CN112462022B - Automatic depth setting device based on unmanned ship, detection system and operation method - Google Patents
Automatic depth setting device based on unmanned ship, detection system and operation method Download PDFInfo
- Publication number
- CN112462022B CN112462022B CN202011397869.6A CN202011397869A CN112462022B CN 112462022 B CN112462022 B CN 112462022B CN 202011397869 A CN202011397869 A CN 202011397869A CN 112462022 B CN112462022 B CN 112462022B
- Authority
- CN
- China
- Prior art keywords
- water
- push rod
- electric push
- controller
- unmanned
- 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.)
- Active
Links
- 238000001514 detection method Methods 0.000 title claims abstract description 41
- 238000000034 method Methods 0.000 title claims abstract description 13
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 126
- 239000000523 sample Substances 0.000 abstract description 29
- 238000011065 in-situ storage Methods 0.000 description 4
- 238000012544 monitoring process Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 238000005070 sampling Methods 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000000969 carrier Substances 0.000 description 1
- 238000013075 data extraction Methods 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 239000002352 surface water Substances 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/18—Water
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
-
- 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
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/06—Means for converting reciprocating motion into rotary motion or vice versa
Abstract
The invention provides an automatic depth setting device based on an unmanned ship, an unmanned water detection system with the automatic depth setting device and an operation method for water sample collection and detection by using the unmanned water detection system. The automatic depth setting device comprises a controller, a cradle head, a fixing frame, an electric push rod and a pressure sensor, wherein the fixing frame is hinged to the cradle head and controlled by the cradle head to rotate, the electric push rod is assembled on the fixing frame, the pressure sensor is assembled at the telescopic end of the electric push rod, and the controller is respectively connected with the cradle head, the electric push rod and the pressure sensor. The probe can be accurately driven to reach the set water inlet depth according to the operation requirement, the fluctuation influence of waves on the carrier can be automatically finely adjusted and compensated according to the pressure sensor, the probe is always accurately kept in a water layer with the determined depth to continuously work, and unmanned water detection is realized.
Description
Technical Field
The invention relates to the field of unmanned water sample collection and detection, in particular to an automatic depth setting device based on an unmanned ship, a detection system with the automatic depth setting device and an operation method for water sample collection and detection by utilizing the detection system.
Background
At present, neither a buoy type water quality detection device nor an unmanned ship water quality detection device has a function of accurately selecting water depth so as to acquire water quality data or extract water samples. The water quality data extraction or the water sample extraction can only be carried out by adopting a single operation mode of manual depth setting, or the real-time monitoring of the surface water body through an unmanned ship can not be realized, and the real in-situ real-time monitoring of the water body and the full data acquisition of the water layer of the whole water area can not be realized.
Disclosure of Invention
Therefore, the invention provides an automatic depth setting device based on an unmanned ship, an unmanned water detection system with the automatic depth setting device and an operation method for collecting and detecting a water sample by using the unmanned water detection system, and the problems are effectively solved.
In order to achieve the above purpose, the technical scheme provided by the invention is as follows:
the utility model provides an automatic depth setting device based on unmanned ship, includes controller, cloud platform, mount, electric putter and pressure sensor, the cloud platform is used for being fixed to unmanned ship, the mount articulates on the cloud platform and receives cloud platform control rotation, electric putter assembles on the mount, pressure sensor assembles in electric putter's flexible end, the controller forms with cloud platform, electric putter and pressure sensor respectively and is connected.
Furthermore, the fixing frame is of a U-shaped structure, the fixing frame is sleeved on the cradle head, and two side walls of the fixing frame are hinged with the cradle head at the same time.
Further, a sliding rail parallel to the telescopic axis of the electric push rod is fixed on the fixing frame, a fixing seat is fixedly arranged on the sliding rail, and the electric push rod is fixed on the fixing seat.
Further, the number of the fixing seats is multiple, and the plurality of fixing seats are fixedly connected with the electric push rod at the same time.
Further, a fixing sleeve hole is formed in the fixing base, and the electric push rod is fixedly sleeved in the fixing sleeve hole of the fixing base.
Further, a support is fixed at the telescopic end of the electric push rod, and the pressure sensor is assembled on the support on the telescopic end of the electric push rod.
Further, the bracket is provided with a first mounting hole positioned at the center and a second mounting hole positioned at the periphery of the first mounting hole, and the pressure sensor is assembled on the second mounting hole.
The detection system is an unmanned water detection system and comprises the automatic depth setting device based on the unmanned ship and a water sample collection detector, wherein the water sample collection detector is assembled at the telescopic end of the electric push rod and is connected with a controller, and the controller is in communication connection with a remote end through a wireless communication module.
The detection operation method is an unmanned water detection operation method and comprises the following steps:
a1, providing the unmanned water detection system, wherein the remote end is in communication connection with a controller of the unmanned water detection system through a wireless communication module;
a2, providing an operation signal through a remote end, and controlling a cradle head to operate after the controller receives the signal, wherein the cradle head drives a fixing frame to rotate so as to enable an electric push rod to be aligned with a water surface to be measured;
a3, setting a detection depth through a remote end, and controlling the electric push rod to extend after the controller receives the signal, so that the pressure sensor and the water sample collection detector are immersed in water to reach a preset water depth;
a4, the pressure sensor senses the water pressure and outputs the water pressure to the controller, the controller determines the actual water depth through the detected water pressure value, and controls the electric push rod to stretch and retract in real time, so that the depth is adjusted in real time;
a5, the water sample collecting detector collects water samples and detects water sample data, the water sample data are output to the controller, and the controller transmits the water depth value and the corresponding water sample data to the remote end through the wireless communication module.
The technical scheme provided by the invention has the following beneficial effects:
according to the automatic depth setting device, the controller can control the cradle head to drive the electric push rod to switch positions, meanwhile, the electric push rod can be controlled to stretch according to operation requirements, so that the pressure sensor can be driven to accurately enter water with a set depth, the pressure sensor senses water pressure and outputs the water pressure to the controller, the controller determines the actual water depth through the detected water pressure value, controls the electric push rod to stretch in real time, automatically fine-adjusts and compensates the fluctuation influence of waves on a carrier, and always keeps the probe accurately in a water layer with the determined depth to continuously work; realizing automatic depth setting.
Meanwhile, the unmanned water detection system and the operation method based on the system are provided on the basis of the automatic depth setting device, under the condition of unmanned operation on site, the system is controlled to accurately set depth, collect and detect water samples, and finally, the automatic sampling of water layers with different depths in the whole water area and the on-line and in-situ (reaching and keeping at the appointed depth through the automatic depth setting device) real-time monitoring of water quality data are perfectly realized, and the problems in the prior art are effectively solved. Meanwhile, the system can be matched with unmanned ship operation to acquire all data of the water layer in the whole water area.
Drawings
FIG. 1 is a schematic perspective view of an automatic depth setting device in a storage state according to an embodiment;
FIG. 2 is a front view of the automatic depth setting device in a housed state according to the embodiment;
FIG. 3 is a side view of the automatic depth setting device in a stowed condition according to an embodiment;
FIG. 4 is an exploded view of the automatic depth setting device in the storage state according to the embodiment;
FIG. 5 is a front view of the automatic depth setting device in an operating state, showing the electric putter not extended;
FIG. 6 is a front view of the automatic depth setting device according to the embodiment when the electric push rod is extended in the working state;
FIG. 7 is a schematic block diagram of an unmanned water detection system in an embodiment;
FIG. 8 is a block diagram showing steps of a method for unmanned water detection operation in an embodiment.
Detailed Description
For further illustration of the various embodiments, the invention is provided with the accompanying drawings. The accompanying drawings, which are incorporated in and constitute a part of this disclosure, illustrate embodiments and together with the description, serve to explain the principles of the embodiments. With reference to these matters, one of ordinary skill in the art will understand other possible embodiments and advantages of the present invention. The components in the figures are not drawn to scale and like reference numerals are generally used to designate like components.
The invention will now be further described with reference to the drawings and detailed description.
Referring to fig. 1 to 6, the automatic depth setting device based on an unmanned ship provided in this embodiment includes a controller (not shown in fig. 1 to 4, referring to a controller 70 shown in fig. 7), a pan-tilt 10, a fixing frame 20, an electric push rod 30 and a pressure sensor 40, wherein the pan-tilt 10 is configured to be assembled on the unmanned ship, the fixing frame 20 is hinged on the pan-tilt 10 and is controlled to rotate by the pan-tilt 10, the electric push rod 30 is assembled on the fixing frame 20, the pressure sensor 40 is assembled at a telescopic end of the electric push rod 30, and the controller 70 is respectively connected with the pan-tilt 10, the electric push rod 30 and the pressure sensor 40.
According to the automatic depth setting device provided by the scheme, the controller 70 can control the cradle head 10 to drive the electric push rod 30 to switch positions, for example, when the electric push rod 30 is horizontally placed at a ship body position as shown in fig. 2, the cradle head 10 drives the fixing frame 20 to rotate, and then the electric push rod 30 is switched to an operation position vertical to the water surface as shown in fig. 5. Meanwhile, the electric push rod 30 can be controlled to stretch and retract according to the operation requirement so as to drive the pressure sensor 40 to accurately enter the water with the set depth, as shown in fig. 6, the pressure sensor 40 senses the water pressure and outputs the water pressure to the controller 70, the controller 70 determines the actual water depth through the detected water pressure value and controls the electric push rod 30 to stretch and retract in real time, the fluctuation influence of the wave on the carrier is automatically finely adjusted and compensated, and the probe is always accurately kept in the water layer with the determined depth to continuously work; automatic depth setting is realized, and the device can be well kept at a fixed depth (namely kept in situ).
Specifically, the controller 70, the pan-tilt 10, the electric push rod 30 and the pressure sensor 40 may be ready-made devices in the prior art, for example, the controller 70 uses a single-chip microcomputer as a controller of a core chip, the pan-tilt 10 uses an electric pan-tilt, and the rotation of the holder 20 hinged thereto is controlled by the pan-tilt 10 by using the electric pan-tilt in the prior art.
Further, in this embodiment, the fixing frame 20 has a U-shaped structure, the fixing frame 20 is sleeved on the pan-tilt 10, and two side walls of the fixing frame are simultaneously hinged with the pan-tilt 10. So set up, mount simple structure, and the effort is more even when being rotated by cloud deck 10 drive mount 20, and the action is more stable. Of course, in other embodiments, the structure of the mount 20 is not limited thereto.
Further, in this embodiment, a sliding rail 21 parallel to the telescopic axis of the electric push rod 30 is fixed on the fixing frame 20, the sliding rail 21 is fixedly equipped with a fixing seat 22, and the electric push rod 30 is fixed on the fixing seat 22. So set up, on the one hand be convenient for the fixing base 22 install in dismantle, on the other hand, when fixing base 22 is released and is fixed between the slide rail 21, fixing base 22 can slide on slide rail 21 in order to adjust the position, and then adjusts the position of electric putter 30 for cloud platform 10, so, when electric putter 30 is in the working position of perpendicular to the surface of water, its initial height just can change. Of course, this is not limiting in other embodiments.
In the embodiment, the fixing manner of the fixing base 22 fixedly assembled to the sliding rail 21 may be fixed by friction force generated by interference fit or by inserting and fixing with a fastener such as a bolt.
Further, the number of the fixing bases 22 is plural, in this embodiment, two fixing bases 22 are fixedly connected to the electric push rod 30 at the same time, and the fixing structure is more stable and is not easy to shake. Of course, in other embodiments, the number of the fixing bases 22 may be one or more than two.
Further, in this embodiment, a fixing socket (not shown) is formed on the fixing base 22, the electric push rod 30 is fixedly sleeved in the fixing socket of the fixing base 22, and is fixed by a fixing sleeve mode of the fixing socket, so that the structure is simple and easy to implement. Of course, other securing means for securing the electrical pushrod 30 may be used in other embodiments.
Further, in this embodiment, the telescopic end of the electric push rod 30 is fixed with a bracket 50, the pressure sensor 40 is assembled on the bracket 50 on the telescopic end of the electric push rod 30, and the bracket 50 is used as an intermediate adaptor, so that the connection between the existing components can be satisfied, and no structural change is required to be performed on the electric push rod 30 or the pressure sensor 40.
Specifically, the bracket 50 has a first mounting hole 51 located at a center position and a second mounting hole 52 located at a periphery of the first mounting hole 51, and in this embodiment, the number of the second mounting holes 52 is five, and the pressure sensor 40 is mounted on the second mounting hole 52. In this way, one or more pressure sensors 40 (one set in this embodiment) may be provided according to practical situations, and meanwhile, four redundant second mounting holes 52 may be used for mounting other devices, such as the water sample collection detector 60, etc., which are stable in structural connection and uniform in supporting force. Of course, in other embodiments, the structure of the stand 50 is not limited thereto, or an intermediate adapter such as the stand 50 is not required.
With continued reference to fig. 1 to 7, this embodiment further provides an unmanned water detection system, which includes a water sample collection detector 60 and the above-mentioned unmanned ship-based automatic depth setting device, where the water sample collection detector 60 is a device for collecting and detecting a water sample in the prior art, and the water sample collection detector 60 is assembled at the telescopic end of the electric push rod 30 and connected to the controller 70, and in this embodiment, the water sample collection detector 60 is assembled on the second mounting hole 52 of the bracket 50 like the pressure sensor 40. The controller 70 is in communication connection with the remote terminal 1 through a wireless communication module 80 (such as a bluetooth communication module, a wifi communication module, etc.).
With continued reference to fig. 8, the embodiment further provides an unmanned water detection operation method based on the unmanned water detection system, which includes the following steps:
a1, providing the unmanned water detection system, arranging the unmanned water detection system on an unmanned ship, and realizing communication connection between a remote end 1 and a controller 70 of the unmanned water detection system through a wireless communication module 80; for personnel to perform remote control operations at the remote end 1.
Specifically, the unmanned water detection system is arranged on an unmanned ship, specifically, the cradle head 10 is fixed on the unmanned ship, the unmanned ship is moved to a required detection position, specifically, the unmanned ship and other movable carriers remotely walk in the prior art, and the scheme is not described in detail.
A2, providing an operation signal through the remote end 1, and after receiving the signal, controlling the cradle head 10 to operate by the controller 70, wherein the cradle head 10 drives the fixing frame 20 to rotate so as to enable the electric push rod 30 to be aligned with the water surface to be measured;
specifically, before the operation, the electric push rod 30 is in the position shown in fig. 2, and is stored in the unmanned ship, after the controller 70 receives the signal, the operation of the cradle head 10 is controlled, the cradle head 10 drives the fixing frame to rotate, and the electric push rod 30 is driven to switch from the position shown in fig. 2 to the position shown in fig. 5, so as to be aligned with the water surface to be measured.
A3, setting the detection depth through the remote end 1, and after receiving a signal, controlling the electric push rod 30 to extend so that the pressure sensor 40 and the water sample collection detector 60 are immersed in water to reach the preset depth by the controller 70, as shown in FIG. 6;
a4, the pressure sensor 40 senses the water pressure and outputs the water pressure to the controller 70, the controller 70 determines the actual water depth according to the detected water pressure value, and controls the electric push rod 30 to stretch and retract in real time, so that the depth is adjusted in real time; the process compensates the fluctuation influence of the wave on the carrier through automatic fine adjustment, and always accurately keeps the probe (namely the water sample acquisition detector 60) in a water layer with a determined depth to continuously work, so that unmanned depth fixing operation is realized.
A5, the water sample collecting detector 60 collects water samples and detects water sample data, and outputs the water sample data to the controller 70, and the controller 70 transmits the water depth value and the corresponding water sample data to a remote end through the wireless communication module 80.
According to the unmanned water detection system based on the automatic depth setting device and the operation method based on the unmanned water detection system, under the condition of unmanned operation on site, the system is controlled to accurately set depth, collect water samples and detect water samples, and finally, automatic sampling of water layers with different depths in a whole water area and on-line and in-situ (reaching and keeping at the designated depth through the automatic depth setting device) real-time monitoring of water quality data are perfectly achieved, and the problems existing in the prior art are effectively solved. Meanwhile, the system can be matched with unmanned ship operation to acquire all data of the water layer in the whole water area.
While the invention has been particularly shown and described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (9)
1. Automatic depthkeeping device based on unmanned ship, its characterized in that: the unmanned aerial vehicle comprises a controller, a cradle head, a fixed mount, an electric push rod and a pressure sensor, wherein the cradle head is used for being fixed on an unmanned aerial vehicle, the fixed mount is hinged on the cradle head and controlled by the cradle head to rotate, the electric push rod is assembled on the fixed mount, the pressure sensor is assembled at the telescopic end of the electric push rod, and the controller is respectively connected with the cradle head, the electric push rod and the pressure sensor;
during operation, the controller controls the electric push rod to stretch out and draw back to the accurate aquatic that gets into the depth of setting for of drive pressure sensor, pressure sensor response water pressure and output to the controller, the actual water depth of controller determination through the water pressure value that detects to the flexible of real-time control electric push rod, automatic fine setting compensation wave is to unmanned ship's fluctuation influence, in order to realize that the flexible end of electric push rod remains in the degree of depth water layer that determines all the time.
2. The unmanned ship-based automatic depth setting device according to claim 1, wherein: the fixing frame is of a U-shaped structure, the fixing frame is sleeved on the cradle head, and two side walls of the fixing frame are hinged with the cradle head at the same time.
3. The unmanned ship-based automatic depth setting device according to claim 1, wherein: the electric push rod fixing device is characterized in that a sliding rail parallel to the telescopic axis of the electric push rod is fixed on the fixing frame, a fixing seat is fixedly arranged on the sliding rail, and the electric push rod is fixed on the fixing seat.
4. An unmanned ship based automatic depth setting device according to claim 3, wherein: the number of the fixing seats is multiple, and the fixing seats are fixedly connected with the electric push rod at the same time.
5. An unmanned ship based automatic depth setting device according to claim 3, wherein: the fixing seat is provided with a fixing sleeve hole, and the electric push rod is fixedly sleeved in the fixing sleeve hole of the fixing seat.
6. The unmanned ship-based automatic depth setting device according to claim 1, wherein: the telescopic end of the electric push rod is fixed with a support, and the pressure sensor is assembled on the support on the telescopic end of the electric push rod.
7. The unmanned ship-based automatic depth setting device according to claim 6, wherein: the support is provided with a first mounting hole positioned at the center and a second mounting hole positioned at the periphery of the first mounting hole, and the pressure sensor is assembled on the second mounting hole.
8. An unmanned water detection system, characterized in that: the unmanned ship-based automatic depth setting device comprises a water sample collection detector and any one of claims 1 to 7, wherein the water sample collection detector is assembled at the telescopic end of the electric push rod and is connected with a controller, and the controller is in communication connection with a remote end through a wireless communication module.
9. An unmanned water detection operation method is characterized by comprising the following steps:
a1, providing the unmanned water detection system of claim 8, arranging the unmanned water detection system on an unmanned ship, and realizing communication connection between a remote end and a controller of the unmanned water detection system through a wireless communication module;
a2, providing an operation signal through a remote end, and controlling a cradle head to operate after the controller receives the signal, wherein the cradle head drives a fixing frame to rotate so as to enable an electric push rod to be aligned with a water surface to be measured;
a3, setting a detection depth through a remote end, and controlling the electric push rod to extend after the controller receives the signal, so that the pressure sensor and the water sample collection detector are immersed in water to reach a preset depth;
a4, the pressure sensor senses the water pressure and outputs the water pressure to the controller, the controller determines the actual water depth through the detected water pressure value, and controls the electric push rod to stretch and retract in real time, so that the depth is adjusted in real time;
a5, the water sample collecting detector collects water samples and detects water sample data, the water sample data are output to the controller, and the controller transmits the water depth value and the corresponding water sample data to the remote end through the wireless communication module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011397869.6A CN112462022B (en) | 2020-12-04 | 2020-12-04 | Automatic depth setting device based on unmanned ship, detection system and operation method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011397869.6A CN112462022B (en) | 2020-12-04 | 2020-12-04 | Automatic depth setting device based on unmanned ship, detection system and operation method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112462022A CN112462022A (en) | 2021-03-09 |
| CN112462022B true CN112462022B (en) | 2023-10-27 |
Family
ID=74805408
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011397869.6A Active CN112462022B (en) | 2020-12-04 | 2020-12-04 | Automatic depth setting device based on unmanned ship, detection system and operation method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112462022B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106053139A (en) * | 2016-07-24 | 2016-10-26 | 中国科学院合肥物质科学研究院 | Multilayer water sample continuous and automatic acquisition type deepwater sampling device |
| CN206670981U (en) * | 2017-04-13 | 2017-11-24 | 大连云海创新科技有限公司 | Apply the test type adjustable in depth sampled acquisition device in unmanned boat |
| CN107560893A (en) * | 2017-09-29 | 2018-01-09 | 北京东方园林环境股份有限公司 | A kind of unmanned boat equipment to keep sample automatically for water quality and the method that keeps sample |
| CN208224240U (en) * | 2018-05-22 | 2018-12-11 | 南京信息工程大学 | A kind of unmanned boat sampling apparatus of stable detection different depth water quality |
| CN111982596A (en) * | 2020-08-20 | 2020-11-24 | 华北水利水电大学 | Intelligent water resource monitoring terminal |
| CN213933832U (en) * | 2020-12-04 | 2021-08-10 | 中国科学院城市环境研究所 | Automatic depth setting device and detection system based on unmanned ship |
-
2020
- 2020-12-04 CN CN202011397869.6A patent/CN112462022B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106053139A (en) * | 2016-07-24 | 2016-10-26 | 中国科学院合肥物质科学研究院 | Multilayer water sample continuous and automatic acquisition type deepwater sampling device |
| CN206670981U (en) * | 2017-04-13 | 2017-11-24 | 大连云海创新科技有限公司 | Apply the test type adjustable in depth sampled acquisition device in unmanned boat |
| CN107560893A (en) * | 2017-09-29 | 2018-01-09 | 北京东方园林环境股份有限公司 | A kind of unmanned boat equipment to keep sample automatically for water quality and the method that keeps sample |
| CN208224240U (en) * | 2018-05-22 | 2018-12-11 | 南京信息工程大学 | A kind of unmanned boat sampling apparatus of stable detection different depth water quality |
| CN111982596A (en) * | 2020-08-20 | 2020-11-24 | 华北水利水电大学 | Intelligent water resource monitoring terminal |
| CN213933832U (en) * | 2020-12-04 | 2021-08-10 | 中国科学院城市环境研究所 | Automatic depth setting device and detection system based on unmanned ship |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112462022A (en) | 2021-03-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN211263405U (en) | A on-line monitoring device for air quality detects | |
| CN213933832U (en) | Automatic depth setting device and detection system based on unmanned ship | |
| CN112462022B (en) | Automatic depth setting device based on unmanned ship, detection system and operation method | |
| CN114878786A (en) | Detection and evaluation device and detection and evaluation method for repaired polluted site | |
| CN218546151U (en) | Vehicle measuring equipment | |
| CN113970035A (en) | Automatic regulating device for surveying instrument | |
| CN218824441U (en) | Battery testing mechanism | |
| CN111089634A (en) | Water level monitoring device and method | |
| CN109520617B (en) | Multifunctional hyperspectral data acquisition device based on self-stabilization platform and measurement method thereof | |
| CN116660383A (en) | Self-adaptation adjusts detection distance's creeping wave probe detects frame | |
| CN215065363U (en) | Geotechnical sampling device for geotechnical engineering | |
| CN110715683B (en) | Geographic information data acquisition device and data acquisition method | |
| CN110202612B (en) | Automatic underwater propulsion or adsorption mechanism parameter measuring system and working method | |
| CN216485536U (en) | Pile bottom karst cave detecting instrument with from walking function | |
| CN107339964B (en) | Automobile glass lifter steel wire rope length detection equipment | |
| CN210736770U (en) | Biological fermentation detector | |
| CN218270674U (en) | Equipment for measuring small assembly height of bearing | |
| CN217273354U (en) | Carbon dioxide detection equipment in public place | |
| CN217049075U (en) | Oil moves unmanned aerial vehicle driving system test bench | |
| CN219869535U (en) | Wireless communication type measuring device | |
| CN216049989U (en) | Portable environment detector | |
| CN220708437U (en) | Clean room temperature humidity detection device | |
| CN219474664U (en) | Ecological environment monitor | |
| CN219641657U (en) | Tail gas probe clamp, tail gas detection device and tail gas detection system | |
| CN217385249U (en) | Device for detecting surface defects of flexible copper clad laminate by CO2 laser |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |