CN106564573B - Profiling observation and underwater docking system based on photovoltaic generation - Google Patents
Profiling observation and underwater docking system based on photovoltaic generation Download PDFInfo
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- CN106564573B CN106564573B CN201610962200.4A CN201610962200A CN106564573B CN 106564573 B CN106564573 B CN 106564573B CN 201610962200 A CN201610962200 A CN 201610962200A CN 106564573 B CN106564573 B CN 106564573B
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- 238000003032 molecular docking Methods 0.000 title claims abstract description 16
- 238000007667 floating Methods 0.000 claims abstract description 45
- 230000005540 biological transmission Effects 0.000 claims abstract description 18
- 230000008054 signal transmission Effects 0.000 claims abstract description 16
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 15
- 150000001875 compounds Chemical class 0.000 claims description 38
- 230000007935 neutral effect Effects 0.000 claims description 23
- 230000010365 information processing Effects 0.000 claims description 14
- 230000000087 stabilizing effect Effects 0.000 claims description 12
- 238000012544 monitoring process Methods 0.000 claims description 10
- 238000004891 communication Methods 0.000 claims description 8
- 238000005259 measurement Methods 0.000 claims description 6
- 238000012545 processing Methods 0.000 claims description 5
- 238000012546 transfer Methods 0.000 claims description 5
- 238000011160 research Methods 0.000 abstract description 13
- 230000010354 integration Effects 0.000 abstract description 2
- 230000007774 longterm Effects 0.000 abstract description 2
- 238000005516 engineering process Methods 0.000 description 7
- 230000015572 biosynthetic process Effects 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 2
- 230000000994 depressogenic effect Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000012856 packing Methods 0.000 description 2
- 238000003491 array Methods 0.000 description 1
- 208000002925 dental caries Diseases 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 238000001727 in vivo Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000003786 synthesis reaction Methods 0.000 description 1
Classifications
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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
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B35/44—Floating buildings, stores, drilling platforms, or workshops, e.g. carrying water-oil separating devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/34—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering
- H02J7/35—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering with light sensitive cells
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B35/44—Floating buildings, stores, drilling platforms, or workshops, e.g. carrying water-oil separating devices
- B63B2035/4433—Floating structures carrying electric power plants
- B63B2035/4453—Floating structures carrying electric power plants for converting solar energy into electric energy
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Power Engineering (AREA)
- Testing Or Calibration Of Command Recording Devices (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The invention discloses a kind of profiling observation based on photovoltaic generation and underwater docking system, and it includes photovoltaic generation floating platform unit, profiling observation unit and unit of plugging under water；Photovoltaic generation floating platform unit is used to based on photovoltaic generation and distributed to whole system power, and the terminal interacted as whole system with external information；Profiling observation unit is mainly used in connecting photovoltaic generation floating platform unit and underwater unit of plugging into, and provides electric energy and the path of signal transmission；Underwater unit of plugging into is used to obtain electric energy from photovoltaic generation floating platform unit and carries out information exchange, the task of plugging into for completing autonomous underwater vehicle and POP, the transmission for realizing POP and the non-contact electric energy and signal of cable system section plotter with photovoltaic generation floating platform unit.The system of the present invention be applied to it is long-term be placed in marine environment and lay that place is unrestricted, the integration capability for lifting underwater research vehicle, each advantage, structure stereopsis system are significant for abundant photovoltaic generation, buoy and underwater research vehicle.
Description
Technical field
The present invention relates to marine technology engineering field, especially a kind of profiling observation being used for based on photovoltaic generation with it is underwater
Docking system.
Background technology
21 century is the century of ocean, develops, is to recognize ocean in itself using the premise of ocean, and to the stereoscopic viewing of ocean
It is then the first step for recognizing ocean to survey.However, structure ocean stereopsis network be one it is comprehensive it is very strong, complexity is very high
Technology, the technology has higher requirement in seabed observation network, underwater research vehicle etc..
China starts late in the research work of marine technology engineering field, and builds the technology of ocean stereopsis network
On just risen in recent years.Patent CN201110178669.6 discloses a set of Autonomous Underwater Vehicle and submarine observation network
Docking facilities, Autonomous Underwater Vehicle lead mouth guiding and can reliably rest in POP main body, realize autonomous by horn-like
The transmission of electric energy and signal between submarine navigation device and seabed observation network.Patent CN201410246265.X discloses a set of depth
Extra large AUV plugs into the radio energy and signal transmission system of platform, and the docking platform can plug into the deep-sea AUV after task to completion
The transmission of radio energy and signal is carried out, enhances deep-sea AUV endurances and data transfer real-time.Patent
CN201310597708.5 discloses a kind of underwater portable contact pin type and sits bottom profile instrument, and the type section plotter can be used for ocean
Vertical section carries out long-time monitoring.
The limited endurance of broad range and underwater research vehicle yet with ocean, when realizing long to marine environment
Between, large-scale stereoscopic monitoring, the challenge of larger technology, engineering etc. also be present.Although the water based on submarine observation network
Lower docking facilities largely can solve the problem that the problem of underwater research vehicle endurance weakness, but the device, method are still
Greatly be limited by submarine observation network lays scope.And have in view of the water surface float with photovoltaic generation function and lay into
This is relatively low, lays that place is unrestricted, and can lead to provide the transmission of electric energy and signal for the underwater research vehicle of stereopsis
Road, therefore the present invention is combined the water surface float with photovoltaic generation function with profiling observation and underwater connecting device, it is proposed that
Profiling observation and underwater docking system based on photovoltaic generation.This system is applied to be placed in marine environment for a long time and lay place not
It is limited, the integration capability for lifting underwater research vehicle, the respective advantage of abundant photovoltaic generation, buoy and underwater research vehicle, structure
Stereopsis system is significant.Have not yet to see about the profiling observation based on photovoltaic generation and underwater docking system
Report.
The content of the invention
The problem of it is an object of the invention to exist for existing structure stereopsis network, there is provided one kind is sent out based on photovoltaic
The profiling observation of electricity and underwater docking system, make full use of the respective advantage of photovoltaic generation, buoy and underwater research vehicle, realize cloth
Put the unrestricted stereopsis system of scope.
In order to solve the above technical problems, the technical solution used in the present invention is：A kind of section based on photovoltaic generation is seen
Survey and underwater docking system, it includes photovoltaic generation floating platform unit, profiling observation unit and unit of plugging under water；
Wherein photovoltaic generation floating platform unit includes satellite communication and locating module, wind direction and wind velocity measurement module, solar-electricity
Pond square formation, floating platform, information processing main control module, electric energy transmission control module, Voltage stabilizing module, solar charging controller, floating platform
Batteries, described solar cell array convert the solar into electric energy and after Voltage stabilizing module voltage stabilizing processing by too
Positive energy charge controller carries out charging energy-storing to floating platform batteries；Satellite communication and locating module, wind direction and wind velocity measurement module,
Electric energy transmission control module is connected with information processing main control module；Photovoltaic generation floating platform unit is mainly used in being based on photovoltaic generation
And distribute and power to whole system, and the terminal interacted as whole system with external information；
Profiling observation unit includes buoyant spheres, the electric energy being connected with floating platform and buoyant spheres and the compound armoured cable of signal, with connecing
Refute electric energy and the compound neutral buoyancy cable of signal of station pressure-resistant seal cavity and buoyant spheres connection, along electric energy and the compound neutral buoyancy cable of signal
The cable system section plotter of motion, the section plotter side non-contact electric energy and signal transmission module for being fixed on cable system section plotter, wherein buoyancy
Ball is used for transfer electric energy and the compound armoured cable of signal and electric energy and the compound neutral buoyancy cable of signal, and keeps electric energy under buoyancy
Neutral buoyancy cable compound with signal keeps vertical extended state；Profiling observation unit is used to connecting photovoltaic generation floating platform unit and underwater
Plug into unit, and electric energy and the path of signal transmission are provided, and the cable system section plotter of profiling observation unit can cut open to water quality
Face monitors；
Underwater unit of plugging into includes plug into station base and POP guide, and the POP side for being fixed on POP guide non-connects
Electric shock can be fixed on POP guide one end with signal transmission module, electronic compass and ultra-short baseline, autonomous underwater vehicle
POP horn mouth, it is arranged at the depth gauge and POP pressure-resistant seal cavity plugged on station base, POP pressure-resistant seal chamber
It is provided with POP main control module, POP charge controller and POP batteries in vivo；Underwater unit of plugging into is used for from light
Generating floating platform unit is lied prostrate to obtain electric energy and carry out information exchange with photovoltaic generation floating platform unit, complete autonomous underwater vehicle with connecing
Refute the task of plugging at station, realize the transmission of POP and the non-contact electric energy and signal of cable system section plotter.
The profiling observation based on photovoltaic generation of the present invention and underwater docking system, the course of work is just like lower part：
The solar energy that solar cell array captures is converted to electric energy and passes through Voltage stabilizing module by photovoltaic generation floating platform unit
Charging energy-storing is carried out to floating platform batteries by solar charging controller after voltage stabilizing processing, when information processing main control module leads to
Cross electric energy armoured cable compound with signal and electric energy and receive plugging into for POP main control module feedback with the compound neutral buoyancy cable of signal
The information of batteries of standing not enough power supply, information processing master control module controls electric energy transmission control module, makes floating platform batteries
Electric energy is transmitted by electric energy armoured cable compound with signal and electric energy with signal compound neutral buoyancy cable to POP and by plugging into
Charge controller of standing is charged to POP batteries.
During cable system section plotter energy abundance, carry out section along electric energy neutral buoyancy cable compound with signal and move, to water body ring
Border is monitored；When cable system section plotter energy deficiency, cable system section plotter dive to POP, the now non-contact electricity in section plotter side
It can complete to dock matching with signal transmission module and POP side electric energy with signal transmission module；POP batteries pass through complete
Non-contact modular into matching charges to cable system section plotter, the non-contact modular that POP main control module passes through completion matching
With cable system section plotter progress information exchange, such as data, the upload inter-related task that monitoring obtains are downloaded from cable system section plotter.
Autonomous underwater vehicle is completed according to the information of electronic compass, depth gauge, and under the guide function of ultra-short baseline
Return depressed place task；It is by using plug into radio energy and the signal transmission of platform of deep-sea AUV disclosed in CN201410246265.X
System, POP batteries are charged to autonomous underwater vehicle, and POP main control module is carried out with autonomous underwater vehicle
Information exchange.
POP main control module will collect obtained relevant information, including cable system section plotter carries out section motion monitoring and obtained
Data, autonomous underwater vehicle navigation cruise monitoring data, POP main control module record POP batteries shape
Condition data, information processing master control mould is uploaded to the compound neutral buoyancy cable of signal by electric energy and the compound armoured cable of signal and electric energy
Block；Information processing main control module packing floating platform position situation, wind direction and wind velocity situation, floating platform battery cell situation, POP
The information such as the data that main control module uploads, cloud server is uploaded to by satellite communication and locating module.
The profiling observation based on photovoltaic generation of the present invention is considered with photovoltaic generation function with underwater docking system
Water surface floating platform has that to lay cost relatively low, lays that place is unrestricted, and can be provided for the underwater research vehicle for stereopsis
The characteristics of transmission channel of electric energy and signal, by the water surface floating platform with photovoltaic generation function and profiling observation and underwater dress of plugging into
Put combination.This system be applied to it is long-term be placed in marine environment and lay that place is unrestricted, the synthesis for lifting underwater research vehicle
Ability, each advantage, structure stereopsis system are significant for abundant photovoltaic generation, buoy and underwater research vehicle.
Brief description of the drawings
Fig. 1 is the structural representation of present system；
Fig. 2 is the electric of present system, (solid arrow line represents electrical connection, dotted arrow to signal theory diagram
Line representation signal connects, and doublet represents cordless transmission)；
In figure：1. satellite communication and locating module, 2. wind direction and wind velocity measurement modules, 3. solar cell arrays, 4. floating platforms,
5. information processing main control module, 6. electric energy transmission control modules, 7. Voltage stabilizing modules, 8. solar charging controllers, 9. floating platforms store
Battery pack, 10. electric energy and the compound armoured cable of signal, 11. buoyant spheres, 12. electric energy and the compound neutral buoyancy cable of signal, 13. cable systems are cutd open
Face instrument, 14. section plotter side non-contact electric energies and signal transmission module, 15. POP side non-contact electric energies and signal transmission module,
16. POP guide, 17. electronic compass, 18. ultra-short baselines, 19. autonomous underwater vehicles, 20. POP horn mouths, 21. is deep
Degree meter, 22. POP pressure-resistant seal cavitys, 23. POP main control modules, 24. plug into station base, 25. POP charge controls
Device, 26. POP batteries.
Embodiment
The present invention is described in further details below in conjunction with accompanying drawing.
Reference picture 1- Fig. 2, the profiling observation of the invention based on photovoltaic generation and underwater docking system, it sends out including photovoltaic
Electric floating platform unit, profiling observation unit and unit of plugging under water；
Wherein photovoltaic generation floating platform unit includes satellite communication and locating module 1, wind direction and wind velocity measurement module 2, solar energy
Battery array 3, floating platform 4, information processing main control module 5, electric energy transmission control module 6, Voltage stabilizing module 7, solar charging electric control
Device 8, floating platform batteries 9, photovoltaic generation floating platform unit are mainly used in based on photovoltaic generation and distributed to whole system to power, and
The terminal interacted as whole system with external information；
The electric energy and the compound armoured cable of signal that profiling observation unit includes buoyant spheres 11, is connected with floating platform 4 and buoyant spheres 11
10th, the compound neutral buoyancy cable 12 of electric energy and signal that is connected with POP pressure-resistant seal cavity 22 and buoyant spheres 11, along electric energy and letter
Cable system section plotter 13 that number compound neutral buoyancy cable 12 moves, the section plotter side non-contact electric energy and letter for being fixed on cable system section plotter 13
Number transport module 14, wherein buoyant spheres 11 are used for transfer electric energy and the compound armoured cable 10 of signal and electric energy and the compound neutral buoyancy of signal
Cable 12, and keep electric energy to keep vertical extended state with the compound neutral buoyancy cable 12 of signal under buoyancy；Profiling observation unit
For connecting photovoltaic generation floating platform unit and underwater unit of plugging into, and electric energy and the path of signal transmission are provided, and profiling observation
The cable system section plotter of unit can carry out profile monitoring to water quality；
Underwater unit of plugging into includes POP guide 16, is fixed on the POP side non-contact electric energy and letter of POP guide
Number transport module 15, electronic compass 17 and ultra-short baseline 18, autonomous underwater vehicle 19, POP horn mouth 20, POP bottom
Seat 24, the depth gauge 21 for station base 24 of plugging into is fixed on, is fixed on the POP pressure-resistant seal cavity 22 for station base 24 of plugging into, Gu
POP main control module 23, POP charge controller 25 and POP electric power storage inside POP pressure-resistant seal cavity 22
Pond group 26；Underwater unit of plugging into is used to obtain electric energy from photovoltaic generation floating platform unit and enters row information with photovoltaic generation floating platform unit
Interaction, the task of plugging into for completing autonomous underwater vehicle 19 and POP, realize the non-contact of POP and cable system section plotter 13
The transmission of electric energy and signal.
The profiling observation based on photovoltaic generation of the present invention and underwater docking system, the course of work is just like lower part：
The solar energy that solar cell array captures is converted to electric energy and passes through Voltage stabilizing module 7 by photovoltaic generation floating platform unit
Charging energy-storing is carried out to floating platform batteries 9 by solar charging controller 8 after voltage stabilizing processing, when information processing main control module
5 by electric energy armoured cable 10 compound with signal and electric energy to receive POP main control module 23 with the compound neutral buoyancy cable 12 of signal anti-
The information of the not enough power supply of POP batteries 26 of feedback, information processing main control module 5 control electric energy transmission control module 6, made
Floating platform batteries 9 by electric energy and the compound armoured cable 10 of signal and electric energy and the compound neutral buoyancy cable 12 of signal by electric energy transmit to
POP is simultaneously charged by POP charge controller 25 to POP batteries 26.
During cable system 13 energy abundance of section plotter, carry out section along electric energy neutral buoyancy cable 12 compound with signal and move, to water
Body environment is monitored；When cable system 13 energy deficiency of section plotter, cable system section plotter dive to POP, now section plotter side is non-
Contact electric energy is completed to dock matching with signal transmission module 14 and POP side electric energy with signal transmission module 15；POP electric power storage
Pond group 26 is charged by completing the non-contact modular of matching to cable system section plotter 13, and POP main control module 25 passes through completion
The non-contact modular of matching carries out information exchange with cable system section plotter 13, and the number for monitoring and obtaining such as is downloaded from cable system section plotter 13
According to, upload inter-related task.
Autonomous underwater vehicle 19 is made according to the information of electronic compass 17, depth gauge 21, and in the guiding of ultra-short baseline 18
Under, depressed place task is completed back；Plugged into by using deep-sea AUV disclosed in patent CN201410246265.X the radio energy of platform
With signal transmission system, POP batteries 26 charge to autonomous underwater vehicle 19, POP main control module 23 with
Autonomous underwater vehicle 19 carries out information exchange.
POP main control module 23 will collect obtained relevant information, including cable system section plotter 13 carries out section motion monitoring
The POP that obtained data, autonomous underwater vehicle 19 navigate by water the data for monitoring of cruising, POP main control module 23 records stores
The status data of battery pack 26, letter is uploaded to the compound neutral buoyancy cable 12 of signal by electric energy and the compound armoured cable 10 of signal and electric energy
Breath processing main control module 5；The packing floating platform 4 of information processing main control module 5 position situation, wind direction and wind velocity situation, floating platform batteries 9
The information such as the data that battery condition, POP main control module 23 upload, high in the clouds is uploaded to by satellite communication and locating module 1 and taken
Business device.
Claims (1)
1. a kind of profiling observation based on photovoltaic generation and underwater docking system, it is characterised in that：
Including photovoltaic generation floating platform unit, profiling observation unit and unit of plugging under water；
Wherein photovoltaic generation floating platform unit includes floating platform (4) and the satellite communication on floating platform and locating module（1）, wind direction wind
Fast measurement module（2）, solar cell array (3), information processing main control module (5), electric energy transmission control module (6), voltage stabilizing
Module (7), solar charging controller (8), floating platform batteries (9)；Described solar cell array（3）Solar energy is turned
It is changed to electric energy and floating platform batteries (9) is entered by solar charging controller (8) after Voltage stabilizing module (7) voltage stabilizing processing
Row charging energy-storing；Satellite communication and locating module (1), wind direction and wind velocity measurement module（2）, electric energy transmission control module (6) with
Information processing main control module (5) connects；
Underwater unit of plugging into includes plug into station base (24) and the POP guide (16) on station base of plugging into, and POP is led
Cylinder one end is fixed with POP horn mouth (20), and POP side non-contact electric energy is also equipped with POP guide and is transmitted with signal
Module (15), electronic compass (17) and ultra-short baseline (18), depth gauge (21) is also equipped with station base of plugging into (24) and is plugged into
Stand pressure-resistant seal cavity (22), be provided with POP main control module (23) inside POP pressure-resistant seal cavity (22), POP fills
Electric controller (25) and POP batteries (26)；
The electric energy and the compound armouring of signal that profiling observation unit includes buoyant spheres (11), is connected with floating platform (4) and buoyant spheres (11)
Cable (10), the electric energy being connected with POP pressure-resistant seal cavity (22) and buoyant spheres (11) and the compound neutral buoyancy cable (12) of signal,
Along electric energy and the cable system section plotter (13) of compound neutral buoyancy cable (12) motion of signal, the section plotter for being fixed on cable system section plotter (13)
Side non-contact electric energy and signal transmission module (14), wherein buoyant spheres (11) are used for transfer electric energy and the compound armoured cable of signal (10)
With electric energy and the compound neutral buoyancy cable (12) of signal, and under buoyancy the compound neutral buoyancy cable (12) of electric energy and signal is kept
Vertical extended state；
Between information processing main control module (5) and POP main control module (23) by electric energy and the compound armoured cable of signal (10) and
Electric energy realizes information transfer with the compound neutral buoyancy cable (12) of signal；
Pass through electric energy and the compound armoured cable of signal (10) between electric energy transmission control module (6) and POP charge controller (25)
And electric energy realizes that electric energy transmits with the compound neutral buoyancy cable (12) of signal；
Cable system section plotter (13) is used to carry out water quality profile monitoring, and transmits mould by section plotter side non-contact electric energy and signal
Block (14) and POP side non-contact electric energy are completed to dock the transmission of matching progress electric energy and signal with signal transmission module (15).
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| CN201610962200.4A CN106564573B (en) | 2016-10-28 | 2016-10-28 | Profiling observation and underwater docking system based on photovoltaic generation |
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| CN201610962200.4A CN106564573B (en) | 2016-10-28 | 2016-10-28 | Profiling observation and underwater docking system based on photovoltaic generation |
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| CN106564573B true CN106564573B (en) | 2018-01-12 |
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| CN107014971B (en) * | 2017-05-19 | 2019-03-12 | 上海海洋大学 | Underwater hiding-machine buoy base station with efficient charging and remote data transmission function |
| CN108189987A (en) * | 2017-12-26 | 2018-06-22 | 杭州华能工程安全科技股份有限公司 | A kind of buoy control platform of low depth manned submersible |
| WO2019203267A1 (en) * | 2018-04-17 | 2019-10-24 | 川崎重工業株式会社 | Autonomous underwater vehicle support system |
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| CN110510068B (en) * | 2019-09-30 | 2020-08-21 | 青岛海洋科学与技术国家实验室发展中心 | Full-sea-depth profile stereo buoy observation system based on photoelectric composite cable |
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| CN111392008A (en) * | 2020-05-09 | 2020-07-10 | 魏元梅 | Underwater environment detection device |
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| CN112531827B (en) * | 2020-11-26 | 2021-07-06 | 军事科学院系统工程研究院军事新能源技术研究所 | Offshore floating type power supply system and power supply method |
| CN112769202B (en) * | 2021-03-24 | 2022-09-23 | 山东科技大学 | Dual-power wireless charging system and charging method for wave energy profile buoy |
| CN114604364B (en) * | 2021-06-08 | 2023-05-16 | 中国科学院海洋研究所 | Tethered underwater helicopter profile measurement system and method |
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