CN108535780A - A kind of novel sonar contact system - Google Patents
A kind of novel sonar contact system Download PDFInfo
- Publication number
- CN108535780A CN108535780A CN201810339602.8A CN201810339602A CN108535780A CN 108535780 A CN108535780 A CN 108535780A CN 201810339602 A CN201810339602 A CN 201810339602A CN 108535780 A CN108535780 A CN 108535780A
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- winch
- sonar
- towing cable
- towed body
- unmanned boat
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- PEDCQBHIVMGVHV-UHFFFAOYSA-N Glycerine Chemical compound OCC(O)CO PEDCQBHIVMGVHV-UHFFFAOYSA-N 0.000 claims abstract description 17
- 238000005086 pumping Methods 0.000 claims abstract description 16
- 238000004064 recycling Methods 0.000 claims description 7
- 238000007599 discharging Methods 0.000 claims description 4
- 238000010304 firing Methods 0.000 claims description 3
- 230000001788 irregular Effects 0.000 claims description 3
- 239000000463 material Substances 0.000 claims description 3
- 230000002040 relaxant effect Effects 0.000 claims 1
- 238000004804 winding Methods 0.000 claims 1
- 230000000694 effects Effects 0.000 abstract description 11
- 238000001514 detection method Methods 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 8
- 238000005516 engineering process Methods 0.000 description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 5
- 238000011161 development Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011017 operating method Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V1/00—Seismology; Seismic or acoustic prospecting or detecting
- G01V1/38—Seismology; Seismic or acoustic prospecting or detecting specially adapted for water-covered areas
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Physics & Mathematics (AREA)
- Oceanography (AREA)
- Engineering & Computer Science (AREA)
- Acoustics & Sound (AREA)
- Environmental & Geological Engineering (AREA)
- Geology (AREA)
- Remote Sensing (AREA)
- General Life Sciences & Earth Sciences (AREA)
- General Physics & Mathematics (AREA)
- Geophysics (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention discloses a kind of novel sonar contact systems, including pumping plant, hydraulic valve, winch, hydraulic motor, towing cable, chock, sonar towed body, towed body trap-frame, unmanned boat, slip ring, winch capstan winch, moon pool, computer；Moon pool is equipped in the middle part of the unmanned boat hull；It is equipped with computer in the unmanned boat, pumping plant, hydraulic valve and the winch with hydraulic motor driving is equipped on the deck of the unmanned boat or in cabin；Bottom is equipped with chock in the moon pool, and the unmanned boat bottom is equipped with towed body trap-frame, passes through the intrinsic sonar towed body of towing cable system on the towed body trap-frame；The towing cable is fixedly connected across chock with sonar towed body；The present invention is towing cable flexible connection between sonar and hull, under chock and trap-frame collective effect, is realized sonar towed body automatic deploying and retracting, it is ensured that security of system using unmanned boat and hydraulic motor control pull-type undersea detection sonar cooperation；It is effectively isolated the noise and vibration interference of unmanned boat, is effectively improved sonar contact effect.
Description
Technical field
The present invention relates to marine exploration engineering technology apparatus field, more particularly to a kind of novel sonar contact system.
Background technology
With the continuous development of intelligent control technology and big data technology, unmanned surface vehicle is just grown rapidly, more and more extensively
It is applied to undersea detection field generally.Simultaneously as the continuous development of sonar technology, unmanned surface vehicle carries sonar set and carries out
Detect operation is just in the ascendant.
Due to being limited by factors such as hull size, displacement and power, unmanned boat carries the common side of sonar work
Formula includes：Hull bottom mounting means and topside mount mode.Hull bottom mounting means is that sonar transducer and sonar slave computer is direct
It is installed to hull bottom, the detection completed to setting marine site is navigated by water by unmanned boat.It is by sonar transducer and sound that topside, which mounts mode,
Slave computer is installed to topside by rigid support, is usually recycled on deck to maintain easily maintenance, by it when work
Cloth is put into water.
In the prior art, although hull bottom mounting means and topside mount mode simple system, since unmanned boat is in the water surface
Navigation is easy to be influenced by sea windward, wave, stream, and attitude stability is difficult to control.Meanwhile using hull bottom mounting means and
It is rigid connection when topside mounts mode, between sonar and hull, the vibration of hull and noise are transmitted as readily on sonar, to sound
Work interferes.Therefore, hull bottom mounting means and topside mount the sonar set use of mode and are very limited, and detect
Effect is also difficult to ensure.
Invention content
In order to solve the above technical problems, the present invention provides a kind of novel sonar contact systems, in the prior art
Drawback is coordinated using unmanned boat and hydraulic control drag and drop formula undersea detection sonar, is towing cable flexible connection between sonar and hull,
It avoids the vibration of hull, in noise transmission to sonar, sonar work is interfered, ensures the Effect on Detecting of sonar.
In order to achieve the above objectives, technical scheme is as follows：A kind of novel sonar contact system, including pumping plant, liquid
Pressure valve, winch, hydraulic motor, towing cable, chock, sonar towed body, towed body trap-frame, unmanned boat, slip ring, winch support, winch
Capstan winch, moon pool, computer, it is characterised in that：
The hull central part of the unmanned boat is provided with moon pool；The unmanned boat is internally provided with computer, the nothing
Pumping plant, hydraulic valve and the winch driven with hydraulic motor are provided on the deck of people's ship or in cabin；In the moon pool
Bottom is equipped with tubaeform and nonmetallic materials manufacture chock using self-lubricating, under the unmanned boat bottom, chock
Side is fixedly installed towed body trap-frame, passes through the intrinsic sonar towed body of towing cable system on the towed body trap-frame；The winch is by winch
Holder is fixedly connected with unmanned boat, and slip ring is provided with winch capstan winch on the winch support, is fixed on the winch capstan winch
Wound form is provided with towing cable, and the towing cable passes through the chock in moon pool to be fixedly connected with sonar towed body；
The computer is connect with pumping plant, hydraulic valve, hydraulic motor electric signal；The hydraulic motor, pumping plant and hydraulic pressure
Valve group provides power source at hydraulic system, for winch, and the firing current value of hydraulic valve, the driving to winch are controlled by computer
Power is controlled so that winch has identical tension operating mode and limit tension operating mode；By hydraulic valve control winch receipts,
Towing cable torque is put, the computer passes through hydraulic system automatic distributing and discharging, recycling and fixed sonar towed body；Occur in unmanned boat posture
Automatic to release or recycle towing cable when change dramatically, reducing unmanned boat attitudes vibration leads to the attitudes vibration of sonar towed body, makes sonar
Towed body has good attitude stability, is at ideal working condition.
The shape of the towed body trap-frame is arranged with the form fit of sonar towed body.
The limit tension operating mode, the computer control hydraulic motor lays towing cable, when the pulling force on towing cable is less than
Stop cable laying when setting value, the cable laying when the pulling force on towing cable is greater than the set value；The hydraulic motor driving winch rotation release
Towing cable releases sonar towed body；
It is provided with encoder on the winch, the turnning circle by recording winch converses the length for releasing towing cable, when
After towing cable releases setting length, winch stops；The towing cable caused by winch cable laying is too fast can be prevented using limit tension operating mode
It relaxes and winds irregular phenomenon, improve the safety of system；
The computer control hydraulic motor recycles towing cable, and towing cable is worked as in the take-up when the pulling force on towing cable is less than setting value
On pulling force stop take-up when being greater than the set value；The hydraulic motor driving winch rotation recycling towing cable, as towing cable recycles, institute
It states sonar towed body and moves closer to unmanned boat, until sonar towed body enters towed body trap-frame.
The identical tension operating mode, the computer controls the constant holding tension of hydraulic motor, when towing cable pulling force is more than
When setting value, winch releases towing cable automatically；When towing cable pulling force is less than setting value, winch recycles towing cable automatically, until on towing cable
Pulling force stablize setting tension value.
The operation principle of the present invention is that：Since the shape of towed body trap-frame is matched with sonar towed body, sonar towed body will be into
When entering towed body trap-frame, towed body trap-frame can be automatically by the posture righting of sonar towed body, and guiding sonar towed body can smoothly enter into
Towed body trap-frame, sonar towed body enter it is all severely limited in all directions after towed body trap-frame, in conjunction with the pulling of towing cable, sonar
Towed body will be securely in towed body trap-frame, to realize capture and fixation to sonar towed body；Using limit tension take-up pattern, both
Sonar towed body can be securely fixed in towed body trap-frame, can also prevent from excessively pulling towing cable and towing cable is caused to damage.
Pattern is kept using identical tension, the sonar towed body posture caused by unmanned boat posture change dramatically is can effectively avoid and becomes
Change, so as to effectively ensure sonar contact effect.When unmanned boat adjusts course, the contact point of towing cable and unmanned boat can occur
Variation, due to being provided with chock at the contact point of towing cable and unmanned boat, can play a very good protection to towing cable.
When the towing cable passes through chock towed sonar towed body to work, guiding, protection towing cable can be both played the role of, also
Since moon pool is in the central part of unmanned boat, when unmanned boat attitudes vibration, the moving displacement at this is minimum, can preferably protect
The attitude stability for demonstrate,proving sonar towed body, improves the Effect on Detecting of sonar.
The towed body trap-frame is mounted on the lower section of chock, and the form fit of shape and sonar towed body recycles sonar
When towed body, play the role of guiding, capture, fixed sonar towed body, it can be achieved that sonar towed body automatic distributing and discharging and recycling.
Through the above technical solutions, the advantageous effect of technical solution of the present invention is：It is pulled using unmanned boat and hydraulic control
Formula undersea detection sonar coordinates, and is towing cable flexible connection between sonar and hull, due to being logical between sonar towed body and unmanned boat
Towing cable connection is crossed, rather than is rigidly fixed, the noise and vibration of unmanned boat can be effectively isolated, the vibration of unmanned boat is reduced and make an uproar
Interference of the sound to sonar, can be effectively improved the Effect on Detecting of sonar；Meanwhile sonar towed body can be increased by increasing the length of towing cable
Depthkeeping degree, make sonar towed body far from unmanned boat and the water surface, can further improve the working environment of sonar, to make sonar obtain
Better Effect on Detecting.
Description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be in embodiment or description of the prior art
Required attached drawing is briefly described, it should be apparent that, the accompanying drawings in the following description is only some realities of the present invention
Example is applied, it for those of ordinary skill in the art, without creative efforts, can also be according to these attached drawings
Obtain other attached drawings.
Fig. 1 is a kind of novel sonar contact system construction drawing schematic diagram disclosed in the embodiment of the present invention；
Fig. 2 is a kind of novel sonar contact system chock sectional view schematic diagram disclosed in the embodiment of the present invention；
Fig. 3 is a kind of novel sonar contact system towed body trap-frame front view schematic diagram disclosed in the embodiment of the present invention；
Fig. 4 is a kind of novel sonar contact system towed body trap-frame left view schematic diagram disclosed in the embodiment of the present invention；
Fig. 5 is a kind of novel sonar contact system winch front view schematic diagram disclosed in the embodiment of the present invention；
Fig. 6 is a kind of novel sonar contact system sonar towed body front view schematic diagram disclosed in the embodiment of the present invention；
Fig. 7 is a kind of novel sonar contact system sonar towed body left view schematic diagram disclosed in the embodiment of the present invention；
Fig. 8 is a kind of novel sonar contact system unmanned boat front view schematic diagram disclosed in the embodiment of the present invention；
Fig. 9 is a kind of novel sonar contact system unmanned boat top view illustration disclosed in the embodiment of the present invention.
Number and the corresponding component title represented by letter in figure：
1. 2. hydraulic valve of pumping plant, 3. winch, 4. hydraulic motor
5. 6. chock of towing cable, 7. sonar towed body, 8. towed body trap-frame
9. 10. slip ring of unmanned boat, 11. winch support, 12. winch capstan winch
13. 14. computer of moon pool
Specific implementation mode
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 describes, 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, those of ordinary skill in the art are obtained every other without creative efforts
Embodiment shall fall within the protection scope of the present invention.
According to Fig. 1 to Fig. 9, the present invention provides a kind of novel sonar contact systems, including pumping plant 1, hydraulic valve 2, winch
3, hydraulic motor 4, towing cable 5, chock 6, sonar towed body 7, towed body trap-frame 8, unmanned boat 9, slip ring 10, winch support 11, strand
Vehicle capstan winch 12, moon pool 13, computer 14.
The hull central part of the unmanned boat 9 is provided with moon pool 13；The unmanned boat 9 is internally provided with computer 14,
Pumping plant 1, hydraulic valve 2 and the winch 3 driven with hydraulic motor 4 are provided on the deck of the unmanned boat 9 or in cabin；Institute
It states the bottom in moon pool 13 and tubaeform and nonmetallic materials manufacture chock 6 using self-lubricating, 9 bottom of the unmanned boat is installed
Portion, chock 6 lower section be fixedly installed towed body trap-frame 8, dragged by the intrinsic sonar of 5 system of towing cable on the towed body trap-frame 8
Body 7；The winch 3 is fixedly connected by winch support 11 with unmanned boat 9, and slip ring 10 is provided with strand on the winch support 11
Vehicle capstan winch 12 fixes wound form on the winch capstan winch 12 and is provided with towing cable 5, and the towing cable 5 passes through the chock 6 in moon pool 13
It is fixedly connected with sonar towed body 7；
The computer 14 is connect with pumping plant 1, hydraulic valve 2,4 electric signal of hydraulic motor；The hydraulic motor 4, pumping plant 1
Hydraulic system is formed with hydraulic valve 2, power source is provided for winch 3, the firing current value of hydraulic valve 2 is controlled by computer 14,
The driving force of winch 3 is controlled so that winch 3 has identical tension operating mode and limit tension operating mode；Pass through hydraulic pressure
Valve 2 controls 5 torque of retractable towing cable of winch 3, and the computer 14 passes through hydraulic system automatic distributing and discharging, recycling and fixed sonar
Towed body 7；Automatic to release or recycle towing cable 5 when change dramatically occurs for 9 posture of unmanned boat, reducing by 9 attitudes vibration of unmanned boat causes
The attitudes vibration of sonar towed body 7 makes sonar towed body 7 have good attitude stability, is at ideal working condition.
The shape of the towed body trap-frame 8 is arranged with the form fit of sonar towed body 7.
The limit tension operating mode, the computer 14 control hydraulic motor 4 and lay towing cable 5, the pulling force on towing cable 5
Stop cable laying when less than setting value, the cable laying when the pulling force on towing cable 5 is greater than the set value；The hydraulic motor 4 drives 3 turns of winch
Dynamic release towing cable 5, releases sonar towed body 7；
It is provided with encoder on the winch 3, the turnning circle by recording winch 3 converses the length for releasing towing cable 5,
After towing cable 5 releases setting length, winch 3 stops；It can be prevented caused by 3 cable laying of winch is too fast using limit tension operating mode
Towing cable 5 relaxes and winds irregular phenomenon, improves the safety of system；
The computer 14 controls hydraulic motor 4 and recycles towing cable 5, the take-up when the pulling force on towing cable 5 is less than setting value, when
Pulling force on towing cable 5 stops take-up when being greater than the set value；The hydraulic motor 4 drives the rotation recycling towing cable 5 of winch 3, with dragging
Cable 5 recycles, and the sonar towed body 7 moves closer to unmanned boat 9, until sonar towed body 7 enters towed body trap-frame 8.
The identical tension operating mode, the computer 14 controls 4 constant holding tension of hydraulic motor, when 5 pulling force of towing cable
When being greater than the set value, winch 3 releases towing cable 5 automatically；When 5 pulling force of towing cable is less than setting value, winch 3 recycles towing cable 5 automatically, directly
Pulling force on to towing cable 5 is stablized in setting tension value.
The present invention specific implementation operating procedure be：Winch 3 is installed first integral, winch capstan winch 12 is installed to winch
On holder 11, sliding bearing is provided between winch capstan winch 12 and winch support 11, it is ensured that rotation is flexible, then by slip ring 10
It is installed on winch capstan winch 12 and is fixed using screw, the rotor on slip ring 10 is fixed with winch capstan winch 12, on slip ring 10
Stator is connect with winch support 11, then hydraulic motor 4 is installed on winch capstan winch 12 and is fixed using screw, hydraulic motor
Rotor on 4 is fixed with winch capstan winch 12, and the stator on hydraulic motor 4 is connect with winch support 11；
Chock 6 is installed on the mounting platform on unmanned boat September pond 13, and is fixed using screw；Again by towed body
Trap-frame 8 is installed on the mounting platform of 9 bottom of unmanned boat, and is fixed using screw；Then successively by computer 14, hydraulic pressure
Pumping plant 1 and hydraulic valve 2 are installed on the corresponding position on unmanned boat 9, are fixed；Then by hydraulic power unit 1, hydraulic valve 2 and liquid
Fluid pressure line between pressure motor 4 connects；5 dry end connector of towing cable is connected with the connector on 10 rotor of slip ring, by slip ring
Connector on 10 stators is connected with the connector on computer 14；5 green end connector of towing cable is connect with the socket on sonar towed body 7
It is good.
By above-mentioned specific embodiment, the beneficial effects of the invention are as follows：It is underwater using unmanned boat and hydraulic control pull-type
Detection sonar coordinates, and is towing cable flexible connection between sonar and hull, due to being to pass through towing cable between sonar towed body and unmanned boat
Connection, rather than rigidly fix, it can be effectively isolated the noise and vibration of unmanned boat, reduce the vibration and noise of unmanned boat to sound
Interference, the Effect on Detecting of sonar can be effectively improved；Meanwhile the depthkeeping of sonar towed body can be increased by increasing the length of towing cable
Degree, makes sonar towed body far from unmanned boat and the water surface, can further improve the working environment of sonar, better to make sonar obtain
Effect on Detecting.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest range caused.
Claims (5)
1. a kind of novel sonar contact system, which is characterized in that including pumping plant, hydraulic valve, winch, hydraulic motor, towing cable, lead cable
Mouth, sonar towed body, towed body trap-frame, unmanned boat, slip ring, winch support, winch capstan winch, moon pool, computer；The unmanned boat
Hull central part is provided with moon pool；The unmanned boat is internally provided with computer, on the deck of the unmanned boat or cabin
Inside it is provided with pumping plant, hydraulic valve and the winch driven with hydraulic motor；Bottom in the moon pool is equipped with tubaeform and adopts
Chock is manufactured with the nonmetallic materials of self-lubricating, towed body capture is fixedly installed below the unmanned boat bottom, chock
Frame passes through the intrinsic sonar towed body of towing cable system on the towed body trap-frame；The winch is fixedly connected by winch support with unmanned boat,
Winch capstan winch is provided with by slip ring on the winch support, fixing wound form on the winch capstan winch is provided with towing cable, described
Towing cable passes through the chock in moon pool to be fixedly connected with sonar towed body；
The computer is connect with pumping plant, hydraulic valve, hydraulic motor electric signal；The hydraulic motor, pumping plant and hydraulic valve bank
At hydraulic system, power source is provided for winch, the firing current value of hydraulic valve is controlled by computer, to the driving force of winch into
Row control so that winch has identical tension operating mode and limit tension operating mode；The retractable that winch is controlled by hydraulic valve is dragged
Cable torque, the computer pass through hydraulic system automatic distributing and discharging, recycling and fixed sonar towed body；Occur drastically in unmanned boat posture
Automatic to release or recycle towing cable when variation, reducing unmanned boat attitudes vibration leads to the attitudes vibration of sonar towed body, makes sonar towed body
With good attitude stability, it is at ideal working condition.
2. a kind of novel sonar contact system according to claim 1, which is characterized in that the shape of the towed body trap-frame
It is arranged with the form fit of sonar towed body.
3. a kind of novel sonar contact system according to claim 1, which is characterized in that the limit tension operating mode,
The computer control hydraulic motor lays towing cable, stops cable laying when the pulling force on towing cable is less than setting value, when on towing cable
Cable laying when pulling force is greater than the set value；The hydraulic motor driving winch rotation release towing cable, releases sonar towed body；
It is provided with encoder on the winch, the turnning circle by recording winch converses the length for releasing towing cable, works as towing cable
After releasing setting length, winch stops；It can prevent the towing cable caused by winch cable laying is too fast from relaxing using limit tension operating mode
And the irregular phenomenon of winding, improve the safety of system.
4. a kind of novel sonar contact system according to claim 1, which is characterized in that the identical tension operating mode,
The computer controls the constant holding tension of hydraulic motor, and when towing cable pulling force is greater than the set value, winch releases towing cable automatically；When
When towing cable pulling force is less than setting value, winch recycles towing cable automatically, until the pulling force on towing cable is stablized in setting tension value.
5. a kind of novel sonar contact system according to claim 1, which is characterized in that the limit tension operating mode,
The computer control hydraulic motor recycles towing cable, the take-up when the pulling force on towing cable is less than setting value, when the pulling force on towing cable
Stop take-up when being greater than the set value；The hydraulic motor driving winch rotation recycling towing cable, as towing cable recycles, the sonar drags
Body moves closer to unmanned boat, until sonar towed body enters towed body trap-frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810339602.8A CN108535780A (en) | 2018-04-16 | 2018-04-16 | A kind of novel sonar contact system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810339602.8A CN108535780A (en) | 2018-04-16 | 2018-04-16 | A kind of novel sonar contact system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108535780A true CN108535780A (en) | 2018-09-14 |
Family
ID=63481256
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810339602.8A Withdrawn CN108535780A (en) | 2018-04-16 | 2018-04-16 | A kind of novel sonar contact system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108535780A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109655836A (en) * | 2018-12-17 | 2019-04-19 | 中科探海(苏州)海洋科技有限责任公司 | A kind of high stability undersea detection sonar |
| CN109956005A (en) * | 2019-05-09 | 2019-07-02 | 哈尔滨工程大学 | A convenient-adjustable moonpool interior equipment deployment device |
| CN110027675A (en) * | 2018-12-18 | 2019-07-19 | 上海大学 | A kind of 3D sonar automatic distributing and discharging recovery system on unmanned boat |
| CN115649355A (en) * | 2022-11-08 | 2023-01-31 | 中国船舶集团有限公司第七0八研究所 | A towing limit and auxiliary retractable device for marine underwater detection equipment |
| CN115649355B (en) * | 2022-11-08 | 2025-07-29 | 中国船舶集团有限公司第七0八研究所 | Marine underwater detection equipment drags spacing and supplementary winding and unwinding devices |
-
2018
- 2018-04-16 CN CN201810339602.8A patent/CN108535780A/en not_active Withdrawn
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109655836A (en) * | 2018-12-17 | 2019-04-19 | 中科探海(苏州)海洋科技有限责任公司 | A kind of high stability undersea detection sonar |
| CN109655836B (en) * | 2018-12-17 | 2024-03-22 | 中科探海(苏州)海洋科技有限责任公司 | High stability is detection sonar under water |
| CN110027675A (en) * | 2018-12-18 | 2019-07-19 | 上海大学 | A kind of 3D sonar automatic distributing and discharging recovery system on unmanned boat |
| CN109956005A (en) * | 2019-05-09 | 2019-07-02 | 哈尔滨工程大学 | A convenient-adjustable moonpool interior equipment deployment device |
| CN109956005B (en) * | 2019-05-09 | 2024-05-17 | 哈尔滨工程大学 | Just, equip arrangement device in moon pool of mode |
| CN115649355A (en) * | 2022-11-08 | 2023-01-31 | 中国船舶集团有限公司第七0八研究所 | A towing limit and auxiliary retractable device for marine underwater detection equipment |
| CN115649355B (en) * | 2022-11-08 | 2025-07-29 | 中国船舶集团有限公司第七0八研究所 | Marine underwater detection equipment drags spacing and supplementary winding and unwinding devices |
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Application publication date: 20180914 |
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