CN116812114A - Unmanned aerial vehicle device for carrying cluster of submarine - Google Patents
Unmanned aerial vehicle device for carrying cluster of submarine Download PDFInfo
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- CN116812114A CN116812114A CN202310907864.0A CN202310907864A CN116812114A CN 116812114 A CN116812114 A CN 116812114A CN 202310907864 A CN202310907864 A CN 202310907864A CN 116812114 A CN116812114 A CN 116812114A
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Abstract
The invention relates to a submarine carrying cluster unmanned aerial vehicle device, which comprises a submarine gesture control module, a submarine motion compensation module, an unmanned aerial vehicle automatic receiving and transmitting module and an unmanned aerial vehicle honeycomb storage module, wherein the submarine gesture control module is used for controlling the submarine; the unmanned aerial vehicle automatic receiving and transmitting module is arranged above the inside of the underwater vehicle, the unmanned aerial vehicle honeycomb storage module is arranged at the center and the side of the underwater vehicle, the underwater vehicle gesture control module is distributed outside the unmanned aerial vehicle honeycomb storage module, and the unmanned aerial vehicle automatic receiving and transmitting module is arranged above the unmanned aerial vehicle honeycomb storage module. The unmanned aerial vehicle cluster storage system realizes unmanned aerial vehicle cluster storage by using a decentralized and distributed honeycomb type storage structure, can provide safety guarantee and endurance guarantee for unmanned aerial vehicle operation, ensures that unmanned aerial vehicle can be safely applied to ocean operation processes, and has great practical significance for realizing unmanned and intelligent ocean operation.
Description
Technical Field
The invention relates to the field of split cross-medium of submarines, in particular to a submarines carrying cluster unmanned aerial vehicle device.
Background
The unmanned aerial vehicle has the advantages of high response speed, strong maneuverability, wide visual field, low cost and high efficiency cost ratio. The unmanned plane can be used as a reconnaissance plane and a target plane for military use, and can be applied to the fields of aerial photography, agriculture, express delivery transportation, disaster rescue, monitoring, mapping, news reporting, electric power inspection, disaster relief and the like for civil use. In the current offshore operation, the introduction of unmanned aerial vehicle not only ensures the safety of staff, but also makes the whole operation process smoother. Unmanned aerial vehicle clusters composed of a plurality of unmanned aerial vehicles can realize cooperative work through perception interaction and information transmission, and achieve low-cost completion of multiple tasks. Meanwhile, aiming at different types of work targets, the unmanned system cluster can finish work with low cost and high efficiency by utilizing the heterogeneous advantages of mixed collocation. However, at present, due to the fact that the endurance of the offshore operation unmanned aerial vehicle is seriously insufficient, the offshore operation unmanned aerial vehicle cannot adapt to the offshore complex environment, the offshore operation unmanned aerial vehicle is difficult to arrange in an ocean area all the time, and assistance can not be provided for ocean engineering.
The underwater-air medium-crossing amphibious aircraft is an amphibious aircraft capable of realizing underwater diving and air flying, has the speed of the aircraft and the concealment of the submarine aircraft, and can acquire information such as air, water surface, underwater and the like. The underwater submarine can be used for long-time and high-density reconnaissance and searching of information in water, is mainly applied to offshore oil investigation, communication line inspection, military application and deep sea exploration and salvage, and is carried on ocean equipment or used as a member in an air, a sky and a sea system to be matched with the ocean equipment, so that the comprehensive operation capability of the ocean equipment system is greatly improved.
Most of the existing cross-medium aircraft technologies are water surface vessels carrying carrier-borne aircraft, and the development of clustered, autonomous and intelligent unmanned aircraft clusters is an important development direction in the future. Compared with a single unmanned aerial vehicle system, the cooperative mode of a plurality of unmanned aerial vehicles can utilize unmanned aerial vehicle communication to carry out information sharing, so that the perception of environmental situation is enlarged, cooperative task allocation, cooperative search, reconnaissance and attack are realized, and the survivability and overall combat efficiency of the unmanned aerial vehicles can be effectively improved. And the scale advantage of the system can be utilized to complete complex tasks, so that the combat system has stronger survival capability and cost advantage.
The unmanned aerial vehicle has complex internal structure, more sensors, higher power consumption and shorter endurance time, is difficult to ensure when executing offshore tasks, is difficult to operate in a larger range, and has larger limitation on flight distance and flight time. In the unmanned aerial vehicle receiving and dispatching process, as the marine stormy waves are large, the ship body shakes, the area of an unmanned aerial vehicle landing platform is small, and the existing unmanned aerial vehicle has high requirement on the landing accuracy of the unmanned aerial vehicle. And the existing unmanned aerial vehicle storage structure of the submarine is mostly single unmanned aerial vehicle for receiving and transmitting, so that the quantity of the stored unmanned aerial vehicles is small, and the waste of the internal space and resources of the submarine is easily caused. Under the requirement of cluster storage, reasonable distribution of basic functional structures such as a storage tank, ballast water, a battery compartment and the like is also required to be considered, and unmanned aerial vehicle is insufficient in endurance and difficult to cope with complex sea conditions in the ocean operation process.
Disclosure of Invention
The invention aims to solve the technical problem of providing the unmanned aerial vehicle device with the cluster on the submarine, which overcomes the difficulty of medium crossing, combines the cluster operation capability of the unmanned aerial vehicle and the concealment of the submarine through the split structure of the submarine and the aircraft, can provide safety guarantee and endurance guarantee for the unmanned aerial vehicle operation, ensures that the unmanned aerial vehicle can be safely applied to the ocean operation process, and has great practical significance for realizing unmanned and intelligent ocean operation.
The technical scheme adopted for solving the technical problems is as follows: constructing a submarine vehicle carrying cluster unmanned aerial vehicle device, wherein the device comprises a submarine vehicle attitude control module, a submarine vehicle motion compensation module, an unmanned aerial vehicle automatic receiving and transmitting module and an unmanned aerial vehicle honeycomb storage module; the unmanned aerial vehicle automatic receiving and transmitting module is arranged above the inside of the underwater vehicle, the unmanned aerial vehicle honeycomb storage module is arranged at the center and the side of the underwater vehicle, the underwater vehicle gesture control module is distributed outside the unmanned aerial vehicle honeycomb storage module, and the unmanned aerial vehicle automatic receiving and transmitting module is arranged above the unmanned aerial vehicle honeycomb storage module;
the underwater vehicle attitude control module is used for adjusting the weight of the underwater vehicle, realizing the rapid floating and submerging of the underwater vehicle, changing the gravity center position of the underwater vehicle, realizing the mutual switching of the attitudes of the underwater vehicle and assisting in adjusting the attitudes;
the submarine motion compensation module is used for carrying out integrated stability calculation and controlling the basic stability of the submarine;
the unmanned aerial vehicle automatic receiving and transmitting module is used for simultaneously sending an unmanned aerial vehicle recovery instruction to the unmanned aerial vehicle and the submarine;
unmanned aerial vehicle honeycomb storage module is used for the cluster to store unmanned aerial vehicle, realizes the protection to unmanned aerial vehicle under the unrestrained environment of wind.
According to the scheme, the underwater vehicle attitude control module comprises a ballast water tank, a ballast water pump, a two-way valve and a sliding battery bin; the ballast water tank is arranged on two sides of the bottom surface of the underwater vehicle, the ballast water pump is connected with the ballast water tank, the two-way valve is arranged on the ballast water pump to control the switch of the ballast water pump, and the sliding battery bin is arranged in the middle of the underwater vehicle.
According to the scheme, the submarine motion compensation module comprises a universal propeller, wherein the universal propeller is arranged at the top of the submarine, and the universal propeller is used for providing power for the submarine.
According to the scheme, the unmanned aerial vehicle automatic receiving and transmitting module comprises an unmanned aerial vehicle suspension platform, an electric sliding rail, a recovery disc, an electromagnetic base, an anchoring claw, a flexible channel, a winder, a cable and an anchoring small ball; the unmanned aerial vehicle suspension platform sets up at the submarine top, unmanned aerial vehicle suspension platform is used for carrying on unmanned aerial vehicle, electronic slide rail sets up between lift tray and slipping battery compartment, electromagnetic base and anchor claw set up at unmanned aerial vehicle suspension platform, flexible passageway is located the submarine center, the winder sets up in the unmanned aerial vehicle below, the hawser sets up on the winder, the anchor pellet sets up at the hawser end.
According to the scheme, the unmanned aerial vehicle honeycomb storage module comprises a lifting tray, a degree of freedom adjusting device, an electric pushing inclined plane and an unmanned aerial vehicle storage cabin; the lifting tray is arranged at the center of the submarine, the freedom degree adjusting device and the electric pushing inclined plane are arranged on the side edge of the lifting tray, and the unmanned aerial vehicle storage cabin is arranged on the side face of the submarine.
According to the scheme, the flexible channel is made of non-elastic soft materials.
The submarine carrying cluster unmanned aerial vehicle device has the following beneficial effects:
1. according to the invention, the functional requirements of the cluster storage unmanned aerial vehicle are combined, a safe and efficient unmanned aerial vehicle recovery mode is provided, the unmanned aerial vehicle is adopted by the recovery platform, and the multi-rotor technology adopted by the unmanned aerial vehicle is adopted in the recovery platform, so that the unmanned aerial vehicle recovery platform has the capability of moving in the air. Compared with an unmanned aerial vehicle landing platform with a larger area, the unmanned aerial vehicle landing platform is formed, so that an unmanned aerial vehicle can land more easily, the requirement for landing the unmanned aerial vehicle is reduced, and the accuracy is improved. The design of the whole recovery module can prevent the influence of sea waves under severe sea conditions on unmanned aerial vehicle recovery, and can greatly slow down the collision generated in the recovery process;
2. the invention provides a structure capable of storing unmanned aerial vehicles in a clustered way based on the internal space structural characteristics of a submarine, wherein the storage of a plurality of unmanned aerial vehicles is realized through a plurality of layers of unmanned aerial vehicle storage cabins, and the lifting, flying and landing storage of the unmanned aerial vehicles are realized through the cooperation of a lifting tray freedom degree adjusting device, a rotating lifting tray, a transverse push rod and other structures; the whole device realizes unmanned aerial vehicle cluster storage through integrating a plurality of unmanned aerial vehicle cabins, and avoids the waste of space and resources; in the future, the functions of collaborative reconnaissance, collaborative striking, collaborative interference and the like can be realized by utilizing a communication network among the clustered unmanned aerial vehicles, and the method can be effectively applied to combat missions such as remote burst prevention, fighter plane aviation protection and the like;
3. the invention comprehensively considers the commonality requirements of the ballast function and the storage function, provides a water surface stability technology of the underwater vehicle under the action of complex load and optimally designs the structure of the ballast water tank, when the unmanned underwater vehicle is recovered on the water surface, the water injection quantity of the ballast water tank can be controlled, and the direction and the rotating speed of the propeller are combined to perform motion compensation on the underwater vehicle cabin body, so that the stability of the underwater vehicle under the action of wind load and wave load under the action of the floating water surface posture is enhanced, and the water surface stability of the underwater vehicle under the recovery state can be effectively ensured.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
FIG. 1 is a schematic cross-sectional view of a submersible vehicle carrying a clustered unmanned aerial vehicle device according to the present invention;
fig. 2 is a schematic structural view of the unmanned aerial vehicle automatic transceiver module anchoring device of the present invention;
FIG. 3 is a schematic view of the structure of the unmanned aerial vehicle of the present invention;
fig. 4 is a schematic structural view of the unmanned aerial vehicle automatic transceiver module of the present invention;
FIG. 5 is a schematic diagram of a storage module of the machine according to the present invention.
Detailed Description
For a clearer understanding of technical features, objects and effects of the present invention, a detailed description of embodiments of the present invention will be made with reference to the accompanying drawings.
As shown in fig. 1-5, the invention relates to a submarine carrying cluster unmanned aerial vehicle device, which comprises a submarine gesture control module 1, a submarine motion compensation module 2, an unmanned aerial vehicle automatic receiving and transmitting module 3 and an unmanned aerial vehicle honeycomb storage module 4. The unmanned aerial vehicle motion compensation module 2 is arranged at the top of the underwater vehicle, the unmanned aerial vehicle automatic transceiver module 3 is arranged above the inside of the underwater vehicle, and the unmanned aerial vehicle honeycomb storage module 4 is arranged at the center and the side of the underwater vehicle. The submarine attitude control module 1 is distributed outside the unmanned aerial vehicle honeycomb storage module 4, and the unmanned aerial vehicle automatic receiving and transmitting module 3 is arranged above the unmanned aerial vehicle honeycomb storage module 4.
The underwater vehicle attitude control module 1 is used for adjusting the overall weight of the underwater vehicle, realizing rapid floating and submerging, changing the gravity center position of the underwater vehicle, realizing the mutual switching of the underwater vehicle attitudes, and assisting in adjusting the attitudes by matching with the pushing direction control of the propellers. The submarine motion compensation module 2 is used for carrying out integrated stability calculation, controlling the base stability of the submarine, and distributing the thrust of each propeller by the motion compensation system when the submarine is in the water surface posture so as to assist the dimensional stability of the submarine. The unmanned aerial vehicle automatic receiving and transmitting module 3 is used for sending an unmanned aerial vehicle recovery instruction to the unmanned aerial vehicle and the submarine simultaneously and completing safe and efficient receiving and transmitting of the unmanned aerial vehicle. Unmanned aerial vehicle honeycomb storage module 4 is used for the cluster to store unmanned aerial vehicle, realizes the protection to unmanned aerial vehicle under the unrestrained environment of wind.
The submarine attitude control module 1 comprises a ballast water tank 5, a ballast water pump 6, a two-way valve 7 and a sliding battery compartment 8; the ballast water tank 5 is arranged on two sides of the bottom surface of the underwater vehicle, the ballast water pump 6 is connected with the ballast water tank 5, the two-way valve 7 is arranged on the ballast water pump 6 to control the on-off of the ballast water pump 6, and the sliding battery bin 8 is arranged in the middle of the underwater vehicle. The submersible motion compensation module 2 comprises a universal propeller 9, wherein the universal propeller 9 is arranged at the top of the submersible, and the universal propeller 9 is used for providing power for the submersible. The unmanned aerial vehicle automatic receiving and transmitting module 3 comprises an unmanned aerial vehicle suspension platform 10, an electric sliding rail 11, a recovery disc 12, an electromagnetic base 13, an anchoring claw 14, a flexible channel 15, a winder 16, a cable 17 and an anchoring small ball 18; the flexible channel 15 is constructed of a non-elastic soft material. The flexible channel is positioned at the center of the submarine, and is used for unmanned aerial vehicle passing. Unmanned aerial vehicle suspension platform 10 sets up at the submarine top, and unmanned aerial vehicle suspension platform 10 is used for carrying on unmanned aerial vehicle, and electronic slide rail 11 sets up between lift tray 12 and slipping battery compartment 8, and electromagnetic base 13 and anchor claw 14 set up at unmanned aerial vehicle suspension platform, and winder 16 sets up in the unmanned aerial vehicle below, and cable 17 sets up on winder 16, and anchor ball 18 sets up at the cable 17 end. The unmanned aerial vehicle honeycomb storage module 4 comprises a lifting tray 12, a freedom degree adjusting device 19, an electric pushing inclined plane 20 and an unmanned aerial vehicle storage cabin 21; the lifting tray 12 is arranged in the center of the submarine, the freedom degree adjusting device 19 and the electric pushing inclined plane 20 are arranged on the side edge of the lifting tray 12, and the unmanned aerial vehicle storage cabin 21 is arranged on the side face of the submarine.
The unmanned aerial vehicle recovery process of the submarine is as follows:
when the underwater vehicle stably sails under water, the ballast water tank 5 is in a full ballast water state, the underwater vehicle starts to adjust the posture when the unmanned aerial vehicle is ready to be recovered, the ballast water pump 6 adjusts the water pressure of each cabin under the control of the two-way valve 7, the redundant water in the cabin can be discharged through the ballast water pump 6 of the cabin at the end part, the underwater vehicle floats up quickly, and the tail part is exposed out of the water surface; meanwhile, the batteries in the sliding battery bin 8 slide downwards, the motion compensation module 2 starts to operate, and the universal propeller 9 assists in adjusting the gravity center of the submarine vehicle, so that stability is improved. The whole gravity center of the submarine is adjusted by controlling the position of the battery compartment, so that the unmanned aerial vehicle keeps a vertical stable state in the recovery process, and meanwhile, the lifting tray 12 and the suspension platform 10 of the unmanned aerial vehicle ascend to the tail along the electric sliding rail.
Subsequently, the unmanned aerial vehicle sends a recovery instruction to the submarine, at the moment, the tail of the submarine opens the cabin cover, the unmanned aerial vehicle transceiver module 3 starts to operate, the flexible channel 15 is opened, the unmanned aerial vehicle suspension platform 10 flies out of the cabin along the channel to wait for the unmanned aerial vehicle to land, the flexible channel 15 is made of inelastic soft materials, the recovery of the unmanned aerial vehicle can be prevented from being influenced by sea waves under severe sea conditions, and the collision generated in the recovery process can be greatly slowed down. When the unmanned aerial vehicle descends to a certain height, the reel 18 releases the cable, the anchoring small ball 16 is thrown out, the anchoring claw 14 above the unmanned aerial vehicle suspension platform 10 is opened, and the electromagnet base 13 positioned inside the anchoring claw 14 is electrified to assist the unmanned aerial vehicle in docking. After the anchoring small ball 16 is in suction connection with the electromagnetic base 13, the anchoring claw 14 is closed, the unmanned aerial vehicle and the unmanned aerial vehicle suspension platform 10 are connected through a cable, meanwhile, a winder 18 on the unmanned aerial vehicle starts to take up, the unmanned aerial vehicle is prevented from falling onto the unmanned aerial vehicle suspension platform, the unmanned aerial vehicle suspension platform 10 returns to the cabin along the flexible channel 15, and falls onto the lifting tray 12. The electromagnet base 13 is powered off, the unmanned aerial vehicle is recovered, the gravity center of the submersible vehicle is adjusted in an opposite mode, under the control of the two-way valve 7, the ballast water pump 6 readjust the water pressure of each cabin and the position of the sliding battery cabin 8 to enable the submersible vehicle to recover to a horizontal state, and the submersible vehicle is immersed under water again, so that the medium crossing function of the unmanned submersible vehicle is realized in the mode, and the submersible vehicle is integrated. After the unmanned aerial vehicle cabin enters the platform, the unmanned aerial vehicle storage module 4 starts to operate. The lift tray 12 lowers it down the lift bin to the bottom of the storage enclosure. And the position of the lifting tray 12 is changed through the track with the through bottom, so that the cabin is ensured to enter a storage position corresponding to the function. After the lifting tray 12 carrying the unmanned aerial vehicle cabin is moved to the bottom of the storage cabin, the lifting tray is lifted to the storage cabin, and the original unmanned aerial vehicle cabin in the cabin is lifted, so that the cabin can circularly move in the storage cabin. The direction is controlled by the electric pushing ramp 20, the baffle prevents the unmanned aerial vehicle cabin from shifting when pushing into the lifting cabin from the storage cabin, pushes the empty cabin into the lifting platform in the direction, and is lifted to the unmanned aerial vehicle release height by the lifting tray 12 in the unmanned aerial vehicle suspension platform 10.
When the unmanned aerial vehicle is launched by the submarine, the operation is repeated, and the unmanned aerial vehicle is moved to the unmanned aerial vehicle suspension platform by the transverse push rod to wait for launching. The submarine is adjusted to a vertical stable state that the tail part is exposed out of the sea surface, a cabin cover and a flexible channel 15 are opened, the unmanned aerial vehicle suspension platform 10 flies out of the cabin along the channel, an anchoring claw 14 is opened, the electromagnet base is powered off, and the unmanned aerial vehicle flies away from the suspension platform. And after the unmanned aerial vehicle is successfully transmitted, the submarine is readjusted to the attitude and returns to the water.
The embodiments of the present invention have been described above with reference to the accompanying drawings, but the present invention is not limited to the above-described embodiments, which are merely illustrative and not restrictive, and many forms may be made by those having ordinary skill in the art without departing from the spirit of the present invention and the scope of the claims, which are to be protected by the present invention.
Claims (6)
1. The unmanned aerial vehicle device for the underwater vehicle carrying cluster is characterized by comprising an underwater vehicle attitude control module (1), an underwater vehicle motion compensation module (2), an unmanned aerial vehicle automatic receiving and transmitting module (3) and an unmanned aerial vehicle honeycomb storage module (4); the unmanned aerial vehicle automatic receiving and transmitting module (3) is arranged above the inside of the underwater vehicle, the unmanned aerial vehicle honeycomb storage module (4) is arranged at the center and the side of the underwater vehicle, the unmanned aerial vehicle attitude control module (1) is distributed outside the unmanned aerial vehicle honeycomb storage module (4), and the unmanned aerial vehicle automatic receiving and transmitting module (3) is arranged above the unmanned aerial vehicle honeycomb storage module (4);
the underwater vehicle attitude control module (1) is used for adjusting the weight of the underwater vehicle, realizing the rapid floating and submerging of the underwater vehicle, changing the gravity center position of the underwater vehicle, realizing the mutual switching of the underwater vehicle attitudes and assisting in adjusting the attitudes;
the submarine motion compensation module (2) is used for carrying out integrated stability calculation and controlling the basic stability of the submarine;
the unmanned aerial vehicle automatic receiving and transmitting module (3) is used for sending an unmanned aerial vehicle recovery instruction to the unmanned aerial vehicle and the submarine;
unmanned aerial vehicle honeycomb storage module (4) is used for the cluster to store unmanned aerial vehicle, realizes the protection to unmanned aerial vehicle under the unrestrained environment of wind.
2. The submersible vehicle mounted cluster unmanned aerial vehicle device according to claim 1, wherein the submersible vehicle attitude control module (1) comprises a ballast water tank (5), a ballast water pump (6), a bi-directional valve (7) and a slipping battery compartment (8); the ballast water tank (5) is arranged on two sides of the bottom surface of the submarine, the ballast water pump (6) is connected with the ballast water tank (5), the two-way valve (7) is arranged on the ballast water pump (6) to control the switch of the ballast water pump (6), and the sliding battery bin (8) is arranged in the middle of the submarine.
3. The submersible vehicle carrying cluster unmanned aerial vehicle device according to claim 1, wherein the submersible vehicle motion compensation module (2) comprises a universal propeller (9), the universal propeller (9) is arranged at the top of the submersible vehicle, and the universal propeller (9) is used for providing power for the submersible vehicle.
4. The submersible vehicle carrying cluster unmanned aerial vehicle device according to claim 1, wherein the unmanned aerial vehicle automatic receiving and transmitting module (3) comprises an unmanned aerial vehicle suspension platform (10), an electric sliding rail (11), a recovery disc (12), an electromagnetic base (13), an anchoring claw (14), a flexible channel (15), a reel (16), a cable rope (17) and an anchoring pellet (18); unmanned aerial vehicle suspension platform (10) sets up at the submarine vehicle top, unmanned aerial vehicle suspension platform (10) are used for carrying unmanned aerial vehicle, electronic slide rail (11) set up between lift tray (12) and battery compartment (8) that slides, electromagnetic base (13) and anchor claw (14) set up at unmanned aerial vehicle suspension platform, flexible passageway (15) are located the submarine vehicle center, winder (16) set up in the unmanned aerial vehicle below, cable (17) set up on winder (16), anchor ball (18) set up at cable (17) end.
5. The submersible vehicle carrying cluster unmanned aerial vehicle device according to claim 1, wherein the unmanned aerial vehicle honeycomb storage module (4) comprises a lifting tray (12), a degree of freedom adjusting device (19), an electric pushing inclined plane (20), and an unmanned aerial vehicle storage cabin (21); the lifting tray (12) is arranged at the center of the submarine, the freedom degree adjusting device (19) and the electric pushing inclined plane (20) are arranged at the side edge of the lifting tray (12), and the unmanned aerial vehicle storage cabin (21) is arranged at the side surface of the submarine.
6. The submersible vehicle carrying cluster unmanned aerial vehicle device according to claim 1, wherein the flexible channel (15) is constructed of a non-elastic soft material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310907864.0A CN116812114A (en) | 2023-07-21 | 2023-07-21 | Unmanned aerial vehicle device for carrying cluster of submarine |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310907864.0A CN116812114A (en) | 2023-07-21 | 2023-07-21 | Unmanned aerial vehicle device for carrying cluster of submarine |
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| CN116812114A true CN116812114A (en) | 2023-09-29 |
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| CN202310907864.0A Pending CN116812114A (en) | 2023-07-21 | 2023-07-21 | Unmanned aerial vehicle device for carrying cluster of submarine |
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| CN (1) | CN116812114A (en) |
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