CN108820136A - 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
CN108820136A
CN108820136A CN201810527642.5A CN201810527642A CN108820136A CN 108820136 A CN108820136 A CN 108820136A CN 201810527642 A CN201810527642 A CN 201810527642A CN 108820136 A CN108820136 A CN 108820136A
Authority
CN
China
Prior art keywords
unmanned boat
remote controler
motor
electric putter
suspension hook
Prior art date
Application number
CN201810527642.5A
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 CN201810527642.5A priority Critical patent/CN108820136A/en
Publication of CN108820136A publication Critical patent/CN108820136A/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63BSHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B23/00Equipment for handling lifeboats or the like
    • 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
    • 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

Abstract

The invention discloses a kind of unmanned boat automatic distributing and discharging recovery control system and method based on remote controler.Including remote controler, single-chip computer control system, control mechanical 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 hand-held control terminal, 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 technique

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, so that unmanned boat technology be made to be developed rapidly.Currently, being led in military affairs, ocean scientific investigation, sea floor exploration etc. 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 Not only can threat that is extremely difficult but also will receive life security across the sea, it is achieved that a good automatic distributing and discharging recycles control System processed can hang for the safety of unmanned boat and provide safeguard.

Summary of the invention

It is an object of the present invention to also need 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 remote controler, which is used only, can achieve the purpose that unmanned boat lays reclaimer operation, consider to fill using an ejection It sets and casts a lead to lash ship from unmanned boat, it is then that the suspension hook for being used to lift by crane unmanned boat is sliding 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 is by a motor control left-right rotation, a motor Control pitch rotation.Above-mentioned catapult-launching gear use an ejection motor control, when motor rotate, catapult will be released thus Lead is dished out.

According to above-mentioned design, the present invention is adopted the following technical solutions:

One, it forms

Entire unmanned boat to lay recovery control system altogether include following three modules:(1)Remote controler:Artificial active control executes The movement 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 mechanical device:It is connected with motor and electric putter, leads to The movement of motor and electric putter is crossed to execute movement.

The single-chip 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 of motor and holder left-right rotation that the holder stated rotates upwardly and downwardly connect to manipulate unmanned boat cloth with control mechanical device Put removal process.

The image information in the direction that catapult-launching gear is aligned can be transmitted to lash ship operator remote control by the camera On device, so that whether judgement is at this time the proper angle for emitting lead, guarantee 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 unmanned boat at a distance from lash ship less than 10 meters, single-chip microcontroller can lead to It crosses RS232 Serial Port Line to tell top level control unit to be now in risk distance and alarm, opening throttle is gradually distance from unmanned boat Lash ship.Described can detecte whether reach designated position along the suspension hook that lead is put down from lash ship close to switch, arrive Electric putter can be stretched out that suspension hook is made to 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, to judge whether that needing to adjust unmanned boat position makes 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 detecte the pitch angle of holder, controls its pitch angle in a certain range.The remote control receiver can To receive the instruction of remote controler sending, single-chip microcontroller is by carrying out parsing to instruction to carry out various operations.

The remote controler, button layout by the remote controler to recyclable device is laid as shown, can be carried out remotely Operation.The remote controler includes a camera switch button, an electric putter flexible button, ejection a 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 retract whether control suspension hook locks with unmanned boat by the stretching of electric putter, institute The ejection motor push button stated can control catapult-launching gear starting, thus by lead bullet to lash ship, the left rocker and up and down Rocking bar controls the left-right rotation and upper and lower pitching of holder respectively, and the display screen can show what the camera on ship was sent back Video information.

The control mechanical device, including shown in Fig. 3 it is mounted on holder on unmanned boat, ejection mechanism and docking machine Structure.The holder rotates upwardly and downwardly motor by holder and holder left-right rotation motor driven rotates, 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 suspension hook that the docking mechanism puts down lash ship slides in suspension hook place position, is stretched out by electric putter by suspension hook 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, starting loop wheel machine hang 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 in docking mechanism along lead from lash ship, 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, starting loop wheel machine hang onto unmanned boat to lash ship, press the flexible button of electric putter on remote controler and make 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 operator and faces a danger.And this side Method can effectively prevent the interference of wave, and operating process is stablized, and success rate is high.

Detailed description of the invention

Fig. 1 entirety control mode schematic diagram.

Fig. 2 remote controller buttons schematic layout pattern.

Fig. 3 lays recovery system overall structure figure.

Fig. 4 cradle head structure figure.

Fig. 5 ejection mechanism structure chart.

Fig. 6 docking mechanism structure chart.

Fig. 7 lays stage execution flow chart.

Fig. 8 recovery stage execution flow chart.

Specific embodiment

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), single-chip microcontroller(5)With control mechanical device(14), it is characterised in that:The single-chip microcontroller(5)With a camera(1), one Laser sensor(2), one close to switch(3), a top level control unit(4), two electric putters(8,9), on a holder Lower rotary electric machine(10), a holder left-right rotation motor(12), control lead ejection motor(13), on a holder The encoder of lower rotary electric machine(11)It is connected, and passes through a remote control receiver(6)With remote controler(7)It is wirelessly connected, it is described The motor that rotates upwardly and downwardly of holder(10)With the motor of holder left-right rotation(12)With control mechanical device(14)Connection is to grasp Vertical unmanned boat(15)Lay removal process.

Embodiment two:The present embodiment is basically the same as the first embodiment, which is characterized in that the remote controler(7)Including one Camera switch button(7-1), an electric putter stretch button(7-2), an ejection motor push button(7-5), one or so shake Bar(7-3), about one rocking bar(7-6)With a display screen(7-4).The camera switch button(7-1)It can need When open camera, the electric putter is stretched button(7-2)Control suspension hook can be retracted by the stretching of electric putter whether Locked, the described ejection motor push button with unmanned boat(7-5)Controllable catapult-launching gear starting, thus by lead bullet to lash ship, institute The left rocker stated(7-3)Control the left-right rotation and upper and lower pitching of holder, the display screen respectively with upper and lower rocking bar(7-4) It can show the video information that the camera on unmanned boat is sent back.

Embodiment three:It is as follows that unmanned boat based on remote controler lays the recycling and control method course of work:

1. laying process

For S01 when unmanned boat is on lash ship, starting control cabinet power supply simultaneously opens remote controler, establishes remote controler and single-chip microcontroller Connection.

Suspension hook is put into docking mechanism by S02 first, and suspension hook, which is encountered, taps into switch, opens triggering high level close to switch, After single-chip microcontroller detects this high level signal, controls electric putter 1 and the starting of electric putter 2 is stretched out, 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 single-chip 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 movement made, electric putter 1 and the starting of electric putter 2 are 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 camera is 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 single-chip microcontroller by remote controler, after single-chip microcontroller recognizes Control holder or so motor forward or reverse, and then adjust cradle head mechanism and move left and right, until left-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 single-chip microcontroller by remote controler, and single-chip microcontroller is controlled after recognizing It makes 202 holders or more motor forward or reverse, and then adjusts cradle head mechanism and move up and down, at the same time, single-chip microcontroller can also be always The holder information that motor encoder is sent back up and down is received, after the amplitude for finding that motor is mobile up and down is more than limit, is closed Motor above and below holder moves it no longer in extreme position stopping, then moves it 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, forward or reverse, catapult will be released to dish out in lead control ejection motor after single-chip microcontroller recognizes.

After S06 lash ship receives lead, suspension hook is put down along lead, is connect when suspension hook slides into encounter in docking mechanism Into switch, after single-chip 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 the starting of electric putter 2 are 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, single-chip microcontroller can tell top level control unit to be now in danger by RS232 Serial Port Line 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), single-chip microcontroller(5)With control machine Tool device(14), it is characterised in that:The single-chip 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 mechanical 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, which switchs, to be pressed Button(7-1)Camera can be opened when needed, the electric putter is stretched button(7-2)It can be contracted by the stretching of electric putter Return whether control suspension hook locks with unmanned boat, the ejection motor push button(7-5)Controllable catapult-launching gear starting, to will draw Line bullet is to lash ship, the left rocker(7-3)With upper and lower rocking bar(7-6)The left-right rotation of control holder and upper nutation respectively It faces upward, the display screen(7-4)It can show the camera on unmanned boat(1)The video information sent back.
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 to 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, single-chip 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 recovery 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, starting loop wheel machine hang onto unmanned boat in water after suitable position, press 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 recovery 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, presses remote controler(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 in docking mechanism along lead from lash ship, 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, starting loop wheel machine hang onto unmanned boat to lash ship, press remote controler(7)Upper electric putter is stretched button(7-2)So that electric Push rod is withdrawn, and suspension hook is discharged, and completes unmanned boat reclaimer operation.
CN201810527642.5A 2018-05-29 2018-05-29 A kind of unmanned boat based on remote controler lays recovery control system and method CN108820136A (en)

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Application Number Priority Date Filing Date Title
CN201810527642.5A CN108820136A (en) 2018-05-29 2018-05-29 A kind of unmanned boat based on remote controler lays recovery control system and method

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108810467A (en) * 2018-06-11 2018-11-13 上海大学 A kind of unmanned boat based on remote controler lays recovery control system and method
CN109787673A (en) * 2019-01-25 2019-05-21 上海大学 A kind of unmanned boat semi-submersible offshore dynamic positioning communication relay system
CN109928299A (en) * 2019-04-04 2019-06-25 哈尔滨工程大学 It is a kind of can the remote control type UUV of automatic coupling and unhook lay recovering mechanism and method

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JPS61235291A (en) * 1985-04-11 1986-10-20 Mitsubishi Heavy Ind Ltd Boat launching and releasing device
CN202400265U (en) * 2011-12-28 2012-08-29 中国科学院沈阳自动化研究所 Underwater robot recycling system
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
CN106314691A (en) * 2016-09-28 2017-01-11 青岛远创机器人自动化有限公司 Unmanned-water-surface-aircraft deploying and recovering method
CN206187303U (en) * 2016-10-13 2017-05-24 青岛北海船舶重工有限责任公司 Automatic couple locking device
CN107735314A (en) * 2015-07-06 2018-02-23 韩国海洋科学技术院 Unmanned boat and its recovery method equipped with attachment means

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Publication number Priority date Publication date Assignee Title
JPS61235291A (en) * 1985-04-11 1986-10-20 Mitsubishi Heavy Ind Ltd Boat launching and releasing device
CN202400265U (en) * 2011-12-28 2012-08-29 中国科学院沈阳自动化研究所 Underwater robot recycling system
CN107735314A (en) * 2015-07-06 2018-02-23 韩国海洋科学技术院 Unmanned boat and its recovery method equipped with attachment means
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
CN106314691A (en) * 2016-09-28 2017-01-11 青岛远创机器人自动化有限公司 Unmanned-water-surface-aircraft deploying and recovering method
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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108810467A (en) * 2018-06-11 2018-11-13 上海大学 A kind of unmanned boat based on remote controler lays recovery control system and method
CN109787673A (en) * 2019-01-25 2019-05-21 上海大学 A kind of unmanned boat semi-submersible offshore dynamic positioning communication relay system
CN109928299A (en) * 2019-04-04 2019-06-25 哈尔滨工程大学 It is a kind of can the remote control type UUV of automatic coupling and unhook lay recovering mechanism and method

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