CN104443278A - Virtual anchoring profile buoy - Google Patents
Virtual anchoring profile buoy Download PDFInfo
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- CN104443278A CN104443278A CN201410640704.5A CN201410640704A CN104443278A CN 104443278 A CN104443278 A CN 104443278A CN 201410640704 A CN201410640704 A CN 201410640704A CN 104443278 A CN104443278 A CN 104443278A
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- anchoring profile
- end cover
- virtual anchoring
- profile buoy
- driven
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Abstract
The invention discloses a virtual anchoring profile buoy. A posture adjustment module is arranged in an upper shell and comprises an inclination direction adjustment mechanism and a deflection adjustment mechanism. The inclination direction adjustment mechanism comprises an angle motor and a rotation frame driven by the angle motor. The angle motor is fixed into the upper shell. The central line of an output shaft of the angle motor coincides with the main axis of the buoy. The inclination direction adjustment mechanism is installed in the rotation frame and comprises a linear motor, a lead screw, a nut and an eccentric heavy block, wherein the lead screw is perpendicular to the output shaft of the angle motor, the lead screw is driven by the linear motor, the nut is connected to the lead screw in a threaded mode, the nut and the eccentric heavy block are fixedly connected, the eccentric heavy block is arranged in the rotation frame, the eccentric heavy block and the rotation frame are connected in a sliding mode, the linear motor is fixed to the rotation frame, and the linear motor and the eccentric heavy block are arranged on the two sides of the axis of the buoy respectively. The virtual anchoring function of a certain GPS point in the ocean can be achieved by adjusting the pose.
Description
Technical field
The invention belongs to field of electromechanical integration, particularly a kind of autokinetic movement platform for marine environment profiling observation.
Background technology
Current American independent research three sections of typical undersea gliders, the i.e. Seaglider of Washington university, the Slocum underwater glider of Spray and the Webb Research company of Scripps research institute, three sections of underwater gliders all realize floating and dive campaign by changing himself net buoyancy, change its roll and pitch attitude angle simultaneously, its fixed-wing is utilized to complete the gliding of horizontal direction, the function of three sections of typical undersea glider its propulsions all outstanding, its forward speed is very fast, be adapted at horizontal direction and follow the tracks of set path, but, its kinematic velocity is in the vertical direction relatively slow, be not suitable for carrying out quick profiling observation to the vertical water column of certain GPS point position.In addition, the autonomous drift profile buoy that current Argo plan uses realizes floating and dive campaign by changing self net buoyancy, but it does not have attitude regulation mechanism to realize horizontal direction active movement, can only drift with the tide.
Summary of the invention
The present invention provides a kind of virtual anchoring profile buoy for solving in known technology the technical matters that exists, and this buoy has affected position retaining function by regulating self angle of inclination and then realization to overcome horizontal flow in region, ocean in floating and dive process.
The technical scheme that the present invention takes for the technical matters existed in solution known technology is: a kind of virtual anchoring profile buoy, comprise housing and be fixed on the dull and stereotyped wing outside described housing, described housing is provided with upper shell, middle shell and lower house, streamlined reefer housing is connected with in the lower end of described lower house, upper end cover is connected with in the upper end of described upper shell, buoyancy-driven module is installed in described lower house, in described middle shell, power brick is installed, pose adjustment module is installed in described upper shell, described pose adjustment module comprises tendency adjusting mechanism and oblique adjusting mechanism partially, the revolution support body that described tendency adjusting mechanism comprises angle motor and driven by it, described angle motor is fixed in described upper shell, the described line of centers of angle motor output shaft and the coincides of this buoy, described tiltedly inclined adjusting mechanism is arranged in described revolution support body, described tiltedly inclined adjusting mechanism comprises linear electric motors, screw mandrel, screw and eccentric weight, described screw mandrel is vertical with the output shaft of described angle motor, described screw mandrel is driven by described linear electric motors, described screw mandrel has been threaded connection described screw, described screw and described eccentric weight affixed, described eccentric weight is seated in described revolution support body, the two forms sliding block joint, described linear electric motors are fixed on described revolution support body, described linear electric motors and described eccentric weight divide the both sides being located at this buoy spindle axis.
The bottom end cover be tightly connected with it is provided with in the lower end of described lower house, described upper end cover, described upper shell, described middle shell and described lower house are tightly connected from top to bottom successively, the bore seal of described housing is a closed chamber by described bottom end cover and described upper end cover, described upper end cover is provided with vacuum plug, described buoyancy-driven module comprises the outer oil sac be arranged in described streamlined reefer housing and the valve block be arranged in described lower house, electromagnetic valve, miniature axial plunger pump, threeway, interior oil sac, high-pressure oil pump and Oil pump electrical machinery, described outer oil sac and described valve block affixed with described lower house respectively, shoe cream room and three hydraulic fluid ports are provided with in described valve block, wherein first described hydraulic fluid port is connected with described outer oil sac, second described hydraulic fluid port is connected with the oil outlet of described miniature axial plunger pump, 3rd described hydraulic fluid port is connected with described interior oil sac with described threeway by described electromagnetic valve, the oil inlet of described miniature axial plunger pump is connected with the 3rd of described threeway the mouth, described miniature axial plunger pump is driven by described high-pressure oil pump, described high-pressure oil pump is driven by described Oil pump electrical machinery.
Described upper end cover is provided with temperature sensor and pressure sensor.
Described upper shell and described middle shell are tightly connected by upper gilled rings, and described middle shell and described lower house are tightly connected by lower gilled rings, gilled rings and described lower gilled rings are all connected with wing seat on described, described wing seat is fixed with the described dull and stereotyped wing; Described angle motor is fixed on described upper gilled rings, and described power brick is fixedly mounted on described lower gilled rings.
Described streamlined reefer housing is elliposoidal.
The oral area of described outer oil sac adopts nut locking on described bottom end cover, and the oral area of described outer oil sac is connected by joint with first described hydraulic fluid port of described valve block.
Described screw mandrel is trapezoidal screw.
Described eccentric weight is copper pouring weight.
The advantage that the present invention has and good effect are: by adopting the structure increasing pose adjustment module in housing, make direction of tilt and the tilt adjustable of buoy, and then make buoy have horizontal motion ability when floating and dive campaign, bias placement is blown by zigzag section motion compensation horizontal flow, near and remain in the vertical water column in surveyed GPS point position, realize its virtual anchor system function at ocean GPS point.The present invention develops towards accurately measuring fast of certain GPS point position marine vertical water column, compare with section drifting buoy with underwater glider, there is following outstanding feature: platform main shaft line keep vertically and float and dive campaign time, the section motion of drifting with the tide can be realized, as traditional Argo buoy; Platform main shaft line makes level circumference 360 degree, the vertically pose adjustment of (namely drift angle is within the scope of the cone of 90 degree) within the scope of positive and negative 45 degree, can realize the function of countercurrent movement and level attitude maintenance.The present invention carries the energy, utilize attitude regulation module and buoyancy-driven module, by the motion realizing level and vertical direction from lift and the dull and stereotyped wing, the level overcoming ocean current blows inclined impact, ocean GPS point position is remained on as sentry, and in the vertical water column in this region, carry out long time-ordered measurement, be a for ocean environment observation application and research and development novel from principal section motion platform.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention;
Fig. 2 is buoyancy-driven modular construction schematic diagram of the present invention;
Fig. 3 is pose adjustment modular construction schematic diagram of the present invention.
In figure: 1, lower house, 2, lower gilled rings, 3, wing seat, 4, the dull and stereotyped wing, 5, upper gilled rings, 6, upper shell, 7, upper end cover, 8, temperature sensor, 9, pressure sensor, 10, vacuum plug, 11, pose adjustment module, 12, power brick, 13, middle shell, 14, buoyancy-driven module, 15, bottom end cover, 16, streamlined reefer housing, 17, outer oil sac, 18, nut, 19, electromagnetic valve, 20, miniature axial plunger pump, 21, high-pressure oil pump, 22, motor cabinet, 23, coupler, 24, Oil pump electrical machinery, 25, interior oil sac, 26, threeway, 27, plug, 28, valve block, 29, joint, 30, linear electric motors, 31, revolution support body, 32, screw mandrel, 33, screw, 34, eccentric weight, 35, angle motor.
Detailed description of the invention
For summary of the invention of the present invention, Characteristic can be understood further, hereby exemplify following examples, and coordinate accompanying drawing to be described in detail as follows:
Refer to Fig. 1 ~ Fig. 3, a kind of virtual anchoring profile buoy, comprise housing and be fixed on the dull and stereotyped wing 4 outside described housing, described housing is provided with upper shell 6, middle shell 13 and lower house 1, be connected with streamlined reefer housing 16 in the lower end of described lower house 1, streamlined reefer housing has permeable hole, be connected with upper end cover 7 in the upper end of described upper shell 6, in described lower house 1, buoyancy-driven module 14 is installed, in described middle shell 13, power brick 12 is installed, in described upper shell 6, pose adjustment module 11 is installed, described pose adjustment module 11 comprises tendency adjusting mechanism and oblique adjusting mechanism partially, the revolution support body 31 that described tendency adjusting mechanism comprises angle motor 35 and driven by it, described angle motor 35 is fixed in described upper shell 6, the line of centers of output shaft of described angle motor 35 and the coincides of this buoy, described tiltedly inclined adjusting mechanism is arranged in described revolution support body 31, described tiltedly inclined adjusting mechanism comprises linear electric motors 30, screw 33, screw mandrel 32 and eccentric weight 34, described screw mandrel 32 is vertical with the output shaft of described angle motor 35, described screw mandrel 32 is driven by described linear electric motors 30, described screw mandrel 32 has been threaded connection described screw 33, described screw 33 is affixed with described eccentric weight 34, described eccentric weight 34 is seated in described revolution support body 31, the two forms sliding block joint, described linear electric motors 30 are fixed on described revolution support body 31, described linear electric motors 30 and described eccentric weight 34 points are located at the both sides of this buoy spindle axis.
Eccentric weight 34 can change the displacement departing from virtual anchoring profile buoy spindle axis under the driving of linear electric motors 30, thus change the displacement of the deviation of gravity center spindle axis of virtual anchoring profile buoy, and then change the oblique inclination angle of virtual anchoring profile buoy, when eccentric weight 34 is in the position of spindle axis, virtual anchoring profile buoy keeps a vertical attitude.When the assembly of eccentric weight 34 and screw 33 and linear electric motors 30 under the driving of angle motor 35 360 degree rotate time, the direction of tilt of virtual anchoring profile buoy can circumferentially change.Virtual anchoring profile buoy is by changing eccentric weight 34 displacement of buoy spindle axis and the anglec of rotation around buoy spindle axis relatively in pose adjustment module 11, self oblique inclination angle and direction of tilt can be changed, now, if produce floating and dive campaign because of the effect of buoyancy-driven module, then virtual anchoring profile buoy can produce horizontal motion because of the dull and stereotyped wing 4 and its hydrodynamism produced from lift, and oblique inclination angle and the direction of tilt of this horizontal motion speed and direction and virtual anchoring profile buoy exist positive relationship.
The bottom end cover 15 be tightly connected with it is provided with in the lower end of described lower house 1, described upper end cover 7, described upper shell 6, described middle shell 13 and described lower house 1 are tightly connected from top to bottom successively, the bore seal of described housing is a closed chamber by described bottom end cover 15 and described upper end cover 7, described upper end cover 7 is provided with vacuum plug 10, described buoyancy-driven module 14 comprises the outer oil sac 17 be arranged in described streamlined reefer housing 16 and the valve block 28 be arranged in described lower house 1, electromagnetic valve 19, miniature axial plunger pump 20, threeway 26, interior oil sac 25, high-pressure oil pump 21 and Oil pump electrical machinery 24, described outer oil sac 17 and described valve block 28 affixed with described lower house respectively, shoe cream room and three hydraulic fluid ports are provided with in described valve block 28, wherein first described hydraulic fluid port is connected with described outer oil sac 17, second described hydraulic fluid port is connected with the oil outlet of described miniature axial plunger pump 20, 3rd described hydraulic fluid port is connected with described interior oil sac 25 with described threeway 26 by described electromagnetic valve 19, the oil inlet of described miniature axial plunger pump 20 is connected with the 3rd mouth of described threeway 26, described miniature axial plunger pump 20 is driven by described high-pressure oil pump 21, described high-pressure oil pump 21 is driven by described Oil pump electrical machinery 24.Described Oil pump electrical machinery 24 is connected by coupler 23 with described high-pressure oil pump 21, and described Oil pump electrical machinery 24 is arranged on motor cabinet 22, and motor cabinet 22 is arranged on described high-pressure oil pump 21, and high-pressure oil pump 21 is connected on miniature axial plunger pump 20.
Before using, open vacuum plug, the air in housing is extracted out, make its inner formation vacuum.When virtual anchoring profile buoy swim in extra large surface realize dive campaign in advance time, electromagnetic valve 19 is opened, because body inside, virtual anchoring profile buoy cabin exists vacuum, so in bar pressure out of my cabin and cabin negative pressure effect under, oil in outer oil sac 17 flows into interior oil sac 25 by electromagnetic valve 19, and the net buoyancy of virtual anchoring profile buoy self reduces, and net weight power increases, namely gravity is greater than buoyancy, thus realizes dive campaign; When virtual anchoring profile buoy run to certain depth realize in advance float motion time, shut electromagnetic valve 19, starts miniature axial plunger pump 20, the oil in interior oil sac 25 is drawn into the oil inlet of miniature axial plunger pump 20 by the 3rd mouth of threeway 26, and discharge from the oil outlet of miniature axial plunger pump 20, enter into valve block 28, then enter into outer oil sac 17, now, the displacement of virtual anchoring profile buoy self increases, net buoyancy increases, and namely buoyancy is greater than gravity, thus realizes motion of floating.
In the present embodiment, described upper end cover 7 can be provided with temperature sensor 8, pressure sensor 9, gps antenna, wireless telecommunications and satellite communication antenna, and the science sensor of customer demand.Described upper shell 6 is tightly connected by upper gilled rings 5 with described middle shell 13, described middle shell 13 is tightly connected by lower gilled rings 2 with described lower house 1, gilled rings 5 and described lower gilled rings 2 are all connected with wing seat 3 on described, described wing seat 3 is fixed with the described dull and stereotyped wing 4.Described angle motor 35 is fixed on described upper gilled rings 5.Described power brick 12 is fixedly mounted on described lower gilled rings 2, on described gilled rings 5 and described lower gilled rings 2 periphery on circumferentially uniform four wing seats 3 are installed, be connected to middle shell 13 between upper gilled rings 5 and lower gilled rings 2, guarantee upper gilled rings 5, mutually strain between lower gilled rings 2 and middle shell 13.Described valve block 28 is also provided with auxiliary hole, described auxiliary hole is provided with plug 27.Described streamlined reefer housing 16 is elliposoidal.The oral area of described outer oil sac 17 adopts nut 18 to lock on described bottom end cover 15, and the oral area of described outer oil sac 17 is connected by joint 29 with first described hydraulic fluid port of described valve block 28.Described screw mandrel 32 adopts trapezoidal screw.Described eccentric weight 34 is copper pouring weight.
The design objective of virtual anchoring profile buoy is the information measurement realizing the vertical water column of ocean GPS point, but due to the effect of ocean current, virtual anchoring profile buoy can depart from this GPS point, therefore virtual anchoring profile buoy inside is increased pose adjustment module 11, thus make it have horizontal motion ability, and then compensation water advection blows bias placement, return within the scope of the measured vertical water column of GPS point.When virtual anchoring profile buoy carries out GPS location on extra large surface, find self to be in measured GPS point position, then its float and dive motion process in, eccentric weight 34 is moved on buoy spindle axis by linear electric motors 30, virtual anchoring profile buoy keeps vertical attitude, there is no horizontal displacement, only have vertical deviation.When virtual anchoring profile buoy carries out GPS location on extra large surface, find self to deviate from measured GPS point position, then virtual anchoring profile buoy according to self apart from the displacement of measured GPS point and self point to survey the direction of GPS point, the position of the eccentric weight 34 in adjustment pose adjustment module 11, in i.e. dive process, eccentric weight 34 is moved to the position deviating from surveyed GPS point, in floating-upward process, eccentric weight 34 is moved near survey the position of GPS point, like this, virtual anchoring profile buoy by zigzag track near survey the vertical water column in GPS point position.
The present invention realizes rising and dive campaign by changing natural buoyancy, and while rising and dive, platform, by changing its attitude angle, utilizes the dull and stereotyped wing to complete the gliding in horizontal 360-degree direction.GPS, wireless telecommunications processing unit and compass are installed in virtual anchoring profile buoy, can be implemented in the virtual anchor system function of ocean GPS point, when namely departing from certain place GPS under the impact of ocean current, the function that platform can be glided by section revert to the GPS point that it expects anchor system.Virtual anchoring profile buoy, as a ocean mobile platform, can carry the long sequential observation that Ocean sensor realizes certain vertical water column in GPS point position of ocean.
Although be described the preferred embodiments of the present invention by reference to the accompanying drawings above; but the present invention is not limited to above-mentioned detailed description of the invention; above-mentioned detailed description of the invention is only schematic; be not restrictive; those of ordinary skill in the art is under enlightenment of the present invention; do not departing under the ambit that present inventive concept and claim protect, can also make a lot of form, these all belong within protection scope of the present invention.
Claims (8)
1. a virtual anchoring profile buoy, comprise housing and be fixed on the dull and stereotyped wing outside described housing, described housing is provided with upper shell, middle shell and lower house, streamlined reefer housing is connected with in the lower end of described lower house, upper end cover is connected with in the upper end of described upper shell, buoyancy-driven module is installed in described lower house, in described middle shell, power brick is installed, it is characterized in that, pose adjustment module is installed in described upper shell, described pose adjustment module comprises tendency adjusting mechanism and oblique adjusting mechanism partially, the revolution support body that described tendency adjusting mechanism comprises angle motor and driven by it, described angle motor is fixed in described upper shell, the line of centers of output shaft of described angle motor and the coincides of this buoy, described tiltedly inclined adjusting mechanism is arranged in described revolution support body, described tiltedly inclined adjusting mechanism comprises linear electric motors, screw mandrel, screw and eccentric weight, described screw mandrel is vertical with the output shaft of described angle motor, described screw mandrel is driven by described linear electric motors, described screw mandrel has been threaded connection described screw, described screw and described eccentric weight affixed, described eccentric weight is seated in described revolution support body, the two forms sliding block joint, described linear electric motors are fixed on described revolution support body, described linear electric motors and described eccentric weight divide the both sides being located at this buoy spindle axis.
2. virtual anchoring profile buoy according to claim 1, it is characterized in that, the bottom end cover be tightly connected with it is provided with in the lower end of described lower house, described upper end cover, described upper shell, described middle shell and described lower house are tightly connected from top to bottom successively, the bore seal of described housing is a closed chamber by described bottom end cover and described upper end cover, described upper end cover is provided with vacuum plug, described buoyancy-driven module comprises the outer oil sac be arranged in described streamlined reefer housing and the valve block be arranged in described lower casing, electromagnetic valve, miniature axial plunger pump, threeway, interior oil sac, high-pressure oil pump and Oil pump electrical machinery, described outer oil sac and described valve block affixed with described lower house respectively, shoe cream room and three hydraulic fluid ports are provided with in described valve block, wherein first described hydraulic fluid port is connected with described outer oil sac, second described hydraulic fluid port is connected with the oil outlet of described miniature axial plunger pump, 3rd described hydraulic fluid port is connected with described interior oil sac with described threeway by described electromagnetic valve, the oil inlet of described miniature axial plunger pump is connected with the 3rd of described threeway the mouth, described miniature axial plunger pump is driven by described high-pressure oil pump, described high-pressure oil pump is driven by described Oil pump electrical machinery.
3. virtual anchoring profile buoy according to claim 1, is characterized in that, described upper end cover is provided with temperature sensor and pressure sensor.
4. virtual anchoring profile buoy according to claim 2, it is characterized in that, described upper shell and described middle shell are tightly connected by upper gilled rings, described middle shell and described lower house are tightly connected by lower gilled rings, gilled rings and described lower gilled rings are all connected with wing seat on described, described wing seat is fixed with the described dull and stereotyped wing; Described angle motor is fixed on described upper gilled rings, and described power brick is fixedly mounted on described lower gilled rings.
5. virtual anchoring profile buoy according to claim 1, is characterized in that, described streamlined reefer housing is elliposoidal.
6. virtual anchoring profile buoy according to claim 2, is characterized in that, the oral area of described outer oil sac adopts nut locking on described bottom end cover, and the oral area of described outer oil sac is connected by joint with first described hydraulic fluid port of described valve block.
7. virtual anchoring profile buoy according to claim 1, is characterized in that, described screw mandrel is trapezoidal screw.
8. virtual anchoring profile buoy according to claim 1, is characterized in that, described eccentric weight is copper pouring weight.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410640704.5A CN104443278B (en) | 2014-11-13 | 2014-11-13 | Virtual anchoring profile buoy |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410640704.5A CN104443278B (en) | 2014-11-13 | 2014-11-13 | Virtual anchoring profile buoy |
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| CN104443278A true CN104443278A (en) | 2015-03-25 |
| CN104443278B CN104443278B (en) | 2016-08-17 |
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| CN201410640704.5A Expired - Fee Related CN104443278B (en) | 2014-11-13 | 2014-11-13 | Virtual anchoring profile buoy |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106628002A (en) * | 2016-12-06 | 2017-05-10 | 中国船舶重工集团公司第七0研究所 | Position-Indicating float towed in water |
| CN108545147A (en) * | 2018-06-14 | 2018-09-18 | 中国海洋大学 | Ocean-atmosphere interface observes key technology-data real time implementation water surface relay communication float |
| CN108563176A (en) * | 2018-07-04 | 2018-09-21 | 哈尔滨工业大学 | A kind of buoy micro-system for marine exploration |
| CN110244598A (en) * | 2019-05-10 | 2019-09-17 | 中国船舶重工集团公司第七一五研究所 | A kind of sink-float profile buoy control circuit and control method certainly |
| CN110715652A (en) * | 2019-10-16 | 2020-01-21 | 天津市津海德科技有限公司 | Drift type ocean optical profile viewer |
| CN110715651A (en) * | 2019-10-16 | 2020-01-21 | 天津市津海德科技有限公司 | Use method of drift-type ocean optical profile viewer |
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| US20080087209A1 (en) * | 2004-12-28 | 2008-04-17 | Masahiro Yoshida | Profiling Float and Usage of the Profiling Float |
| CN101487704B (en) * | 2009-02-27 | 2010-08-18 | 天津大学 | Submerged buoy for ocean monitoring |
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| CN102642600B (en) * | 2012-05-18 | 2014-06-18 | 国家海洋技术中心 | Bottom-exploration zigzag-type deep sea submerged buoy system |
| CN204323651U (en) * | 2014-11-13 | 2015-05-13 | 天津城建大学 | Virtual anchoring profile buoy |
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| US20080087209A1 (en) * | 2004-12-28 | 2008-04-17 | Masahiro Yoshida | Profiling Float and Usage of the Profiling Float |
| CN101487704B (en) * | 2009-02-27 | 2010-08-18 | 天津大学 | Submerged buoy for ocean monitoring |
| CN101549744B (en) * | 2009-05-14 | 2011-04-20 | 天津大学 | Hybrid multifunctional ocean monitoring independent platform |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106628002A (en) * | 2016-12-06 | 2017-05-10 | 中国船舶重工集团公司第七0研究所 | Position-Indicating float towed in water |
| CN108545147A (en) * | 2018-06-14 | 2018-09-18 | 中国海洋大学 | Ocean-atmosphere interface observes key technology-data real time implementation water surface relay communication float |
| CN108563176A (en) * | 2018-07-04 | 2018-09-21 | 哈尔滨工业大学 | A kind of buoy micro-system for marine exploration |
| CN110244598A (en) * | 2019-05-10 | 2019-09-17 | 中国船舶重工集团公司第七一五研究所 | A kind of sink-float profile buoy control circuit and control method certainly |
| CN110244598B (en) * | 2019-05-10 | 2021-04-23 | 中国船舶重工集团公司第七一五研究所 | Self-sinking and floating profile buoy control circuit and control method |
| CN110715652A (en) * | 2019-10-16 | 2020-01-21 | 天津市津海德科技有限公司 | Drift type ocean optical profile viewer |
| CN110715651A (en) * | 2019-10-16 | 2020-01-21 | 天津市津海德科技有限公司 | Use method of drift-type ocean optical profile viewer |
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| CN104443278B (en) | 2016-08-17 |
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Granted publication date: 20160817 Termination date: 20171113 |