CN108238225A - A kind of semi-submersible type unmanned boat - Google Patents
A kind of semi-submersible type unmanned boat Download PDFInfo
- Publication number
- CN108238225A CN108238225A CN201810122517.6A CN201810122517A CN108238225A CN 108238225 A CN108238225 A CN 108238225A CN 201810122517 A CN201810122517 A CN 201810122517A CN 108238225 A CN108238225 A CN 108238225A
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- Prior art keywords
- motor
- battery flat
- motor room
- rear cover
- sensor
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/39—Arrangements of sonic watch equipment, e.g. low-frequency, sonar
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
- B63G2008/005—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled
- B63G2008/007—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled by means of a physical link to a base, e.g. wire, cable or umbilical
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Toys (AREA)
Abstract
The invention discloses a kind of semi-submersible type unmanned boats, the unmanned boat includes at least two hulls and control cabinet, clip is equipped on the hull, by being connected between fixed link between two neighboring hull, the both ends of fixed link are connected with corresponding clip, are connected between the control cabinet and fixed link by hawser, and lifting motor controller and communication system are equipped in the control cabinet, lifting motor controller controls the submerged depth of hull, and communication system is used for transmission signal.Semi-submersible type unmanned boat of the present invention is as a kind of more advanced unmanned boat, it is preferably danger zone, be not suitable for personnel exploration place application, in high sea situation or unsafe condition, the semi-submersible type unmanned boat overwhelming majority can pull the plug, only reveal a floating body on the water surface, Stealth Fighter is fine.
Description
Technical field
The invention belongs to naval vessels fields, and in particular to a kind of semi-submersible type unmanned boat.
Background technology
Unmanned boat is widely used in ocean, at civilian aspect, is reconnoitred available for marine environment, sea situation is investigated, hydrology letter
Breath acquisition, fishery detection etc.；In military aspect, available for information gathering, enemy warship positioning etc., existing unmanned boat is mostly the water surface
Ship, correlative study also more tends to this, but unmanned surface vehicle has shortcomings, for example easily sticks one's chin out in the task of execution, is resistance to
Wave is poor, cannot pull the plug to hide oneself in severe sea condition and emergency case.
Invention content
For problems of the prior art, the present invention provides a kind of semi-submersible type unmanned boat, semi-submersible type unmanned boat conduct
A kind of more advanced unmanned boat, it is preferably in danger zone, be not suitable for the place application of personnel's exploration, in high sea situation or dangerous shape
During condition, the semi-submersible type unmanned boat overwhelming majority can pull the plug, and a floating body is only revealed on the water surface, and Stealth Fighter is fine.
To achieve the above object, the present invention uses following technical scheme：
A kind of semi-submersible type unmanned boat, the unmanned boat include at least two hulls and control cabinet, card are equipped on the hull
It binds round, by being connected between fixed link between two neighboring hull, the both ends of fixed link are connected with corresponding clip, the control
It is connected between cabin processed and fixed link by hawser,
The hull includes kuppe, first sensor cabin, battery flat, second sensor cabin, motor room successively, described to lead
It is fixedly connected between stream cover and first sensor cabin, is fixed and connected by first sleeve between the first sensor cabin and battery flat
It connects, is fixedly connected between the battery flat and second sensor cabin by the second casing, the second sensor cabin and motor room
Between be fixedly connected by third casing,
Hydraulic pressure sensor and water temperature sensor are equipped in the kuppe, being equipped with dissolved oxygen amount in first sensor cabin detects
Instrument and pH detector sensors, are placed with battery in the battery flat, before the front-end and back-end of battery flat are respectively equipped with battery flat
Lid and battery flat rear cover, watertight is connect between battery flat inner wall for the battery flat protecgulum and battery flat rear cover, the battery
Between battery flat protecgulum and battery flat rear cover, sound is swept equipped with Control card, gyroscope, side in the second sensor cabin
It receives, underwater ultrasound rangefinder, driving motor is equipped in motor room, before being respectively equipped with motor room in the front-end and back-end of motor room
Lid and motor room rear cover, watertight is connect between motor room inner wall for the motor room protecgulum and motor room rear cover, the driving
The output shaft of motor is connected by shaft coupling with one end of optical axis, and the other end of the optical axis is connected with propeller, the driving
Motor, output shaft and shaft coupling be sequentially connected after between motor room protecgulum and motor room rear cover；
Lifting motor controller and lifting motor, the lifting motor controller and lifting motor are equipped in the control cabinet
Between electrically connect, lifting motor controller control lifting motor lifting, the hydraulic pressure sensor, water temperature sensor, dissolved oxygen amount
Detector, pH detectors sensor, gyroscope, side-scan sonar, underwater ultrasound rangefinder signal wire with cable one
End is connected, and the other end of the cable is equipped with Wiring port.
The kuppe is hollow semielliptical shape, and the material of the kuppe is ABS.
The first sensor cabin, battery flat, second sensor cabin, motor room, first sleeve, the second casing and third set
Pipe is acrylic pipe.
The battery flat protecgulum and battery flat rear cover are PVC material, are covered after the battery flat protecgulum and battery flat
First annular slot and the second annular groove are respectively equipped with, the first sealing is respectively equipped in the first annular slot and the second annular groove
Circle and the second sealing ring.
The motor room protecgulum and motor room rear cover are PVC material, the motor room protecgulum be equipped with motor fixing hole,
Motor boss hole, wire hole, third annular groove are equipped with third sealing ring in the third annular groove；After the motor room
It covers equipped with shaft coupling counterbore and transmission shaft through-hole, the shaft coupling covers after being fixed on motor room by shaft coupling counterbore, light
Axis covers after being fixed on motor room by being driven shaft through-hole, is covered after the motor room equipped with fourth annular slot, described
The 4th sealing ring is equipped in four annular grooves.
Casing is arranged on the optical axis, is full of grease, dynamic sealing between the optical axis and casing in described sleeve pipe.
When the present invention uses：After whole device is assembled, following two hull is placed in water, and control cabinet floats on water
Face.Lifting motor controller controls the lifting of lifting motor, realizes the adjustment of the submerged depth of hull；With remote control control hull
Advance, retrogressing, left and right turning etc., moving forward and backward for hull is realized by the rotation of two propellers, when remote controler is sent out
During the order of advance, Control card takes orders, and the propeller of two hulls is rotated forward, it can be achieved that advancing.After otherwise
It moves back；When remote controler sends out the order of left-hand rotation, Control card takes orders, and the propeller of a hull rotates backward, Ling Yiting
The propeller of body is rotated forward, it can be achieved that turning left.When remote controler sends out the order of right-hand rotation, the propeller forward direction of a hull turns
Dynamic, the propeller of another hull is rotated backward, it can be achieved that turning right.
Since sound is swept in hydraulic pressure sensor, water temperature sensor, dissolved oxygen amount detector, pH detectors sensor, gyroscope, side
Receive, the signal wire of underwater ultrasound rangefinder is connected with one end of cable, the other end of the cable is equipped with terminals
The Wiring port of the cable other end can be then connected to the terminals of display, in order to show by mouth according to specific needs
The Wiring port of the cable other end can also be connected to control the unmanned boat by each obtained underwater information of sensor
Ship terminals or the Wiring port of the cable other end is connected to remote controler, to obtain or regulate and control required water
Lower information.
The lifting of control cabinet can be adjusted by being shunk by the rotation drive hawser of lifting motor, and then two hulls of adjustment
Submerged depth.In the present invention, the gravity of two hulls is more than buoyancy, and control cabinet provides buoyancy to whole device.Pass through lifting
The rotation of motor drives hawser to shrink, and adjusts the distance between control cabinet and two hulls, can make whole device in new position
It puts and realizes new balance, the submerged depth for thereby realizing two hulls becomes smaller.Opposite, lifting motor rotation, which drives, to be made
Cable elongates achieve that the submerged depth of two hulls becomes larger.
Compared with prior art, beneficial effects of the present invention are：Semi-submersible type unmanned boat of the present invention is as a kind of more advanced
Unmanned boat, in high sea situation or unsafe condition, the semi-submersible type unmanned boat overwhelming majority can pull the plug, and only dew one is floating on the water surface
Body, Stealth Fighter is fine, have captain boat body evade unrestrained area, communication and positioning it is unaffected, concealment is excellent, water line adjusting side
Just the advantages that, has very big application value.It collects the features such as fast speed, safe, intelligent, multifunctional all in one
Body is, it can be achieved that requirement that is quick, efficiently, accurately completing task.
The present invention it is preferably danger zone, be not suitable for personnel exploration place application.At civilian aspect, Yu Haiyang can be used
Environment exploration, sea situation investigation, hydrological information collection, fishery detection etc.；In military aspect, positioned available for information gathering, enemy warship
Deng.
Description of the drawings
Fig. 1 is the overall structure diagram of the present invention.
Fig. 2 is the structure diagram of hull in the present invention.
Fig. 3 is the structure diagram of kuppe in the present invention.
Fig. 4 is the structure diagram in first sensor cabin in the present invention.
Fig. 5 is the attachment structure schematic diagram in kuppe and first sensor cabin in the present invention.
Fig. 6 is the structure diagram of battery flat in the present invention.
Fig. 7 is the structure diagram of first sleeve in the present invention.
Fig. 8 is the attachment structure schematic diagram of first sensor cabin and battery flat in the present invention.
Fig. 9 is the structure diagram of battery flat protecgulum in the present invention.
Figure 10 is the structure diagram of battery flat rear cover in the present invention.
Figure 11 is the structure diagram of the second casing in the present invention.
Figure 12 is the connection structure diagram of battery flat and second sensor in the present invention.
Figure 13 is the structure diagram in second sensor cabin in the present invention.
Figure 14 is the structure diagram of motor room in the present invention.
Figure 15 is the structure diagram of third casing in the present invention.
Figure 16 is the connection structure diagram of second sensor cabin and motor room in the present invention.
Figure 17 is the structure diagram of motor room protecgulum in the present invention.
Figure 18 is the inside structure schematic diagram of motor room rear cover in the present invention.
Figure 19 is the outside structure diagram of motor room rear cover in the present invention.
Figure 20 is connection overall structure diagram inside motor room in the present invention.
Specific embodiment
As shown in Fig. 1-2 0, the present embodiment semi-submersible type unmanned boat, the unmanned boat includes at least two hulls 1 and control cabinet 2,
Be equipped with clip 3 on the hull 1, by being connected between fixed link 4 between two neighboring hull 1, the both ends of fixed link 4 with
Corresponding clip 3 is connected, and is connected between the control cabinet 2 and fixed link 4 by hawser 5；
The hull 1 includes kuppe 11, first sensor cabin 12, battery flat 13, second sensor cabin 14, motor successively
Cabin 15 is fixedly connected between the kuppe 11 and first sensor cabin 12, the first sensor cabin 12 and battery flat 13 it
Between be fixedly connected by first sleeve 6, between the battery flat 13 and second sensor cabin 14 pass through the second casing 7 fix connect
It connects, is fixedly connected between the second sensor cabin 14 and motor room 15 by third casing 8,
Hydraulic pressure sensor 111 and water temperature sensor 112 are equipped in the kuppe 11, is equipped in first sensor cabin 12
Dissolved oxygen amount detector 121 and pH detectors sensor 122 are placed with battery 131, the front end of battery flat 13 in the battery flat 13
Battery flat protecgulum 132 and battery flat rear cover 133 are respectively equipped with rear end, the battery flat protecgulum 132 and battery flat rear cover 133 are equal
Watertight is connect between 13 inner wall of battery flat, and the battery 131 is between battery flat protecgulum 132 and battery flat rear cover 133, institute
It states and Control card 141, gyroscope 142, side-scan sonar 143, underwater ultrasound rangefinder 144 is equipped in second sensor cabin 14,
Driving motor 151 is equipped in motor room 15, motor room protecgulum 152 and motor room are respectively equipped in the front-end and back-end of motor room 15
Watertight is connect between 15 inner wall of motor room for rear cover 153, the motor room protecgulum 152 and motor room rear cover 153, the driving
The output shaft 154 of motor 151 is connected by shaft coupling 155 with one end of optical axis 9, and the other end of the optical axis 9 is connected with spiral
Paddle 10, the driving motor 151, output shaft 154 and shaft coupling 155 are located at motor room protecgulum 152 and motor room after being sequentially connected
Between rear cover 153；
Lifting motor controller and lifting motor, the lifting motor controller and lifting electricity are equipped in the control cabinet 2
It is electrically connected between machine, lifting motor controller controls the lifting of lifting motor, the hydraulic pressure sensor 111, water temperature sensor
112nd, dissolved oxygen amount detector 121, pH detectors sensor 122, gyroscope 142, side-scan sonar 143, underwater ultrasound rangefinder
144 signal wire is connected with one end of cable, and the other end of the cable is equipped with Wiring port.
Preferably, the present embodiment kuppe 11 is hollow semielliptical shape, the material of the kuppe is ABS.
As further preferred, the present embodiment first sensor cabin 12, battery flat 13, second sensor cabin 14, motor room
15th, first sleeve 6, the second casing 7 and third casing 8 are acrylic pipe.
As further preferred, the present embodiment battery flat protecgulum 132 and battery flat rear cover 133 are PVC material, described
First annular 134 and second annular groove 135 of slot is respectively equipped on battery flat protecgulum 132 and battery flat rear cover 133, described first
The first sealing ring 136 and the second sealing ring 137 are respectively equipped in 134 and second annular groove 135 of annular groove, before the battery flat
Lid 132 is equipped with protecgulum watertight connector interface 132b and the battery flat protecgulum threaded hole 132a with battery flat cooperation, in the electricity
Pond cabin rear cover 133 is equipped with rear cover watertight connector interface 133b and the battery flat rear cover threaded hole 133a with battery flat cooperation.
As further preferred, the present embodiment motor room protecgulum 152 and motor room rear cover 153 are PVC material, the electricity
Cabin protecgulum 152 is equipped with motor fixing hole 101, motor boss hole 102, wire hole 103, third annular groove 104, described the
Third sealing ring 105 is equipped in three annular grooves 104；Shaft coupling counterbore 106 and transmission shaft are equipped on the motor room rear cover 153
Through-hole 107, the shaft coupling 155 are fixed on by shaft coupling counterbore 106 on motor room rear cover 153, and optical axis 9 is led to by transmission shaft
Hole 107 is fixed on motor room rear cover 153, fourth annular slot 108 is equipped on the motor room rear cover 153, the described 4th
The 4th sealing ring 109 is equipped in annular groove 108.
As casing 91 still more preferably, is arranged on the present embodiment optical axis 9, it is full of grease, institute in described sleeve pipe 91
State dynamic sealing between optical axis 9 and casing 91.
Kuppe is equipped with connecting pin 113 in the present embodiment, and kuppe threaded hole 114 is equipped on connecting pin 113, the
One sensor cabin 12 is equipped with first sensor cabin threaded hole 123 and threading hole 124, by the connection end cap in first sensor cabin 12
In the connecting pin of kuppe, first sensor cabin threaded hole 123 and kuppe threaded hole are sequentially passed through using the first screw 115
114 are connected kuppe with first sensor cabin.
Battery flat is equipped with the first threaded hole 138, the second threaded hole 139, third threaded hole 138a and the in the present embodiment
Four threaded hole 139a are equipped with first sleeve threaded hole 61, the other end of the first sleeve and first in one end of first sleeve
It is bonded between sensor cabin, the first threaded hole 138 and casing threads hole 61 is sequentially passed through by first sleeve using the second screw 140
It is connected between battery flat, the battery flat on third threaded hole 138a and battery flat protecgulum is sequentially passed through using third screw 140a
Protecgulum threaded hole 132a will be fixedly connected between battery flat protecgulum and battery flat front end, and is sequentially passed through using the 4th screw 140b
Four threaded hole 139a and battery flat rear cover threaded hole 133a will be fixedly connected between battery flat rear cover and battery flat rear end.
The the second casing threads hole set on the second threaded hole 139 and the second casing is sequentially passed through using the 5th screw 71a
71 will connect between second casing and battery flat, be bonded between the other end of second casing and second sensor cabin.
Motor room is equipped with the 5th threaded hole 156, the 6th threaded hole 157, the 7th threaded hole 158 in the present embodiment, described
Third casing is equipped with third casing threads hole 81, and the 5th threaded hole 156 and third casing are sequentially passed through using the 6th screw 81a
Threaded hole 81 will connect between second sensor cabin and third casing, the other end of the third casing and second sensor cabin it
Between bond, realize the connection between second sensor cabin and motor room, 157 He of the 6th threaded hole passed through using the 7th screw 81b
Motor room with motor room protecgulum is connected, the 7th threaded hole is sequentially passed through using the 8th screw 81c by front motor cover threaded hole 152a
158 are connected motor room with motor room rear cover with motor rear cover threaded hole 153a.
Although above-described embodiment makes the present invention specific descriptions, those of ordinary skill in the art are come
It says, it is understood that can be modified within the spirit and scope for not departing from the present invention based on present disclosure
Or improve, these modification and improvement are all within the spirit and scope of the present invention.
Claims (6)
1. a kind of semi-submersible type unmanned boat, which is characterized in that the unmanned boat includes at least two hulls (1) and control cabinet (2), described
It is equipped with clip (3) on hull (1), by being connected between fixed link (4) between two neighboring hull (1), the two of fixed link (4)
End is connected with corresponding clip (3), is connected between the control cabinet (2) and fixed link (4) by hawser (5)；
The hull (1) includes kuppe (11), first sensor cabin (12), battery flat (13), second sensor cabin successively
(14), motor room (15) are fixedly connected, the first sensor cabin between the kuppe (11) and first sensor cabin (12)
(12) it is fixedly connected between battery flat (13) by first sleeve (6), the battery flat (13) and second sensor cabin (14)
Between be fixedly connected by the second casing (7), pass through third casing between the second sensor cabin (14) and motor room (15)
(8) it is fixedly connected,
Hydraulic pressure sensor (111) and water temperature sensor (112) are equipped in the kuppe (11), in first sensor cabin (12)
Equipped with dissolved oxygen amount detector (121) and pH detectors sensor (122), battery (131) is placed in the battery flat (13), electricity
The front-end and back-end in pond cabin (13) are respectively equipped with battery flat protecgulum (132) and battery flat rear cover (133), the battery flat protecgulum
(132) and battery flat rear cover (133) watertight is connect between battery flat (13) inner wall, the battery (131) is positioned at battery flat
Between protecgulum (132) and battery flat rear cover (133), Control card (141), gyroscope are equipped in the second sensor cabin (14)
(142), side-scan sonar (143), underwater ultrasound rangefinder (144) are equipped with driving motor (151) in motor room (15), in electricity
The front-end and back-end of cabin (15) are respectively equipped with motor room protecgulum (152) and motor room rear cover (153), the motor room protecgulum
(152) and motor room rear cover (153) watertight is connect between motor room (15) inner wall, the output shaft of the motor (151)
(154) it is connected by shaft coupling (155) with one end of optical axis (9), the other end of the optical axis (9) is connected with propeller (10),
After the motor (151), output shaft (154) and shaft coupling (155) are located at motor room protecgulum (152) and motor room after being sequentially connected
It covers between (153)；
Lifting motor controller and lifting motor, the lifting motor controller and lifting motor are equipped in the control cabinet (2)
Between electrically connect, lifting motor controller control lifting motor lifting, the hydraulic pressure sensor (111), water temperature sensor
(112), dissolved oxygen amount detector (121), pH detectors sensor (122), gyroscope (142), side-scan sonar (143), underwater super
The signal wire of sound-ranging equipment (144) is connected with one end of cable, and the other end of the cable is equipped with Wiring port.
2. semi-submersible type unmanned boat according to claim 1, which is characterized in that the kuppe (11) is hollow semielliptical
Shape, the material of the kuppe is ABS.
3. semi-submersible type unmanned boat according to claim 1, which is characterized in that the first sensor cabin (12), battery flat
(13), second sensor cabin (14), motor room (15), first sleeve (6), the second casing (7) and third casing (8) are Ya Ke
Solenoid.
4. semi-submersible type unmanned boat according to claim 1, which is characterized in that the battery flat protecgulum (132) and battery flat
Rear cover (133) is PVC material, is respectively equipped on the battery flat protecgulum (132) and battery flat rear cover (133) first annular
Slot (134) and the second annular groove (135) are respectively equipped with first in the first annular slot (134) and the second annular groove (135)
Sealing ring (136) and the second sealing ring (137).
5. semi-submersible type unmanned boat according to claim 1, which is characterized in that the motor room protecgulum (152) and motor room
Rear cover (153) is PVC material, and the motor room protecgulum (152) is equipped with motor fixing hole (101), motor boss hole
(102), wire hole (103), third annular groove (104) are equipped with third sealing ring (105) in the third annular groove (104)；
Shaft coupling counterbore (106) and transmission shaft through-hole (107) are equipped on the motor room rear cover (153), the shaft coupling (155) is logical
It crosses shaft coupling counterbore (106) to be fixed on motor room rear cover (153), optical axis (9) is fixed on motor by being driven shaft through-hole (107)
On cabin rear cover (153), fourth annular slot (108) is equipped on the motor room rear cover (153), in the fourth annular slot
(108) the 4th sealing ring (109) is equipped in.
6. semi-submersible type unmanned boat according to claim 1, which is characterized in that casing (91) is arranged on the optical axis (9),
Full of grease in described sleeve pipe (91), dynamic sealing between the optical axis (9) and casing (91).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810122517.6A CN108238225B (en) | 2018-02-07 | 2018-02-07 | Semi-submersible unmanned ship |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810122517.6A CN108238225B (en) | 2018-02-07 | 2018-02-07 | Semi-submersible unmanned ship |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108238225A true CN108238225A (en) | 2018-07-03 |
| CN108238225B CN108238225B (en) | 2023-10-10 |
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ID=62699731
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810122517.6A Active CN108238225B (en) | 2018-02-07 | 2018-02-07 | Semi-submersible unmanned ship |
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| Country | Link |
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| CN (1) | CN108238225B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110132190A (en) * | 2019-05-29 | 2019-08-16 | 太原理工大学 | Underground deep large size contains water-soluble chamber geomery measuring device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110132190A (en) * | 2019-05-29 | 2019-08-16 | 太原理工大学 | Underground deep large size contains water-soluble chamber geomery measuring device |
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| Publication number | Publication date |
|---|---|
| CN108238225B (en) | 2023-10-10 |
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