CN105438408A - All-dimensional intelligent detection buoy - Google Patents
All-dimensional intelligent detection buoy Download PDFInfo
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- CN105438408A CN105438408A CN201511010171.3A CN201511010171A CN105438408A CN 105438408 A CN105438408 A CN 105438408A CN 201511010171 A CN201511010171 A CN 201511010171A CN 105438408 A CN105438408 A CN 105438408A
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- anchor chain
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B22/00—Buoys
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/18—Water
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B22/00—Buoys
- B63B2022/006—Buoys specially adapted for measuring or watch purposes
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- Combustion & Propulsion (AREA)
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Abstract
The invention relates to the technical field of automatic on-line water environment monitoring systems, in particular to an all-dimensional intelligent detection buoy. The all-dimensional intelligent detection buoy comprises a floating body, a device platform connected to the floating body, a solar square matrix, a winch, a wireless transmission device, a wireless power charge and supply device, a wired charge plugin, symmetrical anchor chains and a detection cabin fixed to the center of the floating body in a penetrating mode, wherein a detection device is arranged in the cabin and comprises a water quality sensor, a sampling device, an image pickup device and a manipulator, but is not limited to an instrument device for detecting other dynamic changes of a water body, the detection device is connected with the winch through a steel cable with the diameter of 0.5 mm to 9 mm, and continuous or discontinuous detection contents of any layer or position of the water body are completed according to program commands. The all-dimensional intelligent detection buoy relates to multiple optical-mechanical-electrical disciplines, has multiple functions of checking, measuring, pickup and shooting, is wide in application range, adopts unique two-point anchor setting and is novel in concept, convenient to use, safe and reliable.
Description
Technical field
The present invention relates to the technical field of water environment automatic on-line detecting system, be specially all-around intelligent and detect buoy.
Background technology
Traditional buoy is usually used in the navigation mark of the water surface and detects the buoy of water surface water quality parameter, and along with the change of water environment and the demand of scientific experiment, need on-line monitoring water body to change and profound water quality condition, traditional buoy obviously can not meet testing requirement.
The particularly deep structure research of reservoir area and ocean, not only needs the material such as water quality parameter, water sample, algae, pelagic organism, sediment of a large amount of different levels deep water, also needs the live videos such as the picture of different levels deep water, picture; Need for different waters, different positions, the different degree of depth simultaneously, carry out detection that is regular, frequent, that repeat, traditional profile buoy was once attempted to draw cable to carry additionally water quality sensor with Kev and was realized water quality detection.
As a kind of profile survey buoy monitoring system that Chinese invention patent application number is 201410816761.4, winch is fixed on buoy float by this system, water quality sensor and pressure sensor are arranged in cage, cable is drawn to be connected with winch by Kev, wherein Kev draws cable to play the part of the function of omnidistance power supply, communication and strand cable, although plausible, carefully analyze, cannot actual products be become.
One capstan winch and standard type can not meet the demands; The Kev of five cores draws cable diameter just to reach about 9mm, when reaching 100m when fathoming, for diameter 1500mm common survey buoy, the diameter of winch capstan winch will reach 440mm, and when reaching 200m when fathoming, the diameter of winch capstan winch will reach 520mm, by that analogy,, all will there is basic change in the volume of existing buoy, center of gravity, structure, power-supply system, it needs huge, a diverse standard type support.
It two cannot bear other heavier detecting device; Kev draws cable inside to be made up of two positive and negative power supply lines and several shielded signal line, middle parcel wire net, outer wrap rubber, and along with length increases, its intensity all cannot bear self weight, cannot carry additionally heavier detecting device.
Its three Kev draws cable to be wrapped up by rubber, is unable to undergo repeatedly turning round of winch and draws; By actual testing requirement, all need every day to detect in a large number the deepwater environment situation of waters different depth or diverse location, winch needs repeatedly to operate, Kev draws cable as high-strength cable, hanging motionlessly still has certain intensity, but use as strand cable, its rubber peel is unable to undergo repeatedly turning round of winch and draws at all.
Simultaneously, because reservoir or lake all exist the huge height of water in different seasons, highest water level and lowest water level often differ tens meters, even tens meters, when change of level, when buoy generation time rotational, anchor chain and strand cable are very easily wound around, and not only affect the normal operation of winch, even can destroy the structure member of buoy, it is very difficult that three simultaneously traditional anchors, four anchors make cloth anchor install, and work capacity is very big, the inadaptable frequent requirement detected.
Summary of the invention
For the deficiency that prior art exists, the object of the present invention is to provide a kind of Stability Analysis of Structures, reasonable in design, meet different water depth, the all-around intelligent of different demand detects buoyage.
For achieving the above object, the invention provides following technical scheme: all-around intelligent detects buoy, comprise buoyancy aid, the equipment platform be connected on buoyancy aid, the detection cabin be fixed on buoyancy aid, detecting device and to be fixed on buoyancy aid and winch for driving detecting device to sink or reset, also comprise the storage battery of powering for detecting device, detecting device is water quality sensor, sample collector, manipulator or camera, and winch is connected by the cable wire that diameter is 0.5mm-9mm with detecting device;
Also comprise charging and feeding device, the storage battery that described charging and feeding device comprises docking end cap, docking mechanism and powers for detecting device, docking end cap is connected on winch, when detecting device resets, docking end cap and docking mechanism form charge condition, be provided with wireless charging receiver module in docking mechanism, butt end covers the wireless charging transmitter module be provided with wireless charging receiver module adaptation;
Also comprise signal transmission system, signal transmitting apparatus comprises and to be arranged in equipment platform and with the second communication module be provided with in the controller of the first communication module and docking mechanism.
The present invention is set to further, also comprise two groups for fixing described buoy and the anchor chain group of symmetry, described anchor chain group comprises the first anchor chain, the second anchor chain, ball float and anchor, first anchor chain one end is connected with described buoy, the other end is connected with ball float, second anchor chain one end is connected with ball float, and the other end is connected with anchor.
The present invention is set to further, and when highest water level, the length of the first described anchor chain and the length relation of the second anchor chain are (S+L)
2=Dmax
2+ R
2, when most end water level, the length of the first described anchor chain and the length relation of the second anchor chain are S
2=Dmin
2+ (R-L)
2, arrange the length of the first anchor chain and the second anchor chain by formulae discovery data after, not only cloth anchor is very convenient, and no matter highest water level, lowest water level or standard type generation rotation, and anchor chain and strand cable all wrapping phenomena can not occur.
The present invention is set to further, described charging and feeding device comprise be connected with detecting device docking mechanism, be connected to the storage battery docking end cap and power for detecting device winch being formed charge condition with docking mechanism, described butt end covers and is provided with plug, docking mechanism is provided with the socket with plug adaptation, when detecting device resets, plug and socket form wired charging of plug-in.
The present invention is set to further, and the first described communication module is bluetooth or 433 shortwaves, and the second described communication module is bluetooth or 433 shortwaves.
The present invention is set to further, and the buoyancy of described buoy is greater than the buoyancy of ball float, and the buoyancy of ball float is greater than the gravity of the first anchor chain.
The present invention is set to further, is provided with airtight instrument compartment in described equipment platform, and described controller, winch and docking end cap are located in airtight instrument compartment.
The present invention is set to further, and the diameter of described cable wire is 2.5mm.
The present invention is set to further, also comprises the clean-up device for clean detecting device.
Contrast the deficiencies in the prior art, the beneficial effect that technical scheme provided by the invention is brought: 1. winch is connected by the cable wire that diameter is 0.5mm-9mm with detecting device, the diameter of described cable wire is preferably as 2.5mm, the length of cable wire is 0--1000 rice, even, utilize cable wire as strand cable, repeatedly turning round of winch can be stood and draw; While can being enough to support detection device weight, ensure that the capstan winch in winch and the space occupied by after rolling cable wire completely can not be excessive; Meanwhile, the weight and volume of winch is also greatly reduced.2. wireless charging transmitter module and wireless charging receiver module form wireless charging, and then be battery charge sustainably, power for detecting device so that unbroken, so just do not need Kev to draw cable to be used as the medium of detecting device and buoy power supply system energization.3. when winch drives detecting device to reset, signal transmission is given the controller with the first communication module by the second communication module be provided with in docking mechanism, achieve data roam, collected by controller, encode and processing data, also do not need Kev to draw cable to be used as the medium of communication between detecting device and controller.4. the first anchor chain obtained based on formula and the length of the second anchor chain, be not limited to suitable lengthening, so that buoy adapts to reservoir or lake etc. detect the situation that highest water level, lowest water level and standard type rotation appear in ground.5. the present invention designs the first anchor chain and is fixed on the below of buoyancy aid, the top in detection cabin, thus, as long as ensure to detect cabin long enough, even if buoy generation rotation, anchor chain also just stirs on detection surface out of my cabin, can not occur to be wound around with cable wire and affect the phenomenon that cable wire normally works and occur, prevent the first anchor chain bending serious further, buoy may occur from then cause stirring between the first anchor chain and cable wire.
Accompanying drawing explanation
With the structural representation docking end cap and realize charging when Fig. 1 equipment platform of the present invention is opened and docking mechanism resets.
Structural representation when detecting device is in sinking state in Fig. 2 the present invention.
Anchor chain structural representation in Fig. 3 the present invention when highest water level.
Anchor chain structural representation in Fig. 4 the present invention when most end water level.
Anchor chain structural representation in Fig. 5 the present invention when mid water levels.
Fig. 6 is the K portion structure for amplifying schematic diagram of Fig. 1.
Fig. 7 the present invention opens at equipment platform, winch is opened, carry out detecting device take out time structural representation.Fig. 8 is the G portion structure for amplifying schematic diagram of Fig. 7.
Detailed description of the invention
Be described further with reference to Fig. 1-Fig. 8 the present invention, by particular specific embodiment, embodiments of the present invention are described below, the content that person skilled in the art scholar can be disclosed by this specification sheets understands other advantages of the present invention and effect easily.
Notice, structure, ratio, size etc. that this specification sheets institute accompanying drawings is drawn, content all only in order to coordinate specification sheets to disclose, understand for person skilled in the art scholar and read, and be not used to limit the enforceable qualifications of the present invention, therefore the essential meaning on not possessing skills, the adjustment of the modification of any structure, the change of proportionate relationship or size, do not affecting under effect that the present invention can produce and the object that can reach, still all should drop on disclosed technology contents and obtain in the scope that can contain; Meanwhile, quote in this specification sheets as " on ", the term such as D score, also only for ease of understanding of describing, and be not used to limit the enforceable scope of the present invention, the change of its relativeness or adjustment, under changing technology contents without essence, when being also considered as enforceable category of the present invention.
Below will detect buoy by specific embodiment to all-around intelligent of the present invention to be described in detail.
embodiment 1
As shown in Figure 1 or 2: all-around intelligent detects buoy, comprise buoyancy aid 11, the equipment platform 12 be connected on buoyancy aid 11, the detection cabin 13 be fixed on buoyancy aid 11, detecting device 2 and to be fixed on buoyancy aid 11 and for the winch 3 driving detecting device 2 to sink or to reset, detecting device is water quality sensor, sample collector, manipulator or camera, and winch 3 is connected by the cable wire 31 that diameter is 0.5mm-9mm with detecting device 2.
Checking system under water of the present invention by controller 5 system, signal transmission system, fill electric power system, winch 3, detect combination and program software etc. forms, detect combination by control command, automatic underwater work, complete corresponding instruction task, instruction task adopts menu mode combination, operate by long-range setting, command reception, winch 3, correction to program, detection start, gather store, overall process that the step such as combination reset, wireless transmission completes detection, wherein, long-range setting can disposablely complete, and also can arrange amendment at any time, detecting startup can be once, also can N time, depending on concrete instruction, and winch 3 utilizes program control motor, servomotor or stepping motor realize folding and unfolding cable wire 31, and then drive detecting device 2 sink or reset, so that detecting device is deeply water-bed, measure the water quality in different depth waters, its middle controller 5 is for controlling program control motor, when detecting device is subject to cause specific interference, program task can not be completed on time, or cannot smoothly dive time, controller 5 automatically controls winch 3 and drives detecting device to be reset to initial position, signal transmission system sends breakdown signal, and it is again standby,
As shown in Figure 7: described equipment platform 12 installed lightning-arrest, monitoring, measure, alarming device and radar reflector, closed box below platform plays safety guard-safeguard effect to system controller 5, winch gear, charging and feeding device, limitation locking device, platform can 0 °-150 ° open, facilitate repacking and the maintenance of detecting device;
After buoy accepts programmed instruction, winch task driven detecting device sinks, and locks after arriving assigned address by control program, and water depth sensor exports measurement signal and programmed instruction is proofreaded correctly, start detection device.
Detecting device is water quality sensor, can detect the water quality condition of different aspects water body, as PH, the ORP, conductivity, water temperature, solubility, chlorophyll, blue-green alge, erosion degree, CDOM etc. of water.
Winch 3 is connected by the cable wire 31 that diameter is 0.5mm-9mm with detecting device 2, the diameter of described cable wire 31 is preferably as 2.5mm, the length of cable wire 31 is 0-1000 rice, even, the detecting device of more than 150kg weight can be born, utilize cable wire 31 as strand cable, repeatedly turning round of winch 3 can be stood and draw; Can enough while support detection device 2, space occupied after preventing the reel in winch 3 from rolling cable wire 31 be completely excessive; Meanwhile, the total quality alleviating winch 3 is also made.
As shown in Figure 1: also comprise the charging and feeding device for battery charge, described charging and feeding device comprises docking end cap 42, docking mechanism 41 and storage battery, and docking end cap 42 is connected on winch 3, and docking mechanism 41 is fixed on cable wire 31, inner installation storage battery, and be connected with detecting device 2.Wireless charging receiver module and wireless charging transmitter module match and use, and when system is in reset mode, wireless charging electric supply installation is started working, and charges to above-mentioned storage battery;
Storage battery is used for powering to detecting device, docking end cap 42 is hingedly connected on winch 3 by support 32, and be provided with wireless charging transmitter module in docking end cap 42, wireless charging receiver module is provided with in docking mechanism 41, when winch 3 drives detecting device 2 to reset, connect end cap just extremely docks docking mechanism top by support-moving, so wireless charging transmitter module and wireless charging receiver module form wireless charging, wireless charging module docks with wireless receiving module, form and synchronously insure charge condition, and then continuable be battery charge, power for detecting device so that unbroken, Kev is not so just needed to draw cable be used as detecting device and be located at the medium that in buoy, power supply is energized, make structure more stable, it is more reasonable to design.
Also comprise signal transmission system, signal transmitting apparatus comprises and to be arranged in equipment platform 12 and with the second communication module be provided with in the controller 5 of the first communication module and docking mechanism 41, the first described communication module is bluetooth or 433 shortwaves, and the second described communication module is bluetooth or 433 shortwaves.
When winch 3 drives detecting device 2 to reset, signal transmission is given the controller 5 with the first communication module by the second communication module be provided with in docking mechanism 41, achieve the object of data roam, radio communication device docks with system controller 5, complete and detect data, control command exchanges, the detection target realizing any aspect of water body, position, continuous print or be interrupted, collected by controller 5, reorganize and processing data, so do not need Kev to draw cable to be used as the medium of communication between detecting device and controller 5, make that structure is more stable, design is more reasonable.
The first wherein said communication module is bluetooth or 433 shortwaves, and the second described communication module is bluetooth or 433 shortwaves, and all has the transmission-receiving function of duplex signaling.
It should be noted that: docking structure 41 can be fixed on cable wire, the distance between water quality sensor, sample collector, manipulator or camera in storage battery in docking mechanism 41 and detecting device 2 can artificially regulate, and cable 001 can be utilized between them to connect, with the object reaching transmission of signal He switch on power;
Docking mechanism 41 also can be directly installed in detecting device 2, and its concrete installation situation is depending on Site Detection environment.
As shown in Figure 3 or Figure 4: also comprise two groups for fixing described buoy and parallel anchor chain group, the angle of two groups of anchor chain groups is 180 degree, described anchor chain group comprises the first anchor chain 52 that the second anchor chain 51 is connected with described buoy with one end, the other end is connected with ball float 53, one end of second anchor chain 51 is connected with ball float 53, and the other end is connected with anchor 54.
When highest water level, the length of the first described anchor chain 52 and the length relation of the second anchor chain 51 are (S+L)
2=Dmax
2+ R
2, when most end water level, the length of the first described anchor chain 52 and the length relation of the second anchor chain 51 are S
2=Dmin
2+ (R-L)
2.
When utilizing anchor chain and anchor 54 fixed buoy, need to consider Railway Project, first, first anchor chain 52 bends and is in detection cabin less than 13, cause the problem that the first anchor chain 52 stirs with cable wire 31, secondly, when water level is positioned at highest water level or lowest water level, the problem whether buoy can normally work.Safe range problem?
For above problem, the present invention is by the following technical solutions: use 2 anchor chains, and in the middle of anchor chain, increase ball float 53, the distance 2R sunk between 2 water-bed anchors 54 is determined by user, the length of the second anchor chain 51 is S, the length of the first anchor chain 52 is L, and maximum water depth is Dmax, and least of water is Dmin.
Consider this limiting case of highest water level (as shown in Figure 3), now, the first anchor chain 52 and the second anchor chain 51 in alignment, therefore have following formula: (S+L)
2=Dmax
2+ R
2;
Consider this limiting case of lowest water level (as shown in Figure 4), now, suppose that the first anchor chain 52 now and the second anchor chain 51 are all straight lines, therefore have following formula: S
2=Dmin
2+ (R-L)
2;
In above two formulas, the distance 2R wherein between 2 anchors 54 is determined by user, and maximum water depth is Dmax, and least of water is Dmin, and therefore, the length that we can solve the second anchor chain 51 is S, and the length of the first anchor chain 52 is L.
The buoyancy of described buoy is greater than the buoyancy of ball float 53, and the buoyancy of ball float 53 is greater than the gravity of the first anchor chain 52.
When water level is in highest water level, in order to make the first anchor chain 52 and the second anchor chain 51 in alignment, the buoyancy of ad hoc meter buoy is greater than the buoyancy of ball float 53; When water level is in most end water level, in order to the first anchor chain 52 can not draw sink-float ball 53, the buoyancy of ad hoc meter ball float 53 is greater than the gravity of the first anchor chain 52.
More than be math modeling ideally, and under actual conditions, it is bending that first anchor chain 52 and the second anchor chain 51 all can occur in various degree, so, the first anchor chain 52 obtained based on two formulas above and the length of the second anchor chain 51, lengthening that can be suitable, so that buoy adapts to the situation that highest water level and lowest water level appear in reservoir or lake etc. with detecting, if but they are bending seriously (particularly the first anchor chain 52); buoy rotation may occur, and cause stirring between the first anchor chain 52 and cable wire 31.For this problem, the present invention designs the first anchor chain 52 and is fixed in buoy the top detecting cabin 13, thus, as long as ensure to detect cabin 13 long enough, even if buoy generation rotation, anchor chain also just stirs at detection cabin 13 outside face, can not occur to be wound around with cable wire 31 and cause the situation of the normal work affecting cable wire 31 to occur (as shown in Figure 5).
As shown in the figures 1 and 2: in described equipment platform 12, be provided with airtight instrument compartment 121, described controller 5, winch 3, docking end cap 42 are all located in airtight instrument compartment 121.
In equipment platform 12, arrange airtight instrument compartment 121, be located in airtight instrument compartment 121 by controller 5, winch 3, docking end cap 42, anti-sealing enters the phenomenon of damaging equipment in controller 5 and occurs.
Also comprise the clean-up device for clean detecting device, these clean-up device comprise diving pump, ventilation flue, joint, its water column produced rinses detecting device, utilize vacuum principle in pump to suck air mixing water column, produce gas-vapor mix body, produce explosion when minute bubble reaches probe positions, its bursting force is enough to remove the dirt on probe, then take away dirt by current, after detecting device resets, clean-up device start cleaning under program or instruction control.
embodiment 2
The present embodiment is substantially the same manner as Example 1, uniquely unlike: described charging and feeding device comprise be connected with detecting device 2 docking mechanism 41, be connected to winch 3 formed charge condition with docking mechanism 41 dock end cap 42 and storage battery, described docking end cap 42 is provided with plug, docking mechanism is provided with the socket with plug adaptation, when detecting device resets, plug and socket form wired charging of plug-in, it should be noted that: plug and socket all has water-proof function.
embodiment 3
The present embodiment is substantially the same manner as Example 1, uniquely unlike: described detecting device 2 is sample collector or manipulator, other goods and materials such as the sediment at the water sample of retrieval different aspects water body, algae, pelagic organism and the bottom.
embodiment 4
The present embodiment is substantially the same manner as Example 1, uniquely unlike: described detecting device 2 is camera, can take the live video of water body, water-bed periphery.
It should be noted that detecting device can also be other check implements, detect water body dynamic change situation, for water body change provides first hand data and material.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, those skilled in the art carries out common change and replaces should being included in protection scope of the present invention within the scope of technical solution of the present invention.
Claims (9)
1. all-around intelligent detects buoy, comprise buoyancy aid, the equipment platform be connected on buoyancy aid, the detection cabin be fixed on buoyancy aid, detecting device and to be fixed on buoyancy aid and winch for driving detecting device to sink or reset, it is characterized in that: detecting device is water quality sensor, sample collector, manipulator or camera, winch is connected by the cable wire that diameter is 0.5mm-9mm with detecting device;
Also comprise charging and feeding device, described charging and feeding device comprises docking end cap, docking mechanism and storage battery, docking end cap is connected on winch, when detecting device resets, docking end cap and docking mechanism form charge condition, be provided with wireless charging receiver module in docking mechanism, butt end covers the wireless charging transmitter module be provided with wireless charging receiver module adaptation;
Also comprise signal communication means, described signal communication means comprises and being arranged in equipment platform, and with the second communication module be provided with in the controller of the first communication module and docking mechanism.
2. all-around intelligent according to claim 1 detects buoy, it is characterized in that: also comprise two groups for fixing described buoy and the anchor chain group of symmetry, described anchor chain group comprises the first anchor chain, the second anchor chain, ball float and anchor, first anchor chain one end is connected with described buoy, the other end is connected with ball float, second anchor chain one end is connected with ball float, and the other end is connected with anchor.
3. all-around intelligent according to claim 2 detects buoy, and it is characterized in that: when highest water level, the length of the first described anchor chain and the length relation of the second anchor chain are (S+L)
2=Dmax
2+ R
2, when lowest water level, the length of the first described anchor chain and the length relation of the second anchor chain are S
2=Dmin
2+ (R-L)
2.
4. all-around intelligent according to claim 1 detects buoy, it is characterized in that: described charging and feeding device comprise storage battery, the docking mechanism be connected with detecting device and be connected to winch formed charge condition with docking mechanism dock end cap, described butt end covers and is provided with plug, docking mechanism is provided with the socket with plug adaptation, when detecting device resets, plug and socket form wired charging of plug-in.
5. all-around intelligent according to claim 1 detects buoy, it is characterized in that: the first described communication module, the second communication module are bluetooth or 433 shortwaves.
6. all-around intelligent according to claim 4 detects buoy, and it is characterized in that: the buoyancy of described buoy is greater than the buoyancy of ball float, the buoyancy of ball float is greater than the gravity of the first anchor chain.
7. all-around intelligent according to claim 2 detects buoy, and it is characterized in that: be provided with airtight instrument compartment in described equipment platform, described controller, winch and docking end cap are located in airtight instrument compartment.
8. all-around intelligent according to claim 1 detects buoy, it is characterized in that: the diameter of described cable wire is 2.5mm.
9. all-around intelligent according to claim 1 detects buoy, it is characterized in that: also comprise the clean-up device for clean detecting device.
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|---|---|---|---|
| CN201511010171.3A CN105438408B (en) | 2015-12-29 | 2015-12-29 | All-around intelligent detects buoy |
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|---|---|---|---|
| CN201511010171.3A CN105438408B (en) | 2015-12-29 | 2015-12-29 | All-around intelligent detects buoy |
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| CN105438408B CN105438408B (en) | 2018-01-09 |
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| CN109850073A (en) * | 2019-04-03 | 2019-06-07 | 武汉欣海远航科技研发有限公司 | A kind of buoy night visualization systems and method |
| CN110146671A (en) * | 2019-04-25 | 2019-08-20 | 东莞东晟磁电磁控技术有限公司 | A kind of networking water quality monitoring system and its water quality monitoring method |
| CN110525590A (en) * | 2019-10-17 | 2019-12-03 | 北京科力华源科技有限公司 | A kind of float type water quality section hierarchical monitor anchor system's delivery device and method |
| CN110712726A (en) * | 2019-10-21 | 2020-01-21 | 青岛迪玛尔海洋工程有限公司 | Control system of floating platform watertight cabin type buoyancy tank based on internet |
| CN111487580A (en) * | 2020-05-09 | 2020-08-04 | 中国船舶科学研究中心 | Multifunctional acoustic beacon and deep sea long baseline array type calibration method |
| CN112829875A (en) * | 2021-01-06 | 2021-05-25 | 浙江海洋大学 | Ocean buoy |
| CN112937766A (en) * | 2021-03-24 | 2021-06-11 | 山东省科学院海洋仪器仪表研究所 | Three-anchor buoy laying and recycling system and method |
| CN115071913A (en) * | 2022-08-04 | 2022-09-20 | 北京凌空天行科技有限责任公司 | Buoy separation structure for rocket |
| CN115071913B (en) * | 2022-08-04 | 2024-05-07 | 北京凌空天行科技有限责任公司 | Buoy separation structure for rocket |
| CN115078679A (en) * | 2022-08-19 | 2022-09-20 | 中国地质调查局水文地质环境地质调查中心 | Groundwater environment detection device and system |
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