CN110116785A - Floatable hydrospace detection device and its Detection location platform localization method can be positioned - Google Patents
Floatable hydrospace detection device and its Detection location platform localization method can be positioned Download PDFInfo
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- CN110116785A CN110116785A CN201910364355.1A CN201910364355A CN110116785A CN 110116785 A CN110116785 A CN 110116785A CN 201910364355 A CN201910364355 A CN 201910364355A CN 110116785 A CN110116785 A CN 110116785A
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- 238000001514 detection method Methods 0.000 title claims abstract description 99
- 238000000034 method Methods 0.000 title claims abstract description 13
- 230000004807 localization Effects 0.000 title abstract description 4
- 238000007667 floating Methods 0.000 claims abstract description 45
- 230000007246 mechanism Effects 0.000 claims abstract description 32
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 14
- 239000002131 composite material Substances 0.000 claims abstract description 9
- 150000001875 compounds Chemical class 0.000 claims abstract description 9
- 238000005259 measurement Methods 0.000 claims description 10
- 238000004891 communication Methods 0.000 claims description 5
- 230000008569 process Effects 0.000 claims description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- CURLTUGMZLYLDI-UHFFFAOYSA-N Carbon dioxide Chemical compound O=C=O CURLTUGMZLYLDI-UHFFFAOYSA-N 0.000 description 2
- 230000000994 depressogenic effect Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 241000251468 Actinopterygii Species 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 229910002092 carbon dioxide Inorganic materials 0.000 description 1
- 239000001569 carbon dioxide Substances 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 238000004064 recycling Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B22/00—Buoys
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B22/00—Buoys
- B63B22/04—Fixations or other anchoring arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B22/00—Buoys
- B63B22/04—Fixations or other anchoring arrangements
- B63B22/08—Fixations or other anchoring arrangements having means to release or urge to the surface a buoy on submergence thereof, e.g. to mark location of a sunken object
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B22/00—Buoys
- B63B2022/006—Buoys specially adapted for measuring or watch purposes
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- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The present invention relates to one kind can position floatable hydrospace detection device and its Detection location platform localization method, it specifically includes and grabs bottom anchor, Detection location platform and floating upward quickly mechanism, the bottom anchor of grabbing is arranged in deep water, in described grab acoustic fix ranging beacon is installed on the anchor of bottom, described to grab bottom anchor and be connected by compound rope with Detection location platform, the floating upward quickly mechanism is connected by conducting wire composite rope with Detection location platform.It is of the present invention to position marine resources quick detection device, by laying several hydrophone units on Detection location platform, the upper and lower part of Detection location platform is separately connected floating upward quickly mechanism and grabs bottom anchor with acoustic fix ranging beacon, comprehensive accurate positioning is carried out to Detection location position of platform in the way of three kinds, and floating upward quickly mechanism energy floating upward quickly, origin-location is returned to after timely back information, is reused, it can timely, accurate, economy offer deep-sea detecting data.
Description
Technical field
The invention belongs to marine survey technology field, more particularly to one kind can position floatable hydrospace detection device and its
Detection location platform localization method.
Background technique
China is an ocean big country, reinforces the monitoring to marine environment and marine resources information, for excavating ocean
Precious resources has great strategic importance.China is not very significant in the research temperature of deep-sea ocean Detection Techniques at present,
To the overall understanding of marine field and marine resources are made full use of this strongly limits China.
Currently, to be concentrated mainly on buoy, underwater robot etc. all kinds of technically for the test platform of marine field, and above-mentioned
Many detecting devices in, buoy is that the current mankind obtain one of important technology equipment of Ocean environment information, especially at deep-sea
It just plays a greater and greater role in oceanographic observation.This kind of buoy feature is: with its unique composed structure, carrying out detection receipts
Collect marine information, then by all kinds of means read out buoy detection information, have concealment, it is anti-human for damageability it is strong, use
Flexibly, the features such as easy to operate, deep ocean buoy provide important technology support for marine resources and Environmental Studies.
From present's view, the main problems faced of marine field has: (1) most of bathymetry buoys are suspended in marine,
It drifts about, a certain region can only schematically be detected with utilizing ocean current, be difficult to realize the detection to specific location marine resources；
(2) most of Ocean Surveying buoys must can obtain detection information or buoy ascent rate until withdrawing buoy very
Slowly, generally in 0.1m/s or so, it is difficult to return deep-sea detecting information in time.Such as: in the detecting deep shoal of fish, cannot return in time
Communication breath will lose fishing opportunity.
Summary of the invention
To solve the above problem in hydrospace detection field, emphasis can position floatable ocean the present invention provides one kind and visit
Device is surveyed, which can be accurately positioned measurement point, and energy floating upward quickly, return to original position after timely back information
It sets, reuses, it can timely, accurate, economy offer deep-sea detecting data.
The technical scheme to solve the above technical problems is that
One kind can position floatable hydrospace detection device, specifically include and grab bottom anchor, Detection location platform and floating upward quickly machine
Structure, the bottom anchor of grabbing are arranged in deep water, it is described grab be equipped on the anchor of bottom acoustic fix ranging letter, it is described grab bottom anchor by compound rope with
Detection location platform is connected, and the floating upward quickly mechanism is connected by conducting wire composite rope with Detection location platform.
As the preferred of the embodiment of the present invention, it is fixedly connected with the first buoyancy compartment in the Detection location platform, described
Winch is installed, the winch is connected with conducting wire composite rope, is equipped on the Detection location platform in the first buoyancy compartment
Electromagnetic sensor, flow sensor and flow direction sensor.
As the preferred of the embodiment of the present invention, anchor cable cabin, institute are equipped in the bottom middle position of the Detection location platform
The bottom for stating anchor cable cabin is fixedly connected with compound rope.
As the preferred of the embodiment of the present invention, several hydrophone units are equipped in the lower part of the Detection location platform,
Several described hydrophone units are uniformly distributed in the two sides in the anchor cable cabin, also are provided with hydrophone in the bottom in the anchor cable cabin
Unit.
As the preferred of the embodiment of the present invention, the floating upward quickly mechanism includes shell, and second is equipped in the shell
Buoyancy compartment is respectively arranged with communication antenna and power propeller at the top and bottom of the shell.
As the preferred of the embodiment of the present invention, control module, data memory module, power supply mould are additionally provided in the shell
Block, second buoyancy compartment are isolated with control module, data memory module, power module.
As the preferred of the embodiment of the present invention, it is equipped with hydraulic pressure sensor on the inner wall of second buoyancy compartment and flow velocity is surveyed
Determine instrument.
As the preferred of the embodiment of the present invention, steadying plate, the stabilization are separately installed in the two sides of the bottom of the shell
Plate is respectively placed in the two sides of power propeller.
The embodiment of the present invention also provides the accurate positioning method of a kind of pair of Detection location platform, specifically includes the following steps:
(1) acoustic fix ranging beacon issues acoustical signal, after receiving acoustical signal by sea survey ship, determines the position for grabbing bottom anchor；
(2) to grab bottom anchor as coordinate origin, coordinate system is established；
(3) the hydrophone unit of acoustic fix ranging beacon sounding, Detection location platform lower receives, and it is flat that Detection location is calculated
Platform is relative to the position (x for grabbing bottom anchor1, y1, z1)；
According to the measurement data of flow sensor and flow direction sensor, Detection location platform is calculated relative to grabbing bottom anchor
Position (x2, y2, z2)；
According to the flow speed data of location information and floating-upward process measurement after floating upward quickly mechanism (3) water outlet, floated
Starting point, i.e. Detection location platform are relative to the position (x for grabbing bottom anchor3, y3, z3)；
(4) above-mentioned three groups of data are obtained into Detection location platform relative to the position coordinates for grabbing bottom anchor using following formula
(x, y, z)
Obtain exact position of the Detection location platform in ocean.
The invention has the following advantages:
1, of the present invention to position marine resources quick detection device, it is several by being laid on Detection location platform
A hydrophone unit, the upper and lower part of Detection location platform are separately connected floating upward quickly mechanism and grabbing with acoustic fix ranging beacon
Bottom anchor carries out comprehensive accurate positioning to Detection location position of platform in the way of three kinds, and floating upward quickly mechanism can quickly on
It is floating, origin-location is returned to after timely back information, is reused, it can timely, accurate, economy offer deep-sea detecting data.
2, floating upward quickly mechanism of the present invention can be realized quick low noise and float, and enable great deep exploration parameter timely
Passback, improves timeliness, ensure that concealment；Floating upward quickly device can return, and reuse, improve economic benefit.
Detailed description of the invention
Fig. 1 is the structural schematic diagram that the present invention can position floatable hydrospace detection device.
Fig. 2 is the structural schematic diagram of floating upward quickly mechanism of the present invention.
Fig. 3 is that the present invention can position the schematic diagram that floatable hydrospace detection device floats up to sea；
Fig. 4 is the schematic diagram that the present invention can position that the traction of floatable hydrospace detection device returns.
In attached drawing, parts list represented by the reference numerals are as follows:
1- grabs bottom anchor；2- Detection location platform；3- floating upward quickly mechanism；4- acoustic fix ranging beacon；The compound rope 6- conducting wire of 5- is multiple
Close cable；The first buoyancy compartment of 7-；8- winch；9- electromagnetic sensor；10- flow sensor 11- flow direction sensor；12- anchor cable cabin；
13- hydrophone unit；14- shell；The second buoyancy compartment of 15-；16- communication antenna；17- power propeller；18- control module；19-
Data memory module；20- power module；21- hydraulic pressure sensor；22- flow meters；23- steadying plate.
Specific embodiment
The principle and features of the present invention will be described below with reference to the accompanying drawings, and the given examples are served only to explain the present invention, and
It is non-to be used to limit the scope of the invention.
Referring to shown in Fig. 1 to 3, the embodiment of the present invention, which provides one kind, can position floatable hydrospace detection device, specifically include
Grab bottom anchor 1, Detection location platform 2 and floating upward quickly mechanism 3, wherein grab bottom anchor 1 and be arranged in deep water, grab on bottom anchor 1 described
Acoustic fix ranging beacon 4 is installed, the bottom anchor 1 of grabbing is connected by compound rope 5 with Detection location platform 2.By grabbing bottom anchor 1 and answering
It closes rope 5 to be tethered in water, compound rope 5 both may be implemented to be tethered at effect, and the transmission of signal also may be implemented.In the present embodiment.
Installation acoustic fix ranging beacon 4 on bottom anchor 1 will be grabbed, after being placed into deep water, acoustic fix ranging beacon 4 issues acoustical signal, by sea survey ship
After receiving acoustical signal, it may be determined that grab the position of bottom anchor 1, acoustic fix ranging beacon 4 stops sounding later.Wherein, floating upward quickly mechanism 3
It is connected by conducting wire composite rope 6 with Detection location platform 2.Realize that great deep exploration parameter can by floating upward quickly mechanism 3
Passback in time, improves timeliness, ensure that concealment, and floating upward quickly device can return, and reuses, improves benefit.
Shown in Figure 1, in the present embodiment, Detection location platform 2 is as floating upward quickly mechanism 3 and the mother for grabbing bottom anchor 1
Depressed place stops in water.The first buoyancy compartment 7 is fixedly connected in Detection location platform 2, it is fixed by the adjustment detection of the first buoyancy compartment 7
The position of bit platform 2 in water.Winch 8 is installed in first buoyancy compartment 7, the winch 8 is connected with conducting wire composite rope 6
It connects.Wherein, conducting wire composite rope 6 both may be implemented floating upward quickly mechanism 3 and be tethered at effect on Detection location platform, can also be real
The transmission of existing signal.The release and recycling to floating upward quickly mechanism 3 may be implemented by winch 8.Referring to shown in Fig. 3 to 4, work as spy
After measuring the measurement of bit platform 2, starting winch 8 discharges floating upward quickly mechanism 3,3 floating upward quickly of floating upward quickly mechanism to sea
Face receives information after the completion under the traction of winch 8, and floating upward quickly mechanism 3 returns female depressed place (i.e. Detection location platform 2), enters
Measuring state next time.
It is shown in Figure 1, in the present embodiment, electromagnetic sensor 9, flow-velocity sensing are installed on Detection location platform 2
Device 10 and flow direction sensor 11.Anchor cable cabin 12, the bottom in the anchor cable cabin 12 are equipped in the bottom middle position of Detection location platform 2
Portion is fixedly connected with compound rope 5.Several hydrophone units 13, several described water are equipped in the lower part of Detection location platform 2
It listens device unit 13 to be uniformly distributed in the two sides in the anchor cable cabin 12, also is provided with hydrophone unit in the bottom in the anchor cable cabin 12
13.In the present embodiment, by being respectively mounted hydrophone unit 13 on Detection location platform 2 and anchor cable cabin 12, water can be passed through
It listens device unit 13 to receive the sounding of acoustic fix ranging beacon 4, Detection location platform 2 is calculated relative to the position for grabbing bottom anchor 1.Detection
Buoyancy compartment is had on locating platform, there is positive buoyancy, by sensing devices such as electromagnetic sensor 9, hydrophone units 13 for visiting
It surveys marine resources measurement data to be stored in data memory module, flow sensor 10 and flow direction sensor 11 are for measuring detection
2 position flow velocity of locating platform, flow direction.
Referring to shown in Fig. 1 to 2, in the present embodiment, the floating upward quickly mechanism 1 includes shell 14, is set in shell 14
There is the second buoyancy compartment 15, be respectively arranged with communication antenna 16 in the top and bottom (being interpreted as head and tail portion) of shell 14 and move
Power propeller 17.In the present embodiment, 14 shape of shell of the floating upward quickly mechanism 1 is streamlined, the power in its tail portion
Under the collective effect of 15 buoyancy of propeller 17 and the second buoyancy compartment, the floating upward quickly of floating upward quickly mechanism 1 is realized, wherein shell
14 are made of noise reduction drag reduction composite, can be reduced the resistance and noise of floating-upward process, are additionally provided with control in the inside of shell 14
Molding block 18, data memory module 19, power module 20, wherein the second buoyancy compartment 15 and control module 18, data memory module
19, power module 20 is isolated.Power module 20 is that entire floating upward quickly mechanism 1 provides power, and data memory module 19 will be
All kinds of shape parameters of measurement in ocean are stored, and control module 18 is used for the second buoyancy compartment 15 and power propeller 17
Size carries out and parameter carries out real-time monitoring and control.Hydraulic pressure sensor 21 and flow velocity are equipped on the inner wall of the second buoyancy compartment 15
Analyzer 22, hydraulic pressure sensor 21 and flow meters 22 are used to measure the hydraulic pressure and flow velocity of floating upward quickly mechanism 1.In the shell
The two sides of the bottom of body 14 are separately installed with steadying plate 23, and the steadying plate 23 is respectively placed in the two sides of power propeller 17.At this
In embodiment, floating stability can be increased by being symmetrically arranged with 2 steadying plates 23 in the two sides of power propeller 17, so that on quickly
The ascent rate of float means 1 reaches 1 meter per second or more, and floating-upward process radiated noise is less than 95 decibels.
Certainly, in the above-described embodiment, the forms such as the shape of above-mentioned Detection location platform 2 are not carried out specific
It limits, is specifically as follows cylinder barrel shape, can also be all kinds of shapes, as long as but having the device implemented according to above-mentioned technical proposal
Part, and specific restriction, the set position installed of various pieces are not done yet to the setting position of wherein all parts
As long as can satisfy above-mentioned function.In specific setting, all there is relevant embodiment in this field, wherein detection is fixed
The sensor type disposed on bit platform can be multiclass, and type can be different in conjunction with the difference of detection parameters type,
Its specific sensor type has the multiple sensors classes such as thermohaline depth sensor, hydraulic pressure sensor, underwater carbon dioxide sensor
The type of type, the sensor is sensor relatively common in existing deep-sea detecting field, and set-up mode can detect
In locating platform cabin, or according to sensor detection requirement by the sensor be arranged in the outside of Detection location platform with
Marine environment comes into full contact with, and the setting of sensor is realized by fixed mode, in short, the above-mentioned type sensor can carry out properly
Arrangement, it is specific that details are not described herein.
Based on the structure described above for positioning floatable hydrospace detection device, the present invention also provides one kind to detection
The accurate positioning method of locating platform is specific as follows:
It grabs after bottom anchor 1 is placed into water, acoustic fix ranging beacon 4 issues acoustical signal, after receiving acoustical signal by sea survey ship
It can determine the position for grabbing bottom anchor 1, acoustic fix ranging beacon 4 stops sounding later.
To grab bottom anchor 1 as coordinate origin, coordinate system is established.Detection location platform lower half portion is equipped with 5 hydrophone lists
Member, when needing, under control mechanism effect, acoustic fix ranging beacon sounding is calculated after receiving acoustical signal by sea survey ship
Detection location platform is relative to the position (x for grabbing bottom anchor1, y1, z1)；According to the measurement data of flow velocity, flow direction sensor, calculate
To Detection location platform relative to the position (x for grabbing bottom anchor2, y2, z2)；According to floating upward quickly device water outlet after location information and
The flow speed data of floating-upward process measurement, obtains floating starting point, i.e., Detection location platform is relative to the position (x for grabbing bottom anchor3, y3,
z3)；Finally, using following formula, obtaining Detection location platform relative to the position coordinates for grabbing bottom anchor in conjunction with above-mentioned three groups of data
(x, y, z)
Due to grabbing the position of bottom anchor it has been determined that position of the Detection location platform in ocean can accurately be determined.This hair
Marine resources quick detection device is positioned described in bright, by laying several hydrophone units on Detection location platform,
The upper and lower part of Detection location platform is separately connected floating upward quickly mechanism and grabs bottom anchor with acoustic fix ranging beacon, utilizes three kinds
Mode carries out comprehensive accurate positioning, and floating upward quickly mechanism energy floating upward quickly to Detection location position of platform, in time passback letter
Origin-location is returned to after breath, is reused, it can timely, accurate, economy offer deep-sea detecting data.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and
Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (9)
1. one kind can position floatable hydrospace detection device, it is characterised in that: including grab bottom anchor (1), Detection location platform (2) and
Floating upward quickly mechanism (3), the bottom anchor (1) of grabbing are arranged in deep water, are equipped with acoustic fix ranging beacon on bottom anchor (1) in described grab
(4), described grab bottom anchor (1) is connected by compound rope (5) with Detection location platform (2), and the floating upward quickly mechanism (3) passes through
Conducting wire composite rope (6) is connected with Detection location platform (2).
2. one kind can position floatable hydrospace detection device according to claim 1, it is characterised in that: the Detection location is flat
The first buoyancy compartment (7) are fixedly connected in platform (2), are equipped with winch (8) in first buoyancy compartment (7), the winch (8)
It is connected with conducting wire composite rope (6), electromagnetic sensor (9), flow sensor is installed on the Detection location platform (2)
(10) and flow direction sensor (11).
3. one kind can position floatable hydrospace detection device according to claim 1, it is characterised in that: in the Detection location
The bottom middle position of platform (2) is equipped with anchor cable cabin (12), and the bottom of the anchor cable cabin (12) is fixedly connected with compound rope (5).
4. one kind can position floatable hydrospace detection device according to claim 3, it is characterised in that: in the Detection location
The lower part of platform (2) is equipped with several hydrophone units (13), several described hydrophone units (13) are in the anchor cable cabin
(12) two sides are uniformly distributed, and also are provided with hydrophone unit (13) in the bottom of the anchor cable cabin (12).
5. one kind can position floatable hydrospace detection device according to claim 1, it is characterised in that: the floating upward quickly machine
Structure (1) includes shell (14), the second buoyancy compartment (15) is equipped in the shell (14), at the top and bottom of the shell (14)
Portion is respectively arranged with communication antenna (16) and power propeller (17).
6. one kind can position floatable hydrospace detection device according to claim 5, it is characterised in that: in the shell (14)
Inside it is additionally provided with control module (18), data memory module (19), power module (20), second buoyancy compartment (15) and control mould
Block (18), data memory module (19), power module (20) are isolated.
7. one kind can position floatable hydrospace detection device according to claim 1, it is characterised in that: in second buoyancy
The inner wall in cabin (15) is equipped with hydraulic pressure sensor (21) and flow meters (22).
8. one kind can position floatable hydrospace detection device according to claim 1, it is characterised in that: in the shell (14)
Two sides of the bottom be separately installed with steadying plate (23), the steadying plate (23) is respectively placed in the two sides of power propeller (17).
9. the accurate positioning method of a kind of pair of Detection location platform, which is characterized in that specifically includes the following steps:
(1) acoustic fix ranging beacon issues acoustical signal, after receiving acoustical signal by sea survey ship, determines the position for grabbing bottom anchor；
(2) to grab bottom anchor as coordinate origin, coordinate system is established；
(3) the hydrophone unit of acoustic fix ranging beacon sounding, Detection location platform lower receives, and Detection location platform phase is calculated
For grabbing the position (x of bottom anchor1, y1, z1)；
According to the measurement data of flow sensor and flow direction sensor, Detection location platform is calculated relative to the position for grabbing bottom anchor
Set (x2, y2, z2)；
According to the flow speed data of location information and floating-upward process measurement after floating upward quickly mechanism (3) water outlet, starting of floating is obtained
Point, i.e. Detection location platform are relative to the position (x for grabbing bottom anchor3, y3, z3)；
(4) by above-mentioned three groups of data, using following formula, obtain Detection location platform relative to grab bottom anchor position coordinates (x,
Y, z)
Obtain exact position of the Detection location platform in ocean.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910364355.1A CN110116785B (en) | 2019-04-30 | 2019-04-30 | Positioning sinking-floating type ocean detection device and detection positioning platform positioning method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910364355.1A CN110116785B (en) | 2019-04-30 | 2019-04-30 | Positioning sinking-floating type ocean detection device and detection positioning platform positioning method thereof |
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| CN110116785B CN110116785B (en) | 2024-01-26 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110641622A (en) * | 2019-10-18 | 2020-01-03 | 上海海洋大学 | Device and method for launching buoy by unmanned ship |
| CN115503880A (en) * | 2022-10-22 | 2022-12-23 | 中国人民解放军陆军工程大学 | Quick anchor throwing and lifting indicating device for pontoon bridge equipment |
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| CN211336351U (en) * | 2019-04-30 | 2020-08-25 | 中国人民解放军海军工程大学 | Positioning sinking and floating type ocean detection device |
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| CN110641622A (en) * | 2019-10-18 | 2020-01-03 | 上海海洋大学 | Device and method for launching buoy by unmanned ship |
| CN110641622B (en) * | 2019-10-18 | 2022-06-28 | 上海海洋大学 | Device and method for launching buoy by unmanned ship |
| CN115503880A (en) * | 2022-10-22 | 2022-12-23 | 中国人民解放军陆军工程大学 | Quick anchor throwing and lifting indicating device for pontoon bridge equipment |
| CN115503880B (en) * | 2022-10-22 | 2024-04-23 | 中国人民解放军陆军工程大学 | Quick indicating device for casting and taking off of bridge equipment |
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