CN113495170A - Optical water body flow velocity sensor and flow velocity calculation method - Google Patents
Optical water body flow velocity sensor and flow velocity calculation method Download PDFInfo
- Publication number
- CN113495170A CN113495170A CN202110734296.XA CN202110734296A CN113495170A CN 113495170 A CN113495170 A CN 113495170A CN 202110734296 A CN202110734296 A CN 202110734296A CN 113495170 A CN113495170 A CN 113495170A
- Authority
- CN
- China
- Prior art keywords
- flow velocity
- sensor
- optical
- water body
- window
- 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
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 102
- 230000003287 optical effect Effects 0.000 title claims abstract description 52
- 238000004364 calculation method Methods 0.000 title abstract description 7
- 230000008859 change Effects 0.000 claims abstract description 5
- 239000011159 matrix material Substances 0.000 claims description 20
- 238000005259 measurement Methods 0.000 claims description 19
- 239000013598 vector Substances 0.000 claims description 14
- 239000002245 particle Substances 0.000 claims description 9
- 238000003384 imaging method Methods 0.000 claims description 6
- 238000000034 method Methods 0.000 claims description 6
- 229910001220 stainless steel Inorganic materials 0.000 claims description 5
- 239000010935 stainless steel Substances 0.000 claims description 5
- 230000005540 biological transmission Effects 0.000 claims description 3
- 239000000463 material Substances 0.000 claims description 2
- 230000007613 environmental effect Effects 0.000 abstract description 5
- 108010066057 cabin-1 Proteins 0.000 description 5
- 239000000523 sample Substances 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 239000012530 fluid Substances 0.000 description 2
- 230000000903 blocking effect Effects 0.000 description 1
- 239000013505 freshwater Substances 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000000691 measurement method Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000013535 sea water Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P5/00—Measuring speed of fluids, e.g. of air stream; Measuring speed of bodies relative to fluids, e.g. of ship, of aircraft
- G01P5/26—Measuring speed of fluids, e.g. of air stream; Measuring speed of bodies relative to fluids, e.g. of ship, of aircraft by measuring the direct influence of the streaming fluid on the properties of a detecting optical wave
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Multimedia (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- Indicating Or Recording The Presence, Absence, Or Direction Of Movement (AREA)
Abstract
The invention provides an optical water body flow velocity sensor and a flow velocity calculation method, wherein the sensor device comprises: the spherical pressure-resistant waterproof cabin is internally and hermetically provided with an MCU controller, a power supply, an attitude sensor, an electronic compass and a window speed measuring module; the attitude sensor, the electronic compass and the window speed measuring module are all connected with the MCU controller, and the power supply supplies power to the MCU controller; the spherical pressure-resistant waterproof cabin is provided with a transparent optical window, and the window speed measuring module is arranged at the position of the transparent optical window. The sensor provided by the invention can directly measure and calculate the real water body flow velocity, is not influenced by environmental factors, can obtain high-precision water body flow velocity, horizontal flow velocity and vertical flow velocity, has small influence on the water body flow velocity around the sensor, and can capture the rapid change of the water body flow direction and the vortex phenomenon of medium and small scale.
Description
Technical Field
The invention relates to the technical field of marine instruments, in particular to an optical water body flow velocity sensor and a flow velocity calculation method.
Background
Commonly used water flow velocity sensors are generally classified into mechanical type, electromagnetic type, and acoustic type.
The mechanical flow velocity sensor mainly comprises a propeller, a flow guide cover and a cabin body. The flow speed of the water body is indirectly calculated by measuring the rotating speed of the propeller, and the flow direction of the water body is measured by keeping the flow direction of the sensor cabin consistent with that of the water body through the air guide sleeve. The mechanical flow rate sensor has the following disadvantages: 1. due to the influence of the inertia of the propeller, the measurement of the flow rate requires a period of time to start and does not accurately reflect the instantaneous flow rate. 2. The propeller bearing is corroded by seawater after long-term use, and the rotating resistance is increased, so that the flow velocity cannot be accurately measured. 3. For the water body or the vortex phenomenon with the rapidly changed flow direction, the inertia of the cabin body and the air guide sleeve can not be rapidly measured.
The electromagnetic flow velocity sensor mainly utilizes the current of the annular coil to generate a magnetic field around the sensor, the flowing water body moves in the magnetic field to generate electric potential, and the flow velocity of the water body is indirectly calculated through the magnitude of the electric potential. The flow direction of the water body is measured by keeping the flow direction of the sensor cabin consistent with that of the water body by using the air guide sleeve. The electromagnetic flow rate sensor has the following defects: 1. the influence of environmental factors such as potential temperature and water conductivity generated by the flowing water body is large, and the measurement precision is low. 2. The flow velocity of the fresh water body cannot be measured. 3. Due to the fact that the coil structure has a certain blocking effect on the flow velocity of the surrounding water body, the authenticity of a measuring result is influenced. 4. For the water body or the vortex phenomenon with the rapidly changed flow direction, the inertia of the cabin body and the air guide sleeve can not be rapidly measured.
The acoustic flow velocity sensor mainly utilizes a water acoustic transducer to emit sound waves, and the flow velocity and the flow direction of the water body are indirectly calculated through the Doppler effect generated between the sound waves and the fluid. Acoustic flow rate sensor: 1. the Doppler effect is greatly influenced by environmental factors such as water temperature, density, pressure intensity and the like, and the measurement precision is low. 2. The measurement range of the acoustic flow velocity sensor is limited to a certain extent, and the flow velocity of the water body in the area near the sensor cannot be measured. 3. The acoustic flow velocity sensor can only reflect the macroscopic water body flow velocity and flow direction, and can not accurately and truly reflect the single-point water body flow velocity and flow direction. 4. The acoustic flow velocity sensor is limited by a measuring mechanism and cannot be measured and calibrated in the conventional test water tank and water tank.
In conclusion, the existing water flow velocity sensor can only measure the flow velocity and the flow direction of water on a single plane, and cannot measure the flow velocity and the flow direction of water in a space. The existing water flow velocity sensor can not effectively measure the water vortex phenomenon.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides an optical water flow velocity sensor capable of acquiring high-precision water flow velocity and a flow velocity calculation method.
An optical water flow velocity sensor comprising: the spherical pressure-resistant waterproof cabin is internally and hermetically provided with an MCU controller, a power supply, an attitude sensor, an electronic compass and a window speed measuring module;
the attitude sensor, the electronic compass and the window speed measuring module are all connected with the MCU controller, and the power supply supplies power to the MCU controller;
the spherical pressure-resistant waterproof cabin is provided with a transparent optical window, and the window speed measuring module is arranged at the position of the transparent optical window.
Further, as mentioned above, the optical water flow velocity sensor, the window speed measurement module includes:
DSP processor, CMOS sensor, microscopic imaging lens group, LED; the light emitting diode receives a control signal of the MCU controller and then lights and illuminates suspended particles and bubbles in the water body; image information of suspended particles and bubbles in the water body is amplified by the microscopic imaging lens group and then transmitted to the CMOS sensor, the CMOS sensor converts the image information into a digital matrix and transmits the digital matrix to the DSP processor, the DSP processor receives the data matrix, compares the data matrix with a previous frame matrix to obtain speed and direction data of image change, and transmits the speed and direction data to the MCU controller.
Furthermore, as for the optical water flow velocity sensor, 4 transparent optical windows are arranged on the spherical pressure-resistant waterproof cabin, and each window is correspondingly provided with one window speed measurement module.
Further, as for the optical water flow velocity sensor, the 4 transparent optical windows are respectively arranged at the front, back, left and right of the spherical pressure-resistant waterproof cabin in 4 directions.
Further, as for the optical water flow velocity sensor, the 4 transparent optical windows are arranged on the circumference of the spherical equator of the spherical pressure-resistant waterproof cabin.
Furthermore, as for the optical water body flow velocity sensor, a watertight connector is arranged on the spherical pressure-resistant waterproof cabin and is used for connecting a watertight cable so as to perform data transmission with a computer.
Further, as for the optical water flow velocity sensor, a temperature sensor and a pressure sensor are further arranged at the bottom of the spherical pressure-resistant waterproof cabin and are connected with the MCU controller.
Further, as the optical water flow velocity sensor, the spherical pressure-resistant waterproof cabin is a stainless steel pressure-resistant waterproof cabin.
A method of calculating flow velocity using an optical water flow velocity sensor as claimed in any one of the preceding claims, comprising: the speed vectors measured by the window speed measuring module are respectively defined as
The euler angles measured with the attitude sensor are psi, theta,
the magnetic azimuth angle measured by the electronic compass is gamma;
according to the vector superposition principle, the water body flow velocity vector measured by the optical flow velocity sensor is as follows:
the euler angles psi, theta measured with the attitude sensors,
calculating a rotation matrix of the optical flow velocity sensor as:
calculating a declination rotation matrix of the sensor by using the azimuth angle gamma measured by the electronic compass:
and calculating the absolute flow velocity vector of the water body relative to a ground coordinate system by using the results as follows:
Has the advantages that:
1. the optical water flow velocity sensor provided by the invention can directly measure the water flow velocity because the stainless steel spherical pressure-resistant waterproof cabin is adopted.
2. The optical water flow velocity sensor provided by the invention adopts the stainless steel spherical pressure-resistant waterproof cabin with waterproof and pressure-resistant protection effects, so that the influence of the environmental factors is avoided when the water flow velocity is measured.
3. The sensor provided by the invention realizes the purpose of acquiring the water flow velocity with high precision by combining the MCU controller with the transparent optical window. Specifically, the intuitive expression of the water flow rate is the movement speed of particles and bubbles in the water, the invention directly measures the movement speed of the particles and the bubbles in the water by using an optical method, and adopts a high-speed CMOS sensor and a DSP processor to collect and process tens of thousands of frames of image data per second and directly calculate the water flow rate. Compared with the traditional indirect measurement method, the method is not influenced by the sensor structure and the self environmental parameters of the water body, so that the method has higher precision and more real measurement data.
4. The invention has no complex shape structure and has little influence on the flow velocity of water around the sensor. Specifically, the sensor is a smooth sphere in shape, and has a simpler curved surface structure with smaller fluid resistance compared with a propeller of a mechanical type flow velocity meter and an induction ring of an electromagnetic type flow velocity meter. Therefore, the influence of the invention on the flow velocity of the surrounding water body is small.
5. The conventional mechanical and electromagnetic flow velocity sensors measure the flow direction of a water body in a flow guide cover mode, and cannot effectively measure the flow direction of the water body with quick flow direction change under the influence of inertia.
6. The existing flow velocity sensor can only measure the projection flow direction of the water body, and the invention can measure the space flow direction of the water body.
Drawings
FIG. 1 is a diagram of the structure of an optical water flow velocity sensor according to the present invention;
FIG. 2 is a schematic structure diagram of an optical water flow velocity sensor;
fig. 3 is a schematic structure diagram of a window velocity measurement module.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention are described below clearly and completely, and it is obvious that the described embodiments are some, not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, the invention provides an optical water flow velocity sensor, which comprises a spherical pressure-resistant waterproof cabin 1 made of stainless steel material, a watertight connector 2, a transparent optical window 3, a temperature probe 4 and a pressure probe 5.
The spherical pressure-resistant waterproof cabin 1 plays a role in waterproof and pressure-resistant protection, and protects the normal operation of an internal light path and a circuit in water. The upper end of the spherical pressure-resistant waterproof cabin 1 is provided with a watertight connector 2, and the watertight connector 2 can be used for connecting a watertight cable and is used for data transmission with equipment such as a computer. The lower end of the spherical pressure-resistant waterproof cabin 1 is provided with a temperature sensor (a temperature probe 4) and a pressure sensor (a pressure probe 5), and the temperature and pressure data of the water body near the sensors can be measured. The middle part of the spherical pressure-resistant waterproof cabin 1 is provided with 4 transparent optical windows which can transmit illumination light inside the sensor and can also transmit water body particles and bubble images into the cabin.
Further, as shown in fig. 2, the internal system of the optical water flow velocity sensor provided by the present invention comprises: MCU controller, power, attitude sensor, electron compass, data interface, 4 window speed measuring modules. The 4 window speed measurement modules respectively transmit the measured water flow velocity and flow direction data to the MCU controller. And the electronic compass transmits the current yaw angle data of the sensor to the MCU controller. And the attitude sensor transmits the observed sensor attitude angle data to the MCU controller. And the MCU controller performs fusion calculation on the 4 groups of flow velocity and flow direction data, the yaw angle data and the attitude angle data to obtain the current measured flow velocity and flow direction of the water body by the sensor. The power supply supplies power to all the modules of the system. The data interface is used for transmitting measurement data or receiving setting instructions.
Specifically, 4 window speed measuring module mounting positions:
the sensor provided by the invention is spherical, the 4 window speed measurement modules are respectively arranged at the front, back, left and right (0 degree, 90 degrees, 180 degrees and 270 degrees) positions on the spherical equator of the sensor, so that the data measured by the front and back groups of sensors and the data measured by the left and right groups of sensors are perpendicular to each other, the flow velocity and the flow direction of the water body can be independently measured in the two directions, and the 4 flow velocity and flow direction data measured by the 4 window speed measurement modules can be used for solving the accurate flow velocity and flow direction of the water body by utilizing the vector superposition principle. If not, errors will be introduced.
The speed measurement principle of the window speed measurement module is as follows:
the window speed measurement module utilizes a high-speed CMOS sensor to collect tens of thousands of frames of image data per second, the DSP performs feature recognition on the image, calculates the vector gradient between adjacent pictures, solves the flow speed and flow direction data and sends the flow speed and flow direction data to the system MCU.
As shown in fig. 3, the window speed measuring module is a sensor, and the window speed measuring module includes four groups of window speed measuring modules, including: DSP processor, CMOS sensor, microscopic imaging lens group, and light emitting diode. The light emitting diode receives the control signal of the MCU to light and illuminate the suspended particles and bubbles in the water body. Image information of suspended particles and bubbles in the water body is amplified by the microscopic imaging lens group and then transmitted to the CMOS sensor. The CMOS sensor converts the image information into a digital matrix and transmits the digital matrix to the DSP processor. And after receiving the data matrix, the DSP processor obtains speed and direction data of image change by comparing with the matrix of the previous frame, and transmits the speed and direction data to the MCU controller.
The flow velocity measurement calculation method comprises the following steps:
data measured by an optical water flow velocity sensor comprises: the velocity vectors measured by the four window velocity measurement modules are respectively defined as
The euler angles measured by the attitude sensor are psi, theta,
the magnetic azimuth angle measured by the electronic compass is gamma.
According to the vector superposition principle, the water body flow velocity vector measured by the optical flow velocity sensor is as follows:
the euler angles psi, theta measured with the attitude sensors,
can calculate the optical flowThe rotation matrix of the velocity sensor is:
the declination rotation matrix of the sensor can be calculated by using the azimuth angle gamma measured by the electronic compass:
the absolute flow velocity vector of the water body relative to the ground coordinate system can be calculated by using the results as follows:
When in use
Is smaller, but
When the sum of generations of (2) is larger, the observation of the vortex phenomenon of the water body can be shown by
The magnitude of the algebraic sum characterizes the water vortex velocity.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (9)
1. An optical water flow velocity sensor, comprising: the spherical pressure-resistant waterproof cabin (1) is internally and hermetically provided with an MCU controller, a power supply, an attitude sensor, an electronic compass and a window speed measuring module;
the attitude sensor, the electronic compass and the window speed measuring module are all connected with the MCU controller, and the power supply supplies power to the MCU controller;
the spherical pressure-resistant waterproof cabin (1) is provided with a transparent optical window (3), and the window speed measuring module is arranged at the position of the transparent optical window (3).
2. The optical water flow velocity sensor according to claim 1, wherein the window velocity measurement module comprises:
DSP processor, CMOS sensor, microscopic imaging lens group, LED; the light emitting diode receives a control signal of the MCU controller and then lights and illuminates suspended particles and bubbles in the water body; image information of suspended particles and bubbles in the water body is amplified by the microscopic imaging lens group and then transmitted to the CMOS sensor, the CMOS sensor converts the image information into a digital matrix and transmits the digital matrix to the DSP processor, the DSP processor receives the data matrix, compares the data matrix with a previous frame matrix to obtain speed and direction data of image change, and transmits the speed and direction data to the MCU controller.
3. The optical water flow velocity sensor according to claim 1, wherein 4 transparent optical windows (3) are arranged on the spherical pressure-resistant waterproof cabin (1), and each window is correspondingly provided with one window velocity measurement module.
4. The optical water flow velocity sensor according to claim 3, wherein the 4 transparent optical windows (3) are respectively arranged in 4 directions of the spherical pressure-resistant waterproof cabin (1) in front, back, left and right.
5. The optical water flow velocity sensor according to claim 4, wherein the 4 transparent optical windows (3) are arranged on the spherical equatorial circumference of the spherical pressure-proof and waterproof compartment (1).
6. The optical water flow velocity sensor according to claim 1, wherein a watertight connector (2) is arranged on the spherical pressure-resistant and waterproof cabin (1), and the watertight connector (2) is used for connecting a watertight cable to perform data transmission with a computer.
7. The optical water flow velocity sensor according to claim 1, wherein a temperature sensor and a pressure sensor are further arranged at the bottom of the spherical pressure-resistant waterproof cabin (1), and the temperature sensor and the pressure sensor are connected with an MCU controller.
8. The optical water flow rate sensor according to claim 1, wherein the spherical pressure-resistant and waterproof compartment (1) is made of stainless steel material.
9. A method for calculating flow velocity using the optical water flow velocity sensor of any one of claims 1-8, comprising: the speed vectors measured by the window speed measuring module are respectively defined as
The euler angles measured with the attitude sensor are psi, theta,
the magnetic azimuth angle measured by the electronic compass is gamma;
according to the vector superposition principle, the water body flow velocity vector measured by the optical flow velocity sensor is as follows:
the euler angles psi, theta measured with the attitude sensors,
calculating a rotation matrix of the optical flow velocity sensor as:
calculating a declination rotation matrix of the sensor by using the azimuth angle gamma measured by the electronic compass:
and calculating the absolute flow velocity vector of the water body relative to a ground coordinate system by using the results as follows:
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110734296.XA CN113495170A (en) | 2021-06-30 | 2021-06-30 | Optical water body flow velocity sensor and flow velocity calculation method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110734296.XA CN113495170A (en) | 2021-06-30 | 2021-06-30 | Optical water body flow velocity sensor and flow velocity calculation method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113495170A true CN113495170A (en) | 2021-10-12 |
Family
ID=77998116
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110734296.XA Pending CN113495170A (en) | 2021-06-30 | 2021-06-30 | Optical water body flow velocity sensor and flow velocity calculation method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113495170A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106643922A (en) * | 2016-12-29 | 2017-05-10 | 兰州大学 | Device, system and method for measuring flow velocity and flow |
| EP3261708A1 (en) * | 2015-02-27 | 2018-01-03 | Maquet Cardiopulmonary AG | Fluid flow rate measuring and gas bubble detecting apparatus |
| CN207488321U (en) * | 2017-08-24 | 2018-06-12 | 龙微科技无锡有限公司 | A kind of wind speed and direction detection device |
| CN110672877A (en) * | 2019-10-24 | 2020-01-10 | 北京欧仕科技有限公司 | Underground water flow direction and flow velocity monitoring device and method |
| CN111458535A (en) * | 2020-04-14 | 2020-07-28 | 武汉新烽光电股份有限公司 | Flow velocity measuring device and system |
| CN111929466A (en) * | 2020-08-31 | 2020-11-13 | 陕西煤业化工技术研究院有限责任公司 | Measuring instrument and method for rapidly positioning flow velocity and flow direction of drill television in aquifer |
-
2021
- 2021-06-30 CN CN202110734296.XA patent/CN113495170A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3261708A1 (en) * | 2015-02-27 | 2018-01-03 | Maquet Cardiopulmonary AG | Fluid flow rate measuring and gas bubble detecting apparatus |
| CN106643922A (en) * | 2016-12-29 | 2017-05-10 | 兰州大学 | Device, system and method for measuring flow velocity and flow |
| CN207488321U (en) * | 2017-08-24 | 2018-06-12 | 龙微科技无锡有限公司 | A kind of wind speed and direction detection device |
| CN110672877A (en) * | 2019-10-24 | 2020-01-10 | 北京欧仕科技有限公司 | Underground water flow direction and flow velocity monitoring device and method |
| CN111458535A (en) * | 2020-04-14 | 2020-07-28 | 武汉新烽光电股份有限公司 | Flow velocity measuring device and system |
| CN111929466A (en) * | 2020-08-31 | 2020-11-13 | 陕西煤业化工技术研究院有限责任公司 | Measuring instrument and method for rapidly positioning flow velocity and flow direction of drill television in aquifer |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US20200064471A1 (en) | Three dimensional target selection systems and methods | |
| CN102495420A (en) | Underwater object precision positioning system and method | |
| CN107110953A (en) | Underwater positioning system | |
| CN110246177A (en) | Automatic wave measuring method based on vision | |
| CN110108469B (en) | Suspended tunnel pipe section attitude measurement device, test system and test method | |
| WO2020155349A1 (en) | Split-type observation apparatus for marine boundary layer, and method | |
| RU2276647C1 (en) | Submersible rescue vehicle | |
| CN108801584A (en) | Wave current flow velocity measuring system, water hole formula swimming machine system based on Laser Doppler speed and velocity correction method | |
| CN109898993A (en) | The measurement device of groundwater velocity and direction in vertical drilling | |
| CN116058867A (en) | Light-weight imaging ultrasonic system without fixed scanning probe and ultrasonic detection method | |
| CN210465475U (en) | Velocity measurement unmanned aerial vehicle | |
| CN101793905B (en) | Optical fiber type two-dimensional wind speed/direction measuring device and method | |
| CN205861011U (en) | A kind of pipeline deposit detector | |
| CN112068210B (en) | Active electric field detection device and method for positioning electric interface in sea area | |
| CN113495170A (en) | Optical water body flow velocity sensor and flow velocity calculation method | |
| CN110285753A (en) | Marine floating type works basin test model large space optical motion measurement method | |
| CN114152773A (en) | Two-dimensional sea surface ghost wave water body imaging measurement device, method and application | |
| CN113552382A (en) | Wind speed and direction measuring method, device and system | |
| CN111860215B (en) | Target object position determining method, terminal device and navigation system | |
| CN106707286B (en) | A kind of experimental system and method for underwater mobile submerged body frequency targets detection | |
| US20240193794A1 (en) | Method and Apparatus for Tracking Motion of Objects in Three-Dimensional Space | |
| CN109489628A (en) | A kind of hydrostatic level self-operated measuring unit and measurement method based on image recognition | |
| CN109506616A (en) | A kind of structural plane occurrence wireless measurement instrument | |
| Wang et al. | Reconstruction of 3-D surface waves generated by moving submerged sphere based on stereo imaging principle | |
| CN113124821B (en) | Structure measurement method based on curved mirror and plane mirror |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20211129 Address after: No.72 Binhai Road, Jimo, Qingdao, Shandong Province Applicant after: SHANDONG University Address before: 266071 Shandong province Qingdao City fish Road No. 5 Applicant before: Wang Huanqi |
|
| TA01 | Transfer of patent application right | ||
| 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: 20211012 |
|
| RJ01 | Rejection of invention patent application after publication |