CN107284615A - A kind of water surface movable bogey and control method - Google Patents
A kind of water surface movable bogey and control method Download PDFInfo
- Publication number
- CN107284615A CN107284615A CN201710571179.XA CN201710571179A CN107284615A CN 107284615 A CN107284615 A CN 107284615A CN 201710571179 A CN201710571179 A CN 201710571179A CN 107284615 A CN107284615 A CN 107284615A
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- rudder
- type base
- described device
- rotating machine
- electric rotating
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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
-
- 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
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/20—Hydro energy
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- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Toys (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of water surface movable bogey and control method, including pallet, pallet lower surface is provided with ship type base, installing plate is provided with ship type base, it is the L-type servomotor being disposed vertically provided with output shaft on installing plate lower surface and at the side surface of ship type base one, it is horizontal electric rotating machine provided with output shaft on the installing plate lower surface and close to another side surface of ship type base, rudder is provided with the side surface of ship type base one, L-type servo motor output shaft is fixedly connected with rudder, water wheels are provided with another side surface of ship type base, electric rotating machine output shaft is fixedly connected with water wheels, installing plate upper surface is provided with battery, controller and wireless module, master switch on pallet side surface, battery respectively with controller, wireless module, master switch, L-type servomotor and electric rotating machine are electrically connected with.The present invention has automatic cruising delivery pattern and remote manual control delivery pattern, and purchased commodity are enjoyed in the amusement center on the water that makes things convenient for customers.
Description
Technical field
Field, particularly a kind of water surface movable bogey and control method are carried the present invention relates to article.
Background technology
Nowadays with the improvement of living standards, bathing in hot spring etc. closely into needed for people's life, and it can make bathing in hot spring
People feels thirsty, it is therefore desirable to a kind of water surface movable bogey and control method, for human consumption for placing tea etc..
The content of the invention
The invention aims to solve the above problems, a kind of water surface movable bogey and control method are devised.
Realize above-mentioned purpose the technical scheme is that, a kind of water surface movable bogey and control method, including support
Spherical panorama camera (14) is housed, pallet (1) lower surface is provided with ship type bottom on disk (1), pallet (1) upper surface
It is provided with seat (2), the ship type base (2) on installing plate (3), installing plate (3) lower surface and close to ship type base (2) one
Side surface is provided with the L-type servomotor (4) of horizontal positioned, the output shaft of the L-type servomotor (4) be it is vertically arranged,
It is horizontal electric rotating machine provided with output shaft on installing plate (3) lower surface and close to ship type base (2) another side surface
(5) rudder (6), is provided with the side surface of ship type base (2) one, the output shaft and rudder (6) of the L-type servomotor (4) are fixed
Water wheels (7) are provided with connection, another side surface of the ship type base (2), electric rotating machine (5) output shaft is solid with water wheels (7)
Fixed connection, installing plate (3) upper surface is provided with battery (8), controller (9) and wireless module (10), the pallet (1)
Master switch (11) on side surface, the battery (8) is watched with controller (9), wireless module (10), master switch (11), L-type respectively
Motor (4), electric rotating machine (5), spherical panorama camera (14) is taken to be electrically connected with.
Provided with one group of kickboard (12) on pallet (1) lower surface and positioned at ship type base (2) both sides.
Waterline (13) is equipped with each kickboard (12) side surface.
A kind of control method of water surface movable bogey, is characterized in：This method using automatic cruising delivery pattern and
Two patterns of remote manual control.
A kind of water surface movable bogey and control method made using technical scheme.The letter of present apparatus structure
Single, staff or customer utilize remote control, and the control present apparatus is moved on the water surface, reaches specified location, this is used for customer
The article placed on device, it is practical.
Brief description of the drawings
Fig. 1 is a kind of water surface movable bogey of the present invention and the structural representation of control method；
Fig. 2 is a kind of water surface movable bogey of the present invention and the front view of control method；
Fig. 3 is a kind of water surface movable bogey of the present invention and the fundamental diagram of control method；
In figure, 1, pallet；2nd, ship type base；3rd, installing plate；4th, servomotor；5th, electric rotating machine；6th, rudder；7th, water wheels；8、
Battery；9th, controller；10th, wireless module；11st, master switch；12nd, kickboard；13rd, waterline；14th, spherical panorama camera；20、
Console；21st, commercial loading harbour；22nd, at commodity granting；23rd, water surface movable bogey gathers place；24th, No. 1 platform；25、2
Number platform；26th, No. 3 platforms；27th, No. 4 platforms；28th, No. 5 platforms；29th, No. 6 platforms；30th, No. 7 platforms；31st, water recreation center.
Embodiment
The present invention is specifically described below in conjunction with the accompanying drawings, as shown in Figure 1-2,1, a kind of water surface movable bogey
Control method, is characterized in：This method uses two patterns of automatic cruising delivery pattern and remote manual control.
Automatic cruising delivery pattern, so that No. 1 platform customer assigns No. 1 APP order as an example, step is as follows：
A, the staff of console are received after No. 1 APP order, confirm commodity in No. 1 APP order of No. 1 platform customer
Type and quantity, while confirming the positional information of No. 1 platform customer；On the one hand B, console (20) notify business by the system of dispatching
(22) get ready the goods to No. 1 APP order at product granting, on the other hand, from the place of gathering call a water surface movable bogey to
At commodity granting (22), the commodity in No. 1 APP order of No. 1 platform customer are shipped to by the staff of (22) at commodity granting
On the pallet of water surface movable bogey；C, the control system of console (20) are advised automatically according to the positional information of No. 1 platform customer
Strike the operating path of face moving bearing device, the remote control water surface movable bogey is automatically moved to No. 1 platform customer face
Before；The commodity that D, No. 1 platform customer are checked and accepted in No. 1 APP order；E, described device are received after the confirmation instruction of No. 1 platform customer, automatically
Return to water surface movable bogey and gather place (23)；F, console (20) staff beam back according to spherical panorama camera (14)
Image information, the motion of complete monitoring water surface movable bogey；
Remote manual control delivery pattern, so that No. 2 platform customers assign No. 2 APP orders as an example, step is as follows：
A, the staff of console (20) are received after No. 2 APP orders, in No. 2 APP orders for confirming No. 2 platform customers
The type and quantity of commodity, while confirming the positional information of No. 2 platform customers；B, console (20) call a water surface by system
No. 2 commodity in No. 2 APP orders of No. 2 platform customers are placed on water surface movable by moving bearing device to commercial loading harbour (21)
On the pallet of bogey；C, the image information beamed back according to the positional information and spherical panorama camera (14) of No. 2 platform customers,
Staff's remote manual control of console (20) water surface movable bogey is moved in face of No. 2 platform customers；D, No. 2 platform customers
Check and accept commodity；E, No. 2 platform customers confirm after commodity that console (20) staff is carried by this of wireless remote control water surface movable
Device returns to water surface movable bogey and gathers place (23)；
The device that a kind of control method of water surface movable bogey is used, including pallet (1), it is characterised in that institute
State and spherical panorama camera (14) is housed on pallet (1) upper surface, pallet (1) lower surface is provided with ship type base (2), institute
State and be provided with ship type base (2) on installing plate (3), installing plate (3) lower surface and at the side surface of ship type base (2) one
It is on installing plate (3) lower surface and another close to ship type base (2) provided with the L-type servomotor (4) that output shaft is horizontal positioned
One side surface is that rudder (6), institute are provided with horizontal electric rotating machine (5), the side surface of ship type base (2) one provided with output shaft
State L-type servomotor (4) output shaft to be fixedly connected with rudder (6), water wheels (7) be provided with another side surface of the ship type base (2),
Electric rotating machine (5) output shaft is fixedly connected with water wheels (7), and installing plate (3) upper surface is provided with battery (8), control
Master switch (11) on device (9) processed and wireless module (10), pallet (1) side surface, the battery (8) respectively with controller
(9), wireless module (10), master switch (11), L-type servomotor (4), electric rotating machine (5), spherical panorama camera (14) are electrical
Connection；
The rotating forward of the electric rotating machine (5) have at a slow speed with quick two kinds of speed, the reversion of the electric rotating machine (5) only has slowly
A kind of speed of speed；
The swing of the rudder (6) is driven by L-type servomotor (4), when the rudder (6) is in middle position and electric rotating machine
(5) do when rotating forward at a slow speed, described device is to travel forward at a slow speed；Done soon when the rudder (6) is in middle position and electric rotating machine (5)
When speed is rotated forward, described device is quickly to travel forward；Do and invert at a slow speed when the rudder (6) is in middle position and electric rotating machine (5)
When, described device to move at a slow speed backward；
When described device is needed to left front slow rotation, electric rotating machine (5), which is done, to be rotated forward at a slow speed, L-type servomotor (4)
Driving rudder (6) turns clockwise an angle-θ, rudder (6) by the power of described device rotate counterclockwise is made, make described device to
Left front slow rotation；
When described device is needed to right front slow rotation, electric rotating machine (5), which is done, to be rotated forward at a slow speed, L-type servomotor (4)
One angle, θ of rudder (6) rotate counterclockwise is driven, rudder (6) is made described device turn at a slow speed to right front by the power turned clockwise
It is dynamic；
When described device is needed to left front quick rotation, electric rotating machine (5) does quick rotating forward, L-type servomotor (4)
Driving rudder (6) turns clockwise an angle-θ, rudder (6) by the power of described device rotate counterclockwise is made, make described device to
Left front quick rotation；
When described device is needed to right front quick rotation, electric rotating machine (5) does quick rotating forward, L-type servomotor (4)
One angle, θ of rudder (6) rotate counterclockwise is driven, rudder (6) is made described device quickly turn to right front by the power turned clockwise
It is dynamic；
When described device is needed to left back slow rotation, electric rotating machine (5), which is done, to be inverted at a slow speed, L-type servomotor (4)
Driving rudder (6) turns clockwise an angle-θ, rudder (6) by the power for making described device turn clockwise, make described device to
Left back slow rotation；When described device is needed to right back slow rotation, electric rotating machine (5), which is done, to be inverted at a slow speed, L-type servo
Motor (4) drives one angle, θ of rudder (6) rotate counterclockwise, and rudder (6) is made described by the power of described device rotate counterclockwise is made
Device is to right back slow rotation；
The absolute value of angle, θ is bigger, and the radius of turn of described device is smaller；By changing the size of angle, θ to control
State the radius of turn of device；
By controlling the corner size of L-type servomotor (4) to control the radius of turn of described device, by controlling L-type
The rotating of servomotor (4) controls the turning to the left of described device, still bends to right.
A kind of control method of water surface movable bogey, it is characterised in that on pallet (1) lower surface and position
In ship type base (2) both sides provided with one group of kickboard (12).
A kind of control method of water surface movable bogey, it is characterised in that each kickboard (12) side surface
On be equipped with waterline (13).
The present apparatus is simple in construction, and staff or customer utilize remote control, and the control present apparatus and article thereon are in the water surface
Upper movement, reaches the position specified.
The device that a kind of water surface movable bogey control method is used, including pallet (1), it is characterised in that
Spherical panorama camera (14) is housed, pallet (1) lower surface is provided with ship type base (2), ship type on pallet (1) upper surface
Base (2) is conducive to bubbling through the water column；It is provided with ship type base (2) on installing plate (3), installing plate (3) lower surface and close to ship type
It is provided with the side surface of base (2) one on the L-type servomotor (4) of horizontal positioned, installing plate (3) lower surface and close to ship type base
Another side surface is that rudder (6), L-type are provided with horizontal electric rotating machine (5), the side surface of ship type base (2) one provided with output shaft
The output shaft of servomotor (4) is fixedly connected with rudder (6), and water wheels (7), electric rotating are provided with ship type base (2) another side surface
The output shaft of machine (5) is fixedly connected with water wheels (7), and when electric rotating machine (5) is rotated, water wheels (7) follow rotation, can promote this
Device is moved in water；Installing plate (3) upper surface is provided with battery (8), controller (9) and wireless module (10), battery
(8) power supply is provided, controller (9) control object work, wireless module (10) is used for remote control；It is total on pallet (1) side surface
Switch (11), provided with one group of kickboard (12) on pallet (1) lower surface and positioned at ship type base (2) both sides；Each kickboard (12) side
Waterline (13) is equipped with surface, waterline (13) is convenient for measuring device supporting power.
The device that a kind of control method of water surface movable bogey is used, it is characterised in that the pallet (1)
Provided with one group of kickboard (12) on lower surface and positioned at ship type base (2) both sides.
The device that a kind of control method of water surface movable bogey is used, each kickboard (12) side surface
On be equipped with waterline (13).
The characteristics of the present embodiment is that spherical panorama camera (14), pallet (1) following table are housed on pallet (1) upper surface
Face, which is provided with ship type base (2), ship type base (2), is provided with installing plate (3), on installing plate (3) lower surface and close to ship type bottom
It is provided with the L-type servomotor (4) of horizontal positioned, installing plate (3) lower surface and another close to ship type base at (2) one side surfaces of seat
One side surface is that rudder (6) is provided with horizontal electric rotating machine (5), the side surface of ship type base (2) one provided with output shaft, and L-type is watched
The output shaft for taking motor (4) is fixedly connected with rudder (6), and water wheels (7), electric rotating machine are provided with ship type base (2) another side surface
(5) output shaft is fixedly connected with water wheels (7), and installing plate (3) upper surface is provided with battery (8), controller (9) and nothing
Master switch (11) on wire module (10), pallet (1) side surface, battery (8) respectively with controller (9), wireless module (10), total
Switch (11), L-type servomotor (4), electric rotating machine (5), spherical panorama camera (14) electric connection.
In the present embodiment, a kind of water surface movable bogey and control method.Equipped with spherical on pallet (1) upper surface
Full-view camera (14), pallet (1) lower surface is provided with ship type base (2), and ship type base (2) is conducive to bubbling through the water column；Ship type
It is provided with installing plate (3), installing plate (3) lower surface and is put at the side surface of ship type base (2) one provided with level in base (2)
It is water provided with output shaft on the L-type servomotor (4) put, installing plate (3) lower surface and close to another side surface of ship type base
Rudder (6), output shaft and the rudder (6) of L-type servomotor (4) are provided with flat electric rotating machine (5), the side surface of ship type base (2) one
It is fixedly connected, water wheels (7) is provided with ship type base (2) another side surface, the output shaft and water wheels (7) of electric rotating machine (5) is fixed
Connection, when electric rotating machine (5) is rotated, water wheels (7) follow rotation, the present apparatus can be promoted to be moved in water；On installing plate (3)
Surface is provided with battery (8), controller (9) and wireless module (10), and battery (8) provides power supply, controller (9) control thing
Body running, wireless module (10) is used for remote control；On master switch (11) on pallet (1) side surface, pallet (1) lower surface and position
In ship type base (2) both sides provided with one group of kickboard (12)；Waterline (13), waterline are equipped with each kickboard (12) side surface
(13) it is convenient for measuring device supporting power.
The basic principles, principal features and advantages of the present invention have been shown and described above.The technical staff of the industry should
Understand, the present invention is not limited to the above embodiments, the original for simply illustrating the present invention described in above-described embodiment and specification
Reason, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, these changes and improvements
It all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appended claims and its equivalent circle
It is fixed.
Claims (6)
1. a kind of control method of water surface movable bogey, is characterized in：This method uses automatic cruising delivery pattern and hand
Two patterns of dynamic remote control, automatic cruising delivery pattern, so that No. 1 platform customer assigns No. 1 APP order as an example, step is as follows：
A, the staff of console by No. 1 APP order, confirm in No. 1 APP order of No. 1 platform customer the species of commodity and
Quantity, while confirming the positional information of No. 1 platform customer；On the one hand B, console (20) notify commodity granting by the system of dispatching
Place (22) gets ready the goods to No. 1 APP order, on the other hand, calls a water surface movable bogey to be sent out to commodity from the place of gathering
Commodity in No. 1 APP order of No. 1 platform customer are shipped to the water surface and moved by the staff for putting (22) at place (22), commodity granting
On the pallet of dynamic bogey；C, the control system of console (20) plan the water surface automatically according to the positional information of No. 1 platform customer
The operating path of moving bearing device, remote control water surface movable bogey is automatically moved in face of No. 1 platform customer；D、1
The commodity that number platform customer is checked and accepted in No. 1 APP order；E, described device are received after the confirmation instruction of No. 1 platform customer, auto-returned water
Face moving bearing device gathers place (23)；The image that F, console (20) staff beam back according to spherical panorama camera (14)
Information, the motion of complete monitoring water surface movable bogey；
Remote manual control delivery pattern, so that No. 2 platform customers assign No. 2 APP orders as an example, step is as follows：
A, the staff of console (20) confirm commodity in No. 2 APP orders of No. 2 platform customers by No. 2 APP orders
Type and quantity, while confirming the positional information of No. 2 platform customers；B, console (20) call a water surface movable to hold by system
Carry and put commercial loading harbour (21), No. 2 commodity in No. 2 APP orders of No. 2 platform customers are placed on water surface movable carrying dress
On the pallet put；C, the image information beamed back according to the positional information and spherical panorama camera (14) of No. 2 platform customers, console
(20) staff's remote manual control water surface movable bogey is moved in face of No. 2 platform customers；D, No. 2 platform customers check and accept business
Product；E, No. 2 platform customers confirm after commodity that console (20) staff is returned by wireless remote control this water surface movable bogey
Backwater surface moving bearing device gathers place (23)；
The device that a kind of control method of water surface movable bogey is used, including pallet (1), it is characterised in that the support
Spherical panorama camera (14) is housed, pallet (1) lower surface is provided with ship type base (2), the ship on disk (1) upper surface
It is provided with installing plate (3), installing plate (3) lower surface and is provided with the side surface of ship type base (2) one in type base (2)
Output shaft is on the L-type servomotor (4) of horizontal positioned, installing plate (3) lower surface and close to ship type base (2) opposite side
Surface is that rudder (6), the L are provided with horizontal electric rotating machine (5), the side surface of ship type base (2) one provided with output shaft
Type servomotor (4) output shaft is fixedly connected with rudder (6), and water wheels (7), institute are provided with another side surface of the ship type base (2)
State electric rotating machine (5) output shaft to be fixedly connected with water wheels (7), installing plate (3) upper surface is provided with battery (8), control
Master switch (11) on device (9) and wireless module (10), pallet (1) side surface, the battery (8) respectively with controller
(9), wireless module (10), master switch (11), L-type servomotor (4), electric rotating machine (5), spherical panorama camera (14) are electrical
Connection；
It is characterized in that：The rotating forward of the electric rotating machine (5) have at a slow speed with quick two kinds of speed, the electric rotating machine (5) it is anti-
Turn there was only a kind of speed at a slow speed；
It is characterized in that：The swing of the rudder (6) is driven by L-type servomotor (4), when the rudder (6) is in middle position and rotation
Rotating motor (5) is done when rotating forward at a slow speed, and described device is to travel forward at a slow speed；When the rudder (6) is in middle position and electric rotating machine
(5) when doing quick rotating forward, described device is quickly to travel forward；Done slowly when the rudder (6) is in middle position and electric rotating machine (5)
During speed reversion, described device to move at a slow speed backward；
It is characterized in that：When described device is needed to left front slow rotation, electric rotating machine (5), which is done, to be rotated forward at a slow speed, L-type servo
Motor (4) driving rudder (6) turns clockwise an angle-θ, and rudder (6) is made described by the power of described device rotate counterclockwise is made
Device is to left front slow rotation；
It is characterized in that：When described device is needed to right front slow rotation, electric rotating machine (5), which is done, to be rotated forward at a slow speed, L-type servo
Motor (4) drives one angle, θ of rudder (6) rotate counterclockwise, and rudder (6) is by the power turned clockwise, before making described device to the right
Square slow rotation；
It is characterized in that：When described device is needed to left front quick rotation, electric rotating machine (5) does quick rotating forward, L-type servo
Motor (4) driving rudder (6) turns clockwise an angle-θ, and rudder (6) is made described by the power of described device rotate counterclockwise is made
Device is to left front quick rotation；
It is characterized in that：When described device is needed to right front quick rotation, electric rotating machine (5) does quick rotating forward, L-type servo
Motor (4) drives one angle, θ of rudder (6) rotate counterclockwise, and rudder (6) is by the power turned clockwise, before making described device to the right
Square quick rotation；
It is characterized in that：When described device is needed to left back slow rotation, electric rotating machine (5), which is done, to be inverted at a slow speed, L-type servo
Motor (4) driving rudder (6) turns clockwise an angle-θ, and rudder (6) is made described by the power for making described device turn clockwise
Device is to left back slow rotation；When described device is needed to right back slow rotation, electric rotating machine (5), which is done, to be inverted at a slow speed, L
Type servomotor (4) drives one angle, θ of rudder (6) rotate counterclockwise, rudder (6) by making the power of described device rotate counterclockwise,
Make described device to right back slow rotation；
It is characterized in that：The absolute value of angle, θ is bigger, and the radius of turn of described device is smaller；By change the size of angle, θ come
Control the radius of turn of described device；
By controlling the corner size of L-type servomotor (4) to control the radius of turn of described device, by controlling L-type servo
The rotating of motor (4) controls the turning to the left of described device, still bends to right.
2. a kind of control method of water surface movable bogey according to claim 1, it is characterised in that the pallet
(1) provided with one group of kickboard (12) on lower surface and positioned at ship type base (2) both sides.
3. the control method of a kind of water surface movable bogey according to claim 1, it is characterised in that described each floating
Waterline (13) is equipped with plate (12) side surface.
4. the device that a kind of a kind of water surface movable bogey control method as claimed in claim 1 is used, including pallet
(1), it is characterised in that spherical panorama camera (14) is housed on pallet (1) upper surface, pallet (1) lower surface is provided with
Ship type base (2), ship type base (2) is conducive to bubbling through the water column；It is provided with ship type base (2) under installing plate (3), installing plate (3)
The L-type servomotor (4) of horizontal positioned, installing plate (3) lower surface are provided with surface and at the side surface of ship type base (2) one
Upper and close another side surface of ship type base is horizontal electric rotating machine (5), the side surface of ship type base (2) one provided with output shaft
Place is provided with rudder (6), and the output shaft of L-type servomotor (4) is fixedly connected with rudder (6), is provided with ship type base (2) another side surface
Water wheels (7), the output shaft of electric rotating machine (5) is fixedly connected with water wheels (7), and when electric rotating machine (5) is rotated, water wheels (7) are followed
Rotate, promote the present apparatus to be moved in water；Installing plate (3) upper surface is provided with battery (8), controller (9) and wireless module
(10), battery (8) provides power supply, and controller (9) control object work, wireless module (10) is used for remote control；Pallet (1)
Provided with one group of kickboard (12) on master switch (11) on side surface, pallet (1) lower surface and positioned at ship type base (2) both sides；Each
Waterline (13) is equipped with kickboard (12) side surface, waterline (13) is convenient for measuring device supporting power.
5. the device that a kind of control method of water surface movable bogey according to claim 4 is used, its feature exists
In provided with one group of kickboard (12) on pallet (1) lower surface and positioned at ship type base (2) both sides.
6. the device that a kind of control method of water surface movable bogey according to claim 4 is used, described each
Waterline (13) is equipped with kickboard (12) side surface.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710571179.XA CN107284615B (en) | 2017-07-13 | 2017-07-13 | Control method of water surface mobile bearing device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710571179.XA CN107284615B (en) | 2017-07-13 | 2017-07-13 | Control method of water surface mobile bearing device |
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| CN107284615B CN107284615B (en) | 2023-04-07 |
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| CN106882341A (en) * | 2017-01-18 | 2017-06-23 | 华中科技大学 | A kind of Self-Balancing vehicle device waterborne |
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| US20010037915A1 (en) * | 2000-03-02 | 2001-11-08 | Katsuyoshi Abekawa | Automatic dish serving system |
| US20170137103A1 (en) * | 2015-11-17 | 2017-05-18 | Yamaha Hatsudoki Kabushiki Kaisha | Boat maneuvering control method for boat and boat maneuvering control system for boat |
| CN105416518A (en) * | 2015-12-24 | 2016-03-23 | 佛山市神风航空科技有限公司 | Solar unmanned boat |
| CN106882341A (en) * | 2017-01-18 | 2017-06-23 | 华中科技大学 | A kind of Self-Balancing vehicle device waterborne |
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