JP2013217361A - Variable blade waterwheel power-generation device - Google Patents

Variable blade waterwheel power-generation device Download PDF

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JP2013217361A
JP2013217361A JP2012100399A JP2012100399A JP2013217361A JP 2013217361 A JP2013217361 A JP 2013217361A JP 2012100399 A JP2012100399 A JP 2012100399A JP 2012100399 A JP2012100399 A JP 2012100399A JP 2013217361 A JP2013217361 A JP 2013217361A
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water flow
movable
waterwheel
water
blades
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Yoshiharu Watanabe
芳晴 渡邉
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    • YGENERAL 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
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02EREDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00Energy generation through renewable energy sources
    • Y02E10/20Hydro energy
    • YGENERAL 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
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02EREDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00Energy generation through renewable energy sources
    • Y02E10/30Energy from the sea, e.g. using wave energy or salinity gradient

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Abstract

PROBLEM TO BE SOLVED: To inexpensively provide a variable blade waterwheel power-generation device which can be easily installed, is compact, has high performances and is easily maintained, in consideration of such a problem that, in a waterwheel for water flow power-generation, blades are movable, therefore, the blades are able to move and get to be horizontal relative to a water flow to decrease resistance during a return semicircle, the water flow flows through the inner part of the waterwheel, therefore, a water flow pressure from an inner side is applied to the variable blades to decrease an operation efficiency and, further, floating waste or the like tangles with the blade.SOLUTION: By providing movable blades 5 in which it is basically improved that a water flow flows through an inner part of a waterwheel, and fulcrums of rotation shafts of the variable blades and movable fixation positions thereof are located approximately on the middle rather than an edge part, a movable circle is minimized, the water flow during negative pressure resistance against the water flow is utilized, self cleaning is performed while closing a movable blade, an outer circumference of the waterwheel is covered, a negative pressure resistance is reduced, a rotation efficiency is improved, maintenance can be minimized and, further, a ring-shape hole is opened on the center and is inserted to a tower vertically movably to facilitate the maintenance.

Description

発明の詳細な説明Detailed Description of the Invention

本発明は、再生可能自然エネルギー水流発電に関する。The present invention relates to renewable natural energy stream power generation.

現在、原発事故に伴い電力不足は深刻で火力発電に頼らざるえない状況の中CO2削減目標どころでは無い古い技術の化石燃料を使用しなくてはならない状態である。At present, due to the nuclear power plant accident, the power shortage is serious and it is necessary to use fossil fuels of old technology that is not the CO2 reduction target in a situation where it is necessary to rely on thermal power generation.

近年ようやく自然からの再生可能エネルギーである太陽光発電や風力発電などが一般的にも知られて広まりつつあるが天気に大きく左右され発電量はわすかで安定供給は望めなく、あくまでも補助的な物である。In recent years, solar power generation and wind power generation, which are renewable energy from nature, have finally become widely known and are spreading. However, they depend greatly on the weather and the amount of power generation is subtle and stable supply cannot be expected. It is a thing.

また水に恵まれた我が国ではダム発電もあるが近年多々理由により盛んではないのは周知であり、川の流れを利用する小水力発電も開発が進み実用化もみられ四六時中可動しエネルギー変換効率は良いのだが小規模ゆえにやはり補助的な物である。There are also dam power generation in Japan, which is blessed with water, but it is well known that it has not been popular for many reasons in recent years, and small hydropower generation using river flow has been developed and put into practical use. The efficiency is good, but it is still an auxiliary because it is small.

そこで注目されつつあるのが海洋エネルギーでありエネルギー密度は空気の約800倍といわれ強力かつ無限に莫大なエネルギーがありそのエネルギーを得る方法に大きく分けて3つに分類され、波のエネルギーを利用する(波力発電)海水の温度差を利用する(海洋温度差発電)潮の流れを利用する(海流・潮流発電)などがあり、この海流・潮流による発電方法が最も効率よくエネルギーに変換出来る方法と思われ、変換方式例ではプロペラタービン形が一般的で家庭にある扇風機の羽根を反作用させたようなものを水中に沈めるような形で、風力発電機をそのまま沈めたような方法にてエネルギーを得ようとするのが主に考えられている。Therefore, ocean energy is attracting attention, and its energy density is said to be about 800 times that of air, and there is an enormous amount of energy that is powerful and infinite. Yes (wave power generation) Utilizing seawater temperature difference (ocean temperature difference power generation) Using tide flow (ocean current / tidal current power generation), etc. The power generation method by this ocean current / tidal current can be converted into energy most efficiently It seems to be a method, and in the conversion method example, the propeller turbine type is common, and the wind turbine generator is submerged as it is in the form of submerging the fan blades of the home in the form of reaction The main idea is to get energy.

プロペラタービン形は構造も単純でコストも割安で変換効率は44%ほどとされる利点だが流速が遅く大型化しないとならない欠点があり、その他のエネルギー変換方式例にはサポニウス形水車方式は起動トルクが大きく構造が簡単だが変換効率20〜30%と低く大型化に適さない。
ダリウス形水車方式は構造が簡単で流速より早く回り変換効率は30〜45パーセントであるが自起動性が乏しい欠点がある。
クロスフロー形水車方式の変換効率は60パーセントと最も高く欠点も特別なく潮流にも応用が考えられるとされている。
The propeller turbine type has the advantage that the structure is simple and the cost is low and the conversion efficiency is about 44%, but there is a disadvantage that the flow rate is slow and it does not increase in size. For other examples of energy conversion methods, the Saponius type turbine method is the starting torque However, the conversion efficiency is as low as 20 to 30% and it is not suitable for enlargement.
The Darius type water turbine system is simple in structure, rotates faster than the flow velocity, and has a conversion efficiency of 30 to 45 percent, but has a drawback of poor self-startability.
The conversion efficiency of the cross-flow type water turbine system is the highest at 60%, and it is said that it can be applied to tidal currents without any disadvantages.

プロペラタービン形は一般的ではあるが大型化しないとならない欠点があり、それにより設置費用もかさみ、プロペラの大型化により一辺が長くなるので莫大なエネルギーの中、強度にも問題がありメンテナンスも大変と考えられるので、クロスフロー形水車方式が基本的に適していると考えられる。Propeller turbine type has the disadvantage that it will not increase in size, but it also increases the installation cost, and because the side of the propeller becomes longer due to the increase in size of the propeller, there is also a problem in strength and maintenance due to enormous energy Therefore, it is considered that the cross-flow type water turbine method is basically suitable.

特許文献においてもクロスフロー形水車方式を基に更に変換効率を上げさせさせようとする手段として特許文献1〜特許文献2を参考に説明する。Also in the patent document, Patent Documents 1 to 2 will be described with reference to means for further increasing the conversion efficiency based on the cross-flow type turbine method.

特許文献1の「水車モジュール及び発電用水中水車装置」は水流を受けて向きが変わる羽根を有する可動羽根水車を備えた(図5)に開示の水中モジュール4の構成からなり、一枚の羽根の端にフリー回転をさせる枢軸をそなえ円形水車の約半円部の羽根に水圧を受け中心軸にあるストッパーに固定されることで回転運動に変換し、水流に逆らう反転時には内部に流れ込む水流にてストッパーから離れ水流と水平になり逆水流時の抵抗を減らす、くふうを(図6)にても開示してあり連動する発電機を回し発電させることを意図とする。The “water turbine module and power generation underwater turbine device” disclosed in Patent Document 1 includes a movable blade turbine having blades that change direction in response to a water flow (FIG. 5), and includes a single blade. It has a pivot that allows it to rotate freely at the end of the circular turbine, and it receives water pressure on the blades of the semicircular part of the circular water wheel and is fixed to a stopper on the central shaft to convert it into rotational motion. In order to reduce the resistance during reverse water flow away from the stopper and to reduce the resistance during reverse water flow, it is also disclosed in FIG. 6 and is intended to generate electricity by turning a linked generator.

また特許文献2の「水中の流れから発電するための装置及び方法」においても水流から動力変換するための水車が2つ並んで効率及び性能を上げようとしており、各水車に回動規制構造と回動可能な第1のルーバーと、回動規制構造と回動可能な第2のルーバーと、を有していると(図13)及び(図18)にて開示されており上記特許文献1と同じく水車内部に水流を通しルーバーを回動させ水流と水平になり逆水流時の抵抗を減し連動する発電機を回し発電させることを意図としている。Further, in the “apparatus and method for generating power from an underwater flow” in Patent Document 2, two water turbines for power conversion from the water flow are arranged side by side to improve efficiency and performance. It is disclosed in (FIG. 13) and (FIG. 18) that it has the 1st louver which can rotate, the 2nd louver which can rotate, and a rotation control structure, The said patent document 1 In the same way, the water flow is passed through the water turbine and the louver is rotated to become horizontal with the water flow, reducing the resistance during reverse water flow and turning the interlocking generator to generate electricity.

実用新案登録第3139609号  Utility model registration No. 3139609 特許公表2011−529151  Patent publication 2011-529151

前記特許文献1の「水車モジュール及び発電用水中水車装置」は(図6)にあるように水車の羽根を水流に対し水平に成り逆転時抵抗を減らす工夫がなされたものではあるが、回転軸が可変羽根末端にあるため可動円が(約180°)と大きいので動きが遅くなり、また水車内部に水流を通り抜けさせ可変羽根を水流に対し水平にして逆転時抵抗を減らすねらいだが再び水圧力を受ける位置に来てストッパーに止まるまでに水車内部に流れている水流が負圧抵抗になり回転ロスをうみ稼働効率を下げてしまい、さらに水車内部に水流が通り抜けるため浮遊物ゴミなどが絡みひっかかるおそれがあり可動の妨げになりメンテナンスも大変である。The “turbine module and power generation underwater turbine device” of Patent Document 1 is a device in which the blades of the turbine wheel are horizontal to the water flow as shown in FIG. Since the movable circle is large (about 180 °) because the is at the end of the variable vane, the movement is slow, and the purpose is to reduce the resistance during reverse rotation by passing the water flow through the water wheel and making the variable vane horizontal to the water flow, but again the water pressure The water flow flowing inside the water turbine becomes negative pressure resistance until it stops at the stopper and the rotation efficiency is lost, and the operation efficiency is lowered.Furthermore, the water flow passes through the water wheel, and suspended dust is entangled. There is a risk that it will hinder movement and maintenance is difficult.

特許文献2の「水中の流れから発電するための装置及び方法」においても回動可能なルーバーの回動軸位置がルーバーの内側に入り可動円を減らしつつあるが(図13)〜(図18)で示すように、やはり水車内部に水流を通り抜けさせ回動可能なルーバーを水流に対し水平にして逆転時抵抗を減らしながら再び水圧力を受ける位置に来るまでに水車内部に流れる水流が負圧抵抗になり回転ロスをうみ稼働効率を下げてしまい、やはり水車内部に水流が通り抜けるため浮遊物ゴミなどが絡みひっかかるおそれがあり可動の妨げになりメンテナンスも大変で、さらに二つ水車を並べるものであり河川など一方向の流れではよいが海流、潮流では日に四度流れを変えると言われる海にては不向きである。In the “apparatus and method for generating power from an underwater flow” in Patent Document 2, the rotational axis position of the rotatable louver enters the inside of the louver and the movable circle is being reduced (FIG. 13) to (FIG. 18). As shown in), the water flow flowing inside the water turbine is negative pressure until it reaches the position where it receives water pressure again while reducing the resistance at the time of reversal by turning the rotatable louver horizontally through the water flow inside the water wheel and reducing the resistance during reverse rotation. It causes resistance and rotation loss, lowers the operating efficiency, and again the water flow passes through the water wheel, so there is a risk of entanglement of suspended solids etc. Yes, it is good for unidirectional flows such as rivers, but it is not suitable for ocean currents and tidal currents that are said to change four times a day.

上記問題点を解消し、容易に設置でき、コンパクトの中に高性能でメンテナンスが容易で安価に提供できる本発明の可変翼水車発電装置にて解決し広く普及させ今後のエネルギー問題に貢献することを課題とする。To solve the above problems, easily install, and to solve the problem with the variable wing turbine generator of the present invention that can be provided in a compact, high-performance, easy to maintain and inexpensively, and contribute to future energy problems Is an issue.

課題を解決する手段Means to solve the problem

課題を解決にあたり水車内部に水流が通り抜ける事を根本的に改め可変羽根の回転軸の位置及び可動固定位置を端部より中ほどに位置づける事により可動円を小さくし水流に逆らい反転負圧抵抗時の水流を利用し可動翼を閉じながらセルフクリーニングができ水車外周を閉じることで負圧抵抗を減らし回転効率を上げさせることで課題を解決させる。In resolving the problem, the flow of water through the water turbine is fundamentally changed, and the position of the rotary shaft of the variable blade and the movable fixed position are located in the middle of the end to make the movable circle smaller and counter to the water flow. By using this water flow, self-cleaning can be performed while closing the movable blade, and the outer periphery of the water wheel is closed to reduce the negative pressure resistance and increase the rotation efficiency, thereby solving the problem.

本発明の可変翼水車発電装置の球体水車動力部上面及び側面図The upper surface and side view of the spherical water turbine power section of the variable blade water turbine power generator of the present invention 本発明の可変翼水車発電装置の発電器一体化水車動力部上面図The top view of the generator integrated turbine power section of the variable blade turbine generator of the present invention 本発明の可変翼水車発電装置の発電器一体化側面球体部断面図Cross-sectional view of the generator-integrated side sphere part of the variable blade turbine generator of the present invention 本発明の可変翼水車発電装置の実施形態を示す側面図The side view which shows embodiment of the variable blade | wheel water turbine generator of this invention

本発明の実施の形態について図面を参照しながら詳細説明する。
図1は本発明の本発明の可変翼水車発電装置の水車動力部上面及び側面図であり、中心軸(2)の縁周りにある穴に可動翼(3)の両端を差し込み可動するように順次取付ける。すなわち水圧を受け可動翼(3)が可動し円の約半分に潮流などの水の流れの圧力を受けることで可動翼が開き回転を促し、戻りの半転時では可動翼(3)は流れに逆らうように進むので、ちょうど魚のうろこが前方から水流を受けるように自然に閉じ内部に水流を通す事無く水車外周にて抵抗を逃す事ができ可動翼(3)にあたる水流が稼働時の反対方向に流れるのでゴミや浮遊物をセルフクリーニングされ可動軸位置を三分の一の辺りにもうけることで可動が小さく(約45°)済むので早くスムーズな回転運動ができる。
Embodiments of the present invention will be described in detail with reference to the drawings.
FIG. 1 is a top view and a side view of a turbine power section of a variable blade turbine generator according to the present invention, and both ends of a movable blade (3) are inserted into a hole around an edge of a central shaft (2) so as to be movable. Install sequentially. In other words, the movable wing (3) is moved by water pressure, and the movable wing opens and encourages rotation by receiving the pressure of the water flow such as tidal current in about half of the circle. Since the fish scales are naturally closed so that they receive water flow from the front, resistance can be released on the outer periphery of the water turbine without passing water flow inside, and the water flow corresponding to the movable wing (3) is the opposite of when it is in operation Since it flows in the direction, dust and floating substances are self-cleaned and the movable shaft position is set to about one third, so that the movement is small (about 45 °), so that a quick and smooth rotational movement can be achieved.

更に球体形にすることは水中では最も抵抗を受けにくく、ゴミや浮遊物を避けやすくなりメンテナンスを容易に最小限にする事ができ回転運動を続ける事が出来る球体水車動力部(1)である。Further, the spherical shape is the spherical water turbine power unit (1) that is less susceptible to resistance in water, can easily avoid dust and floating objects, can easily minimize maintenance, and can keep rotating. .

続いて図2の本発明の可変翼水車発電装置の発電器一体化水車動力部上面図を基に説明に進める。上記にて円周状に連なった球体水車動力部(1)を薄形に形成し中心部の密閉された中心フロート(4)に薄形に形成された薄形可動翼(5)を上記図1の説明同様に円周上に連なるように組み立て図3に示すように、その薄形水車動力部(6)を中心に下方にある半円形の発電機室(7)内部には発電器(8)を備えそれを可動させるギャーシャフト(9)を連動するように設置密閉しその上部に薄形水車動力部(6)を載せ、発電器(8)ギヤーシャフト(9)薄形水車動力部(6)を連動させるように組付ける。Next, description will be made based on the top view of the power generator integrated turbine power section of the variable blade turbine power generator of the present invention shown in FIG. The above-described thin movable blade (5) formed in a thin shape in the center float (4) sealed in the center by thinly forming the spherical water turbine power section (1) connected in a circular shape as described above. As shown in FIG. 3, as shown in FIG. 3, a generator (7) is placed inside the semicircular generator chamber (7) below the thin water turbine power section (6). 8) equipped with a gear shaft (9) that can move the gear shaft (9) is installed and sealed, and a thin water turbine power section (6) is mounted on the gear shaft (9), and a generator (8) gear shaft (9) thin water turbine power section Assemble (6) to be linked.

更に半円形の発電機室(7)と同様に半円形の上部となるフロート室(10)を載せギャ−シャフト(9)上部と連結固定し球体となり、このフロート室(10)は浮きの役目を持ち一連となした発電器一体化球体(11)は丁度魚つりの球浮きのように水面に浮かした状態に保てる。Further, like the semicircular generator chamber (7), a float chamber (10) which is a semicircular upper portion is mounted and fixed to the upper portion of the gear shaft (9) to form a sphere, and this float chamber (10) serves as a float. The generator-integrated sphere (11) having a series of can be kept floating on the water surface just like a fishing ball.

また浮かした状態のフロート室(10)に注水など調節することで沈めることも出来るので図4本発明の可変翼水車発電装置の実施形態を示す側面図のように、海に設置した場合、海面、海中、または船舶、いかだなどから下げ海上にてもなす事ができ水流にもまれたり、上下左右どんな姿勢化にても同一方向に回転運動を続ける事が出来る1つのモジュールとし用途に合わせ連結し増大もはかれる。In addition, since it can be submerged by adjusting the water injection or the like in the float chamber (10) in a floating state, as shown in the side view of the embodiment of the variable blade turbine generator of the present invention, It can be lowered from the sea, or from a ship, a raft, etc., can be made on the sea, can be immersed in the water flow, or can be rotated in the same direction regardless of the posture, up, down, left, or right. There is also an increase.

さらに前記説明の薄形水車動力部(6)の中心にホールを開けリング状、ドーナツ形状にし、図4本発明の可変翼水車発電装置の実施形態を示す側面図にある海底から延びるタワーにちょうど輪投げのように差し込み何層にも連ねることもできる。またタワー上部に引き上げることでメンテナンスを容易にできる。Further, a hole is opened at the center of the thin turbine power section (6) described above to form a ring shape or a donut shape. FIG. 4 is a side view showing the embodiment of the variable blade turbine generator of the present invention. It can be inserted in layers like a ring throw. Maintenance can be facilitated by pulling it up to the top of the tower.

発明の効果Effect of the invention

本発明の可変翼水車発電装置を実施した場合、海流、潮流、河川など水の流れのある水上、水面、水中、問わず発電ができ、360°どの方向からの水圧力を動力に変えられ、波の寄せては返す動きにても回転方向は変わること無く発電し連結連動することにより発電量の増大がはかれ高性能かつ安価に提供でき耐久性を高めることで維持費を軽減でき燃料をいっさい必要としない次世代再生可能エネルギー発電の中心となりクリーンな環境作りにも貢献できる。When the variable wing turbine generator of the present invention is implemented, it is possible to generate power regardless of whether it is on the surface, underwater or underwater, such as ocean currents, tidal currents, and rivers, and the water pressure from which direction of 360 ° can be changed to power, Even if the wave moves back and forth, the rotation direction does not change and the power generation is linked and linked to increase the amount of power generation, providing high performance and low cost, and reducing the maintenance cost by increasing durability. It can contribute to the creation of a clean environment as the center of next-generation renewable energy power generation that is not required at all.

1 球体水車動力部
2 中心軸
3 可動翼
4 中心フロート
5 薄形可動翼
6 薄形水車動力部
7 発電機室
8 発電器
9 ギヤーシャフト
10 フロート室
11 発電器一体化球体
DESCRIPTION OF SYMBOLS 1 Sphere water turbine power part 2 Center shaft 3 Movable blade 4 Center float 5 Thin movable wing 6 Thin water wheel power part 7 Generator room 8 Generator 9 Gear shaft 10 Float room 11 Generator integrated sphere

Claims (1)

円周状に取り巻く可動翼の回転軸の支点及び可動固定位置を端部より中ほどに位置づけ可動円を小さくする事により抵抗を減らし強度を増し水流に逆らい反転負圧抵抗時の水流を利用し水車外周をカバーする可動翼を閉じながらセルフクリーニングができ、水車内部に水流が通り抜ける事を阻止し反転負圧抵抗を減らす事により、水上、水面、水中、波にても360°どの方向からの圧力を一定方向の回転動力に変え連結連動にて規模の設定ができ中心にリング状にホールを開けタワーに差込み重ね多重に設置でき上下可動させることによりメンテナンスを楽にすることができ無燃料半永久発電できる可変翼水車発電装置Using the water flow at the time of reversal negative pressure resistance against the water flow by reducing the resistance by increasing the fulcrum and the movable fixed position of the rotating wing around the circumference and positioning the movable fixed position to the middle from the end and reducing the moving circle to reduce the strength. Self-cleaning is possible while closing the movable wing that covers the outer periphery of the water wheel, preventing the water flow from passing through the water wheel and reducing the reverse negative pressure resistance. The pressure can be changed to rotational power in a certain direction, the scale can be set by interlocking connection, a hole is opened in the center, inserted into the tower and placed in multiple layers, moving up and down, making maintenance easy and fuel-free semi-permanent power generation Variable wing turbine generator
JP2012100399A 2012-04-09 2012-04-09 Variable blade waterwheel power-generation device Pending JP2013217361A (en)

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105569911A (en) * 2016-02-02 2016-05-11 宋章根 Method and device for rotating disc type hydraulic electrogenerating
CN106194553A (en) * 2015-05-29 2016-12-07 高彦龙 Water-energy power machine
WO2020155520A1 (en) * 2019-01-28 2020-08-06 林彬 Water turbine
CN113931780A (en) * 2021-11-15 2022-01-14 嵊泗县洋山镇陈久海洋科技发展有限公司 Loose-leaf fluid power generator
CN115112101A (en) * 2022-05-05 2022-09-27 自然资源部第二海洋研究所 Seabed terrain measuring device and method capable of avoiding fish attack

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106194553A (en) * 2015-05-29 2016-12-07 高彦龙 Water-energy power machine
CN105569911A (en) * 2016-02-02 2016-05-11 宋章根 Method and device for rotating disc type hydraulic electrogenerating
CN105569911B (en) * 2016-02-02 2017-10-24 宋章根 Rotary disk type water power generation method and device
WO2020155520A1 (en) * 2019-01-28 2020-08-06 林彬 Water turbine
CN113931780A (en) * 2021-11-15 2022-01-14 嵊泗县洋山镇陈久海洋科技发展有限公司 Loose-leaf fluid power generator
CN115112101A (en) * 2022-05-05 2022-09-27 自然资源部第二海洋研究所 Seabed terrain measuring device and method capable of avoiding fish attack
CN115112101B (en) * 2022-05-05 2024-02-02 自然资源部第二海洋研究所 Submarine topography measuring device and method capable of avoiding fish attack

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