CN109319048A - A kind of sonar unit for habitata - Google Patents
A kind of sonar unit for habitata Download PDFInfo
- Publication number
- CN109319048A CN109319048A CN201811436480.0A CN201811436480A CN109319048A CN 109319048 A CN109319048 A CN 109319048A CN 201811436480 A CN201811436480 A CN 201811436480A CN 109319048 A CN109319048 A CN 109319048A
- Authority
- CN
- China
- Prior art keywords
- sonar
- described device
- habitata
- device shell
- conservancy diversion
- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B17/00—Vessels parts, details, or accessories, not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, 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
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO 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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B17/00—Vessels parts, details, or accessories, not otherwise provided for
- B63B2017/0054—Rests or supports for movable ship-borne equipment
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Acoustics & Sound (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention discloses a kind of sonar units for habitata, including device housing, adjustment seat, compartment, water conservancy diversion frame, the water conservancy diversion frame is arranged in described device housing forward end, the water conservancy diversion frame is fixedly connected with described device shell, obstacle detection sonar is provided on the water conservancy diversion frame, the obstacle detection sonar is embedded in the water conservancy diversion frame, and described device hull outside is provided with loading frame.Beneficial effect is: structurally reasonable, integrated design is sealed using glue outside device, it ensure that the leakproofness of device, front end is provided with water conservancy diversion frame simultaneously, reduce resistance to water-flow when device operation, it is easy to operate, it is out using cable form control and transmission, the delay of data transmission is avoided, while capableing of the inclination angle of facing upward of regulating device using adjustment seat, improves using effect, it is highly-safe, front is provided with obstacle detection sonar and can detect in advance, and outside is provided with attachment base and avoids side impact, guarantees the safety of equipment.
Description
Technical field
The present invention relates to habitata fields, more particularly to a kind of sonar unit for habitata.
Background technique
With ocean development implementation, sight has been invested ocean by people, especially in sea floor exploration field, is
The indispensable step of marine resources development, but current habitata device, are essentially all to be drawn with hanger rope, when detection device is put
After setting in the sea, be difficult to the state of control device, thus in detection can because there is various extraneous factors to influence detection results,
Later period also needs to detect again, time-consuming and laborious.
Summary of the invention
The object of the invention is that a kind of sonar unit for habitata is provided to solve the above-mentioned problems, this
Invention improves the practicability of habitata device.
The present invention through the following technical solutions to achieve the above objectives:
A kind of sonar unit for habitata, including device housing, adjustment seat, compartment, water conservancy diversion frame, described device
The water conservancy diversion frame is arranged in housing forward end, and the water conservancy diversion frame is fixedly connected with described device shell, is provided with barrier on the water conservancy diversion frame
Hindering object detection sonar, the obstacle detection sonar is embedded in the water conservancy diversion frame, and described device hull outside is provided with loading frame,
The loading frame upper end is provided with attachment base, and described device shell upper end is provided with waterproof jacket, is provided on rear side of the waterproof jacket
Sealing cover, the sealing cover are embedded in described device shell, and the waterproof set upper side is arranged the adjustment seat, the adjustment seat and
It is provided with adjusting hawser between the attachment base, the adjustment seat upper end is provided with external cable, the waterproof jacket and described outer
It connects cable inner and is provided with cable, the external cable is internally provided with wirerope.
Preferred: the adjustment seat is internally provided with centre frame, and there are two adjust motor, institute for the centre frame two sides setting
It states adjusting outside motor and is provided with drum, described device shell lower end is provided with multibeam echosounding sonar, the multibeam echosounding
Sonar is embedded in described device shell, and subbottom profile probing sonar is provided on rear side of the multibeam echosounding sonar, described shallow
Stratigraphic section detection sonar is embedded in described device shell, and the setting of subbottom profile probing sonar two sides sweeps sound there are two side
, be provided with capillary groove between the side scan sonar and described device shell, the capillary groove and described device shell one at
Type, the side scan sonar rear and front end are provided with rotating seat, are provided with rotary shaft between the rotating seat and described device shell,
Described device enclosure interior is provided with rotating electric machine, and the rotating electric machine side is provided with lifting motor, under the lifting motor
End is provided with screw rod, and the screw rod lower end is provided with terminal pad, and the terminal pad lower end is provided with connection frame, under the connection frame
End is provided with the multibeam echosounding sonar, and described device housing rear end is provided with monitor box, and the monitor box is internally provided with
Pressure sensor, the pressure sensor model are TJP-1, are provided with Water quality detector on the upside of the pressure sensor, described
Water quality detector model WMP4, the lifting motor rear side are provided with the compartment, and the compartment is internally provided with north
Struggle against chip, and the Beidou chip model is AT6558, is provided with GLONASS chip, the GLONASS on rear side of the Beidou chip
Chip model is GS-96U8, is provided with GPS chip, the GPS chip model PT9256, institute on rear side of the GLONASS chip
It states Beidou chip underside and is provided with controller, the controller model SPC-STW-26A1, the controller rear side is provided with
Processor, the processor model are MT6516, are provided with memory, the memory model TVS- on rear side of the processor
882ST2。
It is preferred: external panel to be provided between the compartment and the sealing cover, the external panel passes through screw
It is connected to the compartment.
So set, the external panel plays external data, it is connected by screw to and ensure that bonding strength.
Preferred: the compartment is bolted to described device shell.
So set, the compartment plays fixed and protective effect, it is bolted and ensure that stability.
Preferred: the monitor box passes through welding described device shell connection.
So set, the monitor box plays installation, the leakproofness of described device shell ensure that by welding.
Preferred: the multibeam echosounding sonar is bolted to the connection frame.
So set, the multibeam echosounding sonar plays detection, one is utilized outside the multibeam echosounding sonar
Glue envelope is connected with described device shell, and inside, which is bolted, ensure that leakproofness and stability.
Preferred: the terminal pad is connected by welding with the connection frame.
So set, connection and adjustment effect are folded in the connection, bonding strength ensure that by welding.
Preferred: the screw rod is rotationally connected with the terminal pad.
So set, the screw rod plays regulatory role, rotation connection ensure that smoothness when screw rod rotation.
Preferred: the lifting motor is bolted to described device shell.
So set, the lifting motor is made to be easily installed fixation.
Preferred: the rotating electric machine is bolted to described device shell.
So set, the rotating electric machine, which serves, adjusts the side scan sonar angle, the company of ensure that is bolted
Connect intensity.
Preferred: the controller is connected to the lifting motor, the rotating electric machine, adjusting electricity by conducting wire
Machine, the processor, the processor are connected to the obstacle detection sonar, side scan sonar, described more by conducting wire
Wave beam depth measurement sonar, the subbottom profile probing sonar, the external panel, the pressure sensor, the water quality detection
Device, the Beidou chip, the GLONASS chip, the GPS chip, the controller, the memory.
So set, the controller and the processor are connected to each electric elements by conducting wire, information ensure that
The timeliness of processing.
The present invention also provides a kind of method that the sonar unit for habitata carries out habitata, the method packets
It includes:
Aboard ship by the sonar unit lifting for being used for habitata, seabed is used for by described using the external cable
The sonar unit of detection is put into the sea,
The obstacle detection sonar, the side scan sonar, the multibeam echosounding sonar, the subbottom profile probing
Sonar is started to work,
Inclination angle is faced upward using the adjusting motor regulating device inside the adjustment seat,
The angle that the side scan sonar is adjusted using the rotating electric machine makes the investigative range weight of described two side scan sonars
It is folded,
The screw rod is increased using the lifting motor, the multibeam echosounding sonar forms a cambered surface, makes described more
The detection wave Duplication of wave beam depth measurement sonar is got higher.
Compared with prior art, beneficial effects of the present invention are as follows:
1, structurally reasonable, integrated design is sealed using glue outside device, ensure that the leakproofness of device, while front end is arranged
There is water conservancy diversion frame, reduces resistance to water-flow when device operation；
2, easy to operate, the delay that avoids data from transmitting out using cable form control and transmission, while utilizing and adjusting
Seat is capable of the inclination angle of facing upward of regulating device, improves using effect；
3, highly-safe, front is provided with obstacle detection sonar and can detect in advance, and outside is provided with attachment base and avoids
Side impact guarantees the safety of equipment.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this hair
Bright some embodiments for those of ordinary skill in the art without any creative labor, can be with
It obtains other drawings based on these drawings.
Fig. 1 is a kind of first structure diagram of sonar unit for habitata of the present invention；
Fig. 2 is a kind of the second structural schematic diagram of sonar unit for habitata of the present invention；
Fig. 3 is a kind of main view of sonar unit for habitata of the present invention；
Fig. 4 is a kind of right view schematic diagram of internal structure of sonar unit for habitata of the present invention；
Fig. 5 is a kind of adjustment seat schematic diagram of internal structure of sonar unit for habitata of the present invention；
Fig. 6 is a kind of external cable schematic diagram of internal structure of sonar unit for habitata of the present invention；
Fig. 7 is a kind of waterproof jacket schematic diagram of internal structure of sonar unit for habitata of the present invention；
Fig. 8 is a kind of lifting motor structural schematic diagram of sonar unit for habitata of the present invention；
Fig. 9 is a kind of capillary groove structure schematic diagram of sonar unit for habitata of the present invention；
Figure 10 is a kind of circuit structure flow diagram of sonar unit for habitata of the present invention.
The reference numerals are as follows:
1, external cable；2, adjustment seat；3, hawser is adjusted；4, waterproof jacket；5, attachment base；6, loading frame；7, device housing；
8, water conservancy diversion frame；9, obstacle detection sonar；10, side scan sonar；11, sealing cover；12, multibeam echosounding sonar；13, shallow stratum is cutd open
Face detection sonar；14, connection frame；15, terminal pad；16, screw rod；17, lifting motor；18, rotating electric machine；19, rotary shaft；20,
Rotating seat；21, capillary groove；22, external panel；23, compartment；24, centre frame；25, motor is adjusted；26, drum；27, pressure
Sensor；28, monitor box；29, Water quality detector；30, Beidou chip；31, GLONASS chip；32, GPS chip；33, it controls
Device；34, processor；35, memory；36, cable；37, wirerope.
Specific embodiment
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", "upper", "lower",
The orientation or positional relationship of the instructions such as "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside" is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of description of the present invention and simplification of the description, rather than instruction or dark
Show that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as pair
Limitation of the invention.In addition, term " first ", " second " etc. are used for description purposes only, it is not understood to indicate or imply phase
To importance or implicitly indicate the quantity of indicated technical characteristic.The feature for defining " first ", " second " etc. as a result, can
To explicitly or implicitly include one or more of the features.In the description of the present invention, unless otherwise indicated, " multiple "
It is meant that two or more.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood by concrete condition
Concrete meaning in the present invention.
The present invention will be further explained below with reference to the attached drawings:
Embodiment 1
As shown in Fig. 1-Figure 10, a kind of sonar unit for habitata, including device housing 7, adjustment seat 2, waterproof
Water conservancy diversion frame 8 is arranged in the front end of device housing 7 in box 23, water conservancy diversion frame 8, and device housing 7 plays carrying, and water conservancy diversion frame 8 plays water conservancy diversion work
With water conservancy diversion frame 8 is connected by welding and device housing 7, is provided with obstacle detection sonar 9, obstacle detection sound on water conservancy diversion frame 8
9 play detection, and obstacle detection sonar 9 is embedded in water conservancy diversion frame 8, and loading frame 6, loading frame 6 are provided with outside device housing 7
Play protection and carrying, loading frame 6 is connected by welding and device housing 7, and 6 upper end of loading frame is provided with attachment base 5, is connected
5 connection functions of seat, attachment base 5 are connected by welding and loading frame 6, and 7 upper end of device housing is provided with waterproof jacket 4, waterproof jacket 4
It shields, waterproof jacket 4 is connected by gluing and device housing 7, is provided with sealing cover 11, sealing cover 11 on rear side of waterproof jacket 4
It seals, sealing cover 11 is embedded in device housing 7, adjustment seat 2 is arranged in 4 upper end of waterproof jacket, adjustment seat 2 plays adjusting and makees
With waterproof jacket 4 is connected by gluing and adjustment seat 2, is provided between adjustment seat 2 and attachment base 5 and is adjusted hawser 3, and hawser 3 is adjusted
It plays regulatory role, 2 upper end of adjustment seat is provided with external cable 1, cable 36 is provided with inside waterproof jacket 4 and external cable 1, electricity
Cable 36 plays transmission data, and external cable 1 is internally provided with wirerope 37；Adjustment seat 2 is internally provided with centre frame 24, centre frame
24 play installation, and centre frame 24 is connected by welding with adjustment seat 2, and 24 two sides of centre frame are arranged there are two adjusting motor 25,
It adjusts motor 25 to play regulatory role, adjusts motor 25 and be bolted to centre frame 24, be arranged outside adjusting motor 25 wired
Disk 26, drum 26 play take-up, and drum 26 is connected by key in adjusting motor 25；7 lower end of device housing is provided with multi-beam
Depth measurement sonar 12, multibeam echosounding sonar 12 play detection, and multibeam echosounding sonar 12 is embedded in device housing 7, multi-beam
Subbottom profile probing sonar 13 is provided on rear side of depth measurement sonar 12, subbottom profile probing sonar 13 plays detection, shallowly
Layer section detection sonar 13 is embedded in device housing 7, and 13 two sides of subbottom profile probing sonar are arranged there are two side scan sonar 10,
Side scan sonar 10 plays detection, and capillary groove 21 is provided between side scan sonar 10 and device housing 7, and capillary groove 21 plays installation and makees
With capillary groove 21 and device housing 7 are integrally formed, and 10 rear and front end of side scan sonar is provided with rotating seat 20, and rotating seat 20 plays peace
It pretends to use, rotating seat 20 is connected by welding and side scan sonar 10, is provided with rotary shaft between rotating seat 20 and device housing 7
19, rotary shaft 19 plays connection function, and rotary shaft 19 is connected by welding and rotating seat 20, and device housing 7 is internally provided with rotation
Motor 18, rotating electric machine 18 are bolted to device housing 7, and 18 side of rotating electric machine is provided with lifting motor 17, lifting
17 lower end of motor is provided with screw rod 16, and 16 lower end of screw rod is provided with terminal pad 15, and 15 lower end of terminal pad is provided with connection frame 14, even
It connects 14 lower end of frame and is provided with multibeam echosounding sonar 12,7 rear end of device housing is provided with monitor box 28, is arranged inside monitor box 28
There is pressure sensor 27, Water quality detector 29 is provided on the upside of pressure sensor 27, is provided with compartment on rear side of lifting motor 17
23, compartment 23 is internally provided with Beidou chip 30, and GLONASS chip 31, GLONASS chip are provided on rear side of Beidou chip 30
31 rear sides are provided with GPS chip 32, and controller 33 is provided on the downside of Beidou chip 30, is provided with processor on rear side of controller 33
34, memory 35 is provided on rear side of processor 34.
Embodiment 2
The present embodiment the difference from embodiment 1 is that:
External panel 22 is provided between compartment 23 and sealing cover 11, external panel 22 is connected by screw in compartment
23, external panel 22 plays external data, is connected by screw to and ensure that bonding strength.
Working principle: aboard ship by device lifting, device is put into the sea using external cable 1, obstacle detection sonar
9, side scan sonar 10, multibeam echosounding sonar 12, subbottom profile probing sonar 13 are started to work, inside adjustment seat 2
The inclination angle of facing upward for adjusting 25 regulating device of motor guarantees that detection angles utilize rotating electric machine when needing especially to detect a certain region
18 adjust 10 angle of side scan sonar, are overlapped the investigative range of two side scan sonars 10, improve detection effect, can also be used simultaneously
Lifting motor 17 increases screw rod 16, and multibeam echosounding sonar 12 forms a cambered surface, makes the detection wave of multibeam echosounding sonar 12
Duplication is got higher, while promoting detection effect.
The basic principles, main features and advantages of the invention have been shown and described above.The technical staff of the industry should
Understand, the present invention is not limited to the above embodiments, and the above embodiments and description only describe originals of the invention
Reason, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these changes and improvements
It all fall within the protetion scope of the claimed invention.
Claims (9)
1. a kind of sonar unit for habitata, it is characterised in that: including device housing (7), adjustment seat (2), compartment
(23), the water conservancy diversion frame (8), the water conservancy diversion frame (8) and described device shell is arranged in water conservancy diversion frame (8), described device shell (7) front end
Body (7) is fixedly connected, and is provided with obstacle detection sonar (9) on the water conservancy diversion frame (8), obstacle detection sonar (9) edge
Embedded in the water conservancy diversion frame (8), it is provided with loading frame (6) outside described device shell (7), loading frame (6) upper end is provided with
Attachment base (5), described device shell (7) upper end are provided with waterproof jacket (4), are provided with sealing cover on rear side of the waterproof jacket (4)
(11), the sealing cover (11) is embedded in described device shell (7), and the adjustment seat (2) is arranged in waterproof jacket (4) upper end,
It is provided between the adjustment seat (2) and the attachment base (5) and adjusts hawser (3), adjustment seat (2) upper end is provided with external
It is provided with cable (36) inside cable (1), the waterproof jacket (4) and the external cable (1), in the external cable (1)
Portion is provided with wirerope (37).
2. a kind of sonar unit for habitata according to claim 1, it is characterised in that: the adjustment seat (2)
It is internally provided with centre frame (24), there are two adjusting motor (25), the adjusting motors for centre frame (24) the two sides setting
(25) external to be provided with drum (26), described device shell (7) lower end is provided with multibeam echosounding sonar (12), the multi-beam
Depth measurement sonar (12) is embedded in described device shell (7), is provided with shallow seismic profile on rear side of the multibeam echosounding sonar (12)
Detection sonar (13), the subbottom profile probing sonar (13) are embedded in described device shell (7), and the shallow seismic profile is visited
Surveying the setting of sonar (13) two sides, there are two side scan sonar (10), set between the side scan sonar (10) and described device shell (7)
It is equipped with capillary groove (21), the capillary groove (21) and described device shell (7) are integrally formed, two before and after the side scan sonar (10)
End is provided with rotating seat (20), is provided with rotary shaft (19), the dress between the rotating seat (20) and described device shell (7)
It sets shell (7) to be internally provided with rotating electric machine (18), rotating electric machine (18) side is provided with lifting motor (17), the liter
Drop motor (17) lower end is provided with screw rod (16), and screw rod (16) lower end is provided with terminal pad (15), the terminal pad (15)
Lower end is provided with connection frame (14), and connection frame (14) lower end is provided with the multibeam echosounding sonar (12), described device
Shell (7) rear end is provided with monitor box (28), and the monitor box (28) is internally provided with pressure sensor (27), and the pressure passes
It is provided with Water quality detector (29) on the upside of sensor (27), is provided with the compartment (23), institute on rear side of the lifting motor (17)
It states compartment (23) to be internally provided with Beidou chip (30), is provided with GLONASS chip (31) on rear side of the Beidou chip (30),
It is provided with GPS chip (32) on rear side of the GLONASS chip (31), is provided with controller on the downside of the Beidou chip (30)
(33), it is provided with processor (34) on rear side of the controller (33), is provided with memory (35) on rear side of the processor (34).
3. a kind of sonar unit for habitata according to claim 2, it is characterised in that: the compartment (23)
It is provided with external panel (22) between the sealing cover (11), the external panel (22) is connected by screw in the waterproof
Box (23).
4. a kind of sonar unit for habitata according to claim 3, it is characterised in that: the compartment (23)
It is bolted to described device shell (7).
5. a kind of sonar unit for habitata according to claim 4, it is characterised in that: the screw rod (16) turns
It is dynamic to be connected to the terminal pad (15).
6. a kind of sonar unit for habitata according to claim 5, it is characterised in that: the lifting motor
(17) described device shell (7) are bolted to.
7. a kind of sonar unit for habitata according to claim 6, it is characterised in that: the rotating electric machine
(18) described device shell (7) are bolted to.
8. a kind of sonar unit for habitata according to claim 7, it is characterised in that: the controller (33)
The lifting motor (17), the rotating electric machine (18), the adjusting motor (25), the processor are connected to by conducting wire
(34), the processor (34) is connected to the obstacle detection sonar (9), the side scan sonar (10), described by conducting wire
Multibeam echosounding sonar (12), the subbottom profile probing sonar (13), the external panel (22), the pressure sensor
(27), the Water quality detector (29), the Beidou chip (30), the GLONASS chip (31), the GPS chip (32),
The controller (33), the memory (35).
9. the method for carrying out habitata using the sonar unit for habitata of any one of claim 1-8, feature
It is: the described method includes:
Aboard ship by the sonar unit lifting for being used for habitata, seabed is used for by described using the external cable (1)
The sonar unit of detection is put into the sea,
The obstacle detection sonar (9), the side scan sonar (10), the multibeam echosounding sonar (12), the shallow stratum
Section detection sonar (13) is started to work,
Inclination angle is faced upward using internal adjusting motor (25) regulating device of the adjustment seat (2),
The angle that the side scan sonar (10) is adjusted using the rotating electric machine (18), makes the spy of described two side scan sonars (10)
Range overlapping is surveyed,
The screw rod (16) is increased using the lifting motor (17), the multibeam echosounding sonar (12) forms a cambered surface,
Get higher the detection wave Duplication of the multibeam echosounding sonar (12).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811436480.0A CN109319048A (en) | 2018-11-28 | 2018-11-28 | A kind of sonar unit for habitata |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811436480.0A CN109319048A (en) | 2018-11-28 | 2018-11-28 | A kind of sonar unit for habitata |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109319048A true CN109319048A (en) | 2019-02-12 |
Family
ID=65258858
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811436480.0A Withdrawn CN109319048A (en) | 2018-11-28 | 2018-11-28 | A kind of sonar unit for habitata |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109319048A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020177037A1 (en) * | 2019-03-01 | 2020-09-10 | 唐山哈船科技有限公司 | Floatable and submersible sonar robot comprising annular air sac |
| CN112046675A (en) * | 2020-07-31 | 2020-12-08 | 安庆船用电器有限责任公司 | Unmanned ship navigation obstacle recognition device |
| CN112896469A (en) * | 2021-01-27 | 2021-06-04 | 广州大学 | Equipment carrying platform based on underwater robot |
-
2018
- 2018-11-28 CN CN201811436480.0A patent/CN109319048A/en not_active Withdrawn
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020177037A1 (en) * | 2019-03-01 | 2020-09-10 | 唐山哈船科技有限公司 | Floatable and submersible sonar robot comprising annular air sac |
| CN112046675A (en) * | 2020-07-31 | 2020-12-08 | 安庆船用电器有限责任公司 | Unmanned ship navigation obstacle recognition device |
| CN112046675B (en) * | 2020-07-31 | 2021-10-15 | 安庆船用电器有限责任公司 | Unmanned ship navigation obstacle recognition device |
| CN112896469A (en) * | 2021-01-27 | 2021-06-04 | 广州大学 | Equipment carrying platform based on underwater robot |
| CN112896469B (en) * | 2021-01-27 | 2022-01-28 | 广州大学 | Equipment carrying platform based on underwater robot |
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Application publication date: 20190212 |
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