CN108052109A - A kind of automatic inspection robot and aquatic monitoring system - Google Patents
A kind of automatic inspection robot and aquatic monitoring system Download PDFInfo
- Publication number
- CN108052109A CN108052109A CN201810133046.9A CN201810133046A CN108052109A CN 108052109 A CN108052109 A CN 108052109A CN 201810133046 A CN201810133046 A CN 201810133046A CN 108052109 A CN108052109 A CN 108052109A
- Authority
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- China
- Prior art keywords
- inspection robot
- automatic inspection
- processor
- housing
- water quality
- Prior art date
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- 238000007689 inspection Methods 0.000 title claims abstract description 51
- 238000012544 monitoring process Methods 0.000 title claims abstract description 40
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 55
- 230000007246 mechanism Effects 0.000 claims abstract description 38
- 230000003137 locomotive effect Effects 0.000 claims abstract description 36
- 230000006698 induction Effects 0.000 claims abstract description 8
- 230000002093 peripheral effect Effects 0.000 claims abstract description 6
- 238000012545 processing Methods 0.000 claims abstract description 6
- 230000005540 biological transmission Effects 0.000 claims description 14
- 241000876443 Varanus salvator Species 0.000 claims description 10
- 238000009434 installation Methods 0.000 claims description 10
- 230000008859 change Effects 0.000 claims description 9
- 230000005484 gravity Effects 0.000 claims description 9
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 6
- 230000005611 electricity Effects 0.000 claims 2
- 238000005516 engineering process Methods 0.000 abstract description 4
- 230000007613 environmental effect Effects 0.000 abstract description 2
- 230000003247 decreasing effect Effects 0.000 abstract 1
- 238000003911 water pollution Methods 0.000 description 7
- 238000001514 detection method Methods 0.000 description 6
- 230000010365 information processing Effects 0.000 description 5
- 230000004888 barrier function Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 239000010865 sewage Substances 0.000 description 4
- 238000013461 design Methods 0.000 description 3
- 238000005286 illumination Methods 0.000 description 3
- 210000000476 body water Anatomy 0.000 description 2
- 230000007423 decrease Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000012512 characterization method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000012372 quality testing Methods 0.000 description 1
- 230000001568 sexual effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/04—Control of altitude or depth
- G05D1/06—Rate of change of altitude or depth
- G05D1/0692—Rate of change of altitude or depth specially adapted for under-water vehicles
Abstract
The present invention provides a kind of automatic inspection robot and aquatic monitoring system, belongs to environmental protection technical field.It includes wireless transmitter, processor, water quality monitoring unit, the first locomotory mechanism and anticollision inductor；Wireless transmitter is connected with processor sensing, and processor senses respectively with water quality monitoring unit, the first locomotory mechanism and anticollision inductor to be connected；Water quality monitoring unit is used to the Water quality data monitored in real time being transferred to processor progress data processing；First locomotory mechanism is used to that automatic inspection robot to be driven to advance or retreat；Anticollision inductor is sent to processor for sensing water body peripheral obstacle, by induction information, and processor controls the first locomotory mechanism to operate according to induction information.Aquatic monitoring system has above-mentioned automatic inspection robot, and there is sonar to prevent that stranded technology can be reduced effectively and run into shoal or arid and cause water level decreasing, machine will be unable to the event preferably to work generation.
Description
Technical field
The present invention relates to environmental protection technical field more particularly to a kind of automatic inspection robot and aquatic monitoring systems.
Background technology
Water is existence resource necessary to the mankind, but with the fast development of recent year industry, it is incident
It is serious natural, ecological problem, is especially even more the serious problems that can not be ignored to the pollution of water resource, jeopardizes mankind itself
Health；Thus the water pollution accident triggered sees space in a newspaper repeatly.Therefore country and each place government are also increased for water pollution
Supervision.But the problem of water pollution, still exists, and becomes worse.Water pollution in face of getting worse is asked
Topic, there is automatic detection, the new technology of monitoring function and new equipment to have put into use for some, and achieve advantageous effect, still
At present to water pollution detection, monitoring, used by be a kind of fixed point, the detection of timing, monitoring mode.Due to water
Pollution problem objectively just needs to realize comprehensive, real-time, dynamic monitoring there is larger accidental sexual factor.At the same time
What is taken in the past is a kind of detection of passive type, monitoring mode.
The content of the invention
One of the objects of the present invention is to provide a kind of automatic inspection robots, this robot of patrolling automatically aims to solve the problem that existing
Have sewage treatment mechanism treated sewage in technology it is less efficient the problem of；
Another object of the present invention is to provide a kind of aquatic monitoring system, this aquatic monitoring system aims to solve the problem that existing skill
In art sewage treatment mechanism treated sewage it is less efficient the problem of.
To achieve the above object, the technical scheme is that：
A kind of automatic inspection robot, the automatic inspection robot include housing, wireless transmitter, processor, water
Matter monitoring unit, the first locomotory mechanism and anticollision inductor；
The wireless transmitter, the processor, the water quality monitoring unit, first locomotory mechanism, described
Two locomotory mechanisms and anticollision inductor installation are on the housing；
The sensing of the wireless transmitter and the processor connects, the processor respectively with the water quality monitoring list
First, described first locomotory mechanism, second locomotory mechanism and anticollision inductor sensing connection；
The water quality monitoring unit is used to the Water quality data monitored in real time being transferred to the processor progress data
Treated data are transferred to the wireless transmitter by processing, the processor；
First locomotory mechanism is used to that the automatic inspection robot to be driven to advance or retreat；The anticollision inductor is used
In sensing water body peripheral obstacle, induction information is sent to the processor, the processor controls institute according to induction information
State the operating of the first locomotory mechanism.
As a preferred technical solution of the present invention, the water quality monitoring unit includes gravity tank and water monitor,
The gravity tank is connected with water monitor sensing, and the water monitor is connected with processor sensing.
As a preferred technical solution of the present invention, the automatic inspection robot includes power supply, the power supply installation
On the housing.
As a preferred technical solution of the present invention, first locomotory mechanism includes the first driving motor, the first biography
Moving axis and the first propeller, on the housing, the both ends of first transmission shaft are distinguished for the first driving motor installation
It is connected with first driving motor, first propeller drive.
As a preferred technical solution of the present invention, the automatic inspection robot includes patrolling automatically for changing described
Look into second locomotory mechanism in robot motion direction, second locomotory mechanism include the second driving motor, second driving shaft with
And second propeller, the second driving motor installation on the housing, the both ends of the second driving shaft respectively with it is described
Second driving motor, second propeller drive connection.
As a preferred technical solution of the present invention, the automatic inspection robot includes water body detector, the water
Bulk detector includes sonar and transmitter, and on the housing, the sonar connects with transmitter sensing for the sonar installation
It connects, the transmitter is connected with processor sensing.
As a preferred technical solution of the present invention, the automatic inspection robot includes solar panels, the sun
The installation of energy plate is on the housing.
As a preferred technical solution of the present invention, the automatic inspection robot includes grille cover, the grille cover
On housing.
As a preferred technical solution of the present invention, the automatic inspection robot includes pedestal and hydraulic elevator,
One end of the hydraulic elevator is mounted on the pedestal, and the other end is flexibly connected with the housing, the hydraulic elevator
For the housing to be driven to rise or fall.
A kind of aquatic monitoring system, the aquatic monitoring system include above-described automatic inspection robot.
The beneficial effects of the invention are as follows：
The present invention provides a kind of automatic inspection robot by above-mentioned design, which is sent by the external world
Information carries out information exchange, processor controls the second driving motor to drive second driving shaft to wireless transmitter with processor
Change the direction of motion of entire robot with the second propeller, and processor controls the first driving motor to drive the first transmission shaft
The power of advance or retrogressing is provided with the first propeller for robot, small-sized sonar sends sound wave to water body below robot, by
Wireless transmitter receives the water body depth, will send information to processor and carries out information processing, is unfavorable for transporting when robot is located at
During capable depth, processor controls the second driving motor that second driving shaft and the second propeller is driven to change the device direction of motion,
Control the first driving motor that the first transmission shaft and the first propeller is driven to retreat device, anti-locking apparatus is stranded；It is multigroup infrared anti-
Water surface peripheral obstacle can be sensed by hitting inductor, be received by wireless transmitter, will send information to processor into row information
Processing, when there is barrier in front, processor controls the first driving motor that the first transmission shaft and the first propeller is driven to make machine
People retreats, and the second driving motor of control drives second driving shaft and the second propeller to change the direction of motion of robot, prevents machine
Device people collides with barrier；Solar panels in robot housing outer surface, in fine day receive illumination storage electric energy with
In power supply, be conducive to maintain normal work during the cloudy day；Gravity tank can gather water body water sample and be monitored in real time for water quality testing unit
Will send information to processor and carry out data processing, processor will treated data sending to wireless transmitter, then by nothing
Line R-T unit gives data feedback to extraneous receiver.In addition, the automatic inspection robot further includes hydraulic elevator, the hydraulic pressure
Elevator can drive the robot to rise or decline, therefore, can be according to the depth of water body when water quality is detected
Degree carries out height adjusting, so that its service life is longer.
The present invention provides a kind of aquatic monitoring system by above-mentioned design, the aquatic monitoring system due to have it is above from
Dynamic inspection robot, therefore, has the characteristics that simple in structure and simple operation.
Description of the drawings
It, below will be to required use in embodiment in order to illustrate more clearly of the technical solution of embodiment of the present invention
Attached drawing be briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not to be seen as
It is the restriction to scope, it for those of ordinary skill in the art, without creative efforts, can be with root
Other relevant attached drawings are obtained according to these attached drawings.
Fig. 1 is automatic inspection robot structure diagram provided in an embodiment of the present invention；
Fig. 2 is automatic inspection robot first angle structure diagram provided in an embodiment of the present invention；
Fig. 3 is automatic inspection robot second angle structure diagram provided in an embodiment of the present invention；
Fig. 4 is automatic inspection robot third angle structure diagram provided in an embodiment of the present invention.
Icon：1- patrols robot automatically；2- housings；3- wireless transmitters；4- processors；5- water quality monitoring units；
The first locomotory mechanisms of 6-；7- anticollision inductors；8- gravity tanks；9- water monitors；10- power supplys；The first driving motors of 11-；12-
First transmission shaft；The first propellers of 13-；The second locomotory mechanisms of 14-；The second driving motors of 15-；16- second driving shafts；17-
Two propellers；18- water body detectors；19- sonars；20- transmitters；22- grille covers；23- pedestals；24- hydraulic elevators.
Specific embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, the technical solution in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
Part of the embodiment of the present invention, instead of all the embodiments.Described in usual attached drawing here and show of the invention real
Applying the component of example can configure to arrange and design with a variety of.
Therefore, below the detailed description of the embodiment of the present invention to providing in the accompanying drawings be not intended to limit it is claimed
The scope of the present invention, but be merely representative of the present invention selected embodiment.Based on the embodiments of the present invention, this field is common
Technical staff's all other embodiments obtained without making creative work belong to the model that the present invention protects
It encloses.
It should be noted that：Similar label and letter represents similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined, then it further need not be defined and explained in subsequent attached drawing in a attached drawing.
In the description of the present invention, it is necessary to which the orientation of the instructions such as explanation, term " on ", " under " or position relationship are base
In orientation shown in the drawings or position relationship or the invention product using when the orientation usually put or position relationship, only
It is that the present invention must have specifically with the device for describing rather than indicate or imply meaning or element is simplified for ease of description
Orientation, with specific azimuth configuration and operation, therefore be not considered as limiting the invention.
In addition, in the present invention, unless otherwise clearly defined and limited, fisrt feature is on or below second feature
It can be contacted directly including the first and second features, it is not to contact directly but pass through it that can also include the first and second features
Between other characterisation contact.Moreover, fisrt feature is on second feature, top and above include fisrt feature the
Directly over two features and oblique upper is merely representative of fisrt feature level height higher than second feature.Fisrt feature is special second
Under sign, lower section and fisrt feature included below immediately below second feature and obliquely downward or be merely representative of fisrt feature level
Highly it is less than second feature.
In addition, the terms such as term " level ", " vertical " are not offered as requiring component abswolute level or pendency, but can be slightly
Low dip.It is not to represent that the structure has been had to if " level " only refers to that its direction is more horizontal with respect to for " vertical "
It is complete horizontal, but can be slightly tilted.
In the description of the present invention, it is also necessary to explanation, unless otherwise clearly defined and limited, term " setting ",
" connected ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected or integrally connect
It connects；Can be mechanical connection or electrical connection；It can be directly connected, can also be indirectly connected by intermediary, it can
To be the connection inside two elements.For the ordinary skill in the art, can above-mentioned term be understood with concrete condition
Concrete meaning in the present invention.
Embodiment：
Fig. 1 is refer to, is coordinated referring to Figure 2 to Figure 4, the present embodiment provides a kind of aquatic monitoring system, including patrolling automatically
Robot 1 is looked into, which monitors water pollution current intelligence in real time for handling.
Further, inspection robot 1 includes housing 2, grille cover 22, wireless transmitter 3, processor 4, water quality automatically
Monitoring unit 5, the first locomotory mechanism 6, the second locomotory mechanism 14 and anticollision inductor 7；Wherein, grille cover 22 is mounted on housing
On 2, wireless transmitter 3, processor 4, water quality monitoring unit 5, the first locomotory mechanism 6, the second locomotory mechanism 14 and anticollision
Inductor 7 is mounted on housing 2；The sensing of wireless transmitter 3 and processor 4 connects, processor 4 respectively with water quality monitoring unit
5th, the first locomotory mechanism 6, the second locomotory mechanism 14 and the sensing connection of anticollision inductor 7；Water quality monitoring unit 5 is used for will be real-time
The Water quality data of monitoring are transferred to processor 4 and carry out data processing, and treated data are transferred to wirelessly by processor 4
R-T unit 3；For automatic inspection robot 1 to be driven to advance or retreat, the second locomotory mechanism 14 is used to control first locomotory mechanism 6
The automatic inspection robot 1 of system changes its direction of motion；Anticollision inductor 7 is for sensing water body peripheral obstacle, by induction information
Processor 4 is sent to, processor 4 controls the operating of the first locomotory mechanism 6 and the second locomotory mechanism 14 according to induction information.
Further, the first locomotory mechanism 6 includes the first driving motor 11, the first transmission shaft 12 and the first propeller
13, the first driving motor 11 is mounted on housing 2, the both ends of the first transmission shaft 12 respectively with the first driving motor 11, the first spiral shell
Rotation paddle 13 is sequentially connected.
Further, the second locomotory mechanism 14 includes the second driving motor 15,16 and second propeller of second driving shaft
17, the second driving motor 15 is mounted on housing 2, the both ends of second driving shaft 16 respectively with the second driving motor 15, the second spiral shell
Rotation paddle 17 is sequentially connected.
Processor 4 controls the second driving motor 15 that 16 and second propeller 17 of second driving shaft is driven to change entirely as a result,
The direction of motion of robot, and processor 4 controls the first driving motor 11 to drive the first transmission shaft 12 and the first propeller 13
The power of advance or retrogressing is provided for robot.
Further, water quality monitoring unit 5 includes gravity tank 8 and water monitor 9, and gravity tank 8 is felt with water monitor 9
It should connect, water monitor 9 is connected with the sensing of processor 4.
Further, inspection robot 1 includes water body detector 18 automatically, and water body detector 18 includes sonar 19 and transmission
Device 20, sonar 19 are mounted on housing 2, and sonar 19 is connected with the sensing of transmitter 20, and transmitter 20 is connected with the sensing of processor 4.
Small-sized sonar 19 sends sound wave to water body below robot, receives the water body depth by wireless transmitter 3, will send information to place
It manages device 4 and carries out information processing, when robot is located at the depth for being unfavorable for operation, processor 4 controls 15 band of the second driving motor
16 and second propeller 17 of dynamic second driving shaft changes the device direction of motion, and the first driving motor 11 of control drives the first transmission shaft
12 and first propeller 13 retreat device, prevent robot from stranded event occurs.
Further, inspection robot 1 includes power supply 10 and solar panels automatically, and power supply 10 is mounted on housing 2, the sun
Energy plate is then on the outer surface of housing 2, which receives in fine day in illumination storage electric energy and power supply 10, favorably
Normal work is maintained when the cloudy day.
Further, inspection robot 1 includes pedestal 23 and hydraulic elevator 24 automatically, and one end of hydraulic elevator 24 is pacified
On pedestal 23, the other end is flexibly connected with housing 2, and hydraulic elevator 24 rises or falls for drive shell 2.Therefore,
It can carry out height adjusting, so that its service life is longer when water quality is detected according to the depth degree of water body.
In conclusion the automatic inspection robot 1 send information to wireless transmitter 3 by the external world, with processor 4 into
Row information interacts, and processor 4 controls the second driving motor 15 that 16 and second propeller 17 of second driving shaft is driven to change entire machine
The direction of motion of device people, and the first driving motor 11 of control the first transmission shaft 12 of drive of processor 4 and the first propeller 13 are
Robot provides the power for advancing or retreating, and small-sized sonar 19 sends sound wave to water body below robot, by wireless transmitter 3
The water body depth is received, processor 4 is will send information to and carries out information processing, when robot is located at the depth for being unfavorable for operation,
Processor 4 controls the second driving motor 15 that 16 and second propeller 17 of second driving shaft is driven to change the device direction of motion, control
First driving motor 11 drives the first transmission shaft 12 and the first propeller 13 to retreat device, and anti-locking apparatus is stranded；It is multigroup infrared
Anticollision inductor 7 can sense water surface peripheral obstacle, be received by wireless transmitter 3, will send information to processor 4 and carry out
Information processing, when there is barrier in front, processor 4 controls the first driving motor 11 to drive the first transmission shaft 12 and the first spiral
Paddle 13 retreats robot, and the second driving motor 15 of control drives 16 and second propeller 17 of second driving shaft to change robot
The direction of motion prevents robot from being collided with barrier；Solar panels on the outer surface of robot housing 2 connect in fine day
Normal work is maintained when receiving illumination storage electric energy in power supply 10, being conducive to the cloudy day；Gravity tank 8 can gather the water supply of water body water sample
The monitoring in real time of quality detection unit will send information to processor 4 and carry out data processing, and by treated, data sending arrives processor 4
Wireless transmitter 3, then give data feedback to extraneous receiver by wireless transmitter 3.In addition, the automatic inspection robot 1
Hydraulic elevator 24 is further included, which can drive the robot to rise or decline, therefore, in detection water
When matter, can height adjusting be carried out according to the depth degree of water body, so that its service life is longer.
The foregoing is only a preferred embodiment of the present invention, is not intended to limit the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.Within the spirit and principles of the invention, that is made any repaiies
Change, equivalent substitution, improvement etc., should be included within protection scope of the present invention.
Claims (10)
1. a kind of automatic inspection robot, it is characterised in that：The automatic inspection robot include housing, wireless transmitter,
Processor, water quality monitoring unit, the first locomotory mechanism and anticollision inductor；
The wireless transmitter, the processor, the water quality monitoring unit, first locomotory mechanism and the anticollision
Inductor is installed on the housing；
The sensing of the wireless transmitter and the processor connects, the processor respectively with the water quality monitoring unit, institute
State the first locomotory mechanism and anticollision inductor sensing connection；
The water quality monitoring unit is used to the Water quality data monitored in real time being transferred to the processor progress data processing,
Treated data are transferred to the wireless transmitter by the processor；
First locomotory mechanism is used to that the automatic inspection robot to be driven to advance or retreat；The anticollision inductor is used to feel
Water body peripheral obstacle is answered, induction information is sent to the processor, the processor is according to induction information control described the
One locomotory mechanism operates.
2. automatic inspection robot according to claim 1, it is characterised in that：The water quality monitoring unit includes gravity tank
And water monitor, the gravity tank are connected with water monitor sensing, the water monitor and the processor sense
It should connect.
3. automatic inspection robot according to claim 1, it is characterised in that：The automatic inspection robot includes electricity
Source, the power supply installation is on the housing.
4. automatic inspection robot according to claim 1, it is characterised in that：First locomotory mechanism includes first and drives
Dynamic motor, the first transmission shaft and the first propeller, on the housing, described first is driven for the first driving motor installation
The both ends of axis are connected respectively with first driving motor, first propeller drive.
5. automatic inspection robot according to claim 1, it is characterised in that：The automatic inspection robot includes being used for
Change the second locomotory mechanism of the automatic inspection robot direction of motion, second locomotory mechanism includes the second driving electricity
Machine, second driving shaft and the second propeller, second driving motor are installed on the housing, the second driving shaft
Both ends are connected respectively with second driving motor, second propeller drive.
6. automatic inspection robot according to claim 1, it is characterised in that：The automatic inspection robot includes water body
Detector, the water body detector include sonar and transmitter, sonar installation on the housing, the sonar with it is described
Transmitter sensing connection, the transmitter are connected with processor sensing.
7. automatic inspection robot according to claim 3, it is characterised in that：The automatic inspection robot includes the sun
Energy plate, the solar panels installation is on the housing.
8. automatic inspection robot according to claim 1, it is characterised in that：The automatic inspection robot includes grid
Lid, the grille cover are mounted on housing.
9. automatic inspection robot according to claim 1, it is characterised in that：The automatic inspection robot includes pedestal
And hydraulic elevator, one end of the hydraulic elevator are mounted on the pedestal, the other end is flexibly connected with the housing, institute
Hydraulic elevator is stated for the housing to be driven to rise or fall.
10. a kind of aquatic monitoring system, it is characterised in that：The aquatic monitoring system is included described in any one of claim 1 to 9
Automatic inspection robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810133046.9A CN108052109A (en) | 2018-02-08 | 2018-02-08 | A kind of automatic inspection robot and aquatic monitoring system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810133046.9A CN108052109A (en) | 2018-02-08 | 2018-02-08 | A kind of automatic inspection robot and aquatic monitoring system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108052109A true CN108052109A (en) | 2018-05-18 |
Family
ID=62125188
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810133046.9A Pending CN108052109A (en) | 2018-02-08 | 2018-02-08 | A kind of automatic inspection robot and aquatic monitoring system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108052109A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112859890A (en) * | 2021-01-18 | 2021-05-28 | 中联重科股份有限公司 | Obstacle avoidance method and obstacle avoidance device for underwater equipment |
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| CN205091331U (en) * | 2015-10-29 | 2016-03-16 | 桂林基础设施建设有限公司 | Multi -functional detection device of hydraulic and hydroelectric engineering construction waste water |
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| CN208077008U (en) * | 2018-02-08 | 2018-11-09 | 广东环境保护工程职业学院 | A kind of automatic robot and aquatic monitoring system of patrolling |
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- 2018-02-08 CN CN201810133046.9A patent/CN108052109A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20110027020A (en) * | 2009-09-09 | 2011-03-16 | (주) 알이더블 | Mobile water quality measuring system |
| CN103105473A (en) * | 2012-11-06 | 2013-05-15 | 苏州聚阳环保科技有限公司 | Water quality detector sampling system |
| CN104730221A (en) * | 2014-10-30 | 2015-06-24 | 兰州交通大学 | Dynamic water pollution monitoring device |
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| CN106018726A (en) * | 2016-07-06 | 2016-10-12 | 江苏中农物联网科技有限公司 | Aquaculture water quality monitoring device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112859890A (en) * | 2021-01-18 | 2021-05-28 | 中联重科股份有限公司 | Obstacle avoidance method and obstacle avoidance device for underwater equipment |
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