CN108318296A - A kind of unmanned boat water quality sampling device - Google Patents
A kind of unmanned boat water quality sampling device Download PDFInfo
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- CN108318296A CN108318296A CN201810414729.1A CN201810414729A CN108318296A CN 108318296 A CN108318296 A CN 108318296A CN 201810414729 A CN201810414729 A CN 201810414729A CN 108318296 A CN108318296 A CN 108318296A
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- 238000005070 sampling Methods 0.000 title claims abstract description 87
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 76
- 239000010865 sewage Substances 0.000 claims description 17
- 230000000452 restraining effect Effects 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 2
- 230000005611 electricity Effects 0.000 claims 1
- 239000003643 water by type Substances 0.000 abstract description 5
- 238000011109 contamination Methods 0.000 abstract description 3
- 238000012544 monitoring process Methods 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000004321 preservation Methods 0.000 description 3
- 238000003911 water pollution Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- DMBHHRLKUKUOEG-UHFFFAOYSA-N diphenylamine Chemical compound C=1C=CC=CC=1NC1=CC=CC=C1 DMBHHRLKUKUOEG-UHFFFAOYSA-N 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000005086 pumping Methods 0.000 description 1
- 238000009827 uniform distribution Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/10—Devices for withdrawing samples in the liquid or fluent state
- G01N1/14—Suction devices, e.g. pumps; Ejector devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
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- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Health & Medical Sciences (AREA)
- Analytical Chemistry (AREA)
- Ocean & Marine Engineering (AREA)
- Combustion & Propulsion (AREA)
- Hydrology & Water Resources (AREA)
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Sampling And Sample Adjustment (AREA)
Abstract
The invention discloses a kind of unmanned boat water quality sampling devices, several hard tubes are stratified and set on hull, and it is adjacent between two hard tubes and is tightly connected by hose, traction rope is from top to bottom arranged on the hard tube successively, and the top of traction rope is connected with traction electric machine, bottom end is connected with plummet, and the hard tube of top is fixedly connected between traction rope with the hard tube of the bottom；One end of water-supply-pipe and the hard tube of top are tightly connected, and the other end is placed in the top of sample storage unit, and sample storage unit is connected on hull, and water pump is connected on water-supply-pipe.The configuration of the present invention is simple can replace different sampling water pipe and sampling bottle according to different waters situation and depth selection, replace simple easily operated.The problems such as can repeatedly sampling, while avoiding sampling sample contamination, it is ensured that the diversity of sampling.
Description
Technical field：
The present invention relates to a kind of unmanned boat water quality sampling devices.
Background technology：
Currently, environmentally friendly inspection department is the water quality situation for grasping administrative waters, typically water quality is carried out periodically or non-periodically
Sample detection is analyzed, and corresponding environmental protection measure is determined according to every quality index of water quality.However, existing Water Automatic Monitoring System by
It is fixed in position and is difficult to find pollution sources in time, and mobile monitoring means are mostly manned water quality monitoring vehicle or monitoring ship,
It is not only of high cost, but also influenced by the complicated landform of urban water-body, part waters personal monitoring's ship or monitoring car can not be sailed at all
Enter, cause current water quality monitoring system exist response not in time, the problems such as time and space resolution ratio is relatively low.Currently on the market without
People's ship sampling mode be unable to designated depth sampling, sampling structure complexity is heavy, easily blocks water pipe.Therefore, it is necessory to existing
Technology is improved to solve the deficiency of the prior art.
Invention content：
In view of the above-mentioned problems, the present invention has designed and developed a kind of unmanned boat water quality sampling device, which can obtain in specified waters
The water quality sample for taking designated depth will not cause water-pipe blockage, water pipe knotting and sampling structure excessively numerous during sampling
It the problems such as weight, and can repeatedly sample, while also take measure and avoiding sample contamination between repeatedly sampling.
The technical solution adopted in the present invention has：A kind of unmanned boat water quality sampling device, including hull, hull motor, spiral shell
Paddle and hull battery are revolved, the hull motor and hull battery are set on hull, and are led between hull motor and hull battery
It crosses conducting wire to be connected, propeller is connected with the shaft of hull motor, further includes traction electric machine, traction rope, plummet, hard tube, hose, defeated
Water pipe, water pump and sample storage unit, several hard tubes are stratified and set on hull, and are adjacent between two hard tubes and are led to
Hose sealed connection is crossed, traction rope is from top to bottom arranged on the hard tube successively, and the top of traction rope and traction electric machine phase
Even, bottom end is connected with plummet, and the hard tube of top is fixedly connected between traction rope with the hard tube of the bottom；The one of water-supply-pipe
End and the hard tube of top are tightly connected, and the other end is placed in the top of sample storage unit, and sample storage unit is connected to hull
On, water pump is connected on water-supply-pipe.
Further, the sample storage unit includes driving motor, sewage disposal barrel, sampling bottle and mounting bracket, the blowdown
Bucket is fixed on hull, and mounting bracket is rotatably connected in sewage disposal barrel, and mounting bracket is coaxially disposed with sewage disposal barrel, the circumference of mounting bracket
It is evenly equipped with several mounting rings on direction, one sampling bottle of grafting in each mounting ring, driving motor is fixed on hull, and is driven
The output shaft of motor is fixedly connected with mounting bracket.
Further, the side wall of the sewage disposal barrel is equipped with sewage draining exit.
Further, restraining position ring block is welded on the outer wall of the hard tube, traction rope is arranged in spacing ring.
Further, hinge is equipped between the two adjacent hard tubes, hard tube is fixedly connected on the free end of hinge.
Further, the bottom surface of the hull is equipped with mounting groove, which is arranged along the short transverse of hull, hard tube
It is placed in mounting groove with hose.
Further, it is fixedly connected with tray in the shaft of the traction electric machine, traction rope is set around on tray.
Further, the traction electric machine and driving motor are stepper motor.
The present invention has the advantages that：
1）The configuration of the present invention is simple, can according to different waters situation and depth selection come replace different sampling water pipes and
Sampling bottle is replaced simple easily operated.
2）The present invention is ingenious in design, can more accurately reach the water quality sample of designated depth position acquisition, and ensure to sample
The situation of water-pipe blockage, water pipe knotting etc. will not be caused in the process.
3）The device can be sampled repeatedly, at the same avoid sampling sample contamination the problems such as, it is ensured that the diversity of sampling.
Description of the drawings：
Fig. 1 is structure of the invention figure.
Fig. 2 is the installation diagram between hard tube and hose in the present invention.
Fig. 3 is the schematic diagram after hard tube expansion in the present invention.
Fig. 4 is the graphics of sample storage unit in the present invention.
Fig. 5 is the vertical view of sample storage unit in the present invention.
Specific implementation mode：
The present invention will be further described below with reference to the drawings.
Such as Fig. 1 to Fig. 5, a kind of unmanned boat water quality sampling device of the present invention, including hull 11, hull motor 12, propeller
13, hull battery 14, traction electric machine 21, traction rope 22, plummet 23, hard tube 24, hose 25, water-supply-pipe 26, water pump 27 and sample
Storage unit 4, hull motor 12 and hull battery 14 are set in hull 11, and are led between hull motor 12 and hull battery 14
Conducting wire is crossed to be connected.Propeller 13 is set to outside hull 11, and is connected with the shaft of hull motor 12.Several layering settings of hard tube 24
On hull 11, and it is adjacent between two hard tubes 24 and is tightly connected by a hose 25, traction rope 22 is from top to bottom successively
Be arranged on the hard tube 24 of layering setting, and the top of traction rope 22 and traction electric machine 21 are connected, the bottom end of traction rope 22 and
Plummet 23 is connected.The hard tube 24 of top is fixedly connected between traction rope 22 with the hard tube 24 of the bottom.Water-supply-pipe 26
The hard tube 24 of one end and top is tightly connected, and the other end is placed in the top of sample storage unit 4.Sample storage unit 4 connects
On hull 11, water pump 27 is connected on water-supply-pipe 26.
Traction rope 22 is transferred, plummet 23 makes the hard tube 24 of lowermost end sink to required position.Hose 25 is by two neighboring hard tube
24 connect, and ensure the foldability at node.Traction rope 22 is passed through from hard tube 24, and each hard tube 24 can be promoted to protect
It holds in same plane.Traction rope 22 draws the decentralization of hard tube 24 and withdraws.
Sample storage unit 4 in the present invention includes driving motor 40, sewage disposal barrel 41, sampling bottle 42 and mounting bracket 43, row
Dirty bucket 41 is fixed on hull 11, and mounting bracket 43 is rotatably connected on by axis and bearing in sewage disposal barrel 41, and mounting bracket 43 and row
Dirty bucket 41 is coaxially disposed.It is evenly equipped with 8 mounting rings 44 on the circumferencial direction of mounting bracket 43, grafting one in each mounting ring 44
Sampling bottle 42.Driving motor 40 is fixed on hull 11, and the output shaft of driving motor 40 is fixedly connected with mounting bracket 43.
Sewage draining exit 411 is equipped on the side wall of sewage disposal barrel 41.
Using rotatable mounting bracket 43,8 sampling bottles 42, two neighboring sampling bottle 42 are uniform-distribution on mounting bracket 43
Between angle be 45 °.In use, a sampling bottle 42 is placed in the underface of 26 water outlet of water-supply-pipe, lowermost end is then transferred
Hard tube 24 to required position, the water at the position is evacuated in the sampling bottle 42 immediately below water-supply-pipe 26 by water pump 27, completes one
The sampling of a depth.When to the next position or depth-sampling, for avoid remaining at a upper position water quality of water-supply-pipe 26 into
Enter to next sampling bottle 42, causes sampling inaccurate.When therefore being sampled at next different depth or position, lowermost end is first transferred
Hard tube 24 to required position, then pass through driving motor 40 drive mounting bracket 43 rotate 22.5 °, the water outlet of water-supply-pipe 26 at this time
Mouth is located at the centre of two sampling bottles, and then water pump 27 draws water, and the remaining water quality in water-supply-pipe 26 at a upper position is complete
Complete to empty, then driving motor 40 drives mounting bracket 43 to rotate 22.5 ° again so that the sampling bottle 42 at the next position is located at defeated
The underface of 26 water outlet of water pipe.
It is connected on hard tube 24 for ease of traction rope 22, restraining position ring block 241, traction rope 22 is welded on the outer wall of hard tube 24
It is arranged in spacing ring 241.And traction rope 22 be located on the spacing ring 241 on the hard tube 24 of top and the bottom.
Hinge 5 is equipped between two adjacent hard tubes 24, hard tube 24 is fixedly connected on the free end of hinge 5.Hinge 5 can be with
The stability for ensureing the decentralization of hard tube 24 and withdrawing.
It is equipped with mounting groove 110 in the bottom surface of hull 11, which is arranged along the short transverse of hull 11, hard tube
24 and hose 25 be placed in mounting groove 110.The stability that mounting groove 110 is further ensured that the decentralization of hard tube 24 and withdraws.
Tray 211 is fixedly connected in the shaft of traction electric machine 21, traction rope 22 is set around on tray 211.
For ease of controlling the rotational angle of traction electric machine 21 and driving motor 40, traction electric machine 21 and driving motor 40 are
Stepper motor.
The operating voltage of water pump 27 is 12V, and maximum stream flow is：2L/min, water pump 27 uses L298N controllers, main to control
The startup and stopping of water pump processed.
The effect of traction electric machine 21 samples the decentralization of hard tube 24 and packs up in order to control, using 42 stepper motors（42BYGH47-
Four line of 401A two-phases is hybrid）With TB6600 stepper motor drivers, the maximum static moment of the stepper motor：0.55N.m walks square
Angle is 1.8 °.In order to keep depth selection position more accurate, thus driver be set as under 4 subdivisions step angle be 1.8/4=
0.45 °, i.e., the stepper motor, which rotates one week, needs 800 steps.The Zhou Changwei 8cm that 211 roll of tray can be obtained by measurement, into
One step says that every turn of the stepper motor moves a step 0.01cm, and the frequency of pulse uses the 600Hz, the i.e. rotating speed of stepper motor to be：45
Rev/min.Such as：When staff by host computer set depth selection position as 3 meters when, controller is according to the sampling received
What depth rotated sampling stepper motor is arranged（300/8）* 800=30000 steps can be only achieved designated depth.When the end of sampling
When rotate backward 30000 steps and water pipe can be withdrawn.
Driving motor 40 acts on the position of sampling bottle 42 in order to control, and driving motor 40 uses 42 stepper motors（42BYGH47-
Four line of 401A two-phases is hybrid）With TB6600 stepper motor drivers, the maximum static moment of the stepper motor：0.55N.m walks square
Angle is 1.8 °.Angle between two neighboring sampling bottle is 45 °, is taken accordingly to enable 26 water outlet of water-supply-pipe to precisely align
Sample bottle, so it is 1.8/4=0.45 ° that driver, which is set as step angle under 4 subdivisions, i.e., the stepper motor, which rotates one week, needs 800
Step.Such as sampler is first initialized when unmanned boat starts, driving motor 40 rotates sample storage unit 4, and by sampling bottle
42 are placed in the underface of 26 water outlet of water-supply-pipe.When it is 1 to obtain sampling bottle number, i.e., water sample storage is taken for the 1st again
In sample bottle, the angle according to the discharge outlet of water pump apart from next sampling bottle is 45 ° at this time, i.e. position stepper motor needs to rotate
100 steps reach at the 1st sampling bottle, and so on, it reaches and position stepper motor is needed to rotate 200 at the 2nd sampling bottle
Step.
It is positioned using Big Dipper RTK location technologies on hull 11, several meters of position error is narrowed down into Centimeter Level, is had
Effect improves the accuracy of sample position.
Hull 11 uses GPRS wireless systems, is instructed by AT and uploads the location information of this sub-sampling of unmanned boat in real time, taken
Control instruction between sample depth, the sampling bottle number of preservation sampling sample, sample time and unmanned boat and host computer, it is ensured that
Reliability of the unmanned boat in sampling process.
Steps are as follows for the use of the present invention：
The first step：Sampler initialize, driving motor 40 rotate and make 26 water outlet of water-supply-pipe be placed in two sampling bottles 42 it
Between, prevent unmanned boat sub-sampling under water pump or the remaining water pollution of water pipe in the process of moving.
Second step：When the sampling instruction that unmanned boat receives, it first is partitioned into control section SAMPLE from instruction, i.e.,：The instruction is
Then sampling instruction is partitioned into depth selection position, coordinate points are numbered and sampled to this sampling bottle for preserving sample.
Third walks：After the sampling parameters that unmanned boat controller obtains, calculated first according to the depth selection position of acquisition
Then the angle of 21 motor of traction electric machine rotation controls traction electric machine 21 and transfers hard tube 24 to depth selection position.
4th step：After hard tube 24 reaches designated depth position, in order to avoid 26 remaining water pollution of water-supply-pipe samples
Sample, at this time the water outlet of water-supply-pipe 26 be located at the centre of two sampling bottles 42；Unmanned boat controller controls water pump 27,
It first draws water 30 seconds and discharge hull is carried out by sewage draining exit 411, in order to which remaining water quality in water-supply-pipe 26 prevents dirt
Dye sampling sample.After the completion of sewage is discharged, unmanned boat controller turns the number of sampling bottle in the sampling parameters according to acquisition
Dynamic mounting bracket 43 simultaneously will be corresponding with the water outlet of water-supply-pipe 26 at corresponding number sampling bottle.After the completion of all Job readiness, nothing
People's ship controller controls water pump and is sampled again.
Experiment is sampled according to a large amount of different depths to obtain when starting pumping for water pump 15 seconds, will not both make the water quality sample of extraction
Product overflow sampling bottle will not make water sample very few again.Unmanned boat controller starts water pump and is put into the water quality sample of acquisition first
In sampling bottle, after reaching 15 second time, switches off the pump and stop sampling of water quality.
5th step：When stopping sampling, unmanned boat controller takes the location information, depth selection, preservation of this sub-sampling
All sampling bottle number and sample time are sent to PC host computers and are preserved, and then withdraw hard tube 24.
Unmanned boat controller through wireless communication samples the location information of this sub-sampling, depth selection, preservation
The sampling bottle number of sample and sample time are sent to PC host computers and are preserved.Then control driving motor 40 rotates clockwise
Sampling bottle will be at its next blowdown（Position between two sampling bottles）It is corresponding with the water outlet of water-supply-pipe 26, prevent the mistake of hard tube 24
Cheng Zhong, the water in water pump flow into sampling bottle.Finally sampling stepper motor drives the rotation of capstan winch to withdraw traction rope 22, and then receives hard
Pipe 24.
6th step：After the completion of this sub-sampling, unmanned boat obtains next group of sampling coordinate points, according to Big Dipper RTK positioning systems
Autonomous cruise to the coordinate points are sampled when being sampled again, are repeated above operation, unmanned boat controller first controls water pump
It draws water 30 seconds, in order to remaining water quality in water pipe be discharged, remaining this sub-sampling of water pollution when preventing previous sample
Sample.After the completion of draining, unmanned boat controller is sampled operation according to sampling arrange parameter.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
It for member, can also make several improvements without departing from the principle of the present invention, these improvement also should be regarded as the present invention's
Protection domain.
Claims (8)
1. a kind of unmanned boat water quality sampling device, including hull（11）, hull motor（12）, propeller（13）With hull battery
（14）, the hull motor（12）With hull battery（14）It is set to hull（11）On, and hull motor（12）With hull battery
（14）Between by conducting wire be connected, propeller（13）With hull motor（12）Shaft be connected, it is characterised in that：It further include traction
Motor（21）, traction rope（22）, plummet（23）, hard tube（24）, hose（25）, water-supply-pipe（26）, water pump（27）And sample storage
Unit（4）, several hard tubes（24）It is stratified and set on hull（11）On, and it is adjacent to two hard tubes（24）Between by soft
Pipe（25）It is tightly connected, traction rope（22）It is from top to bottom arranged in the hard tube successively（24）On, and traction rope（22）Top
With traction electric machine（21）It is connected, bottom end and plummet（23）It is connected, the hard tube of top（24）With the hard tube of the bottom（24）With
Traction rope（22）Between be fixedly connected；Water-supply-pipe（26）One end and top hard tube（24）It is tightly connected, the other end is placed in
Sample storage unit（4）Top, sample storage unit（4）It is connected to hull（11）On, water pump（27）It is connected to water-supply-pipe
（26）On.
2. unmanned boat water quality sampling device as described in claim 1, it is characterised in that：The sample storage unit（4）Including
Driving motor（40）, sewage disposal barrel（41）, sampling bottle（42）And mounting bracket（43）, the sewage disposal barrel（41）It is fixed on hull（11）
On, mounting bracket（43）It is rotatably connected on sewage disposal barrel（41）It is interior, and mounting bracket（43）With sewage disposal barrel（41）Coaxial arrangement, mounting bracket
（43）Circumferencial direction on be evenly equipped with several mounting rings（44）, each mounting ring（44）One sampling bottle of interior grafting（42）, driving
Motor（40）It is fixed on hull（11）On, and driving motor（40）Output shaft and mounting bracket（43）It is fixedly connected.
3. unmanned boat water quality sampling device as claimed in claim 2, it is characterised in that：The sewage disposal barrel（41）Side wall on set
There is sewage draining exit（411）.
4. unmanned boat water quality sampling device as described in claim 1, it is characterised in that：The hard tube（24）Outer wall on weld
Restraining position ring block（241）, traction rope（22）It is arranged in spacing ring（241）It is interior.
5. unmanned boat water quality sampling device as described in claim 1, it is characterised in that：The two adjacent hard tubes（24）Between
Equipped with hinge（5）, hard tube（24）It is fixedly connected on hinge（5）Free end.
6. unmanned boat water quality sampling device as described in claim 1, it is characterised in that：The hull（11）Bottom surface be equipped with peace
Tankage（110）, the mounting groove（110）Along hull（11）Short transverse setting, hard tube（24）And hose（25）It is placed in installation
Slot（110）It is interior.
7. unmanned boat water quality sampling device as described in claim 1, it is characterised in that：The traction electric machine（21）Shaft on
It is fixedly connected with tray（211）, traction rope（22）It is set around tray（211）On.
8. unmanned boat water quality sampling device as described in claim 1, it is characterised in that：The traction electric machine（21）With driving electricity
Machine（40）It is stepper motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810414729.1A CN108318296A (en) | 2018-05-03 | 2018-05-03 | A kind of unmanned boat water quality sampling device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810414729.1A CN108318296A (en) | 2018-05-03 | 2018-05-03 | A kind of unmanned boat water quality sampling device |
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| Publication Number | Publication Date |
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| CN108318296A true CN108318296A (en) | 2018-07-24 |
Family
ID=62894856
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| CN201810414729.1A Pending CN108318296A (en) | 2018-05-03 | 2018-05-03 | A kind of unmanned boat water quality sampling device |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110065597A (en) * | 2019-05-08 | 2019-07-30 | 三门踱哒环保设备有限公司 | A kind of ocean water quality quick sampling ship |
| CN110329441A (en) * | 2019-04-08 | 2019-10-15 | 北京航空航天大学 | A kind of sea water quality detection canoe |
| CN110836792A (en) * | 2019-12-05 | 2020-02-25 | 湛江中科技术服务有限公司 | Layered water sample extraction and detection device for water area environment protection detection |
| CN112504761A (en) * | 2021-01-23 | 2021-03-16 | 邯郸市丛台区世天科技有限公司 | Unmanned aerial vehicle water quality sampling device for environmental monitoring |
| CN113029685A (en) * | 2021-03-03 | 2021-06-25 | 浙江科新藻业科技有限公司 | Intelligent water sample extraction device and method with traceable sampling information |
| CN113799933A (en) * | 2021-08-03 | 2021-12-17 | 吴勇 | Reservoir water quality sampling ship |
| CN114739742A (en) * | 2022-03-31 | 2022-07-12 | 海之韵(苏州)科技有限公司 | Cross-contamination-preventing water quality sampling unmanned ship and water quality sampling method of unmanned ship |
| CN116539370A (en) * | 2023-06-28 | 2023-08-04 | 奥来国信（北京）检测技术有限责任公司 | Unmanned ship for river sludge collection |
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