CN110224766A - A kind of subsurface communication signal processing apparatus and method - Google Patents

A kind of subsurface communication signal processing apparatus and method Download PDF

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Publication number
CN110224766A
CN110224766A CN201910476267.0A CN201910476267A CN110224766A CN 110224766 A CN110224766 A CN 110224766A CN 201910476267 A CN201910476267 A CN 201910476267A CN 110224766 A CN110224766 A CN 110224766A
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CN
China
Prior art keywords
signal
air bag
peristaltic pump
signal processing
energy converter
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201910476267.0A
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Chinese (zh)
Inventor
韩闯
曲柳
董静薇
李国栋
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Harbin University of Science and Technology
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Harbin University of Science and Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Harbin University of Science and Technology filed Critical Harbin University of Science and Technology
Priority to CN201910476267.0A priority Critical patent/CN110224766A/en
Publication of CN110224766A publication Critical patent/CN110224766A/en
Pending legal-status Critical Current

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Classifications

    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04BTRANSMISSION
    • H04B13/00Transmission systems characterised by the medium used for transmission, not provided for in groups H04B3/00 - H04B11/00
    • H04B13/02Transmission systems in which the medium consists of the earth or a large mass of water thereon, e.g. earth telegraphy
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04BTRANSMISSION
    • H04B7/00Radio transmission systems, i.e. using radiation field
    • H04B7/14Relay systems
    • H04B7/15Active relay systems
    • H04B7/155Ground-based stations
    • H04B7/15564Relay station antennae loop interference reduction
    • H04B7/15585Relay station antennae loop interference reduction by interference cancellation

Abstract

The invention discloses a kind of subsurface communication signal processing apparatus and methods, including air bag, support plate, peristaltic pump, flexible tracheae, suspension ball, sealing plate, stroke indicator light, signal processing component, clips and air inlet, the air bag laid out in parallel is in the bottom side of support plate, the clips are fixed by welding in the bottom side of support plate, and it is socketed in the both ends of air bag, the peristaltic pump is fixedly mounted on top layer one end of support plate, the signal of communication processing unit, it is compact-sized, so that device is more concentrated, meet the requirement of device miniaturization, the signal interference between device can be effectively reduced, by after signal receives and before output, signal is filtered and is amplified, filter out interference of the signal in transmission process, improve the accuracy of signal conversion, pass through amplification, improve the propagation distance of signal, by setting peristaltic pump and Air bag, thus it is possible to vary the submarine site of signal processing apparatus more preferably can receive and transmit signal.

Description

A kind of subsurface communication signal processing apparatus and method
Technical field
The present invention relates to underwater signal processing equipment technical field, specially a kind of subsurface communication signal processing apparatus and side Method.
Background technique
With the continuous improvement of people 's material life level, mobile phone has become the necessary article in people's life, uses Frequency is also higher and higher, and due to the removable dynamic characteristic of mobile phone, user may be constantly in shifting when conversing using mobile phone Dynamic state, with the position of user, at a distance from base station etc. factors influence, the network signal of mobile phone can become unstable, very Can be particularly poor to the signal when user is moved to certain places, signal transmits under water, and the distance of transmission greatly shortens, transmission Stability is bad, and the interference for the data transmitted is larger, therefore, is transmitted after the processing of underwater signal needs, so, design It is necessary when a kind of subsurface communication signal processing apparatus and method.
Summary of the invention
The purpose of the present invention is to provide a kind of subsurface communication signal processing apparatus and methods, to solve above-mentioned background technique The problem of middle proposition.
In order to solve the above technical problem, the present invention provides following technical solutions: a kind of subsurface communication signal processing apparatus, Including air bag, support plate, peristaltic pump, flexible tracheae, suspension ball, sealing plate, drive indicator light, stroke indicator light, signal processing Component, clips and air inlet, the air bag laid out in parallel are fixed by welding in branch in the bottom side of support plate, the clips The bottom side of fagging, and the both ends of air bag are socketed in, the peristaltic pump is fixedly mounted on top layer one end of support plate, the flexible gas One end of pipe is fixed on the input end of peristaltic pump, and the output end of the peristaltic pump is connect with air bag by gas-guide tube, described Suspension ball is fixed on the other end of flexible tracheae, and the air inlet is provided with the top of suspension ball, and connect with flexible tracheae, institute State the top side that signal processing component is mounted on support plate;
The arc deflector, signal analytic unit, electric receiver, encoder, waterproof pump machine, blower, condensation copper pipe, hair It send energy converter, receive energy converter, decoder, electric transmitter, cabinet and circuit board, the inner wall two sides correspondence of the cabinet offers Mounting groove, the both ends of the circuit board are plugged on fixed inside mounting groove, the corresponding installation in the top side of the inner wall of the cabinet respectively There is arc deflector, and be located at the top of circuit board, the blower is weldingly fixed on the inner wall two sides of signal analytic unit, and position In the lower section of circuit board, the both ends of the condensation copper pipe extend through the two sidewalls of cabinet, and waterproof pump machine is fixed on condensation copper The top side of pipe, the electricity receiver and electric transmitter are separately mounted to the top side both ends of circuit board, and the encoder sends transducing Device, reception energy converter and decoder are mounted on the top central portion of circuit board side by side, and the signal analytic unit is separately mounted to electricity Between receiver and encoder between decoder and electric transmitter;
The signal analytic unit includes signal tuner, amplifying regulator, signal amplifier, clutter stripper and box Body, the signal tuner are mounted on the inner wall top side of box body, and the amplifying regulator is mounted on the inner wall side of box body, described The inner wall other side of box body is arranged in signal amplifier, and the inner wall bottom side of box body is arranged in the clutter stripper;
The sealing plate is fitted to the top side of cabinet by hinge, described to drive indicator light and stroke indicator light is arranged side by side It is mounted on the top side of sealing plate.
A kind of subsurface communication signal processing method includes the following steps: step 1, regulating device position;Step 2 receives Signal;Step 3, Signal Regulation filtering;Step 4, signal conversion;Step 5, signal amplification conversion output;
Wherein in the above step 1, by controlling peristaltic pump, air is entered by air inlet and is stretched intratracheally, is led to It crosses peristaltic pump air is input in air bag, the air of air bag can also be discharged, by adjusting the dilation of air bag, realized to floating The adjusting of power, the control of finishing device position;
Wherein in above-mentioned steps two, underwater communication signal is received by electric receiver;
Wherein in above-mentioned steps three, underwater signal is deployed by signal tuner, is then carried out by amplifying regulator Amplification is adjusted, and then by signal amplifier amplified signal, is filtered by clutter stripper to signal;
Wherein in above-mentioned steps four, signal after filtering after being handled information digitalization by encoder, is sent Energy converter converts electrical signals to acoustical signal again, communicates information to reception energy converter, and at this moment acoustical signal is converted to electric signal again, After decoder decodes digital information;
Wherein in above-mentioned steps five, information is deployed by signal tuner, is then amplified by amplifying regulator It adjusts, then by signal amplifier amplified signal, signal is filtered by clutter stripper, electric transmitter just becomes information Sound, text and picture, then issue.
According to the above technical scheme, biological water filtration membrane is provided at the top of the air inlet.
According to the above technical scheme, gasket is respectively arranged at the avris of the sealing plate and the open top of cabinet Circle.
According to the above technical scheme, the bottom side of the sealing plate is fixed with battery, and the peristaltic pump drives indicator light, row Journey indicator light, circuit board, waterproof pump machine, blower pass through conducting wire respectively and connect with battery, and close by sealant and each interface Envelope.
According to the above technical scheme, the signal analytic unit, electric receiver, encoder, transmission energy converter, reception transducing Device, decoder and electric transmitter are connected by signal wire.
According to the above technical scheme, the signal tuner, amplifying regulator, signal amplifier and clutter stripper pass through Signal wire connection.
Compared with prior art, the beneficial effects obtained by the present invention are as follows being: the invention, the signal of communication processing unit, knot Structure is compact, so that device is more concentrated, meets the requirement of device miniaturization, can effectively reduce the signal interference between device, leads to It crosses after signal reception and before output, signal is filtered and is amplified, interference of the signal in transmission process is filtered out, improve The accuracy of signal conversion improves the propagation distance of signal by amplification, passes through setting peristaltic pump and air bag, thus it is possible to vary letter The submarine site of number processing unit, more preferably can receive and transmit signal.
Detailed description of the invention
Attached drawing is used to provide further understanding of the present invention, and constitutes part of specification, with reality of the invention It applies example to be used to explain the present invention together, not be construed as limiting the invention.In the accompanying drawings:
Fig. 1 is overall structure diagram of the invention;
Fig. 2 is whole interior structural schematic diagram of the invention;
Fig. 3 is signal processing component structural schematic diagram of the invention;
Fig. 4 is signal analytic unit structural schematic diagram of the invention;
Fig. 5 is flow chart of the method for the present invention;
In figure: 1, air bag;2, support plate;3, peristaltic pump;4, stretch tracheae;5, suspension ball;6, sealing plate;7, instruction is driven Lamp;8, stroke indicator light;9, signal processing component;10, clips;11, air inlet;91, arc deflector;92, signal is analyzed Component;93, electric receiver;94, encoder;95, waterproof pump machine;96, blower;97, condensation copper pipe;98, energy converter is sent;99, Receive energy converter;910, decoder;911, electric transmitter;912, cabinet;913, circuit board;921, signal tuner;922, it puts Big adjuster;923, signal amplifier;924, clutter stripper;925, box body.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other Embodiment shall fall within the protection scope of the present invention.
Fig. 1-5 is please referred to, the present invention provides a kind of technical solution: a kind of subsurface communication signal processing apparatus, including air bag 1, support plate 2, peristaltic pump 3, flexible tracheae 4, suspension ball 5, sealing plate 6, drive indicator light 7, stroke indicator light 8, signal processing Component 9, clips 10 and air inlet 11,1 laid out in parallel of air bag are fixed by welding in the bottom side of support plate 2, clips 10 The bottom side of support plate 2, and the both ends of air bag 1 are socketed in, peristaltic pump 3 is fixedly mounted on top layer one end of support plate 2, and stretch tracheae 4 one end is fixed on the input end of peristaltic pump 3, and the output end of peristaltic pump 3 is connect with air bag 1 by gas-guide tube, suspension ball 5 It is fixed on the other end of flexible tracheae 4, air inlet 11 is provided with the top of suspension ball 5, and connect with flexible tracheae 4, air inlet 11 top is provided with biological water filtration membrane, and signal processing component 9 is mounted on the top side of support plate 2;
It is arc deflector 91, signal analytic unit 92, electric receiver 93, encoder 94, waterproof pump machine 95, blower 96, cold Solidifying copper pipe 97 sends energy converter 98, receives energy converter 99, decoder 910, electric transmitter 911, cabinet 912 and circuit board 913, The inner wall two sides of cabinet 912 are corresponding to offer mounting groove, and the both ends of circuit board 913 are plugged on fixed inside mounting groove, case respectively The top side of the inner wall of body 912 is corresponding to be equipped with arc deflector 91, and is located at the top of circuit board 913, and blower 96 is welded and fixed In the inner wall two sides of signal analytic unit 92, and it is located at the lower section of circuit board 913, the both ends of condensation copper pipe 97 extend through cabinet 912 two sidewalls, and waterproof pump machine 95 is fixed on the top side of condensation copper pipe 97, electric receiver 93 and electric transmitter 911 are pacified respectively Mounted in the top side both ends of circuit board 913, encoder 94 sends energy converter 98, receives energy converter 99 and the installation side by side of decoder 910 In the top central portion of circuit board 913, the bottom side of sealing plate 6 is fixed with battery, and peristaltic pump 3 drives indicator light 7, stroke indicator light 8, circuit board 913, waterproof pump machine 95, blower 96 are connect by conducting wire with battery respectively, and close by sealant and each interface Envelope, signal analytic unit 92, encoder 94, send energy converter 98, receive energy converter 99, decoder 910 and electricity electric receiver 93 Transmitter 911 is connected by signal wire, and signal analytic unit 92 is separately mounted between electric receiver 93 and encoder 94 and solution Between code device 910 and electric transmitter 911;
Signal analytic unit 92 is filtered out including signal tuner 921, amplifying regulator 922, signal amplifier 923, clutter Device 924 and box body 925, signal tuner 921 are mounted on the inner wall top side of box body 925, and amplifying regulator 922 is mounted on box body The inner wall other side of box body 925 is arranged in 925 inner wall side, signal amplifier 923, and clutter stripper 924 is arranged in box body 925 inner wall bottom side, signal tuner 921, amplifying regulator 922, signal amplifier 923 and clutter stripper 924 pass through letter The connection of number line;
Sealing plate 6 is fitted to the top side of cabinet 912 by hinge, drives indicator light 7 and stroke indicator light 8 is pacified side by side Mounted in the top side of sealing plate 6, seal washer is respectively arranged at the avris of sealing plate 6 and the open top of cabinet 912.
A kind of subsurface communication signal processing method includes the following steps: step 1, regulating device position;Step 2 receives Signal;Step 3, Signal Regulation filtering;Step 4, signal conversion;Step 5, signal amplification conversion output;
Wherein in the above step 1, by controlling peristaltic pump 3, air is entered into flexible tracheae 4 by air inlet 11 It is interior, air is input in air bag 1 by peristaltic pump 3, the air of air bag 1 can also be discharged, by the expansion for adjusting air bag 1 Degree realizes the adjusting to buoyancy, the control of finishing device position;
Wherein in above-mentioned steps two, underwater communication signal is received by electric receiver 93;
Wherein in above-mentioned steps three, underwater signal is deployed by signal tuner 921, then passes through amplifying regulator 922 amplify adjusting, then by 923 amplified signal of signal amplifier, filter by clutter stripper 924 to signal;
Wherein in above-mentioned steps four, signal after filtering, after information digitalization is handled by encoder 94, hair It send energy converter 98 to convert electrical signals to acoustical signal again, communicates information to and receive energy converter 99, at this moment acoustical signal is converted to again Electric signal, after decoder 910 decodes digital information;
Wherein in above-mentioned steps five, information by signal tuner 921 deploy, then by amplifying regulator 922 into Row amplification is adjusted, and then by 923 amplified signal of signal amplifier, is filtered by clutter stripper 924 to signal, electric transmitter Information is become sound, text and picture by 911, is then issued.
Based on above-mentioned, it is an advantage of the current invention that it is of the invention, pass through control peristaltic pump 3, the model of peristaltic pump 3 Air is entered in flexible tracheae 4 by air inlet 11, air is input in air bag 1 by peristaltic pump 3 by YT600-1J, The air of air bag 1 can also be discharged, by adjusting the dilation of air bag 1, realize the adjusting to buoyancy, the control of finishing device position System receives underwater communication signal by electric receiver 93, and underwater signal is deployed by signal tuner 921, then passes through amplification Adjuster 922 amplifies adjusting, then by 923 amplified signal of signal amplifier, by clutter stripper 924 to signal mistake Filter, the signal after filtering after being handled information digitalization by encoder 94, send energy converter 98 and again convert electric signal It for acoustical signal, communicates information to and receives energy converter 99, at this moment acoustical signal is converted to electric signal again, and decoder 910 believes number After breath is decoded, information is deployed by signal tuner 921, is then amplified adjusting by amplifying regulator 922, is then passed through 923 amplified signal of signal amplifier filters signal by clutter stripper 924, and information is become sound by electric 911 ability of transmitter Sound, text and picture, then issue, device at work, waterproof pump machine 95 be D type horizontal multi-stage centrifugal pump, waterproof pump machine Water is conveyed from condensation copper pipe 97, is conveyed in condensation copper pipe 97 in water by 95 operations, to 97 two sides air cooling-down of condensation copper pipe, In the cooperation of blower 96, cold air is advertised, under the water conservancy diversion cooperation of arc deflector 91, realizes that air follows in cabinet 912 Ring realizes the cooling to electric elements, drives indicator light 7 and stroke indicator light 8, energy by being provided in the top side of sealing plate 6 Enough recognized convenient for monitoring personnel.
It should be noted that, in this document, relational terms such as first and second and the like are used merely to a reality Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment Intrinsic element.
Finally, it should be noted that the foregoing is only a preferred embodiment of the present invention, it is not intended to restrict the invention, Although the present invention is described in detail referring to the foregoing embodiments, for those skilled in the art, still may be used To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features. All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in of the invention Within protection scope.

Claims (7)

1. a kind of subsurface communication signal processing apparatus, including air bag (1), support plate (2), peristaltic pump (3), flexible tracheae (4), outstanding Floating ball (5), sealing plate (6), drive indicator light (7), stroke indicator light (8), signal processing component (9), clips (10) and into Stomata (11), it is characterised in that: air bag (1) laid out in parallel passes through weldering in the bottom side of support plate (2), the clips (10) The bottom side for being fixed on support plate (2) is connect, and is socketed in the both ends of air bag (1), the peristaltic pump (3) is fixedly mounted on support plate (2) one end of top layer one end, the flexible tracheae (4) is fixed on the input end of peristaltic pump (3), the peristaltic pump (3) Output end is connect with air bag (1) by gas-guide tube, and the suspension ball (5) is fixed on the other end of flexible tracheae (4), it is described into Stomata (11) is provided with the top of suspension ball (5), and connect with flexible tracheae (4), and the signal processing component (9) is mounted on branch The top side of fagging (2);
The arc deflector (91), signal analytic unit (92), electric receiver (93), encoder (94), waterproof pump machine (95), Blower (96), condensation copper pipe (97) send energy converter (98), receive energy converter (99), decoder (910), electric transmitter (911), the inner wall two sides correspondence of cabinet (912) and circuit board (913), the cabinet (912) offers mounting groove, the circuit The both ends of plate (913) are plugged on inside mounting groove respectively and fix, and the top side correspondence of the inner wall of the cabinet (912) is equipped with arc Deflector (91), and it is located at the top of circuit board (913), the blower (96) is weldingly fixed on the interior of signal analytic unit (92) Wall two sides, and it is located at the lower section of circuit board (913), the both ends of the condensation copper pipe (97) extend through the two sides of cabinet (912) Wall, and waterproof pump machine (95) is fixed on the top side of condensation copper pipe (97), the electricity receiver (93) and electric transmitter (911) are respectively The top side both ends of circuit board (913) are mounted on, the encoder (94) sends energy converter (98), receives energy converter (99) reconciliation Code device (910) is mounted on the top central portion of circuit board (913) side by side, and the signal analytic unit (92) is separately mounted to electric reception Between machine (93) and encoder (94) between decoder (910) and electric transmitter (911);
The signal analytic unit (92) include signal tuner (921), amplifying regulator (922), signal amplifier (923), Clutter stripper (924) and box body (925), the signal tuner (921) is mounted on the inner wall top side of box body (925), described Amplifying regulator (922) is mounted on the inner wall side of box body (925), and the signal amplifier (923) is arranged in box body (925) The inner wall other side, the clutter stripper (924) are arranged in the inner wall bottom side of box body (925);
The sealing plate (6) is fitted to the top side of cabinet (912) by hinge, described to drive indicator light (7) and stroke refers to Show that lamp (8) is mounted on the top side of sealing plate (6) side by side.
2. a kind of subsurface communication signal processing method includes the following steps: step 1, regulating device position;Step 2 receives letter Number;Step 3, Signal Regulation filtering;Step 4, signal conversion;Step 5, signal amplification conversion output;It is characterized by:
Wherein in the above step 1, by controlling peristaltic pump (3), air is entered into flexible tracheae by air inlet (11) (4) in, air is input in air bag (1) by peristaltic pump (3), the air of air bag (1) can also be discharged, by adjusting air bag (1) dilation realizes the adjusting to buoyancy, the control of finishing device position;
Wherein in above-mentioned steps two, underwater communication signal is received by electric receiver (93);
Wherein in above-mentioned steps three, underwater signal is deployed by signal tuner (921), then passes through amplifying regulator (922) adjusting is amplified, then by signal amplifier (923) amplified signal, by clutter stripper (924) to signal mistake Filter;
Wherein in above-mentioned steps four, signal after filtering after being handled information digitalization by encoder (94), is sent Energy converter (98) converts electrical signals to acoustical signal again, communicates information to and receives energy converter (99), at this moment acoustical signal is converted again For electric signal, after decoder (910) decodes digital information;
Wherein in above-mentioned steps five, information by signal tuner (921) deploy, then by amplifying regulator (922) into Row amplification is adjusted, and then by signal amplifier (923) amplified signal, is filtered by clutter stripper (924) to signal, electricity hair It send machine (911) that information is just become sound, text and picture, then issues.
3. a kind of subsurface communication signal processing apparatus according to claim 1, it is characterised in that: the air inlet (11) Top is provided with biological water filtration membrane.
4. a kind of subsurface communication signal processing apparatus according to claim 1, it is characterised in that: the sealing plate (6) Seal washer is respectively arranged at avris and the open top of cabinet (912).
5. a kind of subsurface communication signal processing apparatus according to claim 1, it is characterised in that: the sealing plate (6) Bottom side is fixed with battery, and the peristaltic pump (3) drives indicator light (7), stroke indicator light (8), circuit board (913), waterproof pump machine (95), blower (96) is connect by conducting wire with battery respectively, and is sealed by sealant and each interface.
6. a kind of subsurface communication signal processing apparatus according to claim 1, it is characterised in that: the signal analytic unit (92), electric receiver (93), encoder (94), transmission energy converter (98), reception energy converter (99), decoder (910) He electricity Fa Machine (911) is sent to connect by signal wire.
7. a kind of subsurface communication signal processing apparatus according to claim 1, it is characterised in that: the signal tuner (921), amplifying regulator (922), signal amplifier (923) and clutter stripper (924) are connected by signal wire.
CN201910476267.0A 2019-06-03 2019-06-03 A kind of subsurface communication signal processing apparatus and method Pending CN110224766A (en)

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Application Number Priority Date Filing Date Title
CN201910476267.0A CN110224766A (en) 2019-06-03 2019-06-03 A kind of subsurface communication signal processing apparatus and method

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CN201910476267.0A CN110224766A (en) 2019-06-03 2019-06-03 A kind of subsurface communication signal processing apparatus and method

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CN110224766A true CN110224766A (en) 2019-09-10

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Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6772705B2 (en) * 2001-09-28 2004-08-10 Kenneth J. Leonard Variable buoyancy apparatus for controlling the movement of an object in water
CN103438862A (en) * 2013-08-13 2013-12-11 北京师范大学 Automatic underwater landform detection device applicable to torrent environment
CN104936194A (en) * 2015-06-08 2015-09-23 浙江理工大学 Underwater acoustic sensor networks and node deployment and networking method thereof
CN106737703A (en) * 2016-11-22 2017-05-31 合肥中科艾帝尔机器人技术有限公司 Rescue robot under water and its rescue mode based on wireless telecommunications
CN206615371U (en) * 2017-04-01 2017-11-07 中国海洋大学 A kind of emergency set that communicates for underwater installation
CN108327854A (en) * 2017-12-29 2018-07-27 中国船舶重工集团公司第七0研究所 A kind of drift anchor system buoy for detecting underwater sound signal
CN108791774A (en) * 2018-05-29 2018-11-13 中国科学院声学研究所 A kind of submarine navigation device for communicating and positioning

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6772705B2 (en) * 2001-09-28 2004-08-10 Kenneth J. Leonard Variable buoyancy apparatus for controlling the movement of an object in water
CN103438862A (en) * 2013-08-13 2013-12-11 北京师范大学 Automatic underwater landform detection device applicable to torrent environment
CN104936194A (en) * 2015-06-08 2015-09-23 浙江理工大学 Underwater acoustic sensor networks and node deployment and networking method thereof
CN106737703A (en) * 2016-11-22 2017-05-31 合肥中科艾帝尔机器人技术有限公司 Rescue robot under water and its rescue mode based on wireless telecommunications
CN206615371U (en) * 2017-04-01 2017-11-07 中国海洋大学 A kind of emergency set that communicates for underwater installation
CN108327854A (en) * 2017-12-29 2018-07-27 中国船舶重工集团公司第七0研究所 A kind of drift anchor system buoy for detecting underwater sound signal
CN108791774A (en) * 2018-05-29 2018-11-13 中国科学院声学研究所 A kind of submarine navigation device for communicating and positioning

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