CN110116786B - Quick detection device capable of positioning ocean resources and detection positioning platform positioning method thereof - Google Patents
Quick detection device capable of positioning ocean resources and detection positioning platform positioning method thereof Download PDFInfo
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- CN110116786B CN110116786B CN201910365419.XA CN201910365419A CN110116786B CN 110116786 B CN110116786 B CN 110116786B CN 201910365419 A CN201910365419 A CN 201910365419A CN 110116786 B CN110116786 B CN 110116786B
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- 238000001514 detection method Methods 0.000 title claims abstract description 81
- 238000000034 method Methods 0.000 title claims description 23
- 238000007667 floating Methods 0.000 claims abstract description 56
- 230000007246 mechanism Effects 0.000 claims abstract description 56
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 20
- 239000002131 composite material Substances 0.000 claims abstract description 18
- 238000013500 data storage Methods 0.000 claims description 9
- 238000005259 measurement Methods 0.000 claims description 6
- 230000008569 process Effects 0.000 claims description 6
- 230000000087 stabilizing effect Effects 0.000 claims description 5
- 238000004891 communication Methods 0.000 claims description 4
- 238000005474 detonation Methods 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 abstract description 4
- 238000004880 explosion Methods 0.000 abstract description 2
- 238000005457 optimization Methods 0.000 description 4
- 230000000977 initiatory effect Effects 0.000 description 3
- CURLTUGMZLYLDI-UHFFFAOYSA-N Carbon dioxide Chemical compound O=C=O CURLTUGMZLYLDI-UHFFFAOYSA-N 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 150000001875 compounds Chemical class 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 230000008054 signal transmission Effects 0.000 description 2
- 239000003381 stabilizer Substances 0.000 description 2
- 241000251468 Actinopterygii Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 229910002092 carbon dioxide Inorganic materials 0.000 description 1
- 239000001569 carbon dioxide Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 150000003839 salts Chemical class 0.000 description 1
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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
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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
- 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
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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
- 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 invention relates to a positionable ocean resource rapid detection device which comprises a bottom grabbing anchor, a detection positioning platform and at least more than two floating self-sinking mechanisms, wherein the bottom grabbing anchor is arranged in deep water, an acoustic positioning beacon is arranged on the bottom grabbing anchor, the bottom grabbing anchor is connected with the detection positioning platform through a composite cable, and the floating self-sinking mechanisms are connected with the detection positioning platform through a composite cable. According to the rapid detection device capable of positioning ocean resources, the plurality of hydrophone units are arranged on the detection positioning platform, the upper part and the lower part of the detection positioning platform are respectively connected with the floating self-sinking mechanism and the bottom grabbing anchor with the sound positioning beacon, the position of the detection positioning platform is comprehensively and accurately positioned in three modes, the floating self-sinking mechanism can float up rapidly, explosion self-sinking can be performed after data transmission, and deep sea detection data can be provided timely, accurately and hidden.
Description
Technical Field
The invention belongs to the technical field of ocean exploration, and particularly relates to a device capable of rapidly detecting ocean resources and a method for detecting and positioning a positioning platform.
Background
The method is a large ocean country, enhances the monitoring of ocean environment and ocean resource information, and has great strategic significance for exploring the precious ocean resources. At present, the research heat of the deep sea ocean exploration technology in China is not very remarkable, and the comprehensive understanding of the ocean field in China and the full utilization of ocean resources are greatly limited.
At present, a detection platform in the ocean field is mainly focused on various technologies such as buoys, underwater robots and the like, and among the detection devices, the buoys are one of important technical equipment for obtaining ocean environment information for people at present, and particularly play an increasing role in deep sea ocean observation. Such buoys are characterized by: the ocean information is detected and collected by the unique composition structure, and the information detected by the buoy is read by various means, so that the ocean information detection device has the characteristics of high concealment, high artificial damage resistance, flexible use, convenient operation and the like, and the deep sea buoy provides important technical support for ocean resource and environment research.
At present, the main problems facing the ocean field are: (1) Most of the deep sea measuring buoys are suspended in the sea and drift along with ocean currents, only a certain area can be schematically detected, and detection of ocean resources at specific positions is difficult to realize; (2) Most ocean survey buoys can acquire detection information after the buoys are retracted, or the buoys float slowly, generally about 0.1m/s, and it is difficult to timely transmit back deep sea detection information. For example: when the deep sea fish shoal is detected, the fishing time is lost due to the fact that information cannot be timely returned.
Disclosure of Invention
In order to solve the problems in the field of ocean exploration, the invention provides a rapid ocean resource exploration device capable of positioning, accurately positioning a measurement point, quickly floating up, returning information in time and returning to an original position, and timely and accurately providing deep ocean exploration data.
The technical scheme for solving the technical problems is as follows:
the utility model provides a but quick detection device of location ocean resource, includes grabs the bottom anchor, surveys the location platform and at least more than two come-up self-sinking mechanism, grab the bottom anchor and arrange in deep water grab the sound location beacon of installing on the bottom anchor, grab the bottom anchor and be connected with the location platform through compound cable, come-up self-sinking mechanism is connected with the location platform through compound cable of wire.
As the optimization of the embodiment of the invention, a first buoyancy cabin is fixedly connected in the detection positioning platform, a plurality of release mechanisms corresponding to the floating self-sinking mechanisms are arranged in the first buoyancy cabin, the release mechanisms are connected with a lead composite cable, and an electromagnetic sensor, a flow velocity sensor and a flow direction sensor are arranged on the detection positioning platform.
As the optimization of the embodiment of the invention, an anchor rope cabin is arranged at the middle position of the bottom of the detection positioning platform, and the bottom of the anchor rope cabin is fixedly connected with the composite rope.
As the optimization of the embodiment of the invention, the lower part of the detection positioning platform is provided with a plurality of hydrophone units, the hydrophone units are uniformly distributed on two sides of the anchor rope cabin, and the bottom of the anchor rope cabin is also provided with the hydrophone units.
As the optimization of the embodiment of the invention, the floating self-sinking mechanism comprises a shell, a second buoyancy cabin is arranged in the shell, a communication antenna and a power propeller are respectively arranged at the top and the bottom of the shell, a detonation device is arranged in the second buoyancy cabin, and the detonation device is connected with an electric detonator.
Preferably, the shell is further provided with a control module, a data storage module and a power module, and the second buoyancy cabin is isolated from the control module, the data storage module and the power module.
Preferably, a water pressure sensor and a flow velocity measuring instrument are arranged on the inner wall of the second buoyancy chamber.
As a preferable mode of the embodiment of the invention, stabilizing plates are respectively arranged at two sides of the bottom of the shell, and the stabilizing plates are respectively arranged at two sides of the power propeller.
The embodiment of the invention also provides a precise positioning method for the detection positioning platform, which comprises the following steps:
(1) The acoustic positioning beacon sends out an acoustic signal, and after receiving the acoustic signal, the marine survey vessel determines the position of the bottom grabbing anchor;
(2) Establishing a coordinate system by taking the grab anchor as a coordinate origin;
(3) Sounding the acoustic positioning beacon, receiving the hydrophone unit at the lower part of the positioning platform, and calculating to obtain the position (x 1 ，y 1 ，z 1 )；
Based on the measurement data of the flow velocity sensor and the flow direction sensor, the position (x 2 ，y 2 ，z 2 )；
According to the positioning information of the floating self-sinking mechanism after water is discharged and the flow velocity data measured in the floating process, an upward floating starting point is obtained, namely the position (x 3 ，y 3 ，z 3 )；
(4) The three groups of data are utilized to obtain the position coordinates (x, y, z) of the detection positioning platform relative to the grab anchor by the following formula
The accurate position of the detection positioning platform in the ocean is obtained.
The invention has the following beneficial effects:
1. according to the rapid detection device capable of positioning ocean resources, a plurality of hydrophone units (in the embodiment, 5 hydrophone units arranged at the lower part of the detection positioning platform are selected) are arranged on the detection positioning platform, the upper part and the lower part of the detection positioning platform are respectively connected with the floating self-sinking mechanism and the bottom grabbing anchor with the acoustic positioning beacon, the position of the detection positioning platform is comprehensively and accurately positioned in three modes, the floating self-sinking mechanism can float up rapidly, explosion self-sinking is carried out after data transmission, and deep sea detection data can be provided timely, accurately and hidden.
2. The floating self-sinking mechanism can realize quick low-noise floating, so that the large-depth detection parameters can be returned in time, the timeliness is improved, and the concealment is ensured.
Drawings
FIG. 1 is a schematic diagram of a device for rapidly detecting positionable ocean resources according to the present invention.
Fig. 2 is a schematic structural diagram of the floating self-sinking mechanism according to the present invention.
FIG. 3 is a schematic view of the positionable marine resource rapid survey apparatus of the present invention floating up to the sea surface;
FIG. 4 is a schematic drawing of the drag return of the positionable marine resource quick detection apparatus of the present invention.
In the drawings, the list of components represented by the various numbers is as follows:
1-grabbing a bottom anchor; 2-detecting and positioning platform; 3-an upward floating self-sinking mechanism; 4-acoustic localization beacons; 5-composite rope 6-wire composite cable; 7-a first buoyancy module; 8-a release mechanism; 9-electromagnetic sensors; 10-flow sensor 11-flow sensor; 12-an anchor cable cabin; 13-hydrophone units; 14-a housing; 15-a second buoyancy module; a 16-communication antenna; 17-powered propeller; 18-a control module; 19-a data storage module; 20-a power module; 21-a water pressure sensor; 22-flow rate meter; 23-stabilizing plate, 24, initiating device, 25 and electric detonator.
Detailed Description
The principles and features of the present invention are described below with reference to the drawings, the examples are illustrated for the purpose of illustrating the invention and are not to be construed as limiting the scope of the invention.
Referring to fig. 1 to 4, the embodiment of the present invention provides a rapid detection device for a positionable marine resource, which specifically includes a bottom grabbing anchor 1, a detection positioning platform 2, and at least two or more floating and self-sinking mechanisms 3 (in this embodiment, three floating and self-sinking mechanisms 3 are provided, and of course, a plurality of such as 5, 6, etc. may be provided according to actual needs in the actual detection process), where the bottom grabbing anchor 1 is disposed in deep water, and an acoustic positioning beacon 4 is installed on the bottom grabbing anchor 1, and the bottom grabbing anchor 1 is connected to the detection positioning platform 2 through a composite cable 5. The bottom-grasping anchor 1 and the composite rope 5 are tied in water, so that the composite rope 5 can realize the tying effect and can also realize the signal transmission. In this embodiment. After the acoustic positioning beacon 4 is installed on the bottom grabbing anchor 1 and placed in deep water, the acoustic positioning beacon 4 emits an acoustic signal, after the acoustic signal is received by the offshore survey vessel, the position of the bottom grabbing anchor 1 can be determined, and then the acoustic positioning beacon 4 stops emitting sound. Wherein, the floating self-sinking mechanism 3 is connected with the detection positioning platform 2 through a lead composite cable 6. The large-depth detection parameters can be timely returned through the floating self-sinking mechanism 3, so that timeliness is improved, and concealment is guaranteed. Each floating self-sinking mechanism 3 corresponds to one release mechanism 8, and one floating self-sinking device 3 is released at a time through the release mechanism 8.
Referring to fig. 1, in this embodiment, a survey positioning platform 2 is left in the water as a dock for the floating self-sinking mechanism 3 and the bottom grabbing anchor 1. The first buoyancy cabin 7 is fixedly connected in the detection positioning platform 2, and the position of the detection positioning platform 2 in water is adjusted through the first buoyancy cabin 7. A release mechanism 8 is installed in the first buoyancy chamber 7, and the release mechanism 8 is connected with the composite cable 6. The lead composite cable 6 can realize the mooring function of the floating self-sinking mechanism 3 on the detection positioning platform 2 and can also realize the signal transmission. The release of the floating self-sinking mechanisms 3 can be realized through the release mechanisms 8, and each floating self-sinking mechanism 3 corresponds to one release mechanism 8. Referring to fig. 3 to 4, after the measurement of the positioning platform 2 is completed, the release mechanism 8 is started to release the floating self-sinking mechanism 3, and the floating self-sinking mechanism 3 quickly floats to the sea surface.
Referring to fig. 1, in the present embodiment, an electromagnetic sensor 9, a flow rate sensor 10, and a flow direction sensor 11 are mounted on the detection positioning stage 2. An anchor rope cabin 12 is arranged at the middle position of the bottom of the detection positioning platform 2, and the bottom of the anchor rope cabin 12 is fixedly connected with the composite rope 5. The lower part of the detection positioning platform 2 is provided with a plurality of hydrophone units 13, the hydrophone units 13 are uniformly distributed on two sides of the anchor rope cabin 12, and the bottom of the anchor rope cabin 12 is also provided with the hydrophone units 13. In the embodiment, by installing the hydrophone units 13 on the detection positioning platform 2 and the anchor cable cabin 12, the sounding of the acoustic positioning beacon 4 can be received by the hydrophone units 13, and the position of the detection positioning platform 2 relative to the grab anchor 1 can be calculated. The detection positioning platform 2 is provided with a first buoyancy cabin 7, has positive buoyancy, is used for detecting marine resource measurement data through sensing devices such as an electromagnetic sensor 9, a hydrophone unit 13 and the like, and is stored in a data storage module 19, and a flow velocity sensor 10 and a flow direction sensor 11 are used for measuring the flow velocity and the flow direction of the position where the detection positioning platform 2 is located.
Referring to fig. 1 to 4, in the present embodiment, the floating self-sinking mechanism 3 includes a housing 14, a second buoyancy chamber 15 is provided in the housing 14, and a communication antenna 16 and a power propeller 17 are provided at the top and bottom (to be understood as a head and a tail) of the housing 14, respectively. In this embodiment, the shell 14 of the floating self-sinking mechanism 3 is streamlined, and under the combined action of the buoyancy of the power propeller 17 at the tail and the buoyancy of the second buoyancy cabin 15, the quick floating of the floating self-sinking mechanism 3 is realized, wherein the shell 14 is made of a noise-reducing and anti-drag composite material, so that the resistance and noise in the floating process can be reduced. An initiation device 24 is arranged in the second buoyancy chamber 15, and the initiation device 24 is connected with an electric detonator 25. A control module 18, a data storage module 19 and a power module 20 are further arranged inside the shell 14, wherein the second buoyancy chamber 15 is isolated from the control module 18, the data storage module 19 and the power module 20. The power module 20 provides power for the whole floating self-sinking mechanism 3, the data storage module 19 stores various types of parameters measured in the ocean, and the control module 18 is used for monitoring and controlling the sizes and parameters of the second buoyancy chamber 15 and the power propeller 17 in real time. A water pressure sensor 21 and a flow rate meter 22 are provided on the inner wall of the second buoyancy chamber 15, and the water pressure sensor 21 and the flow rate meter 22 are used for measuring the water pressure and the flow rate of the floating self-sinking mechanism 3. On both sides of the bottom of the housing 14 are mounted stabilizer plates 23, respectively, the stabilizer plates 23 being disposed on both sides of the power pusher 17, respectively. In this embodiment, two symmetrical stabilizing plates 23 are disposed on two sides of the power propeller 17 to increase the floating stability, so that the floating speed of the floating self-sinking mechanism 3 reaches more than 1m/s, and the radiation noise in the floating process is less than 95 db. Referring to fig. 3 to 4, in the present embodiment, the water pressure sensor 21 senses the depth position, transmits the detection information after reaching the sea surface, and the electric detonator 25 fires after the transmission is completed, the detonating device 24 explodes the shell 14 of the floating self-sinking mechanism 3, the seawater enters the second buoyancy chamber 15 in the floating self-sinking mechanism 3 to make the self-sinking mechanism fail, the next floating self-sinking mechanism 3 enters the on-duty state until the rapid floating self-sinking mechanism 3 is consumed, and the whole device fails.
Of course, in the above embodiment, the form of the detection positioning platform 2 is not specifically limited, and may be a cylindrical barrel, or may be various forms, but the device according to the above technical solution may be provided, and the installation positions of the respective components are not specifically limited, and the installation positions of the respective components may be sufficient to satisfy the above functions. In a specific arrangement, there are related embodiments in the art, where the types of sensors disposed on the detection positioning platform may be multiple types, and the types may be different in combination with different types of detection parameters, where the specific types of sensors include a temperature salt depth sensor, a water pressure sensor, an underwater carbon dioxide sensor, and the like, where the types of sensors are relatively common sensors in the existing deep sea detection field, and the arrangement manner of the sensors may be in the detection positioning platform cabin, or the sensors may be disposed on the outer side of the detection positioning platform and fully contact with the marine environment according to the requirement of sensor detection, and the arrangement of the sensors is achieved by a fixed manner.
Based on the structure of the rapid detection device capable of positioning ocean resources, the invention also provides a precise positioning method for the detection positioning platform, which comprises the following steps:
after the bottom grabbing anchor 1 is placed in water, the acoustic positioning beacon 4 emits an acoustic signal, the position of the bottom grabbing anchor 1 can be determined after the acoustic signal is received by the offshore survey vessel, and then the acoustic positioning beacon 4 stops emitting sound.
And establishing a coordinate system by taking the grab anchor 1 as a coordinate origin. The lower half part of the detection positioning platform 2 is provided with 5 hydrophone units, when needed, under the action of a control mechanism, the acoustic positioning beacon 4 sounds, and after receiving acoustic signals by the offshore survey vessel, the position (x 1 ，y 1 ，z 1 ) The method comprises the steps of carrying out a first treatment on the surface of the According to the measurement data of the flow velocity and the flow direction sensor, the position (x) of the detection positioning platform relative to the grab anchor is calculated 2 ，y 2 ，z 2 ) The method comprises the steps of carrying out a first treatment on the surface of the According to the positioning information of the rapid floating device after water outlet and the flow velocity data measured in the floating process, a floating starting point is obtained, namely the position (x 3 ，y 3 ，z 3 ) The method comprises the steps of carrying out a first treatment on the surface of the Finally, combining the three groups of data, and obtaining the position coordinates (x, y, z) of the detection positioning platform relative to the bottom grabbing anchor by using the following formula
Since the position of the bottom grabbing anchor is determined, the position of the detection positioning platform in the ocean can be accurately determined. In this embodiment, a plurality of hydrophone units 13 are arranged on the lower half part of the detection positioning platform 2, the upper part and the lower part of the detection positioning platform 2 are respectively connected with the floating self-sinking mechanism 3 and the bottom grabbing anchor 1 with the acoustic positioning beacon 4, and the positions of the detection positioning platform 2 are comprehensively and precisely positioned in three ways, so that the measuring points are comprehensively and precisely positioned, the floating self-sinking mechanism 3 can float upwards rapidly, self-sinking is realized after data transmission, and the accuracy of deep sea detection data is improved.
The foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the invention are intended to be included within the scope of the invention.
Claims (7)
1. The method for accurately positioning the detection positioning platform by adopting the positionable ocean resource rapid detection device is characterized in that the positionable ocean resource rapid detection device comprises a bottom grabbing anchor (1), a detection positioning platform (2) and at least more than two floating self-sinking mechanisms (3), wherein the bottom grabbing anchor (1) is arranged in deep water, an acoustic positioning beacon (4) is installed on the bottom grabbing anchor (1), the bottom grabbing anchor (1) is connected with the detection positioning platform (2) through a composite cable (5), the floating self-sinking mechanisms (3) are connected with the detection positioning platform (2) through a composite cable (6), a first buoyancy cabin (7) is fixedly connected in the detection positioning platform (2), a plurality of release mechanisms (8) corresponding to the floating self-sinking mechanisms (3) are installed in the first buoyancy cabin (7), the release mechanisms (8) are connected with the composite cable (6), and electromagnetic sensors (9), flow sensors (10) and flow rate sensors (11) are installed on the detection positioning platform (2).
The method specifically comprises the following steps:
(1) The acoustic positioning beacon sends out an acoustic signal, and after receiving the acoustic signal, the marine survey vessel determines the position of the bottom grabbing anchor;
(2) Establishing a coordinate system by taking the grab anchor as a coordinate origin;
(3) Sounding the acoustic positioning beacon, receiving the hydrophone unit at the lower part of the positioning platform, and calculating to obtain the position (x 1 ，y 1 ，z 1 )；
Based on the measurement data of the flow velocity sensor and the flow direction sensor, the position (x 2 ，y 2 ，z 2 )；
According to the positioning information of the floating self-sinking mechanism (3) after water is discharged and the flow velocity data measured in the floating process, a floating starting point is obtained, namely the position (x) of the positioning platform relative to the bottom grabbing anchor is detected 3 ，y 3 ，z 3 )；
(4) The three groups of data are utilized to obtain the position coordinates (x, y, z) of the detection positioning platform relative to the grab anchor by the following formula
The accurate position of the detection positioning platform in the ocean is obtained.
2. The method according to claim 1, characterized in that: an anchor rope cabin (12) is arranged at the middle position of the bottom of the detection positioning platform (2), and the bottom of the anchor rope cabin (12) is fixedly connected with the composite rope (5).
3. The method according to claim 2, characterized in that: the lower part of the detection positioning platform (2) is provided with a plurality of hydrophone units (13), the hydrophone units (13) are uniformly distributed on two sides of the anchor rope cabin (12), and the bottom of the anchor rope cabin (12) is also provided with the hydrophone units (13).
4. The method according to claim 1, characterized in that: the floating self-sinking mechanism (3) comprises a shell (14), a second buoyancy cabin (15) is arranged in the shell (14), a communication antenna (16) and a power propeller (17) are respectively arranged at the top and the bottom of the shell (14), a detonation device (24) is arranged in the second buoyancy cabin (15), and the detonation device (24) is connected with an electric detonator (25).
5. The method according to claim 4, wherein: and a control module (18), a data storage module (19) and a power module (20) are further arranged in the shell (14), and the second buoyancy cabin (15) is isolated from the control module (18), the data storage module (19) and the power module (20).
6. The method according to claim 4, wherein: a water pressure sensor (21) and a flow velocity measuring instrument (22) are arranged on the inner wall of the second buoyancy chamber (15).
7. The method according to claim 4, wherein: stabilizing plates (23) are respectively arranged on two sides of the bottom of the shell (14), and the stabilizing plates (23) are respectively arranged on two sides of the power propeller (17).
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| CN107651119A (en) * | 2017-08-25 | 2018-02-02 | 山东科技大学 | Marine marker and localization method with Underwater Noise Sources Passive Positioning function |
| CN107576314A (en) * | 2017-09-27 | 2018-01-12 | 长江水利委员会长江科学院 | Float type depopulated zone rivers and lakes automatic monitoring system |
| CN109591962A (en) * | 2018-12-18 | 2019-04-09 | 中国船舶重工集团公司第七0研究所 | A kind of underwater sound field detection subsurface buoy of low interference high stability |
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