WO2018090615A1 - 遥控潜水器和遥控潜水器系统 - Google Patents

遥控潜水器和遥控潜水器系统 Download PDF

Info

Publication number
WO2018090615A1
WO2018090615A1 PCT/CN2017/088640 CN2017088640W WO2018090615A1 WO 2018090615 A1 WO2018090615 A1 WO 2018090615A1 CN 2017088640 W CN2017088640 W CN 2017088640W WO 2018090615 A1 WO2018090615 A1 WO 2018090615A1
Authority
WO
WIPO (PCT)
Prior art keywords
submersible
signal
surface buoy
control terminal
remotely operated
Prior art date
Application number
PCT/CN2017/088640
Other languages
English (en)
French (fr)
Inventor
张洵
习志平
李英灿
杨洋
周长根
Original Assignee
深圳潜行创新科技有限公司
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 深圳潜行创新科技有限公司 filed Critical 深圳潜行创新科技有限公司
Publication of WO2018090615A1 publication Critical patent/WO2018090615A1/zh

Links

Images

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
    • B63C11/48—Means for searching for underwater objects

Definitions

  • the present disclosure relates to the field of submersibles, for example, to a remotely operated submersible and a remotely operated submersible system.
  • the remotely operated submersible is a remotely operated underwater hoist for underwater detection.
  • a conventional remotely operated submersible includes an underwater submersible, a neutral buoyancy cable connected to the underwater submersible, and a ground control platform connected to the neutral buoyancy cable.
  • the ground control platform communicates with the underwater submersible via a data channel of a neutral buoyancy cable.
  • the remote sensing submersible in the related art has a limited detection range, which in turn affects the working efficiency of the underwater submersible.
  • the present disclosure provides a remote-controlled submersible and a remote-controlled submersible system, which uses a surface buoy as a signal relay to increase the signal transmission distance, thereby expanding the working range of the remotely operated submersible.
  • the embodiment provides a remote control submersible including a submersible body and a water surface buoy;
  • the surface buoy includes a wired communication interface and a wireless communication interface, wherein the wired communication interface is connected to the submersible body via a cable, and the wireless communication interface is configured to connect with a wireless network to pass the surface buoy Communicating with the control terminal to enable transmission of signals between the submersible body and the control terminal by using the surface buoy;
  • the signal includes: a control signal of the control terminal to the submersible body, and a data signal obtained by the submersible body according to a control signal sent by the control terminal.
  • the surface buoy further includes a wired data transceiver, a wireless data transceiver, and a data converter;
  • the wired data transceiver transmits a wired signal of the submersible body through the wired communication interface
  • the data converter is used to convert between a wired signal and a wireless signal.
  • the surface buoy further comprises positioning means, and the position information of the positioned surface buoy is sent to the control terminal for application by the control terminal.
  • the submersible body includes a photographing device, a data processor, a motion controller, and a propeller; and the control signal includes a data acquisition control signal and a motion control signal;
  • the photographing device acquires an image signal according to the data acquisition control signal, and sends the image signal to the data processor;
  • the data processor processes the image signal, and sends the processed image signal to the control terminal;
  • the motion controller changes an operating state of the propeller according to the motion control signal to control a motion state of the submersible body.
  • the photographing device comprises a camera, a camera stabilizer and an illumination lamp.
  • the submersible body further includes a sensor; the sensor includes a speed sensor, an acceleration sensor, a temperature sensor, or a pressure sensor.
  • the submersible body further includes a neutral buoyancy shell and a power supply.
  • the embodiment provides a remotely operated vehicle system, including the remotely operated vehicle of any of the above, and a control terminal;
  • control terminal After receiving the operation instruction, the control terminal sends the control signal to the submersible body through the water surface buoy according to the operation instruction.
  • a signal amplifier is further disposed on the water surface buoy, on the control terminal, or between the water surface buoy and the control terminal.
  • a cable is further included, and the cable is used to connect the surface buoy and the submersible body.
  • the cable includes a neutral buoyancy cable, and the neutral buoyancy cable is internally provided with a data communication line.
  • the remote control submersible and the remotely operated submersible system provided by the embodiment; wherein the wired communication interface of the surface buoy is connected to the submersible body through a cable; the wireless communication interface of the surface buoy communicates with the remote control terminal through the wireless network
  • the water surface buoy transmits the signal between the submersible body and the control terminal, and the control terminal wirelessly controls the submersible body; the above method uses the water surface buoy as a signal relay to increase the signal transmission distance, thereby expanding the working range of the remotely operated submersible.
  • FIG. 1 is a schematic structural diagram of a remote control submersible according to an embodiment of the present invention
  • FIG. 2 is a schematic structural diagram of a remote control submersible according to an embodiment of the present invention.
  • FIG. 3 is a schematic structural diagram of a remote control submersible system according to an embodiment of the present invention.
  • FIG. 4 is a schematic structural diagram of another remote control submersible system according to an embodiment of the present invention.
  • FIG. 5 is a schematic structural diagram of a remote control submersible system in the related art
  • FIG. 6 is a schematic diagram of a communication link of a remotely operated vehicle system according to an embodiment of the present invention.
  • 500-neutral buoyancy cable 502-surface buoy; 504-ground control platform; 506-submersible body; 508a-propeller; 508b-propeller; 508c-propeller; 510-photographing device.
  • the underwater submersible is connected to the ground console on the ground by a limited length of neutral buoyancy cable, so the range of movement of the underwater submersible is limited by the length of the neutral buoyancy cable.
  • the detection range of the underwater submersible is limited, which affects the working efficiency of the underwater submersible.
  • the embodiment provides a remote control submersible and a remote control submersible system; the technology can be applied to various underwater survey tasks to acquire underwater images and videos. And various environmental data and the like; the technology can be implemented by related software and hardware, which will be described below by way of examples.
  • Embodiment 1 is a diagrammatic representation of Embodiment 1:
  • the remotely operated vehicle includes a submersible body 100 and a surface buoy 102;
  • the surface buoy 102 includes a wired communication interface 104 and a wireless communication interface 106, wherein the wired communication interface 104 is connected to the submersible body 100 through a cable; the wireless communication interface 106 is used for connection with a wireless network, and is controlled by a wireless network and a remote end.
  • the terminal communicates, so that the surface buoy 102 transmits the signal between the submersible body 100 and the control terminal, so that the control terminal wirelessly controls the submersible body;
  • the above-described submersible body 100 performs data acquisition according to a control signal sent by the control terminal, and transmits the collected data to the control terminal through the surface buoy 102.
  • the data collected by the submersible body includes other relevant survey data such as image data, video data, speed, distance, temperature or pressure.
  • the water surface buoy floats on the water surface near the body of the submersible, and the surface buoy can As the signal relay device of the submersible body and the control terminal; since the surface buoy and the submersible body are connected by cables, the distance between the surface buoy and the submersible body is limited; and since the surface buoy and the control terminal are wirelessly connected, the surface buoy is The distance from the control terminal can be large; in summary, based on the control terminal, the range of motion of the submersible body is expanded to a greater extent than that of the direct connection between the submersible body and the control terminal.
  • the remote control submersible includes a submersible body and a water surface buoy; the wired communication interface of the surface buoy is connected to the submersible body through a cable; the wireless communication interface of the surface buoy is controlled by the wireless network and the remote end
  • the terminal communication enables the water surface buoy to transmit the signal between the submersible body and the control terminal, and realizes that the control terminal wirelessly controls the submersible body; the above method uses the water surface buoy as a signal relay to increase the signal transmission distance, thereby expanding the working range of the remotely operated submersible. .
  • Embodiment 2 is a diagrammatic representation of Embodiment 1:
  • the remote control submersible device is described in detail in this embodiment. Referring to the structure diagram of a remote control submersible device shown in FIG. 2, in consideration of the above-mentioned surface buoy, it is required to simultaneously receive a wired signal and a wireless signal, and a wired signal and a wireless signal are required. The signal is converted, and the water surface buoy further includes a wired data transceiver module 300, a wireless data transceiver module 302, and a data conversion module 304.
  • the wired data transceiver module 300 transmits a wired signal of the submersible body through a wired communication interface; the wireless data transceiver module 302 The wireless signal of the control terminal is transmitted through the wireless communication interface; the data conversion module 304 is configured to perform conversion between the wired signal and the wireless signal.
  • the surface buoy can be used for transmitting and receiving wireless signals and wired signals, thereby realizing signal transmission between the submersible body and the remote control device.
  • the water surface buoy further includes a positioning module (also called a positioning device) 306, and sends the position information of the positioned water surface buoy to the control terminal for the control terminal.
  • the positioning module may be a GPS (Global Positioning System) positioning module; the water surface buoy may also include a waterproof housing and a power supply battery, the positioning module (also called a positioning device), a power supply battery, and a wired data transceiver module ( Also called a wired data transceiver, a wireless data transceiver module (also called a wireless data transceiver) and a data conversion module (also called a data converter) are disposed inside the waterproof case.
  • a positioning module inside the surface buoy, the position of the submersible body under water can be known according to the position of the surface buoy.
  • the submersible body 100 includes a photographing device 308, a data processing module (also called a data processor) 310, and a motion control module (also called a motion controller 312 and a pusher 314;
  • the control signal includes a data acquisition control signal and a motion control signal;
  • the camera 308 is configured to collect data according to a data acquisition control signal And the image signal is sent to the data processing module;
  • the data processing module 310 processes the image signal, and sends the processed image signal to the control terminal;
  • the motion control module 312 changes the pusher 314 according to the motion control signal.
  • the above method can make the submersible body move according to the control signal and collect relevant image signals, thereby completing the survey task.
  • the above-mentioned photographing device 308 includes a camera, a camera stabilizer, and an illumination lamp.
  • the camera stabilizer is also called “PTZ”, which plays a role of balance and stability when the camera is working.
  • the submersible body further includes a sensor 316; the sensor 316 may be a speed sensor, an acceleration sensor, a temperature sensor or a pressure sensor.
  • the submersible body can obtain relevant data such as motion data, temperature and pressure, and further improve the survey capability of the submersible body.
  • the submersible body further comprises a neutral buoyancy shell and a power supply; wherein the neutral buoyancy shell can facilitate the movement of the submersible in the water, such as floating, sinking, advancing, retreating, and turning; the power supply is used for diving.
  • the device body and the related equipment are powered;
  • the water surface buoy further includes a cable interface; the cable interface is used for connecting the cable, and is connected to the first end of the cable; and the second end of the cable is connected to the submersible body.
  • Embodiment 3 is a diagrammatic representation of Embodiment 3
  • the present embodiment provides a remotely operated vehicle system, see a schematic structural diagram of a remotely operated vehicle system shown in FIG. 3; the system includes the above-mentioned remotely operated vehicle 400, and further includes control The terminal 402; the control terminal 402 sends a control signal to the submersible body through the surface buoy under the operation of the user.
  • control terminal 402 may be a smart terminal, such as a mobile phone, a computer, a tablet computer, etc.; the control terminal may also be a remote controller or the like.
  • the remote control submersible system includes a remote control submersible and a control terminal;
  • the remotely operated submersible includes a submersible body and a water surface buoy;
  • the wired communication interface of the surface buoy is connected to the submersible body through a cable;
  • the wireless communication interface of the buoy communicates with the remote control terminal through the wireless network, so that the surface buoy transmits the signal between the submersible body and the control terminal, and the control terminal wirelessly controls the submersible body; the above method is used as a signal relay by the water surface buoy, increasing The signal transmission distance further expands the working range of the remotely operated submersible.
  • the submersible system further includes a signal amplifier; the signal amplifier is disposed on the water surface buoy or the control terminal, or the signal amplifier is disposed between the surface buoy and the control terminal; the signal amplifier can increase the wireless signal between the surface buoy and the control terminal.
  • the remotely operated submersible system further includes a cable connecting the surface buoy and the submersible body, the cable including a neutral buoyancy cable; the neutral buoyancy cable is internally provided with a data communication line.
  • the neutral buoyancy cable can be suspended in the water independently without external force, which greatly reduces the resistance of the submersible body moving in the water.
  • Embodiment 4 is a diagrammatic representation of Embodiment 4:
  • the present embodiment provides another remote control submersible system, see the structural schematic diagram of another remotely operated submersible system shown in FIG. 4; the system includes a submersible body, neutral buoyancy a cable 500 (corresponding to the above-mentioned neutral buoyancy cable), a surface buoy 502 and a ground control platform 504 (the ground control platform includes a control panel or a remote controller; the ground control platform is equivalent to the above-mentioned control terminal); the ground control platform 504 passes The surface buoy sends a control signal to the diving body, and receives images, sensing data numbers, etc. through the surface buoy.
  • the remote-controlled submersible also called ROV, Remote Operated Vehicle
  • the shore controller controls the ROV to move, shoot, and work in the water through the console.
  • the submersible body includes a submersible body 506, a propeller 508a, a pusher 508b, a pusher 508c, and a photographing device 510;
  • the photographing device includes a camera, a pan/tilt (corresponding to the camera stabilizer described above), and an LED lamp (corresponding to the above) Illumination light) the photographing device is used for photographing or surveying;
  • the above-mentioned submersible body may also be related components including a neutral buoyancy shell, a battery or a power supply, and a cable interface; the battery or power supply is placed in a neutral buoyancy shell;
  • the neutral buoyancy housing is also provided with a controller, a sensor and a communication module (the controller and the communication module are equivalent to the above data processing module and motion control module).
  • the number, orientation and position of the pushers 508a-508c described above can be varied, such as shown in this embodiment.
  • Three thrusters are shown in Figure 4, wherein the pusher 508a includes a vertical direction motor and a propeller; the pusher 508b and the pusher 508c respectively include a horizontal direction motor and a propeller; the pusher 508a described above may be horizontal, the thruster 508b and thruster 508c may be in a vertical orientation.
  • the above neutral buoyancy cable 500 is used to connect an underwater submersible (corresponding to the above-described submersible body) and a surface buoy. Neutral buoyancy, that is, it can be suspended in water spontaneously without external force. A data communication line is buried in the cable for transmitting the signal of the submersible body to the surface buoy. Therefore, the above neutral buoyancy line
  • the cable has a traction function for the submersible body and also has a signal transmission function.
  • the water surface buoy 502 is used as a signal relay between the onshore control platform and the underwater submersible, and includes a satellite positioning module (corresponding to the above positioning module), and a wireless transceiver module (corresponding to the above wired data transceiver module, wireless data transceiver module and data) Conversion module), cable interface, battery or power supply and other related components. Therefore, the surface buoy can communicate wirelessly with the user's control panel.
  • the ground control platform 504 is used as a user control terminal, and may be an ipad, an iPhone or a remote control device with a wifi (Wireless-Fidelity) connection. Among them, the buoy and the ground control platform are connected by wireless, and an amplifier can be added on the ground to enhance the wireless signal and widen the wireless distance.
  • the remotely controlled submersible system provided in this embodiment is controlled in the submersible body and the ground.
  • a water surface buoy is arranged between the platforms, and the surface buoy and the ground control platform are wirelessly communicated, and the communication between the submersible body and the ground control platform can be completed by the surface buoy, and the submersible body and the ground control platform are directly passed through the related technology.
  • the ground control platform is no longer limited by the distance from the body of the submersible, which increases the application flexibility of the product.
  • the communication link diagram of a remotely operated submersible system shown in FIG. 6 the communication link in the system can perform bidirectional data transmission.
  • the control signal as an example, the downlink transmission of the communication link may be as follows:
  • the ground control terminal sends a control signal to the surface buoy through the wireless network
  • the cable and the control module (corresponding to the motion control module or the data processing module) are sent through the cable (the cable may be a twisted pair) control signal;
  • the image and control module sends the relevant control signal to the pusher or the photographing device (taking the camera as an example).
  • the uplink transmission of the communication link may be as follows:
  • the photographing device acquires an image signal through the camera, and transmits the image signal to the image and control module;
  • the ground control terminal receives the image signal.
  • the ground control terminal (which may be an ipad/iphone or other terminal smart device, or an RC (remote controller), sends a control signal to the surface buoy through a wireless connection, and the surface buoy then processes the signal After that, it is transmitted to the underwater submersible through the twisted pair, and through the processing of the image and control module (equivalent to the motion control module and the data processing module), on one hand, the movement of the submersible is controlled, and on the other hand, the camera is connected through the network port. In turn, the image signal acquired from the camera and the motion sensor signal of the submersor pass through the same path and are fed back to the ground control terminal.
  • the image and control module equivalent to the motion control module and the data processing module
  • the above-mentioned communication method using the surface buoy as a relay can extend the distance between the main body of the submersible and the control terminal, expand the working range of the remotely operated submersible, and ensure real-time communication between the submersible body and the control terminal, thereby improving work efficiency.
  • the functions may be stored in a computer readable storage medium if implemented in the form of a software functional unit and sold or used as a standalone product. Based on such understanding, a portion of the technical solution of the present disclosure, or a portion contributing to the technology in the related art, or a part of the technical solution may be embodied in the form of a software product stored in a storage medium.
  • a number of instructions are included to cause a computer device (which may be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods described in this disclosure.
  • the foregoing storage medium includes: a medium that can store program codes, such as a disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.
  • connection In the description of the present disclosure, it should be noted that the terms “installation”, “connected”, and “connected” are to be understood broadly, and may be fixed or detachable, for example, unless otherwise explicitly defined and defined. Connected, or integrally connected; can be mechanical or electrical; can be directly connected, or indirectly connected through an intermediate medium, can be the internal communication of the two components.
  • Connected, or integrally connected can be mechanical or electrical; can be directly connected, or indirectly connected through an intermediate medium, can be the internal communication of the two components.
  • the specific meanings of the above terms in the present disclosure can be understood in the specific circumstances by those skilled in the art.
  • the present disclosure provides a remotely operated submersible and a remotely operated submersible system; wherein a wired communication interface of the surface buoy is connected to the submersible body via a cable; the wireless communication interface of the surface buoy communicates with the remote control terminal through the wireless network, The water surface buoy transmits the signal between the submersible body and the control terminal, and the control terminal wirelessly controls the submersible body; the above method uses the water surface buoy as a signal relay to increase the signal transmission distance, thereby expanding the working range of the remote control submersible.

Abstract

一种遥控潜水器和遥控潜水器系统，涉及潜水器的技术领域，该遥控潜水器包括潜水器本体（100）和水面浮标（102，502）；水面浮标包括有线通信接口（104）和无线通信接口（106），其中，有线通信接口（104）通过线缆与潜水器本体（100）连接；无线通信接口（106）用于与无线网络连接，通过无线网络与远端的控制终端（402）通信，使水面浮标（102，502）传输潜水器本体（100）与控制终端（402）间的信号。

Description

遥控潜水器和遥控潜水器系统 技术领域
本公开涉及潜水器技术领域，例如是涉及一种遥控潜水器和遥控潜水器系统。
背景技术
遥控潜水器是一种可以遥控的水下运行器，用于水下探测。传统的遥控潜水器，包含水下潜水器、与水下潜水器相连的中性浮力缆绳，以及与中性浮力缆绳相连的地面控制平台。地面控制平台与水下潜水器通过中性浮力缆绳的数据通道进行通信。
相关技术中的遥控潜水器的探测范围有限，进而影响了水下潜水器的工作效率。
针对上述遥控潜水器工作范围有限的问题，目前尚未提出有效的解决方式。
发明内容
有鉴于此，本公开提供一种遥控潜水器和遥控潜水器系统，通过水面浮标作为信号中继，增加了信号传输距离，进而扩展了遥控潜水器工作范围。
第一方面，本实施例提供了一种遥控潜水器，包括潜水器本体和水面浮标；
所述水面浮标包括有线通信接口和无线通信接口，其中，所述有线通信接口通过线缆与所述潜水器本体连接，所述无线通信接口用于与无线网络连接，使所述水面浮标通过所述无线网络与控制终端进行通信，以实现利用所述水面浮标传输所述潜水器本体与所述控制终端间的信号；
所述信号包括：所述控制终端对所述潜水器本体的控制信号，以及所述潜水器本体根据所述控制终端发送的控制信号进行数据采集得到的数据信号。
可选的，所述水面浮标还包括有线数据收发器、无线数据收发器和数据转换器；
所述有线数据收发器通过所述有线通信接口传输所述潜水器本体的有线信号；
所述无线数据收发器通过所述无线通信接口传输所述控制终端的无线信号；
所述数据转换器用于进行有线信号与无线信号间的转换。
可选的，所述水面浮标还包括定位装置，将定位得到的水面浮标的位置信息发送给所述控制终端，供所述控制终端应用。
可选的，所述潜水器本体包括拍摄装置、数据处理器、运动控制器和推进器；所述控制信号包括数据采集控制信号和运动控制信号；
所述拍摄装置根据所述数据采集控制信号采集图像信号，并将所述图像信号发送至所述数据处理器；
所述数据处理器对所述图像信号进行处理，并将处理后的所述图像信号发送至所述控制终端；
所述运动控制器根据所述运动控制信号改变所述推进器的工作状态，以控制所述潜水器本体的运动状态。
可选的，所述拍摄装置包括相机、相机稳定器和照明灯。
可选的，所述潜水器本体还包括传感器；所述传感器包括速度传感器、加速度传感器、温度传感器或者压力传感器。
可选的，所述潜水器本体还包括中性浮力外壳和供电电源。
第二方面，本实施例提供了一种遥控潜水器系统，包括上述任一项所述的遥控潜水器，以及控制终端；
所述控制终端接收到操作指令后，根据所述操作指令通过所述水面浮标向所述潜水器本体发送所述控制信号。
可选的，还包括信号放大器，所述信号放大器设置于所述水面浮标上，所述控制终端上，或者所述水面浮标与所述控制终端之间。
可选的，还包括线缆，所述线缆用于连接所述水面浮标与所述潜水器本体。
可选的，所述线缆包括中性浮力线缆，所述中性浮力线缆内部设置有数据通信线路。
本实施例提供的一种遥控潜水器和遥控潜水器系统；其中，水面浮标的有线通信接口通过线缆与潜水器本体连接；该水面浮标的无线通信接口通过无线网络与远端的控制终端通信，使水面浮标传输潜水器本体与控制终端间的信号，实现控制终端无线控制潜水器本体；上述方式通过水面浮标作为信号中继，增加了信号传输距离，进而扩展了遥控潜水器工作范围。
本公开的其他特征和优点将在随后的说明书中阐述。
附图说明
图1为本实施例提供的一种遥控潜水器的结构示意图；
图2为本实施例提供的一种遥控潜水器的结构示意图；
图3为本实施例提供的一种遥控潜水器系统的结构示意图；
图4为本实施例提供的另一种遥控潜水器系统的结构示意图；
图5为相关技术中的遥控潜水器系统的结构示意图；
图6为本实施例提供的一种遥控潜水器系统的通信链路示意图。
图标：
500-中性浮力缆绳；502-水面浮标；504-地面控制平台；506-潜水器主身；508a-推进器；508b-推进器；508c-推进器；510-拍摄装置。
具体实施方式
下面将结合附图对本公开的技术方案进行清楚、完整地描述。在不冲突的情况下，以下实施例和实施例中的特征可以相互组合。相关技术中的遥控潜水器，位于水下的水下潜水器与位于地面的地面控制台通过长度有限的中性浮力缆绳连接，因此水下潜水器的移动范围会受到中性浮力缆绳长度的制约，造成水下潜水器的探测范围有限，进而影响了水下潜水器的工作效率。
考虑到相关技术中的遥控潜水器工作范围有限的问题，本实施例提供了一种遥控潜水器和遥控潜水器系统；该技术可以应用于多种水下勘测任务，以获取水下图像、视频以及各种环境数据等；该技术可以采用相关的软件和硬件实现，下面通过实施例进行描述。
实施例一：
参见图1所示的一种遥控潜水器的结构示意图。该遥控潜水器包括潜水器本体100和水面浮标102；
上述水面浮标102包括有线通信接口104和无线通信接口106，其中，有线通信接口104通过线缆与潜水器本体100连接；无线通信接口106用于与无线网络连接，通过无线网络与远端的控制终端通信，使水面浮标102传输潜水器本体100与控制终端间的信号，实现控制终端无线控制潜水器本体；
上述潜水器本体100根据控制终端发送的控制信号进行数据采集，并将采集到的数据通过水面浮标102发送至控制终端。该潜水器本体采集的数据包括图像数据、视频数据、速度、距离、温度或者压力等其他相关勘测数据。
可选地，上述水面浮标漂浮在潜水器本体附近的水面上，该水面浮标可以 作为潜水器本体与控制终端的信号中继设备；由于水面浮标与潜水器本体通过线缆连接，因此水面浮标和潜水器本体的距离有限；而由于水面浮标与控制终端通过无线连接，因此水面浮标与控制终端的距离可以较大；综上，以控制终端为基准，潜水器本体的运动范围相较于潜水器本体与控制终端直接有线连接的方式，有较大程度的扩展。
本实施例提供的一种遥控潜水器，包括潜水器本体和水面浮标；该水面浮标的有线通信接口通过线缆与潜水器本体连接；该水面浮标的无线通信接口通过无线网络与远端的控制终端通信，使水面浮标传输潜水器本体与控制终端间的信号，实现控制终端无线控制潜水器本体；上述方式通过水面浮标作为信号中继，增加了信号传输距离，进而扩展了遥控潜水器工作范围。
实施例二：
本实施例对上述遥控潜水器进行了详细地描述，参见图2所示的一种遥控潜水器的结构示意图；考虑到上述水面浮标需要同时接收有线信号和无线信号，且需要将有线信号和无线信号进行转换，上述水面浮标还包括有线数据收发模块300、无线数据收发模块302和数据转换模块304；该有线数据收发模块300通过有线通信接口传输潜水器本体的有线信号；该无线数据收发模块302通过无线通信接口传输控制终端的无线信号；该数据转换模块304用于进行有线信号与无线信号间的转换。通过上述方式可以使水面浮标进行无线信号和有线信号的收发和转换，进而实现潜水器本体与远端控制设备的信号传输。
考虑到用户需要通过水面浮标进行定位，本实施例在实际实现时，上述水面浮标还包括定位模块(又叫定位装置)306，将定位得到的水面浮标的位置信息发送给控制终端，供控制终端应用；该定位模块可以是GPS(Global Positioning System，全球定位系统)定位模块；水面浮标还可以是包括防水外壳和供电电池，上述定位模块(又叫定位装置)、供电电池、有线数据收发模块(又叫有线数据收发器)、无线数据收发模块(又叫无线数据收发器)和数据转换模块(又叫数据转换器)等均设置在防水外壳内部。通过在水面浮标内部设置定位模块，可以根据水面浮标的位置获知潜水器本体在水下的地理位置。
由于遥控潜水器的勘测任务主要由潜水器本体完成，本实施例在实际实现时，上述潜水器本体100包括拍摄装置308、数据处理模块(又叫数据处理器)310、运动控制模块(又叫运动控制器)312和推进器314；上述控制信号包括数据采集控制信号和运动控制信号；上述拍摄装置308根据数据采集控制信号采集 图像信号，并将图像信号发送至数据处理模块；上述数据处理模块310对图像信号进行处理，并将处理后的图像信号发送至控制终端；上述运动控制模块312根据运动控制信号改变推进器314的工作状态，以控制潜水器本体的运动状态。上述方式可以使潜水器本体根据控制信号进行移动并采集相关图像信号，从而完成勘测任务。
可选地，上述拍摄装置308包括相机、相机稳定器和照明灯。其中，该相机稳定器也叫做“云台”，在相机工作时，起到平衡与稳定作用。
考虑到潜水器本体还需要采集除图像、视频外的其他相关数据，上述潜水器本体还包括传感器316；该传感器316可以是包括速度传感器、加速度传感器、温度传感器或者压力传感器。通过在潜水器本体上设置多种传感器，可以使潜水器本体获取运动数据、温度以及压力等相关数据，进一步提高潜水器本体的勘测能力。
可选的，上述潜水器本体还包括中性浮力外壳和供电电源；其中，中性浮力外壳可以方便潜水器在水中的上浮、下沉、前进、后退以及转弯等运动；供电电源用于给潜水器本体以及内部相关设备进行供电；上述水面浮标还包括线缆接口；该线缆接口用于连接线缆，与线缆的第一端相连；该线缆的第二端与潜水器本体连接。
实施例三：
对应于上述遥控潜水器的实施例，本实施例提供了一种遥控潜水器系统，参见图3所示的一种遥控潜水器系统的结构示意图；该系统包括上述遥控潜水器400，还包括控制终端402；该控制终端402在用户的操作下，通过水面浮标向潜水器本体发送控制信号。
可选地，上述控制终端402可以是智能终端，例如手机、电脑、平板电脑等；该控制终端也可以是遥控器等。
本实施例提供的一种遥控潜水器系统，包括遥控潜水器和控制终端；该遥控潜水器包括潜水器本体和水面浮标；该水面浮标的有线通信接口通过线缆与潜水器本体连接；该水面浮标的无线通信接口通过无线网络与远端的控制终端通信，使水面浮标传输潜水器本体与控制终端间的信号，实现控制终端无线控制潜水器本体；上述方式通过水面浮标作为信号中继，增加了信号传输距离，进而扩展了遥控潜水器工作范围。
考虑到潜水器本体需要更大的工作范围，本实施例在实际应用时，上述遥 控潜水器系统还包括信号放大器；该信号放大器设置于水面浮标上或者控制终端上，或者信号放大器设置于水面浮标与控制终端之间；该信号放大器可以增加水面浮标与控制终端之间的无线信号强度，进而使与水面浮标有线连接的潜水器本体相对于控制终端可以移动更大的范围，扩大遥控潜水器的工作范围，提高工作效率。
可选地，上述遥控潜水器系统还包括连接水面浮标与潜水器本体的线缆，该线缆包括中性浮力线缆；该中性浮力线缆内部设置有数据通信线路。该中性浮力线缆可以在无外力作用下，自主悬浮在水中，大大减少了潜水器本体在水中移动的阻力。
实施例四：
对应于上述遥控潜水器的实施例，本实施例提供了另一种遥控潜水器系统，参见图4所示的另一种遥控潜水器系统的结构示意图；该系统包括潜水器本体、中性浮力缆绳500(相当于上述中性浮力线缆)、水面浮标502和地面控制平台504(该地面控制平台包括控制面板或者遥控器；该地面控制平台相当于上述控制终端)；该地面控制平台504通过水面浮标向潜水本体发送控制信号，并通过水面浮标接收图像、传感数据号等。遥控潜水器(也叫ROV，Remote Operated Vehicle)可以理解为一种遥控水下机器人，岸上控制人员通过控制台操作ROV在水中运动，拍摄，作业等。
上述潜水器本体包括潜水器主身506、推进器508a、推进器508b、推进器508c和拍摄装置510；该拍摄装置包括相机、云台(相当于上述相机稳定器)和LED灯(相当于上述照明灯)该拍摄装置用于拍摄或勘察；上述潜水器本体还可以是包括中性浮力外壳、电池或供电电源以及电缆接口等相关部件；该电池或供电电源放置于中性浮力外壳中；该中性浮力外壳内部还设置有控制器、传感器和通信模组(该控制器和通信模组相当于上述数据处理模块和运动控制模块)。
上述推进器508a-508c的数量、朝向和位置，可以有多种方案，例如本实施例中所示。在图4中示出了3个推进器，其中，推进器508a包括垂直方向马达和螺旋桨；推进器508b和推进器508c分别包括水平方向马达和螺旋桨；上述推进器508a可以是水平方向，推进器508b和推进器508c可以是垂直方向。
上述中性浮力线缆500用于连接水下潜水器(相当于上述潜水器本体)和水面浮标。中性浮力，即在无外力作用下，可自主悬浮在水中。线缆中埋藏了数据通讯线，用于传输潜水器本体的信号到水面浮标上。因此，上述中性浮力线 缆具有对潜水器本体的牵引功能，也有信号传输功能。
上述水面浮标502作为岸上控制平台与水下潜水器之间的信号中继，包含卫星定位模块(相当于上述定位模块)，无线收发模块(相当于上述有线数据收发模块、无线数据收发模块和数据转换模块)，电缆接口，电池或电源供电等相关部件。因此，该水面浮标可以与用户的控制面板进行无线通信。
上述地面控制平台504作为用户控制端，可以是带wifi(Wireless-Fidelity，无线保真)连接的ipad、iphone或遥控装置。其中，浮标与地面控制平台通过无线方式连接，也可以在地面增加一个放大器，用于增强无线信号，拓宽无线距离。
参见图5所示的相关技术中的遥控潜水器系统的结构示意图，其中，潜水器本体与地面控制平台直接通过线缆连接，本实施例提供的遥控潜水器系统，在潜水器本体与地面控制平台之间设置了水面浮标，水面浮标与地面控制平台间采用无线方式通信，通过水面浮标可以完成潜水器本体与地面控制平台之间的通信，与相关技术中潜水器本体与地面控制平台直接通过线缆连接的方式(如图5所示)相比，地面控制平台不再受与潜水器本体间的距离的限制，提升了产品的应用灵活性。
为了对上述遥控潜水器系统的信号传输方式进行更加详细地描述，参见图6所示的一种遥控潜水器系统的通信链路示意图；该系统中的通信链路可以进行双向的数据传输。以控制信号为例，该通信链路的下行传输可以是如下过程：
(1)地面控制端通过无线网络发送控制信号至水面浮标；
(2)水面浮标对该控制信号进行转换后，通过线缆(该线缆可以是双绞线)向潜水器本体中的图像与控制模块(相当于上述运动控制模块或者数据处理模块)发送该控制信号；
(3)图像与控制模块将相关控制信号发送至推进器或者拍摄装置(图中以相机为例)。
以图像信号为例，该通信链路的上行传输可以是如下过程：
(1)拍摄装置通过相机获取图像信号，并将该图像信号发送至图像与控制模块；
(2)图像与控制模块对该图像信号进行处理后，通过线缆向水面浮标发送该图像信号；
(3)水面浮标对该图像信号进行转换后，通过无线网络向地面控制端发送转 换后的图像信号；
(4)地面控制端接收该图像信号。
可选地，地面控制端(可以是ipad/iphone或其他终端智能设备，也可以是RC(remote controller，遥控器)，发出控制信号，通过无线连接传输到水面浮标，该水面浮标再将信号处理后，通过双绞线传输到水下潜水器，经过图像与控制模块(相当于运动控制模块和数据处理模块)的处理，一方面控制潜水器的运动，另一方面通过网口连接控制相机。反过来，从相机采集的图像信号和潜水器的运动传感器信号经过相同的路径，反馈到地面控制端。
上述以水面浮标为中继的通信方式可以延长潜水器本体与控制终端的距离，扩大遥控潜水器的工作范围，同时还可以保证潜水器本体与控制终端之间进行实时通信，提高了工作效率。
所述功能如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本公开的技术方案本质上或者说对相关技术中技术做出贡献的部分或者该技术方案的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本公开实施例所述方法的全部或部分步骤。而前述的存储介质包括：盘、移动硬盘、只读存储器(ROM，Read-OnlyMemory)、随机存取存储器(RAM，RandomAccessMemory)、磁碟或者光盘等各种可以存储程序代码的介质。
在本公开的描述中，需要说明的是，术语“中心”、“上”、“下”、“左”、“右”、“竖直”、“水平”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本公开和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本公开的限制。此外，术语“第一”、“第二”、“第三”仅用于描述目的，而不能理解为指示或暗示相对重要性。
在本公开的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本公开中的具体含义。
以上所述实施例，仅为本公开的具体实施方式，用以说明本公开的技术方 案。
工业实用性
本公开提供的一种遥控潜水器和遥控潜水器系统；其中，水面浮标的有线通信接口通过线缆与潜水器本体连接；该水面浮标的无线通信接口通过无线网络与远端的控制终端通信，使水面浮标传输潜水器本体与控制终端间的信号，实现控制终端无线控制潜水器本体；上述方式通过水面浮标作为信号中继，增加了信号传输距离，进而扩展了遥控潜水器工作范围。

Claims (11)

  1. 一种遥控潜水器，包括潜水器本体和水面浮标；
    所述水面浮标包括有线通信接口和无线通信接口，其中，所述有线通信接口通过线缆与所述潜水器本体连接，所述无线通信接口用于与无线网络连接，使所述水面浮标通过所述无线网络与控制终端进行通信，以实现利用所述水面浮标传输所述潜水器本体与所述控制终端间的信号；
    所述信号包括：所述控制终端对所述潜水器本体的控制信号，以及所述潜水器本体根据所述控制终端发送的控制信号进行数据采集得到的数据信号。
  2. 根据权利要求1所述的遥控潜水器，其中，所述水面浮标还包括有线数据收发器、无线数据收发器和数据转换器；
    所述有线数据收发器通过所述有线通信接口传输所述潜水器本体的有线信号；
    所述无线数据收发器通过所述无线通信接口传输所述控制终端的无线信号；
    所述数据转换器用于进行有线信号与无线信号间的转换。
  3. 根据权利要求1所述的遥控潜水器，其中，所述水面浮标还包括定位装置，将定位得到的水面浮标的位置信息发送给所述控制终端，供所述控制终端应用。
  4. 根据权利要求1所述的遥控潜水器，其中，所述潜水器本体包括拍摄装置、数据处理器、运动控制器和推进器；所述控制信号包括数据采集控制信号和运动控制信号；
    所述拍摄装置根据所述数据采集控制信号采集图像信号，并将所述图像信号发送至所述数据处理器；
    所述数据处理器对所述图像信号进行处理，并将处理后的所述图像信号发送至所述控制终端；
    所述运动控制器根据所述运动控制信号改变所述推进器的工作状态，以控制所述潜水器本体的运动状态。
  5. 根据权利要求4所述的遥控潜水器，其中，所述拍摄装置包括相机、相机稳定器和照明灯。
  6. 根据权利要求1所述的遥控潜水器，其中，所述潜水器本体还包括传感器；所述传感器包括速度传感器、加速度传感器、温度传感器或者压力传感器。
  7. 根据权利要求1所述的遥控潜水器，其中，所述潜水器本体还包括中性浮力外壳和供电电源。
  8. 一种遥控潜水器系统，包括权利要求1至7中任一项所述的遥控潜水器， 以及控制终端；
    所述控制终端接收到操作指令后，根据所述操作指令通过所述水面浮标向所述潜水器本体发送所述控制信号。
  9. 根据权利要求8所述的遥控潜水器系统，还包括信号放大器，所述信号放大器设置于所述水面浮标上，所述控制终端上，或者所述水面浮标与所述控制终端之间。
  10. 根据权利要求8所述的遥控潜水器系统，还包括线缆，所述线缆用于连接所述水面浮标与所述潜水器本体。
  11. 根据权利要求10所述的遥控潜水器系统，其中，所述线缆包括中性浮力线缆，所述中性浮力线缆内部设置有数据通信线路。
PCT/CN2017/088640 2016-11-16 2017-06-16 遥控潜水器和遥控潜水器系统 WO2018090615A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201611009628.3A CN106275329B (zh) 2016-11-16 2016-11-16 遥控潜水器和遥控潜水器系统
CN201611009628.3 2016-11-16

Publications (1)

Publication Number Publication Date
WO2018090615A1 true WO2018090615A1 (zh) 2018-05-24

Family

ID=57721031

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2017/088640 WO2018090615A1 (zh) 2016-11-16 2017-06-16 遥控潜水器和遥控潜水器系统

Country Status (2)

Country Link
CN (1) CN106275329B (zh)
WO (1) WO2018090615A1 (zh)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108540226A (zh) * 2018-06-08 2018-09-14 上海海洋大学 一种应急通讯浮标装置及相应救援方法

Families Citing this family (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106275329B (zh) * 2016-11-16 2018-06-29 深圳潜行创新科技有限公司 遥控潜水器和遥控潜水器系统
CN107192983B (zh) * 2017-07-04 2023-11-17 深圳潜行创新科技有限公司 一种观测水下潜航器相对位置的装置、方法和系统
CN107564261A (zh) * 2017-09-27 2018-01-09 北京臻迪科技股份有限公司 一种机器人的控制系统
CN108563233A (zh) * 2017-12-28 2018-09-21 北京优尔博特创新科技有限公司 遥控水下机器人及水下探测系统
CN108282220B (zh) * 2018-02-05 2021-06-04 深圳纽兰德科技有限公司 一种潜水器通信系统及通信方法
CN108363415A (zh) * 2018-03-29 2018-08-03 燕山大学 一种应用于水下机器人的视觉远程控制随动系统及方法
CN108327875A (zh) * 2018-04-11 2018-07-27 广州市柯乐名迪电子科技有限公司 一种低耗能潜水器
CN108583825A (zh) * 2018-06-28 2018-09-28 苏州津启海洋装备驱动有限公司 一种适用于大范围海流速度的遥控潜水器布放装置
CN109188484B (zh) * 2018-11-06 2023-09-19 湖南工程学院 一种有缆水下机器人定位装置及其定位方法
CN110381117A (zh) * 2019-06-19 2019-10-25 广东工业大学 一种基于收放式浮标的潜航通信系统
CN111210609B (zh) * 2020-03-13 2021-01-26 重庆前卫科技集团有限公司 无线电遥控接收装置
CN114040263B (zh) * 2021-11-04 2023-08-08 湖南国天电子科技有限公司 一种便携式超小型水下机器人系统
CN114407592B (zh) * 2022-01-06 2023-10-17 北京理工大学 一种能够实时通信的水陆两栖无人巡逻车
CN115092359A (zh) * 2022-08-26 2022-09-23 浙江九段智能科技有限公司 一种浮标式自主水下航行器

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6484660B1 (en) * 2001-08-30 2002-11-26 The United States Of America As Represented By The Secretary Of The Navy Underwater nuclear material reconnaissance system
US6854410B1 (en) * 2003-11-24 2005-02-15 The United States Of America As Represented By The Secretary Of The Navy Underwater investigation system using multiple unmanned vehicles
CN103310610A (zh) * 2013-06-03 2013-09-18 上海交通大学 基于智能浮标和智能潜水器的移动海洋观测网
CN104512533A (zh) * 2013-09-28 2015-04-15 南京专创知识产权服务有限公司 一种水下超声探测机器海豚
CN105818944A (zh) * 2016-04-01 2016-08-03 深圳潜水侠创新动力科技有限公司 一种应用于水下探测的遥控潜艇
CN205524893U (zh) * 2016-04-01 2016-08-31 深圳潜水侠创新动力科技有限公司 一种应用于水下探测的遥控潜艇
CN205661637U (zh) * 2016-06-08 2016-10-26 中国南方电网有限责任公司调峰调频发电公司 一种具备双工模式切换功能的水下机器人
CN106275329A (zh) * 2016-11-16 2017-01-04 深圳潜行创新科技有限公司 遥控潜水器和遥控潜水器系统

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10310550A1 (de) * 2003-03-02 2004-09-30 Fred Hocker Gewässeruntersuchungssystem
CN202285856U (zh) * 2011-10-26 2012-07-04 威海祥宇电子有限公司 无线智能水下探测器
CN202765273U (zh) * 2012-09-14 2013-03-06 董昊 一种用于水下摄影的无人遥控机器人
CN105216993A (zh) * 2014-05-30 2016-01-06 上海市南洋模范中学 一种水面遥控式仿鱼型水下生物探测器
CN205221042U (zh) * 2015-10-30 2016-05-11 深圳市泓洋汇智创新科技有限公司 一种微型缆控水下观测机器人
CN206278243U (zh) * 2016-11-16 2017-06-27 深圳潜行创新科技有限公司 遥控潜水器和遥控潜水器系统

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6484660B1 (en) * 2001-08-30 2002-11-26 The United States Of America As Represented By The Secretary Of The Navy Underwater nuclear material reconnaissance system
US6854410B1 (en) * 2003-11-24 2005-02-15 The United States Of America As Represented By The Secretary Of The Navy Underwater investigation system using multiple unmanned vehicles
CN103310610A (zh) * 2013-06-03 2013-09-18 上海交通大学 基于智能浮标和智能潜水器的移动海洋观测网
CN104512533A (zh) * 2013-09-28 2015-04-15 南京专创知识产权服务有限公司 一种水下超声探测机器海豚
CN105818944A (zh) * 2016-04-01 2016-08-03 深圳潜水侠创新动力科技有限公司 一种应用于水下探测的遥控潜艇
CN205524893U (zh) * 2016-04-01 2016-08-31 深圳潜水侠创新动力科技有限公司 一种应用于水下探测的遥控潜艇
CN205661637U (zh) * 2016-06-08 2016-10-26 中国南方电网有限责任公司调峰调频发电公司 一种具备双工模式切换功能的水下机器人
CN106275329A (zh) * 2016-11-16 2017-01-04 深圳潜行创新科技有限公司 遥控潜水器和遥控潜水器系统

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108540226A (zh) * 2018-06-08 2018-09-14 上海海洋大学 一种应急通讯浮标装置及相应救援方法
CN108540226B (zh) * 2018-06-08 2023-10-03 上海海洋大学 一种应急通讯浮标装置及相应救援方法

Also Published As

Publication number Publication date
CN106275329B (zh) 2018-06-29
CN106275329A (zh) 2017-01-04

Similar Documents

Publication Publication Date Title
WO2018090615A1 (zh) 遥控潜水器和遥控潜水器系统
CN107231181B (zh) 一种跨介质通信的海空协同监测系统及其使用方法
KR101621143B1 (ko) 수중 에이전트 도킹 시스템 및 이를 이용한 도킹방법
US11091239B2 (en) System for monitoring a remote underwater location
JP6848320B2 (ja) 水中移動体
EP2137059B1 (en) Method and device for survey of sea floor
US20100107958A1 (en) Underwater vehicle guidance
JP2018061160A (ja) 水中移動体及び水中通信システム
JP2001308766A (ja) 水中航走体用の通信システム、および、そのための自走中継器
JP2011031635A (ja) 潜水機システム
CN106314733A (zh) 一种无人驾驶水下摄影机器人
JP2019089422A (ja) 水中ドローンを用いた海底探査システム
KR20150105089A (ko) 무인 수중 로봇 운영 장치 및 무인 수중 로봇의 운영 방법
JP4585367B2 (ja) 親子式自律型潜水機システム及び自律型潜水機の接続方法
KR101177839B1 (ko) 수중로봇 위치 측정 시스템 및 그 방법 및 시스템
JP2020021357A (ja) 海上探索システム、無人飛行体、及び無人飛行方法
CN206278243U (zh) 遥控潜水器和遥控潜水器系统
KR101258955B1 (ko) 수중 로봇 시스템
KR20160137889A (ko) 수중 이동형 에이전트 도킹 시스템 및 이를 이용한 도킹방법
JP6143313B1 (ja) 移動体
CN116880516A (zh) 一种联合多水下机器人的水下环境监测方法及系统
KR102078160B1 (ko) 수중 원격 무인시스템
CN110912618A (zh) 一种基于水声通信基站的多用户潜水通信定位系统
KR20190023730A (ko) 드론 장착용／드론 원격 제어용 스마트 폰을 이용한 드론 제어 시스템 및 방법
JP2019064373A (ja) 無人無索潜水機システム

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 17870763

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

32PN Ep: public notification in the ep bulletin as address of the adressee cannot be established

Free format text: NOTING OF LOSS OF RIGHTS PURSUANT TO RULE 112(1) EPC (EPO FORM 1205A DATED 15/10/2019)

122 Ep: pct application non-entry in european phase

Ref document number: 17870763

Country of ref document: EP

Kind code of ref document: A1