CN106347586A - Integrated omnibearing all-weather on-water and underwater monitoring system - Google Patents
Integrated omnibearing all-weather on-water and underwater monitoring system Download PDFInfo
- Publication number
- CN106347586A CN106347586A CN201610685251.7A CN201610685251A CN106347586A CN 106347586 A CN106347586 A CN 106347586A CN 201610685251 A CN201610685251 A CN 201610685251A CN 106347586 A CN106347586 A CN 106347586A
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- Prior art keywords
- floating platform
- water
- water surface
- unmanned aerial
- underwater
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 48
- 238000012544 monitoring process Methods 0.000 title claims abstract description 23
- 230000005540 biological transmission Effects 0.000 claims abstract description 10
- 230000003287 optical effect Effects 0.000 claims abstract description 4
- 239000013307 optical fiber Substances 0.000 claims abstract description 4
- 239000002002 slurry Substances 0.000 claims description 10
- 230000007935 neutral effect Effects 0.000 claims description 7
- 230000010354 integration Effects 0.000 claims description 4
- 238000007789 sealing Methods 0.000 claims 1
- 230000008054 signal transmission Effects 0.000 abstract description 2
- 230000005611 electricity Effects 0.000 abstract 1
- 230000007613 environmental effect Effects 0.000 description 4
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 238000009360 aquaculture Methods 0.000 description 1
- 244000144974 aquaculture Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 208000013407 communication difficulty Diseases 0.000 description 1
- 230000005670 electromagnetic radiation Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000010006 flight Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 239000003643 water by type Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Remote Sensing (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Arrangements For Transmission Of Measured Signals (AREA)
Abstract
The invention provides an integrated omnibearing all-weather on-water and underwater monitoring system, and belongs to marine environment monitoring equipment. The system comprises a water surface floating platform, a quadcopter on-water unmanned aerial vehicle, an underwater robot and a ground control terminal; the water surface floating platform is communicated with the quadcopter on-water unmanned aerial vehicle and the underwater robot separately through zero buoyancy lines of cables with optical fibers, the water surface floating platform which serves as signal transfer, supplies electricity to the system and monitors on-water information and underwater information transmits electric energy and optical signals to the quadcopter water unmanned aerial vehicle and the underwater robot through the zero buoyancy lines and is communicated with the ground control terminal in a wireless data transmission mode. According to the system, energy supply for long-time work in any sea area is achieved, underwater signal transmission cost is reduced, the image transmission quality is improved, remote control is achieved, operation is convenient, on-water and underwater integrated omnibearing all-weather monitoring is achieved, the monitoring area is large, and the operation time is long.
Description
Technical field
The invention belongs to marine environmental monitoring equipment, more particularly, to a kind of centered on water surface floating platform, joint waterborne unmanned
The ocean integrated environment monitoring system of machine and underwater robot.
Background technology
Traditional marine environmental monitoring system mainly has buoy, subsurface buoy, research vessel, Large Underwater robot etc., these seas
Foreign detecting system is difficult to meet the diversified needs of marine environmental monitoring.Such as: (1) buoy, subsurface buoy can work long hours, use
Convenient, can real-time monitoring, but its position is fixed it is impossible to flexibly move；(2) research vessel can motor-driven monitoring waters, but need
A large amount of personnel support, operating cost is expensive；(3) Large Underwater Work robot structure and use are complicated, are not only limited by power supply,
Can not work long hours, and work under water, communication is limited, and data is unable to long-distance transmissions.Therefore, traditional marine environment
Monitoring system can not meet the demand of the every field such as national security, marine environment research, aquaculture at this stage.
Content of the invention
The technical problem to be solved be exactly provide a kind of centered on water surface floating platform, joint aquatic unmanned aerial vehicle and
The integrated all-dimensional all-weather sea sky monitoring system of underwater robot, reaches the existing marine environmental monitoring system operatio of solution multiple
Miscellaneous, communication difficulties, can not flexibly move, the purpose of the problem that can not work long hours.
The object of the present invention is achieved like this: integrated all-dimensional all-weather sea sky monitoring system include water surface floating platform,
Four outstanding wing aquatic unmanned aerial vehicles, underwater robot and ground control terminal, the structure of described water surface floating platform is: installs too in enclosure interior
Sun can cell panel and accumulator, outside housing upper end on equipped electromagnetic wave transmitting antenna, fixing anchor chain is connected with housing；Described
Four outstanding wing aquatic unmanned aerial vehicles are made up of unmanned plane skeleton, motor slurry leaf assembly and sealed compartment formula controller, wherein four motors
Slurry leaf assembly is fitted on the end of unmanned plane skeleton corner, and sealed compartment formula controller is packed in position on the downside of unmanned plane frame center
On；Described underwater robot includes machine human skeleton, vertical pusher, air-tight machine people's control cabinet, mechanical arm and level to be pushed away
Enter device, wherein vertical pusher and horizontal propeller respectively be in stand to crouch to being arranged on machine human skeleton, mutually perpendicular
Configuration, air-tight machine people's control cabinet is packed on machine human skeleton middle part, equipped on the end of machine human skeleton side
Mechanical arm；Water surface floating platform is connected by neutral buoyancy line with optical fiber and cable respectively with four outstanding wing aquatic unmanned aerial vehicles and underwater robot
Logical, as signal transfer and for system power supply and monitor water surface floating platform waterborne, underwater information by neutral buoyancy line to the four outstanding wings
Aquatic unmanned aerial vehicle and underwater robot transmission electric energy and optical signal, described water surface floating platform is by wireless data transmission mode and ground
Control end connects.
The invention has the beneficial effects as follows:
1st, water surface floating platform uses solar panel and the power-supply system of accumulator composition, it is possible to achieve real in any marine site
Now work long hours, solve the problems, such as energy supply during whole system length boat.
2nd, use in water surface floating platform, turn the information exchange making underwater robot and ground control terminal.Underwater robot with
Water surface floating platform is connected by neutral buoyancy line, reduces underwater signal transmission cost, improves image transmitting quality；Water surface floating platform with
The wireless data transmission of ground control terminal, operator can distant control detecting system, easy to operate, cost-effective；Simultaneously
Water surface floating platform can be by four outstanding wing aquatic unmanned aerial vehicle monitor in real time information waterborne.
3rd, can achieve water upper and lower water one monitoring resultses on a large scale.This system can monitor simultaneously under water, the water surface, letter waterborne
Breath, can be transferred to specified location simultaneously as needed, and when needing transfer monitoring marine site, floating platform mooring system withdraws anchor chain,
Underwater robot and four outstanding wing aquatic unmanned aerial vehicles drag floating platform and move, and after reaching specified location, floating platform relays Lower chains.
Brief description
Fig. 1 is integrated all-dimensional all-weather sea sky monitoring system General allocation structure schematic diagram；
Fig. 2 is figure water surface floating platform structural representation；
Fig. 3 is underwater robot structure schematic diagram；
Fig. 4 is four outstanding wing aquatic unmanned aerial vehicle structural representations.
In figure piece number illustrates:
1st, water surface floating platform, 2, four outstanding wing aquatic unmanned aerial vehicles, 3, underwater robot, 4, ground control terminal, 5, electromagnetic radiation
Antenna, 6, solar panel, 7, housing, 8, accumulator, 9, fixing anchor chain, 10, machine human skeleton, 11, vertical pusher,
12nd, air-tight machine people control cabinet, 13, mechanical arm, 14, horizontal propeller, 15, unmanned plane skeleton, 16, motor slurry Ye total
Become, 17, sealed compartment formula controller.
Specific embodiment
Below in conjunction with the accompanying drawings embodiment of the present invention is described in detail.A kind of integration all-dimensional all-weather sea heavenly prison or jail
Control system includes water surface floating platform 1, four and hangs wing aquatic unmanned aerial vehicle 2, underwater robot 3 and ground control terminal 4, described water surface floating platform 1
Structure be: inside housing 7, solar panel 6 and accumulator 8 are installed, outside housing 7 upper end on equipped electromagnetic wave send out
Penetrate antenna 5, fixing anchor chain 9 is connected with housing 7；Described four outstanding wing aquatic unmanned aerial vehicles 2 are total by unmanned plane skeleton 15, motor slurry Ye
One-tenth 16 and sealed compartment formula controller 17 are constituted, and wherein four motor slurry leaf assemblies 16 are fitted in 15 4 jiaos of ends of unmanned plane skeleton
On, sealed compartment formula controller 17 is packed on position on the downside of unmanned plane skeleton 15 center；Described underwater robot 3 includes robot
Skeleton 10, vertical pusher 11, air-tight machine people's control cabinet 12, mechanical arm 13 and horizontal propeller 14, wherein vertical thrust
Device 11 and horizontal propeller 14 be in respectively stand to crouch to being arranged on machine human skeleton 10, mutually perpendicular configuration, sealed
Robot control cabinet 12 is packed on machine human skeleton 10 middle part, is equipped with mechanical arm on machine human skeleton 10 1 side end
13；Water surface floating platform 1 is connected by neutral buoyancy line with optical fiber and cable respectively with four outstanding wing aquatic unmanned aerial vehicles 2 and underwater robot 3
Logical, as signal transfer and for system power supply and monitor water surface floating platform 1 waterborne, underwater information by neutral buoyancy line to the four outstanding wings
Aquatic unmanned aerial vehicle 2 and underwater robot 3 transmission electric energy and optical signal, described water surface floating platform 1 by wireless data transmission mode with
Ground control terminal 4 connects.Vertical pusher 11 on described underwater robot 3 and horizontal propeller 14 are respectively 4 and 2.
The motor of four motor slurry leaf assemblies 16 on described four outstanding wing aquatic unmanned aerial vehicles 2 is waterproof machine.
During monitoring operation, water surface floating platform 1 is used for ground control terminal 4 and hangs wing aquatic unmanned aerial vehicle 2 with underwater robot 3, four
Signal transfer, and provide electric energy for whole system, gather water surface information simultaneously.Underwater robot 3 is by the underwater picture collecting
The information that information, temperature, depth, attitude etc. record passes water surface floating platform 1 back；2 horizontal propellers 14 and 4 vertical pusher 11
Be respectively completed the advance of underwater robot 3, retrogressing, left and right turn to and up and down, rolling, pitching, gesture stability, mechanical arm
13 complete underwater performance.Four outstanding wing aquatic unmanned aerial vehicles 2 are by the air-sea collecting image information, space temperature, wind speed and direction, attitude
Issue water surface floating platform 1 etc. the information recording；Motor slurry leaf assembly 16 is responsible for above-below direction and the horizontal stroke of four outstanding wing aquatic unmanned aerial vehicles 2
To motion, sealed compartment formula controller 17 while undertaking four outstanding wing aquatic unmanned aerial vehicles 2 flights and control, when the four outstanding wings are waterborne unmanned
Machine 2 becomes buoyancy compartment when being still on the water surface.Ground control terminal 4 shows and stores the image, information that water surface floating platform 1 passes back, and
Water surface floating platform 1 and underwater robot 3, four is controlled to hang the motion of wing aquatic unmanned aerial vehicle 2, operation.
Claims (3)
1. a kind of integration all-dimensional all-weather sea sky monitoring system, include water surface floating platform (1), four hang wing aquatic unmanned aerial vehicles (2),
Underwater robot (3) and ground control terminal (4), the structure of described water surface floating platform (1) is: installs solar energy inside housing (7)
Cell panel (6) and accumulator (8), are equipped with electromagnetic wave transmitting antenna (5) on housing (7) upper end outside, fix anchor chain (9) and shell
Body (7) connects；Described four outstanding wing aquatic unmanned aerial vehicles (2) are by unmanned plane skeleton (15), motor slurry leaf assembly (16) and sealed compartment
Formula controller (17) is constituted, and wherein four motors slurry leaf assembly (16) are fitted on unmanned plane skeleton (15) corner end, sealing
Cabin formula controller (17) is packed on position on the downside of unmanned plane skeleton (15) center；Described underwater robot (3) includes robot
Skeleton (10), vertical pusher (11), air-tight machine people's control cabinet (12), mechanical arm (13) and horizontal propeller (14), its
Middle vertical pusher (11) and horizontal propeller (14) be in respectively stand to crouch to being arranged on machine human skeleton (10), be in mutually
Arranged perpendicular, air-tight machine people's control cabinet (12) is packed on machine human skeleton (10) middle part, in machine human skeleton
Mechanical arm (13) is equipped with (10) one side ends；It is characterized in that: the neutral buoyancy line with optical fiber and cable is by water surface floating platform (1)
Connect with four outstanding wing aquatic unmanned aerial vehicles (2) and underwater robot (3) respectively, as signal transfer and for system power supply and monitor water
Upper, underwater information water surface floating platform (1) passes through neutral buoyancy line to four outstanding wing aquatic unmanned aerial vehicles (2) and underwater robot (3) transmission
Electric energy and optical signal, described water surface floating platform (1) is connected with ground control terminal (4) by wireless data transmission mode.
2. according to claim 1 integration all-dimensional all-weather sea sky monitoring system it is characterised in that: described machine under water
Vertical pusher (11) on device people (3) and horizontal propeller (14) are respectively 4 and 2.
3. integration all-dimensional all-weather sea sky monitoring system according to claim 1 it is characterised in that: the described four outstanding wings
The motor of four motors slurry leaf assembly (16) on aquatic unmanned aerial vehicle (2) is waterproof machine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610685251.7A CN106347586B (en) | 2016-08-18 | 2016-08-18 | Integrated all-dimensional all-weather sea and sky monitoring system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610685251.7A CN106347586B (en) | 2016-08-18 | 2016-08-18 | Integrated all-dimensional all-weather sea and sky monitoring system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106347586A true CN106347586A (en) | 2017-01-25 |
| CN106347586B CN106347586B (en) | 2021-11-12 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610685251.7A Expired - Fee Related CN106347586B (en) | 2016-08-18 | 2016-08-18 | Integrated all-dimensional all-weather sea and sky monitoring system |
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Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107231181A (en) * | 2017-05-03 | 2017-10-03 | 上海交通大学 | A kind of air-sea synergic monitoring system and its application method across medium communication |
| CN107444595A (en) * | 2017-10-11 | 2017-12-08 | 广东海洋大学 | A kind of job class underwater robot |
| CN108006439A (en) * | 2017-11-07 | 2018-05-08 | 中国矿业大学(北京) | A kind of chemical industry dangerous gas leaks air-ground integrated monitoring and warning technology and equipment |
| CN108195357A (en) * | 2018-02-12 | 2018-06-22 | 交通运输部天津水运工程科学研究所 | A kind of observation and analysis system for coastal waters wave water level scene |
| CN108248859A (en) * | 2017-12-28 | 2018-07-06 | 上海交通大学 | Captive air-sea is dwelt aircraft systems more |
| CN108516068A (en) * | 2018-06-15 | 2018-09-11 | 深圳纳瓦科技有限公司 | A kind of signal transferring device and underwater robot |
| CN109018207A (en) * | 2018-08-29 | 2018-12-18 | 国家***第二海洋研究所 | A kind of primary-secondary type oceanographic observation submerged buoy system |
| CN109084745A (en) * | 2018-06-12 | 2018-12-25 | 哈尔滨工程大学 | Submarine cable inspection submarine navigation device intelligent monitor system and Combinated navigation method |
| CN109795631A (en) * | 2019-02-18 | 2019-05-24 | 安徽云翼航空技术有限公司 | A kind of nobody early warning waterborne and system of defense |
| CN110104191A (en) * | 2019-05-27 | 2019-08-09 | 浙江省舟山中学 | A kind of underwater water sample automatic acquisition device based on unmanned plane |
| CN110127008A (en) * | 2019-05-20 | 2019-08-16 | 浙江大学滨海产业技术研究院 | A kind of tracking system of autonomous underwater robot |
| CN110161200A (en) * | 2018-02-01 | 2019-08-23 | 山东省水利科学研究院 | A kind of efficient Reservoir Water Quality monitoring method |
| CN111392008A (en) * | 2020-05-09 | 2020-07-10 | 魏元梅 | Underwater environment detection device |
| CN111776148A (en) * | 2020-04-24 | 2020-10-16 | 上海交通大学 | Sea-air submarine integrated inspection system based on small unmanned ship |
| CN111834729A (en) * | 2020-07-29 | 2020-10-27 | 中国船舶工业集团公司第七0八研究所 | Scientific investigation ship meteorological radar and satellite communication C antenna arrangement and interlocking control scheme |
| CN112484782A (en) * | 2020-12-04 | 2021-03-12 | 武汉城市职业学院 | Hybrid topology type lake water quality monitoring system based on multi-rotor unmanned aerial vehicle |
| CN112572800A (en) * | 2019-09-29 | 2021-03-30 | 刘春梅 | Water area safety detection system |
| RU205927U1 (en) * | 2021-04-27 | 2021-08-12 | Федеральное государственное бюджетное образовательное учреждение высшего образования "Казанский национальный исследовательский технический университет им. А.Н. Туполева - КАИ" | MOBILE ABOVE PLATFORM FOR BASING AN AUTONOMOUS UNHABITABLE UNDERWATER VEHICLE |
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Cited By (26)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107231181A (en) * | 2017-05-03 | 2017-10-03 | 上海交通大学 | A kind of air-sea synergic monitoring system and its application method across medium communication |
| CN107231181B (en) * | 2017-05-03 | 2021-01-01 | 上海交通大学 | Cross-medium communication air-sea cooperative monitoring system and use method thereof |
| CN107444595A (en) * | 2017-10-11 | 2017-12-08 | 广东海洋大学 | A kind of job class underwater robot |
| CN108006439A (en) * | 2017-11-07 | 2018-05-08 | 中国矿业大学(北京) | A kind of chemical industry dangerous gas leaks air-ground integrated monitoring and warning technology and equipment |
| CN108248859A (en) * | 2017-12-28 | 2018-07-06 | 上海交通大学 | Captive air-sea is dwelt aircraft systems more |
| CN110161200A (en) * | 2018-02-01 | 2019-08-23 | 山东省水利科学研究院 | A kind of efficient Reservoir Water Quality monitoring method |
| CN108195357A (en) * | 2018-02-12 | 2018-06-22 | 交通运输部天津水运工程科学研究所 | A kind of observation and analysis system for coastal waters wave water level scene |
| CN109084745A (en) * | 2018-06-12 | 2018-12-25 | 哈尔滨工程大学 | Submarine cable inspection submarine navigation device intelligent monitor system and Combinated navigation method |
| CN108516068A (en) * | 2018-06-15 | 2018-09-11 | 深圳纳瓦科技有限公司 | A kind of signal transferring device and underwater robot |
| CN109018207A (en) * | 2018-08-29 | 2018-12-18 | 国家***第二海洋研究所 | A kind of primary-secondary type oceanographic observation submerged buoy system |
| CN109795631A (en) * | 2019-02-18 | 2019-05-24 | 安徽云翼航空技术有限公司 | A kind of nobody early warning waterborne and system of defense |
| CN110127008A (en) * | 2019-05-20 | 2019-08-16 | 浙江大学滨海产业技术研究院 | A kind of tracking system of autonomous underwater robot |
| CN110127008B (en) * | 2019-05-20 | 2024-01-30 | 浙江大学滨海产业技术研究院 | Tracking system of autonomous underwater robot |
| CN110104191B (en) * | 2019-05-27 | 2024-03-26 | 浙江省舟山中学 | Unmanned aerial vehicle-based underwater water sample automatic acquisition device |
| CN110104191A (en) * | 2019-05-27 | 2019-08-09 | 浙江省舟山中学 | A kind of underwater water sample automatic acquisition device based on unmanned plane |
| CN112572800B (en) * | 2019-09-29 | 2024-03-01 | 西藏谦诚信息科技有限公司 | Water area safety detection system |
| CN112572800A (en) * | 2019-09-29 | 2021-03-30 | 刘春梅 | Water area safety detection system |
| CN111776148B (en) * | 2020-04-24 | 2022-06-24 | 上海交通大学 | Sea-air submarine integrated inspection system based on small unmanned ship |
| CN111776148A (en) * | 2020-04-24 | 2020-10-16 | 上海交通大学 | Sea-air submarine integrated inspection system based on small unmanned ship |
| CN111392008A (en) * | 2020-05-09 | 2020-07-10 | 魏元梅 | Underwater environment detection device |
| CN111834729B (en) * | 2020-07-29 | 2022-06-21 | 中国船舶工业集团公司第七0八研究所 | Scientific investigation ship meteorological radar and satellite communication C antenna interlocking control device |
| CN111834729A (en) * | 2020-07-29 | 2020-10-27 | 中国船舶工业集团公司第七0八研究所 | Scientific investigation ship meteorological radar and satellite communication C antenna arrangement and interlocking control scheme |
| CN112484782A (en) * | 2020-12-04 | 2021-03-12 | 武汉城市职业学院 | Hybrid topology type lake water quality monitoring system based on multi-rotor unmanned aerial vehicle |
| RU205927U1 (en) * | 2021-04-27 | 2021-08-12 | Федеральное государственное бюджетное образовательное учреждение высшего образования "Казанский национальный исследовательский технический университет им. А.Н. Туполева - КАИ" | MOBILE ABOVE PLATFORM FOR BASING AN AUTONOMOUS UNHABITABLE UNDERWATER VEHICLE |
| CN114604364A (en) * | 2021-06-08 | 2022-06-10 | 中国科学院海洋研究所 | Cable type underwater helicopter profile measuring system and method |
| CN114954866A (en) * | 2022-05-31 | 2022-08-30 | 南通理工学院 | Intelligent monitor for offshore underwater monitoring |
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