CN1164926C - Video image probing rod - Google Patents
Video image probing rod Download PDFInfo
- Publication number
- CN1164926C CN1164926C CNB011453389A CN01145338A CN1164926C CN 1164926 C CN1164926 C CN 1164926C CN B011453389 A CNB011453389 A CN B011453389A CN 01145338 A CN01145338 A CN 01145338A CN 1164926 C CN1164926 C CN 1164926C
- Authority
- CN
- China
- Prior art keywords
- pipe
- video image
- motor
- camera
- grain
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Landscapes
- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
Abstract
The present invention relates to a video image detection rod and a detection method thereof. The outer pipe of the detection rod is made of a metal long pipe which can extend into a cave or a piled bulk object, and the metal long pipe can also extend into some industrial pipes to carry out video image detection with some purposes. A micro-pick-up head is installed at the front end in the pipe for shooting and view finding, a light assembly is installed for image pick-up lighting and control, and a miniature torque motor is installed to drive the pick-up head to move up and down in the pipe for adjusting viewing distance. The video image detection rod mainly has the purposes that: 1. the video image detection rod is used for monitoring vermin conditions and moving conditions of grain vermin in stored grains in a grain storage facility; 2. the video image detection rod is used for monitoring crack, corrosion and fouling conditions of the inner wall of various pipes in an industrial site; 3. the video image detection rod is used for monitoring silt, clog and foreign matter conditions inside an oil transportation pipe, a water transportation pipe and a gas pipe; 4. the video image detection rod is used for observing or monitoring inner images of an oil well with a thin port and a deep hole, a water well and a cave.
Description
Technical field
The present invention relates to a kind of video image detector and detection method, belong to obtaining and handling video image in the infotech and image.
Background technology
General video image obtains and uses video camera (or claiming camera) to take all kinds of scenery under environment such as visible or infrared light, and this general approach is then powerless for following several situations:
1. the inner scene of bulk granular of Dui Fanging or powder is taken thing interior change situation or the foreign matter situation of stacking;
2. the little deep hole in aperture, the inner scene in cave, the one dull thread, the two camera can't enter;
3. the crowfoot cracks of industrial various pipes inwall, corrosion, fouling situation etc.
Summary of the invention
Obtain for the video influence that solves under these specific uses, the particular surroundings, video image probing rod of the present invention is made a kind of device of special composition structure and is used special detection method.Feeler is made with long metal tube, makes the bulk inside that can stretch into cave or stacking, also can stretch into pipe interior; Manage Inner Front End device minisize pick-up head so that shooting is found a view; Front end solves the given and control problem of shooting with houselights simultaneously; Install a torque type micromachine in the pipe simultaneously, make that can to drive camera mobile in pipe, the distance of finding a view with adjusting.
This device mainly contains following purposes:
1. be used for grain depot and store up infested situation of grain and the monitoring of grain worm active situation;
2. be used for the crowfoot cracks of field erected multiclass inner wall of industrial pipeline, corrosion, incrustation condition monitoring;
3. be used for the inner condition monitoring that stops up, deposits of oil transportation, gas transmission, aqueduct that industry spot is installed;
4. be used for thin mouthful of deep hole oil well, well, the inner scene observation in cave or monitoring.
1. plant purposes when being the grain insects in grain depot monitoring being used for the, need trap pipe of other supporting design to insert grain inside, again feeler of the present invention is stretched into trap pipe inside during monitoring as grain worm trap; The trap pipe is also corresponding to be illustrated in the present invention.
2. to plant purposes be that inner-walls of duct crowfoot cracks etc. are observed or during monitoring, intended having in the installing of camera front end the eyeglass of amplification being used for the, makes clear observation to crackle.When the grain worm is observed in to grain worm trap pipe, also should use enlarging lens.
Be used for the when 3. 4. planting purposes, the transparency protected cover that should shield in the installing of camera front end makes dirty thing not enter feeler, is convenient to simultaneously clean, wiping.
Video image probing rod device of the present invention, the profile that it is characterized in that it is shaft-like, is convenient to insert cave, pipeline, bulk granular thing heap is inner, makes conveniently to survey that their inner normal or improper situations, tube wall are unusual, the scene of foreign object in pipe; This image probing rod is made up of outer tube, pipe moment of resistance motor, propelling link, camera, houselights assembly, motor driving controling circuit; Motor advances link to be made up of augering screw, propelling connector, brace and camera fixed cover in the pipe; Augering screw and motor axis fasten, and rotate synchronously; Screw rod and propelling connector screw thread couple make to rotate to become rectilinear motion, and dragging connector can move up and down; Connector by left and right sides balance two braces and the camera fixed cover on take the lead and fasten, the camera fixed cover tightly entangles camera again, like this, directly drags on the camera when reaching the motor forward and backward and puies forward, passes down moving purpose.
Video image probing rod video image detection method of the present invention is:
The feeler insertion is detected object inside, be placed into correct position, the motor-driven camera moves in the control lever as required, makes minute surface and object plane be in the more satisfactory relative position of finding a view, controlling given lighting, is may command picked-up single image or picked-up continuous videos then.The scene does not have under the mains supply situation in the open air, draws up with the portability battery and does the power supply use.All video lines of image probing rod of the present invention, control line, power lead have all been guided on the pullover lead socket of feeler, both can be connected to the pulpit and make long-range automatic monitoring and control use, also can do observation and control use by external on the spot other equipment.
Description of drawings
Below in conjunction with drawings and Examples the present invention is elaborated.Institute's drawings attached is as follows:
Figure 1A image probing rod profile;
Figure 1B image probing rod inner member structure;
Fig. 2 A feeler external socket integral layout;
The lead end explanation of Fig. 2 B vision signal lead socket;
The connection description of Fig. 2 C motor power and control lead socket;
Fig. 3 augering screw;
Fig. 4 A advances the connector front elevation;
Fig. 4 B advances the connector side view;
Fig. 5 A brace left side sheet;
The right sheet of Fig. 5 B brace;
The front elevation of Fig. 6 A camera and fixed cover;
The vertical view of Fig. 6 B camera and fixed cover;
Fig. 7 A luminotron lamp optical assembly vertical view;
Fig. 7 B luminotron lamp optical assembly front elevation;
The energy-conservation arc lamp of Fig. 7 C;
Machine operation and spacing control circuit in Fig. 8 A feeler; Feeler internal circuit schematic diagram
Power-supply circuit when Fig. 8 B uses CFL lighting;
Power circuit when Fig. 8 C uses led lighting;
Fig. 9 A is used for the outside drawing of the grain worm trap pipe of grain worm image detection; Structural drawing;
Fig. 9 B is used for the head longitudinal profile structural drawing of the grain worm trap pipe of grain worm image detection;
Fig. 9 C is used for the conehead cut-open view of the grain worm trap pipe of grain worm image detection;
Embodiment
1. image probing rod structure
1.1 image probing rod profile
Figure 1A is specifically designed to explanation image probing rod profile.
1.2 image probing rod inner member structure
Figure 1B is specifically designed to explanation image probing rod inner member structure.
Critical piece is in the feeler: miniature torque motor 123, augering screw 125 and brace 128, propelling connector 126, camera 1210, light assembly 1211 etc.
Wherein miniature torque motor 123 is fixed on the feeler tube wall by stator 14, and this stator becomes the effect fulcrum of whole internals system.Motor axis 124 and augering screw 125 are connected by screw retention, and screw rod and axis are rotated synchronously; When motor rotated, screw rod rotated in position synchronously, promoted to advance connector 126 straight lines to move by screw flight.Screw rod becomes rotation in native system---the movement conversion parts between moving.Advance moving up and down of connector 126 to be delivered to camera fixed cover 129 and make camera 1210 obtain the effect of proposing, pushing away down, reach the purpose of regulating distance between eyeglass and the object plane through brace 128.151 and 152 represent two pilot holes respectively.
2. each key part structure of system
2.1 feeler external socket and lead-in wire
The integral layout of Fig. 2 A explanation external socket.
The pullover outside diameter 25 of feeler is 40mm, fixed electrical machinery power supply and control line socket 21 and vision signal lead socket 24 on it.
Fig. 2 B then illustrates the lead end of vision signal lead socket 24.
Internally connect a pair of video signal cable of camera on the vision signal lead socket 24, vision signal uses 241 ends, vision signal ground to use No. 242 terminals; Internally connect a pair of line of camera power supply positive and negative electrode, take terminals 244, No. 245.
Fig. 2 C is used to illustrate the connection of motor power and control lead socket 21.
Internally connect on motor power and the control lead socket 21 the positive and negative end of motor lines bag respectively to using terminals 215, No. 216; Connect photoelectricity groove limit switch power positive end and ground end respectively to using terminals 217, No. 213,217 terminations+12V power positive end wherein, 213 termination power ground are held; What connection photoelectricity groove was exported positive and negative phase control end is 212, No. 214 terminals, wherein is liter control No. 212, and No. 214 for falling control.
2.2 propelling connecting elements
Advance connecting elements to comprise augering screw 125, advance connector 126, brace 128, promote mainly the miniature torque motor axis 124 in effect source.
Referring to augering screw shown in Figure 3, wherein augering screw 125 long 33 is 120mm, thread external diameter 35 is 8mm, internal diameter 34 is 6mm, thread is apart from 2mm, this spiro rod length decision camera advances, backward travel length, can reach 100mm at this, specifically by the determining positions of locating pilot hole 151,152 on light groove 15 and the brace 128.
Fixedlying connected with motor axis 124 through screw 32 in augering screw 125 tops, makes coaxial rotation, promotes to advance connector 126 to move by screw thread.
Fig. 4 A is for advancing the connector front elevation, and mark 43 explanation center screw internal diameters are 6mm among Fig. 4 A, and mark 45 explanations connect head length 24mm.Fig. 4 B is for advancing the connector side view, and mark 44 explanation fixed orifice internal diameters are 3mm among Fig. 4 B, mark 46 explanations up and down between two fixed orifices apart from being 13mm; Mark 54 explanations connect length of a film 200mm among Fig. 5 A, the wide 20mm of mark 55 explanation braces, spacing among Fig. 5 B between upper and lower two pilot holes of mark 56 explanation is 100mm, and photoelectricity pilot hole 151 and 152 length and width are 5 * 2mm, and screw is used in mark 53 fixedly connected of expressions.
2.3 minisize pick-up head
Minisize pick-up head and fixed cover are shown in Fig. 6 A and 6B.Wherein Fig. 6 A is a front elevation, and Fig. 6 B is a vertical view.
Among Fig. 6 A and the 6B, 128 for advancing brace, and 62 is the brace gib screw, and 129 is the camera fixed cover, and 64 is the camera gib screw, and 65 is the camera body, and 66 is the eyeglass of camera, and 67 are the adapter sleeve leader.
Minisize pick-up head uses the general camera of suitable illumination and volume to get final product, and does not limit model, but must be color-type, and resolution is high more good more.
Minisize pick-up head is fixing with brace 128 by camera fixed cover 129 in feeler, makes and plays by the effect of dragging.The camera fixed cover has adapter sleeve leader 67, it is identical with aforementioned propelling connector 126 shapes to take the lead, adapter sleeve leader 67 is connected with brace gib screw 62 with advancing between the brace 128, and camera fixed cover 129 bottoms are enclosed within the camera rear portion, and usefulness camera gib screw 64 is fixedly connected.
Camera body 65 front ends connect eyeglass 66, and eyeglass can be selected micro-scale-up version etc. for use as required.
2.4 light assembly
The light assembly can have two kinds of selection schemes: the luminotron lamp optical assembly is shown in Fig. 7 A, 7B, and Fig. 7 A is the light assembly plan view, and Fig. 7 B is a light assembly front elevation; Energy-conservation arc lamp is then shown in Fig. 7 C.
When electric main is powered, can select the electricity-saving lamp scheme for use, but not have the commercially available prod (the maximum 32mm of permission of external diameter herein) of suitable volumes, need special processing.
When selecting the illumination of luminotron assembly for use, use direct current 5V power supply, each luminotron rated operational current is decided to be 20mA, shared 8～12 luminotrons, and Fig. 7 A is depicted as 8 luminotrons.
Shown in Fig. 7 A, 7B, luminotron 71 all is fixed on the welded plate 72, uses retainer plate 73 that they are evenly distributed simultaneously, finely tunes its illumination focus point.Shown in Fig. 7 C above the front elevation, the light face of retainer plate coating reflector layer makes the effect that highlights.71 installation sites that high brightness LED is described simultaneously among Fig. 7 A and Fig. 7 B.
2.5 machine operation and spacing control circuit
Fig. 8 A is machine operation and a spacing control circuit in the feeler.
T1, T2 are interior two the location light grooves 15 of feeler shown in Figure 1 among Fig. 8 A, play the positioning control effect, and wherein T1 is as last location light groove, and T2 is as locating the light groove down.U
7-1, U
7-2Be two logical AND gates; U
6-1, U
6-2Be two phase inverters, play the electric current driving action simultaneously; J17, J18 are pilot relay, have normally closed and normal opened contact respectively; M is a torque motor, when "+" utmost point adds positive voltage, just changes, and when "-" utmost point adds positive voltage, counter-rotating.
The work-based logic of this circuit below is described.
1. initial state is that light groove T1, T2 are in nonconducting state, is equivalent to camera and mediates, and the given control signal that rises can promote, and can descend mobile to falling the control signal.2. Fig. 8 A holds for rising control, and 3. Fig. 8 A's controls end for falling.
If the given control signal that rises, 2. end is high level, T
1CBecause not conducting also is in high level, makes U
7-1The output high level is through U
6-1Anti-phase driving J17 action, then J17-2 disconnects, and the J17-1 closure makes+5V is added on motor "+" end through J17-1, and motor is just changeing and is playing castering action; This moment, J18 did not work, and J18-2 is normally closed, makes U
6-1Output is in on-state.
If promoting, motor arrives pilot hole down, then T1 conducting, and the T1C output low level is to making U
7-1Also output low level, U
6-1Output high level, J17 can not get driving, and contact J17-1 recovers to disconnect, and the motor outage stops operating, and plays the upper limit effect; It is normally closed that J17-2 recovers, and makes U
6-2Can connect.
2. initial state is upper, promptly above-mentioned arrival state, and the given control signal that falls should make motor do to descend and rotate this moment.This moment, T2 was in nonconducting state.
Given fall the control signal after U
7-2The output high level, U
6-2Output low level drives the J18 conducting, J18-1 closure then, and J18-2 disconnects; Make+5V is added on motor "-" end through J18-1, and the anti-phase rotation of motor reaches the camera mobile purpose that descends.
Arrive upward pilot hole if descend, the T2 conducting, the T2C output low level is to making U
6-2The output high level ends, the J18 outage, and J18-1 recovers to disconnect, and it is closed that J18-2 recovers, and the lower limit effect is played in the motor outage.
3. initial state is a lower limit, promptly 2. middle final state, and T2 this moment conducting, then inoperative to falling the control signal again, if control signal, motor is promoted to rising.
Given rise the control level after because not conducting of T1, T1C is a high level, then groove U
7-1The output high level is through U
6-1Anti-phase, drive the J17 conducting, the J17-1 closure, J17-2 disconnects, and+5V is added on motor "+" end through J17-1, and motor just is driven to be changeed, and plays castering action.
The machine operation control circuit of Fig. 8 A is loaded on the long and narrow printed circuit board (PCB) of a 150mm * 28mm, places feeler internal upper part tube chamber.
2.6 light circuit
When using CFL lighting, power-supply circuit is shown in Fig. 8 B; Electricity-saving lamp is two filaments, 4. 5. is the two ends of a head lamp silk among Fig. 8 B, 6. 7. is the two ends of another captacula of fluorescent tube.The electricity-saving lamp profile is shown in Fig. 7 C.
When using led lighting, power circuit is shown in Fig. 8 C.
When using the luminotron illumination, the feeler external diameter is done it thinly, but illumination brightness is on the low side.
Use CFL lighting brightness strong slightly, but the energy-saving pipe volume make feeler have only overstriking.
Distinct methods can be made different model with feeler from here.
3. image probing rod embodiment---grain insects in grain depot video image probing rod
Be used for grain depot and store grain inner grain worm image when surveying, need to increase and use a grain worm trap pipe, shown in Fig. 9 A, 9B, 9C.Wherein Fig. 9 A is the outside drawing that is used for the grain worm trap pipe of grain worm image detection, and Fig. 9 B is used for the grain worm trap tube head longitudinal profile structural drawing that grain worm image is surveyed, and Fig. 9 C is used for the grain worm trap pipe conehead cut-open view that grain worm image is surveyed.
Can find out that by the trap pipe outside drawing shown in Fig. 9 A the trap tube body divides three parts: trap pipe box head 91, trap pipe pipe shaft 92, trap pipe conehead 94.Fig. 9 B is pullover 91 amplification view, and Fig. 9 C is the amplification view of conehead 94.Wherein pipe shaft is covered with ommatidium regularly---lure small holes caused by worms 93.Lure following grain worm to climb at inner air tube and attractant, fall in the long-pending worm chamber 944 of cone shown in Fig. 9 C from small holes caused by worms.Lure small holes caused by worms to intend being ellipticity, size is about 2mm * 3mm.
Trap pipe box head 91 is connected with screw thread 913 with pipe shaft among Fig. 9 B, and pullover top is left lead-in wire and portalled 911, so that the multiple lead-in wire of image probing rod can pass.
Trap pipe bottom is a metal cone 94, is convenient to insert in grain; Cone uses screw thread 913 to be connected with pipe shaft; The cone central upper portion is emptied into the long-pending worm chamber 944 of ampuliform, makes to stockpile the grain worm that climbs into the trap pipe.941 refer to trap pipe shell part among Fig. 9 C, and 942 explanation trap pipes connect the cavity shape of conehead part.
Need only insert video image probing rod in the trap pipe when observing the grain worm, then long-pending worm chamber China Oil and Food Import and Export Corporation worm kind and grain worm active situation have a panoramic view.
Claims (5)
1. video image probing rod device, the profile that it is characterized in that it is shaft-like, it is inner to be convenient to insert cave, pipeline, bulk granular thing heap, makes conveniently to survey that their inner normal or improper situations, tube wall are unusual, the scene of foreign object in pipe;
This image probing rod is made up of outer tube, pipe moment of resistance motor, propelling link, camera, houselights assembly, motor driving controling circuit; Motor advances link to be made up of augering screw, propelling connector, brace and camera fixed cover in the pipe; Augering screw and motor axis fasten, and rotate synchronously; Screw rod and propelling connector screw thread couple make to rotate to become rectilinear motion, and dragging connector can move up and down; Connector by left and right sides balance two braces and the camera fixed cover on take the lead and fasten, the camera fixed cover tightly entangles camera again, like this, directly drags on the camera when reaching the motor forward and backward and puies forward, passes down moving purpose.
2. video image probing rod device as claimed in claim 1 is characterized in that inner wall device one motor stator of described outer tube; The two locating slots of inside pipe wall returning apparatus one cover cooperate the eyelet that advances on the brace, play the upper and lower positioning control effect when camera dragged.
3. video image probing rod device as claimed in claim 1 is characterized in that managing intraoral illumination light assembly, uses the luminotron assembly when being used for the monitoring of grain worm, uses the electricity-saving lamp assembly when being used for deep hole, pipe interior monitoring; The luminotron assembly is made up of 8～12 high brightness opalescence luminotrons, by the bottom welded plate they is concentrated the connection that is welded, and power supply is entangled whole luminotron waists with a retainer plate when making illumination, makes their focus illumination of scalable; Retainer plate makes the enhancing illuminating effect along bright coating light reflection horizon; Circular hole is opened at the retainer plate center, and the camera front end can be inserted in.
4. video image probing rod device as claimed in claim 1, it is characterized in that motor driving controling circuit, play drive and the control motor positive and inverse and up and down stroke put in place and cut off the effect of stall automatically, this circuit is made up of two light grooves, logical AND gate, rp-drive, multiconductor midget relay, relay contact plays the effect of switch motor operating voltage polarity, makes motor forward or reverse on demand.
5. video image probing rod device as claimed in claim 1 is characterized in that using it for grain depot and stores grain inner grain worm image when surveying, and needs supporting increase use a grain worm trap pipe; The trap pipe is made up of trap pipe box head, pipe shaft, trap pipe conehead three parts; Pipe shaft is covered with regularly and lures small holes caused by worms, and trap pipe conehead central upper is emptied into the long-pending worm chamber of ampuliform, makes the grain worm easily advance difficulty and goes out, and stockpiles in this chamber; During monitoring grain worm, need only insert video image probing rod in the trap pipe, then the grain worm has a panoramic view in the chamber.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB011453389A CN1164926C (en) | 2001-12-31 | 2001-12-31 | Video image probing rod |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB011453389A CN1164926C (en) | 2001-12-31 | 2001-12-31 | Video image probing rod |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1373359A CN1373359A (en) | 2002-10-09 |
| CN1164926C true CN1164926C (en) | 2004-09-01 |
Family
ID=4678139
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB011453389A Expired - Fee Related CN1164926C (en) | 2001-12-31 | 2001-12-31 | Video image probing rod |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1164926C (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101285781B (en) * | 2008-05-23 | 2010-04-14 | 长江三峡勘测研究院有限公司（武汉） | Profound unconsolidated formation visualized detection method |
| CN101980297B (en) * | 2010-10-26 | 2013-06-12 | 娄定风 | Short-distance insect image detection system and detection method thereof |
| CN103760618B (en) * | 2013-12-31 | 2016-07-06 | 广西玉柴机器股份有限公司 | Cylinder water channel detection method |
| CN105892381A (en) * | 2016-03-23 | 2016-08-24 | 安徽科杰粮保仓储设备有限公司 | Intelligent insect measuring system for digital grain depot |
| CN106979951A (en) * | 2017-04-12 | 2017-07-25 | 青岛北琪实业有限公司 | A kind of multi-functional inner wall surface the cannot-harm-detection device |
| CN107996537A (en) * | 2017-12-11 | 2018-05-08 | 江苏飞视文化发展有限公司 | A kind of device for being used to monitor silo China Oil and Food Import and Export Corporation worm |
| CN108931195A (en) * | 2018-07-25 | 2018-12-04 | 广州徕创工程勘测有限公司 | A kind of pipe crack detection device and method |
| CN112304953A (en) * | 2020-05-13 | 2021-02-02 | 襄阳振本传动设备有限公司 | Take probe rod of camera, illumination and gas blowing |
-
2001
- 2001-12-31 CN CNB011453389A patent/CN1164926C/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN1373359A (en) | 2002-10-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN1164926C (en) | Video image probing rod | |
| US20220150387A1 (en) | Photographing Apparatus and Inspection Device | |
| CN101068465A (en) | Fishing lamp device and fishing method using it | |
| CN1257217A (en) | Camera and camera system | |
| CN112178411B (en) | Marine ranching monitoring device | |
| CN1527024A (en) | Machine vision detecting system and method | |
| CN101044844A (en) | Fishing method and fish lamp device | |
| CN101078860A (en) | Image pickup optical system | |
| CN113464803B (en) | Environment monitoring method for marine ranch | |
| CN107718015B (en) | Underwater robot | |
| CN117502390A (en) | Frame-type fish collector with monitoring device | |
| CN211482570U (en) | Intelligent automatic insect cleaning equipment | |
| CN109342685A (en) | A kind of computer based Aquiculture Monitoring System | |
| CN112178410B (en) | Underwater visual real-time monitoring method and device for marine ranch | |
| CN112894833A (en) | Sewage pipeline detection intelligent robot and intelligent sewage treatment system | |
| CN213576349U (en) | Marine ranching monitoring device | |
| CN214951329U (en) | High-end monitoring equipment for marine ranch | |
| KR101704579B1 (en) | Fish gathering lamp device | |
| CN1313855C (en) | Image pickup apparatus | |
| JP2007298879A (en) | Stroboscopic equipment | |
| CN112178409B (en) | Underwater zero-buoyancy implementation method and device for marine ranch monitoring device | |
| CN1262457A (en) | Light emission controlling equipment, camera equipment and light emission controlling method | |
| CN220211514U (en) | Underwater fish real-time monitoring device based on acquisition channel | |
| CN213338286U (en) | Embedded system comprehensive experiment platform | |
| CN215409605U (en) | Underwater hoop assembly |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C19 | Lapse of patent right due to non-payment of the annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |