CN110910625B - 485 bus-based seabed in-situ low-power consumption multi-node data acquisition system - Google Patents
485 bus-based seabed in-situ low-power consumption multi-node data acquisition system Download PDFInfo
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Abstract
The invention relates to the technical field of marine observation, in particular to a 485 bus-based seabed in-situ low-power consumption multi-node data acquisition system. The system comprises a sensor module, a central controller and a battery module; the sensor modules are connected into a string through watertight cables, and the sensor module at the forefront end is connected with the central controller; the central controller comprises an embedded controller and a low-power consumption module; the battery module is respectively connected with the sensor module, the low-power-consumption module and the 485 bus through watertight connecting cables, and the central controller, the sensor module and the battery module are respectively packaged in the corresponding pressure cabins. The invention can realize long-term in-situ monitoring of multiple parameters in a specified seabed region, can be used for constructing a small seabed observation network and improves the stability of the small seabed observation network; the low power consumption design also improves the environmental adaptability of the system to a certain extent, and resources are reasonably and effectively utilized.
Description
Technical Field
The invention relates to the technical field of marine observation, in particular to a 485 bus-based seabed in-situ low-power consumption multi-node data acquisition system.
Background
Ocean observation requires a large amount of relevant data support, so that data acquisition is very important. In the ocean observation process, the number of sensors is large, the distribution range among the sensor nodes is large, and the process of converting analog signals into digital signals, storing, analyzing and processing is needed to research how to efficiently and accurately realize data acquisition, transmission and storage. The system for completing the data acquisition task is called a data acquisition system, the data acquisition system realizes the connection between a computer system and a physical objective world, and the data acquisition system acquires various data information of the objective world, stores the data information in the computer system and performs data analysis and processing by establishing a uniform mathematical model.
The appearance of field buses and intelligent instruments marks that the field of industrial control enters the network era and rapidly becomes the mainstream of industrial control. At present, the field buses used internationally have various names, such as PROFIBUS, INTERBUS and CAN buses, but the system cost is relatively high, and the field buses are not suitable for application of small and medium-sized systems. The RS485 serial communication bus is widely applied to various fields such as industrial control, instruments, meters, mechanical and electrical integration products and the like by the characteristics of simple structure, mature technology, low manufacturing cost, convenience in maintenance and the like. Especially in data communications, computer networks, and industrial distributed control systems, it is often necessary to employ serial communications to effect remote information exchange.
The technical index of the RS485 protocol is that the maximum transmission rate is 10 Mbps; the maximum distance is 1200 m; high impedance, noise-immune differential (with compensation lines) transmission; up to 32 nodes; nodes are connected in parallel, and bidirectional master-slave communication is performed on a single group of twisted pair cables. The RS485 bus uses a twisted pair as a physical medium, and usually works in a half-duplex communication state, that is, at the same time, only 1 node on the bus is a master node and is in a transmitting state, and all other nodes must be in a receiving state. If more than 2 nodes are in a transmitting state at the same time, the data transmission of all the transmitting sides fails, namely the bus collision. To avoid bus collision, the RS485 bus typically operates in a master-slave mode. The whole communication bus system consists of 1 master node and a plurality of slave nodes, and the master nodes are sequentially communicated with the slave nodes in a round-robin mode, so that the problem of conflict of an RS485 bus is solved.
The Chinese patent document with the publication number of CN108534742A discloses a multi-node data synchronous acquisition system for real-time monitoring of underwater surface shape deformation, wherein an array band of sensor nodes is a carrier for providing installation space for a slave station data acquisition unit and an MEMS acceleration sensor acquisition node, and consists of a plurality of segmented strip-shaped rigid substrates and middle movable joints, pressure-resistant shells of the MEMS acceleration sensor and the slave station data acquisition unit are arranged on the segmented strip-shaped rigid substrates, the length of each segment is 50cm, and the segments are connected by the movable joints; the MEMS acceleration sensor acquisition node acquires acceleration data of each physical point and is used for reconstructing the seabed three-dimensional terrain in the later period; the slave station data acquisition unit is arranged in the pressure-resistant shell, acquires the data of 3 adjacent MEMS acceleration sensor acquisition nodes through the simulated IIC bus, stamps a time stamp at the tail of each data, and transmits the acquired data to the CAN bus, thereby realizing the transfer and long-distance transmission of the data. The central controller is also arranged in the pressure-resistant shell and used as a master clock, a regular time-setting instruction is issued through the I/O, relative synchronization of system time is realized, acceleration data in the slave station data acquisition unit is gathered through the CAN bus, and data storage and preprocessing are completed. However, the invention adopts a two-stage data acquisition system, the connection mode of the two buses is complex, the overall power consumption of the acquisition system is improved, and the required cost is high; the IIC bus and the CAN bus have short transmission distance, which is not beneficial to realizing long-distance communication; the problems of time synchronization and the like need to be solved among the multi-level communication, and the difficulty of software and program realization is improved.
Chinese patent document with publication number CN109993958A discloses a data acquisition system and method of RS485 bus, and discloses a data acquisition system of RS48 bus, which comprises a host, a first transceiver, a second transceiver and a plurality of slaves, wherein the host comprises at least one serial port, the first transceiver and the second transceiver are both connected with one serial port, the slaves are connected in series between the first transceiver and the second transceiver, a communication link formed by the slaves in the direction from the first transceiver to the second transceiver is preset as a main link, a communication link formed in the direction from the second transceiver to the first transceiver is preset as a standby link, the host acquires data from each slave through the main link, when the main link fails, the communication link is switched to the backup link to collect data from the slave between the failure point and the direction from the second transceiver to the first transceiver. The invention also provides a data acquisition method of the RS485 bus, and the communication reliability and the fault detection accuracy of the RS485 bus are improved. However, the acquisition system of the present invention comprises a plurality of transceivers, which are mainly applied to industrial field control on land, and therefore, low power consumption processing is not considered to reduce the cost; furthermore, when the RS485 bus is applied to underwater equipment, water resistance, pressure protection and packaging must be considered; in the case of no connection to an upper computer, the data acquisition and storage must also be processed in situ.
Disclosure of Invention
The invention aims to solve the technical problem of overcoming the defects in the prior art and provides a 485 bus-based seabed in-situ low-power consumption multi-node data acquisition system.
In order to solve the technical problem, the solution of the invention is as follows:
the 485 bus-based seabed in-situ low-power consumption multi-node data acquisition system is provided; the system comprises a sensor module, a central controller and a battery module;
the sensor modules are connected into a string through watertight cables, and the sensor module at the forefront end is connected with the central controller; the central controller comprises an embedded controller and a low-power consumption module; the battery module is respectively connected with the sensor module, the low-power consumption module and the 485 bus through watertight connecting cables,
the central controller, the sensor module and the battery module are respectively packaged in the corresponding pressure chambers.
As an improvement, the sensor module is a MEMS sensor module. Several different types of MEMS sensor modules (e.g., temperature, pressure, attitude sensors, etc.) are used to meet different in-situ monitoring requirements. MEMS sensors, i.e. Micro Electro Mechanical Systems (MEMS), are a leading-edge research field of multidisciplinary intersection developed on the basis of microelectronics. Over forty years of development, it has become one of the major scientific and technological fields of world attention. It relates to various subjects and technologies such as electronics, machinery, materials, physics, chemistry, biology, medicine and the like, and has wide application prospect. MEMS sensors are new types of sensors manufactured using microelectronics and micromachining techniques. Compared with the traditional sensor, the sensor has the characteristics of small volume, light weight, low cost, low power consumption, high reliability, suitability for batch production, easiness in integration and realization of intellectualization. At the same time, feature sizes on the order of microns make it possible to perform functions that some conventional mechanical sensors cannot achieve. The MEMS sensor is used for the reasons that the technology is relatively mature and the cost is low; on the other hand, the volume of the external pressure cabin can be reduced as much as possible according to the requirement under the condition that the sensor is not resistant to pressure, so that the cost is saved, and the system is convenient to lay.
As an improvement, the low-power module is a time relay.
The battery module comprises a battery and a voltage stabilizing module, wherein the battery is 12V and 400AH, and the voltage stabilizing module supplies 5V power;
the battery is connected with the low-power-consumption module and the 485 bus, and the output end of the voltage stabilizing module is connected with the embedded controller and the sensor module.
As an improvement, the pressure chambers are all cylindrical, the sensor pressure chamber is of a two-end cover structure, and the battery module pressure chamber and the central controller module pressure chamber are of a single-end cover structure.
As an improvement, the length of the watertight connecting cable between adjacent sensor modules is 1 meter.
As an improvement, the watertight cable is a four-core watertight connecting cable, and plugs are arranged at two ends of the watertight connecting cable.
As an improvement, the end cover of the pressure chamber is provided with a watertight socket.
As an improvement, the pressure chamber is a stainless steel 316L shell.
All sensor modules are arranged in the pressure chamber and are connected with each other through watertight connecting cables, the watertight connecting cables provide power and 485 bus communication, a plurality of sensor nodes are hung on one 485 bus, the maximum number of the nodes is 1200 in the 485 bus theoretically, and the reliability of the seabed multi-node data acquisition system is guaranteed.
The central controller collects data of the sensor nodes in a question-and-answer mode, records corresponding data and addresses according to different address information of the nodes and stores the data and the addresses in the SD card under the condition that a 485 bus address of each node is labeled in hexadecimal in advance, and the capacity of the SD card can be selected according to the size of data volume.
In the invention, the whole data acquisition system carrier is an underwater winch, is laid to the seabed with the assistance of a scientific research ship and an ROV, and is recovered to the scientific research ship with the assistance of the ROV after the acquisition work is finished, the whole process is safe, reliable, scientific and reasonable, and a new method is provided for deep sea in-situ observation.
Description of the inventive principles:
in the technical scheme of the invention, data transmission from the MEMS acceleration sensor module to the central controller is realized through a 485 bus, a physical carrier is a four-core water tight-connection cable, and a carrier of a sensor node is a stainless steel 316L pressure chamber, so that on one hand, the reliability of data transmission is ensured, on the other hand, the sensor can normally work in a high-pressure and strong-corrosion environment, and the requirement of long-time in-situ monitoring on the seabed is met. According to the difference of RS485 chips and the influence of the driving capability of the RS485 chips, 256 devices can be theoretically supported, the requirement of the medium-sized submarine observation network on the number of the sensor nodes can be met, and the number of the nodes of the sensor network can be expanded by increasing the number of the central controllers. In addition, the transmission distance of the 485 bus can reach 1200 meters theoretically, and the situation that the monitoring range is not limited to a smaller order of magnitude is avoided to a certain extent. The central controller receives the data of the MEMS sensor module, packages the data and stores the data in the SD card, and the capacity of the SD card can be determined according to the data volume and the in-situ working time. The mode of in-situ storage is adopted, so that the whole system can still normally work when data cannot be transmitted to an upper computer in real time in the in-situ monitoring process of part of sea areas with severe sea conditions, and the investment of higher cost is avoided. The low power consumption design of the system is realized through a relay in a central controller cabin, the relay realizes that the system current is 0.01A in the sleep time and 0.5A in the working time through switching on and switching off a system power supply, and the time of the system current and the working time is adjusted to meet the requirement of low power consumption.
In the design and manufacture process of the in-situ data acquisition system, the monitoring positions of the sensors are firstly determined, so that the distance between the sensors is determined, and then the central controller and the battery cabin are arranged at proper positions, so that the physical distance between the central controller and the nodes of the sensors is not influenced by overlarge signal transmission stability. And simultaneously, selecting a watertight connecting cable and a socket with proper length as a physical carrier of the RS485 bus according to the determined distance between each node and the position of the central controller, wherein the maximum current and the voltage-resistant grade of the watertight cable are determined according to actual requirements and specific working environment. The battery capacity is determined by the number of the sensor nodes and the time length of the in-situ continuous work, and if the continuous work time is long, the low-power-consumption operation setting can be performed for a long time on the premise of not influencing the monitoring effect, for example, the sleep is set for 23 hours, the work is set for 1 hour, or the sleep is set for 47 hours, and the work is set for 1 hour. After the whole system is designed and processed, the system is carried on a multifunctional scientific investigation ship to reach a target sea area, the system is started on the ship and then is placed to a working area through an A-shaped frame, a sensor node is placed at a preset position with the aid of an ROV, and in-situ data acquisition and storage work is started. If the battery is exhausted after a period of time or a certain sensor node fails, the battery module is replaced or the sensor module is damaged with the help of the ROV for maintenance.
The time relay is a control electrical appliance which realizes time delay control by utilizing an electromagnetic principle or a mechanical principle. There are many kinds of them, including air damping type, electromotive type, electronic type, and others. In the early days, air damping type time relays were often used in ac circuits, which utilize the principle of throttling air through small holes to obtain a time-delay action. It is composed of three parts of electromagnetic system, delay mechanism and contact. The most commonly used time relay is a large-scale integrated circuit time relay, which uses the resistance-capacitance principle to realize the delay action. In an alternating current circuit, a transformer is often adopted for reducing voltage, an integrated circuit is used as a core device, and a small electromagnetic relay is adopted for output of the integrated circuit, so that the performance and reliability of the product are better than those of an early air damping type time relay, and the timing precision and controllability of the product are improved greatly.
The MEMS acceleration sensor module acquisition node is used for acquiring physical and chemical characteristic data (pressure, attitude, gas and the like) of each borrowing point of the seabed, and is used for seabed environment research and further resource utilization in the later period; as an application example, the MEMS sensor module acquisition node can adopt a Bosch BME280 pressure sensor, a Vital intelligent JY901 attitude sensor and a Hui West science and technology SMD1008 methane gas sensor, and is provided with temperature compensation and Kalman filtering; the central controller control panel is used for summarizing data of data acquisition nodes of the sensor modules and finishing storage and preprocessing of the data, and as an application example, the central controller control panel can adopt an embedded system developed by a single chip microcomputer STM32F103 RE. The time relay realizes the low-power-consumption operation of the acquisition system by switching on and off the power supply of the central controller and the sensor node, the requirement on the precision and the strictness of the time control are required, and as an application example, a Langwei technology DH48-S digital display cycle time relay can be adopted. The battery module is used for supplying power to the central controller, the time relay and the slave station data acquisition unit, the direct current voltage is 12V and 5V respectively, the deep water lithium battery with 12V output is selected by the battery, the voltage stabilizing module is used for adjusting the output voltage to be 5V, as an application example, the deep water battery can customize a battery pack with 12V output voltage and 400AH electric quantity of watt power company, and the voltage stabilizing module can adopt a DC-DC adjustable power supply module of a Vickers technology LM 2596S.
Compared with the prior art, the invention has the beneficial effects that:
(1) the 485 bus-based seabed in-situ low-power-consumption multi-node data acquisition system can realize long-term in-situ monitoring of multiple parameters in a seabed designated area, can be used for constructing a small seabed observation network and improves the stability of the small seabed observation network; the low power consumption design also improves the environmental adaptability of the system to a certain extent, and resources are reasonably and effectively utilized.
(2) The invention innovatively provides a mode of matching the central controller, the cycle time relay and the data acquisition system, so that the low-power-consumption design of the system is realized, the cost is low, and the current is only 0.01A during dormancy. In addition, the data acquisition system based on RS485 can ensure the stability of long-distance data transmission and effectively ensure the real-time property of submarine in-situ data recording, and the MEMS sensor module is adopted to monitor key parts, so that the monitoring precision is greatly improved compared with the traditional non-contact monitoring method.
(3) According to the invention, the MEMS sensor module nodes are packaged through the stainless steel 316L cabin body, the watertight cable is used as a physical carrier for connection, and data communication is realized through the RS485 bus, so that the circuit structure is simplified, and the MEMS sensor can normally work in a severe seabed environment. In addition, the MEMS sensor module, the controller, the relay and the battery are small in size, so that the size can be reduced as much as possible on the basis of meeting the requirement when the stainless steel pressure cabin is designed, and the cost can be effectively saved on the basis of realizing a data acquisition function.
Drawings
FIG. 1 is a schematic view of the overall deployment structure of the present invention;
FIG. 2 is a cross-sectional view of a sensor pressure chamber of the present invention;
FIG. 3 is a cross-sectional view of a battery compartment of the present invention;
fig. 4 is a cross-sectional view of the control pod of the present invention.
Reference numerals in the drawings: 1-a battery module pressure chamber; 2-water tight-lock cable; 3-a central controller pressure chamber; 4-four-core watertight plug; 5-a sensor pressure chamber; 6-four-core water-tight socket; 7-stainless steel 316L housing; 8-a MEMS sensor module; 9-ttl485 conversion modules; 10-RS485 four-wire system logic interface; 11-a battery module; 12-a voltage stabilizing module; a voltage interface of 13-12V; a 14-5V voltage interface; 15-serial port interface; 16-time relay; 17-a data storage module; 18-central controller (STM32 single chip microcomputer); 19-485 signal conversion chip.
Detailed Description
The invention is described in further detail below with reference to the figures and the detailed description.
As shown in fig. 1-4, a 485 bus based seabed in-situ low-power consumption multi-node data acquisition system; including sensor modules, central controller 18 and battery modules 11. The central controller 18, the sensor module and the battery module 11 are respectively packaged in the corresponding pressure chambers.
The number of the sensor modules is multiple, and the sensor modules are MEMS sensor modules 8. Connected in a string by water tight cables 2, the sensor module at the forefront is connected with a central controller 18. The central controller 18 includes an embedded controller, a low power consumption module and a data storage module 17. The battery module 11 is respectively connected with the sensor module, the low-power consumption module and the 485 bus through a water tight-joint cable 2, and the data storage module 17 is positioned in the pressure chamber 3 of the central controller and is connected with the central controller 18. The central controller 18 is a stm32 single chip microcomputer.
The sensor pressure chamber 5, the housing 7, and the central controller pressure chamber 3, as well as the housing of the battery module pressure chamber 1, are stainless steel 316L shells 7. The pressure chambers are all cylindrical, the sensor pressure chamber 5 is of a two-end cover structure, and the battery module pressure chamber 1 and the central controller module pressure chamber 3 are of a single-end cover structure. Two ends of the cabin are provided with four-core watertight sockets 6 which can be connected with each other through watertight connecting cables 2, and the watertight sockets and the connecting cables of the sensor modules play a role of a four-wire RS485 logic bus, thereby not only providing power for the sensor, but also transmitting level signals to the central controller 18. The watertight cable 2 is a four-core watertight connecting cable, and plugs are arranged at two ends of the watertight connecting cable 2. And a four-core water-sealed plug socket 6 is arranged on an end cover of the pressure chamber.
The data acquisition function is realized by a plurality of MEMS sensor nodes 8, after level conversion is carried out by a ttl485 conversion module 9, the nodes are mutually connected through a four-wire system RS485 logic bus to be used as a communication slave, and a central controller 18 is used as a host. Theoretically, when the communication rate is 100Kbps or less, the longest transmission distance of the RS485 can reach 1200 meters, and the number of loads that can be driven by different chips is different, but there are many chips on the market that can drive 256 loads. Therefore, on the basis of meeting the requirement of the current node number, an expansion interface is reserved at the tail part of the sensor pressure chamber 5, an underwater wet plugging technology can be utilized, and a new sensor node is accessed into the data acquisition system under the assistance of the ROV, so that the operability is increased, and the cost is correspondingly reduced.
The battery module 11 comprises a battery and a voltage stabilizing module 12, the battery is 12V and 400AH, and the voltage stabilizing module 12 supplies 5V power;
the battery of the battery module 11 is connected with the low power consumption module and the 485 bus, and the output end of the voltage stabilizing module 12 is connected with the embedded controller 18 and the sensor module. The central controller 18 and the time relay 16 are connected to the battery compartment 1 consisting of a 12V lithium battery and a voltage regulation module 12. The 5V power supply of the MEMS sensor module 8 is indirectly supplied by a central controller 18, namely the 5V output of the voltage stabilizing module 12 in the battery cabin; the battery bay 12V output powers the time relay 16. The end cover of the battery module pressure chamber 1 is correspondingly provided with a voltage interface, namely a 12V voltage interface 13 and a 5V voltage interface 14.
The low power module is a time relay 16. The time relay 16 is a control device that uses an electromagnetic principle or a mechanical principle to realize time delay control. There are many kinds of them, including air damping type, electromotive type, electronic type, and others. The relay whose actuator (contact) is delayed for a certain time after the relay sensing element receives the actuation signal is called a time relay 16. Currently, the most common is the lsi type time relay 16, which uses the rc principle to realize the delay action.
The sleep function is controlled by the time relay 16, the power supply to the central controller 18 and the sensor module is switched on and off through the action of the execution element, the continuous work of the acquisition system is avoided, the battery output current in the experimental sleep is only 0.01A, and the discharge capacity of the battery is relatively small under the condition of continuous work.
In the invention, after the whole data acquisition system is laid on the seabed, after a period of time, when data reading is needed, only the control cabin needs to be recovered by utilizing an underwater wet plugging technology, and then the stored data is read by utilizing the serial port interface 15, so that the trouble caused by integral recovery is avoided, and the influence of opening the pressure cabin cover on the service life of internal components is also prevented to a certain extent.
Similarly, when the battery is exhausted or a certain sensor is in fault after data reading, the battery chamber and the corresponding sensor pressure chamber 5 are only required to be replaced under the assistance of the ROV, and an integral recovery system is not required, so that the cost of offshore operation can be effectively reduced, and the integral stability and repeatability of the data acquisition system are ensured.
The working process of the invention is as follows:
the whole data acquisition system is carried on a scientific investigation ship, is distributed to a target sea area under the assistance of an ROV (remote operated vehicle), and mainly acquires and stores data of the MEMS sensor node 5 in situ. The central controller 18 sends instructions to each sensor node 8 on the bus in a question-and-answer mode through the 485 signal conversion chip 19, the sensor nodes transmit data to the central controller 18 through the bus 10 after acquiring the data, and the data are stored in the SD card module 17 after being preprocessed. The battery module 11 outputs 12V and 5V voltage respectively after passing through the 5V voltage stabilizing module 12, and supplies power to the sensor, the controller and the time relay 16. Because the whole system needs to complete the monitoring task on the seabed for a long time, in order to save energy, and also in consideration of the relative stability of the seabed environment, the change on the numerical value can be found after a period of time, so the time relay 16 is utilized to realize the normally closed sleep function, reasonable working time and sleep time (such as 1 hour of working after 23 hours of sleep or 1 hour of working after 47 hours of sleep) are set, and the capacity of the data storage module 17 can be reduced to a certain extent. In addition, when the controller and the sensor module have faults or the battery capacity is insufficient, the controller in the cabin, the sensor corresponding to the pressure cabin or the battery module 11 in the battery cabin can be replaced only by using a wet plugging technology, unnecessary troubles caused by the recovery of the whole system are avoided, and similarly, when data needs to be read, only the serial port interface 15 needs to be used for connecting a USB (universal serial bus) interface of a computer.
It should be understood that the above description is only exemplary of the preferred embodiments of the present invention, and is not intended to limit the present invention, and that any modifications, equivalents, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. A485 bus-based seabed in-situ low-power consumption multi-node data acquisition system is characterized by comprising a sensor module, a central controller and a battery module which are respectively packaged in corresponding pressure chambers, wherein watertight sockets are arranged on end covers of the pressure chambers;
the sensor modules are a plurality of MEMS sensor modules, are connected into a string through watertight cables, and the sensor module at the forefront end is connected with the central controller; the battery module is respectively connected with the sensor module, the central controller and the 485 bus through watertight connecting cables;
the central controller comprises an embedded controller, a low-power consumption module and a storage module; the battery module comprises a battery and a voltage stabilizing module, the battery is connected with the low-power consumption module and the 485 bus, and the output end of the voltage stabilizing module is connected with the embedded controller and the sensor module;
the low-power-consumption module is a time relay, normally closed dormancy and intermittent work are realized by utilizing a self time delay mechanism, and the low-power-consumption operation of the system acquisition system is realized in a mode of controlling the power supply on-off of the central controller and the sensor module; the central controller only transmits signals and data with a sensor module in the acquisition system, the packed data are stored in the storage module, the data are not transmitted with an upper computer in the acquisition process, and the data are acquired or the battery is replaced by a wet plug technology recovery mode.
2. The system of claim 1, wherein the battery is 12V, 400AH, and the voltage regulator module supplies 5V.
3. The system of claim 1, wherein the pressure chamber is cylindrical, the sensor pressure chamber is a two-end cap structure, and the battery module pressure chamber and the central controller module pressure chamber are each a single-end cap structure.
4. The system of claim 1, wherein the watertight connecting cable between adjacent sensor modules is 1 meter long.
5. The system of claim 1, wherein the watertight cable is a four-core watertight cable, and plugs are provided at two ends of the watertight cable.
6. The system of claim 1, wherein the pressure chamber is a stainless steel 316 housing.
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| CN113676791A (en) * | 2021-10-22 | 2021-11-19 | 武汉海晟科讯科技有限公司 | Distributed synchronous data acquisition system of linear array structure |
| CN114323124A (en) * | 2021-12-14 | 2022-04-12 | 浙江大学 | Underwater superficial stratum information monitoring network system for seabed hydrate dune |
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