CN113267781A - Sonar detection robot for marine environment monitoring and use method - Google Patents
Sonar detection robot for marine environment monitoring and use method Download PDFInfo
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- CN113267781A CN113267781A CN202110517635.9A CN202110517635A CN113267781A CN 113267781 A CN113267781 A CN 113267781A CN 202110517635 A CN202110517635 A CN 202110517635A CN 113267781 A CN113267781 A CN 113267781A
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- 238000001514 detection method Methods 0.000 title claims abstract description 58
- 238000012544 monitoring process Methods 0.000 title claims abstract description 57
- 238000000034 method Methods 0.000 title claims abstract description 12
- 230000007246 mechanism Effects 0.000 claims abstract description 32
- 238000005286 illumination Methods 0.000 claims abstract description 9
- 238000007789 sealing Methods 0.000 claims description 116
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 99
- 238000005070 sampling Methods 0.000 claims description 55
- 238000003860 storage Methods 0.000 claims description 49
- 230000005540 biological transmission Effects 0.000 claims description 41
- 230000007613 environmental effect Effects 0.000 claims description 31
- 238000005192 partition Methods 0.000 claims description 24
- 239000013535 sea water Substances 0.000 claims description 24
- 238000009434 installation Methods 0.000 claims description 20
- 239000002689 soil Substances 0.000 claims description 11
- 230000001681 protective effect Effects 0.000 claims description 9
- 238000013500 data storage Methods 0.000 claims description 7
- 238000004458 analytical method Methods 0.000 claims description 4
- 238000006243 chemical reaction Methods 0.000 claims description 4
- 238000005259 measurement Methods 0.000 abstract description 3
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/885—Meteorological systems
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- 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
- G01N1/14—Suction devices, e.g. pumps; Ejector devices
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- 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
- G01N1/20—Devices for withdrawing samples in the liquid or fluent state for flowing or falling materials
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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
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- 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
- G01N1/14—Suction devices, e.g. pumps; Ejector devices
- G01N2001/1418—Depression, aspiration
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Abstract
The invention discloses a sonar detection robot for marine environment monitoring and a using method, belonging to the technical field of marine environment monitoring, comprising a robot body and a background module, the robot body comprises a sealed cabin, the top of the sealed cabin is fixedly connected with a lighting device, the front sides of the two sides of the sealed cabin are fixedly connected with an adjusting illumination mechanism, the two sides of the sealed cabin are fixedly connected with a first power device, the rear sides of the two sides of the sealed cabin are fixedly connected with second power devices, so that the problems of complex system and single function of the existing sonar detection robot for marine environment monitoring are solved, the measured data can have certain shortage, deviation and measurement blank space, and the marine environment can not be better monitored and relevant data in the sea can not be extracted by human beings, so that the marine data can not be comprehensively mastered.
Description
Technical Field
The invention relates to the technical field of marine environment monitoring, in particular to a sonar detection robot for marine environment monitoring and a using method thereof.
Background
Environmental monitoring refers to the activities of environmental monitoring mechanisms to monitor and measure environmental quality conditions. The environmental monitoring is to monitor and determine indexes reflecting environmental quality to determine the environmental pollution condition and the level of the environmental quality, the content of the environmental monitoring mainly comprises the monitoring of physical indexes, the monitoring of chemical indexes and the monitoring of an ecosystem, the environmental monitoring is the basis of scientific management environment and environmental law enforcement supervision and is essential basic work for environmental protection, the core target of the environmental monitoring is to provide data of the current situation and the change trend of the environmental quality, judge the environmental quality and evaluate the current main environmental problems, the environmental management service is provided, the marine environmental monitoring also belongs to one part of the environmental monitoring, the area of the ocean occupying the earth is the widest, and the marine environmental monitoring is particularly important for marine environment.
In recent years, the resource development work in the marine field is continuously increased at home and abroad, because the underwater environment is influenced by ocean currents and cannot be predicted, and the artificial diving can only reach a water area with a certain depth, so that ocean engineering in the deep sea field has great difficulty, the engineering safety factor is reduced and the risk of the engineering is increased, therefore, the detection of the marine environment needs to be realized by a structure of an underwater robot matched with a sonar detection technology, but the system of the existing sonar detection robot for monitoring the marine environment is complex, the function is single, the measured data can have certain deficiency, certain measurement blank area can exist in deviation and measurement blank area, the marine environment cannot be better monitored and relevant data in the sea can be extracted by assisting mankind of people, the marine data cannot be comprehensively mastered, and more comprehensively and accurately assisted people are needed to monitor the marine environment and extract relevant data in the sea The sonar detection robot and the use method meet the requirements of users.
Disclosure of Invention
This section is for the purpose of summarizing some aspects of embodiments of the invention and to briefly introduce some preferred embodiments, and in this section as well as in the abstract and the title of the invention of this application some simplifications or omissions may be made to avoid obscuring the purpose of this section, the abstract and the title of the invention, and such simplifications or omissions are not intended to limit the scope of the invention.
The invention provides a sonar detection robot for monitoring the marine environment.
To solve the above technical problem, according to an aspect of the present invention, the present invention provides the following technical solutions: a sonar detection robot for marine environment monitoring comprises a robot body and a background module, wherein the robot body comprises a sealed cabin, the top of the sealed cabin is fixedly connected with a lighting device, the front sides of the two sides of the sealed cabin are fixedly connected with an adjusting lighting mechanism, the two sides of the sealed cabin are fixedly connected with a first power device, the rear sides of the two sides of the sealed cabin are fixedly connected with a second power device, the bottom of the sealed cabin is fixedly connected with a sealed base, a mounting seat is mounted in the sealed base, a water taking mechanism is fixedly connected to the surface of the mounting seat, a first sealing door matched with the water taking mechanism is movably connected to the rear side of the sealed base, two electric telescopic rods are fixedly connected in the sealed base, a first sealing partition plate is fixedly connected to the inner wall of the sealed base, and a sampling assembly is fixedly connected to the bottom of the electric telescopic rods through the first sealing partition plate, the bottom of the sealing base is movably connected with a second sealing door matched with the sampling assembly;
the adjusting illumination mechanism comprises an adjusting component and a power component, one side of the power component, which is close to the sealed cabin, is fixedly connected with the sealed cabin, and one side of the adjusting component, which is close to the power component, is fixedly connected with the power component;
the water taking mechanism comprises a water taking assembly and a conveying storage assembly, one side of the water taking assembly and one side of the conveying storage assembly, which are close to the mounting seat, are fixedly connected with the mounting seat, and the water taking assembly and one side of the water taking assembly, which are close to the conveying storage assembly, are communicated with the conveying storage assembly;
the robot body also comprises a sonar emitter, a camera module, a wireless transceiver module, a feedback module, a control terminal and a data storage module, wherein the background module comprises a data sending module, a display module, a background terminal, a data receiving module and a storage module, the output end of the control terminal is respectively and unidirectionally electrically connected with the input ends of the sonar emitter, the water taking mechanism, the sampling assembly, the power assembly and the data storage module, the output end of the control terminal is respectively and bidirectionally electrically connected with the input ends of the wireless transceiver module and the camera module, the output end of the sonar emitter is unidirectionally electrically connected with the input end of the feedback module, the output end of the feedback module is unidirectionally electrically connected with the input end of the control terminal, the output end of the power assembly is unidirectionally electrically connected with the input end of the adjusting assembly, and the output end of the wireless transceiver module is unidirectionally electrically connected with the input end of the data receiving module, the output end of the data receiving module is electrically connected with the input end of the background terminal in a one-way mode, the output end of the background terminal is electrically connected with the input ends of the data sending module, the display module and the storage module in a one-way mode, and the output end of the data sending module is electrically connected with the input end of the wireless receiving and sending module in a one-way mode.
As a preferred embodiment of the sonar detection robot for monitoring marine environment according to the present invention, wherein: the adjusting part comprises a searchlight, an installation block, a rotating rod and a first transmission gear, one side of the installation block close to the searchlight is fixedly connected with the searchlight, one side of the installation block far away from the searchlight is fixedly connected with the rotating rod, one side of the rotating rod far away from the installation block runs through an inner cavity of the power assembly and is movably connected with the inner wall of the power assembly, and the surface of the rotating rod is arranged on the first transmission gear sleeve.
As a preferred embodiment of the sonar detection robot for monitoring marine environment according to the present invention, wherein: the power assembly comprises a sealed shell, a power motor, a second transmission gear and a power rod, one side of the sealed shell, which is close to the sealed cabin, is fixedly connected with the sealed cabin, one side of the power motor, which is close to the inner wall of the sealed shell, is fixedly connected with the inner wall of the sealed shell, the output end of the power motor is fixedly connected with the power rod, the surface of the power rod is sleeved with the second transmission gear, and the second transmission gear is meshed with the first transmission gear.
As a preferred scheme of the sonar detection robot for monitoring the marine environment and the using method, the invention comprises the following steps: the water taking assembly comprises a water taking pump, a first electromagnetic valve, a water taking pipe and a water delivery pipe, the bottom of the water taking pump is fixedly connected with the mounting seat, the bottom of the water taking pipe is fixedly communicated with the top of the water taking pump, one end of the water delivery pipe, which is close to the water taking pump, is fixedly communicated with the water taking pump, one end, which is far away from the water taking pump, of the water delivery pipe is fixedly communicated with the storage assembly, one side, which is far away from the water taking pump, of the water taking pipe penetrates through the outer side of the sealing base, and the surface of the water taking pipe is sleeved with the first electromagnetic valve.
As a preferred embodiment of the sonar detection robot for monitoring marine environment according to the present invention, wherein: the conveying and storing assembly comprises four storing tanks, four droppers, four second electromagnetic valves and a connecting pipe, one end, close to the connecting pipe, of the water conveying pipe is fixedly communicated with the connecting pipe, the top of each dropper is fixedly communicated with the connecting pipe, and the droppers are matched with the storing tanks for use.
The invention relates to a sonar detection robot for monitoring marine environment and a preferable scheme thereof, wherein: the sampling assembly comprises a sealing protective shell, a transmission motor, a first sealing gasket, a shell, a sampling rod and a sampling port, the top of the sealing protective shell is fixedly connected with the bottom of a first sealing partition plate, the bottom of the sealing protective shell is fixedly connected with the shell, the transmission motor is located inside the sealing protective shell, the output end of the transmission motor penetrates through the inner cavity of the shell and is fixedly connected with the sampling rod, the first sealing gasket is matched with the output shaft of the transmission motor to be used, the sampling port is arranged at the bottom of the shell, and the sampling port is matched with the sampling rod to be used.
As a preferred embodiment of the sonar detection robot for monitoring marine environment according to the present invention, wherein: the utility model discloses a drip irrigation pipe, including connecting pipe, installation cover, mount pad, standing groove, storage tank, collecting port, drip tube, mounting sleeve, one side fixedly connected with dead lever that the installation sleeve was close to the installation sleeve, one side and the mount pad fixed connection that the installation sleeve was kept away from to the dead lever, the standing groove that uses with storage tank cooperation is seted up on the surface of mounting sleeve, the top swing joint that stores the jar has the cover, the collection mouth that uses with the burette cooperation is seted up at the top of cover.
As a preferred embodiment of the sonar detection robot for monitoring marine environment according to the present invention, wherein: the surface cover of dwang is equipped with the sealed pad of second, the sealed surface of filling up of second and the inner wall fixed connection of sealed shell, motor power's fixed surface is connected with the fixed block, the fixed block is close to the one side of sealed shell inner wall and the inner wall fixed connection of sealed shell, the surface cover of dwang is equipped with the bearing, the surface of bearing and the inner wall fixed connection of sealed shell.
As a preferred embodiment of the sonar detection robot for monitoring marine environment according to the present invention, wherein: the camera module is arranged in the sealed cabin, the front side of the sealed cabin is fixedly connected with a sealed cover matched with the camera module for use, the sonar emitter is arranged on the surface of the sealed cabin, the top of the sealed cabin is fixedly connected with a handle, two supporting plates are fixedly connected with two sides of the sealed base, a supporting base is fixedly connected between the bottoms of the front supporting plate and the rear supporting plate, the rear side of the sealed base is fixedly connected with a third sealing gasket matched with the first sealing door for use, the rear side of the first sealing door is fixedly connected with a pull column, the interior of the sealed base is fixedly connected with a second sealing partition plate, one side of the second sealing partition plate close to the first sealing partition plate is fixedly connected with the first sealing partition plate, two drain holes matched with the sampling assembly for use are formed in the bottom of the sealed base, the feedback module comprises an analysis module and a conversion module, the front side of the sealing base is fixedly connected with a drainage block, and one side of the first sealing partition plate, which is close to the electric telescopic rod, is fixedly connected with a fourth sealing gasket matched with the electric telescopic rod for use.
In addition, the invention also provides a using method of the sonar detection robot for marine environment monitoring, which is used for the sonar detection robot for marine environment monitoring, and comprises the following steps:
a first step; the background module controls the robot body to operate;
a second step; the robot body controls the camera module and the sonar emitter to operate, records the data and feeds the related data back to the background module for observation;
a third step; the robot body respectively controls the sampling assembly and the water taking mechanism to sample soil and seawater in different areas;
the fourth step; the robot body navigates back, and operating personnel takes out earth and seawater in different areas to detect and compare.
Compared with the prior art, the invention has the beneficial effects that:
1. the sonar detection robot system for monitoring the marine environment sends an operation command through the background terminal, the background terminal sends the command to the wireless transceiver module in the robot body through the data sending module, the command is transmitted to the control terminal through the wireless transceiver module, the control terminal controls the operation of the sonar emitter and the camera module, the sonar emitter feeds detected data back to the control terminal through the feedback module, the camera module also feeds detected data back to the control terminal, the control terminal feeds detected data back to the data receiving module through the wireless transceiver module, the data receiving module feeds back to the background terminal, the background terminal sends the data to the display module for displaying, and related data are transmitted to the storage module for storage, the convenience is brought to the detector for checking the detection information, and when the samples in different areas need to be taken for detection, the control terminal controls the water taking mechanism and the sampling assembly to operate for sampling, so that the subsequent detection and comparison of the samples in different areas in the ocean are facilitated for the detector.
2. Through adjusting lighting mechanism, when the user need adjust when shining the region, the user sends the order through backstage terminal, control terminal control adjusts the power motor operation among the lighting mechanism, power motor's output shaft drives the rotation of power rod, the rotation of power rod drives second drive gear's rotation second drive gear and drives rather than the first drive gear rotation of meshing, first drive gear drives its inside dwang and rotates, the dwang drives the searchlight through the installation piece and rotates the region of adjusting to need the illumination and throw light on, the surveyor has made things convenient for looking over in different regions.
3. Through the water intaking mechanism, when the user need carry out the sample detection to the sea water in different regions, the user prepares the operation of water pump through the control, and control first solenoid valve and corresponding second solenoid valve and open, the operation of water intaking pump, carry the inside to the raceway with regional inside water through the intake pipe, through the inside of raceway entering connecting pipe, and the inside through the connecting pipe entering burette, it stores in the corresponding storage jar to get into through the burette, four storage jars have made things convenient for the sea water to different regions to distinguish and place, thereby made things convenient for the user to carry out the sample detection to the sea water in different regions.
4. Through the sampling subassembly, when the user need carry out the sample detection to the earth in seabed, user control electric telescopic handle stretches out and draws back, and open through controlling the second sealing door, electric telescopic handle's flexible inside that drives sampling device's bottom and remove sealing base, and user control drive motor's operation, drive motor's output shaft drives the sample thief rod and takes a sample to the earth in seabed, then collect and store to the inside of shell, after the collection is accomplished, move to sealing base's inside through electric telescopic handle control sampling subassembly, and the simultaneous control second sealing door is closed, the effect of drawing seabed earth sample has been reached, made things convenient for the user to monitor marine environment through detecting seabed earth.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the present invention will be described in detail below with reference to the accompanying drawings and detailed embodiments, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise. Wherein:
FIG. 1 is a schematic structural diagram of a sonar detection robot for monitoring marine environment according to the present invention;
FIG. 2 is a schematic view of the three-dimensional structure of a sonar detection robot sealing shell and a searchlight for marine environmental monitoring according to the present invention;
FIG. 3 is a schematic view of an exploded three-dimensional structure of an adjusting component and a power component of a sonar detection robot for monitoring marine environment, according to the present invention;
FIG. 4 is a schematic view of the three-dimensional structure of the sealing base of the sonar detection robot for monitoring marine environment of the present invention;
FIG. 5 is a partial schematic view of a sealing base of a sonar detection robot for monitoring marine environment according to the present invention;
FIG. 6 is a schematic view of the connection structure of a sonar detection robot mounting base and a water taking mechanism for marine environmental monitoring according to the present invention;
FIG. 7 is a sectional view of the local structure of the sonar detection robot for monitoring marine environment according to the present invention;
FIG. 8 is a schematic diagram of a sonar detection robot sampling assembly for marine environmental monitoring according to the present invention;
FIG. 9 is a schematic structural diagram of a system in a sonar detection robot for monitoring marine environment according to the present invention;
FIG. 10 is a schematic view of the method of using the sonar detection robot for monitoring marine environment according to the present invention.
Reference numbers in the figures: 1. a robot body; 2. adjusting the illumination mechanism; 201. an adjustment assembly; 2011. a searchlight; 2012. mounting blocks; 2013. rotating the rod; 2014. a first drive gear; 202. a power assembly; 2021. sealing the shell; 2022. a power motor; 2023. a second transmission gear; 2024. a power rod; 3. a water taking mechanism; 301. a water intake assembly; 3011. a water taking pump; 3012. a first solenoid valve; 3013. a water intake pipe; 3014. a water delivery pipe; 302. a conveying and storing assembly; 3021. a storage tank; 3022. a dropper; 3023. a second solenoid valve; 3024. a connecting pipe; 4. a sampling assembly; 401. sealing the protective shell; 402. a drive motor; 403. a first gasket; 404. a housing; 405. a sampling rod; 406. a sampling port; 5. sealing the cabin; 6. a handle; 7. a sonar emitter; 8. an illumination device; 9. a camera module; 10. a sealing cover; 11. a support base; 12. sealing the base; 13. a first power unit; 14. a support plate; 15. a second power unit; 16. a second gasket; 17. a fixed block; 18. a bearing; 19. a hydrophobic block; 20. pulling the column; 21. a first sealing door; 22. a third gasket; 23. fixing the rod; 24. a collection port; 25. a can lid; 26. a placement groove; 27. installing a sleeve; 28. a mounting seat; 29. an electric telescopic rod; 30. a first sealing separator; 31. a fourth gasket; 32. a second sealing separator; 33. a drain hole; 34. a second sealing door; 35. a background module; 36. a data transmission module; 37. a display module; 38. a background terminal; 39. a data receiving module; 40. a storage module; 41. a wireless transceiver module; 42. a feedback module; 43. an analysis module; 44. a conversion module; 45. a control terminal; 46. and a data storage module.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways than those specifically described herein, and it will be apparent to those of ordinary skill in the art that the present invention may be practiced without departing from the spirit and scope of the present invention, and therefore the present invention is not limited to the specific embodiments disclosed below.
Next, the present invention will be described in detail with reference to the drawings, wherein for convenience of illustration, the cross-sectional view of the device structure is not enlarged partially according to the general scale, and the drawings are only examples, which should not limit the scope of the present invention. In addition, the three-dimensional dimensions of length, width and depth should be included in the actual fabrication.
Examples
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
As shown in figures 1-10, a sonar detection robot for monitoring marine environment, comprises a robot body 1 and a background module 35, wherein the robot body 1 comprises a sealed cabin 5, the top of the sealed cabin 5 is fixedly connected with a lighting device 8, the front sides of the two sides of the sealed cabin 5 are fixedly connected with an adjusting lighting mechanism 2, the two sides of the sealed cabin 5 are fixedly connected with a first power device 13, the rear sides of the two sides of the sealed cabin 5 are fixedly connected with a second power device 15, the bottom of the sealed cabin 5 is fixedly connected with a sealed base 12, a mounting seat 28 is installed inside the sealed base 12, the surface of the mounting seat 28 is fixedly connected with a water taking mechanism 3, the rear side of the sealed base 12 is movably connected with a first sealing door 21 matched with the water taking mechanism 3, the inside of the sealed base 12 is fixedly connected with two electric telescopic rods 29, the inner wall of the sealed base 12 is fixedly connected with a first sealing partition plate 30, the bottom of the electric telescopic rod 29 penetrates through the first sealing partition plate 30 and is fixedly connected with the sampling assembly 4, and the bottom of the sealing base 12 is movably connected with a second sealing door 34 matched with the sampling assembly 4;
the adjusting illumination mechanism 2 comprises an adjusting component 201 and a power component 202, wherein one side of the power component 202, which is close to the sealed cabin 5, is fixedly connected with the sealed cabin 5, and one side of the adjusting component 201, which is close to the power component 202, is fixedly connected with the power component 202;
the water taking mechanism 3 comprises a water taking assembly 301 and a conveying storage assembly 302, one sides of the water taking assembly 301 and the conveying storage assembly 302 close to the mounting seat 28 are fixedly connected with the mounting seat 28, and one side of the water taking assembly 301 close to the conveying storage assembly 302 is communicated with the conveying storage assembly 302;
the robot body 1 further comprises a sonar emitter 7, a camera module 9, a wireless transceiver module 41, a feedback module 42, a control terminal 45 and a data storage module 46, the background module 35 comprises a data sending module 36, a display module 37, a background terminal 38, a data receiving module 39 and a storage module 40, the output end of the control terminal 45 is respectively in one-way electrical connection with the input ends of the sonar emitter 7, the water taking mechanism 3, the sampling assembly 4, the power assembly 202 and the data storage module 46, the output end of the control terminal 45 is respectively in two-way electrical connection with the input ends of the wireless transceiver module 41 and the camera module 9, the output end of the sonar emitter 7 is in one-way electrical connection with the input end of the feedback module 42, the output end of the feedback module 42 is in one-way electrical connection with the input end of the control terminal 45, the output end of the power assembly 202 is in one-way electrical connection with the input end of the adjusting assembly 201, the output end of the wireless transceiver module 41 is unidirectionally electrically connected with the input end of the data receiving module 39, the output end of the data receiving module 39 is unidirectionally electrically connected with the input end of the background terminal 38, the output end of the background terminal 38 is unidirectionally electrically connected with the input ends of the data transmitting module 36, the display module 37 and the storage module 40, respectively, and the output end of the data transmitting module 36 is unidirectionally electrically connected with the input end of the wireless transceiver module 41.
In this example, the adjusting assembly 201 includes a searchlight 2011, a mounting block 2012, a rotating rod 2013 and a first transmission gear 2014, one side of the mounting block 2012 close to the searchlight 2011 is fixedly connected to the searchlight 2011, one side of the mounting block 2012 far away from the searchlight 2011 is fixedly connected to the rotating rod 2013, one side of the rotating rod 2013 far away from the mounting block 2012 penetrates through an inner cavity of the power assembly 202 and is movably connected to an inner wall of the power assembly 202, the first transmission gear 2014 is sleeved on a surface of the rotating rod 2013, through adjusting part 201, can realize adjusting the effect of shining the region, can drive the rotation of first drive gear 2014 in adjusting part 201 through power component 202, first drive gear 2014 drives its inside dwang 2013 and rotates, and dwang 2013 drives searchlight 2011 through installation piece 2012 and rotates the region of adjusting to need the illumination and throw light on, has made things convenient for the probe to look over in different regions.
In this example, the power assembly 202 includes a sealed housing 2021, a power motor 2022, a second transmission gear 2023 and a power rod 2024, one side of the sealed housing 2021 close to the sealed housing 5 is fixedly connected to the sealed housing 5, one side of the power motor 2022 close to the inner wall of the sealed housing 2021 is fixedly connected to the inner wall of the sealed housing 2021, an output end of the power motor 2022 is fixedly connected to the power rod 2024, the second transmission gear 2023 is sleeved on the surface of the power rod 2024, the second transmission gear 2023 is engaged with the first transmission gear 2014, when a user needs to adjust an irradiation area, the user sends a command through the background terminal 38, the control terminal 45 controls and adjusts the power motor 2022 in the lighting mechanism 2 to operate, an output shaft of the power motor 2022 drives the power rod 2024 to rotate, the rotation of the power rod 2024 drives the second transmission gear 2023 of the second transmission gear 2023 to drive the first transmission gear engaged therewith to rotate, the first transmission gear 2014 drives the adjusting component 201 to adjust, so that the effect of providing power is achieved.
In this example, the water intake assembly 301 includes a water intake pump 3011, a first electromagnetic valve 3012, a water intake pipe 3013 and a water delivery pipe 3014, the bottom of the water intake pump 3011 is fixedly connected to the mounting base 28, the bottom of the water intake pipe 3013 is fixedly communicated with the top of the water intake pump 3011, one end of the water delivery pipe 3014 close to the water intake pump 3011 is fixedly communicated with the water intake pump 3011, one end of the water delivery pipe 3014 far from the water intake pump 3011 is fixedly communicated with the transportation and storage assembly 302, one side of the water intake pipe 3013 far from the water intake pump 3011 penetrates to the outside of the sealing base 12, the first electromagnetic valve 3012 is sleeved on the surface of the water intake pipe 3013, when a user needs to sample and inspect seawater in different areas through the water intake assembly 301, the user controls the operation of the water intake pump 3011 and controls the first electromagnetic valve 3012 and the corresponding second electromagnetic valve 3023 to open, the water intake pump 3011 operates, and delivers water in the areas to the inside of the water delivery pipe 3014 through the water intake pipe 3013, the seawater is conveyed to the interior of the conveying and storing assembly 302 through the water conveying pipe 3014 for storage, and the effect of extracting seawater for sampling is achieved.
In this example, the conveying storage assembly 302 includes four storage tanks 3021, four burettes 3022, four second electromagnetic valves 3023 and a connection pipe 3024, one end of the water transportation pipe 3014 near the connection pipe 3024 is fixedly communicated with the connection pipe 3024, the top of the burette 3022 is fixedly communicated with the connection pipe 3024, the burette 3022 is used in cooperation with the storage tank 3021, through the conveying storage assembly 302, seawater to be collected for sampling enters the inside of the connection pipe 3024 in the conveying storage assembly 302 through the water intake assembly 301, and enters the inside of the burette 3022 through the connection pipe 3024, and enters the corresponding storage tank 3021 through the burette 3022 for storage, the four storage tanks 3021 facilitate the differentiated placement of seawater in different areas, thereby facilitating the sampling detection of seawater in different areas by a user.
In this example, the sampling assembly 4 includes a sealing protection shell 401, a transmission motor 402, a first sealing gasket 403, a housing 404, a sampling rod 405 and a sampling port 406, the top of the sealing protection shell 401 is fixedly connected with the bottom of the first sealing partition 30, the bottom of the sealing protection shell 401 is fixedly connected with the housing 404, the transmission motor 402 is located inside the sealing protection shell 401, the output end of the transmission motor 402 penetrates through the inner cavity of the housing 404 and is fixedly connected with the sampling rod 405, the first sealing gasket 403 is used in cooperation with the output shaft of the transmission motor 402, the sampling port 406 is arranged at the bottom of the housing 404, the sampling port 406 is used in cooperation with the sampling rod 405, when a user needs to sample and detect soil on the seabed, the user controls the electric telescopic rod 29 to extend and retract through controlling the second sealing door 34 to open, the retraction of the electric telescopic rod 29 drives the bottom of the sampling device to move out of the interior of the sealing base 12, and the operation of user control drive motor 402, the output shaft of drive motor 402 drives thief rod 405 and takes a sample to the earth on seabed, then collects the inside of shell 404 and stores, after the collection is accomplished, through electric telescopic handle 29 control sampling subassembly 4 motion to the inside of sealing base 12, and control second sealing door 34 simultaneously and close, reached the effect of drawing seabed earth sample, made things convenient for the user to monitor marine environment through detecting seabed earth.
In this example, four mounting sleeves 27 are sleeved on the surface of the connecting pipe 3024, a fixing rod 23 is fixedly connected to one side of the mounting sleeve 27 close to the mounting base 28, one side of the fixing rod 23 far from the mounting sleeve 27 is fixedly connected to the mounting base 28, a placing groove 26 matched with the storage tank 3021 is formed on the surface of the mounting base 28, a tank cover 25 is movably connected to the top of the storage tank 3021, a collecting port 24 matched with the dropper 3022 is formed on the top of the tank cover 25, the installation sleeve 27 and the fixing rod 23 are used in a matching way, so that the function of positioning the connecting pipe 3024 is effectively realized, the movement of the connecting pipe 3024 is prevented, thereby facilitating the seawater transportation of the connecting pipe 3024, facilitating the placement of the storage tank 3021 through the placement groove 26, the collected seawater is prevented from leaking through the pipe cover, and is conveniently collected by entering the interior of the storage tank 3021 through the dropper 3022 through the collection port 24.
In this example, the surface of the rotating rod 2013 is sleeved with a second gasket 16, the surface of the second gasket 16 is fixedly connected with the inner wall of the sealing shell 2021, the surface of the power motor 2022 is fixedly connected with a fixed block 17, one side of the fixed block 17 close to the inner wall of the sealing shell 2021 is fixedly connected with the inner wall of the sealing shell 2021, the surface of the rotating rod 2013 is sleeved with a bearing 18, the surface of the bearing 18 is fixedly connected with the inner wall of the sealing shell 2021, the second sealing gasket 16 effectively seals the joint between the rotating rod 2013 and the sealing shell 2021, prevents seawater from entering the interior of the sealing shell 2021 from the joint between the rotating rod 2013 and the sealing shell 2021, the fixing block 17 effectively realizes the function of reinforcing and positioning the power motor 2022, the rotating rod 2013 rotates inside the bearing 18 through the bearing 18, so that the stability and the fluency of the rotation of the rotating rod 2013 are increased.
In this example, the camera module 9 is installed inside the sealed cabin 5, the front side of the sealed cabin 5 is fixedly connected with the sealed cover 10 used in cooperation with the camera module 9, the sonar emitter 7 is installed on the surface of the sealed cabin 5, the top of the sealed cabin 5 is fixedly connected with the handle 6, two support plates 14 are fixedly connected to both sides of the sealed base 12, the support base 11 is fixedly connected between the bottoms of the front support plate and the rear support plate 14, the rear side of the sealed base 12 is fixedly connected with the third sealing gasket 22 used in cooperation with the first sealing door 21, the rear side of the first sealing door 21 is fixedly connected with the pull column 20, the inside of the sealed base 12 is fixedly connected with the second sealing partition plate 32, one side of the second sealing partition plate 32 close to the first sealing partition plate 30 is fixedly connected with the first sealing partition plate 30, the bottom of the sealed base 12 is provided with two drain holes 33 used in cooperation with the sampling assembly 4, the feedback module 42 comprises an analysis module 43 and a conversion module 44, a hydrophobic block 19 is fixedly connected to the front side of the seal base 12, a fourth sealing gasket 31 matched with the electric telescopic rod 29 is fixedly connected to one side of the first sealing partition plate 30 close to the electric telescopic rod 29, the camera module is effectively protected by the seal cover 10, the movement of the robot body 1 is conveniently controlled by a user through the handle 6, the robot body 1 is effectively supported through the matching use of the support plate 14 and the support base 11, the sealing effect of the joint between the first sealing door 21 and the seal cabin 5 is effectively realized through the third sealing gasket 22, the seawater is prevented from entering the inside of the seal cabin 5 from the joint between the first sealing door 21 and the seal cabin 5, and the seawater entering the seal cabin 5 during sampling is effectively discharged through the drain hole 33, through hydrophobic block 19, the effectual resistance that has reduced sealing base 12 has increased the resistance that receives when robot 1 removes, through fourth sealed pad 31, the effectual effect of sealing up the junction between electric telescopic handle 29 and the first sealed baffle 30 of having realized, has prevented that the sea water from getting into the top of the first sealed baffle 30, has realized the effect of protecting electric telescopic handle 29.
In this example, the use method of the sonar detection robot for marine environmental monitoring includes the following steps:
a first step; the background module 35 controls the robot body 1 to operate;
a second step; the robot body 1 controls the camera module 9 and the sonar emitter 7 to operate, records the data and feeds the related data back to the background module 35 for observation;
a third step; the robot body 1 respectively controls the sampling assembly 4 and the water taking mechanism 3 to sample soil and seawater in different areas;
the fourth step; the robot body 1 navigates back, and the operator takes out soil and seawater in different areas to detect and compare.
The invention is a sonar detection robot for monitoring marine environment and its using method, firstly, the user sends out operation command through background terminal 38, background terminal 38 sends to wireless transceiver module 41 in robot body 1 through data sending module 36, the command is transmitted to control terminal 45 through wireless transceiver module 41, control terminal 45 controls sonar emitter 7 and camera module 9 to operate, sonar emitter 7 feeds back the detected data to control terminal 45 through feedback module 42, camera module 9 also feeds back the detected data to control terminal 45, control terminal 45 feeds back the detected data to data receiving module 39 through wireless transceiver module 41, the detected data is fed back to background terminal 38 through data receiving module 39, background terminal 38 sends to display module 37 for displaying, and related data is transmitted to storage module 40 for storing, the detection information can be conveniently checked by an inspector, when a user needs to sample and detect seawater in different areas, the user controls the operation of the water taking pump 3011 and controls the first electromagnetic valve 3012 and the corresponding second electromagnetic valve 3023 to be opened, the water taking pump 3011 operates, water in the areas is conveyed to the inside of the water conveying pipe 3014 through the water taking pipe 3013, enters the inside of the connecting pipe 3024 through the water conveying pipe 3014, enters the inside of the burette 3022 through the connecting pipe 3024 and enters the corresponding storage tank 3021 through the burette 3022 to be stored, the four storage tanks 3021 facilitate the distinguishing and the placing of seawater in different areas, thereby facilitating the sampling and the detection of seawater in different areas by the user, when the user needs to sample and detect soil in the seabed, the user controls the electric telescopic rod 29 to stretch and contract and controls the second sealing door 34 to be opened, the telescopic device 29 drives the bottom of the sampling device to move out of the sealing base 12, the user controls the operation of the transmission motor 402, the output shaft of the transmission motor 402 drives the sampling rod 405 to sample the soil on the sea bottom, the soil is collected into the shell 404 to be stored, after the collection is finished, the sampling assembly 4 is controlled by the electric telescopic device 29 to move into the sealing base 12, and the second sealing door 34 is controlled to be closed, so that the effect of extracting the soil sample on the sea bottom is achieved, the user can conveniently monitor the sea environment by detecting the soil on the sea bottom, the subsequent detection and comparison of samples in different areas in the sea by the detection personnel are facilitated, when the user needs to adjust the irradiation area, the user sends out a command through the background terminal 38, and the control terminal 45 controls the power motor 2022 in the illumination mechanism 2 to operate, the output shaft of the power motor 2022 drives the rotation of the power rod 2024, the rotation of the power rod 2024 drives the rotation of the second transmission gear 2023 and drives the first transmission gear 2014 which is meshed with the second transmission gear 2023 to rotate, the first transmission gear 2014 drives the rotating rod 2013 inside the second transmission gear 2014 to rotate, the rotating rod 2013 drives the searchlight 2011 through the mounting block 2012 to rotate and adjust to the area which needs to be illuminated to illuminate, and the inspection of different areas by an inspector is facilitated.
While the invention has been described above with reference to an embodiment, various modifications may be made and equivalents may be substituted for elements thereof without departing from the scope of the invention. In particular, the various features of the disclosed embodiments of the invention may be used in any combination, provided that no structural conflict exists, and the combinations are not exhaustively described in this specification merely for the sake of brevity and resource conservation. Therefore, it is intended that the invention not be limited to the particular embodiments disclosed, but that the invention will include all embodiments falling within the scope of the appended claims.
Claims (10)
1. The utility model provides a marine environmental monitoring surveys robot with sonar, includes robot body (1) and backstage module (35), its characterized in that: the robot comprises a robot body (1) and is characterized in that the robot body comprises a sealed cabin (5), the top of the sealed cabin (5) is fixedly connected with an illuminating device (8), the front sides of the two sides of the sealed cabin (5) are fixedly connected with an adjusting illuminating mechanism (2), the two sides of the sealed cabin (5) are fixedly connected with a first power device (13), the rear sides of the two sides of the sealed cabin (5) are fixedly connected with a second power device (15), the bottom of the sealed cabin (5) is fixedly connected with a sealing base (12), an installation seat (28) is installed inside the sealing base (12), the surface of the installation seat (28) is fixedly connected with a water taking mechanism (3), the rear side of the sealing base (12) is movably connected with a first sealing door (21) matched with the water taking mechanism (3) for use, and the inside of the sealing base (12) is fixedly connected with two electric telescopic rods (29), the inner wall of the sealing base (12) is fixedly connected with a first sealing partition plate (30), the bottom of the electric telescopic rod (29) penetrates through the first sealing partition plate (30) and is fixedly connected with a sampling assembly (4), and the bottom of the sealing base (12) is movably connected with a second sealing door (34) matched with the sampling assembly (4) for use;
the adjusting illumination mechanism (2) comprises an adjusting assembly (201) and a power assembly (202), one side, close to the sealed cabin (5), of the power assembly (202) is fixedly connected with the sealed cabin (5), and one side, close to the power assembly (202), of the adjusting assembly (201) is fixedly connected with the power assembly (202);
the water taking mechanism (3) comprises a water taking assembly (301) and a conveying storage assembly (302), one side of the water taking assembly (301) and one side of the conveying storage assembly (302) close to the mounting seat (28) are fixedly connected with the mounting seat (28), and the other side of the water taking assembly (301) and one side of the conveying storage assembly (302) are communicated with the conveying storage assembly (302);
the robot body (1) further comprises a sonar emitter (7), a camera module (9), a wireless transceiver module (41), a feedback module (42), a control terminal (45) and a data storage module (46), wherein the background module (35) comprises a data sending module (36), a display module (37), a background terminal (38), a data receiving module (39) and a storage module (40), the output end of the control terminal (45) is respectively and unidirectionally electrically connected with the input ends of the sonar emitter (7), the water taking mechanism (3), the sampling assembly (4), the power assembly (202) and the data storage module (46), the output end of the control terminal (45) is respectively and bidirectionally electrically connected with the input ends of the wireless transceiver module (41) and the camera module (9), the output end of the sonar emitter (7) is unidirectionally electrically connected with the input end of the feedback module (42), the output of feedback module (42) and the one-way electric connection of the input of control terminal (45), the one-way electric connection of the output of power component (202) and the input of adjusting part (201), the one-way electric connection of the output of wireless transceiver module (41) and the input of data receiving module (39), the one-way electric connection of the output of data receiving module (39) and the input of backstage terminal (38), the one-way electric connection of the output of backstage terminal (28) and the input of data sending module (36), display module (37) and storage module (40) respectively, the one-way electric connection of the output of data sending module (36) and the input of wireless transceiver module (40).
2. The sonar detection robot for marine environmental monitoring according to claim 1, characterized in that: adjusting part (201) includes searchlight (2011), installation piece (2012), dwang (2013) and first drive gear (2014), one side and searchlight (2011) fixed connection that searchlight (2011) are close to installation piece (2012), one side and dwang (2013) fixed connection of searchlight (2011) are kept away from to installation piece (2012), one side that installation piece (2012) was kept away from in dwang (2013) run through to the inner chamber of power component (202) and with the inner wall swing joint of power component (202), the surface of dwang (2013) is located to first drive gear (2014) cover.
3. The sonar detection robot for marine environmental monitoring according to claim 2, characterized in that: the power assembly (202) comprises a sealed shell (2021), a power motor (2022), a second transmission gear (2023) and a power rod (2024), one side of the sealed shell (2021) close to the sealed cabin (5) is fixedly connected with the sealed cabin (5), one side of the power motor (2022) close to the inner wall of the sealed shell (2021) is fixedly connected with the inner wall of the sealed shell (2021), the output end of the power motor (2022) is fixedly connected with the power rod (2024), the second transmission gear (2023) is sleeved on the surface of the power rod (2024), and the second transmission gear (2023) is meshed with the first transmission gear (2014).
4. The sonar detection robot for marine environmental monitoring according to claim 1, characterized in that: the water taking assembly (301) comprises a water taking pump (3011), a first electromagnetic valve (3012), a water taking pipe (3013) and a water conveying pipe (3014), the bottom of the water taking pump (3011) is fixedly connected with a mounting seat (28), the bottom of the water taking pipe (3013) is fixedly communicated with the top of the water taking pump (3011), one end, close to the water taking pump (3011), of the water conveying pipe (3014 is fixedly communicated with the water taking pump (3011), one end, far away from the water taking pump (3011), of the water conveying pipe (3014) is fixedly communicated with a conveying storage assembly (302), one side, far away from the water taking pump (3011), of the water taking pipe (3013) penetrates through the outer side of the sealing base (12), and the first electromagnetic valve (3012) is sleeved on the surface of the water taking pipe (3013).
5. The sonar detection robot for marine environmental monitoring according to claim 4, characterized in that: the conveying storage assembly (302) comprises four storage tanks (3021), four burettes (3022), four second electromagnetic valves (3023) and a connecting pipe (3024), one end of the water conveying pipe (3014) close to the connecting pipe (3024) is fixedly communicated with the connecting pipe (3024), the top of the burette (3022) is fixedly communicated with the connecting pipe (3024), and the burette (3022) is matched with the storage tanks (3021) for use.
6. The sonar detection robot for marine environmental monitoring according to claim 1, characterized in that: the sampling assembly (4) comprises a sealing protective shell (401), a transmission motor (402), a first sealing gasket (403), a shell (404), a sampling rod (405) and a sampling port (406), wherein the top of the sealing protective shell (401) is fixedly connected with the bottom of a first sealing partition plate (30), the bottom of the sealing protective shell (401) is fixedly connected with the shell (404), the transmission motor (402) is located inside the sealing protective shell (401), the output end of the transmission motor (402) penetrates through the inner cavity of the shell (404) and is fixedly connected with the sampling rod (405), the first sealing gasket (403) is matched with the output shaft of the transmission motor (402) for use, the sampling port (406) is arranged at the bottom of the shell (404), and the sampling port (406) is matched with the sampling rod (405) for use.
7. The sonar detection robot for marine environmental monitoring according to claim 5, characterized in that: the surface cover of connecting pipe (3024) is equipped with four installation covers (27), one side fixedly connected with dead lever (23) that installation cover (27) is close to mount pad (28), one side and mount pad (28) fixed connection of installation cover (27) are kept away from in dead lever (23), standing groove (26) that cooperate the use with storage jar (3021) are seted up on the surface of mount pad (28), the top swing joint that stores jar (3021) has cover (25), collection mouth (24) of cooperation use with burette (3022) are seted up at the top of cover (25).
8. The sonar detection robot for marine environmental monitoring according to claim 3, characterized in that: the surface cover of dwang (2013) is equipped with the sealed pad of second (16), the sealed inner wall fixed connection who fills up the surface of pad (16) of second and sealed shell (2021), the fixed surface of motor power (2022) is connected with fixed block (17), one side that fixed block (17) are close to sealed shell (2021) inner wall and the inner wall fixed connection of sealed shell (2021), the surface cover of dwang (2013) is equipped with bearing (18), the surface of bearing (18) and the inner wall fixed connection of sealed shell (2021).
9. The sonar detection robot for marine environmental monitoring according to claim 1, characterized in that: the camera module (9) is arranged in the sealed cabin (5), the front side of the sealed cabin (5) is fixedly connected with a sealing cover (10) matched with the camera module (9) for use, the sonar emitter (7) is arranged on the surface of the sealed cabin (5), the top of the sealed cabin (5) is fixedly connected with a handle (6), two supporting plates (14) are fixedly connected with two sides of the sealing base (12), a supporting base (11) is fixedly connected between the bottoms of the front supporting plate and the rear supporting plate (14), the rear side of the sealing base (12) is fixedly connected with a third sealing gasket (22) matched with the first sealing door (21) for use, the rear side of the first sealing door (21) is fixedly connected with a pull column (20), the inner part of the sealing base (12) is fixedly connected with a second sealing partition plate (32), one side of the second sealing partition plate (32) close to the first sealing partition plate (30) is fixedly connected with the first sealing partition plate (30), two drain holes (33) matched with the sampling assembly (4) for use are formed in the bottom of the sealing base (12), the feedback module (42) comprises an analysis module (43) and a conversion module (44), a drainage block (19) is fixedly connected to the front side of the sealing base (12), and a fourth sealing gasket (31) matched with the electric telescopic rod (29) for use is fixedly connected to one side, close to the electric telescopic rod (29), of the first sealing partition plate (30).
10. The utility model provides a marine environment monitors uses method with sonar detection robot which characterized in that: the using method of the sonar detection robot for marine environment monitoring is used for the sonar detection robot for marine environment monitoring according to any one of claims 1 to 9, and comprises the following steps:
a first step; the background module (35) controls the robot body (1) to operate;
a second step; the robot body (1) controls the camera module (9) and the sonar emitter (7) to operate, records and feeds related data back to the background module (35) for observation;
a third step; the robot body (1) respectively controls the sampling assembly (4) and the water taking mechanism (3) to sample soil and seawater in different areas;
the fourth step; the robot body (1) is returned to the voyage, and the operating personnel takes out soil and seawater in different areas to carry out detection and comparison.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110517635.9A CN113267781A (en) | 2021-05-12 | 2021-05-12 | Sonar detection robot for marine environment monitoring and use method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110517635.9A CN113267781A (en) | 2021-05-12 | 2021-05-12 | Sonar detection robot for marine environment monitoring and use method |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113624560A (en) * | 2021-09-27 | 2021-11-09 | 枣庄高新建设集团有限公司 | Underwater environment surveying device for hydraulic engineering |
| CN114839693A (en) * | 2022-07-01 | 2022-08-02 | 自然资源部第一海洋研究所 | Deep sea autonomous environment monitoring platform capable of autonomously moving and monitoring multiple stations at fixed points |
| WO2023003477A1 (en) * | 2021-07-23 | 2023-01-26 | Equinor Energy As | Offshore surveying method |
-
2021
- 2021-05-12 CN CN202110517635.9A patent/CN113267781A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023003477A1 (en) * | 2021-07-23 | 2023-01-26 | Equinor Energy As | Offshore surveying method |
| CN113624560A (en) * | 2021-09-27 | 2021-11-09 | 枣庄高新建设集团有限公司 | Underwater environment surveying device for hydraulic engineering |
| CN114839693A (en) * | 2022-07-01 | 2022-08-02 | 自然资源部第一海洋研究所 | Deep sea autonomous environment monitoring platform capable of autonomously moving and monitoring multiple stations at fixed points |
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