CN113340663A - Twin-hull unmanned ship capable of automatically collecting river and lake bottom mud samples - Google Patents
Twin-hull unmanned ship capable of automatically collecting river and lake bottom mud samples Download PDFInfo
- Publication number
- CN113340663A CN113340663A CN202110659162.6A CN202110659162A CN113340663A CN 113340663 A CN113340663 A CN 113340663A CN 202110659162 A CN202110659162 A CN 202110659162A CN 113340663 A CN113340663 A CN 113340663A
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- motor
- unmanned ship
- connecting frame
- sliding table
- ship
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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
- G01N1/12—Dippers; Dredgers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B1/00—Hydrodynamic or hydrostatic features of hulls or of hydrofoils
- B63B1/02—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement
- B63B1/10—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement with multiple hulls
- B63B1/12—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement with multiple hulls the hulls being interconnected rigidly
- B63B1/121—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement with multiple hulls the hulls being interconnected rigidly comprising two hulls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B2211/00—Applications
Abstract
The invention provides a twin-hull unmanned ship capable of automatically collecting river and lake sediment samples, which takes the twin-hull unmanned ship as a carrier and can carry out multipoint sediment sampling in rivers and lakes. The device mainly comprises two unmanned ship bodies, wherein the two unmanned ship bodies are connected through a bridge, and two propellers with the same specification are installed at the tail parts of the two unmanned ship bodies; the bottom mud collecting mechanism is used for collecting bottom mud mainly through the cooperation of the drilling tool, the multi-section telescopic electric cylinder and the stepping motor; the sediment collecting device comprises a worm gear device, a collecting bottle and the like, and can collect a plurality of sediment samples at one time. The invention realizes multi-point bottom sediment sampling based on the twin-hull unmanned ship, the twin-hull unmanned ship works stably, the time-consuming and high-risk behaviors of manual bottom sediment sampling are solved, the sampling detection efficiency is improved, and the practicability is wider.
Description
Technical Field
The invention relates to a twin-hull unmanned ship capable of automatically collecting river and lake sediment samples, and belongs to the technical field of unmanned ships for collecting underwater sediment of rivers in environment monitoring.
Background
With the continuous emphasis on ecological construction in China, the detection and treatment in the field of water environment are particularly carried out. The underwater bottom sediment sampling is an important part of water environment detection and is an important sample for researching water body pollution accumulation, so that the underwater bottom sediment is necessary to be sampled to research various indexes and parameters of the underwater bottom sediment. The underwater sediment sampling detection is also applied to more rivers and lakes.
Typically, underwater sediment sampling is often performed manually using hand tools and requires access to multiple sampling sites. Wherein the manual bottom mud sampling work degree of difficulty is big, consuming time and wasting power, and sampling efficiency is not high.
The unmanned ship is a novel water monitoring platform, takes water areas such as rivers, reservoirs, lakes, seacoasts, estuaries and the like as objects, integrates positioning navigation, communication and control equipment, and completes specific water environment monitoring in a remote control or autonomous working mode. The unmanned ship serves as an irreplaceable water carrier, and the catamaran type unmanned ship works stably. Therefore, a mud harvesting device based on a catamaran unmanned ship is needed.
Disclosure of Invention
The invention aims to provide a catamaran unmanned ship capable of automatically collecting river and lake sediment samples, and aims to solve the related technical problems in the prior art.
A catamaran unmanned ship for automatically collecting river and lake sediment samples comprises: the device comprises a twin-hull unmanned ship body, a movable connecting frame, a sliding table linear module, a multi-section telescopic electric cylinder, a mud collecting device, a bottom mud collecting device and a solar power generation panel; the movable connecting frame is arranged on the hull of the catamaran unmanned ship; the mud collecting device and the bottom mud collecting device are fixedly connected with a catamaran unmanned ship body, and the electric cylinder is connected with the mud collecting device and the bottom mud collecting device; the sliding table linear module is arranged on the movable connecting frame; the solar power generation panels are arranged on two sides of the movable connecting frame.
Preferably, the catamaran hull comprises two independent hulls, a hull connecting frame, a bottom plate, a connecting frame fixing plate, an accommodating box, a propeller fixing support and a propeller; the bottom plate and the ship bodies are provided with a plurality of threaded holes, the connecting frame is fixedly connected with the bottom plate, and the two independent ship bodies are fixedly connected through the ship body connecting frame bolts; the accommodating box is fixed on the ship body connecting frame through a bolt; a connecting frame fixing plate is arranged on the hull of each hull, and array bolt holes with equal distance are arranged on the connecting frame fixing plate; the ship is characterized in that a propeller fixing support is welded at the tail of the ship body, four bolt holes are formed in the fixing support, and the propeller is fixed on the fixing support through bolts.
Preferably, the sliding table linear module comprises a first motor, a transverse sliding table, a sliding block, a longitudinal sliding table and a second motor; the transverse sliding table is provided with a threaded hole and is fixed on the sliding table group connecting plate through a bolt; the first motor is fixedly connected with the transverse sliding table through a bolt; and the longitudinal sliding table is provided with a threaded hole, and the second motor is fixedly connected with the longitudinal sliding table through a bolt.
Preferably, the multi-section telescopic electric cylinder comprises a third motor and a connecting plate; the multiple sections of telescopic electric cylinders are connected with a third motor through bolts; and the connecting plate is provided with a threaded hole and is fixedly connected with the multi-section telescopic electric cylinder through bolts.
Preferably, the mud production device comprises an upper end cover, a drill cutter cylinder, a fourth motor and a drill cutter; the upper end cover is provided with a threaded hole and is fixedly connected with the connecting plate and the multi-section telescopic electric cylinder through bolts; and the drill bit is connected with an output shaft of the fourth motor.
Preferably, the bottom sediment collecting device comprises a rotary supporting wheel disc, a worm, a collecting bottle, an L-shaped bearing support, a motor fixing plate, a fifth motor and a coupler, wherein a threaded hole is formed in the motor fixing plate, and the fifth motor is fixed on the motor fixing plate through a bolt; an output shaft of the fifth motor is connected with the worm through a coupling; the rotary supporting wheel disc is connected with the worm in a matched mode through teeth; an annular groove is formed in the rotary supporting wheel disc, and the collecting bottle is fixed in the annular groove; threaded holes are formed in the bearing support, and the bearing support is fixed on the ship body connecting frame through bolts.
Preferably, the rotary supporting wheel disc comprises a fixed part, a rotary part and a ball; the fixing part is provided with a threaded hole and is fixed on the connecting frame through a bolt; and balls are arranged between the rotating part and the fixed part.
Has the advantages that:
the underwater bottom sediment sampling device has certain intelligence, can automatically cruise, and then the twin-hull unmanned ship works stably, can autonomously reach each target point to sample multi-point underwater bottom sediment, saves the manual bottom sediment sampling time, and greatly improves the underwater bottom sediment sampling efficiency.
Drawings
FIG. 1 is a schematic overall structure diagram of a catamaran unmanned ship for automatically collecting river and lake sediment samples, according to the invention;
FIG. 2 is a schematic structural diagram of a catamaran unmanned ship and a connecting frame for automatically collecting river and lake sediment samples, according to the invention;
FIG. 3 is a schematic structural view of a connecting frame of a catamaran unmanned ship for automatically collecting river and lake sediment samples, according to the invention;
FIG. 4 is a schematic structural diagram of a sliding table linear module of a catamaran unmanned ship for automatically collecting river and lake sediment samples, according to the present invention;
FIG. 5 is a schematic structural view of a multi-section telescopic electric cylinder of a catamaran unmanned ship for automatically collecting river and lake sediment samples, according to the invention;
FIG. 6 is a schematic view of a mud collecting device of a catamaran unmanned ship for automatically collecting river and lake sediment samples according to the present invention;
FIG. 7 is a schematic view of a bottom mud collecting device of a catamaran unmanned ship for automatically collecting river and lake bottom mud samples according to the invention;
FIG. 8 is a schematic structural view of a rotary supporting wheel disc of a catamaran unmanned ship for automatically collecting river and lake sediment samples, according to the invention;
in the figure: 1 catamaran hull, 1-10 hulls, 1-11 hull connecting frames, 1-12 bottom plates, 1-13 connecting frame fixing plates, 1-14 accommodating boxes, 1-15 propeller fixing supports, 1-16 propellers, 2 movable connecting frames, 2-1 bottom plates, 2-2 sliding table group connecting plates, 3 sliding table linear modules, 3-1 first motors, 3-2 transverse sliding tables, 3-3 sliding blocks, 3-4 longitudinal sliding tables, 3-5 second motors, 4 multi-section telescopic electric cylinders, 4-1 third motors, 4-2 connecting plates, 5 mud collecting devices, 5-1 upper end covers, 5-2 drilling tool cylinders, 5-3 fourth motors, 5-4 drilling tools, 6 bottom mud collecting devices, 6-1 rotary supporting wheel discs, 6-2 worms, 6-2 connecting plates, 5-1 connecting plates, 5 mud collecting devices, 5-1 upper end covers, 5-2 drilling tool cylinders, 5-3 fourth motors, 5-4 drilling tools, 6 bottom mud collecting devices, 6-1 rotary supporting wheel discs, 6-2 worms, and the like, The solar energy collecting device comprises a 6-3 collecting bottle, a 6-4 bearing support, a 6-5 motor fixing plate, a 6-6 fifth motor, a 6-7 coupler, a 6-1 rotary supporting wheel disc, a 6-1-1 fixing part, a 6-1-2 rotary part, 6-1-3 balls and a 7 solar power generation plate.
Detailed Description
The invention is described below with reference to the accompanying drawings, which are intended to cover several modifications and embodiments of the invention.
As shown in fig. 1 to 8, a catamaran unmanned ship for automatically collecting a river and lake sediment sample comprises: the system comprises a catamaran body 1, a movable connecting frame 2, a sliding table linear module 3, a multi-section telescopic electric cylinder 4, a mud collecting device 5, a bottom mud collecting device 6 and a solar power generation panel 7; the movable connecting frame 2 is arranged on the catamaran body 1; the mud collecting device 5 and the bottom mud collecting device 6 are fixedly connected with the hull 1 of the double-body unmanned ship, and the electric cylinder 4 is connected with the mud collecting device 5 and the bottom mud collecting device 6; the sliding table linear module 3 is arranged on the movable connecting frame 2; the solar power generation panels 7 are arranged on two sides of the movable connecting frame 2.
Preferably, the catamaran unmanned ship body 1 comprises two independent ship bodies 1-10, ship body connecting frames 1-11, bottom plates 1-12, connecting frame fixing plates 1-13, accommodating boxes 1-14, propeller fixing supports 1-15 and propellers 1-16; the bottom plate 1-12 and the ship body 1-10 are provided with a plurality of threaded holes, the connecting frame 1-11 is fixedly connected with the bottom plate 1-12, and the two independent ship bodies 1-10 are fixedly connected through the ship body connecting frame 1-11 bolts; the accommodating boxes 1-14 are fixed on the ship body connecting frames 1-11 through bolts; a connecting frame fixing plate 1-13 is arranged on the hull of each hull 1-10, and the connecting frame fixing plates 1-13 are provided with array bolt holes at equal intervals; the tail of the ship body 1-10 is welded with a propeller fixing support 1-15, the fixing support 1-15 is provided with four bolt holes, and the propeller 1-16 is fixed on the fixing support 1-15 through bolts.
Preferably, the sliding table linear module 3 comprises a first motor 3-1, a transverse sliding table 3-2, a sliding block 3-3, a longitudinal sliding table 3-4 and a second motor 3-5; the transverse sliding table 3-2 is provided with a threaded hole, and the transverse sliding table 3-2 is fixed on the sliding table group connecting plate 2-2 through a bolt; the first motor 3-1 is fixedly connected with the transverse sliding table 3-2 through a bolt; the longitudinal sliding table 3-4 is provided with a threaded hole, and the second motor 3-5 is fixedly connected with the longitudinal sliding table 3-4 through a bolt.
Preferably, the multi-section telescopic electric cylinder 4 comprises a third motor 4-1 and a connecting plate 4-2; the multi-section telescopic electric cylinder 4 is connected with a third motor 4-1 through a bolt; the connecting plate 4-2 is provided with a threaded hole, and the connecting plate 4-2 is fixedly connected with the multi-section telescopic electric cylinder 4 through bolts.
Preferably, the mud production device 5 comprises an upper end cover 5-1, a drill bit barrel 5-2, a fourth motor 5-3 and a drill bit 5-4; the upper end cover 5-1 is provided with a threaded hole, and the upper end cover 5-1 is fixedly connected with the connecting plate 4-2 and the multi-section telescopic electric cylinder 4-1 through bolts; the drill bit 5-4 is connected with an output shaft of a fourth motor 5-3.
Preferably, the bottom sediment collecting device 6 comprises a rotary supporting wheel disc 6-1, a worm 6-2, a collecting bottle 6-3, an L-shaped bearing support 6-4, a motor fixing plate 6-5, a fifth motor 6-6 and a coupler 6-7; the motor fixing plate 6-5 is provided with a threaded hole, and the fifth motor 6-6 is fixed on the motor fixing plate 6-5 through a bolt; an output shaft of the fifth motor 6-6 is connected with the worm 6-2 through a coupler 6-7; the rotary supporting wheel disc 6-1 is connected with the worm 6-2 in a matched mode through teeth; an annular groove is formed in the rotary supporting wheel disc 6-1, and the collecting bottle 6-3 is fixed in the annular groove; the bearing support 6-4 is provided with a threaded hole, and the bearing support 6-4 is fixed on the ship body connecting frame 1-11 through a bolt.
Preferably, the rotary supporting wheel disc comprises a fixed part 6-1-1, a rotary part 6-1-2 and a ball 6-1-3; the fixing part 6-1-1 is provided with a threaded hole, and the fixing part 6-1-1 is fixed on the connecting frame 1-11 through a bolt; and balls 6-1-3 are arranged between the rotating part 6-1-2 and the fixed part 6-1-1.
The specific implementation mode is as follows:
a catamaran unmanned ship capable of automatically collecting river and lake sediment samples comprises two independent hulls 1-10, a connecting frame fixing plate 1-13 is welded on each hull, two rows of array-type threaded holes are formed in the connecting frame fixing plates 1-13, the two hulls 1-10 are connected with a movable connecting frame 2 through threads on the connecting frame fixing plates 1-13, and the connecting positions of the movable connecting frame 2 and the threaded holes can be adjusted according to the balance condition of the unmanned ship.
The propellers 1-16 provide power for the unmanned ship after receiving PWM signals input by the control module through electric regulation, and mud can be collected according to the appointed longitude and latitude coordinates which can be reached by the positioning module and the electronic compass.
And further, the second motor 3-5 drives the multi-section telescopic electric cylinder 4 and the mud collecting device 5 to longitudinally move to the bottom end of the longitudinal sliding table along the longitudinal sliding table 3-4 after receiving the PWM signal input by the control module.
And further, the third motor 4-1 drives the multiple sections of telescopic electric cylinders 4 to extend for multiple times after receiving the PWM signal input by the control module until the electric cylinders extend to the bottom of the water and can contact the underwater bottom mud.
And the fourth motor 5-3 further drives the drill cutter 5-4 to rotate in the forward direction after receiving the PWM signal input by the control module, and underwater bottom mud is collected for 15s until the drill cutter cylinder 5-2 is filled with underwater undisturbed bottom mud.
And further, the third motor 4-1 drives the multiple sections of telescopic electric cylinders 4-1 to shorten to the water surface after receiving the PWM signal input by the control module.
And further, the second motor 3-5 drives the multi-section telescopic electric cylinder 4 and the mud collecting device 5 to longitudinally move to the top end of the longitudinal sliding table along the longitudinal sliding table 3-4 after receiving the PWM signal input by the control module, and reach the upper part of the bottom mud collecting device 6.
Further, the first motor 3-1 drives the section-telescopic electric cylinder 4 and the mud collecting device 5 to move transversely along the transverse sliding table 3-2 after receiving the PWM signal input by the control module, and the section-telescopic electric cylinder and the mud collecting device reach the upper part of the collecting bottle 6-3.
And the fourth motor 5-3 drives the drill cutter 5-4 to rotate reversely for 10s after receiving the PWM signal input by the control module, and the collected underwater bottom mud is discharged.
And the fifth motor 6-6 drives the worm 6-2 to rotate after receiving the PWM signal input by the control module, further drives the rotary supporting wheel disc 6-1 to rotate, the sludge collecting bottle rotates along with the rotary supporting wheel disc 6-1, a new collecting bottle is replaced, and the next destination is used for collecting underwater bottom sludge.
Preferably, the thrusters 1 to 16 have a thrust of 10kg for differentially driving the unmanned ship to move forward.
Preferably, the power supply module is a 24V lithium battery pack for supplying power to the thrusters 1 to 16. And the 24V power supply supplies power to other components through the 5V voltage reduction module and the 12V voltage reduction module.
Preferably, the control module is a raspberry development board and sends PWM signals to each motor; the raspberry development board can also control the starting and stopping of the motor through the driving board. The communication module is used for sending commands for transmitting and controlling the movement of the ship body and sampling and collecting bottom sediment.
Preferably, the first motor 3-1 can control the transverse movement of the multi-section telescopic electric cylinder 4 through the sliding block 3-2; the second motor 3-5 can control the longitudinal movement of the multi-section telescopic electric cylinder 4 through the sliding block 3-2.
Preferably, the third motor 4-1 controls the multi-section telescopic electric cylinder to be telescopic to the water bottom, so as to ensure that the unmanned ship can adopt bottom mud at different underwater depths.
Preferably, the drill bit 5-4 can rotate forward and backward to drill and unload the underwater bottom mud, and a drill bit cylinder 5-2 is arranged around the drill bit and used for storing and taking the underwater undisturbed bottom mud drilled by the drill bit 5-4.
Preferably, the movable connecting frame 2 can move on the threads on the connecting frame fixing plates 1-13 to balance the gravity center of the ship body, and various positioning modules such as a GPS (global positioning system), an electronic compass, a power supply module, a voltage transformation module, a control module, a driving plate, a communication module and the like are stored on the movable connecting frame; the upper part of the movable connecting frame 2 is provided with a bolt hole, and the two sliding table group connecting plates 2-2 are connected through bolts and used for fixing the sliding table linear module 3.
The above description is only for the purpose of illustrating the present invention, and it should be noted that, without deviating from the present invention, a person skilled in the art may make several modifications and improvements, and such modifications and improvements should be considered as the protection scope of the present invention.
Claims (7)
1. The utility model provides an automatic gather unmanned ship of catamaran formula of river lake bed mud sample which characterized in that includes: the device comprises a twin-hull unmanned ship body (1), a movable connecting frame (2), a sliding table linear module (3), a multi-section telescopic electric cylinder (4), a mud collecting device (5), a bottom mud collecting device (6) and a solar power generation panel (7); the movable connecting frame (2) is arranged on the catamaran body (1); the mud collecting device (5) and the bottom mud collecting device (6) are fixedly connected with the catamaran body (1), and the electric cylinder (4) is connected with the mud collecting device (5) and the bottom mud collecting device (6); the sliding table linear module (3) is arranged on the movable connecting frame (2); the solar power generation panels (7) are arranged on two sides of the movable connecting frame (2).
2. The catamaran unmanned ship for automatically collecting river and lake sediment samples as claimed in claim 1, wherein the catamaran unmanned ship body (1) comprises two separate ship bodies (1-10), a ship body connecting frame (1-11), a bottom plate (1-12), a connecting frame fixing plate (1-13), a containing box (1-14), a propeller fixing support (1-15) and a propeller (1-16); the bottom plate (1-12) and the ship bodies (1-10) are provided with a plurality of threaded holes, the connecting frame (1-11) is fixedly connected with the bottom plate (1-12), and the two independent ship bodies (1-10) are fixedly connected through the ship body connecting frame (1-11) by bolts; the accommodating boxes (1-14) are fixed on the ship body connecting frames (1-11) through bolts; a connecting frame fixing plate (1-13) is arranged on the hull of each hull (1-10), and the connecting frame fixing plates (1-13) are provided with array bolt holes at equal intervals; the ship comprises a ship body (1-10) and is characterized in that a propeller fixing support (1-15) is welded at the tail of the ship body (1-10), four bolt holes are formed in the fixing support (1-15), and the propeller (1-16) is fixed on the fixing support (1-15) through bolts.
3. The catamaran unmanned ship for automatically collecting river and lake sediment samples as claimed in claim 1, wherein the sliding table linear module (3) comprises a first motor (3-1), a transverse sliding table (3-2), a sliding block (3-3), a longitudinal sliding table (3-4) and a second motor (3-5); the transverse sliding table (3-2) is provided with a threaded hole, and the transverse sliding table (3-2) is fixed on the sliding table group connecting plate (2-2) through a bolt; the first motor (3-1) is fixedly connected with the transverse sliding table (3-2) through a bolt; threaded holes are formed in the longitudinal sliding table (3-4), and the second motor (3-5) is fixedly connected with the longitudinal sliding table (3-4) through bolts.
4. The catamaran unmanned ship for automatically collecting samples of river and lake sediment as claimed in claim 1, wherein the plurality of sections of telescopic electric cylinders (4) comprise a third motor (4-1) and a connecting plate (4-2); the multi-section telescopic electric cylinder (4) is connected with a third motor (4-1) through a bolt; the connecting plate (4-2) is provided with a threaded hole, and the connecting plate (4-2) is fixedly connected with the multi-section telescopic electric cylinder (4) through bolts.
5. The catamaran unmanned ship for automatically collecting river and lake sediment samples as claimed in claim 1, wherein the mud collecting device (5) comprises an upper end cover (5-1), a drill cutter cylinder (5-2), a fourth motor (5-3) and a drill cutter (5-4); the upper end cover (5-1) is provided with a threaded hole, and the upper end cover (5-1) is fixedly connected with the connecting plate (4-2) and the plurality of sections of telescopic electric cylinders (4-1) through bolts; the drill (5-4) is connected with an output shaft of a fourth motor (5-3).
6. The catamaran unmanned ship for automatically collecting river and lake sediment samples as claimed in claim 1, wherein the sediment collecting device (6) comprises a rotary supporting wheel disc (6-1), a worm (6-2), a collecting bottle (6-3), an L-shaped bearing support (6-4), a motor fixing plate (6-5), a fifth motor (6-6) and a coupler (6-7); the motor fixing plate (6-5) is provided with a threaded hole, and the fifth motor (6-6) is fixed on the motor fixing plate (6-5) through a bolt; an output shaft of the fifth motor (6-6) is connected with the worm (6-2) through a coupling (6-7); the rotary supporting wheel disc (6-1) is connected with the worm (6-2) in a matching way through teeth; an annular groove is formed in the rotary supporting wheel disc (6-1), and the collecting bottle (6-3) is fixed in the annular groove; the bearing support (6-4) is provided with a threaded hole, and the bearing support (6-4) is fixed on the ship body connecting frame (1-11) through a bolt.
7. The catamaran unmanned ship for automatically collecting samples of river and lake sediments according to claim 6, wherein the rotary supporting wheel disc comprises a fixed part (6-1-1), a rotary part (6-1-2) and balls (6-1-3); the fixing part (6-1-1) is provided with a threaded hole, and the fixing part (6-1-1) is fixed on the connecting frame (1-11) through a bolt; balls (6-1-3) are arranged between the rotary part (6-1-2) and the fixed part (6-1-1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110659162.6A CN113340663A (en) | 2021-06-15 | 2021-06-15 | Twin-hull unmanned ship capable of automatically collecting river and lake bottom mud samples |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110659162.6A CN113340663A (en) | 2021-06-15 | 2021-06-15 | Twin-hull unmanned ship capable of automatically collecting river and lake bottom mud samples |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114354241A (en) * | 2021-11-23 | 2022-04-15 | 武汉华德环保工程技术有限公司 | Be applicable to deep bed mud automatic acquisition device in lake |
| CN114455009A (en) * | 2022-01-01 | 2022-05-10 | 青岛海研电子有限公司 | Unmanned ship on water |
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| JP2000121513A (en) * | 1998-10-17 | 2000-04-28 | Kimihiko Ezoe | Sea-bed mud automatic sampling device for investigating ocean contamination |
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| CN208537232U (en) * | 2018-06-19 | 2019-02-22 | 邵静 | A kind of hydraulic engineering silt sample helical acquisition device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114354241A (en) * | 2021-11-23 | 2022-04-15 | 武汉华德环保工程技术有限公司 | Be applicable to deep bed mud automatic acquisition device in lake |
| CN114455009A (en) * | 2022-01-01 | 2022-05-10 | 青岛海研电子有限公司 | Unmanned ship on water |
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