WO2022086073A1 - Dispositif de mesure de débit et de qualité d'eau pour une rivière - Google Patents

Dispositif de mesure de débit et de qualité d'eau pour une rivière Download PDF

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Publication number
WO2022086073A1
WO2022086073A1 PCT/KR2021/014429 KR2021014429W WO2022086073A1 WO 2022086073 A1 WO2022086073 A1 WO 2022086073A1 KR 2021014429 W KR2021014429 W KR 2021014429W WO 2022086073 A1 WO2022086073 A1 WO 2022086073A1
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WIPO (PCT)
Prior art keywords
river
water quality
flow rate
measurement
measuring device
Prior art date
Application number
PCT/KR2021/014429
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English (en)
Korean (ko)
Inventor
박재영
Original Assignee
주식회사 하백소프트
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Publication of WO2022086073A1 publication Critical patent/WO2022086073A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
    • G01F1/00—Measuring the volume flow or mass flow of fluid or fluent solid material wherein the fluid passes through a meter in a continuous flow
    • G01F1/002—Measuring the volume flow or mass flow of fluid or fluent solid material wherein the fluid passes through a meter in a continuous flow wherein the flow is in an open channel
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C3/00—Launching or hauling-out by landborne slipways; Slipways
    • B63C3/06—Launching or hauling-out by landborne slipways; Slipways by vertical movement of vessel, i.e. by crane
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H21/00—Use of propulsion power plant or units on vessels
    • B63H21/12—Use of propulsion power plant or units on vessels the vessels being motor-driven
    • B63H21/17—Use of propulsion power plant or units on vessels the vessels being motor-driven by electric motor
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
    • G01N33/18—Water
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
    • H02J50/10—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/14—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from dynamo-electric generators driven at varying speed, e.g. on vehicle
    • H02J7/143—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from dynamo-electric generators driven at varying speed, e.g. on vehicle with multiple generators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
    • B63B2035/006—Unmanned surface vessels, e.g. remotely controlled

Definitions

  • the present invention provides a flow rate for a river that can ultimately predict the flow rate and water quality change of a river (or river, lake, etc.) through measurement values such as water level, flow rate, water quality, similar amount, river bed fluctuations, precipitation and runoff It is related to the water quality measurement device.
  • a flow rate and water quality measuring device for a river that can measure the above measurement values unattended while being installed in a river at all times and autonomously traversing by natural energy and minimum supply power.
  • ADCP Acoustic Doppler Current Profiler
  • FFT Fast Fourier Transform
  • the ADCP measures the flow rate by measuring the flow velocity profile and water depth while crossing the river. For this purpose, a remotely controlled flow rate measurement information is used.
  • ADCP In ADCP, it is difficult to measure the accurate flow rate for 10% below the water level and 10% at the bottom, so the final value is derived by the flow rate calculation method based on theoretical assumptions.
  • the most accurate method for measuring the current flood volume is to calculate the flow rate by obtaining the water depth and the flow velocity profile at the point using a flow rate measuring boat crossing the river.
  • the new method of measuring the flow rate using ADCP is known to bring about an improvement in accuracy of within about 5% compared to other existing flow rate measurement methods, so the use cases are rapidly increasing in recent years.
  • the flow measurement information may be difficult to continuously measure because the operation is stopped when the power is cut off during manual operation or the driver is in a situation where the remote control cannot be operated due to, for example, bad weather or bad weather. It is pointed out that there is a problem of loss during periods of rapid flow or floods.
  • the present invention is to solve the above problems, and an object of the present invention is to automatically measure measurement values such as water level, flow rate, water quality and similarity, river bed fluctuations, precipitation, and runoff while always installed in the river. It is to provide a flow rate and water quality measuring device for rivers that can be used.
  • Another object of the present invention is to provide a flow rate and water quality measuring device for a river capable of saving energy by using natural energy to store and use natural energy in driving the flow rate measuring device.
  • Another object of the present invention is to provide a flow rate and water quality measuring device for a river capable of increasing measurement precision by repeatedly traversing a river while measuring measured values at several points in the traversing process and combining them to derive a final measured value.
  • the present invention provides a pickup electric winch for winding or unwinding a pickup rope according to a control signal of a first controller, while being installed on the edge of a river structure or river;
  • Docking station including a traction electric winch anchored in a floating state on the water surface of the river while connected to the end of the pickup rope, and winding or unwinding the traction rope according to the control signal of the second controller; and a measuring body that is connected to the end of the traction rope while floating on the water surface of the river, is anchored in the docking station according to the winding operation of the traction transmission position, and is spaced apart from the docking station by a certain distance by the water flow of the river according to the unwinding operation ; Measuring equipment mounted on the measurement body to measure measurement values such as flow rate, water quality, and similar quantity of rivers;
  • An unmanned moving measurement body including an automatic traversing means that automatically and repeatedly traverses the measuring body separated from the docking station in the width direction of the river while forming an arc
  • the structure may be a bridge.
  • the pickup electric winch may wind the pickup rope according to the bad weather information received by the first controller, so that the docking station and the unmanned moving measurement object are pulled up on the structure or avoided to the edge of the river.
  • the docking station may further include a fuel supply module for supplying electric fuel to the fuel supply and demand module of the unmanned moving measurement body.
  • the electric fuel supply from the fuel supply module to the fuel supply module may be made by a contact type or a wireless charging module.
  • the docking station is provided with an eyepiece groove in which the front of the unmanned movement measuring agent can be moved inside and docked.
  • a supply and demand pad that is electrically charged by contacting or non-contacting with the charging pad may be disposed in the region to be used.
  • the electric charging from the charging pad to the supply and demand pad may be any one of a magnetic induction method and a magnetic resonance method.
  • the fuel supply module may further include a first storage battery for supplying power to the traction electric winch and the second controller after accumulating natural energy using any part or all of sunlight, river currents, and wind power. .
  • the unmanned movement measurement body may further include a second storage battery for accumulating natural energy using any part or all of sunlight, river currents, and wind power, and supplying power to measurement equipment and automatic crossing means.
  • a second storage battery for accumulating natural energy using any part or all of sunlight, river currents, and wind power, and supplying power to measurement equipment and automatic crossing means.
  • the automatic crossing means may include a rudder for adjusting the left and right movement direction of the unmanned moving measurement object by automatically adjusting the angle in response to the flow direction of the river while being operated by the energy of the second storage battery.
  • the unmanned moving measurement body further comprises a power storage amount monitoring sensor for detecting the amount of charge of the second storage battery in real time, and when the detected value from the power storage amount detection sensor is less than or equal to a set value, the third controller requests anchoring to the second controller By sending a signal, it is possible to make the traction electric winch winding operation.
  • the measuring body may have a modular structure that can be disassembled and assembled.
  • the measuring equipment includes a measurement unit for measuring the flow rate, water quality and similarity of the river, a measurement value storage unit for storing the values measured by the measurement unit, and a measurement value transmission for transmitting the measurement values stored in the measurement value storage unit to the base station in real time It may consist of parts.
  • the present invention can prevent the occurrence of safety accidents and reduce measurement costs because the flow rate, water quality, and similar amount can be automatically measured by a flow measurement device in a rough natural environment of rivers and rivers.
  • the present invention since the present invention enables unmanned measurement, it can be measured 24/7 as long as there is no special weather event such as a natural disaster. There is convenience in use because a series of processes to perform the work are performed automatically.
  • the present invention can increase the prediction precision of river flow and water quality as the unmanned moving measurement body repeatedly crosses the river left and right while measuring several measurement points, and combining the measurement values of several places to derive the result value.
  • the present invention uses only a minimum of supplied energy as energy for the operation of the flow measurement device, and most of it can reduce charging/discharging and maintenance costs by utilizing natural energy, and controlling the charging/discharging and maintenance of electric energy. By allowing the system to automatically manage it, unattended management is possible without the intervention of an administrator.
  • FIG. 1 is an overall configuration diagram of a flow rate and water quality measuring device for a river according to the present invention supported on a bridge, in particular, a side view;
  • Figure 2 is a plan view of Figure 1
  • FIG. 3 is an evacuation state diagram of a flow rate and water quality measuring device for a river installed on a bridge
  • FIG. 4 is a state diagram in which the flow rate and water quality measuring device for a river according to the present invention is supported on the edge of the river
  • FIG. 5 is an evacuation state diagram of a flow rate and water quality measuring device for a river supported on the edge of the river
  • FIG. 6 is a control block diagram of a pickup electric winch according to the present invention.
  • FIG. 7 is a detailed view of a mooring station according to the present invention.
  • FIG. 8 is a control block diagram of a mooring station according to the present invention.
  • FIG. 9 is an exploded perspective view of an unmanned moving measurement body according to the present invention.
  • FIG. 10 is a configuration diagram of a measuring device according to the present invention.
  • FIG. 11 is a control block diagram of an unmanned moving measurement body according to the present invention.
  • first may be referred to as a second component
  • second component may also be referred to as a first component
  • FIG. 1 is an overall configuration view of a state in which the flow rate and water quality measuring device for a river according to the present invention is supported on a bridge, in particular, a side view
  • FIG. 2 is a plan view of FIG. 1
  • FIG. 3 is a flow rate for a river installed on the bridge.
  • FIG. 4 is a state diagram of the river flow rate and water quality measuring device according to the present invention supported on the edge of the river
  • FIG. 5 is a river flow rate and water quality measuring device supported on the river edge. It is an evacuation state diagram
  • FIG. 6 is a control block diagram of a pick-up electric winch according to the present invention
  • FIG. 6 is a control block diagram of a pick-up electric winch according to the present invention
  • FIG. 7 is a detailed view of a mooring station according to the present invention
  • FIG. 8 is a control block diagram of the mooring station according to the present invention
  • FIG. 9 is an exploded perspective view of an unmanned moving measurement object according to the present invention
  • FIG. 10 is a configuration diagram of a measuring device according to the present invention
  • FIG. 11 is a control block diagram of an unmanned moving measurement object according to the present invention
  • FIG. 12 is this view It is a state diagram of the transverse measurement of the unmanned moving measurement body according to the present invention.
  • the flow rate and water quality measuring device for rivers (hereinafter abbreviated as 'flow measuring device', 100) according to the present invention is always installed in a river (or lake), and the value to be measured while autonomously traversing without power. It is capable of accurately unmanned measurement of (water level, flow rate, similarity, river bed fluctuations, precipitation, runoff, etc.: hereinafter referred to as 'measured values'), and the pickup electric winch 200, docking station 300 and It may include a movement measuring body 400 .
  • the pickup electric winch 200 is installed on a river structure (for example, a bridge (b), see FIGS. ) is supported in a towing state, and the docking station 300 and the unmanned moving measurement object 400 are evacuated when the measurement operation cannot be performed due to bad weather such as flooding.
  • a river structure for example, a bridge (b), see FIGS.
  • the pickup electric winch 200 may be automatically controlled by the first controller 210, as shown in FIG. 6 .
  • the first controller 210 may include a receiver 211 for receiving a bad weather signal or a control signal from a base station transmitted from the outside.
  • the pickup electric winch 200 is driven by the first controller 210 to proceed with the evacuation operation.
  • the pickup electric winch 200 pulls up the anchoring station 300 and the unmanned moving measurement body 400 over the bridge or an evacuation groove provided at the edge of the river ( Evacuation by A) in FIGS. 4 and 5 enables evacuation from bad weather such as floods.
  • the pickup electric winch 200 is reversely driven by the first controller 210 to unwind the pickup rope 201. By doing so, the measurement operation can be resumed.
  • the pickup electric winch 200 may further include a storage battery 220 for its driving (see FIG. 6 ).
  • a storage battery 220 for its driving (see FIG. 6 ).
  • power is required to rotationally drive the rope bobbin of the pickup electric winch 200, and the required power converts natural energy (solar light, river currents, wind power, etc.) into electrical energy, and the converted electrical energy is a storage battery It can be used for rotational driving of the rope bobbin by storing electricity in 220 , and can be used simultaneously as a power source of the first controller 210 .
  • the pickup electric winch 200 is operated intermittently in case of emergency, so there is no continuous power consumption, so it is not necessary to install a power storage sensor, but may be installed as necessary.
  • a light collecting panel for collecting sunlight, a water wheel for collecting water flow power, a windmill for collecting wind power, etc. may be installed, so detailed description thereof will be omitted.
  • the docking station 300 is installed in a floating state in a river and is used to pull and support the unmanned mobile measuring body 400 and to temporarily or temporarily anchor the unmanned moving measuring body 400 .
  • the docking station 300 is connected to the end of the pickup rope 201 of the pickup electric winch 200 and is in a towing state, as in FIGS. 1-5 and 7-8, and can be installed in a floating state on the water surface of the river.
  • a station main body 310 having a floating structure so as to be able to, a traction electric winch 320 for winding or unwinding a traction rope 321 that pulls the unmanned moving measurement body 400 while installed on the station main body, and a traction electric winch may be configured as a second controller 330 for controlling the operation of
  • the traction rope 321 is preferably a floating rope floating on the water surface is applied.
  • the reason is that since the rope sinking in water is heavy, it may cause a problem of arbitrarily pulling the unmanned moving measurement body 400 connected to the end while sinking in the water, and the load is large during winding and unwinding. This is because a high-capacity electric winch 320 is required.
  • the second controller 330 receives a fuel charging request signal from a third controller (to be described later) of the unmanned movement measurement object 400, unmanned movement measurement
  • a third controller to be described later
  • the unmanned moving measurement body 400 is transferred to the station body ( 310) to enable anchoring of unmanned moving measurement objects by pulling and pulling.
  • the station body 310 may be provided with a U-shaped eyepiece groove 311 so that the front of the unmanned movement measurement body 400 enters and can be stably docked.
  • the inlet end of the eyepiece groove 311 has a flared shape to avoid collision when the unmanned moving measurement body 400 is berthed, and in addition, the inlet edge of the eyepiece groove 311 has a collision mitigation.
  • the bumper 312 is installed.
  • the docking station 300 may further include a fuel supply module 340 for supplying electric fuel to a fuel supply module (to be described later) of the unmanned movement measurement body 400 as shown in FIG. 8 .
  • the fuel supply module 340 converts natural energy such as sunlight, river currents, and wind power into electrical energy and stores power to charge the unmanned moving measurement body 400, as well as an electric winch 320 and a second controller (
  • the first storage battery 341, which serves to supply power to 330) is disposed on the inner surface of the eyepiece groove 311 of the station body 310, and is an unmanned moving measurement body in any one of a magnetic induction method and a magnetic resonance method. It may include a charging pad 342 for wirelessly charging electric fuel.
  • the docking station 300 may be provided with a power storage amount detection sensor 350 for detecting the amount of power storage of the first storage battery 341 in real time, and when the detected amount of power is less than the reference value, the second controller 330 can stop the operation of the traction electric winch until it reaches the reference value despite the time when the operation of the traction electric winch 320 is required.
  • the unmanned moving measurement body 400 is installed in a floating state on the water surface of the river, and is connected to the docking station 300 as a traction rope 321 and measured values (water level, flow rate, similar amount, river bed fluctuations, precipitation, runoff, etc.), and has a characteristic configuration that measures the measured value while automatically crossing the river.
  • the unmanned moving measurement body 400 includes a measurement body 410 connected to the end of the traction rope 321, and a measurement device 420 mounted on the measurement body to measure the measured value, as shown in FIGS. 9 to 11, It may be composed of an automatic crossing means 430 for automatically traversing the measurement body in the width direction of the river, and a third controller 440 for controlling the operation of the automatic crossing means.
  • the measurement body 410 is made of a material that can be suspended in water, and may have a streamlined boat shape for smooth flow in water.
  • the measurement body 410 may have a modular structure that can be disassembled and assembled as shown in FIG. 9 .
  • the modular structure is easier to install and collect than the integrated structure, and has the advantage of reducing maintenance costs because only damaged or damaged parts can be exchanged locally.
  • the measuring device 420 includes a measuring unit 421 that measures the measured values (water level, flow rate, similar amount, river bed variation, precipitation, runoff, etc.), and the value measured by the measuring unit. It may be composed of a measurement value storage unit 422 to store and a measurement value transmission unit 423 for wirelessly transmitting the measurement value stored in the measurement value storage unit to the base station.
  • the measuring equipment 420 may include an ultrasonic flow meter, electromagnetic wave or laser anemometer, and the part where the flow rate measurement of the water surface by the ultrasonic flow meter is impossible is supplemented by electromagnetic wave and laser anemometer, and these measured values are measured. Combining them can lead to more precise measurements.
  • the unmanned movement measurement body 400 may further include a fuel supply module 450 for receiving electric fuel from the fuel supply module 340 when anchored in the docking station 300 .
  • the fuel supply module 450 converts natural energy such as sunlight, river current, and wind power into electrical energy and stores electricity, and uses electric fuel with measuring equipment 420 and automatic crossing means 430. It may further include a second storage battery 451 to supply, and a supply and demand pad 452 that receives electric fuel by contact or non-contact with the charging pad 342 of the station body 310 and stores electricity in the second storage battery 451 .
  • a second storage battery 451 to supply
  • a supply and demand pad 452 that receives electric fuel by contact or non-contact with the charging pad 342 of the station body 310 and stores electricity in the second storage battery 451 .
  • the automatic crossing means 430 may include a rudder (431: see FIG. 12) for controlling the left and right movement direction of the unmanned moving measurement object 400 while being operated by power supplied from the second storage battery 451. .
  • the rudder 431 automatically changes the left and right angles by the third controller 440 in response to the flow direction of the river (the direction of the A arrow in FIG. 12), so that the repeating traversing of the moving measurement body 400 is possible do.
  • the unmanned moving measurement body 400 when the rudder 431 coincides with the water flow direction, the unmanned moving measurement body 400 is located in the center without a change in position, since the angle of the rudder and the water flow direction coincide, and from this, the rudder
  • the angle of (431) is turned in a counterclockwise direction, the leftward movement of the unmanned moving measurement body 400 is possible by the water current acting on the rudder, and when the angle of the rudder 431 is turned in the clockwise direction, the rudder ( 431), the rightward movement of the unmanned movement measurement body 400 is possible by the action of the water current.
  • the angle change of the rudder 431 is made automatically, and automatic traversing of the unmanned moving measurement body is possible.
  • the unmanned moving measurement object 400 may be provided with a power storage amount detection sensor 460 that detects the amount of charge of the second storage battery 451 in real time, and when the detected amount of storage is less than the reference value, the third controller 440 is By sending a mooring request signal to the second controller 330 of the mooring station 300, the mooring is accomplished by the operation of the traction electric winch 320, and charging can be performed at the same time.
  • a power storage amount detection sensor 460 that detects the amount of charge of the second storage battery 451 in real time, and when the detected amount of storage is less than the reference value, the third controller 440 is By sending a mooring request signal to the second controller 330 of the mooring station 300, the mooring is accomplished by the operation of the traction electric winch 320, and charging can be performed at the same time.
  • the unmanned moving measurement body 400 maintains a state spaced apart from the docking station 300 by the length of the tow rope 321 unwound by the water flow of the river, and the automatic crossing means 430 ), while drawing an arc-shaped trajectory (arrow B in FIG. 12) centered on the docking station 300, automatically and repeatedly traverses in the width direction of the river to measure the measured value.
  • the unmanned moving measurement object 400 can secure a lot of measurement data because it is possible to measure 24/7 except for a reason such as a special bad weather situation or a malfunction. Therefore, accurate measurement is possible, and in particular, taking into account that the measured values may differ in the central and side portions of the river, the unmanned moving measuring object derives the measured values while repeatedly traversing the river, so precise measurement is possible. Therefore, it is of great help in accurately predicting river flow.
  • the unmanned moving measurement body 400 may perform a measurement operation without a traction rope. That is, when the water flow in the river is small, the unmanned moving measurement object 400 does not float away even if the traction rope 321 is not connected. By approaching the docking station 300, it is possible to perform operations such as wireless charging.
  • the unmanned movement measurement object 400 when the unmanned movement measurement object 400 is trying to connect the traction rope 321 due to the occurrence of a water flow while performing measurement work in a rope-free state, the unmanned movement measurement object 400 is driven by the propulsion power to the docking station 300 At the same time as being docked by moving to a hook (not shown) provided at the end of the traction rope 321, the hook (not shown) of the unmanned moving measurement body 400 is caught and the traction rope 321 can be automatically connected. Thereafter, the measurement operation can be resumed while the traction rope 321 is connected.
  • the flow rate measuring device 100 for a river is another embodiment, except for the configuration of the docking station 300, and is simply composed of a pickup electric winch 200 and an unmanned movement measuring body 400.
  • the unmanned moving measurement body 400 is connected by the pickup electric winch 200 and the pickup rope 201, and can be separately connected by a strong but thin guide wire (not shown) such as a fishing line or a piano wire.
  • a strong but thin guide wire such as a fishing line or a piano wire.
  • an electric motor may be additionally installed for winding and unwinding of the guide wire.
  • the guide line guides the location of the unmanned mobile measurement body 400 or when it is picked up due to bad weather, pulls the unmanned mobile measurement object 400 until it approaches the bridge and the berth, When picking up on the bridge and at the berth, a large force is required, so the role can be divided by pulling it up by the pickup rope 201 .
  • pickup rope 210 first controller
  • receiver 220 storage battery
  • third controller 450 fuel supply module

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Abstract

Un dispositif de mesure de débit et de qualité d'eau pour une rivière est divulgué. La présente invention divulguée peut être installée de façon permanente dans la rivière pour automatiquement mesurer des valeurs de mesure, telles que le niveau d'eau, le débit, la qualité de l'eau, le débit solide, la fluctuation du lit de rivière, la précipitation et le ruissellement, sans intervention humaine. Les valeurs de mesure peuvent être mesurées sans intervention humaine, et par conséquent, la survenue d'accidents peut être évitée et les coûts de mesure peuvent également être réduits.
PCT/KR2021/014429 2020-10-23 2021-10-18 Dispositif de mesure de débit et de qualité d'eau pour une rivière WO2022086073A1 (fr)

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KR1020200138120A KR102233284B1 (ko) 2020-10-23 2020-10-23 하천용 유량 및 수질 측정장치
KR10-2020-0138120 2020-10-23

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CN116165024A (zh) * 2023-04-24 2023-05-26 北京承启通科技有限公司 一种基于水流速变化的水质检测用自采样装置
CN116777183A (zh) * 2023-08-17 2023-09-19 北京海舶无人船科技有限公司 无人船集群智能调度方法及系统
CN117760505A (zh) * 2024-02-22 2024-03-26 上海临澜环境科技有限公司 一种水体流量的无人检测方法及装置

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KR102233284B1 (ko) * 2020-10-23 2021-03-29 주식회사 하백소프트 하천용 유량 및 수질 측정장치
CN114719139B (zh) * 2022-04-11 2023-09-12 四川省水利科学研究院 一种便于收回的河道流速监测装置
CN116973526B (zh) * 2023-04-12 2024-05-03 江苏捷利达环保科技有限公司 一种氨氮在线监测仪与监测方法

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