CN214001973U - Buoy buoyancy adjusting system capable of automatically leveling profile measurement - Google Patents
Buoy buoyancy adjusting system capable of automatically leveling profile measurement Download PDFInfo
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- CN214001973U CN214001973U CN202022355315.1U CN202022355315U CN214001973U CN 214001973 U CN214001973 U CN 214001973U CN 202022355315 U CN202022355315 U CN 202022355315U CN 214001973 U CN214001973 U CN 214001973U
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- 238000005259 measurement Methods 0.000 title claims description 17
- 238000005086 pumping Methods 0.000 claims abstract description 16
- 239000011521 glass Substances 0.000 claims abstract description 13
- 230000005540 biological transmission Effects 0.000 claims abstract description 9
- 230000009467 reduction Effects 0.000 claims description 4
- 238000000034 method Methods 0.000 abstract description 16
- 230000008569 process Effects 0.000 abstract description 13
- 230000033001 locomotion Effects 0.000 abstract description 11
- 238000001514 detection method Methods 0.000 abstract description 7
- 239000003921 oil Substances 0.000 description 103
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 9
- 238000007667 floating Methods 0.000 description 8
- 239000000725 suspension Substances 0.000 description 5
- 230000005484 gravity Effects 0.000 description 4
- 238000013016 damping Methods 0.000 description 3
- 230000003247 decreasing effect Effects 0.000 description 3
- 239000010720 hydraulic oil Substances 0.000 description 3
- 239000013535 sea water Substances 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000007599 discharging Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000009189 diving Effects 0.000 description 1
- 230000013575 regulation of buoyancy Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
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Abstract
The utility model discloses a buoy buoyancy governing system is measured to formula section that can level automatically: the device comprises a high-pressure-resistant glass ball cabin, an oil pumping unit, a one-way valve, a four-position five-way ball valve, a three-position three-way ball valve, a two-position two-way ball valve, a first high-torque steering engine, a second high-torque steering engine, a third high-torque steering engine, an oil quantity detection unit, a wireless data transmission module, an attitude sensor, an embedded control unit, an inner oil cylinder, a five-way adapter and four outer oil bags; the oil pumping unit comprises a plunger pump and a direct-current speed reducing motor, the plunger pump is connected with a pipeline and extends into the inner oil cylinder and is connected with a one-way valve, one way of the one-way valve is connected with a two-position two-way ball valve, the other way of the one-way valve is connected with a three-position three-way ball valve, the two-position two-way ball valve is connected with the pipeline and extends into the inner oil cylinder, and the three-position three-way ball valve is connected with a four-position five-way ball valve; the four outer oil bags are respectively connected with a four-position five-way ball valve. The utility model discloses in order to reduce the balancing operation complexity, improve the automatic level of buoy balancing, guarantee the stability of buoy motion process simultaneously.
Description
Technical Field
The utility model relates to a section measurement buoy buoyancy governing system, more specifically says so, relates to a buoy buoyancy governing system is measured to formula section that can level automatically.
Background
Before the profile measurement buoy is launched, technicians can increase or decrease the counterweight according to the volume and the mass of the discharged water of the buoy and the density of the seawater so as to realize that the buoy is completely immersed and suspended below the sea level in an initial launching state. However, errors in the measurement accuracy of the volume, mass and sea water density of the buoy can cause the technician to have over-fitting or under-fitting in the process of adding or removing the counterweight, which results in that the buoy cannot complete the movement within the specified depth range according to the requirement.
Because technicians cannot accurately control the gravity center of the buoy when the balance weight is increased or decreased, the gravity center deviation can cause the profile measurement buoy to be incapable of keeping a horizontal state in water, so that the force applied to an instrument chamber by the internal elements of the buoy is uneven, and the internal pipelines can be stressed, so that the reliability and the stability of the internal elements of the buoy are reduced. Meanwhile, the damping coefficient when the profile measurement buoy is designed according to the floating and diving movement in the horizontal state, and the inclination of the buoy can cause the resistance applied in the movement process to deviate from the expected resistance.
SUMMERY OF THE UTILITY MODEL
The utility model aims at overcoming not enough among the prior art, but providing an automatic leveling formula section measurement buoy buoyancy governing system to reduce the balancing operation complexity, improve the automatic level of buoy balancing, guarantee buoy motion process's stability simultaneously.
The purpose of the utility model is realized through the following technical scheme.
The utility model discloses but buoy buoyancy governing system is measured to automatic leveling formula section, including high withstand voltage glass ball cabin, high withstand voltage glass ball cabin inboard is provided with pump oil unit, check valve, four-digit five-way ball valve, three-position three-way ball valve, two-position two-way ball valve, high torque steering engine, two-number high torque steering engine, three-number high torque steering engine, oil mass detecting element, wireless data transmission module, attitude sensor, embedded control unit, interior hydro-cylinder, five-way adapter, the equidistant symmetry in high withstand voltage glass ball cabin outside is provided with four outer oil bags;
the oil pumping unit comprises a plunger pump and a direct-current speed reducing motor which are connected through a coupler, an oil inlet of the plunger pump is connected with a pipeline and extends into the inner bottom of the inner oil cylinder, an oil outlet of the plunger pump is connected with an inlet of a one-way valve through a pipeline, an outlet of the one-way valve is divided into two paths, one path is connected with a P3 port of the two-position two-way ball valve through a pipeline, the other path is connected with a P1 port of the three-position three-way ball valve through a pipeline, a T3 port of the two-position two-way ball valve is connected with a pipeline and extends into the inner bottom of the inner oil cylinder, an A1 port of the three-position three-way ball valve is connected with a P2 port of the four-position five-way ball valve, and a B1 port of the three-position three-way ball valve is connected with one port of the five-way adapter; one ports of the four outer oil bags are respectively connected with ports A2, B2, C2 and D2 of the four-position five-way ball valve, and the other ports are respectively connected with the other four ports of the five-way adapter;
the first high-torque steering engine is connected with the three-position three-way ball valve through a coupler, the second high-torque steering engine is connected with the four-position five-way ball valve through a coupler, the third high-torque steering engine is connected with the two-position two-way ball valve through a coupler, and the first high-torque steering engine, the second high-torque steering engine, the third high-torque steering engine and the direct-current speed reduction motor are all electrically connected with the embedded control unit; the oil mass detecting unit is connected with a piston inside the inner oil cylinder and connected with the embedded control unit through a data line, the attitude sensor is horizontally arranged inside the high-pressure-resistant glass ball cabin and connected with the embedded control unit through the data line, and the wireless data transmission module is connected to the embedded control unit through a plug connector.
The three-position three-way ball valve realizes the flow direction of one inlet and two outlets through the control of a first high-torque steering engine and ensures that a single outlet is communicated or two outlets are both cut off; the four-position five-way ball valve realizes the flow direction of one inlet and four outlets through the driving control of a second high-torque steering engine and realizes that the ball valve keeps a single passage at each position; and the two-position two-way ball valve realizes the switching of self on and off states through the driving control of a third high-torque steering engine.
Compared with the prior art, the utility model discloses a beneficial effect that technical scheme brought is:
in the water surface balancing suspension and level adjustment stage of the profile measuring buoy, technicians can perform wireless data communication with an embedded control unit of the profile measuring buoy through a wireless data transmission module in a main control unit of an upper computer, control a high-torque steering engine and an oil pumping unit so as to control oil discharge and return, and can detect the inclination degree of the buoy in real time and control the oil quantity of an outer oil pocket on the inclined side in a targeted manner; at the oil discharging floating and oil returning submergence stages of the profile measuring buoy, the embedded control unit can automatically control the high-torque steering engine and the oil pumping unit to control the oil quantity of the outer oil bag, so that the profile measuring buoy normally completes floating and submergence actions, the stable state of the motion process of the profile measuring buoy is effectively ensured, and the damping coefficient is maintained. The utility model discloses can effectively reduce accuracy requirement and marine trim operation technical requirement to counter weight mounted position, improve the degree of automation of section measurement buoy.
The utility model provides a but buoy buoyancy governing system and method is measured to automatic leveling formula section, it combines special oil circuit design based on embedded development platform, can realize the section and measure buoy's automatic leveling level, trim suspension and the buoyancy regulation that the come-up is submerged, effectively guarantees the steady state of section measurement buoy motion process, maintains the damping coefficient, reduces the required precision to counter weight mounted position, improves the automation level of marine trim operation.
Drawings
FIG. 1 is a schematic diagram of the buoyancy regulating system of the automatic leveling profile measuring buoy of the present invention;
fig. 2 is a three-dimensional isometric view of the self-leveling profile measuring buoy buoyancy adjustment system of the present invention;
FIG. 3 is a three-dimensional bottom view of the self-leveling profile measuring buoy buoyancy adjustment system of the present invention;
fig. 4 is a schematic structural diagram of the buoyancy adjusting system of the automatically leveling profile measuring buoy of the present invention.
Reference numerals: the oil quantity detection device comprises an oil quantity detection unit 1, an inner oil cylinder 2, an attitude sensor 3, an embedded control unit 4, a high-torque steering engine 5 II, a high-torque steering engine 6 III, a high-torque steering engine 7I, a five-way adapter 8, a three-position three-way ball valve 9, a four-position five-way ball valve 10, a two-position two-way ball valve 11, a direct-current speed reduction motor 12, a one-way valve 13, a plunger pump 14, an outer oil bag 15 and a two-way adapter 16.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
In the process of increasing and decreasing the counterweight of the profile measurement buoy by a technician, due to the existence of measurement accuracy errors of the volume, the mass and the seawater density of the buoy, over-distribution or under-distribution can be caused, the buoy can not complete the movement within a specified depth range as required, the gravity center of the buoy can not be accurately controlled by the technician when the counterweight is increased or decreased, the displacement of the gravity center can cause the profile measurement buoy to be incapable of keeping a horizontal state in water, and the reliability of internal elements of the buoy is reduced. Based on the above background, the utility model designs a but buoy buoyancy governing system and method is measured to automatic leveling formula section, below combines the figure and concrete embodiment further explains the technical scheme of the utility model.
As shown in fig. 1 to 4, the utility model discloses buoy buoyancy governing system is measured to formula section that can autoleveling, including the high withstand voltage glass ball cabin, high withstand voltage glass ball cabin inboard is provided with pump oil unit, check valve 13, four-bit five-way ball valve 10, three-position three-way ball valve 9, two-position two-way ball valve 11, a high torque steering wheel 7, two high torque steering wheel 5, three high torque steering wheel 6, oil mass detecting element 1, wireless data transmission module, attitude sensor 3, embedded control unit 4, interior hydro-cylinder 2, five-way adapter 8, equidistant symmetry in the high withstand voltage glass ball cabin outside is provided with four outer oil bags 15, and outer oil bag 15 links to each other with the inside pipe fitting of ball cabin through two-way adapter 16.
The oil pumping unit comprises a plunger pump 14 and a direct-current speed reducing motor 12 which are connected through a coupler, an oil inlet of the plunger pump 14 is connected with a pipeline and extends into the inner bottom of the inner oil cylinder 2, an oil outlet of the plunger pump 14 is connected with an inlet of a one-way valve 13 through a pipeline, and the one-way valve 13 can control the single oil discharge flow direction of an oil discharge pipeline and prevent backflow; the outlet of the check valve 13 is divided into two paths, one path is connected with a P3 port of the two-position two-way ball valve 11 through a pipeline, the other path is connected with a P1 port of the three-position three-way ball valve 9 through a pipeline, a T3 port of the two-position two-way ball valve 11 is connected with a pipeline and extends into the inner bottom of the inner oil cylinder 2, an A1 port of the three-position three-way ball valve 9 is connected with a P2 port of the four-position five-way ball valve 10, and a B1 port of the three-position three-way ball valve 9 is connected with one port of the five-way adapter 8. One ports of the four outer oil bags 15 are respectively connected with ports A2, B2, C2 and D2 of the four-position five-way ball valve 10, and the other ports are respectively connected with the other four ports of the five-way adapter 8. The five-way adapter 8 is an oil inlet and outlet, and can realize the function of one inlet and four outlets or four inlets and four outlets.
The first high-torque steering engine 7 is connected with the three-position three-way ball valve 9 through a coupler and can drive the three-position three-way ball valve 9 to control and switch the functions of single-side oil discharge of the outer oil bag and uniform and equivalent oil discharge of the outer oil bag; the three-position three-way ball valve 9 is driven and controlled by a first high-torque steering engine 7 to realize the flow direction of one inlet and two outlets and ensure that a single outlet is communicated or two outlets are both cut off. The second high-torque steering engine 5 is connected with the four-position five-way ball valve 10 through a coupler, the four-position five-way ball valve 10 can be driven to control the connection and disconnection of oil outlets U1, U2, U3 and U4 of the four outer oil bags, and each position ensures that one way is connected with the other three ways and is cut off, so that the function of adjusting the level of a buoy by discharging oil to the outer oil bag 15 on the inclined side is realized; the four-position five-way ball valve 10 can realize the flow direction of one inlet and four outlets through the driving control of a second high-torque steering engine 5, and can realize that the ball valve keeps a single passage at each position. The third high-torque steering engine 6 is connected with the two-position two-way ball valve 11 through a coupler and can drive the two-position two-way ball valve 11 to control the conduction and the cut-off of an oil return path to realize the functions of oil return and oil return stop; the two-position two-way ball valve 11 is driven and controlled by a third high-torque steering engine 6 to realize switching between the on state and the off state. The first high-torque steering engine 7, the second high-torque steering engine 5, the third high-torque steering engine 6 and the direct-current speed reduction motor 12 are electrically connected with the embedded control unit 4. The oil quantity detection unit 1 is connected with a piston inside the inner oil cylinder 2 and connected with the embedded control unit 4 through a data line and used for detecting actual oil discharge and oil return quantity of the buoy. The attitude sensor 3 is horizontally arranged in the high-pressure-resistant glass ball cabin, is connected with the embedded control unit 4 through a data line, and transmits the detected buoy attitude information to the embedded control unit 4 in real time. The wireless data transmission module is connected to the embedded control unit 4 through a plug connector. The attitude sensor 3 can measure the attitude of the buoy body in real time, and the embedded control unit 4 can select a specific channel according to the attitude data measured by the attitude sensor 3 to control the oil pumping unit to discharge oil to the outer oil bag at the inclined side so that the buoy is in a horizontal state at all times in the movement process; the embedded control unit 4 can switch the states of the high-torque steering engine according to the oil quantity information detected by the oil quantity detection unit 1 so as to switch the states of oil discharge, oil return, cut-off and the like.
The utility model discloses buoy buoyancy governing system's buoyancy adjustment method is measured to formula section that can level automatically, including three stage: a water surface leveling stage, an oil discharge floating stage and an oil return submerging stage;
the first stage is: level stage of water surface
The water surface leveling stage comprises two processes of adjusting level and balancing suspension, and the steps comprise:
s1: the technical personnel roughly balance the buoy before throwing the section measurement buoy into the sea, after the balance is finished, the embedded control unit 4 controls the first high-torque steering engine 7 to enable the P1-B1 path to be conducted, at the moment, the P1-A1 path and the P3-T3 path are in a cut-off state, the oil pumping unit simultaneously and uniformly pumps 30% of the oil quantity in the inner oil cylinder 2 from the ports N1, N2, N3 and N4 to the four outer oil bags to ensure the initial oil quantity regulation in the outer oil bags;
s2: a technician puts the profile measurement buoy into the sea, and the buoy is in a state of floating out of the water surface;
s3: the attitude sensor 3 measures the inclination state of the buoy, and the embedded control unit 4 controls the first high-torque steering engine 7 to switch the P1-A1-path conduction real-time hydraulic system to a single-oil-bag oil pumping mode;
s4: the embedded control unit 4 controls the second-number high-torque steering engine 5 to switch the P2- (A2/B2/C2/D2) path to be conducted according to the roll angle and pitch angle information measured by the attitude sensor 3, the oil pumping system pumps oil to the inclined side oil pocket, the oil discharge amount is calculated according to the data of the attitude sensor 3 and is adjusted in real time, after the buoy is adjusted and balanced, the embedded control unit 4 controls the first-number high-torque steering engine 7 to enable the P1-A1 and the P1-B1 paths to enter a cut-off state, and the horizontal adjusting stage is finished;
s5: a technician sets the amount of return oil according to the state of the buoy and sends the return oil to the embedded control unit 4 through the wireless data transmission module, the embedded control unit 4 controls the first high-torque steering engine 7 and the third high-torque steering engine 6 to realize the communication of a P1-B1 path and a P3-T3 path, and hydraulic oil of the outer oil bag 15 returns to the inner oil cylinder 2 under the action of external pressure;
s6: and when the section measurement buoy is completely immersed in water and keeps a suspension state, the balancing suspension stage is finished, and the embedded control unit 4 controls the first high-torque steering engine 7 and the third high-torque steering engine 6 to realize that all paths P1-B1, P1-A1 and P3-T3 enter a cut-off state.
The second stage is as follows: oil discharge and floating stage
S1: the P3-T3 path is kept in a cut-off state, the embedded control unit 4 controls the first high-torque steering engine 7 to realize the conduction of the P1-B1 path, the oil pumping unit starts oil pumping, hydraulic oil in the inner oil cylinder 2 is pumped into the outer oil bag 15 through N1, N2, N3 and N4 ports uniformly at the same time, the volume of the outer oil bag 15 is increased at the same speed, and the buoyancy borne by the buoy is increased;
s2: after the oil quantity detection unit 1 detects that the oil discharge quantity reaches an expected value, the embedded control unit 4 controls the first high-torque steering engine 7 to cut off the paths P1-A1 and P1-B1;
s3: in the floating process of the buoy, the attitude sensor 3 detects the attitude of the buoy in real time, the embedded control unit 4 controls the first high-torque steering engine 7 and the second high-torque steering engine 5 according to the attitude of the buoy to ensure that an oil discharge path of the inclined side outer oil bag 15 is communicated, and the oil pumping unit starts to pump oil to the inclined side outer oil bag, so that the buoy keeps a stable floating motion state.
And a third stage: oil return submergence phase
S1: the embedded control unit 4 controls the first high-torque steering engine 7 and the third high-torque steering engine 6 to realize the conduction of a P1-B1 path and a P3-T3 path, hydraulic oil in the outer oil bag 15 returns to the inner oil cylinder 2 through B1-P1-P3-T3 paths through N1, N2, N3 and N4 ports respectively, the volume of each outer oil bag 15 is reduced at the same speed, and the buoyancy borne by the buoy is reduced;
s2: after the oil quantity detection unit 1 detects that the oil return quantity reaches an expected value, the embedded control unit 4 controls the first high-torque steering engine 7 and the third high-torque steering engine 6 to cut off all paths P1-A1, P1-B1 and P3-T3;
s3: in the process of submerging the buoy, the attitude sensor 3 detects the attitude of the buoy in real time, the embedded control unit 4 controls the first high-torque steering engine 7 and the second high-torque steering engine 5 according to the attitude of the buoy to ensure that an oil discharge path of the outer oil bag on the inclined side is communicated, and the oil pumping unit starts to pump oil to the outer oil bag on the inclined side, so that the buoy keeps a stable submerging motion state. If the oil discharge amount in the horizontal adjusting process influences the submerging speed, the buoy repeats the oil return submerging process.
Although the present invention has been described with reference to the accompanying drawings, the present invention is not limited to the above specific functions and operations, and the above specific embodiments are only illustrative and not restrictive, and those skilled in the art can make many forms without departing from the spirit and scope of the present invention, which is within the protection scope of the present invention.
Claims (2)
1. The buoyancy adjusting system of the buoy capable of automatically leveling the profile is characterized by comprising a high-pressure-resistant glass ball cabin, wherein an oil pumping unit, a one-way valve, a four-position five-way ball valve, a three-position three-way ball valve, a two-position two-way ball valve, a first high-torque steering engine, a second high-torque steering engine, a third high-torque steering engine, an oil quantity detecting unit, a wireless data transmission module, an attitude sensor, an embedded control unit, an inner oil cylinder and a five-way adapter are arranged on the inner side of the high-pressure-resistant glass ball cabin, and four outer oil bags are symmetrically arranged on the outer side of the high-pressure-resistant glass;
the oil pumping unit comprises a plunger pump and a direct-current speed reducing motor which are connected through a coupler, an oil inlet of the plunger pump is connected with a pipeline and extends into the inner bottom of the inner oil cylinder, an oil outlet of the plunger pump is connected with an inlet of a one-way valve through a pipeline, an outlet of the one-way valve is divided into two paths, one path is connected with a P3 port of the two-position two-way ball valve through a pipeline, the other path is connected with a P1 port of the three-position three-way ball valve through a pipeline, a T3 port of the two-position two-way ball valve is connected with a pipeline and extends into the inner bottom of the inner oil cylinder, an A1 port of the three-position three-way ball valve is connected with a P2 port of the four-position five-way ball valve, and a B1 port of the three-position three-way ball valve is connected with one port of the five-way adapter; one ports of the four outer oil bags are respectively connected with ports A2, B2, C2 and D2 of the four-position five-way ball valve, and the other ports are respectively connected with the other four ports of the five-way adapter;
the first high-torque steering engine is connected with the three-position three-way ball valve through a coupler, the second high-torque steering engine is connected with the four-position five-way ball valve through a coupler, the third high-torque steering engine is connected with the two-position two-way ball valve through a coupler, and the first high-torque steering engine, the second high-torque steering engine, the third high-torque steering engine and the direct-current speed reduction motor are all electrically connected with the embedded control unit; the oil mass detecting unit is connected with a piston inside the inner oil cylinder and connected with the embedded control unit through a data line, the attitude sensor is horizontally arranged inside the high-pressure-resistant glass ball cabin and connected with the embedded control unit through the data line, and the wireless data transmission module is connected to the embedded control unit through a plug connector.
2. The automatic leveling type section measurement buoy buoyancy adjusting system according to claim 1, characterized in that the three-position three-way ball valve realizes a one-inlet two-outlet flow direction through a one-number high-torque steering engine control and ensures that a single outlet is communicated or two ways are both cut off; the four-position five-way ball valve realizes the flow direction of one inlet and four outlets through the driving control of a second high-torque steering engine and realizes that the ball valve keeps a single passage at each position; and the two-position two-way ball valve realizes the switching of self on and off states through the driving control of a third high-torque steering engine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022355315.1U CN214001973U (en) | 2020-10-21 | 2020-10-21 | Buoy buoyancy adjusting system capable of automatically leveling profile measurement |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022355315.1U CN214001973U (en) | 2020-10-21 | 2020-10-21 | Buoy buoyancy adjusting system capable of automatically leveling profile measurement |
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| Publication Number | Publication Date |
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| CN214001973U true CN214001973U (en) | 2021-08-20 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202022355315.1U Withdrawn - After Issue CN214001973U (en) | 2020-10-21 | 2020-10-21 | Buoy buoyancy adjusting system capable of automatically leveling profile measurement |
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| CN (1) | CN214001973U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112265603A (en) * | 2020-10-21 | 2021-01-26 | 天津大学 | Automatic-leveling type profile measurement buoy buoyancy adjusting system and method |
| CN114684325A (en) * | 2022-05-31 | 2022-07-01 | 南通鼎城船舶技术有限公司 | Marine buoy with self-leveling function |
-
2020
- 2020-10-21 CN CN202022355315.1U patent/CN214001973U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112265603A (en) * | 2020-10-21 | 2021-01-26 | 天津大学 | Automatic-leveling type profile measurement buoy buoyancy adjusting system and method |
| CN112265603B (en) * | 2020-10-21 | 2024-05-28 | 天津大学 | Buoyancy adjusting system and method for profile measuring buoy capable of automatically leveling |
| CN114684325A (en) * | 2022-05-31 | 2022-07-01 | 南通鼎城船舶技术有限公司 | Marine buoy with self-leveling function |
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