CN113184147B - Multi-target collaborative search underwater robot with function of preventing sludge from being trapped - Google Patents
Multi-target collaborative search underwater robot with function of preventing sludge from being trapped Download PDFInfo
- Publication number
- CN113184147B CN113184147B CN202110481777.4A CN202110481777A CN113184147B CN 113184147 B CN113184147 B CN 113184147B CN 202110481777 A CN202110481777 A CN 202110481777A CN 113184147 B CN113184147 B CN 113184147B
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- China
- Prior art keywords
- robot
- function
- underwater robot
- preventing
- sludge
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- 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.)
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- 239000010802 sludge Substances 0.000 title claims abstract description 30
- IJGRMHOSHXDMSA-UHFFFAOYSA-N Atomic nitrogen Chemical compound N#N IJGRMHOSHXDMSA-UHFFFAOYSA-N 0.000 claims abstract description 24
- 229910052757 nitrogen Inorganic materials 0.000 claims abstract description 8
- 239000007789 gas Substances 0.000 claims description 32
- 210000001503 joint Anatomy 0.000 claims description 11
- 238000012216 screening Methods 0.000 claims description 11
- 238000004891 communication Methods 0.000 claims description 7
- 230000005540 biological transmission Effects 0.000 claims description 6
- 239000004575 stone Substances 0.000 claims description 6
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 6
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 230000008859 change Effects 0.000 claims description 2
- 241001233242 Lontra Species 0.000 claims 1
- 229910001873 dinitrogen Inorganic materials 0.000 abstract description 8
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- 230000006870 function Effects 0.000 description 18
- 230000000903 blocking effect Effects 0.000 description 10
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Images
Classifications
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- 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
- B63C11/48—Means for searching for underwater objects
-
- 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
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
-
- 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
- B63G8/24—Automatic depth adjustment; Safety equipment for increasing buoyancy, e.g. detachable ballast, floating bodies
-
- 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
- B63G8/38—Arrangement of visual or electronic watch equipment, e.g. of periscopes, of radar
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/04—Control of altitude or depth
- G05D1/06—Rate of change of altitude or depth
- G05D1/0692—Rate of change of altitude or depth specially adapted for under-water vehicles
-
- 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
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
- B63G2008/005—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Acoustics & Sound (AREA)
- Ocean & Marine Engineering (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
Claims (10)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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CN202110481777.4A CN113184147B (en) | 2021-04-30 | 2021-04-30 | Multi-target collaborative search underwater robot with function of preventing sludge from being trapped |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202110481777.4A CN113184147B (en) | 2021-04-30 | 2021-04-30 | Multi-target collaborative search underwater robot with function of preventing sludge from being trapped |
Publications (2)
Publication Number | Publication Date |
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CN113184147A CN113184147A (en) | 2021-07-30 |
CN113184147B true CN113184147B (en) | 2022-07-29 |
Family
ID=76983615
Family Applications (1)
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CN202110481777.4A Expired - Fee Related CN113184147B (en) | 2021-04-30 | 2021-04-30 | Multi-target collaborative search underwater robot with function of preventing sludge from being trapped |
Country Status (1)
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CN (1) | CN113184147B (en) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
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CN115830340B (en) * | 2022-11-16 | 2023-11-21 | 白城师范学院 | Point cloud target identification method and device and storage medium |
Citations (9)
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US5947051A (en) * | 1997-06-04 | 1999-09-07 | Geiger; Michael B. | Underwater self-propelled surface adhering robotically operated vehicle |
CA2569992A1 (en) * | 2000-03-20 | 2001-09-27 | Francois Bernard | A navigation processor, a system comprising such a navigation processor and a method of controlling an underwater system by such a navigation processor |
CN105986576A (en) * | 2015-02-11 | 2016-10-05 | 甘肃建研岩土工程有限公司 | Airflow type bottom cleaning method for cast-in-situ bored pile of dry construction |
CN108674521A (en) * | 2018-07-11 | 2018-10-19 | 哈尔滨工程大学 | A kind of underwater anti-silting sunken traveling method of multi-foot robot |
CN109664914A (en) * | 2019-01-25 | 2019-04-23 | 吕振国 | A kind of system for restoring adhesion strength for disc braking freight locomotive |
CN109911149A (en) * | 2019-03-28 | 2019-06-21 | 白城师范学院 | A kind of multifunctional underwater robot and its control system |
CN209051574U (en) * | 2018-11-16 | 2019-07-02 | 浙江海洋大学 | A kind of Autonomous Underwater Vehicle |
CN111645050A (en) * | 2020-06-12 | 2020-09-11 | 泰华智业(天津)科技有限责任公司 | Escaping device and underwater robot |
CN111745648A (en) * | 2020-06-12 | 2020-10-09 | 泰华智业(天津)科技有限责任公司 | Underwater robot control method and device |
Family Cites Families (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2440448B1 (en) * | 2009-06-11 | 2015-09-30 | Sarcos LC | Amphibious robotic crawler |
US10001007B2 (en) * | 2014-11-13 | 2018-06-19 | Halliburton Energy Services, Inc. | Well logging with autonomous robotic diver |
US10131057B2 (en) * | 2016-09-20 | 2018-11-20 | Saudi Arabian Oil Company | Attachment mechanisms for stabilzation of subsea vehicles |
-
2021
- 2021-04-30 CN CN202110481777.4A patent/CN113184147B/en not_active Expired - Fee Related
Patent Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5947051A (en) * | 1997-06-04 | 1999-09-07 | Geiger; Michael B. | Underwater self-propelled surface adhering robotically operated vehicle |
CA2569992A1 (en) * | 2000-03-20 | 2001-09-27 | Francois Bernard | A navigation processor, a system comprising such a navigation processor and a method of controlling an underwater system by such a navigation processor |
CN105986576A (en) * | 2015-02-11 | 2016-10-05 | 甘肃建研岩土工程有限公司 | Airflow type bottom cleaning method for cast-in-situ bored pile of dry construction |
CN108674521A (en) * | 2018-07-11 | 2018-10-19 | 哈尔滨工程大学 | A kind of underwater anti-silting sunken traveling method of multi-foot robot |
CN209051574U (en) * | 2018-11-16 | 2019-07-02 | 浙江海洋大学 | A kind of Autonomous Underwater Vehicle |
CN109664914A (en) * | 2019-01-25 | 2019-04-23 | 吕振国 | A kind of system for restoring adhesion strength for disc braking freight locomotive |
CN109911149A (en) * | 2019-03-28 | 2019-06-21 | 白城师范学院 | A kind of multifunctional underwater robot and its control system |
CN111645050A (en) * | 2020-06-12 | 2020-09-11 | 泰华智业(天津)科技有限责任公司 | Escaping device and underwater robot |
CN111745648A (en) * | 2020-06-12 | 2020-10-09 | 泰华智业(天津)科技有限责任公司 | Underwater robot control method and device |
Non-Patent Citations (2)
Title |
---|
爬壁机器人失效状态分析及磁吸附单元优化设计;刘丙祥;《哈尔滨工程大学硕士学位论文》;20170101;全文 * |
轮式田间信息采集机器人开发与控制系统设计;刘英旋 万腾;《农机化研究》;20210428;全文 * |
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PB01 | Publication | ||
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SE01 | Entry into force of request for substantive examination | ||
CB03 | Change of inventor or designer information |
Inventor after: Liu Yingxuan Inventor after: Song Yingjie Inventor after: Zhao Qiang Inventor after: Chen Wenlong Inventor after: Wang Gang Inventor after: Guo Yanwei Inventor after: Che Linshuo Inventor after: Tian Xinlong Inventor before: Wang Gang Inventor before: Song Yingjie Inventor before: Zhao Qiang Inventor before: Chen Wenlong Inventor before: Liu Yingxuan Inventor before: Guo Yanwei Inventor before: Che Linshuo Inventor before: Tian Xinlong |
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Granted publication date: 20220729 |
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CF01 | Termination of patent right due to non-payment of annual fee |