CN113162138B - Externally hung battery and charging system of underwater robot - Google Patents
Externally hung battery and charging system of underwater robot Download PDFInfo
- Publication number
- CN113162138B CN113162138B CN202110244820.5A CN202110244820A CN113162138B CN 113162138 B CN113162138 B CN 113162138B CN 202110244820 A CN202110244820 A CN 202110244820A CN 113162138 B CN113162138 B CN 113162138B
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- battery
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- 230000006854 communication Effects 0.000 claims description 30
- 238000004891 communication Methods 0.000 claims description 30
- 230000005611 electricity Effects 0.000 claims description 9
- 230000007175 bidirectional communication Effects 0.000 claims description 2
- 230000004397 blinking Effects 0.000 claims 1
- 238000005286 illumination Methods 0.000 abstract description 6
- 230000002035 prolonged effect Effects 0.000 abstract description 3
- 238000005516 engineering process Methods 0.000 abstract description 2
- 230000006872 improvement Effects 0.000 abstract description 2
- 239000007788 liquid Substances 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 6
- 230000009471 action Effects 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000002045 lasting effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0013—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries acting upon several batteries simultaneously or sequentially
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F21—LIGHTING
- F21V—FUNCTIONAL FEATURES OR DETAILS OF LIGHTING DEVICES OR SYSTEMS THEREOF; STRUCTURAL COMBINATIONS OF LIGHTING DEVICES WITH OTHER ARTICLES, NOT OTHERWISE PROVIDED FOR
- F21V33/00—Structural combinations of lighting devices with other articles, not otherwise provided for
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/00032—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by data exchange
- H02J7/00036—Charger exchanging data with battery
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/00032—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by data exchange
- H02J7/00045—Authentication, i.e. circuits for checking compatibility between one component, e.g. a battery or a battery charger, and another component, e.g. a power source
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0047—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with monitoring or indicating devices or circuits
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0047—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with monitoring or indicating devices or circuits
- H02J7/0048—Detection of remaining charge capacity or state of charge [SOC]
- H02J7/0049—Detection of fully charged condition
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F21—LIGHTING
- F21Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES F21K, F21L, F21S and F21V, RELATING TO THE FORM OR THE KIND OF THE LIGHT SOURCES OR OF THE COLOUR OF THE LIGHT EMITTED
- F21Y2115/00—Light-generating elements of semiconductor light sources
- F21Y2115/10—Light-emitting diodes [LED]
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
- Toys (AREA)
Abstract
The invention is suitable for the field of improvement of charging technology in liquid, and provides an external battery of an underwater robot. The externally hung battery can be conveniently installed and replaced when used on the ROV; the plug-in battery is connected with the ROV to supply power for automatic identification, so that seamless switching is realized, and power management is more optimized; the endurance time of a single external battery can be prolonged by 2 hours, and the single external battery can be matched with a plurality of external batteries for use at one time, so that the endurance capacity of the ROV is greatly improved; the externally hung battery has an LED function, so that illumination and state indication are realized; the plug-in battery is convenient to carry, the intelligent identification adapter is convenient to charge.
Description
Technical Field
The invention belongs to the field of improvement of charging technology in liquid, and particularly relates to an externally-hung battery of an underwater robot and a charging system.
Background
The existing underwater robot battery is actually a battery pack mounted in the robot, and comprises a main battery pack and an emergency battery pack (standby battery), wherein the main battery pack and the standby battery pack cannot be replaced and supplemented with each other, namely, the main battery pack is used up, the main battery pack can be switched to the standby battery pack through internal switching or a switch, the standby battery pack is used up, the standby battery pack cannot be replaced at any time, and the duration is short. And the standby battery can not charge the main battery pack, so that the underwater robot needs to return to the navigation in time.
Disclosure of Invention
The invention aims to provide an externally hung battery and a charging system of an underwater robot, and aims to solve the technical problems.
The invention discloses an external battery of an underwater robot, which comprises an electricity storage unit, a PCB control board and a watertight connection unit, wherein the electricity storage unit is connected with the watertight connection unit through the PCB control board, and the PCB control board is used for controlling the conduction from electric energy in the electricity storage unit to the watertight connection unit and the control of electric quantity, so that the underwater robot works in a stable and safe state.
The invention further adopts the technical scheme that: the LED power supply device comprises a PCB control board, and is characterized in that a charging unit, a switch unit, an LED driving unit and a microcontroller are arranged on the PCB control board, the output end of the microcontroller is respectively connected with the control end of the switch unit, the control end of the charging unit and the control end of the LED driver, the output end of the switch unit is respectively electrically connected with the power supply end of the LED driving unit and the charging end of the power storage unit, the microcontroller is in bidirectional communication connection with the watertight connection unit, the output end of the watertight connection unit is electrically connected with the input end of the switch unit, and the output end of the charging unit is electrically connected with the input end of the watertight connection unit.
The invention further adopts the technical scheme that: the watertight connection unit adopts a watertight connector, and the watertight connector is a waterproof male-end plug.
The invention further adopts the technical scheme that: and the microcontroller receives the instruction, controls the charging unit to start charging according to the action control of the instruction, charges the robot and the internal battery, and controls the LED driving unit to display the charging state or the working state information.
The invention further adopts the technical scheme that: and the power storage unit adopts a high-power storage battery pack.
The invention further adopts the technical scheme that: and the charging unit is controlled by the microcontroller and is used for charging the robot according to the issued instruction, and the BQ24617 system chip is adopted by the charging unit.
The invention further adopts the technical scheme that: the microcontroller is a singlechip composed of STM32F031G4U6 chips.
Another object of the present invention is to provide a charging system for an underwater robot, where the charging system for an underwater robot includes an external battery, an underwater robot ROV, and a waterproof female socket, the external battery is disposed on a bottom mounting rail of the underwater robot ROV, the waterproof female socket is disposed on the underwater robot ROV, and a connection unit of the external battery is plugged into the waterproof female socket.
The invention further adopts the technical scheme that: after the external battery is connected with the underwater robot ROV through the watertight connector, the underwater robot ROV supplies power to the external battery MCU through the interface, automatically transmits a communication request command signal downwards through the asynchronous serial port, continuously transmits the communication request command signal at intervals of 1S, the external battery detects the command signal issued by the underwater robot ROV, feeds back the machine identification code of the current equipment to the underwater robot ROV, the underwater robot ROV receives the machine identification code to judge that the equipment is the external equipment, mutual communication and operation indication are realized according to the agreed protocol of the two parties, the external battery automatically opens the charging enable of the charging IC BQ24617 after the communication is successful, and the power supply supplies power to the underwater robot ROV and charges the internal battery.
The invention further adopts the technical scheme that: the ROV of the underwater robot can adjust the LED lamp, the off-line LED lamp, the flickering LED lamp and the brightness of the external battery through communication instructions to realize illumination application.
The invention further adopts the technical scheme that: the plug-in battery is connected with the charging adapter and is powered by the adapter, the plug-in battery starts a detection program, whether a communication instruction issued by the ROV of the underwater robot exists or not is detected, whether the communication failure exists is not detected in the waiting time 3S, whether the INT foot state signal is overturned or not is detected, if the INT foot state signal is overturned, the charging is connected, the plug-in battery is switched to be connected with the charging adapter, the microcontroller outputs a control signal to the switch unit, the switch unit charges the plug-in battery, and the LED driving unit twinkling indication is an external charging state.
The beneficial effects of the invention are as follows: the externally hung battery can be conveniently installed and replaced when used on the ROV; the plug-in battery is connected with the ROV to supply power for automatic identification, so that seamless switching is realized, and power management is more optimized; the endurance time of a single external battery can be prolonged by 2 hours, and the single external battery can be matched with a plurality of external batteries for use at one time, so that the endurance capacity of the ROV is greatly improved; the externally hung battery has an LED function, so that illumination and state indication are realized; the plug-in battery is convenient to carry, the intelligent identification adapter is convenient to charge.
Drawings
Fig. 1 is a circuit block diagram of an external battery of an underwater robot according to an embodiment of the present invention.
Fig. 2 is an electrical schematic diagram of a connection manner between an external battery and an underwater robot according to an embodiment of the present invention.
Fig. 3 is an electrical schematic diagram of a logic interaction process for charging an underwater robot with an external battery according to an embodiment of the present invention.
Fig. 4 is an electrical schematic diagram of a connection manner of charging a plug-in battery to the plug-in battery according to an embodiment of the present invention.
Fig. 5 is an electrical schematic block diagram of a logic interaction process of an on-board battery and a DC adapter provided by an embodiment of the present invention.
Fig. 6 is an electrical schematic block diagram of an LED lamp status indication for an external battery provided by an embodiment of the present invention.
Detailed Description
As shown in fig. 1, the external battery of the underwater robot provided by the invention comprises a watertight battery shell for sealing, wherein a power storage unit is arranged in the watertight battery shell, a PCB (printed circuit board) control board is arranged in the watertight battery shell, a watertight connection unit is arranged on the watertight battery shell and is connected with the underwater robot through the watertight connection unit to charge the robot, the power storage unit is connected with the connection unit through the PCB control board, and the power storage unit is controlled by the PCB control board to supply power to the watertight connection unit, so that the external battery can be charged to the outside, and the external battery has the advantages of simple structure, convenience and safety in charging and long power supply time; the electricity storage unit is composed of storage battery packs.
The LED power supply device comprises a PCB control board, a switch unit, an LED driving unit and a microcontroller, wherein the PCB control board is provided with the charging unit, the switch unit, the LED driving unit and the microcontroller, the output end of the microcontroller is respectively connected with the control end of the switch unit, the control end of the charging unit and the control end of the LED driver, the output end of the switch unit is respectively and electrically connected with the power supply end of the LED driving unit and the charging end of the electricity storage unit, the microcontroller is in two-way communication connection with the watertight connection unit, the output end of the watertight connection unit is electrically connected with the input end of the switch unit, and the output end of the charging unit is electrically connected with the input end of the watertight connection unit; and the microcontroller receives the instruction, controls the charging unit to start charging according to the action control of the instruction, charges the robot and the internal battery, and controls the LED driving unit to display the charging state or the working state information. The coordination of the units is controlled by the microcontroller to work, so that the safety and stability of the PCB control board are ensured.
The externally hung battery is designed to be a fitting of an underwater robot to be matched with the robot for use, and can be conveniently installed on a bottom installation guide rail of an ROV; the disassembly can also be easily taken off from the guide rail. The connection is made by a watertight connector and ROV. The appearance battery end is a waterproof male end plug, and the ROV end is a waterproof female end socket. The connection relationship between the two is shown in figure 2.
After the plug-in battery and the ROV are connected through the waterproof plug, the ROV robot can power on the MCU of the plug-in battery through the interface, and simultaneously, a communication request command signal is automatically and downwardly sent through the asynchronous serial port, and the communication request command signal is continuously sent at intervals of 1S. After the appearance battery detects the issued command signal, the machine identification code of the current equipment is actively returned to the ROV, the ROV receives the machine identification code and then judges what plug-in equipment is, and mutual communication and operation indication are realized according to the agreed protocol of the two parties. After the communication is successful, the plug-in battery automatically opens the charging enable of the charging IC BQ24617, and the power supply is output to supply power to the ROV and charge the internal battery. The internal battery of the ROV is in a charging state, power consumption output is not provided, and the cruising ability of the ROV can be greatly improved. And simultaneously driving the LED to flash to indicate the charging state. The plug-in battery uses a high-capacity battery pack, can provide power output lasting 110Wh, and the duration can be increased to 2h. When the electric quantity of the external battery is exhausted, the ROV can be requested to float up by one key, and after a new external battery accessory is replaced, the ROV can be powered on again. As shown in fig. 3.
The power of the plug-in battery is exhausted, and the plug-in battery can be conveniently charged through on-board output or output of a household DC adapter by 25.2V. The connection is also made by the same watertight connector and adapter. The appearance battery end is a waterproof male end plug, and the adapter end is a waterproof female end socket. The connection relationship between the two is shown in fig. 4.
After the plug-in battery is connected with the charging adapter, the adapter outputs power-on, the plug-in battery starts a detection program, whether a communication instruction issued by the ROV exists or not is detected, and the communication failure is caused by the fact that the communication instruction is not detected in the waiting time of 3S; and meanwhile, detecting whether the INT pin state signal is overturned, and if the INT pin state signal is overturned, the external battery is switched to be connected with the charging adapter state if the INT pin state signal is overturned, which means charging access. The MCU outputs a control signal to the switching circuit, and the switching power supply charges the plug-in battery. The LED light blinks to indicate the external electric charge state. As shown in fig. 5.
When the plug-in battery charges the ROV, different states of charge may be indicated: during charging, the charging is completed, and the charging is abnormal (overvoltage, overcurrent, overtemperature and the like); when the adapter charges the plug-in battery, the charging completion status may be indicated during charging. The ROV can adjust the LED of the external battery to be on, off, flash and brightness through communication instructions, different illumination applications are realized, and the underwater environment operation requirements can be completed by matching with the underwater camera. As shown in fig. 6.
Another object of the present invention is to provide a charging system for an underwater robot, where the charging system for an underwater robot includes an external battery, an underwater robot ROV, and a waterproof female socket, the external battery is disposed on a bottom mounting rail of the underwater robot ROV, the waterproof female socket is disposed on the underwater robot ROV, and a connection unit of the external battery is plugged into the waterproof female socket.
The invention further adopts the technical scheme that: after the external battery is connected with the underwater robot ROV through the watertight connector, the underwater robot ROV supplies power to the external battery MCU through the interface, automatically transmits a communication request command signal downwards through the asynchronous serial port, continuously transmits the communication request command signal at intervals of 1S, the external battery detects the command signal issued by the underwater robot ROV, feeds back the machine identification code of the current equipment to the underwater robot ROV, the underwater robot ROV receives the machine identification code to judge that the equipment is the external equipment, mutual communication and operation indication are realized according to the agreed protocol of the two parties, the external battery automatically opens the charging enable of the charging IC BQ24617 after the communication is successful, and the power supply supplies power to the underwater robot ROV and charges the internal battery.
The invention further adopts the technical scheme that: the ROV of the underwater robot can adjust the LED lamp, the off-line LED lamp, the flickering LED lamp and the brightness of the external battery through communication instructions to realize illumination application.
The invention further adopts the technical scheme that: the plug-in battery is connected with the charging adapter and is powered by the adapter, the plug-in battery starts a detection program, whether a communication instruction issued by the ROV of the underwater robot exists or not is detected, whether the communication failure exists is not detected in the waiting time 3S, whether the INT foot state signal is overturned or not is detected, if the INT foot state signal is overturned, the charging is connected, the plug-in battery is switched to be connected with the charging adapter, the microcontroller outputs a control signal to the switch unit, the switch unit charges the plug-in battery, and the LED driving unit twinkling indication is an external charging state.
The externally hung battery can be conveniently installed and replaced when used on the ROV; the plug-in battery is connected with the ROV to supply power for automatic identification, so that seamless switching is realized, and power management is more optimized; the endurance time of a single external battery can be prolonged by 2 hours, and the single external battery can be matched with a plurality of external batteries for use at one time, so that the endurance capacity of the ROV is greatly improved; the externally hung battery has an LED function, so that illumination and state indication are realized; the plug-in battery is convenient to carry, the intelligent identification adapter is convenient to charge.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (5)
1. The charging system of the underwater robot is characterized by comprising an external battery, an underwater robot ROV and a waterproof female end socket, wherein the external battery is arranged on a bottom mounting guide rail of the underwater robot ROV, the waterproof female end socket is arranged on the underwater robot ROV, and a connecting unit of the external battery is spliced on the waterproof female end socket;
after the external battery is connected with the underwater robot ROV through the watertight connector, the underwater robot ROV supplies power to the external battery MCU through the interface, automatically transmits a communication request command signal downwards through the asynchronous serial port, continuously transmits the communication request command signal at intervals of 1S, the external battery detects the command signal issued by the underwater robot ROV, feeds back the machine identification code of the current equipment to the underwater robot ROV, the underwater robot ROV receives the machine identification code to judge that the external equipment realizes mutual communication and operation indication, and after the communication is successful, the external battery automatically opens the charging enable of the charging IC BQ24617, and outputs a power supply to supply power to the underwater robot ROV and charge the internal battery;
the plug-in battery is connected with the charging adapter and is powered by the adapter, the plug-in battery starts a detection program, whether a communication instruction issued by the ROV of the underwater robot exists or not is detected, whether the communication failure exists is not detected in the waiting time 3S, whether an INT foot state signal is overturned or not is detected, if the INT foot state signal is overturned, the charging is connected, the plug-in battery is switched to be in a state of being connected with the charging adapter, the microcontroller outputs a control signal to the switch unit, the switch unit charges the plug-in battery, and the LED driving unit flicker indicates an external charging state;
the external battery comprises an electricity storage unit, a PCB control board and a watertight connection unit, wherein the electricity storage unit is connected with the watertight connection unit through the PCB control board, and the PCB control board is used for controlling the electricity storage unit to supply power to the watertight connection unit;
the PCB control board is provided with a charging unit, a switch unit, an LED driving unit and a microcontroller, wherein the output end of the microcontroller is respectively connected with the control end of the switch unit, the control end of the charging unit and the control end of the LED driving unit, the output end of the switch unit is respectively and electrically connected with the power supply end of the LED driving unit and the charging end of the electricity storage unit, the microcontroller is in bidirectional communication connection with the watertight connection unit, the output end of the watertight connection unit is electrically connected with the input end of the switch unit, and the output end of the charging unit is electrically connected with the input end of the watertight connection unit;
the watertight connection unit adopts a watertight connector, and the watertight connector is a waterproof male-end plug.
2. The charging system of the underwater robot according to claim 1, wherein the microcontroller receives the instruction, and controls the charging unit to start charging according to the instruction to charge the robot and the internal battery, and controls the LED driving unit to display the charging state or the working state information.
3. The charging system of an underwater robot according to claim 2, wherein said power storage unit employs a high-power battery pack.
4. The charging system of the underwater robot according to claim 3, wherein the charging unit performs charging of the robot according to an issued instruction by receiving the control of the microcontroller, and the charging unit adopts a BQ24617 system chip; the microcontroller adopts a singlechip composed of STM32F031G4U6 chips.
5. The charging system of the underwater robot of claim 4, wherein the underwater robot ROV adjusts the on/off, blinking or brightness adjustment of the on-hook battery LED lamp through a communication command.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110244820.5A CN113162138B (en) | 2021-03-05 | 2021-03-05 | Externally hung battery and charging system of underwater robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110244820.5A CN113162138B (en) | 2021-03-05 | 2021-03-05 | Externally hung battery and charging system of underwater robot |
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| CN113162138A CN113162138A (en) | 2021-07-23 |
| CN113162138B true CN113162138B (en) | 2024-04-12 |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN218769862U (en) * | 2022-10-11 | 2023-03-28 | 深圳市思傲拓科技有限公司 | Swimming pool robot battery mounting structure and swimming pool robot |
| CN116193077A (en) * | 2023-02-27 | 2023-05-30 | 中国水产科学研究院黑龙江水产研究所 | Underwater monitoring system for endangered fishes in river |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102954277A (en) * | 2011-08-29 | 2013-03-06 | 中国科学院沈阳自动化研究所 | Air inlet floating valve device of unmanned undersea craft |
| CN206041555U (en) * | 2016-08-25 | 2017-03-22 | 深圳市易容达电子有限公司 | Lithium battery measurement drive control board |
| CN208699028U (en) * | 2018-08-03 | 2019-04-05 | 深圳纳瓦科技有限公司 | A kind of underwater robot |
| CN110789695A (en) * | 2019-08-29 | 2020-02-14 | 金陵科技学院 | A fast obstacle avoidance system and method for underwater robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9739844B2 (en) * | 2014-07-25 | 2017-08-22 | Qualcomm Incorporated | Guidance and alignment system and methods for electric vehicle wireless charging systems |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102954277A (en) * | 2011-08-29 | 2013-03-06 | 中国科学院沈阳自动化研究所 | Air inlet floating valve device of unmanned undersea craft |
| CN206041555U (en) * | 2016-08-25 | 2017-03-22 | 深圳市易容达电子有限公司 | Lithium battery measurement drive control board |
| CN208699028U (en) * | 2018-08-03 | 2019-04-05 | 深圳纳瓦科技有限公司 | A kind of underwater robot |
| CN110789695A (en) * | 2019-08-29 | 2020-02-14 | 金陵科技学院 | A fast obstacle avoidance system and method for underwater robot |
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