CN207225601U - A kind of unmanned surface vehicle automatic distributing and discharging recovery system - Google Patents
A kind of unmanned surface vehicle automatic distributing and discharging recovery system Download PDFInfo
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- CN207225601U CN207225601U CN201721219469.XU CN201721219469U CN207225601U CN 207225601 U CN207225601 U CN 207225601U CN 201721219469 U CN201721219469 U CN 201721219469U CN 207225601 U CN207225601 U CN 207225601U
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- surface vehicle
- unmanned
- recovery system
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Abstract
It the utility model is related to a kind of unmanned surface vehicle automatic distributing and discharging recovery system, the unmanned surface vehicle automatic distributing and discharging recovery system includes a lash ship, console is provided with one end of lash ship upper surface, the other end of lash ship upper surface is provided with loop wheel machine, and the other end of loop wheel machine, which is lifted with, lays retracting device.The utility model has the advantage of：The utility model unmanned surface vehicle automatic distributing and discharging recovery system, the device are a fexible units, have the characteristics that simple in structure, easy to operate, precision is high, stability is strong；When in utilization, this lays recovery system, lay can effectively be prevented in removal process because hit and cause the phenomenon that unmanned boat internal precision instrument can not work normally there is a phenomenon where and high sea situation under unmanned boat occur dystopy in removal process is laid；And can realize comprehensive autonomy-oriented of unmanned surface vehicle, improve the operability for laying recycling.
Description
Technical field
The utility model is related to unmanned boat lays recovery technology field, more particularly to a kind of unmanned surface vehicle automatic distributing and discharging
Recovery system.
Background technology
Unmanned boat is actually underwater surface robot, is subject to all circles to close extensively as a kind of information collection apparatus at tip
Note.In response to the call of industry 4.0, the development of unmanned boat is very rapid in recent years.Unmanned boat is exploration, collection and transmits water
The important device of face underwater information.The precision equipments such as camera, sensor and controller would generally be installed on unmanned boat.
Traditional ships and light boats are mainly hung when recycling is laid using winch and hawser by the operating personnel in ships and light boats
Hook and operation of breaking off relations, so as to fulfill the laying and recycling from lash ship of traditional ships and light boats.But this method is inefficient and the water surface without
There is no operating personnel in people's ship, the work that can not be broken off relations and linked up with.Device described in example 105540457 A patents of CN,
The connection work of manually progress suspension hook is needed, and the device is only applicable to bank and lays recycling unmanned boat.
At present, the retracting device that lays of unmanned boat uses a kind of cage construction mostly, first will be placed with unmanned boat by loop wheel machine
Into the water, unmanned boat has performed to be driven into cage after task and is recycled again cage.But this traditional cage construction is not
Can guarantee that under high sea situation unmanned surface vehicle can by it is steady, efficient, accurately carry out laying recycling.Such as 105905245 A of CN
Device described in patent, can not ensure that unmanned boat will not slide under high sea situation, security has much room for improvement；Hang the steel of equipment
Material is more directly to be contacted with seawater, easily corrosion, can be to the two generation destruction when producing rigid collision with unmanned boat；Control system
With execution system one, whole device is complex, is unfavorable for the maintenance of system.
Utility model content
The technical problem to be solved by the present invention is to provide a kind of unmanned surface vehicle automatic distributing and discharging recovery system, to solve
Above-mentioned technical problem.
In order to solve the above technical problems, the technical solution of the utility model is：A kind of unmanned surface vehicle automatic distributing and discharging recycling
System, its innovative point are：The unmanned surface vehicle automatic distributing and discharging recovery system includes a lash ship, in one end of lash ship upper surface
Console is provided with, the other end of lash ship upper surface is provided with loop wheel machine, and the other end of loop wheel machine, which is lifted with, lays retracting device；
The retracting device that lays includes a rigid frame, the rigid frame by correct frame, front baffle, left frame and after
Frame forms, and each frame is that the hollow stainless-steel pipe vertical with sea level by least two central axes is formed, and in front baffle
Hollow stainless steel steel bar is equipped between the adjacent two hollow stainless-steel pipe in afterframe upper end；Branch is equipped with the bottom of rigid frame
Support rigid frame base, the top of rigid frame be equipped with cross section be V-structure upper frame, if a side of upper frame by
A dry hydraulic hinge is hinged with the hollow stainless steel steel bar on front baffle, and another side of upper frame passes through several keeper formula clamps
It is fixedly connected with the hollow stainless steel steel bar on afterframe；Ultrasonic range finder and capacitance are fixedly connected with upper frame upper surface
Sensor, and the both ends of upper frame upper surface are also arranged with lifting lug；
External bottom end in rigid frame both sides is symmetrically arranged with internal solid cylinder rubber fender, internal solid cylinder rubber fender
Central axes are vertical with the central axes of the hollow stainless-steel pipe in front baffle or afterframe, and are additionally provided with and fill out in the inside of base
Fill formula rubber fender；Fixed door frame is provided between the correct frame of rigid frame, is set between the left frame of rigid frame
There are flexible door frame and automatic door frame；
The automatic door frame includes the follow-up pulley fixed frame for being placed in the hollow stainless-steel pipe inner upper end face of left frame, and
Follow-up pulley is installed in follow-up pulley fixed frame；The bottom inside stainless-steel pipe is controlled in left frame and is disposed with master
Movable pulley, control box and the direct current waterproof machine for driving driving pulley, and driving pulley is connected with follow-up pulley by belt,
The madial wall that stainless-steel pipe is controlled in left frame is additionally provided with limit switch sensor；The flexible door frame further includes movement
Block, movable block are connected by belt connector with belt, and are connected between two movable blocks by flexible door frame；
Power module, radio receiver, controller and drive module are provided with the control box, power module is nothing
Line reception device, controller and drive module power supply, after radio receiver receives wireless signal, which is transmitted
To controller, controller control drive module driving direct current waterproof machine rotates.
Further, the base includes being symmetricly set on the semicircular ring at both ends, and if being provided between two halves annulus
The hollow stainless steel steel bar of dry equidistantly distributed.
Further, it is coated with polyether-ether-ketone in the outside of hollow stainless-steel pipe and hollow stainless steel steel bar.
The utility model has the advantage of：The utility model unmanned surface vehicle automatic distributing and discharging recovery system, which is one
A fexible unit, has the characteristics that simple in structure, easy to operate, precision is high, stability is strong；In utilization, this lays recovery system
When, laying can effectively prevent that causes unmanned boat internal precision instrument not work normally because of hitting to show in removal process
As there is a phenomenon where and high sea situation under unmanned boat occur dystopy in removal process is laid；And it can realize unmanned surface vehicle
Comprehensive autonomy-oriented, improves the operability for laying recycling；Compared with prior art, have the advantage that：
（1）The utility model device can effectively substitute unmanned machine it is traditional lay way of recycling, make the water surface nobody
Ship lays recycling more hommization, efficiently, safely, conveniently and reliably, does not manually break off relations and links up with, and so reduces manpower reality
Now get up more convenient；
（2）Automatic mast apparatus and fill type rubber fender in the utility model device can effectively avoid unmanned boat because
Duplicate protection is played the role of in the injury for laying unmanned boat kayak body caused by the shock in removal process and sideslip and interior instrument；
The filled circles tubular rubber fender of use can effectively prevent from laying the shock in removal process with lash ship, or hang to bank
When and bank shock；
（3）The hollow stainless-steel pipe used in the utility model device is coated with polyether-ether-ketone, can be played anti-
Hit and prevent the effect of seawater corrosion；
（4）Control system described in the utility model and execution system separation, are effectively reduced the complexity of underwater units
Degree, is conducive to operate control.
Brief description of the drawings
The utility model is described in further detail with reference to the accompanying drawings and detailed description.
Fig. 1 is the overall schematic of the utility model unmanned surface vehicle automatic distributing and discharging recovery system.
Fig. 2 is the structure diagram that retracting device is laid in Fig. 1.
Fig. 3 is the structure diagram of automatic door frame in Fig. 2.
Fig. 4 is the control block diagram of control box in retracting device in Fig. 3.
Embodiment
The following examples can make professional and technical personnel that the utility model be more fully understood, but therefore will not
The utility model is limited among the embodiment described scope.
Embodiment
The present embodiment unmanned surface vehicle automatic distributing and discharging recovery system, as shown in Figure 1, unmanned surface vehicle automatic distributing and discharging recycling system
System includes a lash ship 2, console 1 is provided with one end of 2 upper surface of lash ship, the other end of 2 upper surface of lash ship is provided with loop wheel machine
3, the other end of loop wheel machine 3, which is lifted with, lays retracting device 4；Lash ship 2 and loop wheel machine 3 realize unmanned surface vehicle automatic distributing and discharging retracting device
4 transport and lifting, console 1 are used to receiving, judge and sending signals to control unmanned surface vehicle automatic distributing and discharging retracting device
4。
The concrete structure of retracting device 4 is laid, as shown in Fig. 2, including a rigid frame 7, rigid frame 7 is by correct frame
71st, front baffle 72, left frame 73 and afterframe 74 form, and each frame is by hollow vertical with sea level at least two central axes
Stainless-steel pipe is formed, and equipped with hollow stainless between the adjacent two hollow stainless-steel pipe of front baffle 72 and 74 upper end of afterframe
Steel steel bar；Be coated with polyether-ether-ketone in the outside of hollow stainless-steel pipe and hollow stainless steel steel bar, can play anticollision and
Prevent the effect of seawater corrosion.
The base 103 of rigidity of support framework 7 is equipped with the bottom of rigid frame 7, is equipped with the top of rigid frame 7 transversal
Face is the upper frame 31 of V-structure, and a side of upper frame 31 passes through hydraulic hinge 1, hydraulic hinge 2 42, hydraulic hinge 3 43
And hydraulic hinge 4 44 is hinged with the hollow stainless steel steel bar on front baffle 72, another side of upper frame 31 passes through keeper formula clamp
One 51, keeper formula clamp 2 52, keeper formula clamp 3 53 are fixedly connected with the hollow stainless steel steel bar on afterframe 74；In upper frame
31 upper surfaces have been bolted to connection ultrasonic range finder 12 and capacitance sensor 11, and the both ends of 31 upper surface of upper frame are also
It is symmetrically welded with lifting lug 21 and lifting lug 22；The left and right ends of base 103 are two semicircular rings, 12 hollow stainless steel steel bars
The equidistant outer radius for being welded on two semicircular rings in left and right ends, two hollow stainless steel steel in correct frame 71 and left frame 73
Pipe is connect with the semicircle central port of the left and right sides of base 103 by being weldingly connected respectively；Wherein, the diameter of hollow stainless-steel pipe
Size is equal with the ring width of annulus.Two hollow stainless-steel pipes of front baffle 72 and afterframe 74 respectively with before base 103
Both sides are connect by being weldingly connected afterwards, and equidistant arrangement.
Internal solid cylinder rubber fender 1, internal solid cylinder rubber fender 2 92, internal solid cylinder rubber fender 3 93 and solid
Cylindrical rubber fender 4 94 is bundled in the outside that unmanned surface vehicle lays retracting device by steel wire rope.Wherein, internal solid cylinder rubber
The central axes of glue fender 1 and internal solid cylinder rubber fender 2 92 with the hollow stainless steel cylinder steel pipe in front baffle 72
Central axes are vertical, the central axes of internal solid cylinder rubber fender 3 93 and internal solid cylinder rubber fender 4 94 with afterframe 74
The vertical front baffles 72 in central axes, internal solid cylinder rubber fender 1, the internal solid cylinder rubber fender of hollow stainless steel cylinder steel pipe
2 92 and afterframe 74, internal solid cylinder rubber fender 3 93 and internal solid cylinder rubber fender 4 94 on whole unmanned surface vehicle from
It is dynamic lay retracting device forward sight datum level it is symmetrical.Can effectively prevent from laying in removal process is laid retracting device with it is outer
The influence that boundary's collision produces.Fill type rubber fender 1 and fill type rubber fender 2 102 are symmetrically bundled in by steel wire rope
The inside of base 103, and the upper surface of fill type rubber fender is arc-shaped, and which matches with unmanned surface vehicle lower surface
It is suitable.If placing the unmanned surface vehicle of different model, the fill type rubber fender inside base 103 can be disassembled, according to
The arc of unmanned surface vehicle bottom, changes corresponding fill type rubber fender.In removal process is laid, unmanned boat can be put down
Steady reliable placement is in the device.Fill type rubber fender 1 and fill type rubber fender 2 102 can effectively prevent the water surface
The collision of unmanned boat and base 103 and front baffle 72 and afterframe 74 occurs.
Fixed door frame 6 and flexible door frame 8 are formed by hollow stainless steel cylinder steel pipe and stainless steel flexible net, are passed through respectively
The mode of spot welding by the upper weld of net below the outside of hollow stainless steel cylinder steel pipe, side that the lower part of net is passed through into spot welding
Formula is welded at 103 right end of base and the path of left end semicircular ring.Wherein, the left and right ends of flexible net are logical in fixed door frame 6
The mode for crossing spot welding is connected with the cylinder steel pipe in correct frame 71.Flexible net left and right ends are not welded in flexible door frame 8.Fixed door
Frame 6 passes through weldering in closed mode, the both ends of the hollow stainless steel cylinder steel pipe of fixed door frame 6 all the time in removal process is laid
Connect with linking together at the top of two cylinder steel pipes in correct frame 71, and central axes and the axis of cylinder steel pipe in correct frame 71
Line is vertical.The central axes of the hollow stainless steel cylinder steel pipe of flexible door frame 8 are vertical with the cylinder steel pipe central axes in left frame 73.
Stretched in opened condition in flexible door frame 8 when needing unmanned surface vehicle to roll away from or drive into and laying retracting device in door frame 8
Hollow stainless steel cylinder steel pipe drops to the bottommost of left frame 73, i.e., the central axes of stainless steel cylinder in the door frame 8 that stretches at this time
Is overlapped with straight line where 103 left end semicircular ring outside diameter of base, remaining when be in off state, it is hollow in flexible door frame 8
Stainless steel cylinder steel pipe rises to the top of left frame 73, i.e., left and right ends at the top of cylinder steel pipe in left frame with overlapping.Stretch
Cylinder steel pipe left and right ends in contracting door frame 8 pass through the movable block inside stainless steel cylinder steel pipe in bolt and left frame 73 all the time
1 and movable block 2 172 be connected.
The concrete structure schematic diagram of automatic door frame, as shown in figure 3, follow-up pulley fixed frame 1, follow-up pulley fixed frame
2 122 at the top of the hollow stainless steel cylinder steel pipe of right end and left end in bolt and left frame 73 respectively by being connected.Direct current waterproof
Motor 1 and direct current waterproof machine 2 182 are justified by the hollow stainless steel of right end and left end in bolt and left frame 73 respectively
Column steel pipe bottom portion is connected.Follow-up pulley 1 and follow-up pulley 2 132 pass through axis pin and follow-up pulley fixed frame one respectively
121 and follow-up pulley fixed frame 2 132 connect.The output shaft of direct current waterproof machine 1, direct current waterproof machine 2 182 it is defeated
2 202 4 concentric arrangement of shaft, driving pulley 1 and driving pulley.The output shaft of direct current waterproof machine 1 passes through
Key is connected with driving pulley 1.The output shaft of direct current waterproof machine 2 182 is connected by key with driving pulley 2 202.Belt
One 141 is parallel with the end face of belt 2 142 and vertical with sea level.Follow-up pulley 1 and driving pulley 1 pass through skin
Band 1 is attached.Follow-up pulley 2 132 and driving pulley 2 202 are attached by belt 2 142.In flexible door frame 8
The right left both ends of cylinder steel pipe pass through the movable block 1 in bolt and left frame 73 inside stainless steel cylinder steel pipe all the time and move
Motion block 2 172 is connected.Movable block 1 is connected by belt connector 1 and bolt with belt 1, movable block 2 172
It is connected by belt connector 2 162 and bolt with belt 2 142.Control box 1, control box 2 192 are by waterproof case
It is connected by welding with the hollow stainless steel cylinder steel pipe base portion in left frame 73.Limit switch sensor 1 and spacing
Switch sensor 2 152 is by waterproof case by welding the empty stainless steel cylinder steel pipe in the right side and left side with left frame 73
It is connected on the inside of the wall of shop；And be provided with control box 1 and control box 2 192 power module, radio receiver, controller and
Drive module, power module is radio receiver, controller and drive module are powered, when radio receiver receives wirelessly
After signal, controller is delivered it to, controller control drive module driving direct current waterproof machine rotates.
As shown in Figure 3 and Figure 4, the course of work of automatic door frame is as follows, and power module supplies electricity to radio receiver, wirelessly
After reception device receives signal, controller, controller control drive module are passed to, drive module drives the anti-water power of direct current again
Machine 1 and direct current waterproof machine 2 182 work.Direct current waterproof machine one and two drives driving pulley 1 and active respectively
Pulley 2 202 rotates.Driving pulley 1, follow-up pulley 1, belt 1 and movable block 1 cooperate,
Driving pulley 2 202, follow-up pulley 2 132, belt 2 142 and movable block 2 172 4 cooperate, so that flexible door frame
8 move up and down.When flexible door frame 8 is moved to top position or extreme lower position, passed by limit switch sensor 1 and limit switch
Signal is passed to the radio receiver in control box by sensor 2 152, direct current waterproof machine is shut down, is stretched at this time
Contracting door frame 8 no longer moves, i.e., automatic door frame is in the state turned off or on.
The operation principle of the present embodiment unmanned surface vehicle automatic distributing and discharging recovery system：First, cloth is needed when lash ship 2 drives to
When putting the place of unmanned surface vehicle, open and lay the upper frame 31 of retracting device 4, unmanned surface vehicle is hung to laying retracting device
In 4, upper frame 31 is then shut off；The door frame 8 that stretches at this time is closed in top position, i.e., automatic door frame；It will be equipped with using loop wheel machine 3
The automatic distributing and discharging retracting device 4 of unmanned surface vehicle is hung onto in water.
When capacitance sensor 11 detects that laying retracting device 4 reaches depth a certain range of apart from the water surface, loop wheel machine 3 is not
Work again.Console 1 sends a signal to control box 1 and control box 2 192, and the drive module in control box drives directly respectively
Flow waterproof machine 1 and direct current waterproof machine 2 182 works.2 182 points of direct current waterproof machine 1 and direct current waterproof machine
Not by driving pulley 1, follow-up pulley 1, belt 1 and movable block 1 and driving pulley 2 202, from
Movable pulley 2 132, belt 2 142 and movable block 2 172, drive flexible door frame 8 to be moved to extreme lower position from top position, are opened when spacing
Close sensor 1 and limit switch sensor 2 152 detects that motor is no longer when driving the flexible arrival of door frame 8 extreme lower position
Work.Automatic door frame is in open mode at this time.Unmanned surface vehicle rolls away from from automatic distributing and discharging retracting device 4, when console 1 is logical
Ultrasonic range finder 12 is crossed to measure after unmanned surface vehicle rolls automatic distributing and discharging retracting device certain distance away from, loop wheel machine 3 works, incite somebody to action from
It is dynamic to lay retracting device 4 and withdraw.The automatic distributing and discharging process of unmanned surface vehicle is completed at this time.
The advantages of basic principle and main feature and the utility model of the utility model has been shown and described above.This
The technical staff of industry is retouched in above embodiments and description it should be appreciated that the present utility model is not limited to the above embodiments
That states simply illustrates the principle of the utility model, on the premise of not departing from the spirit and scope of the utility model, the utility model
Various changes and modifications are also had, these various changes and improvements fall within the scope of the claimed invention.This practicality is new
Type is claimed scope and is defined by the appending claims and its equivalent thereof.
Claims (3)
- A kind of 1. unmanned surface vehicle automatic distributing and discharging recovery system, it is characterised in that：The unmanned surface vehicle automatic distributing and discharging recycling system System includes a lash ship, console is provided with one end of lash ship upper surface, the other end of lash ship upper surface is provided with loop wheel machine, loop wheel machine The other end be lifted with and lay retracting device；The retracting device that lays includes a rigid frame, and the rigid frame is by correct frame, front baffle, left frame and afterframe Composition, each frame is that the hollow stainless-steel pipe vertical with sea level by least two central axes is formed, and in front baffle with after Hollow stainless steel steel bar is equipped between the adjacent two hollow stainless-steel pipe in frame upper end；It is firm that support is equipped with the bottom of rigid frame Property framework base, the upper frame that cross section is V-structure is equipped with the top of rigid frame, a side of upper frame passes through several Hydraulic hinge is hinged with the hollow stainless steel steel bar on front baffle, and another side of upper frame is by several keeper formula clamps with after Hollow stainless steel steel bar on frame is fixedly connected；Ultrasonic range finder and capacitance sensing are fixedly connected with upper frame upper surface Device, and the both ends of upper frame upper surface are also arranged with lifting lug；External bottom end in rigid frame both sides is symmetrically arranged with internal solid cylinder rubber fender, the axis of internal solid cylinder rubber fender Line is vertical with the central axes of the hollow stainless-steel pipe in front baffle or afterframe, and is additionally provided with filled type in the inside of base Rubber fender；Fixed door frame is provided between the correct frame of rigid frame, is provided with and stretches between the left frame of rigid frame Contracting door frame and automatic door frame；The automatic door frame includes the follow-up pulley fixed frame for being placed in the hollow stainless-steel pipe inner upper end face of left frame, and from Follow-up pulley is installed in movable pulley fixed frame；Bottom in left frame inside control stainless-steel pipe is disposed with actively sliding Wheel, control box and the direct current waterproof machine for driving driving pulley, and driving pulley is connected with follow-up pulley by belt, on a left side The madial wall that stainless-steel pipe is controlled in frame is additionally provided with limit switch sensor；The flexible door frame further includes movable block, moves Motion block is connected by belt connector with belt, and is connected between two movable blocks by flexible door frame；Power module, radio receiver, controller and drive module are provided with the control box, power module is wirelessly to connect Receiving apparatus, controller and drive module power supply, after radio receiver receives wireless signal, deliver it to control Device processed, controller control drive module driving direct current waterproof machine rotate.
- 2. unmanned surface vehicle automatic distributing and discharging recovery system according to claim 1, it is characterised in that：The base include pair Claim the semicircular ring for being arranged on both ends, and the hollow stainless steel steel bar of some equidistantly distributeds is provided between two halves annulus.
- 3. unmanned surface vehicle automatic distributing and discharging recovery system according to claim 1, it is characterised in that：In hollow stainless steel steel The outside of pipe and hollow stainless steel steel bar is coated with polyether-ether-ketone.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721219469.XU CN207225601U (en) | 2017-09-22 | 2017-09-22 | A kind of unmanned surface vehicle automatic distributing and discharging recovery system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721219469.XU CN207225601U (en) | 2017-09-22 | 2017-09-22 | A kind of unmanned surface vehicle automatic distributing and discharging recovery system |
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| Publication Number | Publication Date |
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| CN207225601U true CN207225601U (en) | 2018-04-13 |
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ID=61863301
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721219469.XU Withdrawn - After Issue CN207225601U (en) | 2017-09-22 | 2017-09-22 | A kind of unmanned surface vehicle automatic distributing and discharging recovery system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107499460A (en) * | 2017-09-22 | 2017-12-22 | 江苏科技大学 | A kind of unmanned surface vehicle automatic distributing and discharging recovery system |
| CN108557040A (en) * | 2018-06-22 | 2018-09-21 | 江苏科技大学 | It is a kind of can folding and unfolding cabin formula the underwater relay stations of multi-functional AUV |
| CN109383712A (en) * | 2018-09-30 | 2019-02-26 | 珠海云洲智能科技有限公司 | A kind of ships and light boats lay recyclable device |
| CN110775200A (en) * | 2019-10-23 | 2020-02-11 | 上海交通大学 | AUV quick laying and recovering device under high sea condition |
-
2017
- 2017-09-22 CN CN201721219469.XU patent/CN207225601U/en not_active Withdrawn - After Issue
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107499460A (en) * | 2017-09-22 | 2017-12-22 | 江苏科技大学 | A kind of unmanned surface vehicle automatic distributing and discharging recovery system |
| CN108557040A (en) * | 2018-06-22 | 2018-09-21 | 江苏科技大学 | It is a kind of can folding and unfolding cabin formula the underwater relay stations of multi-functional AUV |
| CN108557040B (en) * | 2018-06-22 | 2023-08-29 | 江苏科技大学 | But receive and release cabin formula multi-functional AUV relay station under water |
| CN109383712A (en) * | 2018-09-30 | 2019-02-26 | 珠海云洲智能科技有限公司 | A kind of ships and light boats lay recyclable device |
| CN110775200A (en) * | 2019-10-23 | 2020-02-11 | 上海交通大学 | AUV quick laying and recovering device under high sea condition |
| CN110775200B (en) * | 2019-10-23 | 2021-06-11 | 上海交通大学 | AUV quick laying and recovering device under high sea condition |
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