CN113125462B - Intelligent underwater dredging detection device and method for hydraulic structure - Google Patents
Intelligent underwater dredging detection device and method for hydraulic structure Download PDFInfo
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- CN113125462B CN113125462B CN202110431736.4A CN202110431736A CN113125462B CN 113125462 B CN113125462 B CN 113125462B CN 202110431736 A CN202110431736 A CN 202110431736A CN 113125462 B CN113125462 B CN 113125462B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/88—Dredgers; Soil-shifting machines mechanically-driven with arrangements acting by a sucking or forcing effect, e.g. suction dredgers
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/88—Dredgers; Soil-shifting machines mechanically-driven with arrangements acting by a sucking or forcing effect, e.g. suction dredgers
- E02F3/90—Component parts, e.g. arrangement or adaptation of pumps
- E02F3/92—Digging elements, e.g. suction heads
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F5/00—Dredgers or soil-shifting machines for special purposes
- E02F5/28—Dredgers or soil-shifting machines for special purposes for cleaning watercourses or other ways
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Abstract
The utility model discloses an underwater dredging intelligent detection device and method for hydraulic structures, which comprises the following steps: the underwater building desilting device comprises a desilting cylinder, a sewage pump and an image acquisition device for acquiring images of the surface of an underwater building, wherein a cover plate capable of being opened and closed is arranged on the desilting cylinder, the sewage pump is installed in the desilting cylinder and communicated with a sewage pipeline, muddy water pumped by the sewage pump is discharged through the sewage pipeline, and the image acquisition device is fixed on the desilting cylinder through a support component. The underwater dredging is carried out through the sewage pump, and the surface image of the underwater building is collected through the image collecting device, so that the surface defect of the underwater building can be visually observed.
Description
Technical Field
The invention relates to the technical field of underwater detection of hydraulic buildings, in particular to an intelligent underwater dredging detection device and method for a hydraulic building.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
The hydraulic structure plays a vital role in water resource scheduling, and the guarantee of the safe operation of the hydraulic structure is a key task of hydraulic engineering management. The bottom plate, the gate and other parts of the hydraulic structure are repeatedly acted by water load underwater for a long time, and are soaked underwater for a long time, so that potential safety hazards such as structure aging are easily caused. In order to ensure the safety of the operation of the hydraulic structure, the detection of the submerged part of the hydraulic structure, particularly the concrete bottom plate, is very important. At present, a plurality of nondestructive detection methods for concrete floors exist, but as the concrete floors of hydraulic buildings are under water for a long time and the water depth is deep, even about 10 meters, the concrete floors do not have visual detection conditions, and a plurality of conventional detection methods are limited; the existing detection method for the manual diving operation has high risk, great difficulty and high cost; and thick sludge is easily formed on the surface of the bottom plate, which also causes inconvenience for detection.
Disclosure of Invention
The underwater dredging intelligent detection device and method for the hydraulic structure solve the problems, underwater dredging is carried out through the sewage pump, and the surface image of the underwater structure is collected through the image collecting device, so that the surface defect of the underwater structure can be visually observed.
In order to achieve the purpose, the following technical scheme is adopted in the disclosure:
first aspect provides a hydraulic structure is desilting intellectual detection system device under water, includes: the device comprises a dredging cylinder, a sewage pump and an image acquisition device, wherein the dredging cylinder is placed at a position to be detected of an underwater building, the sewage pump is placed in the dredging cylinder and is communicated with a sewage pipeline, muddy water pumped by the sewage pump is discharged through the sewage pipeline, the image acquisition device is fixed on the dredging cylinder through a support component and is used for acquiring surface images of the underwater building, and whether defects exist on the surface of the underwater building is judged through the acquired surface images of the underwater building.
In a second aspect, an intelligent detection method for underwater dredging of a hydraulic structure is provided, which comprises the following steps:
placing the dredging cylinder fixed with the image acquisition device at a position to be detected of an underwater building;
positioning the sinking position of the dredging barrel according to the buoy;
according to the positioning position of the buoy, a sewage pump is placed into the dredging cylinder;
carrying out underwater dredging through a sewage pump, and discharging the dredged muddy water through a sewage pipeline;
acquiring a surface image of an underwater building through an image acquisition device;
and judging whether the surface of the underwater building has defects or not according to the collected surface image of the underwater building.
Compared with the prior art, the beneficial effect of this disclosure is:
1. according to the underwater concrete dredging device, underwater dredging is carried out through the sewage pump, and the surface image of the underwater building is collected through the image collecting device, so that whether the underwater building has the surface defects of underwater concrete damage such as refuting corrosion, scouring damage, carbonization damage and crack damage can be visually observed.
2. This disclose sets up the buoy on the stay cord that a desilting section of thick bamboo is connected, confirm the position of transferring of a desilting section of thick bamboo through the buoy to can be accurate place a desilting section of thick bamboo in the position department of treating the desilting, and can be according to the position of the desilting section of thick bamboo that the buoy was confirmed, accurate place the sewage pump in a desilting section of thick bamboo and carry out the desilting, realized the desilting to optional position, and it is more convenient to use.
3. This is disclosed carries out the desilting through placing the sewage pump in a desilting section of thick bamboo, has reduced the silt disturbance in detection area, and reducible standing time is swift save time, makes the image of gathering clearer simultaneously.
4. The relative position of this disclosed support and a desilting section of thick bamboo is adjustable, through the support in the regulation of desilting section of thick bamboo relative position, has realized the detection to different detection positions.
Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.
Fig. 1 is a schematic structural diagram of an intelligent detection device disclosed in embodiment 1 of the present disclosure;
FIG. 2 is a schematic structural diagram of a dredging system disclosed in embodiment 1 of the present disclosure;
fig. 3 is a schematic structural diagram of a detection system disclosed in embodiment 1 of the present disclosure.
Wherein: 1. the device comprises a dredging cylinder, 2, a sewage pump, 3, a water outlet, 4, a cover plate, 5, a spring, 6, a hinge, 7-1, a lifting rope mounting hole, 7-2, a lifting rope mounting hole, 8-1, a first mounting hole, 8-2, a second mounting hole, 9, a light source, 10, a light source fixing ring, 11, a main body support, 12, an image acquisition device, 13, a base, 14, a supporting platform, 15, a water belt, 16, a conveying pipe, 17, a lifting rope, 18, a buoy, 19 and a sluice access bridge.
The specific implementation mode is as follows:
the present disclosure is further described with reference to the following drawings and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
In the present disclosure, terms such as "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "side", "bottom", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only relational terms determined for convenience in describing structural relationships of the parts or elements of the present disclosure, and do not refer to any parts or elements of the present disclosure, and are not to be construed as limiting the present disclosure.
In the present disclosure, terms such as "fixedly connected," "connected," and the like should be understood broadly, and mean that they may be fixedly connected, integrally connected, or detachably connected; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present disclosure can be determined on a case-by-case basis by persons skilled in the relevant art or technicians, and are not to be construed as limitations of the present disclosure.
Example 1
In this embodiment, a hydraulic structure underwater desilting intellectual detection system device is disclosed, includes: the device comprises a dredging cylinder, a sewage pump and an image acquisition device, wherein the dredging cylinder is placed at a position to be detected of an underwater building, the sewage pump is placed in the dredging cylinder and is communicated with a sewage pipeline, muddy water pumped by the sewage pump is discharged through the sewage pipeline, the image acquisition device is fixed on the dredging cylinder through a support component and is used for acquiring surface images of the underwater building, and whether defects exist on the surface of the underwater building is judged through the acquired surface images of the underwater building.
Furthermore, the desilting cylinder is provided with a cover plate which can be opened and closed, and the desilting cylinder, the sewage pump and the cover plate are all connected with lifting ropes.
Furthermore, a buoy is arranged on a lifting rope connected with the dredging cylinder, and the sinking position of the dredging cylinder is marked through the buoy.
Furthermore, the bottom of the dredging cylinder is hollow.
Further, the bracket component is connected with the dredging cylinder through a bolt.
Furthermore, a light source is further fixed on the support component, and the light source is used for providing illumination for the image acquisition device to acquire images.
Further, the bracket component comprises a main body bracket, a light source fixing ring and a supporting platform are arranged on the main body bracket, the light source is fixed on the light source fixing ring, and the image acquisition device is installed on the supporting platform.
Further, the cover plate is connected with the dredging cylinder through a spring hinge.
Furthermore, a channel for water to pass through is arranged on the cover plate.
Furthermore, a balancing weight is arranged on the dredging cylinder.
The underwater dredging intelligent detection device for the hydraulic structure disclosed by the embodiment is described in detail with reference to fig. 1 to 3.
As shown in figure 1, the underwater dredging intelligent detection device for the hydraulic structure comprises a dredging system and a detection system, wherein the detection system is fixed on the dredging system and is placed underwater along with the dredging system.
The dredging system is structurally shown in figure 2 and comprises a dredging cylinder 1 and a sewage pump 2, wherein an openable cover plate 4 is arranged at the upper end of the dredging cylinder 1, when the cover plate 4 is opened, the sewage pump 2 is placed into the dredging cylinder 1 from the opened cover plate, the sewage pump 2 is communicated with a sewage pipeline, and after the sewage pump is opened, muddy water is discharged through the sewage pipeline to realize dredging of underwater buildings.
The dredging cylinder 1, the cover plate 4 and the sewage pump 2 are all connected with lifting ropes 17, the dredging cylinder is placed under water through the lifting ropes on the dredging cylinder, and the cover plate 4 is controlled to open and close through the lifting ropes on the cover plate.
In specific implementation, the lifting rope 17 is made of rough cotton rope.
The dredging barrel 1 is provided with two symmetrical lifting rope mounting holes 7-1, and the lifting ropes are mounted on the dredging barrel 1 through the lifting rope mounting holes 7-1.
The cover plate 4 is provided with a lifting rope mounting hole 7-2, and the lifting rope is mounted on the cover plate 4 through the lifting rope mounting hole 7-2.
The cover plate 4 is connected with the dredging cylinder 1 through the hinge 6, the spring 5 is arranged at the position of the hinge, when the pull rope controls the cover plate 4 to be opened, the spring 5 generates elastic force, and when the pull rope does not apply force for opening the cover plate, the elastic force of the spring 5 enables the cover plate 4 to be automatically closed.
The cover plate 4 can be one or two split. In order to ensure that clear water enters the dredging barrel in the dredging process, a channel for water to pass is arranged on the cover plate.
The channel for water to pass through can be arranged on the cover plate and also can be arranged between the cover plate and the dredging barrel.
When the cover plate is 1 fan, a channel for water to pass through is arranged on the cover plate 1, or a channel for water to pass through is arranged between the cover plate and the wall of the dredging barrel.
When the cover plate is two-leaf split, a channel for water to pass through is arranged on each cover plate, or an opening gap is arranged between the two-leaf split cover plates, and clear water enters the dredging cylinder through the opening gap.
The bottom of the dredging cylinder 1 is hollow, so that muddy water can conveniently enter the dredging cylinder and be pumped out by the sewage pump, and therefore dredging can be performed on the underwater building.
When concrete implementation, a desilting section of thick bamboo 1 chooses for use the PVC material, in order to make the desilting section of thick bamboo of PVC material fully overcome buoyancy, possesses good heavy end effect, has set up the balancing weight on a desilting section of thick bamboo.
The balancing weight can be an iron sheet, and a plurality of iron sheets are uniformly arranged at the bottom of the dredging cylinder to overcome the buoyancy of the dredging cylinder, so that the dredging cylinder is sunk into water.
The sewage pump 2 is communicated with a sewage pipeline.
In specific implementation, the sewage pipeline comprises a water hose 15 and a delivery pipe 16, one end of the water hose 15 is communicated with the water outlet 3 of the sewage pump 2, the other end of the water hose is communicated with the delivery pipe 16, and the other end of the delivery pipe 16 is exposed out of the water surface.
The conveying pipe 16 is a bent pipe, so that the problem that muddy water is drained back to a dredging position after being pumped out, and the dredging effect is poor can be solved.
The water belt 15 is canvas water belt, and the conveying pipe 16 is PVC pipe.
The sewage pipeline extends out of the water surface through a channel which is arranged on the cover plate and is used for supplying water.
The detection system in this embodiment is shown in fig. 3, and includes an image acquisition device 12 and a light source 9, where the image acquisition device 12 acquires a surface image of an underwater building, and the light source 9 provides illumination for image acquisition by the image acquisition device 12.
The light source 9 adopts an underwater light source, so that normal work can be guaranteed underwater, and further normal image acquisition is guaranteed.
On image acquisition device 12 and light source 9 all were fixed in the bracket component, the bracket component was connected through the bolt with a desilting section of thick bamboo to on being fixed in a desilting section of thick bamboo with image acquisition device 12 and light source 9, following a desilting section of thick bamboo and sink into aquatic together, carry out image acquisition to the building under water.
Wherein, the bracket component includes main part support 11, sets up supporting platform 14 and the solid fixed ring 10 of light source on main part support 11, and the diameter size of the solid fixed ring 10 of light source is adjustable, and through the regulation of the solid fixed ring 10 diameter size of light source, the convenience is fixed the light source to can realize fixing to the not unidimensional form light source, image acquisition device 12 is fixed in on supporting platform 14 through base 13.
A plurality of second mounting holes 8-2 are formed in the main body support 11, a plurality of first mounting holes 8-1 are formed in the dredging cylinder, and the main body support 11 is fixed on the dredging cylinder through nuts after bolts penetrate through the first mounting holes and the second mounting holes.
Through the cooperation of different second mounting holes and first mounting hole, realized the position adjustment of main part support 11 with a desilting section of thick bamboo to realized the image acquisition to building different positions department under water, it is more nimble to use.
In specific implementation, the image acquisition device 12 and the light source 9 are both powered by rechargeable batteries without additional connection of a power supply.
The image collected by the image collecting device can be uploaded to the cloud end and viewed or exported in the mobile terminal app.
The mobile terminal can be a mobile phone or a computer and the like.
In order to accurately obtain the sinking position of the dredging barrel and further accurately place the dredging barrel at the detection position of an underwater building or accurately place a sewage pump into the dredging barrel, a movable buoy 18 is arranged on a pull rope connected with the dredging barrel, and the sinking position of the dredging barrel is obtained through the buoy 18, so that the sinking position of the dredging barrel is adjusted, or the sewage pump is accurately placed into the dredging barrel through the position positioning of the dredging barrel.
Use to detect the sluice as an example, explain the use of the underwater desilting intellectual detection system of a hydraulic structure that this embodiment discloses, the detection device that this embodiment discloses is when using, be connected detecting system and desilting section of thick bamboo, open back with image acquisition device and light source and the desilting section of thick bamboo and put into aquatic from sluice access bridge 19 together downwards, open the apron on the desilting section of thick bamboo after sinking, carry out position location to the desilting section of thick bamboo according to the calibration position of buoy, put into the desilting section of thick bamboo with the sewage pump, close the apron after sinking, open the sewage pump, begin the desilting, the muddy water of taking out passes through the sewage pipeline and arranges to the next door, the purpose is that it finishes to judge the desilting after the sewage becomes clear through the observation. In the dredging process, the sewage pump can be moved properly to carry out the comprehensive dredging, which lasts for several minutes. The opening and closing of the cover plate and the position movement of the sewage pump are controlled by the lifting rope under the dredging cylinder. Standing for half a minute after silt clearing is finished, then, the recovery device can be recovered, the detection system is closed at the moment, the image collected by the image collection device is automatically uploaded to the cloud, and the image collection result is checked through the mobile phone app. And moving to the next monitoring point after the detection is finished until the detection of the whole hydraulic building is finished.
The sewage pump can be supplied with power by a 220V power supply on the sluice access bridge or by a mobile power supply in the using process.
The utility model discloses a hydraulic structure is desilting intellectual detection system device under water, through the desilting system to the detection site desilting back, gather the surface image of building under water by image acquisition device, can clearly observe the surface defect of building under water directly perceivedly, whether exist for example refute to lose, erode and grind damage, carbonization destruction, crack damage etc. underwater concrete damage. The desilting system has the advantages that a narrow operation space is manufactured, sludge disturbance outside a detection area is reduced, standing time can be shortened, the operation is fast and time-saving, and meanwhile, images are clearer. The position of the image acquisition device in the device can be adjusted, and the direction can be adjusted according to the actual working environment; the device is a movable and detachable device installed by screws, and different positions can be checked in sequence according to detection requirements; simple structure, convenient operation, it is convenient to draw materials, practices thrift the detection cost.
Example 2
In the embodiment, the underwater dredging intelligent detection method for the hydraulic structure comprises the following steps:
placing the dredging cylinder fixed with the image acquisition device at a position to be detected of an underwater building;
positioning the sinking position of the dredging barrel according to the buoy;
according to the positioning position of the buoy, a sewage pump is placed into the dredging cylinder;
carrying out underwater dredging through a sewage pump, and discharging the dredged muddy water through a sewage pipeline;
acquiring a surface image of an underwater building through an image acquisition device;
and judging whether the surface of the underwater building has defects or not according to the collected surface image of the underwater building.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and so forth) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting the same, and although the present invention is described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that: modifications and equivalents may be made to the embodiments of the invention without departing from the spirit and scope of the invention, which is to be covered by the claims.
Claims (6)
1. The utility model provides a hydraulic structure desilting intellectual detection system device under water which characterized in that includes: the device comprises a dredging cylinder, a sewage pump and an image acquisition device, wherein the dredging cylinder is placed at a position to be detected of an underwater building, the sewage pump is placed in the dredging cylinder and is communicated with a sewage pipeline, muddy water pumped by the sewage pump is discharged through the sewage pipeline, the image acquisition device is fixed on the dredging cylinder through a support assembly and is used for acquiring a surface image of the underwater building, and whether defects exist on the surface of the underwater building is judged through the acquired surface image of the underwater building;
the dredging cylinder is provided with a cover plate which can be opened and closed, and the dredging cylinder, the cover plate and the sewage pump are all connected with lifting ropes; a buoy is arranged on a lifting rope connected with the dredging cylinder, and the sinking position of the dredging cylinder is marked through the buoy;
the sewage pipeline comprises a water hose and a conveying pipe, one end of the water hose is communicated with a water outlet of the sewage pump, the other end of the water hose is communicated with the conveying pipe, and the other end of the conveying pipe is exposed out of the water surface;
the bottom of the dredging cylinder is hollowed out, and a channel for water to pass through is arranged on the cover plate.
2. The intelligent underwater dredging detection device for the hydraulic structure as claimed in claim 1, wherein the bracket assembly is connected with the dredging cylinder through a bolt.
3. The underwater intelligent detection device for the dredging of the hydraulic structure as claimed in claim 1, wherein the bracket assembly is further fixed with a light source, and the light source is used for providing illumination for image acquisition of the image acquisition device.
4. The intelligent underwater dredging detection device for the hydraulic structure as claimed in claim 3, wherein the bracket assembly comprises a main body bracket, a light source fixing ring and a support platform are arranged on the main body bracket, the light source is fixed on the light source fixing ring, and the image acquisition device is installed on the support platform.
5. The underwater dredging intelligent detecting device for the hydraulic structure as claimed in claim 1, wherein the dredging barrel is provided with a balancing weight.
6. An underwater dredging intelligent detection method for a hydraulic structure is characterized by comprising the following steps:
placing the dredging cylinder fixed with the image acquisition device at a position to be detected of an underwater building;
positioning the sinking position of the dredging barrel according to the buoy;
according to the positioning position of the buoy, a sewage pump is placed into the dredging cylinder;
carrying out underwater dredging through a sewage pump, and discharging the dredged muddy water through a sewage pipeline;
acquiring a surface image of an underwater building through an image acquisition device;
judging whether the surface of the underwater building has defects or not according to the collected surface image of the underwater building;
the sewage pipeline comprises a water hose and a conveying pipe, one end of the water hose is communicated with a water outlet of the sewage pump, the other end of the water hose is communicated with the conveying pipe, and the other end of the conveying pipe is exposed out of the water surface;
the desilting section of thick bamboo is last to set up the apron that can open and shut, and the bottom fretwork of a desilting section of thick bamboo sets up the passageway that supplies water to pass through on the apron.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP6155472B1 (en) * | 2016-05-30 | 2017-07-05 | パナソニックＩｐマネジメント株式会社 | Land / land determination device, land / land determination method, and underwater inspection device |
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| GB2573759B (en) * | 2018-05-14 | 2022-04-20 | Furuno Electric Co | Underwater detection apparatus and underwater detection method |
| CN109855565A (en) * | 2019-03-25 | 2019-06-07 | 清华大学 | A kind of detection device and detection components |
| CN210037383U (en) * | 2019-04-04 | 2020-02-07 | 清华四川能源互联网研究院 | Underwater detection dredging device |
| CN110871448A (en) * | 2019-12-13 | 2020-03-10 | 清华四川能源互联网研究院 | Underwater dredging inspection robot |
| CN111007071A (en) * | 2019-12-20 | 2020-04-14 | 清华四川能源互联网研究院 | Underwater inspection control method and underwater inspection system |
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| JP6155472B1 (en) * | 2016-05-30 | 2017-07-05 | パナソニックＩｐマネジメント株式会社 | Land / land determination device, land / land determination method, and underwater inspection device |
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