CN105109655B - Move under water device under solar energy water - Google Patents
Move under water device under solar energy water Download PDFInfo
- Publication number
- CN105109655B CN105109655B CN201510554167.7A CN201510554167A CN105109655B CN 105109655 B CN105109655 B CN 105109655B CN 201510554167 A CN201510554167 A CN 201510554167A CN 105109655 B CN105109655 B CN 105109655B
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- under water
- solar cell
- sealed chamber
- cell module
- move
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Abstract
The invention provides the device that moved under water under solar energy water, it can overcome the problem of can not remotely the continuing a journey, easily cause disposal of pollutants of device presence of moving under water of existing main use diesel.It includes the device body that moves under water, sealed chamber, it may move airtight doormat and the solar cell module being arranged in pairs, two groups of solar cell modules of every a pair of solar cell modules are symmetrical set, move under water and be provided with sealed chamber in device body, the sealed chamber left and right sides is symmetrically arranged with removable airtight doormat, may move airtight doormat can realize the isolation sealing of sealed chamber with whether opening, flexible translation mechanism is installed in sealed chamber, realize that expansion and retraction are stretched out out of sealed chamber to be retractd by one group of flexible translation mechanism respectively per side solar cell module, solar cell module is electricly connected by master controller with battery, master controller is electricly connected with control panel.
Description
Technical field
The present invention relates to the system regions that move under water under water, specially move under water device under solar energy water.
Background technology
The device that moved under water under existing domestic use of water is generally diesel driving, and it is dived in the water surface using diesel oil DC motor Driver
Row device advances and charged a battery, and when the device that moves under water is dived beneath the water, diesel oil motor closes the electricity of storage simultaneously using battery
It can power to drive the device that moves under water to navigate by water under water to direct current generator.Because using diesel oil, as power resources, thus it has to
The enough diesel oil of storage is to meet the requirement of course continuation mileage, while the device that also therefore causes to move under water can not remotely continue a journey；In addition
Diesel can pollute discharge to environment.
The content of the invention
In view of the above-mentioned problems, the invention provides the device that moved under water under solar energy water, it can overcome existing main use diesel oil to move
The problem of can not remotely the continuing a journey, easily cause disposal of pollutants of device presence of moving under water of power.
Move under water device under solar energy water, and it includes the device body that moves under water, and the device bodies top of moving under water is provided with gateway, bottom peace
Equipped with denidation bracket, the device body portion of moving under water is provided with camera, rear afterbody and is provided with propulsion system, it is characterised in that：
It also includes sealed chamber, may move airtight doormat and the solar cell module being arranged in pairs, every a pair of solar cell modules
Two groups of solar cell modules be symmetrical set, be provided with the sealed chamber, the sealed chamber in the device body that moves under water
The left and right sides is symmetrically arranged with the removable airtight doormat, and the removable airtight doormat can realize the isolation of the sealed chamber
Sealing is provided with flexible translation mechanism with whether opening in the sealed chamber, described to lead to respectively per side solar cell module
Cross the translation mechanism that stretched described in one group and realize that expansion and retraction are stretched out out of described sealed chamber to be retractd, the solar cell module
Electricly connected by master controller with battery, the master controller is electricly connected with control panel.
Further, the flexible translation mechanism includes chain and rack, the both sides of the solar cell module
Be separately installed with the rack for moving direction along opening, the chain is installed in the sealed chamber, the rack with it is described
Connection is engaged between chain, the chain is driven by chain driving motor, and the chain driving motor is electricly connected
The master controller.
Further, the solar cell module is provided with output cord, and the output cord passes through the master controller
Electricly connected with the battery, the output cord connects reel, and the reel and the master controller are automatically controlled
Connection；
The reel is arranged on cable box；
The output end of the solar cell module is arranged at the side inside the device that moved under water described in, the output end
Ring flange is installed, the output cord is connected on the ring flange；
Be provided with waterproof insulation clay in the ring flange, the output cord by the waterproof insulation clay with it is described
Ring flange is connected；
The output cord is composite cable, and the composite cable is formed by cable and wirerope are stranded.
Further, the solar cell module bottom is provided with inflatable packer, and the inflatable packer is located at the solar energy
Battery component output end one side is provided with charge and discharge gas tube orifice, and the charge and discharge gas tube orifice is connected inside charge and discharge tracheae, the inflatable packer
Space is separated into some longitudinal compartments by some longitudinal interlayers being parallel to each other, and is respectively arranged with each described longitudinal compartment
It is sequentially connected respectively by deep seated blowhole between one pressure self-adjusting valve, the adjacent pressure self-adjusting valve, close to the charge and discharge
The pressure self-adjusting valve of gas tube orifice side is connected by deep seated blowhole at the charge and discharge gas tube orifice with the charge and discharge tracheae, described to fill
Bleeder pipe is connected with the air-charging and air-discharging system for the device that moves under water, and the charge and discharge tracheae is bundled with the output cord, the charge and discharge
Gas system is electricly connected by charge and discharge device controller with the master controller.
Further, limited location detector is set close to the removable airtight doormat side in the sealed chamber, it is described
Spacing detector is electricly connected with the master controller.
Further, the airtight doormat is installed on open-and-close mechanism, and the open-and-close mechanism is driven by folding motor, described to open
Motor is closed to electricly connect with the master controller.
Further, the propulsion system includes propeller, vertical stabilizer and horizontal stabilizer, and the propeller is set
There are two and be respectively symmetrically arranged at the lower rear both sides of the device body that moves under water, the vertical stabilizer is vertically installed on
The device body tail section that moves under water, the horizontal stabilizer is horizontally installed to the device body tail section that moves under water, the vertical stabilizer,
Horizontal stabilizer moves under water device body tail section circumferentially in the installation of cross interval described in；
The propulsion system also includes tail end propeller, and the tail end propeller is installed on the tail end of the device body that moves under water
Portion.
The beneficial effect of device of being moved under water under solar energy water of the present invention is：It passes through in the airtight of device body interior setting of moving under water
Indoor setting is stretched translation mechanism, and solar cell module can be deployed or be bounced back to outside sealed chamber by the flexible translation mechanism
Be placed in sealed chamber, thus move under water bubbled through the water column on device body when solar cell module can deploy real to outside sealed chamber
Conversion from existing solar energy to electric energy and electric energy storage and when the device body that moves under water needs dive, solar cell module can be returned
Contracting is placed in sealed chamber, and course continuation mileage can not be ensured by overcoming the non-renewable diesel oil of existing use as what power source was present
Problem, and avoid pollution of the diesel to environment.
Brief description of the drawings
Fig. 1 is that solar energy of the present invention moves under water the structural representation of device；
Fig. 2 is that the solar energy of the present invention device that moves under water is placed in structural representation in sealed chamber in solar cell module retraction
Figure；
Fig. 3 is that solar energy of the present invention moves under water the structural representation that device deploys in solar cell module to outside sealed chamber；
Fig. 4 is that solar energy of the present invention moves under water the control schematic diagram of device；
Fig. 5 is that solar energy of the present invention moves under water the solar components mplifying structure schematic diagram of device；
Fig. 6 is that solar energy of the present invention moves under water the schematic top plan view that device is installed in the inflatable packer of solar components bottom；
Fig. 7 is that solar energy of the present invention moves under water the schematic side view that device is installed in the inflatable packer of solar components bottom.
Embodiment
See the device that moved under water under Fig. 1~Fig. 4, solar energy water of the present invention, it includes the device body A that moves under water, opened at the top of the device body A that moves under water
There is any discrepancy mouth 28, bottom are provided with denidation bracket 7, and device body A front portions of moving under water are provided with camera 3, rear afterbody and are provided with propulsion
System；It also includes sealed chamber 10, may move airtight doormat 4 and the solar cell module 9 being arranged in pairs, sealed chamber 10 or so
Both sides, which are symmetrically arranged with to may move in airtight doormat 4, the device body A that moves under water together, is provided with sealed chamber 10, may move airtight doormat 4
The isolation sealing of sealed chamber 10 can be realized and whether opened, flexible translation mechanism is installed, the sun per side in sealed chamber 10
Energy battery component 9 realizes that expansion and retraction are stretched out out of sealed chamber 10 to be retractd by one group by flexible translation mechanism respectively,
Two groups of paired solar battery groups 9 are flexed outward or reclaimed so as to the device that ensures to move under water in the water surface simultaneously in the course of work
Balance, solar cell module 9 is electricly connected by master controller 20 with battery 19, master controller 20 and the electricity of control panel 25
Control connection.Multipair solar cell module 9 can be arranged side by side successively along the device length direction that moves under water in actual applications, to increase
Generated energy.
Flexible translation mechanism includes chain 17 and rack 18, and the both sides of solar cell module 9 are separately installed with edge
The rack 18 of translation direction, chain 17 is installed in sealed chamber 10, and connection, tooth are engaged between rack 18 and chain 17
Wheel chain 17 is driven by chain driving motor 23, and chain driving motor 23 electricly connects master controller 20.
Solar cell module 9 is provided with output cord 16, and output cord 16 is automatically controlled by master controller 20 and battery 19
Connection, the connection reel 8 of output cord 16, reel 8 is electricly connected with master controller 20；Reel 8 is arranged at line
On cable case 11, cable box 11 is used for the retracting of the output cord 16 when solar cell module 9 bounces back and is placed in sealed chamber 10；
See Fig. 5, the output end of solar cell module 9 is provided with ring flange 26, and output cord 16 is connected on ring flange 26；Ring flange 26
Waterproof insulation clay 27 is inside provided with, output cord 16 is connected by waterproof insulation clay 27 with ring flange 26, waterproof insulation glue
Mud 27 has very strong toughness, and it can prevent solar cell module 9 not to be pulled off in recovery, it is ensured that solar battery group
The recovery of part 9 is reliable；Output cord 16 is composite cable, composite cable by cable, charge and discharge tracheae with wirerope is stranded forms, use
Composite cable can effectively improve the intensity of output cord 16, be further ensured that the reliable expansion of solar battery group 9 with reclaiming.
The bottom of solar cell module 9 is provided with inflatable packer 12, and inflatable packer 12 ensure that to be opened up in solar cell module 9
Entirely flown at after opening on the water surface, so as to ensure the generating efficiency of solar cell module 9；See Fig. 6 and Fig. 7, inflatable packer 12
Charge and discharge gas tube orifice 29 is provided with positioned at solar cell module output end one side, the connection charge and discharge of charge and discharge gas tube orifice 29 tracheae 30 fills
Some longitudinal compartments 33 are separated into by some longitudinal interlayers 31 be arrangeding in parallel inside air cushion 12, are respectively provided with each compartment 33
Have and be sequentially connected respectively by deep seated blowhole 32 between a pressure self-adjusting valve 13, adjacent pressure self-adjusting valve 13, close to charge and discharge
The pressure self-adjusting valve 13-1 of the side of gas tube orifice 29 is connected by deep seated blowhole 32 at charge and discharge gas tube orifice 29 with charge and discharge tracheae 30, is filled
Bleeder pipe 30 is connected with the air-charging and air-discharging system for the device that moves under water, and charge and discharge tracheae 30 is bundled with output cord 16, to realize the sun
Synchronous folding and unfolding in the stretching, extension of energy battery component or removal process, and charge and discharge tracheae 30 is placed in cable together with output cord 16
In case 11；Pressure self-adjusting valve 13 is used to detect the air pressure in inflatable packer 12, the pressure self-adjusting when the air pressure in inflatable packer 12 is zero
Valve 13 is automatically opened up, and when the air pressure in inflatable packer 12 reaches preset value, pressure self-adjusting valve 13 is closed automatically, and air-charging and air-discharging system leads to
Overcharge bleeder pipe 30 and inflation/deflation operation is carried out to inflatable packer 12, air-charging and air-discharging system passes through charge and discharge device controller 24 and master controller 20
Electricly connect.
Limited location detector 21 is set in sealed chamber 10, and spacing detector 21 is electricly connected with master controller 20, spacing inspection
Surveying device 21 is used to detect whether solar cell module 9 all stretches out sealed chamber 10 in outside expansion or receive in inside retraction
Whether all it is retracted into sealed chamber 10 when putting.
It may move airtight doormat 4 and be installed on open-and-close mechanism, open-and-close mechanism is driven by folding motor 22, folding motor 22 and master
Controller 20 is electricly connected, and open-and-close mechanism is outwardly opened or closed under the driving of folding motor 22, is easy to solar cell
The stretching or contraction of component 9 are enclosed within sealed chamber 10.
Propulsion system include propeller 5, vertical stabilizer 14 and horizontal stabilizer 15, propeller 5 be provided with two and
It is symmetrically positioned in the lower rear both sides for the device body A that moves under water, vertical stabilizer perpendicular 14 is to being installed on move under water device body A afterbodys, level
Stabilizer 15 is horizontally installed to the device body A afterbodys that move under water, and vertical stabilizer 14, horizontal stabilizer 15 are along the device body A afterbodys that move under water
It is circumferential to be installed in cross interval；Propulsion system also includes the tail end propeller 6 for being installed on the tail end for the device body A that moves under water；It is latent
Thrust when row device advances produced by two propellers 5 is identical, so that device advance of moving under water is promoted, can when needing to turn or turn around
With by the thrust produced by two propellers 5 of change, so that the device that moves under water is realized and turns or turn around, while in the device tail end that moves under water
Portion is also provided with tail end propeller 6, and tail end propeller 6 can be moved under water device navigation with process auxiliary drive；Propeller can be latent from tradition
The spiral propeller of ship；Cross is presented in the device afterbody that moves under water in vertical stabilizer 14 and the mounted in pairs of horizontal stabilizer 15, to protect
Hold the device usually steady steaming that moves under water.
In Fig. 1,1 is steam vent, and 2 be inlet opening, and 3 be camera,
Below, solar energy of the present invention is specifically described to move under water the course of work of device：
When the device that moves under water is dived when navigating by water in water body or need not carry out solar power generation, solar cell module 9 is complete
It is placed in sealed chamber 10, the control folding of master controller 20 motor 22 drives open-and-close mechanism and removable airtight doormat 4 complete
Closure so that the closed isolation of sealed chamber 10 and the device exterior space that moves under water；
When being dived on the device that moves under water in the water surface or when needing to carry out solar power generation, by control panel 25 to master controller 20
Instruction is sent, the control folding of master controller 20 motor 22 is acted, drive open-and-close mechanism to open by folding motor 22 removable airtight
Doormat 4, the control chain driving motor 23 of master controller 20 is acted, and is acted by the drive gear chain 17 of chain driving motor 23, by
Engaged in wheel chain 17 with being installed on the rack 18 of the two bottom sides of solar cell module 9, therefore chain 17 is acted and but driven
The dynamic level of solar cell module 9 is moved to outside sealed chamber 10, and at the same time master controller 20 also controls the action of reel 8 to make
Solar cell module 9 when outwards translation is stretched by the output cord 16 bundled, charge and discharge tracheae 30 from cable box 11
In continuously extract out, now the inflatable packer 12 of the bottom of solar cell module 9 is in compressive state, each pressure in inflatable packer 12
The longitudinal compartment and laterally adjacent each compartment that self-adjusting valve 13 is in open mode, inflatable packer 12 are in UNICOM's shape
State, after spacing detector 21, which detects solar cell module 9, removes expansion out of sealed chamber 10 completely, spacing detector 21
Send detection signal to master controller 20, master controller 20 receives solar cell module 9 and is fully removed sealed chamber 10
Send instruction to charge and discharge airgun controller 24 after signal, from charge and discharge airgun controller 24 control air-charging and air-discharging system by charge and discharge tracheae 30 to
Inflated in inflatable packer 12, when the air pressure that each pressure self-adjusting valve 13 is detected in inflatable packer 12 reaches preset value, each pressure is certainly
Valve 13 is adjusted to close, now solar cell module 9 is bubbled through the water column under the support of inflatable packer 12, and solar cell module 9 can
Carry out opto-electronic conversion and by the power storage of conversion in battery 19；
When the device that moves under water needs dive or needs solar cell module to be recycled in sealed chamber 10, pass through control panel
25 send recovery command to master controller 20, and master controller 20 first controls battery 19 to disconnect the electricity with solar cell module 9
Control connection, the deflation that then master controller 20 sends inflatable packer 12 to charge and discharge airgun controller 24 is instructed, and charge and discharge airgun controller 24 is controlled
Air-charging and air-discharging system processed is deflated to longitudinal compartment 33-1 in inflatable packer 12 first, the pressure self-adjusting valve in longitudinal compartment 33-1
Row pressure power self-adjusting valve 13-1 is automatically opened up when the air pressure that 13-1 detects in longitudinal compartment 33-1 is zero, and air-charging and air-discharging system is then
A couple longitudinal compartment 33-2 adjacent with longitudinal compartment 33-1 deflates again, when the pressure self-adjusting valve 13-2 detections in longitudinal compartment 33-2
Pressure self-adjusting valve 13-2 is automatically opened up when to the air pressure in longitudinal compartment 33-2 being zero so that in each longitudinal compartment of inflatable packer 12
Pressure self-adjusting valve is opened successively from Inside To Outside single-frame deflates so as to realize, and causes solar cell module 9 gradually from interior
Laterally outside is tilted and submerged, and the control chain driving motor 23 of master controller 20 and reel 8 are started working, folding and unfolding
Line device 8 draws output cord 16 and charge and discharge tracheae 30 reclaims to pull solar cell module 9 to return into sealed chamber 10 together
Contracting is until the rack 18 of the both sides of solar cell module 9 is engaged with chain 17, by the sliding tooth endless chain of chain driving motor 23
The action of bar 17 band carry-over bar 18 and solar cell module 9 continue to the medial movement of sealed chamber 10, in the process retractable cable
The continuous firing of device 8 draws output cord 16 and charge and discharge tracheae 30 is recycled in cable box 11 together, when spacing detector 21 is detected
It is recovered into completely in sealed chamber 10 to solar cell module 9, the control folding of master controller 20 motor 22 works, by folding motor
22 driving open-and-close mechanisms act and drive removable airtight doormat 4 to close, and realize sealed chamber 10 and extraneous closed isolation.
Claims (10)
1. move under water device under solar energy water, it includes the device body that moves under water（A）, the device body that moves under water（A）Top is provided with gateway
（28）, bottom denidation bracket is installed（7）, the device body that moves under water（A）Front portion is provided with camera（3）, rear afterbody is provided with
Propulsion system, it is characterised in that：It also includes sealed chamber（10）, may move airtight doormat（4）With the solar-electricity being arranged in pairs
Pond component（9）, two groups of solar cell modules of every a pair of solar cell modules（9）It is symmetrical set, the device that moves under water
Body（A）Inside it is provided with the sealed chamber（10）, the sealed chamber（10）The left and right sides is symmetrically arranged with described removable airtight
Doormat（4）, it is described to may move airtight doormat（4）The sealed chamber can be realized（10）Isolation sealing with whether open, the gas
Secret room（10）Flexible translation mechanism is inside installed, it is described per side solar cell module（9）Respectively by being stretched described in one group
Translation mechanism is realized from the sealed chamber（10）It is interior to stretch out expansion and retraction retracting, the solar cell module（9）Pass through master
Controller（20）With battery（19）Electricly connect, the master controller（20）With control panel（25）Electricly connect.
2. move under water device under solar energy water according to claim 1, it is characterised in that：The flexible translation mechanism includes gear
Chain（17）And rack（18）, the solar cell module（9）Both sides be separately installed with along open move direction the rack
（18）, the chain（17）It is installed on the sealed chamber（10）It is interior, the rack（18）With the chain（17）It
Between engage connection, the chain（17）By chain driving motor（23）Driving, the chain driving motor（23）Automatically controlled company
Connect the master controller（20）.
3. move under water device under solar energy water according to claim 1, it is characterised in that：The solar cell module（9）If
There is output cord（16）, the output cord（16）Pass through the master controller（20）Electricly connected with the battery, it is described
Output cord（16）Connect reel（8）, the reel（8）With the master controller（20）Electricly connect.
4. move under water device under solar energy water according to claim 3, it is characterised in that：The reel（8）It is arranged at line
Cable case（11）On.
5. move under water device under solar energy water according to claim 3, it is characterised in that：The solar cell module（9）'s
Output end is arranged at the device body that moved under water described in（A）An internal side, the output end is provided with ring flange（26）, it is described
Output cord（16）It is connected to the ring flange（26）On.
6. move under water device under solar energy water according to claim 5, it is characterised in that：The ring flange（26）Inside it is provided with anti-
Water insulation clay（27）, the output cord（16）Pass through the waterproof insulation clay（27）With the ring flange（26）Connection.
7. according to the device that moved under water under any described solar energy water in claim 3~6, it is characterised in that：The output cord
（16）For composite cable, the composite cable is formed by cable and wirerope are stranded.
8. move under water device under solar energy water according to claim 3, it is characterised in that：The solar cell module（9）Bottom
Portion is provided with inflatable packer（12）, the inflatable packer（12）Inflation/deflation is provided with positioned at the solar cell module output end one side
The mouth of pipe（29）, the charge and discharge gas tube orifice（29）Connect charge and discharge tracheae（30）, the inflatable packer（12）Inner space is by some mutual
Parallel longitudinal interlayer（31）It is separated into some longitudinal compartments（33）, each described longitudinal compartment（33）Inside it is respectively arranged with one
Individual pressure self-adjusting valve（13）, the adjacent pressure self-adjusting valve（13）Between pass through deep seated blowhole respectively（32）It is sequentially connected, leans on
The nearly charge and discharge gas tube orifice（29）The pressure self-adjusting valve of side（13-1）Pass through deep seated blowhole（32）In the charge and discharge gas tube orifice
（29）Place and the charge and discharge tracheae（30）Connection, the charge and discharge tracheae（30）It is connected with the air-charging and air-discharging system for the device that moves under water, it is described to fill
Bleeder pipe（30）With the output cord（16）Bundle, the air-charging and air-discharging system passes through charge and discharge device controller（24）With institute
State master controller（20）Electricly connect.
9. move under water device under solar energy water according to claim 1, it is characterised in that：The sealed chamber（10）It is interior to set limited
Bit detector（21）, the spacing detector（21）With the master controller（20）Electricly connect.
10. move under water device under solar energy water according to claim 1, it is characterised in that：It is described to may move airtight doormat（4）Peace
Loaded on open-and-close mechanism, the open-and-close mechanism is by folding motor（22）Driving, the folding motor（22）With the master controller
（20）Electricly connect.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510554167.7A CN105109655B (en) | 2015-09-02 | 2015-09-02 | Move under water device under solar energy water |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510554167.7A CN105109655B (en) | 2015-09-02 | 2015-09-02 | Move under water device under solar energy water |
Publications (2)
| Publication Number | Publication Date |
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| CN105109655A CN105109655A (en) | 2015-12-02 |
| CN105109655B true CN105109655B (en) | 2017-08-25 |
Family
ID=54657848
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510554167.7A Expired - Fee Related CN105109655B (en) | 2015-09-02 | 2015-09-02 | Move under water device under solar energy water |
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| Country | Link |
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| CN (1) | CN105109655B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108199647B (en) * | 2018-02-07 | 2019-03-26 | 合肥凯石投资咨询有限公司 | Dragging photovoltaic generating system peculiar to vessel |
| AU2019384810B2 (en) * | 2018-11-21 | 2023-03-30 | Hadal, Inc. | Systems and methods for retractable marine power generation |
| CN111806656A (en) * | 2020-07-23 | 2020-10-23 | 蒋旭东 | Application method of maritime communication lifesaving equipment |
| US20230192253A1 (en) * | 2021-12-22 | 2023-06-22 | Bae Systems Information And Electronic Systems Inc. | Retractable solar arrays for unmanned underwater vehicles |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100443369C (en) * | 2007-06-14 | 2008-12-17 | 上海交通大学 | Deep-sea solar diving device |
| JP5504499B2 (en) * | 2010-04-27 | 2014-05-28 | 公立大学法人大阪府立大学 | Solar underwater glider and its submarine method |
| CN202379074U (en) * | 2011-12-16 | 2012-08-15 | 朱有权 | Solar submarine |
| DE102013002720B4 (en) * | 2013-02-12 | 2015-02-19 | solartourist UG (haftungsbeschränkt) | Solar hydrofoil |
| CN104648639A (en) * | 2013-11-19 | 2015-05-27 | 襄阳市襄州区第四中学 | Solar charging submarine |
| CN204713383U (en) * | 2015-05-10 | 2015-10-21 | 大连海事大学 | A kind of pushing boat for ship lock navigation |
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| CN105109655A (en) | 2015-12-02 |
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