CN105242023A - Unmanned ship achieving multi-function monitoring of water area - Google Patents
Unmanned ship achieving multi-function monitoring of water area Download PDFInfo
- Publication number
- CN105242023A CN105242023A CN201510760176.1A CN201510760176A CN105242023A CN 105242023 A CN105242023 A CN 105242023A CN 201510760176 A CN201510760176 A CN 201510760176A CN 105242023 A CN105242023 A CN 105242023A
- Authority
- CN
- China
- Prior art keywords
- sampling
- monitoring
- water quality
- unmanned boat
- equipment
- 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.)
- Pending
Links
Landscapes
- Selective Calling Equipment (AREA)
Abstract
The invention provides an unmanned ship achieving multi-function monitoring of a water area. The unmanned ship comprises a ship hull and a power device, a control apparatus and an application apparatus which are arranged on the ship hull, and five load compartments are arranged on the ship hull; the control apparatus comprises a programmable controller, a navigation device and a communication device, the programmable controller is connected with the power device, the navigation device, the communication device and the application apparatus through communication interfaces, and the programmable controller is used for receiving monitoring data and operation information of the power device, the navigation device, the communication device and the application apparatus and sending control instructions to the power device, the navigation device, the communication device and the application apparatus through the communication interfaces; the ship hull is further provided with a water quality sampling apparatus. The unmanned ship takes the programmable controller as the core, an internal bus and communication board cards are adopted to uniformly manage other apparatuses. The unmanned ship is high in cost performance, convenient to carry and easy to operate, the functions such as environment monitoring, water quality monitoring, water quality sampling and flow rate monitoring are integrated into a whole, and the water area monitoring operation efficiency is greatly improved.
Description
Technical field
The present invention relates to unmanned boat automation field, be specifically related to a kind of waters multifunctional monitoring unmanned boat.
Background technology
Traditional water quality monitoring needs artificial lower water monitoring and manually sampling, generally first lease ship, then associative operation is carried out in appointed place of rowing the boat, when monitoring target be large reservoir or lake time, workload is large and be difficult to ensure each energy " fixed point, regularly, quantitatively, depthkeeping " standard operation.For the monitoring plan that annual each waters is set, often need to drop into a large amount of manpower and materials, and staff usually places oneself in the midst of in severe and hazardous environment, especially when emergent water quality monitoring, dirigibility is inadequate, is difficult to carry out efficient monitoring.
Be in the Chinese invention patent application of 201010168446.7 at application number, described water quality sampling robot sample devices cannot complete the related request of country in " surface water and sewage monitoring technical manual HJ/T91-2002 ", when the part waters sampling depth of water is more than 10m, the peristaltic pump arranged in described sampling thief is irrealizable, does not also realize sampling at set depth simultaneously; And this ship arranges tail undercarriage, go ashore having wind and streamflow regime and easily drift about, can not grab sampling be realized; This ship does not possess undersea detection collision prevention function, is easily tangled by fishing net, branch; Finally this cabin position is the integrated design, and is unsuitable for device isolation and functions expanding.
Summary of the invention
The technical problem to be solved in the present invention is, for prior art above shortcomings, a kind of waters multifunctional monitoring unmanned boat is provided, integrate the functions such as environmental monitoring, water quality monitoring, water quality sampling, flow rate monitoring, possess the functions such as full-automatic navigation, full-automatic sampling, full-automatic meteorological monitoring.
In order to solve the problems of the technologies described above, the technical solution adopted in the present invention is:
A kind of waters multifunctional monitoring unmanned boat, comprise hull and be arranged at propulsion system, opertaing device and the application apparatus on hull, described hull arranges five load cabins, has cushion rubber bumper in the ship side arranged outside of hull; Described opertaing device comprises Programmable Logic Controller, guider, communication device, described Programmable Logic Controller is by communication interface connecting power device, guider, communication device and application apparatus, Programmable Logic Controller for receiving Monitoring Data and the operation information of propulsion system, guider, communication device and application apparatus, and by communication interface to propulsion system, guider, communication device and application apparatus sending controling instruction.
By such scheme, described hull is also provided with water quality sampling equipment, water quality sampling equipment comprises controlled temperature cabinet, sampling bottle, supercharge pump, sampling pipe, drainpipe, sampling solenoid valve, drain solenoid valve and vent port, sampling bottle is placed in controlled temperature cabinet, wherein sampling pipe is connected with sampling bottle through supercharge pump, sampling solenoid valve, arrange drainpipe and drain solenoid valve bottom sampling bottle, sampling bottle upper left side has vent port; Described sampling solenoid valve, drain solenoid valve are all connected with Programmable Logic Controller.
By such scheme, described guider comprises GNSS and IMU Inertial Measurement Unit, and described IMU Inertial Measurement Unit comprises three axle electronic compasss, three-axis gyroscope, 3-axis acceleration sensor and signal processing chip.
By such scheme, described communication device comprises the Big Dipper, LTE, data radio station, figure conduct electricity platform, and wherein the conduct electricity video antenna of platform of the Beidou antenna of the Big Dipper, the radio antenna of data radio station and figure is all arranged on unmanned boat top; Programmable Logic Controller is formed by the Big Dipper, LTE and data radio station and measurement and control center and links, and realizes data storage, wave record playback function.
By such scheme, described application apparatus comprises weather monitoring device, water quality sampling monitoring probe, video equipment, speech ciphering equipment, stand by lamp, and described water quality sampling monitoring probe comprises fathometer, monitoring water quality on line equipment, mud sample devices, sampling pipe water inlet tube head and ADCP flow measuring device.
By such scheme, described hull is also provided with omnibearing obstacle equipment, described obstacle equipment is connected with Programmable Logic Controller by bus, comprises laser radar, digital radar and Forward-looking Sonar.
By such scheme, described propulsion system comprise power supply, motor, screw propeller, lifter and wire case, and described power supply comprises electric battery and fuel tank; Described motor comprises afterbody gas engine and flank motor; Described screw propeller comprises tail undercarriage, flank screw propeller, afterbody steering wheel; Described lifter comprises motor and hoist, hoist winding water quality sampling monitoring probe afterbody is arranged, and is specially: hoist is affiliated to sampling pipe water inlet tube head, the probe of fathometer, monitoring water quality on line equipment, mud sampling thief, the setting of ADCP flow measuring device; Described wire case comprises Guide rollers and hook.
By such scheme, described weather monitoring device comprises air-temperature sensor, baroceptor, humidity sensor and anemoscope.
By such scheme, described monitoring water quality on line equipment comprises cooling-water temperature sensor, salinity and conductivity sensor, pH sensor, dissolved oxygen sensor, turbidity transducer.
The invention has the beneficial effects as follows:
1, unmanned boat of the present invention take Programmable Logic Controller as core, adopt internal bus and communication interface board unified management communication device, guider, propulsion system, obstacle equipment and application apparatus, integrate the functions such as environmental monitoring, water quality monitoring, water quality sampling, flow rate monitoring, possess the functions such as full-automatic navigation, full-automatic sampling, full-automatic meteorological monitoring, greatly improve water area monitoring operation automation level; Unmanned boat cost performance is high, is easy to carry, and is easy to operation, can provides more convenient, the service such as science, efficiently water quality sampling, improves water environment monitoring efficiency;
2, by controlling hull flank motor and the collaborative work of afterbody gas engine, making hull possess opposing wind and current interference performance in monitoring and sampling process, realizing grab sampling; The existing water quality sampling whole technical requirement of water quality sampling equipment totally linearization country, realizes the accurate sampling of " fixed point, regularly, depthkeeping, quantitatively ";
3, the obstacle equipment of digital radar, laser radar and Forward-looking Sonar is housed, can not only under the complicated water surface traffic obstacle, and effectively can evade underwater obstruction, realize comprehensive obstacle;
4, in water quality sampling monitoring probe, fathometer is set, by the depth of water and the water quality monitoring of the vertical each point of water column, generates the three-dimensional sampling plan of single-point, and make water quality sampling equipment possess ultra-deep sampling functions (more than 10m) by supercharge pump;
5, Programmable Logic Controller also possesses data storage, wave record playback function, can not only preserve the data of sampling, and can record the every data of operation process, be formed link by the Big Dipper, LTE and data radio station and measurement and control center;
6, hull arranges five cabins, is suitable for device isolation and functions expanding, can friendly response customization demand.
Accompanying drawing explanation
Fig. 1 is result schematic diagram of the present invention;
Fig. 2 is weather monitoring device;
Fig. 3 is the structural representation of water quality sampling equipment of the present invention;
Sampling monitoring equipment in Fig. 4 the present invention;
In figure: 1-hull, 2-cushion rubber bumper, 3-Programmable Logic Controller, 4-guider, 5-communication device, 6-weather monitoring device, 7-water quality sampling equipment, 8-water quality sampling monitoring probe, 9-video equipment, 10-speech ciphering equipment, 11-stand by lamp, 12-laser radar, 13-digital radar, 14-Forward-looking Sonar, 15-electric battery, 16-fuel tank, 17-hoist, 18 wire casees, 19-afterbody gas engine, 20-tail undercarriage, 21-afterbody steering wheel, 22-flank motor, 23-flank screw propeller, 24-Beidou antenna, 25-radio antenna, 26-video antenna, 61-air-temperature sensor, 62-baroceptor, 63-humidity sensor, 64-anemoscope, 71-controlled temperature cabinet, 72-sampling bottle, 73-supercharge pump, 74-sampling pipe, 75-drainpipe, 76-samples solenoid valve, 77-drain solenoid valve, 78-vent port, 81-fathometer, 82-monitoring water quality on line equipment, 83-mud sample devices, 84-sampling pipe water inlet tube head, 85-ADCP flow measuring device.
Embodiment
In order to there be understanding clearly to technical characteristic of the present invention, object and effect, now contrast accompanying drawing and the specific embodiment of the present invention is described.
As shown in Figure 1, waters of the present invention multifunctional monitoring unmanned boat, comprise hull 1 and be arranged at propulsion system, opertaing device and the application apparatus on hull 1, described hull 1 arranges 1# ~ 5# five load cabins, has cushion rubber bumper 2 in the ship side arranged outside of hull 1; Described opertaing device comprises Programmable Logic Controller 3, guider 4, communication device 5, described Programmable Logic Controller 3 is by communication interface connecting power device, guider 4, communication device 5 and application apparatus, Programmable Logic Controller 3 for receiving Monitoring Data and the operation information of propulsion system, guider 4, communication device 5 and application apparatus, and by communication interface to propulsion system, guider 4, communication device 5 and application apparatus sending controling instruction.
Described hull 1 is also provided with water quality sampling equipment 7, as shown in Figure 3, water quality sampling equipment 7 comprises controlled temperature cabinet 71, sampling bottle 72, supercharge pump 73, sampling pipe 74, drainpipe 75, sampling solenoid valve 76, drain solenoid valve 77 and vent port 78, sampling bottle 72 is placed in controlled temperature cabinet 71, wherein sampling pipe 74 is connected with sampling bottle 72 through supercharge pump 73, sampling solenoid valve 76, arrange drainpipe 75 and drain solenoid valve 77 bottom sampling bottle 72, sampling bottle 72 upper left side has vent port 78; Described sampling solenoid valve 76, drain solenoid valve 77 are all connected with Programmable Logic Controller 3 (controlling its break-make by Programmable Logic Controller 3).
Described guider 4 comprises GNSS and IMU Inertial Measurement Unit, and described IMU Inertial Measurement Unit comprises three axle electronic compasss, three-axis gyroscope, 3-axis acceleration sensor and signal processing chip.
Described communication device 5 comprises the Big Dipper, LTE, data radio station, figure conduct electricity platform, and wherein the conduct electricity video antenna 26 of platform of the Beidou antenna 24 of the Big Dipper, the radio antenna 25 of data radio station and figure is all arranged on unmanned boat top; Described Programmable Logic Controller 3 is formed by the Big Dipper, LTE and data radio station and measurement and control center and links, and realizes data storage, wave record playback function.
Described application apparatus comprises weather monitoring device 6, water quality sampling monitoring probe 8, video equipment 9, speech ciphering equipment 10, stand by lamp 11, as shown in Figure 4, described water quality sampling monitoring probe 8 comprises fathometer 81, monitoring water quality on line equipment 82, mud sample devices 83, sampling pipe water inlet tube head 84 and ADCP flow measuring device 85.
In the present embodiment, described hull 1 is also provided with omnibearing obstacle equipment, described obstacle equipment is connected with Programmable Logic Controller by bus, comprise laser radar 12, digital radar 13 and Forward-looking Sonar 14, the composition water surface upper and lower multidimensional obstacle system, can not only under the complicated water surface traffic obstacle, and effectively can evade underwater obstruction.
In the present embodiment, described propulsion system comprise power supply, motor, screw propeller, lifter and wire case 18, and described power supply comprises electric battery 15 and fuel tank 16; Described motor comprises afterbody gas engine 19 and flank motor 22 (brshless DC motor); Described screw propeller comprises tail undercarriage 20, flank screw propeller 23, afterbody steering wheel 21; Described lifter comprises motor and hoist 17, hoist 17 water quality sampling monitoring probe 8 afterbody that reels is arranged, and is specially: hoist 17 is affiliated to sampling pipe water inlet tube head 84, the probe of fathometer 81, monitoring water quality on line equipment 82, mud sampling thief 83, ADCP flow measuring device 85 are arranged; Described wire case 18 comprises Guide rollers and hook.
In the present embodiment, as shown in Figure 2, described weather monitoring device 6 comprises air-temperature sensor 61, baroceptor 62, humidity sensor 63 and anemoscope 64.
In the present embodiment, described monitoring water quality on line equipment 82 comprises cooling-water temperature sensor, salinity and conductivity sensor, pH sensor, dissolved oxygen sensor, turbidity transducer.
The whole technical requirement of the water quality sampling equipment 7 totally linearization of the present invention existing water quality sampling of country, realize the accurate sampling of " fixed point, regularly, depthkeeping, quantitatively ", sampling process is as follows:
1) unmanned boat runs to appointment sampled point by guider 4 self-navigation of opertaing device, and the flank motor 22 starting propulsion system controls flank screw propeller 23 action, keeps hull without horizontal drift;
2) control servomotor and water quality sampling monitoring probe 8 is put into water, obtain the total depth of water of sampled point, generate single-point sampling plan;
3) control servomotor and water quality sampling monitoring probe 8 is transferred the depth of water point calculated to previous step, water quality sampling monitoring probe 8 present position (water quality sampling monitoring probe 8 can natural submerged) can be obtained by monitoring fathometer;
4) Programmable Logic Controller 3 controls sampling solenoid valve 76 conducting of water quality sampling equipment 7, start supercharge pump 73 and fill water sample in sampling bottle 72, then drain solenoid valve 77 conducting is controlled, after ensureing that the water quality sampling equipment 7 mistake wet part water be sampled a little rinses 3-4 time, first close supercharge pump 73, close sampling solenoid valve 76 and drain solenoid valve 77 again, wherein there is flow sensor in supercharge pump 73, the control of sampling quantity can be realized; Programmable Logic Controller 3 can control the break-make of sampling solenoid valve 76 and drain solenoid valve 77, water sample is adopted the sampling bottle 72 into dissimilar and capacity, and each equipment work of energy cooperation control; After unmanned boat independently makes a return voyage, Programmable Logic Controller 3 controls drain solenoid valve 77 and water sample is imported sampling pipe 74.
Above-describedly be only preferred embodiment of the present invention, certainly can not limit the interest field of the present invention with this, therefore according to the equivalence change that the present patent application the scope of the claims is done, still belong to protection scope of the present invention.
Claims (9)
1. a waters multifunctional monitoring unmanned boat, is characterized in that: comprise hull and be arranged at propulsion system, opertaing device and the application apparatus on hull, and described hull arranges five load cabins, has cushion rubber bumper in the ship side arranged outside of hull; Described opertaing device comprises Programmable Logic Controller, guider, communication device, described Programmable Logic Controller is by communication interface connecting power device, guider, communication device and application apparatus, Programmable Logic Controller for receiving Monitoring Data and the operation information of propulsion system, guider, communication device and application apparatus, and by communication interface to propulsion system, guider, communication device and application apparatus sending controling instruction.
2. waters according to claim 1 multifunctional monitoring unmanned boat, it is characterized in that: described hull is also provided with water quality sampling equipment, water quality sampling equipment comprises controlled temperature cabinet, sampling bottle, supercharge pump, sampling pipe, drainpipe, sampling solenoid valve, drain solenoid valve and vent port, sampling bottle is placed in controlled temperature cabinet, wherein sampling pipe is connected with sampling bottle through supercharge pump, sampling solenoid valve, arrange drainpipe and drain solenoid valve bottom sampling bottle, sampling bottle upper left side has vent port; Described sampling solenoid valve, drain solenoid valve are all connected with Programmable Logic Controller.
3. waters according to claim 1 multifunctional monitoring unmanned boat, it is characterized in that: described guider comprises GNSS and IMU Inertial Measurement Unit, described IMU Inertial Measurement Unit comprises three axle electronic compasss, three-axis gyroscope, 3-axis acceleration sensor and signal processing chip.
4. waters according to claim 1 multifunctional monitoring unmanned boat, it is characterized in that: described communication device comprises the Big Dipper, LTE, data radio station, figure conduct electricity platform, wherein the conduct electricity video antenna of platform of the Beidou antenna of the Big Dipper, the radio antenna of data radio station and figure is all arranged on unmanned boat top; Programmable Logic Controller is formed by the Big Dipper, LTE and data radio station and measurement and control center and links, and realizes data storage, wave record playback function.
5. waters according to claim 1 multifunctional monitoring unmanned boat, it is characterized in that: described application apparatus comprises weather monitoring device, water quality sampling monitoring probe, video equipment, speech ciphering equipment, stand by lamp, described water quality sampling monitoring probe comprises fathometer, monitoring water quality on line equipment, mud sample devices, sampling pipe water inlet tube head and ADCP flow measuring device.
6. waters according to claim 1 multifunctional monitoring unmanned boat, it is characterized in that: described hull is also provided with omnibearing obstacle equipment, described obstacle equipment is connected with Programmable Logic Controller by bus, comprises laser radar, digital radar and Forward-looking Sonar.
7. waters according to claim 5 multifunctional monitoring unmanned boat, is characterized in that: described propulsion system comprise power supply, motor, screw propeller, lifter and wire case, and described power supply comprises electric battery and fuel tank; Described motor comprises afterbody gas engine and flank motor; Described screw propeller comprises tail undercarriage, flank screw propeller, afterbody steering wheel; Described lifter comprises motor and hoist, hoist winding water quality sampling monitoring probe afterbody is arranged, and is specially: hoist is affiliated to sampling pipe water inlet tube head, the probe of fathometer, monitoring water quality on line equipment, mud sampling thief, the setting of ADCP flow measuring device; Described wire case comprises Guide rollers and hook.
8. waters according to claim 5 multifunctional monitoring unmanned boat, is characterized in that: described weather monitoring device comprises air-temperature sensor, baroceptor, humidity sensor and anemoscope.
9. waters according to claim 5 multifunctional monitoring unmanned boat, is characterized in that: described monitoring water quality on line equipment comprises cooling-water temperature sensor, salinity and conductivity sensor, pH sensor, dissolved oxygen sensor, turbidity transducer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510760176.1A CN105242023A (en) | 2015-11-10 | 2015-11-10 | Unmanned ship achieving multi-function monitoring of water area |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510760176.1A CN105242023A (en) | 2015-11-10 | 2015-11-10 | Unmanned ship achieving multi-function monitoring of water area |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105242023A true CN105242023A (en) | 2016-01-13 |
Family
ID=55039744
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510760176.1A Pending CN105242023A (en) | 2015-11-10 | 2015-11-10 | Unmanned ship achieving multi-function monitoring of water area |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105242023A (en) |
Cited By (55)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105807020A (en) * | 2016-05-03 | 2016-07-27 | 江苏美淼环保科技有限公司 | Integrated monitoring system for pipeline and monitoring method thereof |
| CN105865841A (en) * | 2016-04-27 | 2016-08-17 | 河海大学 | Remote control type bottom mud detection, mud collection and water collection system and method of polluted water body |
| CN105882900A (en) * | 2016-06-08 | 2016-08-24 | 于进勇 | Unpiloted water aircraft |
| CN105905248A (en) * | 2016-04-22 | 2016-08-31 | 四方继保（武汉）软件有限公司 | Double-M five-body unmanned ship |
| CN105974926A (en) * | 2016-07-20 | 2016-09-28 | 珠海科微智能科技有限公司 | Unmanned ship with self-righting function |
| CN106428441A (en) * | 2016-11-17 | 2017-02-22 | 苏州航天系统工程有限公司 | Overwater unmanned ice cutting ship |
| CN106741994A (en) * | 2016-11-17 | 2017-05-31 | 袁红泉 | A kind of flow measurement images unmanned aerial vehicle |
| CN106769212A (en) * | 2016-12-29 | 2017-05-31 | 天津汉海环保设备有限公司 | A kind of water quality AUTOMATIC ZONING sampling system |
| CN106840274A (en) * | 2017-04-23 | 2017-06-13 | 福建强闽信息科技有限公司 | A kind of online water monitoring device and its application method based on LTE_Cat M1 |
| CN106933232A (en) * | 2017-04-27 | 2017-07-07 | 上海大学 | A kind of context aware systems and method based on collaboration unmanned boat group |
| CN106950960A (en) * | 2017-04-12 | 2017-07-14 | 大连理工大学 | A kind of on-line automatic control method of lake storehouse operation ship antithesis deflecting side oar |
| CN107010176A (en) * | 2017-03-20 | 2017-08-04 | 天津大学 | A kind of miniature self-service ship for intensive measurement |
| CN107215433A (en) * | 2017-06-12 | 2017-09-29 | 江苏科技大学 | With the autonomous small-waterplane-area binary fishery function unmanned boat for throwing food function |
| CN107436249A (en) * | 2017-03-03 | 2017-12-05 | 安徽科微智能科技有限公司 | A kind of unmanned boat automatic pointing quantitative sampling method |
| CN107499486A (en) * | 2017-07-28 | 2017-12-22 | 安徽工程大学 | Mobile platform and its localization method on a kind of positioning intelligent water |
| CN107861141A (en) * | 2017-12-18 | 2018-03-30 | 无锡同春新能源科技有限公司 | The monitoring system of unmanned boat investigation water quality based on Beidou navigation positioning |
| CN108107176A (en) * | 2018-01-12 | 2018-06-01 | 中国科学院合肥物质科学研究院 | A kind of unmanned boat and pollution sources method for tracing for water quality monitoring and pollution sources tracking |
| CN108120987A (en) * | 2017-12-21 | 2018-06-05 | 云南大学 | The underwater river topography measuring device and measuring method of a kind of great rivers |
| CN108181908A (en) * | 2018-01-11 | 2018-06-19 | 福州大学 | A kind of unmanned boat system for inland river environmental monitoring |
| CN108303508A (en) * | 2018-02-06 | 2018-07-20 | 武汉理工大学 | Ecology language system and method based on laser radar and deep learning optimum path search |
| CN108398706A (en) * | 2018-01-23 | 2018-08-14 | 上海工程技术大学 | A kind of cruise dispatching management information system and its method |
| CN108458903A (en) * | 2018-04-13 | 2018-08-28 | 国家海洋局第海洋研究所 | There is scientific investigation ship of the boat process to superficial water continuous sampling system |
| CN108544501A (en) * | 2018-04-11 | 2018-09-18 | 惠安县圆周率智能科技有限公司 | A kind of flatbed ship sea inspection station arrangement of the sea police containing robot |
| CN108845093A (en) * | 2018-06-26 | 2018-11-20 | 安徽科技学院 | Breeding water body real time monitoring apparatus |
| CN108896728A (en) * | 2018-07-20 | 2018-11-27 | 马明昌 | A kind of Intelligent water quality monitoring system based on new energy unmanned boat platform |
| CN108956924A (en) * | 2018-09-07 | 2018-12-07 | 江苏中聚检测服务有限公司 | One kind being based on Cloud Server smart water quality detection system |
| CN109163936A (en) * | 2018-10-10 | 2019-01-08 | 青岛良研信息科技有限公司 | A kind of water quality detection multifunction automatic sample detection device |
| CN109211321A (en) * | 2018-09-21 | 2019-01-15 | 商丘师范学院 | A kind of sewage automatic detection device |
| CN109255820A (en) * | 2018-08-31 | 2019-01-22 | 武汉理工大学 | A kind of actively perceive apparatus and method based on unmanned boat |
| CN109298709A (en) * | 2018-12-25 | 2019-02-01 | 哈尔滨工程大学 | A kind of unmanned surface vehicle detection and tracking for shallow water pipeline |
| CN109387614A (en) * | 2018-11-07 | 2019-02-26 | 浙江海洋大学 | Low speed glass reinforced plastic integration test unmanned boat suitable for complex environment |
| CN109501970A (en) * | 2018-11-12 | 2019-03-22 | 浙江海洋大学 | A kind of hydrometeorological real-time monitoring of collection and Culture pure seine automatic checkout system |
| CN109541161A (en) * | 2018-11-21 | 2019-03-29 | 环境保护部华南环境科学研究所 | A kind of packaged type monitoring water quality on line and prior-warning device |
| CN109544895A (en) * | 2018-11-07 | 2019-03-29 | 中国船舶重工集团公司第七0七研究所 | A kind of data acquisition and dissemination system for the monitoring of Intelligent unattended ship |
| CN110243411A (en) * | 2019-06-24 | 2019-09-17 | 中国水利水电科学研究院 | A kind of Multi-functional disome formula water environment unmanned monitoring ship |
| CN110588904A (en) * | 2019-09-04 | 2019-12-20 | 长沙理工大学 | Water body micro-plastic and algae collection and drop aeration integrated solar unmanned ship |
| CN110641624A (en) * | 2019-10-25 | 2020-01-03 | 哈尔滨工程大学 | Autonomous navigation storm flow monitoring buoy |
| WO2020078382A1 (en) * | 2018-10-17 | 2020-04-23 | 中兴通讯股份有限公司 | Water area monitoring device and method |
| CN111289712A (en) * | 2020-03-04 | 2020-06-16 | 深圳市宇驰环境技术有限公司 | Water quality in-situ monitoring device based on unmanned ship |
| WO2020133709A1 (en) * | 2018-12-27 | 2020-07-02 | 中科院合肥技术创新工程院 | Water ecological monitoring and water surface restoring robot and water ecological restoration and control method |
| CN111605669A (en) * | 2020-05-30 | 2020-09-01 | 江苏众智启澄智能环境科技有限公司 | Semi-submersible unmanned ship |
| CN111913228A (en) * | 2019-09-12 | 2020-11-10 | 青岛海洋地质研究所 | Ocean geomagnetic daily variation observation system |
| CN112113611A (en) * | 2020-08-24 | 2020-12-22 | 深圳市国艺园林建设有限公司 | Unmanned ship flow velocity and flow measurement system |
| CN112394186A (en) * | 2020-12-30 | 2021-02-23 | 安徽中科大赛悟科技有限公司 | Sampling detection device for water quality detection |
| CN112595551A (en) * | 2020-11-24 | 2021-04-02 | 中国水利水电科学研究院 | Unmanned full-automatic intelligent sampling ship |
| RU204067U1 (en) * | 2020-07-09 | 2021-05-05 | Акционерное общество "Научно-производственный концерн "ПРОМЭЛЕКТРОНИКА" | UNMANNED PLATFORM FOR PERFORMANCE OF HYDROGRAPHIC WORKS AND MONITORING OF WATER BODIES |
| CN113049052A (en) * | 2021-03-25 | 2021-06-29 | 长江水利委员会水文局长江下游水文水资源勘测局(长江水利委员会水文局长江下游水环境监测中心) | Flow measuring method for river with large sand content |
| CN113063911A (en) * | 2021-03-19 | 2021-07-02 | 中国船舶科学研究中心 | Unmanned ship system for monitoring water quality of lakes and watersheds |
| CN113074908A (en) * | 2021-04-16 | 2021-07-06 | 中国长江三峡集团有限公司 | Device and method for measuring influence of water level fluctuation on hydrodynamic force of benthonic animal habitat in river-dredging lake |
| RU2760797C1 (en) * | 2021-05-21 | 2021-11-30 | Федеральное государственное бюджетное учреждение науки Институт проблем морских технологий Дальневосточного отделения Российской академии наук (ИПМТ ДВО РАН) | Unmanned boat carrying a replaceable payload |
| RU209653U1 (en) * | 2021-11-23 | 2022-03-17 | Акционерное общество "Центр технологии судостроения и судоремонта" (АО "ЦТСС") | Unmanned single-hull surface ship |
| CN114236556A (en) * | 2021-12-02 | 2022-03-25 | 桂林理工大学 | Water depth measuring system of seamless integrated laser radar and unmanned ship |
| CN114253297A (en) * | 2021-12-24 | 2022-03-29 | 交通运输部天津水运工程科学研究所 | Method for actively and safely tracking tail gas of rotor unmanned aerial vehicle through ship tail gas detection |
| CN114414752A (en) * | 2021-12-25 | 2022-04-29 | 山东华章科技有限公司 | Full-automatic mobile water quality detection equipment |
| RU2773048C1 (en) * | 2021-07-16 | 2022-05-30 | Федеральное государственное бюджетное образовательное учреждение высшего образования «Государственный университет морского и речного флота имени адмирала С.О. Макарова» | Method for monitoring the technical condition of communications and navigation equipment |
-
2015
- 2015-11-10 CN CN201510760176.1A patent/CN105242023A/en active Pending
Cited By (75)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105905248A (en) * | 2016-04-22 | 2016-08-31 | 四方继保（武汉）软件有限公司 | Double-M five-body unmanned ship |
| CN105865841A (en) * | 2016-04-27 | 2016-08-17 | 河海大学 | Remote control type bottom mud detection, mud collection and water collection system and method of polluted water body |
| CN105807020B (en) * | 2016-05-03 | 2018-06-08 | 江苏美淼环保科技有限公司 | A kind of pipeline comprehensive monitor system and its monitoring method |
| CN105807020A (en) * | 2016-05-03 | 2016-07-27 | 江苏美淼环保科技有限公司 | Integrated monitoring system for pipeline and monitoring method thereof |
| CN105882900A (en) * | 2016-06-08 | 2016-08-24 | 于进勇 | Unpiloted water aircraft |
| CN105882900B (en) * | 2016-06-08 | 2018-05-01 | 烟台中飞海装科技有限公司 | A kind of unmanned sailing device on water |
| CN105974926A (en) * | 2016-07-20 | 2016-09-28 | 珠海科微智能科技有限公司 | Unmanned ship with self-righting function |
| CN106428441A (en) * | 2016-11-17 | 2017-02-22 | 苏州航天系统工程有限公司 | Overwater unmanned ice cutting ship |
| CN106741994A (en) * | 2016-11-17 | 2017-05-31 | 袁红泉 | A kind of flow measurement images unmanned aerial vehicle |
| CN106769212A (en) * | 2016-12-29 | 2017-05-31 | 天津汉海环保设备有限公司 | A kind of water quality AUTOMATIC ZONING sampling system |
| CN107436249A (en) * | 2017-03-03 | 2017-12-05 | 安徽科微智能科技有限公司 | A kind of unmanned boat automatic pointing quantitative sampling method |
| CN107010176A (en) * | 2017-03-20 | 2017-08-04 | 天津大学 | A kind of miniature self-service ship for intensive measurement |
| CN106950960A (en) * | 2017-04-12 | 2017-07-14 | 大连理工大学 | A kind of on-line automatic control method of lake storehouse operation ship antithesis deflecting side oar |
| CN106950960B (en) * | 2017-04-12 | 2020-02-18 | 大连理工大学 | Method for automatically controlling dual turning side paddles of lake and reservoir operation ship on line |
| CN106840274A (en) * | 2017-04-23 | 2017-06-13 | 福建强闽信息科技有限公司 | A kind of online water monitoring device and its application method based on LTE_Cat M1 |
| CN106933232A (en) * | 2017-04-27 | 2017-07-07 | 上海大学 | A kind of context aware systems and method based on collaboration unmanned boat group |
| CN107215433A (en) * | 2017-06-12 | 2017-09-29 | 江苏科技大学 | With the autonomous small-waterplane-area binary fishery function unmanned boat for throwing food function |
| CN107499486A (en) * | 2017-07-28 | 2017-12-22 | 安徽工程大学 | Mobile platform and its localization method on a kind of positioning intelligent water |
| CN107499486B (en) * | 2017-07-28 | 2023-05-30 | 安徽工程大学 | Intelligent water moving platform for positioning and positioning method thereof |
| CN107861141A (en) * | 2017-12-18 | 2018-03-30 | 无锡同春新能源科技有限公司 | The monitoring system of unmanned boat investigation water quality based on Beidou navigation positioning |
| CN108120987A (en) * | 2017-12-21 | 2018-06-05 | 云南大学 | The underwater river topography measuring device and measuring method of a kind of great rivers |
| CN108181908A (en) * | 2018-01-11 | 2018-06-19 | 福州大学 | A kind of unmanned boat system for inland river environmental monitoring |
| CN108107176A (en) * | 2018-01-12 | 2018-06-01 | 中国科学院合肥物质科学研究院 | A kind of unmanned boat and pollution sources method for tracing for water quality monitoring and pollution sources tracking |
| CN108398706A (en) * | 2018-01-23 | 2018-08-14 | 上海工程技术大学 | A kind of cruise dispatching management information system and its method |
| CN108398706B (en) * | 2018-01-23 | 2019-11-08 | 上海工程技术大学 | A kind of cruise dispatching management information system and its method |
| CN108303508A (en) * | 2018-02-06 | 2018-07-20 | 武汉理工大学 | Ecology language system and method based on laser radar and deep learning optimum path search |
| CN108303508B (en) * | 2018-02-06 | 2020-01-07 | 武汉理工大学 | Ecological early warning system and method based on laser radar and deep learning path optimization |
| CN108544501A (en) * | 2018-04-11 | 2018-09-18 | 惠安县圆周率智能科技有限公司 | A kind of flatbed ship sea inspection station arrangement of the sea police containing robot |
| CN108458903A (en) * | 2018-04-13 | 2018-08-28 | 国家海洋局第海洋研究所 | There is scientific investigation ship of the boat process to superficial water continuous sampling system |
| CN108845093B (en) * | 2018-06-26 | 2021-05-07 | 安徽科技学院 | Real-time monitoring device for aquaculture water |
| CN108845093A (en) * | 2018-06-26 | 2018-11-20 | 安徽科技学院 | Breeding water body real time monitoring apparatus |
| CN108896728A (en) * | 2018-07-20 | 2018-11-27 | 马明昌 | A kind of Intelligent water quality monitoring system based on new energy unmanned boat platform |
| CN109255820A (en) * | 2018-08-31 | 2019-01-22 | 武汉理工大学 | A kind of actively perceive apparatus and method based on unmanned boat |
| CN108956924A (en) * | 2018-09-07 | 2018-12-07 | 江苏中聚检测服务有限公司 | One kind being based on Cloud Server smart water quality detection system |
| CN109211321A (en) * | 2018-09-21 | 2019-01-15 | 商丘师范学院 | A kind of sewage automatic detection device |
| CN109163936B (en) * | 2018-10-10 | 2020-12-08 | 山东博派生物科技有限公司 | Water quality testing is with multi-functional automatic sampling device |
| CN109163936A (en) * | 2018-10-10 | 2019-01-08 | 青岛良研信息科技有限公司 | A kind of water quality detection multifunction automatic sample detection device |
| WO2020078382A1 (en) * | 2018-10-17 | 2020-04-23 | 中兴通讯股份有限公司 | Water area monitoring device and method |
| CN109544895A (en) * | 2018-11-07 | 2019-03-29 | 中国船舶重工集团公司第七0七研究所 | A kind of data acquisition and dissemination system for the monitoring of Intelligent unattended ship |
| CN109544895B (en) * | 2018-11-07 | 2020-11-10 | 中国船舶重工集团公司第七0七研究所 | Data acquisition and distribution system for monitoring intelligent unmanned ship |
| CN109387614A (en) * | 2018-11-07 | 2019-02-26 | 浙江海洋大学 | Low speed glass reinforced plastic integration test unmanned boat suitable for complex environment |
| CN109501970A (en) * | 2018-11-12 | 2019-03-22 | 浙江海洋大学 | A kind of hydrometeorological real-time monitoring of collection and Culture pure seine automatic checkout system |
| CN109541161B (en) * | 2018-11-21 | 2023-08-15 | 环境保护部华南环境科学研究所 | Movable water quality on-line monitoring and early warning device |
| CN109541161A (en) * | 2018-11-21 | 2019-03-29 | 环境保护部华南环境科学研究所 | A kind of packaged type monitoring water quality on line and prior-warning device |
| CN109298709A (en) * | 2018-12-25 | 2019-02-01 | 哈尔滨工程大学 | A kind of unmanned surface vehicle detection and tracking for shallow water pipeline |
| WO2020133709A1 (en) * | 2018-12-27 | 2020-07-02 | 中科院合肥技术创新工程院 | Water ecological monitoring and water surface restoring robot and water ecological restoration and control method |
| US11097813B2 (en) | 2018-12-27 | 2021-08-24 | Cas (Hefei) Institute Of Technology Innovation | Unmanned surface vehicle for aquatic ecosystem monitoring and restoration and control method for aquatic ecosystem restoration |
| CN110243411A (en) * | 2019-06-24 | 2019-09-17 | 中国水利水电科学研究院 | A kind of Multi-functional disome formula water environment unmanned monitoring ship |
| CN110588904B (en) * | 2019-09-04 | 2021-07-30 | 长沙理工大学 | Water body micro-plastic and algae collection and drop aeration integrated solar unmanned ship |
| CN110588904A (en) * | 2019-09-04 | 2019-12-20 | 长沙理工大学 | Water body micro-plastic and algae collection and drop aeration integrated solar unmanned ship |
| CN111913228A (en) * | 2019-09-12 | 2020-11-10 | 青岛海洋地质研究所 | Ocean geomagnetic daily variation observation system |
| CN110641624A (en) * | 2019-10-25 | 2020-01-03 | 哈尔滨工程大学 | Autonomous navigation storm flow monitoring buoy |
| CN111289712A (en) * | 2020-03-04 | 2020-06-16 | 深圳市宇驰环境技术有限公司 | Water quality in-situ monitoring device based on unmanned ship |
| CN111605669A (en) * | 2020-05-30 | 2020-09-01 | 江苏众智启澄智能环境科技有限公司 | Semi-submersible unmanned ship |
| RU204067U1 (en) * | 2020-07-09 | 2021-05-05 | Акционерное общество "Научно-производственный концерн "ПРОМЭЛЕКТРОНИКА" | UNMANNED PLATFORM FOR PERFORMANCE OF HYDROGRAPHIC WORKS AND MONITORING OF WATER BODIES |
| CN112113611A (en) * | 2020-08-24 | 2020-12-22 | 深圳市国艺园林建设有限公司 | Unmanned ship flow velocity and flow measurement system |
| CN112113611B (en) * | 2020-08-24 | 2021-08-06 | 深圳市国艺园林建设有限公司 | Unmanned ship flow velocity and flow measurement system |
| CN112595551A (en) * | 2020-11-24 | 2021-04-02 | 中国水利水电科学研究院 | Unmanned full-automatic intelligent sampling ship |
| CN112394186B (en) * | 2020-12-30 | 2023-12-05 | 中科赛悟科技(安徽)有限公司 | Sampling detection device for water quality detection |
| CN112394186A (en) * | 2020-12-30 | 2021-02-23 | 安徽中科大赛悟科技有限公司 | Sampling detection device for water quality detection |
| CN113063911A (en) * | 2021-03-19 | 2021-07-02 | 中国船舶科学研究中心 | Unmanned ship system for monitoring water quality of lakes and watersheds |
| CN113049052A (en) * | 2021-03-25 | 2021-06-29 | 长江水利委员会水文局长江下游水文水资源勘测局(长江水利委员会水文局长江下游水环境监测中心) | Flow measuring method for river with large sand content |
| CN113049052B (en) * | 2021-03-25 | 2023-08-15 | 长江水利委员会水文局长江下游水文水资源勘测局(长江水利委员会水文局长江下游水环境监测中心) | Flow measurement method for river with large sand content |
| CN113074908A (en) * | 2021-04-16 | 2021-07-06 | 中国长江三峡集团有限公司 | Device and method for measuring influence of water level fluctuation on hydrodynamic force of benthonic animal habitat in river-dredging lake |
| RU2760797C1 (en) * | 2021-05-21 | 2021-11-30 | Федеральное государственное бюджетное учреждение науки Институт проблем морских технологий Дальневосточного отделения Российской академии наук (ИПМТ ДВО РАН) | Unmanned boat carrying a replaceable payload |
| RU2773048C1 (en) * | 2021-07-16 | 2022-05-30 | Федеральное государственное бюджетное образовательное учреждение высшего образования «Государственный университет морского и речного флота имени адмирала С.О. Макарова» | Method for monitoring the technical condition of communications and navigation equipment |
| RU2774400C1 (en) * | 2021-07-16 | 2022-06-21 | Федеральное государственное бюджетное образовательное учреждение высшего образования «Государственный университет морского и речного флота имени адмирала С.О. Макарова» | System for monitoring the technical condition of communications and navigation equipment |
| RU209653U1 (en) * | 2021-11-23 | 2022-03-17 | Акционерное общество "Центр технологии судостроения и судоремонта" (АО "ЦТСС") | Unmanned single-hull surface ship |
| CN114236556A (en) * | 2021-12-02 | 2022-03-25 | 桂林理工大学 | Water depth measuring system of seamless integrated laser radar and unmanned ship |
| CN114253297A (en) * | 2021-12-24 | 2022-03-29 | 交通运输部天津水运工程科学研究所 | Method for actively and safely tracking tail gas of rotor unmanned aerial vehicle through ship tail gas detection |
| CN114253297B (en) * | 2021-12-24 | 2023-12-12 | 交通运输部天津水运工程科学研究所 | Method for actively and safely tracking tail gas of ship tail gas detection rotor unmanned aerial vehicle |
| CN114414752A (en) * | 2021-12-25 | 2022-04-29 | 山东华章科技有限公司 | Full-automatic mobile water quality detection equipment |
| RU214684U1 (en) * | 2022-02-28 | 2022-11-10 | Федеральное государственное бюджетное образовательное учреждение высшего образования "Дальневосточный государственный технический рыбохозяйственный университет" (ФГБОУ ВО "Дальрыбвтуз") | DEVICE FOR RECEIVING NETWORKS |
| RU2796093C1 (en) * | 2022-08-05 | 2023-05-17 | Федеральное государственное унитарное предприятие "Крыловский государственный научный центр" | Mobile underwater area monitoring system |
| RU2819811C1 (en) * | 2023-11-29 | 2024-05-24 | Федеральное государственное унитарное предприятие "Крыловский государственный научный центр" | Mobile marine area security system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105242023A (en) | Unmanned ship achieving multi-function monitoring of water area | |
| CN105329418B (en) | A kind of unmanned boat-carrying underwater robot hybrid system | |
| CN208360444U (en) | A kind of unmanned boat and system | |
| CN103310610B (en) | Mobile ocean observation net based on intelligent buoy and intelligent submersible vehicle | |
| US10732296B1 (en) | Programmable buoy system | |
| CN201587525U (en) | Small-sized unmanned self-propelled ocean flux observation ship | |
| CN211235830U (en) | Unmanned ship water quality monitoring system | |
| CN106672168A (en) | Automatic cruise water quality monitoring ship | |
| CN111289304B (en) | Water quality sampling unmanned ship system with dynamic positioning function | |
| CN204480049U (en) | A kind of automatic ship anchoring system | |
| CN105129063A (en) | Wind-energy and luminous energy complementation water surface robot | |
| CN108312151A (en) | It drifts about and detects underwater robot device and control method | |
| CN204037874U (en) | Measurement type unmanned boat | |
| CN106444767B (en) | A kind of linkage combination independent navigation unmanned boat control system based on APM and I7 intelligent chip | |
| CN105539779A (en) | Portable underwater aerial photography remote operated vehicle and control method thereof | |
| CN103808529A (en) | Autonomous navigation water sample collector | |
| CN204925390U (en) | Automatic fish finding system | |
| CN207496895U (en) | The novel and multifunctional water surface monitors trimaran | |
| CN111474006A (en) | Unmanned system for on-site water quality sampling | |
| CN105197180A (en) | Small multifunctional solar twin-hull unmanned ship | |
| CN101477104A (en) | Intelligent monitoring detection system with positioning or cruising function on water | |
| CN110239695A (en) | It can descending water area monitoring robot and method | |
| CN108045536A (en) | A kind of small-sized VTOL underwater robot of untethered and its control method | |
| CN112960078A (en) | Unmanned sailing boat automatic driving system and method thereof | |
| CN201235911Y (en) | Unmanned drive reservoir cartographic surveying boat |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20160113 |
|
| RJ01 | Rejection of invention patent application after publication |