CN109334935A - A kind of unmanned boat by powered by wave energy - Google Patents
A kind of unmanned boat by powered by wave energy Download PDFInfo
- Publication number
- CN109334935A CN109334935A CN201811064598.5A CN201811064598A CN109334935A CN 109334935 A CN109334935 A CN 109334935A CN 201811064598 A CN201811064598 A CN 201811064598A CN 109334935 A CN109334935 A CN 109334935A
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- China
- Prior art keywords
- ship
- ratchet
- unmanned boat
- bow
- tail
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H19/00—Marine propulsion not otherwise provided for
- B63H19/02—Marine propulsion not otherwise provided for by using energy derived from movement of ambient water, e.g. from rolling or pitching of vessels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/12—Use of propulsion power plant or units on vessels the vessels being motor-driven
- B63H21/17—Use of propulsion power plant or units on vessels the vessels being motor-driven by electric motor
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T70/00—Maritime or waterways transport
- Y02T70/50—Measures to reduce greenhouse gas emissions related to the propulsion system
- Y02T70/5218—Less carbon-intensive fuels, e.g. natural gas, biofuels
- Y02T70/5236—Renewable or hybrid-electric solutions
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- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Other Liquid Machine Or Engine Such As Wave Power Use (AREA)
Abstract
The invention discloses a kind of unmanned boats by powered by wave energy, including ship bow, ship tail, energy conversion system, Ship Propeling propeller and battery；Ship bow and ship tail are hinged along ship wide direction, the two is mutually rotated to produce angular displacement under wave action, energy conversion system is connect by cable with battery, it is stored in battery after the mutual rotary motion of ship bow and ship tail is converted into electric energy, Ship Propeling propeller is navigated by water using the electrical energy drive unmanned boat of accumulators store on sea.Unmanned boat by powered by wave energy of the invention, can by wave as unmanned boat power in marine navigation, structure is simple, manufactures low with maintenance cost, and the duty cycle is long up to the several months or even the several years.
Description
Technical field
The present invention relates to wave-energy power generation fields, and in particular to a kind of using wave energy as power-actuated unmanned boat.
Background technique
Small-sized marine unmanned boat, have it is small in size, it is mobile flexibly, in terms of laying and recycle, Stealth Fighter is good, at low cost
The advantages that, in exploration of ocean resources, underwater surface military surveillance, marine environmental monitoring etc. has important purposes.But by
In the power supply the problem of, the voyage of unmanned boat is restricted, at present the power resources mode of unmanned boat it is general there are three types of: first
Kind is to carry diesel oil or battery alone not carrying a large amount of fuel oil since unmanned boat is small in size, can not also install great Rong
The battery of amount, therefore limit the voyage of unmanned boat；Second is to utilize solar energy as a source of power, is pacified on unmanned boat
Assembling solar panel is charged a battery by solar energy, although which can not have to the battery of large capacity, due to sea
Changes in weather and to night, when not having sunlight, unmanned boat does not just have power, therefore it is difficult to ensure that unmanned boat power supply
Stability；The third is exactly that lash ship carries unmanned boat, provides power by lash ship for unmanned boat, but this mode reduces unmanned boat
Scope of activities, reduce the concealment of unmanned boat.
Due to the restriction of unmanned boat power supply, urgent need wants a kind of at present can grow boat in severe marine environment
When, the big unmanned surface vehicle of scope of activities, the cruising ability of unmanned boat decides the performance of unmanned boat.Wave energy is accumulate in ocean
A kind of renewable energy of hiding has and has a very wide distribution, and energy density is high, if using wave energy as power, it almost can be with
Unlimited cruising ability is provided for unmanned boat, and wave energy is nearly free from any dirt during being converted to electric energy
Dye.
Summary of the invention
The purpose of the present invention is to provide a kind of unmanned boats by powered by wave energy, using wave energy as the dynamic of unmanned boat
Power source allows unmanned boat not depend on other lash ships and increase voyage and scope of activities.
To achieve the above object, the technical scheme is that
A kind of unmanned boat by powered by wave energy, including ship bow, ship tail, energy conversion system, Ship Propeling propeller and
Battery；Ship bow and ship tail are hinged along ship wide direction, and the two is mutually rotated to produce angular displacement under wave action, and energy turns
It changes system to connect by cable with battery, be stored in battery after the angular displacement of ship bow and ship tail is converted into electric energy, ship
Oceangoing ship propelling screws are navigated by water using the electrical energy drive unmanned boat of accumulators store on sea.
A kind of improvement according to the present invention, the energy conversion system include the first ratchet, the second ratchet, the first active
Gear, the second driving gear, the first pawl, the second pawl, the first driven gear, the second driven gear, double shaft permanent magnet generators
Machine and main shaft；
Main shaft is fixed on ship tail, and the first ratchet and the second ratchet are mounted on main shaft at a spacing, the first spine
Wheel and the second ratchet can be around main axis, and the ratchet of the two is towards on the contrary；First pawl and the second pawl are fixed on ship bow,
First pawl is engaged with the first ratchet, and the second pawl is engaged with the second ratchet；
First driving gear is set on main shaft, and is fixedly connected with the first ratchet；Second driving gear is set in main shaft
On, and be fixedly connected with the second ratchet；First driven gear is engaged with the first driving gear, and the second driven gear and second is actively
Gear engagement；Double shaft permanent magnet generators one end is connect with the first driven gear, and the other end is connect with the second driven gear.
A kind of improvement according to the present invention, the ship tail are equipped with axle sleeve support base, and axle sleeve support base is equipped with axle sleeve；
The ship bow is equipped with pin shaft support base, and pin shaft support base is equipped with pin shaft, and pin shaft is embedded in axle sleeve, keeps ship bow and ship tail hinged
Together.
A kind of improvement according to the present invention is equipped with upper limit rubber block and lower limit rubber on the ship bow and ship tail
Block, upper limit rubber block are mounted on the top of ship bow and ship tail, lower phase rubber block installation by upper limit rubber block support base
In the lower section of ship bow and ship tail junction.The setting of limited block can prevent the angular displacement that ship bow and ship tail generate under billow
Greatly, it is ensured that the relative angle of ship bow and ship tail is kept in a certain range.
Compared with prior art, the present invention the beneficial effect is that:
1, unmanned boat of the invention is compared with existing unmanned boat, using wave energy as power source, and the wave in ocean
All the time all exist, therefore the power of unmanned boat of the invention is almost continually.
2, ship bow and ship tail are directly divided into two sections by the configuration of the present invention is simple, are carried out hingedly, energy conversion system is by two pairs
Ratchet-gear mechanism composition, installation manufacture are all extremely easy.
3, the energy conversion system in the present invention can be not only used in wave energy unmanned boat, and it is double floating to be also applicable in other
On the hinged small-sized wave energy apparatus of body, application range is wide, has important use value.
4, other similar wave energy promotes most of moveable platform using the rolling of device, and what the present invention utilized is dress
The torque of the pitching set, pitching is much larger than rolling, therefore in situation similar in plant bulk, the wave energy of capture is more.
Detailed description of the invention
Fig. 1 is a kind of unmanned boat top view by powered by wave energy of the present invention；
Fig. 2 is a kind of unmanned boat main view by powered by wave energy of the present invention；
Fig. 3 is a kind of energy conversion system composition schematic diagram of the unmanned boat by powered by wave energy of the present invention；
Fig. 4 is that energy conversion system ratchet-gear mechanism forms figure in a kind of unmanned boat by powered by wave energy of the present invention；
Fig. 5 be a kind of unmanned boat by powered by wave energy of the present invention hang down in forms of motion when working state figure；
Fig. 6 is a kind of ratchet-gear mechanism operating when vertical forms of motion in of unmanned boat by powered by wave energy of the present invention
State diagram；
Fig. 7 be a kind of unmanned boat by powered by wave energy of the present invention hang down in forms of motion when gear-generator operation shape
State figure；
Fig. 8 is a kind of unmanned boat by powered by wave energy of the present invention with working state figure when hogging forms of motion；
Fig. 9 is a kind of unmanned boat by powered by wave energy of the present invention with ratchet when hogging forms of motion-gear mechanism operating
State diagram；
Figure 10 is a kind of unmanned boat by powered by wave energy of the present invention with gear when hogging forms of motion-generator operation shape
State figure；
Description of symbols: 1- ship bow；2- ship tail；3- axle sleeve support base；4- axle sleeve；5- pin shaft support base；6- pin shaft；7-
Energy conversion system；8- upper limit rubber block support base；9- upper limit rubber block；10- Ship Propeling propeller 11- lower limit rubber
Blob of viscose；The first ratchet of 12-；The second ratchet of 13-；The first driving gear of 14-；The second driving gear of 15-；The first pawl of 16-；17-
Second pawl；The first driven gear of 18-；The second driven gear of 19-；The bis- shaft permanent magnet generators of 20-；21- main shaft；22- cable；
23- battery.
Specific embodiment
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing and specific real
Applying mode, the present invention is described in further detail.
As shown in Figures 1 to 4, a kind of unmanned boat by powered by wave energy of the invention, including ship bow 1, ship tail 2, axle sleeve
Support base 3, axle sleeve 4, pin shaft support base 5, pin shaft 6, energy conversion system 7, upper limit rubber block support base 8, upper limit rubber
Block 9, Ship Propeling propeller 10, lower limit rubber block 11, cable 22 and battery 23.
Ship bow 1 and ship tail 2 are the independent hulls of two sections, and front and back is hinged, in hydrostatic, keep complete ship shape,
As depicted in figs. 1 and 2, and ship bow 1 and ship tail 2 are all using the general configuration design of unmanned boat, reduce unmanned boat with benefit and are navigating
Resistance when row.Axle sleeve 4 is fixedly connected on ship tail 2 by axle sleeve support base 3, and pin shaft 6 is fixed on ship by pin shaft support base 5
On bow 1, pin shaft 6 is embedded in axle sleeve 4, realizes the hinged of ship bow 1 and ship tail 2, the two under wave action, can mutually revolve
Turn, to generate angular displacement.The quantity of axle sleeve 4 and pin shaft 6 can be designed according to actual requirement, be 2 in the present embodiment, right
Claim the two sides for being arranged in unmanned boat width direction.
Upper limit rubber block 9 is mounted on the top of ship bow 1 and ship tail 2, lower phase rubber by upper limit rubber block support base 8
Blob of viscose 11 is mounted on the lower section of 2 junction of ship bow 1 and ship tail, and 2 upper limit rubber blocks 9 and 2 are respectively provided on ship bow 1 and ship tail 2
A lower phase rubber block 11, and it is positioned opposite.The purpose of upper limit rubber block 9 and lower limit rubber block 11 is in order to prevent big
Under wave, the angular displacement that ship bow 1 and ship tail 2 generate is excessive, leads to the equipment unstability on unmanned boat, and also to keep ship bow 1
It is similar to ship shape with the posture of ship tail 2, to make resistance when can reduce navigation of unmanned boat, makes ship bow 1 and ship tail 2 always
It is maintained at relative angular displacement state a little.
Energy conversion system 7 is mounted in the middle part of unmanned boat, the wave energy generating set as unmanned boat comprising the first spine
It is driven to take turns the 12, second ratchet 13, the first driving gear 14, the second driving gear 15, the first pawl 16, the second pawl 17, first
Gear 18, the second driven gear 19, double shaft permanent magnet generators 20 and main shaft 21.
First ratchet 12 and the second ratchet 13 it is separated by a distance be nested on main shaft 21, can be rotated around main shaft 21,
Main shaft 21 is then fixed on ship tail 2.First ratchet 12 is opposite with the ratchet of the second ratchet 13 direction (as shown in figure 4, needing
Illustrate, in Fig. 4 and subsequent Fig. 6 and Fig. 9, two pairs of ratchets-gear mechanism drawn in the same plane, be for the ease of
Indicate, actual state is, two pairs of mechanisms be time interval be mounted on main shaft 21, as shown in Fig. 3,7,10).First ratchet 12
It is installed together with the first driving gear 14, by being keyed, makes the first ratchet 12 and the first driving gear 14 can be with synchronous rotary.
Second ratchet 13 and the second driving gear 15 are installed together, and by being keyed, make the second ratchet 13 and the second driving gear 15 can
With synchronous rotary.
First pawl 16 and the second pawl 17 are fixed on ship bow 1, and the first pawl 16 is engaged with the first ratchet 12, with
The first ratchet 12 is driven to rotate, the second pawl 17 is engaged with the second ratchet 13, to drive the rotation of the second ratchet 13.First ratchet 12
Rotation can drive the first driving gear 14 rotate, the first driving gear 14 and the first driven gear 18 intermeshing, first from
Moving gear 18 is connected with double 20 left ends of shaft permanent magnet generator by shaft coupling；The rotation of second ratchet 13 can drive the second active
Gear 15 rotates, the second driving gear 15 and the intermeshing of the second driven gear 19, the second driven gear 19 and double shaft permanent magnetism
20 right end of generator is connected by shaft coupling.
Double shaft permanent magnet generators 20 are commercially available, and the electricity issued is input to electric power storage by power converter by cable 22
In pond 23, then the electric drive Ship Propeling propeller 10 stored by battery 23 navigates by water unmanned boat on sea.
Below with reference to Fig. 5 to Figure 10, the working principle of unmanned boat of the invention is described as follows:
When unmanned boat rides the sea, due to the effect of wave, ship bow 1 and ship tail 2 can generate relative angular displacement, such as scheme
5 and shown, the middle part of ship can be dented, similar to phenomenon of hanging down in ship, referred to as in hang down acting form, or such as Fig. 8 institute
Show, the middle part of ship can be raised next, similar to the middle doming effect in ship, referred to as hogging acting form.Utilize ship bow 1 and ship tail 2
The angular displacement of generation carrys out driving energy converting system 7, in conversion process of energy, since the size of unmanned boat is typically small, and wave
The capture width ratio of wave is smaller, causes the energy of wave little, therefore the present embodiment directly drives energy conversion system using mechanical,
By two groups of ratchet-gear mechanisms and generating set at, two ratchets ratchet towards on the contrary, make unmanned boat either in hang down and do
Wave energy can be converted into the rotating mechanical energy of ratchet by function form or hogging acting form.
As shown in figure 5, when wave action is in unmanned boat, if the middle part of unmanned boat is located at trough, at this time in unmanned boat
Portion can be dented, be in hang down acting state, ship bow 1 is to rotate counterclockwise relative to ship tail 2 at this time, and ship tail 2 is relative to ship bow 1
It is to rotate clockwise, since the first pawl 16 and the second pawl 17 are mounted on ship bow 1, and the first ratchet 12,13 and of the second ratchet
Main shaft 21 is mounted on ship tail 2, therefore the first pawl 16 and the second pawl 17 do rotation counterclockwise relative to main shaft 21.Such as Fig. 6 institute
Showing, the first pawl 16 will push the first ratchet 12, and rotate it counterclockwise, and at this point, due to the ratchet of the second ratchet 13 and
Towards on the contrary, the second pawl 17 can be slipped over from the ratchet of the second ratchet 13 back, the second ratchet 13 is not pushed away the ratchet of one ratchet 12
It is dynamic.First ratchet 12 is connected by key with the first driving gear 14, can be moved synchronously, therefore the first driving gear 14 also does the inverse time
Needle rotation, the first driven gear 18 and the engagement of the first driving gear 14, under the driving of the first driving gear 14, the first driven tooth
Wheel 18 can rotate clockwise, and the diameter of the first driven gear 18 is less than the first driving gear 14, therefore the first driven tooth
The first driving gear of rotating ratio 14 of wheel 18 increases.The left end of first driven gear 18 and double shaft permanent magnet generators 20 passes through connection
The connection of axis device, therefore the first driven gear 18 will drive double shaft permanent magnet generators 20 and generate electricity, and the direction of rotation one of the two
It causes, is looked over from the left end of double shaft permanent magnet generators 20, double shaft permanent magnet generators 20 are in rotation counterclockwise, such as Fig. 7 institute
Show.
As shown in figure 8, when wave action is in unmanned boat, if the middle part of unmanned boat is located at wave crest, at this time in unmanned boat
Portion can be raised next, and in hogging acting state, ship bow 1 is to rotate clockwise relative to ship tail 2 at this time, and ship tail 2 is relative to ship bow 1
It is to rotate counterclockwise, therefore the first pawl 16 and the second pawl 17 can be rotated clockwise relative to main shaft.As shown in figure 9, the
Two pawls 17 will push the second ratchet 13, rotate clockwise it, and at this point, the first pawl 16 can be from the ratchet of the first ratchet 12
Back slips over, and the first ratchet 12 is not pushed.Second ratchet 13 is also equally to be connected by key with the second driving gear 15, can be synchronized
Movement, therefore the second driving gear 15 also rotates clockwise.Second driven gear 19 and the engagement of the second driving gear 15, the
Under the driving of two driving gears 15, the second driven gear 19 can do rotation counterclockwise, and the diameter of the second driven gear 19
Less than the second driving gear 15, therefore the second driving gear of rotating ratio 15 of the second driven gear 19 increases.Second driven gear
19 connects with the right end of double shaft permanent magnet generators 20 by shaft coupling, therefore the second driven gear rotation 19 also will drive pair out
Axis permanent magnet generator 20 generates electricity, and the direction of rotation of the two is consistent, looks over from the right end of double shaft permanent magnet generators 20, double
Shaft permanent magnet generator 20 is in and rotates clockwise, as shown in Figure 10.
Comparison diagram 7 and Figure 10 can be seen that double shaft permanent magnet generators 20 direction of rotation be it is identical, also imply that nothing
It is all identical by acting form vertical in being or hogging acting form, the direction of rotation of double shaft permanent magnet generators 20.Therefore it utilizes
Reciprocal rotary motion is converted to the rotation of individual event by energy conversion system 7 of the invention, as long as unmanned boat is made to have wave drive
It is dynamic ceaselessly to generate electricity always.
Simply to illustrate that technical concepts and features of the invention, its purpose is allows in the art above-described embodiment
Those of ordinary skill cans understand the content of the present invention and implement it accordingly, and it is not intended to limit the scope of the present invention.It is all
It is the equivalent changes or modifications that the essence of content according to the present invention is made, should be covered by the scope of protection of the present invention.
Claims (4)
1. a kind of unmanned boat by powered by wave energy, it is characterised in that: including ship bow (1), ship tail (2), energy conversion system
(7), Ship Propeling propeller (10) and battery (23)；Ship bow (1) and ship tail (2) are hinged along ship wide direction, and the two is in wave
Under the action of be mutually rotated to produce angular displacement, energy conversion system (7) is connect by cable (22) with battery (23), by ship
The angular displacement of bow (1) and ship tail (2) is stored in battery (23) after being converted into electric energy, and Ship Propeling propeller (10) utilizes storage
The electrical energy drive unmanned boat of battery (23) storage navigates by water on sea.
2. the unmanned boat according to claim 1 by powered by wave energy, it is characterised in that: the energy conversion system
It (7) include the first ratchet (12), the second ratchet (13), the first driving gear (14), the second driving gear (15), the first pawl
(16), the second pawl (17), the first driven gear (18), the second driven gear (19), double shaft permanent magnet generators (20) and master
Axis (21)；
Main shaft (21) is fixed on ship tail (2), and the first ratchet (12) and the second ratchet (13) are mounted on master at a spacing
On axis (21), the first ratchet (12) and the second ratchet (13) can be rotated around main shaft (21), and the ratchet of the two is towards on the contrary；First
Pawl (16) and the second pawl (17) are fixed on ship bow (1), and the first pawl (16) is engaged with the first ratchet (12), the second pawl
(17) it is engaged with the second ratchet (13)；
First driving gear (14) is set on main shaft (21), and is fixedly connected with the first ratchet (12)；Second driving gear
(15) it is set on main shaft (21), and is fixedly connected with the second ratchet (13)；First driven gear (18) and the first driving gear
(14) it engages, the second driven gear (19) is engaged with the second driving gear (15)；Double shaft permanent magnet generator (20) one end and the
One driven gear (18) connection, the other end are connect with the second driven gear (19).
3. the unmanned boat according to claim 1 by powered by wave energy, it is characterised in that: the ship tail (2) is equipped with
Axle sleeve support base (3), axle sleeve support base (3) are equipped with axle sleeve (4)；The ship bow (1) is equipped with pin shaft support base (5), pin shaft
Support base (5) is equipped with pin shaft (6), and pin shaft (6) is embedded in axle sleeve (4), keeps ship bow (1) and ship tail (2) hinged.
4. the unmanned boat according to claim 1 to 3 by powered by wave energy, it is characterised in that: the ship bow (1)
With upper limit rubber block (9) and lower limit rubber block (11) are equipped on ship tail (2), upper limit rubber block (9) passes through upper limit
Rubber block support base (8) is mounted on the top of ship bow (1) and ship tail (2), and lower phase rubber block (11) is mounted on ship bow (1) and ship
The lower section of tail (2) junction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811064598.5A CN109334935A (en) | 2018-09-12 | 2018-09-12 | A kind of unmanned boat by powered by wave energy |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811064598.5A CN109334935A (en) | 2018-09-12 | 2018-09-12 | A kind of unmanned boat by powered by wave energy |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109334935A true CN109334935A (en) | 2019-02-15 |
Family
ID=65305025
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811064598.5A Pending CN109334935A (en) | 2018-09-12 | 2018-09-12 | A kind of unmanned boat by powered by wave energy |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109334935A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114275107A (en) * | 2021-12-28 | 2022-04-05 | 湖北海洋工程装备研究院有限公司 | Offshore environment monitoring water surface robot |
| CN114644086A (en) * | 2022-03-31 | 2022-06-21 | 三沙供电局有限责任公司 | Unmanned ship based on wave energy |
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| CN105984576A (en) * | 2015-02-02 | 2016-10-05 | 福建省泉州海丝船舶评估咨询有限公司 | Manufacturing method for wave energy electric ship |
| CN207333091U (en) * | 2017-10-12 | 2018-05-08 | 山东科技大学 | A kind of double ratchet wheels wave energy generating set |
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|---|---|---|---|---|
| JPS56157693A (en) * | 1980-05-09 | 1981-12-04 | Mitsubishi Heavy Ind Ltd | Propeller for ship utilizing wave energy |
| CN201246266Y (en) * | 2008-07-31 | 2009-05-27 | 陈文标 | Swing-assisting type wave energy electric generating apparatus |
| WO2011154511A1 (en) * | 2010-06-11 | 2011-12-15 | Ocean Renewables Limited | A floating vessel that converts wave energy at sea into electrical energy |
| CN102650256A (en) * | 2012-05-23 | 2012-08-29 | 西北工业大学 | Double-generator floating box type seawave power generation device |
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| CN104500320A (en) * | 2015-01-15 | 2015-04-08 | 唐红兵 | Water-flow sea wave generator |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114275107A (en) * | 2021-12-28 | 2022-04-05 | 湖北海洋工程装备研究院有限公司 | Offshore environment monitoring water surface robot |
| CN114275107B (en) * | 2021-12-28 | 2023-02-28 | 湖北海洋工程装备研究院有限公司 | Offshore environment monitoring water surface robot |
| CN114644086A (en) * | 2022-03-31 | 2022-06-21 | 三沙供电局有限责任公司 | Unmanned ship based on wave energy |
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Application publication date: 20190215 |
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