CN202320757U - Wave-power unmanned monitoring ship - Google Patents
Wave-power unmanned monitoring ship Download PDFInfo
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- CN202320757U CN202320757U CN2011203917391U CN201120391739U CN202320757U CN 202320757 U CN202320757 U CN 202320757U CN 2011203917391 U CN2011203917391 U CN 2011203917391U CN 201120391739 U CN201120391739 U CN 201120391739U CN 202320757 U CN202320757 U CN 202320757U
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T70/00—Maritime or waterways transport
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- Y02T70/5236—Renewable or hybrid-electric solutions
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Abstract
The utility model discloses a wave-power unmanned monitoring ship, which comprises a ship body and an unmanned control system, wherein the ship body is in a rigid inflatable boat type, and the unmanned control system is formed by a ground remote control system and a shipborne system which are coupled through wireless data link. The ground remote control system is composed of a remote control computer, a wireless network bridge and corresponding upper layer application software and is in charge of receival, analysis and display of ground remote control commands and data, and a serial port of the remote control computer is connected with the wireless network bridge. The shipborne system mainly comprises a sailing control subsystem, a communication subsystem, a sailing information sensing collecting subsystem, a wave-energy and solar generating power-supply subsystem and a data collection subsystem. A diesel engine does not need to be arranged, power is supplied directly by a shipborne wave-energy generating system and a solar generating device, the output electric energy is stable in quality, the electromagnetic compatibility is good, and shipborne equipment can work normally under the complex marine environment.
Description
Technical field
The utility model belongs to renewable energy comprehensive utilization, boats and ships, marine environmental monitoring and protection field, is specifically related to the unmanned monitoring ship of a kind of Wave power.
Background technology
Begin from the oil crises of eighties of last century seventies, various countries begin diversion to utilizing local resource and seeking on the optimum cheap energy.21 century is the century of ocean, and the mankind ask for resource to the sea becomes inexorable trend, and the coastland is placed hope on the surging billow on, promptly utilizes wave-energy power generation.Wave-energy power generation is at first to convert wave energy into mechanical energy (hydraulic pressure ability) through wave energy apparatus, and then converts electric energy to.Wave energy has the energy density height, advantage such as wide distributes.It is a kind of inexhaustible renewable and clean energy resource.Especially in energy resource consumption bigger winter, utilizable wave energy energy is also maximum.Low power wave-energy power generation is in the application that puts it over such as guidance beacon, beacon.There are wide marine resources in China, and the theoretical storage content of wave energy is about 7,000 ten thousand kilowatts, and coastal wave energy energy-flux density is approximately every meter 2 kilowatts to 7 kilowatts.In the high place of energy-flux density, wave can flow that just to be enough to be that 20 families provide illumination outside per 1 meter coastline.Therefore, the development and utilization ocean energy resources becomes the current strategic selection that comprises the main coastal state in the world of China energetically.
Wave energy is mainly used in generating, for the national defence in outlying marine site and maritime facilities etc. provide clean energy resource.In addition, wave energy can also be used to draw water, heat supply, sea water desalination and hydrogen manufacturing etc.Reasonably fully develop good this ocean energy, help improving marine economy comprehensive strength, radiation belt power and the capability of sustainable development of China, help promoting the foundation of marine economy power.
At present, the boats and ships owning amount of China is in prostatitis, the world, and then its operation of ship need consume a large amount of energy, and energy resource consumption has not only increased the cost expenditure of enterprise, and can increase the pollution to environment.Therefore novel propelling unit and the integrated application of new forms of energy on boats and ships, energy savings, cost-cutting eased up, and to separate environmental pollution etc. significant.Simultaneously, the ultimate of shipboard automation is unmanned ship.From the U.S. " 911 " afterwards, port security has become major issue, has advanced the development of unmanned boat.At present existing multiple unmanned boat begins to be applied to the military and civilian field.
At present there is not the unmanned monitoring ship of marine environment (hereinafter to be referred as " unmanned monitoring ship ") of a kind of wave energy and Driven by Solar Energy to appear on the market as yet.
Summary of the invention
The utility model provides a kind of Wave power unmanned monitoring ship to the deficiency of prior art.
The concrete scheme of the utility model is:
Hull adopts rigidity pneumatic boat ship type, and wherein rigidity ship core adopts conduit glider form.
Unmanned control system is made up of ground remote control system and shipborne system, and ground remote control system and shipborne system are coupled as the total system of unmanned monitoring ship through wireless data link.
Described ground remote control system is made up of a remote control computer and wireless bridge, is responsible for ground remote control instruction and data sink analysis and shows that the serial ports of remote control computer connects wireless bridge.
Described shipborne system mainly comprises navigation RACS, communication subsystem, sail information sensing collection subsystem, wave energy and solar electrical energy generation power supply subsystem and data acquisition subsystem.
Described navigation RACS is made up of navigation control computer, drive control module, DC machine, screw propeller, steering wheel stepping motor, yaw rudder and siren horn; Navigation control computer is an embedded computer, and drive control module is to be core with the dsp chip, accomplishes the drive controlling of steering wheel stepping motor and DC machine; The azimuth rotating mechanism of yaw rudder is by the steering wheel step motor drive, and screw propeller is driven by DC machine.
Described communication subsystem realizes the transmission of information between remote data communication antenna and terrestrial wireless bridge through wireless bridge.
Described sail information sensing collection subsystem comprises digital compass, gps antenna, radar aerial, laser infrared detection device and video detector; Digital compass provides current course information, realizes the control of unmanned monitoring ship course; Gps antenna is accomplished the positioning function of unmanned monitoring ship, makes unmanned monitoring ship have self-homing capability; Radar aerial, laser infrared detection device and video detector are used to provide the ambient condition information of unmanned monitoring ship, make unmanned monitoring ship have intelligence collision prevention function automatically.
Described wave energy and solar electrical energy generation power supply subsystem comprise boat-carrying wave energy generating set, solar power electroplax, accumulation of energy regulator control system; The boat-carrying wave energy generating set comprises buoyancy aid, power hydraulic system, electrical generator, permanent seat; The input end of power hydraulic system is a hydraulic actuating cylinder, and the piston rod of hydraulic actuating cylinder connects with buoyancy aid, and hydraulic cylinder connects with permanent seat, and permanent seat is installed in the middle part at the bottom of the unmanned monitoring ship; When unmanned monitoring ship navigated by water, navigation control computer was opened the sealing hatch door automatically through drive control module, with boat-carrying wave energy generating set automatic drawing back, and closes the sealing hatch door, the work of standing wave wave energy generating set; When unmanned monitoring ship berthed, navigation control computer was opened the sealing hatch door automatically through drive control module, discharged the boat-carrying wave energy generating set, and the boat-carrying wave energy generating set is started working; Wave motion all moves piston rod and unmanned monitoring hull, because hull is heavier, causes piston rod and hull generation relative motion, and the pressure in fluid chamber is constantly changed, and finally forms the conversion of energy; In the whole conversion process of energy, the circulation route of hydraulic oil is fluid chamber, fuel-displaced check valve, high pressure accumulator, HM Hydraulic Motor, intermediate-pressure accumulator, return check valve, fluid chamber, and intermediate-pressure accumulator plays voltage stabilizing; In hydraulic efficiency pressure system actuating station, HM Hydraulic Motor can convert hydraulic pressure into mechanical energy, HM Hydraulic Motor and electrical generator connecting shaft, and electrical generator converts mechanical energy into electric energy again, and power storage is controlled through the accumulation of energy regulator control system with utilization; Be equipped with solar panel on the unmanned monitoring ship deck simultaneously, the electric energy of generation is also controlled through the accumulation of energy regulator control system.
Described data acquisition subsystem comprises data acquisition module and marine environmental monitoring sensor; Data acquisition module comprises programmable amplifier, A/D changer, CAN EBI; The marine environmental monitoring sensor is integrated by Temperature Humidity Sensor, nutritive salt sensor, heavy metal sensor, organic contaminant sensor, chemical oxygen demand sensor, pathogenic bacteria sensor, petroleum pollution sensor, organophosphorus pesticide sensor.
The beneficial effect of the utility model is:
(1) unmanned monitoring ship need not to dispose diesel motor, directly by boat-carrying Wave energy generating system and device of solar generating power is provided, and the quality of power supply of output is stable, and electromagnetic compatibility is good, can make ship-borne equipment normal operation under the marine environment of complicacy.
(2) realize unmanned monitoring ship intelligence, at a high speed, aspect such as unmanned integrated.Aspect control technology, obtained important breakthrough, made great efforts to resolve the input of unmanned monitoring ship, stable, navigation, collision prevention and recovery problem, to give unmanned boat more independence property.
(3) unmanned monitoring ship can automatic steering.Can go by contemplated route, as running into the information that obstacle can detect peripheral obstacle through radar and sensor in real time in the way, the course line that planning in time makes new advances.The control accuracy that this method realizes is very high, and course line deviation is no more than 2 meters, even run into narrow fairway, also can handle a situation with ease.Be convenient to patrol on the sea, scouting, water surface counterterrorism operations and carry out maritime search and rescue etc., help safeguarding national security and guaranteeing the safety of the people's lies and property, promote the construction of harmonious society.
(4) data acquisition system when work, employing be to set up the data that each sensor obtains through the data processing unit of independent development, can avoid because the interference of external factors such as motion, stormy waves the precision of assurance dynamic measurement like this.
(5) can overcome the conventional artificial sample mode, solve in, during the water body sampling of serious pollution, possibly also have a difficult problem that jeopardizes operating personal personal safety hidden danger, and enlarge sample range, improve sampling efficiency.
Description of drawings
Fig. 1 is unmanned monitoring ship integral structure block diagram;
Fig. 2 is the boat-carrying wave energy generating set.
The specific embodiment
Below in conjunction with accompanying drawing principle, the structure of the utility model are done further explanation.
As shown in Figure 1, the unmanned control system of unmanned monitoring ship is made up of ground remote control system and shipborne system, and ground remote control system and shipborne system are coupled as the total system of unmanned monitoring ship through wireless data link.The ground remote control system is made up of a remote control computer 1, wireless bridge and corresponding upper application software.Shipborne system mainly comprises communication subsystem, sail information sensing collection subsystem, wave energy and solar electrical energy generation power supply subsystem, data acquisition subsystem and navigation RACS.The navigation RACS is made up of navigation control computer 13, drive control module 12, DC machine 18, screw propeller 20, steering wheel stepping motor 19, yaw rudder 16 and siren horn 4.Communication subsystem realizes the transmission of information between remote data communication antenna 3 and terrestrial wireless bridge through the wireless bridge of 2.4GHz.Sail information sensing collection subsystem comprises digital compass 10, gps antenna 6, radar aerial 5, laser infrared detection device 7 and video detector 2.Wave energy and solar electrical energy generation power supply subsystem comprise boat-carrying wave energy generating set 14 and accumulation of energy control system 8.Data acquisition subsystem comprises data acquisition module 11 and marine environmental monitoring sensor 17.Marine environmental monitoring sensor 17 is integrated by sensors such as humiture, nutritive salt, heavy metal, organic contaminant, chemical oxygen demand, pathogenic bacteria, petroleum pollution, organophosphorus pesticides.
As shown in Figure 2, boat-carrying wave energy generating set 14 mainly is made up of buoyancy aid 22, power hydraulic system, electrical generator 28, permanent seat 27.The input end of power hydraulic system is a hydraulic actuating cylinder, and the piston rod 23 of hydraulic actuating cylinder connects with buoyancy aid 22, and hydraulic cylinder 26 connects with permanent seat 27, and permanent seat 27 is installed in the middle part at the bottom of the unmanned monitoring ship.
Described unmanned monitoring ship hull 15 adopts rigidity pneumatic boat ship type, and wherein rigidity ship core adopts conduit glider form.The yardstick of ship is little, and the speed of a ship or plane is higher, and navigability, rough water quality, road-holding property and impact resistance are strong.The utility model hull 15 principal dimensions are: captain 5m, beam 2m, designed draft 0.5m, moldeed depth 1 m, knuckle line length 4m, the long 5m of conduit, the wide 0.8m of conduit, displacement 3t, frame spacing 210mm.
The unmanned control system of described unmanned monitoring ship is made up of ground remote control system and shipborne system, and ground remote control system and shipborne system are coupled as the total system of unmanned monitoring ship through wireless data link.
Described ground remote control system is made up of a remote control computer 1, wireless bridge and corresponding upper application software, is responsible for ground remote control instruction and data sink analysis and shows.The serial ports of remote control computer 1 connects the wireless bridge of 2.4G, and data transmission rate can reach 10 Mbps between this wireless bridge.The ground remote control system uses the host-host protocol of ICP/IP protocol as upper application software, and application software comprises several parts of operation interface module, communication module and data handing.
Described shipborne system mainly comprises navigation RACS, communication subsystem, sail information sensing collection subsystem, wave energy and solar electrical energy generation power supply subsystem and data acquisition subsystem.
Described navigation RACS is made up of navigation control computer 13, drive control module 12, DC machine 18, screw propeller 20, steering wheel stepping motor 19, yaw rudder 16 and siren horn 4.Navigation control computer 13 is an embedded computer, and a plurality of serial communication modulars are arranged.Wherein, serial ports 1 is used to connect wireless bridge, accomplishes the data communication with the ground remote control system; The frequency that serial ports 2 is used for by 1 time/3 seconds receives self accommodation GPS information; Serial ports 3 is used for receiving by 6 times/second frequency the course information of digital compass HMR 3300.Drive control module 12 is drive controlling of accomplishing steering wheel stepping motor 19 and DC machine 18 with dsp chip.The azimuth rotating mechanism of yaw rudder 16 is driven by steering wheel stepping motor 19, and screw propeller 20 is driven by DC machine 18.Unmanned monitoring ship has collision prevention when dangerous, siren horn 4 sound alarm and bright alarm.
Described communication subsystem realizes the transmission of information between remote data communication antenna 3 and terrestrial wireless bridge through the wireless bridge of 2.4GHz.
Described sail information sensing collection subsystem comprises digital compass 10, gps antenna 6, radar aerial 5, laser infrared detection device 7 and video detector 2.Digital compass 10 provides current course information, realizes the control of unmanned monitoring ship course.The gps antenna 6 main positioning functions of accomplishing unmanned boat make unmanned boat have certain self-homing capability.Radar aerial 5, laser infrared detection device 7 and video detector 2 are used to provide the ambient condition information of unmanned monitoring ship, thereby make unmanned monitoring ship have certain intelligence collision prevention function automatically.
Described wave energy and solar electrical energy generation power supply subsystem comprise boat-carrying wave energy generating set 14, solar power electroplax 9, accumulation of energy regulator control system 8.Boat-carrying wave energy generating set 14 mainly is made up of buoyancy aid 21, power hydraulic system, electrical generator 28, permanent seat 27.The input end of power hydraulic system is a hydraulic actuating cylinder, and the piston rod 23 of hydraulic actuating cylinder connects with buoyancy aid 22, and hydraulic cylinder 26 connects with permanent seat 27, and permanent seat 27 is installed in the middle part at the bottom of the unmanned monitoring ship, and hydraulic cylinder 26 can be divided into fluid chamber 24 and rodless cavity 25.When unmanned monitoring ship navigated by water, navigation control computer 13 was opened the sealing hatch door automatically through drive control module 12, with boat-carrying wave energy generating set 14 automatic drawing backs, and closes the sealing hatch door, 14 work of standing wave wave energy generating set; When unmanned monitoring ship berthed, navigation control computer 13 was opened the sealing hatch door automatically through drive control module 12, discharged boat-carrying wave energy generating set 14, and boat-carrying wave energy generating set 14 is started working.Wave motion all moves piston rod and unmanned monitoring hull, but because hull is heavier, causes piston rod and hull generation relative motion, and the pressure in fluid chamber 24 is constantly changed, and finally forms the conversion of energy.In the whole conversion process of energy, the circulation route of hydraulic oil is fluid chamber 24, fuel-displaced check valve 33, high pressure accumulator 32, HM Hydraulic Motor 29, intermediate-pressure accumulator 30, return check valve 31, fluid chamber 24.Intermediate-pressure accumulator 30 plays voltage stabilizing.In hydraulic efficiency pressure system actuating station, HM Hydraulic Motor 29 can convert hydraulic pressure into mechanical energy, HM Hydraulic Motor 29 and electrical generator 28 connecting shafts, and electrical generator 28 converts mechanical energy into electric energy again, and power storage is controlled through accumulation of energy regulator control system 8 with utilization.Be equipped with solar panel 9 on the unmanned monitoring ship deck simultaneously, the electric energy of generation is also through 8 controls of accumulation of energy regulator control system.Whole unmanned monitoring ship need not to dispose diesel engine, just can guarantee the power demand of each system's normal operation of boat-carrying.
Described data acquisition subsystem comprises data acquisition module 11 and marine environmental monitoring sensor 17.Data acquisition module 11 mainly is made up of programmable amplifier, A/D changer, CAN EBI etc.Marine environmental monitoring sensor 17 is integrated by sensors such as humiture, nutritive salt, heavy metal, organic contaminant, chemical oxygen demand, pathogenic bacteria, petroleum pollution, organophosphorus pesticides.Data acquisition module 11 will be converted into digital signal from the analog signal of marine environmental monitoring sensor 17 inputs; And send navigation control computer 13 to; Through remote data communication antenna 3 image data is transferred to the environmental monitoring evaluation and test early warning server in the ground control system 1 again; The environmental monitoring forewarn system is analyzed with early warning the data that receive and is handled; Judge according to corresponding early warning strategy and to carry out relevant treatment, for marine eco-environment quality assessment and ecological environmental protection provide related data and information.
Claims (1)
1. the unmanned monitoring ship of Wave power comprises hull and unmanned control system, it is characterized in that:
Hull adopts rigidity pneumatic boat ship type, and wherein rigidity ship core adopts conduit glider form;
Unmanned control system is made up of ground remote control system and shipborne system, and ground remote control system and shipborne system are coupled as the total system of unmanned monitoring ship through wireless data link;
Described ground remote control system is made up of a remote control computer and wireless bridge, is responsible for ground remote control instruction and data sink analysis and shows that the serial ports of remote control computer connects wireless bridge;
Described shipborne system mainly comprises navigation RACS, communication subsystem, sail information sensing collection subsystem, wave energy and solar electrical energy generation power supply subsystem and data acquisition subsystem;
Described navigation RACS is made up of navigation control computer, drive control module, DC machine, screw propeller, steering wheel stepping motor, yaw rudder and siren horn; Navigation control computer is an embedded computer, and drive control module is to be core with the dsp chip, accomplishes the drive controlling of steering wheel stepping motor and DC machine; The azimuth rotating mechanism of yaw rudder is by the steering wheel step motor drive, and screw propeller is driven by DC machine;
Described communication subsystem realizes the transmission of information between remote data communication antenna and terrestrial wireless bridge through wireless bridge;
Described sail information sensing collection subsystem comprises digital compass, gps antenna, radar aerial, laser infrared detection device and video detector; Digital compass provides current course information, realizes the control of unmanned monitoring ship course; Gps antenna is accomplished the positioning function of unmanned monitoring ship, makes unmanned monitoring ship have self-homing capability; Radar aerial, laser infrared detection device and video detector are used to provide the ambient condition information of unmanned monitoring ship, make unmanned monitoring ship have intelligence collision prevention function automatically;
Described wave energy and solar electrical energy generation power supply subsystem comprise boat-carrying wave energy generating set, solar power electroplax, accumulation of energy regulator control system; The boat-carrying wave energy generating set comprises buoyancy aid, power hydraulic system, electrical generator, permanent seat; The input end of power hydraulic system is a hydraulic actuating cylinder, and the piston rod of hydraulic actuating cylinder connects with buoyancy aid, and hydraulic cylinder connects with permanent seat, and permanent seat is installed in the middle part at the bottom of the unmanned monitoring ship; When unmanned monitoring ship navigated by water, navigation control computer was opened the sealing hatch door automatically through drive control module, with boat-carrying wave energy generating set automatic drawing back, and closes the sealing hatch door, the work of standing wave wave energy generating set; When unmanned monitoring ship berthed, navigation control computer was opened the sealing hatch door automatically through drive control module, discharged the boat-carrying wave energy generating set, and the boat-carrying wave energy generating set is started working; Wave motion all moves piston rod and unmanned monitoring hull, because hull is heavier, causes piston rod and hull generation relative motion, and the pressure in fluid chamber is constantly changed, and finally forms the conversion of energy; In the whole conversion process of energy, the circulation route of hydraulic oil is fluid chamber, fuel-displaced check valve, high pressure accumulator, HM Hydraulic Motor, intermediate-pressure accumulator, return check valve, fluid chamber, and intermediate-pressure accumulator plays voltage stabilizing; In hydraulic efficiency pressure system actuating station, HM Hydraulic Motor can convert hydraulic pressure into mechanical energy, HM Hydraulic Motor and electrical generator connecting shaft, and electrical generator converts mechanical energy into electric energy again, and power storage is controlled through the accumulation of energy regulator control system with utilization; Be equipped with solar panel on the unmanned monitoring ship deck simultaneously, the electric energy of generation is also controlled through the accumulation of energy regulator control system;
Described data acquisition subsystem comprises data acquisition module and marine environmental monitoring sensor; Data acquisition module comprises programmable amplifier, A/D changer, CAN EBI; The marine environmental monitoring sensor is integrated by Temperature Humidity Sensor, nutritive salt sensor, heavy metal sensor, organic contaminant sensor, chemical oxygen demand sensor, pathogenic bacteria sensor, petroleum pollution sensor, organophosphorus pesticide sensor.
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| CN2011203917391U CN202320757U (en) | 2011-10-15 | 2011-10-15 | Wave-power unmanned monitoring ship |
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| CN2011203917391U CN202320757U (en) | 2011-10-15 | 2011-10-15 | Wave-power unmanned monitoring ship |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102381464A (en) * | 2011-10-15 | 2012-03-21 | 浙江大学舟山海洋研究中心 | Wave energy and solar energy driven unmanned monitoring ship for marine environment |
| CN103714683A (en) * | 2014-01-03 | 2014-04-09 | 西北工业大学 | Marine spilled oil collection platform based on catamaran |
| CN107229223A (en) * | 2017-06-07 | 2017-10-03 | 哈尔滨工程大学 | A kind of intelligent switching system of many drive patterns of ocean energy unmanned boat |
| CN107776840A (en) * | 2016-08-31 | 2018-03-09 | 福建泉城特种装备科技有限公司 | Sea long distance remotely controlling exercise target target ship |
| CN109407596A (en) * | 2018-12-25 | 2019-03-01 | 浙江海洋大学 | A kind of unmanned water quality monitoring ship |
| CN109850092A (en) * | 2019-01-10 | 2019-06-07 | 安徽天帆智能科技有限责任公司 | A kind of unmanned lifeboat makes a return voyage system automatically |
| CN113623125A (en) * | 2021-10-14 | 2021-11-09 | 启东市新创船舶配件有限公司 | Ship wave energy power generation equipment |
-
2011
- 2011-10-15 CN CN2011203917391U patent/CN202320757U/en not_active Withdrawn - After Issue
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102381464A (en) * | 2011-10-15 | 2012-03-21 | 浙江大学舟山海洋研究中心 | Wave energy and solar energy driven unmanned monitoring ship for marine environment |
| CN102381464B (en) * | 2011-10-15 | 2013-08-14 | 浙江大学舟山海洋研究中心 | Wave energy and solar energy driven unmanned monitoring ship for marine environment |
| CN103714683A (en) * | 2014-01-03 | 2014-04-09 | 西北工业大学 | Marine spilled oil collection platform based on catamaran |
| CN103714683B (en) * | 2014-01-03 | 2016-10-05 | 西北工业大学 | Marine oil overflow collecting platform based on catamaran |
| CN107776840A (en) * | 2016-08-31 | 2018-03-09 | 福建泉城特种装备科技有限公司 | Sea long distance remotely controlling exercise target target ship |
| CN107229223A (en) * | 2017-06-07 | 2017-10-03 | 哈尔滨工程大学 | A kind of intelligent switching system of many drive patterns of ocean energy unmanned boat |
| CN107229223B (en) * | 2017-06-07 | 2020-01-17 | 哈尔滨工程大学 | Intelligent switching system of multi-drive mode of ocean energy unmanned ship |
| CN109407596A (en) * | 2018-12-25 | 2019-03-01 | 浙江海洋大学 | A kind of unmanned water quality monitoring ship |
| CN109850092A (en) * | 2019-01-10 | 2019-06-07 | 安徽天帆智能科技有限责任公司 | A kind of unmanned lifeboat makes a return voyage system automatically |
| CN113623125A (en) * | 2021-10-14 | 2021-11-09 | 启东市新创船舶配件有限公司 | Ship wave energy power generation equipment |
| CN113623125B (en) * | 2021-10-14 | 2021-12-14 | 启东市新创船舶配件有限公司 | Ship wave energy power generation equipment |
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