CN106864711B - Adaptive sound wave, which lures, drives the dual-purpose submariner device of fish - Google Patents
Adaptive sound wave, which lures, drives the dual-purpose submariner device of fish Download PDFInfo
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- CN106864711B CN106864711B CN201710157885.XA CN201710157885A CN106864711B CN 106864711 B CN106864711 B CN 106864711B CN 201710157885 A CN201710157885 A CN 201710157885A CN 106864711 B CN106864711 B CN 106864711B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/22—Adjustment of buoyancy by water ballasting; Emptying equipment for ballast tanks
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K79/00—Methods or means of catching fish in bulk not provided for in groups A01K69/00 - A01K77/00, e.g. fish pumps; Detection of fish; Whale fishery
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M29/00—Scaring or repelling devices, e.g. bird-scaring apparatus
- A01M29/16—Scaring or repelling devices, e.g. bird-scaring apparatus using sound waves
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Abstract
It is lured the invention discloses a kind of adaptive sound wave and drives the dual-purpose submariner device of fish；Submariner device is divided into front, middle part and rear portion；Steering engine, steering engine connection water suction rudder are set in front, and the rudder angle by changing submariner device changes the course of submariner device；Motor A is set in rear portion, and motor A, which is located at the propeller of submariner device tail portion, front and middle part and middle part by shaft coupling and sleeve connection, and rear portion is all designed partition, and the junction at front and rear portion is designed as thread forms；It is provided with signal launch control system, battery, water tank, gear and motor B from top to bottom at the middle part of submariner device；The present invention combines acoustic emission apparatus with submariner device, navigates by water sound source with the travelling of the shoal of fish by the way of autonomous/remote control, and can be optimal effect at any time according to luring drive effect to change frequency size.The present invention carries out tight control in real time without manual or automaticization system, reduces the operation difficulty of attracting, fish gathering, is a kind of method for protecting fish ecology.
Description
Technical field
It is especially that a kind of adaptive sound wave lures and drives the dual-purpose submariner device of fish the present invention relates to a kind of submariner device.
Background technique
The improvement and exploitation of China's water resource enter the new stage at present, have built on the great rivers in China more next
More flow blocking buildings changes the intrinsic natural characteristic in river, to the water environment and water ecological environment item of gate dam upstream and downstream
Part, Habitat for Fish environmental factor (such as water level, flow, water temperature) generate bigger influence, may directly result in certain
The extinction of anadromous migration fish population.In the epoch for increasingly emphasizing that Man & Nature are got along amiably and peacefully, fish pass is as a kind of protection biology
The engineering measure of resource, it is more and more be included into the reservoir and gate dam engineering of various countries after, for the related section of fish pass
It is also gradually active to learn research.
The development of fish pass has graduallyd mature, and produces various fishes for different fish object designs of crossing according to Fish behavior
Road.So that straddling fish stocks is accurately found fish pass entrance, avoids hovering back and forth under dam, while stopping fish and entering flood discharge
Mouth, hydroturbine water intake mouth are accomplished in reduction as far as possible in the case where migration season artificial fish-aggregating and reduction energy consumption, improved fish
Efficiency be worth people research so as to improve the problem of.
Aquatile protection is major issue in need of consideration in hydraulic and hydroelectric engineering construction project, in order to protect natural fishing
Industry resource, the continuity and diversity for ensureing aquatic ecosystem, need that fish is enable to find fish pass entrance, improve making for fish pass
Use efficiency.
In recent years, the facilities such as most hydraulic structure structure design fish pounds, barrier net, light sensation and electric grid.But it blocks
Fish weir separates river, forms the obstruction of boat trip, can only limit to and be applied on the mountain stream tributary without shipping request；Barrier net is only
It can be arranged on water flow stationary, the river that section is smooth, narrow, and influence navigation and blowdown mostly；Electric grid barricade work
Journey investment is big, and installation environment is restricted, and the electric field threshold value of electric grid selects difficulty, the small equal series of problems of effective range.In water
Library and hydraulic structure, which lead fish and find a new way, realistic meaning.
However by acoustic applications in reservoir overflow big vast attracting, lead fish, cost of equipment, mounting cost are cheap, and site operation is convenient,
Using safe and reliable, reservoir, lake navigation are not influenced.And propagation distance is remote in water for sound wave, therefore sound wave blocks the effective of fish
Sphere of action is big.
Fish pass for restoring fish and other water biological species having free passage and multiplying and living and be of great significance in river,
Thus it is widely used in Issues in River Basin Hydropower Development and water-control project.The service efficiency for improving fish pass is to play fish pass effect
Major influence factors.
Fish behavior is an ancient and young science, gradually with the relationship and its importance of fishing industry
It is valued by the people.Fish are the important component of Fish behavior to the reaction of sound, and 1918 Park-er have investigated fish
The reaction of the class sense of hearing.Acousta induction attracting is exactly the sound fish-catching container for generating to become to collecting response operation design and manufacture to sound using fish,
Corresponding simulated sound is played to the shoal of fish, trapped, guided the shoal of fish to enter scheduled region and reach protection fish, fishing
The method of purpose.
A kind of existing application of sound wave attracting: 1, bioacoustics device: full pond Research Institute device-biology sound of reviving
Device is learned, this biometrics are suitable for entire growth period, not only can control forage intensity, can also accelerate the autumn
Season harvesting process, that is, utilize reaction of the fish to forage sound, caught again after fish is trapped area of fishing.
2, aquafarm control methods: in Japanese extensive development artificial marine habitat, also carrying out the test of sound domestication system,
It is main to pass through control fish behaviour so that littoral fishing ground is transformed, the stock of fish is more effectively utilized, fish are trapped, it is final to realize
Aquafarm.New technology (mainly including sound, light, electricity) starts to directly apply in social application, it has indicated that the mankind are passing through
It helps in social development and fish coexistence, enters a new stage that can control fish behaviour according to mankind's wish.In China
Sound wave, which lures, to be driven fish technical research and starts late, it is necessary to do a large amount of research work in relation to this respect, with Foreign Modern
While the research means of change integrate with, it is necessary to widely popularize application in production practice.Currently in all kinds of underwater robots
In research, submariner device is a hot spot, and the key technology being related to includes energy technology, airmanship and Real-time Communication Technology.
Therefore, many research institutions are all in the research work for carrying out above-mentioned key technology, to obtain breakthrough progress.
Both at home and abroad there is no more mature and widely used product, the benefit of the two does not have for the combination of sound wave and submariner device
It can be played to the greatest extent.This innovative point of sound wave submariner device can be applied to social production for China's sound wave attracting technology
In contribute a strength.
Currently, most inductions or drive fish facility have the shortcomings that it is many.Induction aspect such as bait, bait are spread in water
Slowly, easily thin out or even perishable, need to be replenished in time, and lure range small, production is complicated, can only first use cannot recycle system
Work and higher operating costs.For another example photo-induction is influenced although light is propagated fastly in water by light transmittance, and light wave decaying is serious, is passed
Broadcast it is small apart from short range, it is larger in order to issue the energy spent by stronger light, and can only in night use, not only production and
Higher operating costs is fitted
Time range is also small, lures type also few.Aspect is driven, useful dripping of irritant drugs, it was both inconvenient to use,
Also it pollutes the environment.The above method, have using and manufacturing cost it is high, functioning efficiency is low, action time and effect
The disadvantage that range is small, environmental pollution is big.Sound wave is propagated fastly under water as a kind of, low mode is lost, to a variety of fish sense organs
Stimulation is strong, and cost of manufacture is lower, can achieve the purpose that induce or drive by adjusting frequency size, with the obvious advantage.
Currently, many to lure the mobility for driving facilities for fish's passage poor, and be mostly fixed point facility, it can not be changed according to the travelling of the shoal of fish
And adjust frequency.
Summary of the invention
Therefore, in order to solve above-mentioned deficiency, the present invention, which provides a kind of adaptive sound wave herein and lures, drives the dual-purpose submariner device of fish；This
Invention combines acoustic emission apparatus with submariner device, navigates by water sound source with the travelling of the shoal of fish by the way of autonomous/remote control,
And effect can be optimal at any time according to luring drive effect to change frequency size.This project be solve fish are smooth from river
Guidance proposed to the problems such as fish pass entrance and reservoir fish gathering count a kind of adaptive sound wave lure drive fish dual-purpose intelligent submariner device to
It reduces energy consumption, improved fish efficiency, reduce fish injures and deaths.The sound wave and submariner device phase in water that the mechanical equipment will vary frequency
In conjunction with, it allows submariner device to hover back and forth in water according to the route of setting and is attracted to fish pass entrance for fish object is crossed using sound wave, or
Fish are stopped to advance.Tight control in real time is carried out without manual or automaticization system, reduces the operation difficulty of attracting, fish gathering,
It is a kind of environmental protection facility and design method for protecting fish ecology.
The dual-purpose submariner device of fish is driven the invention is realized in this way constructing a kind of adaptive sound wave and luring, it is characterised in that: submariner
Device is divided into front, middle part and rear portion；Steering engine is set in front, and is bolted steering engine；Steering engine connection water suction rudder, passes through
Change the course of the rudder angle transformation submariner device of submariner device；
Motor A is set in rear portion, and motor A is located at the propeller of submariner device tail portion by shaft coupling and sleeve connection, passed through
Motor adjusts the revolving speed of propeller and turns to the speed and advance, retrogressing for influencing submariner device respectively；Motor A passes through round fixed
Transposition is fixed on the rear portion of submariner device；
It is independent cabin in the middle part of submariner device, can be used in freely storing single-chip microcontroller and battery；
Front and middle part and middle part and rear portion, which are all designed, partition, reaches waterproof action, and by the connection of front and rear portion
Place is designed as thread forms, and is sealed by gasket；
It is provided with signal launch control system, battery, water tank, gear and motor B from top to bottom at the middle part of submariner device；
The water tank is outwardly projecting；
Piston has a rack gear, the output end of motor B is arranged gear, wheel and rack engagement, from motor B control piston toward
Movement is returned, and then realizes the discharge and entrance of water in water tank, changes the self weight of submariner device, realizes that the rising of submariner device is sunk；
Signal launch control system includes controller, motor drive module, digital analog converter, power amplifier, raises
Sound device；Controller realizes that the output end of controller is connect with motor drive module, while controller using stm32F103CBT6
Another output end connect with digital analog converter, the output end of digital analog converter is connect with power amplifier, power
Amplifier external loudspeaker；Controller provides digital signal in signal launch control system, and it is diligent again that DAC is converted to analog signal
Rate amplifier plays power amplification with loudspeaker.
The present invention has the advantage that
The present invention is to solve smooth must guide from river to the problems such as fish pass entrance and reservoir fish gathering of fish proposing meter
A kind of adaptive sound wave, which lures, drives fish dual-purpose intelligent submariner device, to reduce energy consumption, improve fish efficiency, reduces fish injures and deaths.It should
The design basic idea of mechanical equipment is that will vary the sound wave of frequency to combine with the submariner device taken action freely in water, allows submariner
Device hovers back and forth in water according to the route of setting and be attracted to fish pass entrance for fish object is crossed using sound wave, or before stopping fish
Into.
The product design carries out tight control in real time without artificial, by automated system, reduces the operation of attracting, fish gathering
Difficulty reduces preliminary engineering Installed capital cost and post facility operating maintenance expense, is a kind of efficiently simple protection fish
The environmental protection facility and design method of class ecology.
It mainly includes acoustic signal source, power amplification that adaptive sound wave of the present invention, which lures and drives fish dual-purpose intelligent submariner device,
Device, pallesthesiometer, power supply and power device.These devices are set by single-chip microcontroller according to the actual application environment of submariner device solid
Determine advance track, upright position in water, in the case where keeping Equilibrium, emits sound wave, realize the round-trip operation of sequencing.Also
Adjustable submariner device setting carries out real-time control using artificial.
This works can significantly mitigate the manual labor for luring and driving fish, reduce energy consumption, improve fish gathering efficiency, and have good
Stability and safety.And according to fish object and operating environment, flexible choice frequency of sound wave and travelling route is crossed, have extensive
Applicable prospect.
Detailed description of the invention
Fig. 1 is overall structure of the present invention
Fig. 2 is whole side schematic view of the invention
Fig. 3 is whole schematic top plan view of the invention
Fig. 4 is signal launch control system schematic diagram of the present invention.
Specific embodiment
Below in conjunction with attached drawing 1- Fig. 4, the present invention is described in detail, technical solution in the embodiment of the present invention into
Row clearly and completely describes, it is clear that described embodiments are only a part of the embodiments of the present invention, rather than whole realities
Apply example.Based on the embodiments of the present invention, those of ordinary skill in the art are obtained without making creative work
Every other embodiment, shall fall within the protection scope of the present invention.
The present invention drives the dual-purpose submariner device of fish by improving to provide a kind of adaptive sound wave herein and lure, as shown, can be by
It is practiced according to such as under type；The submariner device is divided into front, middle part and rear portion；Steering engine 1 is set in front, and solid by bolt
Determine steering engine 1；The connection water suction rudder of steering engine 1, the rudder angle by changing submariner device change the course of submariner device；
Motor A2 is set in rear portion, and motor A2 is located at the propeller 9 of submariner device tail portion by shaft coupling and sleeve connection, leads to
Motor is crossed to adjust the revolving speed of propeller and turn to the speed and advance, retrogressing for influencing submariner device respectively；Motor A2 passes through circle
Fixed transposition 12 is fixed on the rear portion of submariner device；
Independent cabin is designed at middle part, can be used for freely storing single-chip microcontroller and battery；In order to reach waterproof action, front is in
Portion and middle part and rear portion, which are all designed, partition 3, and the junction of front and rear portion is designed as thread forms, and pass through gasket
It is sealed；
It is provided with signal launch control system 4, battery 5, water tank 6, gear 7 and electricity from top to bottom at the middle part of submariner device
Machine B8；The water tank 6 is outwardly projecting；Piston 10 has rack gear 11, and gear 7, gear 7 and tooth is arranged in the output end of motor B8
Item 11 engages, and by the round-trip of motor B8 control piston 10, and then realizes the discharge and entrance of water in water tank, changes submariner device
Self weight, realize submariner device rising sink；
Signal launch control system 4 is put including controller 41, motor drive module 42, digital analog converter 43, power
Big device 44, loudspeaker 45；Controller 41 is using stm32F103CBT6 realization, the output end and motor drive module of controller 41
42 connections, while another output end of controller 41 is connect with digital analog converter 43, the output of digital analog converter 43
End is connect with power amplifier 44,44 external loudspeaker 45 of power amplifier；Controller 41 provides in signal launch control system 4
Digital signal, DAC are converted to analog signal again with power amplifier by power amplification, are played with loudspeaker.
By improving above；Adaptive sound wave of the present invention, which lures, drives the dual-purpose submariner device of fish mainly by two motors and one
A steering engine, water tank, signal projector composition.One of motor is located at the spiral shell of submariner device tail portion by shaft coupling and sleeve connection
Paddle is revolved, the revolving speed of propeller is adjusted by motor and turns to the speed and advance, retrogressing of influence submariner device respectively.Another electricity
Machine controls the round-trip of piston by the mechanical structure based on gear, and then realizes the discharge and entrance of water in water tank, changes
Become the self weight of submariner device, realizes that the rising of submariner device is sunk.Steering engine connection water suction rudder, the rudder angle by changing submariner device change latent
The course of boat device.Acoustic emission apparatus: controller provides digital signal, and DAC is converted to analog signal number and uses power amplifier again
By power amplification, played with loudspeaker.
Adaptation function: in view of signal transmission effect is excessively poor under water for common short wave communication, proposed adoption inertia is led
Boat.
Device components: 7.4V battery is driven using 7806 triode pressure stabilizings at 6V, a steering engine, a direct current generator
Device, a decelerating motor, a conventional motor, a stm32F103CBT6 core board, D class digital amplifier PAM8403, number
Word turns the external module of simulation output, loudspeaker.
Submariner device is divided into front, middle part and rear portion.It is all set to reach waterproof action, front and middle part and middle part and rear portion
Be designed as thread forms in respect of partition, and by the junction at front and rear portion, have convenience that are detachable, adjusting components and
Good barrier properties, effective water of having taken precautions against enter front and rear, and partition, which prevents water from penetrating into middle part, leads to single-chip microcontroller and battery
Damage.
Wherein, front: mainly placing steering engine, and designing has bolt to fix steering engine.Middle part: it is placed with monolithic from top to bottom
Mechanical, electrical pond, water tank and its right side gear, motor.
Water tank protrudes outward, and directly contacts with extraneous water body, drains in real time.
Independent cabin is designed at middle part, can be used for freely storing single-chip microcontroller and battery；
Rear portion: mainly placing motor, is similarly designed with round fixed transposition.
When implementation, entire submariner device can add counterweight appropriate in operation test.
The present invention has following innovative point:
1, applications of sound waves is led in fish in attracting, sound wave high conversion efficiency, damage rate is low, and frequency is adjustable to adapt to a variety of fishes
Class.
2, by single-chip microcontroller to make installations without human intervention, the design of anticollision have adaptivity, dive
Boat device advance route may be implemented sequencing, regularization while have controllability.
Application value of the invention: this product is lured using sound wave, drives fish, and the automation of submariner device
Keep device application easy, greatly reduces manpower.It can effectively overcome simultaneously and manufacture and be applicable at high cost, functioning efficiency in the prior art
It is low, the shortcomings that, have low in cost, signal is propagated fast and remote, reduces energy consumption and the advantages of non-environmental-pollution, can increase and lure
Fish, fish-gathering effect improve economic and ecological income.The design of submariner device can increase more functions simultaneously, be applied to
More areas.Such as: shooting the underwater shoal of fish, realize that the shoal of fish moves towards real-time tracing, induction water layer temperature, water sampling.With good
Application prospect.
Technical advantage: first, Wardle (1986) is reported, when fishing boat is advanced, fish first feel starting for fishing boat
The sound of machine and propeller, fish go to be not easy to capture to the trip of deeper seabed.The advantage of this product miniaturization avoids other machines
Influence of the tool equipment to fish greatly reduces manpower using simplicity.Submariner device can be improved certainly by single-chip microcontroller dispatch control system
Adaptability；
Second, submariner device develops to compatible high and modularization direction, and the disadvantage that can effectively overcome manufacturing cost high, tool
There is the advantages of low in cost, to reduce energy consumption, can increase attracting, fish-gathering effect, improves economic and ecological income；
Third, the sound wave for the pinger transmitting carried on submariner device has water transmission damage rate low, pollution-free, high
The advantages such as effect.
The technical explanation of promotion prospect: the design of submariner device can increase more functions, be applied to more necks
Domain.Such as: shooting the underwater shoal of fish, realize that the shoal of fish moves towards real-time tracing, induction water layer temperature, water sampling.With good application
Prospect.The construction scale of China's hydroelectric project constantly expands, and submariner device induction fish enter fish pass structure or expulsion fish leave
Specific region, and then protecting, there is migratory Species of Rare Fish from Qingdao to obtain ecological environment benefit.Sea area " blue agriculture " has become
One of Disciplinary Frontiers of development,
Acousta induction Fishing technology can improve catching rate and not destroy fishery resources, realize circular economy.
This works can significantly mitigate the manual labor for luring and driving fish, reduce energy consumption, improve fish gathering efficiency, and have good
Stability and safety.And according to fish object and operating environment, flexible choice frequency of sound wave and travelling route is crossed, it is suitable for water
In power-house construction and fishing ground breeding production, there is widely applicable prospect, and certain ecological environment can be generated
Benefit and economic benefit.
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 readily 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 scope of cause.
Claims (1)
1. a kind of adaptive sound wave, which lures, drives the dual-purpose submariner device of fish, it is characterised in that: submariner device is divided into front, middle part and rear portion；Before
Steering engine (1) is set in portion, and is bolted steering engine (1)；Steering engine (1) connection water suction rudder, by the rudder angle for changing submariner device
Change the course of submariner device；
Motor A(2 is set in rear portion), motor A(2) it is located at the propeller (9) of submariner device tail portion by shaft coupling and sleeve connection,
The revolving speed of propeller is adjusted by motor and turns to the speed and advance, retrogressing of influence submariner device respectively；Motor A(2) pass through
Circle fixed transposition (12) is fixed on the rear portion of submariner device；
It is independent cabin in the middle part of the submariner device, can be used in freely storing single-chip microcontroller and battery；
Front and middle part and middle part and rear portion, which are all designed, partition (3), reaches waterproof action, and by the junction of front and rear portion
Thread forms are designed as, and are sealed by gasket；
The middle part of submariner device be provided with from top to bottom signal launch control system (4), battery (5), water tank (6), gear (7) with
And motor B(8)；The water tank (6) is outwardly projecting；
Piston (10) has rack gear (11), motor B(8) output end gear (7) are set, gear (7) engages with rack gear (11), by
Motor B(8) round-trip of piston (10) is controlled, and then realize the discharge and entrance of water in water tank, change the self weight of submariner device,
Realize that the rising of submariner device is sunk；
Signal launch control system (4) includes controller (41), motor drive module (42), digital analog converter (43), function
Rate amplifier (44), loudspeaker (45)；Controller (41) using stm32F103CBT6 realize, the output end of controller (41) with
Motor drive module (42) connection, while another output end of controller (41) is connect with digital analog converter (43), number
The output end of analog converter (43) is connect with power amplifier (44), power amplifier (44) external loudspeaker (45)；Signal
Controller (41) provides digital signal in launch control system (4), and DAC is converted to analog signal again with power amplifier by power
Amplification, is played with loudspeaker.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710157885.XA CN106864711B (en) | 2017-03-16 | 2017-03-16 | Adaptive sound wave, which lures, drives the dual-purpose submariner device of fish |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710157885.XA CN106864711B (en) | 2017-03-16 | 2017-03-16 | Adaptive sound wave, which lures, drives the dual-purpose submariner device of fish |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106864711A CN106864711A (en) | 2017-06-20 |
| CN106864711B true CN106864711B (en) | 2019-03-22 |
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| CN107455364B (en) * | 2017-08-16 | 2021-06-29 | 江苏大唐国际吕四港发电有限责任公司 | Sound wave fish-expelling device for coal unloading wharf of power plant |
| CN109911128A (en) * | 2019-03-21 | 2019-06-21 | 中国水产科学研究院渔业机械仪器研究所 | Frequency modulation acousta induction electric propulsion purse seiner and fishing method |
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| CN101331870A (en) * | 2007-06-25 | 2008-12-31 | 中国水产科学研究院渔业机械仪器研究所 | Acousto-optic-electric comprehensive fish driving device |
| CN202896863U (en) * | 2012-09-26 | 2013-04-24 | 浙江大学 | Mixed type underwater navigation probe |
| CN103085952A (en) * | 2013-01-31 | 2013-05-08 | 中国舰船研究设计中心 | Manless underwater vehicle |
| CN105743587A (en) * | 2016-03-31 | 2016-07-06 | 深圳市港湾船艇管理服务有限公司 | Underwater voice transceiver, overwater voice transceiver and underwater sound intercom system |
| CN206634189U (en) * | 2017-03-16 | 2017-11-14 | 四川大学 | Adaptive sound wave, which lures, drives the dual-purpose submariner device of fish |
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| US9078402B2 (en) * | 2005-12-22 | 2015-07-14 | Lawrence Sirovich | System and method for decreasing the intensity and frequency of tropical storms or hurricanes |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101331870A (en) * | 2007-06-25 | 2008-12-31 | 中国水产科学研究院渔业机械仪器研究所 | Acousto-optic-electric comprehensive fish driving device |
| CN202896863U (en) * | 2012-09-26 | 2013-04-24 | 浙江大学 | Mixed type underwater navigation probe |
| CN103085952A (en) * | 2013-01-31 | 2013-05-08 | 中国舰船研究设计中心 | Manless underwater vehicle |
| CN105743587A (en) * | 2016-03-31 | 2016-07-06 | 深圳市港湾船艇管理服务有限公司 | Underwater voice transceiver, overwater voice transceiver and underwater sound intercom system |
| CN206634189U (en) * | 2017-03-16 | 2017-11-14 | 四川大学 | Adaptive sound wave, which lures, drives the dual-purpose submariner device of fish |
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