CN207791071U - A kind of unmanned boat retracting device and unmanned boat - Google Patents
A kind of unmanned boat retracting device and unmanned boat Download PDFInfo
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- CN207791071U CN207791071U CN201721441549.XU CN201721441549U CN207791071U CN 207791071 U CN207791071 U CN 207791071U CN 201721441549 U CN201721441549 U CN 201721441549U CN 207791071 U CN207791071 U CN 207791071U
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Abstract
The utility model discloses a kind of unmanned boat retracting devices, are set on lash ship, including：The crane being set on lash ship deck；The hanger being connected with the cantilever of crane, the hanger includes at least one rotary mount, at least two struts and at least one flexible cable, wherein, the upper end of each strut and the dynamic connection of rotary mount so that each strut can be rotated around rotary mount；The lower end of each strut is connected to the lower end of another strut by flexible cable；Flexible cable is in tensioning state, is suitable for trap setting in the hook on unmanned boat.The invention also discloses corresponding unmanned boat, lifting component is provided on unmanned boat, lifting component includes hanging ring, flexible strand and hook.According to technical solution provided by the utility model, the unmanned boat retracting device being set on lash ship can cooperate with the lifting component being set on unmanned boat, realize the automation recycling of unmanned boat.
Description
Technical field
The utility model is related to ships and light boats recovery technology field more particularly to a kind of unmanned boat retracting devices and unmanned boat.
Background technology
Water surface unmanned boat is a kind of surface platform carrying out autonomous navigation by the self-contained energy, and the scale of construction is small, eats
Water is shallow, maneuverability, can substitute staff and be engaged in operation at sea, at present in water environment detection, hydrographic survey, security protection, core
Safety, flood-fighting etc. are more and more widely used.
After unmanned boat completes operation at sea, it usually needs be recycled to lash ship.Existing recovery scheme is, in the water surface
On with lash ship lift by crane unmanned boat.Due to nobody on unmanned boat, it is close that this scheme generally requires staff's seating motorboat
Unmanned boat completes the hanging buckle of lash ship boom hoisting and unmanned boat.The risk of manpower hanging buckle is larger, and especially at sea environment compares
In the case of severe, it be easy to cause personnel's injury, it is difficult to realize that unmanned boat recycles.
Utility model content
For this purpose, a kind of unmanned boat retracting device of the utility model offer and unmanned boat, on trying hard to solve or at least alleviate
Face there are the problem of.
One side according to the present utility model provides a kind of unmanned boat retracting device, is set on lash ship, including：If
The crane being placed on lash ship deck；The hanger being connected with the cantilever of the crane, the hanger include at least one rotation
Fixing piece, at least two struts and at least one flexible cable, the upper end of each strut and the dynamic company of the rotary mount
It connects so that each described strut is suitable for rotating around the rotary mount；The lower end of each strut passes through flexible cable
It is connected to the lower end of another strut, the flexible cable is in tensioning state, is suitable for trap setting in the hook on unmanned boat.
Optionally, in unmanned boat retracting device according to the present utility model, hanger further includes pre-fixing component, described pre-
The both ends of fixation kit are respectively connected to the middle and upper part of two struts, suitable for making two struts at the first predetermined angular, and make
The flexible cable of two struts of connection is in tensioning state.
Optionally, in unmanned boat retracting device according to the present utility model, flexible cable is that steel wire rope or synthetic fibers are hung
Fill band.
Optionally, in unmanned boat retracting device according to the present utility model, hanger is tripod, including a rotation is admittedly
Determine part, two struts, a flexible cable and one pre-fix component, the upper end of described two struts passes through the rotary mount
It is hinged；The lower end of described two struts is connected by the flexible cable；The both ends for pre-fixing component are respectively connected to two
The middle and upper part of strut.
Optionally, in unmanned boat retracting device according to the present utility model, tripod passes through telescopic sleeve and described
The cantilever of heavy-duty machine connects.
Optionally, in unmanned boat retracting device according to the present utility model, hanger is conical mount, including a rotation is admittedly
Determine part, three struts, three flexible cables and three pre-fix component, the upper end of each strut with the rotary mount is dynamic connects
It connects, each described strut is suitable for rotating around the rotary mount；The lower end of three struts passes through three flexibilities
Cable connects two-by-two；Each both ends for pre-fixing component is respectively connected to the middle and upper part of two struts.
Other side according to the present utility model provides a kind of unmanned boat, is provided with lifting component, the lifting
Component includes hanging ring, flexible strand and hook, and the hanging ring and the hook are individually fixed on the unmanned boat, the hanging ring and
The hook is connected by the flexible strand.
Optionally, in unmanned boat according to the present utility model, hook by the first locking assembly be fixed on it is described nobody
On ship mast, first locking assembly is suitable for unlocking in the hook under tension so that the hook is detached from mast.
Optionally, in unmanned boat according to the present utility model, lifting component further includes supporting rod, and the supporting rod is fixed
In, at the second predetermined angular, the hook passes through the second locking assembly on the unmanned boat and with the boat body plane of the unmanned boat
It is fixed on the supporting rod；Second locking assembly is suitable for unlocking when the hook receives pulling force so that the hook
It is detached from the supporting rod.
Optionally, in unmanned boat according to the present utility model, the first locking assembly and the second locking assembly are clip knot
Structure.
Technical solution according to the present utility model is provided with unmanned boat retracting device, unmanned boat retracting device packet on lash ship
Include crane and hanger.Hanger can be tripod, conical mount etc. comprising at least one rotary mount, at least two supports
Bar and at least one flexible cable.Lifting component is provided on unmanned boat, lifting component includes hanging ring, flexible strand and hook etc..It hangs
Flexible cable on frame is suitable for capturing the hook on unmanned boat, to realize the connection of hanger and unmanned boat, in the traction of crane
Under, drive unmanned boat lifting.
The technical solution of the utility model can it is convenient, effectively realize unmanned boat automation recycling so that work people
The recycling of unmanned boat can be completed in member on lash ship, and the behaviour such as hanging buckle are executed without being gone on the personnel to unmanned boat that specially arrange work
Make, improves the safety of unmanned boat recycling.
Description of the drawings
To the accomplishment of the foregoing and related purposes, certain illustrative sides are described herein in conjunction with following description and drawings
Face, these aspects indicate the various modes that can put into practice principles disclosed herein, and all aspects and its equivalent aspect
It is intended to fall in the range of theme claimed.Read following detailed description in conjunction with the accompanying drawings, the disclosure it is above-mentioned
And other purposes, feature and advantage will be apparent.Throughout the disclosure, identical reference numeral generally refers to identical
Component or element.
Fig. 1 shows the structure chart of the unmanned boat retracting device 100a according to the utility model one embodiment；
Fig. 2 shows the structure charts according to the unmanned boat retracting device 100b of the utility model another embodiment；
Fig. 3 shows the structure chart of the unmanned boat 200a according to the utility model one embodiment；
Fig. 4 shows the structure chart of the unmanned boat 200b according to the utility model one embodiment；
Fig. 5 A-5C show the schematic diagram of the process of the unmanned boat retracting device 100a recycling unmanned boats of the utility model.
Specific implementation mode
The exemplary embodiment of the disclosure is more fully described below with reference to accompanying drawings.Although showing the disclosure in attached drawing
Exemplary embodiment, it being understood, however, that may be realized in various forms the disclosure without should be by embodiments set forth here
It is limited.On the contrary, these embodiments are provided to facilitate a more thoroughly understanding of the present invention, and can be by the scope of the present disclosure
Completely it is communicated to those skilled in the art.
Fig. 1, Fig. 2 shows returned according to the unmanned boat retracting device 100a and unmanned boat of two embodiments of the utility model
The structure chart of receiving apparatus 100b.As shown in Figure 1 and Figure 2, unmanned boat retracting device 100a includes crane 110 and hanger 120.It rises
Heavy-duty machine 110 is set on the deck of lash ship.Hanger 120 is connected with the cantilever 112 of crane 110, is suitable for lifting unmanned boat.
Hanger 120 includes rotary mount 122, at least two struts 124 and at least one flexible cable 126.It is general next
It says, the length of each strut 124 is identical, and the length of each flexible cable 126 is also identical, and entire hanger 120 is rendered as an axial symmetry knot
Structure, to realize the steady lifting of unmanned boat.Dynamic connection is established in the upper end of each strut 124 with rotary mount 122 so that
Each strut 124 can be rotated around rotary mount 122.The lower end of each strut 124 is connected to separately by flexible cable 126
The lower end of one strut 124, for example, in Fig. 1, the lower end of the lower end of left side strut 124 and the strut 124 on right side passes through flexibility
Cable 126 connects.Flexible cable 126 is in tensioning state, is suitable for trap setting in hook (such as following hooks on unmanned boat
216).According to a kind of embodiment, flexible cable is steel wire rope or hoisting synthetic fiber belt, will produce shape when by external pull
Become, restore to the original state when pulling force removes (certainly, it will be appreciated by those skilled in the art that when pulling force goes beyond the limit, flexible cable meeting
Permanent deformation is generated, will not be restored to the original state again).It should be pointed out that in addition to steel wire rope and hoisting synthetic fiber belt, flexible cable may be used also
Think that other materials, the utility model are not limited the material of flexible cable.
According to a kind of embodiment, hanger 120 further includes pre-fixing component 128.The both ends for pre-fixing component 128 are separately connected
To the middle and upper part of two struts 124, suitable for making two struts 124 at the first predetermined angular, and make the soft of two struts of connection
Property cable is in tensioning state.For example, strutting two struts 124 as shown in Figure 1, pre-fixing component 128, make two struts at first
Predetermined angle.
Hanger 120 can be various structures.According to a kind of embodiment, as shown in Figure 1, hanger 120a is tripod, including
One flexible cable 126 of strut 124, one of rotary mount 122, two and one pre-fix component 128.Two struts 124
Upper end is hinged by rotary mount 122, and the lower end of two struts 124 is connected by flexible cable 126.Pre-fix component 128
Both ends are respectively connected to the middle and upper part of two struts 124, make two struts 124 at the first predetermined angle, and flexible cable 126, which is in, opens
Tight state.It should be pointed out that the value of the first predetermined angle can be voluntarily arranged by those skilled in the art according to actual conditions,
The value of the first predetermined angle of the utility model pair is not limited.By pre-fixing the support of component 128, the two of hanger 120a
A strut 124 and flexible cable 126 constitute an isosceles triangle, and two bevel edges of the triangle are strut 124, and bottom edge is soft
Property cable 126.Flexible cable 126 is in tensioning state, is suitable for trap setting in the hook on unmanned boat, in crane 110
Traction is lower to drive unmanned boat lifting.According to a kind of embodiment, the hanger 120a shown in FIG. 1 shaped like tripod passes through telescopic sleeve
130 connect with the cantilever 112 of crane 110.
According to another embodiment, as shown in Fig. 2, hanger 120b is conical mount (pyrometric cone), including a rotation is fixed
The flexible cable 126 of strut 124, three of part 122, three and three pre-fix component 128.The upper end of each strut 124 with rotation
Turn fixing piece 122 and establish dynamic connection so that each strut 124 can be rotated around rotary mount 122.Three struts 124
Lower end is connected two-by-two by three flexible cables 126.Each both ends for pre-fixing component 128 is respectively connected to two struts 124
Middle and upper part, make three struts, 124 liang of first predetermined angulars of twenty percent.It should be pointed out that the first predetermined angular of the utility model pair
Value is not limited.The support for pre-fixing component 128 by three, three struts 124 and three flexible cables 126 of hanger 120b
An isoceles triangle cone is constituted, three bevel edges of the pyrometric cone are three struts 124, and three bottom edges are three flexible cables 126.
Flexible cable 126 is in tensioning state, is suitable for trap setting in the hook on unmanned boat, in the traction lower band of crane 110
Dynamic unmanned boat lifting.
It should be pointed out that Fig. 1, Fig. 2 respectively illustrate two kinds of possible structures of hanger 120, but those skilled in the art's root
According to foregoing description it should be known that hanger 120 can also be other structures, the utility model does not do the concrete structure of hanger 120
Limitation.
Unmanned boat retracting device 100a, 100b described in Fig. 1, Fig. 2 are suitable for lifting unmanned boat.With the nothing being set on lash ship
People's ship retracting device 100 is corresponding, and lifting component 210 is provided on unmanned boat, and lifting component 210 includes hanging ring 212, flexible strand
214 and hook 216.Hanging ring 212 and hook 216 are individually fixed on unmanned boat, and hanging ring 212 and hook 216 pass through flexible strand
214 connections.According to a kind of embodiment, flexible strand 214 is steel wire rope or hoisting synthetic fiber belt, but not limited to this.
It can be various structures to lift by crane component 210.According to a kind of embodiment, as shown in figure 3, being provided on unmanned boat 200a
Component 210a is lifted by crane, lifting component 210a includes hanging ring 212, flexible strand 214 and hook 216.Wherein, hanging ring 212 is fixed on nothing
On the boat body plane of people's ship 200a, hook 216 is fixed on by the first locking assembly (first on the mast 220 of unmanned boat 200a
Locking assembly is not shown in figure 3).First locking assembly is suitable for unlocking when linking up with 216 by upward pulling force so that hook
216 are detached from mast 220.For example, hook 216 catches on the flexible cable 126 on hanger 120, crane 110 draws hanger 120 and rises,
Hook 216 is by the upward pulling force of flexible cable 126, and the unlock of the first locking assembly, hook 216 is detached from mast, by 126 band of flexible cable
It is dynamic to rise.According to a kind of embodiment, the first locking assembly is yoke configurations.Certainly, in other examples, the first locking group
Part can also be other structures, and the concrete structure of the first locking assembly of the utility model pair is not limited.
According to another embodiment, as shown in figure 4, being provided with lifting component 210b on unmanned boat 200b, component is lifted by crane
210b includes hanging ring 212, flexible strand 214, hook 216 and supporting rod 218.Wherein, hanging ring 212 is fixed on the ship of unmanned boat 200b
In body plane.Supporting rod 218 is fixed on unmanned boat 200b, and with the boat body plane of unmanned boat 200b at the second predetermined angular β.
It should be pointed out that the second predetermined angular β can be voluntarily arranged by those skilled in the art, the utility model does not limit its value
System.Hook 216 is fixed on strut 218 (the second locking assembly is not shown in Fig. 4) by the second locking assembly, the second locking
Component is suitable for unlocking when linking up with 216 by upward pulling force so that hook 216 is detached from supporting rod 218.According to a kind of implementation
Example, the second locking assembly are yoke configurations.Certainly, in other examples, the second locking assembly can also be other structures,
The concrete structure of the second locking assembly of the utility model pair is not limited.
It should be pointed out that Fig. 3, Fig. 4 respectively illustrate two kinds of possible structures of lifting component 210, but people in the art
Member should be known that lifting component 210 can also be other structures according to foregoing description, and the utility model is to lifting component 210
Concrete structure is not limited.
Fig. 5 A-5C show the schematic diagram of the process of the unmanned boat retracting device 100a recycling unmanned boats of the utility model.
First, crane 110 transfers hanger 120a.Then, control unmanned boat 200 is with more than the travel speed of lash ship and lash ship row in the same direction
It sails, so that flexible cable 126 captures hook 216.As shown in Figure 5A, flexible cable 126 captures hook 216.Then, such as Fig. 5 B institutes
Show, lifting machine travel hanger 120a rises, hook 216 by flexible cable 126 upward pulling force, meanwhile, flexible cable 126 also by
To 216 downward pulling force of hook and deformation is generated, strut 124 rotates around rotary mount 122, the folder between strut 124
Angle becomes smaller, and at this moment, unmanned boat 200 is still located on the water surface, is not yet lifted by crane.As shown in Figure 5 C, when the angle between strut 124 is small
When to a certain extent (close to 0 °), the angle between two struts 124 no longer changes, and flexible cable 126 is in limit of stretch state,
Lifting machine travel hanger 120a rises, and unmanned boat 200 is driven rising, when rising to lash ship deck, you can by staff
Unmanned boat 200 is unloaded in the connection for disconnecting hook 216 and flexible cable 126, completes recycling.
It should be pointed out that current the technical solution of the utility model is only applicable to unmanned boat and recycles automatically.But it can also
Unmanned boat is transferred from lash ship to the water surface by the way that localized approach is transformed or is realized using conventional scheme, details are not described herein again.
The technical solution of the utility model can it is convenient, effectively realize unmanned boat automation recycling so that work people
The recycling of unmanned boat can be completed in member on lash ship, and the behaviour such as hanging buckle are executed without being gone on the personnel to unmanned boat that specially arrange work
Make, improves the safety of unmanned boat recycling.
In the instructions provided here, numerous specific details are set forth.It is to be appreciated, however, that the utility model
Embodiment can be put into practice without these specific details.In some instances, well known side is not been shown in detail
Method, structure and technology, so as not to obscure the understanding of this description.
Similarly, it should be understood that in order to simplify the disclosure and help to understand one or more in each utility model aspect
It is a, above in the description of the exemplary embodiment of the utility model, each feature of the utility model is divided together sometimes
In group to single embodiment, figure or descriptions thereof.However, the method for the disclosure should be construed to reflect following meaning
Figure：The requires of the utility model i.e. claimed is than the feature more features that is expressly recited in each claim.More
Exactly, as reflected in the following claims, it is to be less than single reality disclosed above in terms of utility model
Apply all features of example.Therefore, it then follows thus claims of specific implementation mode are expressly incorporated in the specific implementation mode,
Separate embodiments of wherein each claim as the utility model itself.
Those skilled in the art should understand that the module of the equipment in example disclosed herein or unit or groups
Part can be arranged in equipment as depicted in this embodiment, or alternatively can be positioned at and the equipment in the example
In different one or more equipment.Module in aforementioned exemplary can be combined into a module or be segmented into addition multiple
Submodule.
Those skilled in the art, which are appreciated that, to carry out adaptively the module in the equipment in embodiment
Change and they are arranged in the one or more equipment different from the embodiment.It can be the module or list in embodiment
Member or component be combined into a module or unit or component, and can be divided into addition multiple submodule or subelement or
Sub-component.Other than such feature and/or at least some of process or unit exclude each other, it may be used any
Combination is disclosed to all features disclosed in this specification (including adjoint claim, abstract and attached drawing) and so to appoint
Where all processes or unit of method or equipment are combined.Unless expressly stated otherwise, this specification (including adjoint power
Profit requires, abstract and attached drawing) disclosed in each feature can be by providing the alternative features of identical, equivalent or similar purpose come generation
It replaces.
In addition, it will be appreciated by those of skill in the art that although some embodiments described herein include other embodiments
In included certain features rather than other feature, but the combination of the feature of different embodiments means in this practicality newly
Within the scope of type and form different embodiments.For example, in the following claims, embodiment claimed
One of arbitrary mode can use in any combination.
In addition, be described as herein can be by the processor of computer system or by executing for some in the embodiment
The combination of method or method element that other devices of the function are implemented.Therefore, have for implementing the method or method
The processor of the necessary instruction of element forms the device for implementing this method or method element.In addition, device embodiment
Element described in this is the example of following device：The device is used to implement the element institute by the purpose in order to implement the utility model
The function of execution.
As used in this, unless specifically stated, come using ordinal number " first ", " second ", " third " etc.
Description plain objects are merely representative of the different instances for being related to similar object, and are not intended to imply that the object being described in this way must
Must have the time it is upper, spatially, in terms of sequence or given sequence in any other manner.
Although the embodiment according to limited quantity describes the utility model, above description, this technology are benefited from
It is in field it is clear for the skilled person that in the scope of the utility model thus described, it can be envisaged that other embodiments.In addition,
It should be noted that the language used in this specification primarily to readable and introduction purpose and select, rather than in order to
It explains or limits the theme of the utility model and select.Therefore, without departing from the scope and spirit of the appended claims
In the case of, many modifications and changes will be apparent from for those skilled in the art.For this
The range of utility model, the disclosure done to the utility model are illustrative and not restrictive, the scope of the utility model
It is defined by the appended claims.
Claims (11)
1. a kind of unmanned boat retracting device, is set on lash ship, which is characterized in that including：
The crane being set on lash ship deck；
The hanger being connected with the cantilever of the crane, the hanger include at least one rotary mount, at least two struts
With at least one flexible cable,
The upper end of each strut and the dynamic connection of the rotary mount so that each described strut is suitable for around the rotation
Turn fixing piece rotation；
The lower end of each strut is connected to the lower end of another strut by flexible cable, and the flexible cable is in tensioning shape
State is suitable for trap setting in the hook on unmanned boat.
2. device as described in claim 1, which is characterized in that the hanger further includes pre-fixing component, described to pre-fix group
The both ends of part are respectively connected to the middle and upper part of two struts, suitable for making two struts at the first predetermined angular, and make connection two
The flexible cable of a strut is in tensioning state.
3. device as described in claim 1, which is characterized in that the flexible cable is steel wire rope or hoisting synthetic fiber belt.
4. device as claimed in claim 2, which is characterized in that the hanger is tripod, including rotary mount, two
A strut, a flexible cable and one pre-fix component,
The upper end of described two struts is hinged by the rotary mount；
The lower end of described two struts is connected by the flexible cable；
The both ends for pre-fixing component are respectively connected to the middle and upper part of two struts.
5. device as claimed in claim 4, which is characterized in that the tripod passes through the outstanding of telescopic sleeve and the crane
Arm connects.
6. device as claimed in claim 2, which is characterized in that the hanger is conical mount, including rotary mount, three
A strut, three flexible cables and three pre-fix component,
The upper end of each strut is suitable for the dynamic connection of the rotary mount, each described strut around the rotary mount
Rotation；
The lower end of three struts is connected two-by-two by three flexible cables；
Each both ends for pre-fixing component is respectively connected to the middle and upper part of two struts.
7. a kind of unmanned boat, which is characterized in that be provided with lifting component on the unmanned boat, the lifting component include hanging ring,
Flexible strand and hook, the hanging ring and the hook are individually fixed on the unmanned boat, and the hanging ring and the hook pass through
The flexible strand connection.
8. unmanned boat as claimed in claim 7, which is characterized in that the hook is fixed on the nothing by the first locking assembly
On people's ship mast, first locking assembly is suitable for unlocking in the hook under tension so that the hook is detached from mast
Bar.
9. unmanned boat as claimed in claim 7, which is characterized in that the lifting component further includes supporting rod, the supporting rod
It is fixed on the unmanned boat and with the boat body plane of the unmanned boat at the second predetermined angular, the hook passes through the second locking
Component is fixed on the supporting rod；Second locking assembly is suitable for unlocking when the hook receives pulling force so that described
Hook is detached from the supporting rod.
10. unmanned boat as claimed in claim 8, which is characterized in that first locking assembly is yoke configurations.
11. unmanned boat as claimed in claim 9, which is characterized in that second locking assembly is yoke configurations.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721441549.XU CN207791071U (en) | 2017-10-31 | 2017-10-31 | A kind of unmanned boat retracting device and unmanned boat |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721441549.XU CN207791071U (en) | 2017-10-31 | 2017-10-31 | A kind of unmanned boat retracting device and unmanned boat |
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| Publication Number | Publication Date |
|---|---|
| CN207791071U true CN207791071U (en) | 2018-08-31 |
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ID=63285336
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721441549.XU Active CN207791071U (en) | 2017-10-31 | 2017-10-31 | A kind of unmanned boat retracting device and unmanned boat |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110949623A (en) * | 2019-12-17 | 2020-04-03 | 谌薏冰 | Intelligent water body traveling robot |
| CN111114699A (en) * | 2019-12-24 | 2020-05-08 | 中国船舶重工集团有限公司第七一0研究所 | Traction device is hung to stumbling in stern becket exhibition |
| CN111572716A (en) * | 2020-05-21 | 2020-08-25 | 珠海云洲智能科技有限公司 | Unmanned ship recovery method and unmanned ship recovery system used for same |
| CN111846118A (en) * | 2020-08-27 | 2020-10-30 | 北京南风科创应用技术有限公司 | Remote control safety recovery system and method for offshore unmanned aircraft |
-
2017
- 2017-10-31 CN CN201721441549.XU patent/CN207791071U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110949623A (en) * | 2019-12-17 | 2020-04-03 | 谌薏冰 | Intelligent water body traveling robot |
| CN111114699A (en) * | 2019-12-24 | 2020-05-08 | 中国船舶重工集团有限公司第七一0研究所 | Traction device is hung to stumbling in stern becket exhibition |
| CN111572716A (en) * | 2020-05-21 | 2020-08-25 | 珠海云洲智能科技有限公司 | Unmanned ship recovery method and unmanned ship recovery system used for same |
| CN111846118A (en) * | 2020-08-27 | 2020-10-30 | 北京南风科创应用技术有限公司 | Remote control safety recovery system and method for offshore unmanned aircraft |
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