CN109703707A - A kind of the water plant pick-up boat and water plant Refloatation method of view-based access control model system - Google Patents
A kind of the water plant pick-up boat and water plant Refloatation method of view-based access control model system Download PDFInfo
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- CN109703707A CN109703707A CN201811442610.1A CN201811442610A CN109703707A CN 109703707 A CN109703707 A CN 109703707A CN 201811442610 A CN201811442610 A CN 201811442610A CN 109703707 A CN109703707 A CN 109703707A
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 220
- 238000000034 method Methods 0.000 title claims abstract description 22
- 241000196324 Embryophyta Species 0.000 claims description 187
- 230000005540 biological transmission Effects 0.000 claims description 29
- 241000883990 Flabellum Species 0.000 claims description 23
- 238000013528 artificial neural network Methods 0.000 claims description 6
- 239000002828 fuel tank Substances 0.000 claims description 5
- 230000011218 segmentation Effects 0.000 claims description 3
- 244000025254 Cannabis sativa Species 0.000 claims description 2
- 239000000463 material Substances 0.000 abstract description 3
- 230000005611 electricity Effects 0.000 description 3
- 230000008450 motivation Effects 0.000 description 3
- 238000013135 deep learning Methods 0.000 description 2
- 230000018109 developmental process Effects 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 230000012010 growth Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000035558 fertility Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000008635 plant growth Effects 0.000 description 1
- 241000894007 species Species 0.000 description 1
- 238000003911 water pollution Methods 0.000 description 1
Abstract
The present invention relates to a kind of water plant pick-up boat of view-based access control model system and water plant Refloatation methods, belong to water plant fishing operation field.The present invention includes hull, vision control system, water plant salvaging mechanism, water plant collecting mechanism and power mechanism；Wherein vision control system, water plant salvaging mechanism, water plant collecting mechanism and power mechanism are mounted on hull, vision control system the position of water plant and controls pick-up boat and drives to water plant region on the water surface for identification, drives to water plant salvaging mechanism behind water plant region and salvages water plant into water plant collecting mechanism and is crushed and stored.The present invention using vision system can water plant on the intelligent recognition water surface, automatically control pick-up boat and salvage water plant, it can be achieved that unattended, can effectively remove the floating water plant of the small-size water surfaces such as lake surface, salvage high-efficient uses manpower and material resources sparingly.
Description
Technical field
The present invention relates to a kind of water plant pick-up boat of view-based access control model system and water plant Refloatation methods, belong to water plant fishing operation
Field.
Background technique
With socio-economic development, environmental problem becomes increasingly conspicuous, and water environmental problems are also increasingly paid close attention to by people.Floating life
For plant growth in the water surface, the speed of growth is fast, and fertility is extremely strong, and the raised growth in rivers and lakes be easy to cause river to block,
Serious water pollution is brought, water ecology balance is destroyed, influences waterway transportation, is also unfavorable for landscape maintenance.
Water plant pick-up boat cleans in the water surface as a kind of specialized ships, keeps river smooth, has in terms of protection water biological species
Important role.Water plant pick-up boat on the market is that manual operation is salvaged now, large labor intensity, with intelligence
The development of society, unpiloted automatic pick-up boat will have bigger application value.The present invention provides a kind of view-based access control models
The unmanned water plant pick-up boat of system.
Summary of the invention
The technical problem to be solved by the present invention is the present invention provides water plant pick-up boat and the water plant of a kind of view-based access control model system
Refloatation method, can using vision control system identification the water surface on water plant, automatically control pick-up boat salvage water plant, it can be achieved that nobody
Operation can effectively remove the floating water plant of the small-size water surfaces such as lake surface by water plant salvaging mechanism, and salvaging is high-efficient to save people
Power material resources.
The technical scheme is that: a kind of water plant pick-up boat of view-based access control model system, including hull, water plant salvaging mechanism,
Water plant collecting mechanism and power mechanism；
The water plant salvaging mechanism, water plant collecting mechanism and power mechanism are mounted on hull；
The power mechanism is for driving pick-up boat to drive to water plant region；
The water plant salvaging mechanism is used to be converted to the vertical rotation for collecting fan rotary shaft 7 by horizontally rotating for transmission horizontal axis 9,
The rotation collection water plant of flabellum 8 is collected to drive；
The hull includes hull, and is also used to that the water plant of salvaging is transported to water plant collecting mechanism by conveyer belt 4；
The water plant collecting mechanism is used to crush water plant by grinder 3 and be stored in water plant storage room 2.
Further, the hull includes hull 1, conveyer belt 4, cradling piece 5, conveyor motor 12, conveyer belt transmission chain
Item 13；Wherein conveyor motor 12 is mounted on hull 1, and conveyor motor 12 passes through conveyer belt driving chain 13 and conveyer belt 4
Connection, conveyor motor 12 are operated by 13 driving conveying belt 4 of conveyer belt driving chain, water plant are sent to water plant collecting mechanism.
Further, the water plant salvaging mechanism includes collecting flabellum 8, collecting fan rotary shaft 7, transmission horizontal axis 9, collect fan
Driving chain 10 collects fan driving motor 11；Wherein collection flabellum 8 connect with collection fan rotary shaft 7 and rotates coaxially, and collects fan drive
Dynamic motor 11 is connect with fan driving chain 10 is collected, and is collected fan driving chain 10 and is connect again with transmission horizontal axis 9；Collect fan driving electricity
The driving of machine 11 is collected fan driving chain 10 and is moved, and transmission horizontal axis 9 is driven to rotate, and transmission horizontal axis 9 divides with two collection fan rotary shafts 7
Not Tong Guo the engagement cooperation of two pairs of angular wheels, will be driven horizontally rotating for horizontal axis 9 and be converted to vertical turn that collects fan rotary shaft 7
It is dynamic, water plant is collected to drive and collect the rotation of flabellum 8.
Further, the water plant collecting mechanism includes water plant storage room 2, grinder 3；Wherein water plant falls from conveyer belt 4
After lower, crushed by grinder 3, stored in water plant storage room 2.
Further, the power mechanism includes fuel tank 14, propeller 16, dynamo belt 17, engine 18；Wherein send out
Motivation propeller 16 is mounted on 1 tail portion of hull, and engine 18 drives the rotation of propeller 16 to pick-up boat by dynamo belt 17
Power is provided.
Further, the invention also includes vision control systems；Vision control system is mounted on hull, the vision control
System processed includes camera 6, controller 15；Wherein camera 6 is used to image information reaching controller 15, passes through controller 15
Engine 17, conveyor motor 12 are controlled respectively and collects fan driving motor 11 operates.
A kind of water plant pick-up boat progress water using the above-mentioned view-based access control model system not comprising vision control system of the present invention
The method that grass is salvaged, specific step is as follows for the method that the water plant is salvaged:
StepA1, engine 18 drive the rotation of propeller 16 to make pick-up boat to fishing device offer power by dynamo belt 17
Drive to water plant region；
The fan movement of driving chain 10 is collected in StepA2, the collection fan driving of driving motor 11, is driven transmission horizontal axis 9 to rotate, will be driven
Horizontal axis 9 horizontally rotates the vertical rotation for being converted to and collecting fan rotary shaft 7, collects water plant to drive and collect the rotation of flabellum 8；
StepA3, the rotation of conveyor motor 12 are operated by 13 driving conveying belt 4 of conveyer belt driving chain, the water plant that will be gathered
It send to water plant collecting mechanism；
StepA4, the water plant gathered are sent in water plant collecting mechanism and are crushed by grinder 3, store in water plant storage room 2.
It is a kind of using the present invention it is above-mentioned further include vision control system the view-based access control model system water plant pick-up boat into
The method that row water plant is salvaged, specific step is as follows for the method that the water plant is salvaged:
StepB1, vision control system send image to controller 15 by camera 6, and controller 15 identifies the position of water plant
It sets, and controls the work of driving engine 18 and drive the rotation of propeller 16 to make to fishing device offer power by dynamo belt 17
Pick-up boat drives to water plant region；
StepB2, the control driving of controller 15 collect fan driving motor 11 and work that collection fan driving chain 10 is driven to move,
It drives transmission horizontal axis 9 to rotate, horizontally rotating for horizontal axis 9 will be driven and be converted to the vertical rotation for collecting fan rotary shaft 7, to drive
It collects the rotation of flabellum 8 and collects water plant；
StepB3, the control driving rotation of conveyor motor 12 of controller 15 are transported by 13 driving conveying belt 4 of conveyer belt driving chain
Turn, the water plant gathered is sent to water plant collecting mechanism；
StepB4, the water plant gathered are sent in water plant collecting mechanism and are crushed by grinder 3, store in water plant storage room 2.
The method that the controller 15 identifies water plant position is that deeplab algorithm is identified based on water plant, and deeplab is a kind of
Deep learning neural network；
Include the aquatic environment picture of water plant firstly the need of acquisition, image data is inputted in deeplab neural network to model
It is trained, trained model can extract water plant characteristics of image, so as to carry out the semantic segmentation of pixel scale to picture, know
Not Chu water plant position and with a distance from pick-up boat；Controller 15 is moved to water plant using position and range information control pick-up boat
It is salvaged in region.
The beneficial effects of the present invention are: the present invention using vision control system can water plant on the intelligent recognition water surface, automatically
It controls pick-up boat and salvages water plant, it can be achieved that unattended, can effectively remove the floating water plant of the small-size water surfaces such as lake surface, salvage effect
Rate height can use manpower and material resources sparingly.
Detailed description of the invention
Fig. 1 is schematic structural view of the invention；
Fig. 2 is the structural schematic diagram of other direction of the present invention；
Each label in Fig. 1-2: 1- hull, 2- water plant storage room, 3- grinder, 4- conveyer belt, 5- cradling piece, 6- camera, 7-
It is defeated that collection fan rotary shaft, 8- collect flabellum, 9- is driven horizontal axis, driving chain is fanned in 10- collection, 11- collects fan driving motor, 12-
Belt conveying motor, 13- conveyer belt driving chain, 14- fuel tank, 15- controller, 16- propeller, 17- dynamo belt, 18- start
Machine.
Specific embodiment
In the following with reference to the drawings and specific embodiments, the invention will be further described.
Embodiment 1: as shown in Figs. 1-2, a kind of water plant pick-up boat of view-based access control model system, including hull, water plant salvage machine
Structure, water plant collecting mechanism and power mechanism；
The water plant salvaging mechanism, water plant collecting mechanism and power mechanism are mounted on hull；
The power mechanism is for driving pick-up boat to drive to water plant region；
The water plant salvaging mechanism is used to be converted to the vertical rotation for collecting fan rotary shaft 7 by horizontally rotating for transmission horizontal axis 9,
The rotation collection water plant of flabellum 8 is collected to drive；
The hull includes hull, and is also used to that the water plant of salvaging is transported to water plant collecting mechanism by conveyer belt 4；
The water plant collecting mechanism is used to crush water plant by grinder 3 and be stored in water plant storage room 2.
Further, the hull includes hull 1, conveyer belt 4, cradling piece 5, conveyor motor 12, conveyer belt transmission chain
Item 13；Wherein conveyor motor 12 is mounted on hull 1, and conveyor motor 12 passes through conveyer belt driving chain 13 and conveyer belt 4
Connection, conveyor motor 12 are operated by 13 driving conveying belt 4 of conveyer belt driving chain, water plant are sent to water plant collecting mechanism.
Further, the water plant salvaging mechanism includes collecting flabellum 8, collecting fan rotary shaft 7, transmission horizontal axis 9, collect fan
Driving chain 10 collects fan driving motor 11；Wherein collection flabellum 8 connect with collection fan rotary shaft 7 and rotates coaxially, and collects fan drive
Dynamic motor 11 is connect with fan driving chain 10 is collected, and is collected fan driving chain 10 and is connect again with transmission horizontal axis 9；Collect fan driving electricity
The driving of machine 11 is collected fan driving chain 10 and is moved, and transmission horizontal axis 9 is driven to rotate, and transmission horizontal axis 9 divides with two collection fan rotary shafts 7
Not Tong Guo the engagement cooperation of two pairs of angular wheels, will be driven horizontally rotating for horizontal axis 9 and be converted to vertical turn that collects fan rotary shaft 7
It is dynamic, water plant is collected to drive and collect the rotation of flabellum 8.
Further, the water plant collecting mechanism includes water plant storage room 2, grinder 3；Wherein water plant falls from conveyer belt 4
After lower, crushed by grinder 3, stored in water plant storage room 2.
Further, the power mechanism includes fuel tank 14, propeller 16, dynamo belt 17, engine 18；Wherein send out
Motivation propeller 16 is mounted on 1 tail portion of hull, and engine 18 drives the rotation of propeller 16 to pick-up boat by dynamo belt 17
Power is provided.
A method of water plant salvaging, the water plant are carried out using the water plant pick-up boat of the above-mentioned view-based access control model system of the present invention
Specific step is as follows for the method for salvaging:
StepA1, engine 18 drive the rotation of propeller 16 to make pick-up boat to fishing device offer power by dynamo belt 17
Drive to water plant region；
The fan movement of driving chain 10 is collected in StepA2, the collection fan driving of driving motor 11, is driven transmission horizontal axis 9 to rotate, will be driven
Horizontal axis 9 horizontally rotates the vertical rotation for being converted to and collecting fan rotary shaft 7, collects water plant to drive and collect the rotation of flabellum 8；
StepA3, the rotation of conveyor motor 12 are operated by 13 driving conveying belt 4 of conveyer belt driving chain, the water plant that will be gathered
It send to water plant collecting mechanism；
StepA4, the water plant gathered are sent in water plant collecting mechanism and are crushed by grinder 3, store in water plant storage room 2.
Embodiment 2: as shown in Figs. 1-2, a kind of water plant pick-up boat of view-based access control model system, including hull, water plant salvage machine
Structure, water plant collecting mechanism and power mechanism；
The water plant salvaging mechanism, water plant collecting mechanism and power mechanism are mounted on hull；
The power mechanism is for driving pick-up boat to drive to water plant region；
The water plant salvaging mechanism is used to be converted to the vertical rotation for collecting fan rotary shaft 7 by horizontally rotating for transmission horizontal axis 9,
The rotation collection water plant of flabellum 8 is collected to drive；
The hull includes hull, and is also used to that the water plant of salvaging is transported to water plant collecting mechanism by conveyer belt 4；
The water plant collecting mechanism is used to crush water plant by grinder 3 and be stored in water plant storage room 2.
Further, the hull includes hull 1, conveyer belt 4, cradling piece 5, conveyor motor 12, conveyer belt transmission chain
Item 13；Wherein conveyor motor 12 is mounted on hull 1, and conveyor motor 12 passes through conveyer belt driving chain 13 and conveyer belt 4
Connection, conveyor motor 12 are operated by 13 driving conveying belt 4 of conveyer belt driving chain, water plant are sent to water plant collecting mechanism.
Further, the water plant salvaging mechanism includes collecting flabellum 8, collecting fan rotary shaft 7, transmission horizontal axis 9, collect fan
Driving chain 10 collects fan driving motor 11；Wherein collection flabellum 8 connect with collection fan rotary shaft 7 and rotates coaxially, and collects fan drive
Dynamic motor 11 is connect with fan driving chain 10 is collected, and is collected fan driving chain 10 and is connect again with transmission horizontal axis 9；Collect fan driving electricity
The driving of machine 11 is collected fan driving chain 10 and is moved, and transmission horizontal axis 9 is driven to rotate, and transmission horizontal axis 9 divides with two collection fan rotary shafts 7
Not Tong Guo the engagement cooperation of two pairs of angular wheels, will be driven horizontally rotating for horizontal axis 9 and be converted to vertical turn that collects fan rotary shaft 7
It is dynamic, water plant is collected to drive and collect the rotation of flabellum 8.
Further, the water plant collecting mechanism includes water plant storage room 2, grinder 3；Wherein water plant falls from conveyer belt 4
After lower, crushed by grinder 3, stored in water plant storage room 2.
Further, the power mechanism includes fuel tank 14, propeller 16, dynamo belt 17, engine 18；Wherein send out
Motivation propeller 16 is mounted on 1 tail portion of hull, and engine 18 drives the rotation of propeller 16 to pick-up boat by dynamo belt 17
Power is provided.
Further, the invention also includes vision control systems；Vision control system is mounted on hull, the vision control
System processed includes camera 6, controller 15；Wherein camera 6 is used to image information reaching controller 15, passes through controller 15
Engine 17, conveyor motor 12 are controlled respectively and collects fan driving motor 11 operates.
It is a kind of using the present invention it is above-mentioned further include vision control system the view-based access control model system water plant pick-up boat into
The method that row water plant is salvaged, specific step is as follows for the method that the water plant is salvaged:
StepB1, vision control system send image to controller 15 by camera 6, and controller 15 identifies the position of water plant
It sets, and controls the work of driving engine 18 and drive the rotation of propeller 16 to make to fishing device offer power by dynamo belt 17
Pick-up boat drives to water plant region；
StepB2, the control driving of controller 15 collect fan driving motor 11 and work that collection fan driving chain 10 is driven to move,
It drives transmission horizontal axis 9 to rotate, horizontally rotating for horizontal axis 9 will be driven and be converted to the vertical rotation for collecting fan rotary shaft 7, to drive
It collects the rotation of flabellum 8 and collects water plant；
StepB3, the control driving rotation of conveyor motor 12 of controller 15 are transported by 13 driving conveying belt 4 of conveyer belt driving chain
Turn, the water plant gathered is sent to water plant collecting mechanism；
StepB4, the water plant gathered are sent in water plant collecting mechanism and are crushed by grinder 3, store in water plant storage room 2.
The method that the controller 15 identifies water plant position is that deeplab algorithm is identified based on water plant, and deeplab is a kind of
Deep learning neural network；
Include the aquatic environment picture of water plant firstly the need of acquisition, image data is inputted in deeplab neural network to model
It is trained, trained model can extract water plant characteristics of image, so as to carry out the semantic segmentation of pixel scale to picture, know
Not Chu water plant position and with a distance from pick-up boat；Controller 15 is moved to water plant using position and range information control pick-up boat
It is salvaged in region.
Specific embodiments of the present invention are explained in detail above in conjunction with attached drawing, but the present invention is not limited to above-mentioned realities
Example is applied, it within the knowledge of a person skilled in the art, can also be without departing from the purpose of the present invention
Various changes can be made.
Claims (9)
1. a kind of water plant pick-up boat of view-based access control model system, it is characterised in that: collected including hull, water plant salvaging mechanism, water plant
Mechanism and power mechanism；
The water plant salvaging mechanism, water plant collecting mechanism and power mechanism are mounted on hull；
The power mechanism is for driving pick-up boat to drive to water plant region；
The water plant salvaging mechanism is used to be converted to the vertical of collection fan rotary shaft (7) by horizontally rotating for transmission horizontal axis (9)
Rotation collects water plant to drive and collect flabellum (8) rotation；
The hull includes hull, and is also used to that the water plant of salvaging is transported to water plant collecting mechanism by conveyer belt (4)；
The water plant collecting mechanism is used to crush water plant by grinder (3) and be stored in water plant storage room (2).
2. the water plant pick-up boat of view-based access control model system according to claim 1, it is characterised in that: the hull includes hull
(1), conveyer belt (4), cradling piece (5), conveyor motor (12), conveyer belt driving chain (13)；Wherein conveyor motor (12)
It is mounted on hull (1), conveyor motor (12) is connect by conveyer belt driving chain (13) with conveyer belt (4), conveying electrification
Machine (12) is operated by conveyer belt driving chain (13) driving conveying belt (4), and water plant is sent to water plant collecting mechanism.
3. the water plant pick-up boat of view-based access control model system according to claim 1, it is characterised in that: the water plant salvaging mechanism
Including collecting flabellum (8), collection fan rotary shaft (7), transmission horizontal axis (9), collecting fan driving chain (10), collection fan driving motor
(11)；Wherein collection flabellum (8) connect with collection fan rotary shaft (7) and rotates coaxially, and collects fan driving motor (11) and fans with collection
Driving chain (10) connection is collected fan driving chain (10) and is connect again with transmission horizontal axis (9)；Collect fan driving motor (11) driving
Fan driving chain (10) movement is collected, transmission horizontal axis (9) rotation, transmission horizontal axis (9) and two collection fans rotary shaft (7) point are driven
Not Tong Guo the engagement cooperation of two pairs of angular wheels, will be driven horizontally rotating to be converted to and collecting the vertical of fan rotary shaft (7) for horizontal axis (9)
Straight rotation collects water plant to drive and collect flabellum (8) rotation.
4. the water plant pick-up boat of view-based access control model system according to claim 1, it is characterised in that: the water plant collecting mechanism
Including water plant storage room (2), grinder (3)；After wherein water plant falls down from conveyer belt (4), crushed by grinder (3), in water plant
Storage in storage room (2).
5. the water plant pick-up boat of view-based access control model system according to claim 1, it is characterised in that: the power mechanism includes
Fuel tank (14), propeller (16), dynamo belt (17), engine (18)；Wherein engine prop (16) is mounted on hull
(1) tail portion, engine (18) drive propeller (16) rotation to provide power to pick-up boat by dynamo belt (17).
6. the water plant pick-up boat of view-based access control model system according to claim 1-5, it is characterised in that: further include view
Feel control system；Vision control system is mounted on hull, and the vision control system includes camera (6), controller (15)；
Wherein camera (6) is used to image information reaching controller (15), controls engine (17), defeated respectively by controller (15)
Belt conveying motor (12) and collection fan driving motor (11) operating.
7. the side that a kind of water plant pick-up boat using the described in any item view-based access control model systems of claim 1-5 carries out water plant salvaging
Method, it is characterised in that: specific step is as follows for the method that the water plant is salvaged:
StepA1, engine (18) drive propeller (16) rotation to make to fishing device offer power by dynamo belt (17)
Pick-up boat drives to water plant region；
StepA2, fan driving motor (11) driving collection fan driving chain (10) movement is collected, transmission horizontal axis (9) is driven to rotate,
Horizontal axis (9) will be driven horizontally rotates the vertical rotation for being converted to and collecting fan rotary shaft (7), turns to drive and collect flabellum (8)
It is dynamic to collect water plant；
StepA3, conveyor motor (12) rotation are operated by conveyer belt driving chain (13) driving conveying belt (4), will be gathered
Water plant send to water plant collecting mechanism；
StepA4, the water plant gathered are sent in water plant collecting mechanism and are crushed by grinder (3), the storage in water plant storage room (2)
It deposits.
8. a kind of method that the water plant pick-up boat using view-based access control model system as claimed in claim 6 carries out water plant salvaging, special
Sign is: specific step is as follows for the method that the water plant is salvaged:
StepB1, vision control system are sent image controller (15) to by camera (6), controller (15) identification water outlet
Grass position, and control driving engine (18) work by dynamo belt (17) drive propeller (16) rotation to salvage dress
Setting offer power makes pick-up boat drive to water plant region；
StepB2, controller (15) control driving collect fan driving motor (11) work to drive collection fan driving chain (10)
Movement drives transmission horizontal axis (9) to rotate, and will be driven horizontally rotating for horizontal axis (9) and is converted to vertical turn that collects fan rotary shaft (7)
It is dynamic, water plant is collected to drive and collect flabellum (8) rotation；
StepB3, controller (15) control driving conveyor motor (12) rotation drive conveying by conveyer belt driving chain (13)
Band (4) operates, and the water plant gathered is sent to water plant collecting mechanism；
StepB4, the water plant gathered are sent in water plant collecting mechanism and are crushed by grinder (3), the storage in water plant storage room (2)
It deposits.
9. the method that the water plant pick-up boat of view-based access control model system according to claim 8 carries out water plant salvaging, feature exist
In:
The method of controller (15) identification water plant position is to identify deeplab algorithm based on water plant, and deeplab is a kind of depth
Spend learning neural network；
Include the aquatic environment picture of water plant firstly the need of acquisition, image data is inputted in deeplab neural network to model
It is trained, trained model can extract water plant characteristics of image, so as to carry out the semantic segmentation of pixel scale to picture, know
Not Chu water plant position and with a distance from pick-up boat；Controller (15) is moved to water using position and range information control pick-up boat
It is salvaged in careless region.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811442610.1A CN109703707B (en) | 2018-11-29 | 2018-11-29 | Aquatic weed salvage ship based on vision system and aquatic weed salvage method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811442610.1A CN109703707B (en) | 2018-11-29 | 2018-11-29 | Aquatic weed salvage ship based on vision system and aquatic weed salvage method |
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| Publication Number | Publication Date |
|---|---|
| CN109703707A true CN109703707A (en) | 2019-05-03 |
| CN109703707B CN109703707B (en) | 2024-03-26 |
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| CN201811442610.1A Active CN109703707B (en) | 2018-11-29 | 2018-11-29 | Aquatic weed salvage ship based on vision system and aquatic weed salvage method |
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| CN110359439A (en) * | 2019-07-26 | 2019-10-22 | 金华宣亚环保技术有限公司 | A kind of flotation gear based on the processing of lake water eutrophication |
| CN110359439B (en) * | 2019-07-26 | 2020-12-15 | 江苏源泉泵业股份有限公司 | Flotation device based on lake water eutrophication treatment |
| JP2021020662A (en) * | 2019-07-26 | 2021-02-18 | 呉剛 | Floatation device based on eutrophication treatment of lake |
| CN110397012A (en) * | 2019-08-09 | 2019-11-01 | 浙江海洋大学 | A kind of ocean surface floating refuse cleaning unmanned boat |
| CN112301987A (en) * | 2020-03-09 | 2021-02-02 | 孙佳星 | New energy solar micro-power water quality cleaning device |
| CN112482331A (en) * | 2020-03-09 | 2021-03-12 | 孙佳星 | New energy solar micro-power water quality cleaning device |
| CN112301987B (en) * | 2020-03-09 | 2022-05-17 | 海南伟复新能源科技有限公司 | New energy solar micro-power water quality cleaning device |
| CN111945691A (en) * | 2020-08-17 | 2020-11-17 | 四川东方水利智能装备工程股份有限公司 | Intelligent water cleaning robot |
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