CN111272667B - High-density mobile monitoring system - Google Patents
High-density mobile monitoring system Download PDFInfo
- Publication number
- CN111272667B CN111272667B CN202010063518.5A CN202010063518A CN111272667B CN 111272667 B CN111272667 B CN 111272667B CN 202010063518 A CN202010063518 A CN 202010063518A CN 111272667 B CN111272667 B CN 111272667B
- Authority
- CN
- China
- Prior art keywords
- data
- protocol
- navigation
- transmission module
- module
- 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
Images
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
- G01N21/25—Colour; Spectral properties, i.e. comparison of effect of material on the light at two or more different wavelengths or wavelength bands
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/18—Water
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/18—Water
- G01N33/1806—Water biological or chemical oxygen demand (BOD or COD)
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C19/00—Electric signal transmission systems
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L69/00—Network arrangements, protocols or services independent of the application payload and not provided for in the other groups of this subclass
- H04L69/08—Protocols for interworking; Protocol conversion
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L2012/40208—Bus networks characterized by the use of a particular bus standard
- H04L2012/40228—Modbus
Abstract
The invention relates to a high-density mobile monitoring system which comprises a navigation controller, a protocol conversion circuit module, an electric speed regulator, a shipborne digital transmission module and a receiver, wherein the protocol conversion circuit module, the electric speed regulator, the shipborne digital transmission module and the receiver are respectively connected with the navigation controller, the protocol conversion circuit module is connected with more than one navigation sensor, the shipborne digital transmission module is connected with a water quality monitoring probe, the shipborne digital transmission module is wirelessly connected with a ground digital transmission module, the ground digital transmission module is connected with a flat computer controller, the flat computer controller is connected with a remote controller, the flat computer is connected with a shipborne digital image transmission module, the shipborne digital image transmission module is connected with more than one image acquisition device, and the receiver is wirelessly connected with the remote controller through a wireless network. The invention adopts a protocol conversion circuit module and a conversion module for converting the NMEA0183 international universal positioning protocol by multiple protocols. The standard protocol fusion of different navigation sensors is realized, the CPU and the control program of the control system can be upgraded without changing, and the types of the navigation sensors can be expanded infinitely.
Description
Technical Field
The invention belongs to the field of environmental protection, and relates to an environmental protection water quality monitoring and multi-parameter water quality big data continuous acquisition and analysis technology under the water area environment of inland rivers, lakes and reservoirs, in particular to a high-density mobile monitoring system.
Background
The environment-friendly unmanned ship on the current market is mainly an unmanned ship controlled by a remote control or a semi-automatic air route, a carried GPS (global positioning system), a sonar detection device and a high-frequency radar all adopt independent protocols, and an unmanned ship navigation control system is required to develop a large number of redundant protocol channels and algorithm fusion, so that the rechecking of the navigation control system and a ground station system is large, the communication perception fusion difficulty is large, and control system software and ground station data display need to be re-developed every time a new navigation sensor is accessed. In the water environment parameter acquisition part, because the protocols of various sensors are different, all carried probe protocols are compiled and fused from a new way to be unified and then acquired and transmitted. Most of the environment-friendly unmanned ships collect water samples, and a small part of the environment-friendly unmanned ships carry simple multi-parameter probes, so that the water environment protection requirement cannot be met, and in the aspect of data transmission, the RTU carrying the SIM card depending on a communication operator network sends data to a cloud platform server through a 2G or 4G network. When the system works in a large area of water, data cannot be collected and transmitted due to the fact that no network signals of an operator exist. And at present, the data acquisition frequency of the sensor is low, the fastest value reaches 1 time of acquisition per minute, and the sampling interval distance of 1 minute is at least 120 meters under the high navigation speed of the unmanned ship, so that the data sampling is too sparse. The low navigational speed causes low sampling efficiency and overlong operation time. The unmanned ship does not have the function of realizing hyperspectral, ultraviolet and visible light data acquisition and analysis at present, the environment data which can be acquired is incomplete, the water environment management needs cannot be completely covered, infrared equipment is lacked at night, and the night patrol and evidence collection cannot be realized. Manual remote control tracking is needed in evidence obtaining operation aiming at the emission standard exceeding of a large-scale transport ship, and illegal suspect ships cannot be locked for automatic tracking evidence obtaining.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides a high-density mobile monitoring system, which realizes the standardized access of an unmanned ship intelligent sensor, can continuously upgrade a sensing system of the unmanned ship, and improves the intelligent level of the unmanned ship.
The technical scheme adopted by the invention for solving the technical problem is as follows:
the utility model provides a high density mobile monitoring system, including navigation controller and the protocol conversion circuit module who is connected with navigation controller respectively, the electricity is transferred, on-board digital transmission module, the receiver, more than one navigation sensor is connected to protocol conversion circuit module, on-board digital transmission module connects the water quality monitoring probe, on-board digital transmission module and ground digital transmission module wireless connection, ground digital transmission module connects panel computer controller, panel computer controller connects the remote controller, panel computer connects on-board digital map transmission module, on-board digital map transmission module connects more than one image acquisition equipment, the receiver passes through wireless network wireless connection remote controller.
And the protocol conversion circuit module uniformly converts interface protocols of different navigation sensors into NMEA0183 protocol standard to access the navigation controller.
The navigation sensor is a GPS positioning system, a sonar detection device, a high-frequency radar, a depth sensor and an RTK.
And the protocol conversion circuit module uniformly converts the water quality sensor protocol into a MODEBUS standard protocol to access the data acquisition and transmission system.
Furthermore, the receiver controls a plurality of MOS switches, and the battery supplies power to each device through the plurality of MOS switches.
Moreover, the image acquisition equipment is an infrared camera, a hyperspectral camera, a multispectral camera and a zoom camera.
And an ultraviolet visible light real-time acquisition and analysis module is added in the water quality monitoring probe.
And moreover, a visual positioning and tracking algorithm is embedded in the single chip microcomputer of the navigation controller, images are captured through image acquisition equipment, and in the tracking process, the discharged gas and wake flow liquid of the ship are acquired, analyzed and evidence is obtained on line through a water quality sensor.
Moreover, the high-density mobile monitoring system is installed on unmanned ships.
Moreover, the singlechip of the protocol conversion circuit module adopts an STC singlechip.
The invention has the advantages and positive effects that:
1. the invention adopts a protocol conversion circuit module and a conversion module for converting the NMEA0183 international universal positioning protocol by multiple protocols. The standard protocol fusion of different navigation sensors is realized, the CPU and the control program of the control system can be upgraded without changing, and the types of the navigation sensors can be expanded infinitely.
2. And the multi-protocol conversion MODEBUS standard industrial protocol realizes the parallel access of various water quality parameter sensors and gas sensors.
3. The integration of a photoelectric system and a multi-medium water quality sensor is realized, and high-frequency data sampling and more comprehensive data samples can be obtained.
4. The problem of data transmission of data under the condition of no network at present is solved, reliable data acquisition and data transfer synchronization are realized, communication cost is reduced, and the monitoring operation range is expanded.
5. After the infrared camera is adopted, the unmanned ship obtains all-weather day and night operation evidence obtaining capability.
6. The intelligent navigation ability of unmanned ship has been improved to the vision localization tracking function, has reduced the manual work degree of difficulty, has increased the flexibility that the environmental protection was collected evidence and is law enforced.
Drawings
FIG. 1 is a block diagram of a control system of the present invention;
FIG. 2 is a block circuit diagram of the present invention;
fig. 3 is a circuit diagram of a protocol conversion circuit module.
Detailed Description
The present invention will be described in further detail with reference to the following embodiments, which are illustrative only and not limiting, and the scope of the present invention is not limited thereby.
The utility model provides a high density mobile monitoring system, this monitoring system carries on unmanned ship, includes navigation controller and the agreement converting circuit module, the propeller electricity that are connected with navigation controller respectively are transferred, the water pump electricity is transferred, on-board digital transmission module, 4G receiver, and the agreement converting circuit module passes through navigation sensors such as RS485 bus connection sonar, RTK, depth sensor. The propellers are electrically adjusted into two parts which are respectively connected with the two propellers, and the water pump is electrically adjusted and connected with the water pump. The shipborne digital transmission module is connected with the water quality monitoring probe through an RS485 bus, the shipborne digital transmission module is in wireless connection with the ground digital transmission module, the ground digital transmission module is connected with a panel computer controller, the panel computer controller is connected with a remote controller, the panel computer is connected with the shipborne digital image transmission module, and the shipborne digital image transmission module is connected with devices such as a hyperspectral camera, a multispectral camera, an infrared camera, a zoom camera and a panoramic camera. The 4G receiver is wirelessly connected with the remote controller through a 4G wireless network, and the 4G receiver controls the three MOS switches. The battery supplies power to each device through the three MOS switches.
The protocol conversion circuit module is accessed to a plurality of serial ports and IIC interfaces by using an STC single chip microcomputer, and carries out protocol compiling for 2 times on the accessed unmanned ship navigation sensor. For example, the water depth data replaces the elevation data of the GNGAA statement in the NMEA0183 protocol. The laser or acoustic sensor value replaces the positioning coordinate part in the NMEA0183 protocol, and the like. The synthesized new NMEA0183 protocol is accessed to a positioning interface of a navigation system, and fusion obstacle avoidance and navigation attitude adjustment of the unmanned ship are realized.
Through the analysis of the NMEA0183 protocol, the positioning information of the GPS is known to be transmitted through the signaling GNGGA. Therefore, the STC single chip microcomputer is communicated with the GPS module through the serial port, after the GNGGA signaling is received, the GNGGA signaling is decoded, positioning data is analyzed, and longitude and latitude coordinates are stored in a memory of the STC single chip microcomputer. And then, sending a signaling for reading the water quality data by using the other serial port of the STC single chip microcomputer according to the communication rule of the modbus. The water quality sensor is communicated with the water quality sensor through the 485 module, and after receiving the instruction, the water quality sensor transmits back data. And after the STC single chip microcomputer receives the data, the data is decoded and stored in the memory. And finally, switching the STC single chip microcomputer to a third serial port, and sending the GPS data and the water quality data in the memory to the control center together.
The STC single chip microcomputer is STC8A8K64S4A12, and the chip supports 2 serial ports and 2 IIC interfaces.
After acquiring the GPS data, longitude and latitude information is acquired from the GNGGA command. And searching the information position of the horizontal positioning precision factor in the signaling, and rewriting the information position into a value larger than 3 after the information position is found. And searching the position of the GPS height information in the signaling, and rewriting the position into the depth information of the depth meter after the position is found. And carrying out summation check on the rewritten signaling again, replacing the original check code with the check code, and sending the check code to the ground station through the serial port.
And the protocol conversion circuit module is used for carrying out MODEBUS adjustment on the protocol of the accessed water quality sensor probe. And forming a unique multi-parameter protocol and sending the unique multi-parameter protocol to the ground data transmission DTU through the shipborne data transmission DTU. And after the ground station stores the data, the data are exchanged for 2 times or exchanged in real time with the server in an Internet access area. The problem of data acquisition and transmission of unmanned ship in no communication signal area is solved.
Data of the water quality sensor and positioning data of the GPS are collected through an STC single-chip microcomputer communication technology and are uniformly transmitted back to the control center through the serial communication interface.
The protocol conversion circuit module improves the sampling frequency of each water quality sensor through the specificity of the STC, and the highest sampling frequency can reach 1HZ, namely 1 second and 1 time.
The ultraviolet and visible light real-time acquisition and analysis module is added in the water quality sensor probe, water environment data analysis can be carried out according to ultraviolet light spectrum analysis, and the defect that total phosphorus and total nitrogen data cannot be acquired in real time by the ammonia nitrogen sensor probe and the COD probe is overcome.
The hyperspectral camera can carry out data pixel acquisition on the water surface and reversely reduce the water quality condition of the water area. The infrared camera can be used for evidence collection of illegal emissions at night.
The automatic tracking of the target can be realized by adopting a visual tracking kit and an algorithm in the prior art, and the water quality sensor is used for carrying out online acquisition, analysis and evidence collection on the exhaust gas and the wake flow liquid of the ship in the tracking process.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various changes and modifications can be made without departing from the inventive concept, and these changes and modifications are all within the scope of the present invention.
Claims (7)
1. A high density mobile monitoring system, characterized by: the system comprises a navigation controller, a protocol conversion circuit module, an electric controller, a shipborne digital transmission module and a receiver, wherein the protocol conversion circuit module, the electric controller, the shipborne digital transmission module and the receiver are respectively connected with the navigation controller;
the protocol conversion circuit module adopts an STC single chip microcomputer, accesses a plurality of serial ports and IIC interfaces, compiles the interface protocols of different accessed navigation sensors for 2 times, and uniformly converts the interface protocols into NMEA0183 protocol standard to access the navigation controller;
the protocol conversion circuit module uniformly converts the water quality sensor protocol into a MODEBUS standard protocol to access a data acquisition and transmission system;
the 2-time compiling is that the water depth data replaces the altitude data of a GNGGA statement in an NMEA0183 protocol, the laser or sound sensor value replaces a positioning coordinate part in the NMEA0183 protocol, and the synthesized new NMEA0183 protocol is accessed to a positioning interface of a navigation system to realize the fusion obstacle avoidance and navigation attitude adjustment of the unmanned ship;
the STC single chip microcomputer is communicated with the GPS module through a serial port, after a GNGGA signaling is received, the GNGGA signaling is decoded, positioning data is analyzed, longitude and latitude coordinates are stored in a memory of the STC single chip microcomputer, then, a signaling for reading water quality data is sent by another serial port of the STC single chip microcomputer according to a communication rule of modbus, the STC single chip microcomputer is communicated with the water quality sensor through a 485 module, the water quality sensor returns data after receiving the instruction, the STC single chip microcomputer decodes and stores the data in the memory after receiving the data, and finally, the STC single chip microcomputer is switched to a third serial port to send the GPS data and the water quality data in the memory to the control center;
acquiring longitude and latitude information from a GNGGA instruction after GPS data is acquired, searching an information position of a horizontal positioning precision factor in a signaling, rewriting the information position into a value larger than 3 after the information position is found, searching a position of GPS height information in the signaling, rewriting the position into depth information of a depth meter after the information position is found, performing summation and verification on the rewritten signaling again, replacing an original verification code with the verification code, and sending the verification code to a ground station through a serial port;
the protocol conversion circuit module carries out MODEBUS adjustment of protocols on the accessed water quality sensor probe to form a unique multi-parameter protocol, the unique multi-parameter protocol is sent to the ground data transmission module through the shipborne data transmission module, and the ground station carries out 2 times of data exchange or real-time exchange with the server in an internet access area after storing.
2. The high-density mobile monitoring system of claim 1, wherein: the navigation sensor is a GPS (global positioning system), a sonar detection device, a high-frequency radar, a depth sensor and an RTK (real time kinematic).
3. The high-density mobile monitoring system of claim 1, wherein: the receiver controls the multi-channel MOS switch, and the battery supplies power to each device through the multi-channel MOS switch.
4. The high-density mobile monitoring system of claim 1, wherein: the image acquisition equipment is an infrared camera, a hyperspectral camera, a multispectral camera and a zooming camera.
5. The high-density mobile monitoring system of claim 1, wherein: and an ultraviolet visible light real-time acquisition and analysis module is added in the water quality monitoring probe.
6. The high-density mobile monitoring system of claim 1, wherein: a visual positioning and tracking algorithm is embedded in a single chip microcomputer of the navigation controller, images are captured through image acquisition equipment, and in the tracking process, the discharged gas and wake flow liquid of a ship are acquired, analyzed and evidence is obtained on line through a water quality sensor.
7. The high-density mobile monitoring system of claim 1, wherein: the high-density mobile monitoring system is installed on an unmanned ship.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010063518.5A CN111272667B (en) | 2020-01-20 | 2020-01-20 | High-density mobile monitoring system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010063518.5A CN111272667B (en) | 2020-01-20 | 2020-01-20 | High-density mobile monitoring system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111272667A CN111272667A (en) | 2020-06-12 |
| CN111272667B true CN111272667B (en) | 2021-08-13 |
Family
ID=70996855
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010063518.5A Active CN111272667B (en) | 2020-01-20 | 2020-01-20 | High-density mobile monitoring system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111272667B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112519966A (en) * | 2020-12-10 | 2021-03-19 | 南京智汇空间技术有限公司 | Unmanned surface of water robot integration control box |
| CN113722013B (en) * | 2021-09-10 | 2023-07-28 | 中国西安卫星测控中心 | Data exchange method suitable for Beidou No. three satellite measurement, operation and control system |
| WO2023065353A1 (en) * | 2021-10-22 | 2023-04-27 | Shenzhen Rakwireless Technology Co., Ltd. | Data transmission method, sensing system and sensor hub |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101950027A (en) * | 2010-08-18 | 2011-01-19 | 东莞市泰斗微电子科技有限公司 | Navigational satellite signal receiving module and information processing method applied to same |
| CN103808361B (en) * | 2013-10-13 | 2016-08-31 | 国家电网公司 | A kind of transformer air-cooled control system merged based on many monitoring sensors |
| CN104748785A (en) * | 2013-12-30 | 2015-07-01 | 南京理工大学常熟研究院有限公司 | Remote automatic hydrology and water quality monitoring system platform |
| CN203929111U (en) * | 2014-04-14 | 2014-11-05 | 广州市健坤网络科技发展有限公司 | A kind of automatic cruising aquaculture on-line monitoring ship |
| CN105974075A (en) * | 2016-05-16 | 2016-09-28 | 南通大学 | Water quality monitoring system based on Beidou navigation satellite system |
| CN107264732A (en) * | 2017-06-24 | 2017-10-20 | 张家淦 | A kind of intelligent new energy unmanned boat |
| CN107389129A (en) * | 2017-07-17 | 2017-11-24 | 武汉大学 | A kind of long-range motion sensing control hydrology-water quality distributed-network monitoring platform |
| CN108107176A (en) * | 2018-01-12 | 2018-06-01 | 中国科学院合肥物质科学研究院 | A kind of unmanned boat and pollution sources method for tracing for water quality monitoring and pollution sources tracking |
| CN209410285U (en) * | 2018-03-11 | 2019-09-20 | 深圳市百纳生态研究院有限公司 | A kind of water quality monitoring and water process integration unmanned boat |
-
2020
- 2020-01-20 CN CN202010063518.5A patent/CN111272667B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN111272667A (en) | 2020-06-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111272667B (en) | High-density mobile monitoring system | |
| CN108181908B (en) | Unmanned ship system for monitoring inland river environment | |
| CN201522787U (en) | Ship pilotage system | |
| CN211235830U (en) | Unmanned ship water quality monitoring system | |
| CN107168314A (en) | Buoy data message transferring device based on unmanned boat system | |
| CN103926927A (en) | Binocular vision positioning and three-dimensional mapping method for indoor mobile robot | |
| CN108303508A (en) | Ecology language system and method based on laser radar and deep learning optimum path search | |
| CN105136127B (en) | A kind of measuring method and system of atural object landform | |
| CN210572759U (en) | Soil and water conservation remote sensing monitoring system | |
| CN109631857B (en) | Multi-unmanned-boat combined island and reef surveying and mapping system and method | |
| CN203492137U (en) | Multifunctional photographing and evidence-taking device capable of realizing target positioning | |
| CN208027170U (en) | A kind of power-line patrolling unmanned plane and system | |
| CN103475863A (en) | Multifunctional camera shooting and evidence obtaining device and method capable of achieving target location | |
| CN114638909A (en) | Substation semantic map construction method based on laser SLAM and visual fusion | |
| CN113109344A (en) | Novel real-time efficient water quality monitoring system based on internet of things | |
| CN105867226B (en) | Field biological detection and early warning system | |
| CN212160899U (en) | Marine environment sudden change early warning system based on Internet of things | |
| CN204421956U (en) | A kind of beacon telemetering remote control terminal based on Beidou satellite navigation and system | |
| CN207881762U (en) | A kind of UAV Intelligent air acquisition analytical equipment | |
| CN211855440U (en) | Ocean environment monitoring system based on wave energy | |
| CN208969718U (en) | A kind of foreign-going ship air route intelligence control system | |
| CN206740205U (en) | A kind of Shipborne navigation information server | |
| CN202471071U (en) | Semi-automatic navigation positioning system based on total station | |
| CN212183549U (en) | Management device for jointly monitoring fishery water area based on multiple sensing devices | |
| CN113790718A (en) | Unmanned ship-based information sharing system |
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 |