CN108248859A - Captive air-sea is dwelt aircraft systems more - Google Patents
Captive air-sea is dwelt aircraft systems more Download PDFInfo
- Publication number
- CN108248859A CN108248859A CN201711461308.6A CN201711461308A CN108248859A CN 108248859 A CN108248859 A CN 108248859A CN 201711461308 A CN201711461308 A CN 201711461308A CN 108248859 A CN108248859 A CN 108248859A
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- sea
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- aircraft
- unmanned boat
- water surface
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C35/00—Flying-boats; Seaplanes
- B64C35/008—Amphibious sea planes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B35/50—Vessels or floating structures for aircraft
- B63B35/52—Nets, slipways or the like, for recovering aircraft from the water
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/022—Tethered aircraft
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/34—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering
- H02J7/35—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering with light sensitive cells
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
- B63B2035/008—Unmanned surface vessels, e.g. remotely controlled remotely controlled
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Power Engineering (AREA)
- Toys (AREA)
Abstract
It dwells aircraft systems the present invention provides a kind of captive air-sea more, it dwells aircraft (1) and water surface unmanned boat (2) comprising air-sea more, transmission cable is provided on water surface unmanned boat (2), aircraft (1) of dwelling air-sea is connect more with water surface unmanned boat (2) by transmission cable；Aircraft (1) of dwelling the air-sea includes rack and actuating unit more, and actuating unit is mounted in rack, and the actuating unit includes flight component and sub-aqua sport component；The water surface unmanned boat (2) includes hull stent (9) and landing platform (10), for landing platform (10) on hull stent (9), aircraft (1) of dwelling the air-sea can reaching or leaving the landing platform (10) more.The long-term air-sea joint observation of the invention that a wide range of marine site can be achieved, can carry out the underwater, water surface and aerial joint observation, water surface unmanned boat can be navigated by water by specified course line, and aircraft of dwelling air-sea can carry out target marine site underwater and aerial stereopsis more.
Description
Technical field
The present invention relates to observation device fields, and in particular, to aircraft systems of dwelling a kind of captive air-sea more.
Background technology
Mainly include buoy, subsurface buoy, research vessel, intelligent underwater navigation for the system of ocean environment observation in the world at present
Device etc., these oceanographic observation systems are difficult to the needs for meeting round-the-clock three-dimensional marine environmental monitoring.Wherein buoy, subsurface buoy can be grown
Time service in real time or can be monitored quasi real time, but its position is fixed, it is impossible to flexibly mobile；Research vessel can motor-driven monitoring water
Domain, but a large amount of personnel is needed to support, and somewhat expensive；Intelligent submarine navigation device includes Argo, Glider, AUV etc., with its Gao Zhi
The advantages such as energy, low-power consumption, low cost are shown in military affairs, civil fields such as exploration of ocean resources, environmental monitoring, seabed investigations
More and more important application value.But they can only equipped with ration the power supply can, cruising ability be limited, and under water submariner when communicate
Limited, data are unable to real-time Transmission.The amphibious aircraft of air-sea can be carried out at the same time sky as emerging underwater mobile observation platform
In, across the medium carrying platform of high maneuverability of the water surface and undersea detection.Flight formula can be carried out by bank base or ship deck to lay
And recycling, there is airflight control, positioning, specified marine site drop in water surface, the cruise of the autonomous water surface, autonomous underwater navigation and flight
The function of making a return voyage.But the shortcomings that current amphibious aircraft of air-sea is common be the cruising ability of airflight and underwater submariner all extremely
It is limited, can not meet the needs of round-the-clock air-sea joint observation.
Invention content
For the defects in the prior art, it dwells aircraft systems the object of the present invention is to provide a kind of captive air-sea more.
Dwelt aircraft systems according to captive air-sea provided by the invention more, the aircraft and the water surface of more dwelling comprising air-sea nobody
Ship, is provided with transmission cable on water surface unmanned boat, and air-sea aircraft of more dwelling is connect with water surface unmanned boat by transmission cable；
Aircraft of dwelling the air-sea includes rack and actuating unit more, and actuating unit is mounted in rack, the engine
Structure includes flight component and sub-aqua sport component；
The water surface unmanned boat includes hull stent and landing platform, and landing stage+module is on hull stent, the sea
Empty aircraft of dwelling can reach or leave the landing platform more.
Preferably, the flight component include rotor structure, the rotor structure include sequentially connected flight support bar,
Motor fixed pedestal, the first motor, paddle body.
Preferably, the sub-aqua sport component includes underwater propeller, and multiple underwater propellers form underwater vertical
Propeller and submerged level propeller；
The underwater propeller includes kuppe, propeller and the second motor.
Preferably, the air-sea dwells aircraft also comprising the pressure-resistant electronic compartment of sealing more, seals pressure-resistant electronic compartment and is mounted on machine
On frame；Anti- water power tune is provided in sealing pressure resistance electronic compartment.
Preferably, first motor and the second motor are waterproof pressure brushless motor；
The paddle body includes autofolding paddle, and autofolding paddle includes autofolding paddle propeller hub and autofolding air paddle；
The rack is carbon fiber rack.
Preferably, waterproof compartment and solar panel are provided on the landing platform；
Accumulator and booster power are provided in waterproof compartment；Waterproof voltage dropping power supply being provided in aircraft of dwelling air-sea more；
Solar panel, accumulator, booster power, transmission cable, waterproof voltage dropping power supply are sequentially connected.
Preferably, the waterproof compartment includes Waterproof battery cabin and waterproof automatic deploying and retracting line cabin；
Accumulator, booster power are separately mounted in Waterproof battery cabin, waterproof automatic deploying and retracting line cabin；
The waterproof automatic deploying and retracting line cabin is also equipped with automatic deploying and retracting line apparatus, and the transmission cable is mounted on automatic deploying and retracting
On line apparatus.
Preferably, it is provided with controller in Waterproof battery cabin；Air-sea is dwelt on aircraft and/or water surface unmanned boat more and is equipped with
Any below or various structures：
-- sensor；
-- camera；
-- communication antenna；
The controller is included with lower module：
Signal transmitting and receiving module：Obtain and/or send following any or multi-signal：
-- sensor signal；
-- video pictures signal；
-- remote control signal；
Flight control modules：Control the operation of flight component；
Sub-aqua sport control module：Control the operation of sub-aqua sport component.
Preferably, the water surface unmanned boat is also comprising unmanned boat floating drum and unmanned boat propeller；
The unmanned boat floating drum is mounted on hull stent, comprising multiple unmanned boat floating drums along water surface unmanned boat width direction
Arrangement；The unmanned boat propeller is mounted on unmanned boat floating drum.
Preferably, the transmission cable includes neutral buoyancy line；
The neutral buoyancy line can transmit electric energy and signal more dwelling air-sea between aircraft and water surface unmanned boat.
Compared with prior art, the present invention has following advantageous effect：
1st, the long-term air-sea joint observation in a wide range of marine site can be achieved in the present invention, can carry out the underwater, water surface and aerial connection
Close observation, water surface unmanned boat can navigate by water by specified course line, air-sea dwell more aircraft target marine site can be carried out it is underwater with
Aerial stereopsis.
2nd, the power-supply system that water surface unmanned boat is formed using solar panel and accumulator can be realized in a wide range of sea
Domain works long hours, and solves the problems, such as the energy supply of air-sea observation system length continuation of the journey.
3rd, more dwell aircraft and ground control station of air-sea is made to realize real time information exchange using the transfer of water surface unmanned boat.Sea
Empty aircraft of dwelling is connect more with water surface unmanned boat by neutral buoyancy line, reduces underwater signal transmission cost, accelerates transmission speed
Degree, improves image transmitting quality；The wireless data transmission of water surface unmanned boat and ground control station, operating personnel can be controlled at a distance
System dwell aircraft and water surface unmanned boats more, it is easy to operate, it is cost-effective.
Description of the drawings
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention,
Objects and advantages will become more apparent upon：
Fig. 1 is dwelt aircraft systems structure diagram more for captive air-sea provided by the invention；
Fig. 2 is dwelt aircraft construction schematic diagram more for air-sea；
Fig. 3 is water surface unmanned boat structure diagram；
Fig. 4 is dwell aircraft and water surface unmanned boat air-sea joint observation schematic diagrames more.
It is shown in figure：
Specific embodiment
With reference to specific embodiment, the present invention is described in detail.Following embodiment will be helpful to the technology of this field
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill to this field
For personnel, without departing from the inventive concept of the premise, various modifications and improvements can be made.These belong to the present invention
Protection domain.
In the description of the present invention, it is to be understood that term " on ", " under ", "front", "rear", "left", "right", " perpendicular
Directly ", the orientation of the instructions such as " level ", " top ", " bottom ", " interior ", " outer " or position relationship are based on orientation shown in the drawings or position
Relationship is put, be for only for ease of the description present invention and simplifies description rather than instruction or implies that signified device or element are necessary
With specific orientation, with specific azimuth configuration and operation, therefore be not considered as limiting the invention.
As shown in Figure 1, captive air-sea provided by the invention is dwelt aircraft systems more, aircraft 1 of more dwelling comprising air-sea with
Water surface unmanned boat 2, is provided with transmission cable on water surface unmanned boat 2, and air-sea aircraft 1 of more dwelling passes through transmission with water surface unmanned boat 2
Cable connects.Aircraft 1 of dwelling the air-sea includes rack and actuating unit more, and actuating unit is mounted in rack, the power
Mechanism includes flight component and sub-aqua sport component；The water surface unmanned boat 2 includes hull stent 9 and landing platform 10, landing
Platform 10 is mounted on hull stent 9, and aircraft 1 of dwelling the air-sea can reaching or leaving the landing platform 10 more.It is preferred that
Ground, the rack are carbon fiber rack 6, and carbon fibre material density is relatively low, are conducive to reduce air-sea and dwell the weight of aircraft 1 more,
Save power consumption during flight.Preferably, the transmission cable includes neutral buoyancy line 15, and the neutral buoyancy line 15 can be in sea
Empty dwell transmits electric energy and signal more between aircraft 1 and water surface unmanned boat 2.
As shown in Fig. 2, the flight component includes rotor structure 3, the rotor structure 3 includes sequentially connected rotor branch
Strut, motor fixed pedestal, the first motor, paddle body.The sub-aqua sport component includes underwater propeller, multiple described to push away under water
Form underwater vertical propeller 4 and submerged level propeller 8 into device, the underwater propeller include kuppe, propeller and
Second motor.Air-sea dwells aircraft 1 also comprising the pressure-resistant electronic compartment 7 of sealing more, seals pressure-resistant electronic compartment 7 and is mounted on carbon fiber rack
On 6, seal in pressure-resistant electronic compartment 7 and be provided with anti-water power tune.In embodiment, two submerged level propellers 8 is used symmetrically to divide
Both sides of the cloth in the pressure-resistant electronic compartment 7 of sealing radially, a underwater vertical propeller 4 are located on the pressure-resistant electronic compartment 7 of sealing
Side.Sealing is pressure-resistant, and 7 lower section of electronic compartment is provided with waterproof voltage dropping power supply 5, and waterproof voltage dropping power supply 5 is fixed on by carbon fiber rack 6
Sealing pressure resistance electronic compartment 7 is in the following, be conducive to force down center of gravity.Preferably, first motor and the second motor are waterproof pressure
Brushless motor.Preferably described paddle body includes autofolding paddle, and autofolding paddle includes autofolding paddle propeller hub and autofolding air paddle, this
Sample air-sea dwells aircraft 1 when entering water sport more, and resistance can decrease.Preferably, it seals pressure-resistant electronic compartment 7 and includes and connect successively
End cover, pressure-resistant seal housing, plug hatch, the kuppe connect, wherein end cover, pressure-resistant seal housing and sealed compartment
The inside of lid forms waterproof sealing space, is conducive to need the installation of the element of waterproof；The end cover is spherical shape, described to lead
Cover is flowed for elliposoidal, resistance when aircraft 1 of dwelling reduction air-sea moves more under water.
As shown in figure 3, the water surface unmanned boat 2 is also comprising unmanned boat floating drum 11 and unmanned boat propeller 12, it is described nobody
Ship floating drum 11 is mounted on hull stent 9, is arranged comprising two unmanned boat floating drums 11 along 2 width direction of water surface unmanned boat, described
Unmanned boat propeller 12 is mounted on unmanned boat floating drum 11.Waterproof compartment and solar panel are provided on the landing platform 10
17, the waterproof compartment includes Waterproof battery cabin 13 and waterproof automatic deploying and retracting line cabin 14, in Waterproof battery cabin 13 installation accumulator and
Controller, the interior installation automatic deploying and retracting line apparatus 16 in waterproof automatic deploying and retracting line cabin 14 and booster power 18, automatic deploying and retracting line apparatus 16
It can realize that water surface unmanned boat 2 dwells to air-sea the folding and unfolding of aircraft 1 more by folding and unfolding neutral buoyancy line 15.Solar panel 17,
Accumulator, booster power 18, transmission cable, waterproof voltage dropping power supply 5 are sequentially connected, and form the power generation power supply mechanism of the present invention,
Middle booster power 18, waterproof voltage dropping power supply 5 can realize high-power boosting, the high-power decompression to voltage respectively.
Air-sea is dwelt more to be equipped on aircraft 1 and/or water surface unmanned boat 2 following any or appoints various structures：Sensor,
Camera, communication antenna.The controller is included with lower module：Signal transmitting and receiving module：Obtain and/or send it is following any or
Appoint multi-signal：Sensor signal, video pictures signal, remote control signal；Flight control modules：Control the fortune of flight component
Row；Sub-aqua sport control module：Control the operation of sub-aqua sport component.Such as it being passed in fitting depth in aircraft 1 of dwelling air-sea more
The sensors such as sensor, pressure sensor, velocity sensor send depth signal, pressure signal, speed to signal transmitting and receiving module and believe
Number etc. information；Dwelling air-sea camera is installed more in aircraft 1, obtains video pictures signal；It is installed on water surface unmanned boat 2 logical
Believe antenna so that water surface unmanned boat 2 can be connected by wireless data transmission mode with ground control terminal.Neutral buoyancy line 15 is set
It puts so that can realize that air-sea is dwelt by power line carrier module more and communicate between aircraft 1 and water surface unmanned boat 2.Flight control
The control that module can then be adjusted with sub-aqua sport control module by electricity in aircraft 1 of more dwelling to air-sea, and then complete to air-sea
The control of 1 motion states of aircraft of dwelling more.In preference, the controller can also be dwells the close of aircraft 1 more positioned at air-sea
In envelope pressure resistance electronic compartment 7.
Operation principle：As shown in figure 4, when performing observation mission, water surface unmanned boat 2 is navigated by water by the course line specified, through looking over so as to check
It marks marine site and carries out the progress stereopsis of underwater and air environment.Water surface unmanned boat 2 is dwelt navigation more as ground control station and air-sea
The signal transfer of device 1, while water surface information is acquired, and electric energy is provided for whole system.Solar panel 17 is continuously waterproof
Accumulator charges in battery flat 13, and accumulator by electric energy by neutral buoyancy line 15 after the boosting of booster power 18 by being transferred to air-sea
Aircraft 1 of dwelling, power more after being depressured by waterproof voltage dropping power supply 5 to rotor structure 3 and underwater propeller.Air-sea is dwelt aircraft more
During 1 underwater submariner, by the information that collected underwater picture information, temperature, depth, salinity, posture etc. measure pass back the water surface without
People's ship 2；Be same as two submerged level propellers 8 and underwater vertical propeller 4 complete air-sea dwell more aircraft 1 advance,
Retrogressing, left and right steering and upper and lower, rolling, pitching, gesture stability.Air-sea more dwell 1 airflight of aircraft when, will acquire
To air-sea image information, the information that measures of space temperature, wind speed and direction, posture etc. issue water surface unmanned boat 2；Rotor structure 3
The aerial upper and lower directions of aircraft 1 of dwelling responsible air-sea and horizontal direction flight, controller undertake air-sea and dwell aircraft 1 under water more more
Submariner and airflight control.In exiting water process, by underwater vertical propeller 4 air-sea is dwelt more and is pushed into the water surface in aircraft 1,
And the propeller of rotor structure 3 is kept to expose the surface, then start the first motor, open offline mode；Ground control station is shown
The image passed back with storage water surface unmanned boat 2, information, and water surface unmanned boat 2 and air-sea is controlled to dwell the movement and sight of aircraft 1 more
It surveys.
Specific embodiments of the present invention are described above.It is to be appreciated that the invention is not limited in above-mentioned
Particular implementation, those skilled in the art can make various deformations or amendments within the scope of the claims, this not shadow
Ring the substantive content of the present invention.In the absence of conflict, the feature in embodiments herein and embodiment can arbitrary phase
Mutually combination.
Claims (10)
1. a kind of captive air-sea is dwelt aircraft systems more, which is characterized in that the aircraft (1) and the water surface of more dwelling comprising air-sea nobody
Ship (2), is provided with transmission cable on water surface unmanned boat (2), and air-sea aircraft (1) of more dwelling passes through transmission with water surface unmanned boat (2)
Cable connects；
Aircraft (1) of dwelling the air-sea includes rack and actuating unit more, and actuating unit is mounted in rack, the actuating unit
Include flight component and sub-aqua sport component；
The water surface unmanned boat (2) includes hull stent (9) and landing platform (10), and landing platform (10) is mounted on hull stent
(9) on, aircraft (1) of dwelling the air-sea can reaching or leaving the landing platform (10) more.
The aircraft systems 2. captive air-sea according to claim 1 is dwelt more, which is characterized in that the flight component includes
Rotor structure (3), the rotor structure (3) include sequentially connected flight support bar, motor fixed pedestal, the first motor, paddle
Body.
The aircraft systems 3. captive air-sea according to claim 2 is dwelt more, which is characterized in that the sub-aqua sport component
Comprising underwater propeller, multiple underwater propellers form underwater vertical propeller (4) and submerged level propeller (8)；
The underwater propeller includes kuppe, propeller and the second motor.
The aircraft systems 4. captive air-sea according to claim 3 is dwelt more, which is characterized in that navigation of dwelling the air-sea more
Device (1) also comprising the pressure-resistant electronic compartment (7) of sealing, seals pressure-resistant electronic compartment (7) in rack；Sealing pressure resistance electronic compartment (7)
Inside it is provided with anti-water power tune.
5. captive air-sea according to claim 4 is dwelt aircraft systems more, which is characterized in that first motor and the
Two motors are waterproof pressure brushless motor；
The paddle body includes autofolding paddle, and autofolding paddle includes autofolding paddle propeller hub and autofolding air paddle；
The rack is carbon fiber rack (6).
The aircraft systems 6. captive air-sea according to claim 1 is dwelt more, which is characterized in that the landing platform (10)
On be provided with waterproof compartment and solar panel (17)；
Accumulator and booster power (18) are provided in waterproof compartment；Waterproof voltage dropping power supply being provided in aircraft (1) of dwelling air-sea more
(5)；
Solar panel (17), accumulator, booster power (18), transmission cable, waterproof voltage dropping power supply (5) are sequentially connected.
The aircraft systems 7. captive air-sea according to claim 6 is dwelt more, which is characterized in that the waterproof compartment includes anti-
Water battery cabin (13) and waterproof automatic deploying and retracting line cabin (14)；
Accumulator, booster power (18) are separately mounted in Waterproof battery cabin (13), waterproof automatic deploying and retracting line cabin (14)；
The waterproof automatic deploying and retracting line cabin (14) is also equipped with automatic deploying and retracting line apparatus (16), and the transmission cable is mounted on automatic
On take-up and pay-off device (16).
The aircraft systems 8. captive air-sea according to claim 7 is dwelt more, which is characterized in that in Waterproof battery cabin (13)
It is provided with controller；Air-sea is dwelt more to be equipped on aircraft (1) and/or water surface unmanned boat (2) following any or appoints a variety of knots
Structure：
-- sensor；
-- camera；
-- communication antenna；
The controller is included with lower module：
Signal transmitting and receiving module：Obtain and/or send following any or multi-signal：
-- sensor signal；
-- video pictures signal；
-- remote control signal；
Flight control modules：Control the operation of flight component；
Sub-aqua sport control module：Control the operation of sub-aqua sport component.
The aircraft systems 9. captive air-sea according to claim 1 is dwelt more, which is characterized in that the water surface unmanned boat
(2) also comprising unmanned boat floating drum (11) and unmanned boat propeller (12)；
The unmanned boat floating drum (11) is on hull stent (9), comprising multiple unmanned boat floating drums (11) along water surface unmanned boat
(2) width direction is arranged；The unmanned boat propeller (12) is on unmanned boat floating drum (11).
The aircraft systems 10. captive air-sea according to any one of claim 1 to 9 is dwelt more, which is characterized in that described
Transmission cable includes neutral buoyancy line (15)；
The neutral buoyancy line (15) can transmit electric energy and signal more between aircraft of dwelling air-sea (1) and water surface unmanned boat (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711461308.6A CN108248859A (en) | 2017-12-28 | 2017-12-28 | Captive air-sea is dwelt aircraft systems more |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711461308.6A CN108248859A (en) | 2017-12-28 | 2017-12-28 | Captive air-sea is dwelt aircraft systems more |
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| CN108248859A true CN108248859A (en) | 2018-07-06 |
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| CN201711461308.6A Pending CN108248859A (en) | 2017-12-28 | 2017-12-28 | Captive air-sea is dwelt aircraft systems more |
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| CN109850116A (en) * | 2018-12-03 | 2019-06-07 | 中国电子科技集团公司第三十八研究所 | A kind of Marine Mobile formula carry platform based on captive balloon |
| CN110001879A (en) * | 2019-04-10 | 2019-07-12 | 上海大学 | A kind of unmanned plane assistance recycling unmanned boat system |
| CN110242304A (en) * | 2019-07-16 | 2019-09-17 | 北京先驱高技术开发公司 | Deep-sea unmanned mining system under water |
| CN110775264A (en) * | 2019-10-28 | 2020-02-11 | 上海交通大学 | Water-air amphibious unmanned aircraft and control method thereof |
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| CN110242304A (en) * | 2019-07-16 | 2019-09-17 | 北京先驱高技术开发公司 | Deep-sea unmanned mining system under water |
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| CN113093795A (en) * | 2021-03-30 | 2021-07-09 | 华南理工大学 | Semi-automatic wireless control method and device for unmanned surface vehicle |
| CN113093795B (en) * | 2021-03-30 | 2022-04-22 | 华南理工大学 | Semi-automatic wireless control method and device for unmanned surface vehicle |
| WO2022219781A1 (en) * | 2021-04-15 | 2022-10-20 | 日本電信電話株式会社 | Ocean monitoring system, control device, and ocean monitoring method |
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