lifting device (705)；AUV carries frame (702)
Head end be also fixedly installed with AUV and lay recycling to interface (704), AUV (708) laid by AUV recycle to interface (704) into
Enter AUV to carry in frame (702).
4. the unmanned conveying ship of a kind of AUV cluster as claimed in claim 3, it is characterised in that: the AUV lays recycling to interface
(704) at " horn mouth " structure.
5. the unmanned conveying ship of a kind of AUV cluster as claimed in claim 3, it is characterised in that: the lifting device pedestal (707)
On multiple position sensors (711) are installed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910520916.2A CN110155281A (en) | 2019-06-17 | 2019-06-17 | A kind of unmanned conveying ship of AUV cluster |
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| CN201910520916.2A CN110155281A (en) | 2019-06-17 | 2019-06-17 | A kind of unmanned conveying ship of AUV cluster |
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| CN201910520916.2A Pending CN110155281A (en) | 2019-06-17 | 2019-06-17 | A kind of unmanned conveying ship of AUV cluster |
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| CN110750099A (en) * | 2019-10-22 | 2020-02-04 | 镇江市高等专科学校 | Course angle and depth driving device, control system and control method for semi-submersible unmanned ship |
| CN111055981A (en) * | 2019-12-30 | 2020-04-24 | 哈尔滨工程大学 | Self-adaptive carrying and recycling system of multi-scale underwater robot |
| CN112429155A (en) * | 2020-10-19 | 2021-03-02 | 浙江海洋大学 | Unmanned ship-based underwater detection device recovery system and method |
| CN113044172A (en) * | 2021-03-09 | 2021-06-29 | 大连海事大学 | Honeycomb AUV cluster laying and recycling system |
| CN113232779A (en) * | 2021-06-04 | 2021-08-10 | 大连海事大学 | Control system of honeycomb AUV cluster laying and recycling device |
| CN114056490A (en) * | 2021-12-01 | 2022-02-18 | 中国船舶科学研究中心 | Deep sea AUV cluster passive release recovery device and operation method thereof |
| CN114084319A (en) * | 2021-09-03 | 2022-02-25 | 哈尔滨工程大学 | Torpedo type submersible vehicle capable of realizing underwater equipment folding and unfolding |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| CN112429155A (en) * | 2020-10-19 | 2021-03-02 | 浙江海洋大学 | Unmanned ship-based underwater detection device recovery system and method |
| CN113044172A (en) * | 2021-03-09 | 2021-06-29 | 大连海事大学 | Honeycomb AUV cluster laying and recycling system |
| CN113232779A (en) * | 2021-06-04 | 2021-08-10 | 大连海事大学 | Control system of honeycomb AUV cluster laying and recycling device |
| CN114084319A (en) * | 2021-09-03 | 2022-02-25 | 哈尔滨工程大学 | Torpedo type submersible vehicle capable of realizing underwater equipment folding and unfolding |
| CN114056490A (en) * | 2021-12-01 | 2022-02-18 | 中国船舶科学研究中心 | Deep sea AUV cluster passive release recovery device and operation method thereof |
| CN114056490B (en) * | 2021-12-01 | 2022-08-30 | 中国船舶科学研究中心 | Deep sea AUV cluster passive release recovery device and operation method thereof |
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Application publication date: 20190823 |