CN110316326B - Flexible double-body unmanned boat with adjustable posture - Google Patents
Flexible double-body unmanned boat with adjustable posture Download PDFInfo
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- CN110316326B CN110316326B CN201910658793.9A CN201910658793A CN110316326B CN 110316326 B CN110316326 B CN 110316326B CN 201910658793 A CN201910658793 A CN 201910658793A CN 110316326 B CN110316326 B CN 110316326B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B1/00—Hydrodynamic or hydrostatic features of hulls or of hydrofoils
- B63B1/02—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement
- B63B1/10—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement with multiple hulls
- B63B1/14—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement with multiple hulls the hulls being interconnected resiliently or having means for actively varying hull shape or configuration
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B1/00—Hydrodynamic or hydrostatic features of hulls or of hydrofoils
- B63B1/32—Other means for varying the inherent hydrodynamic characteristics of hulls
- B63B1/322—Other means for varying the inherent hydrodynamic characteristics of hulls using aerodynamic elements, e.g. aerofoils producing a lifting force
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B17/00—Vessels parts, details, or accessories, not otherwise provided for
- B63B17/0081—Vibration isolation or damping elements or arrangements, e.g. elastic support of deck-houses
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H5/00—Arrangements on vessels of propulsion elements directly acting on water
- B63H5/07—Arrangements on vessels of propulsion elements directly acting on water of propellers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- 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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T70/00—Maritime or waterways transport
- Y02T70/10—Measures concerning design or construction of watercraft hulls
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- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Vibration Prevention Devices (AREA)
- Accessories Of Cameras (AREA)
- Vibration Dampers (AREA)
Abstract
The invention belongs to the technical field of unmanned boats, and particularly discloses a flexible two-body unmanned boat with an adjustable posture, which comprises a power propulsion device, wherein two sides of the power propulsion device are provided with symmetrical double-air-cushion type cylindrical support body devices; the power propulsion device is provided with a spring damping device connected with the control device, and the power propulsion device is provided with a pair of telescopic devices connected with the double-air-cushion type cylindrical support body device; according to the unmanned ship, the symmetrical double-air-cushion type cylindrical supporting body devices are arranged on the two sides of the power propulsion device, so that the unmanned ship can sail stably, the power propulsion device and the double-air-cushion type cylindrical supporting body devices are connected through the flexible structure, the sailing stability of the unmanned ship is improved, the tail of a deck is connected with the telescopic device, the sailing speed and the sailing posture can be adjusted at any time, the adjustability of the unmanned ship is more flexible, the design of the spring damping device plays a good role in buffering and damping on a control platform, and the abrasion among all precise parts on the control platform is reduced.
Description
Technical Field
The invention belongs to the technical field of unmanned boats, and particularly relates to a flexible double-body unmanned boat with an adjustable posture.
Background
With the development of key technologies of unmanned boats, the unmanned boats with good various performances, shallow draft and long endurance have been developed at home and abroad, and the unmanned boats can perform tasks along with the sea of ships. However, due to the influence of the self weight and the severe marine environment, the unmanned ship has single sailing posture, poor energy regulation, serious abrasion of key parts and high maintenance cost, and cannot meet the multi-task requirements in the complex field and the severe environment. Therefore, in the face of a complex marine environment, how to adjust the speed and the sailing posture of the unmanned ship and improve the service life of the unmanned ship are key factors for the development of the unmanned ship.
Disclosure of Invention
In order to solve the problem that the existing unmanned ship is easy to generate unstable navigation speed and unstable navigation attitude when facing a complex marine environment, the invention provides a flexible double-body unmanned ship capable of adjusting the navigation speed and the navigation attitude and reducing the abrasion of precision parts of the unmanned ship.
Based on the above purpose, the invention is realized by the following technical scheme:
a flexible double-body unmanned boat with adjustable posture comprises a power propulsion device, wherein symmetrical double-air-cushion type cylindrical support body devices are arranged on two sides of the power propulsion device; the power propulsion device is provided with a control device connected through a spring damping device, and the power propulsion device is also provided with a pair of expansion devices connected with the double-air-cushion type cylindrical support body device.
Preferably, the spring damping device comprises a high-strength spring, long connecting rods are arranged at two ends of the high-strength spring, a short connecting rod is arranged at one end of any one long connecting rod far away from the high-strength spring, and a damping ball hinge head is arranged at one end of the short connecting rod far away from the long connecting rod; the high-strength spring is sleeved with a cylindrical sleeve matched with the long connecting rods at two ends, the two ends of the cylindrical sleeve are respectively arranged into movable holes matched with the long connecting rods, and sealing rings are arranged on the movable holes.
Preferably, the double air cushion type cylindrical support device comprises an air bag, a support plate is arranged on the air bag, and a pair of universal shaft seats is arranged on the support plate.
Preferably, the power propulsion device comprises a deck, a guide plate is arranged at the front end of the deck, a pair of propellers which are symmetrical along the axis of the deck is arranged at the tail end of the deck, a pair of rigid connecting rods are arranged on the top surface of the deck, connecting ball hinge heads are arranged at the ends of the rigid connecting rods, and the rigid connecting rods are connected with the top surface of the deck through fixing seats; the top surface of the deck is also provided with two pairs of spherical hinge fixing seats, and the top surface of the deck is provided with a pair of spherical hinge holes; the connecting ball hinged head is matched with the universal shaft seat.
Preferably, the telescopic device comprises an electric push rod, the movable end of the electric push rod is provided with a movable spherical hinge head, and the fixed end of the electric push rod is provided with a deck spherical hinge head; the movable spherical hinge head is matched with the universal shaft seat; the spherical hinge head of the deck is matched with the spherical hinge hole.
Preferably, the control device comprises a control platform, a laser radar is arranged on the control platform, a front lighting system is arranged on one side of the laser radar, and a millimeter wave radar is arranged on the other side of the laser radar; the bottom surface of the control platform is provided with spherical hinge supporting seats which are matched with the spherical hinge fixing seats.
Preferably, one end of the inflatable bag, which is consistent with the advancing direction of the unmanned boat, is in a conical shape.
Preferably, the deck is clearance fitted to the control platform; the spring damping device is obliquely arranged with the power propulsion device and the control device.
Preferably, the damping spherical hinge head at one end of the spring damping device is connected with the spherical hinge fixing seat, and the damping spherical hinge head at the other end of the spring damping device is connected with the spherical hinge supporting seat.
Compared with the prior art, the invention has the following beneficial effects:
(1) the two sides of the power propulsion device are provided with symmetrical double-air-cushion type cylindrical supporting body devices to ensure that the unmanned ship sails stably, the design of the spring damping device plays a good role in buffering and damping the control platform, the abrasion among all precision parts on the control platform is reduced, and the service life of the unmanned ship in severe environment is prolonged; the telescopic device can adjust the navigation speed and the navigation attitude at any time, so that the adjustability of the unmanned ship is more flexible.
(2) High strength spring can furthest's reduction the feel of vibration that jolts and bring when unmanned ship airline, and long connecting rod, short connecting rod combine together with the shock attenuation ball pivot, install in the position that needs, play fixed and the stable effect of keeping spring damping device, and high strength spring can be protected to the cylinder sleeve, guarantees that high strength spring can long-time safe handling, ensures high strength spring's reliability, and the movable orifice guarantees that long connecting rod can free activity, can transmit the vibrations that receive for high strength spring. The sealing ring can effectively seal, prevent that sea water etc. from getting into the cylinder sleeve, prevent that high strength spring from rustting, extension high strength spring life.
(3) The inflatable bag can ensure the buoyancy of the whole unmanned boat on the water surface, and a supporting plate on the inflatable bag is matched with the universal shaft seat to play a role in fixing the power propulsion device.
(4) The guide plate both sides are streamlined and play the effect that reduces the navigation resistance, and the advancing direction and the speed of unmanned ship are controlled more easily to the propeller of a pair of symmetry, and rigid link and connection ball hinge head cooperate and can be fixed with universal axle seat safety, and the ball hinge fixing base plays the effect of installation spring damping device, and the spherical hinge hole is convenient for fix deck ball hinge head.
(5) Electric putter plays timely flexible effect, and the distance between flexible adjustment gas cell tail end and the deck through electric putter plays adjustment navigation speed and gesture at any time, makes the more nimble effect of the regulation of unmanned ship, and deck ball pivot and ball pivot hole cooperate, make things convenient for telescoping device to fix on the deck, and activity ball pivot cooperatees with universal shaft seat, can adjust the direction of gas cell, the gesture of adjustment unmanned ship.
(6) The front lighting system on the control platform is used for lighting, the laser radar is matched with the millimeter wave radar to play a role in pairing, and the spherical hinge supporting seat plays a role in connecting and supporting the spring damping device.
(7) One end of the inflatable bag, which is consistent with the advancing direction of the unmanned ship, is in a cone shape, so that the resistance caused by the advancing of the unmanned ship can be reduced, and the unmanned ship can conveniently run in an accelerated manner.
(8) The deck is in clearance fit with the control platform, the deck is prevented from being in direct contact with the control platform, the spring damping device is completely used for reducing vibration conduction, and precision equipment on the control platform is protected. The spring damping device, the power propulsion device and the control device are obliquely arranged, so that the damping effect on the control device can be effectively exerted.
(9) The spherical hinge fixing seat is connected with the spherical hinge supporting seat through the damping spherical hinge head on the spring damping device, so that jolting and vibration caused by a deck in navigation can be reduced to a great extent, abrasion among all precise parts on the control platform is greatly reduced, and the service life of the unmanned ship in severe environment is prolonged.
In conclusion, the symmetrical double-air-cushion type cylindrical support devices are arranged on the two sides of the power propulsion device, so that the unmanned ship can sail stably, the power propulsion device and the double-air-cushion type cylindrical support devices are connected by adopting a flexible structure, the sailing stability of the unmanned ship is improved, the tail of a deck is connected with the telescopic device, the sailing speed and the sailing posture can be adjusted at any time, the adjustability of the unmanned ship is more flexible, the design of the spring damping device plays a good role in buffering and damping the control platform, the abrasion among all precise parts on the control platform is reduced, the service life of the unmanned ship under severe environment is prolonged, and the two sides of the guide plate at the front end of the installed deck are streamlined to play a role in reducing sailing resistance.
Drawings
FIG. 1 is a schematic view of a catamaran unmanned boat of example 1;
fig. 2 is a schematic view of the posture change of the catamaran unmanned surface vehicle of embodiment 1;
FIG. 3 is a schematic view showing the structure of a double air cushion type cylindrical support body according to example 1;
FIG. 4 is a schematic structural view of a spring damper device according to embodiment 1;
FIG. 5 is a schematic view of a control platform of embodiment 1;
FIG. 6 is a schematic view of a propeller propulsion power system according to embodiment 1;
fig. 7 is a schematic view of the left side structure of fig. 6 of embodiment 1.
In the figure, 1, a double air cushion type cylindrical support body device, 2, a spring damping device, 3, a control device, 4, a power propulsion device, 5, a telescopic device, 101, an inflatable bag, 102, a support plate, 103, a universal shaft seat, 201, a damping ball hinge head, 202, a long connecting rod, 203, a high-strength spring, 204, a cylindrical sleeve, 205, a short connecting rod, 301, a front lighting system, 302, a laser radar, 303, a millimeter wave radar, 304, a ball hinge support seat, 305, a control platform, 401, a rigid connecting rod, 402, a connecting ball hinge head, 403, a fixed seat, 404, a ball hinge fixed seat, 405, a guide plate, 406, a deck, 407 and a propeller.
Detailed Description
The present invention will be described in further detail with reference to the following examples, which are not intended to limit the scope of the present invention.
Example 1:
a posture-adjustable flexible double-body unmanned ship is structurally shown in figures 1-7 and comprises a power propulsion device 4, wherein two sides of the power propulsion device 4 are provided with symmetrical double-air-cushion type cylindrical supporting body devices 1; the power propulsion device 4 is provided with a control device 3 connected with the spring damping device 2, and the power propulsion device 4 is also provided with a pair of expansion devices 5 connected with the double air cushion type cylindrical support body device 1.
The spring damping device 2 comprises a high-strength spring 203, long connecting rods 202 are arranged at two ends of the high-strength spring 203, a short connecting rod 205 is arranged at one end of any one long connecting rod 202 far away from the high-strength spring 203, and a damping spherical hinge head 201 is arranged at one end of the short connecting rod 205 far away from the long connecting rod 202; the high-strength spring 203 is sleeved with a cylindrical sleeve 204 matched with the long connecting rods 202 at two ends, two ends of the cylindrical sleeve 204 are respectively provided with a movable hole matched with the long connecting rods 202, and a sealing ring is arranged on the movable hole. The double air cushion type cylindrical support body device 1 comprises an air bag 101, a support plate 102 is arranged on the air bag 101, and a pair of universal shaft seats 103 is arranged on the support plate 102. The power propulsion device 4 comprises a deck 406, a guide plate 405 is arranged at the front end of the deck 406, a pair of propellers 407 which are axially symmetrical along the deck 406 are arranged at the tail end of the deck 406, a pair of rigid connecting rods 401 are arranged on the top surface of the deck 406, connecting ball joints 402 are arranged at the ends of the rigid connecting rods 401, and the rigid connecting rods 401 are connected with the top surface of the deck 406 through fixing seats 403; the top surface of the deck 406 is also provided with two pairs of spherical hinge fixing seats 404, and the top surface of the deck 406 is provided with a pair of spherical hinge holes; the connecting spherical hinge head 402 is matched with the universal shaft seat 103. The telescopic device 5 comprises an electric push rod, a movable spherical hinge head is arranged at the movable end of the electric push rod, and a deck spherical hinge head is arranged at the fixed end of the electric push rod; the movable spherical hinge head is matched with the universal shaft seat 103; the spherical hinge head of the deck is matched with the spherical hinge hole. The control device 3 comprises a control platform 305, a laser radar 302 is arranged on the control platform 305, a front lighting system 301 is arranged on one side of the laser radar 302, and a millimeter wave radar 303 is arranged on the other side of the laser radar 302; the bottom surface of the control platform 305 is provided with a spherical hinge support base 304 which is matched with the spherical hinge fixing base 404.
One end of the inflatable bag 101, which is consistent with the advancing direction of the unmanned ship, is in a cone shape. The deck 406 is clearance fit with the control platform 305; the spring damping device 2 is obliquely arranged with the power propulsion device 4 and the control device 3. The damping ball joint 201 at one end of the spring damping device 2 is connected with the ball joint fixing seat 404, and the damping ball joint 201 at the other end is connected with the ball joint supporting seat 304.
When the unmanned ship needs to be adjusted in posture or decelerated during use, the control device 3 sends an instruction, the electric push rods on the two sides of the power propulsion device 4 start to retract, the movable ends of the electric push rods drive the movable spherical hinge heads to retract, the movable spherical hinge heads drive the universal shaft seats 103 on one side to rotate, the tail ends of the inflatable bags 101 are close to one side of the power propulsion device 4, the universal shaft seats 103 on the other side also rotate together, and the posture of the unmanned ship after rotation is as shown in fig. 2. At this moment, the stressed area along the advancing direction is increased, meanwhile, the unmanned ship is enabled to be rapidly decelerated under the action of the propeller, in the process, the bumpiness caused by wind waves is transmitted to the spring damping device 2 through the spherical hinge fixing seat 404 on the deck 406, the shock absorption spherical hinge head 201 on the spring damping device 2, the short connecting rod 205 and the long connecting rod 202 are transmitted to the high-strength spring 203, due to the shock absorption and filtration effect of the high-strength spring 203, the acting force transmitted to the spherical hinge supporting seat 304 through the long connecting rod 202, the short connecting rod 205 and the shock absorption spherical hinge head 201 is greatly reduced, the acting force borne by the control platform 304 can be reduced to the maximum extent, the impact vibration borne by the laser radar 302 and the millimeter wave radar 303 on the control platform 304 is reduced, the service life of the unmanned ship under the severe environment can be prolonged, and the maintenance and use cost of the unmanned.
Example 2:
a posture-adjustable flexible double-body unmanned boat is different from that in embodiment 1 in that: the front end of the deck 406 is not provided with a deflector 405.
When the unmanned ship needs to be adjusted in posture or decelerated during use, the control device 3 sends an instruction, the electric push rods on the two sides of the power propulsion device 4 start to retract, the movable ends of the electric push rods drive the movable spherical hinge heads to retract, the movable spherical hinge heads drive the universal shaft seats 103 on one side to rotate, the tail ends of the inflatable bags 101 are close to one side of the power propulsion device 4, the universal shaft seats 103 on the other side also rotate together, and the posture of the unmanned ship after rotation is as shown in fig. 2. At this moment, the stressed area along the advancing direction is increased, meanwhile, the unmanned ship is enabled to be rapidly decelerated under the action of the propeller, in the process, the bumpiness caused by wind waves is transmitted to the spring damping device 2 through the spherical hinge fixing seat 404 on the deck 406, the shock absorption spherical hinge head 201 on the spring damping device 2, the short connecting rod 205 and the long connecting rod 202 are transmitted to the high-strength spring 203, due to the shock absorption and filtration effect of the high-strength spring 203, the acting force transmitted to the spherical hinge supporting seat 304 through the long connecting rod 202, the short connecting rod 205 and the shock absorption spherical hinge head 201 is greatly reduced, the acting force borne by the control platform 304 can be reduced to the maximum extent, the impact vibration borne by the laser radar 302 and the millimeter wave radar 303 on the control platform 304 is reduced, the service life of the unmanned ship under the severe environment can be prolonged, and the maintenance and use cost of the unmanned.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the present invention, but rather as the following description is intended to cover all modifications, equivalents and improvements falling within the spirit and scope of the present invention.
Claims (3)
1. A flexible double-body unmanned boat with an adjustable posture is characterized by comprising a power propulsion device, wherein symmetrical double-air-cushion type cylindrical support body devices are arranged on two sides of the power propulsion device; the power propulsion device is provided with a control device connected with the spring damping device and a pair of telescopic devices connected with the double-air cushion type cylindrical support body device; the spring damping device comprises a high-strength spring, long connecting rods are arranged at two ends of the high-strength spring, a short connecting rod is arranged at one end of any long connecting rod far away from the high-strength spring, and a damping ball hinge head is arranged at one end of the short connecting rod far away from the long connecting rod; the high-strength spring is sleeved with a cylindrical sleeve matched with the long connecting rods at the two ends, the two ends of the cylindrical sleeve are respectively provided with a movable hole matched with the long connecting rods, and the movable holes are provided with sealing rings; the double-air-cushion type cylindrical support device comprises an inflatable bag, wherein a support plate is arranged on the inflatable bag, and a pair of universal shaft seats are arranged on the support plate; the power propulsion device comprises a deck, a guide plate is arranged at the front end of the deck, a pair of propellers which are axially symmetrical along the deck are arranged at the tail end of the deck, a pair of rigid connecting rods are arranged on the top surface of the deck, connecting ball hinge heads are arranged at the end parts of the rigid connecting rods, and the rigid connecting rods are connected with the top surface of the deck through fixing seats; the top surface of the deck is also provided with two pairs of spherical hinge fixing seats, and the top surface of the deck is provided with a pair of spherical hinge holes; the connecting spherical hinge head is matched with the universal shaft seat; the telescopic device comprises an electric push rod, a movable spherical hinge head is arranged at the movable end of the electric push rod, and a deck spherical hinge head is arranged at the fixed end of the electric push rod; the movable spherical hinge head is matched with the universal shaft seat; the deck spherical hinge head is matched with the spherical hinge hole; the control device comprises a control platform, a laser radar is arranged on the control platform, a front lighting system is arranged on one side of the laser radar, and a millimeter wave radar is arranged on the other side of the laser radar; the bottom surface of the control platform is provided with spherical hinge supporting seats which are matched with the spherical hinge fixing seats; one end of the inflatable bag, which is consistent with the advancing direction of the unmanned ship, is in a cone shape.
2. The attitude adjustable, flexible, twin hull drones of claim 1, wherein the deck is clearance fit with the control platform; the spring damping device is obliquely arranged with the power propulsion device and the control device.
3. The attitude adjustable flexible twin-hull unmanned surface vehicle of claim 2, wherein the spring damper has a damper ball joint at one end connected to the ball-joint mount and a damper ball joint at the other end connected to the ball-joint mount.
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| CN201910658793.9A CN110316326B (en) | 2019-07-22 | 2019-07-22 | Flexible double-body unmanned boat with adjustable posture |
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| CN201910658793.9A CN110316326B (en) | 2019-07-22 | 2019-07-22 | Flexible double-body unmanned boat with adjustable posture |
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| CN110316326B true CN110316326B (en) | 2021-02-26 |
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| CN112874692A (en) * | 2021-02-01 | 2021-06-01 | 海之韵(苏州)科技有限公司 | Detachable, foldable and inflatable twin-body unmanned boat |
| CN113353200B (en) * | 2021-07-15 | 2022-10-14 | 哈尔滨工程大学 | Motion platform for sonar monitoring robot |
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| JPH0281789A (en) * | 1988-09-19 | 1990-03-22 | Kure Dia:Kk | Water surface crawler float |
| EP2325522B1 (en) * | 2009-11-20 | 2013-01-02 | EADS Deutschland GmbH | Shock-isolation structure |
| JP2017190114A (en) * | 2016-04-15 | 2017-10-19 | 輝夫 前田 | Structure allowing right and left floats of catamaran to move to conform with respective wave surfaces in mutually independent manner |
| CN108116635B (en) * | 2017-12-19 | 2019-07-09 | 大连海事大学 | A kind of wave self-adapting type automatic rescue ship |
| CN109367729B (en) * | 2018-10-26 | 2019-07-12 | 河海大学 | A kind of unmanned boat of resistance to wave with the adaptive stabilizer of the water surface |
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| Title |
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| 无人三体船试验平台的设计与实现;彭艳等;《仪器仪表学报》;20080430;第29卷(第4期);全文 * |
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