CN104015886A - Launching and recycling system for water surface unmanned aircraft - Google Patents
Launching and recycling system for water surface unmanned aircraft Download PDFInfo
- Publication number
- CN104015886A CN104015886A CN201410264256.3A CN201410264256A CN104015886A CN 104015886 A CN104015886 A CN 104015886A CN 201410264256 A CN201410264256 A CN 201410264256A CN 104015886 A CN104015886 A CN 104015886A
- Authority
- CN
- China
- Prior art keywords
- water
- slideway
- unmanned vehicles
- dock
- recovery
- Prior art date
Links
- 239000011901 water Substances 0.000 title claims abstract description 100
- 238000004064 recycling Methods 0.000 title abstract 4
- 238000000034 methods Methods 0.000 claims description 15
- 239000010720 hydraulic oils Substances 0.000 claims description 5
- 239000003921 oils Substances 0.000 claims description 5
- 239000000725 suspensions Substances 0.000 claims description 5
- 238000010521 absorption reactions Methods 0.000 claims description 3
- 230000003139 buffering Effects 0.000 claims description 3
- 230000035939 shock Effects 0.000 claims description 3
- 239000002965 ropes Substances 0.000 description 4
- 239000011435 rock Substances 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 230000004913 activation Effects 0.000 description 2
- 238000010586 diagrams Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000007788 liquids Substances 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000006011 modification reactions Methods 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 241001236653 Lavinia exilicauda Species 0.000 description 1
- 281000152964 Premium Brands Holdings, Corp. companies 0.000 description 1
- 235000019504 cigarettes Nutrition 0.000 description 1
- 238000005516 engineering processes Methods 0.000 description 1
- 239000003063 flame retardant Substances 0.000 description 1
- 239000002828 fuel tank Substances 0.000 description 1
- 150000002367 halogens Chemical class 0.000 description 1
- 229910052736 halogens Inorganic materials 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 230000001360 synchronised Effects 0.000 description 1
Abstract
Description
Technical field
The invention belongs to water surface unmanned vehicles and fall and put back to receipts technical field, be specifically related to a kind of water surface unmanned vehicles and fall and put recovery system.
Background technology
Water surface unmanned vehicles comprises unmanned boat USV, autonomous underwater vehicle UUV, water surface landing unmanned plane etc.In order to expand the operating range of water surface unmanned vehicles, naval vessel is as the main platform that carries water surface unmanned vehicles, water surface unmanned vehicles carries on naval vessel lash ship, just need to have a set of complete water surface unmanned vehicles to fall and put recovery system, be the important corollary equipment that water surface unmanned vehicles is used on naval vessel.
Summary of the invention
The object of the present invention is to provide a kind of water surface unmanned vehicles to fall and put recovery system, be intended to guarantee that water surface unmanned vehicles carries on naval vessel lash ship, while arriving desired location, on naval vessel lash ship, put down or reclaim, to expand the operating range of water surface unmanned vehicles.
For achieving the above object, the present invention adopts following technical scheme:
Water surface unmanned vehicles falls puts a recovery system, comprise Intelligent electronic control system and:
Slideway dock falls puts device, comprise single-revolution formula lifting arm, be installed on water surface movable platform, for being recycled on the described water surface on water surface movable platform or on described water surface movable platform and being laid on the water surface being loaded with in the slideway dock of water surface unmanned vehicles;
Described slideway dock, comprises slideway, aircraft and automatically catches and disconnector, is recycled in described slideway, or water surface unmanned vehicles is separated and laid in described slideway for automatically catching recovery water surface unmanned vehicles;
Direction controller, comprise that one is installed on the hold-down arm on described water surface movable platform, the tricing line with damping function that a direction is controlled winch and controlled winch control by described direction, described tricing line connects described slideway dock under this hold-down arm supports, and can make described slideway dock and described water surface movable platform keep axially parallel.
Described swinging lifting arm is provided with to subtract and waves equalizing gear, comprise at least two mutual vertically arranged damping oil cylinders, the mobile hoist cable that makes by Throttle Valve Control hydraulic oil increases damping of oscillations, reduce horizontal, longitudinal oscillation amplitude, laterally, longitudinally the subtracting pendulum of realizing in described water surface unmanned vehicles folding and unfolding process is controlled.
Described swinging lifting arm is provided with shock absorption buffering mechanism, comprise cushion cylinder, revolution hanging wheel, described angulated roping is located on described revolution hanging wheel, by the damping of described cushion cylinder, is controlled and is realized described hoist cable pitching and moment tensioning along with described slideway dock.
Described swinging lifting arm is provided with compensation of undulation winch, for described hoist cable is begun in tensioning state in folding and unfolding process.
Described water surface unmanned vehicles falls puts recovery system, comprises remote control hanger system, realizes hook and the release of on described water surface movable platform, under unmanned state, carrying out suspension hook.
Described water surface unmanned vehicles falls puts recovery system, comprises hydraulic power unit, is arranged on described horizontal shifting platform, for providing to fall to put back to, receives required hydraulic efficiency power unit.
Water surface unmanned vehicles of the present invention falls to be put recovery system and can realize effectively falling of water surface unmanned vehicles and put back to receipts, guarantee to carry the water surface unmanned vehicles on naval vessel lash ship by slideway dock, while arriving desired location, on naval vessel lash ship, put down or reclaim, thereby effectively expand the operating range of water surface unmanned vehicles.
Accompanying drawing explanation
Figure 1 shows that the schematic side view of putting recovery system falls in a kind of water surface unmanned vehicles that the embodiment of the present invention provides;
Figure 2 shows that a kind of water surface unmanned vehicles that the embodiment of the present invention provides falls puts the schematic diagram that recovery system is overlooked;
Figure 3 shows that a kind of water surface unmanned vehicles that the embodiment of the present invention provides falls a left side of putting recovery system and looks schematic diagram.
The specific embodiment
Below, in conjunction with example, substantive distinguishing features of the present invention and advantage are further described, but the present invention is not limited to listed embodiment.
Refer to shown in Fig. 1～3, a kind of water surface unmanned vehicles falls puts recovery system, comprise Intelligent electronic control system and:
Slideway dock falls puts device, comprise single-revolution formula lifting arm 2, be installed on water surface movable platform 1, by swinging lifting arm 2, show outside water surface movable platform 1 and take in water surface movable platform 1, interior being recycled on the described water surface on water surface movable platform or on described water surface movable platform of slideway dock 4 that is loaded with water surface unmanned vehicles 3 is laid on the water surface;
Described slideway dock 4, comprises that slideway 43, aircraft are caught automatically and disconnector 40, reclaims water surface unmanned vehicles 3 and is recycled in described slideway, or water surface unmanned vehicles is separated and laid in described slideway for automatically catching;
Direction controller, comprise that one is installed on the hold-down arm 5 on described water surface movable platform, the tricing line 51 with damping function that a direction is controlled winch and controlled winch control by described direction, shown in Figure 2, described tricing line 51 connects described slideway dock 4 under this hold-down arm 5 supports, can make described slideway dock 4 and described water surface movable platform 1 keep axially parallel, also guarantee that slideway dock 4 and lash ship keep synchronized travelling simultaneously.
The falling of revolution, slideway dock that described Intelligent electronic control system can be used for controlling swinging lifting arm put and recovery, aircraft is caught automatically and lifting and the release of disconnector.
Described water surface movable platform can various boats and ships, also can other Waterborne movable or navigation instrument.
Described aircraft is caught automatically and disconnector comprises the revolution hooking device of the front end that is located at described slideway dock, and the sear matching with described revolution hooking device, and controls winch 41.
Revolution hooking device for be arranged on the water surface and contact without the head collision of catching through aircraft front end, making this catch head enters in hook, catching head catches releaser and becomes one with slideway dock, when catching head, catch releaser while becoming one with slideway dock, the traction of the hauling rope 42 by winch enters in slideway dock slideway aircraft, and while drawing to slideway dock bow point, aircraft and slideway dock are combined as a whole.
Remote control winch by slideway dock inside after catching gos up to it, finally reaches navigation unit by water and slideway dock and is combined into one and carries out integral hoisting.Sear is for opening aircraft, to catch the revolution hook of releaser, and after hook discharges, aircraft enters the release that has realized aircraft on sea by slideway.
Described slideway is V-arrangement roller structure.Facilitate so described navigation unit by water to slide and enter in described slideway dock.
As another embodiment, due to water surface movable platform, as boats and ships navigate by water in wave, must be subject to the effect of wave and swing, especially more fierce under high sea situation, and the recovery system being arranged on platform swings (being mainly roll and pitch in swing process) with lash ship, in order to guarantee the reliable of slideway dock, while guaranteeing recovery and deployment, attitude is steady, system must arrange shimmy damping device under real sea situation, therefore, described swinging lifting arm is provided with to subtract and waves equalizing gear, comprise at least two mutual vertically arranged damping oil cylinders, for flowing by Throttle Valve Control hydraulic oil, make hoist cable increase damping of oscillations, reduce laterally, longitudinal oscillation amplitude, realize in described water surface unmanned vehicles folding and unfolding process laterally, longitudinally subtracting pendulum controls.
During work, when platform waves because lash ship rocks and the effect of stormy waves is waved, by Throttle Valve Control hydraulic oil mobile, make hoist cable 21 increase damping of oscillationss, reduce amplitude of fluctuation, in implementation platform folding and unfolding process, subtract pendulum.
As another embodiment, further on described swinging lifting arm, be provided with shock absorption buffering mechanism, comprise cushion cylinder, be arranged on the revolution hanging wheel on described swinging lifting arm, described angulated roping is located on described revolution hanging wheel, by the damping of described cushion cylinder, is controlled and is realized described hoist cable pitching and moment tensioning along with described slideway dock.
The slideway dock motion that will rise and fall on the waves when the slideway dock of recovery system is discharged into contact sea, therefore, as another embodiment, described swinging lifting arm is provided with compensation of undulation winch, fall and put device synchronization action with described slideway dock, be used for making described hoist cable to begin in tensioning state in folding and unfolding process, in lifting and decentralization process, hoist cable---steel rope remains tensioned state to slideway dock.
Compensation of undulation winch, for hoist cable compensation of undulation is controlled, keeps the tensioning all the time of folding and unfolding process cable wire.When platform leaves the water surface or has just transferred to the water surface, be subject to Lidar Equation, between platform and lash ship, there is relative heave movement, compensation winch automatic activation compensate function, can not allow platform rock and violently can guarantee the steady safety of platform folding and unfolding process, and there is manual function, Emergency use under off-position.
As another embodiment, described water surface unmanned vehicles falls puts recovery system, comprises remote control hanger system, comprises remote controller and suspension hook hook and releasing mechanism, realizes hook and the release of on described water surface movable platform, under unmanned state, carrying out suspension hook.
In order to realize hook and the release of effectively automatically controlling suspension hook, the embodiment of the present invention, adopts single design of lifting points, the automatic hitch of linking up with by remote controller Long-distance Control and release.
As another embodiment, described water surface unmanned vehicles falls puts recovery system, comprises hydraulic power unit, is arranged on described horizontal shifting platform, for providing to fall to put back to, receives required hydraulic efficiency power unit.Fuel tank belt hydraulic oil purifying system, oil temperature chiller system, motor is marine electric machine, hydraulic efficiency pressure system is selected Premium Brands Hydraulic Elements, has high oil temperature.Low liquid level, filter plugging fault warning function and liquid level is too low, motor overload automatic protection functions.
The built-in multinuclear control system of Intelligent electronic control system, electric elements, sensor, coder, electrical control cubicles used comprises amperemeter/ammtr, button and indicator lamp, interconnector is selected fire-retardant, low cigarette, Halogen wire for ship.
In order to realize the Long-distance Control to removal process, further, also comprise wireless control system, comprise radio operation handheld box, realize by controlling recovery that radio operation handheld box handle completes water surface unmanned vehicles and put and lift with falling.
Can by steel rope, move reciprocatingly in slideway dock belfry.The navigation unit by water that enters slideway dock is bearing in the rolling v-shaped bearing in framework to be fixed, and slideway dock and aircraft form one and make aircraft exempt from the impact of harsh environment.When aircraft needs the water surface to discharge.Slideway dock is by dropping to the floating position of the water surface and making slideway dock and lash ship axially parallel by control the direction of slideway dock with damping direction controller with compensation of undulation loop wheel machine.While transferring to releasing position, the inner winch of remote control slideway dock starts to transfer, when the inner aircraft of slideway dock is caught releaser automatically-unhooked release object that reaches of aircraft while reaching sear position.
Direction controller is controlled traction aircraft cable wire compensation of undulation, keep folding and unfolding process middle slideway dock axis all the time with lash ship keeping parallelism.When slideway dock leaves the water surface or has just transferred to the water surface, be subject to Lidar Equation, between slideway dock and lash ship axis, have relative motion, compensation winch automatic activation compensate function, can not allow slideway dock rock and violently can guarantee the steady safety of unmanned vehicles folding and unfolding process.
In the embodiment of the present invention, water surface unmanned vehicles extension and retraction system working process is described as follows:
Lay work: lifting arm swings slideway dock is moved to outside ship side, by playing hoist cable, slideway dock is executed to the water surface again, at this moment compensation of undulation winch starts the control of enforcement compensation of undulation, after slideway dock is steady with wave motion, control the inner winch of slideway dock, the aircraft of slideway dock inside is caught releaser and start to slide to slideway dock under track; The inside sear of slideway dock is opened the hook that aircraft is caught releaser, and after hook discharges, aircraft enters the release that has realized aircraft on sea by V-type slideway.
Recovery operation: navigation unit by water front end is caught the revolution hook collision that head catches releaser with slideway dock and contact, catches head and enters in hook, catches and slideway dock is caught releaser and become one.Catching the traction of releaser by winch makes aircraft enter slideway dock V-type slideway.While drawing to slideway dock bow point, aircraft and slideway dock are combined as a whole.Play hanger rope slideway dock is hung to the water surface and is rocked to inboard by lifting arm, slideway dock is placed on the slideway dock support of deck, recovery operation finishes.
The present invention can meet lash ship under the 3-5 joint speed of a ship or plane, and during 10 ° of 20 ° of/Zong Pour of Mu Chuan Transverse Pour, the folding and unfolding water surface unmanned vehicles of safety and steady, completes falling of unmanned vehicles and put, reclaim action in 120 seconds.
The above is only the preferred embodiment of the present invention; it should be pointed out that for those skilled in the art, under the premise without departing from the principles of the invention; can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (6)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410264256.3A CN104015886B (en) | 2014-06-13 | 2014-06-13 | A kind of water surface unmanned vehicles drop puts recovery system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410264256.3A CN104015886B (en) | 2014-06-13 | 2014-06-13 | A kind of water surface unmanned vehicles drop puts recovery system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104015886A true CN104015886A (en) | 2014-09-03 |
| CN104015886B CN104015886B (en) | 2018-10-16 |
Family
ID=51432971
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410264256.3A CN104015886B (en) | 2014-06-13 | 2014-06-13 | A kind of water surface unmanned vehicles drop puts recovery system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104015886B (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105667829A (en) * | 2016-01-07 | 2016-06-15 | 湖南华铝机械技术有限公司 | Assembly/maintenance plane dock for planes in same series |
| CN105905245A (en) * | 2016-06-03 | 2016-08-31 | 青岛北海船舶重工有限责任公司 | Cage used for launching and retrieve of unmanned surface vehicle |
| CN106564579A (en) * | 2016-11-22 | 2017-04-19 | 中船华南船舶机械有限公司 | Hydraulic retractable fin stabilization buffer device |
| CN107128795A (en) * | 2017-06-27 | 2017-09-05 | 深圳市云洲创新科技有限公司 | The retracting device and unmanned boat of a kind of unmanned boat |
| CN108163149A (en) * | 2017-12-22 | 2018-06-15 | 上海大学 | A kind of unmanned boat lays recovery system |
| CN109080795A (en) * | 2018-08-01 | 2018-12-25 | 国家海洋局第海洋研究所 | A kind of gliding shear profiler deployment device and its operating method |
| WO2020212269A1 (en) | 2019-04-17 | 2020-10-22 | Eca Robotics | System for recovering a surface marine craft from a carrier ship |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SE9601535L (en) * | 1996-04-22 | 1997-10-23 | Jan Groenstrand | Device for the launch and recovery of boats |
| CN1222123A (en) * | 1996-04-22 | 1999-07-07 | 简·格罗恩斯特兰德 | Appts. for launching and landing of boats |
| US6178914B1 (en) * | 1996-02-07 | 2001-01-30 | Sune Georg Axelsson | Method and an arrangement for launching and taking aboard a raft |
| CN101332866A (en) * | 2008-08-05 | 2008-12-31 | 中国舰船研究设计中心 | General laying-out and recovering system for submersible |
| CN101746680A (en) * | 2010-02-05 | 2010-06-23 | 射阳远洋船舶辅机有限公司 | Device for rapidly collecting and releasing boats |
| CN201566808U (en) * | 2009-08-28 | 2010-09-01 | 射阳远洋船舶辅机有限公司 | Hydraulic control system of dinghy collecting and releasing device for ship use |
| CN202379065U (en) * | 2011-12-28 | 2012-08-15 | 中国科学院沈阳自动化研究所 | Draft gear for recovering underwater robot |
| CN103183113A (en) * | 2011-12-28 | 2013-07-03 | 中国科学院沈阳自动化研究所 | Underwater robot recovery system and recovery method thereof |
| CN203581349U (en) * | 2013-11-30 | 2014-05-07 | 中国科学院沈阳自动化研究所 | Recovery system of autonomous underwater vehicle |
| CN203996800U (en) * | 2014-06-13 | 2014-12-10 | 天津汉海环保设备有限公司 | A kind of water surface unmanned vehicles falls puts recovery system |
-
2014
- 2014-06-13 CN CN201410264256.3A patent/CN104015886B/en active IP Right Grant
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6178914B1 (en) * | 1996-02-07 | 2001-01-30 | Sune Georg Axelsson | Method and an arrangement for launching and taking aboard a raft |
| SE9601535L (en) * | 1996-04-22 | 1997-10-23 | Jan Groenstrand | Device for the launch and recovery of boats |
| CN1222123A (en) * | 1996-04-22 | 1999-07-07 | 简·格罗恩斯特兰德 | Appts. for launching and landing of boats |
| CN101332866A (en) * | 2008-08-05 | 2008-12-31 | 中国舰船研究设计中心 | General laying-out and recovering system for submersible |
| CN201566808U (en) * | 2009-08-28 | 2010-09-01 | 射阳远洋船舶辅机有限公司 | Hydraulic control system of dinghy collecting and releasing device for ship use |
| CN101746680A (en) * | 2010-02-05 | 2010-06-23 | 射阳远洋船舶辅机有限公司 | Device for rapidly collecting and releasing boats |
| CN202379065U (en) * | 2011-12-28 | 2012-08-15 | 中国科学院沈阳自动化研究所 | Draft gear for recovering underwater robot |
| CN103183113A (en) * | 2011-12-28 | 2013-07-03 | 中国科学院沈阳自动化研究所 | Underwater robot recovery system and recovery method thereof |
| CN203581349U (en) * | 2013-11-30 | 2014-05-07 | 中国科学院沈阳自动化研究所 | Recovery system of autonomous underwater vehicle |
| CN203996800U (en) * | 2014-06-13 | 2014-12-10 | 天津汉海环保设备有限公司 | A kind of water surface unmanned vehicles falls puts recovery system |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105667829A (en) * | 2016-01-07 | 2016-06-15 | 湖南华铝机械技术有限公司 | Assembly/maintenance plane dock for planes in same series |
| CN105667829B (en) * | 2016-01-07 | 2018-05-08 | 湖南华铝机械技术有限公司 | It is a kind of it is same be other aircraft assembling/workover rig depressed place |
| CN105905245A (en) * | 2016-06-03 | 2016-08-31 | 青岛北海船舶重工有限责任公司 | Cage used for launching and retrieve of unmanned surface vehicle |
| CN105905245B (en) * | 2016-06-03 | 2018-12-25 | 青岛北海船舶重工有限责任公司 | The cage of recycling is laid for unmanned surface vehicle |
| CN106564579A (en) * | 2016-11-22 | 2017-04-19 | 中船华南船舶机械有限公司 | Hydraulic retractable fin stabilization buffer device |
| CN106564579B (en) * | 2016-11-22 | 2018-09-18 | 中船华南船舶机械有限公司 | Hydraulic pressure folding and unfolding, which subtracts, shakes buffer unit |
| CN107128795A (en) * | 2017-06-27 | 2017-09-05 | 深圳市云洲创新科技有限公司 | The retracting device and unmanned boat of a kind of unmanned boat |
| CN107128795B (en) * | 2017-06-27 | 2018-05-29 | 深圳市云洲创新科技有限公司 | The retracting device and unmanned boat of a kind of unmanned boat |
| CN108163149A (en) * | 2017-12-22 | 2018-06-15 | 上海大学 | A kind of unmanned boat lays recovery system |
| CN108163149B (en) * | 2017-12-22 | 2019-06-04 | 上海大学 | A kind of unmanned boat lays recovery system |
| CN109080795A (en) * | 2018-08-01 | 2018-12-25 | 国家海洋局第海洋研究所 | A kind of gliding shear profiler deployment device and its operating method |
| WO2020212269A1 (en) | 2019-04-17 | 2020-10-22 | Eca Robotics | System for recovering a surface marine craft from a carrier ship |
| FR3095186A1 (en) * | 2019-04-17 | 2020-10-23 | Eca Robotics | System for recovering a surface marine vehicle from a carrier vessel |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104015886B (en) | 2018-10-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US8172177B2 (en) | Stabilized UAV recovery system | |
| AU2014224703B2 (en) | System and method for recovering an autonomous underwater vehicle | |
| DE60017344T2 (en) | Andocking device for autonomous underwater vehicles with own drive | |
| CA2658975C (en) | Apparatus for recovering a surface marine vehicle or an underwater vehicle | |
| US8967067B2 (en) | System for launching and recovering underwater vehicles, notably towed underwater vehicles | |
| CN104114445B (en) | Lift the method for goods and materials, reclaim the system and surface supporting vessel of goods and materials | |
| US7350475B2 (en) | Launch and recovery system | |
| CN100408427C (en) | Floater dragging device | |
| US20060254491A1 (en) | Launch and recovery system | |
| KR20100071070A (en) | Vessels with roll damping mechanism | |
| US7322308B2 (en) | Mooring apparatus with moveable ballast weight | |
| US20100018449A1 (en) | Installation and method for recovering an underwater or marine vehicle | |
| EP2648970B1 (en) | System for releasing and retrieving a submersible device | |
| CN106240772B (en) | A kind of ship base underwater glider lays recovery system and corresponding lays and recovery method | |
| CN105329418A (en) | Unmanned-ship-mounted underwater robot mixing system | |
| CN203889033U (en) | Autonomous underwater vehicle | |
| CA2816396A1 (en) | System for launch and recovery of a vessel | |
| NL2003728C2 (en) | Method for stabilizing a floating vessel against a stationary object. | |
| CN103339027A (en) | Apparatus to launch and recover a boat | |
| CN106342049B (en) | A kind of water surface without cable submersible lays recovery system | |
| CN103183113B (en) | Underwater robot recovery system and recovery method thereof | |
| CN205632934U (en) | Platform of upwards going on board based on surface of water | |
| US20160023722A1 (en) | Autonomous submersible vehicle and method for pulling in same | |
| US9630814B2 (en) | System and apparatus for motion compensation and anti-pendulation | |
| CN105539749B (en) | A kind of liftable floating box device of partly latent cargo ship |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| C06 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address |
Address after: No. 16 Bibo Street, Hangu Modern Industrial Zone, Tianjin Economic and Technological Development Zone, Tianjin Binhai New Area, 300480 Patentee after: Tianjin Hanhai Technology Co., Ltd. Address before: Room G, A17 Floor, Tianda Science Park, Fourth Avenue, Tanggu District Development Zone, Tianjin City, 300457 Patentee before: Tianjin HSE Co., Ltd. |
|
| CP03 | Change of name, title or address |