CN208085948U - A kind of multi-functional unmanned boat - Google Patents
A kind of multi-functional unmanned boat Download PDFInfo
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- CN208085948U CN208085948U CN201721874177.XU CN201721874177U CN208085948U CN 208085948 U CN208085948 U CN 208085948U CN 201721874177 U CN201721874177 U CN 201721874177U CN 208085948 U CN208085948 U CN 208085948U
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Abstract
The utility model discloses a kind of multi-functional unmanned boat, including hull (1), the hull (1) includes：Propulsion system (11), including at least one propeller (111), for changing the athletic posture of the hull (1)；Camera system (12), including at least one camera (121), the camera (121) being capable of multivariant adjustment shooting angle；Communication system (13), including signal receiving module and signal emission module, the signal receiving module are used to emit signal to external control system for receiving the external signal that the unmanned boat detects, the signal emission module；And control system (14), working condition, the shooting angle of the adjustment camera system (12) and the communication of the communication system (13) inside and outside for controlling the propulsion system (11).Whole system is intuitive, using convenient, multiple functional, has larger intelligent use foreground.
Description
Technical field
The utility model is related to a kind of unmanned boat, more particularly to a kind of multi-functional unmanned boat.
Background technology
Existing unmanned boat on the market common are drone, beat nest ship, fish deteclor, and wherein drone can only realize letter
It is navigated by water in single water, the nest ship of beating can carry out easy material dispensing, and the fish deteclor can only be carried out by Sonar system
Simple shoal of fish identification.These unmanned boats have a single function, and intelligence degree is not high, can not achieve automatic under complex water areas environment
Control, seeks the operations such as fish at material allocation, the transmission of real-time image, video can not be carried out according to underwater environment, or can not
It realizes multi-angle, multivariant observation, shooting, transmission, and to realize enough intelligences, need to overcome in the prior art
Many difficulties carry out concentrating research and development that could obtain comparatively ideal unmanned boat system.
Utility model content
Therefore, the utility model provides a kind of multi-functional unmanned boat, to solve existing unmanned boat using not smart enoughization
Technical problem.
In order to achieve the above objectives, a kind of multi-functional unmanned boat provided by the utility model, including hull 1, the hull 1
Including：Propulsion system 11, including at least one propeller 111, for changing the athletic posture of the hull 1；Camera system 12,
Including at least one camera 121, the camera 121 being capable of multivariant adjustment shooting angle；Communication system 13, including
Signal receiving module and signal emission module, the signal receiving module are used to receive the external letter that the unmanned boat detects
Number, the signal emission module is used to emit signal to external control system；And control system 14, for controlling the propulsion
The communication of 13 inside and outside of shooting angle and the communication system of the working condition of system 11, the adjustment camera system 12.
One of them embodiment according to the present utility model, the propulsion system 11 further includes a steering rudder 112, is led to
Cross the propeller 111 and/or the athletic posture for turning to rudder 112 and changing the hull 1.
One of them embodiment according to the present utility model, the propeller 111 are motor helical paddle propeller or spray
Water propeller.
One of them embodiment according to the present utility model, the athletic posture include：Advance, retreat, turning left, is right
Turn, rotate, shake the head, nod.
One of them embodiment according to the present utility model, the camera system 12 further include：Head rod 122；
Second connecting rod 123 is connect with the head rod 122 by the first rotation axis 124；Second rotation axis 125, described in connection
Camera 121 and second connecting rod 123.
One of them embodiment according to the present utility model, first rotation axis 124, the second rotation axis 125
It is driven by electric or hand mode.
One of them embodiment according to the present utility model, the unmanned boat further include：Nest-making device 3, carry is in described
On hull 1, for launching goods and materials.
One of them embodiment according to the present utility model, the nest-making device 3 include：Cavity 31, for accommodating described
Goods and materials；Rotating mechanism 32 is fixedly connected with the cavity 31, and the rotation of the rotating mechanism 32 drives the cavity 31 to overturn, from
And it realizes goods and materials and discharges.
One of them embodiment according to the present utility model, the unmanned boat further include：Towing hook device 2 is set to described
1 tail portion of hull, for pulling load.
One of them embodiment according to the present utility model, the unmanned boat further include：Fish device 4 is sought, carry is in described
On hull 1, wired or wireless communication is carried out by the communication system 13 and the hull 1.
In conclusion the multi-functional unmanned boat of the utility model, contains camera, nest-making device, seeks fish device, towing hook device etc. and is more
A equipment it is highly integrated, and be equipped with corresponding control operating system and connected with Intelligent hardware, it is intelligentized to increase unmanned boat
Multifunctional application, by using telecommunication module, multiple degrees of freedom camera, Digiplex intelligently seeks the setting of fish device, energy
Enough meet existing underwater a variety of demands, and can sub-marine situations be subjected to image or transmission of video in real time, by the bank may be used
It intuitively controlled, shown depending on change system, more easily obtain underwater abundant topography and geomorphology, whole system is intuitive, answers
With convenient, multiple functional, there is larger intelligent use foreground.Aforementioned and other technology contents, spy in relation to the utility model
Point and effect can be clearly presented in the detailed description of the embodiment of following cooperation refer to the attached drawing.
Description of the drawings
Fig. 1 is the multi-functional unmanned boat system structure diagram of the utility model embodiment.
Fig. 2 is the multi-functional unmanned boat system impeller system structural schematic diagram of the utility model embodiment.
Fig. 3 is the multi-functional unmanned boat system camera system structural schematic diagram of the utility model embodiment.
Fig. 4 is the multi-functional unmanned boat system nest-making device structural schematic diagram of the utility model embodiment.
Specific implementation mode
In order to keep the purpose of this utility model, technical solution and advantage clearer, below in conjunction with attached drawing to this practicality
It is novel to be described in further detail, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than
Whole embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work
Under the premise of all other embodiment for being obtained, shall fall within the protection scope of the present invention.
The term used in the embodiment of the present application is the purpose only merely for description specific embodiment, is not intended to be limiting
The application.In the embodiment of the present application and "an" of singulative used in the attached claims, " described " and "the"
It is also intended to including most forms, unless context clearly shows that other meanings, " a variety of " generally comprise at least two.
It should be appreciated that term "and/or" used herein is only a kind of incidence relation of description affiliated partner, indicate
There may be three kinds of relationships, for example, A and/or B, can indicate：Individualism A, exists simultaneously A and B, individualism B these three
Situation.In addition, character "/" herein, it is a kind of relationship of "or" to typically represent forward-backward correlation object.
It will be appreciated that though may XXX be described using term first, second, third, etc. in the embodiment of the present application, but
These XXX should not necessarily be limited by these terms.These terms are only used for distinguishing XXX.For example, not departing from the embodiment of the present application model
In the case of enclosing, the first XXX can also be referred to as the 2nd XXX, and similarly, the 2nd XXX can also be referred to as the first XXX.
Depending on context, word as used in this " if ", " if " can be construed to " ... when " or
" when ... " or " in response to determination " or " in response to detection ".Similarly, context is depended on, phrase " if it is determined that " or " such as
Fruit detect (condition or event of statement) " can be construed to " when determining " or " in response to determination " or " when detection (statement
Condition or event) when " or " in response to detection (condition or event of statement) ".
It should also be noted that, the terms "include", "comprise" or its any other variant are intended to nonexcludability
Including so that commodity or system including a series of elements include not only those elements, but also include not clear
The other element listed, or further include for this commodity or the intrinsic element of system.In the feelings not limited more
Under condition, the element that is limited by sentence "including a ...", it is not excluded that including the element commodity or system in also
There are other identical elements.
The preferred embodiment of the utility model is described in detail in 1-4 below in conjunction with the accompanying drawings.
As shown in Figure 1, being the multi-functional unmanned boat system structure diagram of the utility model embodiment, terminal part is removed
(removing APP and remote controler far from hull) it is considered that belonging to multi-functional unmanned boat part, which includes：
Hull 1, the hull 1 further comprise propulsion system 11, camera system 12, communication system 13 and control system 14, these
Belong to 1 body part of hull；Wherein, the propulsion system 11 includes at least one propeller 111, for changing the hull
1 athletic posture；Camera system 12 includes at least one camera 121, and the camera 121 being capable of multivariant adjustment bat
Take the photograph angle；Communication system 13 includes signal receiving module and signal emission module, and the signal receiving module is described for receiving
The external signal that unmanned boat detects, the signal emission module are used to emit signal to external control system；Control system 14
Working condition, the shooting angle for adjusting the camera system 12 and the communication system for controlling the propulsion system 11
The communication of 13 inside and outsides.
By installing propulsion system 11, camera system 12, communication system 13 and control inside hull 1 shown in this part
The hull 1 with basic function is formed after the equal avionics control system of system 14.Propulsion system 11 is preferably pushed away including at least one
Into device 111, at this point, when embodiment is single propeller, it may be used and pushed away immediately below the tail portion way of propelling or hull 1
Flowing mode is arranged, and ensures that the unmanned boat can be with free running.Common, the propeller includes engine and propeller, institute
It states engine to be controlled by control system 14, the mounting means of positive paddle or anti-paddle may be used in propeller.Camera system 12,
Include the camera structure using waterproofing design, the adjusting and shooting of angle are realized by the control of control system 14.Communication system
System 13 generally includes signal receiving module and signal emission module, and the signal receiving module is for receiving the unmanned boat detection
The external signal arrived, the signal emission module are used to emit signal to external control system；One side of the signal receiving module
Face is used to receive the signal of detector (such as the depth detector, hygrosensor etc.) return of unmanned boat itself and such as takes the photograph
On the other hand video, picture signal as system photographs are used to receive the control signal that external remote is sent out.And the signal
Transmitting module is mainly used for ashore console transmitting image video signal and the signal of unmanned boat oneself state information.Institute
It states transmitting or received signal module and preferably uses sonar module.Sonar module has certain transmission advantage in water.Control
System 14 controls the propulsion system 11, the camera system 12 and all work of the communication system 13 and refers to for whole
It enables.
In one embodiment, control system 14 may include central processing element, including the processing of microprocessor, monokaryon
Device, multi-core processor, microcontroller, logical device (such as：Be configured to carry out the programmable logic device of processing function), number
According to signal handling equipment or the well known processor of some other types.Central processing element be suitable for the propulsion system 11,
The camera system 12 and the communication system 13 interact communication.
Specifically, as shown in Fig. 2, propulsion system described in the utility model 11 may include more than two propellers 111,
Preferably 2-7, by the different location in hull 1, multiple propellers 111 are arranged in different directions, in conjunction with control system 14
Flexible control, may be implemented multiple pose adjustments of hull, for example, athletic posture include：Advance, retreat, turning left, turning right,
Rotate, shake the head, putting head etc..It is, of course, preferable to embodiment in, can also include a steering rudder, by being set to the ship
The pose adjustment for turning to rudder and realizing hull 1 in body 1.Certainly, the steering rudder can coordinate with the propeller 111 and control,
Realize the adjustment of posture, for example, when working using twin screws 111, two propellers are symmetrically disposed on 1 liang of the hull
Side, as shown in Fig. 2, at this time control two propellers power, keep the big power of one power small, and make steering rudder break to
The function of turning left thus may be implemented in the small side of power, equally, can be in conjunction with the setting of propeller according to knowledge is driven
Position, quantity and the direction for turning to rudder, the advance of hull may be implemented, retrogressing, left-hand rotation, right-hand rotation, rotate, shake the head, putting head etc.
Adjustment.
In the embodiment of the utility model, the propeller 111 can be motor combination propeller type propeller or spray
Water propeller.Motor combination propeller type propeller, a usual motor is wherein preferably used to drive a propeller, certainly,
The motor rotating forward reversion can match the anti-paddle of positive paddle and be promoted.
As shown in figure 3, one of the utility model embodiment, the camera system 12 further include：First connection
Bar 122；Second connecting rod 123 is connect with the head rod 122 by the first rotation axis 124；Second rotation axis 125, even
Connect the camera 121 and second connecting rod 123.First rotation axis 124, the second rotation axis 125 can pass through electricity
The driving of dynamic or manual mode.Above-mentioned double rotation axis rotation, can meet waterborne and underwater viewing angles, wherein the first rotation axis
124 (elbow joints) are preferably electric drive, and the second rotation axis 125 (wrist joint) is preferably manual.The camera support 4K cameras and
The two kinds of configurations of FHD cameras, camera have headlamp, can be shot to camera and provide certain illumination, which can be extremely
A few LED light, and be arranged in juxtaposition with camera, it rotating together, the LED light brightness is adjustable, to adapt to different illumination needs,
Meanwhile when that need not shoot, brightness can be transferred to most dark or closed.The camera can surround the second rotation axis 360
Degree rotation, to adapt to the shooting needs of any angle, user can pass through one key rollover camera preview of button on APP and recording
Interface, with can positive preview and recording image after ensureing the rotation of camera mechanism more than 90 °.
Preferably, headlamp includes lighting control module, and the fish-luring light and photograph being separately connected with lighting control module
Bright lamp, lighting control module is for controlling and adjusting light source, while lighting control module is electrically connected with central control unit, is connect
It receives and is instructed by the signal light control that central control unit is assigned.Fish-luring light includes waterproof circuit board plate and setting on circuit boards more
A LED electroluminescent lamps, wherein the LED electroluminescent lamps can send out visible light and black light, the visible light include at least feux rouges,
Green light and blue light, wherein the LED electroluminescent lamp sparklings shine, to conducive to cause the shoal of fish note that and it is described not
Visible light includes at least infrared light, and setting black light is since it is considered that fish is different from human eye to the perception of light, and fish can perceive
Infrared light.Further, lighting control module can control the brightness of LED electroluminescent lamps and be shone according to the result of detection of sonar unit
Color, such as when finding target shoal of fish distance farther out, the strong light of lighting control module control fish-luring light transmitting penetration power come into
Row attracting, while luminous brightness can also be enhanced.
As Figure 1 and Figure 4, the unmanned boat can also include：Towing hook device 2 is set to 1 tail portion of the hull, for dragging
Load is dragged, can be used for pulling fishing line fish hook, relief goods etc., user discharges towing hook device after transporting goods and materials to appointed place, transported
Send goods and materials that can voluntarily fall off from hull.The quantity of the towing hook device 2 is not particularly limited, can be according to the tool of the unmanned boat
Body structure setting 1-3, is advisable with being enough to pull load.The towing hook device is usually set to by welding or integral forming process
On hull 1, it is preferred that be set to 1 tail inner side of hull, realized in a manner of more hidden.
Preferably, as shown in figure 4, the unmanned boat can also include：Nest-making device 3, carry are used on the hull 1
Launch goods and materials；Cavity 31 is set in nest-making device, the goods and materials (bait etc.) transported can will be needed to be loaded in cavity 31, be transported by hull
To designated position, goods and materials in cavity are discharged to the water surface by rotary drive mechanism.The nest-making device 3 can be adopted with towing hook device 2
It with common driving mechanism, can also be operated alone, under the rotation of drive shaft 32, cavity follows to be turned over the nest-making device cavity 31
Turn, to realize release function.
The unmanned boat can also include：Fish device 4 is sought, carry passes through the communication system 13 and institute on the hull 1
It states hull 1 and carries out wired or wireless communication.When it is described seek fish device 4 and find the shoal of fish target when, video or picture signal can be passed
It is defeated to arrive hull 1, hull 1 go by analysis it is dry after, clearly shoal of fish situation will send ashore console.This seeks fish device 4 can be with
It is to be detached from the mode of the hull 1 to be configured, the two is realized by wireless communication mode and communicated, and can also be to seek fish device 4 to set
It is placed in the front end of told unmanned boat, for detecting the shoal of fish target around front end.
Preferably, it seeks fish device 4 and infrared imaging may be used for capturing shoal of fish dynamic image including underwater imaging system
Equipment (such as thermal camera).Imaging system can represent any type of thermal camera, for example, the infrared photography
Machine testing infra-red radiation and being provided with represents data (for example, one or more snapshots or video infrared image).For example, imaging
System can represent be directed toward it is close, in and/or far-infrared spectrum thermal camera.In other implementations, imaging system can wrap
Radar imagery equipment used to capture images and/or sonograms equipment are included, and is set to the control element of remote controler and shows
Show element for seek fish device and communicate with one another.In another embodiment, imaging system, which can represent, utilizes electromagnetism and/or sound
The imaging device of other or different component of spectrum.
Preferably, the fish device of seeking of the utility model includes shell, sonar contact module is provided in the shell, image is adopted
Collect module, fish-baiting instrument and central processing module；The sonar contact module, it is in place for detecting underwater environment and shoal of fish institute
It sets；Described image acquisition module, for recording or shooting underwater picture；The fish-baiting instrument for luring fish close to fish deteclor,
The fish-baiting instrument includes fish-luring light；The sonar contact module, image capture module and fish-baiting instrument respectively with central processing
Module is electrically connected.It realizes and seeks various demands such as fish, fish finding and observation fishing process, in combination with fish-baiting instrument and catch
The device of fish enhances the practicability and interest of entire unmanned boat system.
In other embodiment, the utility model additionally provides a kind of multi-functional unmanned boat system, including any of the above-described institute
The unmanned boat and remote controler stated realize the wired or wireless control with the unmanned boat by the remote controler；Visualization behaviour
Interface is controlled, monitoring, control, track setting and the video of the unmanned boat state are realized by the visualization operation and control interface
Or picture browsing.The unmanned boat carries out autonomous cruise, automatic at least one moved with automatic obstacle-avoiding of making a return voyage.
One of them embodiment according to the present utility model, the remote controler can be remote controler underwater or waterborne, should
The communication control of wired or wireless communication modes and the unmanned boat may be used in remote controler.Nothing may be used under normal circumstances
Line mode is remotely controlled, and this remote control mode is not limited by underwater environment, can be accurate using sonar transmission wireless signal
It is communicated with the unmanned boat of pairing.Under normal conditions, underwater remote-control device needs to carry out waterproof test, especially adapts to such as extra large
The detection of the environment such as water just can guarantee the normal use of subsurface communication.Preferably, remote controler can carry display screen, by and
When visualized operation, can control timely accurately be made to the target conditions detected in underwater environment, facilitate nothing
The quick response of people's ship.It is of course also possible to use in a certain range have line traffic control, timely will can largely regard in this way
Frequency signal transmission is to remote control equipment.
The visualization operation and control interface is APP or operation bench computer system, is preferably realized by way of cell phone application,
In the cell phone application, the monitoring, display, running state parameter of unmanned boat can be set, and are sent to remote controler, it is then described
Control command is sent to the unmanned boat system by remote controler, and on the other hand, the unmanned boat believes underwater video or image
Number Digiplex is transferred to by wired or wireless mode, the Digiplex is transferred to cell phone application, the APP again
It has been shown that, controllers are according to visualization status, then emission control orders are to unmanned boat, such as flutter in real time fish or shooting or
Person's tracking etc..
In conclusion the multi-functional unmanned boat and its system of the utility model, contain camera, nest-making device, seek fish device, drag
The multiple equipments such as hook device it is highly integrated, and be equipped with corresponding control operating system and connected with Intelligent hardware, increase unmanned boat
Intelligentized multifunctional application, by using telecommunication module, multiple degrees of freedom camera, Digiplex intelligently seeks fish device
Setting, disclosure satisfy that existing underwater a variety of demands, and can sub-marine situations be subjected to image or transmission of video in real time, lead to
It crosses visualization system on the bank intuitively to be controlled, shown, more easily obtains underwater abundant topography and geomorphology, whole system
Intuitively, using convenient, multiple functional, there is larger intelligent use foreground.Aforementioned and other technologies in relation to the utility model
Content, feature and effect can be clearly presented in the detailed description of the embodiment of following cooperation refer to the attached drawing.
The apparatus embodiments described above are merely exemplary, wherein the unit illustrated as separating component can
It is physically separated with being or may not be, the component shown as unit may or may not be physics list
Member, you can be located at a place, or may be distributed over multiple network units.It can be selected according to the actual needs
In some or all of module achieve the purpose of the solution of this embodiment.
Finally it should be noted that：Above example is only to illustrate the technical solution of the utility model, rather than its limitations；
Although the utility model is described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that：
It still can be with technical scheme described in the above embodiments is modified, or is carried out to which part technical characteristic etc.
With replacement；And these modifications or replacements, various embodiments of the utility model technology that it does not separate the essence of the corresponding technical solution
The spirit and scope of scheme.
Claims (10)
1. a kind of multi-functional unmanned boat, including hull (1), which is characterized in that the hull (1) includes：
Propulsion system (11), including at least one propeller (111), for changing the athletic posture of the hull (1)；
Camera system (12), including at least one camera (121), the camera (121) being capable of multivariant adjustment bats
Take the photograph angle；
Communication system (13), including signal receiving module and signal emission module, the signal receiving module are described for receiving
The external signal that unmanned boat detects, the signal emission module are used to emit signal to external control system；And
Control system (14), the bat of working condition, the adjustment camera system (12) for controlling the propulsion system (11)
Take the photograph the communication of angle and the communication system (13) inside and outside.
2. unmanned boat as described in claim 1, which is characterized in that the propulsion system (11) further includes a steering rudder
(112), pass through the propeller (111) and/or the athletic posture for turning to rudder (112) and changing the hull (1).
3. unmanned boat as claimed in claim 2, which is characterized in that the propeller (111) be motor helical paddle propeller or
Hydraulic propeller.
4. unmanned boat as claimed in claim 3, which is characterized in that the athletic posture includes：Advance, retreat, turning left, is right
Turn, rotate, shake the head, nod.
5. unmanned boat as described in claim 1, which is characterized in that the camera system (12) further includes：
Head rod (122)；
Second connecting rod (123) is connect with the head rod (122) by the first rotation axis (124)；
Second rotation axis (125) connects the camera (121) and second connecting rod (123).
6. unmanned boat as claimed in claim 5, which is characterized in that first rotation axis (124), the second rotation axis (125)
It can be driven by electric or hand mode.
7. the unmanned boat as described in claim 1-6 is any, which is characterized in that the unmanned boat further includes：
Nest-making device (3), carry is on the hull (1), for launching goods and materials.
8. unmanned boat as claimed in claim 7, which is characterized in that the nest-making device (3) includes：
Cavity (31), for housing the goods and materials；
Rotating mechanism (32) is fixedly connected with the cavity (31), and rotating mechanism (32) rotation drives the cavity (31)
Overturning, to realize that goods and materials discharge.
9. the unmanned boat as described in claim 1-6 is any, which is characterized in that the unmanned boat further includes：
Towing hook device (2) is set to the hull (1) tail portion, for pulling load.
10. the unmanned boat as described in claim 1-6 is any, which is characterized in that the unmanned boat further includes：
Seek fish device (4), carry on the hull (1), by the communication system (13) and the hull (1) carry out it is wired or
Wireless telecommunications.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721874177.XU CN208085948U (en) | 2017-12-27 | 2017-12-27 | A kind of multi-functional unmanned boat |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721874177.XU CN208085948U (en) | 2017-12-27 | 2017-12-27 | A kind of multi-functional unmanned boat |
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| Publication Number | Publication Date |
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| CN208085948U true CN208085948U (en) | 2018-11-13 |
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| CN201721874177.XU Expired - Fee Related CN208085948U (en) | 2017-12-27 | 2017-12-27 | A kind of multi-functional unmanned boat |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108100172A (en) * | 2017-12-27 | 2018-06-01 | 北京臻迪科技股份有限公司 | A kind of multi-functional unmanned boat and its system |
| CN110525614A (en) * | 2019-09-03 | 2019-12-03 | 嘉陵江亭子口水利水电开发有限公司 | A kind of underwater detection device and unmanned boat detection system |
| CN110989617A (en) * | 2019-12-20 | 2020-04-10 | 国家海洋局南海调查技术中心 | Unmanned ship obstacle avoidance control system and unmanned ship |
-
2017
- 2017-12-27 CN CN201721874177.XU patent/CN208085948U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108100172A (en) * | 2017-12-27 | 2018-06-01 | 北京臻迪科技股份有限公司 | A kind of multi-functional unmanned boat and its system |
| CN110525614A (en) * | 2019-09-03 | 2019-12-03 | 嘉陵江亭子口水利水电开发有限公司 | A kind of underwater detection device and unmanned boat detection system |
| CN110989617A (en) * | 2019-12-20 | 2020-04-10 | 国家海洋局南海调查技术中心 | Unmanned ship obstacle avoidance control system and unmanned ship |
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| GR01 | Patent grant | ||
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181113 |