CN108627625A - A kind of automatic cruising water quality monitoring system based on geography information - Google Patents
A kind of automatic cruising water quality monitoring system based on geography information Download PDFInfo
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- CN108627625A CN108627625A CN201810413835.8A CN201810413835A CN108627625A CN 108627625 A CN108627625 A CN 108627625A CN 201810413835 A CN201810413835 A CN 201810413835A CN 108627625 A CN108627625 A CN 108627625A
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 88
- 238000012544 monitoring process Methods 0.000 title claims abstract description 79
- 238000004891 communication Methods 0.000 claims abstract description 13
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 claims description 9
- 229910052760 oxygen Inorganic materials 0.000 claims description 9
- 239000001301 oxygen Substances 0.000 claims description 9
- 230000000153 supplemental effect Effects 0.000 claims 2
- 230000005611 electricity Effects 0.000 claims 1
- 238000005259 measurement Methods 0.000 abstract description 6
- 238000005516 engineering process Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 238000011161 development Methods 0.000 description 3
- 239000003344 environmental pollutant Substances 0.000 description 2
- 230000036039 immunity Effects 0.000 description 2
- 231100000719 pollutant Toxicity 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 241000208340 Araliaceae Species 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 238000009360 aquaculture Methods 0.000 description 1
- 244000144974 aquaculture Species 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 235000008434 ginseng Nutrition 0.000 description 1
- 230000003760 hair shine Effects 0.000 description 1
- 238000009413 insulation Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000010079 rubber tapping Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 239000003643 water by type Substances 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/18—Water
-
- 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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
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- Life Sciences & Earth Sciences (AREA)
- Health & Medical Sciences (AREA)
- Radar, Positioning & Navigation (AREA)
- Computer Networks & Wireless Communication (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Medicinal Chemistry (AREA)
- Analytical Chemistry (AREA)
- Food Science & Technology (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Telephonic Communication Services (AREA)
Abstract
The automatic cruising water quality monitoring system based on geography information that the invention discloses a kind of comprising monitoring ship and remote server, monitoring ship include hull, hull drive module, water quality parameter acquisition module, GPS positioning module, wireless communication module and main control module；Remote server sends the Monitoring instruction for carrying target position data to main control module；GPS positioning module obtains the current location data of hull in real time, and main control module plans that cruise route, hull drive module driving hull are moved according to cruise route according to current location data and target position data；When hull reaches target location, water quality parameter acquisition module acquires water quality parameter data, and water quality parameter data are mutually bound generation water monitoring data with target position data by main control module；Remote server is additionally operable to record water monitoring data, and the movement locus of monitoring ship is generated according to the current location data of the hull obtained in real time.The present invention can carry out Multipoint movable measurement.
Description
Technical field
The present invention relates to water quality monitoring technical field, especially a kind of automatic cruising water quality monitoring system based on geography information
System.
Background technology
Water quality monitoring is monitoring and measures type, the concentration and variation tendency of each pollutant of pollutant in water body, is commented
The process of valence water quality condition.In recent years, the mode monitored automatically is mostly used greatly to the environmental monitoring in aquaculture waters.However,
Major part automatic water quality monitoring system the problems such as there are difficult wiring, of high cost and underactions at present, and mostly water quality from
Dynamic monitoring system is fixed measuring system, and what spot measurement can monitor is limited in scope, and multimetering is then of high cost, promotes general
And it is difficult.
Invention content
The goal of the invention of the present invention is：In view of the above problems, a kind of patrolling automatically based on geography information is provided
Boat water quality monitoring system, can carry out Multipoint movable measurement.
In order to solve the above technical problems, one aspect of the present invention is：It provides a kind of based on geography information
Automatic cruising water quality monitoring system, including monitoring ship and remote server, the monitoring ship include hull, hull drive module,
Water quality parameter acquisition module, GPS positioning module, wireless communication module and main control module, the main control module drive mould with hull
Block, water quality parameter acquisition module and GPS positioning module electrical connection, the remote server pass through the wireless communication module and institute
State main control module communication connection；The remote server is used to send the monitoring for carrying target position data to the main control module
Instruction；The main control module is used to control the present bit that the GPS positioning module obtains hull in real time according to the Monitoring instruction
Data are set, cruise route is planned according to the current location data and the target position data, and control the hull driving
Hull described in module drive is moved according to the cruise route；The main control module is additionally operable to reach target location in the hull
When, the water quality parameter acquisition module acquisition water quality parameter data are controlled, by the water quality parameter data and the target location
Data mutually bind generation water monitoring data, and by the current location of the water monitoring data and the hull obtained in real time
Data are sent to the remote server；The remote server is additionally operable to record the water monitoring data, and according to described
The current location data of the hull obtained in real time generates the movement locus of monitoring ship.
Preferably, further include mobile client, the remote server is additionally operable to the water monitoring data and described
Movement locus is sent to mobile client, so that the mobile client can check the water monitoring data and the movement
Track.
Preferably, the main control module includes the first controller and second controller, and first controller is used for basis
The Monitoring instruction controls the current location data that the GPS positioning module obtains hull in real time, according to the current location number
Cruise route is planned according to the target position data, and controls the hull drive module and the hull is driven to be patrolled according to described
Air route line movement；The second controller is used for when the hull reaches target location, controls the water quality parameter acquisition mould
Block acquires water quality parameter data, and the water quality parameter data are mutually bound with the target position data and generate water quality monitoring number
According to, and the current location data of the water monitoring data and the hull obtained in real time is sent to the remote service
Device.
Preferably, first controller and second controller are microcontroller.
Preferably, the water quality parameter acquisition module includes temperature sensor, dissolved oxygen sensor and ph value sensors, institute
It states temperature sensor, dissolved oxygen sensor and ph value sensors and is mounted on the hull bottom, the water quality parameter data packet
Include pH value data, oxygen content data and water temperature data.
Preferably, the wireless communication module is gsm module.
Preferably, the hull is catamaran type hull, and the hull drive module includes driving chip, driving circuit, the
One motor and the second motor, the first motor and second motor are mounted on the hull tail portion, the driving chip tool
Have the first signal input part, second signal input terminal, third signal input part, fourth signal input terminal, the first signal output end,
Second signal output end, third signal output end and fourth signal output end, the driving circuit include the first diode, second
Diode, third diode, the 4th diode, the 5th diode, the 6th diode, the 7th diode, the 8th diode, first
Resistance, second resistance, the first light emitting diode, the second light emitting diode, third light emitting diode and the 4th light emitting diode, institute
State the first diode, the second diode, third diode, the 4th diode cathode be all connected with driving voltage, the described 5th 2
Pole pipe, the 6th diode, the 7th diode, the 8th diode anode be grounded, first diode, the second diode,
Anode and the 5th diode, the 6th diode, the 7th diode, the 8th diode of third diode, the 4th diode
Cathode connect one to one respectively；The anode of the first diode of the first signal output end connection, one end of first resistor
With the first input end of first motor, the second signal output end connects the anode and the second of first motor of the second diode
Input terminal, the first input end of the anode and the second motor of the third signal output end connection third diode, the described 4th
Signal output end connects anode, one end of second resistance and the second input terminal of the second motor of the 4th diode；Described first
The other end of resistance connects the anode of the cathode and the second light emitting diode of the first light emitting diode, first light emitting diode
Anode the second input terminal of first motor is connected with the cathode of the second light emitting diode；The other end of the second resistance connects
The anode of third light emitting diode and the cathode of the 4th light emitting diode, the cathode of the third light emitting diode and the 4th shine
The first input end of anode the second motor of connection of diode.
Preferably, be additionally provided on the insulation transparent cabinet for control each line start or stop test start and stop by
Button.
Preferably, the first motor and the second motor are high-speed micro direct current generator.
In conclusion by adopting the above-described technical solution, the present invention can carry out automatic cruising, measurement task is completed,
Multipoint movable measurement is thus allowed for, the flexibility of monitoring range and monitoring is improved, reduces monitoring cost, there is volume
The features such as small, easy to operate, easy to use, inexpensive and strong interference immunity.
Description of the drawings
Fig. 1 is the configuration diagram of the automatic cruising water quality monitoring system based on geography information of the embodiment of the present invention.
Fig. 2 is the principle schematic of the hull drive module of automatic cruising water quality monitoring system shown in FIG. 1.
Specific implementation mode
All features disclosed in this specification or disclosed all methods or in the process the step of, in addition to mutually exclusive
Feature and/or step other than, can combine in any way.
Any feature disclosed in this specification (including any accessory claim, abstract), unless specifically stated,
It is replaced by other equivalent or with similar purpose alternative features.That is, unless specifically stated, each feature is a series of
An example in equivalent or similar characteristics.
As shown in Figure 1, in embodiments of the present invention, the automatic cruising water quality monitoring system based on geography information includes monitoring
Ship 10 and remote server 20, monitoring ship 10 include hull (not shown), hull drive module 12, water quality parameter acquisition module
13, GPS positioning module 14, wireless communication module 15 and main control module 16.Main control module 16 is joined with hull drive module 12, water quality
Number acquisition module 13 and GPS positioning module 14 are electrically connected, and remote server 20 passes through wireless communication module 15 and main control module 16
Communication connection.
In the present embodiment, wireless communication module 15 is preferably gsm module.
Remote server 20 is used to send the Monitoring instruction for carrying target position data to main control module 16；
Main control module 16 is used to control the current location number that GPS positioning module 14 obtains hull in real time according to Monitoring instruction
According to planning cruise route according to current location data and target position data, and control hull drive module 12 and hull is driven to press
It is moved according to cruise route.
Main control module 16 is additionally operable to when hull reaches target location, and control water quality parameter acquisition module 13 acquires water quality ginseng
Water quality parameter data are mutually bound generation water monitoring data with target position data by number data, and by water monitoring data with
The current location data of the hull obtained in real time is sent to remote server 20.
Remote server 20 is additionally operable to record water monitoring data, and according to the current location data of the hull obtained in real time
Generate the movement locus of monitoring ship.Wherein, original water monitoring data can be included in data frame by remote server 20.For
The precision for improving positioning, in Software for Design is filtered the data of reception using Kalman filter, filters out long-range
The irregular data that server 20 receives, which have many advantages, such as that transplantability is good, easy to operate, at low cost；After processing
Data carry out relative error and variance error analysis, and Kalman filter treated data and error analysis result are led to
Cross user interface simultaneous display.
For the ease of issuing in time and checking water quality situation at any time, in the present embodiment, automatic cruising water quality monitoring system
Further include mobile client 30, remote server 20 is additionally operable to water monitoring data and movement locus being sent to mobile client
30, so that mobile client 30 can check water monitoring data and movement locus.
Main control module 16 includes the first controller 161 and second controller 162, and the first controller 161 is used for according to monitoring
Instruction control GPS positioning module 14 obtains the current location data of hull in real time, according to current location data and target location number
According to planning cruise route, and controls hull drive module 12 and hull is driven to be moved according to cruise route.Second controller 162 is used for
When hull reaches target location, control water quality parameter acquisition module 13 acquires water quality parameter data, by water quality parameter data with
Target position data mutually binds generation water monitoring data, and the current location of the hull obtained by water monitoring data and in real time
Data are sent to remote server 20.Specifically, the first controller 161 and second controller 162 can be microcontroller, and first
Controller 161 and second controller 162 can be the Arduino microcontrollers increased income, and Arduino is a kind of microcontroller control increased income
Device processed, it builds open source code using Atmel AVR single chips using the hardware and software platform based on open source code
Simple I/O interface boards use JAVA, the Processing Wiring development environments of C language, development environment and development language
Simply, readily understood.The serial external tappings of SPI may be used between first controller 161 and second controller 162 to be communicated.
Water quality parameter acquisition module 13 includes but not limited to temperature sensor, dissolved oxygen sensor and ph value sensors, temperature
Degree sensor, dissolved oxygen sensor and ph value sensors are mounted on hull bottom, and water quality parameter data include but not limited to PH
Value Data, oxygen content data and water temperature data.
Referring to Fig. 2, in the present embodiment, hull be catamaran type hull, hull drive module 12 include driving chip 121,
Driving circuit 122, first motor 123 and the second motor 124, first motor 123 and the second motor 124 are mounted on hull tail portion,
Driving chip 121 has the first signal input part IN1, second signal input terminal IN2, third signal input part IN3, fourth signal
Input terminal IN4, the first signal output end OUT1, second signal output end OUT2, third signal output end OUT3 and fourth signal
Output end OUT4, driving circuit 122 include the first diode D1, the second diode D2, third diode D3, the 4th diode
D4, the 5th diode D5, the 6th diode D6, the 7th diode D7, the 8th diode D8, first resistor R1, second resistance R2,
First light emitting diode DR1, the second light emitting diode DR2, third light emitting diode DR3 and the 4th light emitting diode DR4, first
Diode D1, the second diode D2, third diode D3, the 4th diode D4 cathode be all connected with driving voltage, the five or two pole
Pipe D5, the 6th diode D6, the 7th diode D7, the positive of the 8th diode D8 are grounded, the first diode D1, the two or two pole
Pipe D2, third diode D3, the 4th diode D4 anode with the 5th diode D5, the 6th diode D6, the 7th diode D7,
The cathode of 8th diode D8 connects one to one respectively；The anode of first signal output end OUT1 the first diodes of connection D1,
The first input end of one end and first motor 123 of first resistor R1, second signal output end OUT2 the second diodes of connection D2
Anode and first motor 123 the second input terminal, the anode and the of third signal output end OUT3 connection third diodes D3
The first input end of two motors 124, the anode of the 4th diode D4 of fourth signal output end OUT4 connections, the one of second resistance R2
Second input terminal at end and the second motor 124；The other end of first resistor R1 connects the cathode and the of the first light emitting diode DR1
The anode of the anode of two light emitting diode DR2, the first light emitting diode DR1 connects the with the cathode of the second light emitting diode DR2
Second input terminal of one motor 123；The anode and the 4th of the other end connection third light emitting diode D3 of second resistance R2 shines
The cathode of diode D4, the cathode of third light emitting diode D3 and anode the second motor 124 of connection of the 4th light emitting diode D4
First input end.
Driving chip 121 can select the dual H-bridge direct current generator driving chip of model L298N.
First signal input part IN1, second signal input terminal IN2, third signal input part IN3, fourth signal input terminal
IN4 receives the input of the first controller 161, wherein the first signal input part IN1 and second signal input terminal IN2 are as first
The forward drive signal input part and reverse drive signal input part of motor 123, third signal input part IN3 and fourth signal are defeated
Enter to hold IN4 as the forward drive signal input part of the second motor 124 and is driven reverse signal input part.123 He of first motor
High-speed micro direct current generator may be used in second motor 124, and maximum speed can reach 2000 turns or more under rated voltage, and first
Motor 123 and the second motor 124, which cooperate, can complete the actions such as the forward and steering of hull.
By the above-mentioned means, the automatic cruising water quality monitoring system based on geography information of the embodiment of the present invention by using
Geographical information technology, GPS positioning technology, single-chip microcomputer control technology and the GPRS communication technologys are combined and monitoring ship are used to carry out
Automatic cruising is realized to the monitoring of the real-time and precise of water quality, thus allows for Multipoint movable measurement, improve monitoring range and
The flexibility of monitoring, reduces monitoring cost, has small, easy to operate, easy to use, inexpensive and strong interference immunity etc.
Feature
The invention is not limited in specific implementation modes above-mentioned.The present invention, which expands to, any in the present specification to be disclosed
New feature or any new combination, and disclose any new method or process the step of or any new combination.
Claims (8)
1. a kind of automatic cruising water quality monitoring system based on geography information, which is characterized in that including monitoring ship and remote service
Device, the monitoring ship include hull, hull drive module, water quality parameter acquisition module, GPS positioning module, wireless communication module
And main control module, the main control module are electrically connected with hull drive module, water quality parameter acquisition module and GPS positioning module, institute
Remote server is stated to communicate to connect by the wireless communication module and the main control module；
The remote server is used to send the Monitoring instruction for carrying target position data to the main control module；
The main control module is used to control the current location that the GPS positioning module obtains hull in real time according to the Monitoring instruction
Data plan cruise route according to the current location data and the target position data, and control the hull driving mould
Block drives the hull to be moved according to the cruise route；
The main control module is additionally operable to when the hull reaches target location, controls the water quality parameter acquisition module acquisition water
The water quality parameter data and the target position data are mutually bound generation water monitoring data by matter supplemental characteristic, and by institute
The current location data for the hull stated water monitoring data and obtained in real time is sent to the remote server；
The remote server is additionally operable to record the water monitoring data, and working as according to the hull obtained in real time
Front position data generate the movement locus of monitoring ship.
2. automatic cruising water quality monitoring system according to claim 1, which is characterized in that further include mobile client, institute
It states remote server to be additionally operable to the water monitoring data and the movement locus being sent to mobile client, so as to the shifting
Dynamic client can check the water monitoring data and the movement locus.
3. automatic cruising water quality monitoring system according to claim 1 or 2, which is characterized in that the main control module includes
First controller and second controller, first controller are used to control the GPS positioning module according to the Monitoring instruction
The current location data for obtaining hull in real time, according to the current location data and target position data planning cruise road
Line, and control the hull drive module and the hull is driven to be moved according to the cruise route；
The second controller is used for when the hull reaches target location, controls the water quality parameter acquisition module acquisition water
The water quality parameter data and the target position data are mutually bound generation water monitoring data by matter supplemental characteristic, and by institute
The current location data for the hull stated water monitoring data and obtained in real time is sent to the remote server.
4. automatic cruising water quality monitoring system according to claim 3, which is characterized in that first controller and second
Controller is microcontroller.
5. automatic cruising water quality monitoring system according to claim 1 or 2, which is characterized in that the water quality parameter acquisition
Module includes temperature sensor, dissolved oxygen sensor and ph value sensors, the temperature sensor, dissolved oxygen sensor and ph values
Sensor is mounted on the hull bottom, and the water quality parameter data include pH value data, oxygen content data and water temperature data.
6. automatic cruising water quality monitoring system according to claim 1, which is characterized in that the wireless communication module is
Gsm module.
7. automatic cruising water quality monitoring system according to claim 1 or 2, which is characterized in that the hull is catamaran type
Hull, the hull drive module include driving chip, driving circuit, first motor and the second motor, the first motor and
Second motor be mounted on the hull tail portion, the driving chip have the first signal input part, second signal input terminal,
Third signal input part, fourth signal input terminal, the first signal output end, second signal output end, third signal output end and
Fourth signal output end, the driving circuit include the first diode, the second diode, third diode, the 4th diode, the
Five diodes, the 6th diode, the 7th diode, the 8th diode, first resistor, second resistance, the first light emitting diode,
Two light emitting diodes, third light emitting diode and the 4th light emitting diode, first diode, the second diode, the three or two
Pole pipe, the 4th diode cathode be all connected with driving voltage, the 5th diode, the 6th diode, the 7th diode, the 8th
The anode of diode is grounded, first diode, the second diode, third diode, the anode of the 4th diode and institute
State the 5th diode, the 6th diode, the 7th diode, the 8th diode cathode connect one to one respectively；Described first
Anode, one end of first resistor and the first input end of first motor of signal output end the first diode of connection, described second
Signal output end connects the anode of the second diode and the second input terminal of first motor, third signal output end connection the
The anode of three diodes and the first input end of the second motor, the anode of the 4th diode of the fourth signal output end connection,
Second input terminal of one end of second resistance and the second motor；The other end of the first resistor connects the first light emitting diode
The anode of the anode of cathode and the second light emitting diode, first light emitting diode is connected with the cathode of the second light emitting diode
Second input terminal of first motor；The anode and the 4th luminous two of the other end connection third light emitting diode of the second resistance
The first of the cathode of pole pipe, the cathode of the third light emitting diode and anode the second motor of connection of the 4th light emitting diode is defeated
Enter end.
8. automatic cruising water quality monitoring system according to claim 7, which is characterized in that the first motor and the second electricity
Machine is high-speed micro direct current generator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201810413835.8A CN108627625A (en) | 2018-05-03 | 2018-05-03 | A kind of automatic cruising water quality monitoring system based on geography information |
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| CN201810413835.8A CN108627625A (en) | 2018-05-03 | 2018-05-03 | A kind of automatic cruising water quality monitoring system based on geography information |
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| CN201810413835.8A Pending CN108627625A (en) | 2018-05-03 | 2018-05-03 | A kind of automatic cruising water quality monitoring system based on geography information |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109444362A (en) * | 2018-11-07 | 2019-03-08 | 环境保护部华南环境科学研究所 | A kind of patrol robot for water pollution monitoring |
| CN110583560A (en) * | 2019-09-18 | 2019-12-20 | 上海海事大学 | Solar unmanned ship for adjusting water body temperature and adjusting method thereof |
| CN110824133A (en) * | 2019-11-22 | 2020-02-21 | 湖南文理学院 | Accurate calculation method for ecological capacity of each level of lake |
| CN113030409A (en) * | 2021-03-01 | 2021-06-25 | 西安水泽动力科技有限公司 | Water quality measuring method |
| CN114942310A (en) * | 2022-04-11 | 2022-08-26 | 湛江幼儿师范专科学校(岭南师范学院基础教育学院) | Unmanned ship for water quality monitoring and water quality monitoring system |
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| CN105371896A (en) * | 2015-11-30 | 2016-03-02 | 江苏大学 | Cruising water quality multi-parameter remote monitoring system and method capable of self-learning locus navigation |
| CN208344523U (en) * | 2018-05-03 | 2019-01-08 | 四川慧流云科技有限公司 | A kind of power-driven system of water quality monitoring ship |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105371896A (en) * | 2015-11-30 | 2016-03-02 | 江苏大学 | Cruising water quality multi-parameter remote monitoring system and method capable of self-learning locus navigation |
| CN208344523U (en) * | 2018-05-03 | 2019-01-08 | 四川慧流云科技有限公司 | A kind of power-driven system of water quality monitoring ship |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109444362A (en) * | 2018-11-07 | 2019-03-08 | 环境保护部华南环境科学研究所 | A kind of patrol robot for water pollution monitoring |
| CN110583560A (en) * | 2019-09-18 | 2019-12-20 | 上海海事大学 | Solar unmanned ship for adjusting water body temperature and adjusting method thereof |
| CN110824133A (en) * | 2019-11-22 | 2020-02-21 | 湖南文理学院 | Accurate calculation method for ecological capacity of each level of lake |
| CN113030409A (en) * | 2021-03-01 | 2021-06-25 | 西安水泽动力科技有限公司 | Water quality measuring method |
| CN114942310A (en) * | 2022-04-11 | 2022-08-26 | 湛江幼儿师范专科学校(岭南师范学院基础教育学院) | Unmanned ship for water quality monitoring and water quality monitoring system |
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