CN110641690A - Estuary wetland sediment sample intelligent acquisition device based on unmanned aerial vehicle - Google Patents
Estuary wetland sediment sample intelligent acquisition device based on unmanned aerial vehicle Download PDFInfo
- Publication number
- CN110641690A CN110641690A CN201911066273.5A CN201911066273A CN110641690A CN 110641690 A CN110641690 A CN 110641690A CN 201911066273 A CN201911066273 A CN 201911066273A CN 110641690 A CN110641690 A CN 110641690A
- Authority
- CN
- China
- Prior art keywords
- mud
- aerial vehicle
- unmanned aerial
- robot
- collecting
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/04—Devices for withdrawing samples in the solid state, e.g. by cutting
- G01N1/08—Devices for withdrawing samples in the solid state, e.g. by cutting involving an extracting tool, e.g. core bit
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/10—Devices for withdrawing samples in the liquid or fluent state
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/0011—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
Abstract
The invention discloses an intelligent estuary wetland sediment sample acquisition device based on an unmanned aerial vehicle. Relate to robot, unmanned aerial vehicle and environmental monitoring field, in particular to estuary wetland sediment sample intelligent acquisition device based on unmanned aerial vehicle. The system comprises a ground control station, an unmanned aerial vehicle and a mud collecting robot. The method is characterized in that: the ground control station is used for air route planning and unmanned aerial vehicle state monitoring; the unmanned aerial vehicle is used for carrying the mud collecting robot to a collecting place; the mud collection robot is used for collecting bottom mud and comprises a control module, a sensor module, a driving module and a mud collection module; the control module is a single chip microcomputer and is connected with the sensor module, the driving module and the mud collecting module; the single chip microcomputer receives the sensor signal, sends out a driving and collecting signal and controls the whole sediment collecting process of the sediment collecting robot; the mud collection robot walks according to a Z-shaped track by adopting a track pushing algorithm and gradually collects a plurality of samples; a motor on the mud collecting robot drives a spiral blade similar to a drill bit to drill bottom mud, and the bottom mud enters a collecting bin through the gap of the spiral blade; after the collection is finished, the unmanned aerial vehicle brings back the mud collecting robot. The device solves the problems of insecurity, difficulty in reaching sampling points and the like in the traditional sediment sample manual collection mode, and improves the flexibility and the degree of automation of sediment sample collection.
Description
Technical Field
The invention relates to the fields of robots, unmanned planes and environment monitoring, in particular to an intelligent estuary wetland sediment sample collecting device based on an unmanned plane.
Background
The wetland ecosystem of the estuary is used as a sea-land transition zone, and has the ecological service functions of purifying the environment, regulating the climate and the like. In recent years, with the rapid development of the industry in China, the environmental problem of the intertidal zone of the estuary wetland is caused by the large discharge of sewage. The intertidal zone bottom mud has the highest content of organic matters, sulfides, oils, nitrogen, phosphorus, mercury, cadmium, lead, arsenic and refractory organic pollutants, the intertidal zone bottom mud condition is monitored, the collection and the detection are carried out, and powerful data support can be provided for environmental management.
Due to reasons of muddy intertidal zone, easy sinking and the like, manual field acquisition is difficult, so that mechanical equipment is needed for assistance. Unmanned aerial vehicle flexibility is high, and strong adaptability to adverse circumstances to have certain load-carrying capacity, can regard as the carrier that carries sediment collection system. The robot has strong controllability, can run a pre-programmed collection program, and can be used as a sediment collection device. Therefore, the unmanned aerial vehicle carries the mud collecting robot to collect the bottom mud, and the technical problem in the traditional collecting method can be well solved.
Disclosure of Invention
The invention aims to solve the problem of the existing artificial bottom sediment collection technology of intertidal zones, provides an intelligent estuary wetland bottom sediment sample collection device based on an unmanned aerial vehicle, and can collect bottom sediment in intertidal zones which are artificial places difficult to reach.
The utility model provides a estuary wetland sediment sample intelligence collection system based on unmanned aerial vehicle, is including adopting mud robot, unmanned aerial vehicle, ground control station.
The ground control station plays the effect of control monitoring unmanned aerial vehicle flight, and when remote controller control unmanned aerial vehicle flies, its position, height, state can be monitored to the ground control station. Meanwhile, the ground control station can also set the flying place and height to plan the air route of the unmanned aerial vehicle.
The unmanned aerial vehicle is inside including flight control module, GPS module, battery, wireless signal transmitting terminal, and its effect is for carrying adopt mud robot to gathering the scene.
The mud collecting robot comprises a body part, a control module, a mud collecting module, a sensor module and a driving module.
Further, the control module is a single chip microcomputer. The control module is connected with the mud collecting module, the sensor module and the driving module. The single chip microcomputer receives the sensor signal, sends out a driving and collecting signal and controls the whole sediment collecting process of the sediment collecting robot.
Further, adopt mud module including motor (6), helical blade (7), collecting box (4). The motor drives the spiral blade similar to the drill bit to drill the sediment, and the sediment enters the collection box through the gap of the spiral blade.
Further, the sensor module includes an encoder and a gyroscope. The mud collecting robot is used as a static base point, the yaw rate of the mud collecting robot is detected by a gyroscope, and the real-time deviation angle of the mud collecting robot is calculated; and detecting the rotation angular velocity of the left and right travelling wheels of the mud collecting robot by using the encoder, and further calculating the real-time advancing speed of the whole mud collecting robot. And determining the walking track of the mud collecting robot according to the real-time yaw angle and the real-time advancing speed of the whole machine, finally realizing Z-shaped track walking and collecting multi-point samples.
Further, the driving module comprises a walking wheel front wheel (1), a synchronous belt (8), a speed reducing motor (9), a belt wheel (10) and a walking wheel rear wheel (11). The two speed reducing motors are independently controlled and mutually matched with each other to drive the travelling wheels at the two sides, so that the mud collecting robot can advance, retreat, turn left and turn right.
Furthermore, the mud collecting robot body is designed into a split double-body mode, which is equivalent to two bilaterally symmetrical ship bodies, not only can reduce the pressure on the mud ground, reduce the risk of sinking into mud and improve the walking stability of the mud collecting robot, but also can generate buoyancy when tide rises so that the mud collecting robot floats in water and keeps balance.
Furthermore, the bottom adhesive tape of the split body of the mud collecting robot can reduce the friction area with the ground and can be replaced when the abrasion is serious.
Further, when the unmanned aerial vehicle lifts by crane the mud mining robot, the electromagnet is adopted for automatic alignment, and the position precision requirement of mutual alignment between the lifting hook of the unmanned aerial vehicle and the lifting frame of the mud mining robot can be greatly reduced. Meanwhile, the wide flexible belt replaces a common rope, so that the torsion amplitude of the lifting rope can be reduced, the lifting stability is improved, and the influence on the flight stability of the unmanned aerial vehicle due to the lifting of the mud mining robot is reduced.
Drawings
Fig. 1 shows an intelligent estuary wetland sediment sample acquisition device based on an unmanned aerial vehicle.
FIG. 2 shows a structure diagram of the whole device of the mud collecting robot of the invention: wherein, the device comprises 2-a main bin (internally provided with a speed reducing motor, a battery and the like), 3-a motor mounting rack, 4-a collecting box and 5-a hoisting frame.
FIG. 3 shows the structure of the mud collecting device of the present invention: wherein 6-driving motor of helical blade, 7-type drill helical blade.
FIG. 4 shows a structure diagram of the walking device of the mud-collecting robot of the invention: wherein, 1-a front wheel of a walking wheel, 8-a synchronous belt, 9-a reducing motor, 10-a belt wheel and 11-a rear wheel of the walking wheel.
Figure 5, 12-lifting hook.
Fig. 6, the overall system of the present invention.
FIG. 7 is a block diagram of the overall process of the present invention.
Detailed Description
The embodiments of the present invention are explained in detail below with reference to the drawings, and the detailed embodiments and the specific operation procedures are given. The described examples are preferred, but not all, examples of the invention.
The overall system block diagram of the invention is shown in fig. 6, two independent control systems are adopted, an unmanned aerial vehicle is controlled by a ground control station, and a mud collection robot is controlled by a single chip microcomputer.
The acquisition process is shown in fig. 7, and the acquisition steps are developed according to a flow chart.
Step 1: the utility model provides a estuary wetland sediment sample intelligence collection system based on unmanned aerial vehicle, unmanned aerial vehicle includes flight control module, GPS module, battery, radio signal transmitting terminal, camera equipment. Firstly, checking and calibrating each module of the unmanned aerial vehicle, and confirming that each component and each module of the unmanned aerial vehicle are normal.
Step 2: and (4) planning the unmanned aerial vehicle route, setting the flight route of the unmanned aerial vehicle at a ground control station according to the mud mining place, writing a route command into a flight controller, unlocking the unmanned aerial vehicle and sending a flight command.
And step 3: carry on at unmanned aerial vehicle and adopt mud robot flight in-process, unmanned aerial vehicle lifts by crane frame (5) through lifting hook (12) and adopting mud robot and is connected, and the crossbeam surface that lifts by crane the frame covers there is ferromagnetic conductor, has the electro-magnet on the lifting hook. When the mud collecting robot arrives at a mud collecting place, the lifting hook is separated from the lifting frame, the mud collecting robot falls to the ground, the ground control station sends out a starting instruction, and the mud collecting robot starts collecting operation.
And 4, step 4: the mud collection robot walks along a Z-shaped track to gradually collect a plurality of samples. The device is as shown in figure 4, a speed reducing motor (9) drives a front wheel (1) of a walking wheel, and power of the speed reducing motor is transmitted to a rear wheel (11) of the walking wheel in a transmission mode from a belt wheel to a synchronous belt (8) and then to a belt wheel (10), so that the two walking wheels rotate at the same speed in the same direction on the front and the back of the left. And the two traveling wheels on the right side rotate in the same direction and at the same speed by another set of speed reducing motor, a synchronous belt and a belt wheel transmission mechanism. The two speed reducing motors are independently controlled and matched with each other, so that the mud collecting robot can move forwards, backwards, leftwards and rightwards. And after the collection is finished, the mud collecting robot returns to the floor point in the original way through a set instruction and finishes the collection.
And 5: in the mud collecting process of the mud collecting robot, as shown in fig. 3, a motor (6) on the mud collecting robot drives a helical blade (7) similar to a drill bit to drill bottom mud, and the bottom mud enters a collecting box (4) through the gap of the helical blade.
Step 6: and after the collection is finished, the position and the posture of the mud collecting robot are monitored in real time by a camera arranged at the bottom of the unmanned aerial vehicle, and the posture state information is transmitted to the ground control station through the wireless module and displayed on a display screen. Through observing the display screen information, operating personnel remote control unmanned aerial vehicle realizes lifting by crane and transporting back to adopting mud robot.
And 7: and taking out the collected bottom mud, and detecting in a laboratory.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention, and the scope of the present invention is not limited thereto, and any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (6)
1. The invention discloses an intelligent estuary wetland sediment sample acquisition device based on an unmanned aerial vehicle. Relate to robot, unmanned aerial vehicle and environmental monitoring field, in particular to estuary wetland sediment sample intelligent acquisition device based on unmanned aerial vehicle. The system comprises a ground control station, an unmanned aerial vehicle and a mud collecting robot. The method is characterized in that: the ground control station is used for air route planning and unmanned aerial vehicle state monitoring; the unmanned aerial vehicle is used for carrying the mud collecting robot to a collecting place; the mud collection robot is used for collecting bottom mud and comprises a control module, a sensor module, a driving module and a mud collection module; the control module is a single chip microcomputer and is connected with the sensor module, the driving module and the mud collecting module; the single chip microcomputer receives the sensor signal, sends out a driving and collecting signal and controls the whole sediment collecting process of the sediment collecting robot.
2. The intelligent estuary wetland sediment sample acquisition device based on the unmanned aerial vehicle as claimed in claim 1, characterized in that: the mud collecting robot is used as a static base point, the yaw rate of the mud collecting robot is detected by a gyroscope, and the real-time deviation angle of the mud collecting robot is calculated; and detecting the rotation angular velocity of the left and right travelling wheels of the mud collecting robot by using the encoder, and further calculating the real-time advancing speed of the whole mud collecting robot. And determining the walking track of the mud collecting robot according to the real-time yaw angle and the real-time advancing speed of the whole machine, finally realizing Z-shaped track walking and collecting multi-point samples. At these sample collection points, the mud collection robot stops walking, a motor on the robot body drives a spiral blade similar to a drill bit to drill into the sediment, and the sediment enters a collection box through the gap of the spiral blade.
3. The intelligent estuary wetland sediment sample acquisition device based on the unmanned aerial vehicle as claimed in claim 1, characterized in that: the speed reducing motor drives the front wheel of the walking wheel, and the power of the speed reducing motor is transmitted to the rear wheel of the walking wheel in a transmission mode from the belt wheel to the synchronous belt and then to the belt wheel, so that the two walking wheels rotate in the same direction and at the same speed on the front and the rear of the left side. And the two traveling wheels on the right side rotate in the same direction and at the same speed by another set of speed reducing motor, a synchronous belt and a belt wheel transmission mechanism. The two speed reducing motors are independently controlled and matched with each other, so that the mud collecting robot can move forwards, backwards, leftwards and rightwards.
4. The intelligent estuary wetland sediment sample acquisition device based on the unmanned aerial vehicle as claimed in claim 1, characterized in that: the mud collecting robot body is designed into a split double-body mode, is equivalent to two bilaterally symmetrical ship bodies, not only can reduce the pressure on the mud ground, reduce the risk of sinking into mud and improve the walking stability of the mud collecting robot, but also can generate buoyancy when tide rises so that the mud collecting robot floats in water and keeps balance.
5. The intelligent estuary wetland sediment sample acquisition device based on the unmanned aerial vehicle as claimed in claim 1, characterized in that: when the unmanned aerial vehicle lifts by crane the mud mining robot, adopt the automatic alignment of electro-magnet, can reduce by a wide margin to the position accuracy requirement of mutual alignment between unmanned aerial vehicle's lifting hook and the hoisting frame of mud mining robot. Meanwhile, the wide flexible belt replaces a common rope, so that the torsion amplitude of the lifting rope can be reduced, the lifting stability is improved, and the influence on the flight stability of the unmanned aerial vehicle due to the lifting of the mud mining robot is reduced.
6. The intelligent estuary wetland sediment sample acquisition device based on the unmanned aerial vehicle as claimed in claim 1, characterized in that: the position and the posture of the mud collecting robot are monitored in real time by a camera arranged at the bottom of the unmanned aerial vehicle, and the posture state information is transmitted to the ground control station through the wireless module and displayed on a display screen. Through observing the display screen information, operating personnel remote control unmanned aerial vehicle realizes lifting by crane and transporting back to adopting mud robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911066273.5A CN110641690A (en) | 2019-11-04 | 2019-11-04 | Estuary wetland sediment sample intelligent acquisition device based on unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911066273.5A CN110641690A (en) | 2019-11-04 | 2019-11-04 | Estuary wetland sediment sample intelligent acquisition device based on unmanned aerial vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110641690A true CN110641690A (en) | 2020-01-03 |
Family
ID=68995434
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911066273.5A Pending CN110641690A (en) | 2019-11-04 | 2019-11-04 | Estuary wetland sediment sample intelligent acquisition device based on unmanned aerial vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110641690A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113340663A (en) * | 2021-06-15 | 2021-09-03 | 河海大学常州校区 | Twin-hull unmanned ship capable of automatically collecting river and lake bottom mud samples |
| CN117091886A (en) * | 2023-10-20 | 2023-11-21 | 四川省绵阳生态环境监测中心站 | Mountain soil automatic sampling system |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106004281A (en) * | 2016-05-24 | 2016-10-12 | 西北工业大学 | Amphibious robot with multiple movement modes |
| CN106769213A (en) * | 2017-01-06 | 2017-05-31 | 环境保护部环境规划院 | A kind of bed mud sampling robots |
| CN107329487A (en) * | 2017-08-31 | 2017-11-07 | 西南交通大学 | A kind of unmanned plane and robot link job platform in the air |
| CN107953995A (en) * | 2017-12-01 | 2018-04-24 | 雷安静 | A kind of combined system of aerostatics unmanned plane |
| CN208989467U (en) * | 2018-05-31 | 2019-06-18 | 昆山福宏康复科技有限公司 | A kind of lifting machine for day rail shifting machine |
| CN211033005U (en) * | 2019-11-04 | 2020-07-17 | 浙江量大智能科技有限公司 | Estuary wetland sediment sample intelligent acquisition device based on unmanned aerial vehicle |
-
2019
- 2019-11-04 CN CN201911066273.5A patent/CN110641690A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106004281A (en) * | 2016-05-24 | 2016-10-12 | 西北工业大学 | Amphibious robot with multiple movement modes |
| CN106769213A (en) * | 2017-01-06 | 2017-05-31 | 环境保护部环境规划院 | A kind of bed mud sampling robots |
| CN107329487A (en) * | 2017-08-31 | 2017-11-07 | 西南交通大学 | A kind of unmanned plane and robot link job platform in the air |
| CN107953995A (en) * | 2017-12-01 | 2018-04-24 | 雷安静 | A kind of combined system of aerostatics unmanned plane |
| CN208989467U (en) * | 2018-05-31 | 2019-06-18 | 昆山福宏康复科技有限公司 | A kind of lifting machine for day rail shifting machine |
| CN211033005U (en) * | 2019-11-04 | 2020-07-17 | 浙江量大智能科技有限公司 | Estuary wetland sediment sample intelligent acquisition device based on unmanned aerial vehicle |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113340663A (en) * | 2021-06-15 | 2021-09-03 | 河海大学常州校区 | Twin-hull unmanned ship capable of automatically collecting river and lake bottom mud samples |
| CN117091886A (en) * | 2023-10-20 | 2023-11-21 | 四川省绵阳生态环境监测中心站 | Mountain soil automatic sampling system |
| CN117091886B (en) * | 2023-10-20 | 2024-01-02 | 四川省绵阳生态环境监测中心站 | Mountain soil automatic sampling system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108731736B (en) | Wall radar photoelectricity robot system is climbed automatically for bridge tunnel Structural defect non-destructive testing diagnosis | |
| CN106873623B (en) | Unmanned aerial vehicle rapid autonomous endurance system and method thereof | |
| CN101774170B (en) | Nuclear power plant working robot and control system thereof | |
| CN110941239B (en) | Deep mine environment monitoring robot system and monitoring method | |
| CN104142688A (en) | Underwater robot platform | |
| CN101807080A (en) | Robot airship control system for overhead line inspection and control method thereof | |
| CN102249002B (en) | Air sampling aircraft and air sampling method | |
| CN105814431A (en) | Unmanned aerial vehicle and water sample collection method thereof | |
| CN110641690A (en) | Estuary wetland sediment sample intelligent acquisition device based on unmanned aerial vehicle | |
| CN111176332A (en) | Tunnel primary support and secondary lining quality detection equipment based on adsorption type unmanned aerial vehicle carrying platform | |
| CN112197753B (en) | Intelligent geographic information measuring and drawing system | |
| CN205950750U (en) | Transformer station inspection robot control system that navigates based on inertial navigation | |
| CN109591907A (en) | A kind of bridge pier detection walking mechanism and traveling method | |
| CN211033005U (en) | Estuary wetland sediment sample intelligent acquisition device based on unmanned aerial vehicle | |
| Tang et al. | A novel rail inspection robot and fault detection method for the coal mine hoisting system | |
| CN106638363A (en) | Intelligent traffic navigation operation method, system and equipment | |
| CN107843486A (en) | A kind of detection robot system based on benkelman beams deflectometer | |
| CN113085917A (en) | Wheel-rail combined type unmanned underground continuous transport vehicle and control method thereof | |
| CN107678430A (en) | AGV trolley control systems | |
| CN116009562A (en) | Self-propelled platform and monitoring method of field crop phenotype monitoring robot | |
| CN106094617A (en) | It is wirelessly transferred three core eight axle caterpillar type high-speed natural gas line robot control systems | |
| CN217496560U (en) | Intelligent omnidirectional airport luggage conveying and rotating platform control system | |
| CN107065893B (en) | Sensor layout device for detecting damage power of foundation pile of high-pile wharf and using method thereof | |
| CN209492628U (en) | Walking mechanism is used in a kind of detection of bridge pier | |
| CN108643914A (en) | A kind of intelligence open coal mine continuous milling machine system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20230620 Address after: Room 1406, Building 2, Shidai Mountain Business Building, Qiantang New District, Hangzhou City, Zhejiang Province, 310000 Applicant after: HANGZHOU CUNLAN TECHNOLOGY Co.,Ltd. Address before: 310018 Room 308, 3 / F, No.5 standard workshop, zhongceyuan, No.1, No.8 street, Hangzhou Economic and Technological Development Zone, Hangzhou City, Zhejiang Province Applicant before: Zhejiang Liangda Intelligent Technology Co.,Ltd. |
|
| TA01 | Transfer of patent application right |