CN115633398A - Sea surface monitoring robot system based on wireless ad hoc network - Google Patents

Sea surface monitoring robot system based on wireless ad hoc network Download PDF

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Publication number
CN115633398A
CN115633398A CN202211355129.5A CN202211355129A CN115633398A CN 115633398 A CN115633398 A CN 115633398A CN 202211355129 A CN202211355129 A CN 202211355129A CN 115633398 A CN115633398 A CN 115633398A
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base station
sea surface
signal
signal base
wireless
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陈君
邬松
张祺
李坤
李春雨
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Beijing Startest Tec Co Ltd
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Beijing Startest Tec Co Ltd
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Priority to CN202211355129.5A priority Critical patent/CN115633398A/en
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D9/00—Adaptations of wind motors for special use; Combinations of wind motors with apparatus driven thereby; Wind motors specially adapted for installation in particular locations
    • F03D9/007—Adaptations of wind motors for special use; Combinations of wind motors with apparatus driven thereby; Wind motors specially adapted for installation in particular locations the wind motor being combined with means for converting solar radiation into useful energy
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D9/00—Adaptations of wind motors for special use; Combinations of wind motors with apparatus driven thereby; Wind motors specially adapted for installation in particular locations
    • F03D9/10—Combinations of wind motors with apparatus storing energy
    • F03D9/11—Combinations of wind motors with apparatus storing energy storing electrical energy
    • 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
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/88—Investigating the presence of flaws or contamination
    • G01N21/94—Investigating contamination, e.g. dust
    • 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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G01S13/867—Combination of radar systems with cameras
    • 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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C1/00—Registering, indicating or recording the time of events or elapsed time, e.g. time-recorders for work people
    • G07C1/20—Checking timed patrols, e.g. of watchman
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W84/00—Network topologies
    • H04W84/18—Self-organising networks, e.g. ad-hoc networks or sensor networks
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W88/00—Devices specially adapted for wireless communication networks, e.g. terminals, base stations or access point devices
    • H04W88/02—Terminal devices
    • H04W88/04—Terminal devices adapted for relaying to or from another terminal or user

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  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • Signal Processing (AREA)
  • General Physics & Mathematics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Chemical & Material Sciences (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Combustion & Propulsion (AREA)
  • Sustainable Energy (AREA)
  • Sustainable Development (AREA)
  • Power Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • Electromagnetism (AREA)
  • Pathology (AREA)
  • Immunology (AREA)
  • General Health & Medical Sciences (AREA)
  • Biochemistry (AREA)
  • Analytical Chemistry (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The invention particularly relates to a sea surface monitoring robot system based on a wireless ad hoc network, which comprises a first signal base station, a second signal base station and a relay signal station, wherein the first signal base station is in wireless communication connection with the second signal base station, the second signal base station is in communication connection with the relay signal station in a wireless ad hoc network mode, the first signal base station is a land signal station, the second signal base station is a sea signal base station, the second signal base station is arranged at the central position of a sea surface monitoring area, the relay signal stations are multiple in number, each relay signal station comprises a sea buoy, a communication terminal, an unmanned aerial vehicle and a visual robot, the communication terminal, the unmanned aerial vehicle and the visual robot are all arranged on the sea buoy, the unmanned aerial vehicle is used for monitoring sea surface dynamics in a short distance, the unmanned aerial vehicle is provided with a first camera and laser equipment, the visual robot is used for monitoring the sea surface dynamics in a long distance, and the visual robot comprises a second camera and a micro radar.

Description

Sea surface monitoring robot system based on wireless ad hoc network
Technical Field
The invention relates to the technical field of marine surveying, in particular to a sea surface monitoring robot system based on a wireless ad hoc network.
Background
The main means of sea surface monitoring is microwave radar and passive infrared, and is mainly responsible for real-time detection feedback of marine environment monitoring, pollution monitoring, ecological monitoring, land source sea pollutant monitoring and the like, and management of marine environment and marine ecological monitoring, an oil spill fingerprint database and a fouling event data database.
One of objects of sea surface monitoring is sea surface oil spill pollution which is one of the most common and badly influenced marine pollution problems in the world at present, accurate and rapid positioning and identification of sea surface oil spill are the basis and the premise for treating the sea surface oil spill pollution, in the prior art, the monitoring means for the sea surface oil spill comprise SAR image detection and hyperspectral image detection, but the two methods have poor timeliness, the oil spill site cannot be determined in the first time, and errors exist in remote sensing image detection and judgment, so that misjudgment is easy.
Disclosure of Invention
The invention aims to provide a sea surface monitoring robot system based on a wireless ad hoc network, so as to solve the problems in the prior art.
The technical purpose of the invention is realized by the following technical scheme:
the utility model provides a sea surface monitoring robot system based on wireless ad hoc network, the system includes first signal basic station, second signal basic station and relay signal station, first signal basic station and second signal basic station wireless communication connection, second signal basic station and relay signal station are through the mode communication connection of wireless ad hoc network, first signal basic station is land signal station, second signal basic station is marine signal basic station, second signal basic station sets up the regional central point that is monitoring the sea and puts, relay signal station quantity is a plurality of, every relay signal station includes marine buoy, communication terminal, unmanned aerial vehicle and visual robot all set up on the buoy, communication terminal includes communication connection's orientation module, communication module and processing module, communication module is used for the wireless ad hoc network of system, processing module respectively with unmanned aerial vehicle and visual robot connect, processing module is used for processing the data of visual robot and sending the motion instruction to unmanned aerial vehicle, be used for sea surface monitoring dynamic camera, install first vision camera and laser equipment on the sea surface, the visual robot includes the miniature radar of second remote radar.
By adopting the technical scheme, the relay signal station is used as a monitoring main body, the ad hoc network is used for transmitting the monitoring result, the system quickly responds after receiving the monitoring result, the abnormal sea surface is identified and positioned, and the unmanned aerial vehicle of the relay signal station with the closest distance is further controlled to perform close-range identification.
In a further embodiment, the first signal base station and the second signal base station are both 4G/5G signal base stations, and the end point of the communication path of the relay signal station is the second signal base station.
In a further embodiment, the communication module realizes wireless ad hoc network based on mesh protocol, the communication module comprises a wireless instrument and a collector, the collector is connected with the processing module, and the collector and the processing module can be integrated into a whole.
By adopting the technical scheme, the light weight design and the modular design can be realized, and the size of equipment is reduced.
In a further embodiment, the positioning module comprises at least one of a gps positioning device and a bds positioning device.
In a further embodiment, the processing module includes a processor, the processor is a single chip microcomputer, and the single chip microcomputer has at least 8 bits.
In a further embodiment, a light energy power generation device and a wind power generation device are further arranged on the offshore buoy and are used for charging and supplying power to the communication terminal, the unmanned aerial vehicle and the vision robot.
A sea surface monitoring method based on a wireless ad hoc network is applied to a sea surface monitoring robot system based on the wireless ad hoc network, and comprises the following steps:
s1, the second signal base station and the relay signal stations carry out wireless ad hoc network, and the second signal base station collects position information of each relay signal station and transmits the position information to the first signal base station to draw a positioning coordinate system;
s2, regularly photographing and radar scanning the sea surface in the monitoring range of the offshore buoy by a visual robot of the relay signal station, transmitting photo data and radar map data to a processing module, and judging whether the visual robot monitors sea surface abnormity through a stored contrast image by the processing module, wherein the abnormity comprises sea surface solid floaters and sea surface oil spill abnormity;
s3, after the sea surface anomaly is monitored, the processing module transmits radar map data corresponding to the sea surface anomaly to the communication module, the communication module simultaneously acquires position data of the positioning module, packages the position data and transmits the position data to the second signal base station, and the second signal base station transmits the position data to the first signal base station;
s4, after the first signal base station receives the position data and the radar map data, determining a coordinate point of the sea surface abnormal position under the relay signal station coordinate system with the abnormality detected according to the radar map data, and converting the sea surface abnormal position into the coordinate point under the first signal base station coordinate system through homogeneous coordinate transformation according to the position data of the relay signal station with the abnormality detected;
s5, the first signal base station sends a cruise instruction to the unmanned aerial vehicle of the relay signal station closest to the coordinate point through the second signal base station, the unmanned aerial vehicle receives the cruise instruction and then patrols and shoots according to a set cruise route, pictures of sea surface abnormal areas are shot under the conditions that the laser equipment is shut down and started respectively, and the unmanned aerial vehicle transmits picture data back to the first signal base station after the cruise is finished.
In conclusion, the invention has the following beneficial effects:
1. the robot system monitors sea surface conditions within a range distance by arranging a plurality of relay signal stations taking the offshore buoy platform as a main body, can quickly feed back the sea surface conditions to a signal base station and a cloud control console through an ad hoc network after monitoring an abnormal state, and the cloud control console positions abnormal positions through coordinate transformation;
2. the robot system is provided with the visual robot and the unmanned aerial vehicle at the same time, the visual robot searches for an abnormal sea surface remotely, the unmanned aerial vehicle cruises to realize close-range monitoring, and the unmanned aerial vehicle can shoot the abnormal sea surface on the basis of quick identification and positioning of the visual robot, so that a foundation is provided for follow-up research and coping.
Drawings
Fig. 1 is a system schematic diagram of a sea surface monitoring robot system based on a wireless ad hoc network according to embodiment 1.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
In which like parts are designated by like reference numerals. It should be noted that the terms "front", "back", "left", "right", "upper" and "lower" used in the following description refer to directions in fig. 1, the terms "bottom" and "top", "inner" and "outer" refer to directions toward and away from a particular component geometry, respectively, and the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present specification, "plurality" means two or more unless the direction of the center is specifically defined otherwise.
Example 1:
as shown in fig. 1, the present embodiment provides a wireless ad hoc network-based sea surface monitoring robot system, which is used for monitoring sea surface anomalies at sea, where the sea surface anomalies refer to sea surface floaters, including large-volume solid waste garbage and sea surface oil spill.
The system of the embodiment adopts the following scheme:
the system comprises a first signal base station, a second signal base station and relay signal stations, wherein the first signal base station is in wireless communication connection with the second signal base station, the second signal base station is in communication connection with the relay signal stations in a wireless ad hoc network mode, the first signal base station is a land signal station, the second signal base station is an offshore signal base station, the second signal base station is arranged at the center of an area for monitoring the sea surface, the number of the relay signal stations is multiple, each relay signal station comprises an offshore buoy, a communication terminal, an unmanned aerial vehicle and a visual robot, and the communication terminal, the unmanned aerial vehicle and the visual robot are all arranged on the offshore buoy.
In this embodiment, the first signal base station and the second signal base station are both 4G/5G signal base stations, and the end point of the communication path of the relay signal station is the second signal base station. The relay signal station is used as a monitoring main body, meanwhile, the relay signal station is also used as an intermediate router of the ad hoc network, after one relay signal station detects that the sea surface is abnormal, monitoring data are sent to the second signal base station through the ad hoc network system, the second signal base station sends the monitoring data to the first signal base station, and the first signal base station processes the data through a cloud server or a control console connected with the first signal base station and feeds back a control signal.
The scheme for realizing the monitoring function of the relay signal station is as follows: the relay signal station comprises an offshore buoy, a communication terminal, an unmanned aerial vehicle and a visual robot, wherein the communication terminal, the unmanned aerial vehicle and the visual robot are all arranged on the offshore buoy, the communication terminal comprises a positioning module, a communication module and a processing module which are in communication connection, and the positioning module at least comprises one of a gps positioning device and a bds positioning device.
The communication module is used for a wireless ad hoc network of the system, the communication module realizes the wireless ad hoc network based on a mesh protocol, the communication module comprises a wireless instrument and a collector, the collector is connected with the processing module, and the collector and the processing module can be integrated into a whole.
The processing module comprises a processor which is a singlechip, and the singlechip is at least 8 bits. Processing module is connected with unmanned aerial vehicle and visual robot respectively, and processing module is used for handling visual robot's data and sends the motion instruction to unmanned aerial vehicle, and unmanned aerial vehicle is used for closely monitoring sea developments, installs first camera and laser equipment on the unmanned aerial vehicle, and visual robot is used for remote monitoring sea developments, and visual robot includes second camera and miniature radar.
In this embodiment, the last laser equipment of installation of unmanned aerial vehicle is used for the marine oil spilling scanning, and laser induction fluorescence reaction uses promptly, and unmanned aerial vehicle shoots the oil spilling department after the laser irradiation, and the high in the clouds is convenient for subsequent recovery processing work according to thickness and the emulsification stage of the color discernment oil spilling of fluorescence reaction.
In the embodiment, the vision robot rotates regularly for a fixed angle to take pictures, for example, 15 groups of pictures are taken every 10s and rotate by 5 degrees, and after one rotation, the vision robot enters a sleep mode until the next shooting period. The shooting period and the interval time of the shooting period can be adjusted manually.
In a further embodiment, a light energy power generation device and a wind power generation device are further arranged on the offshore buoy, and the light energy power generation device and the wind power generation device are used for charging and supplying power for the communication terminal, the unmanned aerial vehicle and the vision robot.
Example 2:
the embodiment provides a sea surface monitoring method based on a wireless ad hoc network, which is applied to the sea surface monitoring robot system based on the wireless ad hoc network in embodiment 1, and comprises the following steps:
s1, a second signal base station and relay signal stations carry out wireless ad hoc network, and the second signal base station collects position information of each relay signal station and transmits the position information to the first signal base station to draw a positioning coordinate system;
s2, the vision robot of the relay signal station regularly takes pictures and scans radars on the sea surface in the monitoring range of the offshore buoy, the picture data and the radar map data are transmitted to a processing module, and the processing module judges whether the vision robot monitors sea surface abnormality or not according to the stored contrast image, wherein the abnormality comprises sea surface solid floaters and sea surface oil spill abnormality;
s3, after the sea surface anomaly is monitored, the processing module transmits radar map data corresponding to the sea surface anomaly to the communication module, the communication module simultaneously acquires position data of the positioning module, packages the position data and transmits the position data to the second signal base station, and the second signal base station transmits the position data to the first signal base station;
s4, after the first signal base station receives the position data and the radar map data, determining a coordinate point of the sea surface abnormal position under the relay signal station coordinate system with the abnormality detected according to the radar map data, and converting the sea surface abnormal position into the coordinate point under the first signal base station coordinate system through homogeneous coordinate transformation according to the position data of the relay signal station with the abnormality detected;
s5, the first signal base station sends a cruise instruction to the unmanned aerial vehicle of the relay signal station closest to the coordinate point through the second signal base station, the unmanned aerial vehicle receives the cruise instruction and then patrols and shoots according to a set cruise route, pictures of sea surface abnormal areas are shot under the conditions that the laser equipment is shut down and started respectively, and the unmanned aerial vehicle transmits picture data back to the first signal base station after the cruise is finished.
In the embodiments of the present disclosure, the terms "mounting," "connecting," "fixing," and the like are used in a broad sense, for example, "connecting" may be a fixed connection, a detachable connection, or an integral connection; "coupled" may be direct or indirect through an intermediary. The specific meanings of the above terms in the disclosed embodiments of the invention can be understood by those of ordinary skill in the art as appropriate.
The present embodiment is only for explaining the present invention, and it is not limited to the present invention, and those skilled in the art can make modifications of the present embodiment without inventive contribution as needed after reading the present specification, but all of them are protected by patent law within the scope of the claims of the present invention.

Claims (7)

1. The utility model provides a sea monitoring robot system based on wireless ad hoc network which characterized in that: the system comprises a first signal base station, a second signal base station and a relay signal station, wherein the first signal base station is in wireless communication connection with the second signal base station, the second signal base station is in wireless ad hoc network communication connection with the relay signal station, the first signal base station is a land signal station, the second signal base station is a sea signal base station, the second signal base station is arranged at the central position of a sea surface to be monitored, the relay signal stations are multiple in number and each comprise a sea buoy, a communication terminal, an unmanned aerial vehicle and a visual robot, the communication terminal, the unmanned aerial vehicle and the visual robot are all arranged on the sea buoy, the communication terminal comprises a positioning module, a communication module and a processing module which are in communication connection, the communication module is used for wireless ad hoc networking of the system, the processing module is respectively connected with the unmanned aerial vehicle and the visual robot, the processing module is used for processing data of the visual robot and sending motion instructions to the unmanned aerial vehicle, the unmanned aerial vehicle is used for close-range monitoring sea surface dynamics, a first camera and a laser device are installed on the unmanned aerial vehicle, the visual robot is used for monitoring the sea surface dynamics, and the visual robot comprises a second miniature camera and a radar.
2. The sea surface monitoring robot system based on the wireless ad hoc network according to claim 1, wherein: the first signal base station and the second signal base station are both 4G/5G signal base stations, and the end point of the communication path of the relay signal station is the second signal base station.
3. The sea surface monitoring robot system based on the wireless ad hoc network as claimed in claim 2, wherein: the communication module realizes wireless ad hoc network based on mesh protocol, the communication module comprises a wireless instrument and a collector, the collector is connected with the processing module, and the collector and the processing module can be integrated into a whole.
4. The sea surface monitoring robot system based on the wireless ad hoc network according to claim 1, wherein: the positioning module includes at least one of a gps positioning device and a bds positioning device.
5. The sea surface monitoring robot system based on the wireless ad hoc network according to claim 1, wherein: the processing module comprises a processor which is a single chip microcomputer, and the single chip microcomputer is at least 8-bit.
6. The sea surface monitoring robot system based on the wireless ad hoc network according to claim 1, wherein: the offshore buoy is characterized in that a light energy power generation device and a wind power generation device are further arranged on the offshore buoy, and the light energy power generation device and the wind power generation device are used for charging and supplying power for the communication terminal, the unmanned aerial vehicle and the vision robot.
7. A sea surface monitoring method based on a wireless ad hoc network is applied to the sea surface monitoring robot system based on the wireless ad hoc network in claim 1, and is characterized by comprising the following steps:
s1, the second signal base station and the relay signal stations carry out wireless ad hoc network, and the second signal base station collects position information of each relay signal station and transmits the position information to the first signal base station to draw a positioning coordinate system;
s2, regularly photographing and radar scanning the sea surface in the monitoring range of the offshore buoy by a visual robot of the relay signal station, transmitting photo data and radar map data to a processing module, and judging whether the visual robot monitors sea surface abnormity through a stored contrast image by the processing module, wherein the abnormity comprises sea surface solid floaters and sea surface oil spill abnormity;
s3, after the sea surface anomaly is monitored, the processing module transmits radar map data corresponding to the sea surface anomaly to the communication module, the communication module simultaneously acquires position data of the positioning module, packages the position data and transmits the position data to the second signal base station, and the second signal base station transmits the position data to the first signal base station;
s4, after the first signal base station receives the position data and the radar map data, determining a coordinate point of the sea surface abnormal position under the relay signal station coordinate system with the abnormality detected according to the radar map data, and converting the sea surface abnormal position into the coordinate point under the first signal base station coordinate system through homogeneous coordinate transformation according to the position data of the relay signal station with the abnormality detected;
s5, the first signal base station sends a cruise instruction to the unmanned aerial vehicle of the relay signal station closest to the coordinate point through the second signal base station, the unmanned aerial vehicle receives the cruise instruction and then patrols and shoots according to a set cruise route, pictures of sea surface abnormal areas are shot under the conditions that the laser equipment is shut down and started respectively, and the unmanned aerial vehicle transmits picture data back to the first signal base station after the cruise is finished.
CN202211355129.5A 2022-11-01 2022-11-01 Sea surface monitoring robot system based on wireless ad hoc network Pending CN115633398A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116782194A (en) * 2023-06-16 2023-09-19 三峡高科信息技术有限责任公司 Distributed ad hoc network buoy searching system

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116782194A (en) * 2023-06-16 2023-09-19 三峡高科信息技术有限责任公司 Distributed ad hoc network buoy searching system
CN116782194B (en) * 2023-06-16 2024-02-13 三峡高科信息技术有限责任公司 Distributed ad hoc network buoy searching system

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