CN113581382A - AUV recovery docking platform and docking method thereof - Google Patents
AUV recovery docking platform and docking method thereof Download PDFInfo
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- CN113581382A CN113581382A CN202111010355.5A CN202111010355A CN113581382A CN 113581382 A CN113581382 A CN 113581382A CN 202111010355 A CN202111010355 A CN 202111010355A CN 113581382 A CN113581382 A CN 113581382A
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- 238000011084 recovery Methods 0.000 title claims abstract description 70
- 238000003032 molecular docking Methods 0.000 title claims abstract description 49
- 238000000034 method Methods 0.000 title claims abstract description 15
- 238000007667 floating Methods 0.000 claims abstract description 15
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 18
- 210000001503 joint Anatomy 0.000 claims description 15
- 238000004064 recycling Methods 0.000 claims description 10
- 239000000463 material Substances 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 238000011160 research Methods 0.000 description 3
- 238000013459 approach Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
- 238000004886 process control Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
- B63B27/16—Arrangement of ship-based loading or unloading equipment for cargo or passengers of lifts or hoists
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
- B63B27/16—Arrangement of ship-based loading or unloading equipment for cargo or passengers of lifts or hoists
- B63B2027/165—Deployment or recovery of underwater vehicles using lifts or hoists
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- Chemical & Material Sciences (AREA)
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Abstract
The invention discloses an AUV (autonomous underwater vehicle) recovery butt-joint platform which comprises a frame, a locking mechanism, a recovery mechanism, a pressure-resistant device, a floating body, a transverse propeller and vertical propellers, wherein the recovery mechanism is arranged at the bottom of the frame, one transverse propeller is respectively arranged at two opposite sides of the frame, a plurality of vertical propellers are respectively arranged at two opposite edges of the top of the frame at intervals in sequence, the floating body, the pressure-resistant device and the locking mechanism are sequentially arranged in the frame from top to bottom at intervals, and the lower part of the locking mechanism penetrates through the bottom surface of the frame. And provides a docking method thereof. The invention adopts horizontal pushing and is provided with a longitudinal propeller on the device, can carry out multidirectional driving, is convenient for the operation of the recovery platform on the sea surface, and improves the adaptability of the platform to the AUV recovery.
Description
Technical Field
The invention relates to the field of underwater robots, in particular to an AUV recovery docking platform and a docking method thereof.
Background
Under the increasingly tense situation of global land resources, the vast boundless sea stores abundant resources. Advanced technology and equipment are needed for developing ocean resources, the underwater robot is the only equipment capable of entering deep sea at present, and the research on the underwater robot technology has important research significance and application value for developing the ocean resources. The underwater vehicle has the characteristics of small volume and flexible working mode, but has the problem of insufficient cruising ability, and if the underwater vehicle cannot be recovered in time, the damage to the internal equipment of the vehicle, data errors and serious persons can cause the loss of the underwater vehicle, so that the irrecoverable loss is caused.
In the last half century, the recovery devices are various and have different structures. And domestic research to retrieving the technique mainly focuses on the surface of water recovery mode, and present underwater docking technique butt joint system is various, and uses specially, such as cage, horn mouth formula, platform formula etc. can't satisfy the low-cost intelligent demand of retrieving.
Disclosure of Invention
The purpose of the invention is as follows: aiming at the problems, the invention aims to provide an AUV recovery docking platform, which solves the problem of near-water AUV recovery, meets docking recovery requirements, realizes high-efficiency intelligent AUV recovery in ship operation, and provides a recovery method of a docking recovery device.
The technical scheme is as follows: the utility model provides a butt joint platform is retrieved to AUV, includes frame, locking mechanism, retrieves mechanism, withstand voltage device, body, horizontal propeller, vertical propeller, retrieves the mechanism and installs in the bottom of frame, and horizontal propeller installs one respectively in the relative both sides of frame, and a plurality of vertical propellers are installed at the relative both sides at frame top along the department in proper order interval respectively, and body, withstand voltage device, locking mechanism are in proper order from last interval installation in the frame down, and the bottom surface of frame is worn to locate by the locking mechanism lower part.
Further, the frame includes the left side board, the body support, the right side board, the medium plate, a pedestal, play rings, the left side board is installed to vertical interval on the top surface of base, the right side board, the body support, the medium plate sets up and fixes with both from last interval down between left side board and right side board respectively, it installs on the top surface of body support to play rings, the left side board, the top border of right side board is equipped with inward turn-ups respectively, install a plurality of vertical propellers respectively on two turn-ups, the body is placed in body support upper surface, its relative both sides respectively with the left side board, the right side inboard side is connected, withstand voltage device installs in the medium plate upper surface, locking mechanism installs on the bottom surface of medium plate, horizontal propeller is at the left side board, the outside side of right side board sets up one respectively, two horizontal propellers are installed respectively on the base.
Further, locking mechanism includes cylinder, check lock, and the cylinder is a word interval in the medium plate bottom surface and installs a plurality ofly, and the cylinder pole of every cylinder is down and is connected with a check lock respectively, and the check lock is worn to locate in the base.
Furthermore, the recycling mechanism comprises a recycling guide block and two underwater lamps, the guide block is vertically arranged at the bottom of the frame and is at least arranged in parallel at intervals, the top surface of the guide block is fixed with the bottom of the frame, a U-shaped or V-shaped limiting hole is formed in the middle of the guide block, the two underwater lamps are respectively positioned at two opposite sides of the guide block, and the underwater lamps are installed at the bottom of the frame through an underwater lamp fixing seat.
Furthermore, the pressure-resistant device comprises a pressure-resistant cabin fixing block and a pressure-resistant cabin, the pressure-resistant cabin comprises a pressure-resistant cabin body, an upper end cover and a lower end cover which are respectively connected with the two ends of the pressure-resistant cabin body, the pressure-resistant cabin further comprises a watertight connector installed on the outer side surface of the lower end cover, and the pressure-resistant cabin body is installed in the frame through the pressure-resistant cabin fixing block.
Furthermore, the platform further comprises an underwater control system, the underwater control system comprises an underwater controller, and a temperature and humidity sensor, an attitude sensor, a question answering machine, a GPS and an ultra-short base line which are in signal connection with the underwater controller, the temperature and humidity sensor, the attitude sensor, the question answering machine and the GPS are integrally installed in the pressure resisting device, the ultra-short base line is installed on the recovery mechanism, and the locking mechanism, the transverse propeller and the vertical propeller are in signal connection with the underwater controller respectively.
Preferably, the platform further comprises propeller fixing blocks, each vertical propeller is mounted at the top edge of the frame through one propeller fixing block, and the propeller fixing blocks are fixed to the inner side face of the frame.
The docking method of the AUV recovery docking platform comprises the following steps:
the method comprises the following steps: putting the docking platform into water through a marine crane, sending a recovery command by a mother ship, putting the docking platform into water through the marine crane, simultaneously starting a transverse propeller and a vertical propeller, controlling the docking platform to move, sailing on the water surface, entering a specified recovery area, and waiting for AUV recovery work;
step two: after the AUV reaches a specified recovery area, recovery action is started, the docking platform receives signals of the AUV through an interrogator, the received signals are resolved to obtain position information and give feedback, and an ultra-short baseline on the recovery mechanism gradually guides the AUV to enter the recovery mechanism until the AUV completely enters the recovery mechanism;
step three: after the AUV enters successfully, the locking mechanism starts to work and drives and locks the recovered AUV downwards;
step four: when the butt joint is finished, the locking mechanism continuously works, the AUV is completely locked, the butt joint platform finishes working, the platform is close to the operation ship through the movement of the transverse propeller and the vertical propeller, and the recovery is finished through the lifting platform of the marine crane.
Has the advantages that: compared with the prior art, the invention has the advantages that: by adopting the structural design of a platform, the platform can autonomously operate on the water surface to advance and sink and float. The flexible operation of the docking platform on the water surface is facilitated, and the adaptability of the docking platform under different working conditions is improved. This butt joint platform can effectually retrieve underwater robot and lock. Therefore, the invention has wider application prospect in the field of underwater robot docking devices. The module arrangement of the pressure-resistant device can respectively and independently control the transverse propeller, the vertical propeller and the locking mechanism of the docking platform, and the working reliability of the docking platform is ensured.
Drawings
FIG. 1 is a top view of the present invention;
FIG. 2 is a bottom view of the present invention;
FIG. 3 is a schematic perspective view of the present invention;
FIG. 4 is a cross-sectional view of the present invention taken along a longitudinal central axis;
FIG. 5 is a schematic perspective view of a pressure resistant cabin according to the present invention;
fig. 6 is a diagram of the operation process of the docking process control system of the present invention.
Detailed Description
The present invention will be further illustrated with reference to the following figures and specific examples, which are to be understood as merely illustrative and not restrictive of the scope of the invention.
An AUV recovery butt-joint platform is shown in figures 1-6 and comprises a frame, a locking mechanism, a recovery mechanism, a pressure-resistant device, a floating body 3, a transverse propeller 7, a vertical propeller 2, an underwater control system and a propeller fixing block 12.
The frame includes left side board 1, body support 4, right side board 5, medium plate 6, base 17, plays rings 18, and vertical interval installs left side board 1, right side board 5 on the top surface of base 17, and body support 4, medium plate 6 are from last to down interval setting and respectively with both fixed between left side board 1 and right side board 5, play rings 18 and install the middle part on the top surface of body support 4, the direction is upwards perpendicularly.
The top border of left side board 1, right side board 5 is equipped with inward turn-ups respectively, and a plurality of vertical propellers 2 are installed at the interval respectively in proper order on two turn-ups, and every vertical propeller 2 is installed in the top border of frame through a propeller fixed block 12 respectively, and propeller fixed block 12 is fixed with the medial surface of frame. The number of the vertical propellers 2 on the two flanges is equal and can be 4-8, and the propelling direction of each vertical propeller 2 is along the vertical direction of the frame.
The floating body 3, the pressure-resistant device and the locking mechanism are sequentially arranged in the frame from top to bottom at intervals.
The floating body 3 is arranged on the upper surface of the floating body bracket 4, and the two opposite sides of the floating body 3 are respectively connected with the inner side surfaces of the left side plate 1 and the right side plate 5.
The pressure-resistant device is arranged on the upper surface of the middle plate 6 and comprises a pressure-resistant cabin fixing block 13 and a pressure-resistant cabin 14, the pressure-resistant cabin 14 comprises a pressure-resistant cabin body 14-2, an upper end cover 14-1 and a lower end cover 14-3 which are respectively connected with the two ends of the pressure-resistant cabin body, the pressure-resistant device also comprises a watertight connector 14-4 arranged on the outer side surface of the lower end cover 14-3, and the pressure-resistant cabin body 14-2 is arranged in the frame through the pressure-resistant cabin fixing block 13. A battery system for supplying power to the electric devices of the docking platform is arranged in the pressure-resistant cabin 14.
Locking mechanism installs on the bottom surface of medium plate 6, and locking mechanism includes cylinder 15, check lock lever 16, and cylinder 15 is a word interval in the bottom surface of medium plate 6 and installs a plurality ofly, and the cylinder pole of every cylinder 15 is down and is connected with a check lock lever 16 respectively, and check lock lever 16 wears to locate in the base 17.
The transverse thrusters 7 are respectively arranged on the outer sides of the left side plate 1 and the right side plate 5, and the two transverse thrusters 7 are respectively arranged on the base 17 and are symmetrical to each other. The propulsion direction of each lateral thruster 7 is in the horizontal direction of the frame.
The recycling mechanism is arranged at the bottom of the frame and comprises a recycling guide block 8 and underwater lamps 11, the guide block 8 is vertically arranged at the bottom of the frame and is at least provided with two parallel guide blocks at intervals, the top surface of the guide block 8 is fixed with the bottom of the frame, a U-shaped or V-shaped limiting hole is formed in the middle of the guide block 8, the underwater lamps 11 are provided with two limiting holes which are respectively positioned at two opposite sides of the guide block 8, and the underwater lamps 11 are arranged at the bottom of the frame through underwater lamp fixing seats 11-1.
The underwater control system comprises an underwater controller, and a temperature and humidity sensor, an attitude sensor, a question answering machine, a GPS and an ultra-short baseline which are in signal connection with the underwater controller, wherein the underwater controller, the temperature and humidity sensor, the attitude sensor, the question answering machine and the GPS are integrally installed in a pressure-resistant device, the ultra-short baseline is installed on a recovery mechanism, and a locking mechanism, a transverse propeller 7 and a vertical propeller 2 are in signal connection with the underwater controller respectively. The underwater controller controls the motion of the platform through feedback signals of the sensors, and starts and stops the locking mechanism, the transverse propeller 7 and the vertical propeller 2.
Each recovery guide block 8 is installed at both ends of the base by bolting segments. The middle of the recovery guide block 8 adopts a U-shaped or V-shaped hollow-out form, so that the weight of the whole device can be reduced. The recovery guide block 8 is provided with a flexible material, the underwater robot 9 enters the recovery guide block 8 through the guide of the underwater lamp 11, and flexible butt joint can be realized when the underwater robot enters the guide block.
The bottom end of each locking rod 16 is provided with a flexible material, so that when the locking rods 16 are used for locking the underwater robot 9, the underwater robot 9 is not damaged. A plurality of locking bars 16 are placed in parallel and all are arranged downwards.
The frame of the docking platform ensures that the space occupancy rate of the platform is reduced as much as possible under the condition that the function of the platform is intact; and adopt the fretwork form, make the butt joint platform lightweight, reduce the load.
The underwater control system and the water surface control system on the mother ship transmit signals and energy through an umbilical cable. The water surface control system receives signal feedback of the underwater control system to obtain fact data of the platform, an operator can send an instruction to the underwater control system through the water surface control system, and the platform is controlled through the underwater control system to achieve intelligent movement.
The recovery method of the butt joint recovery platform comprises the following steps:
the method comprises the following steps: putting the docking platform into water through a marine crane, sending a recovery command by a mother ship, putting the docking platform into the water through the marine crane, simultaneously starting a transverse propeller and a vertical propeller on one side of the transverse propeller, controlling the docking platform to move, sailing on the water surface, entering a specified recovery area, and waiting for AUV recovery work;
step two: and the AUV executes the mother ship command, and starts the recovery action after reaching the specified recovery area. The butt joint platform receives an AUV signal through the question answering machine, the AUV signal is resolved through the received signal to obtain position information and feed back the position information, an ultra-short baseline used for remote positioning and guiding on an inlet of a recovery guide block of the butt joint platform gradually guides the AUV to enter the recovery guide block, and the pose is automatically adjusted through a flexible material on the recovery guide block and a limiting hole of the guide block until the AUV completely enters a recovery mechanism;
step three: after the AUV enters successfully, the locking mechanism starts to work, the cylinder is started, the locking rod extends downwards, and the recovered AUV is compressed;
step four: and when the butt joint is finished, the locking mechanism continuously works, and the AUV is completely locked. The docking platform finishes work, all the vertical thrusters on the other side are opened, the docking platform approaches to the operating ship and is connected with the marine crane through a hoisting ring of the docking platform to finish recovery.
The invention adopts an over-water platform type structure with a plurality of propellers for joint recovery after the underwater robot finishes the operation in water. In the recycling process, the recycling guide block made of flexible materials is adopted as the recycling mechanism, the structure of the underwater robot can be protected during recycling, the underwater robot can be effectively locked by adopting the electric cylinder push rod as the locking mechanism, and the underwater robot cannot be damaged while being successfully recycled. The platform is provided with an independent control system, and an independent pressure-resistant cabin is arranged in the middle of the platform, so that the butt joint platform can be better butted and recycled.
The underwater controller adopts an ARM series STM32F407ZET6 control chip to control the driving motors of the propeller and the locking rod. The thrusters of the butt-joint platform are direct-current brushless motors, the motors are controlled through PWM waves, and the main controller is connected to the level conversion circuit to adjust the voltage. The underwater docking adopts an acoustic positioning technology, an ultra-short baseline for remote positioning and guiding is fixed on an inlet of a recovery guide block of a docking platform, an interrogator is installed on the docking platform so as to receive AUV signals, and the AUV positions are obtained by resolving the received signals. The underwater control system is also provided with a signal module, and the DAC is used as a sine wave signal generator. The world coordinate of the docking platform is obtained by using a GPS technology, then the world coordinate of the AUV is transferred to the platform coordinate, the AUV is fed back, the AUV moves to the position specified by the docking platform, and when the AUV enters the recovery guide block, the position and the posture of the AUV can be automatically adjusted under the action of a flexible material on the recovery guide block. The electric push rod of the locking rod is driven by a stepping motor, and the driving chip is a TB6560AHQ chip, so that small-amplitude accurate movement of the electric push rod can be realized. The docking platform is provided with an attitude sensor adopting SPI communication to acquire own attitude information in real time, and a temperature and humidity sensor is arranged in the pressure-resistant device.
Claims (8)
1. The utility model provides a butt joint platform is retrieved to AUV which characterized in that: the automatic recovery device comprises a frame, a locking mechanism, a recovery mechanism, a pressure-resistant device, a floating body (3), a transverse propeller (7) and vertical propellers (2), wherein the recovery mechanism is installed at the bottom of the frame, one transverse propeller (7) is installed on each of two opposite sides of the frame, a plurality of vertical propellers (2) are installed on each of two opposite sides of the top of the frame at intervals in sequence, the floating body (3), the pressure-resistant device and the locking mechanism are installed in the frame at intervals from top to bottom in sequence, and the lower part of the locking mechanism penetrates through the bottom surface of the frame.
2. The AUV recovery docking platform of claim 1, wherein: the frame comprises a left side plate (1), a floating body bracket (4), a right side plate (5), a middle plate (6), a base (17) and a lifting ring (18), wherein the left side plate (1) and the right side plate (5) are vertically arranged on the top surface of the base (17) at intervals, the floating body bracket (4) and the middle plate (6) are arranged between the left side plate (1) and the right side plate (5) at intervals from top to bottom and are respectively fixed with the left side plate and the right side plate, the lifting ring (18) is arranged on the top surface of the floating body bracket (4), inward flanges are respectively arranged on the top edges of the left side plate (1) and the right side plate (5), a plurality of vertical propellers (2) are respectively arranged on the two flanges, a floating body (3) is arranged on the upper surface of the floating body bracket (4), the opposite two sides of the floating body bracket are respectively connected with the inner side surfaces of the left side plate (1) and the right side plate (5), a pressure-resistant device is arranged on the upper surface of the middle plate (6), a locking mechanism is arranged on the bottom surface of the middle plate (6), the two transverse thrusters (7) are respectively arranged on the outer sides of the left side plate (1) and the right side plate (5), and the two transverse thrusters (7) are respectively arranged on the base (17).
3. The AUV recovery docking platform of claim 2, wherein: locking mechanism includes cylinder (15), check lock lever (16), and cylinder (15) are a word interval at medium plate (6) bottom surface and install a plurality ofly, and the cylinder pole of every cylinder (15) is down and be connected with a check lock lever (16) respectively, and check lock lever (16) are worn to locate in base (17).
4. The AUV recovery docking platform of claim 1, wherein: the recycling mechanism comprises a recycling guide block (8) and underwater lamps (11), the guide block (8) is vertically arranged at the bottom of the frame and is at least provided with two parallel guide blocks at intervals, the top surface of the guide block (8) is fixed with the bottom of the frame, a U-shaped or V-shaped limiting hole is formed in the middle of the guide block (8), the underwater lamps (11) are provided with two limiting holes which are respectively positioned at two opposite sides of the guide block (8), and the underwater lamps (11) are installed at the bottom of the frame through underwater lamp fixing seats (11-1).
5. The AUV recovery docking platform of claim 1, wherein: the pressure-resistant device comprises a pressure-resistant cabin fixing block (13) and a pressure-resistant cabin (14), wherein the pressure-resistant cabin (14) comprises a pressure-resistant cabin body (14-2), an upper end cover (14-1) and a lower end cover (14-3) which are respectively connected with the two ends of the pressure-resistant cabin body, the pressure-resistant device also comprises a watertight connector (14-4) arranged on the outer side surface of the lower end cover (14-3), and the pressure-resistant cabin body (14-2) is arranged in the frame through the pressure-resistant cabin fixing block (13).
6. The AUV recovery docking platform of claim 1, wherein: the underwater control system comprises an underwater controller, a temperature and humidity sensor, an attitude sensor, a question answering machine, a GPS and an ultra-short base line, wherein the temperature and humidity sensor, the attitude sensor, the question answering machine, the GPS are in signal connection with the underwater controller, the temperature and humidity sensor, the attitude sensor, the question answering machine and the GPS are integrally installed in a pressure resisting device, the ultra-short base line is installed on a recovery mechanism, and a locking mechanism, a transverse propeller (7) and a vertical propeller (2) are in signal connection with the underwater controller respectively.
7. The AUV recovery docking platform of claim 1, wherein: still include propeller fixed block (12), every vertical propeller (2) is installed in the top border of frame through a propeller fixed block (12) respectively, and propeller fixed block (12) are fixed with the medial surface of frame.
8. The docking method of the AUV recovery docking platform of claim 6, comprising the following steps:
the method comprises the following steps: putting the docking platform into water through a marine crane, sending a recovery command by a mother ship, putting the docking platform into water through the marine crane, simultaneously starting a transverse propeller and a vertical propeller, controlling the docking platform to move, sailing on the water surface, entering a specified recovery area, and waiting for AUV recovery work;
step two: after the AUV reaches a specified recovery area, recovery action is started, the docking platform receives signals of the AUV through an interrogator, the received signals are resolved to obtain position information and give feedback, and an ultra-short baseline on the recovery mechanism gradually guides the AUV to enter the recovery mechanism until the AUV completely enters the recovery mechanism;
step three: after the AUV enters successfully, the locking mechanism starts to work and drives and locks the recovered AUV downwards;
step four: when the butt joint is finished, the locking mechanism continuously works, the AUV is completely locked, the butt joint platform finishes working, the platform is close to the operation ship through the movement of the transverse propeller and the vertical propeller, and the recovery is finished through the lifting platform of the marine crane.
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| CN202111010355.5A CN113581382A (en) | 2021-08-31 | 2021-08-31 | AUV recovery docking platform and docking method thereof |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114394216A (en) * | 2022-03-02 | 2022-04-26 | 集美大学 | Unmanned underwater vehicle retracting and releasing device and recovery method |
| CN115009473A (en) * | 2022-05-10 | 2022-09-06 | 哈尔滨工程大学 | Under-actuated AUV underwater automatic recovery device based on cable capture |
| CN117508464A (en) * | 2023-10-27 | 2024-02-06 | 哈尔滨工程大学 | Floating box type AUV (autonomous Underwater vehicle) distributing and recycling device |
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Cited By (5)
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Application publication date: 20211102 |