CN118107731B - Intelligent ship underwater sensing equipment retraction device and application method - Google Patents
Intelligent ship underwater sensing equipment retraction device and application method Download PDFInfo
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- CN118107731B CN118107731B CN202410533864.3A CN202410533864A CN118107731B CN 118107731 B CN118107731 B CN 118107731B CN 202410533864 A CN202410533864 A CN 202410533864A CN 118107731 B CN118107731 B CN 118107731B
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- 238000000034 method Methods 0.000 title claims abstract description 9
- 230000005540 biological transmission Effects 0.000 claims abstract description 23
- 230000007246 mechanism Effects 0.000 claims abstract description 21
- 238000001125 extrusion Methods 0.000 claims description 13
- 238000009434 installation Methods 0.000 claims description 7
- 230000008878 coupling Effects 0.000 claims description 5
- 238000010168 coupling process Methods 0.000 claims description 5
- 238000005859 coupling reaction Methods 0.000 claims description 5
- 230000008447 perception Effects 0.000 claims description 3
- 238000004804 winding Methods 0.000 claims description 2
- 229910000831 Steel Inorganic materials 0.000 description 6
- 239000010959 steel Substances 0.000 description 6
- 230000002457 bidirectional effect Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000010365 information processing Effects 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
- 230000008569 process Effects 0.000 description 1
- 238000004064 recycling Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Abstract
The invention belongs to the technical field of retraction of underwater equipment, and particularly relates to an intelligent ship underwater sensing equipment retraction device and a use method thereof, wherein the intelligent ship underwater sensing equipment retraction device comprises a retraction mechanism arranged in a ship body, the retraction mechanism is in transmission connection with a linkage assembly, the linkage assembly is in transmission connection with a cabin door, and one side of the cabin door is hinged with the bottom wall of the ship body; the invention relates to a cabin door opening and closing device, which comprises a cabin door, a cabin door opening and closing mechanism and a cabin door opening and closing mechanism.
Description
Technical Field
The invention belongs to the technical field of underwater equipment retraction, and particularly relates to an intelligent ship underwater sensing equipment retraction device and a use method thereof.
Background
With the increasing demands of marine exploration, environmental protection monitoring, etc., underwater exploration equipment is becoming the dominant force army for performing these tasks. For example, sonar is an electronic device that uses the propagation characteristics of sound waves under water, performs underwater detection and communication tasks through electroacoustic conversion and information processing, and is the most widely used and important device in underwater acoustics.
At present, corresponding retraction equipment is deployed to a target area and recycled to a ship body through a ship body and a retraction equipment deployment and recycling device. The deploying and recovering device of the currently used deploying and recovering device is usually open, that is, the deploying and recovering device is always exposed to the outside before and after being deployed and recovered. This causes a problem in that during high-speed sailing of the hull, the deploying and retrieving equipment to be deployed and retrieved may be damaged by the influence of high sea conditions.
Disclosure of Invention
The invention aims to provide an intelligent ship underwater sensing equipment retraction device and a use method thereof, so as to solve the problems.
In order to achieve the above object, the present invention provides the following solutions:
The retraction device of the intelligent ship underwater sensing equipment comprises a retraction mechanism arranged in a ship body, wherein the retraction mechanism is in transmission connection with a linkage assembly, the linkage assembly is in transmission connection with a cabin door, and one side of the cabin door is hinged with the bottom wall of the ship body;
the retraction mechanism comprises a first motor fixedly connected to the inner side wall of the ship body, an output shaft of the first motor is in transmission connection with the linkage assembly, a power assembly is in transmission connection with the output shaft of the first motor, a lifting assembly is in transmission connection with the power assembly, the lifting assembly is fixedly connected with the retraction assembly, the retraction assembly is provided with a clamping assembly for clamping underwater equipment, and the underwater equipment is correspondingly arranged with the cabin door.
Preferably, the power component comprises a first connecting rod fixedly connected with an output shaft of the first motor, one end of the first connecting rod, which is far away from the first motor, is hinged with one end of a first hinge rod, the other end of the first hinge rod is hinged with the middle part of a swinging rod, one end of the swinging rod is rotatably connected with the inner side wall of the ship body, the other end of the swinging rod is hinged with a push rod, and the push rod is in transmission connection with the lifting component.
Preferably, the lifting assembly comprises a first rotating rod, the first rotating rod is hinged to one end of the push rod, which is far away from the swinging rod, a third rotating rod is fixedly connected to the middle part of the first rotating rod, the third rotating rod is connected with the inner side wall of the ship body in a rotating mode, a second rotating rod is coaxially connected to the first rotating rod in a rotating mode, the bottom end of the second rotating rod penetrates out of the first rotating rod and is fixedly connected with a first fixing rod, one end of the first fixing rod, which is far away from the second rotating rod, is fixedly connected with a first ball head, one end of the first ball head is hinged to one end of the second fixing rod, and the other end of the second fixing rod is fixedly connected with a second ball head, which is hinged to the inner side wall of the ship body.
Preferably, the linkage assembly comprises a second connecting rod fixedly connected with the output shaft of the first motor, one end of the second connecting rod, which is far away from the first motor, is hinged with one end of a third connecting rod, and the other end of the third connecting rod is hinged with the cabin door.
Preferably, the winding and unwinding assembly comprises an installation table fixedly connected with the bottom end of a second rotating rod, two first fixing seats are fixedly connected with the inner bottom wall of the installation table, two first rotating shafts are rotatably connected between the first fixing seats, one ends of the first rotating shafts penetrate out of the first fixing seats and are coaxially fixedly connected with output shafts of second motors, the second motors are fixedly connected with the side walls of the first fixing seats, first rotating shafts are coaxially fixedly connected with first wire barrels, the first wire barrels are wound with steel ropes, two second fixing seats are fixedly connected with the inner bottom wall of the installation table, two second rotating shafts are rotatably connected between the second fixing seats, second wire barrels are coaxially fixedly connected with the second rotating shafts, the first wire barrels are in transmission connection with the second wire barrels through the steel ropes, and one ends of the steel ropes penetrate out of the installation table and are fixedly connected with the clamping assembly.
Preferably, the clamping assembly comprises a clamping platform fixedly connected with one end of the steel cable, two symmetrically arranged mounting plates are fixedly connected with the bottom surface of the clamping platform, two bidirectional screws are rotatably connected between the mounting plates, one end of each bidirectional screw penetrates out of the mounting plates and is fixedly connected with an output shaft of a third motor coaxially, the third motor is fixedly connected with the side wall of the mounting plate, two first sliding blocks which are symmetrically arranged are in threaded connection with each bidirectional screw, clamping rods are fixedly connected with the top surface of each first sliding block, two clamping rods are arranged in parallel, one end, away from each clamping rod, of each first sliding block is fixedly connected with a second sliding block, a fixing plate is fixedly connected with the bottom surface of the clamping platform, one side, away from the clamping platform, of each fixing plate is provided with a sliding groove, two sliding blocks are arranged in the sliding groove, and two sides, close to each other, of the clamping rods are symmetrically arranged.
Preferably, a flexible pad is fixedly connected to one side of the extrusion block, and the flexible pad is located on one side of the extrusion block, which is close to the other extrusion block.
The application method of the intelligent ship underwater sensing equipment retraction is based on an intelligent ship underwater sensing equipment retraction device and comprises the following steps:
s1, opening a cabin door and releasing the retraction mechanism;
S2, adjusting the length of the retraction assembly;
S3, clamping underwater equipment by the clamping assembly;
s4, placing the underwater equipment to a set position through the retraction assembly;
s5, retracting the underwater equipment through the retraction assembly;
s6, loosening underwater equipment by clamping assembly
And S7, retracting the retraction mechanism to the ship body, and closing the cabin door.
Compared with the prior art, the invention has the following advantages and technical effects:
The retraction mechanism is arranged in the ship body, so that the risk that retraction equipment is always exposed to the outside before deployment and after recovery, and is damaged due to the influence of high sea conditions is avoided;
when the underwater sensing equipment retraction device is used, the first motor controls the power assembly to drive the lifting assembly and controls the linkage assembly to drive the cabin door to open, so that the retraction assembly and the clamping assembly are retracted, additional power is not needed, the cabin door of the underwater sensing equipment retraction device is simpler to open and close, the underwater equipment is clamped by the clamping assembly, the underwater equipment is retracted to a set position by the retraction assembly, and the operation is simple and the use is convenient.
Drawings
For a clearer description of an embodiment of the invention or of the solutions of the prior art, the drawings that are needed in the embodiment will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art:
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic diagram of the overall structure of the present invention;
FIG. 3 is a schematic view of a lifting assembly;
FIG. 4 is a schematic view of the structure of the mounting table;
fig. 5 is a bottom view of the clamping platform.
Wherein, 1, the hull; 2. a cabin door; 3. a first motor; 4. a first link; 5. a first hinge lever; 6. a swinging rod; 7. a push rod; 8. a first rotating lever; 9. a second rotating lever; 10. a first fixing rod; 11. a first ball head; 12. a second fixing rod; 13. a second ball head; 14. a third rotating lever; 15. a mounting table; 16. a second link; 17. a third link; 18. a first fixing seat; 19. a first wire barrel; 20. a first rotating shaft; 21. a wire rope; 22. the second fixing seat; 23. a second wire barrel; 24. a second rotating shaft; 25. a clamping platform; 26. an underwater device; 27. a mounting plate; 28. a third motor; 29. a bidirectional screw; 30. a first slider; 31. a clamping rod; 32. a fixing plate; 33. a chute; 34. extruding a block; 35. a flexible mat.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
Referring to fig. 1 to 5, the invention provides an intelligent ship underwater perception device retraction device, which comprises a retraction mechanism arranged in a ship body 1, wherein the retraction mechanism is in transmission connection with a linkage assembly, the linkage assembly is in transmission connection with a cabin door 2, and one side of the cabin door 2 is hinged with the bottom wall of the ship body 1;
The retraction mechanism comprises a first motor 3 fixedly connected to the inner side wall of the ship body 1, an output shaft of the first motor 3 is in transmission connection with a linkage assembly, the output shaft of the first motor 3 is in transmission connection with a power assembly, the power assembly is in transmission connection with a lifting assembly, the lifting assembly is fixedly connected with a retraction assembly, the retraction assembly is provided with a clamping assembly for clamping the underwater equipment 26, and the underwater equipment 26 is correspondingly arranged with the cabin door 2.
The retraction mechanism is arranged in the ship body 1, so that the risk that retraction equipment is always exposed to the outside before deployment and after recovery, and is damaged due to the influence of high sea conditions is avoided;
When the underwater equipment retraction device is used, the first motor 3 controls the power assembly to drive the lifting assembly and controls the linkage assembly to drive the cabin door 2 to open, so that the retraction assembly and the clamping assembly are retracted, additional power is not needed, the opening and closing modes of the cabin door 2 of the underwater equipment retraction device are simpler, the underwater equipment 26 is clamped through the clamping assembly, the underwater equipment 26 is retracted to a set position through the retraction assembly, and the operation is simple and the use is convenient.
Further optimizing scheme, power component includes the first connecting rod 4 with the output shaft fixed connection of first motor 3, and the one end that first motor 3 was kept away from to first connecting rod 4 articulates there is the one end of first articulated rod 5, and the other end of first articulated rod 5 articulates at the middle part of swinging arms 6, and the one end of swinging arms 6 is connected with the inside wall rotation of hull 1, and the other end of swinging arms 6 articulates there is push rod 7, and push rod 7 is connected with lifting assembly transmission.
Further optimizing scheme, lifting unit includes first rotary rod 8, first rotary rod 8 is articulated with the one end that swinging arms 6 was kept away from to push rod 7, the middle part fixedly connected with third rotary rod 14 of first rotary rod 8, the inside wall rotation connection of third rotary rod 14 and hull 1, first rotary rod 8 coaxial rotation is connected with second rotary rod 9, first rotary rod 8 is worn out to the bottom of second rotary rod 9 and is put back subassembly fixed connection with, first rotary rod 8 and fixedly connected with first dead lever 10 are worn out on the top of second rotary rod 9, first bulb 11 of one end fixedly connected with of second rotary rod 9 is kept away from to first dead lever 10, first bulb 11 is articulated with the one end of second dead lever 12, the other end fixedly connected with second bulb 13 of second dead lever 12, second bulb 13 is articulated with the inside wall of hull 1.
Further preferably, the linkage assembly comprises a second connecting rod 16 fixedly connected with the output shaft of the first motor 3, one end of the second connecting rod 16 far away from the first motor 3 is hinged with one end of a third connecting rod 17, and the other end of the third connecting rod 17 is hinged with the cabin door 2.
The swinging rod 6 swings, the driving push rod 7 drives the first rotating rod 8 and the third rotating rod 14 to rotate and descend, and the second fixing rod 12 and the first fixing rod 10 rotate under the driving of the first rotating rod 8, so that the first rotating rod 8 rotates, and the direction of the retraction assembly is changed.
Further optimizing scheme, receive and release the subassembly and include with second rotary rod 9 bottom fixed connection's mount table 15, the inside diapire fixedly connected with two symmetrical first fixing base 18 that set up of mount table 15, rotate between two first fixing base 18 and be connected with first pivot 20, the output shaft that first fixing base 18 and coaxial rigid coupling have the second motor is worn out to the one end of first pivot 20, second motor fixed connection is at the lateral wall of first fixing base 18, first pivot 20 coaxial rigid coupling has first line bucket 19, first line bucket 19 winds the second fixing base 22 that is equipped with cable 21, the inside diapire fixedly connected with two symmetrical settings of mount table 15, rotate between two second fixing base 22 and be connected with second pivot 24, the coaxial rigid coupling of second pivot 24 has second line bucket 23, first line bucket 19 passes through cable 21 and second line bucket 23 transmission connection, the one end of cable 21 wears out mount table 15 and clamping assembly fixed connection.
Further optimizing scheme, the clamping assembly includes the clamping platform 25 with the one end fixed connection of cable 21, the mounting panel 27 of two symmetry settings of bottom surface fixedly connected with of clamping platform 25, rotate between two mounting panels 27 and be connected with bi-directional screw 29, one end of bi-directional screw 29 wears out one of them mounting panel 27 and coaxial rigid coupling has the output shaft of third motor 28, third motor 28 fixed connection is at the lateral wall of mounting panel 27, bi-directional screw 29 threaded connection has two first sliders 30 of symmetry setting, the top surface fixedly connected with clamping lever 31 of first slider 30, two clamping lever 31 parallel arrangement, the one end fixedly connected with second slider of clamping lever 31 keeping away from first slider 30, the bottom surface fixedly connected with fixed plate 32 of clamping platform 25, spout 33 has been seted up to one side that clamping platform 25 was kept away from to the fixed plate 32, second slider sliding connection is in spout 33, one side that two clamping levers 31 are close to each other all is provided with two extrusion pieces 34, two extrusion pieces 34 symmetry settings.
Further optimizing scheme, one side of extrusion piece 34 fixedly connected with flexible pad 35, flexible pad 35 is located extrusion piece 34 and is close to another extrusion piece 34 one side.
The application method of the intelligent ship underwater sensing equipment retraction is based on an intelligent ship underwater sensing equipment retraction device and comprises the following steps:
s1, opening a cabin door 2 and releasing the retraction mechanism;
S2, adjusting the length of the retraction assembly;
S3, clamping the underwater equipment 26 by the clamping assembly;
S4, placing the underwater equipment 26 to a set position through the retraction assembly;
S5, retracting the underwater equipment 26 through the retraction assembly;
S6, loosening the underwater equipment 26 by the clamping assembly
And S7, retracting the retraction mechanism to the ship body 1, and closing the cabin door 2.
The working process of the invention is as follows:
The first motor 3 is opened, the first motor 3 drives the first connecting rod 4 and the first hinging rod 5, the first hinging rod 5 drives the swinging rod 6 to swing, the driving push rod 7 drives the first rotating rod 8 and the third rotating rod 14 to rotate and descend, meanwhile, the first motor 3 drives the second connecting rod 16 and the third connecting rod 17 to rotate, the third connecting rod 17 drives the cabin door 2 to open, the length of the steel cable 21 is adjusted, then the extrusion block 34 clamps the underwater equipment 26, the second motor is started, the steel cable 21 is discharged, and the underwater equipment 26 is placed at a set position.
In the description of the present invention, it should be understood that the terms "longitudinal," "transverse," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate description of the present invention, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present invention.
The above embodiments are only illustrative of the preferred embodiments of the present invention and are not intended to limit the scope of the present invention, and various modifications and improvements made by those skilled in the art to the technical solutions of the present invention should fall within the protection scope defined by the claims of the present invention without departing from the design spirit of the present invention.
Claims (3)
1. The intelligent ship underwater perception device retraction device is characterized by comprising a retraction mechanism arranged in a ship body (1), wherein the retraction mechanism is in transmission connection with a linkage assembly, the linkage assembly is in transmission connection with a cabin door (2), and one side of the cabin door (2) is hinged with the bottom wall of the ship body (1);
the retraction mechanism comprises a first motor (3) fixedly connected to the inner side wall of the ship body (1), an output shaft of the first motor (3) is in transmission connection with the linkage assembly, an output shaft of the first motor (3) is in transmission connection with a power assembly, the power assembly is in transmission connection with a lifting assembly, the lifting assembly is fixedly connected with a retraction assembly, the retraction assembly is provided with a clamping assembly for clamping underwater equipment (26), and the underwater equipment (26) is correspondingly arranged with the cabin door (2);
The power assembly comprises a first connecting rod (4) fixedly connected with an output shaft of the first motor (3), one end of the first connecting rod (4), which is far away from the first motor (3), is hinged with one end of a first hinging rod (5), the other end of the first hinging rod (5) is hinged with the middle part of a swinging rod (6), one end of the swinging rod (6) is rotatably connected with the inner side wall of the ship body (1), the other end of the swinging rod (6) is hinged with a push rod (7), and the push rod (7) is in transmission connection with the lifting assembly;
The lifting assembly comprises a first rotating rod (8), the first rotating rod (8) is hinged to one end of the push rod (7) away from the swinging rod (6), a third rotating rod (14) is fixedly connected to the middle of the first rotating rod (8), the third rotating rod (14) is rotatably connected with the inner side wall of the ship body (1), a second rotating rod (9) is coaxially rotatably connected to the first rotating rod (8), the bottom end of the second rotating rod (9) penetrates out of the first rotating rod (8) and is fixedly connected with the retraction assembly, the top end of the second rotating rod (9) penetrates out of the first rotating rod (8) and is fixedly connected with a first fixing rod (10), one end of the first fixing rod (10) away from the second rotating rod (9) is fixedly connected with a first ball head (11), the first ball head (11) is hinged to one end of the second fixing rod (12), the other end of the second fixing rod (12) is fixedly connected with a second ball head (13), and the inner side wall of the ship body (1) is hinged to the second ball head (13).
The winding and unwinding assembly comprises an installation table (15) fixedly connected with the bottom end of a second rotating rod (9), two symmetrically arranged first fixing seats (18) are fixedly connected to the inner bottom wall of the installation table (15), a first rotating shaft (20) is rotatably connected between the two first fixing seats (18), one end of the first rotating shaft (20) penetrates out of the first fixing seats (18) and is coaxially fixedly connected with an output shaft of a second motor, the second motor is fixedly connected to the side wall of the first fixing seats (18), a first wire barrel (19) is coaxially fixedly connected to the first rotating shaft (20), two symmetrically arranged second fixing seats (22) are fixedly connected to the inner bottom wall of the installation table (15), a second rotating shaft (24) is rotatably connected between the two second fixing seats (22), a second wire barrel (23) is coaxially fixedly connected to one end of the first wire barrel (19) through the wire barrel (21) and the second wire barrel (23), and the first wire barrel (19) is fixedly connected to the transmission assembly through the wire barrel (21) and the wire barrel (15) in a clamping mode;
The linkage assembly comprises a second connecting rod (16) fixedly connected with the output shaft of the first motor (3), one end of the second connecting rod (16), far away from the first motor (3), is hinged with one end of a third connecting rod (17), and the other end of the third connecting rod (17) is hinged with the cabin door (2);
The utility model provides a clamping assembly includes with one end fixed connection's of cable wire (21 centre gripping platform (25), the bottom surface fixedly connected with clamping lever (31) of clamping platform (25), two rotate between mounting panel (27) and be connected with bi-directional screw (29), one of them is worn out to one end of bi-directional screw (29) mounting panel (27) and coaxial rigid coupling have the output shaft of third motor (28), third motor (28) fixed connection is in the lateral wall of mounting panel (27), bi-directional screw (29) threaded connection has two first sliders (30) that the symmetry set up, the top surface fixedly connected with clamping lever (31) of first slider (30), two clamping lever (31) parallel arrangement, clamping lever (31) are kept away from one end fixedly connected with second slider of first slider (30), one side that clamping platform (25) were kept away from to fixed plate (32) has spout (33), second sliding connection is in two slider (31) are close to each other two extrusion pressing blocks (34) are provided with two one side.
2. The device for deploying and retracting the intelligent ship underwater perception device according to claim 1, wherein a flexible pad (35) is fixedly connected to one side of the extrusion block (34), and the flexible pad (35) is located on one side, close to the other extrusion block (34), of the extrusion block (34).
3. An application method of the intelligent ship underwater sensing equipment retraction, based on the intelligent ship underwater sensing equipment retraction device as set forth in any one of claims 1-2, is characterized by comprising the following steps:
s1, opening a cabin door (2), and releasing the retraction mechanism;
S2, adjusting the length of the retraction assembly;
s3, clamping the underwater equipment (26) by the clamping assembly;
s4, placing the underwater equipment (26) to a set position through the retraction assembly;
s5, retracting the underwater equipment (26) through the retraction assembly;
s6, the clamping assembly loosens the underwater equipment (26)
S7, retracting the retraction mechanism to the ship body (1), and closing the cabin door (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410533864.3A CN118107731B (en) | 2024-04-30 | Intelligent ship underwater sensing equipment retraction device and application method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410533864.3A CN118107731B (en) | 2024-04-30 | Intelligent ship underwater sensing equipment retraction device and application method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN118107731A CN118107731A (en) | 2024-05-31 |
| CN118107731B true CN118107731B (en) | 2024-07-16 |
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Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111661253A (en) * | 2020-06-30 | 2020-09-15 | 珠海云洲智能科技有限公司 | Underwater equipment winding and unwinding devices and navigation equipment |
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111661253A (en) * | 2020-06-30 | 2020-09-15 | 珠海云洲智能科技有限公司 | Underwater equipment winding and unwinding devices and navigation equipment |
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