WO2016102686A1 - Véhicule sous-marin - Google Patents

Véhicule sous-marin Download PDF

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Publication number
WO2016102686A1
WO2016102686A1 PCT/EP2015/081194 EP2015081194W WO2016102686A1 WO 2016102686 A1 WO2016102686 A1 WO 2016102686A1 EP 2015081194 W EP2015081194 W EP 2015081194W WO 2016102686 A1 WO2016102686 A1 WO 2016102686A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
thrusters
thrust vector
planes
thrust
Prior art date
Application number
PCT/EP2015/081194
Other languages
English (en)
Inventor
Valentín Collado Jiménez
Valérie Auffray
Jean Baptiste Izard
Lotfi Chikh
Original Assignee
Fundación Tecnalia Research & Innovation
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 Fundación Tecnalia Research & Innovation filed Critical Fundación Tecnalia Research & Innovation
Priority to MX2017008493A priority Critical patent/MX2017008493A/es
Priority to CN201580070865.8A priority patent/CN107428401A/zh
Publication of WO2016102686A1 publication Critical patent/WO2016102686A1/fr

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Classifications

    • 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
    • B63G8/16—Control of attitude or depth by direct use of propellers or jets
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
    • B63G2008/005—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled

Definitions

  • the present invention relates to the field of underwater vehicles, and in particular to those vehicles often used for subsea tasks, such as inspecting, cleaning or repairing equipment located underwater.
  • ROVs Current remotely operated underwater vehicles
  • the thrusters are generally in the form of impellers configured to operate in forward and reverse directions.
  • US patent application US2007/0283871A1 describes a ROV having four thrusters pivotally mounted on the vehicle.
  • an underwater vehicle comprising a structure holding six thrusters each defining a thrust vector.
  • the thrust vector of each of the six thrusters is oriented as follows: a first thrust vector and a second thrust vector are disposed on respective first and second planes, said first and second planes being parallel to each other; a third thrust vector and a fourth thrust vector are disposed on respective third and fourth planes, said third and fourth planes being parallel to each other and perpendicular to said first and second planes; and a fifth thrust vector and a sixth thrust vector are disposed on respective fifth and sixth planes, said fifth and sixth planes being parallel to each other and perpendicular to said first, second, third and fourth planes, such that the vehicle is enabled to move in a controlled way along its 6 spatial d eg re es-of-f re ed o m .
  • each of said thrust vectors forms a respective angle a with respect to a reference vector defined in the plane at which the corresponding thrust vector is located.
  • the reference vectors for said first thrust vector and second thrust vector are parallel to an Y axis
  • the reference vectors for said third thrust vector and fourth thrust vector are parallel to a Z axis
  • the reference vectors for said fifth thrust vector and sixth thrust vector are parallel to an X axis, said X, Y and Z axis defining a cartesian coordinate system.
  • said six respective angles a are substantially of the same value.
  • at least one of said respective angles a is different from the other angles.
  • said first, second, third, fourth, fifth and sixth planes correspond to the six faces of a rectangular cuboid or to the six faces of a cube.
  • said thrust vectors pass by the geometrical centre of the corresponding face on which they are respectively located.
  • the thrust vector of at least one of the thrusters is displaced in parallel with respect to its original position, such that convergence of several fluxes in a single point is avoided.
  • At least one of the thrusters is rotated with a certain angle, such that convergence of several fluxes in a single point is avoided.
  • the vehicle preferably comprises at least one payload or mission sensor.
  • the sensor is more preferably a camera.
  • the structure holding six thrusters is a frame comprising a plurality of rods.
  • the vehicle comprises a plurality of floating structures.
  • the thrusters are bidirectional.
  • the vehicle comprises a plurality of covers located at the inner volume of the vehicle in order to isolate from each other the points at which different thrust fluxes converge.
  • a system in another aspect of the invention, comprises a vehicle like the previously escribed.
  • the vehicle is a remotely operated vehicle (ROV) or an autonomous underwater vehicle (AUV) or a hybrid remotely operated vehicle (HROV).
  • the vehicle comprises a control center from which the vehicle is controlled.
  • Figure 1 shows a remotely operated underwater vehicle according to an embodiment of the present invention.
  • Figure 2 A shows the remotely operated underwater vehicle of figure 1 , in which some of the outer floating structures and parts have been taken out, in order to allow the view of the inner elements.
  • Figures 2B and 2C show the remotely operated underwater vehicle of figure 2A, in which some parts have been taken out, in order to allow the view of the six thrusters.
  • Figure 3A shows a scheme in which the six thrust vectors corresponding to the six thrusters are designed to be placed on respective faces of a parallelepiped, in particular a cube.
  • a reference frame located in the geometric center of the cube is included, and the thrust vectors (1 ) and (2) are parallel to the Y axis of such frame, the (3) and (4) are parallel to the Z axis, and the (5) and (6) are parallel to the X axis.
  • Figure 3B shows the six thrust vectors (1 -6) of Figure 3A placed on the same faces of the cube but in this case their directions have been changed.
  • thrust vector (1 ) has been oriented an angle a with regard to the Y direction.
  • the thrust vectors are aligned with the diagonals of the faces of the cube.
  • Figure 4 shows another schematic drawing illustrating the location of the six thrusters comprised in a remotely operated underwater vehicle according to the invention.
  • Figures 5 A and 5B show two different arrangements of thrusters according to the invention
  • Figure 6 also represents in detail an arrangement of thrusters.
  • Figures 7 A and 7B show two possible views of the remotely operated underwater vehicle of the invention.
  • Figure 8 shows another view of the remotely operated underwater vehicle of the invention.
  • the underwater vehicle can be a remotely operated underwater vehicle (ROV).
  • ROVs are controlled by a person from a remote location, such as a boat connected to the ROV via an umbilical.
  • the umbilical is connected from the ROV to an unmanned boat or platform, which is wirelessly connected to a control center.
  • the umbilical provides power to the ROV and transmits/receives data between the ROV and the manned control center. It is possible to remove the umbilical from the ROV, in which case the vehicle is powered by means of batteries.
  • the vehicle may be programmed for developing a mission in an autonomous way.
  • AUVs Autonomous Underwater Vehicles
  • HROVs hybrid ROVs
  • Figure 1 shows an underwater vehicle according to an embodiment of the present invention.
  • the vehicle comprises a frame 1 1 which in turn holds six thrusters 12 and can be driven or controlled in 6 d eg rees-of-f reed om (movement capability in any direction and any angle). It is therefore omnidirectional.
  • 6 d eg rees-of-f reed om
  • the vehicle can be loaded with other parts, such as fittings, sensors, actuators and/or grabbers that do not form part of the invention and therefore are not exhaustively shown in the figures.
  • FIG 1 several modules can be seen.
  • modules 13 14 which are floating elements used to increase the floatability and counteract the weight of the vehicle once it is submerged.
  • the vehicle provides 4 natural fixing surfaces (pointed by arrows in Fig. 4) for mounting payload sensors or other equipment, such as manipulator arms.
  • payload sensors or other equipment such as manipulator arms.
  • Non- limiting examples of typical payload sensors used in these vehicles are altimeter, obstacle avoidance sonar, multi-beam sonar, acoustic Doppler current profiler, USBL and sensors for water ambient conditions (such as temperature, salinity, pH, 02, chlorophyll and fluoride). It is also possible to assemble two cameras 16A 16B instead of only one, as depicted in the particular embodiment of figure 7B.
  • the space left in the centre of one floating module has been used for assembling the second camera.
  • This can be used for achieving stereovision or 3D vision.
  • These fixing surfaces are used for assembling the floating modules 13 14, and in the centre of these modules 13 14 the payload sensors are fixed.
  • An example of equipment (sensor) fixed to one of the floating modules is a camera or main camera 16, which is usually necessary, as the main and basic function of these vehicles is normally visual inspection.
  • a camera 16 is fixed on floating module 14.
  • Figure 2A shows a particular implementation of a vehicle according to figure 1 , in which some of the outer floating structures and parts have been taken out, in order to allow the view of the inner elements.
  • a frame 1 1 formed by a plurality of bars or rods, which has an upper end and a lower end opposite the upper end.
  • a non-limiting example of the material of which the bars are made is stainless steel.
  • the six thrusters 12 are held at different fixing points, plates or holders 17 disposed at the frame 1 1 .
  • the components that form the vehicle platform, including the floating structures are made of rust resistant materials. Non-limiting examples of such materials are plastics, stainless steel, anodized aluminum and titanium. The design has to beware also of galvanic corrosion.
  • each thruster 12 may be covered by a protection tube 15.
  • This tube 15 is preferably made of a plastic material. The disposition of each thruster 12 is explained with reference to figures 3A- 3C.
  • a container carrying the electronics 19 as well as the camera 16 is solidary to the frame 1 1 .
  • this element 19 is solidary to the upper part of the frame 1 1.
  • a camera 16 is held in the container 19.
  • the camera 16 may be surrounded by a lens hood for protecting the camera lens against direct sun rays.
  • the thrusters 12 are bi-directional and can operate in forward or reverse mode.
  • the thrusters 12 are out of the scope of the present invention. As a matter of example, they can be motors with attached propellers or water pumping turbines.
  • Figures 2B and 2C shows an alternative implementation of a vehicle according to figure 2A, in which some of the outer floating structures and parts have been taken out, in order to allow the view of the inner elements.
  • the container 19 has been drawn transparent in order to leave sight to the six thrusters 12-1 12-2 12-3 12-4 12-5 12-6 (or at least the protection tubes 15-1 15-2 15-3 15-4 15-5 15-6 which preferably cover the thrusters).
  • Figure 2C is a 180° rotation of figure 2B. Additional elements, not shown, such as sensors, buoys or others, can be fixed to the frame 1 1 or to the fixing points, plates or holders 17.
  • Each of the six thrusters is meant to be at the plane defined by each of the faces of an imaginary parallelepiped.
  • all the six faces of the parallelepiped are rectangular or square.
  • the imaginary parallelepiped is preferably a rectangular cuboid (six rectangular faces) or a cube (six square faces).
  • each thruster (the vector defined thereby) is located on a plane (face) and there are three pairs of planes (faces) which are parallel to each other, while the non-parallel planes (faces) are perpendicular to each other.
  • Figure 3A shows a scheme in which the six thrusters are designed such that their thrust vectors are each placed on respective faces of a parallelepiped, which in particular is a cube (but could be a rectangular cuboid instead).
  • One or more of the six thrust vectors may be at the geometrical centre of the face of the cube at which it is located (one thruster per face).
  • each of the six thrust vectors can be located at any geometrical position within its face (of the cube).
  • the thrust vector of each thruster has a certain magnitude which can vary with time and is placed onto the corresponding face of the cube with an angle a to be set (angle defined with respect to a reference direction).
  • the thrusters are bidirectional, so the thrust vectors are reversible.
  • FIG 3A a reference frame located in the geometric center of the cube is included, and the thrust vectors (1 ) and (2) are parallel to the Y axis of such frame, the (3) and (4) are parallel to the Z axis, and the (5) and (6) are parallel to the X axis.
  • the X, Y and Z axis define a cartesian coordinate system.
  • Figure 3B shows the six thrust vectors (1 -6) of Figure 3A placed on the same faces of the cube but in this case their directions have been changed.
  • thrust vector (1 ) has been oriented an angle a with regard to the Y direction.
  • This configuration in which every thrust vector is placed on a face of a cube, and oriented in any possible direction inside the plane defined by the face with an angle a with regard to direction of the reference vectors as described in Figure 3A, is the most generic configuration.
  • each thrust vector disposed on a corresponding plane defined by the faces of an imaginary rectangular cuboid or cube six degrees-of- freedom may be controlled in the movement of the vehicle. This is obtained because there are potential force components (produced by the thrusters) that may counteract any external force or torque applied to the vehicle.
  • one pair of forces applying a torque in x is enough.
  • This pair of forces does not necessarily correspond to parallel faces (of the parallelepiped), but can be originated at two perpendicular faces.
  • the two vectors in faces (3) and (4) would apply a torque in x, but also any pair of vectors located in other faces and having certain orientation could produce such torque.
  • the thrust vectors are aligned with one diagonal of each face of the cube.
  • the angle is approximately +45deg for every thrust vector.
  • Angle a taking a value of around 45deg represents a good configuration considering isotropy aspects. Note that positive angle is not always on the same direction. In this particular configuration (angle a is set to 45 degrees for every thrust vector and the thrust vectors are at the geometrical centre of the corresponding face of the cube), the thrusters are therefore located along the edges of a regular tetrahedron, as depicted in figure 4.
  • the camera 16 is placed facing one of the four corners of the cube which are free from thruster flux (for instance, the corner formed by faces (1 )-(4)-(6) in figure 3C).
  • thruster flux for instance, the corner formed by faces (1 )-(4)-(6) in figure 3C.
  • the fluxes are not convergent anymore.
  • Odeg configuration shown in Figure 3A
  • the capacity to support torques is more limited.
  • selecting angle a to be set to 32 degrees in all six faces of the cube provides an optimal behavior in terms of isotropic behavior, but implies a less simple physical structure of the vehicle.
  • FIG 4 shows a schematic drawing illustrating the six thrusters 12 of the underwater vehicle of figures 1 and 2A-2C.
  • each of the six thrusters is located at one of the six edges 42 of an imaginary tetrahedron.
  • the thrust vector of each thruster 12 coincides with the edge 42 of the tetrahedron at which it is placed.
  • a thrust vector represents the propulsion force produced by the corresponding thruster.
  • the thrust vector of each thruster 12 is placed along a corresponding edge 42 of the tetrahedron.
  • Each of the six edges of the tetrahedron is a diagonal of each of the six faces of the cube of figure 3C.
  • FIG. 1 Three of the four faces 41 of the tetrahedron are shown.
  • the four faces 41 of the tetrahedron represent free space surfaces that may be used in a physical implementation for mounting sensors (also identified with arrows in figure 4).
  • figure 4 shows an imaginary tetrahedron that surrounds the physical frame 1 1 of figures 2A-2C.
  • FIG. 2A-2C it can be seen how the six thrusters 12 are located in tetrahedric disposition (on the edges of a tetrahedron) surrounding container 19 and being fixed thereto and/or to frame 1 1 by means of fixing points, plates or holders 17.
  • Figures 5A and 5B show two different arrangements of a group of three thrusters.
  • the three thrust vectors of the thrusters are concurrent in a point.
  • the three thrust vectors are not coincident, as the thrusters have been rotated a bit with respect to the configuration of figure 5A (that is to say, not every angle a is set to 45 degrees).
  • Figure 6 also represents in detail the arrangement of thrusters, which is discussed in detail later.
  • Figure 7 A shows a view of the underwater vehicle of the invention, wherein a front view of the camera 16 incorporated in module 14 can be seen.
  • the camera is preferably a HD camera.
  • the vehicle preferably incorporates navigation sensors, such as inertia! measurement units (IMUs) or pressure sensors.
  • the vehicle also includes illumination by means of leds, which can be remotely regulated (from the operator control station in land or in a ship or floating structure).
  • leds which can be remotely regulated (from the operator control station in land or in a ship or floating structure).
  • two cameras 16A 16B are mounted on the vehicle. Isotropic behaviour of underwater vehicles is a key issue to obtain a vehicle accurately controllable in every direction of space when it is working on an offshore structure.
  • thrusters having thrust curves as symmetric as possible in both directions are preferably selected.
  • the flux jets may interfere at the theoretical vertices of the tetrahedron.
  • the larger the dimensions of the vehicle the less relevant the effect of these interferences are.
  • this configuration of the inventive vehicle may result in conflictive water flows due to the fact that the groups of thrusters have four possible points of convergence. This feature tends to generate disturbances when the flows are expelled by the thrusters towards that point of convergence. This is even made worse because the flows are swirly due to the effect of the rotation of the propeller.
  • the inventors have studied the hydrodynamic behavior of the discussed configuration and have concluded that, if the vehicle is implemented having certain dimensions and certain characteristics of the thrusters, the mentioned interferences are not relevant, as long as the flux jets are free from any obstacle. Therefore the external casing of the vehicle has been optimized with the purpose of leaving free way to the fluxes. The area where the fluxes cross is also important for the fluxes interference effect. The larger it is without obstacles, the better.
  • the inner volume of the vehicle has been closed or confined, in such a way that a flux is unable to reach a second convergence point from a first convergence point.
  • a plug or cover 20 has been added, as shown for example in figures 1 and 6A, in order to prevent movement of water therein.
  • This uncovered corner corresponding to the umbilical exit 80 is shown in figure 8.
  • This figure also shows several floating modules 13 of the vehicle. It has been analyzed that the uncovered corner does not cause relevant problems.
  • the container 19 (figure 2A) for keeping electronics is located at the entrance of this opening, thus becoming an obstacle to the eventual flow of water through this point.
  • At least one of the thrusters needs to be displaced from its original theoretical position.
  • at least one thrust direction is shifted, in order to avoid the convergence of several fluxes in a single point, thus causing the non-desired effects already mentioned.
  • at least one thruster can be displaced within its own plane, in such a way that the thrust vector of the displaced thruster (or thrusters) is parallel to the edge of the tetrahedron at which it is located (or they are located).
  • At least one thruster instead of placing at least one thruster such that its thrust vector is parallel to the edge of the tetrahedron at which it is located, at least one thruster is rotated with a certain angle with respect to the axis of its corresponding edge (or the angle a is different from 45°), as in the arrangement of figure 5B.
  • Said angle of rotation depends of several factors, such as the size of tetrahedron, the diameter of thruster and the geometry of the external elements of the ROV.
  • a system comprising:
  • control center that may be remotely placed either on land or on a boat or ship, from which the movement of the underwater vehicle is controlled and from which the images captured by its camera can be seen in real time;
  • the system also comprises an element, which can be a floating element or a non-floating element (for example, in applications for inspecting rivers, this element can be deployed from a bridge), configured to be connected to the vehicle via an umbilical and to be wired or wirelessly connected to the control center.
  • This element can be a boat, comprising the necessary equipment for transporting and deploying the vehicle where required and the control center, or alternatively if this control center is placed remotely, for transporting and deploying the communication means required to establish communication with the remote control center (preferably wirelessly) and with the vehicle (via an umbilical);
  • an underwater vehicle (ROV, AUV or HROV) which can be controlled in 6 d eg rees-of-f reed om using six thrusters has been described.
  • the vehicle is light (typically less than ⁇ 15-20 kg) and easy to use and deploy. So, in the application in which the vehicle is a ROV, it is included in the mini-ROV category, also known as eyeball-class or observation-class ROVs.
  • defence and civil protection such as surveillance and examination of critical infrastructures, military areas, mine detection, hull inspection, emergency activities and rescue operations
  • inspection & diagnosis of submerged civil and industrial structures such as dams, dykes, pillars, docks, sea energy and wind offshore infrastructures, aquaculture installations
  • oceanography environmental surveillance and scientific research (such as depths studies, marine biomass supervision, environmental data measuring, underwater archaeology and geology) and others (such as cleaning, yatch maintenance, leisure, public aquariums).

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Other Liquid Machine Or Engine Such As Wave Power Use (AREA)

Abstract

L'invention concerne un véhicule sous-marin comprenant une structure (11) supportant six propulseurs (12) définissant chacun un vecteur de poussée. Le vecteur de poussée de chacun des six propulseurs (12) est orienté comme suit : un premier vecteur de poussée et un deuxième vecteur de poussée sont disposés dans des premier et deuxième plans respectifs, lesdits premier et deuxième plans étant parallèles l'un à l'autre ; un troisième vecteur de poussée et un quatrième vecteur de poussée sont disposés dans des troisième et quatrième plans respectifs, lesdits troisième et quatrième plans étant parallèles l'un à l'autre et perpendiculaires auxdits premier et deuxième plans ; et un cinquième vecteur de poussée et un sixième vecteur de poussée sont disposés dans des cinquième et sixième plans respectifs, lesdits cinquième et sixième plans étant parallèles l'un à l'autre et perpendiculaires auxdits premier, deuxième, troisième et quatrième plans, de sorte que le véhicule soit capable de se déplacer d'une manière contrôlée le long de ses 6 degrés de liberté spatiaux. L'invention concerne un système comprenant un véhicule sous-marin et un centre de commande à partir duquel le véhicule est commandé.
PCT/EP2015/081194 2014-12-26 2015-12-23 Véhicule sous-marin WO2016102686A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
MX2017008493A MX2017008493A (es) 2014-12-26 2015-12-23 Vehiculo subacuatico.
CN201580070865.8A CN107428401A (zh) 2014-12-26 2015-12-23 水下航行器

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
EP14382573.5A EP3037340B1 (fr) 2014-12-26 2014-12-26 Véhicule sous-marin
EP14382573.5 2014-12-26

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WO2016102686A1 true WO2016102686A1 (fr) 2016-06-30

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EP (1) EP3037340B1 (fr)
CN (1) CN107428401A (fr)
MX (1) MX2017008493A (fr)
WO (1) WO2016102686A1 (fr)

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CN113264168A (zh) * 2021-05-20 2021-08-17 南昌航空大学 水下航行器
CN114148493A (zh) * 2021-12-06 2022-03-08 林荣云南科技有限公司 载人型水下航行器

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IT201600129224A1 (it) * 2016-12-22 2018-06-22 Fernando Giuseppe Russo Veicolo sottomarino
CN109969360B (zh) * 2017-12-27 2024-02-09 核动力运行研究所 一种适用于堆内构件自动视频检查的水下全向移动平台
EP3774524A4 (fr) * 2018-04-06 2021-06-02 Boxfish Research Limited Véhicules téléguidés et/ou véhicules sous-marins autonomes
CN108563234A (zh) * 2018-05-09 2018-09-21 深圳市吉影科技有限公司 一种水下无人机自平衡控制方法及系统
CN112530007B (zh) * 2020-12-23 2023-03-10 福州大学 一种通用无人潜水器及其仿真软件平台
CN113120197A (zh) * 2021-04-12 2021-07-16 南方科技大学 一种水下动力模组、水下动力系统和水下机器人
DE102021208657A1 (de) * 2021-08-09 2023-02-09 Atlas Elektronik Gmbh Vorrichtung zur sicheren Bergung und Transport von Kampfmitteln, insbesondere von unter Wasser gefundenen Kampfmitteln

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WO2013060693A2 (fr) * 2011-10-27 2013-05-02 Desaulniers Jean-Marc Joseph Exosquelette geometrique actif a carenage annulaire pseudo-rhomboedrique pour engin gyropendulaire

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US2963543A (en) * 1956-12-10 1960-12-06 Gen Precision Inc Underwater television propulsion apparatus
US3635183A (en) * 1970-02-09 1972-01-18 Sperry Rand Corp Remotely controlled unmanned submersible vehicle
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Publication number Priority date Publication date Assignee Title
CN113264168A (zh) * 2021-05-20 2021-08-17 南昌航空大学 水下航行器
CN114148493A (zh) * 2021-12-06 2022-03-08 林荣云南科技有限公司 载人型水下航行器
CN114148493B (zh) * 2021-12-06 2022-09-13 林荣云南科技有限公司 载人型水下航行器

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Publication number Publication date
MX2017008493A (es) 2017-09-19
EP3037340B1 (fr) 2018-08-01
CN107428401A (zh) 2017-12-01
EP3037340A1 (fr) 2016-06-29

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