CN108706078A - A kind of autonomous type aquafarm monitoring device - Google Patents

A kind of autonomous type aquafarm monitoring device Download PDF

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Publication number
CN108706078A
CN108706078A CN201810510978.0A CN201810510978A CN108706078A CN 108706078 A CN108706078 A CN 108706078A CN 201810510978 A CN201810510978 A CN 201810510978A CN 108706078 A CN108706078 A CN 108706078A
Authority
CN
China
Prior art keywords
hull
bottom plate
lateral partitions
platform
monitoring device
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.)
Pending
Application number
CN201810510978.0A
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Chinese (zh)
Inventor
张铁栋
刘自豪
辛坚
张韧然
刘超
邢炜
庞永杰
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Harbin Engineering University
Original Assignee
Harbin Engineering University
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Harbin Engineering University filed Critical Harbin Engineering University
Priority to CN201810510978.0A priority Critical patent/CN108706078A/en
Publication of CN108706078A publication Critical patent/CN108706078A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63BSHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B35/00Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63BSHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B3/00Hulls characterised by their structure or component parts
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63CLAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C11/00Equipment for dwelling or working underwater; Means for searching for underwater objects
    • B63C11/52Tools specially adapted for working underwater, not otherwise provided for
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88Sonar systems specially adapted for specific applications
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04NPICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00Television systems
    • H04N7/18Closed circuit television systems, i.e. systems in which the signal is not broadcast
    • H04N7/181Closed circuit television systems, i.e. systems in which the signal is not broadcast for receiving images from a plurality of remote sources

Abstract

The present invention provides a kind of autonomous type aquafarm monitoring device, the platform being connect including hull, with hull, the hull is placed by three pressure-resistant cabin " product " fonts and is formed, hull is internally provided with upper layer bottom plate and lower layer's bottom plate, processing unit is set on the bottom plate of upper layer, battery flat and side scan sonar processor are set on lower layer's bottom plate, and there are two the battery flats and is symmetrically mounted on lower layer's bottom plate of bottom;This autonomous type aquafarm monitoring device provided by the invention, working condition is semi-submersible type, can take into account the water surface and underwater situation simultaneously, and hull is " product " font structure, and stability is good, and pressure-resistant cabin is the acrylic pipe of low cost, energy saving, is easily replaced.Detection device can monitor underwater illegal frogman and monitor the illegal ship of the water surface, can AUTONOMOUS TASK, it realizes regional patrol, reduces manual work intensity, and the instruction of person on shore can be received, realize remote control, finding after illegal frogman can ashore personnel alarms in time.

Description

A kind of autonomous type aquafarm monitoring device
Technical field
The present invention relates to a kind of monitoring device more particularly to a kind of aquafarm monitoring devices, belong to aquafarm monitoring Field.
Background technology
China coastline is very long, and aquaculture is with a long history, and into after the new century, aquafarm construction speed adds year by year Soon.Currently, keeping an eye on for aquafarm is antitheft mainly based on artificial, artificial device is substituted there are no a kind of, manually sees plumber Make dull, personnel also suffer boisterous test.Meanwhile watchman cannot take into account each angle in wide pasture It falls, cannot find water-bed stealer in time, especially at night.To solve the above-mentioned problems, spy has invented autonomous type ocean and has herded Field monitoring device.
Invention content
The purpose of the invention is to which the water surface and underwater situation can be taken into account simultaneously, AUTONOMOUS TASK but also can realize remote Journey is remotely controlled and provides a kind of autonomous type aquafarm monitoring device.
The object of the present invention is achieved like this:
A kind of autonomous type aquafarm monitoring device, including hull, the platform that is connect with hull, the hull are resistance to by three Ballasting " product " font places to be formed, and hull is internally provided with upper layer bottom plate and lower layer's bottom plate, and processing unit is arranged on the bottom plate of upper layer, Battery flat and side scan sonar processor are set on lower layer's bottom plate, and there are two the battery flats and is symmetrically mounted on the lower layer bottom of bottom On plate;
Hull stem is equipped with Forward-Looking Sonar, Underwater Camera, bow thruster, and the Forward-Looking Sonar is mounted on hull stem Front, the Underwater Camera is mounted on the underface of hull stem, and side scan sonar, the ship are installed in the hull both sides Stern thruster, stabilizer are installed in body tail portion, and two stabilizers are symmetrically mounted on the tail portion of hull, are provided on stabilizer and promote mainly dress It sets;
The platform is fixed on by platform branch pipe on the bottom plate of upper layer;Be arranged on platform Beidou navigation device, low-light video camera, Stroboscopic lamp and three-in-one antenna, the three-in-one antenna include WIFI, the Big Dipper and radio, and the Beidou navigation device and low-light are taken the photograph Camera is mounted on platform front, and the three-in-one antenna is vertically installed at table top, and the stroboscopic lamp is mounted on platform tail portion;
Battery flat passes through conducting wire and Forward-Looking Sonar, Underwater Camera, side scan sonar, Side Thrusters, side scan sonar processor, north Struggle against omniselector, low-light video camera, main propelling machinery connection;Forward-Looking Sonar, Underwater Camera, three-in-one antenna pass through data transmission Line is connect with processing unit;Side scan sonar is connect by data line with side scan sonar processor.
The invention also includes some such structure features:
1. the hull front is provided with the first lateral partitions and the second lateral partitions, hull rear portion is provided with third transverse direction Partition board and the 4th lateral partitions, the first handle are fixed in the first lateral partitions and the second lateral partitions, and the second handle is fixed on In third lateral partitions and the 4th lateral partitions, lower layer's bottom plate penetrates through first to fourth lateral partitions, upper layer bottom plate perforation second Lateral partitions and third lateral partitions;
2. the pressure-resistant cabin is acrylic pipe;
3. the Underwater Camera axis and horizontal angle are 45-70 ゜.
Compared with prior art, the beneficial effects of the invention are as follows:
This autonomous type aquafarm monitoring device provided by the invention, working condition is semi-submersible type, can be taken into account simultaneously The water surface and underwater situation, hull are " product " font structure, and stability is good, and pressure-resistant cabin is the acrylic pipe of low cost, saves energy Source is easily replaced.Detection device can monitor underwater illegal frogman and monitor the illegal ship of the water surface, can AUTONOMOUS TASK, realize Regional patrol reduces manual work intensity, and can receive the instruction of person on shore, remote control is realized, after finding illegal frogman It can ashore personnel's alarm, and tracking lock target person in time.The present invention reduces artificial workloads, and adapt to various Weather and working environment.
Description of the drawings
Fig. 1 is the side view of the present invention;
Fig. 2 is the front view of the present invention;
Fig. 3 is the vertical view of the present invention.
Specific implementation mode
A kind of autonomous type aquafarm monitoring device, including underwater and water surface two parts, underwater portion hull front With rear portion respectively there are two lateral partitions, handle both ends are fixed on partition board, and hull interlude has two bottom plates up and down, entire ship Body is imitative catfish shape, is placed and is formed by three pressure-resistant cabin " product " fonts, and wherein the pressure-resistant cabin of bottom two is equipped with battery, forms energy Source unit, top pressure-resistant cabin are equipped with computer processing unit, form processing unit, and hull stem is installed Forward-Looking Sonar and taken the photograph under water Camera, hull both sides are equipped with side scan sonar, and Forward-Looking Sonar, Underwater Camera and side scan sonar collectively form undersea detection list Member, hull initial and tail sections are equipped with Side Thrusters, and submarine tail is equipped on stabilizer and promotes mainly device there are two stabilizer, the water Face part is connect using segmentation structure with underwater portion, and wherein water surface coupling part below uses NACA0012 airfoil structures Form, more than the water surface is then transitioned into NACA0025 airfoil structure forms, equipped with by WIFI, the Big Dipper and radio at the top of surface platform The communication of three-in-one antenna composition and navigation elements, the water surface probe unit, Beidou navigation device and the frequency that are made of low-light video camera Flashing light.
Described device is semi-submersible type, and when work keeps approximately level operational configuration, lower partition to penetrate through four lateral partitions, on Partition board penetrates through two lateral partitions, and handle is fixed in lateral partitions, and lateral partitions are used for reinforcing the integral strength of hull, three Pressure-resistant cabin is acrylic pipe, is in that " product " font is placed, and the pressure-resistant cabin of bottom two is battery flat, and pressure-resistant cabin the inside in top is equipped with calculating Machine processing unit, three pressure-resistant cabins are fixed using holder, and battery flat can be regularly replaced.
The Forward-Looking Sonar is mounted on the front of hull stem, exposes hull and is contacted with water, Forward-Looking Sonar passes through data Transmission line is connect with processing unit, and the Underwater Camera is mounted on the underface of hull stem, the camera lens dew of Underwater Camera Go out hull, Underwater Camera axis is 45-70 ゜ with horizontal angle, and Underwater Camera is single with processing by data line Member connection.
Described two Side Thrusters are separately mounted to hull initial and tail sections, and submarine tail installs two horizontal stabilizers, improves ship Anti-interference ability when body navigates by water, main propelling machinery are mounted on stabilizer, and side scan sonar is mounted on outside hull both sides, described Side scan sonar processor is mounted on lower clapboard, and side scan sonar is connect by data line with side scan sonar processor.
The platform branch pipe is fixed by the bracket in upper partition, and the platform water surface uses NACA0012 aerofoil profile knots with lower part Configuration formula more than the water surface is then transitioned into NACA0025 airfoil structure forms.The Beidou navigation device is mounted on inside surface platform, The position of device, status information obtain by navigation data through Difference Calculation, speed by the distance between two theodolite places divided by when Between obtain, the low-light video camera be mounted on platform front, the WIFI, the Big Dipper and radio three-in-one antenna be mounted on platform Top, receiving and transmitting signal, there are one quick charge interface and stroboscopic lamps for the table top.
Technical problem to be solved by the present invention lies in a kind of device of real time monitoring aquafarm is provided, water can be monitored The suspicious boat in face, and water-bed situation can be monitored, it can work normally day and night, mainly at night, it is found that marine products are stolen After person, alarm signal and scene image information are sent to operator on duty on the bank in time.Meanwhile operator on duty also can be to dress on the bank It sets and is remotely controlled.
To solve above-mentioned existing technical problem, the present invention uses following scheme:A kind of autonomous type aquafarm monitoring dress It sets, the operational configuration of device is semi-submersible type, the case where can monitoring the water surface, the case where capable of also monitoring underwater.Device includes water Lower and water surface two parts, which is characterized in that underwater portion is the hull shape of imitative catfish, is put by three pressure-resistant cabin " product " fonts It sets, hull stem installation Forward-Looking Sonar, Underwater Camera and Side Thrusters, hull both sides are equipped with side scan sonar, and submarine tail has Side Thrusters, two stabilizers and two main propelling machinerys.The water surface part is connected using segmentation structure form and underwater portion It connects, wherein for the water surface in the form of lower part uses NACA0012 airfoil structures, water surface above section is then transitioned into NACA0025 aerofoil profiles Structure type.At the top of surface platform equipped with the communication and navigation elements being made of WIFI, the Big Dipper and radio three-in-one antenna, by The water surface probe unit and stroboscopic lamp of low-light video camera composition.
Preferably, the hull front and rear is carried there are two lateral partitions with reinforcing the integral strength of hull respectively Hand both ends are fixed in lateral partitions, and hull interlude has two bottom plates up and down, lower layer's bottom plate to penetrate through four lateral partitions, upper layer Bottom plate penetrates through two lateral partitions.The pressure-resistant cabin of bottom two is equipped with battery, is fixed by the bracket on lower layer's bottom plate, forms the energy Unit can regularly replace, and top pressure-resistant cabin is fixed on the bottom plate of upper layer, and computer processing unit is housed, and form processing unit.
Preferably, Forward-Looking Sonar is mounted on the front of hull stem, the case where capable of effectively detection in front of monitoring device, Collected information is passed into processing unit by data line.Underwater Camera is mounted on the underface of hull stem, The axis of Underwater Camera and horizontal angle are 45-70 ゜, and the water-bed situation of observation, Underwater Camera pass through data in real time Transmission line is connect with processing unit.
Preferably, two Side Thrusters are mounted on hull initial and tail sections centre position, the longitudinal centre line of axis and submersible Vertically, to obtain best propulsive efficiency, the steering behaviour of submersible is improved.There are two stabilizers for submarine tail, improve hull Anti-interference ability when navigation, main propelling machinery are mounted on stabilizer.
Preferably, side scan sonar is contacted mounted on hull both sides with water, the case where to observe hull both sides bottom sea bed, Side scan sonar processor is mounted on hull lower layer bottom plate, and collected signal is transmitted to by side scan sonar by data line Side scan sonar processor.
Preferably, two battery flats are acrylic pipe, it is fixed on lower layer's bottom plate by holder, battery pack is placed on battery flat Interior, battery flat is led by conducting wire and Forward-Looking Sonar, Underwater Camera, side scan sonar, Side Thrusters, side scan sonar processor, the Big Dipper Boat device, low-light video camera, main propelling machinery connection, power for these equipment.Processing unit pressure-resistant cabin is fixed on upper plate.
Preferably, Beidou navigation device is mounted on surface platform, navigate for device, the speed and location information of device, It is obtained through Difference Calculation by navigation data, low-light video camera is horizontally arranged at surface platform, is responsible for the monitoring water surface, three-in-one antenna It is vertically installed at surface platform top, is connect with processing unit by data line.There is quick charge to connect on surface platform Mouth and stroboscopic lamp, charging interface can charge the battery, and extend the voyage of device, stroboscopic lamp shows position at night.
It is described in further detail with reference to the accompanying drawings and examples:
As shown in Figure 1,1 being Forward-Looking Sonar, 2 being Underwater Camera, 3 be bow thruster, 4 be side scan sonar, 5 being battery Cabin, 6 be lower layer's bottom plate, 7 be side scan sonar processor, 8 be stern thruster, 9 be stabilizer, 10 be lateral partitions, 11 be handle, 12 be processing unit, 13 be upper layer bottom plate, 14 be platform branch pipe, 15 be main pushing device, 16 be platform, 17 be Beidou navigation device, 18 it is low-light video camera, 19 be three-in-one antenna, 20 is stroboscopic lamp.
A kind of autonomous type aquafarm monitoring device, operational configuration are semi-submersible type, approximately level navigation, including imitative catfish ship There are upper layer bottom plate 13 and lower layer's bottom plate 6 in the inside of body, the platform 16 being connect with hull, the hull, is fixed on upper layer bottom plate 13 Processing unit 12, battery flat 5 and side scan sonar processor 7 are fixed on lower layer's bottom plate 6, and lower layer's bottom plate 6 penetrates through lateral partitions 10, ship Body stem is equipped with Forward-Looking Sonar 1, Underwater Camera 2, bow thruster 3, and the hull outside of the hull is equipped with side scan sonar 4, the tail portion of the hull is equipped with stern thruster 8, stabilizer 9, promotes mainly device 15 on stabilizer 9, the platform 16 Top Beidou navigation device 17, low-light video camera 18, stroboscopic lamp 20, WIFI, the Big Dipper and radio three-in-one antenna 19 are installed.
The Forward-Looking Sonar 1 is mounted on the front of hull stem, is contacted with water, Forward-Looking Sonar 1 is responsible in front of hull Region is connect by data line with processing unit 12.
The Underwater Camera 2 is mounted on the underface of hull stem, the axis of Underwater Camera 2 and horizontal angle For 45-70 ゜, to obtain the larger visual field, the water-bed situation of monitoring, picture signal pass to processing list by data line in real time Member 12.
The Side Thrusters is horizontally arranged at the centre position of hull stem pipeline, and the longitudinal centre line of axis and submersible hangs down Directly, the steering behaviour of submersible is improved.
The side scan sonar 4 is mounted on hull both sides, the case where to observe hull both sides bottom sea bed, side scan sonar processing Device 7 is mounted on lower layer's bottom plate, and collected signal is transmitted to side scan sonar processor by side scan sonar 4 by data line 7。
The battery flat 5 is acrylic pipe, is arranged symmetrically, can replace, and battery pack is placed in battery flat 5, and battery flat 5 is logical Cross conducting wire and Forward-Looking Sonar 1, Underwater Camera 2, bow thruster 3, side scan sonar 4, side scan sonar processor 7, stern thruster 8, Processing unit 12 promotes mainly device 15, Beidou navigation device 17, low-light video camera 18, the connection of stroboscopic lamp 20, powers for these equipment.
The Beidou navigation device 17 is mounted on surface platform, is navigated for device, and the low-light video camera 18 is horizontally mounted On platform, it is responsible for the ship of the monitoring water surface, three-in-one antenna 19 is vertically installed at surface platform top, passes through data line It is connect with processing unit, receiving and transmitting signal, the stroboscopic lamp 20 is mounted on surface platform.
Specified waters is put by artificial cloth when described device works, by Beidou navigation autonomous navigation.Forward sight sound when navigation , Underwater Camera and side scan sonar be responsible for underwater region, water-surface areas is responsible for by low-light video camera, find doubtful situations by Reason unit is ashore transmitted messages by antenna, and person on shore can also remote control device.Quick charge interface can fill for device Electricity can unload battery flat after battery long-time use, replace battery.
Example the above is only the implementation of the present invention is not intended to limit the scope of the invention, every to utilize this hair The equivalent structure that bright specification and accompanying drawing content are done is applied directly or indirectly in other correlative technology fields, similarly wraps It includes in the scope of patent protection of invention.
To sum up:The present invention provides a kind of autonomous type aquafarm monitoring device, including underwater and water surface two parts, underwater portion Be divided into imitative catfish shape, stacked and formed by three pressure-resistant cabin " product " fonts, hull stem install Forward-Looking Sonar, Underwater Camera and Side scan sonar is installed in Side Thrusters, both sides, and tail portion installs Side Thrusters, is equipped on stabilizer and promotes mainly device.Water surface part is using segmentation Formula structure is coupled with underwater portion, and the water surface more than the water surface is then transitioned into the form of lower part uses NACA0012 airfoil structures NACA0025 airfoil structure forms.At the top of surface platform equipped with WIFI, the Big Dipper and radio three-in-one antenna, low-light video camera and Stroboscopic lamp.This autonomous type aquafarm monitoring device provided by the invention keeps approximately level operational configuration, is semi-submersible type, can Instead of artificial, realize it is long-term to aquafarm round-the-clock on duty, illegal frogman and illegal operation fishing boat effectively take precautions against and And alarm, and tracking lock unauthorized person and ship.

Claims (5)

1. a kind of autonomous type aquafarm monitoring device, including hull, the platform that is connect with hull, which is characterized in that the ship Body is placed by three pressure-resistant cabin " product " fonts and is formed, and hull is internally provided with upper layer bottom plate and lower layer's bottom plate, is set on the bottom plate of upper layer Processing unit is set, battery flat and side scan sonar processor are set on lower layer's bottom plate, and there are two the battery flats and is symmetrically mounted on On lower layer's bottom plate of bottom;
Hull stem is equipped with Forward-Looking Sonar, Underwater Camera, bow thruster, and the Forward-Looking Sonar is being mounted on hull stem just Front, the Underwater Camera are mounted on the underface of hull stem, and side scan sonar, the hull tail are installed in the hull both sides Stern thruster, stabilizer are installed by portion, and two stabilizers are symmetrically mounted on the tail portion of hull, are provided on stabilizer and promote mainly device;
The platform is fixed on by platform branch pipe on the bottom plate of upper layer;Beidou navigation device, low-light video camera, stroboscopic are set on platform Lamp and three-in-one antenna, the three-in-one antenna include WIFI, the Big Dipper and radio, the Beidou navigation device and low-light video camera Mounted on platform front, the three-in-one antenna is vertically installed at table top, and the stroboscopic lamp is mounted on platform tail portion;
Battery flat is led by conducting wire and Forward-Looking Sonar, Underwater Camera, side scan sonar, Side Thrusters, side scan sonar processor, the Big Dipper Boat device, low-light video camera, main propelling machinery connection;Forward-Looking Sonar, Underwater Camera, three-in-one antenna by data line with Processing unit connects;Side scan sonar is connect by data line with side scan sonar processor.
2. a kind of autonomous type aquafarm monitoring device according to claim 1, which is characterized in that the hull front is set It is equipped with the first lateral partitions and the second lateral partitions, hull rear portion is provided with third lateral partitions and the 4th lateral partitions, and first Handle is fixed in the first lateral partitions and the second lateral partitions, the second handle be fixed on third lateral partitions and the 4th laterally every On plate, lower layer's bottom plate penetrates through first to fourth lateral partitions, and upper layer bottom plate penetrates through the second lateral partitions and third lateral partitions.
3. a kind of autonomous type aquafarm monitoring device according to claim 1 or 2, which is characterized in that the pressure-resistant cabin For acrylic pipe.
4. a kind of autonomous type aquafarm monitoring device according to claim 1 or 2, which is characterized in that described to take the photograph under water Camera axis and horizontal angle are 45-70 ゜.
5. a kind of autonomous type aquafarm monitoring device according to claim 3, which is characterized in that the Underwater Camera Axis and horizontal angle are 45-70 ゜.
CN201810510978.0A 2018-05-25 2018-05-25 A kind of autonomous type aquafarm monitoring device Pending CN108706078A (en)

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CN201810510978.0A CN108706078A (en) 2018-05-25 2018-05-25 A kind of autonomous type aquafarm monitoring device

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Publication number Priority date Publication date Assignee Title
CN109733543A (en) * 2019-01-15 2019-05-10 哈尔滨工程大学 A kind of green marine locator of energy mix
CN111301646A (en) * 2020-03-25 2020-06-19 哈尔滨工程大学 Autonomous underwater robot for under-ice detection

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WO1990013476A1 (en) * 1989-04-28 1990-11-15 Rauma-Repola Oy Method and equipment for mine detecting
CN101070091A (en) * 2007-06-14 2007-11-14 上海交通大学 Deep-sea solar diving device
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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109733543A (en) * 2019-01-15 2019-05-10 哈尔滨工程大学 A kind of green marine locator of energy mix
CN111301646A (en) * 2020-03-25 2020-06-19 哈尔滨工程大学 Autonomous underwater robot for under-ice detection
CN111301646B (en) * 2020-03-25 2021-11-09 哈尔滨工程大学 Autonomous underwater robot for under-ice detection

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Application publication date: 20181026

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