JP2016064798A - Attitude controller for underwater equipment - Google Patents

Attitude controller for underwater equipment Download PDF

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Publication number
JP2016064798A
JP2016064798A JP2014196007A JP2014196007A JP2016064798A JP 2016064798 A JP2016064798 A JP 2016064798A JP 2014196007 A JP2014196007 A JP 2014196007A JP 2014196007 A JP2014196007 A JP 2014196007A JP 2016064798 A JP2016064798 A JP 2016064798A
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main body
body
underwater
underwater device
moving
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JP2014196007A
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JP6455046B2 (en
Inventor
泰大 石黒
Yasuhiro Ishiguro
泰大 石黒
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株式会社Ihi
Ihi Corp
株式会社Ihi
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Abstract

An underwater device posture control device capable of reducing the weight of an underwater device including a posture control device, reducing resistance, preventing entanglement of underwater plants and improving the accuracy of posture control.
An attitude control device for an underwater device 1 having a main body 11 having a shape used in water and extending in a direction of relative movement with respect to water, the drive being disposed on the outer surface of the main body 11 And a moving body 3 connected to the driving means 2 and moved along the extending direction of the main body 11, and moving the moving body 3 along the outer surface of the main body 11. The center of gravity of the underwater device 1 is adjusted using the weight of 3.
[Selection] Figure 1

Description

  The present invention relates to an attitude control device for an underwater device, and more particularly to an attitude control device for an underwater device that can adjust the position of the center of gravity or buoyancy of the underwater device in water.

  Various underwater equipment such as unmanned submersibles, underwater vehicles, underwater towed vehicles, underwater robots, etc. to conduct surveys, surveys, surveys, filming, operations, etc. in the ocean and rivers, dams, reservoirs, etc. Is used. These underwater devices have gyro sensors that measure their posture (tilt), and supply and drain ballast water according to the measurement results and generate thrust with a thruster, Many are configured to allow attitude control.

  In these posture control devices using ballast water and thrusters, posture control devices that can be externally attached to underwater equipment have already been proposed because of low responsiveness and complicated design (see Patent Document 1). ). The attitude control device described in Patent Literature 1 includes a frame that is attached to an underwater device, and a floating body that is movably disposed on the frame.

Japanese Patent No. 5055529

  However, in the attitude control device described in Patent Document 1, the frame structure makes it easy to increase the weight, and since the floating body protrudes from the frame, the resistance in water is large, and the frame and the floating body are underwater such as algae. There are problems such as difficulty in adjusting the center of gravity and buoyancy because the distance from the underwater device to the floating body is far away, which is easily entangled with plants.

  The present invention was devised in view of the above-described problems, and is capable of reducing the weight of underwater equipment including a posture control device, reducing resistance, preventing entanglement of underwater plants, and improving the accuracy of posture control. An object of the present invention is to provide a device attitude control device.

  According to the present invention, in an attitude control device for an underwater device that is used in water and has a main body having a shape extending in a direction of travel relative to water, a casing that covers the outer surface of the main body or the main body. Driving means disposed on the inner surface of the main body, and a moving body connected to the driving means and moved along the extending direction of the main body, and moving the moving body along the outer surface of the main body. Thus, there is provided an attitude control device for an underwater device, wherein the center of gravity or buoyancy of the underwater device is adjusted using the weight or buoyancy of the moving body.

  A plurality of the driving means and the moving body may be arranged in the outer peripheral direction of the main body. Furthermore, the moving body arranged at the upper part of the main body part may be constituted by a buoyancy body, and the moving body arranged at the lower part of the main body part may be constituted by a mass body.

  A plurality of the driving means may be arranged in the outer peripheral direction of the main body, and the moving body may be formed in an annular shape so as to surround the main body. The driving means and the moving body may be configured to be movable along the outer periphery of the main body. Moreover, you may have a rotation means to rotate the said main-body part.

  According to the posture control apparatus for an underwater device according to the present invention, the components (driving means and moving body) are arranged at positions close to the outer surface of the main body without using a heavy object such as a frame. Therefore, the weight of the underwater device including the attitude control device can be reduced. Moreover, while arrange | positioning the attitude | position control apparatus in the position which approached the main-body part, while being able to reduce resistance in water, the tangle of an underwater plant can be suppressed. In addition, since the distance between the main body and the moving body is close, the center of gravity or buoyancy of the main body and the center of gravity or buoyancy of the moving body can be easily arranged on substantially the same axis. It is possible to easily adjust the center of gravity and buoyancy of the body and improve the accuracy of posture control.

  Moreover, when the casing which covers a main-body part and an attitude | position control apparatus is used, the protruding part in water can be reduced, and also reduction of resistance and prevention of entanglement of underwater plants can be aimed at.

It is a figure which shows the attitude | position control apparatus of the underwater apparatus which concerns on 1st embodiment of this invention, (a) is a side view, (b) has shown BB sectional drawing in Fig.1 (a). It is a figure which shows the modification of the attitude | position control apparatus shown in FIG. 1, (a) is a 1st modification, (b) is a 2nd modification, (c) is a 3rd modification, (d) is a 4th. A modification, (e) shows a fifth modification, and (f) shows a sixth modification. It is a figure which shows other embodiment of this invention, (a) is 2nd embodiment, (b) is 3rd embodiment, (c) has shown 4th embodiment. It is a figure which shows other embodiment of this invention, (a) shows 5th embodiment, (b) shows 6th embodiment, (c) has shown 7th embodiment.

  Hereinafter, an embodiment of the present invention will be described with reference to FIGS. Here, FIG. 1 is a figure which shows the attitude | position control apparatus of the underwater apparatus which concerns on 1st embodiment of this invention, (a) is a side view, (b) is BB sectional drawing in Fig.1 (a). , Shows. FIG. 2 is a diagram illustrating a modification of the attitude control device illustrated in FIG. 1, where (a) is a first modification, (b) is a second modification, (c) is a third modification, and (d) ) Shows a fourth modification, (e) shows a fifth modification, and (f) shows a sixth modification.

  As shown in FIGS. 1 (a) and 1 (b), the attitude control device for an underwater device according to the first embodiment of the present invention has a shape that is used in water and extended in a direction of relative movement with respect to water. A posture control device for an underwater device 1 having a main body 11 having a driving means 2 disposed on an outer surface of the main body 11 and connected to the driving means 2 and moved along the extending direction of the main body 11. And moving the moving body 3 along the outer surface of the main body 11 to adjust the center of gravity of the underwater device 1 using the weight of the moving body 3.

  The underwater equipment 1 is used for, for example, unmanned submersibles, underwater vehicles, underwater used for exploration, surveying, surveying, photographing, working, etc. in the water or bottom of the ocean, rivers, dams, water tanks, etc. Towing bodies, underwater robots, etc. The self-propelled underwater device 1 has thrust generating means such as a thruster and a propeller, and the towed underwater device 1 is connected to a preceding ship by a wire rope or the like. The underwater device 1 has a gyro sensor (not shown) that measures its own posture (tilt) and is accommodated in the main body 11.

  For example, as shown in FIG. 1A, the main body 11 has an elongated shape, and is in a traveling direction during propulsion or towing or in a water flow direction during stopping (that is, a relative traveling direction with respect to water). Has a stretched shape. Inside the main body 11, devices (not shown) such as a control device, a drive motor, and a sensor corresponding to the use of the underwater device 1 are accommodated. Moreover, you may form the front-end | tip part and rear-end part of the main-body part 11 in the shape reduced in diameter in order to reduce the resistance with respect to water. Moreover, the main-body part 11 may have a horizontal wing | blade and a tail wing according to a use. In addition, as shown in FIG.1 (b), although the main-body part 11 is generally a substantially cylindrical shape, it is not limited to this shape, Even if it has a rectangular cross-sectional shape, Good.

  The drive means 2 is comprised by the ball screw mechanism, for example. The illustrated drive means 2 includes a ball screw 21, a drive motor 22, and a bearing 23. The ball screw 21 is rotatably spanned between the drive motor 22 and the bearing 23. At this time, the axis of the ball screw 21 is arranged in parallel with the extending direction of the main body 11. The moving body 3 has a nut that engages with the ball screw 21, and is moved in the front-rear direction by the rotation of the ball screw 21. The driving time and the driving direction of the driving motor 22 are controlled by a control device 24 disposed in the main body 11.

  The driving means 2 is not limited to the above-described ball screw mechanism, and may be any mechanism having a mechanism that can reciprocate in the front-rear direction of the main body 11 such as a linear actuator, a hydraulic cylinder, or an air cylinder.

  The moving body 3 is a mass body having a weight necessary for changing the center of gravity of the main body 11, for example. As shown in FIG. 1B, a plurality of driving means 2 and moving bodies 3 may be arranged in the outer peripheral direction of the main body. Here, the case where the four drive means 2 and the mobile body 3 are arrange | positioned by the space | interval of 90 degrees is illustrated. Each of the four moving bodies 3 is configured to be individually controllable in the extending direction (front-rear direction) of the main body 11, and maintains a predetermined posture while detecting the posture of the underwater device 1 with a gyro sensor or the like. Are controlled individually. In addition, the number of the drive means 2 and the moving body 3 is not limited to the number shown in figure.

  For example, in the first modification shown in FIG. 2A, one driving means 2 and one moving body 3 are arranged, and the moving body 3 is formed by a mass body for changing the center of gravity of the underwater device 1. It is configured. In addition, the second modification shown in FIG. 2B is one in which the driving means 2 and the moving body 3 are arranged, and the moving body 3 is a buoyant body for changing the buoyancy of the underwater device 1. It is comprised by. In addition, you may comprise the mobile body 3 shown to Fig.1 (a) and (b) with a buoyancy body similarly to the 2nd modification.

  Moreover, the 3rd modification shown in FIG.2 (c) arrange | positions the drive means 2 and the moving body 3 up and down, and the moving body 3 is comprised by the mass body. The arrangement of the driving means 2 and the moving body 3 is not limited to the vertical direction, and may be the horizontal direction.

  Further, in the fourth modification shown in FIG. 2D, the driving means 2 and the moving body 3 are arranged two above and below, and the moving body 3 arranged on the upper part of the main body 11 is made of a buoyancy body. The movable body 3 configured and arranged at the lower portion of the main body 11 is composed of a mass body. Thus, by mixing the mass body and the buoyancy body, the mass body is operated when the center of gravity of the underwater device 1 is desired to be adjusted, and the buoyancy body is operated when the buoyancy of the underwater device 1 is desired to be adjusted. be able to.

  Although not shown, the movable body 3 is disposed at 2 o'clock, 4 o'clock, 8 o'clock, 10 o'clock with respect to the main body 11 shown in FIG. Even if the moving body 3 arranged at the hour and the 10 o'clock position is configured by a buoyant body, and the moving body 3 disposed at the lower part of the main body 11 (at 4 o'clock and 8 o'clock positions) is configured by a mass body. Good.

  Although not shown, the movable body 3 is arranged at the 2 o'clock and 8 o'clock positions with respect to the main body portion 11 shown in FIG. The movable body 3 may be constituted by a buoyant body, and the movable body 3 arranged at the lower part (8 o'clock position) of the main body 11 may be constituted by a mass body, or moved to the 4 o'clock and 10 o'clock positions. The body 3 is arranged, and the movable body 3 disposed at the upper part (position at 10 o'clock) of the main body 11 is constituted by a buoyant body, and the movable body 3 disposed at the lower part (position at 4 o'clock) of the main body 11. May be formed of a mass body.

  Further, in the fifth modification shown in FIG. 2E and the sixth modification shown in FIG. 2F, a plurality of driving means 2 are arranged in the outer peripheral direction of the main body 11 so as to surround the main body 11. The moving body 3 is formed in an annular shape. The moving body 3 of the fifth modification is configured by a mass body, and the moving body 3 of the sixth modification is configured by a buoyancy body. In these modified examples, the center of gravity or buoyancy of the underwater device 1 can be adjusted by moving the annular moving body 3 in the front-rear direction with respect to the main body 11. Further, in these modified examples, the space on the outer periphery of the main body 11 can be used effectively, the capacity can be increased while suppressing the enlargement of the moving body 3 in the radial direction, and the center of gravity and the floating center are adjusted. The amount can be increased.

  The drive means 2 may be configured as a guide member in which one drive means 2 has a drive motor 22 and the remaining drive means 2 does not have the drive motor 22. Of course, each of the plurality of drive means 2 may be provided with a drive motor 22, and these drive motors 22 may be synchronized.

  According to the attitude control device for the underwater device 1 according to the first embodiment and the modification described above, the components (the driving means 2 and the moving body 3) are attached to the main body 11 without using a heavy object such as a frame. Therefore, the weight of the underwater device 1 including the posture control device can be reduced. Note that the close position along the outer surface (near the outer surface) means that the gap between the main body 11 and the moving body 3 is, for example, about several mm to several tens mm, but is limited to such a numerical value. Is not to be done.

  Moreover, by arrange | positioning the attitude | position control apparatus in the position which approached the main-body part 11, while being able to reduce resistance in water, the tangle of an underwater plant can be suppressed. In addition, since the distance between the main body 11 and the moving body 3 is close, the center of gravity and buoyancy of the main body 11 and the center of gravity and buoyancy of the moving body 3 can be easily arranged on substantially the same axis. Therefore, it is possible to easily adjust the center of gravity and buoyancy of the underwater device 1, and the accuracy of posture control can be improved.

  Next, an attitude control device for the underwater device 1 according to another embodiment of the present invention will be described with reference to FIGS. 3 (a) to 3 (c) and FIGS. 4 (a) to 4 (c). Here, FIG. 3 is a figure which shows other embodiment of this invention, (a) shows 2nd embodiment, (b) shows 3rd embodiment, (c) shows 4th embodiment. Yes. FIG. 4 is a diagram showing another embodiment of the present invention, in which (a) shows a fifth embodiment, (b) shows a sixth embodiment, and (c) shows a seventh embodiment. In addition, about the same component as 1st embodiment mentioned above, the same code | symbol is attached | subjected and the overlapping description is abbreviate | omitted.

  The posture control apparatus for the underwater device 1 according to the second embodiment shown in FIG. 3A includes a substantially cylindrical casing 4 that covers the entire underwater device 1 shown in FIG. The casing 4 has an elongated shape in the front-rear direction, similar to the main body 11, and the front end and the rear end are preferably formed in a reduced diameter in order to reduce resistance to water. The casing 4 may be referred to as a pod. By using such a casing 4, it is possible to reduce the protruding portion in the water, so that it is possible to further reduce resistance and prevent entanglement of underwater plants.

  The inside of the casing 4 is filled with a gas (for example, air) when the moving body 3 is a mass body, and is filled with a liquid (for example, seawater) when the moving body 3 is a buoyancy body. When filling the inside of the casing 4 with a liquid, for example, an opening may be formed in a part of the casing 4 so that water existing in the surrounding area may flow into the casing 4. In the case where there are both the mass moving body 3 and the buoyant body moving body 3 inside the casing 4, the inside of the casing 4 is filled with a liquid.

  The underwater device 1 posture control apparatus according to the third embodiment shown in FIG. 3B is a device in which the driving means 2 and the moving body 3 are arranged on the casing 4 side in the underwater device 1 having the casing 4. Specifically, the drive motor 22 and the bearing 23 constituting the drive unit 2 are disposed on the inner surface of the casing 4 that covers the main body 11, and the ball screw 21 is disposed so as to extend in the front-rear direction. The control apparatus 24 is arrange | positioned at the front-end | tip part of the casing 4, for example. A gyro sensor may be disposed in the casing 4.

  Thus, by disposing the driving means 2 and the moving body 3 in the casing 4, the attitude of the underwater device 1 can be controlled simply by attaching the casing 4 to the underwater device 1. Therefore, the attitude control device can be arranged without modifying the main body 11 even with respect to the existing underwater equipment 1 that does not have or is insufficient, and is excellent in convenience.

  Even when the driving means 2 is disposed on the casing 4, the moving body 3 is preferably disposed at a close position along the outer surface of the main body 11. By making the distance between the main body 11 and the moving body 3 closer, the center of gravity and the buoyancy of the main body 11 and the center of gravity and the buoyancy of the moving body 3 can be easily arranged on substantially the same axis. It is possible to easily adjust the center of gravity and buoyancy of 1 and improve the accuracy of posture control.

  In the posture control device for the underwater device 1 according to the fourth embodiment shown in FIG. 3C, the underwater device 1 has propulsion means 5 such as a propeller at the rear end. When the casing 4 is attached to the underwater device 1 having the propulsion means 5, it is preferable to cover the main body 11 excluding the propulsion means 5 with the casing 4. As illustrated, the driving means 2 may be disposed on the outer surface of the main body 11 or may be disposed on the inner surface of the casing 4 as in the third embodiment.

  In the posture control device for the underwater device 1 according to the fifth embodiment shown in FIG. 4A and the sixth embodiment shown in FIG. 4B, the driving means 2 and the moving body 3 are arranged on the outer periphery of the main body 11. It is configured to be movable along. In the fifth embodiment shown in FIG. 4A, the rail 6 is disposed along the outer periphery of the main body 11, and the driving means 2 (the driving motor 22 and the bearing 23) are disposed on the rail 6. A drive motor for moving the drive means 2 on the rail 6 can be disposed in the bearing 23, for example. The moving body 3 described above is movably disposed on the ball screw 21 of the driving means 2 disposed on the rail 6.

  Therefore, the movable body 3 is configured to be movable in the front-rear direction and the circumferential direction of the main body 11, and by adjusting the position of the movable body 3, the center of gravity or buoyancy of the underwater device 1 can be adjusted. At the same time, the roll direction of the underwater device 1 can be controlled.

  In the sixth embodiment shown in FIG. 4B, the rail 6 is disposed on the inner surface of the casing 4, and the driving means 2 (the driving motor 22 and the bearing 23) are disposed on the rail 6. With this configuration, as in the fifth embodiment, the center of gravity or buoyancy of the underwater device 1 can be adjusted, and the roll direction of the underwater device 1 can be controlled. Furthermore, by disposing the driving means 2 and the moving body 3 in the casing 4, the posture of the underwater device 1 can be controlled simply by attaching the casing 4 to the underwater device 1.

  The posture control device for the underwater device 1 according to the seventh embodiment shown in FIG. 4C includes a rotating means 7 that rotates the main body 11. In this embodiment, instead of rotating the moving body 3 along the outer periphery of the main body 11, the main body 11 is rotated. With this configuration, as in the fifth embodiment, the center of gravity or buoyancy of the underwater device 1 can be adjusted, and the roll direction of the underwater device 1 can be controlled. Specifically, as shown in the figure, rotating means 7 such as a drive motor is disposed at the front end portion and the rear end portion of the casing 4, and both ends of the main body 11 are supported and rotated in the casing 4. Note that one of the rotating means 7 arranged at the front and rear may be a bearing.

  The present invention is not limited to the above-described embodiments, and various modifications can be made without departing from the spirit of the present invention.

DESCRIPTION OF SYMBOLS 1 Underwater apparatus 2 Driving means 3 Moving body 4 Casing 5 Propulsion means 6 Rail 7 Rotating means 11 Main part 21 Ball screw 22 Drive motor 23 Bearing 24 Controller

Claims (6)

  1. In an attitude control device for an underwater device having a main body having a shape that is used in water and has a shape extending in a relative traveling direction with respect to water,
    Driving means disposed on the outer surface of the main body or on the inner surface of the casing covering the main body;
    A movable body connected to the driving means and moved along the extending direction of the main body,
    An underwater device characterized in that the center of gravity or buoyancy of the underwater device is adjusted by using the weight or buoyancy of the movable body by moving the movable body along the outer surface of the main body. Attitude control device.
  2.   The underwater device posture control apparatus according to claim 1, wherein a plurality of the driving means and the moving body are arranged in an outer peripheral direction of the main body.
  3.   3. The underwater according to claim 2, wherein the moving body disposed on the upper portion of the main body is configured by a buoyancy body, and the moving body disposed on the lower portion of the main body is configured by a mass body. Equipment attitude control device.
  4.   2. The posture control device for an underwater device according to claim 1, wherein a plurality of the driving means are arranged in an outer peripheral direction of the main body portion, and the moving body is formed in an annular shape so as to surround the main body portion. .
  5.   The underwater device posture control apparatus according to claim 1, wherein the driving unit and the moving body are configured to be movable along an outer periphery of the main body.
  6. The posture control apparatus for an underwater device according to any one of claims 1 to 5, further comprising a rotating unit that rotates the main body.

JP2014196007A 2014-09-26 2014-09-26 Attitude control device for underwater equipment Active JP6455046B2 (en)

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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106005328A (en) * 2016-07-15 2016-10-12 中国科学院自动化研究所 Three-dimensional barycenter adjusting device for robot jellyfish
JPWO2017010060A1 (en) * 2015-07-16 2017-07-13 パナソニックIpマネジメント株式会社 Underwater robot
CN107117266A (en) * 2017-05-11 2017-09-01 江苏科技大学 A kind of self balancing device, unmanned vehicles and its control system
WO2018117925A1 (en) * 2016-12-23 2018-06-28 Saab Ab Rebalancing of underwater vehicles
CN109018278A (en) * 2018-07-13 2018-12-18 哈尔滨工程大学 Without the unpowered dive method of trim and inhibit trim attachment suitable for complete extra large depth AUV
CN110455442A (en) * 2019-08-23 2019-11-15 中国海洋大学 A kind of posture self-adjusting pressure sensor apparatus and pressure sensor drift correction method
DE102019202190A1 (en) * 2019-02-19 2020-02-20 Thyssenkrupp Ag Trim system for a modular underwater vehicle

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JPH1120788A (en) * 1997-07-01 1999-01-26 Oki Electric Ind Co Ltd Underwater towed body
JP2001247086A (en) * 2000-03-06 2001-09-11 Mitsui Eng & Shipbuild Co Ltd Automatic guided submarine and position holding control method thereof
JP2009237498A (en) * 2008-03-28 2009-10-15 Mitsui Eng & Shipbuild Co Ltd In-pipe investigation device, in-pipe investigation system, method for adjusting buoyancy and posture of in-pipe investigation device and in-pipe investigation method
WO2009154006A1 (en) * 2008-06-20 2009-12-23 財団法人北九州産業学術推進機構 Underwater posture stabilization device and diving device equipped with the same
US20140202367A1 (en) * 2013-01-23 2014-07-24 Elliott B. Dollar Weight Distribution Device and Method for Modifying Wake

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JPH02216389A (en) * 1989-02-17 1990-08-29 Toshiba Corp Underwater inspecting device
JPH1120788A (en) * 1997-07-01 1999-01-26 Oki Electric Ind Co Ltd Underwater towed body
JP2001247086A (en) * 2000-03-06 2001-09-11 Mitsui Eng & Shipbuild Co Ltd Automatic guided submarine and position holding control method thereof
JP2009237498A (en) * 2008-03-28 2009-10-15 Mitsui Eng & Shipbuild Co Ltd In-pipe investigation device, in-pipe investigation system, method for adjusting buoyancy and posture of in-pipe investigation device and in-pipe investigation method
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Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPWO2017010060A1 (en) * 2015-07-16 2017-07-13 パナソニックIpマネジメント株式会社 Underwater robot
CN106005328A (en) * 2016-07-15 2016-10-12 中国科学院自动化研究所 Three-dimensional barycenter adjusting device for robot jellyfish
WO2018117925A1 (en) * 2016-12-23 2018-06-28 Saab Ab Rebalancing of underwater vehicles
CN107117266A (en) * 2017-05-11 2017-09-01 江苏科技大学 A kind of self balancing device, unmanned vehicles and its control system
CN109018278A (en) * 2018-07-13 2018-12-18 哈尔滨工程大学 Without the unpowered dive method of trim and inhibit trim attachment suitable for complete extra large depth AUV
CN109018278B (en) * 2018-07-13 2020-06-16 哈尔滨工程大学 Non-trim unpowered diving method suitable for full-sea-depth AUV and trim restraining device
DE102019202190A1 (en) * 2019-02-19 2020-02-20 Thyssenkrupp Ag Trim system for a modular underwater vehicle
CN110455442A (en) * 2019-08-23 2019-11-15 中国海洋大学 A kind of posture self-adjusting pressure sensor apparatus and pressure sensor drift correction method
CN110455442B (en) * 2019-08-23 2020-03-31 中国海洋大学 Attitude self-adjusting pressure sensor device and pressure sensor drift correction method

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