CN102267542A - Non-contact electric energy supply and data transmission device for underwater sensor of buoy system - Google Patents
Non-contact electric energy supply and data transmission device for underwater sensor of buoy system Download PDFInfo
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- CN102267542A CN102267542A CN2011101122498A CN201110112249A CN102267542A CN 102267542 A CN102267542 A CN 102267542A CN 2011101122498 A CN2011101122498 A CN 2011101122498A CN 201110112249 A CN201110112249 A CN 201110112249A CN 102267542 A CN102267542 A CN 102267542A
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Abstract
The invention relates to an electric energy supply and data transmission device between an underwater sensor and a buoy. The adopted technical scheme of the invention is as follows: a non-contact electric energy supply and data transmission device for the underwater sensor of a buoy system is characterized in that an overwater system and an overwater system electromagnetic coupler are mounted in a buoy body, wherein a wire rope ring is intertwined at the output end of the overwater system electromagnetic coupler; the rest part of the wire rope ring is placed underwater and is connected to an anchor system used for fixing the buoy body; the output end of an inverter circuit of the overwater system is used as the primary pole of the overwater system electromagnetic coupler; the wire rope ring is used as the secondary pole of the overwater system electromagnetic coupler; the output end of an underwater system electromagnetic coupler is connected to the input end of an underwater sensor system; the wire rope ring is used as the secondary pole of the underwater system electromagnetic coupler; and the input end of the underwater sensor system is used as the primary pole of the underwater system electromagnetic coupler. The non-contact electric energy supply and data transmission device for the underwater sensor of the buoy system is mainly applied to the ocean floor topographic survey.
Description
Technical field
The present invention relates to electric energy supply and data transmission technology between a kind of oceanographic buoy and the underwater sensor, belong to information techenology and automatic field.Specifically, relating to buoyage underwater sensor non-contact electric energy supplies with and data link.
Background technology
Oceanic buoy system is the large automatic oceanographic instrumentation equipment of a kind of round-the-clock, full automaticity, long-time running, uninterruptedly stable at sea operation throughout the year of requirement.The sensor-based system that buoy is used to monitor marine information is divided into two parts, and a part is a sensing system waterborne, and a part is the underwater sensor system.Sensor waterborne can be transmitted to the ground receiving station by data transmitter waterborne easily with the information of collecting, and underwater sensor not only needs to solve the problem of long-time power supply, also need simultaneously and can carry out reliable and stable communicating by letter with machine waterborne, thus the continuous working ability of underwater sensor system with and determined the performance of buoyage with the reliability of system communication waterborne.
At present, buoyage has two kinds to the underwater sensor method of supplying power to: first kind is the self-tolerant power supply, promptly comes to be oneself power supply with the self-contained battery of underwater sensor; Second kind is the power supply of contact lead, and promptly the buoy on the water surface is given underwater sensor electric energy transmitting by lead.Adopt the buoyage of self-tolerant power supply mode to need regularly to salvage the underwater sensor system, give underwater sensor system conversion battery, this is one and expends huge engineering.The lead transmission method has the easy burn into seawater of line joint impulse force can cause the loosening or disengaging of joint, lead intensity low, and shortcomings such as fracture can take place under the long term of seawater.The underwater sensor of buoyage and the data transmission method between the buoy have lead transmission, sonar transmission and based on the non-contact transmission method of electromagnetic coupled principle, lead transmission data have the shortcoming identical with the lead electric energy transmitting, and the sonar transmission method has following shortcoming: each sensor all disposes sonar to be caused involving great expense; Power consumption is big, and the underwater sound is that diversity is propagated, and requires sonar that bigger emissive power is arranged; Communication distance is limited, and sensor is disposed the degree of depth and is restricted.
Up to now; the underwater sensor of buoyage all is the self-tolerant power supply basically; the hot university of University of Wisconsin-Madison has developed based on the electromagnetic coupled principle and realized the transmission of noncontact power frequency (50Hz) alternating current, owing to adopted industrial-frequency alternating current, so the volume of electromagnetic coupler and quality are very big.The buoy that China produces does not have the function of underwater electric energy supply, and the electric energy of underwater sensing system is from self-contained battery.Adopt the electromagnetic coupled principle to realize that noncontact high-frequency alternating current transmission manner is also rarely found to the research of underwater sensor system power supply, but from the development tendency of underwater sensing system power supply, the noncontact way of electromagnetic induction has appreciiable advantage, is the research direction in this field.Simultaneously, based on the non-contact transmission method of electromagnetic coupled principle because of having a lot of characteristics that are suitable for the deep-sea data transmission, become the developing direction and the research focus in this field, rarely have the report of mature technology in the world, and China's research has in this respect begun just.
Summary of the invention
For overcoming the deficiencies in the prior art; Satisfy the demand of the power supply of underwater sensing device in traditional buoyage and data transmission; The technical scheme that the present invention takes is; Buoyage underwater sensing device non-contact electric energy is supplied with and the transfer of data device; Constitute: system 102 waterborne and system waterborne electromagnetic coupler 103 are installed in buoy float 101 inside; The output of system waterborne electromagnetic coupler 103 twines wirerope ring 106; All the other parts of wirerope ring 106 place under water; The anchor that is connected to for fixed buoy body 101 is 108; The output of the inversion circuit 202 of system 102 waterborne is exactly the elementary of system waterborne electromagnetic coupler 103; Wirerope ring 106 is exactly the secondary of system waterborne electromagnetic coupler 103; System's electromagnetic coupler 105 is under water installed in the position of sensor installation end under water; The output of system's electromagnetic coupler 105 connects the input of undersea sensor systems 107 under water; Wirerope ring 106 is the elementary of system's electromagnetic coupler 105 under water; The input of undersea sensor systems 107 is the secondary of system's electromagnetic coupler 105 under water; The elementary wirerope ring 106 of linking of feedback magnet ring 104; The secondary input of linking system waterborne 102 sample circuits 205 is to obtain the amplitude of inverter voltage on the wirerope.
Described system waterborne 102 comprises Master Control Center 201, inverter circuit 202, data transmit-receive module 1, buffer circuit 1, sample circuit 205, wherein Master Control Center 201 is interconnected with inverter circuit 202 and data transmit-receive module 1 respectively, data transmit-receive module 1 and buffer circuit 1 are interconnected, and sample circuit 205 mouths connect the input end of Master Control Center 201.
Described inverter circuit 202 by MOSFET driving circuit 301, full-bridge push away exempt from changer 302, circuit overcurrent protection 303 is formed; wherein MOSFET driving circuit 301 mouths connection full-bridge pushes away and exempts from changer 302 input ends; circuit overcurrent protection 303 is used to protect full-bridge to push away to exempt from changer 302, and inverter circuit 202 is realized the transformation of direct currents to ac square wave.
The closed loop feedback that described system waterborne 102 realizes the electric energy that transmits on the wirerope ring 106 in conjunction with feedback magnet ring 104.
Described system waterborne electromagnetic coupler 103 is identical with submarine system electromagnetic coupler 107 structures, is made up of two identical magnetic cores 401, is fixed on the wirerope ring 106 by locking hole.
Described underwater sensor system 107 comprises rectifying and voltage-stabilizing module 602, super capacitor energy-storage module 603, data transmit-receive module 2, Voltage stabilizing module 605, buffer circuit 2, wherein data transmit-receive module 2 and buffer circuit 2 are interconnected, rectifying and voltage-stabilizing module 602 mouths connect super capacitor energy-storage module 603, super capacitor energy-storage module 603 mouths connect the input end of Voltage stabilizing module 605, and the power input of data transmit-receive module 2 connects the mouth of Voltage stabilizing module 605.
The electric energy of transmission and data realize the high-frequency electromagnetic coupling by system waterborne electromagnetic coupler 103, submarine system electromagnetic coupler 105 and wirerope ring 106 between described system waterborne 102 and the underwater sensor system 107, finally realize the transmission of electric energy on wirerope ring 106.
Described data transmit-receive module 1 and data transmit-receive module 2 come the modulation data by frequency keying FSK mode, finally reach electric energy and data by frequency multiplexing technique and lead to transmission on same wirerope ring 106.
Described wirerope ring 106 also plays the effect of fixed buoy body 101.
The invention has the beneficial effects as follows:
1, carries out supply of buoyage non-contact electric energy and data transmission based on electromagnetic induction principle, mode by electromagnetic coupled between each equipment is transmitted signal, insulation each other, the reliability and the safety of system have been improved, electromagnetic coupler is primary and secondary simultaneously can be separated from each other, and the position is disposed convenient.
2, in this technology, particular job environment in conjunction with buoy, it with the wirerope ring mode of some transmission medium electric energy realizes electric energy and data on same link transmission, the wirerope good mechanical property, the expenditure of energy that constitute buoy anchor system are low, wirerope external insulation layer energy insulating sea water, resistance to corrosion is good, has guaranteed electric energy transmitting efficient and reliability of data transmission.
3, as required, different depth can be installed a plurality of underwater sensor system under water, mutually insulated between each underwater sensor system, and working between the underwater sensor system is independent of each other, and the reliability height is simultaneously easy for installation.
4, realize the coupling of electric energy and data in coaxial winding coupled mode, improved electric energy transmitting efficient and reliability of data transmission from system waterborne to the underwater sensor system.
5, utilize frequency multiplexing technique on same transmission link, to realize the transmission of data and electric energy, so just make buoy have real-time electric energy supply capacity and data-transformation facility.
The present invention can finish at short notice to the data transmit-receive between the system of electric energy supply, buoy float and the underwater sensor of underwater sensor system, can realize the function of all-weather real-time DATA REASONING, and have characteristics such as simple in structure, easy for installation, reliability height.
Description of drawings
Fig. 1 is the overall structure scheme drawing of buoyage underwater sensor non-contact electric energy supply of the present invention and data link.
Fig. 2 is the present invention's systematic functional structrue block diagram waterborne.
Fig. 3 is the inverter circuit functional block diagram of the present invention system waterborne.
Fig. 4 is transmission system simplified model figure.
Fig. 5 is the present invention's electromagnetic coupler waterborne and electromagnetic coupler structural representation under water.
Fig. 6 is a submarine system functional block diagram of the present invention.
Fig. 7 is a data modulation method scheme drawing of the present invention.
Fig. 8 is electric energy of the present invention and data transmission spectrogram.
The specific embodiment
Employing is based on the non-contact electric energy and the data transmission technology of electromagnetic induction principle, the principle of this technology is with traditional transformer coupled magnetic circuit separately, primary and secondary winding is respectively on different magnetic texures, primary winding links to each other with power supply, secondary winding links to each other with load, electric energy exchanges by magnetic field, does not have physical connection between primary and secondary.Power supply offers primary winding with high-frequency currents during system works, and secondary induction goes out high-frequency currents, is electric behind overcommutation.Data transmission adopts frequency keying (FSK) mode to come modulating data, owing to adopted frequency keying (FSK) mode, data-signal can transmit on same link with electric power signal, has simplified system architecture thus.
The technical solution used in the present invention is: it by buoy float (101), anchor system (108), the wirerope ring (106) that connects buoy float (101) and anchor system (108), system waterborne (102), with system waterborne (102) bonded assembly system waterborne electromagnetic coupler (103) and feed back magnet ring (104), underwater sensor system (107), and underwater sensor system (107) bonded assembly submarine system electromagnetic coupler (105) form.
Specific structural features of the present invention is as follows:
1, described system waterborne (102) comprises Master Control Center (201), inverter circuit (202), data transmit-receive module 1 (203), buffer circuit 1 (204), sample circuit (205), wherein Master Control Center (201) is interconnected with inverter circuit (202) and data transmit-receive module 1 (203), data transmit-receive module 1 (203) and buffer circuit 1 (204) are interconnected, and sample circuit (205) mouth connects the input end of Master Control Center (201).
2, described inverter circuit (202) by MOSFET driving circuit (301), full-bridge push away exempt from changer (302), circuit overcurrent protection (303) is formed; wherein MOSFET driving circuit (301) mouth connection full-bridge pushes away and exempts from changer (302) input end; circuit overcurrent protection (303) is used to protect full-bridge to push away to exempt from changer (302), and inverter circuit (202) is realized the transformation of direct current to ac square wave.
3, described system waterborne (102) realizes wirerope ring (106) is gone up the closed loop feedback of the electric energy of transmission in conjunction with feedback magnet ring (104).
4, described system waterborne electromagnetic coupler (103) is identical with submarine system electromagnetic coupler (107) structure, is made up of two identical magnetic cores (401), is fixed on the wirerope ring (106) by locking hole.
5, described underwater sensor system (107) comprises rectifying and voltage-stabilizing module (602), super capacitor energy-storage module (603), data transmit-receive module 2 (604), Voltage stabilizing module (605), buffer circuit 2 (606), wherein data transmit-receive module 2 (604) and buffer circuit 2 (606) are interconnected, rectifying and voltage-stabilizing module (602) mouth connects super capacitor energy-storage module (603), super capacitor energy-storage module (603) mouth connects the input end of Voltage stabilizing module (605), and the power input of data transmit-receive module 2 (604) connects the mouth of Voltage stabilizing module (605).
6, the electric energy of transmission and data realize the high-frequency electromagnetic coupling by system waterborne electromagnetic coupler (103), submarine system electromagnetic coupler (105) and wirerope ring (106) between described system waterborne (102) and the underwater sensor system (107), finally realize the transmission of electric energy on wirerope ring (106).
7, described data transmit-receive module (203) 1 and data transmit-receive module 2 (604) come the modulation data by frequency keying (FSK) mode, finally reach electric energy and data by frequency multiplexing technique and lead to transmission on same wirerope ring (106).
8, described wirerope ring (106) also plays the effect of fixed buoy body (101).
Below in conjunction with accompanying drawing the structure of various piece of the present invention and the structural relation between the each several part are described in detail:
In Fig. 1, system waterborne (102) and system waterborne electromagnetic coupler (103) are installed in buoy float (101) inside, the mouth of system waterborne electromagnetic coupler (103) twines wirerope ring (106), remainder places under water, be connected in the anchor system (108) that is used for fixing buoy float (101), like this, the mouth of system waterborne (102) inverter circuit (202) is exactly the elementary of system waterborne electromagnetic coupler (103), wirerope ring (106) is exactly the secondary of system waterborne electromagnetic coupler (103), submarine system electromagnetic coupler (105) is installed in the disconnected position of sensor installation under water, the mouth of submarine system electromagnetic coupler (105) connects the input end of underwater sensor system (107), thus, wirerope ring (106) is the elementary of submarine system electromagnetic coupler (105), the input end of underwater sensor system (107) is the secondary of submarine system electromagnetic coupler (105), the elementary wirerope ring (106) of linking of feedback magnet ring (104), the secondary input end of linking system waterborne (102) sample circuit (205) is to obtain the amplitude of inverter voltage on the wirerope.
In conjunction with Fig. 2 and Fig. 3, system waterborne (102) comprises (201) in the master control, inverter circuit (202), data transmit-receive module 1 (203), buffer circuit 1 (204), sample circuit (205).Master Control Center (201) is interconnected with inverter circuit (202) and data transmit-receive module 1 (203), data transmit-receive module 1 (203) and buffer circuit 1 (204) connection, and sample circuit (205) mouth connects the input end of Master Control Center (201).Inverter circuit (202) by MOSFET driving circuit (301), full-bridge push away exempt from changer (302), circuit overcurrent protection (303) is formed; MOSFET driving circuit (301) mouth connection full-bridge pushes away exempts from changer (302) input end; circuit overcurrent protection (303) is used to protect full-bridge to push away to exempt from changer (302), and inverter circuit (202) is realized the transformation of direct current to ac square wave.
In Fig. 5, electromagnetic coupler waterborne as can be seen (103) is with electromagnetic coupler (105) structure is identical under water, can be split as two identical parts, coil is symmetrically on magnetic core, only need when installing like this wirerope ring (106) is clipped in two magnetic cores (401) centre, then two magnetic cores (401) are fixed on the wirerope by locking hole and just can realize reliable and stable installation, introduce certain air gap in the electromagnetic coupler magnetic core simultaneously.
In Fig. 6, underwater sensor system (107) comprises rectifying and voltage-stabilizing module (602), super capacitor energy-storage module (603), data transmit-receive module 2 (604), Voltage stabilizing module (605), buffer circuit 2 (606), data transmit-receive module 2 (604) and buffer circuit 2 (606) are interconnected, rectifying and voltage-stabilizing module (602) mouth connects super capacitor energy-storage module (603), super capacitor energy-storage module (603) mouth connects the input end of Voltage stabilizing module (605), and the power input of data transmit-receive module 2 (604) connects the mouth of Voltage stabilizing module (605).
Below in conjunction with accompanying drawing the several radical functions of buoyage underwater sensor non-contact electric energy supply of the present invention with data transmission module are described respectively:
(1) electric energy transmitting
System waterborne (102) provides electric energy to make its work at first will for underwater sensor system (107).The power supply step is as follows:
(1), system waterborne (102) produces inverter signal.
In conjunction with Fig. 2 and Fig. 3, the process that produces inverter signal is as follows.Master Control Center (201) sends a pair of high-frequency pulsed width modulation signal (PWM) that has the dead band, this pwm signal is linked MOSFET driving circuit (301) input end of inverter circuit (202), MOSFET driving circuit (301) control full-bridge pushes away the turn-on and turn-off of exempting from changer (302), produces inverter signal.
(2), inverter signal is coupled to underwater sensor system (107).
In conjunction with Fig. 4, the inverter signal that system waterborne (102) produces is linked system waterborne electromagnetic coupler (103), by electromagnetic induction principle, by system waterborne electromagnetic coupler (103) inverter signal is transferred to wirerope ring (106), by wirerope ring (106) inverter signal is transferred to underwater sensor system (107) again.
(3), underwater sensor system (107) storage of electrical energy.
In conjunction with Fig. 6, underwater sensor system (107) at first by rectifying and voltage-stabilizing module (602) the high-frequency alternating voltage voltage stabilizing that receives, give super capacitor energy-storage module (603) charging, the output voltage of super capacitor energy-storage module (603) passes through Voltage stabilizing module (605) again and obtains underwater sensor and the required voltage of data transmit-receive module 2 (604) work.
Can realize the electric energy transmitting to underwater sensor system (107) by above three steps by system waterborne (102).
(2) electric energy closed loop feedback
Variation along with the submarine system number, load is also changing, so the voltage on the wirerope ring (106) is maintained in the scope of a permission, to guarantee that submarine system can normally receive and storage of electrical energy, so introduce a closed-loop feedback mechanism.
In conjunction with Fig. 1 and Fig. 2, system waterborne (102) realizes wirerope ring (106) is gone up the closed loop feedback of the electric energy of transmission by feedback magnet ring (104), concrete steps are as follows: the secondary input end that is connected to sample circuit (205) of feedback magnet ring (104), sample circuit (205) is transferred to Master Control Center (201) to the signal that collects, judge that by the data after the A/D conversion level on the wirerope ring (106) is higher than setting value or is lower than setting value, the dutycycle of corresponding adjusting pwm signal in the electric energy transmitting process.
(3) data transmission
In conjunction with Fig. 7, transmission is adopted identical principle with electric energy transmitting, also is based on the electromagnetic coupled principle, and transmission medium is the wirerope ring that constitutes buoy anchor system, and the data modulation system has adopted frequency keying (FSK) modulation system.
Data are as follows by the process that system waterborne (102) passes to underwater sensor system (107):
(1), system waterborne (102) modulation and transmission data
In conjunction with Fig. 2 and Fig. 7, the elementary of system waterborne electromagnetic coupler (103) modulated and sent to data by data transmit-receive module 1 (203).
(2), data-signal is coupled to underwater sensor system (107).
In conjunction with Fig. 2, data-signal after the elementary reception modulation of system waterborne electromagnetic coupler (103), by electromagnetic induction principle, induct on the wirerope ring (106) signal of same frequency, through wirerope ring (106) transmission, signal is passed to underwater sensor system (107) by submarine system electromagnetic coupler (105).
(3), the data of underwater sensor system (107) demodulate reception.
In conjunction with Fig. 6, data transmit-receive module 2 (604) carries out demodulation after receiving data, obtains the signal that system waterborne (102) sends at last.
Data are identical with said process by the process that underwater sensor system (107) passes to system waterborne (102).
Claims (9)
1. a buoyage underwater sensor non-contact electric energy is supplied with and data link, it is characterized in that, constituting of described device: system waterborne (102) and system waterborne electromagnetic coupler (103) are installed in buoy float (101) inside, the mouth of system waterborne electromagnetic coupler (103) twines wirerope ring (106), the remainder of wirerope ring (106) places under water, be connected in the anchor system (108) that is used for fixing buoy float (101), the mouth of the inverter circuit (202) of system waterborne (102) is exactly the elementary of system waterborne electromagnetic coupler (103), wirerope ring (106) is exactly the secondary of system waterborne electromagnetic coupler (103), submarine system electromagnetic coupler (105) is installed in the position of sensor installation end under water, the mouth of submarine system electromagnetic coupler (105) connects the input end of underwater sensor system (107), wirerope ring (106) is the elementary of submarine system electromagnetic coupler (105), the input end of underwater sensor system (107) is the secondary of submarine system electromagnetic coupler (105), the elementary wirerope ring (106) of linking of feedback magnet ring (104), the secondary input end of linking system waterborne (102) sample circuit (205) is to obtain the amplitude of inverter voltage on the wirerope.
2. device as claimed in claim 1, it is characterized in that, described system waterborne (102) comprises Master Control Center (201), inverter circuit (202), data transmit-receive module 1 (203), buffer circuit 1 (204), sample circuit (205), wherein Master Control Center (201) is interconnected with inverter circuit (202) and data transmit-receive module 1 (203) respectively, data transmit-receive module 1 (203) and buffer circuit 1 (204) are interconnected, and sample circuit (205) mouth connects the input end of Master Control Center (201).
3. device as claimed in claim 1; it is characterized in that; described inverter circuit (202) by MOSFET driving circuit (301), full-bridge push away exempt from changer (302), circuit overcurrent protection (303) is formed; wherein MOSFET driving circuit (301) mouth connection full-bridge pushes away and exempts from changer (302) input end; circuit overcurrent protection (303) is used to protect full-bridge to push away to exempt from changer (302), and inverter circuit (202) is realized the transformation of direct current to ac square wave.
4. device as claimed in claim 1 is characterized in that, described system waterborne (102) realizes wirerope ring (106) is gone up the closed loop feedback of the electric energy of transmission in conjunction with feedback magnet ring (104).
5. device as claimed in claim 1, it is characterized in that, described system waterborne electromagnetic coupler (103) is identical with submarine system electromagnetic coupler (107) structure, is made up of two identical magnetic cores (401), is fixed on the wirerope ring (106) by locking hole.
6. device as claimed in claim 1, it is characterized in that, described underwater sensor system (107) comprises rectifying and voltage-stabilizing module (602), super capacitor energy-storage module (603), data transmit-receive module 2 (604), Voltage stabilizing module (605), buffer circuit 2 (606), wherein data transmit-receive module 2 (604) and buffer circuit 2 (606) are interconnected, rectifying and voltage-stabilizing module (602) mouth connects super capacitor energy-storage module (603), super capacitor energy-storage module (603) mouth connects the input end of Voltage stabilizing module (605), and the power input of data transmit-receive module 2 (604) connects the mouth of Voltage stabilizing module (605).
7. device as claimed in claim 1, it is characterized in that, the electric energy of transmission and data realize the high-frequency electromagnetic coupling by system waterborne electromagnetic coupler (103), submarine system electromagnetic coupler (105) and wirerope ring (106) between described system waterborne (102) and the underwater sensor system (107), finally realize the transmission of electric energy on wirerope ring (106).
8. device as claimed in claim 1, it is characterized in that, described data transmit-receive module (203) 1 and data transmit-receive module 2 (604) come the modulation data by frequency keying FSK mode, finally reach electric energy and data by frequency multiplexing technique and lead to transmission on same wirerope ring (106).
9. device as claimed in claim 1 is characterized in that, described wirerope ring (106) also plays the effect of fixed buoy body (101).
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| CN2011101122498A CN102267542A (en) | 2011-05-05 | 2011-05-05 | Non-contact electric energy supply and data transmission device for underwater sensor of buoy system |
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| CN2011101122498A CN102267542A (en) | 2011-05-05 | 2011-05-05 | Non-contact electric energy supply and data transmission device for underwater sensor of buoy system |
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| CN105551781A (en) * | 2016-02-19 | 2016-05-04 | 天津大学 | Novel mooring cable suitable for non-contact power and data transmission |
| CN109038777A (en) * | 2018-08-10 | 2018-12-18 | 陈雨彤 | A kind of marine organisms observation device being placed in electric eel |
| CN110943523A (en) * | 2018-09-21 | 2020-03-31 | 天津大学青岛海洋技术研究院 | Underwater system of buoy powered by super capacitor |
| CN111007749A (en) * | 2018-10-08 | 2020-04-14 | 天津大学青岛海洋技术研究院 | Controller for water electric energy transmission and data acquisition of anchoring buoy |
| CN110081963A (en) * | 2019-03-14 | 2019-08-02 | 哈尔滨工程大学 | A kind of motor driven detects sonobuoy with vibration shape vector |
| CN110829625A (en) * | 2019-10-14 | 2020-02-21 | 浙江大学 | Cable-embedded underwater monitoring equipment |
| CN110829625B (en) * | 2019-10-14 | 2021-01-26 | 浙江大学 | Cable-embedded underwater monitoring equipment |
| CN111556429A (en) * | 2020-04-02 | 2020-08-18 | 清华大学 | Contract-based underwater acoustic sensor network information collection method |
| CN111556429B (en) * | 2020-04-02 | 2021-08-31 | 清华大学 | Contract-based underwater acoustic sensor network information collection method |
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| CN112271830B (en) * | 2020-10-21 | 2024-04-02 | 天津大学 | Ocean buoy system for realizing parallel transmission of electric energy and data based on frequency division multiplexing |
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