CN110865371A - Be used for ground penetrating radar device under water - Google Patents
Be used for ground penetrating radar device under water Download PDFInfo
- Publication number
- CN110865371A CN110865371A CN201911196812.7A CN201911196812A CN110865371A CN 110865371 A CN110865371 A CN 110865371A CN 201911196812 A CN201911196812 A CN 201911196812A CN 110865371 A CN110865371 A CN 110865371A
- Authority
- CN
- China
- Prior art keywords
- shell
- housing
- detection system
- distance measuring
- ground penetrating
- Prior art date
- 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.)
- Pending
Links
- 230000000149 penetrating effect Effects 0.000 title claims abstract description 12
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title description 10
- 238000001514 detection method Methods 0.000 claims abstract description 21
- 230000008054 signal transmission Effects 0.000 claims abstract description 12
- 238000007789 sealing Methods 0.000 claims abstract description 8
- 239000010802 sludge Substances 0.000 abstract description 3
- 238000005259 measurement Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/027—Constructional details of housings, e.g. form, type, material or ruggedness
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/885—Radar or analogous systems specially adapted for specific applications for ground probing
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
Landscapes
- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses an underwater ground penetrating radar device, which comprises a shell and a sealing cover, wherein the sealing cover is connected with the shell; the device comprises a shell, a positioning system, a wireless signal transmission system, a detection system, a distance measuring wheel, a battery and a radar antenna, wherein the shell is internally provided with the detection system, and the positioning system and the wireless signal transmission system are connected with the detection system; the product has higher ground clearance and larger wheel diameter at the same time, and can work normally under the underwater environment with a small amount of sludge; due to the ground contact spring, the invention can work normally in the rugged ground area and has stronger adaptability.
Description
Technical Field
The invention relates to an underwater ground penetrating radar device, and belongs to the technical field of radar detection.
Background
At present, ground penetrating radar products with underwater detection capability do not exist in the market, and a geological radar method cannot be used underwater for detecting pipelines and geological structures. Geological radar products appearing in the market at present can not work in rugged or human-walking regions, and the existing geological radar products need to be connected with a computer through a connecting line and can only be positioned by relying on a distance measuring wheel, so that the application range of the geological radar method is greatly limited, and the geological radar is very inconvenient to use.
Disclosure of Invention
The invention aims to provide an underwater ground penetrating radar device, which aims to solve the technical problem that in the prior art, a ground penetrating radar is difficult to detect at the water bottom and below a water level line of a water-facing panel.
An underwater ground penetrating radar device comprises a shell, a sealing cover connected with the shell; the device comprises a shell, a detection system, a positioning system and a wireless signal transmission system, wherein the shell is internally provided with the detection system, the positioning system and the wireless signal transmission system are connected with the detection system, the detection system comprises a host, a ranging wheel, a battery for providing power for the device, and a radar antenna for transmitting and receiving signals, the ranging wheel is arranged outside the shell, and the ranging wheel is connected with the host through a data line.
Preferably, the distance measuring wheels are at least provided with two groups and are connected with the shell through springs.
Preferably, the distance measuring wheel is provided with a rotating shaft, two ends of the rotating shaft are connected with one end of a spring, and the other end of the spring is connected with the shell.
Preferably, at least four loading wheels are arranged on the shell.
Preferably, the housing is provided with a towing handle.
Preferably, an area-variable inserting plate is arranged inside the shell, and the radar antenna is installed in the area-variable inserting plate.
Preferably, the inside of the shell is also provided with a fitting placing cabin.
Preferably, the four corners of the sealing cover are provided with balancing weights.
Preferably, a photoelectric tube is arranged at the position of the shell corresponding to the distance measuring wheel.
Preferably, the distance measuring wheel is provided with a light source generator and a light hole.
Compared with the prior art, the invention has the following beneficial effects: the GPS data recorded above the water surface and the data measured by the underwater distance measuring wheel and the inertial navigation can be integrated through an algorithm, the underwater path information of the instrument is calculated, and finally, an accurate image-position corresponding graph can be obtained through processing software. The detection system can change the antennas with different sizes by changing the position of the area-variable plugboard according to requirements, and then detect with different depths and different accuracies. The product has higher ground clearance and larger wheel diameter at the same time, and can work normally under the underwater environment with a small amount of sludge; due to the ground contact spring, the invention can work normally in the rugged ground area and has stronger adaptability.
Drawings
FIG. 1 is a front view of the seal cap of the present invention;
FIG. 2 is a side view of the seal cap of the present invention;
FIG. 3 is a front view of the host of the present invention;
FIG. 4 is a bottom view of the host of the present invention;
FIG. 5 is a side view of the mainframe of the present invention;
FIG. 6 is a schematic view of a distance measuring device of the present invention;
FIG. 7 is a schematic view of the inventive ranging device;
fig. 8 is a schematic diagram of the operation of the wireless signal transmission system of the present invention.
In the figure: 1. a positioning system; 2. a balancing weight; 3. a host; 4. a wireless signal transmission system; 5. a battery; 6. a distance measuring wheel interface; 7. an accessory placing bin; 8. a radar antenna; 9. inserting plates; 10. a loading wheel; 11. dragging the handle; 12. a housing; 13. a spring; 14. a distance measuring wheel; 15. a rotating shaft; 16. a light-transmitting hole; 17. a needle bearing; 18. a light source generator; 19. a photoelectric tube.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
As shown in fig. 1 to 8, disclosed is an underwater ground penetrating radar apparatus including a housing 12, a sealing cover connected to the housing; a detection system, a positioning system and a wireless signal transmission system 4 which are connected with the detection system are arranged in the shell 12, the positioning system 1 adopts a high-precision GPS for positioning, the detection system comprises a host 3, a distance measuring wheel 14, a battery 5 for providing power for the device, and a radar antenna 8 for transmitting and receiving signals, the distance measuring wheel 14 is arranged outside the shell 12, and the distance measuring wheel 14 is connected with the host 3 through a data line; the host 3, the radar antenna 8 and the battery 5 are placed in the waterproof shell 12, the traction position is connected with a traction rope, and the whole device is dragged to move through the traction rope.
In this embodiment, in order to make the device work more stably, the distance measuring 14 wheels are provided with at least two groups, the two groups of distance measuring wheels 14 ensure the balance of traveling, the distance measuring wheels 14 are connected with the shell 12 through the springs 13, and under the condition of uneven ground, the springs 13 are compressed or extended simultaneously, and the distance measuring wheels 14 can ensure to be attached to the ground. The distance measuring wheel 14 is provided with a rotating shaft 15, two ends of the rotating shaft 15 are connected with one end of a spring 13, the other end of the spring 13 is connected with the shell 12, and the ground sticking spring 13 device in the distance measuring wheel 14 can ensure that the distance measuring wheel 14 is continuously stuck to the ground, so that the condition that the distance measuring wheel 14 is not rotated when an instrument moves is avoided. At least four loading wheels 10 are arranged on the shell 12, and balancing weights 2 are arranged at four corners of the sealing cover, so that the whole device can sink sufficiently, cannot be influenced by buoyancy, and reduces measuring errors. The shell 12 is provided with a dragging handle 11, so that the carrying and dragging are convenient. The inside variable area picture peg 9 that is equipped with of shell 12, radar antenna 8 installs at the variable area picture peg inboard, and detecting system can be as required, through the position that changes variable area picture peg 9, changes not unidimensional radar antenna 8, and then carries out the detection of the different degree of depth, different accuracy. The shell 12 is also internally provided with an accessory placing bin 7, and when the shell is not used, components can be detached and placed in the accessory placing bin 7. The shell 12 is provided with a photoelectric tube 19 corresponding to the position of the distance measuring wheel 14. The distance measuring wheel 14 is provided with a light source generator 18 and a light hole 16, and the distance measuring principle of the distance measuring wheel 14 is as follows: the light source generator in the wheel 14, as shown in fig. 6, emits light which is received by the photocell 19 through the light-transmitting hole 16, and when the photocell 19 is illuminated, its reverse resistance is low, thus outputting an electric pulse signal. When the light source is shielded by the opaque part, the reverse resistance of the photocell 19 is large, and no signal is provided at the output end. Thus, speed and distance information can be obtained according to the number of the light holes 16, the distance between the light holes 16 and the time interval between pulse signals.
The detection system, the wireless signal transmission system 4 and the positioning system 1 work cooperatively to acquire accurate data. The wireless signal transmission system 4 transmits the instruction of the notebook computer to the instrument, and simultaneously transmits the measurement data to the remote notebook computer in real time through the wireless signal transmission system 4, so that the staff can adjust the measurement parameters and the path in time through the real-time data. The positioning system 1 is responsible for recording a detection path, the positioning system 1 and the distance measuring wheel 14 work jointly to record accurate path information in an area with GPS signals, namely above the water surface, the GPS data recorded above the water surface and the data measured by the underwater distance measuring wheel 14 and inertial navigation can be integrated through an algorithm in an area without GPS signals, the underwater path information of the instrument is calculated, and finally an accurate image-position corresponding graph can be obtained through processing software. The detection system can change the antennas 8 with different sizes by changing the position of the area-variable inserting plate 9 according to requirements, and then detect with different depths and different accuracies. The product has higher ground clearance and larger wheel diameter at the same time, and can work normally under the underwater environment with a small amount of sludge; due to the ground contact spring, the invention can work normally in the rugged ground area and has stronger adaptability.
The processing software algorithm implementation mode comprises the following steps: the GPS position information and the distance measuring wheel data are combined, the GPS position information of the water part is fitted into a curve point by point, and the vector direction of the curve before entering the water is taken as the initial direction of the measuring line of the underwater GPS signal-free part. The initial direction of the underwater part and the data obtained by the inertial navigation of the underwater part are processed in a combined mode, the accurate time of the change of the motion direction and the motion direction of an instrument of the underwater part can be obtained, the moving distance and the moving speed measured by the distance measuring wheel are combined, the motion path and the position of the device under water at a certain moment are obtained, and the three groups of data are combined to form an accurate position-image corresponding graph.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (10)
1. The underwater ground penetrating radar device is characterized by comprising a shell and a sealing cover connected with the shell; the device comprises a shell, a detection system, a positioning system and a wireless signal transmission system, wherein the shell is internally provided with the detection system, the positioning system and the wireless signal transmission system are connected with the detection system, the detection system comprises a host, a ranging wheel, a battery for providing power for the device, and a radar antenna for transmitting and receiving signals, the ranging wheel is arranged outside the shell, and the ranging wheel is connected with the host through a data line.
2. The device as claimed in claim 1, wherein there are at least two sets of the distance measuring wheels, and the distance measuring wheels are connected with the housing through springs.
3. The device as claimed in claim 2, wherein the ranging wheel is provided with a rotating shaft, two ends of the rotating shaft are connected with one end of a spring, and the other end of the spring is connected with the housing.
4. An underwater ground penetrating radar apparatus as claimed in claim 1 wherein said housing is provided with at least four bogie wheels.
5. The device of claim 1, wherein the housing is provided with a towing handle.
6. The device as claimed in claim 1, wherein a variable area board is provided inside the housing, and the radar antenna is mounted in the variable area board.
7. The device as claimed in claim 1, wherein a fitting storage chamber is further provided inside the housing.
8. The device as claimed in claim 1, wherein the sealing cover has weights at four corners.
9. The device as claimed in claim 1, wherein the housing is provided with a photoelectric tube corresponding to the position of the ranging wheel.
10. An underwater ground penetrating radar apparatus as claimed in claim 1 wherein said ranging wheel is provided with a light source generator and a light transmitting aperture.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911196812.7A CN110865371A (en) | 2019-11-29 | 2019-11-29 | Be used for ground penetrating radar device under water |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911196812.7A CN110865371A (en) | 2019-11-29 | 2019-11-29 | Be used for ground penetrating radar device under water |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110865371A true CN110865371A (en) | 2020-03-06 |
Family
ID=69657354
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911196812.7A Pending CN110865371A (en) | 2019-11-29 | 2019-11-29 | Be used for ground penetrating radar device under water |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110865371A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112612021A (en) * | 2020-11-20 | 2021-04-06 | 上海市基础工程集团有限公司 | Method for detecting ground penetrating radar in shallow water |
| CN112612022A (en) * | 2020-11-20 | 2021-04-06 | 上海市基础工程集团有限公司 | Ground penetrating radar detection device in shallow water |
| CN115291208A (en) * | 2022-04-27 | 2022-11-04 | 水利部交通运输部国家能源局南京水利科学研究院 | Geological radar vehicle-mounted towing device for exploring dyke hidden danger and using method |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2867290Y (en) * | 2006-04-27 | 2007-02-07 | 河南省南阳水文水资源勘测局 | Hydrographic cableway photoelectric distance meter |
| CN101907711A (en) * | 2010-07-16 | 2010-12-08 | 浙江大学 | Simultaneous detecting and positioning method for autonomous underwater robot |
| CN102519450A (en) * | 2011-12-12 | 2012-06-27 | 东南大学 | Integrated navigation device for underwater glider and navigation method therefor |
| CN204595210U (en) * | 2015-05-20 | 2015-08-26 | 江苏建筑职业技术学院 | A kind of geological radar self-adaptation measuring wheel device |
| CN205192435U (en) * | 2015-11-04 | 2016-04-27 | 王振兴 | Automatic mark system of distancer |
| WO2016098959A1 (en) * | 2014-12-19 | 2016-06-23 | 코아글림 주식회사 | Mobile sensor platform-based underwater navigation system and control method therefor |
| CN206863210U (en) * | 2017-05-22 | 2018-01-09 | 华侨大学 | A kind of multi-functional geological radar pavement detection car |
| CN108693547A (en) * | 2018-06-05 | 2018-10-23 | 河海大学 | A kind of navigation system for underwater bathyscaph and accurate three-point positioning method |
| CN208334238U (en) * | 2018-05-07 | 2019-01-04 | 湖南联智智能科技有限公司 | A kind of roadbed filling quality rapid determination system |
| CN208614792U (en) * | 2018-06-25 | 2019-03-19 | 武汉交通职业学院 | A kind of Intelligent Underwater Robot control system |
| CN110082755A (en) * | 2019-05-05 | 2019-08-02 | 武汉驰驭科技有限公司 | A kind of auxiliary device of Ground Penetrating Radar |
-
2019
- 2019-11-29 CN CN201911196812.7A patent/CN110865371A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2867290Y (en) * | 2006-04-27 | 2007-02-07 | 河南省南阳水文水资源勘测局 | Hydrographic cableway photoelectric distance meter |
| CN101907711A (en) * | 2010-07-16 | 2010-12-08 | 浙江大学 | Simultaneous detecting and positioning method for autonomous underwater robot |
| CN102519450A (en) * | 2011-12-12 | 2012-06-27 | 东南大学 | Integrated navigation device for underwater glider and navigation method therefor |
| WO2016098959A1 (en) * | 2014-12-19 | 2016-06-23 | 코아글림 주식회사 | Mobile sensor platform-based underwater navigation system and control method therefor |
| CN204595210U (en) * | 2015-05-20 | 2015-08-26 | 江苏建筑职业技术学院 | A kind of geological radar self-adaptation measuring wheel device |
| CN205192435U (en) * | 2015-11-04 | 2016-04-27 | 王振兴 | Automatic mark system of distancer |
| CN206863210U (en) * | 2017-05-22 | 2018-01-09 | 华侨大学 | A kind of multi-functional geological radar pavement detection car |
| CN208334238U (en) * | 2018-05-07 | 2019-01-04 | 湖南联智智能科技有限公司 | A kind of roadbed filling quality rapid determination system |
| CN108693547A (en) * | 2018-06-05 | 2018-10-23 | 河海大学 | A kind of navigation system for underwater bathyscaph and accurate three-point positioning method |
| CN208614792U (en) * | 2018-06-25 | 2019-03-19 | 武汉交通职业学院 | A kind of Intelligent Underwater Robot control system |
| CN110082755A (en) * | 2019-05-05 | 2019-08-02 | 武汉驰驭科技有限公司 | A kind of auxiliary device of Ground Penetrating Radar |
Non-Patent Citations (1)
| Title |
|---|
| 王国群: "探地雷达在淡水区浅水域的探测试验", 《物探与化探》 * |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112612021A (en) * | 2020-11-20 | 2021-04-06 | 上海市基础工程集团有限公司 | Method for detecting ground penetrating radar in shallow water |
| CN112612022A (en) * | 2020-11-20 | 2021-04-06 | 上海市基础工程集团有限公司 | Ground penetrating radar detection device in shallow water |
| CN112612021B (en) * | 2020-11-20 | 2023-04-07 | 上海市基础工程集团有限公司 | Method for detecting ground penetrating radar in shallow water |
| CN115291208A (en) * | 2022-04-27 | 2022-11-04 | 水利部交通运输部国家能源局南京水利科学研究院 | Geological radar vehicle-mounted towing device for exploring dyke hidden danger and using method |
| CN115291208B (en) * | 2022-04-27 | 2024-04-23 | 水利部交通运输部国家能源局南京水利科学研究院 | Geological radar vehicle-mounted dragging device for exploring embankment hidden danger and use method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110865371A (en) | Be used for ground penetrating radar device under water | |
| CN102495420B (en) | Underwater object precision positioning system and method | |
| US20100061187A1 (en) | Positioning system | |
| JP2003302221A (en) | Gps wave height, current direction and current speed measuring device and gps wave height, current direction and current speed measuring system | |
| CN108982670B (en) | Electromagnetic ultrasonic probe for nondestructive detection of water pipe | |
| CN104133217B (en) | Method and device for three-dimensional velocity joint determination of underwater moving target and water flow | |
| CN102923283A (en) | Underwater fixed-depth and fixed-height towing device | |
| CN104122408A (en) | Speed measuring equipment for underwater wheel type trolley | |
| CN105259368A (en) | Optical induction type flow velocity measuring method and high-sensitivity flow meter | |
| CN109632000B (en) | Integrated detection device and detection method based on sinking type | |
| CN109898993A (en) | The measurement device of groundwater velocity and direction in vertical drilling | |
| KR20120077109A (en) | Leakage inspecting apparatus | |
| CN104502910A (en) | Handheld radar for measuring surface velocity of river-way | |
| US8743657B1 (en) | Resolution analysis using vector components of a scattered acoustic intensity field | |
| US20210124085A1 (en) | Detecting objects submerged in a body of water or at least partly buried in a bed of the body of water | |
| CN202230200U (en) | Tethered underwater vehicle supersonic wave positioning and track monitoring system | |
| CN114152773A (en) | Two-dimensional sea surface ghost wave water body imaging measurement device, method and application | |
| CN202987483U (en) | Underwater constant depth and constant height dragging device | |
| CN204028103U (en) | A kind of velocity measuring device for wheeled carriage under water | |
| CN205229473U (en) | General pair of ball floating ocean bottom seismograph that drowns oneself | |
| CN106680807A (en) | Automatic recording system used for measuring line tracks of ground penetrating radar and method | |
| Boegeman et al. | Precise positioning for near-bottom equipment using a relay transponder | |
| CN205826069U (en) | A kind of compound radar level gauge of band static pressure function | |
| CN212172493U (en) | Three-dimensional shallow stratum profiler dragging device | |
| CN109669186B (en) | Acoustic-magnetic combined measurement system and method for underwater navigation body |
Legal Events
| 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 |
Application publication date: 20200306 |
|
| RJ01 | Rejection of invention patent application after publication |