CN208915384U - A kind of unmanned surveying vessel of city inland river water quality - Google Patents
A kind of unmanned surveying vessel of city inland river water quality Download PDFInfo
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- CN208915384U CN208915384U CN201821654542.0U CN201821654542U CN208915384U CN 208915384 U CN208915384 U CN 208915384U CN 201821654542 U CN201821654542 U CN 201821654542U CN 208915384 U CN208915384 U CN 208915384U
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Abstract
The utility model discloses a kind of unmanned surveying vessel of city inland river water quality, is respectively equipped with rotary axis groove on the outer wall at middle part at left and right sides of the hull, two rotary axis grooves are symmetrical；Active antiroll fin mechanism includes steering engine, side connecting rod, connecting rod, stabilizer；Steering engine is equipped with two groups, is located on the outer wall above the rotary axis groove of hull two sides；It is equipped with that shaft I, shaft I can be installed on shaft I along its axial rotation, stabilizer in the front-back direction along hull in rotary axis groove, the upper surface of stabilizer is equipped with shaft seat, and shaft seat is equipped with shaft II；The front end of side connecting rod is fixedly installed in the rotation axis of steering engine, and the rear end of side connecting rod is radially extended along the rotation axis of steering engine, and the rear end of side connecting rod is equipped with shaft III；The lower end of connecting rod is rotatably set on shaft II, and the upper end of connecting rod is rotatably set on shaft III.The utility model has the characteristics that flexible function, reliable for operation, low in cost.
Description
Technical field
The utility model relates to the unmanned surveying vessel technical fields of city inland river water quality, and in particular to a kind of unmanned surveying vessel.
Background technique
The mankind occupy according to water, and city is emerging because of water, and a healthy city inland river carries the history culture in city, are cities
The valuable source of city's development is an important factor for influencing urban beautification and city taste.Demand to city inland river, from single
Flood control, water requirements are gradually to a variety of requirement transformations such as flood control, water supply, ecology, landscape.Recently, by nature and mankind's activity shadow
The problems such as sound, city inland river are more and more interfered, water quality deterioration, ecological degradation comes one after another, the especially life in river
Object diversity and the integrality of the ecosystem are destroyed, and the degeneration in river is exacerbated, and are formed vicious circle, have been seriously affected river
The sustainable development in road two sides city.
Traditional fixed point water quality measurement mode: it is mainly measured using each stationary monitoring point being distributed in waters.
But this water quality monitoring system being made of stationary monitoring point, each monitoring point are fixed, and each monitoring point
Monitoring range is limited.If needing to install many fixations with the water quality parameter of this conventional method measurement city inland river
Monitoring point, this not only brings more fixed point cost of layout and the maneuverability for measurement work brings difficulty.
Emerging unmanned boat water quality measurement mode: unmanned boat is a kind of novel exploration waterborne equipment, generally with small boat
Oceangoing ship is platform, can the equipment such as integrated positioning, navigation, video monitoring, radar and control, load multiple sensors, with remote control or from
Dynamic control mode completes the tasks such as search, relief, mapping or measurement, has the advantages such as shallow draft, mobility are high, low energy consumption.State
Many unit all design-builds unmanned boat for various purposes on border.
In recent years, carrying out information-based, long-range automatically measuring and acquiring to water field of big area water quality is that modern water environment is pacified
The New Trends of full monitoring equipment.Currently, this aspect studies in China still handles opinion and experimental stage, it is real there is no obtaining
The popularization and application on border.This indicates how to design in conjunction with advanced unmanned technology, wireless communication technique, control algolithm
It is the trend of domestic development with easy to use, high degree of automation surveying vessel.
Utility model content
The utility model is intended to provide a kind of unmanned surveying vessel of city inland river water quality, which overcomes existing unmanned boat
The manufacturing cost of measurement scheme is high, hull stability difference problem, has the characteristics that flexible function, reliable for operation, low in cost.
The technical solution of the utility model is as follows:
It is respectively equipped with rotary axis groove on the outer wall at middle part at left and right sides of the hull, two rotary axis grooves are mutually right
Claim；
The active antiroll fin mechanism includes steering engine, side connecting rod, connecting rod, stabilizer；The steering engine is equipped with two groups,
It is located on the outer wall above the rotary axis groove of hull two sides；It is equipped in the rotary axis groove along hull shaft I in the front-back direction, institute
The shaft I stated can be installed on shaft I along its axial autobiography, the stabilizer, and the upper surface of stabilizer is equipped with shaft
Seat, the shaft seat are equipped with shaft II；The front end of the side connecting rod is fixedly installed in the rotation axis of steering engine, side connecting rod
Rear end radially extended along the rotation axis of steering engine, the rear end of side connecting rod is equipped with shaft III；The lower end of the connecting rod can be rotated
Be set on shaft II, the upper end of connecting rod is rotatably set on shaft III；
The steering engine is located on the water surface, and the stabilizer is located under the water surface.
The unmanned surveying vessel of city inland river water quality further includes central processing unit, hull angular transducer, driving dress
It sets, video acquisition camera, image recognition camera, acceleration transducer, locating module, monitoring modular, wireless communication module；
The central processing unit, hull angular transducer, driving device, video acquisition camera, image recognition camera, acceleration
Sensor, locating module, monitoring modular, wireless communication module are mounted on hull；
The central processing unit respectively with hull angular transducer, active antiroll fin mechanism, twin screw driving circuit
With bi-motor, video acquisition camera, image recognition camera, acceleration transducer, locating module, monitoring modular, channel radio
Believe module electrical connection；
The hull angular transducer is for detecting three axis direction tilt angle of hull, and by hull tilt angle data
Real-time Transmission is to central processing unit；
Two steering engines of the active antiroll fin mechanism rotate forward or anti-according to the control signal from central processing unit
Turn, adjusts angle of leaning over；
The driving device receives the control signal from central processing unit, drives hull action and steering；
The image recognition camera is set to fore, for detect the barrier in front of advancing, and by obstacle information
It is transmitted to central processing unit；
The acceleration transducer is used to detect three axis direction acceleration of hull, and acceleration information is transmitted to
Central processor；
The locating module positions the position of current hull, by position signal real-time Transmission to central processing unit；
The monitoring modular is used to detect every Testing index of water, and is transmitted to central processing unit；
The wireless communication module is for the communication contact between central processing unit and user terminal；
The central processing unit is according to three axis direction acceleration informations of the hull received, in conjunction with hull tilt angle
Data are handled, and when the inclined angle of hull and acceleration information are more than upper limit value, transmission of control signals is shaken to controllably subtracting
Fin mechanism controls the rotation of steering engine；The central processing unit receives the obstacle information from image recognition camera, then
It issues and slows down and turn signal to driving device；The central processing unit receive come to the location information of locating module, come from
The Testing index information of monitoring modular, and the video image information from video acquisition camera, and these information are passed through
Wireless communication module is transmitted to user terminal.
The drive module includes twin screw driving circuit, twin screw motor, active antiroll fin mechanism, described
Twin screw driving circuit receives the control signal from central processing unit, controls the working condition of twin screw motor, described
Control signal of the active antiroll fin authorities from central processing unit, control active antiroll fin mechanism swing.
The angle-sensor module and acceleration transducer uses model mpu9250 sensor；The image
Identify that camera uses openmv camera of the model with the infrared function of night vision；The locating module uses model NEO-
7N UBLOX satellite locator module；The wireless communication module uses model U93004G module；The centre
It manages device and uses model STM32F407ZGT6；The twin screw motor uses 4130 brushless motor of model；Described can
Control the metal steering engine that stabilizer mechanism module uses steering engine model LD27MG.
The unmanned surveying vessel of city inland river water quality, further includes video acquisition camera, the video acquisition camera shooting
Head is transmitted to central processing unit for shooting real-time recording, and central processing unit transmits real-time recording to controlling terminal；Described
Video acquisition camera uses 1080p high definition mini-camcorder.
The monitoring modular include water velocity sensor, temperature sensor, dissolved oxygen quantity sensor, turbidity transducer,
PH value sensor, conductivity sensor.
The water velocity sensor uses model JR-A168-13 Hall water flow meter；The temperature sensor is adopted
The water proof type DS18B20 module of temperature-compensating is had with model；The dissolved oxygen quantity sensor uses model DOLE6211
Module；The turbidity transducer detects die trial block using model TSW-20M muddiness angle value；The pH value sensor uses
The technical grade detector of model SIN-PH5011；The conductivity sensor module uses model CON2136-13
NTC10K module.
The unmanned surveying vessel of city inland river water quality further includes light sensor, warning lamp and searchlight, the police
Show that lamp is set to afterbody, the searchlight is set to the fore of hull；
The light sensor places the top of hull, detects current light intensity and is transmitted to central processing unit；
The central processing unit receives the intensity signal from light sensor, and compared with set Intensity threshold
Compared with for controlling whether warning lamp and searchlight open
The warning lamp uses model LTE-1101J rotating LED alarm lamp；The searchlight uses model
HS-13LED head lamp strong light searchlight；The light sensor is sensed using model BH1750 illuminance.
The unmanned surveying vessel of city inland river water quality, further includes memory module, and the memory module uses model
Micro SD card module, for storing water velocity and water body achievement data and video image data.
The wireless communication module by the location information of locating module, the Testing index information from monitoring modular, with
And the video image information from video acquisition camera, it is wirelessly sent to user terminal communication equipment；Meanwhile it also can receive and using
Wireless remote control of the family terminal to unmanned boat.
The unmanned surveying vessel of city inland river water quality, further includes power module, power module be subdivided into system power supply,
Driving power, mains lighting supply；Wherein, system power supply and central processing unit, hull angular transducer, video acquisition camera, figure
As identification camera, acceleration transducer, locating module, monitoring modular, memory module, wireless network module electrical connection, and it is
These functional modules are powered；Driving power is electrically connected with active antiroll fin Agency propeller motor drive module, and
It is powered；Mains lighting supply is then warning lamp and searchlight power supply.
The utility model has the following beneficial effects:
A kind of novel hull rock-steady structure of active antiroll fin mechanism in the utility model, when leaning over, it is only necessary to
The angle of the stabilizer in adjustment left side or right side realizes hull anti-obliquity by the interaction of stabilizer and water, it is ensured that ship
The steady posture of body, to improve navigation stability and the safety of unmanned boat, scientific structure design has very high practical valence
Value.
The unmanned surveying vessel of the utility model city inland river water quality, also gathered automatic detection water quality, it is unmanned, positioning,
The function of wireless communication judges automatically stable hull, automatic obstacle-avoiding in combination with the real-time condition of navigation, not only can effectively solve
The problems such as city inland river water quality parameter is at high cost, stability is poor is measured, labour is can effectively reduce, improves water field of big area detection effect
Rate has the characteristics that monitoring is strong in real time, and the stability and safety of the energy small foot of effective guarantee；It further include that canoe is worked
The video monitoring of journey, for the water surface outdoor scene situation for understanding water pollution in the water quality monitoring course of work in time；In addition, water velocity
The realization of function is measured, effectively proper water pollution processing prediction scheme can also be formulated for people, flow information of water support is provided.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the active antiroll fin mechanism of the utility model；
Fig. 2 is the overall structure block diagram of the utility model；
Fig. 3 is the hull configuration schematic diagram of the utility model；
Each serial number and title in figure are as follows:
1- hull；2- rotary axis groove；3- steering engine；The side 4- connecting rod；5- connecting rod；6- stabilizer；7- shaft I；8- shaft II；9- turns
Disk；10- shaft III；11- warning lamp；12- searchlight.
Specific embodiment
The utility model is described in detail by specific embodiment with reference to the accompanying drawing.
Embodiment 1
As shown in Figure 1-3, the unmanned surveying vessel of city inland river water quality of the present embodiment includes hull 1, active antiroll fin mechanism；
Rotary axis groove 2, two 2 phases of rotary axis groove are respectively equipped on outer wall in the middle part of the left and right sides of the hull 1
It is mutually symmetrical；
The active antiroll fin mechanism includes steering engine 3, side connecting rod 4, connecting rod 5, stabilizer 6；The steering engine 3 is equipped with
It two groups, is located on the outer wall of 1 two sides rotary axis groove of hull, 2 top；It is equipped in the rotary axis groove 2 along 1 front-rear direction of hull
Shaft I7, the shaft I7 can be installed on shaft I7 along its axial autobiography, the stabilizer 6, stabilizer 6 it is upper
Surface is equipped with shaft seat 8, and the shaft seat 8 is equipped with shaft II9；The front end of the side connecting rod 4 is fixedly installed in rudder
In the rotation axis of machine 3, the rear end of side connecting rod 4 is radially extended along the rotation axis of steering engine 3, and the rear end of side connecting rod 4 is equipped with shaft
III10；The lower end of the connecting rod 5 is rotatably set on shaft II9, and the upper end of connecting rod 5 is rotatably set in shaft
On III10；
The steering engine 3 is located on the water surface, and the stabilizer 6 is located under the water surface.
The unmanned surveying vessel of city inland river water quality further includes central processing unit, hull angular transducer, driving dress
It sets, video acquisition camera, image recognition camera, acceleration transducer, locating module, monitoring modular, wireless communication module；
The central processing unit, hull angular transducer, driving device, video acquisition camera, image recognition camera, acceleration
Sensor, locating module, monitoring modular, wireless communication module are mounted on hull 1；
The central processing unit respectively with hull angular transducer, active antiroll fin mechanism, twin screw driving circuit
With bi-motor, image recognition camera, acceleration transducer, locating module, monitoring modular, wireless network module electrical connection；
The hull angular transducer is for detecting three axis direction tilt angle of hull, and by hull tilt angle data
Real-time Transmission is to central processing unit；
Two steering engines 3 of the active antiroll fin mechanism according to the control signal from central processing unit, rotate forward or
Reversion adjusts angle of leaning over；
The driving device receives the control signal from central processing unit, the navigation of driving hull 1 and steering；
The image recognition camera is set to fore, for detect the barrier in front of advancing, and by obstacle information
It is transmitted to central processing unit；
The acceleration transducer is used to detect three axis direction acceleration of hull 1, and acceleration information is transmitted to
Central processing unit；
The locating module positions the position of current hull, by position signal real-time Transmission to central processing unit；
The monitoring modular is used to detect every Testing index of water, and is transmitted to central processing unit；
The wireless communication module is for the communication contact between central processing unit and user terminal；
The central processing unit is according to three axis direction acceleration informations of the hull received, in conjunction with hull tilt angle
Data are handled, and when the inclined angle of hull and acceleration information are more than upper limit value, transmission of control signals is shaken to controllably subtracting
Fin mechanism controls the rotation of steering engine；The central processing unit receives the obstacle information from image recognition camera, then
It issues and slows down and turn signal to driving device；The central processing unit receive come to the location information of locating module, come from
The Testing index information of monitoring modular, and the video image information from video acquisition camera, and these information are passed through
Wireless communication module is transmitted to user terminal.
The drive module includes twin screw driving circuit, twin screw motor, active antiroll fin mechanism, described
Twin screw driving circuit receives the control signal from central processing unit, controls the working condition of twin screw motor, described
Control signal of the active antiroll fin authorities from central processing unit, control active antiroll fin mechanism swing, to realize
Hull is kept to hold position navigation.
The angle-sensor module and acceleration transducer uses model mpu9250 sensor；The image
Identify that camera uses openmv camera of the model with the infrared function of night vision；The locating module uses model NEO-
7N UBLOX satellite locator module；The wireless communication module uses model U93004G module；The centre
It manages device and uses model STM32F407ZGT6；The twin screw motor uses 4130 brushless motor of model；Described can
Control the metal steering engine that stabilizer mechanism module uses steering engine model LD27MG.
The unmanned surveying vessel of city inland river water quality, further includes video acquisition camera, the video acquisition camera shooting
Head is transmitted to central processing unit for shooting real-time recording, and central processing unit transmits real-time recording to controlling terminal；Described
Video acquisition camera uses 1080p high definition mini-camcorder.
The unmanned surveying vessel of city inland river water quality, further includes power module, the power module is installed on hull 1
On, power module includes system power supply, driving power, mains lighting supply；Wherein, system power supply and central processing unit, hull angle
Sensor, video acquisition camera, image recognition camera, acceleration transducer, locating module, monitoring modular, memory module,
Wireless network module electrical connection, and be powered for these functional modules；Driving power and active antiroll fin Agency spiral
The electrical connection of paddle motor drive module, and be powered；Mains lighting supply is then warning lamp and searchlight power supply.
The monitoring modular include water velocity sensor, temperature sensor, dissolved oxygen quantity sensor, turbidity transducer,
PH value sensor, conductivity sensor.
The water velocity sensor uses model JR-A168-13 Hall water flow meter；The temperature sensor is adopted
The water proof type DS18B20 module of temperature-compensating is had with model；The dissolved oxygen quantity sensor uses model DOLE6211
Module；The turbidity transducer detects die trial block using model TSW-20M muddiness angle value；The pH value sensor uses
The technical grade detector of model SIN-PH5011；The conductivity sensor module uses model CON2136-13
NTC10K module.
The unmanned surveying vessel of city inland river water quality, further includes light sensor, warning lamp 11 and searchlight 12, described
Warning lamp 11 be set to 1 rear portion of hull, the searchlight 12 be set to hull 1 fore；
The light sensor places the top of hull 1, detects current light intensity and is transmitted to central processing unit；
The central processing unit receives the intensity signal from light sensor, and compared with set Intensity threshold
Compared with for controlling whether warning lamp 11 and searchlight 12 open
The warning lamp 11 uses model LTE-1101J rotating LED alarm lamp；The searchlight 12 uses model
For HS-13LED head lamp strong light searchlight；The light sensor is sensed using model BH1750 illuminance.
Claims (10)
1. a kind of unmanned surveying vessel of city inland river water quality, including hull (1), active antiroll fin mechanism, it is characterised in that:
It is respectively equipped with rotary axis groove (2) on outer wall in the middle part of the left and right sides of the hull (1), two rotary axis grooves (2)
Symmetrically；
The active antiroll fin mechanism includes steering engine (3), side connecting rod (4), connecting rod (5), stabilizer (6)；The steering engine (3)
Equipped with two groups, it is located on the outer wall above hull (1) two sides rotary axis groove (2)；It is equipped in the rotary axis groove (2) along hull
(1) shaft I(7 in the front-back direction), the shaft I(7) can be along its axial rotation, the stabilizer (6), which be installed on, to be turned
Axis I(7) on, the upper surface of stabilizer (6) is equipped with shaft seat (8), and the shaft seat (8) is equipped with shaft II(9)；It is described
The front end of side connecting rod (4) be fixedly installed in the rotation axis of steering engine (3), the rotation axis of the rear end of side connecting rod (4) along steering engine (3)
It radially extends, the rear end of side connecting rod (4) is equipped with shaft III(10)；The lower end of the connecting rod (5), which is rotatably set in, to be turned
Axis II(9) on, the upper end of connecting rod (5) is rotatably set in shaft III(10) on；
The steering engine (3) is located on the water surface, and the stabilizer (6) is located under the water surface.
2. the unmanned surveying vessel of city inland river water quality as described in claim 1, it is characterised in that:
The unmanned surveying vessel of city inland river water quality further includes central processing unit, hull angular transducer, driving device, view
Frequency acquisition camera, image recognition camera, acceleration transducer, locating module, monitoring modular, wireless communication module；It is described
Central processing unit, hull angular transducer, driving device, video acquisition camera, image recognition camera, acceleration sensing
Device, locating module, monitoring modular, wireless communication module are mounted on hull (1)；
The central processing unit respectively with hull angular transducer, active antiroll fin mechanism, twin screw driving circuit and double
Motor, image recognition camera, acceleration transducer, locating module, monitoring modular, wireless network module electrical connection；
The hull angular transducer is used to detect three axis direction tilt angle of hull, and hull tilt angle data are real-time
It is transmitted to central processing unit；
Two steering engines (3) of the active antiroll fin mechanism rotate forward or anti-according to the control signal from central processing unit
Turn, adjusts angle of leaning over；
The driving device receives the control signal from central processing unit, driving hull (1) navigation and steering；
The image recognition camera is set to fore, for detecting the barrier in front of advancing, and obstacle information is transmitted
To central processing unit；
The acceleration transducer is used to detect three axis direction acceleration of hull (1), and acceleration information is transmitted to
Central processor；
The locating module positions the position of current hull, by position signal real-time Transmission to central processing unit；
The monitoring modular is used to detect every Testing index of water, and is transmitted to central processing unit；
The wireless communication module is for the communication contact between central processing unit and user terminal；
The central processing unit is according to three axis direction acceleration informations of the hull received, in conjunction with hull inclination angle degree
According to, it is handled, when the inclined angle of hull and acceleration information are more than upper limit value, transmission of control signals to active antiroll fin
Mechanism controls the rotation of steering engine；The central processing unit receives the obstacle information from image recognition camera, then sends out
Slow down out and turn signal to driving device；The central processing unit, which receives, to be come to the location information of locating module, from prison
The Testing index information of module, and the video image information from video acquisition camera are surveyed, and these information are passed through into nothing
Line communication module is transmitted to user terminal.
3. the unmanned surveying vessel of city inland river water quality as claimed in claim 2, it is characterised in that: the driving device includes double
Propeller driving circuit, twin screw motor, active antiroll fin mechanism, the twin screw driving circuit are received from center
The control signal of processor controls the working condition of twin screw motor, and the active antiroll fin authorities are from center
The control signal of processor, control active antiroll fin mechanism are swung, and keep hull to hold position navigation to realize.
4. the unmanned surveying vessel of city inland river water quality as claimed in claim 3, it is characterised in that:
The angle-sensor module and acceleration transducer uses model mpu9250 sensor；The image recognition
Camera uses openmv camera of the model with the infrared function of night vision；The locating module uses model NEO-7N
UBLOX satellite locator module；The wireless communication module uses model U93004G module；The central processing unit
Using model STM32F407ZGT6；The twin screw motor uses 4130 brushless motor of model；Described controllably subtracts
Shake the metal steering engine that fin mechanism module uses steering engine model LD27MG.
5. the unmanned surveying vessel of city inland river water quality as claimed in claim 2, it is characterised in that: further include video acquisition camera shooting
Head, the video acquisition camera are transmitted to central processing unit for shooting real-time recording, and central processing unit transmission is real-time
It records a video to user monitoring terminal；The video acquisition camera uses 1080p high definition mini-camcorder.
6. the unmanned surveying vessel of city inland river water quality as claimed in claim 2, it is characterised in that:
It further include power module, the power module is installed on hull (1), and power module includes system power supply, driving electricity
Source, mains lighting supply；Wherein, system power supply and central processing unit, hull angular transducer, video acquisition camera, image recognition
Camera, acceleration transducer, locating module, monitoring modular, memory module, wireless network module electrical connection, and be these function
Energy module is powered；Driving power is electrically connected with active antiroll fin Agency propeller driving circuit, and is powered；According to
Bright power supply is then warning lamp and searchlight power supply.
7. the unmanned surveying vessel of city inland river water quality as claimed in claim 2, it is characterised in that:
The monitoring modular includes water velocity sensor, temperature sensor, dissolved oxygen quantity sensor, turbidity transducer, pH value
Sensor, conductivity sensor.
8. the unmanned surveying vessel of city inland river water quality as claimed in claim 7, it is characterised in that:
The water velocity sensor uses model JR-A168-13 Hall water flow meter；The temperature sensor uses type
Number be the water proof type DS18B20 module with temperature-compensating；The dissolved oxygen quantity sensor uses model DOLE6211 module；
The turbidity transducer detects die trial block using model TSW-20M muddiness angle value；The pH value sensor uses model
For the technical grade detector of SIN-PH5011；The conductivity sensor module uses model CON2136-13 NTC10K
Module.
9. the unmanned surveying vessel of city inland river water quality as claimed in claim 2, it is characterised in that: further include light sensor, police
Show that lamp (11) and searchlight (12), the warning lamp (11) are set to hull (1) rear portion, the searchlight (12) is set to hull
(1) fore；
The light sensor places the top of hull (1), detects current light intensity and is transmitted to central processing unit；
The central processing unit receives the intensity signal from light sensor, and compared with set Intensity threshold,
For controlling whether warning lamp (11) and searchlight (12) are opened.
10. the unmanned surveying vessel of city inland river water quality as claimed in claim 9, it is characterised in that: the warning lamp (11) is adopted
With model LTE-1101J rotating LED alarm lamp；The searchlight (12) uses the strong light searchlighting of model HS-13LED head lamp
Lamp；The light sensor is sensed using model BH1750 illuminance.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821654542.0U CN208915384U (en) | 2018-10-12 | 2018-10-12 | A kind of unmanned surveying vessel of city inland river water quality |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821654542.0U CN208915384U (en) | 2018-10-12 | 2018-10-12 | A kind of unmanned surveying vessel of city inland river water quality |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208915384U true CN208915384U (en) | 2019-05-31 |
Family
ID=66708960
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821654542.0U Expired - Fee Related CN208915384U (en) | 2018-10-12 | 2018-10-12 | A kind of unmanned surveying vessel of city inland river water quality |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110333721A (en) * | 2019-07-11 | 2019-10-15 | 中国地质大学（武汉） | A kind of small boat system of water quality detection with Function for Automatic Pilot |
| CN114013590A (en) * | 2021-09-17 | 2022-02-08 | 广西科技大学 | Unmanned ship is patrolled and examined to quality of water with anti-sway device |
| CN114942310A (en) * | 2022-04-11 | 2022-08-26 | 湛江幼儿师范专科学校(岭南师范学院基础教育学院) | Unmanned ship for water quality monitoring and water quality monitoring system |
-
2018
- 2018-10-12 CN CN201821654542.0U patent/CN208915384U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110333721A (en) * | 2019-07-11 | 2019-10-15 | 中国地质大学（武汉） | A kind of small boat system of water quality detection with Function for Automatic Pilot |
| CN114013590A (en) * | 2021-09-17 | 2022-02-08 | 广西科技大学 | Unmanned ship is patrolled and examined to quality of water with anti-sway device |
| CN114942310A (en) * | 2022-04-11 | 2022-08-26 | 湛江幼儿师范专科学校(岭南师范学院基础教育学院) | Unmanned ship for water quality monitoring and water quality monitoring system |
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