技术领域technical field
本发明设计的是一种海洋环境监测设备，具体地说是一种能实现对不同深度的海洋动力进行采集、存储及实时无线传输的装置。The present invention designs a marine environment monitoring device, specifically a device capable of collecting, storing and real-time wireless transmission of marine power at different depths.
背景技术Background technique
海洋环境复杂多变，掌握海洋环境参数及其变化规律对于研究海洋经济以及海洋科技都有十分重要的意义。声波作为水下信息的主要载体，其在海洋中的传播与海洋动力过程有着紧密的耦合关系，海水的温度、压力、盐度和流速等因素影响声波在水中的传播速度，其中任何一个参数的变化都会导致声速的变化。通过实现海洋区域环境声场-动力环境的同步观测，掌握复杂海洋动力环境下声传播规律，对提高水声设备探测能力有极其重要的意义。The marine environment is complex and changeable, and mastering the parameters of the marine environment and their changing laws is of great significance for the study of marine economy and marine science and technology. As the main carrier of underwater information, sound waves have a close coupling relationship between their propagation in the ocean and ocean dynamics. Factors such as sea temperature, pressure, salinity, and flow velocity affect the propagation speed of sound waves in water. Any change will result in a change in the speed of sound. By realizing the simultaneous observation of the environmental sound field and dynamic environment in the ocean area, mastering the law of sound propagation in complex ocean dynamic environments is of great significance for improving the detection capabilities of underwater acoustic equipment.
浮标系统具有工作性能稳定，成本低廉等优点，在海洋声学环境探测方面有很大的发展空间。但传统的浮标系统结构简单，工作深度单一，水密性要求高，某个传感器或接口故障会导致整个链路崩溃，自容式存储只能在回收后对数据进行处理，无法实时监测。The buoy system has the advantages of stable working performance and low cost, and has great room for development in the detection of marine acoustic environments. However, the traditional buoy system has a simple structure, a single working depth, and high watertightness requirements. A sensor or interface failure will cause the entire link to collapse. Self-contained storage can only process data after recovery, and cannot monitor in real time.
发明内容Contents of the invention
本发明的目的在于提供一种能实时传输海洋动力环境信息的实时传输海洋动力参数浮标系统。The purpose of the present invention is to provide a real-time transmission marine dynamic parameter buoy system capable of real-time transmission of marine dynamic environment information.
本发明的目的是这样实现的：The purpose of the present invention is achieved like this:
本发明的实时传输海洋动力参数浮标系统包括：通信浮标下端悬挂耦合传输缆，耦合传输缆上端设置感应耦合数据接收环、下端设置感应耦合数据发送器、中间间隔布置温深测量仪与温盐深测量仪，耦合传输缆下端通过卸扣悬挂声学多普勒流速剖面仪及声学多普勒流速剖面仪电池仓，声学多普勒流速剖面仪的数据转换电路通过水密馈线与感应耦合数据发送器连接，声学多普勒流速剖面仪下端连接浮球，浮球下端设置转环，转环连接声学释放器，声学释放器通过起重吊环连接钢缆和沉块。The buoy system for real-time transmission of marine dynamic parameters of the present invention includes: a coupling transmission cable suspended at the lower end of the communication buoy, an inductive coupling data receiving ring is arranged at the upper end of the coupling transmission cable, an inductive coupling data transmitter is arranged at the lower end, and a temperature and depth measuring instrument and temperature and salt depth are arranged at intervals in the middle. Measuring instrument, the lower end of the coupling transmission cable hangs the acoustic Doppler velocity profiler and the battery compartment of the acoustic Doppler velocity profiler through a shackle, and the data conversion circuit of the acoustic Doppler velocity profiler is connected to the inductively coupled data transmitter through a watertight feeder The lower end of the acoustic Doppler current profiler is connected to a floating ball, the lower end of the floating ball is provided with a swivel, the swivel is connected to an acoustic releaser, and the acoustic releaser is connected to a steel cable and a sinker through a lifting ring.
本发明的实时传输海洋动力参数浮标系统还可以包括：The buoy system for real-time transmission of marine dynamic parameters of the present invention may also include:
1、通信浮标由浮标标体、锂电池组、浮标主控单元、感应耦合数据采集器、FGR2电台、FGR2电台天线和馈线组成，锂电池组为浮标提供13V的直流电压，浮标主控单元通过感应耦合数据采集器及感应耦合数据接收环与感应耦合数据发送器建立连接，以感应耦合传输方式控制温深测量仪、温盐深测量仪、声学多普勒流速剖面仪实时上传采集的数据并将数据存储至SD卡，同时浮标主控单元通过FGR2电台以主从广播方式实时响应岸站的索取数据命令将采集的数据实时传输至岸站。1. The communication buoy is composed of buoy body, lithium battery pack, buoy main control unit, inductive coupling data collector, FGR2 radio station, FGR2 radio station antenna and feeder. The lithium battery pack provides 13V DC voltage for the buoy, and the buoy main control unit passes through The inductive coupling data collector and the inductive coupling data receiving loop are connected with the inductive coupling data transmitter, and the temperature and depth measuring instrument, the temperature and salt depth measuring instrument, and the acoustic Doppler current velocity profiler are controlled by inductive coupling transmission to upload the collected data in real time and The data is stored in the SD card, and at the same time, the main control unit of the buoy responds to the data request command of the shore station in real time through the FGR2 radio station and transmits the collected data to the shore station in real time.
2、声学多普勒流速剖面仪电池仓由锂电池组、声学多普勒流速剖面仪数据转换电路、声学多普勒流速剖面仪支架和馈线组成，锂电池组为声学多普勒流速剖面仪及声学多普勒流速剖面仪数据转换电路提供33V直流电压，声学多普勒流速剖面仪数据转换电路对采集的数据进行去冗余处理，获得224字节数据，然后再将数据通过耦合传输上传至通信浮标。2. The battery compartment of the Acoustic Doppler Velocity Profiler is composed of a lithium battery pack, the Acoustic Doppler Velocity Profiler data conversion circuit, the Acoustic Doppler Velocity Profiler bracket and the feeder line, and the lithium battery pack is the Acoustic Doppler Velocity Profiler And the acoustic Doppler current profiler data conversion circuit provides 33V DC voltage, the acoustic Doppler current profiler data conversion circuit performs redundant processing on the collected data, obtains 224 bytes of data, and then uploads the data through coupling transmission to the communication buoy.
3、温深测量仪、温盐深测量仪以5s采样间隔对海水温度、压力、盐度数据进行采集、存储；声学多普勒流速剖面仪以30s采样间隔对海水25个流层流速进行采集。3. The temperature and depth measuring instrument and the temperature and salinity depth measuring instrument collect and store seawater temperature, pressure, and salinity data at a sampling interval of 5s; the acoustic Doppler flow velocity profiler collects 25 layers of seawater velocity at a sampling interval of 30s .
本发明的主要特点体现在：Main features of the present invention are reflected in:
1、(1)通信浮标系统采用垂直锚系结构，可以监测不同深度的海洋环境动力参数；(2)通过感应耦合传输方式及设计合理的通信协议，可以保证水下信息传输到水面浮标实时性；(3)将无线通信命令响应时间控制在200ms，可以保证水面浮标数据传输到岸站的实时性；(4)ADCP电池仓和数据转换电路，可以使其满足长续航的要求，减轻数据量过大对耦合传输的压力。1. (1) The communication buoy system adopts a vertical mooring structure, which can monitor the dynamic parameters of the marine environment at different depths; (2) Through the inductive coupling transmission method and a well-designed communication protocol, the real-time transmission of underwater information to the surface buoy can be guaranteed ;(3) Control the response time of wireless communication commands at 200ms, which can ensure the real-time performance of water surface buoy data transmission to the shore station; (4) ADCP battery compartment and data conversion circuit can meet the requirements of long battery life and reduce the amount of data Excessive stress on the coupled transmission.
2、采用垂直锚系结构，采集设备(TD/CTD/ADCP)通过SSM固定在耦合传输钢缆上，TD/CTD的数量、间距等均可以方便地按需修改，为获取最大的流速剖面深度，一般将ADCP置于浮标最底端。通过浮球配重，可使浮标系统处于竖直状态，且通讯浮标一半浮于水面，浮球下端的转环可以避免耦合传输缆受到过大的径向旋转作用力。通过主控程序的合理设计，某个设备故障对系统整体运行无影响，有效提升了系统稳定性。2. The vertical mooring structure is adopted, and the acquisition equipment (TD/CTD/ADCP) is fixed on the coupling transmission steel cable through SSM. The number and spacing of TD/CTD can be easily modified as needed, in order to obtain the maximum flow velocity profile depth , generally place the ADCP at the bottom of the buoy. Through the counterweight of the floating ball, the buoy system can be kept in a vertical state, and half of the communication buoy is floating on the water surface. The swivel at the lower end of the floating ball can prevent the coupling transmission cable from being subjected to excessive radial rotational force. Through the reasonable design of the main control program, a certain equipment failure has no effect on the overall operation of the system, which effectively improves the system stability.
3、利用感应耦合传输方式，可以实时地将采集数据传输至浮标主控单元；而合理设计的通信协议，如对于上次传输未传完的10min数据及因为信道条件欠佳等原因与岸站失联而多存储的数据进行舍弃处理，每次只向岸站上传最新的10min数据块，可以保证传输到岸站的数据的实时性。3. Using the inductive coupling transmission method, the collected data can be transmitted to the main control unit of the buoy in real time; and the rationally designed communication protocol, such as the 10-minute data that has not been transmitted last time, and the shore station due to poor channel conditions, etc. The lost and stored data is discarded, and only the latest 10-minute data block is uploaded to the shore station each time, which can ensure the real-time performance of the data transmitted to the shore station.
4、对无线通信命令(握手命令与索要数据命令)响应时间控制在200ms，岸站每隔2个小时与浮标握手一次，成功握手后以广播方式每10min进行一次数据传输，对传输一半的数据块以及非最近10min数据块采取舍弃处理，可以确保数据传输至岸站是实时通信。4. Control the response time of wireless communication commands (handshake command and data request command) within 200ms. The shore station shakes hands with the buoy once every 2 hours. Blocks and non-recent 10min data blocks are discarded to ensure real-time communication of data transmission to shore stations.
5、ADCP电池仓可以解决ADCP功耗大与长续航的矛盾。数据转换电路，剔除冗余信息，以保证数据可以通过耦合传输及时上传至水面通信浮标。5. The ADCP battery compartment can solve the contradiction between high power consumption and long battery life of ADCP. The data conversion circuit eliminates redundant information to ensure that the data can be uploaded to the surface communication buoy in time through coupling transmission.
经过以上设计，可以保证该实时传输海洋动力参数浮标系统能够稳定工作30天以上。本发明的实时传输海洋动力参数浮标系统，主要实现对不同深度的海洋动力信息(温度、压力、深度、盐度、海水流速等)进行采集，存储，实时无线传输等功能。利用感应耦合技术与传感器的数据传输，并且通过海面组网将数据实时上传至岸站，实现实时上传，实时处理。After the above design, it can be guaranteed that the buoy system for real-time transmission of marine dynamic parameters can work stably for more than 30 days. The buoy system for real-time transmission of marine dynamic parameters of the present invention mainly realizes the collection, storage, and real-time wireless transmission of marine dynamic information (temperature, pressure, depth, salinity, seawater velocity, etc.) at different depths. Utilize inductive coupling technology and sensor data transmission, and upload the data to the shore station in real time through the sea surface network to realize real-time upload and real-time processing.
附图说明Description of drawings
图1是实时传输海洋动力参数浮标系统示意图。Figure 1 is a schematic diagram of a buoy system for real-time transmission of marine dynamic parameters.
图2是浮标数据传输流程图。Figure 2 is a flow chart of buoy data transmission.
图3是SD卡初始化流程图。Figure 3 is a flow chart of SD card initialization.
图4是实时耦合传输流程图。Fig. 4 is a flow chart of real-time coupled transmission.
图5是实时电台传输流程图。Fig. 5 is a flowchart of real-time radio station transmission.
图6是浮标主控单元整体工作流程图。Fig. 6 is a flow chart of the overall work of the main control unit of the buoy.
具体实施方式detailed description
下面举例对本发明做更详细的描述。The following examples describe the present invention in more detail.
本发明的实时传输海洋动力参数浮标系统主要包括温深测量仪TD、温盐深测量仪CTD、声学多普勒流速剖面仪ADCP、ADCP电池仓、ADCP数据转换电路、感应耦合数据发送器SSM、感应耦合数据采集器HEM、感应耦合数据接收环CCA、感应耦合温压测量缆、浮标标体、浮标主控单元、FGR2无线电台、FGR2电台天线、13V锂电池组、声学释放器和锚块。The buoy system for real-time transmission of marine dynamic parameters of the present invention mainly includes a temperature and depth measuring instrument TD, a temperature and salt depth measuring instrument CTD, an acoustic Doppler current velocity profiler ADCP, an ADCP battery compartment, an ADCP data conversion circuit, an inductively coupled data transmitter SSM, Inductive coupling data collector HEM, inductive coupling data receiving ring CCA, inductive coupling temperature and pressure measuring cable, buoy body, buoy main control unit, FGR2 radio station, FGR2 radio antenna, 13V lithium battery pack, acoustic releaser and anchor block.
图1给出了实时传输海洋动力参数浮标系统各部分之间的连接关系，其中：1是通信浮标、2是卸扣、3是ADCP及其电池仓、4是浮球、5是转环、6是声学释放器、7是起重吊环、8是钢缆、9是沉块。系统采用垂直锚系结构，浮标下端悬挂耦合传输缆，耦合传输缆上可按需求以任意间隔、数量安置TD1-16、CTD1-4。耦合传输缆下端通过卸扣悬挂ADCP及ADCP电池仓，ADCP数据转换电路通过水密馈线与耦合传输缆最下端的SSM连接，ADCP下端是浮球，通过浮球配重，可使浮标系统处于竖直状态，且通讯浮标一半浮于水面，浮球下端的转环可以避免耦合传输缆受到过大的径向旋转作用力。Figure 1 shows the connection relationship between the various parts of the buoy system for real-time transmission of marine dynamic parameters, in which: 1 is the communication buoy, 2 is the shackle, 3 is the ADCP and its battery compartment, 4 is the floating ball, 5 is the swivel, 6 is an acoustic release device, 7 is a lifting ring, 8 is a steel cable, and 9 is a sinker. The system adopts a vertical mooring structure, and the coupling transmission cable is suspended at the lower end of the buoy, and TD1-16 and CTD1-4 can be placed on the coupling transmission cable at any interval and quantity as required. The lower end of the coupling transmission cable hangs the ADCP and the ADCP battery compartment through the shackle. The ADCP data conversion circuit is connected to the SSM at the bottom end of the coupling transmission cable through a watertight feeder. The lower end of the ADCP is a floating ball. state, and half of the communication buoy floats on the water surface, the swivel at the lower end of the floating ball can prevent the coupling transmission cable from being subjected to excessive radial rotational force.
图2给出了数据传输流程图。通讯浮标作为数据传输、控制的载体，其结构包含电源、锚灯、电台天线，内部包含HEM、主控电路、电台模块。TD、CTD、ADCP根据所需采样率及数据格式同时采集数据，其中ADCP数据首先传输至数据转换电路里，经过去冗余后存储至RAM。TD、CTD、ADCP的每个10min数据作为一个整体处理。浮标主控电路通过耦合传输方式每隔10min依次向每个TD、CTD、ADCP索要上一个10min数据，并存储至SD卡。岸站通过FGR2电台以主从广播通信方式每隔10min向浮标索取一次数据，实现了数据的实时上传。Figure 2 shows the flow chart of data transmission. As the carrier of data transmission and control, the communication buoy includes power supply, anchor light, radio antenna, and HEM, main control circuit, and radio module inside. TD, CTD, and ADCP collect data at the same time according to the required sampling rate and data format. The ADCP data is first transmitted to the data conversion circuit, and stored in RAM after de-redundancy. Each 10-min data of TD, CTD, and ADCP is processed as a whole. The main control circuit of the buoy asks each TD, CTD, and ADCP for the data of the last 10 minutes in turn every 10 minutes through the coupling transmission method, and stores them in the SD card. The shore station requests data from the buoy every 10 minutes through the FGR2 radio station in the form of master-slave broadcast communication, realizing real-time upload of data.
图3给出了SD卡初始化流程图。SD用于存储TD、CTD及ADCP采集的数据，是数据正确传输的前提，故在SD卡初始化成功后，对SD卡第10000扇区写入指定数据，然后读取该扇区数据，对比读取的数据与写入数据是否相同，以确保存储的数据是正确的。若相同，则说明SD卡可正常进行读写操作；若不同，需对SD卡重新初始化。Figure 3 shows the SD card initialization flow chart. SD is used to store the data collected by TD, CTD and ADCP, which is the prerequisite for correct data transmission. Therefore, after the SD card is initialized successfully, write the specified data to the 10000th sector of the SD card, and then read the sector data, and compare the read Check whether the fetched data is the same as the written data to ensure that the stored data is correct. If they are the same, it means that the SD card can be read and written normally; if not, the SD card needs to be re-initialized.
图4给出了实时耦合传输流程图。传输过程中，每个10min数据块作为一个整体处理，浮标主控单元需对每个SSM执行实时耦合传输流程。该图是浮标主控单元向一个SSM获取数据的流程：首先循环唤醒HEM直至成功；延时t1后连接SSM，在t2时间内判断是否连接成功，若连接失败则重新连接，连续两次均失败则结束当前SSM操作，连接下一个SSM，避免因某个SSM故障对整个链路稳定性造成影响；连接成功后，延时t3并发送取数命令，在t4时间内判断取数指令是否响应，若失败，则重新发送取数命令，连续两次失败则结束操作；取数指令正确响应后接收数据，在t5时间内判断数据接收是否正确，若不正确，则重新发送取数命令并判断是否响应；数据接收正确后对数据进行存储，然后延时t6时间并发送退出模式命令，在t7时间内判断是否则退出成功，若失败，则重新发送；退出模式成功后，延时t8并关闭通道，至此，完成了对一个SSM的取数操作。Figure 4 shows the flow chart of real-time coupled transmission. During the transmission process, each 10min data block is processed as a whole, and the buoy main control unit needs to perform a real-time coupling transmission process for each SSM. This figure shows the process of the buoy main control unit obtaining data from an SSM: first, wake up the HEM circularly until it succeeds; connect to the SSM after a delay of t1, judge whether the connection is successful within t2, and reconnect if the connection fails, and fail twice in a row Then end the current SSM operation and connect to the next SSM to avoid the impact on the stability of the entire link due to a SSM failure; after the connection is successful, delay t3 and send the fetch command, and judge whether the fetch command responds within t4. If it fails, resend the fetching command, and if it fails twice in a row, the operation ends; the fetching command responds correctly and receives the data, and judges whether the data is received correctly within t5 time, if not, resends the fetching command and judges whether it is Response; store the data after the data is received correctly, then delay the t6 time and send the exit mode command, judge within the t7 time whether the exit is successful, if it fails, resend; after the exit mode is successful, delay the t8 and close the channel , so far, the access operation to an SSM is completed.
图5给出了实时电台传输流程图。对岸站电台命令的响应集成到一个函数内，具体流程如下：先判断岸站是否发来命令，若有命令则进行接收；判断接收的命令是否为握手请求命令，若是则回复握手响应命令，否则判断是否是索要数据命令，若是，且上个10min数据完成了耦合传输并存储于SD卡，则从SD卡取出数据回并回复岸站，否则回复空数据包以示数据未准备好。Figure 5 shows the flow chart of real-time radio transmission. The response to the shore station radio command is integrated into a function. The specific process is as follows: first judge whether the shore station has sent a command, and if there is a command, receive it; judge whether the received command is a handshake request command, and if so, reply the handshake response command, otherwise Determine whether it is a request for data command, if so, and the last 10min data has been coupled and transmitted and stored in the SD card, then take the data from the SD card and return it to the shore station, otherwise reply an empty data packet to indicate that the data is not ready.
图6给出了浮标主控单元整体工作流程图。在主控单元配置好时钟、串口、开启中断后，进行SD卡的初始化流程，SD卡初始化成功后进入死循环：循环判断上一个10min数据块是否采集完成，若上一个10min采集完成则通过耦合传输向SSM索取数据，然后存储至SD卡中，全部传输完毕后等待下一个10min数据块采集完成；若上一个10min采集未完成，则等待采集完成。对于MCU，若中断处理的工作较多，容易造成系统死机，且通信协议要求数据往返时间不得大于200ms，所以在这个耦合传输的死循环里，在每间隔30ms的代码后加入实时电台传输流程(函数)，类似于看门狗喂狗操作。Figure 6 shows the overall working flow chart of the main control unit of the buoy. After the main control unit configures the clock, serial port, and enables interrupts, the initialization process of the SD card is carried out. After the SD card is successfully initialized, it enters an infinite loop: the cycle judges whether the last 10min data block is collected. The transmission requests the data from the SSM, and then stores it in the SD card. After all the transmission is completed, wait for the next 10min data block collection to complete; if the previous 10min collection is not completed, wait for the collection to complete. For the MCU, if there are many interrupt processing tasks, it is easy to cause the system to crash, and the communication protocol requires that the data round-trip time should not be greater than 200ms, so in this infinite loop of coupling transmission, add the real-time radio transmission process after the code every 30ms ( function), similar to the watchdog feed dog operation.
本发明中的实时传输包含两方面：一是海洋动力参数数据的实时性，即传到岸站的数据是最近十分钟的；二是无线传输的实时性，即对于岸站每次发来的命令，都以200ms以内的往返时间做出回应。The real-time transmission in the present invention comprises two aspects: the one, the real-time nature of ocean power parameter data, the data that promptly transmits to shore station is last ten minutes; commands, all respond within 200ms round-trip time.
最后，本发明通过将感应耦合传输与无线电台传输相结合，实现了海洋动力参数的实时传输。Finally, the present invention realizes real-time transmission of marine dynamic parameters by combining inductive coupling transmission with radio station transmission.
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| CN201611164895.8ACN106643672A (en) | 2016-12-16 | 2016-12-16 | Real-time transmission ocean power parameter buoy system |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611164895.8ACN106643672A (en) | 2016-12-16 | 2016-12-16 | Real-time transmission ocean power parameter buoy system |
| Publication Number | Publication Date |
|---|---|
| CN106643672Atrue CN106643672A (en) | 2017-05-10 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611164895.8APendingCN106643672A (en) | 2016-12-16 | 2016-12-16 | Real-time transmission ocean power parameter buoy system |
| Country | Link |
|---|---|
| CN (1) | CN106643672A (en) |
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| CN108759935A (en)* | 2018-08-16 | 2018-11-06 | 天津市海为科技发展有限公司 | Distributed acoustics observation system based on ocean current power generation |
| CN109084736A (en)* | 2018-06-19 | 2018-12-25 | 中国科学院南海海洋研究所 | A kind of ocean current quick-break face observation system and observation method |
| CN110745213A (en)* | 2019-10-26 | 2020-02-04 | 中国海洋大学 | An on-site monitoring system for elastic loose mooring performance of deep-sea buoys |
| CN113639719A (en)* | 2021-10-18 | 2021-11-12 | 中国海洋大学 | Autonomous floating and sinking type ocean optical environment light field profile measuring system |
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| US8054712B1 (en)* | 2009-09-30 | 2011-11-08 | The United States Of America As Represented By The Secretary Of The Navy | Autonomous hydrophone position locating and target tracking system |
| KR20110137707A (en)* | 2010-06-17 | 2011-12-23 | 윤삼걸 | Real-time marine life observation device that improves coping with environmental changes |
| CN104890816A (en)* | 2015-05-14 | 2015-09-09 | 中国海洋大学 | Timed satellite communication submerged buoy |
| CN205080739U (en)* | 2015-11-09 | 2016-03-09 | 河南科技学院 | Recovery system is put to wireless sensor node cloth under water |
| Publication number | Priority date | Publication date | Assignee | Title |
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| US8054712B1 (en)* | 2009-09-30 | 2011-11-08 | The United States Of America As Represented By The Secretary Of The Navy | Autonomous hydrophone position locating and target tracking system |
| CN101738179A (en)* | 2009-11-05 | 2010-06-16 | 杭州电子科技大学 | Inductive coupling-based anchoring self-lifting profile monitoring buoy |
| KR20110137707A (en)* | 2010-06-17 | 2011-12-23 | 윤삼걸 | Real-time marine life observation device that improves coping with environmental changes |
| CN104890816A (en)* | 2015-05-14 | 2015-09-09 | 中国海洋大学 | Timed satellite communication submerged buoy |
| CN205080739U (en)* | 2015-11-09 | 2016-03-09 | 河南科技学院 | Recovery system is put to wireless sensor node cloth under water |
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| CN109084736A (en)* | 2018-06-19 | 2018-12-25 | 中国科学院南海海洋研究所 | A kind of ocean current quick-break face observation system and observation method |
| CN108759935A (en)* | 2018-08-16 | 2018-11-06 | 天津市海为科技发展有限公司 | Distributed acoustics observation system based on ocean current power generation |
| CN110745213A (en)* | 2019-10-26 | 2020-02-04 | 中国海洋大学 | An on-site monitoring system for elastic loose mooring performance of deep-sea buoys |
| CN113639719A (en)* | 2021-10-18 | 2021-11-12 | 中国海洋大学 | Autonomous floating and sinking type ocean optical environment light field profile measuring system |
| CN113639719B (en)* | 2021-10-18 | 2022-02-08 | 中国海洋大学 | Autonomous floating and sinking type ocean optical environment light field profile measuring system |
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| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication | Application publication date:20170510 |