KR20100117899A - Wavy otoogy buoyancy island - Google Patents

Wavy otoogy buoyancy island Download PDF

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Publication number
KR20100117899A
KR20100117899A KR1020090036613A KR20090036613A KR20100117899A KR 20100117899 A KR20100117899 A KR 20100117899A KR 1020090036613 A KR1020090036613 A KR 1020090036613A KR 20090036613 A KR20090036613 A KR 20090036613A KR 20100117899 A KR20100117899 A KR 20100117899A
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South Korea
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buoyancy
self
buoyancy body
righting
ottogi
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KR1020090036613A
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Korean (ko)
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전제은
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전제은
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03B—MACHINES OR ENGINES FOR LIQUIDS
    • F03B13/00—Adaptations of machines or engines for special use; Combinations of machines or engines with driving or driven apparatus; Power stations or aggregates
    • F03B13/12—Adaptations of machines or engines for special use; Combinations of machines or engines with driving or driven apparatus; Power stations or aggregates characterised by using wave or tide energy
    • F03B13/14—Adaptations of machines or engines for special use; Combinations of machines or engines with driving or driven apparatus; Power stations or aggregates characterised by using wave or tide energy using wave energy
    • F03B13/16—Adaptations of machines or engines for special use; Combinations of machines or engines with driving or driven apparatus; Power stations or aggregates characterised by using wave or tide energy using wave energy using the relative movement between a wave-operated member, i.e. a "wom" and another member, i.e. a reaction member or "rem"
    • F03B13/18—Adaptations of machines or engines for special use; Combinations of machines or engines with driving or driven apparatus; Power stations or aggregates characterised by using wave or tide energy using wave energy using the relative movement between a wave-operated member, i.e. a "wom" and another member, i.e. a reaction member or "rem" where the other member, i.e. rem is fixed, at least at one point, with respect to the sea bed or shore
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
    • B63B35/44—Floating buildings, stores, drilling platforms, or workshops, e.g. carrying water-oil separating devices
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03B—MACHINES OR ENGINES FOR LIQUIDS
    • F03B13/00—Adaptations of machines or engines for special use; Combinations of machines or engines with driving or driven apparatus; Power stations or aggregates
    • F03B13/12—Adaptations of machines or engines for special use; Combinations of machines or engines with driving or driven apparatus; Power stations or aggregates characterised by using wave or tide energy
    • F03B13/14—Adaptations of machines or engines for special use; Combinations of machines or engines with driving or driven apparatus; Power stations or aggregates characterised by using wave or tide energy using wave energy
    • F03B13/22—Adaptations of machines or engines for special use; Combinations of machines or engines with driving or driven apparatus; Power stations or aggregates characterised by using wave or tide energy using wave energy using the flow of water resulting from wave movements to drive a motor or turbine
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03B—MACHINES OR ENGINES FOR LIQUIDS
    • F03B17/00—Other machines or engines
    • F03B17/02—Other machines or engines using hydrostatic thrust
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
    • B63B35/44—Floating buildings, stores, drilling platforms, or workshops, e.g. carrying water-oil separating devices
    • B63B2035/4433—Floating structures carrying electric power plants
    • B63B2035/4466—Floating structures carrying electric power plants for converting water energy into electric energy, e.g. from tidal flows, waves or currents
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2220/00—Application
    • F05B2220/30—Application in turbines
    • F05B2220/32—Application in turbines in water turbines
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2240/00—Components
    • F05B2240/90—Mounting on supporting structures or systems
    • F05B2240/93—Mounting on supporting structures or systems on a structure floating on a liquid surface
    • 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
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/20—Hydro energy
    • 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
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/30—Energy from the sea, e.g. using wave energy or salinity gradient

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Revetment (AREA)

Abstract

PURPOSE: A wavy self-righting buoyancy island is provided to improve stability by maximally avoiding disturbances occurred by unsteady waves. CONSTITUTION: A wavy self-righting buoyancy island comprises a self-righting float body(1), rotation rings(2), a balancing tank(3), a vent pipe(7), a balancing drainpipe(5), an inlet valve(4), and a drain pump(6). The self-righting float body is separated from the top of a floating sea structure(8). The rotation rings freely move the self-righting float body. The balancing tank maintains balance of the self-righting float body. The vent pipe flows in/out air. The inlet valve controls the charged amount of water stored in the balancing tank.

Description

파랑동조 오뚜기 부력 섬{WAVY OTOOGY BUOYANCY ISLAND}Blue Tuning Ottogi Buoyancy Island {WAVY OTOOGY BUOYANCY ISLAND}

본 발명은 부유식 해상 구조물의 부력중심을 구조체와 분리시켜 해중 속에 두고 오뚜기 부력체(1)는 파랑의 영향력에 따라 회전고리(2)의 힌지를 정점으로 임의적 운동을 하면서도 해상 구조물을 떠 받치는 부력은 그데로 유지된 기술이다. 그러므로 파랑에 의해 전면적 영향을 받는 종례의 기술인 선체와 부력체가 일체화된 선체구조물과는 별개의 부유식 해상 구조물의 동요 저감형 구조체기술이며, 또한 본 부유식 해상 구조물의 탑승 중량에 따른 부력의 가변 대응은 해중 저부의 균형수 탱크(3)의 부력수량으로 수평유지 조절하여 전체적 균형을 잡아 안정성을 갖는 특징이 있다.The present invention separates the buoyancy center of the floating offshore structure in the sea and puts the buoyancy buoyancy body (1) buoyancy to support the offshore structure while the arbitrary movement to the top of the hinge of the rotating ring (2) according to the influence of the blue Is a technology that has been maintained there. Therefore, it is a fluctuation-reduction structure technology of floating offshore structure that is separate from the hull and buoyancy body, which is a conventional technique that is completely affected by the waves, and also supports the variable buoyancy according to the riding weight of the floating offshore structure. The horizontal balance of the buoyant water of the bottom of the balance tank (3) in the sea is characterized by having the stability of the overall balance.

본 발명과 같이 부력성을 구조체와 분리된 방법으로 개발된 부유식 선체 및 구조물은 아직 기술 개발이 미흡한 것 같다. 비록 비교되는 원리로 추와 부력찌의 역할 관계를 검토 할때 부력찌는 파랑의 움직임에 노출되어도 움직일수 있고 추의 위치변화는 적게 동작되는 부력찌를 오뚜기 부력체 원리로 검토해 본다.Floating hulls and structures developed in a way that is buoyancy separated from the structure as in the present invention seems to be insufficient technology development. Although the principle of comparison between the weight and the buoyancy bob is considered as a comparison principle, the buoyancy bob can move even when exposed to the movement of blue and the position change of the weight is less.

종래 기술로는 해양 구조물의 동요 저감 방법으로 선체 및 해상구조체가 부력체와 일체화된 상태에서 일체화된 함체구조 및 기능 첨가로 되든가, 항구내 정온 상태에서만 운용되는 푼툰형 부력체 방법들 이였다. 그러나 본 발명과 같이 부력체 자체가 구조체와 분리되고 부력체별로 각기 파랑의 외력에 임의적 자유 운동을 하면서도 부력성을 유지 할 수 있는 것은 개발의 가치가 충분함에도 미개척 해양 기술로 인해 구현된바 없어 지금은 시대적 요구기술이 되고 있다.In the prior art, hull and offshore structures are integrated into the hull and offshore structures as a method of reducing the fluctuation of offshore structures. However, the buoyancy body itself is separated from the structure as shown in the present invention, and each buoyancy body can maintain the buoyancy while freely moving freely with the external force of each wave, but the value of development is not implemented due to the unexplored marine technology. Has become a demand technology of the times.

해양개발의 중요성을 국가기술 개발차원에서도 진행되고 있는 시점에서 본 발명의 가치는 해양 전 분야에 활용 될 수 있을 것이며, 특히나 해양관광 시설인 부력섬, 해양낚시 부교, 해양 구축물의 기초 부력구조체, 부잔교 등에 특히나 적용되는 기술이 된다.The importance of the present invention can be utilized in all areas of the sea as the importance of marine development is being developed at the national technology development level, especially buoyancy island, marine fishing bridge, marine buoyancy structure, and Buzan bridge. And the like.

해양공간의 효과적 활용방법의 한 방법인 부유식은 구조물의 안정성 확보와 동요 방지가 제일 중요하다, 이 부유식 구조물의 해양에서의 각종 외력에 어떻게 대응시켜 안정성을 확보케 하느냐가 해결해야 할 문제다.In the floating method, which is an effective method of using marine space, securing stability and preventing shaking is the most important problem.

해양의 외력중 가장 크게 작용하는 것이 파랑에 의한 것이며 이 불규칙성 특징을 갖는 파력을 구조체에서 어떻게 회피시키는 것이 부유 구조물의 안정성과 경제성 그리고 유지관리상의 과제라 하겠다.The largest external force of the ocean is due to the waves, and how to avoid the waves with irregularities in the structure is the stability, economic feasibility and maintenance of the floating structure.

이러한 관점에서 1.파랑의 외력이 가해지는 면적을 최소화 되도록 부유 구조체를 구성하고, 바다 밑의 구조 형상으로는 원형 단면이 요구된다. 이 단면 형상이 파도나 해류의 힘을 되도록 적게 받는 구조이다. 2.파랑의 상하운동, 수평운동,회전운동 또는 이의 연성운동에 부력체가 자유롭게 구동 될 수 있게 하여 능동적으로 대응 시킬수 있다면 보다 나은 부유구조물의 안정성을 확보 할 수 있다 하겠다.3.또한 탑승 중량에 따라 구조체의 불균형을 기술적으로 균형 조절 할 수 있는 기술이 요구된다.From this point of view, a floating structure is constructed to minimize the area to which blue external force is applied, and a circular cross section is required as a structural shape under the sea. This cross-sectional shape is a structure that receives less force of wave or current. 2.If the buoyant body can be freely responded to the blue vertical motion, horizontal motion, rotational motion or its soft motion, it can secure the stability of the floating structure better. A technique capable of technically balancing the unbalance of the structure is required.

부유식 해상구조물(8)의 상부와 이의 오뚜기부력체(1)를 최대한 떨어 뜨려 분리하고 부력체를 해중의 깊이에 둠으로써, 해수 표면의 파랑 영향에서 될 수 있는 한 벗어나게 한다. 그리고 오뚜기 부력체는 각기 임의적으로 움직일수 있게 하여 파랑의 움직임에 능동적으로 적응 시킨다.By separating the upper part of the floating offshore structure 8 and its opposing buoyancy body 1 as far as possible and placing the buoyancy body in the depth of the sea, as far as possible from the wave influence of the sea surface. And Ottogi buoyancy bodies can move randomly and actively adapt to blue movement.

부력성은 해상 구조물의 저부에 오뚜기 부력체(1)를 힌지 시켜 해상 구조체의 저부를 당기는 상태로 부력을 얻게 한다. 이는 파랑의 외력운동 방향따라 부력체가 함께 동조운동을 함으로써 구조체가 받아야할 외력에 의한 동요를 최대한 회피 시키고 부력체에서 완화 및 소멸을 기한다. 그리고 해상 구조물상의 탑승 중량 만큼의 기울어짐과 잠수 깊이 조절은 균형수탱크(3)내로 균형수의 입.배수를 해상 구조물의 상부에서 배수펌프(6)를 통해 조절케 하여 구조체 전체의 균형을 유지케 한다. 이로서 해상 구조물 상의 활동에 있어 보다 나은 쾌적성을 확보케 한다.Buoyancy causes the Ottogi buoyancy body 1 to hinge on the bottom of the offshore structure to gain buoyancy while pulling the bottom of the offshore structure. This causes the buoyancy body to move together in the direction of the external force movement of the wave to avoid the fluctuation caused by the external force that the structure must receive as much as possible and to alleviate and disappear from the buoyancy body. And the inclination and the depth of diving control as much as the weight of boarding on the offshore structure allows the inlet / drainage of the balance water to be adjusted through the drain pump 6 at the top of the offshore structure to maintain the balance of the entire structure. I will. This will ensure better comfort in the activities on the offshore structure.

1.부유식 해상 구조물의 동요가 파랑의 외력으로부터 자유로운 동요 저감 구조체를 갖는다.1. The fluctuation of the floating offshore structure has a fluctuation reduction structure free from the external force of the blue wave.

2.해상 활동의 불쾌감(멀미)을 줄여 생산활동의 쾌적성을 갖출 수 있어 해양 관광시설의 응용 기구개발을 한다.2. To reduce the discomfort of maritime activities and to ensure the comfort of production activities, develop application facilities for marine tourism facilities.

3.어촌 산업시설인 양식장 응용, 부잔교 시설, 부유 낚시 섬 등의 전개가 쉬워져 선박형 보다 경제적 투자를 갖는다.3. It is easier to deploy fish farming industry, fish farms, floating fishing islands, etc., so it has more economic investment than ship type.

해상 구조물(8)의 구성에 있어 구조체의 기본 구조로 해중은 파랑의 외력을 적게 받게 하기 위해 강관으로 구성하고, 해상은 강관 및 기타 구조력에 이상이 없는 재료를 사용한다.In the construction of the offshore structure 8, the basic structure of the structure, the sea is composed of steel pipes in order to reduce the external force of the blue, the sea is used for the steel pipe and other structural strength.

활동성이 요구되는 해상위 구조체와 이의 부력을 갖기 위한 오뚜기 부력체 (1)를 파랑의 특성중 파장 주기의 절반 깊이 이상에 위치시켜 파랑 운동의 범위에 서 벗어나게 설치한다. 또한 오뚜기 부력체(1)의 가변적 자유운동을 위해 하부에 힌지형 회전고리(2)로 체결시켜 파랑의 외력에 의한 가변적 대응으로 같은 방향과 일정 외력 만큼 같이 연동 될 수 있게 함으로써 해상구조물에 오뚜기 부력체(1)로 인한 직접 외력이 미치지 못하게 한다. 이는 해상 구조체가 외력으로 부터 받는 저항을 최대한 회피시켜 해상구조물의 동요를 줄 일수 있는 특징을 갖는다.The offshore structure requiring activity and the Ottogi buoyancy body (1) for its buoyancy are placed at more than half the depth of the wave period among the characteristics of the wave and are installed out of the range of the wave motion. In addition, it is fastened by a hinge-type rotating ring (2) at the bottom for the variable free movement of the Ottogi buoyancy body (1) to be linked to the same direction and a certain external force in a variable response by the external force of blue so that the Ottogi buoyancy in the marine structure So that the direct external force due to the sieve (1) is insufficient. This is characterized by the fact that the marine structure can avoid the resistance from the external force as much as possible to reduce the shaking of the marine structure.

해상 구조물(8) 자체의 부력은 오뚜기 부력체(1)로 구성이 되게 하고, 재료 구성은 금속탱크,PE관,고무튜브,타이어튜브 등 한정하지 않는다. The buoyancy of the offshore structure 8 itself is to be composed of the Ottogi buoyancy body 1, the material configuration is not limited to metal tanks, PE pipes, rubber tubes, tire tubes and the like.

해상 구조물 전체의 중량에 충분한 부력을 갖게 한다. Allows buoyancy sufficient for the weight of the entire marine structure.

또한 탑승에 따른 중량으로 인한 해상구조물(8)의 기울어짐은 해상 구조물 (8)의 하부 구조로 강관 등의 무게 중량이 큰 부력성 균형수탱크(3)로 구성한다. 이의 균형수 유입 밸브(4)를 해상 구조물(8) 상부에서 조절할 수 있게 하고. 균형수 탱크(3) 내로 균형수의 입.배수(5)를 배수 펌프(6)를 통해 운전함으로써 동시에 구조체의 부력 균형 및 수심 깊이 조절을 기한다. 그리고 균형수량에 비례하여 공기의 입.토출(7a)이 벤트관(7)을 통해 이루어진다. 이때 균형수 탱크(3)내는 항시 대기압 상태로 된다.In addition, the inclination of the offshore structure 8 due to the weight according to the boarding is composed of a buoyant balance water tank 3 having a large weight weight such as steel pipe as a lower structure of the offshore structure 8. Its balance water inlet valve (4) can be adjusted above the offshore structure (8). By operating the inlet / drainage 5 of the balance water through the drainage pump 6 into the balance water tank 3, the buoyancy balance and the depth depth of the structure are simultaneously controlled. In addition, the inlet / outlet of the air (7a) is made through the vent pipe (7) in proportion to the balance amount. At this time, the inside of the balanced water tank 3 is always at atmospheric pressure.

산업상 활용으로는 당장 부유식 해양 구조물의 기초 부력구조로 활용하고 부잔교 및 등의 부력 기초구조로 이용 한다.For industrial applications, it is used as a basic buoyancy structure for floating offshore structures and as a buoyancy foundation structure for Bujan Bridge and back.

또한 부력식 해상 마리나 시설에 부대한 응용 시설에 활용 한다.It is also applied to the application facilities associated with buoyant marine marine facilities.

해양관광 시설로 바다 낚시 부선, 부력식 낚시 공원과 섬, 관광용 양식장 등 에 적극적 도입이 가능하다.As a marine tourism facility, it is possible to actively introduce sea fishing boats, buoyant fishing parks, islands, and fish farms.

해양을 이용한 신재생 에너지 분야의 기초 구조시설로 이용 한다.It is used as basic rescue facility for renewable energy using ocean.

도1은 파랑 동조형 오뚜기 부력섬의 전체 구성도Fig. 1 is a diagram showing the overall construction of a blue-tuned Ottogi buoyancy island

도2는 오뚜기 부력체와 부대시설도Fig. 2 is a cross-sectional view of a cross-

Claims (2)

부유식 해상 구조물인 파랑 동조형 오뚜기 부력 섬에 있어서On a buoyant island of floating structure ottogi floating structure 부유식 해상 구조물(기초구조)(8)상부와, 분리되어 해상구조물 해중 저부로 부터 갖는 자유 구동 부력체인 오뚜기 부력체(1)와, 부력체의 임의 자유운동을 위한 힌지형 회전고리(2)와, 탑승 중량의 균형 유지를 위한 균형수 탱크(3)와, 균형수의 충수 및 배수시 비례한 공기 출입을 위한 벤트관(7)와, 균형수 배수관(5)와, 충수량 조절을 위한 균형수 유입밸브(4)와, 이의 배수펌프(6)를 갖는 부유식 해상 구조물.Ottogi buoyancy body (1), which is a free-driven buoyancy body separated from the bottom of the offshore structure, and a hinged rotary ring (2) for arbitrary free movement of the buoyancy body. And, balance water tank (3) for balancing the weight of the boarding, vent pipe (7) for proportional air inflow and outflow of the balance water when filling and draining, balance water drain pipe (5), Floating offshore structure having a balance water inlet valve (4) and its drainage pump (6). 해상구조물의 부력체 구조상 오뚜기 부력체의 재료에는 한정하지 않으며, 부력체가 해상 구조물의 해중 하부 구조체에 연결되고 힌지 정점시켜 자유 동작되며 해중에서 파랑의 외력에 함께 동조하여 각기 자유동작을 하면서도 상부 해상 구조물(8)의 부력을 유지시킬 수 있는 파랑 동조형 오뚜기 부력체.The buoyancy body of the offshore structure is not limited to the material of the Ottogi buoyancy body, and the buoyancy body is connected to the undersea structure of the offshore structure and is hinged and freely operated. Blue-tuned Ottogi buoyancy body capable of maintaining the buoyancy of (8).
KR1020090036613A 2009-04-27 2009-04-27 Wavy otoogy buoyancy island KR20100117899A (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108891548A (en) * 2018-07-17 2018-11-27 吴钦发 A kind of self-balancing maritime vehicles
CN112537416A (en) * 2021-01-25 2021-03-23 吴钦发 Self-balancing offshore floating platform

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108891548A (en) * 2018-07-17 2018-11-27 吴钦发 A kind of self-balancing maritime vehicles
CN108891548B (en) * 2018-07-17 2024-05-28 吴钦发 Self-balancing marine vehicle
CN112537416A (en) * 2021-01-25 2021-03-23 吴钦发 Self-balancing offshore floating platform

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