CN117022564A - Unmanned ship for water body measurement and use method thereof - Google Patents
Unmanned ship for water body measurement and use method thereof Download PDFInfo
- Publication number
- CN117022564A CN117022564A CN202310998091.1A CN202310998091A CN117022564A CN 117022564 A CN117022564 A CN 117022564A CN 202310998091 A CN202310998091 A CN 202310998091A CN 117022564 A CN117022564 A CN 117022564A
- Authority
- CN
- China
- Prior art keywords
- face
- close
- sampling bottle
- guide
- unmanned ship
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 54
- 238000000034 method Methods 0.000 title claims abstract description 15
- 238000005259 measurement Methods 0.000 title claims abstract description 12
- 238000005070 sampling Methods 0.000 claims abstract description 99
- 238000004804 winding Methods 0.000 claims abstract description 29
- 230000005540 biological transmission Effects 0.000 claims description 39
- 239000000463 material Substances 0.000 claims description 12
- 238000001514 detection method Methods 0.000 claims description 10
- 238000005096 rolling process Methods 0.000 claims description 7
- 238000007667 floating Methods 0.000 claims description 5
- 238000000926 separation method Methods 0.000 claims description 4
- 230000007246 mechanism Effects 0.000 claims description 3
- 230000001939 inductive effect Effects 0.000 claims description 2
- 238000007789 sealing Methods 0.000 claims 1
- 238000013461 design Methods 0.000 abstract description 4
- 241000196324 Embryophyta Species 0.000 abstract description 2
- 230000007613 environmental effect Effects 0.000 abstract description 2
- 238000011160 research Methods 0.000 abstract description 2
- 239000000523 sample Substances 0.000 description 6
- 230000006978 adaptation Effects 0.000 description 2
- 230000006698 induction Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000005888 antibody-dependent cellular phagocytosis Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000010030 laminating Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000001556 precipitation Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B17/00—Vessels parts, details, or accessories, not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H5/00—Arrangements on vessels of propulsion elements directly acting on water
- B63H5/07—Arrangements on vessels of propulsion elements directly acting on water of propellers
- B63H5/16—Arrangements on vessels of propulsion elements directly acting on water of propellers characterised by being mounted in recesses; with stationary water-guiding elements; Means to prevent fouling of the propeller, e.g. guards, cages or screens
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
- B63B2035/007—Unmanned surface vessels, e.g. remotely controlled autonomously operating
-
- 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
- G01N2001/1031—Sampling from special places
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/30—Assessment of water resources
Landscapes
- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Physics & Mathematics (AREA)
- Hydrology & Water Resources (AREA)
- Fluid Mechanics (AREA)
- Health & Medical Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Sampling And Sample Adjustment (AREA)
Abstract
The utility model relates to the field of unmanned ships, in particular to a water body measurement unmanned ship and a use method thereof. The automatic sampling unmanned ship body is small and portable, the unmanned ship body is provided with the driving cab, a user can take the unmanned ship conveniently, meanwhile, the bypass type design of the propeller effectively prevents the aquatic weeds and the fishing nets from winding, the unmanned ship body has the advantages of flexibly and flexibly carrying out the automatic water sample collection work of a large-scale water body, and the unmanned ship body can be widely applied to the sampling in the fields of environmental protection, hydrology, water conservancy, water affairs, scientific research and the like.
Description
Technical Field
The utility model relates to the technical field of unmanned ship equipment, in particular to a water body measurement unmanned ship and a use method thereof.
Background
The unmanned ship is mainly used as a carrier, can be provided with equipment such as ADCP, a water quality detector, multi-beam sonar and the like to execute tasks such as hydrologic measurement, water quality monitoring, underwater topography survey and the like in a large-scale water area, the collection of information can be realized through various sensors, and the work completed by the information collection module is mainly measurement of water temperature, humidity, water flow speed, water level, precipitation and atmospheric pressure data and water quality sampling, so that the follow-up analysis work of water quality is facilitated.
The patent numbers are as follows: CN214112782U, the disclosed utility model patent, an unmanned ship for automatic water quality detection, comprising a ship body, a power device, a sample reserving device and an underwater detection module, wherein the power device, the sample reserving device and the underwater detection module are arranged on the ship body; the power device comprises a propeller and a current converter for providing stable current for the propeller; the sample reserving device comprises a water tank, a water pump, a guide pipe connected with the water inlet of the water pump and an S-shaped connecting pipe connected between the water outlet of the water pump and the water inlet of the water tank; the underwater detection module comprises a detection probe for detecting water quality, a connector for being matched and connected with the detection probe and a connector arranged at the rear end of the connector and used for being connected with a circuit; the utility model adopts a double-hull design, can adapt to various water surface conditions, effectively enhances the stability of the whole platform, and simultaneously realizes the integration of multiple detection functions by utilizing a multi-module design.
Although the unmanned ship can detect water quality, the existing unmanned ship can be driven wirelessly, so that workers are inconvenient to carry, meanwhile, the unmanned ship is inconvenient to collect water quality collected at different depths automatically, the degree of automation of the unmanned ship for collecting water quality is reduced, and therefore, the unmanned ship for measuring water body and the using method thereof are needed to solve the problems.
Disclosure of Invention
The utility model aims to provide an unmanned ship for water body measurement and a use method thereof, which are used for solving the problems in the background technology.
In order to achieve the above purpose, the present utility model provides the following technical solutions: the utility model provides a water body measurement unmanned ship and method of use thereof, includes the cockpit that is used for supporting, is located the both sides of cockpit all fixedly provided with the connection cardboard that is used for spacing, is located two sets of the lower terminal surface fixed mounting that connects the cardboard is used for floating the hull, and is located the up end of cockpit is close to rear portion department and is provided with fixed baffle, is located the lateral part of fixed baffle is provided with two sets of wireless inductive heads, two sets of the rear end face fixed mounting that connects the cardboard has the connection diaphragm, and is located the lower terminal surface center department that connects the diaphragm is fixed with the propeller of duct structure, is located two sets of the up end that connects the cardboard is close to rear portion department and is provided with collection system;
the collecting device comprises a collecting device used for supporting, a feeding box used for guiding materials is arranged at the position, close to the side, of the upper end face of the collecting device, a sampling bottle is arranged at the position, close to the top, of the inner end face of the feeding box in an equidistant sliding mode, a clamping guide groove is formed in the position, close to the top, of the outer end face of the sampling bottle, a guiding device is arranged at the position, close to the rear, of the upper end face of the collecting device, and a winding device is arranged at the middle of the inner end face of the guiding device.
Specifically, guider is including the spacing square that is used for supporting, the lower terminal surface symmetry of spacing square is provided with linear slide rail, and is located the lower terminal surface center department fixed mounting of spacing square has Y axle lead screw module, two sets of the preceding terminal surface of linear slide rail all slides the joint has the ball slide, and two sets of the preceding terminal surface of ball slide is fixed to be provided with X axle lead screw module.
Specifically, the coiling mechanism is including the support slide that is used for supporting, the up end of support slide is close to middle part department rotation joint has the transmission worm wheel, is located the fixed rolling roller that is provided with in up end center department of transmission worm wheel, the inner face of support slide just to transmission worm wheel department meshing is connected with the drive worm, is located the rear end face of support slide just right drive worm department is provided with servo motor, the lower terminal surface activity joint of support slide has spacing guide holder, and is located the inner face upper portion department of spacing guide holder is provided with waterproof motor, is located waterproof motor's lower terminal surface center department is provided with the connection carousel, and is located four sets of arc grooves of connection carousel's inner terminal surface equidistance, the inner terminal surface of spacing guide holder is through connection carousel equidistance slip joint has four sets of direction slide shafts, and is located the outer terminal surface of direction slide is provided with the centre gripping cardboard.
Specifically, the device that gathers materials includes the locating support that is used for spacing, locating support's up end center department is provided with the closing cap cardboard, and is located locating support's side terminal surface is close to rear portion department symmetry and is provided with two sets of spacing cassettes, is located locating support's side terminal surface is close to middle part department symmetry and has seted up two sets of connection change-over grooves, is located locating support's lower terminal surface is just to two sets of be provided with the counterpoint sleeve between the connection change-over groove, connecting change-over groove's interior terminal surface rotation joint has two sets of guide gear, is close to the outside guide gear's outer terminal surface fixed mounting has drive gear, locating support's interior terminal surface just to connecting change-over groove department sliding joint has positioner, and is located locating support's interior terminal surface sliding joint has drive arrangement, is located locating support's rear end face center department fixedly provided with a shape cylinder, and is located pen shape cylinder's front end face department is provided with the location push pedal, and is located pen shape cylinder's front end face department is provided with L shape between the connection change-over groove, locating support's interior terminal surface is close to the push pedal department of location has two sets up guide gear, and is located the interior end face fixed mounting has drive gear, just is located the interior end face sliding plate department is located the location has the front end of location switch has the location.
Specifically, transmission is including the box that gathers materials that is used for supporting, the inner terminal surface lateral part symmetry of box that gathers materials is provided with the spring slider, and is located the preceding terminal surface of box that gathers materials is provided with two sets of connecting racks, is located the preceding terminal surface bottom of box that gathers materials is provided with the spacing board that colludes.
Specifically, positioner is including being used for spacing counterpoint cardboard, the up end symmetry of counterpoint cardboard is provided with the spring guide shaft, and is located the lower terminal surface symmetry of counterpoint cardboard is provided with the location rack.
Specifically, the transmission worm with the transmission worm wheel is engaged and is connected, the direction slide shaft with arc groove looks adaptation, just the centre gripping cardboard passes through the direction slide shaft with arc groove looks adaptation and then slip joint is in the interior terminal surface of spacing guide holder, four groups of arc grooves can be through the slip spacing with the direction slide shaft, and then drive four groups of centre gripping cardboard in step and carry out spacing and separation to the sampling bottle, make things convenient for follow-up to derive the sampling bottle.
Specifically, be located the front portion the guide gear with the positioning rack carries out the meshing and is connected, two sets of guide gear passes through connect the change groove and carry out the meshing and be connected, just with connect the rack and carry out the meshing and be connected, the spring slider with the inside of positioning support carries out fixed connection, just aggregate box with spacing cassette carries out slip joint, can effectively improve aggregate box at the outside gliding stability of positioning support.
Specifically, the counterpoint cardboard with the outside of spacing guide holder carries out slip joint, just the centre gripping cardboard passes through the joint guide slot with the sampling bottle carries out slip joint, and is four sets of when the centre gripping cardboard with the sampling bottle carries out slip joint, four sets of the top of centre gripping cardboard with the counterpoint cardboard is laminated and is connected, and four sets of centre gripping cardboard are spacing to the sampling bottle, then do not lead to the counterpoint cardboard, otherwise then can pass through the counterpoint cardboard, make things convenient for follow-up drive counterpoint cardboard synchronous lifting.
The use method of the unmanned ship for water body measurement comprises the following steps:
s1: positioning and limiting the sampling bottle, wherein the Y-axis screw rod module can regulate and control the Y-axis distance of the winding device, meanwhile, the X-axis screw rod module can regulate and control the X-axis distance of the winding device, the Y-axis screw rod module and the X-axis screw rod module can drive the winding device to position the sampling bottle, and meanwhile, the winding device can automatically grab the sampling bottle to finish limiting operation;
s2: unreeling and sampling the sampling bottle, wherein the transmission worm wheel can unreel an external sampling rope through the reeling roller, and the sampling rope can drive the clamping plate and the sampling bottle to fall into a sampling area through the positioning support and the alignment sleeve for sampling;
s3: carry out automatic collection to the sampling bottle, servo motor drives drive worm and drive worm wheel reversal, and the rolling roller then can drive sampling rope reversal rolling for the sampling bottle is fixed a position inside the counterpoint sleeve, and the counterpoint sleeve can lead the sampling bottle that moves up, and collection device then cooperates the separation of sampling bottle and coiling mechanism to carry out automatic collection to the sampling bottle simultaneously.
Compared with the prior art, the utility model has the following beneficial effects:
1. according to the utility model, the acquisition device is arranged, when the water body is automatically sampled and collected, the servo motor can drive the winding roller to wind and unreel the limiting guide seat through the transmission worm and the transmission worm wheel, meanwhile, when the limiting guide seat is reset, the limiting guide seat can automatically lock the limiting hook plate at the side part of the spring hook plate through the transmission of the positioning device, the guide gear and the transmission gear, and the pen-shaped air cylinder can synchronously drive the L-shaped sliding plate and the positioning push plate to move forward, so that the sampling bottle can be automatically guided into the aggregate box body at the upper part of the limiting hook plate, automatic collection is completed, meanwhile, the L-shaped sliding plate can elastically press the spring hook plate to release the limiting hook plate, automatic reset is further completed, and the automation degree of unreeling and collecting the sampling bottle by equipment is effectively improved.
2. The automatic sampling unmanned ship body is small and portable, the unmanned ship body is provided with the driving cab, a user can take the unmanned ship conveniently, meanwhile, the bypass type design of the propeller effectively prevents the aquatic weeds and the fishing nets from winding, the unmanned ship body has the advantages of flexibly and flexibly carrying out the automatic water sample collection work of a large-scale water body, and the unmanned ship body can be widely applied to the sampling in the fields of environmental protection, hydrology, water conservancy, water affairs, scientific research and the like.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings that are needed for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present utility model, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic structural view of a main body of the present utility model;
FIG. 2 is a side view of the body of the present utility model;
FIG. 3 is a split view of the acquisition device of the present utility model;
FIG. 4 is a schematic diagram of the structure of the collecting device of the present utility model;
FIG. 5 is a schematic view of the guide device of the present utility model;
FIG. 6 is a split view of the winding apparatus of the present utility model;
FIG. 7 is a partial enlarged view at I of the present utility model;
FIG. 8 is a schematic structural view of a winding device according to the present utility model;
FIG. 9 is a split view of the aggregate unit of the present utility model;
FIG. 10 is a partial enlarged view at II of the present utility model;
FIG. 11 is a schematic structural view of the aggregate unit of the present utility model;
FIG. 12 is a schematic view of the transmission of the present utility model;
fig. 13 is a schematic structural view of a positioning device according to the present utility model.
In the figure: 1-connecting transverse plate, 2-collecting device, 3-connecting clamping plate, 4-wireless induction head, 5-driving cabin, 6-floating hull, 7-fixed baffle, 8-propeller, 21-guiding device, 22-rolling device, 23-collecting device, 24-feeding box, 25-sampling bottle, 26-clamping guide slot, 211-ball sliding seat, 212-linear sliding rail, 213-limit square tube, 214-Y-axis screw rod module, 215-X-axis screw rod module, 221-rolling rotating roller, 222-driving worm, 223-servo motor, 224-supporting sliding seat, 225-clamping plate, 226-limit guide seat, 227-waterproof motor 228-drive worm gear, 229-guide slide shaft, 2210-connection turntable, 2211-arc-shaped groove, 231-closure clamping plate, 232-drive device, 233-limit clamping seat, 234-positioning support, 235-positioning device, 236-connection rotating groove, 237-alignment sleeve, 238-pen-shaped cylinder, 239-L-shaped slide plate, 2310-positioning push plate, 2311-drive gear, 2312-guide gear, 2313-spring hook plate, 2314-proximity switch, 2321-collection box, 2322-spring sliding block, 2323-connection rack, 2324-limit hook plate, 2351-spring guide shaft, 2352-alignment clamping plate and 2353-positioning rack.
Detailed Description
In order that those skilled in the art will better understand the present utility model, a technical solution in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present utility model, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present utility model without making any inventive effort, shall fall within the scope of the present utility model.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present utility model and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate in order to describe the embodiments of the utility model herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The utility model is further described below with reference to the accompanying drawings.
Example 1
Referring to fig. 1-13, an embodiment of the present utility model is provided: the unmanned ship for water body measurement comprises a driving cabin 5 for supporting, connecting clamping plates 3 for limiting are fixedly arranged on two sides of the driving cabin 5, a floating ship body 6 for floating is fixedly arranged on the lower end faces of the two groups of connecting clamping plates 3, a fixed baffle 7 is arranged on the upper end face of the driving cabin 5 near the rear part, two groups of wireless induction heads 4 are arranged on the side parts of the fixed baffle 7, a connecting transverse plate 1 is fixedly arranged on the rear end faces of the two groups of connecting clamping plates 3, a propeller 8 with a duct structure is fixedly arranged on the center of the lower end face of the connecting transverse plate 1, a collecting device 2 is arranged on the upper end faces of the two groups of connecting clamping plates 3 near the rear part,
as shown in fig. 3 and 4, the collecting device 2 comprises a collecting device 23 for supporting, a feeding box 24 for guiding materials is arranged at the position, close to the side, of the upper end face of the collecting device 23, a sampling bottle 25 is slidably arranged at the inner end face of the feeding box 24 at equal intervals, a clamping guide groove 26 is formed at the position, close to the top, of the outer end face of the sampling bottle 25, a guiding device 21 is arranged at the position, close to the rear, of the upper end face of the collecting device 23, and a winding device 22 is arranged at the middle of the inner end face of the guiding device 21.
As shown in fig. 5, the guiding device 21 includes a limiting square tube 213 for supporting, the lower end surface of the limiting square tube 213 is symmetrically provided with a linear sliding rail 212, a Y-axis screw rod module 214 is fixedly installed in the center of the lower end surface of the limiting square tube 213, the front end surfaces of the two groups of linear sliding rails 212 are slidably clamped with ball sliding seats 211, and the front end surfaces of the two groups of ball sliding seats 211 are fixedly provided with an X-axis screw rod module 215.
As shown in fig. 6-8, the winding device 22 includes a supporting slide 224 for supporting, the upper end surface of the supporting slide 224 is close to the middle part and is rotationally clamped with a transmission worm wheel 228, a winding roller 221 is fixedly arranged at the center of the upper end surface of the transmission worm wheel 228, the inner end surface of the supporting slide 224 is just engaged with a transmission worm 222 relative to the transmission worm wheel 228, a servo motor 223 is arranged at the position, opposite to the transmission worm 222, of the rear end surface of the supporting slide 224, a limit guide seat 226 is movably clamped at the lower end surface of the supporting slide 224, a waterproof motor 227 is arranged at the upper part of the inner end surface of the limit guide seat 226, a connecting rotary disc 2210 is arranged at the center of the lower end surface of the waterproof motor 227, four groups of arc grooves 2211 are equidistantly arranged at the inner end surface of the connecting rotary disc 2210, four groups of guide slide shafts 229 are equidistantly and slidingly clamped through the connecting rotary disc 2210, and the outer end surface of the guide slide shafts 229 is provided with a clamping plate 225.
As shown in fig. 9-11, the collecting device 23 includes a positioning support 234 for limiting, a cover clamping plate 231 is disposed at the center of the upper end face of the positioning support 234, two sets of limiting clamping seats 233 are symmetrically disposed at the position, close to the rear, of the side end face of the positioning support 234, two sets of connecting rotating grooves 236 are symmetrically disposed at the position, close to the middle, of the side end face of the positioning support 234, an alignment sleeve 237 is disposed between the two sets of connecting rotating grooves 236, two sets of guide gears 2312 are rotationally clamped at the lower end face of the positioning support 234, a transmission gear 2311 is fixedly mounted at the outer end face of the guide gear 2312 close to the outside, a positioning device 235 is slidingly clamped at the position, close to the connecting rotating grooves 236, of the inner end face of the positioning support 234, a transmission device 232 is slidingly clamped at the inner end face of the positioning support 234, a pen-shaped air cylinder 238 is fixedly disposed at the center of the rear end face of the positioning support 234, a push plate 2310 is disposed at the front end face of the pen-shaped air cylinder 238, an L-shaped slide plate 239 is disposed at the position, close to the middle, the inner end face of the positioning support 234 is rotatably clamped at the front end face of the pen-shaped air cylinder 2310, a spring 2313 is disposed at the front end face of the inner end face of the positioning support 2313, close to the inner end face of the positioning support 234 is close to the front end 2313 is disposed at the front end of the detection plate 2314, and is close to the front end of the detection plate 2313 is disposed at the front end of the spring.
As shown in fig. 12, the transmission device 232 includes a collection box 2321 for supporting, spring sliders 2322 are symmetrically arranged on the side portion of an inner end face of the collection box 2321, two groups of connecting racks 2323 are arranged on the front end face of the collection box 2321, and a limiting hook plate 2324 is arranged on the bottom of the front end face of the collection box 2321.
As shown in fig. 13, the positioning device 235 includes a positioning clamping plate 2352 for limiting, a spring guide shaft 2351 is symmetrically disposed on an upper end surface of the positioning clamping plate 2352, and a positioning rack 2353 is symmetrically disposed on a lower end surface of the positioning clamping plate 2352.
The driving worm 222 is engaged with the driving worm wheel 228, the guiding slide shaft 229 is matched with the arc groove 2211, the clamping plates 225 are matched with the arc groove 2211 through the guiding slide shaft 229 and are further connected with the inner end face of the limiting guide seat 226 in a sliding clamping mode, the four groups of arc grooves 2211 can be limited through sliding with the guiding slide shaft 229, and further the four groups of clamping plates 225 are synchronously driven to limit and separate the sampling bottle 25, so that the sampling bottle 25 can be conveniently led out subsequently.
The guide gears 2312 positioned at the front part are in meshed connection with the positioning racks 2353, the two groups of guide gears 2312 are in meshed connection with the connecting racks 2323 through the connecting rotating grooves 236, the spring sliding blocks 2322 are fixedly connected with the inside of the positioning support 234, the material collecting box 2321 is in sliding clamping connection with the limiting clamping seats 233, and the sliding stability of the material collecting box 2321 outside the positioning support 234 can be effectively improved.
The outside of counterpoint cardboard 2352 and spacing guide 226 carries out slip joint, and the centre gripping cardboard 225 carries out slip joint with sampling bottle 25 through joint guide slot 26, and when four sets of centre gripping cardboard 225 carry out slip joint with sampling bottle 25, the top and the laminating of counterpoint cardboard 2352 of four sets of centre gripping cardboard 225 are connected, and four sets of centre gripping cardboard 225 are when spacing sampling bottle 25, then do not pass counterpoint cardboard 2352, otherwise then can pass through counterpoint cardboard 2352, make things convenient for follow-up drive counterpoint cardboard 2352 synchronous lifting.
The use method of the unmanned ship for water body measurement comprises the following steps:
s1: positioning and limiting the sampling bottle 25, wherein the Y-axis screw rod module 214 can regulate and control the Y-axis distance of the winding device 22, meanwhile, the X-axis screw rod module 215 can regulate and control the X-axis distance of the winding device 22, the Y-axis screw rod module 214 and the X-axis screw rod module 215 can drive the winding device 22 to position the sampling bottle 25, and meanwhile, the winding device 22 can automatically grasp the sampling bottle 25 to finish limiting operation;
s2: unreeling and sampling the sampling bottle 25, wherein the transmission worm wheel 228 can unreel an external sampling rope through the reeling roller 221, and the sampling rope can drive the clamping plate 225 and the sampling bottle 25 to fall into a sampling area through the positioning support 234 and the alignment sleeve 237 for sampling;
s3: the automatic collection is carried out on the sampling bottle 25, the servo motor 223 drives the transmission worm 222 and the transmission worm wheel 228 to rotate reversely, the winding roller 221 can drive the sampling rope to rotate reversely and wind up, the sampling bottle 25 is positioned inside the alignment sleeve 237, the alignment sleeve 237 can guide the upward moving sampling bottle 25, and meanwhile the collecting device 23 is matched with the separation of the sampling bottle 25 and the winding device 22 to automatically collect the sampling bottle 25.
Working principle: before use, the user can directly control the wireless sensing head 4 through the external remote control device to displace and collect water samples, meanwhile, the user can take the water samples by himself, when collecting the water samples in a target area, the user can start a collecting program through the external control panel, at this time, the Y-axis screw module 214 can drive the X-axis screw module 215 to lift and displace at the lower part of the limiting square 213, then the X-axis screw module 215 can drive the winding device 22 to displace to the position right above the sampling bottle 25, then the Y-axis screw module 214 can drive the X-axis screw module 215 to move downwards, the winding device 22 is positioned at the upper part of the sampling bottle 25, when limiting the sampling bottle 25, the waterproof motor 227 can drive the connecting turntable 2210 to rotate, the connecting turntable 2210 can drive the four groups of arc grooves 2211 inside to rotate, the four groups of arc grooves 2211 can synchronously drive the four groups of clamping cards 225 to centripetal or centrifugal displacement through the guide slide shafts 229, so that the four groups of clamping cards 225 are limited at the outer part of the clamping guide grooves 26, the automatic limiting and grabbing of the sampling bottle 25 is completed, then the X-axis screw module 215 can drive the worm wheel module 22 to displace to the worm wheel module 22 to move upwards to the worm wheel motor 223 to the position and then drive the worm wheel 225 to rotate to the sampling rope 228 to the sampling bottle 25 to rotate to the sampling bottle 25 through the positioning sleeve 228 and the positioning rope 228 to the sampling bottle to the sampling rope 228 to rotate to the sampling bottle 25, and the sampling bottle 25 to the positioning sleeve position the sampling rope 228 to the sampling bottle is meshed with the positioning sleeve 228,
after sampling of the sampling bottle 25 is completed, the servo motor 223 drives the transmission worm 222 and the transmission worm wheel 228 to rotate reversely, the winding roller 221 can drive the sampling rope to rotate reversely, so that the sampling bottle 25 is positioned inside the alignment sleeve 237, the alignment sleeve 237 can guide the upward-moving sampling bottle 25, meanwhile, the limit guide seat 226 and the clamping plate 225 can be directly limited to the bottom of the positioning device 235 when lifting, further, when the limit guide seat 226 drives the sampling bottle 25 to lift, the alignment clamping plate 2352 and the positioning rack 2353 can be driven to move upwards synchronously, the positioning rack 2353 can drive the guide gear 2312 to rotate, the guide gear 2312 can drive the transmission gear 2311 to rotate synchronously through another group of guide gears 2312, the transmission gear 2311 can drive the material collecting box 2321 and the limit hook plate 2324 to move inwards towards the direction of the pen-shaped cylinder 238 through the connecting rack 2323, when the limit hook plate 4 moves to the spring hook plate 2313, at this time, the spring hook plate 2313 automatically moves downwards under the pressing of the limit hook plate 2324, meanwhile, the hook part of the spring hook plate 2313 can be hooked at the bottom of the limit hook plate 2324, meanwhile, when the proximity switch 2314 can detect the bottom of the limit hook plate 2324, the proximity switch 2314 can synchronously stop lifting of the sampling bottle 25, meanwhile, the waterproof motor 227 can release the sampling bottle 25 through the connecting rotary table 2210 and the four groups of clamping plates 225, the four groups of clamping plates 225 after centripetal shrinkage can be lifted to the upper part through the alignment clamping plates 2352 to complete detachment, at this time, the sampling bottle 25 falls to the upper part of the limit hook plate 2324, the pen-shaped air cylinder 238 drives the positioning push plate 2310 and the L-shaped sliding plate 239 to move forwards, the positioning push plate 2310 can drive the sampling bottle 25 to be led into the inside of the material collecting box 2321 to complete automatic collection, at the same time, the L-shaped sliding plate 239 can press the spring hook plate 2313 downwards when the spring hook plate 2313 releases the hooking of the limit hook plate 2324, at this time, the spring slider 2322 drives the collection box 2321 and the sampling bottle 25 to automatically reset, and the alignment card 2352 also resets to the bottom.
Although embodiments of the present utility model have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the utility model, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. The utility model provides an unmanned ship of water measurement, is located including being used for driving storehouse (5) that supports, is located all fixed being provided with in both sides of driving storehouse (5) are used for spacing connection cardboard (3), are located two sets of the lower terminal surface fixed mounting of connection cardboard (3) has the showy hull (6) that are used for floating, and is located the up end of driving storehouse (5) is close to rear portion department and is provided with fixed baffle (7), is located the lateral part of fixed baffle (7) is provided with two sets of wireless inductive heads (4), its characterized in that: the rear end faces of the two groups of connecting clamping plates (3) are fixedly provided with connecting transverse plates (1), a propeller (8) with a duct structure is fixedly arranged at the center of the lower end face of each connecting transverse plate (1), and a collecting device (2) is arranged at the position, close to the rear, of the upper end face of each connecting clamping plate (3);
the collecting device (2) comprises a collecting device (23) used for supporting, a feeding box (24) used for guiding materials is arranged at the position, close to the side, of the upper end face of the collecting device (23), a sampling bottle (25) is arranged at the position, close to the top, of the outer end face of the sampling bottle (25), a clamping guide groove (26) is formed in the position, close to the top, of the upper end face of the collecting device (23), a guiding device (21) is arranged at the position, close to the rear, of the upper end face of the collecting device (23), and a winding device (22) is arranged at the middle of the inner end face of the guiding device (21).
2. A water survey unmanned ship according to claim 1, wherein: the guide device (21) comprises limiting square-way (213) used for supporting, linear slide rails (212) are symmetrically arranged on the lower end face of the limiting square-way (213), Y-axis screw rod modules (214) are fixedly arranged in the center of the lower end face of the limiting square-way (213), ball sliding seats (211) are fixedly clamped on the front end faces of the two groups of linear slide rails (212), and X-axis screw rod modules (215) are fixedly arranged on the front end faces of the two groups of ball sliding seats (211).
3. A water survey unmanned ship according to claim 2, wherein: the winding device (22) comprises a supporting sliding seat (224) used for supporting, a transmission worm wheel (228) is rotatably clamped at the position, close to the middle, of the upper end face of the supporting sliding seat (224), a winding rotating roller (221) is fixedly arranged at the center of the upper end face of the transmission worm wheel (228), a transmission worm (222) is meshed and connected at the position, close to the transmission worm wheel (228), of the inner end face of the supporting sliding seat (224), a servo motor (223) is arranged at the position, close to the position, of the rear end face of the supporting sliding seat (224), a limit guide seat (226) is movably clamped at the lower end face of the supporting sliding seat (224), a waterproof motor (227) is arranged at the position, close to the center of the lower end face of the limit guide seat (226), of the waterproof motor (227), four groups of arc grooves (2211) are formed in an equidistant mode on the inner end face of the connecting rotary table (2210), four groups of arc grooves (2211) are formed in an equidistant mode, the inner end face of the limit guide seat (226) is connected with a sliding guide shaft (229), and the clamping shaft (229) is arranged outside the guide shaft (229).
4. A water survey unmanned ship according to claim 3, wherein: the collecting device (23) comprises a locating support (234) for limiting, a sealing cover clamping plate (231) is arranged at the center of the upper end face of the locating support (234), two groups of limiting clamping seats (233) are symmetrically arranged at the position, close to the rear, of the side end face of the locating support (234), two groups of connecting rotating grooves (236) are symmetrically arranged at the position, close to the middle, of the side end face of the locating support (234), an aligning sleeve (237) is arranged between the lower end face of the locating support (234) and the two groups of connecting rotating grooves (236), two groups of guide gears (2312) are rotatably clamped at the inner end face of the connecting rotating grooves (236), a transmission gear (2311) is fixedly arranged at the outer end face, close to the outer end face of the guide gear (2312), of the locating support (234) is fixedly clamped with a locating device (235) at the position, close to the middle, the inner end face of the locating support (234) is slidably clamped with a transmission device (232), a cylinder-shaped end face (238) is fixedly arranged at the center of the locating support (234), a cylinder-shaped end face (238) is fixedly arranged at the position, close to the middle, a pen-shaped end face (238) is arranged at the front end face (238), a spring hook plate (2313) is arranged at the position, close to the front part of the positioning push plate (2310), of the inner end surface of the positioning support (234), and a proximity switch (2314) used for detection is arranged at the position, close to the front part of the spring hook plate (2313), of the inner end surface of the positioning support (234).
5. A water survey unmanned ship according to claim 4, wherein: the transmission device (232) comprises a collection box body (2321) used for supporting, spring sliding blocks (2322) are symmetrically arranged on the side portions of the inner end face of the collection box body (2321), two groups of connecting racks (2323) are arranged on the front end face of the collection box body (2321), and a limiting hook plate (2324) is arranged at the bottom of the front end face of the collection box body (2321).
6. A water survey unmanned ship according to claim 5, wherein: the positioning device (235) comprises a positioning clamping plate (2352) used for limiting, a spring guide shaft (2351) is symmetrically arranged on the upper end face of the positioning clamping plate (2352), and positioning racks (2353) are symmetrically arranged on the lower end face of the positioning clamping plate (2352).
7. A water survey unmanned ship according to claim 6, wherein: the transmission worm (222) is in meshed connection with the transmission worm wheel (228), the guide sliding shaft (229) is matched with the arc-shaped groove (2211), and the clamping plate (225) is matched with the arc-shaped groove (2211) through the guide sliding shaft (229) so as to be in sliding clamping connection with the inner end face of the limiting guide seat (226).
8. A water survey unmanned ship according to claim 6, wherein: the guide gears (2312) located in the front are in meshed connection with the positioning racks (2353), the two groups of guide gears (2312) are in meshed connection through the connecting rotating grooves (236), the guide gears (3211) are in meshed connection with the connecting racks (2323), the spring sliding blocks (2322) are fixedly connected with the inside of the positioning support (234), and the aggregate box (2321) is in sliding clamping connection with the limiting clamping seat (233).
9. A water survey unmanned ship according to claim 6, wherein: the utility model discloses a sampling bottle, including spacing guide seat (226), clamping cardboard (225), locating cardboard (2352) with the outside of spacing guide seat (226) carries out slip joint, just clamping cardboard (225) pass through joint guide slot (26) with sampling bottle (25) carries out slip joint, and when four groups clamping cardboard (225) with sampling bottle (25) carry out slip joint, four groups the top of clamping cardboard (225) with locating cardboard (2352) are laminated and are connected.
10. A method of using a water survey unmanned ship according to any of claims 1 to 9, wherein: the method comprises the following steps:
s1: positioning and limiting the sampling bottle (25), wherein the Y-axis screw rod module (214) can regulate and control the Y-axis distance of the winding device (22), meanwhile, the X-axis screw rod module (215) can regulate and control the X-axis distance of the winding device (22), the Y-axis screw rod module (214) and the X-axis screw rod module (215) can drive the winding device (22) to position the sampling bottle (25), and meanwhile, the winding device (22) can automatically grasp the sampling bottle (25) to finish limiting operation;
s2: unreeling and sampling the sampling bottle (25), wherein the transmission worm wheel (228) can unreel an external sampling rope through the reeling roller (221), and the sampling rope can drive the clamping plate (225) and the sampling bottle (25) to fall into a sampling area through the positioning support (234) and the alignment sleeve (237) for sampling;
s3: carry out automatic collection to sampling bottle (25), servo motor (223) drive transmission worm (222) and transmission worm wheel (228) reversal, rolling roller (221) then can drive sampling rope reversal rolling for sampling bottle (25) are fixed a position inside counterpoint sleeve (237), and counterpoint sleeve (237) can lead sampling bottle (25) that moves up, and collection device (23) then cooperates the separation of sampling bottle (25) and coiling mechanism (22) to carry out automatic collection to sampling bottle (25) simultaneously.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310998091.1A CN117022564B (en) | 2023-08-09 | 2023-08-09 | Unmanned ship for water body measurement and use method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310998091.1A CN117022564B (en) | 2023-08-09 | 2023-08-09 | Unmanned ship for water body measurement and use method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN117022564A true CN117022564A (en) | 2023-11-10 |
| CN117022564B CN117022564B (en) | 2024-02-23 |
Family
ID=88642420
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310998091.1A Active CN117022564B (en) | 2023-08-09 | 2023-08-09 | Unmanned ship for water body measurement and use method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117022564B (en) |
Citations (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB674166A (en) * | 1949-02-07 | 1952-06-18 | Reginald Bernard Andrews | Improvements in or relating to apparatus for the sampling of oils or other liquids |
| JP2000088713A (en) * | 1998-09-17 | 2000-03-31 | Nippon Mining & Metals Co Ltd | Device for automatically and equally dividing and storing analytical sample |
| US20020046614A1 (en) * | 2000-10-24 | 2002-04-25 | Kenneth Alley | Apparatus for sampling and testing a specimen |
| US20120096958A1 (en) * | 2009-07-03 | 2012-04-26 | Stiftung Alfred-Wegener-Institut Fuer Polar-Und Meeresforschung | Water sampling device |
| WO2013165225A1 (en) * | 2012-05-04 | 2013-11-07 | 삼성중공업 주식회사 | Propulsion apparatus for ship |
| CN107560893A (en) * | 2017-09-29 | 2018-01-09 | 北京东方园林环境股份有限公司 | A kind of unmanned boat equipment to keep sample automatically for water quality and the method that keeps sample |
| KR101980046B1 (en) * | 2018-07-03 | 2019-05-17 | 주식회사 유니락 | Aligning apparatus and method of gas cylinder |
| CN110641630A (en) * | 2019-09-27 | 2020-01-03 | 宁波大桔科技有限公司 | Unmanned ship device for automatic water quality sampling |
| CN110793814A (en) * | 2019-09-20 | 2020-02-14 | 阜阳市鑫卡邦智能科技有限公司 | Water taking device for unmanned ship |
| CN210128972U (en) * | 2019-07-04 | 2020-03-06 | 广州飞特天源环境技术有限公司 | Portable water pollution detection device |
| CN211766158U (en) * | 2020-03-03 | 2020-10-27 | 江苏海事职业技术学院 | Unmanned ship device for automatic water quality sampling |
| US20200355590A1 (en) * | 2018-10-24 | 2020-11-12 | Ocean University Of China | System for measuring mechanical properties of sea floor sediments at full ocean depths |
| CN113460248A (en) * | 2021-08-16 | 2021-10-01 | 广西大学 | Intelligent environment-friendly unmanned ship and operation method thereof |
| CN115343437A (en) * | 2022-08-16 | 2022-11-15 | 苏州昆环检测技术有限公司 | Water quality detection device |
| CN115435873A (en) * | 2022-09-02 | 2022-12-06 | 唐斌捷 | Water level early warning system and early warning method for hydraulic engineering |
| CN115849519A (en) * | 2022-12-30 | 2023-03-28 | 浙江致远环境科技股份有限公司 | Organic modularization electrocatalytic oxidation treatment device |
-
2023
- 2023-08-09 CN CN202310998091.1A patent/CN117022564B/en active Active
Patent Citations (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB674166A (en) * | 1949-02-07 | 1952-06-18 | Reginald Bernard Andrews | Improvements in or relating to apparatus for the sampling of oils or other liquids |
| JP2000088713A (en) * | 1998-09-17 | 2000-03-31 | Nippon Mining & Metals Co Ltd | Device for automatically and equally dividing and storing analytical sample |
| US20020046614A1 (en) * | 2000-10-24 | 2002-04-25 | Kenneth Alley | Apparatus for sampling and testing a specimen |
| US20120096958A1 (en) * | 2009-07-03 | 2012-04-26 | Stiftung Alfred-Wegener-Institut Fuer Polar-Und Meeresforschung | Water sampling device |
| WO2013165225A1 (en) * | 2012-05-04 | 2013-11-07 | 삼성중공업 주식회사 | Propulsion apparatus for ship |
| CN107560893A (en) * | 2017-09-29 | 2018-01-09 | 北京东方园林环境股份有限公司 | A kind of unmanned boat equipment to keep sample automatically for water quality and the method that keeps sample |
| KR101980046B1 (en) * | 2018-07-03 | 2019-05-17 | 주식회사 유니락 | Aligning apparatus and method of gas cylinder |
| US20200355590A1 (en) * | 2018-10-24 | 2020-11-12 | Ocean University Of China | System for measuring mechanical properties of sea floor sediments at full ocean depths |
| CN210128972U (en) * | 2019-07-04 | 2020-03-06 | 广州飞特天源环境技术有限公司 | Portable water pollution detection device |
| CN110793814A (en) * | 2019-09-20 | 2020-02-14 | 阜阳市鑫卡邦智能科技有限公司 | Water taking device for unmanned ship |
| CN110641630A (en) * | 2019-09-27 | 2020-01-03 | 宁波大桔科技有限公司 | Unmanned ship device for automatic water quality sampling |
| CN211766158U (en) * | 2020-03-03 | 2020-10-27 | 江苏海事职业技术学院 | Unmanned ship device for automatic water quality sampling |
| CN113460248A (en) * | 2021-08-16 | 2021-10-01 | 广西大学 | Intelligent environment-friendly unmanned ship and operation method thereof |
| CN115343437A (en) * | 2022-08-16 | 2022-11-15 | 苏州昆环检测技术有限公司 | Water quality detection device |
| CN115435873A (en) * | 2022-09-02 | 2022-12-06 | 唐斌捷 | Water level early warning system and early warning method for hydraulic engineering |
| CN115849519A (en) * | 2022-12-30 | 2023-03-28 | 浙江致远环境科技股份有限公司 | Organic modularization electrocatalytic oxidation treatment device |
Non-Patent Citations (3)
| Title |
|---|
| 何勤;陶玉龙;: "基于虚拟仪器的自动测试系统的实现", 信息化研究, no. 02, 20 February 2009 (2009-02-20), pages 58 - 60 * |
| 冯勇;赵嵘;刘朴方;: "适用于离岸水质环境监测的无人驾驶潜艇采样器", 黑龙江科技信息, no. 02, 15 January 2016 (2016-01-15), pages 52 * |
| 冯大伟;沈鑫;: "小型无人自动测量船水质采样及在线监测系统", 油气田地面工程, no. 02, 20 February 2010 (2010-02-20) * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN117022564B (en) | 2024-02-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105600622A (en) | Intelligent water pipe collecting and releasing device | |
| CN111537285A (en) | River water sample layered acquisition and detection equipment | |
| CN212904047U (en) | Environmental sewage monitoring device | |
| CN110465976A (en) | A kind of unmanned plane of the water sampling with cutter | |
| CN209656661U (en) | A kind of wheat high throughput phenotypic information acquisition device | |
| CN117022564B (en) | Unmanned ship for water body measurement and use method thereof | |
| CN114878251B (en) | A sampling device for waiting to detect water | |
| CN114718030A (en) | Visual-recognition overwater garbage automatic classification cleaning device and operation method | |
| CN203903857U (en) | Hydraulic hydrographic winch system | |
| CN210090101U (en) | Sample collection system for marine environmental monitoring with store function | |
| CN210478973U (en) | Unmanned survey ship integrating depth measurement, flow measurement and water quality analysis | |
| CN218240062U (en) | Multi-host parallel high-speed flaw detection device | |
| CN217359167U (en) | Water sample collector for environment assessment and detection | |
| CN216051265U (en) | Marine algae particle size measuring device | |
| CN211137262U (en) | Take unmanned aerial vehicle of water sampling of cutterbar | |
| CN212986686U (en) | Patrol and examine robot lift cloud platform | |
| CN213862592U (en) | Deformable self-stabilizing sampling ship | |
| CN208567978U (en) | A kind of information collecting device applied to ship | |
| CN201193990Y (en) | Automatic sampling device detecting vehicle-mounted grain | |
| CN211446508U (en) | Angle detection device is used in bridge construction | |
| CN114310932A (en) | Positioning device for rail-hanging type inspection robot | |
| CN220721343U (en) | Water cruising robot with automatic sampling mechanism | |
| CN216807238U (en) | Battery carrying device | |
| CN219245069U (en) | Deep water sample collection device for environmental treatment | |
| CN220950119U (en) | Single-station feeding machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |