CN207600397U - A kind of abyssopelagic organism measuring device - Google Patents
A kind of abyssopelagic organism measuring device Download PDFInfo
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Abstract
The utility model discloses a kind of abyssopelagic organism measuring devices.The measuring device includes：First deep-sea camera and the second deep-sea camera are respectively arranged on the both ends of stent, and in the same plane, two described deep-sea camera institute's the image collected are transmitted to the central processing unit in high pressure resistant cabin via submerged cable and underwater electrical connector to optical axis.It can be mounted on latent device using measuring device provided by the utility model and be used under moving condition, and can dynamically measure the abyssopelagic organism of body flexible variety in situ, new technological means is provided for deep-sea life science.
Description
Technical field
The utility model is related to abyssopelagic organism stereopsis field, more particularly to a kind of abyssopelagic organism measuring device.
Background technology
In the exploration to deep-sea life, underwater camera/photograph directly explores means as a kind of, and operation is relatively simple
It is single, it is the unique channel for obtaining abyssopelagic organism information under many situations.Conventional underwater camera is only focused on to abyssopelagic organism
Qualitative observation, due to the limitation of flat image, can not carry out that organism is long, and body is wide, needed for volume and typoiogical classification identification
The parameters such as the 3D shape size of vitals measurement；Some scholars, which propose, at present utilizes the underwater mesh of Binocular vision photogrammetry
Object is marked, but current technology is also confined to the measurement of the observation to underwater fixture, when use is needed camera or its carrier stationary
It, could accurate calculating observation target in seabed.Obviously the former can only provide visual image, although the latter can measure
It calculates, but this kind of observation system can only use in a stationary situation, and it is remotely controlled tethered submersible (Remote Operated
Vehicle, ROV) and the bathyscaphs such as the autonomous submersible of untethered (Autonomous UnderwaterVehicle, AUV) be movement
Platform, therefore, it is impossible to be used above in real time using can not carry on the bathyscaphs such as ROV, AUV, it is even more impossible to the fishes to travelling
Class is observed, and Practical significance is little.
The very strong huge bottom of the mobilities such as limitation and many abyssopelagic organisms, particularly fishes and shrimps due to technological means
Dwelling, necton and jellyfish etc. are soft, deformed transparent adhesive tape plastid is biological, it is difficult to obtain sample, cause deep-sea biology
The quantitative data of these biologies is lacked in result of study.
Utility model content
The purpose of this utility model is to provide a kind of abyssopelagic organism measuring device, can only be to solve existing measuring apparatus
It is used under quiescent conditions, the problem of practicability is low, the biological characteristic for the abyssopelagic organism that can not measure travelling.
To achieve the above object, the utility model provides following scheme：
A kind of abyssopelagic organism measuring device, including：Deep-sea camera, stent, high pressure resistant cabin, underwater electrical connector and underwater electricity
Cable；The deep-sea camera includes the first deep-sea camera, the second deep-sea camera；
The side of the stent and parallel with the stent is fixed in the high pressure resistant cabin；
The both ends in the high pressure resistant cabin are equipped with underwater electrical connector, and the underwater electrical connector is used to fix the submerged cable,
The submerged cable passes deep-sea camera institute the image collected for connecting the high pressure resistant cabin and the deep-sea camera
The central processing unit being sent in the high pressure resistant cabin.
Optionally, the deep-sea camera is the camera encapsulated with pressure-resistant optical window；The deep-sea camera and the branch
Frame is fixedly connected；First deep-sea camera and second deep-sea camera are respectively arranged on the both ends of the stent, described in two
In the same plane, and into angle, angle is between 15 degree of -45 degree for the optical axis of deep-sea camera.
Optionally, two deep-sea cameras have carried out the calibration of intrinsic parameter and outer parameter, and calibrating parameters are stored in described
In central processing unit in high pressure resistant cabin；The intrinsic parameter includes focal length, the principal point of the first deep-sea camera and the second deep-sea camera
Coordinate, distortion coefficients of camera lens and underwater optics refractive index, the outer parameter include the first deep-sea camera and the second deep-sea camera
Between spatial position and posture relationship.
Optionally, the model ARM Cortex-A9 of the central processing unit.
According to specific embodiment provided by the utility model, the utility model discloses following technique effects：This practicality is new
The abyssopelagic organism measuring device that type is provided can be mounted on the motion platforms such as ROV, AUV or manned submersible, can be observed and be obtained
The biological properties parameters such as body long, body is wide, the volume of abyssopelagic organism are obtained, breaching current abyssopelagic organism video investigation " has sight nothing
The present situation of survey ", substantially increases the practicability of Underwater Observation Platform, a kind of new technology hand is provided for deep-sea life science
Section.
By the way that two deep-sea camera draw in chess disk case marker fixed boards are placed in underwater environment, according to the first image, the second image
And the geometric parameter of gridiron pattern scaling board, based on nonlinear optimization algorithm solve stereo vision camera inside and outside parameter matrix,
So as to eliminate influence of the underwater environment to measuring system, ensure to establish the accuracy of threedimensional model and subaqueous survey.
Description of the drawings
It in order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only the utility model
Some embodiments, for those of ordinary skill in the art, without having to pay creative labor, can also basis
These attached drawings obtain other attached drawings.
Fig. 1 is measuring device structure chart provided by the utility model；
Fig. 2 is the biological characteristic measuring method flow chart of deep-sea sessile organism provided by the utility model；
Fig. 3 is the Stereo Matching Algorithm flow chart of abyssopelagic organism image provided by the utility model；
Fig. 4 is the biological characteristic measuring method flow chart of flexibility nekton in deep-sea provided by the utility model；
Fig. 5 is that the measurement model of deep-sea flexible biological provided by the utility model optimizes structure chart.
Specific embodiment
The following is a combination of the drawings in the embodiments of the present utility model, and the technical scheme in the embodiment of the utility model is carried out
It clearly and completely describes, it is clear that the described embodiments are only a part of the embodiments of the utility model rather than whole
Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are without making creative work
All other embodiments obtained shall fall within the protection scope of the present invention.
The purpose of this utility model is to provide a kind of abyssopelagic organism measuring device and its biological characteristic measuring method, can make
It obtains abyssopelagic organism measuring device to be observed the abyssopelagic organism for having travelling under motion platform, improve practicability and measures mould
The simulation accuracy of type, so as to improve biological characteristic measurement accuracy.
Above-mentioned purpose, feature and advantage to enable the utility model are more obvious understandable, below in conjunction with the accompanying drawings and have
Body embodiment is described in further detail the utility model.
When binocular solid camera works under abyssal environment, influenced by aqueous medium refraction, lead to lens focus and abnormal
Variable coefficient changes, and the three-dimensional imaging model in air is no longer applicable in, and for this problem, the utility model is by deep-sea binocular solid
After vision camera (i.e. the first deep-sea camera and the second deep-sea camera) batten down, directly carried out under water using gridiron pattern scaling board double
The calibration of camera inside and outside parameter, detailed process are as follows：Deep-sea binocular stereo vision camera and chessboard case marker fixed board are placed under water
In environment, scaling board is placed in viewing field of camera, can simultaneously be observed by two cameras, and at least 30 pairs of differences are shot by left and right camera
The underwater picture of the gridiron pattern scaling board of pose, according to these pictures and the geometric parameter of chessboard case marker fixed board, based on non-linear
Optimization algorithm solves the inside and outside parameter matrix of stereo vision camera, by demarcating under water, establishes inside and outside parameter matrix, can fully examine
Consider underwater refraction focusing and the influence of distortion factor, so as to eliminate influence of the underwater environment to measuring system, ensure underwater
Measure the accuracy with three-dimensional reconstruction.
Wherein, Intrinsic Matrix, the focal length including camera, principal point coordinate and distortion factor；Outer parameter matrix, including rotation
Matrix and translation vector；The two respectively describes the position and posture pass between the internal optics parameter of camera and two cameras
System, the two together form imaging model.
Fig. 1 is measuring device structure chart provided by the utility model, as shown in Figure 1, deep-sea camera, the deep-sea camera
Including the first deep-sea camera 1-1, the second deep-sea camera 1-2；Stent 2, high pressure resistant cabin 3, underwater electrical connector 4 and submerged cable 5；
First deep-sea camera and second deep-sea camera are respectively arranged on the both ends of the stent 2；The high pressure resistant cabin 3 is fixed on
The side of the stent 2 and parallel with the stent 2；The both ends in the high pressure resistant cabin 3 are equipped with plug wire hole；The plug wire hole is used for
The underwater electrical connector 4 is accessed, for fixing the submerged cable 5, the submerged cable 5 is used to connect the underwater electrical connector 4
The high pressure resistant cabin 3 and the deep-sea camera are connect, deep-sea camera institute the image collected is transmitted to the high pressure resistant cabin 3
Interior central processing unit.
In practical applications, the deep-sea camera is fixedly connected with the stent；First deep-sea camera and described
Two deep-sea cameras are respectively arranged on the both ends of the stent, the optical axis of two deep-sea cameras in the same plane, and into angle,
Angle is between 15 degree of -45 degree；Two deep-sea cameras have carried out the calibration of intrinsic parameter and outer parameter, and calibrating parameters are protected
There are in the central processing unit in the high pressure resistant cabin；The intrinsic parameter includes the coke of the first deep-sea camera and the second deep-sea camera
Away from, principal point coordinate, distortion coefficients of camera lens and underwater optics refractive index, the outer parameter includes the first deep-sea camera and second deep
Spatial position and posture relationship between marine facies machine.
The scaling method uses plane gridiron pattern standardization, and standard gridiron pattern is placed in the public of described two cameras and is regarded
In and make dynamic change, the captured by synchronous the first image and the second deep-sea camera obtained captured by the first deep-sea camera
Two images form image group, and nonlinear equation is established using the pixel corresponding points of the tessellated coplanarity of standard and multiple series of images
Group, using in the first Intrinsic Matrix of the described two cameras of nonlinear optimization algorithm solution, the first outer parameter matrix and second
Parameter matrix, the second outer parameter matrix, so as to measuring device belonging to making have the function of three-dimensional measurement and eliminate lens distortion and
The influence reflected under water.
According to the public observation visual field of double camera and measurement accuracy, it may be determined that the distance of double camera is 1 meter, camera optical axis and two
The angle of camera line is 36 degree, and the observation scope of stereoscopic camera is 700*700mm (at 1.2m) at this time, and measurement accuracy is
0.5mm。
Using measuring device provided by the utility model, the motion platforms such as ROV, AUV or manned submersible can be loaded into,
Quantitative observation deep-sea sessile organism and deep-sea flexibility nekton under motion state carry out reconstructing three-dimensional model, can be with
The biological properties parameters such as body is long, body is wide, volume are obtained, helps to carry out biological species and biomass analysis, is abyssopelagic organism
It learns research and more detailed information material is provided.
The deep-sea sessile organism includes fixation in long or short term and moves in seabed, and will not generate body change in short term
The abyssopelagic organism of change.
Biological characteristic measuring method flow charts of the Fig. 2 for deep-sea sessile organism provided by the utility model, such as Fig. 2
Shown, a kind of biological characteristic measuring method of deep-sea sessile organism, the biological characteristic of the deep-sea sessile organism is surveyed
Amount method includes：
Step 201：First internal reference matrix, first ginseng matrix, the second internal reference square outside are determined using plane gridiron pattern standardization
Ginseng matrix outside battle array and second；Ginseng matrix is by first deep-sea camera institute outside the first internal reference matrix and described first
What the image of shooting determined；Ginseng matrix is clapped by second deep-sea camera outside the second internal reference matrix and described second
What the image taken the photograph determined.
Step 202：Synchronous the first image for obtaining the shooting of first deep-sea camera and the shooting of second deep-sea camera
The second image.
Step 203：According to the first internal reference matrix, ginseng matrix outside described first, the second internal reference matrix, described the
Ginseng matrix, described first image and second image determine match point outside two.
The step 203 specifically includes：Polar curve correction, the first image after being corrected are carried out to described first image；
Polar curve correction, the second image after being corrected are carried out to second image；According to the first image after the correction according to
Time sequencing determines the first image sequence；Second image sequence is determined according to the second image after the correction sequentially in time
Row；According to described first image sequence and second image sequence, by the first image after the correction of synchronization and
The second image after the correction is matched, and determines match point.
It is described according to described first image sequence and second image sequence, by after the correction of synchronization
The second image after one image and the correction is matched, and is determined match point, is specifically included：According to described first image sequence
With second image sequence, using Scale invariant features transform (Scale Invariant Feature Transform,
SIFT) algorithm matches the first image after the correction of synchronization and the second image after the correction, determines
Match point；The match point includes the first match point and the second match point；First match point is according to described first image
It obtains, second match point is obtained according to second image；First match point and second match point
To correspond to the pixel of space same position on the first image and the second image.
In order to be determined under dynamic observation condition by deep-sea binocular stereo vision camera deep-sea sessile organism
Discharge observation, it is necessary first to carry out Stereo matching, i.e., match point is found from a pair of of stereo-picture, the pair of stereo-picture is same
First image and the second image at one moment, the match point are the upper same point imagings of organism.It is dwelt according to abyssal floor solid
The characteristics of biology determines match point, and Fig. 3 is the Stereo Matching Algorithm flow of abyssopelagic organism image provided by the utility model
Figure, as shown in figure 3, carrying out the polar curve correction of image first.It is parallel ideally in two image planes, the direction of polar curve with
The scan line of image is parallel, and the range of search is reduced to one-dimensional from two dimension, due to practical stereo visual system and is unsatisfactory for picture
The parallel condition of plane, therefore corrected by the polar curve of image, is equivalent to the image shot under image plane parallel condition, during matching
One-dimensional polar curve search can be then carried out, so as to improve the matched efficiency of polar curve.
Then the local feature of image is described.According to the shape and texture feature of organism, the utility model is adopted
With two kinds of local features：Angle point and the characteristic point with local invariant characteristic, angle point are that gray scale is terraced in two directions on image
Degree has the point for occurring significantly to convert, and has corresponded to head, fin and the tail portion geometric properties of such as fish.Matching for angle point,
If on a polar curve there are multiple points to be matched in the case of, using other constraintss for example boundary constraint removal mistake
Match.Obtain that three-dimensional reconstruction is excessively sparse, and the finer threedimensional model of organism, needs more points in order to obtain only with angle point
Three-dimensional reconstruction is participated in, the utility model is used carries out characteristic matching based on image local invariant features, using scale invariant feature
SIFT local feature regions are converted, which is the extreme point on image Gaussian scale-space, and in image rotation, change of scale is affine
There is invariance well under the conditions of transformation and view transformation etc., so as to steadily describe the feature of image, according to feature
Image gradient histogram structure SIFT local feature region description vectors in vertex neighborhood, in the initial matching point that epipolar-line constraint determines
It concentrates, if the SIFT local feature region description vectors of wherein two pairs points are closest, then it is assumed that they are match points, corresponding
Same physical points on organism.
Step 204：According to outside first match point, second match point, the first internal reference matrix, described first
Ginseng matrix, is built using optic triangle method and iteration closest approach algorithm outside ginseng matrix, the second internal reference matrix and described second
The whole threedimensional model of vertical deep-sea sessile organism.
The step 204 specifically includes：According to first match point, second match point, the first internal reference square
Ginseng matrix, the second internal reference matrix and described second join matrix outside outside for battle array, described first, using optic triangle method foundation office
Portion's threedimensional model；The partial 3 d model is spliced and merged using iteration closest approach algorithm, abyssal floor is obtained and dwells admittedly
The whole threedimensional model of biology.
It is described that the partial 3 d model is spliced and merged using iteration closest approach algorithm, it obtains abyssal floor and dwells admittedly
The whole threedimensional model of biology, is specifically included：Using described first image sequence and second image sequence, calculate different
The partial 3 d model at moment；Based on iteration closest approach algorithm, transformation matrix is calculated using least square method, to it is described different when
The partial 3 d model at quarter is spliced and is merged, and obtains the whole threedimensional model of deep-sea sessile organism body.
Step 205：The abyssal floor is measured according to the whole threedimensional model of the deep-sea sessile organism to dwell fixed life
The biological characteristic of object；The biological characteristic includes that body is long, body is wide and volume and the length and width of biological local location.
In order to carry out quantitative observation to deep-sea sessile organism under dynamic observation condition, the utility model employs sequence
The technical solution of row image group analysis and iteration closest approach algorithm using based on principle of parallax, is crossed survey by optic triangle method
Amount, calculates the threedimensional model of organism from a pair of of stereo-picture, but using obtaining on the movement observations platform such as deep-tow
Stereo-picture, the angle of observation and time are all restricted, therefore in the deep-sea sessile organism sometime obtained
Threedimensional model is incomplete.The solution of the utility model is that the part three of different moments is calculated using sequence of stereoscopic images
Dimension module is then based on iteration closest approach algorithm, and the splicing of partial 3 d model is realized using least-squares calculation transformation matrix
And fusion, obtain three-dimensional data as much as possible and biological characteristic in limited viewing angle and time range.
The deep-sea flexibility nekton is included fish, siphonopods etc. and is given birth to using the deep-sea of body variation generation thrust swimming
Object.
Biological characteristic measuring method flow charts of the Fig. 4 for flexibility nekton in deep-sea provided by the utility model, such as Fig. 4
Shown, a kind of biological characteristic measuring method of deep-sea flexibility nekton, the biological characteristic of the deep-sea flexibility nekton is surveyed
Amount method includes：
Step 401：First internal reference matrix, first ginseng matrix, the second internal reference square outside are determined using plane gridiron pattern standardization
Ginseng matrix outside battle array and second；Ginseng matrix is by first deep-sea camera institute outside the first internal reference matrix and described first
What the image of shooting determined；Ginseng matrix is clapped by second deep-sea camera outside the second internal reference matrix and described second
What the image taken the photograph determined.
Step 402：Synchronous the first image for obtaining the shooting of first deep-sea camera and the shooting of second deep-sea camera
The second image.
Step 403：According to the first internal reference matrix, ginseng matrix outside described first, the second internal reference matrix, described the
Ginseng matrix, described first image and second image determine match point outside two；The match point include the first match point and
Second match point；First match point is obtained according to described first image, and second match point is according to described
What two images obtained；First match point and second match point are same to correspond to space on the first image and the second image
The pixel of one position.
Step 404：According to outside first match point, second match point, the first internal reference matrix, described first
Ginseng matrix outside ginseng matrix, the second internal reference matrix and described second establishes deep-sea flexibility swimming life using optic triangle method
The partial 3 d model of object.
Step 405：The global coordinate system being bonded to using the head feature foundation of deep-sea flexibility nekton on organism；
The global coordinate system is using the symmetry axis on head as z-axis, using perpendicular to the z-axis and the direction far from seabed is as y-axis, root
X-axis is determined according to the z-axis and the y-axis.
Step 406：According to the axisymmetric body structure of deep-sea nekton, by microtomy the office of different moments
In portion's threedimensional model unification to the coordinate system being connected with nekton body, the whole three-dimensional mould of deep-sea flexibility nekton is established
Type.
Described 406 specifically include：According to the axisymmetric body structure of deep-sea flexibility nekton, by microtomy different
The organism partial 3 d model for the deformation that moment obtains is unfolded along body axes, the body slice after being unfolded；To each
Body slice after the secondary expansion carries out rotation and translation conversion process successively, by the partial 3 d model of different moments
It is unified to be fastened to the world coordinates, obtain the whole threedimensional model of the deep-sea flexibility nekton.
Deep-sea flexibility nekton is mostly axisymmetric body structure, by microtomy the life for sometime obtaining deformation
Object partial 3 d model is unfolded along body axes, it is assumed that the axial length of flexible nekton does not become with the travelling of body
Change, then then every layer of body slice can be successively unfolded in the axial direction, mathematically come biology along body axes discretization
Say it is that rotation and translation transformation is carried out to body slice data each time, after this transformation, the partial 3 d mould of different moments
Type is unified to the world coordinates and fastens, and by the discretization of body and eliminates physical disfigurement along axis expansion
It influences.
In next moment t2, due to the travelling of organism, the angle of observation and the shape of body is caused all to convert,
Characteristic matching is carried out to a pair of of stereo-picture at the moment, obtains the organism partial 3 d point cloud number based on camera coordinates system
According to.Due to the position up conversion of the two moment cameras, the reference system of two groups of three-dimensional point clouds is different.
In order to realize that data are spliced, it is necessary first to three-dimensional data is transformed under the same coordinate system, which should be
It is attached on organism.Abyssopelagic organism body in view of travelling is axisymmetric, and its head has motion invariance
The characteristics of, global coordinate system is established on head, z-axis is the symmetry axis on head, and the vertical z-axis of y-axis is simultaneously far from seabed direction, x-axis
It is determined by right hand rule, coordinate origin is located on symmetry axis, can be located at sharp-tongued or eye, by this coordinate system, at the t1 moment
It is all transformed in the global coordinate system being connected with the body of fish relative to the data of respective camera coordinates system with the t2 moment.
Step 407：The deep-sea flexibility swimming life is measured according to the whole threedimensional model of the deep-sea flexibility nekton
The biological characteristic of object；The biological characteristic includes that body is long, body is wide and volume and the length and width of biological local location.
Fig. 5 is that the measurement model of deep-sea flexible biological provided by the utility model optimizes structure chart, as shown in figure 5, being
To deep-sea, the dwell abyssopelagic organism of flexible travelling of huge bottom carries out quantitative observation under dynamic observation condition, and the utility model uses
The expansion of slice axis returns the technical solution of fixed coordinate system with data splicing.When calculating different respectively to sequence using image
The partial 3 d model of the organism at quarter, the global coordinate system being bonded to using the foundation of its head feature on organism, so as to handle
All measurement points are all transformed under unified coordinate system and express, and are influenced so as to eliminate observation platform movement when a cloud merges；Then
It is mostly axisymmetric phenomenon according to the abyssopelagic organism of the huge travelling in deep-sea, by microtomy the biology for sometime obtaining deformation
Body three-dimensional data is unfolded along body axes, it is assumed that and the axial length of the abyssopelagic organism of travelling is not converted with the travelling of body,
Then then every layer of body slice can be successively unfolded in the axial direction the abyssopelagic organism of travelling along body axes discretization, from
It is that rotation and translation transformation is carried out to body slice data each time for mathematically, after this transformation, the three of different moments
Dimension data is unified on the coordinate system that is connected of abyssopelagic organism body with travelling, and by the discretization of body and along axis
Expansion eliminates the influence of physical disfigurement.
Refraction focusing and distortion factor of water etc. can be fully considered using measuring method provided by the utility model
The influence of parameter so as to eliminate influence of the underwater environment to measuring system, ensures the accuracy of subaqueous survey and three-dimensional reconstruction, into
And improve modeling accuracy and measurement accuracy.
Each embodiment is described by the way of progressive in this specification, the highlights of each of the examples are with other
The difference of embodiment, just to refer each other for identical similar portion between each embodiment.
Specific case used herein is expounded the principle and embodiment of the utility model, above example
Explanation be merely used to help understand the method and its core concept of the utility model；Meanwhile for the general technology of this field
Personnel, according to the thought of the utility model, in specific embodiments and applications there will be changes.In conclusion
The content of the present specification should not be construed as a limitation of the present invention.
Claims (4)
1. a kind of abyssopelagic organism measuring device, which is characterized in that including：Deep-sea camera, stent, high pressure resistant cabin, underwater electrical connector
And submerged cable；The deep-sea camera includes the first deep-sea camera, the second deep-sea camera；
The side of the stent and parallel with the stent is fixed in the high pressure resistant cabin；
The both ends in the high pressure resistant cabin are equipped with underwater electrical connector, and the underwater electrical connector is described for fixing the submerged cable
Deep-sea camera institute the image collected is transmitted to by submerged cable for connecting the high pressure resistant cabin and the deep-sea camera
Central processing unit in the high pressure resistant cabin.
2. measuring device according to claim 1, which is characterized in that the deep-sea camera is to be sealed with pressure-resistant optical window
The camera of dress；The deep-sea camera is fixedly connected with the stent；First deep-sea camera and second deep-sea camera point
Not She Yu the stent both ends, in the same plane, and into angle, angle is between 15 for the optical axis of two deep-sea cameras
Between -45 degree of degree.
3. measuring device according to claim 2, which is characterized in that two deep-sea cameras have carried out intrinsic parameter and outer ginseng
Several calibration, calibrating parameters are stored in the central processing unit in the high pressure resistant cabin；The intrinsic parameter includes the first pelagic facies
The focal length of machine and the second deep-sea camera, principal point coordinate, distortion coefficients of camera lens and underwater optics refractive index, the outer parameter include
Spatial position and posture relationship between first deep-sea camera and the second deep-sea camera.
4. measuring device according to claim 1, which is characterized in that the model ARM of the central processing unit
Cortex-A9。
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| CN201721832423.5U CN207600397U (en) | 2017-12-25 | 2017-12-25 | A kind of abyssopelagic organism measuring device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107976148A (en) * | 2017-12-25 | 2018-05-01 | 国家***第二海洋研究所 | A kind of measuring method of abyssopelagic organism measuring device and its biological characteristic |
| CN110873555A (en) * | 2020-01-20 | 2020-03-10 | 上海彩虹鱼海洋科技股份有限公司 | System and method for observing underwater creatures |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107976148A (en) * | 2017-12-25 | 2018-05-01 | 国家***第二海洋研究所 | A kind of measuring method of abyssopelagic organism measuring device and its biological characteristic |
| CN107976148B (en) * | 2017-12-25 | 2024-05-03 | 自然资源部第二海洋研究所 | Deep sea biological measuring device and biological characteristic measuring method thereof |
| CN110873555A (en) * | 2020-01-20 | 2020-03-10 | 上海彩虹鱼海洋科技股份有限公司 | System and method for observing underwater creatures |
| CN110873555B (en) * | 2020-01-20 | 2020-05-05 | 上海彩虹鱼海洋科技股份有限公司 | System and method for observing underwater creatures |
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