CN115267108A - Water quality monitoring system - Google Patents
Water quality monitoring system Download PDFInfo
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- CN115267108A CN115267108A CN202210818602.2A CN202210818602A CN115267108A CN 115267108 A CN115267108 A CN 115267108A CN 202210818602 A CN202210818602 A CN 202210818602A CN 115267108 A CN115267108 A CN 115267108A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/18—Water
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
- G01F23/00—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm
- G01F23/22—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by measuring physical variables, other than linear dimensions, pressure or weight, dependent on the level to be measured, e.g. by difference of heat transfer of steam or water
- G01F23/28—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by measuring physical variables, other than linear dimensions, pressure or weight, dependent on the level to be measured, e.g. by difference of heat transfer of steam or water by measuring the variations of parameters of electromagnetic or acoustic waves applied directly to the liquid or fluent solid material
- G01F23/296—Acoustic waves
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Abstract
The invention discloses a water quality monitoring system, which comprises: mounting a bracket; the water quality monitor is used for acquiring water quality data of the water body; the vertical driving component is connected with the mounting bracket and the water quality monitor and is used for driving the water quality monitor to move in the vertical direction relative to the mounting bracket; the water level monitor is connected with the mounting bracket and used for monitoring the liquid level position of the water body to be detected; and the control unit is used for receiving the liquid level position of the water body to be detected and controlling the vertical driving part to drive the water quality monitor to reach the set depth position of the water body to be detected based on the liquid level position. The invention can ensure the stability of water quality monitoring data acquisition.
Description
Technical Field
The invention relates to the technical field of water quality monitoring, in particular to a water quality monitoring system.
Background
The increase of industrial value, the expansion of agriculture and the improvement of life quality are all accompanied with the discharge of a large amount of sewage. A large amount of sewage is discharged, so that the environment can be polluted, the problem of water quality monitoring is more and more emphasized by relevant departments, the water quality monitoring is realized by relevant monitoring instruments, and some monitoring instruments can measure water only by being immersed into the water. The water level (water height) of rivers and lakes can rise and fall with rain and drought. The height of the sludge below the water level in rivers and lakes also changes with the water flow. At present, as for the installation of a water quality monitor, a lot of water quality monitors are fixedly installed in water. If the water level of the river or lake is too low and is lower than the original installation position of the monitoring instrument, the water quality monitor is not contacted with water and cannot normally operate. If the water level is too high and the mud level is too high, the height of the mud may exceed the original installation position of the monitoring instrument, namely, the monitoring instrument is covered by the mud and cannot work.
Disclosure of Invention
The invention provides a water quality monitoring system which can ensure the stability of water quality monitoring data acquisition.
In order to solve the above technical problem, the present invention provides a water quality monitoring system, comprising:
mounting a bracket;
the water quality monitor is used for acquiring water quality data of the water body;
the vertical driving component is connected with the mounting bracket and the water quality monitor and is used for driving the water quality monitor to move in the vertical direction relative to the mounting bracket;
the water level monitor is connected with the mounting bracket and used for monitoring the liquid level position of the water body to be detected;
and the control unit is used for receiving the liquid level position of the water body to be detected and controlling the vertical driving part to drive the water quality monitor to reach the set depth position of the water body to be detected based on the liquid level position.
As the optimization of the technical scheme, the water quality monitoring system further comprises a mud level monitor, the mud level monitor is connected with the mounting bracket, the mud level monitor is used for monitoring the mud position at the bottom of the water body to be detected, and the control unit is further used for controlling the position of the mud and the position of the liquid level based on the vertical driving part to drive the water quality monitor to reach the set depth position of the water body to be detected.
Preferably as above-mentioned technical scheme, the water quality monitoring system still includes installation slider and horizontal actuating mechanism, installation slider movable mounting is in the installing support so that the installation slider can for installing support lateral shifting, horizontal actuating mechanism with the installation slider is connected, horizontal actuating mechanism is used for the drive installation slider lateral shifting, the vertical drive part water level monitor and mud level monitor are installed on the installation slider, the control unit still is used for judging based on mud position and liquid level position whether the position that water quality monitor locates at present reaches the monitoring condition, if not reach the monitoring condition then control horizontal actuating mechanism drives the installation slider removes until the position that water quality monitor locates reaches the monitoring condition.
Preferably, the horizontal driving mechanism comprises a screw rod and a driving motor, the screw rod is rotatably installed on the installation support, the screw rod is in threaded connection with the installation sliding block, a main shaft of the driving motor is connected with the screw rod, the vertical driving part is a driving electric cylinder, the upper end of the driving electric cylinder is fixed on the installation sliding block, the water quality monitor is fixed at the lower end of the driving electric cylinder, and the driving motor is electrically connected with the control unit.
Preferably, the mounting bracket comprises a support rod and a cross rod, the cross rod is rotatably mounted at the upper end of the support rod, the cross rod is perpendicular to the support rod, and the vertical driving part is mounted on the cross rod.
Preferably, the cross bar is provided with a sliding rod along the length direction thereof, and the mounting sliding block is movably mounted on the sliding rod.
Preferably, the water quality monitoring system further comprises a rotation driving part, the rotation driving part is used for driving the cross rod to rotate relative to the supporting rod, and the rotation driving part is electrically connected with the control unit.
Preferably, the water quality monitoring system further comprises a camera, and the camera is mounted on the mounting bracket.
Preferably, the control unit is in communication connection with a remote control platform.
Preferably, the control unit is in communication connection with a weather forecast or environment forecast system.
The invention provides a water quality monitoring system, which comprises a mounting bracket, a water quality monitor, a vertical driving part, a water level monitor and a control unit, wherein the mounting bracket is used for being mounted at a position near water at a river or a lake, the water quality monitor is positioned above a water surface and at an initial position in an idle state, when the mounting bracket is started to work, the position of the water surface is monitored by the water level monitor, the position information of the water surface is transmitted to the control unit, the control unit controls the vertical driving part to be started according to the position information of the water surface, the vertical driving part drives the water quality monitor to move downwards to a position with a set depth at a certain distance from the water surface in the vertical direction, the water quality data is collected by the water quality monitor at the depth position, the water quality monitor is driven to move upwards to the initial position by the vertical driving part after the water quality data is collected, the influence of water level rising or falling on the water quality data collection can be effectively prevented, and the accuracy and the stability of the data collection in the water quality monitoring process are improved.
The above description is only an overview of the technical solutions of the present invention, and the present invention can be implemented in accordance with the content of the description so as to make the technical means of the present invention more clearly understood, and the above and other objects, features, and advantages of the present invention will be more clearly understood.
Drawings
FIG. 1 is a schematic perspective view of a water quality monitoring system according to the present embodiment;
FIG. 2 is a schematic diagram showing a three-dimensional structure of a water quality monitoring system according to the embodiment;
FIG. 3 is a schematic diagram illustrating the control principle of a water quality monitoring system according to the embodiment;
in the figure: 10. mounting a bracket; 20. a vertical driving part; 30. a water quality monitor; 40. a slide bar; 50. installing a sliding block; 60. a screw rod; 70. a drive motor; 80. a water level monitor; 90. a mud level monitor; 101. a support bar; 102. a cross bar; 103. a first convex plate; 104. a second raised plate.
Detailed Description
In order to make the objects, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 to 3, an embodiment of the present invention provides a water quality monitoring system, including:
a mounting bracket 10;
the water quality monitor 30 is used for collecting water quality data of the water body;
the vertical driving part 20 is connected with the mounting bracket 10, the vertical driving part 20 is also connected with the water quality monitor 30, and the vertical driving part 20 is used for driving the water quality monitor 30 to move in the vertical direction relative to the mounting bracket 10;
the water level monitor 80 is connected with the mounting bracket 10, and the water level monitor 80 is used for monitoring the liquid level position of the water body to be detected;
and the control unit is used for receiving the liquid level position of the water body to be detected and controlling the vertical driving part 20 to drive the water quality monitor 30 to reach the set depth position of the water body to be detected based on the liquid level position.
The embodiment provides a water quality monitoring system, it includes installing support 10, water quality monitor 30, vertical drive part 20, water level monitor 80 and the control unit, installing support 10 is used for installing the position of near water in the river or lake, under the inoperative state, water quality monitor 30 is located the top of the surface of water and is located initial position, when opening work, at first, the position that the surface of water was located is monitored by water level monitor 80, then transmit the position information of the surface of water to the control unit, the control unit controls vertical drive part 20 to start according to the position information of the surface of water, vertical drive part 20 drives water quality monitor 30 and moves down to the position of the set depth apart from the surface of water certain distance in the vertical direction, carry out the collection of water quality data by water quality monitor 30 in this depth position, drive water quality monitor 30 water quality upwards by vertical drive part 20 after the collection of water quality data is accomplished and move back to initial position, it can prevent effectively that the water level from rising or descending from the influence to the collection of water quality data, the accuracy and the stability of in the water quality monitoring process have been promoted.
In addition, the distance between the water quality monitor 30 and the water surface is fixed when data acquisition is carried out each time, so that the influence on the water quality monitoring precision due to wind waves caused by the fact that the water quality monitor 30 is too close to the water surface can be prevented, and the influence on the water quality monitoring precision due to sediment at the water bottom caused by the fact that the water quality monitor 30 is too close to the water bottom can also be prevented.
Specifically, the water quality monitor 30 in this embodiment is submerged to a certain height, for example, 30cm below the water surface. If the installation position is too high, such as close to the water surface, the operation of the installation position is influenced by the wave flow of water on the water surface; if the installation position is too low, such as the position close to the bottom end of the liquid surface and sludge, the operation of the device can be influenced by the sludge surge, or the test is inaccurate because the water body at the bottom is turbid.
In addition, the water level monitor 80 in this embodiment may be an instrument for measuring the liquid level by sound waves, and the water quality monitor 30 may be a multi-parameter water quality monitor.
In a further implementation manner of this embodiment, the water quality monitoring system further includes a mud level monitor 90, the mud level monitor 90 is connected to the mounting bracket 10, the mud level monitor 90 is used to monitor the mud position at the bottom of the water body to be measured, and the control unit is further used to control the vertical driving component 20 to drive the water quality monitor 30 to reach the set depth position of the water body to be measured based on the mud position and the liquid level position.
The water quality monitoring system in this embodiment still includes mud level monitor 90, mud level monitor 90 can monitor submarine position, consequently can be based on the position and the mud position of the surface of water and then control water quality monitor 30 and reach suitable degree of depth when carrying out water quality monitor 30 and control, can prevent that the degree of depth that water quality monitor 30 located is too close to the surface of water, also can prevent that the degree of depth that water quality monitor 30 located is too close to the bottom, can guarantee the accuracy nature and the stability of water quality monitoring data acquisition.
In addition, the mud level monitor 90 in this embodiment may also be used to detect the depth of the sludge at the water bottom, specifically, the depth of the sludge is an index for monitoring water quality, and the mud level monitor 90 in this embodiment may be an instrument for measuring the position of the sludge below the water surface by using a radar.
In a further implementation manner of this embodiment, the water quality monitoring system further includes an installation slider 50 and a lateral driving mechanism, the installation slider 50 is movably installed on the installation support 10 so that the installation slider 50 can move laterally relative to the installation support 10, the lateral driving mechanism is connected to the installation slider 50, the lateral driving mechanism is used for driving the installation slider 50 to move laterally, the vertical driving component 20, the water level monitor 80 and the mud level monitor 90 are installed on the installation slider 50, the control unit is further used for judging whether the current position of the water quality monitor 30 reaches the monitoring condition based on the position of the sludge and the position of the liquid level, and if the current position of the water quality monitor 30 does not reach the monitoring condition, the lateral driving mechanism is controlled to drive the installation slider 50 to move until the position of the water quality monitor 30 reaches the monitoring condition.
In this embodiment, when the distance between the water surface and the water bottom cannot meet the monitoring condition, that is, when the distance between the water surface and the water bottom is too small, the control unit controls the transverse driving mechanism to drive the water quality monitor 30 to move transversely until the distance between the water surface and the water bottom meets the monitoring condition, and the transverse driving mechanism can drive the installation slide block 50 to move so that the water quality monitor 30 reaches an appropriate position.
In a further implementation manner of this embodiment, the transverse driving mechanism includes a screw rod 60 and a driving motor 70, the screw rod 60 is rotatably mounted on the mounting bracket 10, the screw rod 60 is in threaded connection with the mounting slider 50, a main shaft of the driving motor 70 is connected with the screw rod 60, the vertical driving component 20 is a driving electric cylinder, an upper end of the driving electric cylinder is fixed on the mounting slider 50, the water quality monitor 30 is fixed at a lower end of the driving electric cylinder, and the driving motor 70 is electrically connected with the control unit.
The lateral driving mechanism in this embodiment is simple in overall structure in combination with the vertical driving part 20, and its operation is more stable.
In a further embodiment of this embodiment, the mounting bracket 10 includes a support rod 101 and a cross bar 102, the cross bar 102 is rotatably mounted on the upper end of the support rod 101, the cross bar 102 is perpendicular to the support rod 101, and the vertical driving member 20 is mounted on the cross bar 102.
The cross bar 102 in this embodiment can rotate relative to the support bar 101, and when the support bar 101 is fixed on the shore, it can rotate the support bar 101 to the above water surface when working, and rotate it to the side near the shore when not working, which can be convenient for maintaining the equipment.
Specifically, the cross bar 102 in the present embodiment is rotatably mounted on the upper end of the support rod 101 through a bearing.
In a further implementation manner of the present embodiment, a sliding rod 40 is disposed on the cross bar 102 along the length direction thereof, and the mounting slider 50 is movably mounted on the sliding rod 40.
Specifically, the cross bar 102 in this embodiment is provided with a first protruding plate 103 and a second protruding plate 104 extending downward and protruding the lower surface of the cross bar 102, the first protruding plate 103 and the second protruding plate 104 are parallel to each other, two ends of the cross bar 102 are respectively fixedly installed on the first protruding plate 103 and the second protruding plate 104, the screw rod 60 is rotatably installed on the first protruding plate 103 and the second protruding plate 104, and the driving motor 70 is installed on the second protruding plate 104.
In a further implementation manner of this embodiment, the water quality monitoring system further includes a rotation driving component (not shown in the figure), the rotation driving component is used for driving the cross rod 102 to rotate relative to the supporting rod 101, and the rotation driving component is electrically connected to the control unit.
The cross bar 102 in this embodiment can rotate relative to the support bars 101, which can control the cross bar 102 to rotate to reach a proper position when the distance between the water surface and the water bottom cannot meet the monitoring condition.
In a further implementation manner of this embodiment, the water quality monitoring system further includes a camera (not shown in the figure), and the camera is mounted on the mounting bracket 10.
The camera in this embodiment is used to capture a monitoring environment, and the control unit may adjust the control mode based on the current monitoring environment, and specifically, the control unit may control the water quality monitor 30 to be in a suitable monitoring mode based on the monitoring environment.
In a further embodiment of the present embodiment, the control unit is communicatively connected to a remote control platform.
The control unit in this embodiment is in communication connection with the remote control platform, which may facilitate remote control and remote data transmission.
In a further embodiment of the present embodiment, the control unit is connected in communication with a weather forecast or environment forecast system.
When the whole system is in operation, the water level monitor and the mud level monitor can be opened or closed according to actual needs (for example, the water level monitor is opened once every 1 hour or once every 2 hours in the system), and if the water level height is monitored to be changed, the driving motor and the driving electric cylinder are controlled to move in time, so that the water quality monitor is in the best working state.
In the working mode, all the components are not required to be kept in working states all the time, and only when required, the corresponding components are powered on and run, and only in standby or power-off state at other time; the working state can save electricity consumption and reduce the equipment operating cost. In addition to the system operation described in the first section above, there are more preferred and intelligent control methods, as follows. The whole control unit can be connected to a weather forecast system on a network, and when the system receives extreme weather forecasted by the weather forecast system, the running state of the system can be adjusted in time. Such as 1: when the forecast of the rainstorm weather is received, the operating frequency of the water level monitoring instrument and the mud level monitoring instrument is increased, the position of the sensor is timely fed back and adjusted, and the related water quality information and the instrument are timely obtained
And feeding back the running state information of the device to the working personnel. For example, 2: when receiving low temperature, ice and snow, the weather forecast that freezes, the system can predict water in advance and probably freeze, can harm relevant instrument, can promote water quality monitoring appearance to the surface of water more than. For example, 3: if the system is installed at the seaside, local change of the water level caused by tidal action is considered, the tides of network early warning are dynamically accessed into the control unit, the system flexibly adjusts the operating frequency of the water level monitoring instrument and the mud level monitoring instrument according to the water level change caused by the tidal action, and the position of the sensor is timely fed back and adjusted. For example, 4: and if the weather or the environment is within the range of normal operation of the system, the system is installed to operate in a normal operation mode.
The field control workflow of the embodiment:
1. the staff determines the real-time water level condition, the position of the water quality monitor and the like on site to determine whether the sensor is in a proper working position;
2. and respectively sending instructions to the driving motor, the driving electric cylinder and other parts through a field controller until the water quality monitor reaches a proper working position.
The automatic control workflow of the embodiment is as follows:
1. the instructions are sent remotely and the instructions are sent remotely,
2. the control unit receives the instruction through wireless communication and starts to operate.
3. And the water level monitor and the mud level monitor operate to determine whether the water level and the mud level meet the working requirements of the sensor.
4. If the requirement is not met, the motor is required to be driven to operate to drive the mounting sliding block to move forwards until the water level and the mud level monitor determine that the water environment below meets the working requirement of the water quality monitor; and then stops the operation of the driving motor.
5. The system judges whether the relative height of the water quality monitor is at a proper position (such as below the liquid level) again, then sends an instruction to the driving electric cylinder, and the electric cylinder operates to drive the water quality monitor to move up and down until the water quality monitor reaches a proper working area; and stopping the operation of the electric cylinder.
6. The control unit sends an instruction to the water quality monitor to operate the water quality monitor, the water quality monitor sends the acquired data to the control unit, and the control unit transmits the data to the cloud platform, the mobile phone, the water service platform and the like.
7. The system is connected to a weather or environment forecasting system, and if information of sudden weather changes (such as rainstorm, ice and snow and tide) is received, the system readjusts the test mode according to the corresponding weather information. If the system receives a return to normal state of the weather,
the normal test mode is reverted to.
In the process, the water level may change along with dry seasons, rainy seasons, rich water periods, dry water periods and the like, and in the process, the 3-6 steps are repeated and automatically operated, so that the whole system can effectively acquire relevant data.
The remote control workflow of the embodiment:
1. remotely checking the monitoring camera to acquire the real-time position, the real-time water level condition, the position of a water quality monitor and the like of the whole system so as to determine whether the sensor is in a proper working position;
2. and sending instructions to the motor, the electric cylinder and other parts respectively in a remote way until the water quality monitor reaches a proper working position.
In addition, the camera in this embodiment may also cooperate with a weather or environment forecasting system, and when receiving the weather sudden change information, the current monitoring environment is determined by combining with the monitoring camera.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily think of the changes or substitutions within the technical scope of the present invention, and shall cover the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (10)
1. A water quality monitoring system, comprising:
mounting a bracket;
the water quality monitor is used for acquiring water quality data of the water body;
the vertical driving component is connected with the mounting bracket and the water quality monitor and is used for driving the water quality monitor to move in the vertical direction relative to the mounting bracket;
the water level monitor is connected with the mounting bracket and used for monitoring the liquid level position of the water body to be detected;
and the control unit is used for receiving the liquid level position of the water body to be detected and controlling the vertical driving part to drive the water quality monitor to reach the set depth position of the water body to be detected based on the liquid level position.
2. The water quality monitoring system according to claim 1, further comprising a mud level monitor connected to the mounting bracket, wherein the mud level monitor is used for monitoring a mud position at the bottom of the water body to be measured, and the control unit is further used for controlling the vertical driving component to drive the water quality monitor to reach a set depth position of the water body to be measured based on the mud position and the liquid level position.
3. The water quality monitoring system according to claim 1, further comprising an installation slider and a transverse driving mechanism, wherein the installation slider is movably installed on the installation support so that the installation slider can move transversely relative to the installation support, the transverse driving mechanism is connected with the installation slider and used for driving the installation slider to move transversely, the vertical driving component, the water level monitor and the mud level monitor are installed on the installation slider, the control unit is further used for judging whether the current position of the water quality monitor reaches a monitoring condition or not based on the position of the mud and the position of the liquid level, and if the current position of the water quality monitor does not reach the monitoring condition, the transverse driving mechanism is controlled to drive the installation slider to move until the position of the water quality monitor reaches the monitoring condition.
4. The water quality monitoring system according to claim 3, wherein the transverse driving mechanism comprises a screw rod and a driving motor, the screw rod is rotatably installed on the installation support, the screw rod is in threaded connection with the installation sliding block, a main shaft of the driving motor is connected with the screw rod, the vertical driving part is a driving electric cylinder, the upper end of the driving electric cylinder is fixed on the installation sliding block, the water quality monitor is fixed at the lower end of the driving electric cylinder, and the driving motor is electrically connected with the control unit.
5. The water quality monitoring system of claim 3, wherein the mounting bracket comprises a support rod and a cross rod, the cross rod is rotatably mounted at the upper end of the support rod, the cross rod is perpendicular to the support rod, and the vertical driving component is mounted on the cross rod.
6. The water quality monitoring system according to claim 5, wherein a sliding rod is arranged on the cross rod along the length direction of the cross rod, and the mounting sliding block is movably mounted on the sliding rod.
7. The water quality monitoring system according to claim 5, further comprising a rotation driving part, wherein the rotation driving part is used for driving the cross rod to rotate relative to the support rod, and the rotation driving part is electrically connected with the control unit.
8. The water quality monitoring system according to claim 6, further comprising a camera mounted on the mounting bracket, the camera being electrically connected to the control unit.
9. The water quality monitoring system of claim 1, wherein the control unit is communicatively coupled to a remote control platform.
10. The water quality monitoring system of claim 1, wherein the control unit is in communication with a weather forecast or environmental forecast system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210818602.2A CN115267108A (en) | 2022-07-12 | 2022-07-12 | Water quality monitoring system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210818602.2A CN115267108A (en) | 2022-07-12 | 2022-07-12 | Water quality monitoring system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115616184A (en) * | 2022-12-06 | 2023-01-17 | 江苏海峡环保科技发展有限公司 | Intelligent inspection robot for sewage treatment |
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2022
- 2022-07-12 CN CN202210818602.2A patent/CN115267108A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115616184A (en) * | 2022-12-06 | 2023-01-17 | 江苏海峡环保科技发展有限公司 | Intelligent inspection robot for sewage treatment |
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