CN114851224B - Remote control underwater lifter Sha Zhuangzhi - Google Patents
Remote control underwater lifter Sha Zhuangzhi Download PDFInfo
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- CN114851224B CN114851224B CN202210570604.4A CN202210570604A CN114851224B CN 114851224 B CN114851224 B CN 114851224B CN 202210570604 A CN202210570604 A CN 202210570604A CN 114851224 B CN114851224 B CN 114851224B
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- sand
- jet
- propeller
- underwater
- floating cabin
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- 238000007667 floating Methods 0.000 claims abstract description 34
- 239000004576 sand Substances 0.000 claims abstract description 32
- 230000007246 mechanism Effects 0.000 claims abstract description 27
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 26
- 238000004891 communication Methods 0.000 claims abstract description 21
- 239000007921 spray Substances 0.000 claims description 23
- 239000000725 suspension Substances 0.000 claims description 7
- 238000003384 imaging method Methods 0.000 claims description 5
- 238000012876 topography Methods 0.000 claims description 3
- 239000013049 sediment Substances 0.000 description 7
- 238000000034 method Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 238000001816 cooling Methods 0.000 description 3
- 238000005086 pumping Methods 0.000 description 3
- 238000007789 sealing Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000004140 cleaning Methods 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000003912 environmental pollution Methods 0.000 description 2
- 230000000203 accumulation affect Effects 0.000 description 1
- 238000007664 blowing Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000003628 erosive effect Effects 0.000 description 1
- 238000011010 flushing procedure Methods 0.000 description 1
- 238000005339 levitation Methods 0.000 description 1
- 238000005065 mining Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000008239 natural water Substances 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02B—HYDRAULIC ENGINEERING
- E02B3/00—Engineering works in connection with control or use of streams, rivers, coasts, or other marine sites; Sealings or joints for engineering works in general
- E02B3/02—Stream regulation, e.g. breaking up subaqueous rock, cleaning the beds of waterways, directing the water flow
- E02B3/023—Removing sediments
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/30—Assessment of water resources
Abstract
The invention discloses a remote control type underwater sand-lifting device, which comprises an underwater robot and an on-water extension machine, wherein the underwater robot comprises a floating cabin body, a controller fixedly arranged in the floating cabin body, a wireless communication module, a navigation positioning module, a propeller, a detector, a video image acquisition module and a jet sand-lifting mechanism, wherein the propeller, the detector, the video image acquisition module and the jet sand-lifting mechanism are arranged outside the floating cabin body; the controller is respectively and electrically connected with the wireless communication module, the navigation positioning module, the propeller, the detector and the jet sand lifting mechanism, and the wireless communication module is also electrically connected with the video image acquisition module; the water extension comprises a display control terminal processor and a control system, and the display control terminal processor and the control system are electrically connected with the wireless communication module. When the underwater robot works underwater, all parts work cooperatively to sense the surrounding environment and display the surrounding environment at an intelligent control end in the forms of video, images, numbers and the like, so that the control precision and working accuracy of the underwater robot are greatly improved, and the control difficulty and collision risk are reduced.
Description
Technical Field
The invention relates to the technical field of underwater working equipment, in particular to a remote control type underwater sand lifting device.
Background
The reservoir solves the problems of water resource shortage, unbalanced supply and demand and the like through reasonable distribution of natural water sources, and brings profound effects to various aspects of social economy and natural environment. However, over time, reservoir sediment accumulation affects the sustainable utilization of the reservoir, and reduces the water storage capacity of the reservoir, so that the flow regulation capacity of the reservoir is weakened, and the benefits of reservoir water supply, energy and flood control are reduced. Along with the increasing importance of China on environmental protection, the traditional dredging method for river channels and lakes in cities is increasingly lagged, and cannot meet the national construction method requirements on the environment. For example, the old handling methods generally include: the river adopts cofferdam to pump water and then dredging operation, which has the defects of time and labor consumption and extremely low efficiency. The lake is mainly constructed by adopting a cutter suction dredger, but the cutter suction dredger is easy to cause noise pollution to the surrounding environment.
The patent (application number: 201120033884.7) discloses an underwater sand collecting device, which comprises a motor, a sand pump, a sand raising pipe, a sand flushing pipe, a sand sucking pipe, a motor oil-cooling sealing cover and a magnetic coupling, wherein the motor is arranged in an oil-cooling sealing cavity in the motor oil-cooling sealing cover; the motor is in transmission connection with the sand pump through a magnetic coupling.
The underwater sand mining device in the scheme has the advantages that the operation mode is rough, the pollution to the surrounding environment is large, the intelligent degree is low, the underwater environment condition cannot be perceived in real time, the operation is inflexible, and the sand cleaning efficiency is low.
Disclosure of Invention
The invention aims to overcome the technical defects, and provides a remote control type underwater sand lifting device, which solves the technical problems that the sand picking device in the prior art has rough operation mode, large pollution to the surrounding environment, low intelligent degree, incapability of sensing the underwater environment in real time, inflexible operation and low sand cleaning efficiency.
In order to achieve the technical purpose, the technical scheme of the invention provides a remote control type underwater sand lifting device, which comprises:
the underwater robot comprises a floating cabin body, a controller, a wireless communication module, a navigation positioning module, a propeller, a detector, a video image acquisition module and a jet sand lifting mechanism, wherein the controller, the wireless communication module, the navigation positioning module and the propeller, the detector, the video image acquisition module and the jet sand lifting mechanism are fixedly arranged in the floating cabin body; the controller is respectively and electrically connected with the wireless communication module, the navigation positioning module, the propeller, the detector and the jet sand lifting mechanism, and the wireless communication module is also electrically connected with the video image acquisition module;
the water extension comprises a display control terminal processor and a control system, wherein the display control terminal processor and the control system are electrically connected with the wireless communication module.
Further, the navigation positioning module comprises an ultrasonic radar positioning module and a Beidou+GPS dual-mode positioning module.
Further, the propeller comprises propelling propellers symmetrically arranged at two sides of the tail of the floating cabin body.
Further, the propeller further comprises a suspension propeller arranged at the top of the floating cabin body or at two ends or two sides of the floating cabin body.
Further, the detection comprises a plurality of three-dimensional imaging sonars fixedly installed on the periphery of the outer wall of the floating cabin body and used for generating a topography map of the underwater environment, a plurality of front view sonars used for detecting obstacle avoidance and a multi-beam detector.
Further, the video image acquisition module is used for acquiring videos or images around the underwater robot.
Further, the jet sand-lifting mechanism comprises a pump body and a jet spray head, wherein the pump body is fixedly arranged in the floating cabin body, the jet spray head is fixedly arranged outside the floating cabin body, a water inlet of the pump body is communicated with a water source outside the floating cabin body through a pipeline, and an outlet of the pump body is connected with the jet spray head through a pipeline.
Furthermore, a plurality of cone-shaped straight nozzles are fixedly arranged on the jet flow spray head.
Further, the floating cabin body is fixedly provided with a spray head adjusting mechanism, the spray head adjusting mechanism comprises a lifting driving piece and a rotating driving piece fixedly arranged at the output end of the lifting driving piece, the output end of the rotating driving piece is fixedly connected with the jet spray head, the lifting driving piece is used for adjusting the height of the jet spray head, and the rotating driving piece is used for adjusting the direction of a spray nozzle on the jet spray head so as to adjust the jet flow angle.
Furthermore, a plurality of supporting legs are fixedly arranged at the bottom of the floating cabin body.
Compared with the prior art, the invention has the beneficial effects that:
in the remote control type underwater sand-lifting device, the navigation positioning module in the underwater robot can acquire position information, the detector can acquire an underwater environment topographic map, the video image acquisition module can acquire videos or images within a certain range, the wireless communication module can transmit acquired various information to the display control terminal processor, workers on the water surface can control the control system through the information displayed by the display control terminal processor so as to control the underwater robot to reach a designated working area, and the jet sand-lifting mechanism can generate jet flow in the working area so as to lift sediment at the bottom of a river bed and bring the sediment into the downstream through water flow, noise can be hardly generated, and pollution to the environment is small.
Drawings
FIG. 1 is a schematic block diagram of a remote control type underwater sand lifting device provided by the invention;
FIG. 2 is a schematic view of the structure of the underwater robot according to the embodiment of the present invention;
fig. 3 is a schematic structural view of the underwater robot according to the embodiment of the present invention with the floating cabin removed.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
The invention provides a remote control type underwater sand-lifting device, the structure of which is shown in figures 1 and 2, comprising an underwater robot 1 and an on-water extension machine 2, wherein the underwater robot 1 comprises a floating cabin 11, a controller 12 fixedly arranged in the floating cabin 11, a wireless communication module 13, a navigation positioning module 14, a propeller 15, a detector 16, a video image acquisition module 17 and a jet sand-lifting mechanism 18, wherein the propeller 15, the detector 16, the video image acquisition module 17 and the jet sand-lifting mechanism are arranged outside the floating cabin 11; the controller 12 is electrically connected with the wireless communication module 13, the navigation positioning module 14, the propeller 15, the detector 16 and the jet sand lifting mechanism 18 respectively, and the wireless communication module 13 is also electrically connected with the video image acquisition module 17; the water extension machine 2 comprises a display control terminal processor 21 and a control system 22, and the display control terminal processor 21 and the control system 22 are electrically connected with the wireless communication module 13.
In the remote control type underwater sand-lifting device, the navigation positioning module 14 in the underwater robot 1 can acquire position information, the detector 16 can acquire an underwater environment topographic map, the video image acquisition module 17 can acquire videos or images within a certain range, the wireless communication module 13 can transmit acquired various information to the display control terminal processor 21, workers on the water surface can control the control system 22 through the information displayed by the display control terminal processor 21 so as to control the underwater robot 1 to reach a designated working area, and the jet sand-lifting mechanism 18 can generate jet flow in the working area so as to perform sand-lifting work, thereby lifting sediment at the bottom of a river bed and bringing the sediment into the downstream through water flow, almost generating no noise and causing less environmental pollution.
When the underwater robot 1 works underwater, all parts work cooperatively to sense the surrounding environment and are displayed at an intelligent control end in the forms of video, images, numbers and the like, so that the control precision and working accuracy of the underwater robot 1 are greatly improved, and the control difficulty and collision risk are reduced.
As a specific embodiment, the controller 12 selects an S3C1440 microprocessor with high performance and low power consumption, selects an integrated control board based on an S3C1440de ARM9 processor for ensuring the stability of the system, and simultaneously selects an STM32 integrated control board based on an STM32F103VCT6 processor, wherein the STM32 integrated control board is mainly used as a driving control center, and mainly completes the working control of attitude control, information acquisition and the like of the underwater robot 1. When the controller 12 in the underwater robot 1 receives the instruction transmitted by the water extension machine 2, the received instruction is transmitted to the STM32 integrated control board through the serial port, so that the STM32 integrated control board makes a relevant reaction.
As a preferred embodiment, the navigation positioning module 14 includes an ultrasonic radar positioning module and a beidou+gps dual-mode positioning module.
As a preferred embodiment, the propeller 15 includes a propeller 151 symmetrically disposed at two sides of the tail of the buoyancy chamber 11. As a preferred embodiment, the propeller 15 further includes a suspension propeller 152 provided at the top of the buoyancy chamber 11 or at both ends thereof or at both sides thereof. As a specific embodiment, in order to realize the propulsion propeller 151 and the suspension propeller 152, a power system corresponding to the propulsion propeller 151 and the suspension propeller 152 is fixedly disposed in the buoyancy chamber 11, and the power system is similar to a power system of a propeller on a ship, so that a description of the power system is omitted herein.
When the underwater robot 1 needs to turn, the two propulsion propellers 151 are controlled to operate at different rotation speeds, and at this time, the underwater robot 1 turns toward the side of the propulsion propeller 151 with the lower rotation speed. When the pose of the underwater robot 1 needs to be adjusted, the two suspension propellers 152 are controlled to operate at different rotation speeds, and at this time, the underwater robot 1 can sink and tilt towards one side or one end of the suspension propeller 152 with a lower rotation speed.
As a preferred embodiment, the detector 16 includes a plurality of three-dimensional imaging sonars fixedly installed around the outer wall of the floating cabin 11 for generating a topographic map of the underwater environment, a plurality of front view sonars for detecting obstacle avoidance, and a multi-beam detector. The three-dimensional imaging sonar transmits detected data to the controller 12 and can distinguish the position of an obstacle in the environment in a certain range under water after being analyzed by the controller 12, so as to detect the environment information in an omnibearing manner. The detector 16 can detect a topography map of the underwater environment so as to further autonomously plan a working path, acquire a water depth of a working area, evaluate whether the depth of the sand-lifting operation meets a requirement, evaluate the condition of a river (lake) bed after the sand-lifting operation, mark an area needing to be further flattened, and further flattened after the sand-lifting operation is finished, and meanwhile, has a function of detecting a dynamic obstacle to avoid the obstacle. The positioning navigation module adopts an Inertial Navigation System (INS) for guiding sand-lifting operation to be carried out along the intelligent planning path.
As a preferred embodiment, the video image acquisition module 17 is used for acquiring video or images of the surroundings of the underwater robot 1.
As shown in fig. 3, in the embodiment of the present invention, the underwater robot has a schematic structure with the floating cabin body 1 removed, and as a preferred embodiment, the jet sand lifting mechanism 18 includes a pump body 181 fixedly disposed inside the floating cabin body 11 and a jet nozzle 182 fixedly disposed outside the floating cabin body 11, a water inlet of the pump body 181 is communicated with a water source outside the floating cabin body 11 through a pipeline, and an outlet of the pump body 181 is connected with the jet nozzle 182 through a pipeline.
As a preferred embodiment, the jet nozzle 182 is fixedly provided with a plurality of cone-shaped nozzles.
As a preferred embodiment, the floating cabin 11 is further fixedly provided with a nozzle adjusting mechanism 19, the nozzle adjusting mechanism 19 includes a lifting driving member 191 and a rotating driving member 192 fixedly disposed at an output end of the lifting driving member 191, an output end of the rotating driving member 192 is fixedly connected with the jet nozzle 182, the lifting driving member 191 is used for adjusting a height of the jet nozzle 182, and the rotating driving member 192 is used for adjusting an orientation of a nozzle on the jet nozzle 182 so as to adjust a jet angle, so that erosion of a sand bed reaches a design requirement. As a specific example, the lifting driving member 191 is a hydraulically (or pneumatically) driven telescopic rod, and the rotation driving member 192 may be a motor.
The nozzle adjusting mechanism 19 can adjust the height and angle of the jet nozzle 182, so as to adjust the position of the jet nozzle 182 and the angle of the nozzle according to the underwater environment (such as the thickness of silt), so that the sand bed erodes to reach the set condition (such as to reach the set depth), and the sand pumping efficiency is improved.
As a preferred embodiment, the bottom of the floating cabin 11 is fixedly provided with a plurality of supporting legs 110, so that the underwater robot 1 can stay on the river bed when performing sand-pumping operation, and power consumption is reduced when the underwater robot maintains a suspended state. And the height of the supporting legs 110 can be selected according to practical needs to avoid the negative influence of sand blowing on the underwater robot 1.
For a convenient understanding of the present invention, the following details of the working principle of the present solution are described with reference to fig. 1 to 3:
when the underwater robot 1 is in operation, the three-dimensional imaging sonar generates an underwater environment topographic map and transmits the map to the controller 12 in the sinking process, and meanwhile, the navigation positioning module 14 works to transmit back longitude and latitude positioning information, advancing direction information and the like to the display control terminal processor 21 and displays the position and state information of the underwater robot 1 on the display control terminal processor 21 in a map positioning point mode.
When the underwater robot 1 is submerged to the working depth, the controller 12 outputs a PWM signal to the levitation propeller 152 to maintain the underwater robot 1 in a levitated state. Meanwhile, the controller 12 controls the jet sand-lifting mechanism 18 to start sand-lifting operation, the lifting driving member 191 is started to lower the jet spray nozzle 182, so that the sand bed is eroded to meet the operation requirement, and the pump body 181 sprays the sucked water through the jet spray nozzle 182 to destroy the soil body on the river (lake) bed to lift sand.
The display control terminal processor 21 receives, analyzes, processes and displays the data and video signals sent by the underwater robot 1 in real time through the wireless transmission module, processes and stores the collected data. The display control terminal processor 21 also processes according to the detected information to obtain an image to autonomously plan the sand-lifting travel route, and continues to work when the sand-lifting depth does not reach the planned depth, and stops the sand-lifting operation at the planned depth when the planned depth is reached, and then proceeds to the next sand-lifting point to start operation. Alternatively, the worker may operate the remotely controlled underwater sand-lifting device autonomously by the control system 22 to perform work or select a path.
The remote control type underwater sand lifting device provided by the invention has the following beneficial effects:
(1) In the remote control type underwater sand-lifting device, the navigation positioning module 14 in the underwater robot 1 can acquire position information, the detector 16 can acquire an underwater environment topographic map, the video image acquisition module 17 can acquire videos or images within a certain range, the wireless communication module 13 can transmit acquired various information to the display control terminal processor 21, a staff on the water surface can control the control system 22 through the information displayed by the display control terminal processor 21 so as to control the underwater robot 1 to reach a designated working area, and the jet sand-lifting mechanism 18 can generate jet flow in the working area so as to perform sand-lifting work, thereby lifting sediment at the bottom of a river bed and bringing the sediment into the downstream through water flow, almost generating no noise and causing less environmental pollution;
(2) The nozzle adjusting mechanism 19 can adjust the height and angle of the jet nozzle 182, so as to adjust the position of the jet nozzle 182 and the angle of the nozzle according to the underwater environment (such as the thickness of silt), so that the sand bed erodes to reach the set condition (such as to reach the set depth), and the sand pumping efficiency is improved.
The above-described embodiments of the present invention do not limit the scope of the present invention. Any other corresponding changes and modifications made in accordance with the technical idea of the present invention shall be included in the scope of the claims of the present invention.
Claims (8)
1. A remote control type underwater sand-lifting device, comprising:
the underwater robot comprises a floating cabin body, a controller, a wireless communication module, a navigation positioning module, a propeller, a detector, a video image acquisition module and a jet sand lifting mechanism, wherein the controller, the wireless communication module, the navigation positioning module and the propeller, the detector, the video image acquisition module and the jet sand lifting mechanism are fixedly arranged in the floating cabin body; the controller is respectively and electrically connected with the wireless communication module, the navigation positioning module, the propeller, the detector and the jet sand lifting mechanism, and the wireless communication module is also electrically connected with the video image acquisition module;
the water extension comprises a display control terminal processor and a control system, wherein the display control terminal processor and the control system are electrically connected with the wireless communication module;
the jet sand-lifting mechanism comprises a pump body and a jet spray head, the pump body is fixedly arranged in the floating cabin body, the jet spray head is fixedly arranged outside the floating cabin body, a water inlet of the pump body is communicated with a water source outside the floating cabin body through a pipeline, and an outlet of the pump body is connected with the jet spray head through a pipeline;
the floating cabin body is also fixedly provided with a spray head adjusting mechanism, the spray head adjusting mechanism comprises a lifting driving piece and a rotating driving piece fixedly arranged at the output end of the lifting driving piece, the output end of the rotating driving piece is fixedly connected with the jet spray head, the lifting driving piece is used for adjusting the height of the jet spray head, and the rotating driving piece is used for adjusting the direction of a spray nozzle on the jet spray head so as to adjust the jet flow angle.
2. The remote control type underwater sand-lifting device according to claim 1, wherein the navigation positioning module comprises an ultrasonic radar positioning module and a Beidou+GPS dual-mode positioning module.
3. A remotely controlled underwater sand-lifting device as claimed in claim 1, wherein the propeller comprises propeller propellers symmetrically arranged on both sides of the tail of the floating cabin.
4. A remotely controlled underwater sand-lifting device as claimed in claim 1, wherein the propeller further comprises a suspension propeller provided at the top of the buoyancy chamber or at both ends or sides thereof.
5. The remote control type underwater sand-lifting device according to claim 1, wherein the detector comprises a plurality of three-dimensional imaging sonars fixedly arranged around the outer wall of the floating cabin body and used for generating a topography of an underwater environment, a plurality of forward-looking sonars used for detecting obstacle avoidance and a multi-beam detector.
6. A remotely controlled underwater sand-lifting device as claimed in claim 1, wherein the video image acquisition module is adapted to acquire video or images of the surroundings of the underwater robot.
7. The remote control type underwater sand-lifting device according to claim 1, wherein a plurality of conical straight nozzles are fixedly arranged on the jet flow spray head.
8. The remote control type underwater sand-lifting device according to claim 1, wherein a plurality of supporting legs are fixedly arranged at the bottom of the floating cabin body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210570604.4A CN114851224B (en) | 2022-05-24 | 2022-05-24 | Remote control underwater lifter Sha Zhuangzhi |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210570604.4A CN114851224B (en) | 2022-05-24 | 2022-05-24 | Remote control underwater lifter Sha Zhuangzhi |
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| Publication Number | Publication Date |
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| CN114851224A CN114851224A (en) | 2022-08-05 |
| CN114851224B true CN114851224B (en) | 2024-04-09 |
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| CN202210570604.4A Active CN114851224B (en) | 2022-05-24 | 2022-05-24 | Remote control underwater lifter Sha Zhuangzhi |
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2022
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|---|---|
| CN114851224A (en) | 2022-08-05 |
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