CN101799546A - High-speed and long-distance fish shoal detection robot and detection method - Google Patents
High-speed and long-distance fish shoal detection robot and detection method Download PDFInfo
- Publication number
- CN101799546A CN101799546A CN 201010136624 CN201010136624A CN101799546A CN 101799546 A CN101799546 A CN 101799546A CN 201010136624 CN201010136624 CN 201010136624 CN 201010136624 A CN201010136624 A CN 201010136624A CN 101799546 A CN101799546 A CN 101799546A
- Authority
- CN
- China
- Prior art keywords
- detection
- high speed
- fish
- long distance
- machine people
- 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
Links
- 241000251468 Actinopterygii Species 0.000 title claims abstract description 47
- 238000001514 detection method Methods 0.000 title claims abstract description 30
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 21
- 238000004891 communication Methods 0.000 claims abstract description 6
- 238000007667 floating Methods 0.000 claims abstract description 4
- 238000000034 method Methods 0.000 claims description 16
- 239000000446 fuel Substances 0.000 claims description 15
- 239000013535 sea water Substances 0.000 claims description 9
- 238000011084 recovery Methods 0.000 claims description 5
- 239000003381 stabilizer Substances 0.000 claims description 3
- 230000009189 diving Effects 0.000 abstract description 5
- 239000003643 water by type Substances 0.000 abstract description 4
- 230000008569 process Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000013508 migration Methods 0.000 description 2
- 230000005012 migration Effects 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 239000003921 oil Substances 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 239000000523 sample Substances 0.000 description 2
- 229910000737 Duralumin Inorganic materials 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000003749 cleanliness Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 239000000295 fuel oil Substances 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 230000010365 information processing Effects 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000010985 leather Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000001766 physiological effect Effects 0.000 description 1
- 238000004321 preservation Methods 0.000 description 1
- 238000012797 qualification Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
Images
Landscapes
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention relates to high-speed and long-distance fish shoal detection robot and a detection method. The detection robot comprises an external remote controller and a body, wherein the body consists of a casing, a power system, a snorkeling system, a detection sensor and a control communication system. The detection robot is powered by a gasoline engine on the water surface to sail to a fish shoal detection point at high speed, and then is powered by a storage battery to detect the density, the varieties and the quantity of the fish shoal after diving underwater by using a fish shoal detection sonar and a camera and transmit the detection result to an operator after upwards floating. The invention can accurately reach a plurality of designated positions for detecting waters at high speed and has the advantages of long sailing distance, less influence by the weather, capability of reducing the detection cost and improvement of real-time property and safety.
Description
Technical field
The present invention relates to the fishery field of detecting, especially fish-finding aid and method.
Background technology
In order to preserve the ecological environment and fishery resources; realize sustainable development, obtain that shoal of fish information is very important in detail accurately: government department can make rational planning in view of the above, and the fishing operation person can fish for accurately and reliably; reduce cost and risk, improve operating efficiency.Fish have specific life water layer and migration route according to the physiological property of self, rule of thumb rule and scientific research can be determined migration route and the dwell point of the shoal of fish, the method of fish finding mainly is to adopt boats and ships or buoy to survey at these dwell points both at home and abroad at present, but generally these sensing points are far away apart from the shore line, and the distance between the sensing point is also far away, and adopt the method for vessel detection: the speed of a ship or plane is low, the cost height, be subjected to weather effect big, personal security is poor; And the method that adopts buoy to survey: installation, maintenance and usage charges height, severe sea condition very easily cause buoy to damage, and detecting location is fixed, and can't carry out the detection at deep-sea.Though also can adopt underwater robot to carry out the locating fish in theory, but underwater robot is the cost height not only, and because square being directly proportional of suffered resistance and speed during underwater navigation, its speed of a ship or plane only can reach 2～4 joints, the long distance voyage can cause the rapid increase of robot volume and weight, only rest on the scientific research field at present, practical application does not more realize commercial the application in locating fish field.
Summary of the invention
The applicant provides a kind of high speed long distance locating fish machine people and detection method, thereby can in time realize the locating fish task in long-range waters efficiently, cheaply at shortcoming such as above-mentioned existing fish-finding aid and method cost height, efficient is low.
The technical solution adopted in the present invention is as follows:
A kind of high speed long distance locating fish machine people comprises external remote and body two parts, and body part is made up of shell, power system, submerging and surfacing system, acquisition sensor, control communication system.It is further characterized in that:
High speed long distance locating fish machine people's power system is by the oil-burning machine that is positioned at the shell rear portion, motor and half oar of diving, anterior horizontal duct oar, and the stabilizer at rear portion is formed, and oil-burning machine is supplied with fuel by fuel compartment; Submerging and surfacing system is made up of sea water pump, buoyancy adjustment cabin, depthometer; Acquisition sensor comprises fish finding sonar, video camera, anticollision sonar; The control communication system comprises antenna, electronic compartment, and electric power is supplied with by accumulator box, and electronic compartment is connected with each electronic equipment by watertight cable;
The inside of high speed long distance locating fish machine people's shell also is provided with buoyant mass, and exterior bottom is provided with drop able ballast;
High speed long distance locating fish machine people's fuel compartment is arranged at the inside in buoyancy adjustment cabin.
The method of fish finding that a kind of high speed long distance locating fish machine people carries out comprises following steps:
The first step: set this detection information, input to sniffing robot;
Second step: sniffing robot high-speed aircraft on the water surface walks to sensing point;
The 3rd step: carry out dive after arriving assigned address, utilize acquisition sensor to survey;
The 4th step: finish and survey the floating water surface of going up in back, send correlation detection information;
The 5th step: continue the high speed surface navigation to next sensing point, survey, finish until whole detections according to above-mentioned the 3rd step, four-step method;
The 6th step: high-speed aircraft walks to the recovery place of setting, waits for that the operator reclaims.
High speed long distance locating fish machine people of the present invention when the water surface, adopt petrol engine provide power at a high speed (20～40 joint) navigate by water locating fish point, utilize accumulator that power is provided then, utilize locating fish sonar and video camera that density, kind and the quantity of the shoal of fish are surveyed after diving beneath the water, the come-up back is in time passed to the manipulator to result of detection; The present invention can arrive a plurality of assigned addresses of surveying the waters at a high speed accurately, also detection information is passed back in real time by the requirement detecting fish school information of appointment, returns the appointed place after finishing the work automatically and reclaims; Can adopt the pattern of autonomous navigation or straighforward operation, voyage is big, be subjected to weather effect less, can reduce the detection cost, improve real-time and security.The present invention is arranged at the inside in buoyancy adjustment cabin with fuel compartment, and this unitized construction has made full use of the inner space, has effectively reduced the volume of robot, satisfies the needs of remote probe.
Description of drawings
Fig. 1 is a locating fish machine people's of the present invention composition structural drawing;
Fig. 2 is a principle of work synoptic diagram of the present invention;
Fig. 3 is the process flow diagram of the method for fish finding of the present invention;
Fig. 4 is the detail flowchart of A module among Fig. 3;
Fig. 5 is the detail flowchart of B module among Fig. 3.
Embodiment
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described.
As shown in Figure 1, high speed long distance locating fish machine people of the present invention comprises external remote 20 and body two parts composition, the operator utilizes external remote 20 by maritime communication satellite body part to be carried out telecommunication, and commander's body part is carried out the task of navigation diving and detecting fish school.Body part is based on the glass steel light shell 13 of cleanliness, and the main thrust device is positioned at the light shell rear portion, comprises motor 21 and half latent oar 12, under the surface navigation state, supply with oil-burning machine 10 fuel by fuel compartment 15, oil-burning machine 10 drives motor, drives half latent oar 12 and advances; Operational configuration under water, oil-burning machine 10 quits work, and motor 21 drives half oar 12 of diving by accumulator box 3 supply of electrical energy and advances.Body part is realized turning to by the horizontal duct oar 2 of light shell 13 front portions, the stability when navigating by water by stabilizer 11 maintenances at rear portion; Inject or the extraction seawater to buoyancy adjustment cabin 9 by sea water pump 7, the floading condition that can regulate sniffing robot, and carry out the degree of depth by depthometer 8 and control; Inside at light shell 13 also is provided with buoyant mass 16, and exterior bottom is provided with drop able ballast 6, abandons according to instruction when running into emergency condition, utilizes the buoyancy of buoyant mass 16 can make on body keeps afloat.Be positioned at the fish finding sonar 1 emission ultrasonic listening shoal of fish information of light shell 13 front portions, video camera 19 can be taken the photo of the shoal of fish; Anticollision sonar 4 and 18 lays respectively at the bottom and the front portion of light shell 13, can be by the obstacle information in emission ultrasonic listening below and the place ahead, and antenna 17 and stroboscopic lamp 14 are positioned at the top of light shell 13.Electronic compartment 5 is the brain of robot body, is responsible for receiving instruction, information processing, device control etc., is connected with each electronic equipment by watertight cable, and the electric power of whole sniffing robot is supplied with by accumulator box 3.
The leather bag that fuel compartment 15 of the present invention adopts oil resistant rubber to make, the casing that make for duralumin in buoyancy adjustment cabin 9, fuel compartment 15 is arranged on 9 inside, buoyancy adjustment cabin, supply with fuel by oil pipeline to oil-burning machine 10, the combination of this buoyancy adjustment cabin 9 and fuel compartment 15 has made full use of the inner space, can effectively reduce the volume of robot, satisfy the needs of remote probe.Along with the consumption of fuel oil, the space increases gradually in the buoyancy compartment, and can regulate buoyancy this moment by injecting seawater.
The high speed long distance method of fish finding of the present invention such as Fig. 2 and shown in Figure 3, can adopt the autonomous navigation of sniffing robot or two kinds of patterns of straighforward operation to carry out work: under autonomous sail mode, position and the information such as requirement of operator by the external remote 20 pre-set locating fish, transmission is also left in the electronic compartment 5, and electronic compartment 5 carries out operation automatically according to set information control sniffing robot; Under remote control mode, the operator sends command signal by external remote 20, by being received by antenna 17 behind the marine satellite relaying, carries out after electronic compartment 5 is handled again, can realize the real time remote control operation to sniffing robot.Sniffing robot high-speed aircraft on the water surface walks to surveys the fishing ground, carries out dive behind the arrival assigned address and surveys, and finishes and surveys the floating upward water surface in back, sends correlation detection information, continues high speed surface navigation to next sensing point then and surveys.After the whole detections in the predetermined position of surveying are finished, electronic compartment 5 sends the instruction of making a return voyage, beginning is navigated by water at a high speed to the recovery place of appointment, electronic compartment 5 is closed main thrust device wait operator recovery after arriving assigned address, the operator is according to the position of controlling plate 20 indications, observe by the water surface daytime, and carry out the recovery of sniffing robot by the flash of light that stroboscopic lamp 14 sends evening.
The detailed process that Fig. 4 navigates by water at a high speed for the high speed long distance locating fish machine people water surface: when surveying beginning sniffing robot cloth is put in the detection waters, electronic compartment 5 starts oil-burning machine 10, depthometer 8, anticollision sonar 4 and 18, oil-burning machine 10 drives the main thrust device makes it navigate by water at a high speed with the speed more than 20 joints at the water surface, in water surface navigation process at a high speed, the place ahead that electronic compartment 5 provides according to anticollision sonar 4 and 18 and the obstacle information of below, whether decision changes course with avoiding barrier, and start 2 work of horizontal duct oar, change the direction of navigation; The GPS positional information that receives according to antenna 17 and the detecting location information of setting compare, and whether decision adjusts the course; The situation of fuel consumption in the based on fuel cabin 15.Control sea water pump 7 injects seawater in buoyancy adjustment cabin 9, keep the floading condition in the navigation process.After arriving predetermined sensing point, close oil-burning machine 10 and close exhausr port, rig ship for dive by valve.
Fig. 5 is the detailed process of high speed long distance locating fish machine people dive detection operations: after arriving predetermined detecting location, after electronic compartment 5 sent the dive instruction, fish finding sonar 1 was started working with video camera 18, and the information of detection is handled preservation by electronic compartment 5; Electric power injection/discharge seawater in buoyancy adjustment cabin 9 that sea water pump 7 utilizes accumulator box 3 to provide is realized dive/come-up motion; Measure the degree of depth of dive by depthometer 8; The electric power that the main thrust device utilizes accumulator box 3 to provide is realized advancing, and horizontal duct oar 2 is regulated the course; The place ahead that anticollision sonar 4 and 18 provides and the obstacle information of below.Sniffing robot can carry out locating fish work in the different degree of depth, by the time float to the water surface on the sniffing robot after the work of same sensing point is all finished, by antenna 17 with shoal of fish details by the marine satellite relaying, be shown to the operator after receiving by external remote 20; Electronic compartment 5 continues to survey or make a return voyage according to scheduled plan or remote signal decision.
More than describing is explanation of the invention, it or not qualification to invention, institute of the present invention restricted portion is referring to claim, under the situation of spirit of the present invention, the present invention can do any type of modification, for example will survey sonar 1 and video camera 18 is replaced by other sensor, perhaps add other sensors, be used for other detection study.
Claims (5)
1. high speed long distance locating fish machine people, it is characterized in that: comprise external remote and body two parts, body part is made up of shell, power system, submerging and surfacing system, acquisition sensor, control communication system.
2. high speed long distance locating fish machine people as claimed in claim 1, it is characterized in that: described power system is by the oil-burning machine that is positioned at the shell rear portion, motor and half latent oar, anterior horizontal duct oar, the stabilizer at rear portion is formed, and oil-burning machine is supplied with fuel by fuel compartment; Submerging and surfacing system is made up of sea water pump, buoyancy adjustment cabin, depthometer; Acquisition sensor comprises fish finding sonar, video camera, anticollision sonar; The control communication system comprises antenna, electronic compartment, and electric power is supplied with by accumulator box, and electronic compartment is connected with each electronic equipment by watertight cable.
3. high speed long distance locating fish machine people as claimed in claim 1, it is characterized in that: the inside of described shell also is provided with buoyant mass, and exterior bottom is provided with drop able ballast.
4. high speed long distance locating fish machine people as claimed in claim 1, it is characterized in that: described fuel compartment is arranged at the inside in buoyancy adjustment cabin.
5. a method of fish finding of utilizing the described high speed long distance of claim 1 locating fish machine people to carry out is characterized in that, comprises following steps:
The first step: set this detection information, input to sniffing robot;
Second step: sniffing robot high-speed aircraft on the water surface walks to sensing point;
The 3rd step: carry out dive after arriving assigned address, utilize acquisition sensor to survey;
The 4th step: finish and survey the floating water surface of going up in back, send correlation detection information;
The 5th step: continue the high speed surface navigation to next sensing point, survey, finish until whole detections according to above-mentioned the 3rd step, four-step method;
The 6th step: high-speed aircraft walks to the recovery place of setting, waits for that the operator reclaims.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010136624 CN101799546A (en) | 2010-03-30 | 2010-03-30 | High-speed and long-distance fish shoal detection robot and detection method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010136624 CN101799546A (en) | 2010-03-30 | 2010-03-30 | High-speed and long-distance fish shoal detection robot and detection method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN101799546A true CN101799546A (en) | 2010-08-11 |
Family
ID=42595299
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201010136624 Pending CN101799546A (en) | 2010-03-30 | 2010-03-30 | High-speed and long-distance fish shoal detection robot and detection method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101799546A (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104960651A (en) * | 2015-07-16 | 2015-10-07 | 安徽科微智能科技有限公司 | Underwater exploring robot with function of autonomous navigation |
| CN106394836A (en) * | 2016-11-21 | 2017-02-15 | 中国科学院大气物理研究所 | Small submarine |
| CN106530660A (en) * | 2016-12-06 | 2017-03-22 | 北京臻迪机器人有限公司 | Underwater unmanned ship control system |
| CN106814740A (en) * | 2016-12-06 | 2017-06-09 | 北京臻迪科技股份有限公司 | A kind of unmanned boat control system under water |
| CN107340777A (en) * | 2016-12-06 | 2017-11-10 | 北京臻迪科技股份有限公司 | A kind of underwater unmanned boat control system and method |
| CN107561545A (en) * | 2017-08-24 | 2018-01-09 | 北京臻迪科技股份有限公司 | A kind of method of fish finding, device and detector |
| CN108116642A (en) * | 2018-01-17 | 2018-06-05 | 国家海洋局第二海洋研究所 | A kind of semi-submersible offshore profiling observation intelligent robot |
| WO2018126978A1 (en) * | 2017-01-04 | 2018-07-12 | Powervision Tech Inc. | Fish finder, unmanned detection vessel, and unmanned detection system |
| CN109211911A (en) * | 2017-07-04 | 2019-01-15 | 辽宁科技学院 | Water body environment monitoring method |
| CN110531350A (en) * | 2019-09-24 | 2019-12-03 | 成都铱通科技有限公司 | A kind of underwater monitoring system based on millimetre-wave radar |
| CN113598140A (en) * | 2021-08-05 | 2021-11-05 | 福建明业新能源科技有限公司 | Energy-saving automatic equipment for trapping common fingerlings in open sea and deep sea |
| CN114076949A (en) * | 2022-01-07 | 2022-02-22 | 视丰达科技（深圳）有限公司 | Fish finder data identification processing method and device |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1631620A (en) * | 2005-01-10 | 2005-06-29 | 上海劲钻实业公司 | Patrol machine fish |
| US20080082210A1 (en) * | 2006-09-29 | 2008-04-03 | Electronics And Telecommunications Research Institute | Management ship and working robots in waters based on wireless network and working robot control method thereof |
-
2010
- 2010-03-30 CN CN 201010136624 patent/CN101799546A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1631620A (en) * | 2005-01-10 | 2005-06-29 | 上海劲钻实业公司 | Patrol machine fish |
| US20080082210A1 (en) * | 2006-09-29 | 2008-04-03 | Electronics And Telecommunications Research Institute | Management ship and working robots in waters based on wireless network and working robot control method thereof |
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104960651A (en) * | 2015-07-16 | 2015-10-07 | 安徽科微智能科技有限公司 | Underwater exploring robot with function of autonomous navigation |
| CN106394836B (en) * | 2016-11-21 | 2019-03-12 | 中国科学院大气物理研究所 | tiny submarine |
| CN106394836A (en) * | 2016-11-21 | 2017-02-15 | 中国科学院大气物理研究所 | Small submarine |
| CN106814740B (en) * | 2016-12-06 | 2020-11-17 | 北京臻迪科技股份有限公司 | Unmanned ship control system under water |
| CN106814740A (en) * | 2016-12-06 | 2017-06-09 | 北京臻迪科技股份有限公司 | A kind of unmanned boat control system under water |
| CN107340777A (en) * | 2016-12-06 | 2017-11-10 | 北京臻迪科技股份有限公司 | A kind of underwater unmanned boat control system and method |
| CN106530660A (en) * | 2016-12-06 | 2017-03-22 | 北京臻迪机器人有限公司 | Underwater unmanned ship control system |
| WO2018126978A1 (en) * | 2017-01-04 | 2018-07-12 | Powervision Tech Inc. | Fish finder, unmanned detection vessel, and unmanned detection system |
| CN109211911B (en) * | 2017-07-04 | 2021-05-28 | 辽宁科技学院 | Water body environment monitoring method |
| CN109211911A (en) * | 2017-07-04 | 2019-01-15 | 辽宁科技学院 | Water body environment monitoring method |
| CN107561545B (en) * | 2017-08-24 | 2020-02-28 | 北京臻迪科技股份有限公司 | Fish shoal detection method and device and detector |
| CN107561545A (en) * | 2017-08-24 | 2018-01-09 | 北京臻迪科技股份有限公司 | A kind of method of fish finding, device and detector |
| CN108116642A (en) * | 2018-01-17 | 2018-06-05 | 国家海洋局第二海洋研究所 | A kind of semi-submersible offshore profiling observation intelligent robot |
| CN110531350A (en) * | 2019-09-24 | 2019-12-03 | 成都铱通科技有限公司 | A kind of underwater monitoring system based on millimetre-wave radar |
| CN113598140A (en) * | 2021-08-05 | 2021-11-05 | 福建明业新能源科技有限公司 | Energy-saving automatic equipment for trapping common fingerlings in open sea and deep sea |
| CN113598140B (en) * | 2021-08-05 | 2022-12-27 | 福建明业新能源科技有限公司 | Energy-saving automatic equipment for trapping common fingerlings in open sea and deep sea |
| CN114076949A (en) * | 2022-01-07 | 2022-02-22 | 视丰达科技（深圳）有限公司 | Fish finder data identification processing method and device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101799546A (en) | High-speed and long-distance fish shoal detection robot and detection method | |
| CN201761634U (en) | High-speed remote fish detection robot | |
| CN103310610B (en) | Mobile ocean observation net based on intelligent buoy and intelligent submersible vehicle | |
| Roper et al. | Autosub long range 6000: A multiple-month endurance AUV for deep-ocean monitoring and survey | |
| CN103518143B (en) | Sonar data collection system | |
| US8418642B2 (en) | Unmanned submersible vehicles and methods for operating the same in a body of liquid | |
| CN111301646B (en) | Autonomous underwater robot for under-ice detection | |
| CA2873874C (en) | Satellite and acoustic tracking device | |
| CN105644743B (en) | A kind of long-term ocean weather station observation type underwater robot of three bodies configuration | |
| Kunz et al. | Toward extraplanetary under‐ice exploration: Robotic steps in the Arctic | |
| JP7148266B2 (en) | Work method using autonomous unmanned submersible | |
| CN206579799U (en) | A kind of unmanned boat and unmanned boat system | |
| CN105270583A (en) | Measuring type unmanned ship and measuring method thereof | |
| CN106542067A (en) | A kind of self-propulsion type charging device under water | |
| CN109367705A (en) | A quasi-real-time communication submersible in polar seasonal ice area | |
| CN114435550A (en) | Underwater measurement system of unmanned ship | |
| CN201872911U (en) | Near-surface automatic mobile monitoring station | |
| Yokota et al. | Development and sea trial of an autonomous underwater vehicle equipped with a sub-bottom profiler for surveying mineral resources | |
| JP7195582B2 (en) | Method for lifting and recovering a plurality of underwater vehicles, and system for lifting and recovering a plurality of underwater vehicles | |
| CN211766156U (en) | High-precision remote control underwater topography survey ship | |
| RU155911U1 (en) | UNDERWATER CONVEYOR | |
| CN103661823A (en) | Unmanned water oil recycling boat | |
| CN116353861A (en) | A cross-media unmanned platform and system that can be separated, recovered, and replenished | |
| Pyo et al. | Development of AUV (MI) for strong ocean current and zero-visibility condition | |
| CN111907647A (en) | Unmanned ship for deep-sea geomagnetic diurnal observation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C12 | Rejection of a patent application after its publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20100811 |