CN200976044Y - Intelligent deep water answering machine - Google Patents
Intelligent deep water answering machine Download PDFInfo
- Publication number
- CN200976044Y CN200976044Y CN 200620022119 CN200620022119U CN200976044Y CN 200976044 Y CN200976044 Y CN 200976044Y CN 200620022119 CN200620022119 CN 200620022119 CN 200620022119 U CN200620022119 U CN 200620022119U CN 200976044 Y CN200976044 Y CN 200976044Y
- Authority
- CN
- China
- Prior art keywords
- power
- chip
- signal processing
- underwater acoustic
- acoustic
- 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
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 14
- 230000007246 mechanism Effects 0.000 claims abstract description 17
- 239000003990 capacitor Substances 0.000 claims abstract description 6
- 239000013078 crystal Substances 0.000 claims description 3
- 238000003199 nucleic acid amplification method Methods 0.000 claims description 3
- 230000003287 optical effect Effects 0.000 claims 3
- 230000005540 biological transmission Effects 0.000 claims 2
- 230000006870 function Effects 0.000 abstract description 9
- 235000006508 Nelumbo nucifera Nutrition 0.000 description 13
- 240000002853 Nelumbo nucifera Species 0.000 description 13
- 230000002093 peripheral effect Effects 0.000 description 8
- 238000006243 chemical reaction Methods 0.000 description 4
- 238000001914 filtration Methods 0.000 description 4
- 229910001416 lithium ion Inorganic materials 0.000 description 4
- 230000005236 sound signal Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000005265 energy consumption Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 239000007788 liquid Substances 0.000 description 3
- HBBGRARXTFLTSG-UHFFFAOYSA-N Lithium ion Chemical group [Li+] HBBGRARXTFLTSG-UHFFFAOYSA-N 0.000 description 2
- 230000003321 amplification Effects 0.000 description 2
- 238000007600 charging Methods 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 230000000875 corresponding effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 229920000642 polymer Polymers 0.000 description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000003749 cleanliness Effects 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 239000011152 fibreglass Substances 0.000 description 1
- 238000009499 grossing Methods 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Images
Landscapes
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
本实用新型提供了一种新型智能深水应答器，它是由水声信号处理单元1、连接水声信号处理单元1的电源管理单元2、外部接口5、声学换能器3和释放机构4五部分组成，水声信号处理单元1包括设置在底板9上的水声信号处理声学部分6、功放部分7和电容部分8；电源管理单元2包括电源板10和电池11，电源板10连接电池11通过底板9连接各个用电单元。本实用新型具有自校阵、自检、自释放、低功耗、耐高压、高可靠性、易操作等功能和特点，可以用于对水声收/发机发出的询问信号进行应答，并接收、执行和回复某些特定的水声遥控指令，实现长基线系统的定位导航功能。
The utility model provides a novel intelligent deep-water transponder, which is composed of an underwater acoustic signal processing unit 1, a power management unit 2 connected to the underwater acoustic signal processing unit 1, an external interface 5, an acoustic transducer 3 and a release mechanism 45 Partial composition, the underwater acoustic signal processing unit 1 includes an underwater acoustic signal processing acoustic part 6, a power amplifier part 7 and a capacitor part 8 arranged on the bottom plate 9; the power management unit 2 includes a power board 10 and a battery 11, and the power board 10 is connected to the battery 11 Each power consumption unit is connected through the base plate 9 . The utility model has the functions and characteristics of self-calibration, self-test, self-release, low power consumption, high voltage resistance, high reliability, easy operation, etc., and can be used to respond to the inquiry signal sent by the underwater acoustic receiver/transmitter, and Receive, execute and reply some specific underwater acoustic remote control commands to realize the positioning and navigation function of the long baseline system.
Description
(1) technical field
The utility model relates to underwater sound measuring equipment, is specifically related to a kind of underwater sound measuring equipment that is used for submarine target location and navigation.
(2) background technology
With regard to present technology, acoustic positioning technique remains the main flow of submarine target location navigation.At the acoustic responder of seabed laying more than three, constitute certain geometric configuration, the coordinate position of each transponder (primitive) will carry out precision measurement, spacing between each primitive can be compared deeply with the sea, determined carrier generally is positioned at the scope that transponder lays, by inquiry, measure the time delay or the delay inequality of transponder answer signal and determine self-position, thereby realize the function of navigator fix transponder.The principle of Here it is long baseline (LBL) acoustic positioning system, since long baseline acoustic positioning system bearing accuracy height, good reliability, thereby be widely used.
Acoustic responder is the important component part of long baseline hydrolocation navigational system, but be subjected to effects limit such as pressure hull, transducer technology, signal processing means, shortcomings such as the transponder ubiquity function singleness of domestic production, underwater sound operating distance weak point, poor controllability.
(3) summary of the invention
The utility model provides a kind of underwater sound measuring equipment that is used for submarine target location and navigation.
The purpose of this utility model is achieved in that it is made up of Underwater acoustic signal processing unit 1, the Power Management Unit 2, external interface 5, acoustic transducer 3 and releasing mechanism 4 five parts that connect Underwater acoustic signal processing unit 1, and Underwater acoustic signal processing unit 1 comprises Underwater acoustic signal processing acoustics part 6, power amplifier part 7 and the capacitive part 8 that is arranged on the base plate 9; Power Management Unit 2 comprises power panel 10 and battery 11, and power panel 10 connects battery 11 and connects each power unit by base plate 9.
The utility model also has some architectural features like this:
1, described Underwater acoustic signal processing acoustic panel 6 is made up of the broadband receiver 12 that connects acoustic transducer 3, the low-pass filter 17 that connects wide DA converter 16, the light lotus root 18 that connects low-pass filter 17, DSP15, power supply chip 1 and the electromagnetic relay 1, the DA converter 16 that is connected DSP15, power supply chip 2, serial port chip 21 and the FLASH flash memory 20 that connect AD converter 13, the light lotus root late-class circuit 19 that is connected light lotus root 18.
2, the output of described power amplifier part 7 receiving circuits is by the input end of the broadband receiver 12 of base plate 9 connection acoustics parts 6, and the output of level amplifying circuit connects the input end of the radiating circuit of power amplifier parts 7 behind the DA of acoustics part 6 by base plate 9;
3, described power panel 10 is made up of power supply chip A31 power supply chip B32 power supply chip C34, electromagnetic relay 2 and transistor 35, the switch of electromagnetic relay 2 connects single-chip microcomputer 14, power supply chip A31 connects single-chip microcomputer 14, power supply chip B32 connects broadband receiver 12, and power supply chip C34 connects light lotus root late-class circuit 19 and transistor 35;
4, described acoustic transducer 3 is made up of high-frequency transducer and low-frequency transducer, and the both positive and negative polarity of high-frequency transducer connects the high-frequency emission/receiving circuit of power board 7, and the both positive and negative polarity of low-frequency transducer connects the low frequencies circuit of power board 7;
5, described releasing mechanism 4 is made up of the motor 36 and the release hook 37 that connect single-chip microcomputer 14;
6, described external interface 5 mainly comprises the watertight connector 38 of one 12 core, electromagnetic relay 3 and serial port chip 21, and serial port chip 21 connects DSP15 and PC.
Underwater acoustic signal processing of the present utility model unit 1 comprises Underwater acoustic signal processing acoustic panel 6, power board 7, capacitor board 8 and base plate 9, and wherein acoustic panel 6, power board 7 and capacitor board 8 are fixed on the base plate 9 by the connector of a pair of 96 pins respectively.By the connection of base plate 9, the input end of the broadband receiver 12 of acoustic panel 6 is received in the output of power board 7 receiving circuits, and the input end of the radiating circuit of power board 7 is received in the output of level amplifying circuit behind the DA of acoustic panel 6; Transponder of the present utility model is battery-powered, and battery is divided into three groups, is respectively acoustic panel plate 6, power board 7 and releasing mechanism 4 power supplies.Power Management Unit 2 can be divided into three parts, releasing mechanism power supply 25, disposable plates power supply 26 and amplifier power supply 27, mainly comprise power panel 10 and battery 11, the electric energy that power panel 10 provides battery 11 is converted to the required power supply of transponder work, is each power unit power supply by base plate; Acoustic transducer 3 is made up of high-frequency transducer and low-frequency transducer, is used for receiving and the emission underwater sound signal.The both positive and negative polarity of high-frequency transducer connects the high-frequency emission/receiving circuit of power board 7, and the both positive and negative polarity of low-frequency transducer connects the low frequencies circuit of power board 7; Releasing mechanism 4 is made up of motor 36 and release hook 37.The open and close of releasing mechanism 4 all are subjected to single-chip microcomputer 14 controls, and single-chip microcomputer 14 is judged the position of motor rotation according to the releasing mechanism feedback signal; External interface 5 mainly comprises the watertight connector 38 of one 12 core, electromagnetic relay 3 and serial port chip 21.The DSP15 that can realize transponder by serial port chip 21 intercoms mutually with PC, simultaneously the transponder attended circuit power on and following electricity also is to finish by interface 5, utilize interface 5 to charge to transponder.
The beneficial effects of the utility model have:
1, can receive inquiry acoustical signal and reply answer signal, receive/send out a machine with the underwater sound and cooperates realization subaqueous sound ranging and navigator fix operation;
2, can send survey battle array inquiry acoustical signal and information such as ranging data are sent to a underwater sound receipts/machine to other transponder of seabed, thereby make system can realize quick self-correcting battle array function;
3, can receive underwater sound telecommand, in time change self working state, and status information is sent to underwater sound receipts/machine and indication control board.
4, can link to each other with PC by the RS-232 mouth, carry out system state and detect and the parameter setting, and information is returned to main frame.
5, two kinds of mode of operations, pattern on duty can work long hours in the seabed, and does not need charging; Mode of operation can be carried out a large amount of digital signal processing, responds various steering orders in real time, and can realize the work of multiple complexity.
6, have electric weight deficiency and water leakage alarm function, improved the recovery of transponder greatly.
7, adopt the fiberglass pressure hull, working depth improves greatly, and need not any buoyancy aid, and the positive buoyancy of dependence itself can emerge.
The utility model has not only overcome the shortcoming of traditional transponder, reaches external like product index, but also has increased some new functions, and for example this transponder can be realized quick self-correcting battle array function, improves the precision of location navigation; Can adjust the transponder parameter by underwater sound telecommand, reduce of the influence of underwater sound environment system.The increase of these functions has improved the performance of long baseline acoustic positioning system, and therefore, the utility model is located for submarine target and navigation provides a kind of novel intelligent response device.
(4) description of drawings
Fig. 1 is the main assembly synoptic diagram of the utility model intelligent responder of deep water;
Fig. 2 is the structured flowchart of the utility model Underwater acoustic signal processing unit;
Fig. 3 is the utility model releasing mechanism structured flowchart;
Fig. 4 is the structured flowchart of the utility model power management;
Fig. 5 is the utility model external interface structured flowchart;
Fig. 6 is the utility model DSP peripheral circuit diagram;
Fig. 7 is the peripheral circuit of the utility model single-chip microcomputer;
Fig. 8 is the utility model D/A late-class circuit.
(5) embodiment
Be described in detail below in conjunction with the structure and the workflow of accompanying drawing the utility model various piece:
In conjunction with Fig. 1, the utility model is made up of Power Management Unit 2, external interface 5, acoustic transducer 3 and releasing mechanism 4 five parts of Underwater acoustic signal processing unit 1, connection Underwater acoustic signal processing unit 1, and it is characterized in that: Underwater acoustic signal processing unit 1 comprises Underwater acoustic signal processing acoustics part 6, power amplifier part 7 and the capacitive part 8 that is arranged on the base plate 9; Power Management Unit 2 comprises power panel 10 and battery 11, and power panel 10 connects battery 11 and connects each power unit by base plate 9.
In conjunction with Fig. 2-5, Underwater acoustic signal processing acoustic panel 6 is made up of broadband receiver 12, AD converter 13, DSP15, DA converter 16, low-pass filter 17, light lotus root 18, light lotus root late-class circuit 19, FLASH flash memory 20, serial port chip 21, single-chip microcomputer 14, power supply chip 1, power supply chip 2 and electromagnetic relay 1.The underwater sound signal that acoustic transducer 3 receives is sent into broadband receiver 12, after amplifying, filtering sends in the sheet of single-chip microcomputer 14 among the AD, analog signal conversion is become digital signal, 14 pairs of these digital signals of single-chip microcomputer are handled, if the signal that receives is the underwater sound to be received/send out the instruction that machine is assigned this transponder, and then single-chip microcomputer 14 carries out corresponding action.DSP15 does not power on when on duty, have only single-chip microcomputer 14 to receive to power on instruction after, just control electromagnetic relay 1 DSP powered on, transponder enters duty.Simulating signal that broadband receiver 12 is sent here is converted into digital signal through AD converter 13 and is sent among the DSP15 and handles, transponder sends acoustical signal if desired, then DSP15 produces digital signal, convert simulating signal to through DA converter 16, drive power amplifier through low-pass filter 17, light lotus root 18 and light lotus root late-class circuit 19 again, make transducer send acoustical signal.FLASH flash memory 20 is to be used for the stored programme source code, program is imported in the memory block of DSP15 after DSP15 powers on.Serial port chip 21 is to be used for realizing communicating by letter between DSP15 and the PC.Power supply chip 1 and power supply chip 2 are to be respectively single-chip microcomputer 14 and DSP15 power supply.
The utility model work zone is wide, so principle that power board 7 adopts low-and high-frequency to mate respectively, whole working bandwidth is divided into two frequency band high and low frequencies, link to each other with acoustic transducer 3 with matching network by high and low frequency two cover power amplifications, with the better load impedance characteristic that improves, improve system matches efficient, widen the system works frequency band.
Simultaneously, in order to guarantee that power supply can provide enough big power when launching underwater sound signal, present embodiment is one group of electric capacity in parallel on capacitor board 8, be used to store a large amount of electric energy, the both positive and negative polarity of capacitance group is received on the base plate 9 by 96 connectors, and then links to each other with power amplifier 7.
The power panel 10 of present embodiment is made up of power supply chip A31 power supply chip B32 power supply chip C34, electromagnetic relay 2 and transistor 35.The switch of single-chip microcomputer 14 control electromagnetic relays 2, the rotation that realizes releasing mechanism motor 36 with stop, thereby reach the purpose that breaks off relations with hook.Power supply chip A31 is the numerical portion power supply of disposable plates 6, and power supply chip B32 is disposable plates 6 simulation part power supplies.Power supply chip C34 is 19 power supplies of light lotus root late-class circuit, and single-chip microcomputer 14 comes to the conducting of controlling transistor 35 by control power supply chip C34 and ends simultaneously, thereby controls the power-on and power-off of power board 7 and capacitor board 8 indirectly.Single-chip microcomputer 14 is gathered battery 11 voltages by power panel 10 in addition.
In order to satisfy the requirement of system's broadband reception and broadband emission, acoustic transducer 3 is formed by high-frequency wideband transducer and broad band low frequency transducer combinations, the two is installed on the same platform, and links to each other by the output terminal of cable with power board 7 corresponding power amplifications and match circuit.When acoustic transducer 3 placed the near liquid medium of water or density and water, acoustic transducer 3 changed into acoustical signal with the electric signal that power board 7 sends, and by medium to external radiation.
The releasing mechanism 4 of present embodiment is made up of motor 36 and release hook 37.Single-chip microcomputer 14 rotates motor 36 by control electromagnetic relay 2 or stops, because the rotation of motor 36, and release hook 37 weight that will come off, transponder emerges.When motor 36 rotated, single-chip microcomputer 14 can be gathered the feedback signal of releasing mechanism 4, and when motor forwarded proper angle to, single-chip microcomputer 14 will make motor 36 stop.
In conjunction with Fig. 6, Fig. 6 is the utility model DSP peripheral circuit diagram, and the dsp chip that the utility model adopts is the TMS320VC5509A of TI company, and this chip has low in energy consumption, the characteristics that the data operation ability is strong.U4 is the FLASH chip, and DSP is coupled by the EMIF bus, when DSP powers on, carries out program by this chip and loads.U1 is two-way D/A (DA), this device links to each other with DSP by multichannel buffered serial port McBSP, links to each other with power amplifier with the light lotus root through smoothing filter, for power amplifier provides drive signal, label is the jumper switch that is of jref, selects the mode of operation of this device by this switch.U2 is A/D converter (AD), this device links to each other with DSP by multichannel buffered serial port McBSP, this device has the conversion accuracy of 16bit, and be low energy-consumption electronic device, the more important thing is that this device has the SPI serial line interface, can carry out seamless link, save the peripheral interface chip with the multichannel buffered serial port of DSP, reduce power consumption, increased the reliability of system.U3 is a serial port chip, this device links to each other with DSP by multichannel buffered serial port McBSP, realize communicating by letter between the RS-232 serial ports of DSP and PC, this device not only will be finished the conversion of synchronous versus asynchronous communication mode, but also will finish the level conversion of two kinds of communication modes.DB9 is 9 needle serial ports of a standard.
In conjunction with Fig. 7, Fig. 7 is the peripheral circuit of the utility model single-chip microcomputer, and the single-chip microcomputer that the utility model adopts is the MSP430F1611 of TI company, and that this single-chip microcomputer has is low in energy consumption, the digital processing ability strong and have the advantages that to enrich peripheral hardware in the sheet.In the utility model, single-chip microcomputer mainly be responsible for to the decoding of instruction, control DSP power on, to the collection of cell voltage, leak and detect and discharge transponder.The underwater sound signal that transducer receives is amplified the arrival single-chip microcomputer through the filtering of receiver, utilizes the interior analog signal sampling of A/D to receiving of sheet of single-chip microcomputer, and the digital signal after quantizing is delivered to the processing unit of single-chip microcomputer and handled.Three Battery pack voltages also are to sample by A/D in the sheet of single-chip microcomputer.SCM peripheral needs two crystal oscillators that the clock source is provided, and these two crystal oscillators are respectively 3.2768MHz and 8MHz.SCL and SDA are two circuits of I2C bus, and single-chip microcomputer utilizes these two circuits to come to communicate with DSP.
In conjunction with Fig. 8, Fig. 8 is the utility model D/A late-class circuit, and the resistance capacitance of amplifier U1A, U1B, U2A and peripheral circuits thereof has constituted individual second-order low-pass filter, and the signal that D/A is exported carries out smothing filtering.Amplifier U2B, U5A, PHOTO1 chip and resistance capacitance on every side thereof have constituted the typical circuit of linear light lotus root, and the signal behind the smothing filtering drives power amplifier by the light lotus root, and the noise of power amplifier can not have influence on disposable plates through the isolation of light lotus root yet.DIOD1 is a voltage stabilizing diode, and voltage is stabilized to 2.5 volts, for the DA late-class circuit provides reference voltage, guarantees the operate as normal of system.
Claims (7)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200620022119 CN200976044Y (en) | 2006-12-01 | 2006-12-01 | Intelligent deep water answering machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200620022119 CN200976044Y (en) | 2006-12-01 | 2006-12-01 | Intelligent deep water answering machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN200976044Y true CN200976044Y (en) | 2007-11-14 |
Family
ID=38902328
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200620022119 Expired - Fee Related CN200976044Y (en) | 2006-12-01 | 2006-12-01 | Intelligent deep water answering machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN200976044Y (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1971305B (en) * | 2006-12-01 | 2010-09-08 | 哈尔滨工程大学 | Intelligent deep water transponder |
| CN101634708B (en) * | 2009-07-13 | 2012-07-04 | 中国船舶重工集团公司第七一五研究所 | Active sonar target simulator signal processing method |
| CN103308885A (en) * | 2013-05-07 | 2013-09-18 | 北京工业大学 | Method and system for searching buoys on the basis of OFDM (Orthogonal Frequency Division Multiplexing) underwater acoustic signals |
| CN103399299A (en) * | 2013-07-19 | 2013-11-20 | 哈尔滨工程大学 | Underwater broadband general type responder |
-
2006
- 2006-12-01 CN CN 200620022119 patent/CN200976044Y/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1971305B (en) * | 2006-12-01 | 2010-09-08 | 哈尔滨工程大学 | Intelligent deep water transponder |
| CN101634708B (en) * | 2009-07-13 | 2012-07-04 | 中国船舶重工集团公司第七一五研究所 | Active sonar target simulator signal processing method |
| CN103308885A (en) * | 2013-05-07 | 2013-09-18 | 北京工业大学 | Method and system for searching buoys on the basis of OFDM (Orthogonal Frequency Division Multiplexing) underwater acoustic signals |
| CN103399299A (en) * | 2013-07-19 | 2013-11-20 | 哈尔滨工程大学 | Underwater broadband general type responder |
| CN103399299B (en) * | 2013-07-19 | 2016-06-29 | 哈尔滨工程大学 | A kind of universal transponder of Underwater Wide Band Sources |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN1971305B (en) | Intelligent deep water transponder | |
| CN107449405B (en) | Novel submerged buoy data acquisition system | |
| CN200976044Y (en) | Intelligent deep water answering machine | |
| CN110789670B (en) | An acoustic submersible system for deep sea | |
| CN101813761A (en) | Underwater acoustic beacon with multiple work modes | |
| CN101335573B (en) | Wideband adaptive matching method and apparatus for submarine sound signal transmitter | |
| CN101378293A (en) | Method and apparatus for measuring network node of underwater sensor | |
| CN103869321A (en) | Ultrasonic distance measurement system and method for controlling ultrasonic distance measurement system to measure distance | |
| CN105988116A (en) | Underwater acoustic range finding, releasing and recovery system and method thereof | |
| CN102062616A (en) | Teletransmission-based embedded fiber bragg grating monitoring system | |
| CN202057414U (en) | Mining noise sensor | |
| CN101886744A (en) | Ultrasonic positioning device and positioning method for portable internal inspection equipment for detecting pipeline faults | |
| CN105629217B (en) | Underwater unit with response release function | |
| CN1967618B (en) | Real-time transmission buoy device | |
| CN1996048A (en) | Multifunctional hydroacoustic range finder | |
| CN112230139A (en) | Special quick check gauge of portable time relay | |
| CN111323828A (en) | Program-controlled gain marine electric field signal acquisition method, system, device and application | |
| CN204462385U (en) | A kind of acoustics seabed Range Measurement System | |
| CN203069733U (en) | A vibration-detection-based partial discharging point positioning device used for GIS tests | |
| CN204536545U (en) | A kind of underwater sound range finding, input and recovery system | |
| CN210927832U (en) | Monitoring equipment with remote control function | |
| CN206759442U (en) | A kind of portable underwater sound communication instrument based on ultrasonic wave | |
| CN201540640U (en) | Wireless remote transmission meter reading system | |
| CN201000483Y (en) | Multifunctional Underwater Acoustic Range Finder | |
| CN214407197U (en) | Hand-held type aerobomb class weapon management device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20071114 Termination date: 20100104 |