CN105540457A - Automatic deployment and retrieval system for unmanned surface vehicle - Google Patents
Automatic deployment and retrieval system for unmanned surface vehicle Download PDFInfo
- Publication number
- CN105540457A CN105540457A CN201510941633.7A CN201510941633A CN105540457A CN 105540457 A CN105540457 A CN 105540457A CN 201510941633 A CN201510941633 A CN 201510941633A CN 105540457 A CN105540457 A CN 105540457A
- Authority
- CN
- China
- Prior art keywords
- unmanned boat
- expansion link
- winch
- deployment
- vehicle
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/18—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes
- B66C23/36—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
- B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
- B66C1/12—Slings comprising chains, wires, ropes, or bands; Nets
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/28—Other constructional details
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/28—Other constructional details
- B66D1/40—Control devices
- B66D1/42—Control devices non-automatic
- B66D1/44—Control devices non-automatic pneumatic of hydraulic
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D2700/00—Capstans, winches or hoists
Abstract
The invention discloses an automatic deployment and retrieval system for an unmanned surface vehicle. The automatic deployment and retrieval system comprises an unmanned surface vehicle deployment and retrieval device, a truck, a vehicle-mounted crane and a deployment and retrieval remote control device; the unmanned surface vehicle deployment and retrieval device is fixedly installed in the center of a body of the unmanned surface vehicle, the truck and the vehicle-mounted crane are used for transporting and hoisting the unmanned surface vehicle respectively, and the deployment and retrieval remote control device remotely controls the unmanned surface vehicle deployment and retrieval device. The unmanned surface vehicle deployment and retrieval device comprises a hoisting ring, a telescopic rod, a hinge, a sealing box, an air cylinder, an inflation pump, a winch rope and a winch. The automatic deployment and retrieval system has the advantages that the operation is simple, realization is convenient, the manpower and the material resources are greatly saved, deployment and retrieval of the unmanned surface vehicle are more convenient and faster, and the autonomous operation performance of the unmanned surface vehicle is improved.
Description
Technical field
The present invention relates to unmanned boat and lay recovery field, especially a kind of unmanned boat automatic distributing and discharging recovery system.
Background technology
Unmanned boat is a kind of novel water surface unmanned machine, can be widely used in performing various task waterborne, and as coastline patrol, coastal waters is defended, harbor patrol, and warship escorts, environmental monitoring etc.Along with the development of unmanned boat, following unmanned boat will have and apply more widely.
In the actual use procedure of unmanned boat, lay the difficult point that recovery is an operation always, the recovery that lays of current unmanned boat is mostly adopt loop wheel machine that a cage is put into water, unmanned boat sails cage into after executing task, thus realize the removal process of unmanned boat, unmanned boat to lay Principle of Process similar.This method is too heavy, all will go to war at every turn, wastes time and energy when carrying out laying recovery.And this method substitutability is not strong, the unmanned boat of different size, need adopt the cage of different size, operating cumbersome for saving the energy.For realizing comprehensive autonomy-oriented of unmanned boat, reducing manpower and materials, improving and laying the operability of recovery, must adopt and a kind ofly novel lay recovery system, reclaim for the automatic distributing and discharging realizing unmanned boat.
Summary of the invention
Reclaiming difficult problem for solving laying of unmanned boat, the invention provides a kind of unmanned boat automatic distributing and discharging recovery system, for realizing the convenient operation laying recovery of unmanned boat.
For achieving the above object, the present invention adopts following technical scheme:
A kind of unmanned boat automatic distributing and discharging recovery system, comprises unmanned boat and lays regenerative apparatus, lorry and vehicle-mounted crane, lays recovery remote control device; Described unmanned boat lays regenerative apparatus and is fixedly installed in unmanned boat ship body center, described lorry and vehicle-mounted crane for realizing transport and the lifting of unmanned boat, described in lay recovery remote control device remotely pilotless ship and lay regenerative apparatus.
Described unmanned boat lays regenerative apparatus and comprises hoisting ring, expansion link, hinge, seal casing, cylinder, inflation pump, winch rope, winch; Described winch is fixed on the steelframe of unmanned boat, and sealed by seal casing, described inflation pump is arranged on the side of seal casing, described expansion link is arranged on the top of seal casing by hinge, described hoisting ring is arranged on the top of expansion link, and connecting one end of winch rope, described cylinder one end is fixed on the steelframe of unmanned boat, its gas rod end connection expansion link.
Each joint telescopic section sealing of described expansion link.
Unmanned boat lays in removal process, and rising and the decline of unmanned boat ship body do not bear ship body overall weight by expansion link, but born by the winch rope in expansion link.
Described expansion link, its lifting process (namely level is restored and realized with vertical starting state) has been promoted by cylinder, is similar to the hydraulic pressure lifting device of tip-up lorry, due to expansion link lighter in weight, can adopts cylinder to realize.
The automatic stretching, extension of described expansion link and contraction, adopt air pressure type of drive.By inflation pump, in the enclosure space that fully sheathed case and expansion link form, insufflation gas makes air pressure increase, thus produces enough pressure, expansion link jacking can be got up, realize expansion link and progressively change elongation state into by contraction state.Consider that the length after expansion link elongation must be greater than the diff-H of ground, bank and horizontal surface, and also to have certain pre-allowance, therefore enough length must be had during expansion link elongation state, drive owing to extending the longer alternate manner such as hydraulic pressure, motor that is not easy to of rear length, so adopt pneumatic mode at this, the free-extension of expansion link more piece, large length conveniently can be realized.Described air inflator system, wherein the integrally closed of fully sheathed case and expansion link requires not to be very high, as long as meet suction quantity to be greater than charge air, and can realize the function that air pressure promotes expansion link.
Described expansion link adopts the material with certain rigidity and flexibility, and during contraction state, length is shorter, but can realize the stretching, extension of longer distance simultaneously.Expansion link has certain rigidity, makes it can present vertical state in the expanded state, is unlikely to be bent; Expansion link has certain flexibility, expansion link can be made to deform under external force bending, is convenient to suspension hook and suspension ring to be combined by manual type and be separated.Laying in regenerative apparatus, bank staff is by the straight-bar of band hook, and move the expansion link of straight configuration to bank, separate hook and suspension ring when laying, couple together suspension hook and suspension ring during recovery.
Native system, when unmanned boat lays, makes the winch work laid in unmanned boat in regenerative apparatus, and unmanned boat is constantly transferred and automatically extends to water surface simultaneous retractable bar, on crane, winch does not work in the process.After unmanned boat expansion link extends completely, make the work of jammer winch again, if on the one hand now unmanned boat not yet contacts the water surface and can continue to decline until the contact water surface, on the other hand, after the unmanned boat contact water surface, crane hoisting machine works on and transfers the rope of certain length, is convenient to together move expansion link to bank together with crane rope, untie the connection of suspension hook and suspension ring subsequently, complete being separated of crane and unmanned boat.When unmanned boat reclaims, first inflation pump in regenerative apparatus and winch is laid by unmanned boat, make expansion link together stretch rising together with rope, by manual type, expansion link is pushed the attended operation that expansion link suspension ring and jammer suspension hook are carried out in bank afterwards.Subsequently, rotate suspension arm of crane, the top of expansion link hoist lifting hook being positioned at stretch, then open unmanned boat and lay winch in regenerative apparatus, and then drive unmanned boat to rise, on crane, winch does not work in the process.After unmanned boat expansion link completes contraction, control crane and unmanned boat is put on lorry, can removal process be completed.
Described unmanned boat lays regenerative apparatus, and the mode adopting automatically and manually combine, major part passes through automatic control mode.Mainly control the motion of expansion link, the manual operation combination of just carrying out expansion link suspension ring and hoist lifting hook be separated.
Lay compared with way of recycling with existing, the present invention has following outstanding substantive distinguishing features and significant advantage:
What the alternative existing unmanned machine of present system was wasted time and energy lays way of recycling, and make unmanned boat lay recovery convenient more unmanned, this device can realize the combination good with unmanned boat.In actual use procedure, jammer, two people are only needed to complete.One man operation crane, the combination that people's remotely pilotless ship carries out hoist lifting hook and unmanned boat suspension ring be separated, and then complete and lay reclaimer operation.Greatly reduce manpower like this, implement simple and convenient.There is good comformability to all unmanned machines, have good transplantability and actual value of service.
Accompanying drawing explanation
Fig. 1 is unmanned boat automatic distributing and discharging recovery system block diagram of the present invention.
Fig. 2 is unmanned boat automatic distributing and discharging regenerative apparatus overall schematic of the present invention.
Fig. 3 is the inner winch schematic diagram of seal casing.
Fig. 4 is one of unmanned boat automatic distributing and discharging removal process schematic diagram.
Fig. 5 is unmanned boat automatic distributing and discharging removal process schematic diagram two.
Fig. 6 is expansion link motion process schematic diagram.
Detailed description of the invention
Below in conjunction with accompanying drawing, specific embodiments of the invention are described further.
As shown in Figure 1, a kind of unmanned boat automatic distributing and discharging recovery system, comprises unmanned boat and lays regenerative apparatus 101, lorry and vehicle-mounted crane 102, lays recovery remote control device 103; Described unmanned boat lays regenerative apparatus 101 and is fixedly installed in unmanned boat 12 ship body center, described lorry and vehicle-mounted crane 102 for realizing transport and the lifting of unmanned boat 12, described in lay recovery remote control device 103 remotely pilotless ship and lay regenerative apparatus 101.
As shown in Figures 2 and 3, described unmanned boat lays regenerative apparatus 101 and comprises hoisting ring 1, expansion link 2, hinge 3, seal casing 4, cylinder 5, inflation pump 6, winch rope 7, winch 8; Described winch 8 is fixed on the steelframe of unmanned boat 12, and sealed by seal casing 4, described inflation pump 6 is arranged on the side of seal casing 4, described expansion link 2 is arranged on the top of seal casing 4 by hinge 3, described hoisting ring 1 is arranged on the top of expansion link 2, and connecting one end of winch rope 7, described cylinder 5 one end is fixed on the steelframe of unmanned boat 12, its gas rod end connection expansion link 2.Each joint telescopic section sealing of described expansion link 2.
As shown in Figure 4, the specific operation process that lays of unmanned boat following (transferring the process to the water surface by unmanned boat):
First, by lorry 9, unmanned boat 12 is transported to seashore, lorry 9 is equipped with vehicle-mounted suspension bracket 10.Then start specifically to lay process, for unmanned boat 12, bank staff controls by telecommand equipment 103 lift cylinder 5 laying regenerative apparatus, makes the expansion link 2 being originally in horizontality, slowly jacking is to vertical state, and expansion link 2 carries out 90 degree rotating freely by hinge 3.Adopt rational docking facilities with seal casing 4 bottom expansion link 2, and there is certain sealing effectiveness.After on unmanned boat 12, expansion link 2 is in vertical state, then vehicle-mounted suspension bracket 10 mechanism is turned to above expansion link 2, docked with the suspension ring 1 of expansion link 2 by winch 8 suspension hook 11 of manual type by vehicle-mounted suspension bracket 10, then controlling vehicle-mounted suspension bracket 10 unmanned boat 12 of slinging revolves above turnback to sea level, and now unmanned boat 12 expansion link 2 is still in contraction state.
Then control winch 8 on unmanned boat 12 by wireless remote controller 103 to work, unmanned boat 12 is constantly transferred to water surface simultaneous retractable bar 2 automatically extend, on vehicle-mounted suspension bracket 10, winch does not work in the process, and unmanned boat 12 winch 8 unilaterally work makes unmanned boat 12 decline.When unmanned boat 12 lays, winch 8 starts simultaneously, and inflation pump 6 also starts thereupon, produces certain gaseous tension, for jack-up expansion link 2, by reduction charge air gradually, make can synchronously with winch 8 slowly to carry out when expansion link 2 is retracted below, be unlikely to expansion link 2 and fall after rise instantaneously.
After unmanned boat automatic distributing and discharging regenerative apparatus expansion link 2 extends completely, on unmanned boat 12, winch 8 and inflation pump 6 quit work.Make the work of vehicle-mounted suspension bracket 10 winch again, if on the one hand now unmanned boat 12 not yet contact the water surface and can continue to decline until contact the water surface, on the other hand, after unmanned boat 12 contacts the water surface, vehicle-mounted suspension bracket 10 winch works on and transfers the rope 13 of certain length, produce certain rope 13 surplus, be convenient to together move expansion link 2 to bank together with crane rope 13.Unmanned boat 12 is placed safely on the water surface and after vehicle-mounted suspension bracket 10 winch produces certain rope 13 surplus, be positioned at the staff on bank by the straight line pole with hook, unmanned boat expansion link 2 is together hooked to bank together with vehicle-mounted winch rope 13, and (expansion link 2 has certain flexibility, concrete situation is shown in Fig. 5), by manually suspension hook 11 and suspension ring 1 being unclamped, decontrol expansion link 2 afterwards, expansion link 2 is rebounded automatically, completes unmanned boat 12 and be separated with crane link 10.
By wireless remote controller 103, control winch 8 on unmanned boat and shrink, make unmanned boat winch rope 7 drive expansion link 2 to transfer, control inflation pump 6 simultaneously and reduce charge air gradually, expansion link 2 is slowly declined due to the reduction of gas lift-up pressure.After expansion link 2 has shunk, then control cylinder 5 starts to shrink, and makes expansion link 2 be in hull surface horizontal positioned, completes withdrawal.So far, unmanned boat lays task and completes, and unmanned boat 12 is placed to the water surface, can start to perform other task.
The specific operation process that unmanned boat reclaims following (being recovered to process on the bank by the water surface by unmanned boat):
It is contrary that unmanned boat 12 reclaims and lay concrete operations performance.
Unmanned boat 12, after executing task, sails into and lays recovery zone.First, bank staff, adopt wireless remote controller 103 to control the cylinder 5 that unmanned boat 12 lays in regenerative apparatus to operate, make cylinder 5 progressively jack-up expansion link 2, as shown in Figure 6, expansion link 2 is finally in vertical state, then opens inflation pump 6 and winch 8, inflation pump 6 produces certain air pressure, promotes expansion link 2 and is progressively expanded to full extension state.Now, unmanned boat winch rope 7 together rises in company with expansion link 2.After expansion link 2 launches, bank staff adopts the straight line pole of band hook, expansion link 2 is hooked to bank, subsequently the suspension hook 11 of the suspension ring 1 of expansion link 2 with vehicle-mounted suspension bracket 10 is connected, then expansion link 2 is decontroled, and above rotating hanger suspension hook 11 to vertical telescopic bar 2, prepare to start to reclaim unmanned boat process.
At unmanned boat 12 by water surface lifting process, the winch of vehicle-mounted suspension bracket 10 does not work, the winch 8 of unmanned boat 12 automatic distributing and discharging regenerative apparatus is opened, close inflation pump 6 simultaneously, expansion link 2 can automatically stretch under the effect of unmanned boat winch rope 7 pulling force, unmanned boat 12 starts progressively upward movement, until expansion link 2 is in contraction state, at this moment the winch 8 in unmanned boat automatic distributing and discharging regenerative apparatus is closed, start rotary vehicle-mounted suspension bracket 10, vehicle-mounted suspension bracket 10 unmanned boat 12 of slinging is made to rotate above lorry 9, and safety is placed on above lorry 9, untie the connection of suspension hook 11 and suspension ring 1.Then control cylinder 5 makes expansion link 2 retract original state.So far, unmanned boat reclaims task and completes, and unmanned boat 12 is conveniently transported to other place by lorry 9.
Claims (3)
1. a unmanned boat automatic distributing and discharging recovery system, is characterized in that: comprise unmanned boat and lay regenerative apparatus (101), lorry and vehicle-mounted crane (102), lay recovery remote control device (103); Described unmanned boat lays regenerative apparatus (101) and is fixedly installed in unmanned boat (12) ship body center, described lorry and vehicle-mounted crane (102) for realizing transport and the lifting of unmanned boat (12), described in lay recovery remote control device (103) remotely pilotless ship and lay regenerative apparatus (101).
2. unmanned boat automatic distributing and discharging recovery system according to claim 1, is characterized in that: described unmanned boat lays regenerative apparatus (101) and comprises hoisting ring (1), expansion link (2), hinge (3), seal casing (4), cylinder (5), inflation pump (6), winch rope (7), winch (8); Described winch (8) is fixed on the steelframe of unmanned boat (12), and by seal casing (4) sealing, described inflation pump (6) is arranged on the side of seal casing (4), described expansion link (2) is arranged on the top of seal casing (4) by hinge (3), described hoisting ring (1) is arranged on the top of expansion link (2), and connecting one end of winch rope (7), described cylinder (5) one end is fixed on the steelframe of unmanned boat (12), its gas rod end connection expansion link (2).
3. unmanned boat automatic distributing and discharging recovery system according to claim 2, is characterized in that: each joint telescopic section sealing of described expansion link (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201510941633.7A CN105540457A (en) | 2015-12-16 | 2015-12-16 | Automatic deployment and retrieval system for unmanned surface vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510941633.7A CN105540457A (en) | 2015-12-16 | 2015-12-16 | Automatic deployment and retrieval system for unmanned surface vehicle |
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| CN105540457A true CN105540457A (en) | 2016-05-04 |
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| CN201510941633.7A Pending CN105540457A (en) | 2015-12-16 | 2015-12-16 | Automatic deployment and retrieval system for unmanned surface vehicle |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106828829A (en) * | 2017-01-20 | 2017-06-13 | 上海大学 | A kind of unmanned boat reclaims the Automatic Link Establishment for laying |
| CN107089302A (en) * | 2017-03-31 | 2017-08-25 | 上海大学 | A kind of unmanned boat intelligently lays retracting device |
| CN107265277A (en) * | 2017-08-16 | 2017-10-20 | 广州海工船舶设备有限公司 | A kind of unmanned boat automatic deploying and retracting hanging apparatus |
| CN107344597A (en) * | 2017-08-25 | 2017-11-14 | 深圳市云洲创新科技有限公司 | Unmanned boat lays retracting device, system and unmanned boat and lays recovery method |
| CN107499460A (en) * | 2017-09-22 | 2017-12-22 | 江苏科技大学 | A kind of unmanned surface vehicle automatic distributing and discharging recovery system |
| CN108516055A (en) * | 2018-04-18 | 2018-09-11 | 上海大学 | A kind of unmanned boat lays retracting device |
| CN108516054A (en) * | 2018-04-18 | 2018-09-11 | 上海大学 | A kind of lash ship is that the unmanned boat of depressed place ship lays retracting device |
| CN109501966A (en) * | 2018-12-14 | 2019-03-22 | 江苏佼燕船舶设备有限公司 | A kind of unmanned lifeboat facilitating traction |
| CN109928299A (en) * | 2019-04-04 | 2019-06-25 | 哈尔滨工程大学 | It is a kind of can the remote control type UUV of automatic coupling and unhook lay recovering mechanism and method |
| CN110104124A (en) * | 2019-04-08 | 2019-08-09 | 中船绿洲镇江船舶辅机有限公司 | A kind of automatic distributing and discharging and recovery system of unmanned boat |
| CN110498043A (en) * | 2019-08-30 | 2019-11-26 | 上海大学 | It is a kind of with extending arm in parallel unmanned plane collaboration unmanned boat lay recovery system |
| CN111170122A (en) * | 2020-03-02 | 2020-05-19 | 济南大学 | Automatic retraction system of unmanned boat |
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Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106828829A (en) * | 2017-01-20 | 2017-06-13 | 上海大学 | A kind of unmanned boat reclaims the Automatic Link Establishment for laying |
| CN107089302A (en) * | 2017-03-31 | 2017-08-25 | 上海大学 | A kind of unmanned boat intelligently lays retracting device |
| CN107089302B (en) * | 2017-03-31 | 2019-02-22 | 上海大学 | A kind of unmanned boat intelligently lays recyclable device |
| CN107265277A (en) * | 2017-08-16 | 2017-10-20 | 广州海工船舶设备有限公司 | A kind of unmanned boat automatic deploying and retracting hanging apparatus |
| CN107265277B (en) * | 2017-08-16 | 2019-04-26 | 广州海工船舶设备有限公司 | A kind of unmanned boat automatic deploying and retracting hanging apparatus |
| CN107344597A (en) * | 2017-08-25 | 2017-11-14 | 深圳市云洲创新科技有限公司 | Unmanned boat lays retracting device, system and unmanned boat and lays recovery method |
| CN107344597B (en) * | 2017-08-25 | 2023-11-28 | 深圳市云洲创新科技有限公司 | Unmanned ship deployment and recovery device, system and unmanned ship deployment and recovery method |
| CN107499460A (en) * | 2017-09-22 | 2017-12-22 | 江苏科技大学 | A kind of unmanned surface vehicle automatic distributing and discharging recovery system |
| CN108516054B (en) * | 2018-04-18 | 2019-07-05 | 上海大学 | A kind of lash ship is that the unmanned boat of depressed place ship lays recyclable device |
| CN108516055A (en) * | 2018-04-18 | 2018-09-11 | 上海大学 | A kind of unmanned boat lays retracting device |
| CN108516054A (en) * | 2018-04-18 | 2018-09-11 | 上海大学 | A kind of lash ship is that the unmanned boat of depressed place ship lays retracting device |
| CN109501966A (en) * | 2018-12-14 | 2019-03-22 | 江苏佼燕船舶设备有限公司 | A kind of unmanned lifeboat facilitating traction |
| CN109928299A (en) * | 2019-04-04 | 2019-06-25 | 哈尔滨工程大学 | It is a kind of can the remote control type UUV of automatic coupling and unhook lay recovering mechanism and method |
| CN110104124A (en) * | 2019-04-08 | 2019-08-09 | 中船绿洲镇江船舶辅机有限公司 | A kind of automatic distributing and discharging and recovery system of unmanned boat |
| CN110104124B (en) * | 2019-04-08 | 2024-03-15 | 中船绿洲镇江船舶辅机有限公司 | Automatic deployment and recovery system of unmanned ship |
| CN110498043A (en) * | 2019-08-30 | 2019-11-26 | 上海大学 | It is a kind of with extending arm in parallel unmanned plane collaboration unmanned boat lay recovery system |
| CN111170122A (en) * | 2020-03-02 | 2020-05-19 | 济南大学 | Automatic retraction system of unmanned boat |
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