CN114056522A - Long-endurance autonomous underwater vehicle - Google Patents

Long-endurance autonomous underwater vehicle Download PDF

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Publication number
CN114056522A
CN114056522A CN202111613200.0A CN202111613200A CN114056522A CN 114056522 A CN114056522 A CN 114056522A CN 202111613200 A CN202111613200 A CN 202111613200A CN 114056522 A CN114056522 A CN 114056522A
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CN
China
Prior art keywords
underwater vehicle
main
power supply
auxiliary battery
endurance
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202111613200.0A
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Chinese (zh)
Inventor
田锋
刘晓伟
王奥博
韩兆君
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
China Academy of Aerospace Aerodynamics CAAA
Original Assignee
China Academy of Aerospace Aerodynamics CAAA
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by China Academy of Aerospace Aerodynamics CAAA filed Critical China Academy of Aerospace Aerodynamics CAAA
Priority to CN202111613200.0A priority Critical patent/CN114056522A/en
Publication of CN114056522A publication Critical patent/CN114056522A/en
Pending legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
    • B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
    • B60L50/60—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
    • B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
    • B60L58/12—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries responding to state of charge [SoC]
    • 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
    • B63H—MARINE PROPULSION OR STEERING
    • B63H21/00—Use of propulsion power plant or units on vessels
    • B63H21/12—Use of propulsion power plant or units on vessels the vessels being motor-driven
    • B63H21/17—Use of propulsion power plant or units on vessels the vessels being motor-driven by electric motor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/32—Waterborne vessels
    • 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
    • B63G2008/004—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned autonomously operating
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/16—Information or communication technologies improving the operation of electric vehicles

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)

Abstract

The invention belongs to the field of underwater robots, and particularly relates to a long-endurance autonomous underwater vehicle. The underwater vehicle comprises a main underwater vehicle body, wherein a main antenna is arranged on the main underwater vehicle body, an auxiliary battery compartment is arranged on the outer side of the main underwater vehicle body and comprises an auxiliary battery compartment main body and a power supply cable, a control system and a battery pack are arranged in the auxiliary battery compartment main body, the power supply cable is connected with the power supply system in the main underwater vehicle body through a connecting mechanism, and the connecting mechanism is connected with the control system. The auxiliary battery cabin capable of being actively separated is adopted to supply power for the front section of the main underwater vehicle, the auxiliary battery cabin does not occupy the space in the cabin of the main vehicle, and the endurance time of the underwater vehicle is effectively prolonged. When the electric quantity of the auxiliary battery compartment is exhausted quickly, the control system controls the connecting mechanism to be disconnected with the main underwater vehicle, and the auxiliary battery compartment is recovered.

Description

Long-endurance autonomous underwater vehicle
Technical Field
The invention belongs to the field of underwater robots, and particularly relates to a long-endurance autonomous underwater vehicle.
Background
The autonomous underwater vehicle is a novel ocean monitoring device with energy, autonomous propulsion and autonomous control functions, underwater operation and perception operation capabilities, and can be operated independently from a mother ship. As the types of underwater operations that the autonomous underwater vehicle can engage in increase, people put forward higher and higher requirements on the endurance time of the autonomous underwater vehicle.
At present, most autonomous underwater vehicles provide energy by batteries carried by the autonomous underwater vehicles, and the endurance time is limited by the capacity of the carried batteries. In order to increase the endurance, the most direct and effective method is to increase the capacity of the carried battery except for methods of reducing the body resistance of the aircraft, adopting a propeller with high propulsion efficiency, reducing the power consumption of electronic equipment and the like, but under the condition that the carrying space of the aircraft is certain, the increased battery capacity occupies the space of the aircraft and weakens the carrying capacity of the aircraft.
Disclosure of Invention
Aiming at the problems in the prior art, the invention aims to provide a long-endurance autonomous underwater vehicle which can increase a power supply range by using an auxiliary battery compartment, and the auxiliary battery compartment can be separated and recycled.
The invention provides a long-endurance autonomous underwater vehicle which comprises a main underwater vehicle body, wherein a main antenna is arranged on the main underwater vehicle body, an auxiliary battery compartment is arranged on the outer side of the main underwater vehicle body and comprises an auxiliary battery compartment main body and a power supply cable, a control system and a battery pack are arranged inside the auxiliary battery compartment main body, the power supply cable is connected with a power supply system inside the main underwater vehicle body through a connecting mechanism, and the connecting mechanism is connected with the control system.
Preferably, a power supply socket is arranged on the wall of the main underwater vehicle body, the power supply socket is connected with the power supply system, one end of the power supply cable is connected with the battery pack, a plug corresponding to the power supply socket is arranged at the other end of the power supply cable, the power supply cable penetrates through the inside of the connecting mechanism, and the plug penetrates out of one end of the connecting mechanism.
Preferably, an electromagnet is arranged at one end of the connecting mechanism, and a corresponding iron block is arranged on the outer wall of the main underwater vehicle body.
Preferably, one end of the connecting mechanism is further provided with a spring, the electromagnet and the iron block are both annular, and the spring and the plug are both located inside a ring surrounded by the electromagnet.
Preferably, the battery pack is provided with a battery management system, and the battery management system is connected with the control system.
Preferably, a load rejection block is further arranged inside the auxiliary battery compartment main body, a load rejection port is arranged at the position, corresponding to the load rejection block, of the bottom of the auxiliary battery compartment, and the load rejection port is connected with the control system.
Preferably, an auxiliary battery compartment antenna is arranged on the auxiliary battery compartment main body and is respectively connected with the control system and the battery pack.
Preferably, the battery pack is a rechargeable battery.
Preferably, the auxiliary battery compartment is provided in plurality.
Preferably, the main underwater vehicle body is internally provided with a main battery.
Compared with the prior art, the invention has the following beneficial effects:
(1) the invention provides a long-endurance autonomous underwater vehicle, which adopts an auxiliary battery compartment capable of being actively separated to supply power for the front section of the autonomous underwater vehicle, and the auxiliary battery compartment does not occupy the space in the main vehicle, thereby effectively prolonging the endurance time of the autonomous underwater vehicle.
(2) When the electric quantity of the auxiliary battery compartment is exhausted quickly, the control system controls the connecting mechanism to be disconnected with the main underwater vehicle, and the auxiliary battery compartment is recovered.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a perspective view of an embodiment of the present invention;
FIG. 2 is a front view of an embodiment of the present invention;
FIG. 3 is a side view of an embodiment of the present invention;
FIG. 4 is a schematic diagram of the components of a secondary battery compartment according to an embodiment of the present invention;
FIG. 5 is an enlarged view of a portion of a coupling mechanism according to an embodiment of the present invention;
description of reference numerals:
1. a main underwater vehicle body; 2. a main antenna; 3. a sub-battery compartment main body; 4. a connecting mechanism; 5. a secondary battery compartment antenna; 6. a control system; 7. throwing the carrying block; 8. a battery pack; 9. a load rejection port; 10. a power supply cable; 11. a plug; 12. an electromagnet; 13. a spring; 14. a power supply socket; 15. and (4) iron blocks.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise. Furthermore, the terms "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Examples
Referring to fig. 1-5, the long-endurance autonomous underwater vehicle comprises a main underwater vehicle body 1, a main antenna 2 is mounted on the main underwater vehicle body 1, a main battery is arranged inside the main underwater vehicle body 1, a plurality of auxiliary battery cabins are arranged on the outer side of the main underwater vehicle body 1, the number of the auxiliary battery cabins is three in the embodiment, the three auxiliary battery cabins are respectively located on the left lower side and the right lower side of the outer wall of the main underwater vehicle body 1, each auxiliary battery cabin comprises an auxiliary battery cabin body 3 and a power supply cable 10, an auxiliary battery cabin antenna 5 is arranged outside the auxiliary battery cabin body 3, a control system 6 and a battery pack 8 are arranged inside the auxiliary battery cabin body 3, the battery pack 8 is a rechargeable battery, the power supply cable 10 is connected with a power supply system inside the main underwater vehicle body 1 through a connection mechanism 4, the connection mechanism 4 is connected with the control system 6, and the auxiliary battery cabins are connected with the power supply system of the main underwater vehicle through the connection mechanism 4. The auxiliary battery compartment antenna 5 is respectively connected with the control system 6 and the battery pack 8, and the control system 6 adopts a conventional control system in the field and can adopt a PLC control system.
Fig. 5 shows the structure of the connecting mechanism part for clarity, the main underwater vehicle body and the auxiliary battery compartment are only partially illustrated on the outer wall, as shown in fig. 5, a power supply socket 14 is arranged on the wall of the main underwater vehicle body 1, the power supply socket 14 is connected with a power supply system, one end of a power supply cable 10 is connected with a battery pack 8, the other end of the power supply cable is provided with a plug 11 corresponding to the power supply socket 14, the power supply cable 10 penetrates through the inside of the connecting mechanism 4, the plug 11 penetrates out of one end of the connecting mechanism 4, one end of the connecting mechanism 4 provided with the plug 11 is also provided with an electromagnet 12 and a spring 13, the outer wall of the main underwater vehicle body 1 is provided with a corresponding iron block 15, the electromagnet 12 and the iron block 15 are both ring-shaped, and the spring 13 and the plug 11 on the power supply cable 10 are both located inside the ring surrounded by the electromagnet 12. When the underwater vehicle main body is used, the electromagnet 12 on the connecting mechanism 4 and the iron block 15 on the outer wall of the main underwater vehicle main body 1 are attracted, the plug 11 is inserted into the power supply socket 14, the battery pack 8 in the auxiliary battery compartment main body 3 supplies power to the main underwater vehicle main body 1, when the electric quantity of the battery pack 8 in the auxiliary battery compartment main body 3 is low, the control system 6 cuts off the electricity of the electromagnet 12, the electromagnet 12 and the iron block 15 are not attracted, the separation of the auxiliary battery compartment and the main underwater vehicle main body 1 is realized, and the spring 13 accelerates the separation of the auxiliary battery compartment and the main underwater vehicle main body 1. The plug 11 and the power supply socket 14 are both underwater plugging connectors commercially available in the field.
The battery pack 8 is provided with a battery management system, the battery management system adopts the existing battery management system in the field and has the function of electric quantity monitoring, and the battery management system is connected with the control system 6.
The inside of the auxiliary battery compartment main body 3 is also provided with a load rejection block 7, the bottom of the auxiliary battery compartment is provided with a load rejection port 9 corresponding to the position of the load rejection block, and the load rejection port 9 is connected with the control system 6.
The use process comprises the following steps:
the long-endurance autonomous underwater vehicle mainly uses the battery pack of the auxiliary battery cabin to supply power when the front section works, and the main battery carried by the main underwater vehicle does not work. In the front section operation, an electromagnet on the connecting mechanism and an iron block on the outer wall of the main underwater vehicle body attract each other, a plug is inserted into a power supply socket, and a battery pack of the auxiliary battery compartment supplies power to the main underwater vehicle body. The battery pack is provided with a battery management system which has an electric quantity monitoring function, after the available electric quantity of the auxiliary battery compartment is exhausted (a small part of electric quantity needs to be reserved for recycling communication), when the electric quantity of the auxiliary battery compartment is set to be lower (5% -10%), the battery management system transmits a signal to the control system, the control system controls the electromagnet to be disconnected, the electromagnet and the iron block are not attracted, the auxiliary battery compartment is separated from the main underwater vehicle body, and the spring accelerates the separation of the auxiliary battery compartment and the main underwater vehicle body. Meanwhile, a main battery carried by the main underwater vehicle starts to supply power, and the rear section work is continued, so that the endurance time of the underwater vehicle is effectively prolonged. After the auxiliary battery compartment is separated from the main underwater vehicle, the control system controls the load rejection port to be opened, the load rejection block is rejected from the load rejection port, the auxiliary battery compartment floats upwards by utilizing the generated positive buoyancy, and after the auxiliary battery compartment floats to the water surface, the control system sends positioning information to the recovery mother ship through the auxiliary battery compartment antenna to guide recovery personnel to recover the auxiliary battery compartment, and batteries carried by the auxiliary battery compartment are rechargeable batteries which can be reused after being recovered and charged, so that the use cost is effectively reduced.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims (10)

1. The long-endurance autonomous underwater vehicle is characterized by comprising a main underwater vehicle body, wherein a main antenna is arranged on the main underwater vehicle body, an auxiliary battery compartment is arranged on the outer side of the main underwater vehicle body and comprises an auxiliary battery compartment main body and a power supply cable, a control system and a battery pack are arranged inside the auxiliary battery compartment main body, the power supply cable is connected with a power supply system inside the main underwater vehicle body through a connecting mechanism, and the connecting mechanism is connected with the control system.
2. The long-endurance autonomous underwater vehicle as claimed in claim 1, wherein a power supply socket is provided on a wall of the main underwater vehicle body, the power supply socket is connected to the power supply system, one end of the power supply cable is connected to the battery pack, a plug corresponding to the power supply socket is provided at the other end of the power supply cable, the power supply cable penetrates through the inside of the connecting mechanism, and the plug penetrates out of one end of the connecting mechanism.
3. The long-endurance autonomous underwater vehicle of claim 2, wherein an electromagnet is provided at one end of the connection mechanism, and a corresponding iron block is provided on an outer wall of the main underwater vehicle body.
4. The long-endurance autonomous underwater vehicle of claim 3, wherein a spring is further disposed at one end of the connection mechanism, the electromagnet and the iron block are both ring-shaped, and the spring and the plug are both located inside a ring surrounded by the electromagnet.
5. The long endurance, autonomous underwater vehicle according to claim 1, characterized in that said battery pack is provided with a battery management system, connected with said control system.
6. The long-endurance autonomous underwater vehicle of claim 1, wherein a load rejection block is further disposed inside the secondary battery compartment main body, a load rejection port is disposed at a position of the bottom of the secondary battery compartment corresponding to the load rejection block, and the load rejection port is connected to the control system.
7. The long-endurance autonomous underwater vehicle of claim 1, wherein an auxiliary battery compartment antenna is disposed on the auxiliary battery compartment body, and the auxiliary battery compartment antenna is connected to the control system and the battery pack, respectively.
8. The long endurance, autonomous underwater vehicle of claim 1, wherein the battery pack is a rechargeable battery.
9. The long endurance, autonomous underwater vehicle of claim 1, wherein there are a plurality of secondary battery compartments.
10. The long endurance, autonomous underwater vehicle of claim 1, wherein said main underwater vehicle body has a main battery inside.
CN202111613200.0A 2021-12-27 2021-12-27 Long-endurance autonomous underwater vehicle Pending CN114056522A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202111613200.0A CN114056522A (en) 2021-12-27 2021-12-27 Long-endurance autonomous underwater vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202111613200.0A CN114056522A (en) 2021-12-27 2021-12-27 Long-endurance autonomous underwater vehicle

Publications (1)

Publication Number Publication Date
CN114056522A true CN114056522A (en) 2022-02-18

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ID=80230355

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Application Number Title Priority Date Filing Date
CN202111613200.0A Pending CN114056522A (en) 2021-12-27 2021-12-27 Long-endurance autonomous underwater vehicle

Country Status (1)

Country Link
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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114701627A (en) * 2022-04-06 2022-07-05 华南理工大学 Danger avoiding robotic fish based on electromagnetic generator and danger avoiding method

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114701627A (en) * 2022-04-06 2022-07-05 华南理工大学 Danger avoiding robotic fish based on electromagnetic generator and danger avoiding method

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