CN109507378A - A kind of machine ship coupled inferring ship and its monitoring method - Google Patents
A kind of machine ship coupled inferring ship and its monitoring method Download PDFInfo
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- CN109507378A CN109507378A CN201811335460.4A CN201811335460A CN109507378A CN 109507378 A CN109507378 A CN 109507378A CN 201811335460 A CN201811335460 A CN 201811335460A CN 109507378 A CN109507378 A CN 109507378A
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Abstract
The invention discloses a kind of machine ship coupled inferring ship and its monitoring methods, which includes hull, and there is propulsion device, composite water quality monitoring device, ship to carry unmanned plane auxiliary monitoring device on the hull.The present invention can be sampled to abnormal water body and carry out accurate measurement, promote monitoring accuracy.
Description
Technical field
The present invention relates to mariculture aquatic monitoring technical fields, more specifically to a kind of machine ship coupled inferring ship
And its monitoring method.
Background technique
With the improvement of living standards, mariculture had become the swift and violent industry of development already.And China is as one
The vast country of oceanic area, developing mariculture industry has advantageous advantage.But China's mariculture industry in recent years
Development but receives multiple resistances, and the maximum resistance for restricting the development of mariculture industry is exactly environmental problem.
Along with China's rapid development of economy, environmental problem has been got worse, and ocean as in the ecosystem extremely
An important ring, environmental problem are also faced with stern challenge.Mariculture industry is as high to water environment dependence
Industry, development speed directly determined by water environment.China mariculture zone water environment and unstable at present,
Just facing to the challenge of a variety of pollution sources, it is broadly divided into overseas pollution and domain and pollutes.Overseas pollution specifically includes that Sewage
Dye such as enters the sewage and sanitary wastewater of the discharge of Haihe River upstream industries；Thermal pollution, such as industrial thermal wastewater are discharged into；Oil pollution, such as
Marine oil spill accident；Microbiological contamination, red tide as caused by virus infection organism in water etc..And main packet is polluted in domain
Include: medicine pollution, drug is excessively used in breeding process；Manure contamination gives up caused by material culture itself metabolism
Material etc..If real-time monitoring can be carried out to mariculture waters to grasp its water quality real time information, this will be for us
Giving warning in advance for various pollutions is carried out to reduce economic loss to take measures on customs clearance and have great significance.
The main method that water quality monitoring at present uses has: ocular estimate, empirical method, water body sampling physico-chemical analysis method and newest
Water quality monitoring system method.Ocular estimate is low with empirical method measurement accuracy, though water body sampling physico-chemical analysis method precisely expends largely
Manpower and inefficiency, and water quality monitoring system method can not achieve the monitoring of all standing to target water and not can be carried out overseas pre-
It is alert.So current water quality monitoring method can not adapt to the monitoring requirements in this special waters of mariculture zone completely.
Summary of the invention
To overcome defect of the existing technology, the present invention proposes a kind of machine ship coupled inferring ship and its monitoring method.
The purpose of the present invention is achieved through the following technical solutions:
A kind of machine ship coupled inferring ship, including hull are designed, there is propulsion device, composite water quality monitoring dress on the hull
It sets, ship carries unmanned plane auxiliary monitoring device.
In the above scheme, the composite water quality monitoring device includes sampler, composite water quality monitor, oil pollutant
Water sample synthesis analyzer in identifier, ship；The sampler is arranged in hull bottom, and the composite water quality monitor, which is mounted on, to be taken
Sample device bottom, the water inlet of water sample synthesis analyzer is connected to the water outlet of sampler in the oil pollutant identifier, ship,
The composite water quality monitor, oil pollutant identifier, the testing result of water sample synthesis analyzer passes through data and transmits in ship
Module transfer is to controller.
In the above scheme, the composite water quality monitor includes temperature sensor, turbid sensor, pH sensor, ammonia
Nitrogen sensor, nitrite sensor, biochemical oxygen demand (BOD) sensor and hydrogen sulfide sensor.
In the above scheme, the sampler includes drainage pump, and the drainage pump side is connected to the first water inlet, and institute
It states and is provided with flow-limiting valve between drainage pump and the first water inlet, the drainage pump other side offers the first water outlet, respectively
Two water outlets, the flow-limiting valve are connect with controller.
In the above scheme, the oil pollutant identifier includes the first cabinet, and first cabinet two sides are set respectively
It is equipped with the second water inlet, third water outlet, first box house top is respectively fixed with first light source, photomultiplier tube,
It is fixed with grating below the photomultiplier tube, second water inlet is connected to the first water outlet.
In the above scheme, water sample synthesis analyzer includes H2S detector and ammonia nitrogen detector in the ship.
In the above scheme, the H2S detector includes the second cabinet, and second cabinet two sides are respectively arranged with
Third water inlet, the 4th water outlet, the third water inlet are connected to the second water outlet, and second box house top is fixed
There is second light source, is fixed with monochromator below the second light source, second box house bottom end is fixed with photodiode
Array detector, second box house are provided with the glass absorption cell being connected to the 4th water outlet.
In the above scheme, the ammonia nitrogen detector includes third cabinet, and third cabinet two sides are respectively arranged with
Four water inlets, the 5th water outlet, the 4th water inlet are connected to the second water outlet, and third box house top is solid respectively
Surely there are ammonia gas-sensing electrode, blender, third box house bottom end is fixed with air-sensitive film, and the third box house is filled with
Ammonium chloride solution.
In the above scheme, the propulsion device includes sail, solar generator, and the solar generator includes too
Positive energy solar panel and lithium ion battery, the sail, solar generator provide power for propeller.
In the above scheme, it includes that ship carries unmanned plane, auxiliary camera that the ship, which carries unmanned plane auxiliary monitoring device, described
Ship carries unmanned plane, auxiliary camera and controller and is wirelessly connected, and the controller is connect with data transmission antenna, and the ship carries nothing
It is man-machine to be wirelessly connected with manual control end on the bank.
In the above scheme, the hull is made of captain boat body and secondary hull, is had in the captain boat body tail end foldable
Platform.
The present invention also provides a kind of monitoring methods of mariculture water body physical and chemical index, using above-mentioned machine ship coupled inferring
Ship, method includes the following steps:
Step1, machine ship coupled inferring ship is in mariculture water-area navigation；
Step2, composite water quality monitor is in running order always and by real-time monitoring the data obtained during navigation
It is transferred to controller by data transmission module, the data obtained and standard water volume data library are subjected to data comparison；
Step3, if detecting water body data exception, machine ship coupled inferring ship stop traveling, controller control sampler into
The sampling of row water body, meanwhile, controller control release ship carries unmanned plane, and ship carries unmanned plane and starts itinerant monitor system process, and ship carries nobody
The included camera start recording water surface situation of machine, ship carry unmanned plane and carry out touring flight by the center of circle of machine ship coupled inferring ship,
Simultaneously to controller, obtained water quality exception picture is transmitted on the bank real-time Transmission its camera filming surface situation by controller
Manual control end；
Step4, gained water sample flow to oil pollutant identifier by water outlet, water sample synthesis analyzer in ship, oils
Pollutant identifier monitors whether water sample containing oil pollutant and determines the classification of oil pollutant, water sample comprehensive analysis in ship
Instrument is monitored hydrogen sulfide, ammonia nitrogen index and the data obtained is back to controller in real time, in oil pollutant identifier, ship
Also there are the water samples for taking back laboratory testing residue index inside water sample synthesis analyzer；
Step5, machine ship coupled inferring ship continue to travel, and manual control end control recycling ship on the bank carries unmanned plane, if comprehensive
It closes water quality monitor and detects water body data exception again, then repeat Step3 to Step4.
Compared with prior art, the invention has the following advantages:
The present invention can be sampled to abnormal water body and carry out accurate measurement, promote monitoring accuracy.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples, in attached drawing:
Fig. 1 is the side structure schematic view of machine ship coupled inferring ship in the embodiment of the present invention；
Fig. 2 is the structural schematic diagram of sampler in Fig. 1；
Fig. 3 is the structural schematic diagram of oil pollutant identifier in Fig. 1；
Fig. 4 is the structural schematic diagram of H2S detector；
Fig. 5 is the structural schematic diagram of ammonia nitrogen detector.
In figure: hull 1, propeller 2, data transmission antenna 3, sail 4, ship carry unmanned plane 5, solar panel 6, auxiliary
Camera 7, oil pollutant identifier 8, sampler 9, water sample synthesis analyzer 10 in ship, composite water quality monitor 11 can be rolled over
Folded platform 12, lithium ion battery 13, controller 14, the second water inlet 15, photomultiplier tube 16, grating 17, first light source 18, the
Three water outlets 19, the first water inlet 20, flow-limiting valve 21, drainage pump 22, the first water outlet 23, the second water outlet 24, third water inlet
Mouth 25, second light source 26, monochromator 27, glass absorption cell 28, photodiode array detector 29, the 4th water outlet 30, the
Four water inlets 31, blender 32, ammonia gas-sensing electrode 33, air-sensitive film 34, the 5th water outlet 35.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.
As shown in Figure 1, the present invention provides a kind of machine ship coupled inferring ship, including hull 1, have on hull 1 propulsion device,
Composite water quality monitoring device, ship carry unmanned plane auxiliary monitoring device.
Hull 1 is made of captain boat body and secondary hull, has foldable platforms 12 in captain boat body tail end, increasing can be laid with too
The area of positive energy solar panel 6, can voluntarily fold when intensity of illumination is inadequate, reduce resistance and improve the stability of hull 1.
Propulsion device includes sail 4, solar generator, and solar generator includes solar panel 6 and lithium ion
Battery 13, sail 4, solar generator are that propeller 2 provides power.Sail 4, solar generator improve machine ship coupling prison
Survey the cruising ability of ship.When wind regime is suitable for, monitoring ship is pushed directly on using sail, solar panel 6 gives lithium-ion electric at this time
Pond 13 powers；When wind regime is not suitable for, sail 4 is packed up, and supplies power propulsion monitoring ship by solar generator.Ship is monitored to select
Two sets of Full Rotary PODDED PROPULSORs 2 are arranged in 1 lower section of hull, can horizontally rotate in 360 ° to realize that vector promotes.
As shown in Figure 1, composite water quality monitoring device includes sampler 9, composite water quality monitor 11, oil pollutant identification
Water sample synthesis analyzer 10 in instrument 8, ship.Sampler 9 is arranged in 1 bottom of hull, and composite water quality monitor 11 is mounted on sampler 9
Bottom, the water inlet of water sample synthesis analyzer 10 is connected to the water outlet of sampler 9 in oil pollutant identifier 8, ship.It is comprehensive
Water quality monitor 11, oil pollutant identifier 8, the testing result of water sample synthesis analyzer 10 passes through data transmission module in ship
It is transmitted to controller 14.Composite water quality monitor 11, sampler 9, water sample synthesis analyzer in oil pollutant identifier 8, ship
10 4 match, and composite water quality monitor 11 carries out real-time monitoring, are transmitted to controller 14 by data transmission module, if inspection
Water body data exception is measured, controller 14 controls sampler 9 and is sampled to target water, and gained water sample is flow to by water outlet
Water sample synthesis analyzer 10 in oil pollutant identifier 8, ship, oil pollutant identifier 8 monitor whether water sample contains oils
Pollutant and the classification for determining oil pollutant, water sample synthesis analyzer 10 is monitored simultaneously hydrogen sulfide, ammonia nitrogen index in ship
The data obtained is back to controller 14 in real time, in oil pollutant identifier 8, ship inside water sample synthesis analyzer 10 also there are
For taking back the water sample of laboratory testing residue index.
Composite water quality monitor 11 includes temperature sensor, turbid sensor, pH sensor, ammonia nitrogen sensor, nitrous acid
Salt sensor, biochemical oxygen demand (BOD) sensor and hydrogen sulfide sensor, the 7 kinds of physics and chemistry that can tentatively monitor mariculture water body refer to
Mark.
As shown in Fig. 2, sampler 9 includes drainage pump 22,22 side of drainage pump is connected to the first water inlet 20, and is drained
Pump 22 and first is provided with flow-limiting valve 21 between water inlet 20, and 22 other side of drainage pump offers the first water outlet 23, the respectively
Two water outlets 24, flow-limiting valve 21 are connect with controller 14.
As shown in figure 3, oil pollutant identifier 8 include the first cabinet, the first cabinet two sides be respectively arranged with second into
The mouth of a river 15, third water outlet 19, the first box house top are respectively fixed with first light source 18, photomultiplier tube 16, photoelectricity times
Increase and be fixed with grating 17 below pipe 16, the second water inlet 15 is connected to the first water outlet 23.Oil pollutant identifier 8 is mounted on
Inside hull 1, it can be issued using aromatic compound when the light of some strength and energy irradiates longer than excitation wavelength glimmering
The principle of light can obtain fluorescence spectrum using photomultiplier tube 16 appropriate, can therefrom analyze to obtain oils in institute's sample
Pollutant kind and concentration.
Water sample synthesis analyzer 10 is also mounted inside hull 1 in ship, including H2S detector and ammonia nitrogen detector, can
To carry out timely Precision measurement to the more demanding two indices of instantaneity (ammonia nitrogen and hydrogen sulfide) content, to reduce water sample band
Return laboratory testing bring timeliness error.As shown in figure 4, H2S detector includes the second cabinet, the second cabinet two sides
It is respectively arranged with third water inlet 25, the 4th water outlet 30, third water inlet 25 is connected to the second water outlet 24, in the second cabinet
Portion top is fixed with second light source 26, and monochromator 27 is fixed with below second light source 26, and the second box house bottom end is fixed with light
Electric diode array detector 29, the second box house are provided with the glass absorption cell 28 being connected to the 4th water outlet 30.Such as figure
Shown in 5, ammonia nitrogen detector includes third cabinet, and third cabinet two sides are respectively arranged with the 4th water inlet 31, the 5th water outlet 35,
4th water inlet 31 is connected to the second water outlet 24, and third box house top is respectively fixed with ammonia gas-sensing electrode 33, blender
32, third box house bottom end is fixed with air-sensitive film 34, and third box house is filled with ammonium chloride solution.
It includes that ship carries unmanned plane 5, auxiliary camera 7 that ship, which carries unmanned plane auxiliary monitoring device, and ship carries unmanned plane 5, auxiliary is taken the photograph
As head 7 and the wireless connection of controller 14, controller 14 is connect with data transmission antenna 3, and ship carries unmanned plane 5 and artificial control on the bank
End processed is wirelessly connected.Auxiliary camera 7 returns ambient enviroment picture in real time.Ship carries unmanned plane 5 can be touring in monitoring exception
Monitoring, and shoot abnormal water body picture and pass controller 14 back, achieve the purpose that a wide range of greasy dirt of monitoring.
The present invention also provides a kind of monitoring methods of mariculture water body physical and chemical index, using above-mentioned machine ship coupled inferring
Ship, method includes the following steps:
Step1, machine ship coupled inferring ship is in mariculture water-area navigation；
Step2, composite water quality monitor 11 is in running order always and by real-time monitoring institute total during navigation
It is transferred to controller 14 according to by data transmission module, the data obtained and standard water volume data library are subjected to data comparison；
Step3, if detecting water body data exception, machine ship coupled inferring ship stops traveling, and controller 14 controls sampler 9
Water body sampling is carried out, meanwhile, the control release ship of controller 14 carries unmanned plane 5, and ship carries unmanned plane 5 and starts itinerant monitor system process, ship
The included camera start recording water surface situation of unmanned plane 5 is carried, ship is carried unmanned plane 5 and patrolled using machine ship coupled inferring ship as the center of circle
Return flight, the water quality exception picture that camera filming surface situation and real-time Transmission will be obtained to controller 14, controller 14
It is transmitted to manual control end on the bank；
Step4, gained water sample flow to oil pollutant identifier 8 by water outlet, water sample synthesis analyzer 10 in ship, takes
The drainage pump 22 of sample device 9 introduces water body, and water body passes through flow-limiting valve 21 from the first water inlet 20.A part of water body passes through the second water outlet
Mouthfuls 24 reach water sample synthesis analyzer 10 in ships, reach H2S detector by third water inlet 25, and light is from second light source 26
It is irradiated in the held water sample of glass absorption cell 28 after the transformation of monochromator 27, reaches photoelectricity two finally through glass absorption cell 28
On pole array detector 29, two pole array detector 29 of photoelectricity converts optical signal into electric signal and completes entire detection process, most
The analysis of ammonia-nitrogen content is completed eventually.Another part water sample reaches ammonia nitrogen detector by the 4th water inlet 31, and blender 32 is by water sample
It being sufficiently mixed with already present, concentration for the ammonium chloride solution of 0.1mol/L, ammonia gas-sensing electrode 33 is started to work after mixing 6min,
Ammonia passes through air-sensitive film 34 under diffusion, forms chemical equation: NH3+H2O=NH4 ++OH-, with the not stopping pregnancy of ammonia
Raw, reaction moves right, and the glass electrode current potential in ammonia gas-sensing electrode 33 changes, and is determined wherein by electrode numerical value
Ammonia nitrogen concentration.The data obtained is back to controller 14 by H2S detector, ammonia nitrogen detector in real time.Another part water body is certainly
First water outlet 23 reaches oil pollutant identifier 8 through the second water inlet 15, and first light source 18 is to water sample prolonged exposure, water sample
In aromatic compound be inspired fluorescence, obtain fluorescence spectrum, Cong Zhongke through extraordinary grating 17 and photomultiplier tube 1
Analysis obtains oil pollution species and concentration in institute's sample, completes the analysis of oil pollutant ingredient and content.Oils is dirty
Also there are the water samples for taking back laboratory testing residue index inside water sample synthesis analyzer 10 in dye object identifier 8, ship；
Step5, machine ship coupled inferring ship continue to travel, and manual control end control recycling ship on the bank carries unmanned plane 5, if comprehensive
It closes water quality monitor 11 and detects water body data exception again, then repeat Step3 to Step4.
In the embodiment of the present invention, controller 14 is placed in inside hull 1, controls different aspect respectively, cooperation is to realize
Various functions, including water quality detection and sampling control module, unmanned aerial vehicle (UAV) control module and data processing and control module.Water quality detection
It is responsible for controlling the progress water body sampling operation of sampler 9 and obtaining water quality information with sampling control module being transmitted to data processing and control
Module；Unmanned aerial vehicle (UAV) control module is responsible for the unmanned plane during flying instruction received and conversion data processing and control module issues, and controls
Unmanned plane is by instruction flight and landing；Data processing and control module is to above-mentioned water quality detection and sampling control module, unmanned plane control
Molding block issues control instruction, and receives and handle the information of its passback, and by synchronization for data communication and manual control end into
Long-distance intelligent manipulation is realized in row information interaction.
The embodiment of the present invention is described in attached drawing, but the invention is not limited to above-mentioned specific embodiment parties
Formula, the above mentioned embodiment is only schematical, rather than restrictive, and those skilled in the art are in this hair
Under bright enlightenment, without breaking away from the scope protected by the purposes and claims of the present invention, many forms can be also made, this
It is belonged within protection of the invention a bit.
Claims (12)
1. a kind of machine ship coupled inferring ship, including hull (1), which is characterized in that have propulsion device, comprehensive on the hull (1)
Close water monitoring device, ship carries unmanned plane auxiliary monitoring device.
2. a kind of machine ship coupled inferring ship according to claim 1, which is characterized in that the composite water quality monitoring device packet
Include sampler (9), composite water quality monitor (11), oil pollutant identifier (8), water sample synthesis analyzer (10) in ship；Institute
It states sampler (9) to be arranged in hull (1) bottom, the composite water quality monitor (11) is mounted on sampler (9) bottom, the oil
The water inlet of water sample synthesis analyzer (10) is connected to the water outlet of sampler (9) in pollutant identifier (8), ship, described
Composite water quality monitor (11), oil pollutant identifier (8), the testing result of water sample synthesis analyzer (10) passes through number in ship
Controller (14) are transmitted to according to transmission module.
3. a kind of machine ship coupled inferring ship according to claim 2, which is characterized in that the composite water quality monitor (11)
Including temperature sensor, turbid sensor, pH sensor, ammonia nitrogen sensor, nitrite sensor, biochemical oxygen demand (BOD) sensor
And hydrogen sulfide sensor.
4. a kind of machine ship coupled inferring ship according to claim 2, which is characterized in that the sampler (9) includes drainage
It pumps (22), drainage pump (22) side is connected to the first water inlet (20), and the drainage pump (22) and the first water inlet
(20) it is provided between flow-limiting valve (21), drainage pump (22) other side offers the first water outlet (23) respectively, second goes out
The mouth of a river (24), the flow-limiting valve (21) connect with controller (14).
5. a kind of machine ship coupled inferring ship according to claim 4, which is characterized in that the oil pollutant identifier
It (8) include the first cabinet, first cabinet two sides are respectively arranged with the second water inlet (15), third water outlet (19), described
First box house top is respectively fixed with first light source (18), photomultiplier tube (16), photomultiplier tube (16) lower section
It is fixed with grating (17), second water inlet (15) is connected to the first water outlet (23).
6. a kind of machine ship coupled inferring ship according to claim 4, which is characterized in that water sample synthesis analyzer in the ship
It (10) include H2S detector and ammonia nitrogen detector.
7. a kind of machine ship coupled inferring ship according to claim 6, which is characterized in that the H2S detector includes the
Two cabinets, second cabinet two sides are respectively arranged with third water inlet (25), the 4th water outlet (30), the third water inlet
(25) it is connected to the second water outlet (24), second box house top is fixed with second light source (26), the second light source
(26) lower section is fixed with monochromator (27), and second box house bottom end is fixed with photodiode array detector (29),
Second box house is provided with the glass absorption cell (28) being connected to the 4th water outlet (30).
8. a kind of machine ship coupled inferring ship according to claim 6, which is characterized in that the ammonia nitrogen detector includes third
Cabinet, third cabinet two sides are respectively arranged with the 4th water inlet (31), the 5th water outlet (35), the 4th water inlet
(31) it is connected to the second water outlet (24), third box house top is respectively fixed with ammonia gas-sensing electrode (33), blender
(32), third box house bottom end is fixed with air-sensitive film (34), and the third box house is filled with ammonium chloride solution.
9. a kind of machine ship coupled inferring ship according to claim 1-8, which is characterized in that the propulsion device packet
Sail (4), solar generator are included, the solar generator includes solar panel (6) and lithium ion battery (13), institute
State sail (4), solar generator is that propeller (2) provide power.
10. a kind of machine ship coupled inferring ship according to claim 1-8, which is characterized in that the ship carries nobody
Machine auxiliary monitoring device includes that ship carries unmanned plane (5), auxiliary camera (7), and the ship carries unmanned plane (5), auxiliary camera (7)
Be wirelessly connected with controller (14), the controller (14) connect with data transmission antenna (3), ship load unmanned plane (5) and
Manual control end on the bank is wirelessly connected.
11. a kind of machine ship coupled inferring ship according to claim 1-8, which is characterized in that the hull (1) by
Captain boat body and secondary hull composition, have foldable platforms (12) in the captain boat body tail end.
12. a kind of monitoring method of mariculture water body physical and chemical index, which is characterized in that using any one of claim 1-11 institute
The machine ship coupled inferring ship stated, method includes the following steps:
Step1, machine ship coupled inferring ship is in mariculture water-area navigation；
Step2, composite water quality monitor (11) is in running order always and by real-time monitoring the data obtained during navigation
Controller (14) are transferred to by data transmission module, the data obtained and standard water volume data library are subjected to data comparison；
Step3, if detecting water body data exception, machine ship coupled inferring ship stops traveling, and controller (14) controls sampler (9)
Water body sampling is carried out, meanwhile, controller (14) control release ship carries unmanned plane (5), and ship carries unmanned plane (5) and starts itinerant monitor system mistake
Journey, ship carry unmanned plane (5) included camera start recording water surface situation, and ship carries unmanned plane (5) with machine ship coupled inferring ship and is
The center of circle carries out touring flight, and simultaneously to controller (14), controller (14) will obtain real-time Transmission camera filming surface situation
Water quality exception picture be transmitted to manual control end on the bank；
Step4, gained water sample flow to oil pollutant identifier (8) by water outlet, water sample synthesis analyzer (10) in ship, oil
Pollutant identifier (8) monitors whether water sample containing oil pollutant and determines the classification of oil pollutant, and water sample is comprehensive in ship
It closes analyzer (10) to be monitored hydrogen sulfide, ammonia nitrogen index and be back to the data obtained in real time controller (14), oils is dirty
Also there are the water for taking back laboratory testing residue index for water sample synthesis analyzer (10) inside in dye object identifier (8), ship
Sample；
Step5, machine ship coupled inferring ship continue to travel, and manual control end control recycling ship on the bank carries unmanned plane (5), if comprehensive
Water quality monitor (11) detects water body data exception again, then repeats Step3 to Step4.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110171542A (en) * | 2019-05-24 | 2019-08-27 | 河海大学 | The integrated river of coupled inferring ship and unmanned plane is patrolled platform |
| CN112697511A (en) * | 2020-12-23 | 2021-04-23 | 南通大学 | Airship water sample collection platform coupled with unmanned aerial vehicle |
| CN112986516A (en) * | 2021-02-08 | 2021-06-18 | 淮阴师范学院 | Water quality automatic monitoring device based on rural drinking water in Huaihe river basin |
| CN114291215A (en) * | 2021-12-31 | 2022-04-08 | 南通理工学院 | Water quality supervision unmanned ship for complex water area |
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