CN108820142A - A kind of intelligent cruise unmanned boat - Google Patents
A kind of intelligent cruise unmanned boat Download PDFInfo
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- CN108820142A CN108820142A CN201810593731.XA CN201810593731A CN108820142A CN 108820142 A CN108820142 A CN 108820142A CN 201810593731 A CN201810593731 A CN 201810593731A CN 108820142 A CN108820142 A CN 108820142A
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- hull
- unmanned boat
- unmanned plane
- unmanned
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 21
- 238000011221 initial treatment Methods 0.000 claims abstract description 15
- 238000004891 communication Methods 0.000 claims abstract description 14
- 229920001343 polytetrafluoroethylene Polymers 0.000 claims description 6
- 239000004810 polytetrafluoroethylene Substances 0.000 claims description 6
- 239000011521 glass Substances 0.000 claims description 4
- 239000004696 Poly ether ether ketone Substances 0.000 claims description 3
- 229920002530 polyetherether ketone Polymers 0.000 claims description 3
- -1 polytetrafluoroethylene Polymers 0.000 claims description 3
- 239000002283 diesel fuel Substances 0.000 claims 1
- 230000008450 motivation Effects 0.000 claims 1
- 238000002360 preparation method Methods 0.000 abstract description 2
- 230000000007 visual effect Effects 0.000 abstract description 2
- 230000004888 barrier function Effects 0.000 description 4
- 230000005611 electricity Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 239000013535 sea water Substances 0.000 description 2
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000011505 plaster Substances 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000004064 recycling Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B45/00—Arrangements or adaptations of signalling or lighting devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/20—Use of propulsion power plant or units on vessels the vessels being powered by combinations of different types of propulsion units
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/20—Use of propulsion power plant or units on vessels the vessels being powered by combinations of different types of propulsion units
- B63H2021/202—Use of propulsion power plant or units on vessels the vessels being powered by combinations of different types of propulsion units of hybrid electric type
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of intelligent cruise unmanned boats, including hull, equipped with unmanned plane on hull, power supply is internally provided in hull, diesel engine, data primary treatment module and control unit, diesel engine is connect by generator with power supply, control unit includes wireless communication module and navigation module, hull is wirelessly connected by wireless communication module and land or mother ship carrier control system, data acquisition device is provided on unmanned plane, hull bottom is provided with multibeam echosounder, submarine tail is provided with water jet propulsion pump, water jet propulsion pump is connect with diesel engine, power supply is that hull and unmanned plane are powered, data primary treatment module will be transferred to land or mother ship carrier control system after the data primary treatment of acquisition.The invention sufficiently expands the cruise visual field of unmanned boat, so that land operator is predicted around unmanned boat in time and longer-distance cruise route ambient conditions, in order to carry out the preparation of cruise route planning or adjustment early.
Description
Technical field
The present invention relates to unmanned boat fields, specifically design a kind of intelligent cruise unmanned boat.
Background technique
Unmanned water surface ship (Unmanned Surface Vehicle), i.e. USV, as the term suggests it is exactly not need manual control
Ship.Unmanned boat is actually underwater surface robot, and the information collection apparatus as a kind of tip is closed extensively by all circles
Note.In response to the call of industry 4.0, the development of unmanned boat is very rapid in recent years.Unmanned boat is exploration, collects and transmit water
The important device of face underwater information.It usually will be installed the precision equipments such as camera, sensor and controller on unmanned boat.USV and
Conventional naval vessels are different, its light weight, small in size, flexibility is high, and " can be embedded in " into other surface ships.
It is corresponding to be utilized in installation on unmanned boat in actual use, the cruise environment acquisition of unmanned boat in unmanned boat more
Image collecting device, since image collecting device is mounted on unmanned boat ontology, and the limited height of unmanned boat ontology, this is just
Lead to the limited view of unmanned boat image collecting device, longer-distance cruise route ring around unmanned boat cannot be predicted in time
Border, it is therefore necessary to develop a kind of with wide-field cruise unmanned boat.
Summary of the invention
It is an object of the invention to overcome defect existing in the prior art, a kind of intelligent cruise unmanned boat, the hair are provided
The bright cruise visual field for sufficiently expanding unmanned boat, so that land operator predicts around unmanned boat in time and longer-distance patrols
Air route thread environment situation, in order to carry out the preparation of cruise route planning or adjustment early.
To achieve the above object, technical solution of the present invention provides a kind of intelligent cruise unmanned boat, including hull, hull
On equipped with unmanned plane, it is single to be internally provided with power supply, diesel engine, data primary treatment module and control in hull
Member, diesel engine are connect by generator with power supply, and control unit includes wireless communication module and navigation module, hull
It is wirelessly connected by wireless communication module and land or mother ship carrier control system, unmanned plane is provided on hull and shuts down platform, nobody
Machine shuts down and is provided with unmanned plane connector on platform, and the unmanned plane is electrically connected by data power line with unmanned boat, in the nothing
It is provided with data acquisition device on man-machine, hull bottom is provided with multibeam echosounder, submarine tail is provided with water spray and pushes away
Into pump, the water jet propulsion pump is connect with diesel engine, and the power supply is that hull and unmanned plane are powered, at the beginning of the data
Grade processing module will be transmitted after data acquisition device and the data primary treatment of multibeam echosounder acquisition through wireless communication module
To land or mother ship carrier control system.
Preferably, rope is also connected between the unmanned plane and unmanned boat, the unmanned plane connector is spool, spool
It is equipped with tension sensor, spool is connected with reel motor, and described rope one end is fixed on the other end and unmanned plane on spool and is connected
It connects, the data power line is attached on rope by several connectors.
Preferably, the data acquisition device includes radar detector, infrared detecting set, video camera and laser range finder.
Preferably, 360 ° of rotating bases are provided with below the unmanned plane, the data acquisition device is mounted on rotation bottom
On seat, transparent glass cover is installed outside the data acquisition device.
Preferably, the power supply is battery, and the unmanned boat upper surface is equipped with solar panel, it is described too
Positive energy solar panel is electrically connected with battery input terminal；The generator input terminal is connect with diesel engine, generator output end
It is electrically connected with battery input terminal.
Preferably, in front of the unmanned boat and/or rear is equipped with ultrasonic wave detector.
Preferably, GPS positioning system, inertial navigation system are additionally provided with inside the hull.
Preferably, the unmanned boat, unmanned plane and water jet propulsion pump are all made of polytetrafluoroethylene (PTFE) or polyether-ether-ketone plated film.
The advantages of the present invention are：
1, unmanned plane flies in the top of unmanned boat, can be more remote with 360 ° of acquisitions by Unmanned Aerial Vehicle Data acquisition device
Cruise route environmental data, cruise route subsea environment data are acquired by the multibeam echosounder of unmanned boat bottom, and
The cruise environment data of acquisition are fed back in real time to land or mother ship carrier control system by data primary treatment module, convenient for behaviour
Make personnel predict in time unmanned boat cruise route environment early carry out cruise route planning and adjustment.
2, it is connected between unmanned plane and unmanned boat by rope, data power line is attached on rope, is provided on spool
Tension sensor carries out the folding and unfolding adjustment of rope in time according to the value of thrust of rope, avoids the high strung of the tension of data power line
And it is broken.
3, in front of unmanned boat and/or rear is equipped with ultrasonic wave detector, can predict in time in front of unmanned boat and/or after
Barrier in square cruise route avoids the direct of unmanned boat and barrier so as to carry out cruise route adjustment early
Collision.
4, diesel engine drives hydraulic jet propulsion pump work to provide power drive for unmanned boat, while diesel engine connects
There is generator, the output end of generator is connect with battery, constantly provides electric power input for battery, while on unmanned boat too
Positive energy solar panel also provides electric energy input for battery, ensure that the battery durable ability of battery during cruise.
Detailed description of the invention
Fig. 1 is unmanned boat top view；
Fig. 2 is unmanned boat usage state diagram；
Fig. 3 is enlarged drawing at A in Fig. 2；
Fig. 4 is unmanned boat schematic diagram.
Description of symbols：
1, hull；2, unmanned plane；3, land or mother ship carrier control system；4, unmanned plane shuts down platform；5, unmanned plane connector；6,
Data power line；7, data acquisition device；8, connector；9, diesel engine；10, data primary treatment module；11, control is single
Member；12, multibeam echosounder；13, water jet propulsion pump；14, rope；15, spool；16, battery；17, solar panel；
18, ultrasonic wave detector；19, wireless communication module；20, rotating base；21, cloche；22, GPS positioning system；23, inertia
Navigation system.
Specific embodiment
With reference to the accompanying drawings and examples, further description of the specific embodiments of the present invention.Following embodiment is only
For clearly illustrating technical solution of the present invention, and not intended to limit the protection scope of the present invention.
As depicted in figs. 1 and 2, including hull 1, equipped with unmanned plane 2 on hull 1, power supply electricity is internally provided in hull 1
Source, diesel engine 9, data primary treatment module 10 and control unit 11, diesel engine 9 pass through generator and power supply electricity
Source connection, control unit 11 include wireless communication module 19 and navigation module, hull 1 by wireless communication module 19 and land or
Mother ship carrier control system 3 is wirelessly connected, and unmanned plane is provided on hull 1 and shuts down platform 4, unmanned plane shuts down and is provided with nobody on platform 4
Machine connector 5, the unmanned plane 2 are electrically connected by data power line 6 with unmanned boat, are provided with data on the unmanned plane 2
Acquisition device 7, is provided with multibeam echosounder 12 in 1 bottom of hull, and 1 tail portion of hull is provided with water jet propulsion pump 13, described
Water jet propulsion pump 13 is connect with diesel engine 9, and the power supply is that hull 1 and unmanned plane 2 are powered, at the data primary
Reason module 10 will pass after data primary treatment that data acquisition device 7 and multibeam echosounder 12 acquire through wireless communication module 19
It is defeated by land or mother ship carrier control system 3.Rope 14, the unmanned plane connection are also connected between the unmanned plane 2 and unmanned boat
Part 5 is spool 15, and spool 15 is equipped with tension sensor, and spool 15 is connected with reel motor, and described 14 one end of rope is fixed on
The other end is connect with unmanned plane 2 on spool 15, and the data power line 6 is attached on rope 14 by several connectors 8.
As shown in figure 3, being provided with 360 ° of rotating bases 20 below the unmanned plane 2, the data acquisition device 7 is mounted on
On rotating base 20, transparent glass cover 21 is installed outside the data acquisition device 7.
Preferred mode is that the data acquisition device includes radar detector, infrared detecting set, camera shooting in the present embodiment
Machine and laser range finder.
Preferred mode is in the present embodiment, and the power supply is battery, and the unmanned boat upper surface is equipped with too
Positive energy solar panel, the solar panel are electrically connected with battery input terminal；The generator input terminal and diesel engine
Connection, generator output end are electrically connected with battery input terminal.
Preferred mode is in the present embodiment, and in front of the unmanned boat and/or rear is equipped with ultrasonic wave detector.
Preferred mode is that GPS positioning system, inertial navigation system are additionally provided with inside the hull in the present embodiment
System, the information such as speed, yaw angle and position of the unmanned boat in navigational coordinate system are monitored convenient for operator at any time.
Preferred mode is that the unmanned boat, unmanned plane and water jet propulsion pump are all made of polytetrafluoroethylene (PTFE) in the present embodiment
Or polyether-ether-ketone plated film, prevent seawater corrosion.
Preferred mode is in the present embodiment, and the water jet propulsion pump and unmanned boat tail portion junction are equipped with joint shaft
It holds, oscillating bearing is connect with steering motor, and motor drives oscillating bearing to rotate water jet propulsion pump in the horizontal direction, i.e. change nothing
The navigation direction of people's ship；The water outlet of the water jet propulsion pump is additionally provided with lid, and when unmanned boat navigation, lid is opened, nobody
When ship is static, lid closure prevents seawater from flowing backwards into pump.
Preferred mode is in the present embodiment, the connector be rubber ring, adhesive plaster, clip, realize data power line with
Being flexible coupling between rope.
The working principle of unmanned boat：
As shown in figure 4, operator is by land or mother ship carrier control system 3 through wireless communication module when unmanned boat cruises
19 start unmanned plane 2 and unmanned boat to manipulate the control unit 11 on unmanned boat；Control unit 11 starts reel motor and drives volume
Axis 15 slowly discharges rope 14 and data power supply line 6, and unmanned plane 2 is slowly raised up to specified altitude assignment；Land or mother ship carrier control system
System 3 realizes the control to unmanned boat cruise route by unmanned boat navigation module, while unmanned boat traction unmanned plane 2 is in unmanned boat
Top flight；Rotating base 20 on unmanned plane 2 drives data acquisition device 7 to carry out 360 ° of data acquisitions to cruise environment, and
Collected data are transferred to data primary treatment module 10, meanwhile, multibeam echosounder 12 is by collected cruise route
The environmental data in seabed is transferred to data primary treatment module 10, and data primary treatment module 10 will be at the data primary that received
By 19 real-time Transmission of wireless communication module to land or mother ship carrier control system 3 after reason；Operator feeds back according to unmanned boat
Real-time cruise route road condition data timely understands unmanned boat cruise route situation, can also be adjusted in real time according to cruise route road conditions
Whole cruise route；Cruise operation terminates, the control unit 11 of land or the control unmanned boat of mother ship carrier control system 3, starting spool electricity
Machine drives spool 15 to furl rope 14 and data power supply line 6, realizes the recycling of unmanned plane, final unmanned plane 2 rests in nobody
Unmanned plane on ship is shut down on platform 4.
In flight course, when the pulling force on rope 14 is greater than XmaxWhen, tension sensor on spool 15 is to control unit 11
The excessive signal of pressure is issued, control unit 11 controls reel motor and discharges to rope 14 and data power supply line 6；When rope 14
On pulling force be less than XminWhen, the tension sensor on spool 15 issues the too small signal of pressure, control unit 11 to control unit 11
Control reel motor tightens rope 14 and data power supply line 6；Wherein rope 14 has tension force effect, data power line 6
Always it is in relaxed state, ensure that data power line 6 is not torn.
Diesel engine drives the work of water jet propulsion pump 13 to provide power drive for unmanned boat, while diesel engine connects
There is generator, the output end of generator is connect with battery 16, constantly provides electric power input for battery 16, while on unmanned boat
Solar panel 17 also for battery 16 provide electric energy input, ensure that cruise during battery 16 battery durable energy
Power.
During cruise, when the ultrasonic wave detector 18 in 2 front of unmanned plane and/or rear perceives front and/or rear
When there are the barriers such as submerged reef, data are transferred to control unit 11 by data power line 6 in time, control unit 11 starts nobody
Navigation module on ship, while the water spraying direction for adjusting hydraulic propeller 13 cooks up the cruise route of detour barrier again.
The image of target farther out may be implemented by adjusting the camera focal length in the data acquisition device 7 on unmanned plane 2
Shooting；When night navigates by water, the infrared detecting set in data acquisition device 7 on unmanned plane 2 can acquire target data；Unmanned plane
The radar detector in data acquisition device 7 on 2 can detect whether front has the targets such as aircraft and acquire corresponding
Data；The laser range finder in data acquisition device 7 on unmanned plane 2 can measure the distance between target and unmanned boat.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, several improvements and modifications can also be made, these improvements and modifications
Also it should be regarded as protection scope of the present invention.
Claims (8)
1. a kind of intelligent cruise unmanned boat, which is characterized in that including hull, equipped with unmanned plane on hull, set inside hull
It is equipped with power supply, diesel engine, data primary treatment module and control unit, diesel engine is by generator and supplies
Power supply connection, control unit include wireless communication module and navigation module, and hull passes through wireless communication module and land or mother
Warship control system is wirelessly connected, and unmanned plane is provided on hull and shuts down platform, unmanned plane, which is shut down, is provided with unmanned plane connection on platform
Part, the unmanned plane are electrically connected by data power line with unmanned boat, are provided with data acquisition device on the unmanned plane,
Hull bottom is provided with multibeam echosounder, submarine tail is provided with water jet propulsion pump, the water jet propulsion pump and diesel oil are sent out
Motivation connection, the power supply are that hull and unmanned plane are powered, the data primary treatment module by data acquisition device and
Land or mother ship carrier control system are transferred to through wireless communication module after the data primary treatment of multibeam echosounder acquisition.
2. a kind of intelligent cruise unmanned boat as described in claim 1, it is characterised in that：Between the unmanned plane and unmanned boat also
It is connected with rope, the unmanned plane connector is spool, and spool is equipped with tension sensor, and spool is connected with reel motor, institute
It states rope one end and is fixed on the other end on spool and connect with unmanned plane, the data power line is attached to rope by several connectors
Suo Shang.
3. a kind of intelligent cruise unmanned boat as claimed in claim 2, it is characterised in that：The data acquisition device includes radar
Survey meter, infrared detecting set, video camera and laser range finder.
4. a kind of intelligent cruise unmanned boat as claimed in claim 3, it is characterised in that：360 ° are provided with below the unmanned plane
Rotating base, the data acquisition device are mounted on rotating base, and transparent glass is equipped with outside the data acquisition device
Glass cover.
5. a kind of intelligent cruise unmanned boat as described in claim 1, it is characterised in that：The power supply is battery, institute
It states unmanned boat upper surface and solar panel is installed, the solar panel is electrically connected with battery input terminal；The hair
Input end of motor is connect with diesel engine, and generator output end is electrically connected with battery input terminal.
6. a kind of intelligent cruise unmanned boat as described in claim 1, it is characterised in that：In front of the unmanned boat and/or rear
Ultrasonic wave detector is installed.
7. a kind of intelligent cruise unmanned boat as claimed in claim 6, it is characterised in that：It is additionally provided with inside the hull
GPS positioning system, inertial navigation system.
8. a kind of intelligent cruise unmanned boat as described in claim 1~7 any one, it is characterised in that：The unmanned boat, nothing
Man-machine and water jet propulsion pump is all made of polytetrafluoroethylene (PTFE) or polyether-ether-ketone plated film.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810593731.XA CN108820142A (en) | 2018-06-11 | 2018-06-11 | A kind of intelligent cruise unmanned boat |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810593731.XA CN108820142A (en) | 2018-06-11 | 2018-06-11 | A kind of intelligent cruise unmanned boat |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108820142A true CN108820142A (en) | 2018-11-16 |
Family
ID=64143404
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810593731.XA Pending CN108820142A (en) | 2018-06-11 | 2018-06-11 | A kind of intelligent cruise unmanned boat |
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| CN (1) | CN108820142A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109298709A (en) * | 2018-12-25 | 2019-02-01 | 哈尔滨工程大学 | A kind of unmanned surface vehicle detection and tracking for shallow water pipeline |
| CN110588938A (en) * | 2019-09-30 | 2019-12-20 | 国家海洋技术中心 | Unmanned ship composite energy driving system |
| CN112429185A (en) * | 2020-11-03 | 2021-03-02 | 国网浙江省电力有限公司衢州供电公司 | Multistage-driving bionic underwater robot driving system and driving method |
| CN112688411A (en) * | 2020-11-18 | 2021-04-20 | 卓旺(安徽)航空科技产业股份有限公司 | 50 meters of high-power supply mooring system under water of unmanned aerial vehicle |
| CN113460237A (en) * | 2021-07-26 | 2021-10-01 | 交通运输部南海航海保障中心海口航标处 | Navigation mark with unmanned function of cruising |
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| CN107140145A (en) * | 2017-04-27 | 2017-09-08 | 上海大学 | A kind of unmanned boat folding and unfolding unmanned plane device |
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| CN105303899A (en) * | 2015-11-12 | 2016-02-03 | 范云生 | Child-mother type robot cooperation system of combination of unmanned surface vessel and unmanned aerial vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109298709A (en) * | 2018-12-25 | 2019-02-01 | 哈尔滨工程大学 | A kind of unmanned surface vehicle detection and tracking for shallow water pipeline |
| CN110588938A (en) * | 2019-09-30 | 2019-12-20 | 国家海洋技术中心 | Unmanned ship composite energy driving system |
| CN112429185A (en) * | 2020-11-03 | 2021-03-02 | 国网浙江省电力有限公司衢州供电公司 | Multistage-driving bionic underwater robot driving system and driving method |
| CN112688411A (en) * | 2020-11-18 | 2021-04-20 | 卓旺(安徽)航空科技产业股份有限公司 | 50 meters of high-power supply mooring system under water of unmanned aerial vehicle |
| CN113460237A (en) * | 2021-07-26 | 2021-10-01 | 交通运输部南海航海保障中心海口航标处 | Navigation mark with unmanned function of cruising |
| CN113460237B (en) * | 2021-07-26 | 2022-05-31 | 交通运输部南海航海保障中心海口航标处 | Navigation mark with unmanned function of cruising |
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Application publication date: 20181116 |
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| RJ01 | Rejection of invention patent application after publication |