CN208621968U - A kind of marine eco-environment cruising inspection system and underwater unmanned vehicle - Google Patents
A kind of marine eco-environment cruising inspection system and underwater unmanned vehicle Download PDFInfo
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- CN208621968U CN208621968U CN201820968605.3U CN201820968605U CN208621968U CN 208621968 U CN208621968 U CN 208621968U CN 201820968605 U CN201820968605 U CN 201820968605U CN 208621968 U CN208621968 U CN 208621968U
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Abstract
The utility model discloses a kind of marine eco-environment cruising inspection system and underwater unmanned vehicles, and the system comprises underwater unmanned vehicle, unmanned plane and data processing equipments.The underwater unmanned vehicle is configured as independently driving to default region of patrolling and examining, monitors the data of subsea environment in the default region of patrolling and examining；The unmanned plane, it is equipped on the underwater unmanned vehicle, it is launched after the underwater unmanned vehicle is travelled to the default region of patrolling and examining, the unmanned plane is used to obtain the picture data on sea in the default region of patrolling and examining after being launched, and the picture data is transmitted to the underwater unmanned vehicle.The underwater unmanned vehicle is also used to the picture data being transmitted to data processing equipment.Compared with traditional marine eco-environment inspection activity, which has many advantages, such as that routing inspection efficiency is high, inspection range is big, at low cost, effective by force, personnel's coefficient is high.
Description
Technical field
The utility model relates to marine environmental monitoring equipment technology fields, and in particular to a kind of marine eco-environment inspection system
System and underwater unmanned vehicle.
Background technique
China uses activities, the functional government departments such as marine illegal fishing, illegal dumping rubbish, illegal blowdown at present
Personnel participate in, the management of fragment area, periodically joint takes fisheries administration ship law enforcement inspection, and can not be simultaneously to marine environment, water quality, petroleum
And burning line is monitored, this routine inspection mode labor intensive, material resources, financial resources are huge, low efficiency, and range is small for inspection, actual effect
Property is poor, while personnel safety factor is low；
If necessary to be monitored to seabed ecological environment, water quality, petroleum and burning line, then in addition special arrange is needed
Number indicating a ship's order of departure small range carries water quality monitor, submerged pipeline monitoring device is monitored, and this underwater ECOLOGICAL ENVIRONMENTAL MONITORING mode is supervised
Survey range is small, and the sample of sampling does not have representativeness, to accomplish region of patrolling and examining all standing, it is necessary to it takes considerable time, for
Secondary pollution caused by completed region of patrolling and examining can only wait the inspection activity in next period to be possible to be monitored, patrol
It examines efficiency and actual effect is low.
It is therefore desirable to propose a kind of marine eco-environment cruising inspection system and underwater unmanned vehicle, solve the above problems.
Utility model content
The purpose of this utility model is to provide a kind of marine eco-environment cruising inspection system and underwater unmanned vehicles, in turn
One or more is overcome the problems, such as caused by the limitation and defect due to the relevant technologies at least to a certain extent.
According to the utility model embodiment in a first aspect, provide a kind of marine eco-environment cruising inspection system, the system packet
Include underwater unmanned vehicle, unmanned plane and data processing equipment；
The underwater unmanned vehicle carries out inspection according to the task that presets to pre- inspection sea area, and by inspection number
According to being transferred to data processing equipment；
The UAV flight passes through underwater unmanned vehicle in predeterminable area and sends out on the underwater unmanned vehicle
It is mapped in the air, the unmanned plane carries out inspection according to the task that presets to pre- inspection sea area, and inspection data are transmitted
To underwater unmanned vehicle or data processing equipment；
The data processing equipment is used to receive the monitoring data that unmanned plane and underwater unmanned vehicle are sent, and to the prison
Measured data is analyzed and is handled.
In embodiment of the disclosure, the underwater unmanned vehicle includes bearing structure and housing unit, Powered Propulsion
Unit, navigation control unit, communication positioning are supervised with data relay unit, wind direction test with transmitting unit, video surveillance and water quality
Survey unit.
In embodiment of the disclosure, the housing unit includes fore body bay section, master control bay section, transmitting bay section, stern cabin
Section.
In embodiment of the disclosure, the communication positioning includes that antenna communication apparatus and optical fiber are logical with data relay unit
Interrogate equipment, data processing equipment of the antenna communication apparatus on underwater unmanned vehicle and unmanned plane or working mother boat into
Row wireless telecommunications, the optical-fibre communications equipment between the data processing equipment on underwater unmanned vehicle and working mother boat into
Row wire communication.
In embodiment of the disclosure, the wind direction test and transmitting unit include wind direction tester, launching tube and transmitting
Frame, the wind direction tester is for testing wind direction, the launching tube and launcher for emitting unmanned plane.
In embodiment of the disclosure, the video surveillance and water quality monitoring unit include video equipment, depth transducer
And water quality monitor, the video equipment, depth transducer and water quality monitor are for monitoring underwater picture, to seabed ecology ring
Border, water quality, petroleum and burning line are monitored.
In embodiment of the disclosure, the unmanned plane includes unmanned plane body and fold unit, Powered Propulsion unit, lead
Boat control unit, data chain element, video surveillance unit.
In embodiment of the disclosure, wherein described fold the folding wing that unit includes unmanned plane, the power is pushed away
It is used to provide power to unmanned plane into unit.
In embodiment of the disclosure, the navigation control unit is used to control the lift-off, flight, landing navigation of unmanned plane
Route；The data chain element is used for transmission data, and the video surveillance unit is for monitoring ocean surface and aerial picture.
According to the second aspect of an embodiment of the present disclosure, a kind of underwater unmanned vehicle, the underwater unmanned vehicle are provided
Can carry at least one unmanned plane, the underwater unmanned vehicle include bearing structure and housing unit, Powered Propulsion unit,
Navigation control unit, communication positioning and data relay unit, wind direction test and transmitting unit, video surveillance and water quality monitoring list
Member；The unmanned plane includes unmanned plane body and folds unit, Powered Propulsion unit, navigation control unit, data chain element, regards
Frequency monitoring unit；The unmanned plane and underwater unmanned vehicle are wirelessly connected.
The technical solution that the embodiments of the present invention provide can include the following benefits:
In an embodiment of the present invention, using underwater unmanned vehicle and unmanned plane as marine eco-environment inspection
Carrying platform, underwater unmanned vehicle can realize that scope of activities is big, the characteristics of carrying strong ability, mobility strong, pass through carrying
And emit unmanned plane, while to activities and subsea environments, water such as marine illegal fishing, illegal dumping rubbish, illegal blowdowns
Matter, petroleum and burning line carry out inspection and monitoring.Two subsystem integrations work changes traditionally regular visit, small
The single conventional inspection of range inspection, single patrol task, so that routing inspection efficiency greatly improves.Also, the utility model ocean
Ecological environment cruising inspection system can independently complete inspection work, spend a large amount of human and material resources, financial resources to carry out big model compared to more traditional
Joint inspection activity is enclosed, this system is once put into, and periodically or non-periodically patrol task, about four to five people one of a subtask can be performed
Working mother boat substantially reduces routing inspection cost with regard to achievable patrol task.In addition, being carried in underwater unmanned vehicle and unmanned plane
Video equipment and monitoring device, can be completed at the same time the inspection of seabed sea work.Traditional inspection activity will accomplish that region of patrolling and examining is complete
Covering, it is necessary to take considerable time, the secondary pollution for caused by completed region of patrolling and examining can only wait patrolling for next period
Inspection activity is possible to be monitored, effective weak, and this system is due to routing inspection efficiency height, and then polling period is short, and can be with
Carry out secondary inspection at any time, so inspection is effective strong.And the system participates in inspection without putting into a large amount of personnel, reduces manpower
Cost and avoid the personnel safety potential problem in traditional inspection.
Detailed description of the invention
Fig. 1 shows the utility model marine eco-environment cruising inspection system operation principle schematic diagram；
Fig. 2 shows the utility model marine eco-environment cruising inspection system composition schematic diagrams；
Fig. 3 shows the utility model marine eco-environment inspection work flow diagram；
Fig. 4 shows the utility model underwater unmanned vehicle and unmanned plane schematic diagram.
Drawing reference numeral in attached drawing includes: 100- underwater unmanned vehicle, 200- unmanned plane, 101- fore body bay section, 102-
Master control bay section, 103- transmitting bay section, 104- stern bay section, 111- antenna, 112-night indicator lights, 113- launching tube, 114- hair
Penetrate frame, 115- wind direction tester, 116- hanging ring, 117- video equipment, 118- depth transducer, 119- water quality monitor, 120-
Navigation equipment, the combination of 121-fin rudders, 122- optical fiber outlet-pipe, 123- propeller.
Specific embodiment
Example embodiment is described more fully with reference to the drawings.However, example embodiment can be with a variety of shapes
Formula is implemented, and is not understood as limited to example set forth herein；On the contrary, thesing embodiments are provided so that the disclosure will more
Fully and completely, and by the design of example embodiment comprehensively it is communicated to those skilled in the art.Described feature, knot
Structure or characteristic can be incorporated in any suitable manner in one or more embodiments.
In addition, attached drawing is only the schematic illustrations of the disclosure, it is not necessarily drawn to scale.Identical attached drawing mark in figure
Note indicates same or similar part, thus will omit repetition thereof.Some block diagrams shown in the drawings are function
Energy entity, not necessarily must be corresponding with physically or logically independent entity.These function can be realized using software form
Energy entity, or these functional entitys are realized in one or more hardware modules or integrated circuit, or at heterogeneous networks and/or place
These functional entitys are realized in reason device device and/or microcontroller device.
Embodiment one
The utility model embodiment one discloses a kind of system of marine eco-environment inspection, which can reach inspection
High-efficient, the advantages that inspection range is big, at low cost, effective strong, personnel's coefficient is high.
The whole composition figure of the marine eco-environment cruising inspection system is as shown in Fig. 2, include underwater unmanned vehicle, unmanned plane
And data processing equipment.Wherein underwater unmanned vehicle can be realized seabed ecological environment, water quality, petroleum and burning line and carry out
Monitoring, and monitoring data are transferred to data processing equipment by communication apparatus；Unmanned plane can illegally be caught, illegally to marine
Dump rubbish, the activities such as illegal blowdown are monitored, monitoring picture and data are transferred to underwater unmanned vehicle or lash ship；
Data processing equipment is used to receive the monitoring data that unmanned plane and underwater unmanned vehicle are sent, and divides the monitoring data
Analysis and processing.
As shown in Figure 2 and Figure 4, the underwater unmanned vehicle 100 includes bearing structure and housing unit, Powered Propulsion list
Member, navigation control unit, safe first-aid unit, communication positioning and data relay unit, wind direction test and transmitting unit, video are supervised
It surveys and water quality monitoring unit, maintenance and support Unit.The housing unit includes fore body bay section 101, master control bay section 102, transmitting
Bay section 103, stern bay section 104, night indicator light 112, hanging ring 116, fin rudder combination 121.The communication positioning and data relay
Unit includes antenna communication apparatus, optical-fibre communications equipment；The wind direction test includes wind direction tester 115, hair with transmitting unit
Shooting cylinder 113, launcher 114；The video surveillance and water quality monitoring unit include video equipment 117, depth transducer 118, water
Matter monitor 119；Navigation control unit includes navigation equipment 120；Powered Propulsion unit includes propeller 123.The safety is anxious
Unit is rescued for when unmanned vehicles 100 encounter extraneous factor or other factors out of control under water, taking over underwater unmanned navigation
The control of device 100 controls underwater unmanned vehicle 100 according to pre-set safety operation.
The hanging ring 116 is used for by laying underwater unmanned vehicle 100 by working mother boat.The antenna communication apparatus is used
It is communicated wirelessly in underwater unmanned vehicle 100 and the data processing equipment on unmanned plane 200 or working mother boat.The antenna
Communication apparatus specifically may include in wireless transport module, GPS module, Beidou module, iridium satellite module and WIFI module (not shown)
Any one and the respective antenna 111 being attached thereto, set in order to realize with the data processing on unmanned plane 200 or working mother boat
The wireless telecommunications of data between standby.
The optical-fibre communications equipment between the data processing equipment on underwater unmanned vehicle 100 and working mother boat into
Row wire communication.The wind direction tester 115 is for testing wind direction.The launching tube 113 and launcher 114 are for emitting nothing
Man-machine 200.The video equipment 117, depth transducer 118 and water quality monitor 119 are for monitoring underwater picture, to seabed
Ecological environment, water quality, petroleum and burning line are monitored, and monitoring data are transferred on lash ship by optical-fibre communications equipment
Data processing equipment.The optical-fibre communications equipment may include optical-fibre communications machine, optical fiber and optical fiber outlet-pipe etc. and its attached
Accessory (not shown), the optical-fibre communications machine setting of the optical-fibre communications equipment in the stern bay section of unmanned vehicles, are somebody's turn to do under water
Stern bay section is additionally provided with optical fiber outlet-pipe 122, which connect with the optical-fibre communications machine, and the other end is from the optical fiber outlet-pipe
122 stretchings are connect with the data processing equipment wire communication on lash ship.Wherein the optical fiber outlet-pipe 122 can play guarantor to optical fiber
Shield effect, avoids damaging.
As shown in Fig. 2, the unmanned plane 200 includes unmanned plane body and folding unit, Powered Propulsion unit, Navigation Control
Unit, safe first-aid unit, data chain element, video surveillance unit.The unmanned plane body is the main element of unmanned plane, institute
It states and folds the folding wing that unit is primarily referred to as unmanned plane.The Powered Propulsion unit is used to provide power to unmanned plane.Institute
Navigation control unit is stated for controlling the navigation routes such as the lift-off, flight, landing of unmanned plane.The safe first-aid unit is used for nothing
Man-machine 200 when encountering extraneous factor or other factors and be out of control, the control of adapter tube unmanned plane 200, according to pre-set peace
Full operation controls unmanned plane during flying or landing.The data chain element is used for transmission data.The video surveillance unit is for supervising
Survey ocean surface and aerial picture.
As shown in Fig. 2, the data processing equipment includes underwater unmanned vehicle manipulation unit, underwater unmanned vehicle prison
Measured data processing unit, unmanned plane manipulate unit, unmanned plane monitoring data processing unit.The underwater unmanned vehicle manipulation is single
Member is for manipulating underwater unmanned vehicle 100.The underwater unmanned vehicle monitoring data processing unit is for handling from underwater
The seabed monitoring data that unmanned vehicles receive.The unmanned plane manipulation unit is for manipulating flight, landing of unmanned plane etc.
Movement.The unmanned plane monitoring data processing unit is used to handle the ocean surface received from unmanned plane and aerial monitoring number
According to.
As shown in Figure 1, being the operation principle schematic diagram of the present embodiment marine eco-environment cruising inspection system.Working mother boat transport
Underwater unmanned autonomous navigation device 100 reaches pre- region of patrolling and examining, wherein the unmanned autonomous navigation device 100 is equipped with unmanned plane 200.
After reaching pre- region of patrolling and examining, underwater unmanned vehicle 100 is floated up on sea, is risen and is lifted launcher, and launching tube, transmitting are opened
Unmanned plane 200.The beginning of underwater unmanned vehicle 100 is starting inspection with region of patrolling and examining.And unmanned plane 200 is also in region of patrolling and examining
Airflight carries out inspection to activities such as illegal fishing, illegal dumping rubbish, illegal blowdowns from the air by camera, and leads to
It crosses data chain element and inspection data is sent to underwater unmanned autonomous navigation device 100 in real time, underwater unmanned autonomous navigation device 100 is logical
It crosses video transmission equipment or optical-fibre communications equipment and video data is transferred to data processing equipment at a distance.Inspection activity is completed
Afterwards, unmanned plane 200 and underwater unmanned vehicle 100 start program of making a return voyage, and are finally recycled by working mother boat.
After data processing equipment receives the monitoring data that unmanned plane 200 and underwater unmanned vehicle 100 are transmitted back to, carry out
Necessary data readback and analysis, and result is presented.
Embodiment two
As shown in figure 4, being a kind of specific implementation of the underwater unmanned vehicle of marine eco-environment inspection of the utility model
Example.The underwater unmanned vehicle 100 carries unmanned plane 200, and can emit unmanned plane 200 in the air comprising pressure-bearing
Structure and housing unit, Powered Propulsion unit, navigation control unit, safe first-aid unit, communication positioning and data relay unit,
Wind direction test and transmitting unit, video surveillance and water quality monitoring unit, maintenance and support Unit.The housing unit includes fore body
Bay section 101, master control bay section 102, transmitting bay section 103, stern bay section 104, night indicator light 112, hanging ring 116, the combination of fin rudder
121.The communication positioning and data relay unit include antenna communication apparatus, optical-fibre communications equipment；The wind direction test and hair
Penetrating unit includes wind direction tester 115, launching tube 113, launcher 114；The video surveillance and water quality monitoring unit include view
Frequency equipment 117, depth transducer 118, water quality monitor 119；Navigation control unit includes navigation equipment 120；Powered Propulsion list
Member includes propeller 123.The safe first-aid unit encounters extraneous factor or other factors for unmanned vehicles 100 under water
When out of control, the control of adapter tube underwater unmanned vehicle 100 controls underwater unmanned vehicle according to pre-set safety operation
100。
The system and underwater unmanned vehicle of the utility model marine eco-environment inspection have the following beneficial effects:
The utility model puts down underwater unmanned vehicle 100 and unmanned plane 200 as the carrying of marine eco-environment inspection
The characteristics of platform, underwater unmanned vehicle 200 can realize that scope of activities is big, carry strong ability, mobility strong, by carrying and emitting
Unmanned plane, while to activities and subsea environment, water quality, petroleum such as marine illegal fishing, illegal dumping rubbish, illegal blowdowns
And burning line carries out inspection and monitoring.Two subsystem integration work, change traditionally regular visit, small range and patrol
The single conventional inspection of inspection, single patrol task, so that routing inspection efficiency greatly improves.Also, the utility model marine ecology ring
Border cruising inspection system can independently complete inspection work, spend a large amount of human and material resources, financial resources to be combined on a large scale compared to more traditional
Inspection activity, this system are once put into, and periodically or non-periodically patrol task, about four to five people of a subtask one work can be performed
Lash ship substantially reduces routing inspection cost with regard to achievable patrol task.In addition, being carried in underwater unmanned vehicle 100 and unmanned plane 200
Video equipment and monitoring device, can be completed at the same time the inspection of seabed sea work.Traditional inspection activity will accomplish that region of patrolling and examining is complete
Covering, it is necessary to take considerable time, the secondary pollution for caused by completed region of patrolling and examining can only wait patrolling for next period
Inspection activity is possible to be monitored, effective weak, and this system is due to routing inspection efficiency height, and then polling period is short, and can be with
Carry out secondary inspection at any time, so inspection is effective strong.And the system participates in inspection without putting into a large amount of personnel, reduces manpower
Cost and avoid the personnel safety potential problem in traditional inspection.
The above is only the preferred embodiment of the utility model only, is not intended to limit the protection model of the utility model
It encloses.Wherein unmanned plane belongs to folding wings unmanned plane in the present invention, is conducive to underwater unmanned vehicle transmitting, single not only to limit
In folding wings unmanned plane；Wherein data processing equipment may be provided on the working mother boat of execution task, may also set up on the coast
Operation control box.The utility model is without being limited thereto, within the spirit and principle of the utility model, made any modification,
Equivalent replacement, improvement etc., should be included within the protection scope of utility model.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include one or more of the features.In the description of the disclosure, the meaning of " plurality " is two or more,
Unless otherwise specifically defined.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is contained at least one embodiment or example of the disclosure.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
What can be combined in any suitable manner in one or more embodiment or examples.In addition, those skilled in the art can say this
Different embodiments or examples described in bright book are engaged and are combined.
Those skilled in the art will readily occur to the disclosure after considering specification and practicing utility model disclosed herein
Other embodiments.This application is intended to cover any variations, uses, or adaptations of the disclosure, these modifications are used
Way or adaptive change follow the general principles of this disclosure and including the disclosure it is undocumented in the art known in
Common sense or conventional techniques.The description and examples are only to be considered as illustrative, and the true scope and spirit of the disclosure are by institute
Attached claim is pointed out.
Claims (10)
1. a kind of marine eco-environment cruising inspection system, which is characterized in that the system includes underwater unmanned vehicle, unmanned plane sum number
According to processing equipment；
The underwater unmanned vehicle carries out inspection according to the task that presets to pre- inspection sea area, and inspection data are passed
It is defeated by data processing equipment；
The UAV flight is emitted on the underwater unmanned vehicle by underwater unmanned vehicle in predeterminable area
In the air, the unmanned plane carries out inspection according to the task that presets to pre- inspection sea area, and inspection data are transmitted water supply
Lower unmanned vehicles or data processing equipment；
The data processing equipment is used to receive the monitoring data that unmanned plane and underwater unmanned vehicle are sent, and to the monitoring number
According to being analyzed and handled.
2. marine eco-environment cruising inspection system according to claim 1, which is characterized in that the underwater unmanned vehicle packet
It includes bearing structure and housing unit, Powered Propulsion unit, navigation control unit, communication positioning is surveyed with data relay unit, wind direction
Examination and transmitting unit, video surveillance and water quality monitoring unit.
3. marine eco-environment cruising inspection system according to claim 2, which is characterized in that the housing unit includes fore body
Bay section, master control bay section, transmitting bay section, stern bay section.
4. marine eco-environment cruising inspection system according to claim 2, which is characterized in that in the communication positioning and data
Turning unit includes antenna communication apparatus and optical-fibre communications equipment, and the antenna communication apparatus is for underwater unmanned vehicle and nobody
Data processing equipment on machine or working mother boat communicates wirelessly, the optical-fibre communications equipment for underwater unmanned vehicle with
Wire communication is carried out between data processing equipment on working mother boat.
5. marine eco-environment cruising inspection system according to claim 2, which is characterized in that the wind direction test and transmitting are single
Member includes wind direction tester, launching tube and launcher, and the wind direction tester is for testing wind direction, the launching tube and launcher
For emitting unmanned plane.
6. marine eco-environment cruising inspection system according to claim 2, which is characterized in that the video surveillance and water quality are supervised
Surveying unit includes video equipment, depth transducer and water quality monitor, the video equipment, depth transducer and water quality monitor
For monitoring underwater picture, seabed ecological environment, water quality, petroleum and burning line are monitored.
7. marine eco-environment cruising inspection system according to claim 1, which is characterized in that the unmanned plane includes unmanned plane
Body and folding unit, Powered Propulsion unit, navigation control unit, data chain element, video surveillance unit.
8. marine eco-environment cruising inspection system according to claim 7, which is characterized in that wherein the folding unit includes
The folding wing of unmanned plane, the Powered Propulsion unit are used to provide power to unmanned plane.
9. marine eco-environment cruising inspection system according to claim 7, which is characterized in that the navigation control unit is used for
Control the lift-off, flight, landing navigation route of unmanned plane；The data chain element is used for transmission data, the video surveillance list
Member is for monitoring ocean surface and aerial picture.
10. a kind of underwater unmanned vehicle, which is characterized in that the underwater unmanned vehicle can carry at least one nobody
Machine, the underwater unmanned vehicle include that bearing structure and housing unit, Powered Propulsion unit, navigation control unit, communication are determined
Position and data relay unit, wind direction test and transmitting unit, video surveillance and water quality monitoring unit；The unmanned plane includes for nobody
Machine body and folding unit, Powered Propulsion unit, navigation control unit, data chain element, video surveillance unit；The unmanned plane
It is wirelessly connected with underwater unmanned vehicle.
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| CN201820968605.3U CN208621968U (en) | 2018-06-22 | 2018-06-22 | A kind of marine eco-environment cruising inspection system and underwater unmanned vehicle |
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| CN201820968605.3U CN208621968U (en) | 2018-06-22 | 2018-06-22 | A kind of marine eco-environment cruising inspection system and underwater unmanned vehicle |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109062244A (en) * | 2018-06-22 | 2018-12-21 | 西安特种飞行器工程研究院有限公司 | A kind of system and method based on marine eco-environment inspection |
| CN112572733A (en) * | 2020-12-11 | 2021-03-30 | 中国特种飞行器研究所 | Unmanned aerial vehicle underwater storage device |
| CN112849339A (en) * | 2020-12-31 | 2021-05-28 | 国家海洋技术中心 | Air-drop type ocean data measuring device and data processing device |
| CN113220015A (en) * | 2021-04-08 | 2021-08-06 | 生态环境部华南环境科学研究所 | Method for checking and monitoring sewage draining exit by utilizing optical and infrared thermal imaging |
| CN113847946A (en) * | 2021-09-22 | 2021-12-28 | 山东省科学院海洋仪器仪表研究所 | Troposphere parameter profile detection system and detection method based on buoy platform |
| CN114706427A (en) * | 2022-06-02 | 2022-07-05 | 武汉理工大学 | Sea-air stereoscopic collaborative searching system and control method thereof |
| CN115675805A (en) * | 2022-08-30 | 2023-02-03 | 武汉理工大学 | Cross-medium underwater vehicle carrying unmanned aerial vehicle |
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2018
- 2018-06-22 CN CN201820968605.3U patent/CN208621968U/en active Active
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109062244A (en) * | 2018-06-22 | 2018-12-21 | 西安特种飞行器工程研究院有限公司 | A kind of system and method based on marine eco-environment inspection |
| CN112572733A (en) * | 2020-12-11 | 2021-03-30 | 中国特种飞行器研究所 | Unmanned aerial vehicle underwater storage device |
| CN112849339A (en) * | 2020-12-31 | 2021-05-28 | 国家海洋技术中心 | Air-drop type ocean data measuring device and data processing device |
| CN112849339B (en) * | 2020-12-31 | 2021-08-10 | 国家海洋技术中心 | Air-drop type ocean data measuring device and data processing device |
| CN113220015A (en) * | 2021-04-08 | 2021-08-06 | 生态环境部华南环境科学研究所 | Method for checking and monitoring sewage draining exit by utilizing optical and infrared thermal imaging |
| CN113847946A (en) * | 2021-09-22 | 2021-12-28 | 山东省科学院海洋仪器仪表研究所 | Troposphere parameter profile detection system and detection method based on buoy platform |
| CN114706427A (en) * | 2022-06-02 | 2022-07-05 | 武汉理工大学 | Sea-air stereoscopic collaborative searching system and control method thereof |
| CN115675805A (en) * | 2022-08-30 | 2023-02-03 | 武汉理工大学 | Cross-medium underwater vehicle carrying unmanned aerial vehicle |
| CN115675805B (en) * | 2022-08-30 | 2023-05-23 | 武汉理工大学 | Cross-medium carrying unmanned aerial vehicle submarine |
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