CN205632974U - Fish are movable monitoring ship under water - Google Patents
Fish are movable monitoring ship under water Download PDFInfo
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- CN205632974U CN205632974U CN201620523466.4U CN201620523466U CN205632974U CN 205632974 U CN205632974 U CN 205632974U CN 201620523466 U CN201620523466 U CN 201620523466U CN 205632974 U CN205632974 U CN 205632974U
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Abstract
The utility model provides a fish are movable monitoring ship under water, includes hull, image shooting parts, power part, main control unit, wireless transmission module, GPS module and power module, wherein image shooting parts include winch motor, capstan winch, cable, lighting module and image shooting module, wherein winch motor sets up on the hull, and winch motor is connected with the main control unit electricity, the capstan winch sets up in winch motor's top, and winch motor's axis of rotation is passed through the driving band and is connected with the capstan winch, the utility model provides a monitoring ship can gather fish movable image data and sending it through the wireless technology under water, and the technical staff who supplies receiving terminal knows the health condition of fish, and automation, the intelligent degree of this kind of mode are higher, have just compensatied prior art's defect.
Description
Technical field
This utility model relates to communication technical field, more particularly, to a kind of Fish underwater movement monitoring ship.
Background technology
In recent years, along with progressively carrying out of fishery cultivating, increasing fishery products enter market, become the thing on the table of civic.High-quality fishery products have the most increasingly obtained the welcome of citizen.But during fishery cultivating, it is even dead that Fish easily cause it to go to bits because of viral and water quality deterioration.This not only can reduce the yield of intended Fish, also reduces the quality of Fish, for this, friend fisherman needs variable interval to understand the health condition of Fish when cultured fishes, and when health condition occur in Fish, take remedy measures in time, prevent from being worse off.
In prior art, typically by the active situation of personal monitoring Fish under water, the health condition of Fish is understood.But when the activity depth of water of Fish is bigger, it is the concrete condition being difficult to monitor Fish only according to human eye.
Utility model content
The present invention solves the defect of above prior art, provide a kind of Fish underwater movement monitoring ship, this monitoring ship can be gathered Fish view data movable under water and is transmitted by wireless technology, the health condition of Fish is understood for receiving the technical staff of terminal, the automatization of this mode, intelligence degree are higher, just compensate for the defect of prior art.
For realizing above utility model purpose, the technical scheme of collection is:
A kind of Fish underwater movement monitoring ship, including hull, image pickup section, power part, master controller, wireless transport module, GPS module and power module；
Wherein image pickup section includes capstan winch motor, capstan winch, cable, lighting module and image taking module；Wherein capstan winch motor is arranged on hull, and capstan winch motor electrically connects with master controller；Capstan winch is arranged on the top of capstan winch motor, and the rotary shaft of capstan winch motor is connected with capstan winch by drive belt；Capstan winch is connected with image taking module by cable, and image taking module is placed on left side or the right side of hull, and image taking module passes sequentially through the second end of cable, the first end electrically connects with master controller；Described lighting module is arranged in image taking module, and lighting module passes sequentially through the second end of cable, the first end electrically connects with master controller；
Described power part, master controller, wireless transport module, GPS module and power module are arranged on hull, the input of power part, the outfan of wireless transport module and input, the outfan of GPS module and input electrically connect with master controller, and power module is powered to capstan winch motor, power part, master controller, wireless transport module, GPS module；Power module is powered to image taking module, lighting module by cable.
In such scheme, when needing the underwater movement situation monitoring Fish, first pass through terminal and issue the order transferring cable to wireless transport module, wireless transport module transmits commands to master controller after receiving order, main controller controls makes capstan winch electric machine rotation, capstan winch is driven to rotate so that cable transferred by capstan winch, image taking module, lighting module submerged, when image taking module, after lighting module submerged, terminal issues corresponding order, make image taking module, lighting module is started working, image that image taking module collection is real-time is also passed through master controller, wireless transport module transmits to terminal, for technical staff, the degree of depth transferred is adjusted, lighting module is then for supplementing the illumination condition of underwater environment.When the graphical display images taking module of Real-time Collection drops to the degree of depth at shoal of fish place, terminal control makes capstan winch motor quit work, and control image taking module and shoot, obtain the image of the shoal of fish and transmit it to master controller, known the latitude and longitude information of collecting location by GPS module after master controller reception data, then the latitude and longitude information of the image of the shoal of fish, collecting location is transmitted to terminal by wireless transport module, for technical staff, the health condition of the shoal of fish is monitored.After completing image acquisition, terminal control makes capstan winch electric machine rotation, starts take-up cable and processes so that image taking module, lighting module leave the water surface, it is to avoid causes damage because of long-time immersion.
In such scheme, by terminal control power part, the motion of hull can be remotely controlled so that monitoring ship can carry out the sampling monitoring of the shoal of fish in the waters of larger area.
Preferably, described capstan winch motor includes that the first capstan winch motor and the second capstan winch motor, the first capstan winch motor, the second capstan winch motor are separately positioned on left side and the right side of midship, and the first capstan winch motor, the second capstan winch motor electrically connect with master controller；Described capstan winch includes that the first capstan winch and the second capstan winch, the first capstan winch, the second capstan winch are respectively arranged at the first capstan winch motor, the top of the second capstan winch motor；First capstan winch motor, the second capstan winch motor are connected with the first capstan winch, the second capstan winch by different drive belts respectively；Described image taking module includes being separately positioned on the left of hull and the first image taking module on right side and the second image taking module；Described cable includes the first cable and the second cable, and the first capstan winch is connected by the first cable and the first image taking module, and the second capstan winch is connected by the second cable and the second image taking module；First image taking module passes sequentially through the second end of the first cable, the first end electrically connects with master controller, and the second image taking module passes sequentially through the second end of the second cable, the first end electrically connects with master controller；Described lighting module includes the first lighting module and the second lighting module, first lighting module, the second lighting module are separately positioned in the first image taking module and the second image taking module, first lighting module passes sequentially through the second end of the first cable, the first end electrically connects with master controller, and the second lighting module passes sequentially through the second end of the second cable, the first end electrically connects with master controller；Described power module is powered to the first capstan winch motor, the second capstan winch motor；Described power module is powered to the first image taking module, the first lighting module and the second image taking module, the second lighting module respectively by the first cable, the second cable.
Preferably, described power part includes driving motor, propeller, tail vane, tail vane connector, tail vane motor, eccentric and pull bar；Wherein drive motor to be arranged on hull, drive motor to electrically connect with master controller；Propeller is arranged on the lower end of hull afterbody, and it is connected with the rotary shaft driving motor；Described tail vane is for being vertically arranged；The upper end of described hull afterbody has been horizontally disposed with a tail vane connector, and one end of tail vane connector is connected with hull, and the other end is movable with the upper end of tail vane to be connected: tail vane can occur the motion on circumferencial direction with junction between the two for the center of circle；The upper end edge horizontal direction of described tail vane is extended with left and right Liang Ge ear；Described tail vane motor is arranged on hull, and tail vane motor electrically connects with master controller；Its rotary shaft is connected with eccentric, and eccentric is connected with the left ear on tail vane by pull bar；Described power module is powered to driving motor, tail vane motor.
The movement locus of hull is controlled by power part for the order receiving master controller, and being embodied as when, by controlling driving motor, master controller controls whether hull moves.And as the control to ship motion direction, then by the control of tail vane is embodied, specific as follows: master controller makes the motion on tail vane generation circumferencial direction by controlling the rotation of tail vane motor, thus the direction of ship motion is adjusted.
Preferably, due to the first image taking module, second image taking module is provided in the left and right sides of hull, so when take-up cable or unwrapping wire cable process, cable inevitably touches the edge of hull, during take-up cable or unwrapping wire cable process, cable can be caused abrasion by hull, in order to solve this difficult problem, on the position of the hull left side edge that described first capstan winch is corresponding, the first connector and the second connector are horizontally disposed with it, it is parallel to each other between first connector and the second connector, first end of the first connector and the second connector is connected with on the left of hull, second end of the first connector, second end of the second connector is movable with the two ends of a roller respectively to be connected；On the position on the hull right edge edge that described second capstan winch is corresponding, the 3rd connector and the 4th connector are horizontally disposed with it, it is parallel to each other between 3rd connector and the 4th connector, first end of the 3rd connector and the 4th connector is connected with on the right side of hull, and the second end of the 3rd connector, the second end of the 4th connector movable with the two ends of a roller are respectively connected.
By arranging roller in both sides so that what cable touched when take-up cable or the process of unwrapping wire cable is roller, roller can eliminate the frictional force of both contacts by the rotation of self, thus avoids cable is caused abrasion.
Preferably, power module includes power supply and switch, and power supply is powered to master controller, wireless transport module, GPS module, the first capstan winch motor, the second capstan winch motor, the first image taking module, the second image taking module, the first lighting module, the second lighting module, driving motor, tail vane motor by switch.
Preferably, power supply is lithium battery.
Preferably, STM32 processor selected by master controller.
Preferably, GPS module selects SIRF2e/LP chip module.
Preferably, wireless transport module selects G402TF module or SIM900A module.
Preferably, described image taking module is water-proof CCD camera.
Compared with prior art, the beneficial effects of the utility model are:
The monitoring ship that the present invention provides can be gathered Fish view data movable under water and is transmitted by wireless technology, the health condition of Fish is understood for receiving the technical staff of terminal, the automatization of this mode, intelligence degree are higher, just compensate for the defect of prior art.
Accompanying drawing explanation
Fig. 1 is the integrally-built top view of monitoring ship.
Fig. 2 is the structural representation of image pickup section.
Fig. 3 is the structural representation of power part.
Fig. 4 be tail vane schematic diagram is set.
Fig. 5 be the 3rd connector, the 4th connector schematic diagram is set.
Fig. 6 be the 3rd connector, the 4th connector schematic diagram is set.
Fig. 7 be the first connector, the second connector schematic diagram is set.
Fig. 8 is the circuit structure diagram of monitoring ship.
Detailed description of the invention
Accompanying drawing being merely cited for property explanation, it is impossible to be interpreted as the restriction to this patent；
Below in conjunction with drawings and Examples, this utility model is further elaborated.
Embodiment 1
As shown in Fig. 1,2,8, Fish underwater movement monitoring ship, including hull 1, image pickup section 2, power part 3, master controller 4, wireless transport module 5, GPS module 6 and power module 7；
Wherein image pickup section 2 includes capstan winch motor 21, capstan winch 22, cable 23, lighting module 24 and image taking module 25；Wherein capstan winch motor 21 is arranged on hull 1, and capstan winch motor 21 electrically connects with master controller 4；Capstan winch 22 is arranged on the top of capstan winch motor 21, and the rotary shaft of capstan winch motor 21 is connected with capstan winch 22 by drive belt；First end of cable 23 is connected with capstan winch 22, and the second end is connected with image taking module 25, and image taking module 25 is placed on left side or the right side of hull 1, and image taking module 25 passes sequentially through the second end of cable 23, the first end electrically connects with master controller 4；Described lighting module 24 is arranged in image taking module 25, and lighting module 24 passes sequentially through the second end of cable 23, the first end electrically connects with master controller 4；
Described power part 3, master controller 4, wireless transport module 5, GPS module 6 and power module 7 are arranged on hull 1, the input of power part 3, the outfan of wireless transport module 5 and input, the outfan of GPS module 6 and input electrically connect with master controller 4, and power module 7 is powered to capstan winch motor 21, power part 3, master controller 4, wireless transport module 5, GPS module 6；Power module 7 is powered to image taking module 25, lighting module 24 by cable 23.
nullIn such scheme，When needing the underwater movement situation monitoring Fish，First pass through terminal and issue the order transferring cable 23 to wireless transport module 5，Wireless transport module 5 transmits commands to master controller 4 after receiving order，Master controller 4 controls to make capstan winch motor 21 rotate，Capstan winch motor 21 drives capstan winch 22 to rotate so that cable 23 transferred by capstan winch 22，Image taking module 25、Lighting module 24 submerged，When image taking module 25、After lighting module 24 submerged，Terminal issues corresponding order，Make image taking module 25、Lighting module 24 is started working，Image taking module 25 gathers real-time image and is passed through master controller 4、Wireless transport module 5 transmits to terminal，For technical staff, the degree of depth transferred is adjusted，Lighting module 24 is then for supplementing the illumination condition of underwater environment.When the graphical display images taking module 25 of Real-time Collection drops to the degree of depth at shoal of fish place, terminal control makes capstan winch motor 21 quit work, and control image taking module 25 and shoot, obtain the image of the shoal of fish and transmit it to master controller 4, master controller 4 passes through GPS module 6 after receiving data knows the latitude and longitude information of collecting location, then the latitude and longitude information of the image of the shoal of fish, collecting location is transmitted to terminal by wireless transport module 5, for technical staff, the health condition of the shoal of fish is monitored.After completing image acquisition, terminal control makes capstan winch motor 21 rotate, and starts take-up cable 23 and processes so that image taking module 25, lighting module 24 leave the water surface, it is to avoid causes damage because of long-time immersion.
In such scheme, by terminal control power part 3, the motion of hull 1 can be remotely controlled so that monitoring ship can carry out the sampling monitoring of the shoal of fish in the waters of larger area.
In the present embodiment, as shown in Figure 1, 2, described capstan winch motor 21 includes the first capstan winch motor 211 and the second capstan winch motor 212, first capstan winch motor the 211, second capstan winch motor 212 is separately positioned on the left side in the middle part of hull 1 and right side, and first capstan winch motor the 211, second capstan winch motor 212 electrically connects with master controller 4；Described capstan winch 22 includes that the first capstan winch 221 and the second capstan winch 222, first capstan winch the 221, second capstan winch 222 are respectively arranged at the top of first capstan winch motor the 211, second capstan winch motor 212；First capstan winch motor the 211, second capstan winch motor 212 is connected with first capstan winch the 221, second capstan winch 222 by different drive belts respectively；Described image taking module 25 includes being separately positioned on the left of hull 1 and first image taking module 251 and the second image taking module 252 on right side；Described cable 23 includes the first cable 231 and the second cable 232, first end of first cable the 231, second cable 232 is connected with first capstan winch the 221, second capstan winch 222 respectively, and the second end is connected with first image taking module the 251, second image taking module 252 respectively；First image taking module 251 passes sequentially through the second end of the first cable 231, the first end electrically connects with master controller 4, and the second image taking module 252 passes sequentially through the second end of the second cable 232, the first end electrically connects with master controller 4；Described lighting module 24 includes the first lighting module 241 and the second lighting module 242, first lighting module the 241, second lighting module 242 is separately positioned in the first image taking module 251 and the second image taking module 252, first lighting module 241 passes sequentially through the second end of the first cable 231, the first end electrically connects with master controller 4, and the second lighting module 242 passes sequentially through the second end of the second cable 232, the first end electrically connects with master controller 4；Described power module 7 is powered to first capstan winch motor the 211, second capstan winch motor 212；Described power module 7 is powered to first image taking module the 251, first lighting module 241 and second image taking module the 252, second lighting module 242 respectively by first cable the 231, second cable 232.
In the present embodiment, as shown in Figure 3,4, described power part 3 includes driving motor 31, propeller 32, tail vane 33, tail vane connector 34, tail vane motor 35, eccentric 36 and pull bar 37；Wherein drive motor 31 to be arranged on hull 1, drive motor 31 to electrically connect with master controller 4；Propeller 32 is arranged on the lower end of hull 1 afterbody, and it is connected with the rotary shaft driving motor 31；Described tail vane 33 is for being vertically arranged；The upper end of described hull 1 afterbody has been horizontally disposed with a tail vane connector 34, and one end of tail vane connector 34 is connected with hull 1, and the other end is movable with the upper end of tail vane 33 to be connected: tail vane 33 can occur the motion on circumferencial direction with junction between the two for the center of circle；The upper end edge horizontal direction of described tail vane 33 is extended with left and right Liang Ge ear 331；Described tail vane motor 35 is arranged on hull 1, and tail vane motor 35 electrically connects with master controller 4；Its rotary shaft is connected with eccentric 36, and eccentric 36 is connected with the ear 331 on tail vane 33 by pull bar 37；Described power module 7 is powered to driving motor 31, tail vane motor 35.
The movement locus of hull 1 is controlled by power part 3 for the order receiving master controller 4, and being embodied as when, by controlling driving motor 31, master controller 4 controls whether hull 1 moves.And as the control to hull 1 direction of motion, then by the control of tail vane 33 is embodied, specific as follows: master controller 4 makes tail vane 33 that the motion on circumferencial direction to occur by controlling the rotation of tail vane motor 35, thus the direction of hull 1 motion is adjusted.
nullIn the present embodiment，Due to the first image taking module 251、Second image taking module 252 is provided in the left and right sides of hull 1，So when take-up cable 23 or unwrapping wire cable 23 process，Cable 23 inevitably touches the edge of hull 1，During take-up cable 23 or unwrapping wire cable 23 process, cable 23 can be caused abrasion by hull 1，In order to solve this difficult problem，Such as Fig. 5、6、Shown in 7，On the position of hull 1 left side edge of described first capstan winch 221 correspondence，It is horizontally disposed with the first connector 101 and the second connector 102，It is parallel to each other between first connector 101 and the second connector 102，First end of the first connector 101 and the second connector 102 is connected on the left of hull 1，Second end of the first connector 101、Second end of the second connector 102 is movable with the two ends of a roller 105 respectively to be connected；On the position on the hull 1 right edge edge of described second capstan winch 222 correspondence, it is horizontally disposed with the 3rd connector 103 and the 4th connector 104, it is parallel to each other between 3rd connector 103 and the 4th connector 104, first end of the 3rd connector 103 and the 4th connector 104 is connected on the right side of hull 1, and the second end of the 3rd connector 103, the second end of the 4th connector 104 movable with the two ends of a roller 105 are respectively connected.
By arranging roller 105 in both sides so that what cable 23 touched when processing at take-up cable 23 or unwrapping wire cable 23 is roller 105, roller 105 can eliminate the frictional force of both contacts by the rotation of self, thus avoids cable 23 is caused abrasion.
Obviously, above-described embodiment of the present utility model is only for clearly demonstrating this utility model example, and is not the restriction to embodiment of the present utility model.For those of ordinary skill in the field, can also make other changes in different forms on the basis of the above description.Here without also cannot all of embodiment be given exhaustive.All any amendment, equivalent and improvement etc. made within spirit of the present utility model and principle, within should be included in this utility model scope of the claims.
Claims (10)
1. a Fish underwater movement monitoring ship, it is characterised in that: include hull, image pickup section, power part, master controller, wireless transport module, GPS module and power module；
Wherein image pickup section includes capstan winch motor, capstan winch, cable, lighting module and image taking module；Wherein capstan winch motor is arranged on hull, and capstan winch motor electrically connects with master controller；Capstan winch is arranged on the top of capstan winch motor, and the rotary shaft of capstan winch motor is connected with capstan winch by drive belt；Capstan winch is connected with image taking module by cable, and image taking module is placed on left side or the right side of hull, and image taking module passes sequentially through the second end of cable, the first end electrically connects with master controller；Described lighting module is arranged in image taking module, and lighting module passes sequentially through the second end of cable, the first end electrically connects with master controller；
Described power part, master controller, wireless transport module, GPS module and power module are arranged on hull, the input of power part, the outfan of wireless transport module and input, the outfan of GPS module and input electrically connect with master controller, and power module is powered to capstan winch motor, power part, master controller, wireless transport module, GPS module；Power module is powered to image taking module, lighting module by cable.
Fish underwater movement monitoring ship the most according to claim 1, it is characterized in that: described capstan winch motor includes the first capstan winch motor and the second capstan winch motor, first capstan winch motor, the second capstan winch motor are separately positioned on left side and the right side of midship, and the first capstan winch motor, the second capstan winch motor electrically connect with master controller；Described capstan winch includes that the first capstan winch and the second capstan winch, the first capstan winch, the second capstan winch are respectively arranged at the first capstan winch motor, the top of the second capstan winch motor；First capstan winch motor, the second capstan winch motor are connected with the first capstan winch, the second capstan winch by different drive belts respectively；Described image taking module includes being separately positioned on the left of hull and the first image taking module on right side and the second image taking module；Described cable includes the first cable and the second cable, and the first capstan winch is connected by the first cable and the first image taking module, and the second capstan winch is connected by the second cable and the second image taking module；First image taking module passes sequentially through the second end of the first cable, the first end electrically connects with master controller, and the second image taking module passes sequentially through the second end of the second cable, the first end electrically connects with master controller；Described lighting module includes the first lighting module and the second lighting module, first lighting module, the second lighting module are separately positioned in the first image taking module and the second image taking module, first lighting module passes sequentially through the second end of the first cable, the first end electrically connects with master controller, and the second lighting module passes sequentially through the second end of the second cable, the first end electrically connects with master controller；Described power module is powered to the first capstan winch motor, the second capstan winch motor；Described power module is powered to the first image taking module, the first lighting module and the second image taking module, the second lighting module respectively by the first cable, the second cable.
Fish underwater movement monitoring ship the most according to claim 2, it is characterised in that: described power part includes driving motor, propeller, tail vane, tail vane connector, tail vane motor, eccentric and pull bar；Wherein drive motor to be arranged on hull, drive motor to electrically connect with master controller；Propeller is arranged on the lower end of hull afterbody, and it is connected with the rotary shaft driving motor；Described tail vane is for being vertically arranged；The upper end of described hull afterbody has been horizontally disposed with a tail vane connector, and one end of tail vane connector is connected with hull, and the other end is movable with the upper end of tail vane to be connected: tail vane can occur the motion on circumferencial direction with junction between the two for the center of circle；The upper end edge horizontal direction of described tail vane is extended with left and right Liang Ge ear；Described tail vane motor is arranged on hull, and tail vane motor electrically connects with master controller；Its rotary shaft is connected with eccentric, and eccentric is connected with the left ear on tail vane by pull bar；Described power module is powered to driving motor, tail vane motor.
Fish underwater movement monitoring ship the most according to claim 3, it is characterized in that: on the position of the hull left side edge that described first capstan winch is corresponding, the first connector and the second connector are horizontally disposed with it, it is parallel to each other between first connector and the second connector, first end of the first connector and the second connector is connected with on the left of hull, and the second end of the first connector, the second end of the second connector movable with the two ends of a roller are respectively connected；On the position on the hull right edge edge that described second capstan winch is corresponding, the 3rd connector and the 4th connector are horizontally disposed with it, it is parallel to each other between 3rd connector and the 4th connector, first end of the 3rd connector and the 4th connector is connected with on the right side of hull, and the second end of the 3rd connector, the second end of the 4th connector movable with the two ends of a roller are respectively connected.
Fish underwater movement monitoring ship the most according to claim 4, it is characterized in that: power module includes power supply and switch, power supply is powered to master controller, wireless transport module, GPS module, the first capstan winch motor, the second capstan winch motor, the first image taking module, the second image taking module, the first lighting module, the second lighting module, driving motor, tail vane motor by switch.
Fish underwater movement monitoring ship the most according to claim 5, it is characterised in that: power supply is lithium battery.
7. according to the Fish underwater movement monitoring ship described in any one of claim 1 ~ 6, it is characterised in that: STM32 processor selected by master controller.
Fish underwater movement monitoring ship the most according to claim 7, it is characterised in that: GPS module selects SIRF2e/LP chip module.
Fish underwater movement monitoring ship the most according to claim 7, it is characterised in that: wireless transport module selects G402TF module or SIM900A module.
Fish underwater movement monitoring ship the most according to claim 7, it is characterised in that: described image taking module is water-proof CCD camera.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620523466.4U CN205632974U (en) | 2016-05-31 | 2016-05-31 | Fish are movable monitoring ship under water |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620523466.4U CN205632974U (en) | 2016-05-31 | 2016-05-31 | Fish are movable monitoring ship under water |
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| Publication Number | Publication Date |
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| CN205632974U true CN205632974U (en) | 2016-10-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201620523466.4U Withdrawn - After Issue CN205632974U (en) | 2016-05-31 | 2016-05-31 | Fish are movable monitoring ship under water |
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| CN (1) | CN205632974U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105947149A (en) * | 2016-05-31 | 2016-09-21 | 广东海洋大学 | Monitoring ship for underwater activities of fish |
-
2016
- 2016-05-31 CN CN201620523466.4U patent/CN205632974U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105947149A (en) * | 2016-05-31 | 2016-09-21 | 广东海洋大学 | Monitoring ship for underwater activities of fish |
| CN105947149B (en) * | 2016-05-31 | 2017-09-29 | 广东海洋大学 | A kind of fish underwater movement monitoring ship |
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Granted publication date: 20161012 Effective date of abandoning: 20170929 |
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