CN207173907U - Unmanned naval vessels and unmanned warship system - Google Patents
Unmanned naval vessels and unmanned warship system Download PDFInfo
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- CN207173907U CN207173907U CN201720889688.2U CN201720889688U CN207173907U CN 207173907 U CN207173907 U CN 207173907U CN 201720889688 U CN201720889688 U CN 201720889688U CN 207173907 U CN207173907 U CN 207173907U
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Abstract
The utility model provides a kind of unmanned naval vessels and unmanned warship system, is related to unmanned warship system technical field, to solve the problems, such as that shooting with video-corder for unmanned naval vessels is limited in scope.The unmanned naval vessels include：Kayak body, kayak body is provided with power set, power supply device and testing agency, power supply device is connected with power set and power supply device respectively, testing agency includes camera device, and camera device is installed on elevating mechanism, and light source is provided with by camera device on elevating mechanism, elevating mechanism is installed on rotating mechanism, rotating mechanism is connected with kayak body, and rotating mechanism is used to drive elevating mechanism and camera device to rotate, and elevating mechanism is used to drive camera device vertically to move.The unmanned naval vessels are in the case where warship body remains stationary as, thus it is possible to vary the shooting angle of camera device, increase camera device shoots with video-corder scope, reduces and shoots with video-corder dead angle.
Description
Technical field
Unmanned warship system technical field is the utility model is related to, more particularly, to a kind of unmanned naval vessels and unmanned naval vessels system
System.
Background technology
Unmanned naval vessels are nobody of a kind of advanced control system of outfit, sensing system, communication system and armament systems
The naval vessels of operation.It is suitably executed danger, unsuitable someone task.Militarily, scouting can be performed, detects, search for, patrolling
Patrol, remove mines, anti-submarine warfare, anti-special operations, strike pirate and anti-terrorism attack etc.；On civil, can perform search and rescue, navigation and
The activities such as hydro_geography prospecting.
In to the water surface in sea, lake, pond, river etc., water or in the observation of water-bed situation, using being capable of remote control
Unmanned naval vessels.Unmanned naval vessels are equipped with sonar, and it can send ultrasonic wave to the bottom, and receive and next surpass is reflected from bottom etc.
Sound wave, so as to the situation in the observation water or bottom.
Camera device is equiped with unmanned naval vessels, for monitoring situation in the water surface or water.But due to carrying out the water surface
During observation, because the position of camera device is fixed, angle is fixed, therefore is shot with video-corder and be limited in scope, and can not meet to see sometimes
Survey demand.
Utility model content
The purpose of this utility model is to provide a kind of unmanned naval vessels, to solve unmanned naval vessels present in prior art
Shoot with video-corder the technical problem being limited in scope.
Unmanned naval vessels provided by the utility model, including：Kayak body, the kayak body be provided with power set, power supply device and
Testing agency,
The power supply device is connected with the power set and the power supply device respectively, and the testing agency includes shooting with video-corder
Device, the camera device are installed on elevating mechanism, and light source is provided with by the camera device on the elevating mechanism,
The elevating mechanism is installed on rotating mechanism, and the rotating mechanism is connected with the kayak body, and the rotating mechanism is used to drive
The elevating mechanism and the camera device rotate, and the elevating mechanism is used to drive the camera device vertically to move
It is dynamic.
Further, the lowering or hoisting gear includes：First driver, push rod, fixed mount and movable stand, the fixed mount with
The rotating mechanism connection, one end of first driver are connected with the fixed mount, and the other end is connected with the push rod, institute
Stating the first driver drives the push rod vertically to move, and the push rod is connected with the movable stand, the movable stand and
The fixed mount is slidably matched, and the camera device is installed on the movable stand.
Further, the rotating mechanism includes：Fixed seat, support base, rotating shaft and the second driver, the support base with
The rotating shaft is fixedly connected, and the rotating shaft is rotatablely connected with the fixed seat, and second driver is connected with the rotating shaft, is used
In the driving axis of rotation.
Further, the testing agency also includes：DVB, underwater audio frequency and video monitoring device, radar, sonar,
Ultrasound Instrument, current meter, multibeam echosounding instrument, sound velocimeter, simple beam fathometer, message handler, compass, communication receiver,
Radio station apparatus and antenna assembly.
Alternatively, the top surface of the kayak body is provided with track, the rotating mechanism includes road wheel, the road wheel position
In on the track.
Alternatively, the top surface of the kayak body is provided with conveyer belt, and the rotating mechanism is installed on the conveyer belt.
Preferably, optical energy power plate is installed, the optical energy power plate is connected with the power supply device in the kayak body.
Further, the inner chamber of the kayak body has opening, and the opening is provided with cover plate, the cover plate and the ship
Body top plate is hinged, and the optical energy power plate is installed on the cover plate.
Relative to prior art, unmanned naval vessels described in the utility model have the advantage that：
In use, power supply device is that power set and testing agency supply to unmanned naval vessels described in the utility model
Can, power set drive unmanned naval vessels traveling, and testing agency carries out detection activity.In testing agency, camera device is used to examine
Situation about surveying above the water surface, in detection process, change the position of camera device in the vertical direction using elevating mechanism, use
Rotating mechanism changes the direction of the camera lens of camera device, so as to be used cooperatively elevating mechanism and rotating mechanism, can cause in warship
In the case that body remains stationary as, change the shooting angle of camera device, increase camera device shoots with video-corder scope, reduces and shoots with video-corder
Dead angle.
Simultaneously as in the case where warship body remains stationary as, change the shooting angle of camera device, thus just without in order to
Change shooting angle to go to control the movement of warship body, so as to save for the energy for providing needed for the movement of warship body so that unmanned warship
The endurance enhancing of ship.
Further, since being provided with light source by camera device, therefore can be mended when dark by opening light source
Light so that the image shot with video-corder is relatively sharp.
Therefore, compared with unmanned naval vessels of the prior art, unmanned naval vessels provided by the utility model in kayak body position not
Camera device can move in vertical position in the case of change, and rotate, therefore increase shooting angle, reduce and shoot with video-corder
Dead angle, add the endurance of unmanned naval vessels.
Another object of the present utility model is to propose a kind of unmanned warship system, to solve nothing present in prior art
People's naval vessels shoot with video-corder the technical problem being limited in scope.
To reach above-mentioned purpose, what the technical solution of the utility model was realized in：
A kind of unmanned warship system, including：Unmanned naval vessels as described in above-mentioned technical scheme, and for controlling the nothing
The control device of people's naval vessels.
Further, the control device is floor control subsystem.
The unmanned warship system is same relative to Dominant Facies possessed by prior art with above-mentioned unmanned naval vessels, herein no longer
Repeat.
Brief description of the drawings
, below will be right in order to illustrate more clearly of the utility model embodiment or technical scheme of the prior art
The required accompanying drawing used is briefly described in embodiment or description of the prior art, it should be apparent that, describe below
In accompanying drawing be some embodiments of the present utility model, for those of ordinary skill in the art, do not paying creativeness
On the premise of work, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is the structural representation one for the unmanned naval vessels that the utility model embodiment provides；
Fig. 2 is the structural representation two for the unmanned naval vessels that the utility model embodiment provides；
Fig. 3 is that camera device, rotating mechanism and elevating mechanism assemble in the unmanned naval vessels that the utility model embodiment provides
Schematic diagram；
Fig. 4 is rotating mechanism and elevating mechanism assembling schematic diagram in the unmanned naval vessels that the utility model embodiment provides；
Fig. 5 is rotating mechanism and track assembling schematic diagram in the unmanned naval vessels that the utility model embodiment provides.
In figure：10- kayak bodies；11- optical energy power plates；12- cover plates；21- camera devices；22- light sources；30- elevating mechanisms；
The drivers of 31- first；32- fixed mounts；33- movable stands；34- push rods；40- rotating mechanisms；41- fixed seats；42- support bases；43-
Rotating shaft；The drivers of 44- second；45- road wheels；46- back-up roller wheels；50- tracks.
Embodiment
The technical solution of the utility model is clearly and completely described below in conjunction with accompanying drawing, it is clear that described
Embodiment is the utility model part of the embodiment, rather than whole embodiments.Based on the embodiment in the utility model, sheet
The every other embodiment that field those of ordinary skill is obtained under the premise of creative work is not made, belongs to this practicality
Novel protected scope.
, it is necessary to explanation in description of the present utility model, term " " center ", " on ", " under ", it is "left", "right", " perpendicular
Directly ", the orientation of the instruction such as " level ", " interior ", " outer " or position relationship are based on orientation shown in the drawings or position relationship, are only
Described for the ease of description the utility model and simplifying, rather than instruction or imply signified device or element must have it is specific
Orientation, with specific azimuth configuration and operation, therefore it is not intended that to limitation of the present utility model.In addition, term " the
One ", " second ", " the 3rd " are only used for describing purpose, and it is not intended that instruction or hint relative importance.
, it is necessary to which explanation, unless otherwise clearly defined and limited, term " are pacified in description of the present utility model
Dress ", " connected ", " connection " should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integratedly
Connection；Can be mechanical connection or electrical connection；Can be joined directly together, can also be indirectly connected by intermediary,
It can be the connection of two element internals.For the ordinary skill in the art, above-mentioned art can be understood with concrete condition
Concrete meaning of the language in the utility model.
Embodiment one
As Figure 1-3, the unmanned naval vessels that the utility model embodiment provides, including：Kayak body 10, kayak body 10 are provided with dynamic
Power apparatus, power supply device and testing agency, wherein：
Power supply device is connected with power set and power supply device respectively, and testing agency includes camera device 21, camera device
21 are installed on elevating mechanism 30, are provided with light source 22 by camera device 21 on elevating mechanism 30, elevating mechanism 30 is installed
In on rotating mechanism 40, rotating mechanism 40 is connected with kayak body 10, and rotating mechanism 40 is used to drive elevating mechanism 30 and camera device
21 rotate, and elevating mechanism 30 is used to drive camera device 21 vertically to move.
In use, power supply device is power set and detection machine to unmanned naval vessels described in the utility model embodiment
Structure energizes, and power set drive unmanned naval vessels traveling, and testing agency carries out detection activity.In testing agency, camera device 21
For detecting the situation above the water surface, in detection process, change the in the vertical direction of camera device 21 using elevating mechanism 30
Position, using rotating mechanism 40 change camera device 21 camera lens direction, so as to the use of elevating mechanism 30 and rotation
It mechanism 40, can cause in the case where warship body remains stationary as, change the shooting angle of camera device 21, increase camera device
21 shoot with video-corder scope, reduce and shoot with video-corder dead angle.
Simultaneously as in the case where warship body remains stationary as, change the shooting angle of camera device 21, therefore need not be just
Change shooting angle goes to control the movement of warship body, so as to save for the energy for being provided needed for the movement of warship body so that nobody
The endurance enhancing of naval vessels.
Further, since light source 22 is provided with by camera device 21, therefore can be by opening light source 22 when dark
Carry out light filling so that the image shot with video-corder is relatively sharp.Further, light source 22 is connected with power supply device, or light source 22 with it is auxiliary
Power supply is helped to connect, accessory power supply is installed on elevating mechanism 30, is so designed that, light source 22 with power supply device without being connected, therefore
Without connecting electric wire to power supply device from light source 22 so that the configuration on unmanned boat is more simple.
Power supply device and power set are respectively positioned in the inner chamber of kayak body 10, specifically, due to needed for most of detection device
Energy is electric energy, therefore the power supply device of unmanned naval vessels that the present embodiment provides is provides the device of electric power, such as battery or
Generator.Power set are electric motor, and power supply device provides electric energy for testing agency and power set.
Therefore, compared with unmanned naval vessels of the prior art, the unmanned naval vessels that the utility model embodiment provides are in kayak body
Camera device 21 can move in vertical position in the case that 10 positions are constant, and rotate, therefore increase shooting angle,
Reduce and shoot with video-corder dead angle, add the endurance of unmanned naval vessels.
As depicted in figs. 1 and 2, in order to further enhance the endurance of unmanned naval vessels, mode is preferably carried out in one kind
In, optical energy power plate 11 is installed, optical energy power plate 11 is connected with power supply device in kayak body 10.It is so designed that, in bright day
Gas, optical energy power plate 11, which receives luminous energy and converts light energy into electric energy, is transferred to power supply device, thinks power supply device electric energy supplement.
The inner chamber of kayak body 10 has opening, and opening is provided with cover plate 12, and cover plate 12 is hinged with the top plate of kayak body 10, luminous energy hair
Electroplax 11 is installed on cover plate 12.Be so designed that, need to be pointed in the inner chamber of kayak body 10 power supply device, power set or
When person's other equipment carries out the operation such as repair and replacement, opening cover plate 12 more can easily take out the equipment in inner chamber.
Further, the edge of cover plate 12 is provided with sealing bound edge, when cover plate 12 is covered on 10 top plate of kayak body, cover plate 12 is by opening
Seal, so as to prevent water from entering the inner chamber of kayak body 10.
In the utility model embodiment, lowering or hoisting gear includes：First driver 31, push rod 34, fixed mount 32 and movement
Frame 33, fixed mount 32 are connected with rotating mechanism 40, and one end of the first driver 31 is connected with fixed mount 32, the other end and push rod 34
Connection, the first driver 31 driving push rod 34 are vertically moved, and push rod 34 is connected with movable stand 33, and movable stand 33 is with fixing
Frame 32 is slidably matched, and camera device 21 is installed on movable stand 33.
When it is implemented, the quantity of camera device 21 can be one or more, it is multiple when camera device 21 is multiple
Camera device 21 is mounted on movable stand 33, and is vertically arranged.
In use, the first driver 31 driving push rod 34 moves up and down, so as to drive movable stand 33 to be relatively fixed the edge of frame 32
Vertical direction slides, and then drives camera device 21 vertically to move, and fixed mount 32 ensure that movable stand 33 and shoot with video-corder dress
Put 21 stability in moving process.
First driver 31 can be motor or hydraulic cylinder, when the first driver 31 is hydraulic cylinder, the cylinder of hydraulic cylinder
Body portion is connected with fixed mount 32, and the hydraulic stem of hydraulic cylinder is connected with push rod 34, when fluid increase, hydraulic stem are upward in hydraulic cylinder
It is mobile, so as to drive push rod 34 and movable stand 33 to move up, and then camera device 21 is moved up；Oil in hydraulic cylinder
Liquid is reduced, and hydraulic cylinder moves down, and so as to drive push rod 34 and movable stand 33 to move down, and then make it that camera device 21 is downward
It is mobile.
When the first driver 31 is motor, the output shaft of motor is connected with leading screw, and the bottom of push rod 34 is provided with screw thread
Hole, push rod 34 are connected with threads of lead screw, and after starting motor, the output shaft of motor drives leading screw to rotate, so that the edge of push rod 34
Vertical direction moves, and so as to drive movable stand 33 to move up and down, and then camera device 21 is moved up and down.For example, if
Drive camera device 21 to move up when motor rotates forward, then drive camera device 21 to move down during motor reversal；If motor is just
Drive camera device 21 to move down when turning, then drive camera device 21 to move up during motor reversal.
As shown in Figure 3 and Figure 4, in a kind of embodiment of the present embodiment, rotating mechanism 40 includes：Fixed seat
41st, support base 42, the driver 44 of rotating shaft 43 and second, support base 42 are fixedly connected with rotating shaft 43,41 turns of rotating shaft 43 and fixed seat
Dynamic connection, the second driver 44 are connected with rotating shaft 43, rotated for drive shaft 43.Specifically, the bottom of elevating mechanism 30 with
Support base 42 is fixedly connected, and can be to weld together or be bolted.Second driver 44 preferably motor, motor
Output shaft be connected with rotating shaft 43, after starting motor, the output shaft of motor drives rotating shaft 43 to rotate, and rotating shaft 43 drives support base 42
Rotated relative to fixed seat 41, because elevating mechanism 30 is installed on support base 42, camera device 21 is installed on elevating mechanism 30
On, therefore during support base 42 is rotated, elevating mechanism 30 and camera device 21 are also therewith around the output shaft of motor
Axle center rotated, so as to change the direction of camera in camera device 21.
In order to further increase the moving range of camera device 21, in a kind of embodiment, as shown in figure 5, edge
The top surface of kayak body 10 is provided with track 50, and rotating mechanism 40 includes road wheel 45, and road wheel 45 is located on track 50.Specifically,
Track 50 includes two relative stopper slots, and the opening of two stopper slots is oppositely arranged, the two bottom sides difference of rotating mechanism 40
Road wheel 45 is provided with, road wheel 45 is connected with driver, and road wheel 45 is located in stopper slot, driver driving road wheel 45 edge
Stopper slot is moved so as to drive rotating mechanism 40, elevating mechanism 30 and camera device 21 to be moved along track 50.It is so designed that, shoots with video-corder
Device 21 can move along the set location of track 50 in the top surface of kayak body 10, and moving range is wider.
In order to improve stability of the rotating mechanism 40 in moving process, as shown in figure 5, pacifying in the bottom of rotating mechanism 40
Equipped with multiple back-up roller wheels 46, back-up roller wheel 46 contacts with kayak body 10, when groove of the road wheel 45 along track 50 moves, support
The top surface of kayak body 10 of the roller 46 between two grooves rolls, back-up roller wheel 46 in the moving process of rotating mechanism 40 and
All played a supporting role when static for it.Further, brake block is installed on road wheel 45, when rotating mechanism 40 moves into place
Afterwards, brake block locking road wheel 45 with prevent road wheel 45 receive the extraneous factors such as wind-force influence and continue to roll.
Or in another embodiment, the top surface of kayak body 10 is provided with conveyer belt, and rotating mechanism 40 is installed on
On conveyer belt.Specifically, the bottom of rotating mechanism 40 is fixedly connected with conveyer belt, and conveyer belt drives rotating mechanism 40, lift
Structure 30 and camera device 21 move, so that camera device 21 can move along the set location of conveyer belt in the top surface of kayak body 10
Dynamic, moving range is wider.
In unmanned naval vessels, corresponding testing agency, testing agency can be installed in kayak body 10 according to the purposes of unmanned naval vessels
The inner chamber of kayak body 10 or the lateral surface of kayak body 10, testing agency are installed on according to its purposes may include：It is DVB, underwater
Audio frequency and video monitoring device, radar, sonar, Ultrasound Instrument, current meter, multibeam echosounding instrument, sound velocimeter, simple beam fathometer, information
Processor, compass, communication receiver, radio station apparatus and antenna assembly.
Wherein, message handler can handle a variety of category informations of other a variety of detection device transmission and cross filter data, and
And can be by communication apparatus (such as the equipment such as communication receiver, radio station apparatus or antenna assembly) by the data after filtering
Send to the management subsystem on ground, to facilitate operator to be checked and analyzed for the data that detection device detects.
DVB is a kind of device that can receive satellite-signal and satellite command, for instruction or signal to be passed to
Classification processing is carried out in message handler.
Audio frequency and video monitoring device in kayak body 10 is divided into for monitoring the camera device 21 on the water surface, and is installed on kayak body
10 bottoms, the underwater audio frequency and video monitoring device below the water surface is marine or underwater for monitoring, and shoots with video-corder marine or underwater sound
Sound and image, then video signal and audio signal sample and sending signal in message handler is carried out at classification
Reason.
Radar is used to receive and detecting underwater object material, and determines the orientation, volume and speed of material, and it sends out information
Deliver to and classification processing is carried out in message handler.Laser radar can be used in radar.
Sonar is used to detect submarine target, positioned and be navigated, and is that underwater search, underwater investigation etc. one is important
It strong instrument, can be used for finding the targets such as antique, remains, deck log, drowned personnel, and send information at information
Classification processing is carried out in reason device.Sonar can use side-scan sonar.
Ultrasound Instrument is used to check the underwater surrounding environment of unmanned naval vessels, and sends information in message handler and classified
Processing.
The water velocity for the water body that current meter is used in waters where accurately measuring unmanned naval vessels, and send information to
Classification processing is carried out in message handler.
Multibeam echosounding instrument is used for accurately detecting underwater topography, and sends information in message handler and carry out at classification
Reason.
The parameters such as temperature, salinity and the depth that sound velocimeter is used in waters where accurately measuring unmanned naval vessels, and by information
Classification processing is carried out in sending to message handler.
Simple beam fathometer is used for the detection depth measurement of unmanned naval vessels periphery and shallow seismic profile investigation, is depth measurement and high score
The equipment of resolution deposit investigation, and send information to and classification processing is carried out in message handler.
Compass is used to fix the position.
Communication receiver can use GPS, Big Dipper bimodulus communication receiver, and GPS, Big Dipper bimodulus communication receiver can both connect
Beidou satellite navigation signal is received, GPS satellite navigation signal can also be received.
Radio station referred to as " radio station ", is equipped with sending and receiving the station of radio signal equipment.There is letter inside radio station
Number transcoder, can both convert the data into signal, the signal received can also be converted into data.
Antenna assembly is a kind of converter for receiving and sending signal.
In addition, being additionally provided with control subsystem in unmanned naval vessels, unmanned naval vessels are carried out for the instruction according to receiving
Port is set, dynamic password is set, communication band is set, instruction control hull direction, it is front and rear manipulate, blow a whistle etc. control.
Embodiment two
The utility model embodiment two proposes a kind of unmanned warship system, including the unmanned warship such as the offer of above-mentioned embodiment one
Ship, and for controlling the control device of unmanned naval vessels.
Further, control device is floor control subsystem.
Floor control subsystem is arranged at ground, and operator controls floor control subsystem to control unmanned naval vessels to enter every trade
Sail, detect, investigating, transmitting the functions such as data.
Unmanned warship system is same relative to Dominant Facies possessed by prior art with above-mentioned unmanned naval vessels, no longer superfluous herein
State.
Finally it should be noted that：Various embodiments above is only to illustrate the technical solution of the utility model, rather than it is limited
System；Although the utility model is described in detail with reference to foregoing embodiments, one of ordinary skill in the art should
Understand：It can still modify to the technical scheme described in foregoing embodiments, either to which part or whole
Technical characteristic carries out equivalent substitution；And these modifications or replacement, the essence of appropriate technical solution is departed from this practicality newly
The scope of each embodiment technical scheme of type.
Claims (10)
- A kind of 1. unmanned naval vessels, it is characterised in that including：Kayak body, the kayak body are provided with power set, power supply device and detection Mechanism,The power supply device is connected with the power set and the power supply device respectively, and the testing agency includes shooting with video-corder dress Put, the camera device is installed on elevating mechanism, is provided with light source by the camera device on the elevating mechanism, institute State elevating mechanism to be installed on rotating mechanism, the rotating mechanism is connected with the kayak body, and the rotating mechanism is used to drive institute State elevating mechanism and the camera device rotates, the elevating mechanism is used to drive the camera device vertically to move.
- 2. unmanned naval vessels according to claim 1, it is characterised in that the lowering or hoisting gear includes：First driver, top Bar, fixed mount and movable stand, the fixed mount are connected with the rotating mechanism, one end and the fixation of first driver Frame is connected, and the other end is connected with the push rod, and first driver drives the push rod vertically to move, the push rod It is connected with the movable stand, the movable stand is slidably matched with the fixed mount, and the camera device is installed on the movable stand On.
- 3. unmanned naval vessels according to claim 1, it is characterised in that the rotating mechanism includes：Fixed seat, support base, Rotating shaft and the second driver, the support base are fixedly connected with the rotating shaft, and the rotating shaft is rotatablely connected with the fixed seat, institute State the second driver to be connected with the rotating shaft, for driving the axis of rotation.
- 4. unmanned naval vessels according to claim 1, it is characterised in that the testing agency also includes：DVB, water Lower audio frequency and video monitoring device, radar, sonar, Ultrasound Instrument, current meter, multibeam echosounding instrument, sound velocimeter, simple beam fathometer, letter Cease processor, compass, communication receiver, radio station apparatus and antenna assembly.
- 5. unmanned naval vessels according to claim 1, it is characterised in that the top surface of the kayak body is provided with track, it is described Rotating mechanism includes road wheel, and the road wheel is located on the track.
- 6. unmanned naval vessels according to claim 1, it is characterised in that the top surface of the kayak body is provided with conveyer belt, described Rotating mechanism is installed on the conveyer belt.
- 7. unmanned naval vessels according to claim 1, it is characterised in that optical energy power plate is installed in the kayak body, it is described Optical energy power plate is connected with the power supply device.
- 8. unmanned naval vessels according to claim 7, it is characterised in that the inner chamber of the kayak body has opening, the opening Place is provided with cover plate, and the cover plate is hinged with the kayak body top plate, and the optical energy power plate is installed on the cover plate.
- A kind of 9. unmanned warship system, it is characterised in that including：Unmanned naval vessels as described in claim any one of 1-8, and For controlling the control device of the unmanned naval vessels.
- 10. unmanned warship system according to claim 9, it is characterised in that the control device is floor control subsystem System.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201720889688.2U CN207173907U (en) | 2017-07-20 | 2017-07-20 | Unmanned naval vessels and unmanned warship system |
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| CN201720889688.2U CN207173907U (en) | 2017-07-20 | 2017-07-20 | Unmanned naval vessels and unmanned warship system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108693849A (en) * | 2018-05-30 | 2018-10-23 | 佛山市神风航空科技有限公司 | A kind of automatic off-lying sea detecting system |
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2017
- 2017-07-20 CN CN201720889688.2U patent/CN207173907U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108693849A (en) * | 2018-05-30 | 2018-10-23 | 佛山市神风航空科技有限公司 | A kind of automatic off-lying sea detecting system |
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