CN201729262U - Full-automatic surface water quality sampling robot - Google Patents
Full-automatic surface water quality sampling robot Download PDFInfo
- Publication number
- CN201729262U CN201729262U CN2010201844940U CN201020184494U CN201729262U CN 201729262 U CN201729262 U CN 201729262U CN 2010201844940 U CN2010201844940 U CN 2010201844940U CN 201020184494 U CN201020184494 U CN 201020184494U CN 201729262 U CN201729262 U CN 201729262U
- Authority
- CN
- China
- Prior art keywords
- sampling
- sensor
- water quality
- full
- surface water
- 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.)
- Expired - Fee Related
Links
Images
Landscapes
- Sampling And Sample Adjustment (AREA)
Abstract
The utility model relates to a full-automatic surface water quality sampling robot, which comprises a boat body, a driving device, a control device and a sampling device. The control device comprises a navigation unit, a central processing unit and a communication module, the sampling device comprises a weather and water quality monitoring sensor, an underwater sensor and a sampling tube holding device, the navigation unit comprises a GPS satellite positioning sensor, an electronic compass and an acceleration sensor and is electrically connected with the central processing unit and the communication module, the communication module is connected with a base station through wireless signals, the boat body is provided with a radar and laser ranging sensor obstacle avoiding device, a fixing agent dripping device and an incubator, and the control device is electrically connected with the driving device and the sampling device and realizes automatic sampling and automatic navigation for the boat body. The full-automatic surface water quality sampling robot is small in volume and light in weight, adopts electric drive, is free of pollution discharge, and saves not only energy consumption but labor, is cheap in cost, and reduces using threshold compared with a large-sized sampling boat.
Description
Technical field
The utility model relates to the water quality automatic sampling apparatus, especially a kind of water quality sampling robot for full-automatic surface water.
Background technology
At present, traditional water quality monitoring is delivered to laboratory measurement after mainly leaning against line monitoring and sampling.Traditional Sampling method mainly contains two kinds, and a kind of mode is staff's local sampling of regulation of rowing the boat.Because reservoir is very big, only by naked eyes and object of reference location, accuracy is very poor in each monitoring.As blow, heavy rain also can bring danger to the staff.The sampling work amount of rowing the boat is big, the situation that exists quite a few staff to simplify the operation in violation of rules and regulations, and this situation is difficult to effectively be supervised.This method also wastes time and energy, inefficiency.Operation is loaded down with trivial details cause sampling quality to be difficult to guarantee and sampling frequency low, can't in time find water pollution problems, be one of major reason of taking place frequently of various in the last few years large-scale water pollution accidents.
Also have some areas to use argosy,, need a large amount of professional's operation and maintenance though this class ship complete function costs an arm and a leg.This class ship generally all uses fuel oil power in addition, and itself has certain pollution to water quality.And when big ship starts the water surface is stirred very greatly, influence the authenticity of water sample.
In application number is 200710158240.4 Chinese invention patent application, the structure of described ship is too simple, can't finish the related request of country in " surface water and sewage monitoring specification HJ/T 91-2002 ", " water quality sampling technical director GB12998-91 ", it is dark often to reach tens meters even tens meters as the present surface water degree of depth that need to detect, 0.5 meter is under water adopted in the requirement above 10 meters of the national regulation depth of water, water-bed last 0.5 meter, and middle part.Described sampler can't reach such degree of depth.Also stipulate among " surface water and sewage monitoring specification HJ/T 91-2002 ", " water quality sampling technical director GB12998-91 ", " water quality sampling conceptual design technical stipulation GB12997-91 ", " technical requirements of water quality automatic sampler and the monitoring method HJ/T372-2007 ", to wash sampling bottle two to three times with the water of sampling point during sampling, to splash into the adding fixative after the sampling, be incubated water sample, this ship of these functions does not possess.When actual samples, this ship can't use.In the patent No. is in the Chinese utility model patent of ZL97246477.8, and described technical scheme does not have the above-mentioned requirement of mentioning yet, and can't use in the reality.
The utility model content
The purpose of this utility model is at " surface water and sewage monitoring specification HJ/T 91-2002 " in conjunction with country, " water quality sampling technical director GB12998-91 ", " water quality sampling conceptual design technical stipulation GB12997-91 ", " technical requirements of water quality automatic sampler and monitoring method HJ/T 372-2007 ", " preservation of water quality sampling sample and management technique regulation GB12999-91 ", relevant regulations in " collection of Drinking Water water quality standard method of inspection water sample and preservation GB/T 5750.2-2006 " designs, can finish whole technical requirementss of in water quality monitoring, stipulating, can use in practice.
The purpose of this utility model is achieved by the following technical solution:
Water quality sampling robot for full-automatic surface water comprises hull and the actuating device, control setup and the sampling setup that are located on the hull, and described control setup comprises homing advice, central processing unit and communication module; Described sampling setup comprises meteorological and water quality monitoring sensor, underwater sensor and sampling pipe retractable device, and sampling pipe retractable device is provided with sampling line;
Described homing advice comprises gps satellite alignment sensor, electronic compass and inertia measurement module;
Described homing advice is connected with the communication module circuit with central processing unit, and communication module is connected with ground base station or hand-held base station signal by wireless signal;
Described control setup is connected with actuating device and sampling setup circuit, and realizes sampling automatically and to the automatic navigation of hull.
As optimal technical scheme of the present utility model, described hull is provided with obstacle avoidance apparatus, and this device comprises radar and laser range sensor, and obstacle avoidance apparatus is connected with the control setup circuit with actuating device.
As optimal technical scheme of the present utility model, described hull is provided with fixative and splashes into device, and this device comprises pneumatic piston pump, source of the gas and solenoid electric valve, and solenoid electric valve is connected with the central processing unit circuit.
As optimal technical scheme of the present utility model, also be provided with insulation can in the described hull, be provided with sampling bottle in the insulation can.
As optimal technical scheme of the present utility model, described sampling line is connected with sampling bottle through peristaltic pump, electromagnetic valve part flow arrangement, is provided with purge pipe in the sampling bottle, and purge pipe connects coolant outlet pipe through peristaltic pump.
As optimal technical scheme of the present utility model, described meteorology and water quality monitoring sensor comprise temperature sensor, humidity sensor, wind transducer and air velocity transducer.
As optimal technical scheme of the present utility model, described underwater sensor comprises cooling-water temperature sensor, flow sensor, pH sensor, dissolved oxygen sensor, conductivity sensor and turbidity transducer.
As optimal technical scheme of the present utility model, described actuating device comprises power supply, brushless buncher and screw propeller;
Described power supply comprises battery;
Described hull rear end is provided with two brushless buncher of cover and screw propellers.
As optimal technical scheme of the present utility model, described inertia measurement module comprises 3-axis acceleration sensor, three-axis gyroscope, three electronic compasss.
As optimal technical scheme of the present utility model, described central processing unit comprises micro controller system; Described communication module comprises the GPRS communication module;
Described sampling pipe retractable device comprises motor and winch, is wound with sampling line on the winch, and the end of sampling line is provided with underwater sensor.
The beneficial effects of the utility model are: with respect to prior art, whole relevant regulations of national existing water quality sampling that the utility model is integrated have improved the accuracy of sampling position and the accuracy of the degree of depth; In sampling process, more traditional manual method is science, reasonable more, has simplified sampling process.Therefore, the utility model certainly will can improve sampling quality, frequency etc., for water quality sampling provides a kind of new automation, long-range, normalized new departure.
The utility model water quality sampling robot for full-automatic surface water volume is little, in light weight, adopts driven by power, and self non-pollution discharge is compared large-scale sampling boat, has not only saved energy consumption, has saved manpower, and low price, greatly reduces the use threshold.
Description of drawings
Fig. 1 is a structural representation of the present utility model;
Fig. 2 is the structural representation that the utility model fixative splashes into device;
Fig. 3 is the structural representation of the utility model peristaltic pump and sampling bottle;
Fig. 4 is the structural representation of the utility model sampling pipe retractable device and underwater sensor.
Among the figure: 1. brushless buncher, 2. micro controller system, 3. battery, 4. hull, 5.GPS satellite positioning sensor and electronic compass, 6.GPRS communication module, 7. meteorological and water quality monitoring sensor, 8. sampling pipe retractable device, 9. peristaltic pump, 10. electromagnetic valve part flow arrangement, 11. fixatives splash into device, 12. insulation cans, 13. sampling line, 14. the pneumatic piston pump, 15. radars, 16. laser range sensors, 17. underwater sensor, 18. the inertia measurement module, 19. sampling bottles, 20. screw propellers, 21. source of the gas, 22. solenoid electric valve, 23. purge pipes, 24. coolant outlet pipe.
The specific embodiment
The utility model is described in further detail below in conjunction with accompanying drawing and specific embodiment:
As shown in Figures 1 to 4, water quality sampling robot for full-automatic surface water comprises hull 4 and the actuating device, control setup and the sampling setup that are located on the hull 4, and described control setup comprises homing advice, micro controller system 2 and GPRS communication module 6.Described sampling setup comprises meteorological and water quality monitoring sensor 7, underwater sensor 17 and sampling pipe retractable device 8, and sampling pipe retractable device 8 is provided with sampling line 13.Described homing advice comprises gps satellite alignment sensor and electronic compass 5 and inertia measurement module 18, and described inertia measurement module 18 comprises 3-axis acceleration sensor, three-axis gyroscope, three electronic compasss.Described homing advice is connected with GPRS communication module 6 circuit with micro controller system 2, and communication module 6 is connected with ground base station or hand-held base station signal by wireless signal.Described control setup is connected with actuating device and sampling setup circuit, and realizes sampling automatically and to the automatic navigation of hull.
In the present embodiment, described hull 4 is provided with obstacle avoidance apparatus, and this device comprises radar 15 and laser range sensor 16, and obstacle avoidance apparatus is connected with the control setup circuit with actuating device.Also be provided with fixative on the described hull 4 and splash into device 11, this device comprises pneumatic piston pump 14, source of the gas 21 and solenoid electric valve 22, and solenoid electric valve 22 is connected with micro controller system 2 circuit.Be provided with insulation can 12 in the described hull 4, be provided with sampling bottle 19 in the insulation can 12.Described sampling line 13 is connected with sampling bottle 19 through peristaltic pump 9, electromagnetic valve part flow arrangement 10, is provided with purge pipe 23 in the sampling bottle 19, and purge pipe 23 connects coolant outlet pipe 24 through peristaltic pump 9.
In the present embodiment, described meteorology and water quality monitoring sensor 7 comprise temperature sensor, humidity sensor, wind transducer and air velocity transducer.Described underwater sensor 17 comprises cooling-water temperature sensor, flow sensor, pH sensor, dissolved oxygen sensor, conductivity sensor and turbidity transducer.Described actuating device comprises battery 3, brushless buncher 1 and screw propeller 20; The described hull of present embodiment 4 rear ends are provided with two brushless buncher 1 of cover and screw propellers 20.Described acceleration pick-up comprises 3-axis acceleration sensor, three-axis gyroscope or angular velocity sensor.Described sampling pipe retractable device 8 comprises motor 81 and winch 82, is wound with sampling line 13 on the winch 82, and the end of sampling line 13 is provided with underwater sensor 17.
The utlity model has following characteristics:
1. radar, laser range sensor are housed, can be implemented under the complicated water surface traffic and keep away barrier, reach aim of stable operation.
2. have automatic sail mode,, generate Minimal Flight Path automatically, revise through the operator and confirm the back execution according to the sampling point branch in target sampling waters, the water level position etc. of putting, debark down.Navigation is by the GPS sensor, and three-axis gyroscope, 3-axis acceleration sensor, three electronic compasss are realized automatic navigations, data according to GPS sensor, acceleration pick-up, water quality sampling robot for full-automatic surface water can be revised in real time under steam the skew that produces because of wind and current, when this robot loses gps signal or runs into electromagnetic interference, still can realize location navigation by the inertia measurement module.Reach aim of stable operation.
3. have manual master mode, water quality sampling robot for full-automatic surface water and hand-held base station, ground base station are by the GPRS module communication, and ground sends the control command to ship in real time, receives the status information of ship simultaneously.Can carry out special duty, urgent danger prevention, following water pulls in to shore to wait and in particular cases uses.
4. the utility model advances in water and is to realize by two drive motor that screw propeller is housed.When needs are turned,, change the direction and the rotating speed of two drive motor according to corresponding turn radius.
5. according to country " surface water and sewage monitoring specification HJ/T 91-2002 ", " surface water automatic monitoring technical standard ", " water quality sampling technical director GB12998-91 ", " water quality sampling conceptual design technical stipulation GB12997-91 " regulation is carried meteorology and water quality sensor, as temperature, humidity, direction, wind speed, water temperature, pH, dissolved oxygen, conductivity and turbidity transducer etc., the meteorologic parameter that when sampling can be obtained, as temperature, humidity, wind direction, wind speed, and on-the-spot test water sample parameter, as water temperature, pH, dissolved oxygen, conductivity and turbidity etc., be sent to ground base station (master station), realize that sampled data gathers storage.Temperature, humidity, wind direction, meteorological sensors such as wind speed are adorned aboard ship, flow velocity, water temperature, pH, dissolved oxygen, conductivity and turbidity transducer are contained in the sampling line lower end, during use and sampling line together stretch under water.
6. after water quality sampling robot for full-automatic surface water arrives the target sampling point, can set the water sample of taking respective water depth according to the user, sampling process and sampling technology meet the standard of national sampler fully.
The utility model sampling process is as follows:
1. the control servomotor is delivered to prescribed depth with sampling line, and the angle by motor rotates can directly calculate the length that sampling line is stretched out.Temperature sensor is equipped with in the sampling line lower end, the pH sensor, dissolved oxygen sensor, turbidity transducer, conductivity sensor, necessary sensor such as flow sensor, be subjected to gravity effect, sampling line can stretch under water, and flow sensor is housed on the robot, can cause the caused diff-H of sampling line out of plumb because of flow action on sampling line by calculating compensation.
2. this water quality sampling robot for full-automatic surface water adopts two wrigglings don't system, while adopt, take out.When sampling line stretches into when determining the degree of depth, can be on request with the water flushing sampling bottle of sampling point two to three times.Sampler is by Single-chip Controlling, and flow sensor is arranged, and can realize quantitatively adopting water.
3. the Single-chip Controlling solenoid valve conduction can be controlled the sampling bottle of hydromining being gone into dissimilar and capacity.
4. sampling bottle is placed in the insulation can, guarantees that (about one hour) water temperature is constant substantially in the sampling time.
5. sampling bottle leaves fixative and splashes into mouth, adds as need, drips an entrance as long as in advance the fixative device is connected on, and can micro controller system can control the fixative device after finishing and splashes into this fixative just draw water.The fixative device adopts to start and drives, and fixative is placed in the clean syringe, the Single-chip Controlling electromagnetic valve, and electromagnetic valve is connected with pneumatic element, realizes that injection injects the action of fixative.The amount of injection fixative equals the amount by operator's suction syringe fixative.
6. have the automated washing pattern, under the automated washing pattern, peristaltic pump can suck clear water flushing sampler pipeline.
Claims (10)
1. a water quality sampling robot for full-automatic surface water comprises hull and the actuating device, control setup and the sampling setup that are located on the hull, and it is characterized in that: described control setup comprises homing advice, central processing unit and communication module; Described sampling setup comprises meteorological and water quality monitoring sensor, underwater sensor and sampling pipe retractable device, and sampling pipe retractable device is provided with sampling line;
Described homing advice comprises gps satellite alignment sensor, electronic compass and inertia measurement module;
Described homing advice is connected with the communication module circuit with central processing unit, and communication module is connected with ground base station or hand-held base station signal by wireless signal;
Described control setup is connected with actuating device and sampling setup circuit, and realizes sampling automatically and to the automatic navigation of hull.
2. water quality sampling robot for full-automatic surface water according to claim 1 is characterized in that: described hull is provided with obstacle avoidance apparatus, and this device comprises radar and laser range sensor, and obstacle avoidance apparatus is connected with the control setup circuit with actuating device.
3. water quality sampling robot for full-automatic surface water according to claim 1, it is characterized in that: described hull is provided with fixative and splashes into device, this device comprises pneumatic piston pump, source of the gas and solenoid electric valve, and solenoid electric valve is connected with the central processing unit circuit.
4. water quality sampling robot for full-automatic surface water according to claim 1 is characterized in that: also be provided with insulation can in the described hull, be provided with sampling bottle in the insulation can.
5. according to claim 1 or 4 described water quality sampling robot for full-automatic surface water, it is characterized in that: described sampling line is connected with sampling bottle through peristaltic pump, electromagnetic valve part flow arrangement, is provided with purge pipe in the sampling bottle, and purge pipe connects coolant outlet pipe through peristaltic pump.
6. water quality sampling robot for full-automatic surface water according to claim 1 is characterized in that: described meteorology and water quality monitoring sensor comprise temperature sensor, humidity sensor, wind transducer and air velocity transducer.
7. according to claim 1 or 6 described water quality sampling robot for full-automatic surface water, it is characterized in that: described underwater sensor comprises cooling-water temperature sensor, flow sensor, pH sensor, dissolved oxygen sensor, conductivity sensor and turbidity transducer.
8. water quality sampling robot for full-automatic surface water according to claim 1 is characterized in that: described actuating device comprises power supply, brushless buncher and screw propeller;
Described power supply comprises battery;
Described hull rear end is provided with two brushless buncher of cover and screw propellers.
9. water quality sampling robot for full-automatic surface water according to claim 1 is characterized in that: described inertia measurement module comprises 3-axis acceleration sensor, three-axis gyroscope, three electronic compasss.
10. water quality sampling robot for full-automatic surface water according to claim 1 is characterized in that: described central processing unit comprises micro controller system; Described communication module comprises the GPRS communication module;
Described sampling pipe retractable device comprises motor and winch, is wound with sampling line on the winch, and the end of sampling line is provided with underwater sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010201844940U CN201729262U (en) | 2010-05-10 | 2010-05-10 | Full-automatic surface water quality sampling robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010201844940U CN201729262U (en) | 2010-05-10 | 2010-05-10 | Full-automatic surface water quality sampling robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201729262U true CN201729262U (en) | 2011-02-02 |
Family
ID=43520419
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010201844940U Expired - Fee Related CN201729262U (en) | 2010-05-10 | 2010-05-10 | Full-automatic surface water quality sampling robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201729262U (en) |
Cited By (39)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101806811A (en) * | 2010-05-10 | 2010-08-18 | 珠海云洲智能科技有限公司 | Water quality sampling robot for full-automatic surface water |
| CN102288967A (en) * | 2011-06-17 | 2011-12-21 | 江西海豹高科技有限公司 | Underwater ultrasonic ranging sub system and intelligentized monitoring system and control method for intelligentized monitoring system under turbid water area |
| CN102306234A (en) * | 2011-06-30 | 2012-01-04 | 南京信息工程大学 | Meteorological popular science robot system |
| CN103803043A (en) * | 2014-02-17 | 2014-05-21 | 赵德安 | Automatic large-water-area navigation floating work platform driven by fans |
| ITPI20130010A1 (en) * | 2013-02-22 | 2014-08-23 | Scuola Superiore Di Studi Univerita Ri E Di Perfez | AUTONOMOUS SENSORIZED SAMPLING MODULE FOR HIGH DEPTH |
| CN104297019A (en) * | 2013-07-15 | 2015-01-21 | 力合科技（湖南）股份有限公司 | A water taking system |
| CN105242022A (en) * | 2015-11-02 | 2016-01-13 | 北斗天汇（上海）科技有限公司 | Beidou navigation twin-hull boat for intelligent water quality monitoring |
| CN105758664A (en) * | 2016-04-05 | 2016-07-13 | 广东工业大学 | Size switching sleeve pipe for sampling pipe, mounting tool of size switching sleeve pipe and sampler using mounting tool |
| CN105784408A (en) * | 2016-04-05 | 2016-07-20 | 广东工业大学 | Submarine sediment in-situ layering acoustic measurement synchronous sampler |
| CN105806666A (en) * | 2016-05-31 | 2016-07-27 | 青岛博迈得海洋智能科技有限公司 | Deep layer anaerobic water-collecting device |
| CN105867374A (en) * | 2016-04-11 | 2016-08-17 | 浙江祺日环境科技有限公司 | Surface water restoring robot |
| CN105891325A (en) * | 2016-04-05 | 2016-08-24 | 广东工业大学 | Synchronous sampling pipe with multi-section connection and bottom sediment sampling apparatus with synchronous sampling pipe |
| CN105910850A (en) * | 2016-04-25 | 2016-08-31 | 南京信息工程大学 | Aerodynamical sampling ship and sampling method thereof |
| CN106032164A (en) * | 2016-07-20 | 2016-10-19 | 珠海科微智能科技有限公司 | Multifunctional high-speed intelligent modularized platform system surveying and mapping robot |
| CN106275295A (en) * | 2015-05-27 | 2017-01-04 | 贾天龙 | Based on Hadoop more piece point type unmanned hydrologic monitoring boat system |
| CN106662564A (en) * | 2014-07-29 | 2017-05-10 | 哈希朗格有限公司 | Mobile-based collection of water quality measurement data |
| CN106841662A (en) * | 2017-02-23 | 2017-06-13 | 武汉世纪水元科技股份有限公司 | A kind of channel intelligence flow monitor |
| CN106950960A (en) * | 2017-04-12 | 2017-07-14 | 大连理工大学 | A kind of on-line automatic control method of lake storehouse operation ship antithesis deflecting side oar |
| CN107253516A (en) * | 2017-05-21 | 2017-10-17 | 苏州亮磊知识产权运营有限公司 | A kind of intelligent deliverance apparatus and its method of work based on unmanned boat |
| CN107963189A (en) * | 2017-11-21 | 2018-04-27 | 珠海天和检测技术有限公司 | A kind of waterborne environment-protective supervises sampling boat |
| CN108008100A (en) * | 2017-11-03 | 2018-05-08 | 无锡艾科瑞思产品设计与研究有限公司 | A kind of water quality indicator buoy device |
| CN108267339A (en) * | 2016-12-30 | 2018-07-10 | 天津市建筑设计院 | A kind of pollutant sampling device about water environment engineering detecting |
| CN108844781A (en) * | 2018-08-09 | 2018-11-20 | 河南畅慷环保科技有限公司 | Environmental project detects sampler with water body |
| CN108896346A (en) * | 2018-08-24 | 2018-11-27 | 邓天皓 | A kind of remote control type water sample acquisition device for polluted-water monitoring |
| CN109163939A (en) * | 2018-11-15 | 2019-01-08 | 浙江水文新技术开发经营公司 | A kind of water quality automatic sampling method for filling |
| CN109470529A (en) * | 2018-12-29 | 2019-03-15 | 安呈波 | A kind of remote control type water body sampling device |
| CN109470523A (en) * | 2018-12-29 | 2019-03-15 | 安呈波 | A kind of water body layered sampling device |
| CN109975506A (en) * | 2019-05-18 | 2019-07-05 | 王子腾 | A kind of unmanned boat for water quality detection |
| CN110006704A (en) * | 2019-05-08 | 2019-07-12 | 义乌奥莉机械科技有限公司 | A kind of water quality of river telemonitoring platform |
| CN110053722A (en) * | 2019-05-08 | 2019-07-26 | 麦普锐思(深圳)智能科技有限公司 | Water surface autonomous cruise robot |
| CN110146673A (en) * | 2019-05-11 | 2019-08-20 | 泰州机电高等职业技术学校(江苏联合职业技术学院泰州机电分院) | Remote controlled water quality detection ship and the water quality detection method using it |
| CN110435829A (en) * | 2019-09-18 | 2019-11-12 | 合肥学院 | A kind of river water quality monitoring unmanned boat |
| 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 |
| CN110702094A (en) * | 2019-09-29 | 2020-01-17 | 宁波大桔科技有限公司 | Unmanned ship automatic navigation device |
| CN111474006A (en) * | 2020-04-23 | 2020-07-31 | 喻昕蕾 | Unmanned system for on-site water quality sampling |
| CN111498025A (en) * | 2020-06-17 | 2020-08-07 | 山东省地质矿产勘查开发局第四地质大队(山东省第四地质矿产勘查院) | Water surveying and mapping device for surveying and mapping ocean engineering |
| CN112229674A (en) * | 2020-08-29 | 2021-01-15 | 盐城工学院 | Deformable self-stabilizing sampling ship |
| CN113405855A (en) * | 2021-05-25 | 2021-09-17 | 武汉市疾病预防控制中心 | Water quality sampler for public places |
| CN113844594A (en) * | 2021-09-29 | 2021-12-28 | 青岛科技大学 | Anti-wind-wave semi-submersible unmanned ship |
-
2010
- 2010-05-10 CN CN2010201844940U patent/CN201729262U/en not_active Expired - Fee Related
Cited By (55)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101806811B (en) * | 2010-05-10 | 2012-12-19 | 珠海云洲智能科技有限公司 | Water quality sampling robot for full-automatic surface water |
| CN101806811A (en) * | 2010-05-10 | 2010-08-18 | 珠海云洲智能科技有限公司 | Water quality sampling robot for full-automatic surface water |
| CN102288967A (en) * | 2011-06-17 | 2011-12-21 | 江西海豹高科技有限公司 | Underwater ultrasonic ranging sub system and intelligentized monitoring system and control method for intelligentized monitoring system under turbid water area |
| CN102306234A (en) * | 2011-06-30 | 2012-01-04 | 南京信息工程大学 | Meteorological popular science robot system |
| ITPI20130010A1 (en) * | 2013-02-22 | 2014-08-23 | Scuola Superiore Di Studi Univerita Ri E Di Perfez | AUTONOMOUS SENSORIZED SAMPLING MODULE FOR HIGH DEPTH |
| CN104297019A (en) * | 2013-07-15 | 2015-01-21 | 力合科技（湖南）股份有限公司 | A water taking system |
| CN103803043A (en) * | 2014-02-17 | 2014-05-21 | 赵德安 | Automatic large-water-area navigation floating work platform driven by fans |
| CN106662564B (en) * | 2014-07-29 | 2019-05-03 | 哈希朗格有限公司 | To water quality measurement data based on mobile collection |
| US10317383B2 (en) | 2014-07-29 | 2019-06-11 | Hach Lange Gmbh | Mobile based collection of water quality measurement data |
| CN106662564A (en) * | 2014-07-29 | 2017-05-10 | 哈希朗格有限公司 | Mobile-based collection of water quality measurement data |
| CN106275295A (en) * | 2015-05-27 | 2017-01-04 | 贾天龙 | Based on Hadoop more piece point type unmanned hydrologic monitoring boat system |
| CN105242022A (en) * | 2015-11-02 | 2016-01-13 | 北斗天汇（上海）科技有限公司 | Beidou navigation twin-hull boat for intelligent water quality monitoring |
| CN105758664A (en) * | 2016-04-05 | 2016-07-13 | 广东工业大学 | Size switching sleeve pipe for sampling pipe, mounting tool of size switching sleeve pipe and sampler using mounting tool |
| CN105784408A (en) * | 2016-04-05 | 2016-07-20 | 广东工业大学 | Submarine sediment in-situ layering acoustic measurement synchronous sampler |
| CN105891325B (en) * | 2016-04-05 | 2019-01-29 | 广东工业大学 | A kind of bottom sediment sampler of the synchronized sampling pipe with multistage connection |
| CN105891325A (en) * | 2016-04-05 | 2016-08-24 | 广东工业大学 | Synchronous sampling pipe with multi-section connection and bottom sediment sampling apparatus with synchronous sampling pipe |
| CN105758664B (en) * | 2016-04-05 | 2019-04-05 | 广东工业大学 | Size switching casing, its installation tool and the sampler using it of sampling pipe |
| CN105784408B (en) * | 2016-04-05 | 2018-08-03 | 广东工业大学 | Bottom sediment is layered acoustic measurement synchronized sampler in situ |
| CN105867374A (en) * | 2016-04-11 | 2016-08-17 | 浙江祺日环境科技有限公司 | Surface water restoring robot |
| CN105910850A (en) * | 2016-04-25 | 2016-08-31 | 南京信息工程大学 | Aerodynamical sampling ship and sampling method thereof |
| CN105806666A (en) * | 2016-05-31 | 2016-07-27 | 青岛博迈得海洋智能科技有限公司 | Deep layer anaerobic water-collecting device |
| CN106032164B (en) * | 2016-07-20 | 2018-02-23 | 珠海科微智能科技有限公司 | A kind of intelligent modularized plateform system Robot of multifunctional high speed type |
| CN106032164A (en) * | 2016-07-20 | 2016-10-19 | 珠海科微智能科技有限公司 | Multifunctional high-speed intelligent modularized platform system surveying and mapping robot |
| CN108267339A (en) * | 2016-12-30 | 2018-07-10 | 天津市建筑设计院 | A kind of pollutant sampling device about water environment engineering detecting |
| CN106841662A (en) * | 2017-02-23 | 2017-06-13 | 武汉世纪水元科技股份有限公司 | A kind of channel intelligence flow monitor |
| CN106950960A (en) * | 2017-04-12 | 2017-07-14 | 大连理工大学 | A kind of on-line automatic control method of lake storehouse operation ship antithesis deflecting side oar |
| CN106950960B (en) * | 2017-04-12 | 2020-02-18 | 大连理工大学 | Method for automatically controlling dual turning side paddles of lake and reservoir operation ship on line |
| CN107253516A (en) * | 2017-05-21 | 2017-10-17 | 苏州亮磊知识产权运营有限公司 | A kind of intelligent deliverance apparatus and its method of work based on unmanned boat |
| CN107253516B (en) * | 2017-05-21 | 2019-10-11 | 飞马滨(北京)智能科技有限责任公司 | A kind of intelligent deliverance apparatus and its working method based on unmanned boat |
| CN108008100A (en) * | 2017-11-03 | 2018-05-08 | 无锡艾科瑞思产品设计与研究有限公司 | A kind of water quality indicator buoy device |
| CN107963189A (en) * | 2017-11-21 | 2018-04-27 | 珠海天和检测技术有限公司 | A kind of waterborne environment-protective supervises sampling boat |
| CN108844781A (en) * | 2018-08-09 | 2018-11-20 | 河南畅慷环保科技有限公司 | Environmental project detects sampler with water body |
| CN108896346A (en) * | 2018-08-24 | 2018-11-27 | 邓天皓 | A kind of remote control type water sample acquisition device for polluted-water monitoring |
| CN108896346B (en) * | 2018-08-24 | 2019-09-06 | 唐山双鼎环保科技有限公司 | A kind of remote control type water sample acquisition device for polluted-water monitoring |
| CN109163939A (en) * | 2018-11-15 | 2019-01-08 | 浙江水文新技术开发经营公司 | A kind of water quality automatic sampling method for filling |
| CN109470529A (en) * | 2018-12-29 | 2019-03-15 | 安呈波 | A kind of remote control type water body sampling device |
| CN109470523B (en) * | 2018-12-29 | 2021-02-19 | 海安睿华纺织科技有限公司 | Water body layered sampling device |
| CN109470529B (en) * | 2018-12-29 | 2021-01-26 | 深圳市深水水务咨询有限公司 | Remote control type water sampling device |
| CN109470523A (en) * | 2018-12-29 | 2019-03-15 | 安呈波 | A kind of water body layered sampling device |
| CN110053722A (en) * | 2019-05-08 | 2019-07-26 | 麦普锐思(深圳)智能科技有限公司 | Water surface autonomous cruise robot |
| CN110006704B (en) * | 2019-05-08 | 2019-11-22 | 陈文娟 | A kind of water quality of river telemonitoring platform |
| CN110006704A (en) * | 2019-05-08 | 2019-07-12 | 义乌奥莉机械科技有限公司 | A kind of water quality of river telemonitoring platform |
| CN110146673A (en) * | 2019-05-11 | 2019-08-20 | 泰州机电高等职业技术学校(江苏联合职业技术学院泰州机电分院) | Remote controlled water quality detection ship and the water quality detection method using it |
| CN109975506A (en) * | 2019-05-18 | 2019-07-05 | 王子腾 | A kind of unmanned boat for water quality detection |
| CN110435829A (en) * | 2019-09-18 | 2019-11-12 | 合肥学院 | A kind of river water quality monitoring unmanned boat |
| 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 |
| CN110641630B (en) * | 2019-09-27 | 2020-07-03 | 飞马滨(青岛)智能装备科技有限公司 | Unmanned ship device for automatic water quality sampling |
| CN110702094A (en) * | 2019-09-29 | 2020-01-17 | 宁波大桔科技有限公司 | Unmanned ship automatic navigation device |
| CN110702094B (en) * | 2019-09-29 | 2021-05-11 | 东台市水洲盈华船舶配件有限公司 | Unmanned ship automatic navigation device |
| CN111474006A (en) * | 2020-04-23 | 2020-07-31 | 喻昕蕾 | Unmanned system for on-site water quality sampling |
| CN111498025A (en) * | 2020-06-17 | 2020-08-07 | 山东省地质矿产勘查开发局第四地质大队(山东省第四地质矿产勘查院) | Water surveying and mapping device for surveying and mapping ocean engineering |
| CN112229674A (en) * | 2020-08-29 | 2021-01-15 | 盐城工学院 | Deformable self-stabilizing sampling ship |
| CN113405855A (en) * | 2021-05-25 | 2021-09-17 | 武汉市疾病预防控制中心 | Water quality sampler for public places |
| CN113844594A (en) * | 2021-09-29 | 2021-12-28 | 青岛科技大学 | Anti-wind-wave semi-submersible unmanned ship |
| CN113844594B (en) * | 2021-09-29 | 2023-09-19 | 青岛科技大学 | Anti-wind-wave semi-submersible unmanned ship |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN201729262U (en) | Full-automatic surface water quality sampling robot | |
| CN101806811B (en) | Water quality sampling robot for full-automatic surface water | |
| CN103287549B (en) | A kind of smart water quality monitoring clears up ship with the water surface | |
| KR101564876B1 (en) | Remote water quality measuring apparatus, remote water sampler system and method for operating thereof | |
| CN206991539U (en) | A kind of unmanned boat complex water areas intelligent monitor system | |
| CN107340154A (en) | A kind of equipment and its method of work for water body sampling | |
| CN207617933U (en) | A kind of unmanned boat for river water quality monitoring | |
| CN102967490B (en) | A kind of real-time water sample acquisition system and acquisition method thereof | |
| CN211235830U (en) | Unmanned ship water quality monitoring system | |
| CN102306025A (en) | Wireless remote-control automatic sampling monitoring ship | |
| CN105242023A (en) | Unmanned ship achieving multi-function monitoring of water area | |
| CN107585266A (en) | A kind of unmanned boat equipment sampled automatically for water quality and the method for sampling | |
| CN104122117A (en) | Automatic river and lake water sample control acquisition system based on multi-rotor-wing unmanned aerial vehicle | |
| CN111289304B (en) | Water quality sampling unmanned ship system with dynamic positioning function | |
| CN110614888A (en) | Amphibious sampling monitoring boat | |
| CN103466041A (en) | Real-time optimizing energy-saving ship speed intelligent-analysis system | |
| CN111521217A (en) | Data acquisition device for hydrology and water resource investigation and evaluation | |
| CN205679595U (en) | A kind of wireless water quality monitoring robot | |
| CN206311382U (en) | A kind of unmanned plane for water body sampling | |
| CN205139126U (en) | BeiDou navigation satellite system intelligence water quality monitoring twinhull vessel | |
| CN114279503A (en) | Intelligent monitoring boat for autonomous cruising type water pollution emission with edge cloud cooperation | |
| CN112964844A (en) | Urban water removes on-line monitoring system | |
| CN203268293U (en) | Water quality monitoring and water surface cleaning ship | |
| CN202120123U (en) | Automatic wireless remote-control sampling monitoring boat | |
| CN207423182U (en) | A kind of intelligent distant control surveying vessel for hydrographic water resource investigation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20110202 Termination date: 20180510 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |