CN106770052B - A kind of device perceiving water body scatterer changes of contents - Google Patents
A kind of device perceiving water body scatterer changes of contents Download PDFInfo
- Publication number
- CN106770052B CN106770052B CN201611032099.9A CN201611032099A CN106770052B CN 106770052 B CN106770052 B CN 106770052B CN 201611032099 A CN201611032099 A CN 201611032099A CN 106770052 B CN106770052 B CN 106770052B
- Authority
- CN
- China
- Prior art keywords
- scatterer
- parameter
- speck
- water
- ccd sensor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
- G01N21/47—Scattering, i.e. diffuse reflection
- G01N21/49—Scattering, i.e. diffuse reflection within a body or fluid
- G01N21/53—Scattering, i.e. diffuse reflection within a body or fluid within a flowing fluid, e.g. smoke
Landscapes
- Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Investigating Or Analysing Materials By Optical Means (AREA)
Abstract
The present invention relates to a kind of devices for perceiving water body scatterer changes of contents, belong to water body scatterer detection field, it is at high cost in water body scatterer content detection technology in order to solve the prior art, device is complicated, the low disadvantage of water body detection accuracy to low turbidity, and propose a kind of device for perceiving water body scatterer changes of contents, including the waterproof shell being made of light transmission water-proof window and waterproof enclosure, the side of the waterproof shell is arranged in the light transmission water-proof window, the enclosure interior is provided with continuity laser and ccd sensor, the light transmission water-proof window is used to that the light beam of the continuity laser transmitting to be made to inject in water, it is also used to that light emission of the light beam after the scatterer scattering in water is made to enter the shell and be received by the ccd sensor.Ccd sensor judges the scatterer content in water body by the calculated parameter of formula.The present invention is suitable for ocean environment observation.
Description
Technical field
The present invention relates to a kind of devices for perceiving water body scatterer changes of contents, belong to water body scatterer detection neck
Domain.
Background technique
Water body scatterer changes of contents is one of important indicator of ocean environment observation, and the increase of scatterer implies
The increase of turbid material content in marine environment has the observation of scatterer changes of contents in fishery and national marine safety
Important function.The relevant report of aquatic product fishery confirms that the increase of turbidity shows water body corruption substance and content of microorganisms
Increase, oxygen content of water decline, have large effect to aquatic biology.In terms of marine safety, there is lot of documents card
The deep sea waters that the artificial underwater navigation object such as real submarine is swum across can have more small suspended bubble, become to the measurement of bubble
The important technical of underwater navigation object tracking and monitoring.
Currently, for seawater substance measurement based on optical means, such as the researchers such as mound Zhong Feng are in 2015
A kind of disclosed satellite remote sensing method (publication number: 105004846A) of the high muddiness turbidity of sea water of monitoring of year application, this method makes
Optical remote sensing observation is carried out to ocean with satellite, but this method is only applicable to high turbidity seawater, the survey to low turbidity seawater
It is lower to measure sensitivity, and whole observation can only be carried out to a wide range of sea area.The researchers such as Ou Yangmin disclosed one in 2007
Kind with the method for pulsed laser real time measurement sea water opacity (publication number: 101266210), but device knot used in this method
Structure is complicated, and element used in used transmission-type structural requirement measuring device is distributed in pond two sides, and requires laser used
Laser used for narrow linewidth high energy pulse YAG laser, this method is expensive.The researchers such as Liu Xizhan were in 2014
A kind of Wake Bubble detection optical system (publication number: 103901598A) is disclosed, which is realized using sheet laser, lens group
To the segmentations of 10 microns to 500 microns of bubbles shooting, the demand detected to bubble population in briny environment is met, but complicated
Lens group improves the difficulty of device stability design, and the higher cost of sheet laser laser.
In summary invention progress has more mature measurement skill for the optical measurement of water body scatterer at present
Art, but the device complexity of many technologies is high, has particular/special requirement to original parts such as laser, lens groups, equips at high cost.And needle
To the measurement in water body environment, it is desirable that apparatus structure simple and stable, to adapt to various sea situations.
Summary of the invention
The purpose of the present invention is to solve at high cost, devices in the water body scatterer content detection technology of the prior art
Complexity, the low disadvantage of the water body detection accuracy to low turbidity, and propose a kind of dress for perceiving water body scatterer changes of contents
It sets.
The device for perceiving water body scatterer changes of contents, including the waterproof being made of light transmission water-proof window and waterproof enclosure
The side of the waterproof shell is arranged in shell, the light transmission water-proof window, and the enclosure interior is provided with continuity laser
And ccd sensor, the light transmission water-proof window are used to that the light beam of the continuity laser transmitting to be made to inject in water, are also used to
Light emission of the light beam after the scatterer scattering in water is set to enter the shell and be received by the ccd sensor.
The invention has the benefit that 1, using continuous type laser, ccd sensor, different from using in the prior art
Lens, the high cost of film source laser, complex appts structure, cost of the present invention is lower, and the structure of device is simpler；2, of the invention
Be observed, shoot under water, observed different from the optical remote sensing of the prior art, the present invention to the sensitivity of low turbidity more
It is high.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the device of perception water body scatterer changes of contents of the invention；
Fig. 2 is the image that ccd sensor of the invention receives；
Fig. 3 is the corresponding two-dimentional entropy diagram of image that ccd sensor receives；
Fig. 4 is the corresponding two-dimentional entropy diagram of image that ccd sensor after the increase of water body scatterer receives；
Fig. 5 is the flow chart of two-dimensional entropy figure forming process.
Specific embodiment
Specific embodiment 1: the device of the perception water body scatterer changes of contents of present embodiment, as shown in Figure 1,
Including the waterproof shell being made of light transmission water-proof window 3 and waterproof enclosure 4, the one of waterproof shell is arranged in light transmission water-proof window 3
Side, enclosure interior are provided with continuity laser 1 and ccd sensor 2, and light transmission water-proof window 3 is for making continuity laser 1
The light beam 5 of transmitting is injected in water, is also used to that light emission of the light beam 5 after the scatterer scattering in water is made to enter shell and by CCD
Sensor 2 receives.
Wherein, the relative position of ccd sensor 2, laser 1 and light transmission waterproof enclosure window 3 can change, and light transmission is anti-
The quantity of water package window can also change, as long as the light beam 5 for guaranteeing that laser 1 issues can be irradiated in water, and CCD is passed
Sensor 2 can receive light beam 5 and pass through the optical signal after substance scattering in water body.
Ccd sensor 2 and laser 1 are also connected with power supply (not shown in figure 1), and wherein power supply can integrate
In the inside of device, also can connect external as external power supply power supply.
Specific embodiment 2: the present embodiment is different from the first embodiment in that:
The resolution ratio of ccd sensor is a × b, and the ccd sensor shows that the pixel index of image is (i, j), display
The pixel value of each pixel is p (i, j) on image, and the value after the average pixel value of adjacent pixel is rounded with (i, j) is q
(i, j) defines the matrix that M is 256 × 256, and element value M (I, J) is p+1=I and the pixel of q+1=J in matrix M
Number, I, J are respectively the horizontal index and vertical index of pixel, and ccd sensor is connect with processor, and the processor includes
Image conversion unit, image conversion unit are used to obtain two-dimentional entropy diagram by the display image, and two-dimentional entropy diagram, which has, is used for table
The speck of scatterer content is levied, the movement of speck and/or diffusion can characterize the content of scatterer.
The image that wherein ccd sensor receives is as shown in Fig. 2, the corresponding two-dimensional entropy of image that ccd sensor receives
Figure is as shown in Figure 3.
It is briefly described as follows the resolution ratio of ccd sensor and the relationship of matrix M:
The size (i.e. 256 rows 256 column) of 256 × 256 representing matrix M, and what a × b was indicated is the big of ccd image resolution ratio
It is small.
The image data that usual colored CCD is got is RGB type, that is, respectively indicates red, green, blue brightness
Three matrixes.The size of three matrixes is a × b (at once b arrange), and element institute is in place on the image of the element representation in matrix
The brightness for the corresponding color set.And the image data that black-white CCD obtains is single matrix, the size of the matrix is a × b.Matrix
In element representation image on the element position gray scale.
Black-white CCD is generally used in the present invention, i.e., need to only obtain black white image (gray level image).Such as using colour
Three matrixes can be averaging, can be converted into grayscale image by CCD.
Pixel value data type in image is uint8 or double, and the picture data type in the present invention is uint8 type
Matrix.The integer that the image pixel value of the data type is 0 to 255, i.e., 256 grades.If image pixel value data is
Double type, then its value is 0 to 1.Can be by by 0 to 1 linear projection to 0-255, and be rounded and obtain uint8 format
Image data.
Matrix M is the new matrix obtained to image pixel Data-Statistics, different from the image array of script.M resolution ratio is 256
× 256 be because image pixel value is 256 grades.The resolution ratio of M is not limited by image resolution ratio.
It should also be noted that, " movement " refers to the movement at two-dimensional entropy image speck center, thus movement be two value X with
Y respectively indicates longitudinal index and the laterally movement on index.
Mobile and diffusion can change simultaneously, but due to meaning difference, variation tendency is also different.In some cases
Under, moving parameter and diffusion parameter only have side change.Diffusion can pass through the diffusion area and two-dimensional entropy of speck
The ratio of the gross area of figure determines that ratio is bigger, then it represents that diffusion is more obvious, and ratio is smaller, then it represents that diffusion
It is unobvious.
Other steps and parameter are same as the specific embodiment one.
Specific embodiment 3: the present embodiment is different from the first and the second embodiment in that:
The pixel value of each pixel of two-dimentional entropy diagram is K (I, J)；
The processor for perceiving water body scatterer changes of contents further includes computing unit, and the computing unit is for executing such as
Lower calculating:
X=E [I |K (I, J) > 0]
Y=E [J |K (I, J) > 0]
Wherein X and Y is respectively the horizontal position parameter and upright position parameter of two-dimensional entropy speck；D is for characterizing
State the parameter of the diffusion of speck；E[I|K (I, J) > 0] indicate to average to all I values for meeting condition K (I, J) > 0；E
[J|K (I, J) > 0] indicate to be averaging all J values for meeting K (I, J) > 0；Indicate that calculating the value of d is the institute from e to f
When having integer, the sum of corresponding C value.
Other steps and parameter are the same as one or two specific embodiments.
Specific embodiment 4: unlike one of present embodiment and specific embodiment one to three:
Processor of the invention further includes judging unit, and judging unit is used for from the moving direction for obtaining the speck, bright
Spot is more to the mobile degree in the lower right side of two-dimentional entropy diagram, then the content of scatterer is more.
This process can be as shown in Figure 3 and Figure 4, the figure that Fig. 4 receives for ccd sensor after the increase of water body scatterer
As corresponding two-dimentional entropy diagram.
The comparison of Fig. 3 and Fig. 4 may determine that, speck is more to the mobile degree in the lower right side of two-dimentional entropy diagram, then dissipates
The content for penetrating substance is more.
Other steps and parameter are identical as one of specific embodiment one to three.
Specific embodiment 5: unlike one of present embodiment and specific embodiment one to four:
Judging unit is also used to obtain the diffusion of the speck, and the diffusion of the speck is more obvious, then described
The content of scatterer is more.
The same comparison by Fig. 3 and Fig. 4 can be seen that when speck diffusion is more obvious, and the content of scatterer is more.
Other steps and parameter are identical as one of specific embodiment one to four.
Specific embodiment 6: unlike one of present embodiment and specific embodiment one to five:
The judging unit is also used to judge the scatterer content according to the parameter D；The value of D is bigger, then scatters
Content of material is more.
Other steps and parameter are identical as one of specific embodiment one to five.
Specific embodiment 7: unlike one of present embodiment and specific embodiment one to six:
Judging unit is also used to obtain the variation tendency of described parameter X, Y, D；The variation tendency of the parameter X and Y is opposite；
If the variation tendency of the parameter X and/or Y and the variation tendency of the parameter D on the contrary, if show the continuity laser energy
The unstable or described ccd sensor is measured to break down.
Present embodiment illustrates that the present invention can not only detect the scatterer content in water body, can also detect indirectly
Whether the energy of continuous type laser is unstable out and whether ccd sensor breaks down.Therefore the present invention also has certain
Self-checking function.
Other steps and parameter are identical as one of specific embodiment one to six.
Specific embodiment 8: unlike one of present embodiment and specific embodiment one to seven:
Judging unit is also used to execute following judgement:
If described parameter X, Y, D reduce simultaneously, illustrate that the scatterer increases.
Other steps and parameter are identical as one of specific embodiment one to seven.
Specific embodiment 9: unlike one of present embodiment and specific embodiment one to eight:
Judging unit is also used to execute following judgement:
If the amplitude of variation of described parameter X, Y, D be more than within the predetermined time scheduled value or the parameter X,
Y, the variation tendency of D is synchronous, and when being stable increase and decrease, then shows in water body containing the barrier beyond conventional amounts.
I.e. there are two types of situations for the judgement of present embodiment:
The first is quickly significantly to rise and fall." significantly rising and falling " refers to that index fluctuating range is more than initial value 50%, " fast
Speed " referred within 10 seconds.Three indexs X, Y, D quickly significantly rise and fall and heaving tendency is synchronous, illustrate in water body containing a large amount of
Barrier, such as the shoal of fish, the sandstone rolled by water flow.
Second is steadily to increase and decrease, and is not risen and fallen.Such as when water body is there are when the bubble of few micro-meter scale, X and Y will
50% will be increased by increasing by 25%, D.When there are many number of bubbles, X, Y will be increased to 2.5 times of initial value, and D will be increased to the 3 of initial value
Times.
It is measured by experiment, a large amount of bubbles is passed through into pure water, then static 10 minutes, at this time containing few in water body
The microbubble that can not differentiate of naked eyes.X, Y value are higher by 25%, D value than initial value and are higher by 50% than initial value at this time.And the prior art
Device is unable to reach this precision, and the device complexity of the prior art will be apparently higher than the present invention.
Other steps and parameter are identical as one of specific embodiment one to eight.
Specific embodiment 10: unlike one of present embodiment and specific embodiment one to nine:
Image conversion unit, computing unit and judging unit are integrated in programmable logic chip or computer-internal.
And cable communication can be used between ccd sensor and programmable logic chip or computer, also can be used
Other wireless communication apparatus are communicated.
Wherein, it is more than initial value that " being within the predetermined time more than scheduled value ", which can be the fluctuating range in 10 seconds,
50%.
The present invention can also have other various embodiments, without deviating from the spirit and substance of the present invention, this field
Technical staff makes various corresponding changes and modifications in accordance with the present invention, but these corresponding changes and modifications all should belong to
The protection scope of the appended claims of the present invention.
Claims (9)
1. a kind of device for perceiving water body scatterer changes of contents, anti-including being made of light transmission water-proof window and waterproof enclosure
The side of the waterproof shell is arranged in water hull body, the light transmission water-proof window, and the enclosure interior is provided with continuity laser
Device and ccd sensor, the light transmission water-proof window are used to that the light beam of the continuity laser transmitting to be made to inject in water, also use
In making light emission of the light beam after the scatterer scattering in water enter the shell and received by the ccd sensor；
It is characterized in that, the resolution ratio of the ccd sensor is a × b, the ccd sensor shows the pixel index of image
For (i, j), show that the pixel value of each pixel on image is p (i, j), the average pixel value of adjacent pixel takes with (i, j)
Value after whole is q (i, j), defines the matrix that M is 256 × 256, and each element value M (I, J) is p+1=I and q+1=in matrix M
The number of the pixel of J, I, J are respectively the horizontal index and vertical index of pixel, and the ccd sensor and processor connect
It connects, the processor includes image conversion unit, and described image converting unit is used to obtain two-dimensional entropy by the display image
Figure, the two dimension entropy diagram have the speck for characterizing the scatterer content, the movement and/or diffusion of the speck
The content of the scatterer can be characterized.
2. the apparatus according to claim 1, which is characterized in that the pixel value of each pixel of the two dimension entropy diagram is K
(I,J)；
The processor further includes computing unit, and the computing unit is for executing following calculating:
X=E [I |K (I, J) > 0]
Y=E [J |K (I, J) > 0]
Wherein X and Y is respectively the horizontal position parameter and upright position parameter of two-dimensional entropy speck；D is described bright for characterizing
The parameter of the diffusion of spot；E[I|K (I, J) > 0] indicate to average to all I values for meeting condition K (I, J) > 0；E[J
|K (I, J) > 0] indicate to be averaging all J values for meeting K (I, J) > 0；Indicate that the value for calculating d is all whole from e to f
When number, the sum of corresponding C value.
3. the apparatus of claim 2, which is characterized in that the processor further includes judging unit, and the judgement is single
Member is for obtaining the moving direction of the speck, and the degree that the lower right side of the speck to the two-dimentional entropy diagram is mobile is more, then
The content of the scatterer is more.
4. device according to claim 2 or 3, which is characterized in that the judging unit is also used to obtain the speck
Diffusion, the gross area that the diffusion area of the speck accounts for two-dimentional entropy diagram is bigger, then the content of the scatterer is more.
5. device according to claim 4, which is characterized in that the judging unit is also used to be judged according to the parameter D
The scatterer content；The value of D is bigger, then scatterer content is more.
6. device according to claim 5, which is characterized in that the judging unit is also used to obtain described parameter X, Y, D
Variation tendency；The variation tendency of the parameter X and Y is opposite；If the variation tendency of the parameter X and/or Y and the parameter D
Variation tendency on the contrary, then showing that the continuity energy of lasers is unstable or the ccd sensor breaks down.
7. device according to claim 6, which is characterized in that the judging unit is also used to execute following judgement:
If the upright position parameter Y of the horizontal position parameter X of the parameter two-dimensional entropy speck, two-dimensional entropy speck and for characterizing
The parameter D of the diffusion of the speck reduces simultaneously, illustrates that the scatterer increases.
8. device according to claim 6 or 7, which is characterized in that the judging unit is also used to execute following judgement:
If the upright position parameter Y of the horizontal position parameter X of the parameter two-dimensional entropy speck, two-dimensional entropy speck and for characterizing
The amplitude of variation of the parameter D of the diffusion of the speck has been more than scheduled value within the predetermined time, or
Variation tendency is synchronous and when being stable increase and decrease, then shows in water body containing the barrier beyond conventional amounts.
9. device according to claim 8, which is characterized in that described image converting unit, the computing unit and institute
It states judging unit and is integrated in programmable logic chip or computer-internal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611032099.9A CN106770052B (en) | 2016-11-22 | 2016-11-22 | A kind of device perceiving water body scatterer changes of contents |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611032099.9A CN106770052B (en) | 2016-11-22 | 2016-11-22 | A kind of device perceiving water body scatterer changes of contents |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106770052A CN106770052A (en) | 2017-05-31 |
| CN106770052B true CN106770052B (en) | 2019-05-17 |
Family
ID=58971012
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611032099.9A Expired - Fee Related CN106770052B (en) | 2016-11-22 | 2016-11-22 | A kind of device perceiving water body scatterer changes of contents |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106770052B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107282534B (en) * | 2017-07-05 | 2019-08-13 | 北京航天试验技术研究所 | A kind of liquid propellant rocket engine test pressure sensor cleaning device |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1605827A (en) * | 2004-11-11 | 2005-04-13 | 天津大学 | Multifunctional vision sensor with binocular spatial structure |
| CN101949721A (en) * | 2009-12-22 | 2011-01-19 | 中国矿业大学(北京) | Method for measuring coal bunker material level based on laser and binocular vision and device thereof |
| CN102004373A (en) * | 2010-09-21 | 2011-04-06 | 中国海洋大学 | Underwater imaging device for annular laser lighting |
| CN102621102A (en) * | 2012-03-31 | 2012-08-01 | 中国科学院安徽光学精密机械研究所 | Method for measuring horizontal visibility based on CCD (Charge Coupled Device) laser radar |
| CN103971406A (en) * | 2014-05-09 | 2014-08-06 | 青岛大学 | Underwater target three-dimensional reconstruction method based on line structured light |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| IES20000617A2 (en) * | 2000-08-02 | 2002-02-20 | Millipore Ireland Bv | Optical scattering monitor |
-
2016
- 2016-11-22 CN CN201611032099.9A patent/CN106770052B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1605827A (en) * | 2004-11-11 | 2005-04-13 | 天津大学 | Multifunctional vision sensor with binocular spatial structure |
| CN101949721A (en) * | 2009-12-22 | 2011-01-19 | 中国矿业大学(北京) | Method for measuring coal bunker material level based on laser and binocular vision and device thereof |
| CN102004373A (en) * | 2010-09-21 | 2011-04-06 | 中国海洋大学 | Underwater imaging device for annular laser lighting |
| CN102621102A (en) * | 2012-03-31 | 2012-08-01 | 中国科学院安徽光学精密机械研究所 | Method for measuring horizontal visibility based on CCD (Charge Coupled Device) laser radar |
| CN103971406A (en) * | 2014-05-09 | 2014-08-06 | 青岛大学 | Underwater target three-dimensional reconstruction method based on line structured light |
Non-Patent Citations (1)
| Title |
|---|
| 水下退化图像处理方法;张赫;《天津大学学报》;20100930;第43卷(第9期);827-832页 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106770052A (en) | 2017-05-31 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Shashar et al. | Transmission of linearly polarized light in seawater: implications for polarization signaling | |
| CN110146675A (en) | A kind of hydrographic information monitoring system | |
| CN107340546A (en) | A kind of undersea detection divides the double CCD real-time polarizations imaging devices in aperture and method | |
| Liu et al. | A review of turbidity detection based on computer vision | |
| CN107155343A (en) | It is determined that the method and system of the value of the variables of interest of the sample with organism | |
| CN101963580A (en) | Sensing device for detecting water quality transparency of lake and detection method | |
| KR101811527B1 (en) | Apparatus for monitoring coral using UV irradiation and method thereof | |
| CN106770052B (en) | A kind of device perceiving water body scatterer changes of contents | |
| CN214748140U (en) | Deep sea culture monitoring system | |
| CN102768054B (en) | Water level measuring device and water level measuring method on basis of surveillance videos and laser identifications | |
| CN112858296A (en) | Coral reef whitening automatic identification on-line monitoring device | |
| CN201795988U (en) | Sensing device for detecting transparency of lake water quality | |
| KR20150000054A (en) | u-AUV FOR MANAGING AQUACULTURE OF FISHES | |
| CN109813680A (en) | A kind of entity and its application for measurement | |
| JP5246389B2 (en) | Aquatic plant observation method | |
| Takahashi et al. | Upwelling of oxygen-depleted water (Sumishio) in Omura Bay, Japan | |
| KR101631260B1 (en) | Management system of fishery | |
| JP2023167971A (en) | Observation apparatus and observation method of fish resource amount | |
| CN206223772U (en) | A kind of ocean water quality toxic biological monitoring device based on binocular vision technology | |
| EP2163187A3 (en) | Floatation-volume adequacy determining system and floatation-volume adequacy determining method | |
| CN212483553U (en) | Water area water quality dynamic monitoring system | |
| CN114894273A (en) | Floating type water level monitoring system and method based on vision | |
| Vainiger et al. | Optical wide-field tomography of sediment resuspension | |
| AS | Aanderaa Oxygen Optodes: Best Practices for Maintaining High Data Quality. | |
| JP2019215298A (en) | Measurement method and measurement device for residual chlorine concentration |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190517 Termination date: 20211122 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |