CN110065606A - A kind of streamlined quadrotor submarine navigation device that vector promotes - Google Patents
A kind of streamlined quadrotor submarine navigation device that vector promotes Download PDFInfo
- Publication number
- CN110065606A CN110065606A CN201910409689.6A CN201910409689A CN110065606A CN 110065606 A CN110065606 A CN 110065606A CN 201910409689 A CN201910409689 A CN 201910409689A CN 110065606 A CN110065606 A CN 110065606A
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- Prior art keywords
- navigation device
- submarine navigation
- fairing
- screw propeller
- electronic compartment
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- 230000007246 mechanism Effects 0.000 claims abstract description 24
- 238000011897 real-time detection Methods 0.000 claims abstract description 7
- 238000007789 sealing Methods 0.000 claims description 28
- 241000251468 Actinopterygii Species 0.000 claims description 7
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 6
- 230000004888 barrier function Effects 0.000 claims description 5
- 230000007935 neutral effect Effects 0.000 claims description 3
- 230000005484 gravity Effects 0.000 claims description 2
- 239000000203 mixture Substances 0.000 claims description 2
- 230000006837 decompression Effects 0.000 claims 1
- 239000007787 solid Substances 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 5
- 238000007667 floating Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 2
- 230000008520 organization Effects 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 230000007704 transition Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 239000003795 chemical substances by application Substances 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000009433 steel framing Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B1/00—Hydrodynamic or hydrostatic features of hulls or of hydrofoils
- B63B1/32—Other means for varying the inherent hydrodynamic characteristics of hulls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B3/00—Hulls characterised by their structure or component parts
- B63B3/13—Hulls built to withstand hydrostatic pressure when fully submerged, e.g. submarine hulls
-
- 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
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/08—Propulsion
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/16—Control of attitude or depth by direct use of propellers or jets
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T70/00—Maritime or waterways transport
- Y02T70/10—Measures concerning design or construction of watercraft hulls
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Toys (AREA)
Abstract
The invention belongs to submarine navigation device technical fields, disclose a kind of streamlined quadrotor submarine navigation device promoted based on vector, comprising: electronic compartment, fairing, screw propeller, rotating mechanism, control module, power plant module and attitude transducer；Fairing wraps up rotating mechanism and electronic compartment inside it, and control module and power plant module are located inside electronic compartment, and power plant module is used to provide energy for attitude transducer, control module and screw propeller, promotes its movement；Four screw propellers are symmetrically fixed on fairing two sides, and four screw propellers are relative to rotating mechanism central symmetry；The posture fairing of attitude transducer real-time detection screw propeller is whole around the free circular motion in rotating mechanism center.The present invention enriches the forms of motion of submarine navigation device while realizing submarine navigation device basic exercise, improves submarine navigation device resistance reducing performance, kinetic stability and propeller utilization efficiency.
Description
Technical field
The invention belongs to submarine navigation device technical fields, are related to a kind of streamlined quadrotor underwater navigation that vector promotes
Device.
Background technique
Most commonly used tower structure scheme of submarine navigation device and torpedo type organization plan at present, it is controllable in low speed
There is situations such as radius of gyration is larger, and propeller utilization efficiency is low, and underwater operation resistance reducing performance is poor in property and mobility.Although
Part-structure increases compared with traditional submarine navigation device structure in the performances such as movement mobility at present, but in vertical direction
On floating dive campaign in, because of the layout type of propeller, however it remains movement controllability, propeller utilization efficiency is high
The problem of.Quadrotor drone is increasingly subject to various countries researcher concern because its movenent performance is with apparent advantage in recent years, but
There is presently no by quadrotor technology extensive utilization to submarine navigation device field.In real application process, the layout of propeller
Simplification, the raising for turning to flexibility ratio, the maximization of efficiency and stably and controllable property are all to need a kind of innovation is reasonable to promote
Device layout designs are come the technical problem realized.
The present invention in the technical foundation that quadrotor vector promotes, structure and propeller to existing submarine navigation device
Layout improves design, has high controllability, high stability, high propeller utilization efficiency, utilizes vector propulsion, drag reduction
Can be excellent the features such as, solve propeller layout designs bring problems, to applied to fields such as observation, amusement, explorations
There are higher application and prospect value.
Summary of the invention
To solve the above problems, the invention proposes one kind, and there is low water drag, high kinetic stability, high propeller to utilize effect
The novel quadrotor submarine navigation device of rate.
Technical solution of the present invention:
A kind of streamlined quadrotor submarine navigation device that vector promotes, mainly by electronic compartment 7, fairing 1, propeller
Propeller, rotating mechanism, control module 8, power plant module 9 and attitude transducer 10 form；
The electronic compartment 7 is tubular structure, and both ends are equipped with O-shaped washer sealing structure, and the both ends of electronic compartment 7 are equipped with
Sealing plate 6 is realized by the cooperation of O-shaped washer sealing structure and sealing plate 6 and is sealed, forms sealing cavity；The sealing plate
6, its underpart is mounted on the end of electronic compartment 7, and upper part is equipped with through-hole, for installing rotating mechanism；
The control module 8 and power plant module 9, is mounted in the sealing cavity of electronic compartment 7；The control module 8,
Including circuit board, relay and Position and attitude sensor, power source for relay control is cut-off, and circuit board moves submarine navigation device
Control, Position and attitude sensor real-time detection submarine navigation device posture；The power plant module 9 includes battery pack and voltage reduction module, is led to
Electrical Appliances & Control of adopting module 8, attitude transducer 10 are connected with screw propeller, provide power；
The rotating mechanism is waterproof conductive slip ring 5, totally two, is arranged symmetrically, one end of waterproof conductive slip ring 5 is
Fixing end, the other end are round end；The waterproof conductive slip ring 5, the fixed peace of through-hole that fixing end passes through 6 top of sealing plate
Mounted in two 6 tops of sealing plate, turning end is located at the outside of sealing plate 6, and two shell end caps 3 are separately mounted to two waterproofs
In the turning end of conducting slip ring 5, rotate shell end cap 3 around waterproof conductive slip ring 5；On the outer surface of each shell end cap 3
Four class fish scale-shaped barrier structures 4 are symmetrically arranged with, respectively to reduce resistance；
The screw propeller totally four, including the first screw propeller 2a, the second screw propeller 2b,
Three screw propeller 2c and quadruple screw propeller propeller 2d are respectively symmetrically mounted on the outside of two shell end caps 3, four spiral shells
Paddle propeller is revolved relative to rotating mechanism central symmetry；
The attitude transducer 10, is mounted on shell end cap 3, the posture of real-time detection screw propeller；
The fairing 1 is fixedly mounted between two shell end caps 3, makes fairing 1 and two shells
Shell-like structure is collectively formed in end cap 3, and electronic compartment 7 and rotating mechanism are wrapped in the inside of fairing 1, wherein electronic compartment 7
Lower part in fairing 1；Fairing 1 is rotated jointly with shell end cap 3, forms rotation case, rotation case
Free circular-rotation is done around rotating mechanism center.
The electronic compartment 7 is used as counterweight, and buoyant module is arranged in 1 top of fairing, adjusts electronic compartment 7
The buoyancy of gravity and buoyant module, making submarine navigation device in water is in neutral buoyancy state.
The screw propeller includes waterproof machine, governor, propeller and rectification duct；The governor sealing
Inside waterproof machine, propeller is fixed in the shaft of waterproof machine, the mechanism of waterproof machine, propeller and governor composition
It is fixed in rectification duct, rectification duct is fixed on rotating mechanism.
Beneficial effects of the present invention:
1, due to being fixed on rotation case using screw propeller, rotation case is integrally appointed around rotating mechanism center
Meaning circular motion, mechanical flexibility and propeller utilization rate improve；
2, due to utilizing Myring optimization of profile wheel shape shell curved surface profile, class fish scale-shaped barrier structure is designed, water is moved
It hinders small；
3, overall structure lower part being located at as weight due to electronic compartment, submarine navigation device has fixed larger metancenter height,
Kinetic stability improves.
Detailed description of the invention
Fig. 1 is agent structure schematic diagram of the invention；
Fig. 2 is schematic diagram of internal structure of the invention；
Fig. 3 is the schematic diagram of internal structure of electronic compartment of the present invention；
Fig. 4 is motion mode schematic diagram of the invention；
Fig. 5 is that class fish scale-shaped plate washer of the invention collects curvature of curve variation diagram.
In figure: 1 fairing；The first screw propeller of 2a；The second screw propeller of 2b；2c third propeller pushes away
Into device c；2d quadruple screw propeller propeller；3 shell end caps；4 class fish scale-shaped barrier structures；5 waterproof conductive slip rings；6 sealing plates；7
Electronic compartment；8 control modules；9 power plant modules；10 attitude transducers.
Specific embodiment
Below in conjunction with attached drawing and technical solution, a specific embodiment of the invention is further illustrated.
The embodiment of the present invention one be organization plan specific embodiment, embodiment second is that motion mode specific implementation
Example.
Embodiment one
As shown in FIG. 1 to 3, the streamlined quadrotor submarine navigation device that a kind of vector promotes, mainly by electronic compartment 7, stream
Volute casing 1, screw propeller, rotating mechanism, control module 8, power plant module 9 and attitude transducer 10 form.Electronic compartment 7
For tubular structure, sealing cavity is constituted by the sealing plate 6 at O-shaped washer sealing structure and tubular structure both ends.8 He of control module
Power plant module 9 is fixed in above-mentioned sealing cavity by structure-steel framing.Waterproof conductive slip ring 5 is used as rotating mechanism, passes through connector
6 upper end of sealing plate, which is fixed on, with bolt constitutes rotating device.The turning end of waterproof conductive slip ring 5 is located at the outside of sealing plate 6, outside
Shell end cap 3 is mounted in the turning end of waterproof conductive slip ring 5, rotates shell end cap 3 around waterproof conductive slip ring 5.Posture sensing
Device 10 is mounted on shell end cap 3, the posture of real-time detection screw propeller, and the Position and attitude sensor in control module 8 is real-time
Submarine navigation device posture is detected, to control the traveling of submarine navigation device straight line.First screw propeller 2a, the second propeller promote
Device 2b, third screw propeller 2c and quadruple screw propeller propeller 2d are symmetrically and fixedly mounted on two shell end caps 3, and
Eight class fish scale-shaped baffle arrangements 4 are devised on two shell end caps 3 altogether.Fairing 1 is fixedly mounted on two shell ends
Between lid 3, electronic compartment 7 is wrapped in the inside of fairing 1, fairing 1 is rotated jointly with shell end cap 3, is formed
Rotation case, rotation case do circular-rotation around rotating mechanism center.
Further, making submarine navigation device in water by adjusting buoyant module and counterweight is in neutral buoyancy state.
The class fish scale-shaped barrier structure 4, top are half revolving body of radius of curvature 63mm circular arc, and lower end is with half time
Swivel is the extrusion of basal plane, and it is as shown in Figure 5 to collect curvature of curve variation.Submarine navigation device size according to the present invention,
Away from shell end cap 3 apart from for 18mm, flap total length is 100mm on middle baffle curved surface vertex.
The fairing 1 is designed by Myring curve, reduces resistance.Myring curve equation isWherein, x is the distance away from endpoint curve；A is the lateral length of curve, the i.e. maximum value of x；d
For the maximum gauge of revolving body；N is the form factor of curved surface；Y corresponds to the radius of curvature of curve at different x values；According to this hair
Submarine navigation device size in bright, wherein d=200mm, a=75mm, n=2.5.
Embodiment two
As shown in figure 4, the first screw propeller 2a, the second screw propeller 2b, third screw propeller 2c and
Quadruple screw propeller propeller 2d is always positioned on same plane.When submarine navigation device dive, where four screw propellers
Plane keeps horizontal, and the horizontal attitude of screw propeller is posture I at this time.Four screw propellers advance downwardly at the same speed,
Realize dive movement.
After dive to certain depth, the opposite position of screw propeller and rotating mechanism center is adjusted by propeller differential
It sets, plane where making it changes the expectation attitude angle of screw propeller in circuit board program around rotating mechanism center rotating, leads to
The attitude angle for crossing 10 real-time detection screw propeller of attitude transducer is finely tuned using the pid control algorithm in circuit board program
Screw propeller thrust stablizes the posture of screw propeller.Electronic compartment 7 remains initial attitude not during this
Become, the posture of screw propeller is from posture I via posture II to posture III.Wherein posture II is middle transition posture, posture
III is screw propeller posture when Plane Rotation is to vertical direction where screw propeller.At this point, four propellers push away
It is promoted at the same speed into device, realizes horizontal rectilinear motion.When two pairs of screw propellers do differential rotation when left and right, water just may be implemented in
Square upward non-rotating radius turns to.
When submarine navigation device will carry out floating movement, control strategy is same as above, and screw propeller is by posture III via appearance
State IV to posture V, wherein posture IV is middle transition posture, and posture V is horizontal floating posture, at this time four screw propellers
Place plane keeps horizontal.Four screw propellers are boosted at the same speed simultaneously realizes movement of floating.
Further, submarine navigation device can pass through the first screw propeller 2a, the second screw propeller 2b, third
Screw propeller 2c and quadruple screw propeller propeller 2d realizes increasingly complex movement in differential cooperation in different positions,
Controllability is moved to improve.In addition, electronic compartment 7 is located at bottom part body as weight in overall structure, submarine navigation device, which has, to be fixed
Larger metancenter it is high, kinetic stability improves.Submarine navigation device is located at the motion state of posture I, III, V in screw propeller
When, screw propeller direction of propulsion is improved each parallel to the aircraft direction of motion, propeller utilization efficiency.
When submarine navigation device will carry out the spatial movement of any direction, according to direction of advance, screw propeller is kept
Posture between posture I and posture III, such as the posture between posture II or posture III and posture V, such as posture IV.This
When, the first screw propeller 2a, the second screw propeller 2b, third screw propeller 2c and quadruple screw propeller propeller
2d is promoted at the same speed, to realize the spatial movement towards phase any direction.
Claims (2)
1. the streamlined quadrotor submarine navigation device that a kind of vector promotes, which is characterized in that the vector promotes streamlined
Quadrotor submarine navigation device is mainly by electronic compartment (7), fairing (1), screw propeller, rotating mechanism, control module
(8), power plant module (9) and attitude transducer (10) composition；
The electronic compartment (7) is tubular structure, and both ends are equipped with O-shaped washer sealing structure, and the both ends of electronic compartment (7) are equipped with
Sealing plate (6) is realized by the cooperation of O-shaped washer sealing structure and sealing plate (6) and is sealed, forms sealing cavity；Described is close
Sealing plate (6), its underpart are mounted on the end of electronic compartment (7), and upper part is equipped with through-hole, for installing rotating mechanism；
The control module (8) and power plant module (9), is mounted in the sealing cavity of electronic compartment (7)；The control module
(8), including circuit board, relay and Position and attitude sensor, power source for relay control are cut-off, and circuit board carries out submarine navigation device
Motion control, Position and attitude sensor real-time detection submarine navigation device posture；The power plant module (9) includes battery pack and decompression mould
Block is connected with control module (8), attitude transducer (10) and screw propeller by relay, provides power；
The rotating mechanism is waterproof conductive slip ring (5), totally two, is arranged symmetrically, one end of waterproof conductive slip ring (5) is
Fixing end, the other end are round end；The waterproof conductive slip ring (5), fixing end are solid by the through-hole on sealing plate (6) top
Dingan County is mounted in two sealing plate (6) tops, and turning end is located at the outside of sealing plate (6), and two shell end caps (3) are installed respectively
In the turning end of two waterproof conductive slip rings (5), rotate shell end cap (3) around waterproof conductive slip ring (5)；Each shell end
It covers on the outer surface of (3) and is respectively symmetrically arranged with four class fish scale-shaped barrier structures (4), to reduce resistance；
The screw propeller totally four, including the first screw propeller (2a), the second screw propeller (2b),
Three screw propellers (2c) and quadruple screw propeller propeller (2d) are respectively symmetrically mounted on the outside of two shell end caps (3),
Four screw propellers are relative to rotating mechanism central symmetry；
The attitude transducer (10), is mounted on shell end cap (3), the posture of real-time detection screw propeller；
The fairing (1) is fixedly mounted between two shell end caps (3), keeps fairing (1) outer with two
Shell-like structure is collectively formed in shell end cap (3), and electronic compartment (7) and rotating mechanism are wrapped in the inside of fairing (1),
In, electronic compartment (7) is located at the lower part in fairing (1)；Fairing (1) is rotated jointly with shell end cap (3), is formed
Rotation case, rotation case do free circular-rotation around rotating mechanism center.
2. the streamlined quadrotor submarine navigation device that a kind of vector according to claim 1 promotes, which is characterized in that described
Electronic compartment (7) be used as counterweight, the fairing (1) top be arranged buoyant module, adjust electronic compartment (7) gravity and
The buoyancy of buoyant module, making submarine navigation device in water is in neutral buoyancy state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910409689.6A CN110065606A (en) | 2019-05-16 | 2019-05-16 | A kind of streamlined quadrotor submarine navigation device that vector promotes |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910409689.6A CN110065606A (en) | 2019-05-16 | 2019-05-16 | A kind of streamlined quadrotor submarine navigation device that vector promotes |
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| Publication Number | Publication Date |
|---|---|
| CN110065606A true CN110065606A (en) | 2019-07-30 |
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| CN201910409689.6A Withdrawn CN110065606A (en) | 2019-05-16 | 2019-05-16 | A kind of streamlined quadrotor submarine navigation device that vector promotes |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110920774A (en) * | 2019-12-09 | 2020-03-27 | 大连理工大学 | Intelligent trolley based on VC iodine clock reaction |
| CN112429169A (en) * | 2020-12-06 | 2021-03-02 | 西安精密机械研究所 | Method for constructing low-flow-resistance contour curved surface of non-revolving body underwater vehicle |
| CN113148082A (en) * | 2021-04-23 | 2021-07-23 | 江苏科技大学 | Four-rotor underwater robot under linkage control of propeller and control method thereof |
| CN113697078A (en) * | 2021-09-26 | 2021-11-26 | 河北科技师范学院 | Underwater robot |
| WO2022041789A1 (en) * | 2020-08-28 | 2022-03-03 | 江苏科技大学 | Deep-sea manned submersible and design method for pressure resistant hull curved structure thereof |
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| JP2000280981A (en) * | 1999-03-31 | 2000-10-10 | Tech Res & Dev Inst Of Japan Def Agency | Pump jet propeller with thrust control device |
| CN203889033U (en) * | 2014-05-16 | 2014-10-22 | 中国海洋石油总公司 | Autonomous underwater vehicle |
| CN108423145A (en) * | 2018-05-09 | 2018-08-21 | 大连理工大学 | A kind of quadrotor submarine navigation device that vector promotes |
| CN209921584U (en) * | 2019-05-16 | 2020-01-10 | 大连理工大学 | Vector-propelled streamlined four-rotor underwater vehicle |
-
2019
- 2019-05-16 CN CN201910409689.6A patent/CN110065606A/en not_active Withdrawn
Patent Citations (4)
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|---|---|---|---|---|
| JP2000280981A (en) * | 1999-03-31 | 2000-10-10 | Tech Res & Dev Inst Of Japan Def Agency | Pump jet propeller with thrust control device |
| CN203889033U (en) * | 2014-05-16 | 2014-10-22 | 中国海洋石油总公司 | Autonomous underwater vehicle |
| CN108423145A (en) * | 2018-05-09 | 2018-08-21 | 大连理工大学 | A kind of quadrotor submarine navigation device that vector promotes |
| CN209921584U (en) * | 2019-05-16 | 2020-01-10 | 大连理工大学 | Vector-propelled streamlined four-rotor underwater vehicle |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110920774A (en) * | 2019-12-09 | 2020-03-27 | 大连理工大学 | Intelligent trolley based on VC iodine clock reaction |
| WO2022041789A1 (en) * | 2020-08-28 | 2022-03-03 | 江苏科技大学 | Deep-sea manned submersible and design method for pressure resistant hull curved structure thereof |
| US11731736B2 (en) | 2020-08-28 | 2023-08-22 | Jiangsu University Of Science And Technology | Deep-sea manned submersible and design method for pressure resistant hull curved structure thereof |
| CN112429169A (en) * | 2020-12-06 | 2021-03-02 | 西安精密机械研究所 | Method for constructing low-flow-resistance contour curved surface of non-revolving body underwater vehicle |
| CN112429169B (en) * | 2020-12-06 | 2023-08-04 | 西安精密机械研究所 | Low-flow-resistance profile curved surface construction method for non-rotary body underwater vehicle |
| CN113148082A (en) * | 2021-04-23 | 2021-07-23 | 江苏科技大学 | Four-rotor underwater robot under linkage control of propeller and control method thereof |
| CN113697078A (en) * | 2021-09-26 | 2021-11-26 | 河北科技师范学院 | Underwater robot |
| CN113697078B (en) * | 2021-09-26 | 2022-06-07 | 河北科技师范学院 | Underwater robot |
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Application publication date: 20190730 |
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