CN108810467A - A kind of unmanned boat based on remote controler lays recovery control system and method - Google Patents

A kind of unmanned boat based on remote controler lays recovery control system and method Download PDF

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Publication number
CN108810467A
CN108810467A CN201810592242.2A CN201810592242A CN108810467A CN 108810467 A CN108810467 A CN 108810467A CN 201810592242 A CN201810592242 A CN 201810592242A CN 108810467 A CN108810467 A CN 108810467A
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CN
China
Prior art keywords
unmanned boat
remote controler
motor
electric putter
suspension hook
Prior art date
Application number
CN201810592242.2A
Other languages
Chinese (zh)
Inventor
李小毛
卢俊
吴翔
彭艳
谢少荣
Original Assignee
上海大学
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 上海大学 filed Critical 上海大学
Priority to CN201810592242.2A priority Critical patent/CN108810467A/en
Publication of CN108810467A publication Critical patent/CN108810467A/en

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Classifications

    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04NPICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00Television systems
    • H04N7/18Closed circuit television systems, i.e. systems in which the signal is not broadcast
    • H04N7/183Closed circuit television systems, i.e. systems in which the signal is not broadcast for receiving images from a single remote source
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00Programme-control systems
    • G05B19/02Programme-control systems electric
    • G05B19/04Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • G05B19/0423Input/output
    • GPHYSICS
    • G08SIGNALLING
    • G08CTRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C17/00Arrangements for transmitting signals characterised by the use of a wireless electrical link
    • G08C17/02Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link

Abstract

The invention discloses a kind of unmanned boats based on remote controler to lay recovery control system and method.This system includes remote controler, single-chip computer control system, control machinery device three parts, it can be achieved that unmanned boat reliably and securely lays recycling under 4 grades of sea situations.The present invention uses remote controler as control terminal is held, and by wirelessly transmitting data, aboard ship the wireless receiver in control cabinet receives and parses through data.And then control the automatic distributing and discharging recycling that the executing agencies such as each motor and electric putter realize unmanned boat.The control system that unmanned boat proposed by the invention lays recycling is easy to operate, effectively can realize smooth by camera and have and lay reclaimer operation when sea wave disturbance.

Description

A kind of unmanned boat based on remote controler lays recovery control system and method

Technical field

The present invention relates to unmanned water surface ship automatic control technology field, refers in particular to the unmanned boat cloth based on remote controler and put back to Receive control system and method.

Background technology

Since the 21th century, the attention with people to marine resources, exploitation dynamics continue to increase, and constantly to depth Sea, off-lying sea extend, to make unmanned boat technology be developed rapidly.Currently, in necks such as military affairs, ocean scientific investigation, sea floor explorations Domain, unmanned boat are widely used.But the automatical and efficient of unmanned boat lays a recycling always problem, especially works as sea Stormy waves is big, and when bad environments, the automatic distributing and discharging recycling of unmanned boat becomes more difficult, and artificial puts suspension hook in place It not only can be extremely difficult but also can be threatened across the sea by life security, it is achieved that a good automatic distributing and discharging recycling control System processed can hang for the safety of unmanned boat and provide safeguard.

Invention content

It is an object of the present invention to also need to a large amount of manual operation and will risk for recycling is laid at present Under the premise of, it provides a kind of unmanned boat based on remote controler and lays recovery control system and method, pass through the invention, operator Only need to stand complete that simple remote controller operation can be realized unmanned boat on lash ship lay removal process, to reach above-mentioned mesh , design of the invention is as follows:

In order to enable can achieve the purpose that unmanned boat lays reclaimer operation using only remote controler, consider to fill using an ejection It sets and casts a lead to lash ship from unmanned boat, then slide the suspension hook for lifting by crane unmanned boat along lead from lash ship To unmanned boat.Above-mentioned catapult-launching gear needs to find suitable angle so that lead is succeeded in sending up to mother when ejection On ship, so catapult-launching gear is placed on a holder, the holder controls left-right rotation, a motor by a motor Control pitch rotation.Above-mentioned catapult-launching gear is controlled using ejection motor, when motor rotates, catapult will be released to Lead is dished out.

According to above-mentioned design, the present invention uses following technical proposals:

One, it forms

Entire unmanned boat lays recovery control system altogether comprising following three modules:(1)Remote controler:Artificial active control executes The action of mechanism;(2)Single-chip computer control system:Where the center of control system, include what single-chip microprocessor MCU processing remote controler transmitted Information simultaneously controls various executing agencies after being parsed;(3)Control machinery device:It is connected with motor and electric putter, leads to The movement of motor and electric putter is crossed to execute action.

The microcontroller and a camera, a laser sensor, one close to switch, a top level control unit, The electricity that motor, a control lead for motor, a holder left-right rotation that two electric putters, a holder rotate upwardly and downwardly launches The encoder that machine, a holder rotate upwardly and downwardly motor is connected, and is wirelessly connected by a remote control receiver and remote controler, institute The motor for the motor and holder left-right rotation that the holder stated rotates upwardly and downwardly connect to manipulate unmanned boat cloth with control machinery device Put removal process.

The image information in the direction that catapult-launching gear is aligned can be transmitted to lash ship operating personnel remote control by the camera On device, to judge whether be at this time the proper angle for emitting lead, ensure success rate.The laser range sensor can be with Detection unmanned boat is at a distance from lash ship in real time, and when detecting that unmanned boat is less than 10 meters at a distance from lash ship, microcontroller can lead to It crosses RS232 Serial Port Lines to tell top level control unit to be now in risk distance and alarm, opening throttle makes unmanned boat be gradually distance from Lash ship.Described can detect whether the suspension hook put down along lead from lash ship reaches designated position close to switch, arrive Electric putter can be stretched out to make suspension hook be fixed together with unmanned boat after up to designated position.The top level control unit can The information of laser range sensor to be transferred in top level control system, make to judge whether to need to adjust unmanned boat position Obtaining unmanned boat will not collide with lash ship.Two electric putters stretch out the suspension hook and unmanned boat that can will be put down from lash ship It connects firmly together, retraction can discharge suspension hook from unmanned boat.The holder, which rotates upwardly and downwardly motor, can control holder or more Rotation drives catapult-launching gear pitching movement;The holder left-right rotation motor can control holder left-right rotation;The control The motor of lead ejection, motor rotation catapult will be released to dish out in lead.The holder rotates upwardly and downwardly the volume of motor Code device, can detect the pitch angle of holder, control its pitch angle in a certain range.The remote control receiver can To receive the instruction that remote controler is sent out, microcontroller to instruction by being parsed to carry out various operations.

The remote controler, button layout by the remote controler to laying retracting device as shown, can be carried out remotely Operation.The remote controler includes a camera switch button, the flexible button of an electric putter, ejection motor push button, one A left rocker, about one rocking bar, a display screen.The camera switch button can be opened when needed to be taken the photograph As head, the flexible button of the electric putter can be retracted by the stretching of electric putter controls whether suspension hook locks with unmanned boat, institute The ejection motor push button stated can control catapult-launching gear startup, to by lead bullet to lash ship, the left rocker and up and down Rocking bar controls the left-right rotation of holder and upper and lower pitching respectively, and the display screen can show what the camera on ship was sent back Video information.

The control machinery device, including it is shown in Fig. 3 mounted on holder, ejection mechanism and docking machine on unmanned boat Structure.The holder rotates upwardly and downwardly motor and the driving rotation of holder left-right rotation motor by holder, to drive entire ejection mechanism Rotation.The ejection mechanism is made of ejection motor and buckle, and ejection motor rotation can be such that buckle unclamps, the transmitting of rubber band catapult It completes to cast.The docking mechanism slides to the suspension hook that lash ship is put down in suspension hook place position, is stretched out suspension hook by electric putter Being fixed in storehouse can not take out so that locked with unmanned boat.

Two, operating procedure

2.1 unmanned boats lay process

A kind of unmanned boat cloth place control method based on remote controler is based on above-mentioned component devices, it is characterised in that operating procedure is such as Under:

Suspension hook is put into docking mechanism by S01;

S02 starts remote controler, presses on remote controler the electric putter button that stretches and electric putter is stretched out, and then by suspension hook and nobody Ship is fixed together.

S03 starts loop wheel machine and hangs onto unmanned boat in water after suitable position, and pressing the flexible button of electric putter on remote controler makes It obtains electric putter to withdraw, suspension hook is discharged, complete unmanned boat and lay operation.

2.2 unmanned boat removal process

A kind of unmanned boat recycling and control method based on remote controler is based on above-mentioned component devices, it is characterised in that operating procedure is such as Under:

S01, unmanned boat, which fulfils assignment, to be back to beside lash ship, is pressed camera switch button on remote controler and is opened camera, shows Show the orientation of emitter alignment at this time.

S02 stirs the real time position of left rocker and upper and lower rocking bar adjustment holder on remote controler, is sent back by camera Video information observation alignment lash ship at the time of.

S03 presses the ejection motor push button on remote controler after being directed at lash ship, by catapult-launching gear and lead from unmanned boat On transmitting to lash ship, the connection of unmanned boat and lash ship is established.

S04 slides to suspension hook from lash ship in docking mechanism along lead, specified until detecting that suspension hook reaches close to switch Position presses electric putter stretching button on remote controler and electric putter is stretched out, unmanned boat and suspension hook are fixed together.

S05 starts loop wheel machine and hangs onto unmanned boat to lash ship, presses the flexible button of electric putter on remote controler and makes electric putter It withdraws, suspension hook is discharged, complete unmanned boat reclaimer operation

The present invention compared with prior art, have it is easy to operate, may be implemented only to can be realized automatically by remote controller The operation for laying recycling greatly simplifies the operating procedure for laying recycling, does not need operating personnel and faces a danger.And this side Method can effectively prevent the interference of wave, operating process from stablizing, and success rate is high.

Description of the drawings

Fig. 1 entirety control mode schematic diagrames.

Fig. 2 remote controller buttons schematic layout patterns.

Fig. 3 lays recovery system overall structure figure.

Fig. 4 cradle head structure figures.

Fig. 5 ejection mechanism structure charts.

Fig. 6 docking mechanism structure charts.

Fig. 7 lays stage execution flow chart.

Fig. 8 recovery stage execution flow charts.

Specific implementation mode

The preferred embodiment of the present invention is described in further detail below.

Embodiment one:

Referring to Fig. 1 ~ Fig. 6, recovery control system, including remote controler are laid based on the unmanned boat of remote controler(7), microcontroller(5) With control machinery device(14), it is characterised in that:The microcontroller(5)With a camera(1), a laser sensor(2), One close switch(3), a top level control unit(4), two electric putters(8,9), a holder rotate upwardly and downwardly motor(10), One holder left-right rotation motor(12), control lead ejection motor(13), a holder rotate upwardly and downwardly the volume of motor Code device(11)It is connected, and passes through a remote control receiver(6)With remote controler(7)It is wirelessly connected, the holder rotates upwardly and downwardly Motor(10)With the motor of holder left-right rotation(12)With control machinery device(14)Connection is to manipulate unmanned boat(15)Cloth Put removal process.

Embodiment two:

The present embodiment and embodiment one are essentially identical, which is characterized in that the remote controler(7)Including a camera switch button (7-1), an electric putter stretch button(7-2), an ejection motor push button(7-5), a left rocker(7-3), on one Lower rocking bar(7-6)With a display screen(7-4).The camera switch button(7-1)Camera shooting can be opened when needed Head, the electric putter are stretched button(7-2)Whether the control suspension hook that can be retracted by the stretching of electric putter is locked with unmanned boat, institute The ejection motor push button stated(7-5)Controllable catapult-launching gear starts, thus by lead bullet to lash ship, the left rocker(7- 3)The left-right rotation of holder and upper and lower pitching, the display screen are controlled respectively with upper and lower rocking bar(7-4)It can show on unmanned boat The video information sent back of camera.

Embodiment three:

Unmanned boat based on remote controler lays recycling and control method.Operated using above system, described in laser sensing Device(2)For ranging, in unmanned boat(15)After into the water, unmanned boat can be detected in real time(15)At a distance from lash ship, when Detect unmanned boat(15)When at a distance from lash ship less than 10 meters, microcontroller(5)It can be to upper layer control unit(4)Send information this When in risk distance and alarming, open unmanned boat(15)Throttle makes unmanned boat(15)It is gradually distance from lash ship.Control described in it Mechanical device(14)Including being placed in unmanned boat(15)On holder(15-3), ejection mechanism(15-2)And docking mechanism(15- 1).The holder(15-3)Motor is rotated upwardly and downwardly by holder(10)With holder left-right rotation motor(12)Driving rotation, to join Dynamic ejection mechanism(15-2)Rotation;The ejection mechanism(15-2)Including launching motor(13), buckle(15-2-2)And rubber band Catapult(15-2-1), launch motor(13)Rotation can make buckle(15-2-2)It unclamps, rubber band catapult(15-2-1)Transmitting is completed It casts;The docking mechanism(15-1)Including suspension hook place position(15-1-1), electric putter 1(8)With electric putter 2(9), the docking Mechanism(15-1)The suspension hook put down is slided into suspension hook place position(15-1-1)It is interior, pass through electric putter(8,9)Suspension hook is consolidated in stretching Being scheduled in storehouse can not take out so that unmanned boat(15)It is fixedly connected with suspension hook.It is as follows that it manipulates process:

1. laying process

S01 starts control cabinet power supply and simultaneously opens remote controler, establish remote controler and microcontroller when unmanned boat is on lash ship Connection.

Suspension hook is put into docking mechanism by S02 first, and suspension hook, which is encountered, taps into switch, and triggering high level is opened close to switch, After microcontroller detects this high level signal, controls electric putter 1 and electric putter 2 starts stretching, lock suspension hook.

S03 starts to lift by crane at this time, slowly into the water by unmanned boat, presses the flexible button of electric putter on remote controler, this When microcontroller receive the PWM wave of the fixed frequency that remote controler transmits, parsing obtains the duty ratio of PWM wave, and then judges this When need the corresponding action made, electric putter 1 and electric putter 2, which start, to be withdrawn, release hook.So far it is complete to lay implementation Process Finish.

2. removal process

For S01 when unmanned boat is close to lash ship, preparation comes into effect removal process.Camera switch button on remote controler is pressed first Open camera.

After S02 cameras are opened, the video of camera is by being wirelessly transmitted on remote controler, and people is on lash ship by distant The corresponding direction of ejection of catapult-launching gear at this time is observed on control device display screen.

S03 stirs left rocker, and the signal of left rocker is passed to microcontroller by remote controler, after microcontroller recognizes Control holder or so motor forward or reverse, and then adjust cradle head mechanism and move left and right, until left and right position properly after beginning Adjust upper and lower position;

S04 stirs about 302 rocking bars, and the signal of upper and lower rocking bar is passed to microcontroller by remote controler, and microcontroller is controlled after recognizing 202 holders motor forward or reverse up and down is made, and then adjusts cradle head mechanism and moves up and down, at the same time, microcontroller can also be always The holder information that motor encoder is sent back up and down is received, after finding that the amplitude of motor movement up and down is more than limit, is closed Motor above and below holder makes it no longer be moved in extreme position stopping, then so that it is moved in the opposite direction by remote controler again.Until Observe that ejection mechanism has been targeted by lash ship by display screen.

S05 presses the ejection motor push button on remote controler at this time, and the signal for launching motor is passed to monolithic by remote controler Machine, control ejection motor forward or reverse after microcontroller recognizes, catapult will be released to dish out in lead.

After S06 lash ships receive lead, suspension hook is put down along lead, is connect when suspension hook slides into encounter in docking mechanism Into switch, after microcontroller detects this close to switching signal, starts electric putter 1 and electric putter 2 is stretched out, lock suspension hook.It will Unmanned boat is fixed together with suspension hook.

S07 starts to lift by crane.Slowly unmanned boat is hung to lash ship, presses the flexible button of electric putter on remote controler, electricity pushes away Bar 1 and electric putter 2, which start, to be withdrawn, release hook.So far removal process is finished.

Simultaneously, in entire removal process, laser sensor is detecting always unmanned boat at a distance from lash ship, works as nothing When people's ship is less than 10m at a distance from lash ship, microcontroller can tell top level control unit to be now in danger by RS232 Serial Port Lines Distance, opening throttle makes unmanned boat be gradually distance from lash ship.

Claims (6)

1. a kind of unmanned boat based on remote controler lays recovery control system, including remote controler(7), microcontroller(5)And control machine Tool device(14), it is characterised in that:The microcontroller(5)With a camera(1), a laser sensor(2), one it is close Switch(3), a top level control unit(4), two electric putters(8,9), a holder rotate upwardly and downwardly motor(10), a holder Left-right rotation motor(12), control lead ejection motor(13), a holder rotate upwardly and downwardly the encoder of motor(11) It is connected, and passes through a remote control receiver(6)With remote controler(7)It is wirelessly connected, the motor that the holder rotates upwardly and downwardly (10)With the motor of holder left-right rotation(12)With control machinery device(14)Connection is to manipulate unmanned boat(15)Lay recycling Process.
2. the unmanned boat according to claim 1 based on remote controler lays recovery control system, which is characterized in that described distant Control device(7)Including a camera switch button(7-1), an electric putter stretch button(7-2), an ejection motor push button (7-5), a left rocker(7-3), about one rocking bar(7-6)With a display screen(7-4);
The camera switch button(7-1)Camera can be opened when needed, the electric putter is stretched button(7- 2)Whether the control suspension hook that can be retracted by the stretching of electric putter locks with unmanned boat, the ejection motor push button(7-5)Controllably Catapult-launching gear processed starts, thus by lead bullet to lash ship, the left rocker(7-3)With upper and lower rocking bar(7-6)It controls respectively The left-right rotation of holder and upper and lower pitching, the display screen(7-4)It can show the camera on unmanned boat(1)That sends back regards Frequency information.
3. the unmanned boat according to claim 1 based on remote controler lays recovery control system, which is characterized in that the control Mechanical device processed(14)Including being placed in unmanned boat(15)On holder(15-3), ejection mechanism(15-2)And docking mechanism(15- 1);
The holder(15-3)Motor is rotated upwardly and downwardly by holder(10)With holder left-right rotation motor(12)Driving rotation, to join Dynamic ejection mechanism(15-2)Rotation;The ejection mechanism(15-2)Including launching motor(13), buckle(15-2-2)And rubber band Catapult(15-2-1), launch motor(13)Rotation can make buckle(15-2-2)It unclamps, rubber band catapult(15-2-1)Transmitting is completed It casts;The docking mechanism(15-1)Including suspension hook place position(15-1-1), electric putter 1(8)With electric putter 2(9), the docking Mechanism(15-1)The suspension hook put down is slided into suspension hook place position(15-1-1)It is interior, pass through electric putter(8,9)Suspension hook is consolidated in stretching Being scheduled in storehouse can not take out so that unmanned boat(15)It is fixedly connected with suspension hook.
4. the unmanned boat according to claim 1 based on remote controler lays recovery control system, the laser sensor (2)For ranging, in unmanned boat(15)After into the water, unmanned boat can be detected in real time(15)At a distance from lash ship, work as inspection Measure unmanned boat(15)When at a distance from lash ship less than 10 meters, microcontroller(5)It can be to upper layer control unit(4)Send information at this time It in risk distance and alarms, opens unmanned boat(15)Throttle makes unmanned boat(15)It is gradually distance from lash ship.
5. a kind of unmanned boat cloth place control method based on remote controler, using according to claim 1 based on remote controler Unmanned boat lays control system and is operated, it is characterised in that operating procedure is as follows:
Suspension hook is put into docking mechanism by S01;
S02 starts remote controler(2), press on remote controler the electric putter button that stretches and electric putter stretched out, and then by suspension hook and nothing People's ship(15)It is fixed together;
S03 starts loop wheel machine and hangs onto unmanned boat in water after suitable position, presses remote controler(7)Upper electric putter is stretched button(7- 2)So that electric putter is withdrawn, suspension hook is discharged, completes unmanned boat(15)Lay operation.
6. a kind of unmanned boat recycling and control method based on remote controler, using according to claim 1 based on remote controler Unmanned boat lays control system and is operated, it is characterised in that operating procedure is as follows:
S01, unmanned boat, which fulfils assignment, to be back to beside lash ship, and remote controler is pressed(7)Upper camera switch button(7-1)Opening is taken the photograph As head, the orientation of display emitter alignment at this time;
S02 stirs remote controler(7)Upper left rocker(7-3)With upper and lower rocking bar(7-6)The real time position for adjusting holder, by taking the photograph As head(1)At the time of the video information observation alignment lash ship sent back;
S03 presses the ejection motor push button on remote controler after being directed at lash ship(7-5), by catapult-launching gear and lead from unmanned boat On transmitting to lash ship, the connection of unmanned boat and lash ship is established;
S04 slides to suspension hook from lash ship in docking mechanism along lead, until close switch(3)It is specified to detect that suspension hook reaches Position presses electric putter on remote controler and stretches out button(7-2)So that electric putter is stretched out, unmanned boat and suspension hook are fixed together;
S05 starts loop wheel machine and hangs onto unmanned boat to lash ship, presses remote controler(7)Upper electric putter is stretched button(7-2)So that electricity Push rod is withdrawn, and suspension hook is discharged, and completes unmanned boat reclaimer operation.
CN201810592242.2A 2018-06-11 2018-06-11 A kind of unmanned boat based on remote controler lays recovery control system and method CN108810467A (en)

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CN201810592242.2A CN108810467A (en) 2018-06-11 2018-06-11 A kind of unmanned boat based on remote controler lays recovery control system and method

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Application Number Priority Date Filing Date Title
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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110155266A (en) * 2019-05-31 2019-08-23 上海大学 A kind of multiple no-manned plane landing system for unmanned boat platform

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CN105711749A (en) * 2016-02-03 2016-06-29 青岛远创机器人自动化有限公司 Unmanned surface vehicle laying and retrieving method
WO2016205856A1 (en) * 2015-06-24 2016-12-29 Thrust Maritime Holdings Pty Ltd A system and method for retrieving a vessel from water
CN107089302A (en) * 2017-03-31 2017-08-25 上海大学 A kind of unmanned boat intelligently lays retracting device
CN108820136A (en) * 2018-05-29 2018-11-16 上海大学 A kind of unmanned boat based on remote controler lays recovery control system and method

Patent Citations (4)

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Publication number Priority date Publication date Assignee Title
WO2016205856A1 (en) * 2015-06-24 2016-12-29 Thrust Maritime Holdings Pty Ltd A system and method for retrieving a vessel from water
CN105711749A (en) * 2016-02-03 2016-06-29 青岛远创机器人自动化有限公司 Unmanned surface vehicle laying and retrieving method
CN107089302A (en) * 2017-03-31 2017-08-25 上海大学 A kind of unmanned boat intelligently lays retracting device
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Publication number Priority date Publication date Assignee Title
CN110155266A (en) * 2019-05-31 2019-08-23 上海大学 A kind of multiple no-manned plane landing system for unmanned boat platform

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