CN114313170A - Underwater preset using method of fixed-wing unmanned aerial vehicle - Google Patents
Underwater preset using method of fixed-wing unmanned aerial vehicle Download PDFInfo
- Publication number
- CN114313170A CN114313170A CN202111680582.9A CN202111680582A CN114313170A CN 114313170 A CN114313170 A CN 114313170A CN 202111680582 A CN202111680582 A CN 202111680582A CN 114313170 A CN114313170 A CN 114313170A
- Authority
- CN
- China
- Prior art keywords
- underwater
- unmanned aerial
- cabin
- aerial vehicle
- wing unmanned
- Prior art date
- Legal status (The legal status 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 status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 24
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 41
- 238000004891 communication Methods 0.000 claims description 18
- 230000005484 gravity Effects 0.000 claims description 8
- 230000004913 activation Effects 0.000 claims description 6
- 238000002513 implantation Methods 0.000 claims description 6
- 238000005516 engineering process Methods 0.000 description 3
- 230000035945 sensitivity Effects 0.000 description 3
- 238000007667 floating Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 108010066057 cabin-1 Proteins 0.000 description 1
- 239000002775 capsule Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
Images
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The application provides a fixed wing unmanned aerial vehicle underwater preset use method, which belongs to the technical field of unmanned aerial vehicles, wherein a fixed wing unmanned aerial vehicle is arranged in an underwater guarantee cabin; when the transporting equipment receives the transporting instruction, transporting the underwater guarantee cabin to a designated area of a target sea area; when the underwater guarantee cabin receives a sinking instruction, executing a sinking operation; when the underwater guarantee cabin body receives a task execution instruction sent by the command control platform, the underwater guarantee cabin body floats to the sea surface, the posture is adjusted, and the cabin door is opened; when the underwater guarantee cabin receives a launching instruction, controlling the fixed wing unmanned aerial vehicle to launch the box body posture, and adjusting the launching angle of the fixed wing unmanned aerial vehicle; fixed wing unmanned aerial vehicle flies to appointed sea area and carries out the task according to predetermineeing the task instruction, and when fixed wing unmanned aerial vehicle takes off, need not specific runway and slides, need not to rely on large-scale naval vessel to take off, has shortened the time of arriving the sea area, has improved the timeliness and the operating efficiency of task execution for fixed wing unmanned aerial vehicle.
Description
Technical Field
The application belongs to the technical field of unmanned aerial vehicles, and particularly relates to an underwater preset using method of a fixed-wing unmanned aerial vehicle.
Background
With the proposal of the "ocean Enhance" strategy, the mission of the ocean mission becomes more and more important. Meanwhile, the unmanned aerial vehicle technology is rapidly developed and is more and more applied in various industry fields, and the fixed-wing unmanned aerial vehicle has the advantages of high flying speed, long range and large load, and can carry out emergency tasks such as monitoring, communication, rescue and the like in the air in sea areas.
In the related technology, the fixed-wing unmanned aerial vehicle needs to slide on a specific runway for taking off or depends on a large ship to take off, and a certain time is needed for reaching the sea area, so that the timeliness and the operation efficiency of task execution are influenced.
Therefore, there is a need for a method of using a high time-sensitive drone to perform emergency tasks in the sea area using a fixed wing drone.
Disclosure of Invention
In order to solve the problems that the taking-off of a fixed-wing unmanned aerial vehicle influences the timeliness and the operation efficiency of task execution in the related technology, the invention provides an underwater preset using method of the fixed-wing unmanned aerial vehicle, and the technical scheme is as follows:
a fixed wing unmanned aerial vehicle underwater preset use method comprises the following steps:
when the underwater guarantee cabin receives a cabin door opening instruction, opening a cabin door of the cabin so as to place the fixed wing unmanned aerial vehicle in the underwater guarantee cabin;
when the transportation equipment receives a transportation instruction, transporting the underwater guarantee cabin to a designated area of a target sea area, wherein the transportation instruction carries position information of the designated area of the target sea area;
when the underwater guarantee cabin body receives a sinking instruction, executing a sinking operation, and sinking to a preset water depth position or sinking to a seabed implantation residence;
the underwater guarantee cabin floats to the sea surface when receiving a task execution instruction sent by the command control platform;
after the underwater guarantee cabin body floats to the sea surface, the posture is adjusted and the cabin door is opened;
when the underwater guarantee cabin receives a launching instruction, the fixed-wing unmanned aerial vehicle is controlled to launch the box body posture, and the launching angle of the fixed-wing unmanned aerial vehicle is adjusted, so that the fixed-wing unmanned aerial vehicle can take off conveniently;
the fixed wing unmanned aerial vehicle flies to a designated sea area according to a preset task instruction and executes a task.
Further, the underwater safeguard cabin responds to the specified instruction during the underwater residence.
Optionally, when the wings of the fixed-wing drone are foldable wings, the wings are folded and then internally installed in the underwater security cabin.
Optionally, when the underwater guarantee cabin receives the sinking instruction, the total weight of the cabin is adjusted by controlling the water inflow of the water cabin, so as to complete the sinking operation.
Optionally, the task execution instruction carries an encrypted communication activation code, and the underwater safeguard cabin receives the task execution instruction sent by the command control platform through an ultra-low frequency remote communication mode and an underwater acoustic communication network.
Optionally, when the underwater guarantee cabin receives a task execution instruction, the water yield of the water cabin is controlled to enable the buoyancy of the cabin to be larger than the gravity, and the cabin floats to the sea surface.
Optionally, after the underwater guarantee cabin body floats to the sea surface, the gravity center distribution of the cabin body is adjusted by controlling the water inflow and the water outflow of each water diversion cabin, so that the cabin door is opened after the cabin door inclines upwards for a preset angle.
Optionally, after the fixed-wing unmanned aerial vehicle is launched in a boosting mode and lifted off, the fixed-wing unmanned aerial vehicle is adjusted to a cruising attitude after reaching a preset flying speed according to a preset task instruction, flies to a designated sea area, and executes a task.
Optionally, the transport apparatus is a ship or a transporter.
The invention has the beneficial effects that:
1) the fixed-wing unmanned aerial vehicle is arranged in an underwater guarantee cabin body, and an underwater storage environment is provided for the fixed-wing unmanned aerial vehicle through the fixed-wing unmanned aerial vehicle arranged in the underwater guarantee cabin body;
2) the fixed-wing unmanned aerial vehicle is arranged in the underwater guarantee cabin body, the underwater guarantee cabin body is transported to a designated area of a target sea area by transportation equipment, and the fixed-wing unmanned aerial vehicle is deployed underwater in the designated sea area in advance, so that the time sensitivity of executing tasks is improved;
3) when the underwater guarantee cabin receives a launching instruction, the fixed wing unmanned aerial vehicle is controlled to launch the box body posture, and the launching angle of the fixed wing unmanned aerial vehicle is adjusted. The built-in fixed wing unmanned aerial vehicle can guarantee the boosting take-off of the cabin under water, solves the problem that the unmanned aerial vehicle depends on a runway, and expands the application field range.
According to the underwater preset use method of the fixed-wing unmanned aerial vehicle, when the fixed-wing unmanned aerial vehicle takes off, a specific runway does not need to be slid, the fixed-wing unmanned aerial vehicle does not need to depend on a large ship to take off, the time for reaching the sea area is shortened, and the timeliness and the operation efficiency of task execution are improved.
Drawings
Fig. 1 is a schematic view of an underwater preset use method of a fixed-wing unmanned aerial vehicle provided in an embodiment of the present application;
FIG. 2 is a schematic view of a fixed wing drone built in an underwater security cabin provided in an embodiment of the present application.
Detailed Description
The present application will now be described in further detail with reference to specific embodiments and the accompanying drawings.
The invention provides a high-timeliness use method of a fixed-wing unmanned aerial vehicle in marine task execution, and solves the problems that the fixed-wing unmanned aerial vehicle in the related art is poor in timeliness and low in operation efficiency in marine task execution.
The embodiment of the invention provides an underwater preset using method of a fixed wing unmanned aerial vehicle, which comprises the following steps:
and 110, when the underwater guarantee cabin receives a cabin door opening instruction, opening a cabin door of the cabin so as to conveniently place the fixed wing unmanned aerial vehicle in the underwater guarantee cabin.
When the wings of the fixed-wing unmanned aerial vehicle are foldable wings, in order to improve the space utilization rate, the wings can be folded and then internally installed in an underwater guarantee cabin body.
And 120, when the transportation equipment receives a transportation instruction, transporting the underwater guarantee cabin to a specified area of the target sea area, wherein the transportation instruction carries the position information of the specified area of the target sea area.
Illustratively, the transport device may be a ship on which the underwater safeguard capsule may be placed.
In addition, the transport equipment can also be a conveyor, and the underwater guarantee cabin body can be mounted on the conveyor.
And step 130, when the underwater guarantee cabin receives the sinking instruction, executing the sinking operation and sinking to a preset water depth position or sinking to a seabed implantation residence.
In this embodiment, when the underwater guarantee cabin receives the sinking instruction, the total weight of the cabin can be adjusted by specifically controlling the water inflow of the water cabin, so as to complete the sinking operation, and finally sink to the preset water depth position or sink to the seabed implantation residence.
And 140, floating the underwater guarantee cabin body to the sea surface when receiving a task execution instruction sent by the command control platform.
And when the fixed-wing unmanned aerial vehicle is required to execute a task, the command control platform sends the encrypted communication activation code to the underwater security cabin which is under silent and hidden through the task execution instruction in an ultralow frequency remote communication mode and an underwater acoustic communication network.
When the underwater guarantee cabin body receives a task execution instruction, the water yield of the water cabin can be controlled to enable the buoyancy of the cabin body to be larger than the gravity, and the cabin body can quickly float to the sea surface.
And 150, after the underwater guarantee cabin body floats to the sea surface, adjusting the posture and opening the cabin door.
After the cabin body is guaranteed to float to the sea surface underwater, the gravity center distribution of the cabin body can be adjusted by controlling the water inflow and the water outflow of each water diversion cabin, so that the cabin door is opened after the cabin door inclines upwards for a preset angle.
And 160, controlling the fixed-wing unmanned aerial vehicle to launch the box body posture when the underwater guarantee cabin receives the launching instruction, and adjusting the launching angle of the fixed-wing unmanned aerial vehicle so as to facilitate the take-off of the fixed-wing unmanned aerial vehicle.
And 170, the fixed-wing unmanned aerial vehicle flies to a designated sea area according to a preset task instruction and executes a task.
After the fixed wing unmanned aerial vehicle is launched in a boosting mode and lifted off, the fixed wing unmanned aerial vehicle is adjusted to a cruising posture after reaching a preset flying speed according to a preset task instruction, flies to a designated sea area, and executes a task.
In conclusion, the underwater preset using method of the fixed wing unmanned aerial vehicle provided by the invention has the advantages that the fixed wing unmanned aerial vehicle is arranged in the underwater guarantee cabin body, so that an underwater storage environment is provided for the fixed wing unmanned aerial vehicle; the fixed-wing unmanned aerial vehicle is arranged in the underwater guarantee cabin body, the underwater guarantee cabin body is transported to a designated area of a target sea area by transportation equipment, and the fixed-wing unmanned aerial vehicle is deployed underwater in the designated sea area in advance, so that the time sensitivity of executing tasks is improved; when the underwater guarantee cabin receives a launching instruction, the fixed wing unmanned aerial vehicle is controlled to launch the box body posture, and the launching angle of the fixed wing unmanned aerial vehicle is adjusted. The built-in fixed wing unmanned aerial vehicle can guarantee the boosting take-off of the cabin under water, solves the problem that the unmanned aerial vehicle depends on a runway, and expands the application field range. When the fixed-wing unmanned aerial vehicle takes off, the fixed-wing unmanned aerial vehicle does not need to slide on a specific runway, does not need to depend on a large ship to take off, shortens the time of arriving at a sea area, and improves the timeliness and the operation efficiency of task execution.
Please refer to fig. 1, which is a method for using a fixed-wing drone in underwater initialization according to an embodiment of the present invention, the method includes:
step 210, when the underwater safeguard cabin receives the cabin door opening instruction, opening the cabin door so as to place the fixed wing unmanned aerial vehicle in the underwater safeguard cabin.
In the present embodiment, for example, as shown in fig. 2, when the cabin door 2 is opened, the fixed-wing drone 3 is built into the underwater securing cabin 1. When the wings of the fixed-wing unmanned aerial vehicle are foldable wings, in order to improve the space utilization rate, the wings can be folded and then internally installed in an underwater guarantee cabin body. See the notation (r) in fig. 1.
Step 220, when the transporting equipment receives the transporting instruction, the underwater guarantee cabin body is transported to the designated area of the target sea area, and the transporting instruction carries the position information of the designated area of the target sea area.
In this embodiment, place the fixed wing unmanned aerial vehicle in the guarantee cabin body under water in the back, place the guarantee cabin body under water on transportation equipment again to by transportation equipment with guarantee cabin body under water transport to the target sea area, put fixed wing unmanned aerial vehicle in the appointed area and carry out the deployment of the guarantee cabin body under water. See the designation @infig. 1.
And step 230, when the underwater guarantee cabin receives the sinking instruction, executing the sinking operation and sinking to a preset water depth position or sinking to a seabed implantation residence.
In this embodiment, when the underwater guarantee cabin receives the sinking instruction, the total weight of the cabin can be adjusted by specifically controlling the water inflow of the water cabin, so as to complete the sinking operation, and finally sink to the preset water depth position or sink to the seabed implantation residence. See identification c in fig. 1.
And 240, responding to a specified instruction during the underwater residence period of the underwater guarantee cabin.
The underwater guarantee cabin body keeps silent communication with the outside during underwater residence, only supports specified response communication, and prevents the underwater guarantee cabin body from being detected and damaged by enemies. See label (r) in fig. 1.
And 250, floating the underwater guarantee cabin body to the sea surface when receiving a task execution instruction sent by the command control platform.
The command control platform sends a task execution instruction to the underwater safeguard cabin body, carries an encrypted communication activation code, and sends the encrypted communication activation code to the underwater safeguard cabin body which is under silent underwater through the task execution instruction through an ultralow frequency remote communication mode and an underwater acoustic communication network when the fixed-wing unmanned aerial vehicle is required to execute a task, and the underwater safeguard cabin body is activated by an underwater activation signal. See sign # in fig. 1.
When the underwater guarantee cabin body receives a task execution instruction, the water yield of the water cabin can be controlled to enable the buoyancy of the cabin body to be larger than the gravity, and the cabin body can quickly float to the sea surface. See the label of fig. 1.
And 260, after the underwater guarantee cabin body floats to the sea surface, adjusting the posture and opening the cabin door.
After the cabin body is guaranteed to float to the sea surface underwater, the gravity center distribution of the cabin body can be adjusted by controlling the water inflow and the water outflow of each water diversion cabin, so that the cabin door is opened after the cabin door inclines upwards for a preset angle. See symbol in fig. 1.
Typically, the predetermined angle is 60 ° to 90 °.
And 270, controlling the fixed-wing unmanned aerial vehicle to launch the box body posture when the underwater guarantee cabin receives the launching instruction, and adjusting the launching angle of the fixed-wing unmanned aerial vehicle so as to facilitate the take-off of the fixed-wing unmanned aerial vehicle.
For example, a fixed wing drone may take off in a rocket launch mode or a mechanically assisted launch mode. Step 270 is identified as (viii) in fig. 1.
And step 280, the fixed wing unmanned aerial vehicle flies to a designated sea area according to a preset task instruction and executes a task.
After the fixed wing unmanned aerial vehicle is launched in a boosting mode and lifted off, the fixed wing unmanned aerial vehicle is adjusted to a cruising posture after reaching a preset flying speed according to a preset task instruction, flies to a designated sea area, and executes a task. Wherein the preset flying speed may be 80 km/h. See indication ninthly in fig. 1.
In conclusion, the underwater preset using method of the fixed wing unmanned aerial vehicle provided by the invention has the advantages that the fixed wing unmanned aerial vehicle is arranged in the underwater guarantee cabin body, so that an underwater storage environment is provided for the fixed wing unmanned aerial vehicle; the fixed-wing unmanned aerial vehicle is deployed underwater in a designated sea area in advance, so that the time sensitivity of executing tasks is improved; the built-in fixed wing unmanned aerial vehicle can guarantee the boosting take-off of the cabin under water, solves the problem that the unmanned aerial vehicle depends on a runway, and expands the application field range. When the fixed-wing unmanned aerial vehicle takes off, the fixed-wing unmanned aerial vehicle does not need to slide on a specific runway, does not need to depend on a large ship to take off, shortens the time of arriving at a sea area, and improves the timeliness and the operation efficiency of task execution. Meanwhile, the underwater guarantee cabin body keeps silent communication with the outside during underwater residence, only supports specified response communication, and can prevent the underwater guarantee cabin body from being detected and damaged by enemies.
The foregoing merely represents embodiments of the present application, which are described in greater detail and detail, and therefore should not be construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application.
Claims (9)
1. A fixed wing unmanned aerial vehicle underwater preset use method is characterized by comprising the following steps:
when the underwater guarantee cabin receives a cabin door opening instruction, opening a cabin door of the cabin so as to place the fixed wing unmanned aerial vehicle in the underwater guarantee cabin;
when the transportation equipment receives a transportation instruction, transporting the underwater guarantee cabin to a designated area of a target sea area, wherein the transportation instruction carries position information of the designated area of the target sea area;
when the underwater guarantee cabin body receives a sinking instruction, executing a sinking operation, and sinking to a preset water depth position or sinking to a seabed implantation residence;
the underwater guarantee cabin floats to the sea surface when receiving a task execution instruction sent by the command control platform;
after the underwater guarantee cabin body floats to the sea surface, the posture is adjusted and the cabin door is opened;
when the underwater guarantee cabin receives a launching instruction, the fixed-wing unmanned aerial vehicle is controlled to launch the box body posture, and the launching angle of the fixed-wing unmanned aerial vehicle is adjusted, so that the fixed-wing unmanned aerial vehicle can take off conveniently;
the fixed wing unmanned aerial vehicle flies to a designated sea area according to a preset task instruction and executes a task.
2. The method of claim 1, wherein the underwater assurance module is responsive to the specified instructions during underwater residence.
3. The method of claim 1, wherein when the wings of the fixed wing drone are foldable wings, the wings are folded and then built-in mounted to the underwater containment nacelle.
4. The method of claim 1, wherein the underwater securing structure is adapted to perform the sinking operation by controlling the water inflow of the water tank to adjust the total weight of the structure when the sinking command is received.
5. The method according to claim 1, wherein the task execution instruction carries an encrypted communication activation code, and the underwater security cabin receives the task execution instruction sent by the command control platform through an ultra-low frequency remote communication mode and an underwater acoustic communication network.
6. The method of claim 1, wherein the underwater securing hull, upon receiving the task execution command, controls the water output of the water tank such that the buoyancy of the hull is greater than gravity, causing the hull to float to the sea surface.
7. The method according to claim 1, wherein after the underwater securing cabin body is floated to the sea surface, the distribution of the gravity center of the cabin body is adjusted by controlling the water inflow and the water outflow of each water diversion cabin, so that the cabin door is opened after being inclined upward by a preset angle.
8. The method according to claim 1, wherein after the fixed-wing drone is launched by boosting launch, the fixed-wing drone is adjusted to a cruising attitude after reaching a preset flying speed according to a preset mission command, and flies to a designated sea area to execute a mission.
9. The method of claim 1, wherein the transportation device is a ship or a transport vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111680582.9A CN114313170A (en) | 2021-12-30 | 2021-12-30 | Underwater preset using method of fixed-wing unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111680582.9A CN114313170A (en) | 2021-12-30 | 2021-12-30 | Underwater preset using method of fixed-wing unmanned aerial vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114313170A true CN114313170A (en) | 2022-04-12 |
Family
ID=81023311
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111680582.9A Pending CN114313170A (en) | 2021-12-30 | 2021-12-30 | Underwater preset using method of fixed-wing unmanned aerial vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114313170A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117022649A (en) * | 2023-10-08 | 2023-11-10 | 成都诸元天成智能装备有限公司 | System using unmanned aerial vehicle throwing awakening device |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20110108435A (en) * | 2010-03-27 | 2011-10-06 | 고경완 | The monitering system for a vessle using a uav |
| JP2020142671A (en) * | 2019-03-07 | 2020-09-10 | 新明和工業株式会社 | Life jacket ejection drone and water rescue system |
| CN112572733A (en) * | 2020-12-11 | 2021-03-30 | 中国特种飞行器研究所 | Unmanned aerial vehicle underwater storage device |
| CN112591053A (en) * | 2020-12-23 | 2021-04-02 | 鹏城实验室 | Recovery method of autonomous underwater vehicle and autonomous underwater vehicle |
| CN113212713A (en) * | 2021-05-12 | 2021-08-06 | 浙江大学 | Underwater vehicle supporting vertical emission and attitude conversion control method thereof |
-
2021
- 2021-12-30 CN CN202111680582.9A patent/CN114313170A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20110108435A (en) * | 2010-03-27 | 2011-10-06 | 고경완 | The monitering system for a vessle using a uav |
| JP2020142671A (en) * | 2019-03-07 | 2020-09-10 | 新明和工業株式会社 | Life jacket ejection drone and water rescue system |
| CN112572733A (en) * | 2020-12-11 | 2021-03-30 | 中国特种飞行器研究所 | Unmanned aerial vehicle underwater storage device |
| CN112591053A (en) * | 2020-12-23 | 2021-04-02 | 鹏城实验室 | Recovery method of autonomous underwater vehicle and autonomous underwater vehicle |
| CN113212713A (en) * | 2021-05-12 | 2021-08-06 | 浙江大学 | Underwater vehicle supporting vertical emission and attitude conversion control method thereof |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117022649A (en) * | 2023-10-08 | 2023-11-10 | 成都诸元天成智能装备有限公司 | System using unmanned aerial vehicle throwing awakening device |
| CN117022649B (en) * | 2023-10-08 | 2024-01-19 | 成都诸元天成智能装备有限公司 | System using unmanned aerial vehicle throwing awakening device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| AU2008338937B2 (en) | Methods and apparatus for marine deployment | |
| US11518508B2 (en) | Robust amphibious aircraft | |
| AU2009293068B2 (en) | Methods and apparatus for marine deployment | |
| US11685479B2 (en) | Incremental deployment of a buoy or buoy network | |
| US11697478B2 (en) | System for deploying and recovering an autonomous underwater device, method of use | |
| KR20170061865A (en) | Seabased system for drone and method for controling thereof and computer readable recording medium storing program performing the method | |
| CN110155281A (en) | A kind of unmanned conveying ship of AUV cluster | |
| CN114313170A (en) | Underwater preset using method of fixed-wing unmanned aerial vehicle | |
| US6681711B2 (en) | System for deploying cable | |
| US6691636B2 (en) | Method of deploying cable | |
| KR20200121677A (en) | Marine injection drone | |
| KR20190052779A (en) | Flying object with a water surface landing module | |
| RU2813105C1 (en) | Device for radio monitoring of sea and air objects using tethered unmanned aerial vehicle of multicopter design with power supply via cable | |
| Woolsey et al. | An electromagnet-operated descent weight mechanism designed for a hovering AUV | |
| Dzielski et al. | NAVOCEANO seahorse AUV participation in the giant shadow experiment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20220412 |