CN112817241A - Control system and method for deep-sea moving grab bucket - Google Patents
Control system and method for deep-sea moving grab bucket Download PDFInfo
- Publication number
- CN112817241A CN112817241A CN202011554574.5A CN202011554574A CN112817241A CN 112817241 A CN112817241 A CN 112817241A CN 202011554574 A CN202011554574 A CN 202011554574A CN 112817241 A CN112817241 A CN 112817241A
- Authority
- CN
- China
- Prior art keywords
- grab bucket
- deep sea
- coaxial cable
- control system
- underwater
- 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.)
- Pending
Links
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Biochemistry (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Health & Medical Sciences (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Automation & Control Theory (AREA)
- Earth Drilling (AREA)
Abstract
The invention relates to the technical field of deep sea mobile grab buckets, and discloses a control system and a control method of a deep sea mobile grab bucket. The control system and the method for the deep-sea mobile grab bucket have the advantages that after the deck unit receives an instruction of an operator, the instruction is sent to the underwater measurement and control unit through the deck communication machine, the deep-sea motor driver is used for driving the grab bucket body mechanical mechanism to complete opening and closing actions, seabed sampling is completed, in the sampling process, the high-definition video monitoring system in the measurement and control unit collects underwater high-definition camera videos installed on the grab bucket body, the data acquisition system acquires sensor data such as height and depth meters, the sensor data are transmitted to the deck unit in real time, the operator can complete sampling by means of monitoring pictures, and therefore the efficiency of sampling operation is greatly improved.
Description
Technical Field
The invention relates to the technical field of deep sea moving grab buckets, in particular to a control system and a control method of a deep sea moving grab bucket.
Background
Undersea exploration refers to the process of sampling, observing and surveying undersea resources, particularly undersea mineral resources, for the purpose of ascertaining the type, reserve and distribution of the resources. The submarine mineral resources are rich and are distributed from the coast to the ocean, if the global submarine oil reserves are about twice of the world proven oil reserves, the reserves of the deep sea manganese nodule, submarine hydrothermal mineral deposits and the like are huge and are to be explored, developed and utilized, the grab bucket exploration technology is to put the grab bucket down to the seabed through an armored cable on a scientific research ship, and exploration operation is implemented by controlling the opening and closing of the grab bucket through program instructions.
The existing deep sea grab bucket system is difficult to operate when a submarine grab bucket is used for sampling, and the sampling efficiency is too low, so that the submarine surveying efficiency is seriously hindered.
Disclosure of Invention
The present invention is directed to a system and a method for controlling a deep sea mobile grab bucket, so as to solve the problems of the background art.
In order to achieve the purpose, the invention provides the following technical scheme: the control system comprises an electric control system, the electric control system consists of a deck unit, a twisting workshop and an underwater unit, the deck unit consists of an industrial personal computer, a multifunctional coaxial cable communication machine, a multifunctional high-definition optical fiber communication machine, a hard disk video recorder and a high-voltage direct-current power supply, the twisting workshop consists of a winch cable arrangement system, an electric slip ring and a smooth ring, and the underwater unit consists of a grab bucket body, an underwater camera, an underwater illuminating lamp, an altimeter and a depth meter.
Preferably, industrial computer signal connection has multi-functional high definition fiber communication machine, the industrial computer is connected with the digital video recorder, industrial computer signal connection has multi-functional coaxial cable communication machine, multi-functional coaxial cable communication machine is connected with the digital video recorder.
Preferably, the grab bucket body consists of a deep sea hydraulic station, a deep sea high-power battery pack, a deep sea motor driver, an optical cable underwater measurement and control unit, a coaxial cable underwater measurement and control unit, a photoelectric composite cable and an armored coaxial cable.
Preferably, one end of the photoelectric composite cable is connected with an optical slip ring, the optical slip ring is connected with a multifunctional high-definition optical fiber communicator, one end of the armored coaxial cable is connected with an electric slip ring, and the electric slip ring is connected with the multifunctional coaxial cable communicator.
Preferably, the industrial personal computer comprises a monitor, and the monitor comprises deck display software.
Preferably, the high-voltage direct-current power supply is electrically connected with an electrical slip ring.
Preferably, the number of the underwater illuminating lamps is 2, and the underwater illuminating lamps are halogen lamps with power not less than 100W.
Preferably, the grab bucket body is fixedly provided with a propeller.
The control method of the deep sea moving grab bucket comprises the following steps:
s1, command sending
An operator issues an operating instruction through the industrial personal computer, and the instruction is respectively transmitted to the armored coaxial cable and the photoelectric composite cable through the multifunctional coaxial cable communication machine and the multifunctional high-definition optical fiber communication machine and is sent to the grab bucket body through the armored coaxial cable and the photoelectric composite cable.
S, instruction reception
The underwater optical cable measurement and control unit and the underwater coaxial cable measurement and control unit in the grab bucket body respectively receive command signals through the photoelectric composite cable and the armored coaxial cable, analyze the command signals and send the analyzed command signals to the deep sea hydraulic station.
S, instruction operation control
After a deep sea hydraulic station in the grab bucket body receives a measurement and control instruction, a deep sea motor driver is used for driving a mechanical oil cylinder of the grab bucket body to complete opening and closing actions, and seabed sampling operation is carried out.
S, monitoring, displaying and sampling
Video data and sensor induction data are transmitted to the deck unit in real time through the underwater camera, the altimeter and the depth meter through the armored coaxial cable and the photoelectric composite cable, so that an operator can control the grab bucket to finish sampling by means of a monitor picture on an industrial personal computer.
Compared with the prior art, the invention provides a control system and a control method for a deep sea moving grab bucket. The method has the following beneficial effects:
1. the control system and the method for the deep sea mobile grab bucket receive instructions of operators through a deck unit, the instructions are sent to an underwater measurement and control unit through a deck communication machine, the instructions are received and analyzed by the underwater measurement and control unit and then sent to a deep sea hydraulic station, the deep sea hydraulic station receives the measurement and control instructions and then drives a grab bucket body mechanical mechanism (a material collector) to complete opening and closing actions through a deep sea motor driver, therefore, seabed sampling is completed, in the sampling process, a high-definition video monitoring system in the measurement and control unit collects underwater high-definition camera videos installed on a grab bucket body, a data acquisition system collects sensor data such as height and depth meters and transmits the sensor data to the deck unit in real time, so that the operators can complete sampling through monitoring pictures, and the efficiency of sampling operation is greatly improved.
2. According to the control system and the control method of the deep-sea movable grab bucket, the grab bucket body can move and change the position of the grab bucket body in a certain range by means of a propeller on the grab bucket body under water, so that the working efficiency of overall grabbing can be improved. Because it does not require the movement of the vessel to adjust the position of the grab, but can be operated by its own power.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.
FIG. 1 is a schematic diagram of the system of the present invention;
FIG. 2 is a schematic view of a deck unit connection structure according to the present invention;
fig. 3 is a schematic view of the connection structure of the grab bucket body of the present invention.
Reference numerals:
the system comprises an electric control system 1, a deck unit 2, a twisting workshop 3, an underwater unit 4, an industrial personal computer 5, a multifunctional coaxial cable communicator 6, a multifunctional high-definition optical fiber communicator 7, a hard disk video recorder 8, a high-voltage direct-current power supply 9, a winch cable arrangement system 10, an electric slip ring 11, an optical slip ring 12, a grab bucket body 13, an underwater camera 14, an underwater illuminating lamp 15, a photometer 16 and a depth meter 17.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the invention, as detailed in the appended claims.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in this specification and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.
It is to be understood that although the terms first, second, third, etc. may be used herein to describe various information, these information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present invention. The word "if" as used herein may be interpreted as "at … …" or "when … …" or "in response to a determination", depending on the context.
The control system and method of the present invention will be described in detail with reference to the accompanying drawings. The features of the following examples and embodiments may be combined with each other without conflict.
Referring to fig. 1-3, the present invention provides a technical solution: the control system and the method for the deep sea mobile grab bucket comprise an electric control system 1, wherein the electric control system 1 comprises a deck unit 2, a twisting workshop 4 and an underwater unit 4, the deck unit 2 comprises an industrial personal computer 5, a multifunctional coaxial cable communicator 6, a multifunctional high-definition optical fiber communicator 7, a hard disk video recorder 8 and a high-voltage direct-current power supply 9, the industrial personal computer 5 is in signal connection with the multifunctional high-definition optical fiber communicator 7, the industrial personal computer 5 is in signal connection with the hard disk video recorder 8, the industrial personal computer 5 comprises a monitor, the monitor comprises deck display software, the twisting workshop 4 comprises a winch cable arrangement system 10, an electric slip ring 11 and a smooth ring 12, the underwater unit 4 comprises a grab bucket body 13, an underwater camera 14, an underwater illuminating lamp 15, a height gauge 16 and a depth gauge 17, the grab bucket body 13 is composed of a deep sea hydraulic station, a deep sea high-power battery pack, a deep sea motor driver, an optical cable underwater measurement and control unit, a coaxial cable underwater measurement and control unit, a photoelectric composite cable and an armored coaxial cable, wherein one end of the photoelectric composite cable is connected with an optical slip ring 12, the smooth ring 12 is connected with a multifunctional high-definition optical fiber communication machine 7, one end of the armored coaxial cable is connected with an electric slip ring 11, the electric slip ring 11 is connected with a multifunctional coaxial cable communication machine 6, and a high-voltage direct-current power supply 9 is electrically connected with the electric slip ring 11. The number of the underwater illuminating lamps 15 is 2, the underwater illuminating lamps 15 are halogen lamps with power not less than 100W, a propeller is fixedly installed on the grab body 13, the deep sea moving grab control system and the method thereof receive an instruction of an operator through the deck unit 2 and then send the instruction to the underwater measurement and control unit through the deck communicator, the underwater measurement and control unit receives the instruction and sends the instruction to the deep sea hydraulic station after analysis, the deep sea hydraulic station receives the measurement and control instruction and then drives the mechanical mechanism (a material collector) of the grab body to complete opening and closing actions by means of a deep sea motor driver so as to complete seabed sampling, in the sampling process, a high-definition video monitoring system in the measurement and control unit collects videos of an underwater high-definition camera installed on the grab body, a data collecting system collects sensor data of height 16, depth meter 17 and the like and transmits the data to the deck unit 2 in real time, so that the operator can complete sampling, thereby greatly improve the efficiency of sample operation, it can be with the help of the propeller on self framework under water through grab bucket body 13, can remove and transform the position of grab bucket self in certain extent, can improve the work efficiency that wholly snatchs like this. Because it does not require the movement of the vessel to adjust the position of the grab, but can be operated by its own power.
The control method of the deep sea moving grab bucket comprises the following steps:
s1, command sending
An operator issues an operation instruction through the industrial personal computer 5, and the instruction is respectively transmitted to the armored coaxial cable and the photoelectric composite cable through the multifunctional coaxial cable communication machine 6 and the multifunctional high-definition optical fiber communication machine 7 and is sent to the grab bucket body 13 through the armored coaxial cable and the photoelectric composite cable.
S2, command reception
The underwater optical cable measurement and control unit and the underwater coaxial cable measurement and control unit in the grab bucket body 13 respectively receive command signals through the photoelectric composite cable and the armored coaxial cable, analyze the command signals and send the analyzed command signals to the deep sea hydraulic station.
S3, command operation control
After a measurement and control instruction received by a deep sea hydraulic station in the grab bucket body 13, a deep sea motor driver is used for driving a mechanical oil cylinder of the grab bucket body 13 to complete opening and closing actions, and seabed sampling operation is carried out.
S4, monitoring, displaying and sampling
Video data and sensor induction data are transmitted to the deck unit 2 in real time through the armored coaxial cable and the photoelectric composite cable through the underwater camera 14, the altimeter 16 and the depth meter 17, so that an operator can control the grab bucket to finish sampling by means of a monitor picture on the industrial personal computer 5.
In the actual operation process, when the device is used, after receiving an instruction of an operator through the deck unit 2, the device is sent to the underwater measurement and control unit through the deck communication machine, the underwater measurement and control unit receives the instruction and sends the instruction to the deep sea hydraulic station after analysis, the deep sea hydraulic station receives the measurement and control instruction and drives the grab bucket body mechanical mechanism (a collector) to complete opening and closing actions through the deep sea motor driver, so that seabed sampling is completed, in the sampling process, a high-definition video monitoring system in the measurement and control unit collects videos of an underwater high-definition camera installed on the grab bucket body, a data collection system collects sensor data such as height 16 and depth meter 17 and transmits the sensor data to the deck unit 2 in real time, so that the operator can complete sampling through a monitoring picture, and the sampling operation efficiency is greatly improved; according to the control system and the control method of the deep-sea moving grab bucket, the grab bucket body 13 can move and change the position of the grab bucket in a certain range by virtue of a propeller on the self framework under water, so that the working efficiency of overall grabbing can be improved. Because it does not require the movement of the vessel to adjust the position of the grab, but can be operated by its own power.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (9)
1. The control system and the method for the deep-sea moving grab bucket comprise an electric control system (1), and are characterized in that: electric control system (1) comprises deck unit (2), hank workshop (4) and unit (4) under water, deck unit (2) comprises industrial computer (5), multi-functional coaxial cable communicator (6), multi-functional high definition optical fiber communicator (7), hard disk video recorder (8) and high voltage direct current power supply (9), hank workshop (4) comprises winch row cable system (10), electric slip ring (11) and smooth ring (12), unit (4) comprises grab bucket body (13), camera (14) under water, light (15) under water, altimeter (16) and depth gauge (17) under water.
2. The control system and method of the deep sea moving grab bucket according to claim 1, characterized in that: industrial computer (5) signal connection has multi-functional high definition fiber communication machine (7), industrial computer (5) are connected with digital video recorder (8), industrial computer (5) signal connection has multi-functional coaxial cable communication machine (6), multi-functional coaxial cable communication machine (6) are connected with digital video recorder (8).
3. The control system and method of the deep sea moving grab bucket according to claim 1, characterized in that: the grab bucket body (13) consists of a deep sea hydraulic station, a deep sea high-power battery pack, a deep sea motor driver, an optical cable underwater measurement and control unit, a coaxial cable underwater measurement and control unit, a photoelectric composite cable and an armored coaxial cable.
4. The deep sea moving grab control system and method according to claim 3, characterized in that: one end of the photoelectric composite cable is connected with a photoelectric slip ring (12), the photoelectric slip ring (12) is connected with a multifunctional high-definition optical fiber communication machine (7), one end of the armored coaxial cable is connected with an electric slip ring (11), and the electric slip ring (11) is connected with a multifunctional coaxial cable communication machine (6).
5. The control system and method of the deep sea moving grab bucket according to claim 1, characterized in that: the industrial personal computer (5) comprises a monitor, and the monitor comprises deck display software.
6. The control system and method of the deep sea moving grab bucket according to claim 1, characterized in that: the high-voltage direct-current power supply (9) is electrically connected with an electrical slip ring (11).
7. The control system and method of the deep sea moving grab bucket according to claim 1, characterized in that: the number of the underwater illuminating lamps (15) is 2, and the underwater illuminating lamps (15) are halogen lamps with the power not less than 100W.
8. The control system and method of the deep sea moving grab bucket according to claim 1, characterized in that: the grab bucket body (13) is fixedly provided with a propeller.
9. The control method of the deep sea moving grab bucket is characterized by comprising the following steps:
s1, command sending
An operator issues an operation instruction through the industrial personal computer (5), and the instruction is respectively transmitted to the armored coaxial cable and the photoelectric composite cable through the multifunctional coaxial cable communication machine (6) and the multifunctional high-definition optical fiber communication machine (7) and is sent to the grab bucket body (13) through the armored coaxial cable and the photoelectric composite cable;
s2, command reception
The underwater optical cable measurement and control unit and the underwater coaxial cable measurement and control unit in the grab bucket body (13) respectively receive command signals through the photoelectric composite cable and the armored coaxial cable, analyze the command signals and send the analyzed command signals to the deep sea hydraulic station;
s3, command operation control
After a deep sea hydraulic station in the grab bucket body (13) receives a measurement and control instruction, a deep sea motor driver is used for driving a mechanical oil cylinder of the grab bucket body (13) to complete opening and closing actions, and seabed sampling operation is carried out;
s4, monitoring, displaying and sampling
Video data and sensor induction data are transmitted to the deck unit (2) in real time through the armored coaxial cable and the photoelectric composite cable through the underwater camera (14), the altimeter (16) and the depth meter (17), so that an operator can control the grab bucket to finish sampling by means of a monitor picture on the industrial personal computer (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011554574.5A CN112817241A (en) | 2020-12-23 | 2020-12-23 | Control system and method for deep-sea moving grab bucket |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011554574.5A CN112817241A (en) | 2020-12-23 | 2020-12-23 | Control system and method for deep-sea moving grab bucket |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112817241A true CN112817241A (en) | 2021-05-18 |
Family
ID=75853794
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011554574.5A Pending CN112817241A (en) | 2020-12-23 | 2020-12-23 | Control system and method for deep-sea moving grab bucket |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112817241A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115924037A (en) * | 2023-01-31 | 2023-04-07 | 中国船舶科学研究中心 | Deep sea movable release gripping device and operation method |
| CN116625743A (en) * | 2023-07-13 | 2023-08-22 | 青岛海洋地质研究所 | Deep sea digital visualization box type sampler based on optical fiber communication |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102565870A (en) * | 2011-12-12 | 2012-07-11 | 中国地质科学院矿产资源研究所 | Deep-sea visual geochemical multi-parameter in-situ comprehensive detection system |
| CN203522925U (en) * | 2013-08-27 | 2014-04-02 | 杭州电子科技大学 | Deep-sea high-definition video acquisition control system |
| CN104166362A (en) * | 2014-08-28 | 2014-11-26 | 杭州墨锐机电科技有限公司 | Deep sea drilling machine geology sampling electronic monitoring system |
| CN105430351A (en) * | 2015-12-23 | 2016-03-23 | 国家海洋局第一海洋研究所 | Underwater high-definition data transmission system |
| CN205352731U (en) * | 2016-01-22 | 2016-06-29 | 杭州先驱海洋科技开发有限公司 | Integrated sample towed body of surveying in deep sea |
-
2020
- 2020-12-23 CN CN202011554574.5A patent/CN112817241A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102565870A (en) * | 2011-12-12 | 2012-07-11 | 中国地质科学院矿产资源研究所 | Deep-sea visual geochemical multi-parameter in-situ comprehensive detection system |
| CN203522925U (en) * | 2013-08-27 | 2014-04-02 | 杭州电子科技大学 | Deep-sea high-definition video acquisition control system |
| CN104166362A (en) * | 2014-08-28 | 2014-11-26 | 杭州墨锐机电科技有限公司 | Deep sea drilling machine geology sampling electronic monitoring system |
| CN105430351A (en) * | 2015-12-23 | 2016-03-23 | 国家海洋局第一海洋研究所 | Underwater high-definition data transmission system |
| CN205352731U (en) * | 2016-01-22 | 2016-06-29 | 杭州先驱海洋科技开发有限公司 | Integrated sample towed body of surveying in deep sea |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115924037A (en) * | 2023-01-31 | 2023-04-07 | 中国船舶科学研究中心 | Deep sea movable release gripping device and operation method |
| CN115924037B (en) * | 2023-01-31 | 2023-10-13 | 中国船舶科学研究中心 | Deep sea movable release grabbing device and operation method |
| CN116625743A (en) * | 2023-07-13 | 2023-08-22 | 青岛海洋地质研究所 | Deep sea digital visualization box type sampler based on optical fiber communication |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102565870B (en) | Deep-sea visual geochemical multi-parameter in-situ comprehensive detection system | |
| CN103364067B (en) | The underwater sound array system that a kind of deep water connects without cable and synchronous collection method | |
| CN112817241A (en) | Control system and method for deep-sea moving grab bucket | |
| CN105544641B (en) | A kind of two-way advancing hydraulic pressure grab bucket monitoring system in deep-sea | |
| CN203689153U (en) | Overwater exploring and sampling vessel | |
| CN113329363B (en) | Wireless expansion system applied to deep sea seabed observation | |
| CN211107934U (en) | Collaborative exploration system based on unmanned cableless submersible | |
| CN105242321A (en) | Sea submersible horizontal orthogonal emission system and application method thereof | |
| CN105129063A (en) | Wind-energy and luminous energy complementation water surface robot | |
| CN106405662A (en) | Underwater pipeline detector based on underwater robot | |
| CN109883841B (en) | Beach shallow sea sediment intensity in-situ test system | |
| CN115167485A (en) | Cooperative operation system of autonomous underwater vehicle and manned submersible | |
| CN1562698A (en) | Device for throwing submarine bank | |
| CN105223898A (en) | Submarine observation network is plugged into the control system of base station | |
| US20230408336A1 (en) | Modular-reconfigurable long-term in-situ monitoring device and monitoring method | |
| CN103399359A (en) | Benthonic geophysical observation device | |
| CN205229481U (en) | Many metals tuberculosis resource exploration system | |
| CN110017860B (en) | Device and method for counting rotation of deep sea ROV photoelectric composite cable | |
| CN201522486U (en) | Portable red tide and fishing ground environment monitoring device | |
| CN105353423A (en) | Polymetallic nodule resource exploration system and exploration method | |
| CN213457724U (en) | Safety monitoring system for underwater production system | |
| CN210895059U (en) | Deep sea mobile platform integrated electric control system | |
| CN204937448U (en) | A kind of wind light mutual complementing water surface robot | |
| CN104265263A (en) | Underground control bin of deepwater drilling rig | |
| CN212588523U (en) | Internet of things underwater operation 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 | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210518 |