CN104675468B - Air intake and exhaust device and method for ocean robot - Google Patents
Air intake and exhaust device and method for ocean robot Download PDFInfo
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- CN104675468B CN104675468B CN201310626714.9A CN201310626714A CN104675468B CN 104675468 B CN104675468 B CN 104675468B CN 201310626714 A CN201310626714 A CN 201310626714A CN 104675468 B CN104675468 B CN 104675468B
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- ball valve
- air inlet
- electrical ball
- air
- header tank
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Abstract
The invention relates to the field of an ocean robot and specifically relates to an air intake and exhaust device and method for the ocean robot; an upper control computer is connected with an air intake and exhaust controller by means of a CAN (Controller Area Network) bus and is adopted to receive real-time signals fed back by the air intake and exhaust controller and send a control command to the air intake and exhaust controller; the air intake and exhaust controller is connected with an air intake and exhaust pipeline system by means of an I/O interface and performs real-time communication with the air intake and exhaust pipeline system, so that the automatic control of the air intake and exhaust controller working in an enclosed environment on the sea is realized; compared with an air intake and exhaust system of a land diesel engine, the air intake and exhaust device is relatively rational in design of temperature drop, noise reduction and waterproof performance.
Description
Technical field
The present invention relates to a kind of ocean robot field, specifically a kind of ocean robot air inlet and outlet device and side
Method.
Background technology
Compared to above-mentioned stationary diesel engine air inlet and outlet device, for ocean robot when diesel engine is used as power the entering of air
Enter the intake and exhaust unit designing with exhaust emissions and there is particular/special requirement：
（1）Exhaust back pressure problem.The exhaust back pressure that diesel engine allows is all less, if exhaust back pressure has exceeded permitting of main frame
Permitted to be worth, it will affect its power and play.
（2）Tail gas cooling problem.When diesel engine uses, exhaust emissions can produce certain heat, due in ocean robot
Portion's limited space, tail gas must lower the temperature and not increase volume.
（3）Anti- sea water pours in, and leads to diesel engine water inlet flame-out.When navigating by water in ocean, must prevent sea water from passing through intake and exhaust
Pipeline flows to diesel engine.
（4）Automatically control problem.For ocean robot, need to automatically control diesel engine when unmanned and enter row
Device of air.
Content of the invention
For the deficiencies in the prior art, the present invention provides a kind of ocean robot that is efficiently used for when diesel engine is used as power
The entrance of air and the air inlet and outlet device of exhaust emissions and method, this apparatus and method completes ocean by the control unit of itself
Robot automatically controls to diesel engine intake and exhaust in navigation.
The present invention be employed technical scheme comprise that for achieving the above object：
A kind of ocean robot air inlet and outlet device, top level control computer connects air-exhausting air-entering controller by CAN,
For receiving the live signal of air-exhausting air-entering controller feedback, control command is sent to air-exhausting air-entering controller；
Air-exhausting air-entering controller connects intake and exhaust pipeline system by I/O interface, with intake and exhaust pipeline system real-time Communication for Power, reality
Now automatically control.
Described exhaust controller includes power panel, simulation resource version, analog isolation plate, digital resource plate and digital drive
Plate；
Described power panel connects simulation resource board, for providing 5VDC, 12VDC and 24VDC to simulation resource board；
Described simulation resource board one end connects simulation division board, 24VDC needed for for providing to analog isolation plate, and connects
Receive the analogue signal after analog isolation plate is isolated；The other end connects digital resource plate, for providing institute to digital resource plate
5VDC and 12VDC needing, and carry out serial communication with digital resource plate；
Described analog isolation plate connects liquid level sensor, for receiving the current signal of liquid level sensor, and current signal
Incoming simulation resource board after isolation；
Described digital resource plate connects digital drive plate, for exporting 5VDC voltage signal to digital drive plate, and connects
Receive the feedback voltage signal of digital drive plate；
Described digital drive plate connects electrical ball valve and draining pump, for exporting 24VDC voltage signal, drives electrical ball valve
And draining pump, and receive electrical ball valve feedback 5VDC voltage signal.
Described pipe-line system is attached as follows：
Seawater inlet links the input of diesel engine by seawater inlet electrical ball valve, and the outfan of diesel engine passes sequentially through
Aerofluxuss major loop electrical ball valve and water surface air vent hydraulic valve connect water surface air vent, form the gas exhaust piping of water jacket pipeline；Bavin
The outfan of oil machine always exports electrical ball valve also by draining and connects diesel engine discharge outlet, forms the discharge pipe line of water jacket pipeline；
The outfan of diesel engine is also connected with aerofluxuss header tank, and the outfan of aerofluxuss header tank passes through aerofluxuss header tank electrical ball valve and first
Flow switch connects the first draining pump, and the outfan of the first draining pump connects discharge outlet；The input of described first flow switch
Bypass the gas exhaust piping that electrical ball valve is connected to water jacket pipeline also by air vent；Water surface air inlet passes sequentially through water surface air inlet
Hydraulic valve, air inlet bypass electrical ball valve and second flow switch connect draining pump；Water surface air inlet also passes sequentially through the water surface and enters
QI KOU hydraulic valve and air inlet major loop electrical ball valve connect diesel oil cabin；Water surface air inlet also passes sequentially through water surface air inlet hydraulic pressure
Valve and air inlet major loop electrical ball valve connect air inlet header tank, and the outfan of air inlet header tank passes through air inlet header tank electrical ball valve
Switch with second flow and connect the second draining pump, the outfan of the second draining pump connects discharge outlet.
Described header tank is additionally provided with liquid level sensor, and described liquid level sensor is connected to intake and exhaust control by I/O interface
Device processed, the liquid level positional information of collection header tank, level monitoring state.
Described electrical ball valve is connected to air-exhausting air-entering controller also by I/O interface, for controlling main intake and exhaust pipeline, bypass
Intake and exhaust pipeline, the break-make of discharge pipe line；
Described flow switch is connected to air-exhausting air-entering controller also by I/O interface, for detecting inlet and outlet mouth bypass conduit
Seawater flow；
Described draining pump is connected to air-exhausting air-entering controller also by I/O interface, for controlling the start and stop of draining pump；
Described hydraulic valve is connected to air-exhausting air-entering controller also by I/O interface, for controlling water surface inlet and outlet mouth pipeline
Break-make.
A kind of ocean robot intake and exhaust method, before diesel engine starting, top level control computer is fed exhaust controller
Assign instruction, open air inlet major loop electrical ball valve and aerofluxuss major loop electrical ball valve, be then turned on air inlet pipe bypass electric ball
Valve and exhaustor bypass electrical ball valve, air-exhausting air-entering controller output control signal makes two draining pumps start working；
Flow switch detects the flow status of air inlet pipeline and gas exhaust piping, does not all have flow when two pipelines is detected
When, close draining pump, air inlet pipe electrical ball valve and exhaustor electrical ball valve；
Open diesel engine seawater inlet electrical ball valve, top level control device output control signal starts diesel engine, level sensing
Device detects the fluid level condition of air inlet header tank and aerofluxuss header tank, real-time detection liquid level position；
When needing to close diesel engine, top level control computer feed exhaust controller assigns control command, closes diesel oil
Machine, exhaust controller accepts control command, and closes seawater inlet electrical ball valve, reports to upper strata control computer simultaneously and completes
Information, diesel engine breathing action terminates.
Described liquid level sensor detects that air inlet header tank and the fluid level condition of aerofluxuss header tank include procedure below：
When the water inlet water level of air inlet header tank and aerofluxuss header tank attain to a high place liquid level sensor position when, high-order liquid level
Sensor sends warning message to upper strata control computer, and top level control computer passes through exhaust controller transmitting control commands,
Open aerofluxuss header tank electrical ball valve and air inlet header tank electrical ball valve, control draining pump drainage, detection low level liquid level passes simultaneously
Sensor position；
When the liquid level of air inlet header tank and aerofluxuss header tank drops to below low level liquid level sensor position, close aerofluxuss collection
Water tank electrical ball valve and air inlet header tank electrical ball valve, simultaneously close off draining pump.
The invention has the advantages that and advantage：
1. apparatus of the present invention have prevent navigation when, sea water pass through intake and exhaust pipeline inflow diesel engine design；
2. dry type aerofluxuss, back pressure is less, can automatically control；
3. applied range, can be applied not only to ocean robot, can also be applied to other relevant devices under water
Air inlet system and exhaust system.
Brief description
Fig. 1 is the general structure schematic diagram of the present invention；
Fig. 2 is the exhaust controller control flow chart of the present invention；
Fig. 3 is the pipe-line system annexation figure of the present invention；
Fig. 4 is to open diesel engine intake and exhaust control flow chart；
Fig. 5 is to close diesel engine intake and exhaust control flow chart；
Wherein, A is seawater inlet electrical ball valve；B is water surface air vent hydraulic valve；C is water surface air inlet hydraulic valve；D is
Air vent bypasses electrical ball valve；E bypasses electrical ball valve for air inlet；F is aerofluxuss header tank electrical ball valve；G is air inlet header tank
Electrical ball valve；H is aerofluxuss major loop electrical ball valve；I is air inlet major loop electrical ball valve；J always exports electrical ball valve for draining；
LT1 and LT3 is high-order liquid level sensor；LT2 and LT4 is low level liquid level sensor；FT1 switchs for first flow；FT2 is second
Flow switch.
Specific embodiment
Below in conjunction with the accompanying drawings and embodiment the present invention is described in further detail.
1st, as shown in Figure 1, the present invention be for ocean robot when diesel engine is used as power the entrance of air and tail gas
Device discharging and design, being made up of induction part and discharge portion, top level control computer passes through CAN and will control life
Order is sent to air-exhausting air-entering controller, and air-exhausting air-entering controller, according to control command, drives hydraulic valve, electrical ball valve and draining pump
Deng working condition is fed back to top level control computer by CAN by air-exhausting air-entering controller, realizes automatically controlling simultaneously.Fig. 1
Middle pipe-line system connects air-exhausting air-entering controller, and in figure " breaking " does not indicate that and do not connect, and represents that pipe-line system is controlled with intake and exhaust
Device connects does not affect the internal annexation of pipe-line system.
2nd, as shown in Figure 2, the present invention be for ocean robot when diesel engine is used as power the entrance of air and tail gas
Device discharging and design, being made up of induction part and discharge portion, its air-exhausting air-entering controller is by power panel, simulation resource
Plate, analog isolation plate, digital resource plate, digital drive plate five part composition.Operation principle is that outside 24VDC is defeated through power panel
Go out 24VDC, 12VDC, 5VDC to power to simulation resource board, simulation resource board is to 24VDC needed for the offer of analog isolation plate, and connects
Receive the analogue signal after analog isolation plate is isolated；The other end connects digital resource plate, for providing institute to digital resource plate
5VDC and 12VDC needing, and carry out serial communication with digital resource plate, digital resource plate is to digital drive plate output 5VDC electricity
Pressure signal, and receive the feedback voltage signal of digital drive plate, digital drive plate is used for exporting 24VDC voltage signal, drives
Electrical ball valve and draining pump, and receive electrical ball valve feedback 5VDC voltage signal.
3rd, as shown in Figure 3, the present invention be for ocean robot when diesel engine is used as power the entrance of air and tail gas
Device discharging and design, being made up of induction part and discharge portion, air inlet is that air passes through water surface air inlet through flow surface
Air inlet hydraulic valve, air inlet major loop electrical ball valve to diesel oil cabin provide air for diesel engine, yet with ocean robot
Jolt in the seawater and part sea water can be flowed into by entering air circuit, air inlet header tank can be collected this part sea water, works as air inlet
When header tank liquid level reaches LT4 position, open air inlet bypass electrical ball valve, open draining pump 2 and sea water in air inlet header tank is arranged
Go out.Aerofluxuss are that diesel engine passes through water jacket pipeline connection aerofluxuss major loop electrical ball valve, water surface air vent electrical ball valve to the water surface is arranged
When diesel engine is worked by QI KOU, the tail gas of output is discharged, and jolts in the seawater and part sea water can be led to yet with ocean robot
Cross exhausting loop to flow into, aerofluxuss header tank can be collected this part sea water, when air inlet header tank liquid level reaches LT2 position, beat
Open discharge bypass electrical ball valve, open draining pump 1 and sea water in aerofluxuss header tank is discharged.
Water jacket pipeline one end is seawater inlet, and the other end is respectively water surface air vent and water surface discharge outlet, and diesel engine is placed in
In water jacket pipeline, to the discharge pipe line draining in water jacket pipeline, to the gas exhaust piping aerofluxuss in water jacket pipeline；In diesel engine output
Bypass is connected with the water jacket pipeline at end, the other end of bypass is discharge outlet, and draining booster pump is arranged in bypass；Seawater inlet electricity
Dynamic ball valve is arranged at the water jacket pipeline of diesel engine input, for controlling the sea water entering water jacket pipeline；Aerofluxuss major loop is electronic
Ball valve is arranged on the water jacket pipeline between diesel engine outfan and bypass, the tail producing for control release diesel combustion
Gas；Water surface air vent hydraulic valve is arranged on the water jacket pipeline between water surface air vent and bypass, is used for controlling in water surface release
The tail gas that diesel combustion produces；Draining always exports the water jacket pipeline that electrical ball valve is arranged between water surface discharge outlet and bypass
On, for controlling the sea water discharging water jacket pipeline；Air vent bypass electrical ball valve is arranged between water jacket pipeline and draining pump
In bypass, for controlling the sea water discharging discharge bypass pipeline；Flow switch is arranged at air vent bypass electrical ball valve and draining
In bypass between booster pump, for detecting the seawater flow of inlet and outlet mouth bypass conduit；Header tank one end connects main time of air inlet
The water jacket pipeline of road electrical ball valve input, the other end connects the bypass that air vent bypasses between electrical ball valve and flow switch,
Flow backwards water for collection, prevent refluence aqueous reflux from returning diesel engine；Water surface air inlet hydraulic valve is arranged at water surface air inlet and bypass
Between pipeline on, for control the water surface enter diesel combustion need air.
Concrete connection is as follows：
Seawater inlet links the input of diesel engine by seawater inlet electrical ball valve A, and the outfan of diesel engine leads to successively
Cross aerofluxuss major loop electrical ball valve H and water surface air vent hydraulic valve B and connect water surface air vent, form the exhaustor of water jacket pipeline
Road；The outfan of diesel engine always exports electrical ball valve J also by draining and connects diesel engine discharge outlet, forms the draining of water jacket pipeline
Pipeline；The outfan of diesel engine is also connected with aerofluxuss header tank, and the outfan of aerofluxuss header tank passes through aerofluxuss header tank electrical ball valve F
Connect the first draining pump with first flow switch FT1, the outfan of the first draining pump connects discharge outlet；Described first flow switch
The input of FT1 bypasses, also by air vent, the gas exhaust piping that electrical ball valve D is connected to water jacket pipeline；Water surface air inlet leads to successively
Flow surface air inlet hydraulic valve C, air inlet bypass electrical ball valve E and second flow switch FT2 connect draining pump；Water surface air inlet
Also pass sequentially through water surface air inlet hydraulic valve C and air inlet major loop electrical ball valve I and connect diesel oil cabin；Water surface air inlet is also successively
Air inlet header tank is connected by water surface air inlet hydraulic valve C and air inlet major loop electrical ball valve I, the outfan of air inlet header tank leads to
Cross air inlet header tank electrical ball valve G and second flow switch FT2 and connect the second draining pump, the outfan of the second draining pump connects row
The mouth of a river.
4th, as shown in Figure 4, the present invention be for ocean robot when diesel engine is used as power the entrance of air and tail gas
Discharge and design, the device that is made up of induction part and discharge portion, ocean robot in surface navigation, diesel engine starting
Before, top level control computer feed exhaust controller assigns instruction control command 1, opens inlet and outlet major loop electrical ball valve, so
Open air inlet pipe and the electrical ball valve of exhaustor bypass afterwards, air-exhausting air-entering controller output control signal makes two draining booster pumps open
Beginning work, simultaneously flow switch detect the flow status of inlet and outlet pipeline, when two pipelines is detected and all there is no flow, close
Close draining booster pump, air inlet pipe electrical ball valve and exhaustor electrical ball valve.At this moment the electronic of diesel engine seawater inlet can be opened
Ball valve, top level control device computer goes out control signal and starts diesel engine, simultaneously the liquid of detection air inlet header tank and aerofluxuss header tank
Bit switch LT1, LT2, LT3, LT4, in diesel engine running, when the water inlet water level of air inlet header tank and aerofluxuss header tank reaches
To high-order liquid-level switch LT1, LT3 position when, triggering liquid level sends warning message, air inlet header tank and row to main control computer
The water inlet water level of gas header tank attain to a high place liquid-level switch LT2, LT4 position when, open air inlet header tank and aerofluxuss header tank
Electrical ball valve between draining booster pump, draining booster pump starts draining, detects liquid-level switch LT2, LT4 position simultaneously, when
When the liquid level of air inlet header tank and aerofluxuss header tank drops to below low level liquid-level switch LT2, LT4 position, electrical ball valve and draining
Booster pump cuts out.
5th, as shown in Figure 5, the present invention be for ocean robot when diesel engine is used as power the entrance of air and tail gas
Discharge and design, the device that is made up of induction part and discharge portion, ocean robot in surface navigation, top level control meter
Calculation machine feed exhaust controller assigns instruction control command 2, closes diesel engine, and exhaust controller accepts instruction control command 2, and
Close seawater inlet electrical ball valve, report, to main control computer, the information of completing, diesel engine breathing action terminates simultaneously.
Claims (6)
1. a kind of ocean robot air inlet and outlet device it is characterised in that：
Top level control computer connects air-exhausting air-entering controller by CAN, for receiving the real-time of air-exhausting air-entering controller feedback
Signal, sends control command to air-exhausting air-entering controller；
Air-exhausting air-entering controller connects intake and exhaust pipeline system by I/O interface, with intake and exhaust pipeline system real-time Communication for Power, realizes certainly
Dynamic control；
Described exhaust controller includes power panel, simulation resource version, analog isolation plate, digital resource plate and digital drive plate；
Described power panel connects simulation resource board, for providing 5VDC, 12VDC and 24VDC to simulation resource board；
Described simulation resource board one end connects simulation division board, 24VDC needed for for providing to analog isolation plate, and receives logical
Cross the analogue signal after the isolation of analog isolation plate；The other end connects digital resource plate, needed for for providing to digital resource plate
5VDC and 12VDC, and carry out serial communication with digital resource plate；
Described analog isolation plate connects liquid level sensor, for receiving the current signal of liquid level sensor, and current signal isolation
Incoming simulation resource board afterwards；
Described digital resource plate connects digital drive plate, for exporting 5VDC voltage signal to digital drive plate, and receives number
The feedback voltage signal of word drive plate；
Described digital drive plate connects electrical ball valve and draining pump, for exporting 24VDC voltage signal, drives electrical ball valve and row
Water pump, and receive electrical ball valve feedback 5VDC voltage signal.
2. a kind of ocean robot air inlet and outlet device according to claim 1 it is characterised in that：Described pipe-line system is pressed
It is attached according to following manner：
Seawater inlet links the input of diesel engine by seawater inlet electrical ball valve, and the outfan of diesel engine passes sequentially through aerofluxuss
Major loop electrical ball valve and water surface air vent hydraulic valve connect water surface air vent, form the gas exhaust piping of water jacket pipeline；Diesel engine
Outfan also by draining always export electrical ball valve connect diesel engine discharge outlet, formed water jacket pipeline discharge pipe line；Diesel oil
The outfan of machine is also connected with aerofluxuss header tank, and the outfan of aerofluxuss header tank passes through aerofluxuss header tank electrical ball valve and first flow
Switch connects the first draining pump, and the outfan of the first draining pump connects discharge outlet；The input of described first flow switch is also logical
Cross air vent and bypass the gas exhaust piping that electrical ball valve is connected to water jacket pipeline；Water surface air inlet passes sequentially through water surface air inlet hydraulic pressure
Valve, air inlet bypass electrical ball valve and second flow switch connect draining pump；Water surface air inlet also passes sequentially through water surface air inlet
Hydraulic valve and air inlet major loop electrical ball valve connect diesel oil cabin；Water surface air inlet also pass sequentially through water surface air inlet hydraulic valve and
Air inlet major loop electrical ball valve connects air inlet header tank, and the outfan of air inlet header tank passes through air inlet header tank electrical ball valve and the
Two flow switches connect the second draining pump, and the outfan of the second draining pump connects discharge outlet.
3. a kind of ocean robot air inlet and outlet device according to claim 2 it is characterised in that：Described header tank also sets
It is equipped with liquid level sensor, described liquid level sensor is connected to air-exhausting air-entering controller, the liquid level position of collection header tank by I/O interface
Confidence ceases, level monitoring state.
4. a kind of ocean robot air inlet and outlet device according to claim 2 it is characterised in that：
Described electrical ball valve is connected to air-exhausting air-entering controller also by I/O interface, for controlling main intake and exhaust pipeline, bypassing into row
Air pipe, the break-make of discharge pipe line；
Described flow switch is connected to air-exhausting air-entering controller also by I/O interface, for detecting the sea of inlet and outlet mouth bypass conduit
Discharge；
Described draining pump is connected to air-exhausting air-entering controller also by I/O interface, for controlling the start and stop of draining pump；
Described hydraulic valve is connected to air-exhausting air-entering controller also by I/O interface, for controlling the logical of water surface inlet and outlet mouth pipeline
Disconnected.
5. a kind of ocean robot with intake and exhaust method it is characterised in that：
Before diesel engine starting, top level control computer feed exhaust controller assigns instruction, opens air inlet major loop electrical ball valve
With aerofluxuss major loop electrical ball valve, it is then turned on air inlet pipe bypass electrical ball valve and exhaustor bypass electrical ball valve, intake and exhaust control
Device output control signal processed makes two draining pumps start working；
Flow switch detects the flow status of air inlet pipeline and gas exhaust piping, when two pipelines is detected and all not having flow, closes
Close draining pump, air inlet pipe electrical ball valve and exhaustor electrical ball valve；
Open diesel engine seawater inlet electrical ball valve, top level control device output control signal starts diesel engine, liquid level sensor is examined
Survey the fluid level condition of air inlet header tank and aerofluxuss header tank, real-time detection liquid level position；
When needing to close diesel engine, top level control computer feed exhaust controller assigns control command, closes diesel engine, row
Airgun controller accepts control command, and closes seawater inlet electrical ball valve, reports, to upper strata control computer, the information of completing simultaneously,
Diesel engine breathing action terminates.
6. a kind of ocean robot according to claim 5 with intake and exhaust method it is characterised in that：Described liquid level sensor
The fluid level condition of detection air inlet header tank and aerofluxuss header tank includes procedure below：
When the water inlet water level of air inlet header tank and aerofluxuss header tank attain to a high place liquid level sensor position when, high-order level sensing
Device sends warning message to upper strata control computer, and top level control computer passes through exhaust controller transmitting control commands, opens
Aerofluxuss header tank electrical ball valve and air inlet header tank electrical ball valve, control draining pump drainage, detect low level liquid level sensor simultaneously
Position；
When the liquid level of air inlet header tank and aerofluxuss header tank drops to below low level liquid level sensor position, close aerofluxuss header tank
Electrical ball valve and air inlet header tank electrical ball valve, simultaneously close off draining pump.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310626714.9A CN104675468B (en) | 2013-11-28 | 2013-11-28 | Air intake and exhaust device and method for ocean robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310626714.9A CN104675468B (en) | 2013-11-28 | 2013-11-28 | Air intake and exhaust device and method for ocean robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104675468A CN104675468A (en) | 2015-06-03 |
| CN104675468B true CN104675468B (en) | 2017-02-08 |
Family
ID=53310985
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310626714.9A Expired - Fee Related CN104675468B (en) | 2013-11-28 | 2013-11-28 | Air intake and exhaust device and method for ocean robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN104675468B (en) |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7427220B2 (en) * | 2006-08-02 | 2008-09-23 | Mcgill University | Amphibious robotic device |
| CN101214795A (en) * | 2008-01-07 | 2008-07-09 | 清华大学 | Electronic air control shutter automatically controlling device |
| KR100986215B1 (en) * | 2009-04-15 | 2010-10-07 | 한국해양연구원 | A master system for workspace-operated and automatic control of tele-operated underwater manipulators |
| CN201757859U (en) * | 2010-08-04 | 2011-03-09 | 深圳市远舟科技实业有限公司 | Marine host computer signal imitation station |
| CN102953794B (en) * | 2011-08-29 | 2014-10-22 | 中国科学院沈阳自动化研究所 | Integrated air feeding and exhausting device of single-mast type underwater vehicle |
| CN102385371A (en) * | 2011-09-29 | 2012-03-21 | 东南大学 | Layered redundancy automatic monitoring system of field bus type marine engine room |
-
2013
- 2013-11-28 CN CN201310626714.9A patent/CN104675468B/en not_active Expired - Fee Related
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| CN104675468A (en) | 2015-06-03 |
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Granted publication date: 20170208 Termination date: 20201128 |