CN106043728B - Helicopter carrier landing system and warship method - Google Patents
Helicopter carrier landing system and warship method Download PDFInfo
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- CN106043728B CN106043728B CN201610466466.XA CN201610466466A CN106043728B CN 106043728 B CN106043728 B CN 106043728B CN 201610466466 A CN201610466466 A CN 201610466466A CN 106043728 B CN106043728 B CN 106043728B
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- calutron
- airplane parking
- warship
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- 238000000034 method Methods 0.000 title claims description 11
- 238000009434 installation Methods 0.000 claims description 18
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- 229910052751 metal Inorganic materials 0.000 claims description 9
- 238000004891 communication Methods 0.000 claims description 8
- 230000033001 locomotion Effects 0.000 claims description 6
- 230000006698 induction Effects 0.000 claims description 5
- 230000009471 action Effects 0.000 claims description 3
- 238000013459 approach Methods 0.000 claims description 3
- 230000005389 magnetism Effects 0.000 claims description 3
- 230000007246 mechanism Effects 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000007797 corrosion Effects 0.000 description 3
- 238000005260 corrosion Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
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- KGWWEXORQXHJJQ-UHFFFAOYSA-N [Fe].[Co].[Ni] Chemical compound [Fe].[Co].[Ni] KGWWEXORQXHJJQ-UHFFFAOYSA-N 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/02—Ground or aircraft-carrier-deck installations for arresting aircraft, e.g. nets or cables
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D45/00—Aircraft indicators or protectors not otherwise provided for
- B64D45/04—Landing aids; Safety measures to prevent collision with earth's surface
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention discloses a kind of helicopter carrier landing systems; the system includes the airplane parking area for being mounted on the Zhe Jian auxiliary bodies of helicopter body bottom and being arranged on ship deck; wherein; the Zhe Jian auxiliary bodies include the electromagnet being adsorbed on helicopter landing gear; the airplane parking area be circle, inside have several evenly arranged calutrons；The system further includes the slideway being arranged on ship deck, and the airplane parking area is installed on slideway, when helicopter lands, is slided to precalculated position along slideway, after the completion of helicopter landing, is slided to hangar along slideway.The system structure is simple, easy to use, has good reliability, can in the case where light is strong and sea situation is poor safe and stable warship；There is the system wide applicability and versatility, the helicopter of different model and volume slightly to improve, you can be adapted to this system.
Description
Technical field
The present invention relates to technical field of aerospace more particularly to a kind of helicopter to stablize carrier landing system and warship method.
Background technology
Helicopter can be divided into someone, pilotless helicopter according to activity classification；Classify according to the energy, can be divided into electric energy,
Chemical energy helicopter.In general, manned versions of helicopter build is larger, mostly chemical energy source, mechanical stability are apparent；It is unmanned
Helicopter has two kinds of electric energy, chemical energy energy modes, and average physique is smaller, and mechanical stability is poor, anti-sea wind, mechanical interference
It can force difference.
And relative to the stable land of topography, the VTOL of helicopter aboard ship is done by following uncertain factor
It disturbs：Marine aerodynamic parameter variation is exceedingly fast and is not easy to predict；The movement on deck so that the face of rising and falling is unstable；Seawater corrosion helicopter
Metal device.
Currently, still warship device using traditional drawing drop formula in engineering warship device with " harpoon-grid " formula.Drop formula is drawn
Helicopter and naval vessel are fixed together by warship device using rope, and scope of activities and the mobility of helicopter receive rope length
With the influence of toughness；" harpoon-grid " formula warship device the precision of helicopter landing is required it is high, meanwhile, on helicopter
The rigidity and intensity of " harpoon " component directly determine the quality of warship quality, under the round-the-clock Mechanical shock conditions of naval vessels easily
In fatigue, and it is poor to the repellence of powerful sea wind.
Chinese patent CN201410775156.7 discloses a kind of helicopter helicopter Zhe Jian mechanisms, the Patent design one
The mechanical shaft type helicopter carrier landing system of kind, is equipped with electromagnet in the actuator base, it is made to be adsorbed on naval vessel.The mechanism has
The features such as simple in structure, easy for installation.The mechanism is plug-in mechanism, and versatility is stronger, however the system is in severe weather conditions
Descend warship second-rate.
Chinese patent CN201310262315.9 discloses a kind of Novel helicopter carrier landing system, is equipped on helicopter
Several hydraulic devices, and it is furnished with quantity, position and the matched electromagnet of hydraulic device.When helicopter falls and close to deck
When, electromagnet is thrown to deck, and electromagnet unlatching later completes the attraction to helicopter, so that it is put down with deck by hydraulic device
Row.But the patent is only applicable to the deck of iron-cobalt-nickel and its alloy material, if deck not instead of magnetic medium, certain
Advanced composite material (ACM), electromagnet can not be completed to adsorb with deck.
Invention content
In order to overcome the above problem, present inventor has performed sharp studies, design a kind of helicopter carrier landing system, this is
System includes the electromagnet and the airplane parking area being arranged on ship deck mounted on helicopter body bottom, and the electromagnet, which is arranged, to exist
On the undercarriage of helicopter, calutron is internally provided in the airplane parking area, the system also, for controlling magnetic on calutron
The calculating part of the calutron control unit and control helicopter descent of field, the calutron control unit includes for controlling
The supply unit for electric installation and for controlling magnetic direction on calutron of magnetic field size on calutron, and it is pre- meeting
Set the tone part when the repulsion between airplane parking area and helicopter become into suction, also pass through the calculating part and calculate and control the helicopter
Descent, reduce helicopter in chip workload, the processing speed of chip in helicopter is provided, to complete this hair
It is bright.
In particular it is object of the present invention to provide following aspect：
(1) a kind of helicopter carrier landing system, which is characterized in that the system includes the electromagnetism mounted on helicopter body bottom
Iron and the airplane parking area 1 being arranged on ship deck,
The electromagnet is arranged on the undercarriage of helicopter,
It is internally provided with calutron 2 in the airplane parking area 1.
(2) system according to above-mentioned (1), which is characterized in that the system further includes the cunning being arranged on ship deck
Road 3, the airplane parking area 1 are installed on slideway 3, and when helicopter lands, the airplane parking area 1 is slided along slideway 3 to precalculated position,
After the completion of helicopter landing, the airplane parking area 1 carries helicopter and is slided to hangar along slideway.
(3) system according to above-mentioned (1) or (2), which is characterized in that
The system further include for incude distance between helicopter and airplane parking area apart from induction part 4, for airplane parking area and
Communication unit 5, the calutron control unit 6 for controlling magnetic field on calutron 2 and the control helicopter landing of helicopter communication
The calculating part 7 of process.
(4) system according to above-mentioned (3), which is characterized in that the calutron control unit 6 includes for controlling electricity
The supply unit 62 for electric installation 61 and for controlling magnetic direction on calutron of magnetic field size on magnetic device.
(5) system according to above-mentioned (4), which is characterized in that the calutron 2 includes cylindrical metal core and twines
It is wound on the loop of the multiturn naked skin on the outside of the metal core,
It is described to include brush for electric installation 61, it is electrically connected with the loop of the naked skin, the brush is removable,
Change the number of turns of hot-wire coil by changing the position of brush, to control magnetic field force between calutron 2 and electromagnet
Size.
(6) system according to above-mentioned (5), which is characterized in that the supply unit 62 is used to warship mistake in helicopter
Cheng Zhong changes the stream of electric current in the loop of the calutron by supply unit 62 when helicopter meets preset condition
Dynamic direction, so that the magnetic repulsion between magnetic device 2 and electromagnet becomes magnetic pull.
(7) system according to above-mentioned (6), which is characterized in that the preset condition include helicopter with airplane parking area 1 it
Between distance be less than 5m, and the speed of helicopter be less than 1m/s.
(8) system according to above-mentioned (3), which is characterized in that the calculating part 7 is connected with for electric installation 61, described
Calculating part be used for by for electric installation change calutron on magnetism intensity control the unmanned plane warship speed, make it at the uniform velocity
Warship.
(9) system according to above-mentioned (1), which is characterized in that set between the electromagnet and helicopter landing gear
It is equipped with spring vibration damper.
(10) a kind of helicopter warship method, which is characterized in that this method is to use to be as described in above-mentioned (1) to (9)
System,
Preferably, this approach includes the following steps：
Step 1)：Helicopter incites somebody to action warship signal and is transferred to airplane parking area 1, and airplane parking area 1 is slided along slideway 3 to precalculated position；
Step 2)：The sinking speed of the magnetic field force and helicopter needed for helicopter landing is obtained by calculating part, it is electric at this time
Magnetic field force between magnetic device 2 and electromagnet is repulsion；
Step 3)：The sinking speed that helicopter is obtained according to calculating part lands, meanwhile, the movement of real-time judge helicopter
Whether state meets preset condition, when meeting preset condition, changes the magnetic field force between calutron 2 and electromagnet, makes it
Show as gravitation；
Step 4)：Helicopter drops on airplane parking area 1, and airplane parking area 1 carries helicopter and slided to hangar along slideway 3.
Advantageous effect possessed by the present invention includes：
(1) system structure is simple, easy to use, has good reliability, can strong in light in sea situation it is poor
In the case of safe and stable warship；
(2) there is the system wide applicability and versatility, the helicopter of different model and volume slightly to improve, you can
It is adapted to this system；
(3) system includes calculating part, reduces the dependence in warship to the microcomputer system on helicopter.
Description of the drawings
Fig. 1 is shown according to a kind of helicopter carrier landing system structural schematic diagram of preferred embodiment of the present invention.
Fig. 2 shows according to a kind of overlooking structure diagram of the airplane parking area of preferred embodiment of the present invention；
Fig. 3 is shown according to a kind of side structure schematic view of the airplane parking area of preferred embodiment of the present invention；
Fig. 4 is shown according to a kind of structural schematic diagram of the calutron of preferred embodiment of the present invention.
Drawing reference numeral explanation：
The airplane parking areas 1-
2- calutrons
21- metal cores
The loop of 22- naked skins
3- slideways
4- is apart from induction part
5- communication units
6- calutron control units
61- is for electric installation
62- supply units
7- calculating parts
Specific implementation mode
Below by drawings and examples, the present invention is described in more detail.Pass through these explanations, the features of the present invention
It will be become more apparent from advantage clear.
Dedicated word " exemplary " means " being used as example, embodiment or illustrative " herein.Here as " exemplary "
Illustrated any embodiment should not necessarily be construed as preferred or advantageous over other embodiments.Although each of embodiment is shown in the accompanying drawings
In terms of kind, but unless otherwise indicated, it is not necessary to attached drawing drawn to scale.
According to a kind of helicopter carrier landing system provided by the invention, as shown in Figure 1, Figure 2 and Figure 3, which includes installation
Electromagnet in helicopter body bottom and the airplane parking area 1 that is arranged on ship deck,
Wherein, the electromagnet is preferably adsorbed on helicopter landing gear,
The airplane parking area 1 be circle, inside have several evenly arranged calutrons 2.
Anti-oxidation and antisepsis corrosion material is coated with outside the electromagnet mechanism and airplane parking area, to prevent seawater corrosion.
In one preferred embodiment, as shown in figure 4, the calutron 1 is to include cylindrical metal core and twining
Be wound on the loop of multiturn/N circle naked skins on the outside of the metal core, the number of turns of the coil according to the size of metal core and
The thickness of coil determines.
In one preferred embodiment, as shown in figure 3, the system further includes the slideway 3 being arranged on ship deck,
The airplane parking area 1 is installed on slideway 3, when helicopter lands, is slided to precalculated position along slideway 3, when helicopter has landed
Cheng Hou is slided along slideway to hangar, it is preferred that hydraulic fixing device is provided in airplane parking area, to fix the position of airplane parking area.
In another preferred embodiment, groove and removable switch, helicopter flight are opened up on ship deck
When, airplane parking area place in groove, when helicopter land, open it is removable switchs, airplane parking area rise to it is parallel with deck for
Helicopter lands.
In one preferred embodiment, as shown in fig. 1, which further includes for incuding helicopter and airplane parking area
Between distance the communication unit 5 communicated apart from induction part 4, for airplane parking area and helicopter, for controlling magnetic field on calutron 2
Calutron control unit 6 and control helicopter descent calculating part 7.
Specifically, the communication unit includes wireless transmission device and radio receiver, it is therefore preferable to wireless telecommunications system,
Can in closer distance reception/transmission information, helicopter in warship, compared with the distance between deck and helicopter
It is small so that the wireless telecommunications system can work normally；
The component that a variety of principles can be used apart from induction part 4, such as infrared sensing equipment, ultrasonic range finder, light
Rangefinder etc. is learned, since helicopter is in warship, the distance between deck and helicopter are smaller, and above equipment can
It realizes the effect of ranging, is preferably optical rangefinder in the present invention.
Calculating part can receive each information passed out by the communication section 5, and be calculated described in control according to the information
The descent of helicopter, specifically, the calculating part 7 are connected with for electric installation 61, and the calculating part is for passing through power supply
Device change magnetism intensity on calutron control the unmanned plane warship speed, the warship that keeps it steady, how control force is
One empirical process is certain certain value for electric current perseverance in electric installation, at this point, the single-turn circular coil of the single electromagnet on airplane parking area carries
Force determines, and can be obtained by practical measurement, and the power that airplane parking area provides is by live wire on energization electromagnet number, each electromagnet
It encloses number and determines that also related with the difference in height on deck with helicopter, with the landing of helicopter, difference in height also changes correspondingly,
Meanwhile the speed of unmanned plane may also can change, steady the warship refers to according to fixed, smaller acceleration movement, most
The process on deck is steadily dropped to eventually.So controlling the size of magnetic field force with the change of time and distance by calculating part
Change and change, can realize unmanned plane steadily warship.
In one preferred embodiment, the calutron control unit 6 includes for controlling magnetic field on calutron
The supply unit 62 for electric installation 61 and for controlling magnetic direction on calutron of size, for electric installation 61 for changing stream
Enter the electric current of calutron, and then change the magnetic field force between calutron 2 and electromagnet,
Preferably, it is described for electric installation be naval vessel built-in power.
For electric installation include brush as shown in figure 3, described, is electrically connected with the loop of the naked skin, by changing
Become the position of brush to change the number of turns of hot-wire coil, to change the magnetic field force between calutron 2 and electromagnet.
Further, the supply unit 62 is used for during helicopter warship, and helicopter changes when meeting preset condition
Become the flow direction of electric current in the loop of the calutron so that between magnetic device 2 and electromagnet magnetic field repulsion
Become gravitation.
The preset condition includes that the distance between helicopter and airplane parking area 1 are less than 5m, and the speed of helicopter is less than
1m/s。
Specific operation process is that, when helicopter starts landing, the magnetic field force between calutron 2 and electromagnet is shown as
Repulsion changes the electric current for flowing into calutron 2, makes electromagnetism until when judging that the motion state of helicopter meets preset condition
Magnetic field force between device 2 and electromagnet shows as gravitation.
In one preferred embodiment, the Zhe Jian auxiliary bodies further include spring vibration damper and the anti-side of undercarriage
Turning-up devices.Wherein, the spring vibration damper is arranged between electromagnet and helicopter landing gear.
In one preferred embodiment, described spring vibration damper one end is connect with helicopter body bottom, one end
It is connect with electromagnet, plays the role of damping at the time of electromagnet is drawn onto together with calutron 2.
Warship method according to a kind of helicopter provided by the invention, this approach includes the following steps：
Step 1)：Helicopter incites somebody to action warship signal and is transferred to airplane parking area 1, and airplane parking area 1 is slided along slideway 3 to precalculated position；
Step 2)：The sinking speed of the magnetic field force and helicopter needed for helicopter landing is obtained by calculating part, it is electric at this time
Magnetic field force between magnetic device 2 and electromagnet is repulsion；
Step 3)：The sinking speed that helicopter is obtained according to calculating part lands, meanwhile, the movement of real-time judge helicopter
Whether state meets preset condition, when meeting preset condition, changes the magnetic field force between calutron 2 and electromagnet, makes it
Show as gravitation；
Step 4)：Helicopter drops on airplane parking area 1, and drives airplane parking area 1 to carry helicopter and slided to machine along slideway 3
Library.
In one preferred embodiment, the system can also include angular-rate sensor and the first barometertic altimeter,
Second barometertic altimeter, wherein angular-rate sensor is used to measure the angular velocity in roll of ship deck, and the first barometertic altimeter is used
In the height above sea level for measuring helicopter, the second barometertic altimeter is used to measure the height above sea level of ship deck.
Wherein, the ship deck height above sea level of the two groups of different moments continuously measured when the second barometertic altimeter on deck
Height differs by more than or when equal to warning height difference, alternatively, the angular speed on the second electromagnet on be set forth in deck senses
When the naval vessel angular velocity in roll for two groups of different moments that device continuously measures differs by more than or is equal to warning swing speed value, it is believed that institute
It states helicopter and is unsatisfactory for steady the condition of warship, the conditional information that helicopter is unsatisfactory for steady warship at this time is sent to calculating
Portion, by calculating part control helicopter wouldn't warship, until after the above-mentioned condition for being unsatisfactory for steady warship changes；
Wherein, two groups of different moments differ 0.1~0.5s, preferably 0.2s；The warning height difference be 0.5~
1.5m, preferably 1m；5m/s~15m/s, preferably 10m/s when the warning swing speed value.
Above in association with preferred embodiment, the present invention is described, but these embodiments are only exemplary
, only play the role of illustrative.On this basis, a variety of replacements and improvement can be carried out to the present invention, these each fall within this
In the protection domain of invention.
Claims (5)
1. a kind of helicopter carrier landing system, which is characterized in that the system include mounted on helicopter body bottom electromagnet and
The airplane parking area (1) being arranged on ship deck,
The electromagnet is arranged on the undercarriage of helicopter,
It is internally provided with calutron (2) in the airplane parking area (1),
The system further includes the slideway (3) being arranged on ship deck, and the airplane parking area (1) is installed on slideway (3), when going straight up to
When machine lands, the airplane parking area (1) is slided along slideway (3) to precalculated position, after the completion of helicopter landing, the airplane parking area
(1) helicopter is carried to slide to hangar along slideway,
The system further include for incude distance between helicopter and airplane parking area apart from induction part (4), for airplane parking area and straight
Communication unit (5), the calutron control unit (6) for controlling magnetic field on calutron (2) and the control helicopter of the machine of liter communication
The calculating part (7) of descent；
The calutron control unit (6) include for control magnetic field size on calutron (2) for electric installation (61) and
In the supply unit (62) of magnetic direction in control calutron (2),
The supply unit (62) is used for during helicopter warship, when helicopter meets preset condition, is filled by power supply
The flow direction for setting electric current in the loop of (62) change calutron (2), so that calutron (2) and electromagnet
Between magnetic repulsion become magnetic pull；
The system further includes angular-rate sensor and the first barometertic altimeter, the second barometertic altimeter, wherein angular-rate sensor
Angular velocity in roll for measuring ship deck, the first barometertic altimeter are used to measure the height above sea level of helicopter, the second air pressure
Altimeter is used to measure the height above sea level of ship deck,
When the ship deck height above sea level for two groups of different moments that the second barometertic altimeter on deck continuously measures differs
When more than or equal to warning height difference, alternatively, the naval vessel for two groups of different moments that the angular-rate sensor continuously measures is horizontal
Cradle angle speed differs by more than or when equal to warning swing speed value, it is believed that and the helicopter is unsatisfactory for steady the condition of warship, this
When helicopter be unsatisfactory for the conditional information of steady warship be sent to calculating part, by calculating part control helicopter wouldn't warship, directly
After changing to the above-mentioned condition for being unsatisfactory for steady warship；
The calculating part (7) is connected with for electric installation (61), and the calculating part is used for by changing calutron (2) for electric installation
Upper magnetism intensity control the helicopter warship speed, the warship that keeps it steady.
2. system according to claim 1, which is characterized in that the calutron (2) includes cylindrical metal core (21)
With the loop (22) for the multiturn naked skin being wrapped on the outside of the metal core,
Described for electric installation (61) includes brush, is electrically connected with the loop of the naked skin, and the brush is removable, is led to
It crosses and changes the position of brush to change the number of turns of hot-wire coil, to control calutron (2) magnetic field force between electromagnet
Size.
3. system according to claim 1, which is characterized in that the preset condition includes：
The distance between helicopter and airplane parking area (1) are less than 5m, and the speed of helicopter is less than 1m/s.
4. system according to claim 1, which is characterized in that be provided between the electromagnet and helicopter landing gear
Spring vibration damper.
5. making the method that helicopter warship, feature exist using the helicopter carrier landing system as described in one of Claims 1-4
In,
This approach includes the following steps：
Step 1)：Helicopter incites somebody to action warship signal and is transferred to airplane parking area (1), and airplane parking area (1) is slided along slideway (3) to precalculated position；
Step 2)：The sinking speed of the magnetic field force and helicopter needed for helicopter landing is obtained by calculating part, at this time electromagnetic installing
It is repulsion to set the magnetic field force of (2) between electromagnet；
Step 3)：The sinking speed that helicopter is obtained according to calculating part lands, meanwhile, the motion state of real-time judge helicopter
Whether meet preset condition, when meeting preset condition, changes magnetic field force of the calutron (2) between electromagnet, make its table
It is now gravitation；
Step 4)：Helicopter drops on airplane parking area (1), and drives airplane parking area (1) to carry helicopter and slided to machine along slideway (3)
Library.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610466466.XA CN106043728B (en) | 2016-06-23 | 2016-06-23 | Helicopter carrier landing system and warship method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610466466.XA CN106043728B (en) | 2016-06-23 | 2016-06-23 | Helicopter carrier landing system and warship method |
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| CN106043728A CN106043728A (en) | 2016-10-26 |
| CN106043728B true CN106043728B (en) | 2018-09-28 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106428538B (en) * | 2016-10-27 | 2018-09-14 | 济南新吉纳远程测控股份有限公司 | A kind of novel gyroplane system and charging method of landing |
| CN107323678A (en) * | 2017-08-18 | 2017-11-07 | 中国科学院沈阳自动化研究所 | A kind of depopulated helicopter landing servicing unit |
| CN107539492B (en) * | 2017-10-11 | 2023-09-29 | 上海融军科技有限公司 | Landing-assisting mooring device of small-sized carrier-borne unmanned helicopter |
| CN109782791A (en) * | 2017-11-14 | 2019-05-21 | 长城汽车股份有限公司 | A kind of landing method and device of unmanned plane |
| CN109003342A (en) * | 2018-07-12 | 2018-12-14 | 广州光强障碍灯航空设备有限公司 | A kind of intelligence airplane parking area management system |
| CN211223917U (en) * | 2018-07-30 | 2020-08-11 | 魏荣亮 | Landing device for vertical lifting aircraft and ship |
| CN109116866B (en) * | 2018-09-20 | 2021-05-14 | 四川腾盾科技有限公司 | Bidirectional autonomous driving-in control method for unmanned aerial vehicle |
| CN109850177B (en) * | 2018-11-29 | 2020-12-18 | 中国船舶工业系统工程研究院 | Method for quickly mooring helicopter for offshore operation |
| CN109709972A (en) * | 2018-12-28 | 2019-05-03 | 上海鹄恩信息科技有限公司 | A kind of Internet of Things network communication system and method based on unmanned plane |
| CN111532440B (en) * | 2020-04-16 | 2022-04-08 | 广东工业大学 | Multi-adaptive electromagnetic adsorption unmanned aerial vehicle recovery system |
| CN114516400A (en) * | 2022-03-25 | 2022-05-20 | 四川腾盾科技有限公司 | Carrier landing device, carrier landing system and carrier landing method of unmanned helicopter |
| CN115897440A (en) * | 2023-01-14 | 2023-04-04 | 武汉理工大学 | Intelligent parking apron and construction method thereof |
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