Nothing Special   »   [go: up one dir, main page]

CN110386238A - A kind of complete extra large depth ARV underwater robot structure - Google Patents

A kind of complete extra large depth ARV underwater robot structure Download PDF

Info

Publication number
CN110386238A
CN110386238A CN201810353424.4A CN201810353424A CN110386238A CN 110386238 A CN110386238 A CN 110386238A CN 201810353424 A CN201810353424 A CN 201810353424A CN 110386238 A CN110386238 A CN 110386238A
Authority
CN
China
Prior art keywords
cabin
underwater robot
arv
extra large
large depth
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201810353424.4A
Other languages
Chinese (zh)
Inventor
陆洋
唐元贵
闫兴亚
陈聪
李硕
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenyang Institute of Automation of CAS
Original Assignee
Shenyang Institute of Automation of CAS
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 Shenyang Institute of Automation of CAS filed Critical Shenyang Institute of Automation of CAS
Priority to CN201810353424.4A priority Critical patent/CN110386238A/en
Publication of CN110386238A publication Critical patent/CN110386238A/en
Pending legal-status Critical Current

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63GOFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63GOFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B63G2008/002Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Manipulator (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Abstract

The present invention relates to robotic technology field under complete extra large deep water, in particular to a kind of complete extra large depth ARV underwater robot structure.Including in cabin, starboard vertical pusher, larboard vertical pusher, rotation rudder plate component, featured motor, water and water surface communications localization system, optics and Acoustic Sounding Systems and apparatus for work, wherein the fore body two sides of cabin are respectively equipped with starboard vertical pusher and larboard vertical pusher, the stern two sides of cabin are all provided with promising carrier and provide the rotation rudder plate component and featured motor of horizontal travel power, the top of cabin is equipped in water and water surface communications localization system, bottom is equipped with optical detection system and Acoustic Sounding Systems, and the inside of cabin is equipped with apparatus for work.The present invention realizes that underwater robot maximum operation depth reaches 11000 meters, and realizes the navigation of myriametre seabed and sampling operation task.

Description

A kind of complete extra large depth ARV underwater robot structure
Technical field
The present invention relates to robotic technology field under complete extra large deep water, in particular to a kind of complete extra large depth ARV underwater robot knot Structure.
Background technique
Currently, underwater robot is broadly divided into autonomous underwater robot (AUV) and remote underwater robot (ROV), two kinds There is the limitation of itself in robot.Autonomous underwater robot (AUV) biases toward to navigate by water over long distances, is short of grab sampling operation, And it cannot constantly return data.Remote underwater robot (ROV) can be referred to as again cable underwater robot, using electricity over long distances Cable connection, solves energy problem, but is unable to grand movement, can only small range Fixed Point Operation.
Summary of the invention
In view of the above-mentioned problems, the purpose of the present invention is to provide a kind of complete extra large depth ARV underwater robot structures, to realize water Lower robot maximum operation depth reaches 11000 meters, and realizes the navigation of myriametre seabed and sampling operation task.
The purpose of the present invention is achieved through the following technical solutions:
A kind of complete extra large depth ARV underwater robot structure, including cabin, starboard vertical pusher, larboard vertical pusher, rotation Board group of coming about part, featured motor, in water and water surface communications localization system, optics and Acoustic Sounding Systems and apparatus for work, wherein The fore body two sides of cabin are respectively equipped with starboard vertical pusher and larboard vertical pusher, and the stern two sides of the cabin are equipped with The rotation rudder plate component and featured motor of horizontal travel power are provided for carrier, the top of the cabin is equipped in water and the water surface is logical Positioning system is interrogated, bottom is equipped with optical detection system and Acoustic Sounding Systems, and the inside of the cabin is equipped with apparatus for work.
In the water and water surface communications localization system include provided for underwater robot the water surface communication defend frequency cabin and from hold Iridium satellite and the acoustic communication machine energy converter with water surface communication channel is provided for underwater robot.
The Acoustic Sounding Systems include Forward-Looking Sonar and side scan sonar.
The optical detection system includes headlamp and Quan Haishen high definition camera.
The apparatus for work includes manipulator and puchcore.
The cabin has smooth streamlined contour, using outer profile buoyancy material, is equipped on the outside of the outer profile buoyancy material Exterior skin.
Cabin stern upper end, which is equipped with, plays the role of the fixation wing plate of stabilizer, the cabin in robot dive navigation Stern two sides, which are respectively equipped with, can increase a stern side of degree of free for robot degree and push away.
The bottom of the cabin be equipped with dive throw loading system and before being provided safeguard for robot grease it in lower supporter With rear lower supporter.
The cabin is equipped with altimeter of the robot offer apart from sea floor height data.
The top hook of the cabin, the bow stern of the cabin, which is respectively equipped with to play during robot is hung, only to be swung The fore body of effect only swings ring and stern only swings ring.
Advantages of the present invention and good effect are as follows:
1. light weight of the present invention: the current 7000 meters of manned underwater vehicle flood dragons number of China, weight is about 22t, and the present invention is underwater Robot submerged depth reaches the deepest point of current earth ocean up to 11000 meters, and takes into account AUV and ROV feature, energy Enough integrate cruise detection to detect with operation;Light weight, it is small in size, it is easier to manipulation operation, weight is about manned underwater vehicle 1/7th.
2. the activity duration of the invention is long: disregard dive and floating interval of floating dock once can continuously make after robot reaches seabed Industry 8 hours.
3. maximum speed of the present invention is up to 2kn: after reaching seabed, one of them task is cruise detection, and speed of detection is determined The detection efficient in the unit time is determined, maximum cruise is up to 2kn.
4. the present invention has a 20kg load capacity: after reaching seabed, manipulator can extra samples be not more than the seabed 20kg sample Product.
5. the present invention has multiplicity communication positioning function: having water surface radio, iridium satellite communication and underwater acoustic communications function Can, it is provided simultaneously with the comprehensive positioning function of water surface GPS, Long baselines, ultra-short baseline.
6. the present invention has optics, acoustic sounding function: underwater robot fore body carries high-definition camera, visits for optics It surveys.It sweeps sound and carries out the detection of acoustics topography and geomorphology in midships section installation side.
7. the present invention carries functional machinery hand: carrying functional machinery hand inside robot fore body hatch door.
Detailed description of the invention
Fig. 1 is fore body hatch door open state schematic diagram of the invention;
Fig. 2 is operational configuration side schematic view of the invention;
Fig. 3 is axonometric drawing of the invention.
In figure: 1 is starboard vertical pusher, and 2 be hatch door, and 3 be outer profile buoyancy material, and 4 is defend frequency cabin, and 5 change for Long baselines Can device, 6 is, from iridium satellite is held, 7 are headlamp, and 8 be manipulator, and 9 be larboard vertical pusher, and 10 be Quan Haishen high definition camera, 11 It is Forward-Looking Sonar for preceding lower supporter, 12,13 throw loading system for dive, and 14 be puchcore, and 15 only swing ring for fore body, and 16 be outer Covering, 187 be larboard vertical pusher, and 18 be side scan sonar, and 19 be hook, and 20 be rear lower supporter, and 21 be altimeter, 22 It is DVL inertial navigation aggregate for acoustic communication machine energy converter, 23,24 be fixed wing plate, and 25 be rotation rudder plate component, and 26 be stern side It pushes away, 27 only swing ring for featured motor, 28 for stern.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, right in the following with reference to the drawings and specific embodiments The present invention is described in detail.
The autonomous remote underwater robot of Quan Haishen (abbreviation ARV, Autonomous&Remotely operatedVehicle) It is the unmanned underwater robot of a kind of comprehensive autonomous underwater robot (AUV) and remote underwater robot (ROV) advantage.ARV knot The two advantage is closed, under the premise of guaranteeing robot energy grand movement, the ability with the sampling of certain Fixed Point Operation, Er Qieyou In the presence of tiny fiber-optics, robot internal data can be returned in real time.
As shown in Figure 1-3, a kind of complete extra large depth ARV underwater robot structure provided by the invention, including cabin, starboard are vertical Propeller 1, larboard vertical pusher 9, rotation rudder plate component 25, featured motor 27, in water and water surface communications localization system, optics With Acoustic Sounding Systems and apparatus for work, wherein it is vertical with larboard to be respectively equipped with starboard vertical pusher 1 for the fore body two sides of cabin Propeller 9, the stern two sides of cabin are all provided with promising carrier and provide the rotation rudder plate component 25 and featured motor of horizontal travel power 27, the top of cabin is equipped in water and water surface communications localization system, and bottom is equipped with optical detection system and Acoustic Sounding Systems, cabin The inside of body is equipped with apparatus for work.
In water and water surface communications localization system include provided for underwater robot the water surface communication defend frequency cabin 4 and from hold iridium satellite 6 and the acoustic communication machine energy converter 22 with water surface communication channel is provided for underwater robot.
Acoustic Sounding Systems include Forward-Looking Sonar 12 and side scan sonar 18;Optical detection system includes headlamp 7 and Quan Hai Deep high definition camera 10;Apparatus for work includes manipulator 8 and puchcore14 (sediment sampler).
Cabin uses outer profile buoyancy material 3, is equipped with exterior skin 16 on the outside of outer profile buoyancy material 3.Cabin has smooth streamline Type shape provides smooth streamlined contour for robot, resistance when reducing navigation.
Cabin stern upper end, which is equipped with, plays the role of the fixation wing plate 24 of stabilizer, cabin stern two in robot dive navigation Side, which is respectively equipped with, can increase a stern side of degree of free for robot degree and push away 26.
The bottom of cabin be equipped with dive throw loading system 13 and before being provided safeguard for robot grease it in lower supporter 11 With rear lower supporter 20.Cabin is equipped with altimeter 21 of the robot offer apart from sea floor height data.
The top hook 19 of cabin, the bow stern of cabin, which is respectively equipped with, to be played the role of only swinging during robot is hung Fore body only swings ring 15 and stern only swings ring 28.
In the embodiment of the present invention, Quan Haishen underwater robot outer dimension is long 3.8m, wide 1.7m, high 1.8m.It is whole Weight is about 3t in air.The integrated design of detection and operation, the design concept can ensure that complete extra large depth ARV system is not changing Under the premise of any structure configuration of variable load body, have detection and the dual tasks of science demand of operation, can a dive to myriametre depth Deep pool completes large range of cruise detection and the fine sampling operation of fixed point, is greatly improved the working efficiency of system.
Starboard vertical pusher 1 and larboard vertical pusher 9 provide vertical power for robot, rotate 25 He of rudder plate component Featured motor 27 provides horizontal travel power for carrier.Fixed wing plate 24 plays the role of stabilizer, stern in carrier dive navigation Side, which pushes away 26, can increase carrier movement freedom degree, being capable of more flexible carry out underwater exercise.It defends frequency cabin 4 and is from iridium satellite 6 is held Robot provides water surface communication.Apparatus for work, headlamp 7 and the Quan Haishen such as 2 internal storage manipulator 8 of hatch door and puchcore14 High definition camera 10 is with the use of offer visual detection.Preceding lower supporter 11 and rear lower supporter 20 provide guarantor for carrier grease it in Barrier.Forward-Looking Sonar 12 and side scan sonar 18 provide acoustic sounding ability for carrier, and altimeter 21 provides for carrier apart from seabed height Degree evidence.Acoustic communication machine energy converter 22 provides the channel with water surface communication for carrier.Fore body only swings ring 15 and stern only swings ring 28 Play the role of only swinging during robot is hung.
The operation principle of the present invention is that:
Robot prepares before water conservancy project makees, and is needed on ship deck to carrying out water surface school from holding iridium satellite 6, defend frequency cabin 4 etc. It is quasi-.Robot carries out lifting release during the release of deck by hook 19 from deck can be stopped by artificial traction fore body It swings ring 15 and stern only swings ring 28 and only swung processing, it is excessive to place swing.Enter to fix wing plate 24 after water and play stabilization, adjust Diving speed can be changed in whole rotation rudder plate component 25, and cruise relies primarily on outer profile buoyancy material 3 when detecting and exterior skin 16 wraps up It is streamlined, come reduce front brought by resistance to water-flow.By dive throw loading system 13 can with unpowered dive to seabed, and Battery power can not be consumed during dive, by the available robot submerged depth of depth gauge, and pass through height Meter 21 can definitely learn that robot is apart from seabed distance.It carries out throwing load movement when about 100 meters of height, dive is thrown and is carried Dive weight in system 13 is abandoned, and underwater robot changes buoyant state and is positive buoyant state, hence into cruise operation mould Formula.Before cruise detection, the acoustic communication of acoustic communication machine energy converter 22 progress and the water surface is enabled, itself Long baselines energy converter is passed through 5 and DVL inertial navigation aggregate 23 carries out Underwater Navigation.
In cruise operation mode process, acoustics terrain detection is carried out by Forward-Looking Sonar 12, side scan sonar 18, passes through full sea Deep high definition camera 10 simultaneously provides illumination by headlamp 7, carries out vision terrain detection.In cruise operation process, discovery science Point of interest is changed to work pattern, and starboard vertical pusher 1 and larboard vertical pusher 9 are opened at this time, provides vertically for robot Down thrust so that robot can decline and bottom.After preceding lower supporter 11 and rear lower supporter 20 land, by cabin Door 2 is opened, and manipulator 8 is extended sampling operation, and solid sample, which can be grabbed directly, is put into sampling basket, and submarine sedimentary strata needs It is sampled by puchcore14.After cruise operation and sampling operation, load can be thrown and floated, deck is finally recycled to.
The present invention has in a variety of water and water surface communications localization system, has water surface radio, iridium satellite communication and underwateracoustic Communication function is learned, the comprehensive positioning function of water surface GPS, Long baselines, ultra-short baseline is provided simultaneously with;Have optics, acoustic sounding function, Underwater robot fore body carries high-definition camera, is used for optical detection.It sweeps sound and carries out the detection of acoustics topography and geomorphology in midships section installation side; Functional machinery hand is carried inside robot fore body hatch door, can carry out sea floor sampling operation.
In conclusion a kind of complete extra large depth ARV underwater robot structure is a kind of relative lightweight, low-power consumption, longevity of service The features such as, and the underwater robot of comprehensive navigation detection and operation detection and one.
Robot of the present invention adheres to the design concept independently combined with remote control, under more steer modes such as autonomous, remote control, Realize the design scheme of collection detection and operation and one.Scientific investigation research of the deep-sea exploration as global tip at present, has strong Scientific requirement reinforce the communication of scientist and user, specify scientific goal, be truly realized in line with scientific requirement of combining closely Position science used in, guarantee myriametre underwater robot it is reliable with it is practical.
Mode the above is only the implementation of the present invention is not intended to limit the scope of the present invention.It is all in the present invention Spirit and principle within any modification, equivalent replacement, improvement, extension etc., be all contained in protection scope of the present invention It is interior.

Claims (10)

1. a kind of complete extra large depth ARV underwater robot structure, which is characterized in that including cabin, starboard vertical pusher (1), larboard Vertical pusher (9), rotation rudder plate component (25), featured motor (27), in water and water surface communications localization system, optics and acoustics Detection system and apparatus for work, wherein the fore body two sides of cabin are respectively equipped with starboard vertical pusher (1) and larboard vertical thrust Device (9), the stern two sides of the cabin are all provided with promising carrier and provide the rotation rudder plate component (25) of horizontal travel power and promote mainly Motor (27), the top of the cabin is equipped in water and water surface communications localization system, and bottom is equipped with optical detection system and acoustics The inside of detection system, the cabin is equipped with apparatus for work.
2. complete extra large depth ARV underwater robot structure according to claim 1, which is characterized in that in the water and the water surface is logical News positioning system includes that defending frequency cabin (4) He Zirong iridium satellite (6) and being underwater robot for water surface communication is provided for underwater robot Acoustic communication machine energy converter (22) with water surface communication channel is provided.
3. complete extra large depth ARV underwater robot structure according to claim 1, which is characterized in that the Acoustic Sounding Systems Including Forward-Looking Sonar (12) and side scan sonar (18).
4. complete extra large depth ARV underwater robot structure according to claim 1, which is characterized in that the optical detection system Including headlamp (7) and Quan Haishen high definition camera (10).
5. complete extra large depth ARV underwater robot structure according to claim 1, which is characterized in that the apparatus for work includes Manipulator (8) and puchcore (14).
6. complete extra large depth ARV underwater robot structure according to claim 1, which is characterized in that the cabin has smooth Streamlined contour is equipped with exterior skin (16) on the outside of the outer profile buoyancy material (3) using outer profile buoyancy material (3).
7. complete extra large depth ARV underwater robot structure according to claim 1, which is characterized in that cabin stern upper end Equipped with the fixation wing plate (24) for playing the role of stabilizer in robot dive navigation, cabin stern two sides are respectively equipped with can The stern side for increasing degree of free for robot degree pushes away (26).
8. complete extra large depth ARV underwater robot structure according to claim 1, which is characterized in that the bottom of the cabin is set Have dive throw loading system (13) and before being provided safeguard for robot grease it in lower supporter (11) and afterwards lower supporter (20).
9. complete extra large depth ARV underwater robot structure according to claim 1, which is characterized in that the cabin is equipped with machine Device people provides the altimeter (21) apart from sea floor height data.
10. complete extra large depth ARV underwater robot structure according to claim 1, which is characterized in that rise at the top of the cabin Suspension hook (19), the bow stern of the cabin are respectively equipped with the fore body for playing the role of only swinging during robot is hung and only swing ring (15) Only ring (28) are swung with stern.
CN201810353424.4A 2018-04-19 2018-04-19 A kind of complete extra large depth ARV underwater robot structure Pending CN110386238A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201810353424.4A CN110386238A (en) 2018-04-19 2018-04-19 A kind of complete extra large depth ARV underwater robot structure

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201810353424.4A CN110386238A (en) 2018-04-19 2018-04-19 A kind of complete extra large depth ARV underwater robot structure

Publications (1)

Publication Number Publication Date
CN110386238A true CN110386238A (en) 2019-10-29

Family

ID=68282804

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201810353424.4A Pending CN110386238A (en) 2018-04-19 2018-04-19 A kind of complete extra large depth ARV underwater robot structure

Country Status (1)

Country Link
CN (1) CN110386238A (en)

Cited By (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111301646A (en) * 2020-03-25 2020-06-19 哈尔滨工程大学 Autonomous underwater robot for under-ice detection
CN111483577A (en) * 2020-05-15 2020-08-04 上海海洋大学 Full-sea-depth operation type unmanned submersible
CN111846170A (en) * 2020-08-11 2020-10-30 中国科学院沈阳自动化研究所 Autonomous underwater robot structure capable of cruising in large range
CN111874195A (en) * 2020-08-11 2020-11-03 中国科学院沈阳自动化研究所 Full-sea-depth offshore bottom autonomous underwater robot structure
CN112093022A (en) * 2020-10-13 2020-12-18 中国计量大学 Based on novel shaftless rim impels ARV
CN112937808A (en) * 2021-03-24 2021-06-11 中国船舶科学研究中心 Deep sea in-situ manned experimental research platform
CN113320667A (en) * 2021-07-06 2021-08-31 中国人民解放军国防科技大学 Modular underwater intelligent equipment platform
CN113788132A (en) * 2021-10-14 2021-12-14 中北大学 Vector-propelled hybrid drive underwater robot
CN113844627A (en) * 2021-10-22 2021-12-28 杭州电子科技大学 Unmanned no cable operation type robot under water
CN113968328A (en) * 2021-11-15 2022-01-25 中国科学院沈阳自动化研究所 Pressing and falling device for underwater robot
CN113978673A (en) * 2021-12-02 2022-01-28 中国船舶科学研究中心 Floating walking dual-mode manned submersible and using method thereof
CN114180015A (en) * 2022-01-02 2022-03-15 天津瀚海蓝帆海洋科技有限公司 Middle-sized deep sea open-frame type ARV
CN114228910A (en) * 2021-12-23 2022-03-25 生态环境部华南环境科学研究所 Environment-friendly energy-saving multifunctional platform for blue carbon observation and protection of coastal zone
CN114684340A (en) * 2020-12-31 2022-07-01 远洋探海机器人东台有限公司 Underwater robot for oil-gas pipeline inspection
CN114815859A (en) * 2022-05-06 2022-07-29 哈尔滨工程大学 Portable autonomous underwater robot system and control system thereof
CN114802659A (en) * 2022-03-21 2022-07-29 深之蓝海洋科技股份有限公司 High-flow-resistance underwater cabled robot and control method thereof
CN115107966A (en) * 2022-07-04 2022-09-27 中国科学院沈阳自动化研究所 6000-meter-level multi-mode ARV structure capable of geological detection
CN118295440A (en) * 2024-04-11 2024-07-05 航天科工空天动力研究院(苏州)有限责任公司 Novel unmanned barrier system that breaks under water

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08150997A (en) * 1994-11-29 1996-06-11 Mitsubishi Heavy Ind Ltd Oscillating hydrofoil type propulsion device for underwater robot
CN2892668Y (en) * 2006-05-18 2007-04-25 哈尔滨工程大学 Rudder wing type micro-underwater robot
CN203958580U (en) * 2014-06-10 2014-11-26 华南理工大学 A kind of tail groove-type thruster is controlled trailing type band cable remote-controlled water diving device
CN106741778A (en) * 2015-11-23 2017-05-31 中国科学院沈阳自动化研究所 A kind of rotatable propeller system in deep-sea
CN106828838A (en) * 2017-01-24 2017-06-13 哈尔滨工程大学 A kind of portable streamlined remote underwater robot
CN107380383A (en) * 2017-08-11 2017-11-24 江苏科技大学 A kind of observation type unmanned remotely controlled submersible vehicle

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08150997A (en) * 1994-11-29 1996-06-11 Mitsubishi Heavy Ind Ltd Oscillating hydrofoil type propulsion device for underwater robot
CN2892668Y (en) * 2006-05-18 2007-04-25 哈尔滨工程大学 Rudder wing type micro-underwater robot
CN203958580U (en) * 2014-06-10 2014-11-26 华南理工大学 A kind of tail groove-type thruster is controlled trailing type band cable remote-controlled water diving device
CN106741778A (en) * 2015-11-23 2017-05-31 中国科学院沈阳自动化研究所 A kind of rotatable propeller system in deep-sea
CN106828838A (en) * 2017-01-24 2017-06-13 哈尔滨工程大学 A kind of portable streamlined remote underwater robot
CN107380383A (en) * 2017-08-11 2017-11-24 江苏科技大学 A kind of observation type unmanned remotely controlled submersible vehicle

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
徐鹏飞: "11000米ARV总体设计与关键技术研究", 《中国博士学位论文全文数据库 工程科技II辑》 *

Cited By (24)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111301646B (en) * 2020-03-25 2021-11-09 哈尔滨工程大学 Autonomous underwater robot for under-ice detection
CN111301646A (en) * 2020-03-25 2020-06-19 哈尔滨工程大学 Autonomous underwater robot for under-ice detection
CN111483577A (en) * 2020-05-15 2020-08-04 上海海洋大学 Full-sea-depth operation type unmanned submersible
CN111846170A (en) * 2020-08-11 2020-10-30 中国科学院沈阳自动化研究所 Autonomous underwater robot structure capable of cruising in large range
CN111874195A (en) * 2020-08-11 2020-11-03 中国科学院沈阳自动化研究所 Full-sea-depth offshore bottom autonomous underwater robot structure
CN112093022A (en) * 2020-10-13 2020-12-18 中国计量大学 Based on novel shaftless rim impels ARV
CN114684340A (en) * 2020-12-31 2022-07-01 远洋探海机器人东台有限公司 Underwater robot for oil-gas pipeline inspection
CN112937808A (en) * 2021-03-24 2021-06-11 中国船舶科学研究中心 Deep sea in-situ manned experimental research platform
CN112937808B (en) * 2021-03-24 2022-04-12 中国船舶科学研究中心 Deep sea in-situ manned experimental research platform
CN113320667A (en) * 2021-07-06 2021-08-31 中国人民解放军国防科技大学 Modular underwater intelligent equipment platform
CN113788132A (en) * 2021-10-14 2021-12-14 中北大学 Vector-propelled hybrid drive underwater robot
CN113844627A (en) * 2021-10-22 2021-12-28 杭州电子科技大学 Unmanned no cable operation type robot under water
WO2023065423A1 (en) * 2021-10-22 2023-04-27 杭州电子科技大学 Underwater unmanned cable-free operation type robot
CN113968328A (en) * 2021-11-15 2022-01-25 中国科学院沈阳自动化研究所 Pressing and falling device for underwater robot
CN113968328B (en) * 2021-11-15 2022-10-25 中国科学院沈阳自动化研究所 Pressing and falling device for underwater robot
CN113978673A (en) * 2021-12-02 2022-01-28 中国船舶科学研究中心 Floating walking dual-mode manned submersible and using method thereof
CN114228910B (en) * 2021-12-23 2022-10-21 生态环境部华南环境科学研究所 Environment-friendly energy-saving multifunctional platform for blue carbon observation and protection of coastal zone
CN114228910A (en) * 2021-12-23 2022-03-25 生态环境部华南环境科学研究所 Environment-friendly energy-saving multifunctional platform for blue carbon observation and protection of coastal zone
CN114180015A (en) * 2022-01-02 2022-03-15 天津瀚海蓝帆海洋科技有限公司 Middle-sized deep sea open-frame type ARV
CN114802659A (en) * 2022-03-21 2022-07-29 深之蓝海洋科技股份有限公司 High-flow-resistance underwater cabled robot and control method thereof
CN114815859A (en) * 2022-05-06 2022-07-29 哈尔滨工程大学 Portable autonomous underwater robot system and control system thereof
CN115107966A (en) * 2022-07-04 2022-09-27 中国科学院沈阳自动化研究所 6000-meter-level multi-mode ARV structure capable of geological detection
CN115107966B (en) * 2022-07-04 2024-07-02 中国科学院沈阳自动化研究所 6000-Meter-level multi-mode ARV structure capable of geological detection
CN118295440A (en) * 2024-04-11 2024-07-05 航天科工空天动力研究院(苏州)有限责任公司 Novel unmanned barrier system that breaks under water

Similar Documents

Publication Publication Date Title
CN110386238A (en) A kind of complete extra large depth ARV underwater robot structure
US11059553B2 (en) Autonomous ocean data collection
KR101845964B1 (en) Amphibious Drone To Explore Underwater And Midair
CN103310610B (en) Mobile ocean observation net based on intelligent buoy and intelligent submersible vehicle
CN111846170B (en) Autonomous underwater robot structure cruises on a large scale
CN106043632B (en) A kind of application method of deep-sea unmanned submariner device
US8418642B2 (en) Unmanned submersible vehicles and methods for operating the same in a body of liquid
RU2387570C1 (en) Compact remotely-controlled underwater vehicle
US20210237838A1 (en) System for deploying and recovering an autonomous underwater device, method of use
CN102351032A (en) Twin submersible
CN212500964U (en) Autonomous underwater robot structure capable of cruising in large range
RU2738281C1 (en) Oceanika-kit modular unmanned underwater vehicle
CN205916310U (en) Unmanned submerge ware in deep sea
Nakamura et al. Disk type underwater glider for virtual mooring and field experiment
CN115107966B (en) 6000-Meter-level multi-mode ARV structure capable of geological detection
CN215752966U (en) Underwater robot
CN212290270U (en) Full-sea-depth offshore bottom autonomous underwater robot structure
Pyo et al. Development of AUV (MI) for strong ocean current and zero-visibility condition
CN213354801U (en) Three-revolving-body combined autonomous underwater vehicle
RU183537U1 (en) Autonomous unmanned surface underwater vehicle of the planning type GLIDER-BOT
CN113492956A (en) Underwater robot
CN114590375A (en) Wheel-type walking and floating dual-mode underwater robot under ice
Zhou et al. Closeup exploration of the seafloor with an autonomous underwater helicopter
Liu et al. Explorer1000: A long endurance AUV with variable ballast systems
KR102282597B1 (en) buoy robot for charging battery

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
RJ01 Rejection of invention patent application after publication
RJ01 Rejection of invention patent application after publication

Application publication date: 20191029