CN207037123U - A kind of marine exploration system for shallow water islands and reefs area - Google Patents
A kind of marine exploration system for shallow water islands and reefs area Download PDFInfo
- Publication number
- CN207037123U CN207037123U CN201720802670.4U CN201720802670U CN207037123U CN 207037123 U CN207037123 U CN 207037123U CN 201720802670 U CN201720802670 U CN 201720802670U CN 207037123 U CN207037123 U CN 207037123U
- Authority
- CN
- China
- Prior art keywords
- detection device
- floating body
- towing cable
- shallow water
- exploration system
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Artificial Fish Reefs (AREA)
Abstract
The utility model discloses a kind of marine exploration system for shallow water islands and reefs area, bathysonde including surveying vessel and Measuring Oceanic depth of water H, measurement quarter towing has the floating body for floating over and being moved under sea or sea, floating body afterbody has the detection device of submerged by towing cable towing, and the length L of towing cable is 1.5 2 times of depth of water H.The utility model is complicated for shallow water islands and reefs area underwater environment, streamer length is set by rule of thumb, and towing cable is easily cut off by various foreign matters or reef when undersea detection, is caused detection device to depart from and is floatd, detection device easily bottoms out simultaneously, the problem of causing the damage of equipment.
Description
Technical field
The utility model belongs to ocean sea habitata detection technical field, and more particularly to a kind of ocean for shallow water islands and reefs area is visited
Examining system.
Background technology
The detection of prior art marine magnetism is more to be detected using surveying vessel towing detection device, pulls dragging for detection device
Cable length is typically set by existing experience, and general streamer length is more than the three times of captain, sets towing cable to grow by rule of thumb
The detection method of degree can be very good to apply in deep-sea, but is less applicable at shallow water islands and reefs area, and towing cable easily occurs and is cut
The detection accident that disconnected or detection device bottoms out, main reason is that the underwater environment in shallow water islands and reefs area is complicated, and prior art
Streamer length setting is unreasonable, causes towing cable when undersea detection easily to be cut by the reef of various half suspension foreign matters or the bottom
It is disconnected, cause detection device to depart from and float, while detection device easily bottoms out, and causes the damage of equipment.
Utility model content
The utility model is complicated for shallow water islands and reefs area underwater environment, and streamer length is set by rule of thumb, undersea detection when
Wait towing cable easily to be cut off by various foreign matters or reef, cause detection device to depart from and float, while detection device easily bottoms out, and causes
The problem of damage of equipment, there is provided one kind can either avoid towing cable from being cut off, and can prevent detection device float or bottom out, also
A kind of marine exploration system for shallow water islands and reefs area that can be floated automatically.
The technical solution adopted in the utility model is a kind of marine exploration system for shallow water islands and reefs area, including measurement
The bathysonde of ship and Measuring Oceanic depth of water H, above-mentioned measurement quarter towing have the floating body for floating over and being moved under sea or sea,
Above-mentioned floating body afterbody has the detection device of submerged by towing cable towing, and the length L of above-mentioned towing cable is 1.5-2 times of depth of water H.
A kind of marine exploration system for shallow water islands and reefs area provided by the utility model is further arranged to, above-mentioned floating body
It is provided with power supply, the first GPS location instrument, controller, range sensor.
A kind of marine exploration system for shallow water islands and reefs area provided by the utility model is further arranged to, above-mentioned detection
Device is one or more, the above-mentioned detection in optical pumped magnetometer, the second GPS location instrument, proton magnetometer, flux-gate magnetometer
Boosting battery is additionally provided with device.
A kind of marine exploration system for shallow water islands and reefs area provided by the utility model is further arranged to, above-mentioned floating body
Top be additionally provided with solar panel.
A kind of marine exploration system for shallow water islands and reefs area provided by the utility model is further arranged to, the measurement
Be additionally provided with the endless apron being trapezoidal layout on ship, the circulation conveying band be provided with for quick-replaceable floating body first or
Second more changing device, the described first or second more changing device include the first or second mobile platform for following conveyer belt to move, the
One or second mobile platform be provided with the first or second mechanical claw, a floating body is discharged on the described first or second mechanical claw
With a coupled detection device, the floating body is provided with the sub- take-up mechanism for being used for collapsing towing cable, and any one is described floating
Body is connected by the second towing cable with the first or second main take-up mechanism on hull.
A kind of marine exploration system for shallow water islands and reefs area provided by the utility model is further arranged to, above-mentioned circulation
Conveyer belt is hinged on measurement quarter, and it is connected by pulley and drag-line with the drag-line motor being located on surveying vessel, above-mentioned pulley
At the top of vertical expansion link, above-mentioned vertical expansion link is fixed on the quarter.
A kind of marine exploration system for shallow water islands and reefs area provided by the utility model is further arranged to, above-mentioned towing cable
On be arranged with can be along the reciprocating miniature movable type auxiliary detector of towing cable, above-mentioned auxiliary detector is provided with and is adjacent to upper
State the stand-by motor of the arc wheel and driving arc wheel on towing cable.
A kind of marine exploration system for shallow water islands and reefs area provided by the utility model is further arranged to, above-mentioned auxiliary
Detector includes 360 degree of underwater cameras.
A kind of marine exploration system for shallow water islands and reefs area provided by the utility model is further arranged to, above-mentioned auxiliary
On ring support, above-mentioned ring support is connected motor with above-mentioned arc wheel to radially slide.
A kind of marine exploration system for shallow water islands and reefs area provided by the utility model is further arranged to, above-mentioned arc
Wheel at least sets 2, tensioning mechanism is provided between above-mentioned arc wheel, above-mentioned tensioning mechanism includes spring.
A kind of marine exploration system for shallow water islands and reefs area, it is by marine exploration all parts of system as described above
Outside, the automatically upper float means in addition in detection device, above-mentioned automatically upper float means include being made up of elastic material and can
The spherical overcoat of expansion, above-mentioned overcoat are installed on the center of top of above-mentioned detection device, inflatable are provided with above-mentioned overcoat
Air bag, is provided with igniter and the pressure vessel equipped with gases at high pressure in above-mentioned air bag, above-mentioned igniter is connected with detection device
And it is controlled by it.
A kind of control method of marine exploration system for shallow water islands and reefs area, methods described include as follows：
（1）：Controlled according to depth of water H and change the length L of the first towing cable in real time；
（2）：Detection device failure replacement, it is specifically included；
The first step：Conveyer belt be released through the first main take-up mechanism and the first mechanical claw discharge a floating body and one with
Its connected detection device simultaneously starts detection operations.
Second step：One standby floating body and a coupled detection dress are set on the mechanical claw of conveyer belt second
Put, floating body is connected by the second main take-up mechanism and discharges towing cable.
3rd step, when detection device upper part detection instrument breaks down in the first step, the master control on detecting ship
System control conveyer belt one segment distance of motion, by conveyer belt that discharged in the first step floating body and one is coupled
Detection device, certain distance is moved horizontally, while the towing cable between the floating body of backup in second step and detection device is released
It is put into and detection device and all survey meters closings in detection device in consistent position, the first step, at the same time, second step
All survey meters are opened in middle detection device.
4th step, shorten the sub- take-up mechanism in the first main take-up mechanism and floating body in the first step so that the first machinery card
Pawl firmly grasps the floating body of the gathering by the first main take-up mechanism C1, completes Renewal process.
（3）：Dynamic mobile is observed, and is specifically included as follows：
The first step, detected by the underwater sonar of the detecting object set on hull；
Second step, if finding to have unknown object between floating body and detection device and towing cable may be influenceed, on detecting ship
Control system sends a signal to auxiliary detector 73, auxiliary detector movement and impact position, passes through the long distance of underwater camera
Judge whether the object has an impact to towing cable from overview function observation；
3rd step, has an impact, then control system controls sub- towing cable mechanism, rapid shorten is visited by the controller on floating body
Survey the length of towing cable on device so that the quick avoiding obstacles of control device.
（4）It is automatic to float；Specifically include as follows：
The first step, the towing cable 4 that the controller real-time reception optoelectronic composite cable in detection device is formed receive surveying vessel 1 and sent
Distance signal；
Second step, when the controller in detection device can not receive the distance signal of surveying vessel transmission, controller
Now towing cable or the second towing cable are cut off acquiescence；
3rd step, controller control igniter fire, in the presence of igniter, the gases at high pressure release in pressure vessel
And whole air bag is quickly filled with, air bag struts overcoat simultaneously, and whole overcoat volume becomes rapidly big, and seawater is rapid to the buoyancy of overcoat
Increase and drive whole detection device to float；
4th step, the second GPS location instrument send position signalling in real time, and surveying vessel can be quickly found out and return according to position signalling
Receive detection device.
The utility model has the advantage of：
1. preventing from bottoming out, streamer length of the present utility model can adjust, at the same streamer length according to the depth of water difference and from
It is dynamic to change, effectively reduce measuring instrument and the contingency occurrence probability of towing cable is bottomed out or cut off by reef in shallow water islands and reefs area.
2. prevent that towing cable from being cut off, because distance is longer between detection device and floating body, in the activity of shallow water islands and reefs area, distance
Longer, with a varied topography, towing cable is easily cut off, and the utility model has transportable auxiliary detector on towing cable, can
Effectively to avoid influence of the half suspension foreign matter to towing cable and detection device, auxiliary detector of the present utility model can be along towing cable
Both forward and reverse directions move, and according to the actual needs, can monitor the towing cable periphery actual conditions of diverse location in real time, avoid towing cable quilt
Half foreign matter to suspend is cut off, and foreign matter includes elongated rod shape or other objects partly sunk in water.
3. quick-replaceable, the utility model is additionally provided with more changing device, can be quick when detection device breaks down
The detection device more renewed, brings to without casting anchor, and avoids the occurrence of the blind area of detection.
4. detection device floats automatically, the utility model sets float means on automatic in detection device so that towing cable breaks
The floating for falling rear detection device energy immediate stability across the sea, passes through the first and second GPS locations on floating body and detection device
Instrument, implement satellite fix, the probability of satellite capture signal can either be strengthened, rapid positioning detection device position, effectively prevent from keeping away
Exempt from it is traditional first GPS location instrument is only set on floating body, satellite-signal is easily because wave influences, unsteady attitude, signal
The shortcomings that not strong, a kind of two-way safeguarding function of satellite fix is provided again, prevents that one goes out because floating body only sets a GPS location instrument
Show failure, then detection device and floating body can not find forever, bring about great losses, and reach quick satellite fix, fast salvaging, reduce
The required time is looked in recovery, avoids the detection device of costliness from losing, saves time and cost.
Brief description of the drawings
Fig. 1 structural representations of the present utility model.
Fig. 2 is the utility model detailed components schematic diagram.
Fig. 3 is Fig. 2 top view.
Fig. 4 is the schematic cross-sectional view of floating body of the present utility model and auxiliary detector.
Fig. 5 is auxiliary detector sectional view of the present utility model.
Fig. 6 is the schematic diagram of automatic upper float means of the present utility model.
Brief description of the drawings：1st, surveying vessel, 2, bathysonde, 3, floating body, 31, sub- take-up mechanism, 4, towing cable, 5, detection dress
Putting, 6, more changing device, 61, endless apron, the 621, first master draws over to one's side mechanism, and the 622, second master draws over to one's side mechanism, 63, pulley, 64,
Drag-line, 65, drag-line motor, 66, vertical lifting bar, the 67, second towing cable, 71, arc wheel, 72, stand-by motor, 73, aided detection
Device, 74, ring support, 75, spring, 8, spherical overcoat, 9, air bag, 10, igniter, 11, pressure vessel, A1, a floating body,
B1, a detection device, A2, standby floating body, B2, standby detection device.
Embodiment
With reference to specific embodiment, the utility model is expanded on further.
In the case of without departing substantially from the utility model spirit and essence, to method of the present utility model, step or condition institute
The modifications or substitutions done, belong to the scope of the utility model, unless otherwise specified, technological means used in embodiment is ability
Conventional meanses known to field technique personnel.
Embodiment 1
The technical solution adopted in the utility model is a kind of marine exploration system for shallow water islands and reefs area, including measurement
The bathysonde 2 of ship 1 and Measuring Oceanic depth of water H, the afterbody of surveying vessel 1 towing have float over moved under sea or sea it is floating
Body 3, the afterbody of floating body 3 pull the detection device 5 for having submerged by towing cable 4, and the length L of the towing cable 4 is depth of water H's
1.5-2 again.The floating body 3 is provided with power supply, the first GPS location instrument, controller, range sensor.The detection device 5 is light
In one or more, described detection devices 5 in pump magnetometer, the second GPS location instrument, proton magnetometer, flux-gate magnetometer
It is additionally provided with boosting battery.The top of the floating body 3 is additionally provided with solar panel.
Embodiment 2
The endless apron 61 being trapezoidal layout is additionally provided with the surveying vessel, the endless apron 61, which is provided with, to be used for
The first of quick-replaceable floating body or second more changing device, the described first or second more changing device include follow conveyer belt to move the
One or second mobile platform, the first or second mobile platform be provided with the first or second mechanical claw, the described first or second machine
A floating body 3 and coupled detection device 5 are discharged on tool claw, the floating body is provided with the son for being used for collapsing towing cable
Take-up mechanism 31, any one described floating body are connected by the second towing cable with the first or second main take-up mechanism on hull.
The endless apron 61 is hinged on the afterbody of surveying vessel 1, and it is by pulley 63 and drag-line 64 and is located on surveying vessel 1
Drag-line motor 65 be connected, for the pulley 63 at the top of the vertical bar of expansion link 66, the vertical bar of expansion link 66 is fixed on ship
Tail.When it is implemented, as shown in figure 3,
The first step：Conveyer belt 61 is released through the first main mechanical claw of take-up mechanism 621 and first and discharges a floating body A1
With a coupled detection device B1 and start detection operations.Floating body A2 is connected and discharged by the second main take-up mechanism 621
Towing cable.
Second step：Set on the mechanical claw of conveyer belt 61 second a standby floating body A2 and one it is coupled standby
Detection device B2, standby floating body A2 are connected by the second main take-up mechanism 622 and discharge towing cable.
3rd step, when detection device upper part detection instrument breaks down in the first step, the master control on detecting ship
System control conveyer belt one segment distance of motion, by conveyer belt that discharged in the first step floating body and one is coupled
Detection device, certain distance is moved horizontally, while the towing cable between the floating body of backup in second step and detection device is released
It is put into and detection device and all survey meters closings in detection device in consistent position, the first step, at the same time, second step
All survey meters are opened in middle detection device.
4th step, shorten the sub- take-up mechanism in the first main take-up mechanism and floating body in the first step so that the first machinery card
Pawl firmly grasps the floating body of the gathering by the first main take-up mechanism C1, completes Renewal process.
Embodiment 3
Being arranged with the towing cable 4 can be along the reciprocating miniature movable type auxiliary detector 73 of towing cable 4, the auxiliary
Detector 73 is provided with the stand-by motor 72 of the arc wheel 71 being adjacent on first towing cable 4 and driving arc wheel 71.It is described
Auxiliary detector 73 includes 360 degree of underwater cameras（Electric rotating machine 744 is fixed on the outer of ring support 74 and connected by gear 741
Annular rack 742 is connected to, annular rack is provided with camera 743）, the stand-by motor 72 is located on ring support 74, described
Ring support 74 and the arc wheel 71 are connected to radially slide, and the arc wheel 71 at least sets 2, between the arc wheel 71
Provided with tensioning mechanism, the tensioning mechanism includes spring 75.
Because the distance between floating body 3 and detection device 5 sometimes is very remote, sometimes up to hundreds of meters or tens meters,
Therefore in so long distance range, unexpected monitoring blind area, such as the thing by half suspended state usually occurs
Body winds or hit.Therefore by setting portable auxiliary detector 73, can be noted abnormalities by video or detection radar
Regimen.During specific implementation：
The first step, detected by the underwater sonar of the detecting object set on hull；
Second step, if finding to have unknown object between floating body and detection device and towing cable may be influenceed, on detecting ship
Control system sends a signal to auxiliary detector 73, auxiliary detector movement and impact position, passes through the long distance of underwater camera
Judge whether the object has an impact to towing cable from overview function observation；
3rd step, has an impact, then control system controls sub- towing cable mechanism, rapid shorten is visited by the controller on floating body
Survey the length of towing cable on device so that the quick avoiding obstacles of control device.
Embodiment 4
In conjunction with the embodiments 2, a kind of marine exploration system for shallow water islands and reefs area, it is by marine exploration system as described above
Unite outside all parts, in addition to the automatically upper float means in detection device 5, above-mentioned automatically upper float means are included by elastic material
Texture into and expandable spherical overcoat 8, above-mentioned overcoat be installed on the center of top of above-mentioned detection device 5, set in above-mentioned overcoat
There is the air bag 9 of inflatable.
A kind of marine exploration system for shallow water islands and reefs area provided by the utility model is further arranged to, above-mentioned air bag
Igniter 10 and the pressure vessel 11 equipped with gases at high pressure are provided with 9, above-mentioned igniter 10 is connected with detection device 5 and by its control
System.The utility model is provided with float means on automatic in detection device 5, when the controller in detection device 5 can not be by by light
When the first towing cable 4 that photoelectric compound cable is formed receives the distance signal of the transmission of surveying vessel 1, controller gives tacit consent to now the first towing cable
4 are cut off, and controller control igniter 10 is lighted a fire, in the presence of igniter 10, the gases at high pressure release in pressure vessel 11
And whole air bag 9 is quickly filled with, air bag 9 struts overcoat simultaneously, and whole overcoat volume becomes rapidly big, and seawater is fast to the buoyancy of overcoat
Speed increases and drives whole detection device 5 to float.Igniter 10 and pressure vessel 11 are existing ordinary skill, can use automobile
The igniter 10 of air bag 9.The utricule of air bag 9 also uses the utricule of general-utility car air bag 9.
It the above is only preferred embodiment of the present utility model, the scope of protection of the utility model is not limited merely to implement
Example, all technical schemes belonged under the utility model thinking belong to the scope of protection of the utility model.It should be pointed out that for this
For the those of ordinary skill of technical field, some improvements and modifications under the premise of the utility model principle is not departed from, these
Improvements and modifications also should be regarded as the scope of protection of the utility model.
Claims (9)
1. a kind of marine exploration system for shallow water islands and reefs area, including surveying vessel and the Measuring Oceanic depth of water H bathysonde,
The measurement quarter towing has the floating body for floating over and being moved under sea or sea, and the floating body afterbody is sunk to by towing cable towing
Detection device in water, it is characterised in that：The length L of the towing cable is 1.5-2 times of depth of water H.
A kind of 2. marine exploration system for shallow water islands and reefs area according to claim 1, it is characterised in that：The floating body
It is provided with power supply, the first GPS location instrument, controller, range sensor.
A kind of 3. marine exploration system for shallow water islands and reefs area according to claim 2, it is characterised in that：The detection
Device is one or more, the described detection in optical pumped magnetometer, the second GPS location instrument, proton magnetometer, flux-gate magnetometer
Boosting battery is additionally provided with device.
A kind of 4. marine exploration system for shallow water islands and reefs area according to claim 3, it is characterised in that：The floating body
Top be additionally provided with solar panel.
A kind of 5. marine exploration system for shallow water islands and reefs area according to claim 1 or 4, it is characterised in that：It is described
It is additionally provided with the endless apron being trapezoidal layout on surveying vessel, the circulation conveying band is provided with for quick-replaceable floating body
One or the second more changing device, the first or second movement that the described first or second more changing device includes following conveyer belt to move it is flat
Platform, the first or second mobile platform are provided with the first or second mechanical claw, discharge one on the described first or second mechanical claw
Individual floating body and coupled detection device, the floating body are provided with the sub- take-up mechanism for being used for collapsing towing cable, any one
The floating body is connected by the second towing cable with the first or second main take-up mechanism on hull.
A kind of 6. marine exploration system for shallow water islands and reefs area according to claim 5, it is characterised in that：The circulation
Conveyer belt is hinged on measurement quarter, and it is connected by pulley and drag-line with the drag-line motor being located on surveying vessel, the pulley
At the top of vertical expansion link, the vertical expansion link is fixed on the quarter.
A kind of 7. marine exploration system for shallow water islands and reefs area according to claim 1 or 6, it is characterised in that：It is described
Being arranged with towing cable can be provided with and be adjacent to along the reciprocating miniature movable type auxiliary detector of towing cable, the auxiliary detector
The stand-by motor of arc wheel and driving arc wheel on the towing cable, the auxiliary detector include 360 degree of underwater cameras.
A kind of 8. marine exploration system for shallow water islands and reefs area according to claim 7, it is characterised in that：The auxiliary
Motor is on ring support, and the ring support is connected with the arc wheel to radially slide, and the arc wheel at least sets 2
It is individual, tensioning mechanism is provided between the arc wheel, the tensioning mechanism includes spring.
A kind of 9. marine exploration system for shallow water islands and reefs area, it is characterised in that：It is visited by ocean as claimed in claim 8
Outside all parts of examining system, in addition to the automatically upper float means in detection device, the automatically upper float means are included by bullet
Property material form and expandable spherical overcoat, the overcoat are installed on the center of top of the detection device, in the overcoat
Air bag provided with inflatable, the air bag is interior to be provided with igniter and the pressure vessel equipped with gases at high pressure, the igniter
It is connected with detection device and is controlled by it.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720802670.4U CN207037123U (en) | 2017-07-05 | 2017-07-05 | A kind of marine exploration system for shallow water islands and reefs area |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720802670.4U CN207037123U (en) | 2017-07-05 | 2017-07-05 | A kind of marine exploration system for shallow water islands and reefs area |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207037123U true CN207037123U (en) | 2018-02-23 |
Family
ID=61467080
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720802670.4U Expired - Fee Related CN207037123U (en) | 2017-07-05 | 2017-07-05 | A kind of marine exploration system for shallow water islands and reefs area |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207037123U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107390293A (en) * | 2017-07-05 | 2017-11-24 | 国家海洋局第二海洋研究所 | A kind of marine exploration system and control method for shallow water islands and reefs area |
-
2017
- 2017-07-05 CN CN201720802670.4U patent/CN207037123U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107390293A (en) * | 2017-07-05 | 2017-11-24 | 国家海洋局第二海洋研究所 | A kind of marine exploration system and control method for shallow water islands and reefs area |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107390293A (en) | A kind of marine exploration system and control method for shallow water islands and reefs area | |
| CN108189969B (en) | Deep sea anchor system subsurface buoy system based on satellite communication data real-time transmission | |
| CN109278962B (en) | Cable-free submarine observation platform suitable for full sea depth | |
| CN109297803B (en) | Submarine sediment mechanical property measuring system suitable for full sea depth | |
| CN108216492B (en) | High-precision submerged buoy array system for realizing marine data area monitoring | |
| EP0169219B1 (en) | Remotely operated underwater vehicle and method of operating same | |
| JP6630876B2 (en) | Subsea resources recovery equipment | |
| US9995836B2 (en) | Overboard system for deployment and retrieval of autonomous seismic nodes | |
| JP7245988B2 (en) | Undersea Mineral Resource Lifting Equipment | |
| CN106737703B (en) | Underwater rescue mode based on underwater rescue robot | |
| CN106809358A (en) | Nuclear power station cooling water diversion culvert detects robot system and implementation | |
| CA2897733C (en) | Autonomous submersible vehicle and method for pulling in same | |
| CN212022927U (en) | Be applied to underwater vehicle recovery unit of unmanned ship | |
| CN107390292A (en) | The seabed high-resolution pull-type detection device and method of acoustics optical fusion | |
| CN210036712U (en) | Motion type deep sea sinking observation device | |
| JP2019089422A (en) | Seabed survey system using underwater drone | |
| CN113701726B (en) | Floating type ocean surveying and mapping device with seawater monitoring function | |
| CN110576953A (en) | Primary-secondary type large-diameter long diversion tunnel underwater detection robot system | |
| CN108680379A (en) | A kind of deep-sea Omni-mobile TV grab bucket | |
| CN106882345A (en) | A kind of method in the upper and lower water ship of floating building berth or carrying barge deck | |
| CN109204747A (en) | The cable-free type submarine observation system deep suitable for full sea | |
| CN114435550A (en) | Underwater measurement system of unmanned ship | |
| CN207037123U (en) | A kind of marine exploration system for shallow water islands and reefs area | |
| JP5813025B2 (en) | Underwater observation equipment collection facility and underwater observation equipment collection method | |
| CN111114695A (en) | Underwater automatic adjustment and expansion type detection buoy |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180223 Termination date: 20180705 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |