CN105173013A - Water surface unmanned surveying vessel - Google Patents
Water surface unmanned surveying vessel Download PDFInfo
- Publication number
- CN105173013A CN105173013A CN201510416555.9A CN201510416555A CN105173013A CN 105173013 A CN105173013 A CN 105173013A CN 201510416555 A CN201510416555 A CN 201510416555A CN 105173013 A CN105173013 A CN 105173013A
- Authority
- CN
- China
- Prior art keywords
- main body
- water surface
- unmanned
- connector clip
- buoyancy aid
- 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.)
- Granted
Links
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 46
- 238000007667 floating Methods 0.000 claims abstract description 22
- 238000004891 communication Methods 0.000 claims description 12
- 239000000498 cooling water Substances 0.000 claims description 3
- 239000003643 water by type Substances 0.000 description 10
- 238000005259 measurement Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000007789 sealing Methods 0.000 description 2
- 238000007493 shaping process Methods 0.000 description 2
- 239000002352 surface water Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 230000001131 transforming effect Effects 0.000 description 1
Landscapes
- Position Fixing By Use Of Radio Waves (AREA)
- Toys (AREA)
Abstract
The invention relates to the field of vessels, in particular to a water surface unmanned surveying vessel. The water surface unmanned surveying vessel comprises a main vessel body (1) and at least one floating body set. The main vessel body (1) is at least used for holding a control system, an underwater surveying instrument (27), a propeller (24), a rudder (26) and a power system. Each floating body set comprises two stability improving floating bodies (2 and 3). The two stability improving floating bodies (2 and 3) are disposed on the two sides of the main vessel body (1) symmetrically and detachably connected with the main vessel body (1). Each of the stability improving floating bodies (2 and 3) is an integrally formed part. The water surface unmanned surveying vessel is adaptable to different water power environments, and the comprehensive operation efficiency of the vessel body is high.
Description
Technical field
The present invention relates to ship domain, especially relate to the unmanned instrumentation ship of a kind of water surface.
Background technology
So far, in the waterborne unmanned instrumentation ship ship type announced, single hull, catamaran and trimaran etc. are had both at home and abroad.Wherein, single hull is the most common, but due to the displacement of this ship type and yardstick all little, the environment for the wind of outside, wave and current is responsive especially, and amplitude of swaying in stormy waves is large, is unfavorable for carrying out of measurement task.Catamaran compares single hull in load carrying ability and stability two all has remarkable improvement, but for ensureing the stable of hull center of gravity and power system drive efficiency, instrument and equipment on ship, the energy and propelling unit need be installed on middle connection bracket or platform, have impact on safety and the globality of hull instrument and equipment.The appearance actv. of trimaran solves this problem, but current trimaran control system and power system are installed on different hull respectively, middle main body and the auxiliary hull of both sides can only integrally use, in the waters that hydrodynamic environment is stable, such structure can increase energy consumption, thus affects flying power.
CN103303438A discloses the shallow phreatic line formula unmanned boat of a kind of fast assembling-disassembling combination, its instrument carries and center-control mainboard is arranged on main body, and Powered Propulsion module is arranged on (comprising motor, oar axle, screw propeller, sealing structure for water) in the phreatic line formula buoyancy aid module of both sides.Although this ship can by the rotation between main body and the phreatic line formula buoyancy aid module of both sides and Slide Group locking device, the center-of-gravity position of adjustment beam, height and front and back is to be applicable to the job requirements under different hydrodynamic environment, but because its main body lacks the ability worked alone, also main body and two side floats must be used jointly in the waters that hydrodynamic environment is stable, therefore, have impact on the comprehensive operation efficiency of hull.
CN103303452A discloses a kind of unmanned boat automatically walking boat without rudder, and it comprises hull, the floating drum of both sides, communication unit, navigation and localization unit, measuring unit, power and driver element, Attitude determination unit, industrial computer, provides the battery of working power for each part mentioned above.Wherein, the motor in power and driver element and screw propeller are arranged in floating drum, therefore, also main body and two side floats must be used jointly, therefore, have impact on the comprehensive operation efficiency of hull in the waters that hydrodynamic environment is stable.
Summary of the invention
(1) technical matters that will solve
The technical problem to be solved in the present invention is to provide and a kind ofly adapts to different hydrodynamic environment and the high unmanned instrumentation ship of the water surface of hull comprehensive operation efficiency.
(2) technical scheme
In order to solve the problems of the technologies described above, the invention provides the unmanned instrumentation ship of a kind of water surface, comprising: at least for settling the main body of control system, underwater survey instrument, screw propeller, yaw rudder and power system; And at least one buoyancy aid group, each buoyancy aid group comprises two and increases steady buoyancy aids, and two increase steady buoyancy aids and are symmetrically located at the both sides of main body and are removably connected with main body, and the steady buoyancy aid of each increasing is formed in one part.
According to the present invention, increase steady buoyancy aid and be removably connected by sliding connector assembly with main body; Wherein, slide connector assembly to comprise: be arranged on the first Connector Clip on main body, be arranged on increase on steady buoyancy aid and with the second Connector Clip of the first Connector Clip grafting and connecting element that the two is fixed together by least one after the first Connector Clip and the second Connector Clip grafting.
According to the present invention, the first Connector Clip is the projection protruded from main body, and the second Connector Clip has the groove with male cooperation, and connecting element is the bolt through the first Connector Clip and the second Connector Clip.
According to the present invention, increase steady buoyancy aid and comprise wing plate and floating drum, wing plate is connected with the second Connector Clip, and floating drum is connected to the below of wing plate by attaching parts.
According to the present invention, main body comprises: for settling the control system cabin of control system; For settling the Power system Module of power system; And for settling the underwater survey instrument of underwater survey instrument to carry cabin; Wherein, the direction pointing to afterbody along the front portion by main body sets gradually control system cabin and Power system Module, and underwater survey instrument carries freight space in the bottom of main body, and screw propeller and yaw rudder are positioned at the afterbody of main body.
According to the present invention, main body also comprises: deck, has the control system cabin hatchcover in coverage control system cabin and covers the Power system Module hatchcover of Power system Module; And navigation antenna above deck and communication antenna are set.
According to the present invention, main body settles control system, control system comprises center-control mainboard, navigation positioning module and communication module.
According to the present invention, main body is settled described power system, screw propeller and yaw rudder, power system comprises and drives the driver module of screw propeller and yaw rudder running and provide the power supply module of propulsion source for driver module.
According to the present invention, main body is settled underwater survey instrument, it is one or more that underwater survey instrument comprises in detectoscope, cooling-water temperature sensor, water quality sensor, water velocity sensor.
(3) beneficial effect
Technique scheme tool of the present invention has the following advantages:
The unmanned instrumentation ship of the water surface of the present invention, main body is at least for settling control system, underwater survey instrument, screw propeller, yaw rudder and power system, namely at least settle the parts needed during the work of the water surface unmanned instrumentation ship, and increase steady buoyancy aid and be removably connected with main body.Thus, main body can work independently, and also can work together with the steady buoyancy aid of increasing.And then, the mode that can main body be adopted to work independently in the waters that hydrodynamic environment is stable, the mode that main body works together with the steady buoyancy aid of increasing can be adopted in the waters that hydrodynamic environment is severe, like this, significantly improve the applicable ability of the unmanned instrumentation ship of the water surface under different hydrodynamic environment, improve the comprehensive operation efficiency of hull.
Accompanying drawing explanation
Fig. 1 is the schematic top plan view of an embodiment of the unmanned instrumentation ship of the water surface of the present invention;
Fig. 2 is the front view of the unmanned instrumentation ship of the water surface shown in Fig. 1;
Fig. 3 is the partial schematic diagram of the unmanned instrumentation ship of the water surface shown in Fig. 1;
Fig. 4 is along the section drawing that A-A ' intercepts in Fig. 3;
Fig. 5 is the structural representation of the main body of the unmanned instrumentation ship of the water surface shown in Fig. 1.
In figure: 1: main body; 2,3: increase steady buoyancy aid; 4: sliding connector assembly; 5: control system cabin; 6: Power system Module; 7: underwater survey instrument carries cabin; 8: deck; 9,10: wing plate; 11,12: floating drum; 13: the first Connector Clips; 14: the second Connector Clips; 15: connecting element; 16: center-control mainboard; 17: navigation positioning module; 18: communication module; 19: electric power board; 20: supplying cell; 21: drive motor; 22: steering wheel; 23: oar axle; 24: screw propeller; 25: pull bar; 26: yaw rudder; 27: underwater survey instrument; 28: control system cabin hatchcover; 29: Power system Module hatchcover; 30: navigation antenna; 31: communication antenna; 32,33: attaching parts.
Detailed description of the invention
For making the object of the embodiment of the present invention, technical scheme and advantage clearly, below in conjunction with the accompanying drawing in the embodiment of the present invention, technical scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment is a part of embodiment of the present invention, instead of whole embodiments.Based on the embodiment in the present invention, the every other embodiment that those of ordinary skill in the art obtain under the prerequisite not making creative work, all belongs to the scope of protection of the invention.Wherein, " top ", " bottom ", " front portion " mentioned by the present invention, " afterbody ", " below ", " front " are all as the criterion with the orientation in Fig. 5, common when these orientation concepts are all applied according to the unmanned instrumentation ship of the water surface of the present invention bearing definition is set, and is not absolute restriction.
See figures.1.and.2, an embodiment of the unmanned instrumentation ship of the water surface of the present invention, it comprises main body 1 and at least one buoyancy aid group.Wherein, main body 1 is at least for settling the main body 1 of control system, underwater survey instrument, screw propeller 24, yaw rudder 26 and power system.Each buoyancy aid group comprises two and increases steady buoyancy aid 2,3, two increase the both sides that steady buoyancy aid 2,3 (namely increase steady buoyancy aid 2 as shown in Figure 2 and increase steady buoyancy aid 3) is symmetrically located at main body 1, and the steady buoyancy aid of each increasing is removably connected with main body 1, the steady buoyancy aid of each increasing is formed in one part.In the present embodiment, show and a buoyancy aid group is set, only comprise a buoyancy aid group and installation error between multiple buoyancy aid group can be avoided to cause unstable situation, also simplify structure and installation procedure, and then preferably, the unmanned instrumentation ship of the water surface of the present invention comprises a buoyancy aid group.
Thus, be removably connected with the steady buoyancy aid 2,3 of increasing by main body 1, main body 1 can work independently, and also can work together with the steady buoyancy aid 2,3 of increasing, namely selectively be changed between single hull and multihull vehicle by unmanned for this water surface instrumentation ship.And then, the mode that main body 1 works independently can be adopted in the waters that hydrodynamic environment is stable, the mode that main body 1 works together with the steady buoyancy aid 2,3 of increasing can be adopted in the waters that hydrodynamic environment is severe, like this, significantly improve the applicable ability of the unmanned instrumentation ship of the water surface under different hydrodynamic environment, solve hydrodynamic environment and stablize waters affects hull comprehensive operation efficiency problem because hull is heavy, improve the comprehensive operation efficiency of hull.
Further, referring to figs. 1 through Fig. 4, in the present embodiment, increase steady buoyancy aid 2,3 to be removably connected by sliding connector assembly 4 with main body 1.Sliding connector assembly 4 comprises the first Connector Clip 13, second Connector Clip 14 and at least one connecting element 15.Wherein, first Connector Clip 13 is arranged on main body 1, second Connector Clip 14 is arranged on to increase on steady buoyancy aid 2,3 and (namely on the steady buoyancy aid 2 of increasing and the steady buoyancy aid 3 of increasing, arranges the second Connector Clip 14 respectively), and the second Connector Clip 14 and the first Connector Clip 13 grafting, connecting element 15 for being fixed together the two (first Connector Clip 13 and second Connector Clip 14) after the first Connector Clip 13 and the second Connector Clip 14 grafting.In other words, connecting element 15 plays fixation to the socket connection of the first Connector Clip 13 and the second Connector Clip 14, only have and remove connecting element 15 being fixedly connected with the first Connector Clip 13 and the second Connector Clip 14, the socket connection of the first Connector Clip 13 and the second Connector Clip 14 could be removed.Fixed through connecting element 15 by the first Connector Clip 13 and the second Connector Clip 14 grafting, main body 1 and increase steady buoyancy aid 2,3 and removably link together.Thus, in the waters that hydrodynamic environment is severe, by this cunning connector assembly 4, main body 1 and the steady buoyancy aid 2,3 of increasing are carried out seamless link, and then constitute the better multihull vehicle type of stability to complete measurement task.And in the stable waters of hydrodynamic environment, can the steady buoyancy aid 2,3 of increasing and main body 1 be departed from easily, and then main body 1 is made to complete separately measurement task.
Further, with reference to Fig. 3 and Fig. 4, in the present embodiment, the first Connector Clip 13 is the projection protruded from main body 1, and the second Connector Clip 14 has the groove with above-mentioned male cooperation, and connecting element 15 is the bolt through the first Connector Clip 13 and the second Connector Clip 14.Thus, cooperation that is protruding and groove constitutes above-mentioned grafting, and bolt constitutes above-mentioned fixing through the first Connector Clip 13 and the second Connector Clip 14.Shown in Figure 3, in the present embodiment, multiple connecting element 15 is set, multiple connecting element 15 arranges equally spacedly and points to the direction arrangement of stern along the fore by the unmanned instrumentation ship of the water surface, firmly to fix the first Connector Clip 13 and the second Connector Clip 14, and then firm fixing main body 1 and increase steady buoyancy aid 2,3.
Certainly, said structure is only an exemplary embodiment of the present invention, in other alternative-embodiments, such as, can arrange groove and the second Connector Clip 14 is configured to projection simultaneously in the first Connector Clip 13; Such as, bolt can be replaced with pin; Such as, above-mentioned " removably connect " can be embodied as be threaded, clamping etc.
In addition, the first Connector Clip 13 integrated with main body 1 (as in above-described embodiment, the first Connector Clip 13 is the projections protruded by main body 1), may also be and to be fixedly connected with main body 1 or to be removably connected.Second Connector Clip 14 with the steady buoyancy aid of increasing 2,3 integrated, may also be and increase steady buoyancy aid 2,3 and be fixedly connected with or be removably connected.
In addition, referring again to Fig. 1 and Fig. 2, in the present embodiment, increase steady buoyancy aid 2,3 to comprise wing plate 9,10 and floating drum 11,12 (composition graphs 3 can be understood, namely increase steady buoyancy aid 2 and comprise wing plate 9 and floating drum 11, increase steady buoyancy aid 3 and comprise wing plate 10 and floating drum 12), wing plate 9,10 is connected with the second Connector Clip 14, floating drum 11 is connected to the below of wing plate 9, and floating drum 12 is connected to the below of wing plate 10.Preferably, connected between floating drum 11 and wing plate 9 by attaching parts 32, connected between floating drum 12 and wing plate 10 by attaching parts 33, attaching parts 32,33 can be the connecting panel of rigidity or the pipe link of rigidity.More preferably, wing plate 9, attaching parts 32 and floating drum 11 adopt same material integral mould shaping, and wing plate 10, attaching parts 33 and floating drum 12 adopt same material integral mould shaping.Wherein, when the unmanned instrumentation ship work of this water surface, wing plate 9,10 is positioned at waterborne, and floating drum 11,12 is positioned under water.
With reference to Fig. 5, in the present embodiment, main body 1 comprises control system cabin 5, Power system Module 6 and underwater survey instrument lift-launch cabin 7.Wherein, control system cabin 5 is for settling control system, and Power system Module 6 is for settling power system, and underwater survey instrument carries cabin 7 for settling underwater survey instrument.As shown in Figure 5, in the present embodiment, along the front portion (fore) by main body 1 towards the direction of the afterbody (stern) of main body 1, control system cabin 5 and Power system Module 6 is set gradually.Underwater survey instrument carries the bottom that cabin 7 is positioned at main body 1, and screw propeller 24 and yaw rudder 26 are positioned at the afterbody (i.e. stern) of main body 1.
With reference to Fig. 1 and Fig. 5, main body 1 also comprises deck 8, navigation antenna 30 and communication antenna 31, and navigation antenna 30 and communication antenna 31 are arranged on deck 8.Deck 8 has control system cabin hatchcover 28 and Power system Module hatchcover 29, and control system cabin hatchcover 28 is positioned at coverage control system cabin 5 above control system cabin 5, and Power system Module hatchcover 29 is positioned at above Power system Module 6 to cover Power system Module 6.Navigation antenna 30 and communication antenna 31 are arranged on the part being positioned at hatchcover 28 front, control system cabin on deck 8.
With further reference to Fig. 5, in the present embodiment, main body 1 is settled control system, power system, screw propeller 24, yaw rudder 26, underwater survey instrument 27.
Control system comprises center-control mainboard 16, navigation positioning module 17 and communication module 18.Main body 1 responds remote operation order by center-control mainboard 16, controls instrument and equipment running on ship, monitors each working state of system, obtain hull real time position by navigation positioning module 17 and by constant navigation course navigation, carried out the upload and download of order and data by communication module 18 and remote control terminal.
Power system comprises power supply module and driver module.Driver module is for driving the running of screw propeller 24 and yaw rudder 26.Wherein, driver module comprises drive motor 21 and steering wheel 22, and drive motor 21 is connected with screw propeller 24 by oar axle 23, is provided with sealing structure for water between drive motor 21 and oar axle 23.Steering wheel 22 is connected with yaw rudder 26 by pull bar 25 (being preferably metal push-pull bar).Power supply module is connected with driver module and thinks that driver module provides propulsion source (in the present embodiment, this propulsion source is electric power), in the present embodiment, power supply module comprises electric power board 19 and supplying cell 20, and this supplying cell 20 provides suitable voltage by electric power board 19 to distinct device.Electric power board is integrated with the transforming circuit module for distinct device.
It is one or more that underwater survey instrument 27 comprises in detectoscope, cooling-water temperature sensor, water quality sensor, water velocity sensor, and underwater survey instrument 27 is connected with transmitting digital signals with the center-control mainboard 16 in control system by fast insert-pull joint.When the unmanned instrumentation ship of this water surface obtains measurement parameter by underwater survey instrument 27.
Generally speaking, comparatively prior art, the unmanned instrumentation ship operation of the water surface and all devices needed for work are all arranged on main body.
To sum up, in the present embodiment, the unmanned instrumentation ship of the water surface of the present invention is the unmanned instrumentation ship of a kind of plug type small-size water surface water surface.The unmanned instrumentation ship of this plug type small-size water surface water surface can fast assembling-disassembling, and be easy to carry transport, the requirement of stable under can meeting different hydrodynamic environment, high-efficient homework.
Last it is noted that above embodiment is only in order to illustrate technical scheme of the present invention, be not intended to limit; Although with reference to previous embodiment to invention has been detailed description, those of ordinary skill in the art is to be understood that: it still can be modified to the technical scheme described in foregoing embodiments, or carries out equivalent replacement to wherein portion of techniques feature; And these amendments or replacement, do not make the essence of appropriate technical solution depart from the spirit and scope of various embodiments of the present invention technical scheme.
Claims (9)
1. the unmanned instrumentation ship of the water surface, is characterized in that, comprising:
At least for settling the main body (1) of control system, underwater survey instrument (27), screw propeller (24), yaw rudder (26) and power system; And
At least one buoyancy aid group, each described buoyancy aid group comprises two and increases steady buoyancy aid (2,3), described two increase steady buoyancy aid (2,3) be symmetrically located at the both sides of described main body (1) and be removably connected with described main body (1), be formed in one the steady buoyancy aid of each described increasing (2,3) part.
2. the unmanned instrumentation ship of the water surface according to claim 1, is characterized in that,
The steady buoyancy aid of described increasing (2,3) is removably connected by sliding connector assembly (4) with described main body (1);
Wherein, described sliding connector assembly (4) comprising: be arranged on the first Connector Clip (13) on described main body (1), be arranged on the steady buoyancy aid of described increasing (2,3) upper and with second Connector Clip (14) of described first Connector Clip (13) grafting and connecting element (15) that the two is fixed together by least one after described first Connector Clip (13) and described second Connector Clip (14) grafting.
3. the unmanned instrumentation ship of the water surface according to claim 2, is characterized in that,
Described first Connector Clip (13) is the projection protruded from described main body (1), described second Connector Clip (14) has the groove with described male cooperation, and described connecting element (15) is the bolt through described first Connector Clip (13) and described second Connector Clip (14).
4. the unmanned instrumentation ship of the water surface according to any one of claim 1-3, is characterized in that,
The steady buoyancy aid (2 of described increasing, 3) wing plate (9 is comprised, 10) and floating drum (11,12), described wing plate (9,10) is connected with described second Connector Clip (14), described floating drum (11,12) below of described wing plate (9,10) is connected to by attaching parts (32,33).
5. the unmanned instrumentation ship of the water surface according to any one of claim 1-3, is characterized in that, described main body (1) comprising:
For settling the control system cabin (5) of described control system;
For settling the Power system Module (6) of described power system; And
Cabin (7) is carried for settling the underwater survey instrument of described underwater survey instrument (27);
Wherein, the direction pointing to afterbody along the front portion by described main body (1) sets gradually described control system cabin (5) and described Power system Module (6), described underwater survey instrument carries the bottom that cabin (7) is positioned at described main body (1), and described screw propeller (24) and described yaw rudder (26) are positioned at the afterbody of described main body (1).
6. the unmanned instrumentation ship of the water surface according to claim 5, is characterized in that, described main body (1) also comprises:
Deck (8), has control system cabin hatchcover (28) covering described control system cabin (5) and the Power system Module hatchcover (29) covering described Power system Module (6); And
Be arranged on the navigation antenna (30) on described deck (8) and communication antenna (31).
7. the unmanned instrumentation ship of the water surface according to claim 1, is characterized in that,
Described main body (1) is upper settles described control system, and described control system comprises center-control mainboard (16), navigation positioning module (17) and communication module (18).
8. the unmanned instrumentation ship of the water surface according to claim 1, is characterized in that,
Described main body (1) is upper settles described power system, described screw propeller (24) and described yaw rudder (26), and described power system comprises driver module that the described screw propeller of driving (24) and described yaw rudder (26) operate and provides the power supply module of propulsion source for described driver module.
9. the unmanned instrumentation ship of the water surface according to claim 1, is characterized in that,
Described main body (1) is upper settles described underwater survey instrument (27), and it is one or more that described underwater survey instrument (27) comprises in detectoscope, cooling-water temperature sensor, water quality sensor, water velocity sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510416555.9A CN105173013B (en) | 2015-07-15 | 2015-07-15 | A kind of unmanned surveying vessel of the water surface |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510416555.9A CN105173013B (en) | 2015-07-15 | 2015-07-15 | A kind of unmanned surveying vessel of the water surface |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105173013A true CN105173013A (en) | 2015-12-23 |
| CN105173013B CN105173013B (en) | 2017-09-29 |
Family
ID=54895599
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510416555.9A Expired - Fee Related CN105173013B (en) | 2015-07-15 | 2015-07-15 | A kind of unmanned surveying vessel of the water surface |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105173013B (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105905248A (en) * | 2016-04-22 | 2016-08-31 | 四方继保（武汉）软件有限公司 | Double-M five-body unmanned ship |
| CN107585264A (en) * | 2017-08-30 | 2018-01-16 | 中国船舶科学研究中心上海分部 | The unmanned guard boat of hydraulic jet propulsion double-vane |
| CN107839845A (en) * | 2017-11-14 | 2018-03-27 | 江苏领安智能桥梁防护有限公司 | A kind of unmanned monitoring ship |
| CN108312145A (en) * | 2018-01-23 | 2018-07-24 | 广州东烁科技有限公司 | Water body monitors and repairs multi-function robot, its course line and positional deviation correction method |
| CN109407596A (en) * | 2018-12-25 | 2019-03-01 | 浙江海洋大学 | A kind of unmanned water quality monitoring ship |
| CN109733546A (en) * | 2019-02-01 | 2019-05-10 | 天津海之星船艇科技有限公司 | A kind of water surface unmanned boat |
| CN117048785A (en) * | 2023-08-31 | 2023-11-14 | 广东海洋大学 | Monomer double-body switching unmanned ship |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2199791A (en) * | 1987-01-14 | 1988-07-20 | Allseas Eng Bv | Method and apparatus for manoeuvering a superstructure element relative to a fixed construction arranged in water |
| CN103303452A (en) * | 2013-05-29 | 2013-09-18 | 武汉楚航测控科技有限公司 | Rudderless unmanned ship capable of automatically sailing |
| CN103303438A (en) * | 2013-05-29 | 2013-09-18 | 武汉楚航测控科技有限公司 | Quick disassembling and assembling shallow diving line type unmanned ship |
| CN103359260A (en) * | 2013-07-18 | 2013-10-23 | 河海大学 | Remote control measuring boat with detachable auxiliary balance wings |
| CN103661818A (en) * | 2013-12-20 | 2014-03-26 | 王化明 | Unmanned intelligent surveying vessel |
| CN203544332U (en) * | 2013-09-13 | 2014-04-16 | 中国人民解放军防化学院 | Survey vessel |
-
2015
- 2015-07-15 CN CN201510416555.9A patent/CN105173013B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2199791A (en) * | 1987-01-14 | 1988-07-20 | Allseas Eng Bv | Method and apparatus for manoeuvering a superstructure element relative to a fixed construction arranged in water |
| CN103303452A (en) * | 2013-05-29 | 2013-09-18 | 武汉楚航测控科技有限公司 | Rudderless unmanned ship capable of automatically sailing |
| CN103303438A (en) * | 2013-05-29 | 2013-09-18 | 武汉楚航测控科技有限公司 | Quick disassembling and assembling shallow diving line type unmanned ship |
| CN103359260A (en) * | 2013-07-18 | 2013-10-23 | 河海大学 | Remote control measuring boat with detachable auxiliary balance wings |
| CN203544332U (en) * | 2013-09-13 | 2014-04-16 | 中国人民解放军防化学院 | Survey vessel |
| CN103661818A (en) * | 2013-12-20 | 2014-03-26 | 王化明 | Unmanned intelligent surveying vessel |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105905248A (en) * | 2016-04-22 | 2016-08-31 | 四方继保（武汉）软件有限公司 | Double-M five-body unmanned ship |
| CN107585264A (en) * | 2017-08-30 | 2018-01-16 | 中国船舶科学研究中心上海分部 | The unmanned guard boat of hydraulic jet propulsion double-vane |
| CN107585264B (en) * | 2017-08-30 | 2024-07-02 | 中国船舶科学研究中心上海分部 | Water-jet propulsion double-wing unmanned patrol boat |
| CN107839845A (en) * | 2017-11-14 | 2018-03-27 | 江苏领安智能桥梁防护有限公司 | A kind of unmanned monitoring ship |
| CN107839845B (en) * | 2017-11-14 | 2019-09-03 | 江苏领安智能桥梁防护有限公司 | A kind of unmanned monitoring ship |
| CN108312145A (en) * | 2018-01-23 | 2018-07-24 | 广州东烁科技有限公司 | Water body monitors and repairs multi-function robot, its course line and positional deviation correction method |
| CN109407596A (en) * | 2018-12-25 | 2019-03-01 | 浙江海洋大学 | A kind of unmanned water quality monitoring ship |
| CN109733546A (en) * | 2019-02-01 | 2019-05-10 | 天津海之星船艇科技有限公司 | A kind of water surface unmanned boat |
| CN117048785A (en) * | 2023-08-31 | 2023-11-14 | 广东海洋大学 | Monomer double-body switching unmanned ship |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105173013B (en) | 2017-09-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105173013A (en) | Water surface unmanned surveying vessel | |
| CN204871491U (en) | Unmanned surveying vessel of surface of water | |
| CN106741584B (en) | Lift-type high speed ocean robot | |
| US9932097B2 (en) | Trimmable pod drive | |
| RU2563285C2 (en) | Marine power generation self-contained module and respective composite vessel | |
| CN110525623B (en) | Ship side thruster motor base and welding method thereof | |
| CN211568242U (en) | Unmanned sailing boat for marine environment observation | |
| CN111055988B (en) | Steering engine for wave energy autonomous glider | |
| KR20120127659A (en) | Marine propulsion apparatus | |
| CN111169597B (en) | Unmanned sailing boat for marine environment observation | |
| CN204077981U (en) | Bone combined multi-hull boat | |
| CN108622350A (en) | Single submerged body unmanned vehicles | |
| EP0716012B1 (en) | Submersible boat | |
| CN113716003B (en) | X-shaped rudder underwater vehicle and rudder clamp anti-sinking method thereof | |
| CN210653541U (en) | Modularized double-body unmanned boat | |
| CN104908917A (en) | Flexible rudder and control device thereof | |
| CN109204729A (en) | The controllable folding type T-type wing peculiar to vessel | |
| CN204998740U (en) | Nimble rudder device | |
| CN114313168A (en) | Chain type multi-body autonomous underwater robot | |
| CN112109851B (en) | Portable hybrid power vector propulsion unmanned ship | |
| CN112977745A (en) | Wave compensation ship and wave compensation method thereof | |
| CN208325568U (en) | A kind of petroleum works job platform to navigate certainly from liter | |
| GB2417017A (en) | A system for controlling the position/heading of work vessels | |
| CN218021084U (en) | Overwater power buoyancy tank | |
| CN104163234A (en) | Buoyant box module of integrated barge |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170929 |