CN109990913B - Tail wing adjustable type submarine sediment temperature detection device - Google Patents
Tail wing adjustable type submarine sediment temperature detection device Download PDFInfo
- Publication number
- CN109990913B CN109990913B CN201910321128.0A CN201910321128A CN109990913B CN 109990913 B CN109990913 B CN 109990913B CN 201910321128 A CN201910321128 A CN 201910321128A CN 109990913 B CN109990913 B CN 109990913B
- Authority
- CN
- China
- Prior art keywords
- probe
- end cover
- tail
- main board
- sealed cabin
- 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.)
- Active
Links
- 238000001514 detection method Methods 0.000 title claims abstract description 20
- 239000013049 sediment Substances 0.000 title claims abstract description 19
- 239000000523 sample Substances 0.000 claims abstract description 59
- 238000004891 communication Methods 0.000 claims abstract description 37
- 238000007667 floating Methods 0.000 claims abstract description 9
- 238000007789 sealing Methods 0.000 claims description 29
- 238000009413 insulation Methods 0.000 claims description 6
- 230000001133 acceleration Effects 0.000 claims description 5
- 230000008878 coupling Effects 0.000 claims description 4
- 238000010168 coupling process Methods 0.000 claims description 4
- 238000005859 coupling reaction Methods 0.000 claims description 4
- 238000005429 filling process Methods 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 10
- 230000008569 process Effects 0.000 description 9
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 5
- 238000012937 correction Methods 0.000 description 3
- 238000011835 investigation Methods 0.000 description 3
- NMJORVOYSJLJGU-UHFFFAOYSA-N methane clathrate Chemical compound C.C.C.C.O.O.O.O.O.O.O.O.O.O.O.O.O.O.O.O.O.O.O.O.O.O.O NMJORVOYSJLJGU-UHFFFAOYSA-N 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000005070 sampling Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000037396 body weight Effects 0.000 description 1
- 238000009933 burial Methods 0.000 description 1
- 239000002775 capsule Substances 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000035515 penetration Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000009987 spinning Methods 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01K—MEASURING TEMPERATURE; MEASURING QUANTITY OF HEAT; THERMALLY-SENSITIVE ELEMENTS NOT OTHERWISE PROVIDED FOR
- G01K1/00—Details of thermometers not specially adapted for particular types of thermometer
- G01K1/14—Supports; Fastening devices; Arrangements for mounting thermometers in particular locations
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01K—MEASURING TEMPERATURE; MEASURING QUANTITY OF HEAT; THERMALLY-SENSITIVE ELEMENTS NOT OTHERWISE PROVIDED FOR
- G01K13/00—Thermometers specially adapted for specific purposes
- G01K13/10—Thermometers specially adapted for specific purposes for measuring temperature within piled or stacked materials
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01K—MEASURING TEMPERATURE; MEASURING QUANTITY OF HEAT; THERMALLY-SENSITIVE ELEMENTS NOT OTHERWISE PROVIDED FOR
- G01K7/00—Measuring temperature based on the use of electric or magnetic elements directly sensitive to heat ; Power supply therefor, e.g. using thermoelectric elements
- G01K7/16—Measuring temperature based on the use of electric or magnetic elements directly sensitive to heat ; Power supply therefor, e.g. using thermoelectric elements using resistive elements
- G01K7/18—Measuring temperature based on the use of electric or magnetic elements directly sensitive to heat ; Power supply therefor, e.g. using thermoelectric elements using resistive elements the element being a linear resistance, e.g. platinum resistance thermometer
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Testing Or Calibration Of Command Recording Devices (AREA)
Abstract
The invention discloses a temperature detection device for a submarine sediment with an adjustable tail wing, which comprises a tail wing section, a control section and a probe section; the tail wing section comprises an upper end cover, a tail wing positioned outside the upper end cover, a tail wing motor positioned inside the upper end cover and used for controlling the tail wing to move, and an upper communication cable extending out of the top of the upper end cover; the control section comprises a sealed cabin and a floating body positioned outside the sealed cabin, and a control main board, a motor driving board, a communication main board and a battery pack are arranged inside the sealed cabin; the probe section comprises a lower end cover, a probe extending out of the lower end cover and a lower communication cable positioned in the probe; the upper end cover and the lower end cover are respectively connected with the upper end and the lower end of the sealed cabin, and the temperature detection device disclosed by the invention can effectively correct the sinking posture of the probe by controlling the tail wing, can calculate the position of the inertial inlet point and the motion parameters of the whole filling process, and can more effectively measure the geothermal temperature gradient of the deeper layer of the seabed.
Description
Technical Field
The invention relates to the technical field of deep sea detection, in particular to a temperature detection device for a submarine sediment with an adjustable tail fin.
Background
The investigation of the submarine heat flow is the early work of the investigation of submarine natural gas hydrate resources, and the submarine heat flow investigation technology is generally adopted to measure the submarine temperature and calculate the geothermal gradient so as to analyze the natural gas hydrate reservoir condition and invert the deep burial of the bottom boundary of the natural gas hydrate stabilizing layer. The modern submarine temperature gradient and heat flow detection generally uses a probe technology, and the method has higher precision and convenient operation and use, which is incomparable with other detection technologies.
The temperature gradient and heat flow probe technologies which are widely applied at present are mainly three, namely Bullard type, ewing type and Lister type, which are developed, and the problems of overlarge volume, uncontrollable sinking posture, unknown penetration point position and the like generally exist. With the development of technology, the submarine geothermal temperature probe is developed towards miniaturization, high efficiency and precision, and the posture of the probe is required to have good anti-interference and self-correction capabilities. The existing probe has insufficient anti-interference capability, cannot realize automatic posture correction, and has inaccurate measurement data.
Disclosure of Invention
In order to solve the technical problems, the invention provides the temperature detection device for the submarine sediment with the adjustable tail wing, so that the purposes of effectively correcting the sinking posture of the probe, calculating the position of the inertial inlet point and the motion parameters of the whole filling process and more effectively measuring the geothermal temperature gradient of the deeper layer of the seabed are achieved.
In order to achieve the above purpose, the technical scheme of the invention is as follows:
The temperature detection device for the submarine sediment comprises a tail wing section, a control section and a probe section; the tail wing section comprises an upper end cover, a tail wing positioned outside the upper end cover, a tail wing motor positioned inside the upper end cover and used for controlling the tail wing to move, and an upper communication cable extending out of the top of the upper end cover; the control section comprises a sealed cabin and a floating body positioned outside the sealed cabin, and a control main board, a motor driving board, a communication main board and a battery pack are arranged inside the sealed cabin; the probe section comprises a lower end cover, a probe extending out of the lower end cover and a lower communication cable positioned in the probe; the upper end cover and the lower end cover are respectively connected to the upper end and the lower end of sealed cabin, the fin motor is connected through motor drive board to the control mainboard, communication mainboard is connected respectively to last communication cable and lower communication cable, communication mainboard and control mainboard signal connection.
In the above scheme, the sealed cabin comprises a sealed cabin wall, an upper sealing cover and a lower sealing cover, wherein the sealed cabin wall, the upper sealing cover and the lower sealing cover are connected through bolts and sealed through sealing rings, and the floating body is fixed through a boss between the upper sealing cover and the lower sealing cover.
In the scheme, the upper end cover is fixed on the upper sealing cover through bolts, a fixing support is arranged in the upper end cover, four tail motors are arranged on the fixing support, and the four tail motors are connected with the four tail motors through couplings respectively.
In the scheme, the lower end cover is fixed on the lower sealing cover through bolts, and the balancing weight is arranged in the lower end cover.
In the above scheme, temperature sensor is arranged to the probe outer wall, temperature sensor is introduced the signal line down communication cable through the through-hole on the probe, be equipped with the insulating layer between temperature sensor and the probe.
In the scheme, the control main board is provided with the attitude sensor and the acceleration sensor.
In the above scheme, be equipped with support column and backup pad in the sealed cabin, control mainboard, motor drive board, communication mainboard and group battery are located the backup pad respectively.
In the above scheme, two temperature sensors are distributed at the same height position on the probe, and are fixed on the probe at equal intervals through the fixing plate and the fixing screws, and are located between the fixing plate and the heat insulation layer.
Through the technical scheme, the tail fin adjustable type submarine sediment temperature detection device provided by the invention can be put into water by means of an upper communication cable (capable of bearing tensile force) by manpower, so that the tail fin adjustable type submarine sediment temperature detection device can do free sinking movement. In the sinking process, the probe detects the posture of the probe through a posture sensor on the control main board, under the condition that the posture of the probe generates deflection, the control main board sends an adjusting signal to the tail motor after accurate calculation, the tail motor adjusts the deflection angle of the tail under the drive of the motor driving board, the tail generates interaction force with water flow, corresponding correction torque is generated on the probe in three directions, and then the posture of the probe is corrected, so that the probe always keeps a vertically downward and non-spinning state in the sinking process, and the probe can be smoothly inserted into a submarine sediment in the submarine contacting process. Meanwhile, the control main board is also provided with an acceleration sensor, the speed and the position of the probe are subjected to integral operation, the inertial in point, time point and depth value of the probe inserted into the submarine sediment can be deduced through calculation, and corresponding node signals are sent to a ground control center. After the probe is inserted into the submarine sediment, the temperature sensor array in the probe performs temperature acquisition on sediment with corresponding depth, and the sediment is transmitted into the control module to store data, the detection task is completed after the data is stable and the sediment is acquired for enough time, and meanwhile, a node signal for cable collection is sent to the ground control center.
Compared with the prior art, the invention has the beneficial effects that:
(1) The device has a four-tail control structure, can effectively adjust the posture of the probe in the sinking process of the probe, ensures that the probe is used to enter the sea bottom in a vertical and spin-free state, and is particularly suitable for geothermal exploration in deeper sea areas.
(2) The attitude sensor and the acceleration sensor are arranged in the control main board, the position of the probe inertia inlet point can be calculated through integral operation, and meanwhile, the detailed process of temperature detection sampling can be calculated according to the motion condition of the inertia inlet process, so that the whole detection process of the probe becomes transparent and controllable, and powerful guarantee is provided for the authenticity and the effectiveness of experimental data.
(3) The device is small and light in body weight, has a streamline structure, has small fluid resistance and is suitable for deep sea detection.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below.
FIG. 1 is a schematic diagram of the overall structure of a temperature detection device for a tail adjustable seabed sediment according to an embodiment of the present invention;
FIG. 2 is a schematic illustration of a tail section with an upper end cap removed in accordance with an embodiment of the present invention;
FIG. 3 is a schematic view showing an internal structure of a capsule according to an embodiment of the present invention;
FIG. 4 is a schematic view of the interior of a lower end cap according to an embodiment of the present invention;
fig. 5 is an enlarged schematic view of a portion of a temperature sensor.
In the figure, 1, an upper end cover; 2. a tail wing; 3. a tail motor; 4. a communication cable is arranged; 5. an upper sealing cover; 6. a fixed bracket; 7. a coupling; 8. a floating body; 9. sealing the bulkhead; 10. a lower sealing cover; 11. a control main board; 12. a motor driving plate; 13. a communication main board; 14. a battery pack; 15. a support column; 16. a support plate; 17. a temperature sensor; 18. a cable watertight interface; 19. a lower end cap; 20. a probe; 21. a lower communication cable; 22. balancing weight; 23. a fixed block; 24. a set screw; 25. a thermal insulation layer; 26. and a signal line.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
The invention provides a temperature detection device for a submarine sediment with an adjustable tail wing, which can effectively correct the sinking posture of a probe, calculate the position of an inertial inlet point and the motion parameters of the whole filling process, and more effectively measure the geothermal temperature gradient of the deeper layer of the seabed as shown in figure 1.
An adjustable empennage device for detecting the temperature of submarine sediment, as shown in figure 1, comprises an empennage section, a control section and a probe section. As shown in fig. 2, the tail section includes an upper cover 1, a tail 2 positioned outside the upper cover 1, a tail motor 3 positioned inside the upper cover 1 to control movement of the tail 2, and an upper communication cable 4 extended from the top of the upper cover 1. The upper end cover 1 is fixed on the upper sealing cover 5 through bolts, a fixed support 6 is arranged in the upper end cover 1, four tail motors 3 are arranged on the fixed support 6, and the four tail motors 3 are respectively connected with the four tail motors 2 through rigid couplings 7. The rotation of the tail motor 3 can control the deflection angle of the tail 2, and the deflection angle of the tail 2 can change the direction of water resistance in the sinking process, so that corresponding torque can be obtained to adjust the gesture of the probe system.
The control section comprises a sealed cabin and a floating body 8 positioned outside the sealed cabin, as shown in fig. 3, the sealed cabin comprises a sealed cabin wall 9, an upper sealing cover 5 and a lower sealing cover 10, the sealed cabin wall 9 is connected with the upper sealing cover 5 and the lower sealing cover 10 through bolts, the floating body 8 is sealed through a sealing ring, and the floating body 8 is fixed through a boss between the upper sealing cover 5 and the lower sealing cover 10. A control main board 11, a motor driving board 12, a communication main board 13 and a battery pack 14 are arranged in the sealed cabin; the battery pack 14 supplies electric power to the control main board 11, the motor drive board 12, the communication main board 13, and the tail motor 3. The sealed cabin is internally provided with a supporting column 15 and a supporting plate 16, and the control main board 11, the motor driving board 12, the communication main board 13 and the battery pack 14 are respectively arranged on the supporting plate 16. The control main board 11 is provided with a gesture sensor and an acceleration sensor, can detect the gesture and the integral of the probe in real time to calculate the motion parameters (including position and speed parameters), and simultaneously sends a control signal to the motor driving board 12 according to the detected gesture condition, so as to control the rotation of the tail motor 3 to adjust the deflection angle of the tail 2, correct the gesture of the probe and ensure that the sinking process is always in a vertical and spin-free state; the control main board 11 calculates sinking, inertial entering, static and recovery processes of the probe system by detecting motion parameters of the probe, calculates node signals of each stage, and transmits the node signals to a water surface control center through the communication main board 13 and the upper communication cable 4; the communication main board 13 is responsible for data acquisition sampling of the temperature sensor 17 and transmitting temperature data to the control main board 11, and can receive node signals of the control main board 11 and communicate with a water surface control center to provide the node signals for the water surface control center; the power line and the signal line in the sealed cabin are connected with the tail motor 3, the temperature sensor 17 and the water surface control center through a cable watertight interface 18. The control main board 11 is connected with the tail motor 3 through a motor driving board 12.
The probe section comprises a lower end cover 19, a probe 20 extending out of the lower end cover 19, and a lower communication cable 21 positioned inside the probe 20; as shown in fig. 4, the lower end cap 19 is fixed to the lower seal cap 10 by bolts, and a weight 22 is provided in the lower end cap 19. As shown in the split structure schematic diagram of fig. 5, the temperature sensor 17 is fixed on the outer wall of the probe 20 through a fixing block 23 and 2 fixing screws 24, a heat insulation layer 25 is added between the fixing block 23 and the fixing screws, and the temperature sensor 17 is positioned between the fixing block 23 and the heat insulation layer 25, so that the influence of heat transfer of the probe 20 on the temperature sensor (PT 1000) 17 is reduced; the temperature sensor 17 introduces a signal wire 26 into the lower communication cable 21 through a through hole on the probe 20, transmits a measured temperature signal to the communication main board 13 through the lower communication cable 21, and the communication main board 13 is in signal connection with the control main board 11, and transmits and stores acquired temperature data to the control main board 11.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (2)
1. The temperature detection device for the submarine sediment with the adjustable tail fin is characterized by comprising a tail fin section, a control section and a probe section; the tail wing section comprises an upper end cover, a tail wing positioned outside the upper end cover, a tail wing motor positioned inside the upper end cover and used for controlling the tail wing to move, and an upper communication cable extending out of the top of the upper end cover; the control section comprises a sealed cabin and a floating body positioned outside the sealed cabin, and a control main board, a motor driving board, a communication main board and a battery pack are arranged inside the sealed cabin; the probe section comprises a lower end cover, a probe extending out of the lower end cover and a lower communication cable positioned in the probe; the upper end cover and the lower end cover are respectively connected with the upper end and the lower end of the sealed cabin, the control main board is connected with the tail motor through the motor driving board, the upper communication cable and the lower communication cable are respectively connected with the communication main board, and the communication main board is in signal connection with the control main board; the control main board is provided with an attitude sensor and an acceleration sensor; the outer wall of the probe is provided with a temperature sensor, the temperature sensor introduces a signal wire into the lower communication cable through a through hole on the probe, and a heat insulation layer is arranged between the temperature sensor and the probe; two temperature sensors are distributed at the same height position on the probe, the temperature sensors are fixed on the probe at equal intervals through a fixing plate and a fixing screw, and the temperature sensors are positioned between the fixing plate and the heat insulation layer; the sealed cabin comprises a sealed cabin wall, an upper sealing cover and a lower sealing cover, wherein the sealed cabin wall is connected with the upper sealing cover and the lower sealing cover through bolts and sealed through sealing rings, and the floating body is fixed through a boss between the upper sealing cover and the lower sealing cover; the upper end cover is fixed on the upper sealing cover through bolts, a fixed bracket is arranged in the upper end cover, four tail motors are mounted on the fixed bracket, and the four tail motors are connected with the four tail motors through couplings respectively; the sealed cabin is internally provided with a support column and a support plate, and the control main board, the motor driving board, the communication main board and the battery pack are respectively positioned on the support plate.
2. The temperature detection device for the tail adjustable type seabed sediment according to claim 1, wherein the lower end cover is fixed on the lower sealing cover through bolts, and a balancing weight is arranged in the lower end cover.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910321128.0A CN109990913B (en) | 2019-04-19 | 2019-04-19 | Tail wing adjustable type submarine sediment temperature detection device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910321128.0A CN109990913B (en) | 2019-04-19 | 2019-04-19 | Tail wing adjustable type submarine sediment temperature detection device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109990913A CN109990913A (en) | 2019-07-09 |
| CN109990913B true CN109990913B (en) | 2024-07-09 |
Family
ID=67134957
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910321128.0A Active CN109990913B (en) | 2019-04-19 | 2019-04-19 | Tail wing adjustable type submarine sediment temperature detection device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109990913B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110702270B (en) * | 2019-10-21 | 2020-12-22 | 湖州泰益智能科技有限公司 | Tail-adjustable mimicry high-prevention submarine sediment temperature detector |
| CN114323741B (en) * | 2021-11-18 | 2024-06-25 | 杭州电子科技大学 | Automatic sediment sampling device free of hanging and automatic sediment sampling method |
| CN114608724B (en) * | 2022-05-10 | 2022-08-05 | 杭州大祉机电有限公司 | Shallow sea real-time geothermal temperature gradient measuring device |
| CN116106496A (en) * | 2023-01-16 | 2023-05-12 | 中国海洋大学 | Throwing type detection device and gas-water-soil all-medium detection method |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201210052Y (en) * | 2008-06-11 | 2009-03-18 | 山东省科学院海洋仪器仪表研究所 | Disposable sea water section measurer |
| CN104149939A (en) * | 2014-08-15 | 2014-11-19 | 国家海洋技术中心 | Acoustics localization type self-floating profile buoy device |
| KR20160146261A (en) * | 2015-06-12 | 2016-12-21 | 한국해양과학기술원 | Device for measuring geothermal amount of ocean |
| CN107505001A (en) * | 2017-08-29 | 2017-12-22 | 广州海洋地质调查局 | A kind of bottom sediment temperature and pressure in site measurement instrument and its data capture method |
| CN209605967U (en) * | 2019-04-19 | 2019-11-08 | 山东省海洋仪器仪表科技中心 | A kind of adjustable tail fins bottom sediment temperature detection device |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104062691B (en) * | 2014-07-08 | 2017-03-01 | 广东工业大学 | High accuracy seabed geothermal gradient detecting devices |
| CN105277458A (en) * | 2015-11-17 | 2016-01-27 | 东北师范大学 | Acceleration type free fall shallow sea settled layer FXBP measuring system |
| CN205246073U (en) * | 2015-12-14 | 2016-05-18 | 山东省科学院海洋仪器仪表研究所 | Fixed point is from going up and down marine environment measuring platform |
| CN105547515B (en) * | 2016-02-25 | 2017-08-22 | 中国科学院地质与地球物理研究所 | A kind of self-floating bottom-water temperature detection system |
| CN105910598B (en) * | 2016-04-05 | 2018-07-24 | 广东工业大学 | Layering acoustic measurement sampler detecting system in situ |
| CN105785470B (en) * | 2016-04-29 | 2017-03-29 | 中国科学院南海海洋研究所 | A kind of single-floating ball heat flow of ocean floor long-term observation system |
| CN108100167A (en) * | 2017-11-15 | 2018-06-01 | 浙江大学 | A kind of autonomous protrusive section subsurface buoy |
| CN108674617A (en) * | 2018-04-28 | 2018-10-19 | 中国海洋大学 | Underwater intelligent floating instrument device and its control system |
-
2019
- 2019-04-19 CN CN201910321128.0A patent/CN109990913B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201210052Y (en) * | 2008-06-11 | 2009-03-18 | 山东省科学院海洋仪器仪表研究所 | Disposable sea water section measurer |
| CN104149939A (en) * | 2014-08-15 | 2014-11-19 | 国家海洋技术中心 | Acoustics localization type self-floating profile buoy device |
| KR20160146261A (en) * | 2015-06-12 | 2016-12-21 | 한국해양과학기술원 | Device for measuring geothermal amount of ocean |
| CN107505001A (en) * | 2017-08-29 | 2017-12-22 | 广州海洋地质调查局 | A kind of bottom sediment temperature and pressure in site measurement instrument and its data capture method |
| CN209605967U (en) * | 2019-04-19 | 2019-11-08 | 山东省海洋仪器仪表科技中心 | A kind of adjustable tail fins bottom sediment temperature detection device |
Non-Patent Citations (1)
| Title |
|---|
| 基于STM32单片机的四旋翼飞行器设计;程煦等;电子世界;20170208(第03期);第121-124页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109990913A (en) | 2019-07-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109990913B (en) | Tail wing adjustable type submarine sediment temperature detection device | |
| CN109178305B (en) | Hydrologic monitoring amphibious unmanned aerial vehicle and hydrologic monitoring method | |
| CN110082386B (en) | Tail-adjustable submarine sediment temperature probe control system and control method | |
| CN101344460B (en) | Underwater robot sensor fault diagnosis method and system | |
| CN104062691B (en) | High accuracy seabed geothermal gradient detecting devices | |
| WO2016110207A1 (en) | Self-floating seafloor heat flow long-term observation station | |
| CN103760604B (en) | Circuit module for dragging multi-linear-array horizontal control device | |
| CN106218838A (en) | The deep turbulent closure scheme matrix type profile observation system in full sea based on MEMS technology | |
| CN103576202A (en) | A streamer for seismic prospection comprising tilt compensation of directional sensors | |
| CN109540575B (en) | Deep sea autonomous attitude adjusting and sampling system and attitude adjusting method thereof | |
| WO2020155349A1 (en) | Split-type observation apparatus for marine boundary layer, and method | |
| CN109883395A (en) | A kind of automatic inclination measurement device | |
| CN105911612B (en) | A kind of multifunctional in-situ long-term observation device | |
| CN110525616A (en) | Submarine earthquake detection flight node aircraft and working method based on buoyancy adjustment | |
| CN209605967U (en) | A kind of adjustable tail fins bottom sediment temperature detection device | |
| CN113624195B (en) | Submarine landslide deep deformation in-situ real-time monitoring device and analysis method | |
| CN112758263A (en) | Marine environment monitoring device | |
| CN202987483U (en) | Underwater constant depth and constant height dragging device | |
| CN116337540A (en) | Multi-parameter layered sampling water sample collector and sampling method | |
| CN104062692B (en) | High-precision seabed terrestrial heat flow detection device | |
| CN104865044A (en) | Truss Spar platform movement measurement test device | |
| CN112824226B (en) | A ware that stealthily extends wing for carrying acoustic sensor | |
| CN115437031A (en) | Geophysical equipment for deep sea detection and data processing method | |
| CN207798087U (en) | Bathymetric surveying system | |
| CN203519529U (en) | Submarine pipeline detection device |
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 | ||
| CB02 | Change of applicant information |
Address after: No.28, Zhejiang Road, Shinan District, Qingdao City, Shandong Province Applicant after: Shandong Ocean Instrument Technology Center Co.,Ltd. Applicant after: INSTITUTE OF OCEANOGRAPHIC INSTRUMENTATION, SHANDONG ACADEMY OF SCIENCES Address before: No. 28, Zhejiang Road, Southern District, Shandong, Qingdao, Shandong Applicant before: SHANDONG PROVINCE OCEANOGRAPHIC INSTRUMENTATION TECHNOLOGY CENTER Applicant before: INSTITUTE OF OCEANOGRAPHIC INSTRUMENTATION, SHANDONG ACADEMY OF SCIENCES |
|
| CB02 | Change of applicant information | ||
| GR01 | Patent grant |