CN207758963U - Unmanned surveying vessel for underwater topography mapping - Google Patents
Unmanned surveying vessel for underwater topography mapping Download PDFInfo
- Publication number
- CN207758963U CN207758963U CN201820133581.XU CN201820133581U CN207758963U CN 207758963 U CN207758963 U CN 207758963U CN 201820133581 U CN201820133581 U CN 201820133581U CN 207758963 U CN207758963 U CN 207758963U
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- China
- Prior art keywords
- hull
- support plate
- water tank
- water
- lead screw
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- Expired - Fee Related
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- 238000012876 topography Methods 0.000 title claims abstract description 32
- 238000013507 mapping Methods 0.000 title claims description 16
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 89
- 238000004891 communication Methods 0.000 claims description 28
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 239000012780 transparent material Substances 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 description 5
- 238000006243 chemical reaction Methods 0.000 description 3
- 208000014451 palmoplantar keratoderma and congenital alopecia 2 Diseases 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 239000003651 drinking water Substances 0.000 description 1
- 235000020188 drinking water Nutrition 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
- 238000010422 painting Methods 0.000 description 1
- 239000003643 water by type Substances 0.000 description 1
- 238000005303 weighing Methods 0.000 description 1
Abstract
The utility model discloses the unmanned surveying vessels surveyed and drawn for underwater topography,Including wind direction and wind velocity sensor,Attitude of ship sensor,Hull,Level meter and the first valve,It is acquired for wind direction and wind velocity information by the way that wind direction and wind velocity sensor is arranged,By the way that attitude of ship sensor is arranged for being acquired to the posture information of ship,The water being added in water tank is measured for being conveniently operated personnel by the way that graduation mark is arranged,Further look at level meter,If hull is sloped downwardly close to water tank one,Then opening the first valve makes the part water in water tank be discharged by outlet pipe,If hull is sloped downwardly close to the first support plate one,Water inlet pipe is then further passed water through to enter in water tank,Until horizontal state is presented in level meter,To realize the balance of hull,It ensure that the stability of hull during landform is surveyed and drawn under water,To ensure that underwater topography surveyed and drawn is normally carried out.
Description
Technical field
The utility model is related to a kind of unmanned surveying vessels, are particularly used for the unmanned surveying vessel of underwater topography mapping.
Background technology
Traditional underwater topography mapping must drive ship in person by people to measure to a certain water-surface areas, need compared with
The ship and equipment of large scale, it is not only time-consuming and laborious expensive, and also due to the scale of ship, drinking water problem, ship is difficult to measure
Certain waters (such as offshore shallow water area, reef region etc.), this is just to need a kind of unmanned surveying vessel, to reduce ship mapping
Necessary scale come meet bigger mapping region requirement.
Existing unmanned surveying vessel hull when being surveyed and drawn to underwater topography can not remain the state of balance, to be difficult to
Ensure being normally carried out for underwater topography mapping.
Utility model content
The purpose of this utility model is to provide the unmanned surveying vessels surveyed and drawn for underwater topography, to solve above-mentioned background skill
The problem of being proposed in art.
To achieve the above object, the utility model provides the following technical solutions：
For the unmanned surveying vessel of underwater topography mapping, including GPS RTK receivers, supporting rod, sleeve, connecting rod, change
It can device, hull, mounting plate, the first balancing device, the second balancing device, communication module, wind direction and wind velocity sensor, controller, water
Level and attitude of ship sensor, the hull top are provided with the second balancing device, second balancing device include lead screw,
Clump weight, cross bar, motor, the first support plate and the second support plate, first support plate and the second support plate are symmetrically mounted on
Hull top, hull top are provided with lead screw on the position between the first support plate and the second support plate, the lead screw
One end is rotatably installed in by bearing block on the inside of the second support plate, and the other end of lead screw is connected by the output shaft of shaft coupling and motor
It connects, motor is mounted by means of bolts on the outside of the first support plate, and cross bar, the both ends of the cross bar are provided with below the lead screw
Be respectively and fixedly installed on the inside of the first support plate and the second support plate on the inside of, be located above the hull top the first support plate and
Clump weight is provided on position between second support plate, the lead screw and cross bar run through clump weight, opened on the clump weight
Equipped with the tapped through hole for being connect with wire rod thread, the through-hole for being passed through with cross bar is offered on clump weight, described first
It is located at one end that the position below motor is installed with connecting rod on the outside of support plate, the other end of connecting rod is fixedly connected on set
The outside of cylinder, the sleeve are set on the outside of supporting rod, and the support bar top is installed with GPS RTK receivers, are supported
Bar bottom is installed with energy converter, and the tapped through hole for being connect with bolt thread, the hull are offered on the sleeve
Top is symmetrically arranged with wind direction and wind velocity sensor and attitude of ship sensor, the hull top be located at wind direction and wind velocity sensor and
Position between attitude of ship sensor is installed with communication module, and the hull top is located at the position of communication module side
On be provided with level meter, hull top is installed with controller on the position between level meter and communication module, described
Communication module is WIFI communication modules, and hull side top is installed with mounting plate close to the position of the second support plate
Side, the mounting plate top are provided with the first balancing device.
As further program of the utility model：The cross bar is mutually parallel with lead screw.
As the utility model further scheme：The wind direction and wind velocity sensor, attitude of ship sensor, communication mould
Block, motor, GPS RTK receivers and energy converter are electrically connected with the controller respectively.
As the utility model further scheme：The level meter is mechanical level gauge.
As the utility model further scheme：First balancing device includes graduation mark, the first valve, second
Valve, water inlet pipe, water tank and outlet pipe, the water tank are fixedly mounted at the top of mounting plate, and water tank is transparent material, storage
Tank outer wall indicates graduation mark, and the water inlet of the water tank and one end of water inlet pipe connect, and the second valve is equipped on water inlet pipe
Door, the water outlet of water tank and one end of outlet pipe connect, and the first valve is equipped on outlet pipe.
Compared with prior art, the utility model has the beneficial effects that：By communication module for the hand with staff
Machine is connected with mobile terminals such as tablet computers, is acquired, is led to for wind direction and wind velocity information by the way that wind direction and wind velocity sensor is arranged
Setting attitude of ship sensor is crossed for being acquired to the posture information of ship, by the way that graduation mark is arranged for being conveniently operated people
Member measures the water being added in water tank, further looks at level meter, if hull is sloped downwardly close to water tank one,
Opening the first valve makes the part water in water tank be discharged by outlet pipe, if hull dips down close to the first support plate side
Tiltedly, then it further passes water through water inlet pipe to enter in water tank, until horizontal state is presented in level meter, to realize hull
Balance, the stability of hull during landform is surveyed and drawn under water is ensure that, to ensure that underwater topography is surveyed
That paints is normally carried out, and improves the practicability of equipment, when being surveyed and drawn to underwater topography, wind direction and wind velocity sensor and ship appearance
State sensor handles the data transmission of acquisition to controller, when non-equilibrium state occurs in hull, if hull is close to storage
One side of water tank tilts down, and controller control motor rotates forward and then lead screw is driven to rotate clockwise to realize clump weight
It is moved towards the direction of first support bar on lead screw, until hull restores balance, if hull is downward close to the first support plate side
It tilts, controller control motor rotates backward and then lead screw is driven to rotate counterclockwise to realize clump weight on lead screw towards the
The direction of two supporting rods is moved, until hull restores balance, it is easy to operate, it is surveyed to further ensure landform under water
The stability of hull during painting improves the practicability of equipment, the data transmission of GPS RTK receivers and energy converter acquisition
It is further transmitted to by communication module after to controller on the mobile terminals such as mobile phone or the tablet computer of operating personnel, operator
Member carries out conversion calculating by the data to GPS RTK receivers and energy converter acquisition can obtain the high number of passes of underwater topography
According to operating personnel further export elevation file, and elevation file, which is imported the CASS softwares run based on CAD platforms, to be produced
Bathymetric chart further improves the practicability of equipment to complete the mapping to underwater topography.
Description of the drawings
Fig. 1 is the structural schematic diagram for the unmanned surveying vessel surveyed and drawn for underwater topography.
Fig. 2 is the vertical view for the unmanned surveying vessel surveyed and drawn for underwater topography.
Fig. 3 is the structural schematic diagram of the first balancing device in the unmanned surveying vessel surveyed and drawn for underwater topography.
Fig. 4 is the module map for the unmanned surveying vessel surveyed and drawn for underwater topography.
As shown in the figure：Lead screw 1, clump weight 2, cross bar 3, motor 4, GPS RTK receivers 5, supporting rod 6, sleeve 7, connection
Bar 8, the first support plate 9, energy converter 10, hull 11, mounting plate 12, the first balancing device 13, the second support plate 14, second balance
Device 15, communication module 16, wind direction and wind velocity sensor 17, controller 18, graduation mark 19, the first valve 20, level meter 21, ship
Attitude transducer 22, the second valve 23, water inlet pipe 24, water tank 25, outlet pipe 26.
Specific implementation mode
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work
The every other embodiment obtained, shall fall within the protection scope of the present invention.
As shown in Figures 1 to 4, the unmanned surveying vessel for underwater topography mapping of the utility model, including GPS RTK connect
Receive device 5, supporting rod 6, sleeve 7, connecting rod 8, energy converter 10, hull 11, mounting plate 12, the first balancing device 13, second balance
Device 15, communication module 16, wind direction and wind velocity sensor 17, controller 18, level meter 21 and attitude of ship sensor 22, the ship
The top of body 11 is provided with the second balancing device 15, second balancing device 15 include lead screw 1, clump weight 2, cross bar 3, motor 4,
First support plate 9 and the second support plate 14, first support plate, 9 and second support plate 14 are symmetrically mounted on 11 top of hull,
The top of hull 11 is provided with lead screw 1 on the position between the first support plate 9 and the second support plate 14, and the one of the lead screw 1
End is rotatably installed in by bearing block on the inside of the second support plate 14, the output shaft that the other end of lead screw 1 passes through shaft coupling and motor 4
Connection, motor 4 are mounted by means of bolts on 9 outside of the first support plate, and 1 lower section of the lead screw is provided with cross bar 3, the cross bar
3 both ends are respectively and fixedly installed to 14 inside of 9 inside of the first support plate and the second support plate, and the cross bar 3 is mutually flat with lead screw 1
Row, 11 over top of the hull are provided with clump weight 2 on the position between the first support plate 9 and the second support plate 14,
The lead screw 1 and cross bar 3 run through clump weight 2, and the screw thread offered on the clump weight 2 for being threadedly coupled with lead screw 1 is logical
Hole, the through-hole for being passed through with cross bar 3 is offered on clump weight 2, and first support plate, 9 outside is located at the position of 4 lower section of motor
The one end for being installed with connecting rod 8 is set, the other end of connecting rod 8 is fixedly connected on the outside of sleeve 7, and the sleeve 7 is arranged
In 6 outside of supporting rod, 6 top of the supporting rod is installed with GPS RTK receivers 5, and 6 bottom of supporting rod, which is installed with, to be changed
Energy device 10, by the way that GPS RTK receivers 5 are arranged for carrying out elevation location, by the way that energy converter 10 is arranged for carrying out underwater depth
Degree measures, and the tapped through hole for being connect with bolt thread is offered on the sleeve 7, is rotated in tapped through hole by bolt
Supporting rod 6 is squeezed, to realize the fixation of the position on sleeve 7 of supporting rod 6,11 top of the hull is symmetrically arranged with wind direction
Air velocity transducer 17 and attitude of ship sensor 22,11 top of the hull is located at wind direction and wind velocity sensor 17 and attitude of ship passes
Position between sensor 22 is installed with communication module 16, and 11 top of the hull is located on the position of 16 side of communication module
It is provided with level meter 21,11 top of hull is installed with controller on the position between level meter 21 and communication module 16
18, it the wind direction and wind velocity sensor 17, attitude of ship sensor 22, communication module 16, motor 4, GPS RTK receivers 5 and changes
Can device 10 be electrically connected respectively with controller 18, the communication module 16 be WIFI communication modules, by communication module 16 for
The mobile phone of staff is connected with mobile terminals such as tablet computers, is believed for wind direction and wind velocity by the way that wind direction and wind velocity sensor 17 is arranged
Breath is acquired, and is used to be acquired the posture information of ship by the way that attitude of ship sensor 22 is arranged, the level meter 21
For mechanical level gauge；
11 side top of the hull is installed with the side of mounting plate 12 close to the position of the second support plate 14, described
The top of mounting plate 12 is provided with the first balancing device 13, and first balancing device 13 includes graduation mark 19, the first valve 20, the
Two valves 23, water inlet pipe 24, water tank 25 and outlet pipe 26, the water tank 25 are fixedly mounted on 12 top of mounting plate, water storage
Case 25 is transparent material, and 25 outer wall of water tank indicates graduation mark 19, one end of the water inlet and water inlet pipe 24 of the water tank 25
It connects, second valve 23 is installed on water inlet pipe 24, the water outlet of water tank 25 is connect with one end of outlet pipe 26, outlet pipe 26
On the first valve 20 is installed, when needing to survey and draw underwater topography, hull 11 is placed on the water surface first, makes counterweight
Block 2 is located at 1 centre position of lead screw, and further the second valve 23 of opening passes water through water inlet pipe 24 and enters in water tank 25, passes through
Graduation mark 19 is set, the water being added in water tank 25 is measured for being conveniently operated personnel, further looks at level meter 21,
If hull 11 is sloped downwardly close to water tank 25, opening the first valve 20 makes the part water in water tank 25 pass through water outlet
Pipe 26 is discharged, if hull 11 is sloped downwardly close to the first support plate 9, further passes water through water inlet pipe 24 and enters water storage
In case 25, until horizontal state is presented in level meter 21, to realize the balance of hull 11, landform progress under water ensure that
The stability of hull 11 during mapping improves equipment to ensure that underwater topography surveyed and drawn is normally carried out
Practicability, when being surveyed and drawn to underwater topography, wind direction and wind velocity sensor 17 and attitude of ship sensor 22 are by the data of acquisition
It is transmitted to controller 18 to be handled, when non-equilibrium state occurs in hull 11, if hull 11 is downward close to 25 side of water tank
It tilts, controller 18 controls motor 4 and rotates forward and then lead screw 1 is driven to rotate clockwise to realize clump weight 2 in lead screw 1
On moved towards the direction of first support bar 9, until hull 11 restores balance, if hull 11 is downward close to 9 side of the first support plate
It tilts, controller 18 controls motor 4 and rotates backward and then lead screw 1 is driven to rotate counterclockwise to realize clump weight 2 in lead screw 1
On moved towards the direction of second support bar 14, it is easy to operate until hull 11 restores balance, to further ensure under water
The stability of hull 11 during landform is surveyed and drawn improves the practicability of equipment, GPS RTK receivers 5 and energy converter
The mobile phone or tablet electricity of operating personnel are further transmitted to after the data transmission to controller 18 of 10 acquisitions by communication module 16
On the mobile terminals such as brain, operating personnel carry out conversion by the data to GPS RTK receivers 5 and the acquisition of energy converter 10 and calculate just
The altitude data of underwater topography can be obtained, operating personnel further export elevation file, and elevation file is imported and is based on CAD platforms
The CASS softwares of operation produce bathymetric chart and further improve the practicability of equipment to complete to survey and draw.
The operation principle of the utility model is：By the way that GPS RTK receivers 5 are arranged for carrying out elevation location, by setting
Energy converter 10 is set for carrying out depth under water measurement, be used for the mobile phone of staff and tablet computer by communication module 16 etc.
Mobile terminal connects, and is acquired for wind direction and wind velocity information by the way that wind direction and wind velocity sensor 17 is arranged, by the way that ship appearance is arranged
State sensor 22 is for being acquired the posture information of ship, when needing to survey and draw underwater topography, first by hull
11 are placed on the water surface, and clump weight 2 is made to be located at 1 centre position of lead screw, further open the second valve 23 and pass water through water inlet pipe
24 enter in water tank 25, by the way that graduation mark 19 is arranged based on being conveniently operated personnel and being carried out to the water being added in water tank 25
Amount, further looks at level meter 21, if hull 11 is sloped downwardly close to water tank 25, opening the first valve 20 makes water storage
Part water in case 25 is discharged by outlet pipe 26, if hull 11 is sloped downwardly close to the first support plate 9, is further made
Water is entered by water inlet pipe 24 in water tank 25, until horizontal state is presented in level meter 21, to realize the flat of hull 11
Weighing apparatus, ensure that the stability of hull 11 during landform is surveyed and drawn under water, to ensure that underwater topography is surveyed and drawn
Be normally carried out, improve the practicability of equipment, when being surveyed and drawn to underwater topography, wind direction and wind velocity sensor 17 and ship appearance
State sensor 22 handles the data transmission of acquisition to controller 18, when non-equilibrium state occurs in hull 11, if hull
11 are sloped downwardly close to water tank 25, controller 18 control motor 4 rotate forward so that drive lead screw 1 rotate clockwise from
And realize clump weight 2 and moved towards the direction of first support bar 9 on lead screw 1, until hull 11 restores balance, if hull 11 leans on
Nearly first support plate 9 is sloped downwardly, controller 18 control motor 4 rotate backward so that drive lead screw 1 rotate counterclockwise from
And realize clump weight 2 and moved towards the direction of second support bar 14 on lead screw 1, until hull 11 restores balance, it is easy to operate,
To further ensure the stability of hull 11 during landform is surveyed and drawn under water, the practicability of equipment is improved,
It is further transmitted to by communication module 16 after the data transmission to controller 18 that GPS RTK receivers 5 and energy converter 10 acquire
On the mobile terminals such as the mobile phone or tablet computer of operating personnel, operating personnel are by adopting GPS RTK receivers 5 and energy converter 10
The data of collection carry out conversion and calculate the altitude data that can obtain underwater topography, and operating personnel further export elevation file, will
Elevation file is imported the i.e. producible bathymetric chart of CASS softwares run based on CAD platforms and is further increased to complete to survey and draw
The practicability of equipment.
Although the utility model is described in detail with reference to the foregoing embodiments, those skilled in the art is come
Say, still can with technical scheme described in the above embodiments is modified, or to which part technical characteristic into
Row equivalent replacement, within the spirit and principle of the utility model, any modification, equivalent replacement, improvement and so on should all
It is included within the scope of protection of this utility model.
Claims (5)
1. for the unmanned surveying vessel of underwater topography mapping, including GPS RTK receivers (5), supporting rod (6), sleeve (7), company
Extension bar (8), energy converter (10), hull (11), mounting plate (12), the first balancing device (13), the second balancing device (15), communication
Module (16), wind direction and wind velocity sensor (17), controller (18), level meter (21) and attitude of ship sensor (22), feature
Be, be provided with the second balancing device (15) at the top of the hull (11), second balancing device (15) include lead screw (1),
Clump weight (2), cross bar (3), motor (4), the first support plate (9) and the second support plate (14), first support plate (9) and
Two support plates (14) are symmetrically mounted at the top of hull (11), and the first support plate (9) and the second support plate are located at the top of hull (11)
(14) lead screw (1) is provided on the position between, one end of the lead screw (1) is rotatably installed in the second support plate by bearing block
(14) inside, the other end of lead screw (1) are bolted peace by the output axis connection of shaft coupling and motor (4), motor (4)
On the outside of the first support plate (9), it is provided with cross bar (3) below the lead screw (1), the both ends of the cross bar (3) are fixed respectively
On the inside of the first support plate (9) and on the inside of the second support plate (14), hull (11) over top is located at the first support
Clump weight (2) is provided on position between plate (9) and the second support plate (14), the lead screw (1) and cross bar (3), which run through, matches
Pouring weight (2), the tapped through hole for being threadedly coupled with lead screw (1) is offered on the clump weight (2), and clump weight opens up on (2)
It is useful for the through-hole passed through with cross bar (3), the position below motor (4) is located on the outside of first support plate (9) and is fixedly mounted
There are one end of connecting rod (8), the other end of connecting rod (8) to be fixedly connected on the outside of sleeve (7), the sleeve (7) is set in
On the outside of supporting rod (6), GPS RTK receivers (5) are installed at the top of the supporting rod (6), peace is fixed in supporting rod (6) bottom
Equipped with energy converter (10), the tapped through hole for being connect with bolt thread, hull (11) top are offered on the sleeve (7)
Portion is symmetrically arranged with wind direction and wind velocity sensor (17) and attitude of ship sensor (22), is located at wind direction wind at the top of the hull (11)
Position between fast sensor (17) and attitude of ship sensor (22) is installed with communication module (16), the hull (11)
Top, which is located on the position of communication module (16) side, is provided with level meter (21), be located at the top of hull (11) level meter (21) and
Controller (18) is installed on position between communication module (16), the communication module (16) is WIFI communication modules,
Hull (11) the side top is installed with the side of mounting plate (12), the peace close to the position of the second support plate (14)
It is provided with the first balancing device (13) at the top of loading board (12).
2. the unmanned surveying vessel according to claim 1 for underwater topography mapping, which is characterized in that the cross bar (3)
It is mutually parallel with lead screw (1).
3. the unmanned surveying vessel according to claim 1 for underwater topography mapping, which is characterized in that the wind direction and wind velocity
Sensor (17), attitude of ship sensor (22), communication module (16), motor (4), GPS RTK receivers (5) and energy converter
(10) it is electrically connected respectively with controller (18).
4. the unmanned surveying vessel according to claim 1 for underwater topography mapping, which is characterized in that the level meter
(21) it is mechanical level gauge.
5. the unmanned surveying vessel according to claim 1 for underwater topography mapping, which is characterized in that first balance
Device (13) includes graduation mark (19), the first valve (20), the second valve (23), water inlet pipe (24), water tank (25) and water outlet
It manages (26), the water tank (25) is fixedly mounted at the top of mounting plate (12), and water tank (25) is transparent material, water tank (25)
Outer wall indicates graduation mark (19), and the water inlet of the water tank (25) is connect with one end of water inlet pipe (24), on water inlet pipe (24)
Second valve (23) is installed, the water outlet of water tank (25) is connect with one end of outlet pipe (26), and outlet pipe is installed on (26)
There is the first valve (20).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820133581.XU CN207758963U (en) | 2018-01-26 | 2018-01-26 | Unmanned surveying vessel for underwater topography mapping |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820133581.XU CN207758963U (en) | 2018-01-26 | 2018-01-26 | Unmanned surveying vessel for underwater topography mapping |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207758963U true CN207758963U (en) | 2018-08-24 |
Family
ID=63181988
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820133581.XU Expired - Fee Related CN207758963U (en) | 2018-01-26 | 2018-01-26 | Unmanned surveying vessel for underwater topography mapping |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207758963U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111232147A (en) * | 2020-03-02 | 2020-06-05 | 中国舰船研究设计中心 | Marine high-level anti-rolling water tank |
| CN112539964A (en) * | 2020-11-24 | 2021-03-23 | 黄河水利委员会山东水文水资源局 | Multi-bin type water sample collector |
| CN114739440A (en) * | 2022-03-09 | 2022-07-12 | 深圳市爱德泰科技有限公司 | Underwater wireless sensor data acquisition device based on optical communication |
| CN116374078A (en) * | 2023-04-13 | 2023-07-04 | 无锡卡尔曼导航技术有限公司南京技术中心 | Lifting mechanism, unmanned ship comprising same and method |
-
2018
- 2018-01-26 CN CN201820133581.XU patent/CN207758963U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111232147A (en) * | 2020-03-02 | 2020-06-05 | 中国舰船研究设计中心 | Marine high-level anti-rolling water tank |
| CN112539964A (en) * | 2020-11-24 | 2021-03-23 | 黄河水利委员会山东水文水资源局 | Multi-bin type water sample collector |
| CN112539964B (en) * | 2020-11-24 | 2022-12-30 | 黄河水利委员会山东水文水资源局 | Multi-bin type water sample collector |
| CN114739440A (en) * | 2022-03-09 | 2022-07-12 | 深圳市爱德泰科技有限公司 | Underwater wireless sensor data acquisition device based on optical communication |
| CN116374078A (en) * | 2023-04-13 | 2023-07-04 | 无锡卡尔曼导航技术有限公司南京技术中心 | Lifting mechanism, unmanned ship comprising same and method |
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Granted publication date: 20180824 |