CN113189670A - Benthic floating mixed type underwater mobile detection platform and detection method thereof - Google Patents
Benthic floating mixed type underwater mobile detection platform and detection method thereof Download PDFInfo
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- CN113189670A CN113189670A CN202110546269.XA CN202110546269A CN113189670A CN 113189670 A CN113189670 A CN 113189670A CN 202110546269 A CN202110546269 A CN 202110546269A CN 113189670 A CN113189670 A CN 113189670A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V9/00—Prospecting or detecting by methods not provided for in groups G01V1/00 - G01V8/00
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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
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
Abstract
The invention relates to a benthonic floating mixed type underwater mobile detection platform and a detection method thereof in the technical field of marine robots, wherein the benthonic floating mixed type underwater mobile detection platform comprises a pressure-resistant cabin, a controller, a power supply and a driving mechanism; the pressure-resistant cabin comprises a cone section and a column section, the cone section is hermetically connected with the column section, the bearing frame is fixed in the column section, and the controller and the power supply are installed in the column section; the driving mechanism comprises propellers, a pumping and draining pump and gravity bags, the propellers are symmetrically arranged on the side surface of the column body section, the gravity bags are fixed in the column body section, one end of the pumping and draining pump enters the column body section and is communicated with the gravity bags, and the other end of the pumping and draining pump is positioned outside the column body section; the controller is electrically connected with the power supply, the propeller is electrically connected with the controller and the power supply respectively, and the pumping and draining pump is electrically connected with the controller and the power supply respectively. The invention has the characteristics of compact structure, high integration level, easy carrying, assembly, arrangement, recovery and the like.
Description
Technical Field
The invention relates to the technical field of marine robots, in particular to a benthonic floating mixed type underwater mobile detection platform and a detection method thereof.
Background
At present, the mainstream underwater mobile detection platform mainly comprises a remote unmanned underwater vehicle (ROV), an autonomous unmanned underwater vehicle (AUV), an underwater Glider (Glider) and the like. The ROV is limited in underwater moving range due to the fact that the ROV needs to be tied with an umbilical cable, and the appearance of the open-frame cube determines that the ROV needs to bear large resistance in advancing and submerging processes; although the AUV can ensure a smaller incident flow area due to the appearance of the torpedo type elongated body, the AUV also has a larger turning radius and has inherent defects in low-speed operability; due to the characteristics that driving devices such as propellers and the like are not assembled on the Glider, good cruising ability of the Glider can be guaranteed, but the Glider is slow in sailing speed, only can sail in zigzag and spiral rotary tracks underwater, and is poor in control performance. The three underwater mobile detection platforms can only float in water, and cannot meet the requirements of performing resident long-time detection at the water bottom. In addition, although the crawler-type robot can meet the requirements of operation under water, the movement of the crawler-type robot is only driven by the crawler and the matched structure thereof, so that higher requirements are put on the terrain of a working area, and the defect is more prominent particularly in the area with large height and undulation of the seabed. And the crawler-type robot can only operate in the underwater area, and cannot give consideration to related detection work in water, so that the economy and the applicability of the crawler-type robot are influenced. After the data is consulted, the underwater mobile detection platform capable of integrating the underwater and underwater hybrid detection mode is found to be unavailable at present, and the underwater mobile detection platform integrating the underwater and underwater hybrid detection working mode can meet the detection work in water and water simultaneously, has good operation performance, has a larger operation range compared with the various underwater mobile detection platforms, and has the advantages of higher cost performance and the like.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a benthonic floating mixed type underwater mobile detection platform and a detection method thereof.
The invention provides a benthonic floating mixed type underwater mobile detection platform which comprises a pressure-resistant cabin, a controller, a power supply and a driving mechanism, wherein the pressure-resistant cabin is arranged on the power supply;
the pressure-resistant cabin comprises a cone section and a column section, the cone section is hermetically connected with the column section, and the controller and the power supply are installed in the column section;
the driving mechanism comprises propellers, a drainage pump and gravity bags, the propellers are symmetrically arranged on the side surface of the column body section, the gravity bags are fixed in the column body section, one end of the drainage pump enters the column body section and is communicated with the gravity bags, and the other end of the drainage pump is positioned outside the column body section;
the propeller is respectively and electrically connected with the controller and the power supply, and the pumping and draining pump is respectively and electrically connected with the controller and the power supply.
In some embodiments, the traveling trolley further comprises a driving module, a frame and wheels, the driving module is electrically connected to the controller and the power supply respectively, the column section is fixed to the frame, and the driving module drives the wheels to travel.
In some embodiments, the cone section and the column section are hermetically connected by a first sealing assembly, the first sealing assembly includes a first sealing ring and a first fixing ring, the first sealing ring is a boss-shaped cylinder, the first sealing ring is clamped at the top end of the column section, the cone section covers the end face of the first sealing ring, and the first fixing ring is sleeved on the circumferential surface of the joint of the cone section and the column section and is tightly connected.
In some embodiments, the cylinder body section includes a cylinder body and a bottom cover, the cylinder body and the bottom cover pass through a second sealing assembly, the second sealing assembly includes a second sealing ring and a second fixing ring, the second sealing ring is a boss-shaped cylinder body, the second sealing ring is clamped at the bottom end of the cylinder body, the bottom cover covers the end face of the second sealing ring, and the second fixing ring is sleeved on the circumferential surface of the joint of the cylinder body and the bottom cover and is tightly connected with the joint.
In some embodiments, the bottom cover is an acrylic sheet.
In some embodiments, the power supply further comprises a force-bearing frame fixed in the cylinder section, and the controller and the power supply are mounted on the force-bearing frame.
In some embodiments, the bearing frame comprises a support rod and a mounting plate, the mounting plate is connected in series through a plurality of support rods, the support rods surround a cylinder, and a hollow part is arranged on the mounting plate.
The invention also provides a detection method of the benthonic floating mixed type underwater mobile detection platform, which adopts the benthonic floating mixed type underwater mobile detection platform for detection and comprises the following steps:
s1, a step of proceeding: controlling the water pumping and draining pump to pump water outside the pressure-resistant cabin into the gravity bag until the benthic floating mixed type underwater mobile detection platform reaches a preset depth;
s2, moving in water: controlling the rotation of the propellers, and enabling the benthonic floating mixed type underwater mobile detection platform to move forward or turn by adjusting the rotating speed and the turning direction of two symmetrical groups of propellers;
s3, moving on the water bottom: controlling the movement of the walking trolley, and carrying the movement of the pressure-resistant cabin along the water bottom surface through the walking trolley;
s4, a floating step: and controlling the water pumping and draining pump to discharge water in the gravity bag to the outside of the pressure-resistant cabin, so that the benthonic floating mixed type underwater mobile detection platform floats upwards.
In some embodiments, in the step S2, the operation of advancing the benthic floating hybrid underwater mobile detection platform is: the rotating speed and the rotating direction of the propellers arranged on the two sides of the column body section are controlled to be the same through the controller.
In some embodiments, in the step S2, the operation of steering the benthic floating hybrid underwater mobile detection platform is: the rotating speeds of the propellers arranged on the two sides of the cylinder section are controlled to be different through the controller, so that the propellers rotate towards a preset direction.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention has the characteristics of compact structure, high integration level, easy carrying, assembly, arrangement, recovery and the like.
2. According to the invention, through the structural design of the detachable pressure-resistant cabin and the arrangement of the bearing frame, the modular customization and matched installation of underwater detection and data acquisition workpieces are realized, the modification design is convenient, and the carrying performance is good.
3. The underwater moving detection platform has small advancing and retreating resistance in water and good control performance through the cylindrical appearance and the configuration of the double-drive motor.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic diagram of an explosion structure of a benthonic floating hybrid underwater mobile detection platform according to the present invention;
FIG. 2 is a schematic view of the overall structure of the benthonic, planktonic and hybrid underwater mobile detection platform of the present invention;
FIG. 3 is a schematic top view of the benthonic, buoyant and hybrid underwater mobile detection platform of the present invention.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
Example 1
The invention provides a benthonic floating mixed type underwater mobile detection platform which comprises a pressure-resistant cabin 1, a controller 3, a power supply 4 and a driving mechanism 5. The pressure-resistant cabin 1 is of a cylinder structure with a closed cavity, and the controller 3 and the power supply 4 are both arranged in a cylinder of the pressure-resistant cabin 1. The controller 3 comprises a control module and a data acquisition module, and is used for acquiring data and controlling the driving mechanism 5. The power source 4 may be a lithium battery or the like. The driving mechanism 5 includes a propeller 51, a water pump 52, and a gravity bag 53. The two groups of propellers 51 are symmetrically arranged on two sides of the pressure-resistant cabin 1, and the two groups of propellers 51 are used for driving the pressure-resistant cabin 1 to move forwards or turn. The gravity bag 53 is fixed in the pressure-resistant cabin 1. The water pumping and draining pump 52 is installed at the bottom end of the pressure-resistant cabin 1, one end of the water pumping and draining pump 52 enters the pressure-resistant cabin 1 and is communicated with the opening of the gravity bag 3, and the other end of the water pumping and draining pump 52 is located outside the pressure-resistant cabin 1. When diving, the water outside the pressure-resistant cabin 1 is pumped into the gravity bag 3 by the pumping and draining pump 52 to increase gravity so that the pressure-resistant cabin 1 dives, and when floating, the water inside the gravity bag 3 is drained out of the pressure-resistant cabin 1 by the pumping and draining pump 52 so that the pressure-resistant cabin 1 floats.
Preferably, the benthonic floating mixed type underwater mobile detection platform further comprises a walking trolley 8, and the walking trolley 8 is used for moving the main body after submerging on a preset water bottom surface, and comprises the actions of advancing, retreating, steering and the like. The walking trolley 8 comprises a driving module 81, a frame 82 and wheels 83, the driving module 81 is mounted on the bottom surface of the frame 82 and is in transmission connection with the wheels 83, in addition, the driving module 81 is respectively electrically connected with the controller 3 and the battery 4, the battery 4 provides power, and the controller 3 is used for controlling the driving module 81. The pressure resistant cabin 1 is mounted on the frame 82, and the walking trolley 8 bears the pressure resistant cabin 1 and all parts mounted on the pressure resistant cabin 1 to move forwards, backwards and turn. Preferably, the wheels 83 are mecanum wheels, and are capable of omni-directional rotational steering.
The working principle of the invention is as follows: the power supply 4 provides power for the driving mechanism 5, and the controller 3 is used for acquiring data information of the driving mechanism 5 and controlling the movement of the driving mechanism 5. Firstly, the controller 3 controls the action of the pumping and draining pump 52, water outside the pressure-resistant cabin 1 is pumped into the gravity bag 53 through the pumping and draining pump 52, the benthic floating mixed type underwater mobile detection platform submerges to a preset depth through the increase of gravity, the controller 3 controls the rotation of the propellers 51 at the two sides of the pressure-resistant cabin 1 to enable the benthic floating mixed type underwater mobile detection platform to move forward or turn to a corresponding position when being in a suspension state, and when the benthic floating mixed type underwater mobile detection platform submerges to a preset depth and is in contact with a water bottom surface, the controller 3 controls the movement of the traveling trolley 8 outside the pressure-resistant cabin 1, so that the benthic floating mixed type underwater mobile detection platform moves forward, moves backward or turns along the water bottom surface. The invention has the characteristics of compact structure, high integration level, easy carrying, assembly, arrangement, recovery and the like.
Example 2
The embodiment 2 is formed on the basis of the embodiment 1, and the modularized customization and the matched installation of the underwater detection and data acquisition workpiece are realized through the structural design of the detachable pressure-resistant cabin and the arrangement of the bearing frame, so that the modification design is convenient, and the carrying type is good. Specifically, the method comprises the following steps:
the pressure-resistant cabin 1 is preferably of a detachable split structure, and the installation of components such as the controller 3 and the power supply 4 is convenient. When the pressure-resistant cabin 1 is of a split structure, the pressure-resistant cabin preferably comprises a cone forging 11 and a cylinder section 12, wherein the cone section 11 is preferably conical or hemispherical, the cone section 11 can effectively guide flow as a bow of the pressure-resistant cabin 1, the cylinder section 12 is a cylinder with one open end, and the end face of the cone section 11 is buckled on the open end of the cylinder section 12 to form the pressure-resistant cabin 1 with a sealed cavity structure. Wherein, the sealing connection between the cone section 11 and the cylinder section 12 is preferably realized by the first sealing assembly 6, and the first sealing assembly 6 comprises a first sealing ring 61 and a first fixing sleeve 62. The first sealing ring 61 is a step-shaped cylinder structure, the first sealing ring 61 is buckled on the open end of the cylinder section 12 in an inverted manner, namely, the outer surface of the section of the cylinder with the smaller outer diameter of the first sealing ring 61 is in contact with the inner surface of the cylinder section 12, the lower surface of the section of the cylinder with the larger outer diameter of the first sealing ring 61 is in contact with the upper end surface of the cylinder section 12, the end surface of the cone section 11 is in contact with the upper surface of the cylinder with the larger outer diameter of the first sealing ring 61, and then the first fixing sleeve 61 is sleeved on the joint section part of the cone section 11 and the cylinder section 12, namely, the end of the cone section 11, the outer peripheral surface of the cylinder with the larger outer diameter of the first sealing ring 61 and the end of the cylinder section 12 are sequentially pressed and connected to form an annular part which is wrapped by the first fixing sleeve 62, and the first fixing sleeve 62 enables the conical section 11 and the cylindrical section 12 to realize a tight sealing connection through a locking manner. Preferably, the surface of the first sealing ring 61 contacting the cone section 11, the cylinder section 12 and the first fixing sleeve 62 is coated with silicone grease or the like to improve the sealing effect.
Further, the cylinder section 12 is also designed as a split structure, and includes a cylinder 121 and a bottom cover 122, and the cylinder 121 and the bottom cover 122 are hermetically connected by a second sealing assembly 7. The bottom cover 122 is preferably made of acrylic plate, so that the overall weight of the platform is reduced while the structural strength is ensured. The second sealing assembly 7 includes a second sealing ring 71 and a second fixing ring 72, the second sealing ring 71 is a boss-shaped cylinder, and is also fastened to the port of the cylinder 121 in an inverted manner, at this time, the port of the cylinder 121 fastened to the second sealing ring 71 is the bottom end of the cylinder section 12, and is opposite to the first sealing ring 61. After the second sealing ring 71 is fastened to the port of the cylinder 121, the bottom cover 122 covers the upper surface of the second sealing ring, and the cylinder 121, the second sealing ring 71 and the bottom cover 122 are tightly and hermetically connected through the second fixing ring 71. Preferably, the surfaces of the second sealing ring 71 contacting the cylinder 121, the bottom cover 122 and the second fixing ring 72 are coated with silicone grease or the like, so as to improve the sealing effect.
Preferably, the pressure-resistant cabin further comprises a bearing frame 2, wherein the bearing frame 2 is fixedly arranged in the pressure-resistant cabin 1, and the controller 3 and the power supply 4 are fixedly arranged on the bearing frame 2. Further, force-bearing frame 2 includes bracing piece 21 and mounting panel 22, and bracing piece 21 and mounting panel 22 are a plurality ofly, and many spinal branchs vaulting pole 21 encloses into the barrel-shaped body with the mode that is parallel to each other and interval set up, and a plurality of mounting panels 22 are preferred to cup joint on bracing piece 21 with interval and the mode that is parallel to each other. The carrier 2 can be respectively fastened and connected with the top end and the bottom end of the pressure-resistant cabin 1 through the upper end and the lower end of the support rod 21, and can be connected and fixed with the inner circumferential surface of the pressure-resistant cabin 1 through the outer circumferential surface of the mounting plate 22. The mounting plate 22 is provided with a hollow area, and the hollow area is mainly used for facilitating the installation of the components such as the controller 3 and the power supply 4. In addition, the gravity bag 53 can be effectively fixed by the carrier 2.
Example 3
The embodiment 3 is a method for detecting a benthonic floating mixed type underwater movement detection platform formed on the basis of the embodiment 1 or the embodiment 2, the method for detecting by using the benthonic floating mixed type underwater movement detection platform comprises the following steps:
s1, a step of proceeding: when the benthonic floating mixed type underwater mobile detection platform performs the submergence movement, the propellers 51 and the walking trolley 8 which are positioned at the two sides of the pressure-resistant cabin 1 are in a static state, the controller 3 controls the pumping and draining pump 12 to pump the water outside the pressure-resistant cabin 1 into the gravity bag 53, and the benthonic floating mixed type underwater mobile detection platform reaches the preset depth by increasing the gravity.
S2, moving in water: when the benthonic floating mixed type underwater mobile detection platform reaches a preset depth, the propellers 51 on two sides of the pressure-resistant cabin 1 are controlled to rotate through the controller 3, the rotating speed and the rotating direction of the propellers are the same, the pressure-resistant cabin 1 can be pushed to move forwards through the propellers 51, and then the detection platform moves forwards. When the controller 3 controls the propellers 51 on the two sides of the pressure-resistant cabin 1 to rotate at different speeds, that is, the propellers 51 on the two sides rotate at different speeds, the pressure-resistant cabin 1 can be steered through the propellers 51, and the detection platform can be steered. When the propeller 51 is operated, the pump 52 and the traveling carriage 8 are in a stationary state.
S3, moving on the water bottom: when the benthonic and floating mixed type underwater mobile detection platform moves to the water bottom and then works, the driving module 81 of the walking trolley 8 is controlled by the controller 3, and then the driving wheels 83 are driven by the driving module 81 to move forwards, retreat and turn to the water bottom surface, so that the movement and the work of the detection platform on the water bottom surface are realized. When the walking trolley 8 acts, the spiral 51 and the drainage pump 12 are kept in a static state.
S4, a floating step: when the benthonic floating mixed type underwater mobile detection platform carries out upward floating movement, the propellers 51 and the walking trolley 8 which are positioned at the two sides of the pressure-resistant cabin 1 are in a static state, the controller 3 controls the pumping and draining pump 12 to discharge water in the gravity bag 53 to the outside of the pressure-resistant cabin 1, and the benthonic floating mixed type underwater mobile detection platform floats upward in a weight reduction mode.
In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (10)
1. A benthonic and planktonic mixed type underwater mobile detection platform is characterized by comprising a pressure-resistant cabin (1), a controller (3), a power supply (4) and a driving mechanism (5);
the pressure-resistant cabin (1) comprises a cone section (11) and a column section (12), the cone section (11) is hermetically connected with the column section (12), and the controller (3) and the power supply (4) are installed in the column section (12);
the driving mechanism (5) comprises a propeller (51), a water pumping and draining pump (52) and a gravity bag (53), the propeller (51) is symmetrically arranged on the side surface of the cylindrical body section (12), the gravity bag (53) is fixed in the cylindrical body section (12), one end of the water pumping and draining pump (52) enters the cylindrical body section (12) and is communicated with the gravity bag (53), and the other end of the water pumping and draining pump (52) is positioned outside the cylindrical body section (12);
the propeller (51) is electrically connected with the controller (3) and the power supply (4) respectively, and the water pumping and draining pump (52) is electrically connected with the controller (3) and the power supply (4) respectively.
2. The benthic floating hybrid underwater movement detection platform according to claim 1, further comprising a walking trolley (8), wherein the walking trolley (8) comprises a driving module (81), a frame (82) and wheels (83), the driving module (81) is electrically connected with the controller (3) and the power supply (4) respectively, the column section (12) is fixed on the frame (82), and the driving module (81) drives the wheels (83) to walk.
3. The benthonic and floating hybrid underwater movement detection platform according to claim 1 or 2, wherein the cone section (11) and the cylinder section (12) are hermetically connected through a first sealing assembly (6), the first sealing assembly (6) comprises a first sealing ring (61) and a first fixing ring (62), the first sealing ring (61) is a boss-shaped cylinder, the first sealing ring (61) is clamped at the top end of the cylinder section (12), the cone section (11) covers the end face of the first sealing ring (61), and the first fixing ring (62) is sleeved on the peripheral surface of the joint of the cone section (11) and the cylinder section (12) and is tightly connected.
4. The benthonic planktonic hybrid underwater movement detection platform according to claim 3, wherein the cylinder body (12) comprises a cylinder body (121) and a bottom cover (122), the cylinder body (121) and the bottom cover (122) pass through a second sealing component (7), the second sealing component (7) comprises a second sealing ring (71) and a second fixing ring (72), the second sealing ring (71) is a boss-shaped cylinder body, the second sealing ring (71) is clamped at the bottom end of the cylinder body (121), the bottom cover (122) covers the end face of the second sealing ring (71), and the second fixing ring (72) is sleeved on the peripheral surface of the joint of the cylinder body (121) and the bottom cover (122) and is fastened.
5. The benthonic, buoyant, hybrid underwater motion detection platform of claim 4, wherein the bottom cover (122) is an acrylic sheet.
6. The benthonic, buoyant, hybrid underwater motion detection platform of claim 3, further comprising a outrigger (2), the outrigger (2) being secured within the column section (12), the controller (3) and the power supply (4) being mounted on the outrigger (2).
7. The benthonic floating hybrid underwater mobile detection platform according to claim 6, wherein the bearing frame (2) comprises a plurality of support rods (21) and a plurality of mounting plates (22), the plurality of mounting plates (22) are connected in series through the plurality of support rods (21), the plurality of support rods (21) are enclosed into a cylinder, and hollow parts are arranged on the mounting plates (22).
8. A method for detecting a benthonic, planktonic and hybrid underwater mobile detection platform, which is characterized in that the benthonic, planktonic and hybrid underwater mobile detection platform as claimed in any one of claims 1 to 7 is adopted for detection, and the method comprises the following steps:
s1, a step of proceeding: controlling the water pumping and draining pump (52) to pump water outside the pressure cabin (1) into the gravity bag (53) until the benthic floating mixed type underwater mobile detection platform reaches a preset depth;
s2, moving in water: controlling the rotation of the propellers (51), and enabling the benthonic floating mixed type underwater mobile detection platform to move forward or turn by adjusting the rotating speed and the turning direction of two symmetrical groups of propellers (51);
s3, moving on the water bottom: controlling the movement of the walking trolley (7), and bearing the pressure-resistant cabin (1) by the walking trolley (7) to move along the water bottom surface;
s4, a floating step: and controlling the water pumping and draining pump (52) to discharge water in the gravity bag (53) to the outside of the pressure-resistant cabin (1), so that the benthic floating mixed type underwater mobile detection platform floats upwards.
9. The method according to claim 8, wherein in step S2, the operation of advancing the benthic buoyant hybrid underwater movement detection platform is: the rotating speed and the rotating direction of the propellers (51) arranged on two sides of the cylinder section (12) are controlled to be the same through the controller (3).
10. The method of claim 8, wherein in the step S2, the operation of turning the platform is: the rotating speeds of the propellers (51) arranged on both sides of the cylinder section (12) are controlled to be different by the controller (3) so as to rotate towards a preset direction.
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| CN202110546269.XA CN113189670A (en) | 2021-05-19 | 2021-05-19 | Benthic floating mixed type underwater mobile detection platform and detection method thereof |
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| CN202110546269.XA CN113189670A (en) | 2021-05-19 | 2021-05-19 | Benthic floating mixed type underwater mobile detection platform and detection method thereof |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113884335A (en) * | 2021-10-12 | 2022-01-04 | 上海交通大学 | Mobile sediment trapping apparatus and method |
| 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 |
-
2021
- 2021-05-19 CN CN202110546269.XA patent/CN113189670A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN113884335A (en) * | 2021-10-12 | 2022-01-04 | 上海交通大学 | Mobile sediment trapping apparatus and method |
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