CN115871867A - Detection and auxiliary operation robot device suitable for underwater complex working environment - Google Patents
Detection and auxiliary operation robot device suitable for underwater complex working environment Download PDFInfo
- Publication number
- CN115871867A CN115871867A CN202211515571.XA CN202211515571A CN115871867A CN 115871867 A CN115871867 A CN 115871867A CN 202211515571 A CN202211515571 A CN 202211515571A CN 115871867 A CN115871867 A CN 115871867A
- Authority
- CN
- China
- Prior art keywords
- integrated
- underwater
- surrounding structure
- cabin
- sealed cabin
- 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.)
- Withdrawn
Links
Images
Classifications
-
- 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
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/30—Assessment of water resources
Abstract
The invention discloses a detection and auxiliary operation robot device suitable for an underwater complex working environment, and relates to the technical field of underwater equipment.
Description
Technical Field
The invention belongs to the technical field of underwater equipment, and particularly relates to a detection and auxiliary operation robot device suitable for an underwater complex working environment.
Background
With the implementation of a large number of capital constructions on coastal and inland lakes, the application requirements based on underwater robot detection and auxiliary operation are more and more strong. Compared with the underwater robot for deep sea development, the underwater robot for the coastal lake and the inland lake has the particularity that: the working water depth of the underwater robot is generally not more than 500 meters, and the number of application occasions is more than 100 meters; the underwater robot has the characteristics that the working scene is often accompanied by larger flow velocity, the operation is needed near an underwater building, and the like, which puts very high requirements on the underwater stable operation of the robot and is also the core reason that the existing various underwater robots for deep sea or robots which are not developed specifically are difficult to meet the use requirements.
The underwater robot for the capital construction projects facing the sea and inland lakes to realize underwater high-precision stable control is the biggest core technical problem faced by the underwater robot, and is the premise and the foundation for whether the underwater robot can finish underwater high-precision operation. The working stability of the underwater robot is interfered by various uncertain factors from the underwater robot and the external environment, and the working stability of the underwater robot mainly comprises the following steps: the model per se is disturbed, such as nonlinearity of the model per se, real-time change of hydrodynamic parameters and gravity center change caused by operation tools such as a mechanical arm and the like; environmental disturbance: such as unbalanced force generated by ocean current and wave interference and changes of hydrological parameters, temperature, salinity and the like, which is externally excited in an underwater complex environment, brings great difficulty to underwater observation and auxiliary operation of the robot, and seriously restricts the application effect of the underwater robot in engineering. Meanwhile, in order to adapt to a large-depth underwater working environment, the underwater robot usually needs to place electronic components in a sealed cabin, wherein the electronic components mainly comprise an electronic speed regulator, a control circuit board, an electronic module, various detection sensors and the like. Along with the increase of electronic equipment carried by the underwater robot, the sealed cabin of the underwater robot is crowded, internal electronic elements are not easy to arrange, and a plurality of high-power electronic components are intensively arranged, so that the problem of electromagnetic compatibility is easily caused.
Therefore, how to provide a robot device capable of improving the performance of the whole machine fluid and facilitating the arrangement of electronic components in a sealed cabin, the detection of heat dissipation and auxiliary operation becomes a problem to be solved by those skilled in the art.
Disclosure of Invention
In view of the above, the invention provides a robot device for detection and auxiliary operation, which is suitable for an underwater complex working environment.
In order to achieve the purpose, the invention adopts the following technical scheme: the utility model provides a detection and auxiliary operation robot device that adapts to complicated operational environment under water, includes integrated form surround structure, advancing device, sealed cabin, electric tilt and body material, both ends support and side support are the circular arc formula structure around the integrated form surround structure, advancing device encircles and arranges the edge at integrated form surround mechanism, sealed cabin, body material and electric tilt all set up on integrated form surround structure, sealed cabin sets up at the center of integrated form surround structure, the body material is filled between sealed cabin and integrated form surround structure, the electric tilt sets up between sealed cabin and integrated form surround structure, advancing device and electric tilt all are connected with the sealed cabin electricity.
Furthermore, the propulsion device comprises eight propellers which are fixed at eight corners of the integrated surrounding structure, and the intersection point of extension lines of the propulsion directions of the eight propellers is positioned at the center of the robot device and used for ensuring that the robot device can realize omnidirectional motion underwater.
Furthermore, eight electronic speed regulators are arranged in the electric regulation cabin, the eight electronic speed regulators are arranged in the electric regulation cabin in a rectangular mode, and the eight electronic speed regulators are electrically connected with the eight propellers respectively.
Further, still include ultrashort baseline and acoustics Doppler log, ultrashort baseline setting is in integrated form surrounding structure top, acoustics Doppler log sets up in integrated form surrounding structure below, ultrashort baseline and acoustics Doppler log all are connected with the sealed cabin electricity, acoustics Doppler log is used for cooperating the real-time location of ultrashort baseline under water.
Furthermore, the sealing cabin comprises a multi-beam sonar which is electrically connected with the sealing cabin and arranged above the rear end of the sealing cabin, and the multi-beam sonar is fixed on the integrated surrounding structure.
The manipulator is electrically connected with the sealed cabin and arranged below the front part of the integrated surrounding structure and used for grabbing, exploring and sampling underwater.
Further, still include lighting apparatus, lighting apparatus is connected with the sealed cabin electricity, lighting apparatus includes leading light and rearmounted light, leading light sets up in the front end of integrated form surrounding structure, rearmounted light sets up in the rear end of integrated form surrounding structure for provide the light source in the underwater environment of difference, the cooperation camera is used.
Further, still including shooting equipment, shooting equipment is connected with the sealed cabin electricity, shooting equipment includes cloud platform camera and fixed camera, cloud platform camera sets up the front end central point at the sealed cabin and puts, fixed camera sets up the rear end at integrated form surrounding structure, fixed camera sets up the centre at the rear light.
Further, still include the depth gauge, the depth gauge is connected with the sealed cabin electricity, the depth gauge sets up on the terminal surface of sealed cabin.
Furthermore, an integrated lithium battery component, an integrated photoelectric signal conversion module, an integrated communication module and an integrated control circuit board are arranged in the sealed cabin, the integrated photoelectric signal conversion module, the integrated communication module and the integrated control circuit board are all electrically connected with the integrated lithium battery component, the integrated lithium battery component is used for supplying power to the underwater control device, the integrated photoelectric signal conversion module is used for mutual conversion of optical signals and electric signals, the integrated communication module is used for network protocol data transmission, and the integrated control circuit board is used for inputting and outputting control signals and distributing power for all parts.
The beneficial effects of the invention are as follows:
1. the integrated surrounding structure is convenient for equipment installation and protection of various underwater instruments, improves the fluid performance of the whole machine, and can provide enough structural strength and rigidity so as to support operating equipment carried by the robot device;
2. the electronic speed regulator with large volume and high heat productivity is separated from the sealed cabin, so that the use efficiency of the space of the sealed cabin is improved, more components can be arranged in the sealed cabin, and batteries with larger capacity can be stored in the sealed cabin, and the technical defects that in the prior art, the electronic components are burnt due to high temperature and safety accidents are caused due to poor heat dissipation performance when the electronic speed regulator is installed in the sealed cabin are overcome;
3. the electronic speed regulator is provided with the independent electric regulation cabin, so that the electronic speed regulator can be more fully contacted with liquid, and the heat dissipation effect of the electronic speed regulator is improved; because the electronic speed regulator is independent of the outside of the sealed cabin, the influence of the heating of the electronic speed regulator on electronic components in the sealed cabin is reduced, the problem of electromagnetic compatibility among multiple electronic devices in the cabin caused by large current is avoided, and the use stability and the service life of the device are improved.
Drawings
FIG. 1 is a schematic view of the main structure of the present invention;
FIG. 2 is a schematic view of another embodiment of the present invention;
FIG. 3 is a front view of the present invention (with float material removed);
FIG. 4 is a left side view of the present invention (with float material removed);
FIG. 5 is a cross-sectional view of the present invention;
fig. 6 is a control schematic diagram of the present invention.
In the figure: 1. a propulsion device; 1-1. A first propeller; 1-2. A second propeller; 1-3. A third propeller; 1-4. A fourth propeller; 1-5, a fifth propeller; 1-6. A sixth propeller; 1-7, a seventh propeller; 1-8, an eighth propeller; 2. sealing the cabin; 2-1, integrating a lithium battery component; 2-2, integrating a photoelectric signal conversion module; 2-3, integrating a communication module; 2-4. An integrated control circuit board; 3. a lighting device; 3-1. A first lighting lamp; 3-2. A second lighting lamp; 3-3. A third lighting lamp; 3-4. A fourth illuminating lamp; 3-5. A fifth lighting lamp; 3-6. A sixth illuminating lamp; 4. a multi-wave-speed sonar; 5. a manipulator; 6. an acoustic doppler log; 7. an ultra-short baseline; 8. a pan-tilt camera; 9. a depth meter; 10. fixing a camera; 11. an electric regulation cabin; 11-1. A first electronic governor; 11-2. A second electronic governor; 11-3. A third electronic governor; 11-4. A fourth electronic governor; 11-5, a fifth electronic speed regulator; 11-6, a sixth electronic speed regulator; 11-7. A seventh electronic governor; 11-8. An eighth electronic governor; 12. an integrated surround structure; 13. a float material; 14. and lifting the ring.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "horizontal", "inner", "outer", "one side", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and operate, and thus, should not be construed as limiting the present invention; the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance, and furthermore, unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly and may be, for example, 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.
Example 1
As shown in fig. 1-5, the invention discloses a detection and auxiliary operation robot device adapted to underwater complex working environment, comprising: the device comprises a propelling device 1, a sealed cabin 2, a lighting device 3, a multi-wave-speed sonar 4, a manipulator 5, an acoustic Doppler log 6, an ultra-short baseline 7, a pan-tilt camera 8, a depth meter 9, a fixed camera 10, an electric tilt cabin 11, an integrated surrounding structure 12, a floating body material 13 and a lifting ring 14.
The supports at the front end and the rear end of the integrated surrounding structure 12 and the side supports are both arc structures, so that on one hand, the integrated surrounding structure is convenient for equipment installation and protection of various underwater instruments, on the other hand, the fluid performance of the whole machine is improved, and sufficient structural strength and rigidity can be provided, so that operating equipment carried by an underwater robot can be supported; preferably, the integrated surrounding structure 12 is made of aluminum alloy material, or engineering plastic; the propulsion device 1 comprises a first propeller 1-1; a second propeller 1-2; a third propeller 1-3; a fourth propeller 1-4; a fifth propeller 1-5; a sixth propeller 1-6; a seventh propeller 1-7; the eight propellers are arranged in a wingspan structure and fixed at eight corners of the integrated surrounding structure, the eight propellers are arranged in a three-dimensional space and respectively form specific included angles with an X axis, a Y axis and a Z axis and are fixed on the integrated surrounding structure 12, and the intersection point of extension lines of the propulsion directions of the eight propellers is positioned at the center of the robot device; when the propeller is started, component forces in different directions can be generated by controlling the rotating speed of the propeller, so that the control equipment moves according to a preset track, the equipment can realize omnidirectional movement underwater, and the equipment is inhibited from rolling and shaking.
The sealed cabin 2 is fixedly arranged on the integrated surrounding structure 12, an integrated lithium battery component 2-1, an integrated photoelectric signal conversion module 2-2, an integrated communication module 2-3 and an integrated control circuit board 2-4 are arranged in the sealed cabin, the integrated photoelectric signal conversion module 2-2, the integrated communication module 2-3 and the integrated control circuit board 2-4 are electrically connected with the integrated lithium battery component 2-1, and the integrated lithium battery component 2-1 is used for supplying power for an underwater control device; the integrated photoelectric signal conversion module 2-2 is used for converting optical signals and electric signals into each other; the integrated communication module 2-3 is used for network protocol data transmission; and the integrated control circuit boards 2-4 are used for inputting and outputting control signals and distributing power supply for each part.
The illuminating device 3 comprises four front illuminating lamps and two rear illuminating lamps, wherein the front illuminating lamps comprise a first illuminating lamp 3-1, a second illuminating lamp 3-2, a third illuminating lamp 3-3 and a fourth illuminating lamp 3-4 which are arranged in front of the integrated surrounding structure 12 in a surrounding mode; the rear illuminating lamps comprise fifth illuminating lamps 3-5 and sixth illuminating lamps 3-6 which are symmetrically arranged behind the integrated surrounding structure 12 and are used for providing light sources in different underwater environments and being matched with a camera for use.
Wherein, the installation of multi-beam sonar 4 is fixed in integrated form and encircles structure 12 upper place before, and when the picture that cloud platform camera 8 was shot can't satisfy and control the requirement, for example the operation area sea water is comparatively muddy, and when cloud platform camera 8 can't shoot clear picture, can start multi-beam sonar 4 and acquire the real-time picture in work waters.
The manipulator 5 is fixed in the front lower part of the integrated surrounding structure 12 and used for grabbing, exploring, sampling and other operations under water.
Wherein, the acoustic doppler log 6 is fixed below the integrated surrounding structure 12, and the ultra-short baseline 7 is fixed above the integrated surrounding structure 12. The acoustic Doppler log 6 can realize real-time positioning of the equipment in underwater operation by matching with the ultra-short baseline 7, and accurately determines the direction, speed and course of the equipment, so that an equipment operator can make the best judgment on the state of the robot device.
The tripod head camera 8 is fixedly arranged on the front end face of the sealed cabin 2, and the fixed camera 10 is fixedly arranged behind the integrated surrounding structure 12 and arranged between the fifth illuminating lamp 3-5 and the sixth illuminating lamp 3-6. The pan-tilt camera 8 is matched with the fixed camera 10, so that the environmental pictures in front of and behind the equipment can be monitored in real time, and the operators of the equipment can know the underwater environment in real time conveniently.
Wherein, the depth gauge 9 is installed and is fixed in on the preceding terminal surface of sealed cabin 2 for the real-time degree of depth of check out test set under water.
The electric regulation cabin 11 is fixedly arranged below the integrated surrounding structure 12, the number of the electronic speed regulators arranged in the electric regulation cabin 11 is eight, the electric regulation cabin comprises a first electronic speed regulator 11-1, a second electronic speed regulator 11-2, a third electronic speed regulator 11-3, a fourth electronic speed regulator 11-4, a fifth electronic speed regulator 11-5, a sixth electronic speed regulator 11-6, a seventh electronic speed regulator 11-7 and an eighth electronic speed regulator 11-8, the first electronic speed regulator, the second electronic speed regulator, the third electronic speed regulator, the fourth electronic speed regulator, the fifth electronic speed regulator, the sixth electronic speed regulator, the seventh electronic speed regulator and the eighth electronic speed regulator are respectively used for controlling the work of the propelling device and are arranged in a rectangular array, the electric regulation cabin 11 is arranged, the electronic speed regulators are independently taken out of the sealed cabin 2, and the available space of other electronic equipment in the sealed cabin 2 is increased. Electric tilt cabin 11 is used for completely cutting off electronic governor and water contact, and simultaneously, electric tilt cabin 11 is direct and liquid contact, has increased electronic governor's radiating effect.
The floating body material 13 provides sufficient buoyancy for the underwater robot to ensure that the equipment cannot sink when running underwater; a hoist ring 14 is provided at the top end of the integrated surround structure 12, the hoist ring 14 being used when carrying and hoisting equipment.
As shown in fig. 6, in the stability control system of the underwater robot, an operator issues an instruction, and the underwater robot performs a corresponding action. The stability control system mainly comprises an overwater control unit 15, an underwater attitude control unit 16, an underwater driving unit 17, an acoustic Doppler log 6, an ultra-short baseline 7 and a depth gauge 9. The underwater driving unit 17 comprises an electronic speed regulator 11 and a propeller 1, wherein the electronic speed regulator 11 controls the speed of the propeller 1 to execute lifting, front-back and left-right movement according to given instructions, so that the robot can realize omnibearing movement underwater, the robot is restrained from rolling and shaking, and the stable control of the underwater robot is improved.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the technical scope of the present invention, so that any minor modifications, equivalent changes and modifications made to the above embodiment according to the technical spirit of the present invention are within the technical scope of the present invention.
Claims (10)
1. The utility model provides an adaptation is detection and auxiliary operation robot device of complicated operational environment under water which characterized in that: including integrated form surrounding structure, advancing device, sealed cabin, electricity accent cabin and body material, both ends support and side support are the circular arc formula structure around the integrated form surrounding structure's, advancing device encircles the edge of arranging at integrated form surrounding mechanism, sealed cabin, body material and electricity accent cabin all set up on integrated form surrounding structure, sealed cabin sets up the center at integrated form surrounding structure, the body material is filled between sealed cabin and integrated form surrounding structure, the electricity accent cabin sets up between sealed cabin and integrated form surrounding structure, advancing device and electricity accent cabin all are connected with the sealed cabin electricity.
2. The underwater complex work environment detection and auxiliary operation robot device according to claim 1, characterized in that the propulsion device comprises eight propellers fixed at eight corners of the integrated surrounding structure, and the intersection point of the extension lines of the propulsion directions of the eight propellers is located at the center of the robot device, so as to ensure that the robot device can realize omnidirectional movement underwater.
3. The robot device for detecting and assisting underwater complex working environment according to claim 2, wherein eight electronic speed regulators are arranged in the electric speed regulation cabin, the eight electronic speed regulators are arranged in the electric speed regulation cabin in a rectangular shape, and the eight electronic speed regulators are respectively electrically connected with the eight propellers.
4. The robot for detection and auxiliary operation adapted to underwater complex working environment of claim 1, further comprising an ultra-short baseline and an acoustic doppler log, wherein the ultra-short baseline is disposed above the integrated surrounding structure, the acoustic doppler log is disposed below the integrated surrounding structure, the ultra-short baseline and the acoustic doppler log are both electrically connected to the capsule, and the acoustic doppler log is used for matching the ultra-short baseline to be positioned underwater in real time.
5. The robot device for detecting and assisting underwater complex working environment according to claim 1, further comprising a multi-beam sonar electrically connected with the sealed cabin, the multi-beam sonar being disposed above the rear end of the sealed cabin, the multi-beam sonar being fixed on the integrated surrounding structure.
6. The robot device for detecting and assisting underwater complex working environment according to claim 1, further comprising a manipulator electrically connected with the sealed cabin, wherein the manipulator is arranged at the front lower part of the integrated surrounding structure and used for grabbing, exploring and sampling underwater.
7. The robot device for detecting and assisting underwater complex work environment according to claim 1, further comprising a lighting device electrically connected to the sealed cabin, wherein the lighting device comprises a front lighting lamp and a rear lighting lamp, the front lighting lamp is disposed at the front end of the integrated surrounding structure, and the rear lighting lamp is disposed at the rear end of the integrated surrounding structure, and is used for providing light sources in different underwater environments and cooperating with a camera.
8. The underwater complex work environment detection and auxiliary operation robot device according to claim 1, further comprising a shooting device electrically connected with the sealed cabin, wherein the shooting device comprises a pan-tilt camera and a fixed camera, the pan-tilt camera is arranged at the center of the front end of the sealed cabin, the fixed camera is arranged at the rear end of the integrated surrounding structure, and the fixed camera is arranged in the middle of the rear illuminating lamp.
9. The underwater complex work environment detection and auxiliary work robot device according to claim 1, further comprising a depth gauge electrically connected to the capsule, the depth gauge being disposed on an end surface of the capsule.
10. The robot device for detecting and assisting underwater complex working environment according to claim 1, wherein an integrated lithium battery component, an integrated photoelectric signal conversion module, an integrated communication module and an integrated control circuit board are arranged in the sealed cabin, the integrated photoelectric signal conversion module, the integrated communication module and the integrated control circuit board are all electrically connected with the integrated lithium battery component, the integrated lithium battery component is used for supplying power to the underwater control device, the integrated photoelectric signal conversion module is used for interconversion between optical signals and electric signals, the integrated communication module is used for network protocol data transmission, and the integrated control circuit board is used for inputting and outputting control signals and distributing power to each component.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211515571.XA CN115871867A (en) | 2022-11-30 | 2022-11-30 | Detection and auxiliary operation robot device suitable for underwater complex working environment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211515571.XA CN115871867A (en) | 2022-11-30 | 2022-11-30 | Detection and auxiliary operation robot device suitable for underwater complex working environment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115871867A true CN115871867A (en) | 2023-03-31 |
Family
ID=85764787
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211515571.XA Withdrawn CN115871867A (en) | 2022-11-30 | 2022-11-30 | Detection and auxiliary operation robot device suitable for underwater complex working environment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115871867A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116902180A (en) * | 2023-09-05 | 2023-10-20 | 深之蓝海洋科技股份有限公司 | Underwater carrying device |
-
2022
- 2022-11-30 CN CN202211515571.XA patent/CN115871867A/en not_active Withdrawn
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116902180A (en) * | 2023-09-05 | 2023-10-20 | 深之蓝海洋科技股份有限公司 | Underwater carrying device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106394815B (en) | Combined system of unmanned ship and unmanned submersible | |
| CN106628026B (en) | Unmanned ship and unmanned ship system | |
| CN114560041B (en) | Buoy for algae tracking | |
| CN205293033U (en) | Small -size underwater robot | |
| CN109115979A (en) | Portable multi-function solid water quality detection device | |
| CN105711777A (en) | Micro-miniature modularized AUV (autonomous underwater vehicle) | |
| CN115871867A (en) | Detection and auxiliary operation robot device suitable for underwater complex working environment | |
| JP2019089422A (en) | Seabed survey system using underwater drone | |
| CN113192404B (en) | Self-navigation towing simulator and simulation method of deep sea mining system suitable for natural water body | |
| CN109941409A (en) | A kind of sized underwater observation robot and control method | |
| CN111239746A (en) | Dam crack detection underwater robot and using method thereof | |
| WO2023066219A1 (en) | Omnidirectional underwater robot | |
| CN207924514U (en) | A kind of underwater autonomous robot | |
| CN110703197B (en) | Lateral measurement type inverted ultrashort baseline transmitting-receiving transducer and working mode thereof | |
| CN113184148A (en) | Light operation modularization of snake eel shape is from independently fortune dimension robot under water | |
| CN113148080A (en) | Underwater detection robot | |
| CN218477621U (en) | Underwater intelligent robot auxiliary device based on Beidou positioning | |
| CN112362093A (en) | Dam detection robot, detection system and detection method | |
| CN216734715U (en) | Dam face detection underwater robot system based on multi-acoustic-device cooperative operation | |
| CN205801464U (en) | A kind of microminiature modularity AUV | |
| CN215981440U (en) | Underwater pipeline inspection robot | |
| CN209972749U (en) | Annular single-drive underwater robot | |
| CN210455156U (en) | High-flexibility underwater robot structure | |
| CN212154676U (en) | Addressing bottom-landing device of submarine drilling rig | |
| CN111319740B (en) | Deep-sea extensible boat body underwater vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20230331 |