CN112596512A - Depth-adjustable automatic sampling and anti-collision method for unmanned ship - Google Patents
Depth-adjustable automatic sampling and anti-collision method for unmanned ship Download PDFInfo
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- CN112596512A CN112596512A CN202011161481.6A CN202011161481A CN112596512A CN 112596512 A CN112596512 A CN 112596512A CN 202011161481 A CN202011161481 A CN 202011161481A CN 112596512 A CN112596512 A CN 112596512A
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- 238000005070 sampling Methods 0.000 title claims abstract description 101
- 238000000034 method Methods 0.000 title claims abstract description 33
- 230000008569 process Effects 0.000 claims abstract description 10
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 84
- 238000004140 cleaning Methods 0.000 claims description 8
- 230000006698 induction Effects 0.000 claims description 7
- 238000007599 discharging Methods 0.000 claims description 4
- 238000012544 monitoring process Methods 0.000 abstract description 7
- 230000007613 environmental effect Effects 0.000 abstract description 3
- 238000005516 engineering process Methods 0.000 description 2
- 239000012535 impurity Substances 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 241000196324 Embryophyta Species 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000007790 scraping Methods 0.000 description 1
- 239000013049 sediment Substances 0.000 description 1
- 238000007619 statistical method Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000002352 surface water Substances 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/10—Devices for withdrawing samples in the liquid or fluent state
- G01N1/14—Suction devices, e.g. pumps; Ejector devices
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/04—Systems determining presence of a target
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
- B63B2035/007—Unmanned surface vessels, e.g. remotely controlled autonomously operating
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- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- General Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Acoustics & Sound (AREA)
- Life Sciences & Earth Sciences (AREA)
- Computer Networks & Wireless Communication (AREA)
- Immunology (AREA)
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- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- Hydrology & Water Resources (AREA)
- Pathology (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
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- Sampling And Sample Adjustment (AREA)
Abstract
The invention provides an automatic sampling and anti-collision method with adjustable depth for an unmanned ship, and relates to the technical field of environmental monitoring. The depth-adjustable automatic sampling and anti-collision method for the unmanned ship comprises the following steps: s1, specifying a sampling point and sampling information through an unmanned ship control system; s2, moving the unmanned ship to a sampling point according to a specified path; s3, stopping the unmanned ship, driving an adjusting screw rod to rotate by a motor according to the set sampling information, and descending a rigid hose downwards along with the rotation of the adjusting screw rod until the rigid hose descends to a set height; and S4, the wireless ultrasonic sensor always works in the descending process of the rigid hose, when the ultrasonic wave emitted by the wireless ultrasonic sensor meets an obstacle, a reflected wave is formed, the sensor receives the reflected signal and feeds the reflected signal back to the controller, and the controller carries out obstacle avoidance operation. The method designed by the invention can enable the unmanned ship to freely adjust the sampling depth during underwater sampling, and can also automatically avoid obstacles in the sampling process so as to avoid equipment damage.
Description
Technical Field
The invention relates to the technical field of environmental monitoring, in particular to an unmanned marine depth-adjustable automatic sampling and anti-collision device.
Background
At the moment of informatization, people are continuously applying new technology to assist and even replace traditional water sample collection, and unmanned ships are equipped with automatic samplers, can enter rivers and lakes which are difficult to reach by manpower and water areas with potential danger, and are suitable for water quality sample collection in the surface water quality monitoring process under various conditions. By combining the technologies of statistical analysis, information fusion, configuration control, embedding, GPS positioning, ultrasonic ranging and the like, the unmanned ship can remotely realize the functions of autonomous navigation, sampling and launching and the like, meanwhile, the monitoring cost is saved, and the monitoring efficiency is improved.
At present, a fixing device sample is generally adopted to a traditional unmanned ship for environmental monitoring, its sampling pipe can not receive and release and adjust automatically, and the sampling depth is the fixed value, and easily receives the collision and the scraping of sediment such as submarine silt, weeds, is lived by the winding even, leads to the sample connection to damage.
Therefore, a novel depth-adjustable automatic sampling and collision avoidance device for the unmanned ship needs to be provided, the sampling depth is adjusted according to actual monitoring requirements, obstacle detection is achieved, signals are provided for evasive actions, and the sampling system device is more flexible and reliable.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides an automatic sampling and anti-collision device with adjustable depth for an unmanned ship, and solves the problems that the existing sampling device for the unmanned ship cannot be automatically retracted and adjusted and is easily damaged by collision of impurities on the seabed.
(II) technical scheme
In order to achieve the purpose, the invention is realized by the following technical scheme: an automatic sampling and anti-collision method with adjustable depth for unmanned ships comprises an automatic sampling and anti-collision device with adjustable depth, the depth-adjustable automatic sampling and anti-collision device consists of an induction, sampling and throwing device, the throwing device comprises a motor, an adjusting screw rod and a telescopic rod, the adjusting screw rod is fixedly connected with the output end of the motor, the upper end of the telescopic rod is fixedly connected with the hull, the sampling device comprises a water pump, a water taking and distributing device and a rigid hose, the water taking and distributing device is connected with the water outlet end of the water pump, one end of the rigid hose is connected with the water inlet of the water pump, the other end of the rigid hose is fixedly connected with the bottom end in the telescopic rod, the middle part pipe shaft of rigid hose twines in order on adjusting screw's pole body, induction system is wireless ultrasonic sensor, wireless ultrasonic sensor is fixed to be set up in the water inlet outer end of rigid hose.
Preferably, the bottom ends of the motor and the water pump are fixedly provided with mounting bases, and the motor and the water pump are fixed on the ship body through the mounting bases.
Preferably, the wireless ultrasonic sensor is positioned around the water inlet of the rigid hose, and the range of the distance measurement is 0-50 cm.
Preferably, the telescopic rod is a hollow cylindrical rod with gradually changed diameter, has a self-tightening function, and is made of multiple sections of cylindrical rods, each section of cylindrical rod is 30cm in length, and the underwater telescopic range is 0-100 cm.
Preferably, the water taking and distributing device comprises a sampling bottle, a water collecting tank and a water outlet pipeline, one end of the water outlet pipeline is connected with a water outlet of the water pump, a control gate valve is arranged at the mouth of the sampling bottle, the sampling bottle is connected with the water outlet pipeline through the control gate valve, and the other end of the water outlet pipeline is positioned at the top end of the water collecting tank.
Preferably, the rigid hose is of a hollow structure, and a mesh grid is arranged inside the water inlet end of the rigid hose.
Preferably, the depth-adjustable automatic sampling and collision avoidance method for the unmanned ship comprises the following steps:
s1, specifying a sampling point and sampling information through an unmanned ship control system;
s2, moving the unmanned ship to a sampling point according to a specified path;
s3, stopping the unmanned ship, then driving an adjusting screw rod to rotate by a motor according to the set sampling information, and enabling the rigid hose to descend downwards along with the rotation of the adjusting screw rod;
s3, the wireless ultrasonic sensor works in the descending process to detect the obstacle, when the obstacle is detected, the step S4 is carried out, and when the obstacle is not detected, the step S5 is carried out;
s4, the motor rotates reversely, the rigid hose is brought back to the original position, then the unmanned ship is started, the position is changed within a specified sampling point range, and then the step S3 is carried out;
s5, the motor works until the rigid hose descends to a designed position, and then sampling is started;
s6, opening the water pump for 10 seconds, cleaning the rigid hose, discharging cleaning water into a water collecting tank, and then opening a control gate valve of a bottle mouth of the sampling bottle for sampling;
and S7, after the water quality sample at one point is collected, starting a motor to enable an adjusting screw rod to rotate reversely, driving a rigid hose and a telescopic rod to return to the original position upwards, and then sampling for the next time until all sampling points are sampled.
(III) advantageous effects
The invention provides an automatic sampling and anti-collision method with adjustable depth for an unmanned ship. The method has the following beneficial effects:
1. the depth-adjustable automatic sampling and anti-collision method for the unmanned ship can realize free control and adjustment of sampling depth through the matched use of the rigid hose, the motor, the adjusting screw rod and the telescopic rod.
2. The depth-adjustable automatic sampling and anti-collision method for the unmanned ship uses the wireless ultrasonic sensor, and through the matching use of the device and the motor, when the wireless ultrasonic sensor detects an obstacle, the wireless ultrasonic sensor can respond to the controller, and then the controller controls the motor to work to avoid the obstacle, so that the sampling pipe is prevented from being collided and damaged by impurities on the seabed in the sampling process.
3. The depth-adjustable automatic sampling and anti-collision method for the unmanned ship, which is designed by the invention, has the advantages of simple operation, long service life and low maintenance and management cost.
Drawings
FIG. 1 is a flowchart of the operation of the proposed embodiment of the present invention;
FIG. 2 is a schematic view of the depth-adjustable automatic sampling and collision avoidance apparatus of the present invention;
FIG. 3 is a schematic view of the structural installation layout of the depth-adjustable automatic sampling and collision avoidance apparatus of the present invention;
fig. 4 is a schematic view of the intake grill and sensor of the present invention.
Wherein, 1, adjusting a screw rod; 2. a rigid hose; 3. a motor; 4. a telescopic rod; 5. mounting a base; 6. a wireless ultrasonic sensor; 7. a water pump; 8. a water taking and distributing device; 9. a sampling bottle; 10. a mesh grid; 11. a water collection tank; 12. a water outlet pipeline.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example (b):
as shown in figures 1-4, the embodiment of the invention provides an automatic sampling and anti-collision method with adjustable depth for unmanned ships, which comprises an automatic sampling and anti-collision device with adjustable depth, the device consists of an induction device, a sampling device and a feeding device, the feeding device comprises a motor 3, an adjusting screw rod 1 and a telescopic rod 4, the adjusting screw rod 1 is fixedly connected with the output end of the motor 3, threads on the adjusting screw rod 1 are uniformly distributed, a corresponding rigid hose on the adjusting screw rod 1 connected with the motor 3 for one rotation is extended or shortened by 15cm, the upper end of the telescopic rod 4 is fixedly connected with a ship body, the sampling device comprises a water pump 7, a water taking and distributing device 8 and a rigid hose 2, the water taking and distributing device 8 is connected with the water outlet end of the water pump 7, one end of the rigid hose 2 is connected with the water inlet of the water pump 7, the other end is fixedly connected with the inner bottom end of the telescopic rod, the induction system is a wireless ultrasonic sensor 6, and the wireless ultrasonic sensor 6 is fixedly arranged at the outer end of the water inlet of the rigid hose 2.
The bottom ends of the motor 3 and the water pump 7 are both fixedly provided with a mounting base 5, the motor 3 and the water pump 7 are both fixed on the ship body through the mounting base 5, the wireless ultrasonic sensor 6 is positioned around the water inlet of the rigid hose 2, the range of distance measurement is 0-50cm, the telescopic rod 4 is a hollow cylindrical rod with gradually changed diameter, has the self-tightening function, is made of a plurality of sections of cylindrical rods, the length of each section of cylindrical rod is 30cm, the underwater telescopic range is 0-100cm, the water taking device 8 comprises a sampling bottle 9 and a water collecting tank 11, the water outlet pipeline 12, the one end and the water pump 7 delivery port of water outlet pipeline 12 are connected, and the bottleneck of sampling bottle 9 is equipped with the control gate valve, and sampling bottle 9 is connected with water outlet pipeline 12 through the control gate valve, and the other end of water outlet pipeline 12 is located the top of water catch bowl 11, and rigid hose 2 is hollow structure, and the inside netted grid 10 that is equipped with of end of intaking of rigid hose 2.
An automatic sampling and anti-collision method with adjustable depth for unmanned ships comprises the following steps:
s1, specifying a sampling point and sampling information through an unmanned ship control system;
s2, moving the unmanned ship to a sampling point according to a specified path;
s3, stopping the unmanned ship, then driving the adjusting screw rod 1 to rotate by the motor 3 according to the set sampling information, and enabling the rigid hose 2 to descend downwards along with the rotation of the adjusting screw rod 1;
s4, working of the wireless ultrasonic sensor 6 in the descending process to detect the obstacles, and summarizing and detecting the obstacles in the descending process;
s5, the motor 3 rotates reversely, the rigid hose 2 is brought back to the original position, then the unmanned ship is started, and the position is changed within a specified sampling point range;
s5, the motor 3 works again to drive the rigid hose 2 to descend, and the wireless ultrasonic sensor 6 does not detect an obstacle in the descending process;
s6, the motor 3 works until the rigid hose 2 descends to a designed position, and then sampling is started;
s7, turning on a water pump 7 to work for 10 seconds, cleaning the rigid hose 2, discharging cleaning water into a water collecting tank 11, and then opening a control gate valve at the bottle mouth of a sampling bottle 9 to sample;
and S8, after the water quality sample of one point is collected, the motor 3 is started to enable the adjusting screw rod 1 to rotate reversely, the rigid hose 2 and the telescopic rod 4 are driven to return to the original position upwards, then sampling is carried out for the next time until all sampling points are sampled.
Example two:
an automatic sampling and anti-collision method with adjustable depth for unmanned ships comprises the following steps:
s1, specifying a sampling point and sampling information through an unmanned ship control system;
s2, moving the unmanned ship to a sampling point according to a specified path;
s3, stopping the unmanned ship, then driving the adjusting screw rod 1 to rotate by the motor 3 according to the set sampling information, and enabling the rigid hose 2 to descend downwards along with the rotation of the adjusting screw rod 1;
s4, operating the wireless ultrasonic sensor 6 in the descending process to detect the obstacle, wherein the obstacle is not detected in the descending process;
s5, the motor 3 works until the rigid hose 2 descends to a designed position, and then sampling is started;
s6, turning on a water pump 7 to work for 10 seconds, cleaning the rigid hose 2, discharging cleaning water into a water collecting tank 11, and then opening a control gate valve at the bottle mouth of a sampling bottle 9 to sample;
s7, after the water quality sample of one point is collected, the motor 3 is started to enable the adjusting screw rod 1 to rotate reversely, the rigid hose 2 and the telescopic rod 4 are driven to return to the original position upwards, then sampling is carried out for the next time until all sampling points are sampled
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (7)
1. The depth-adjustable automatic sampling and anti-collision method for the unmanned ship comprises a depth-adjustable automatic sampling and anti-collision device, and is characterized in that: the depth-adjustable automatic sampling and anti-collision device consists of an induction, sampling and throwing device, the throwing device comprises a motor (3), an adjusting screw rod (1) and a telescopic rod (4), the adjusting screw rod (1) is fixedly connected with the output end of the motor (3), the upper end of the telescopic rod (4) is fixedly connected with the hull, the sampling device comprises a water pump (7), a water taking and distributing device (8) and a rigid hose (2), the water taking and distributing device (8) is connected with the water outlet end of the water pump (7), one end of the rigid hose (2) is connected with the water inlet of the water pump (7), the other end is fixedly connected with the bottom end inside the telescopic rod (4), the middle part of the rigid hose (2) is orderly wound on the body of the adjusting screw rod (1), the induction system is characterized in that the induction device is a wireless ultrasonic sensor (6), and the wireless ultrasonic sensor (6) is fixedly arranged at the outer end of the water inlet of the rigid hose (2).
2. The unmanned marine depth-adjustable automatic sampling and collision avoidance method according to claim 1, characterized in that: the bottom of motor (3) and water pump (7) all is fixed and is provided with mounting base (5), motor (3) and water pump (7) all are fixed on the hull through mounting base (5).
3. The unmanned marine depth-adjustable automatic sampling and collision avoidance method according to claim 1, characterized in that: the wireless ultrasonic sensor (6) is positioned around the water inlet of the rigid hose (2) and has a ranging range of 0-50 cm.
4. The unmanned marine depth-adjustable automatic sampling and collision avoidance method according to claim 1, characterized in that: the telescopic rod (4) is a hollow cylindrical rod with gradually changed diameter, has a self-tightening function, and is made of a plurality of sections of cylindrical rods, wherein the length of each section of cylindrical rod is 30cm, and the underwater telescopic range is 0-100 cm.
5. The unmanned marine depth-adjustable automatic sampling and collision avoidance method according to claim 1, characterized in that: the water taking and distributing device (8) comprises a sampling bottle (9), a water collecting tank (11) and a water outlet pipeline (12), one end of the water outlet pipeline (12) is connected with a water outlet of the water pump (7), a control gate valve is arranged at the bottle opening of the sampling bottle (9), the sampling bottle (9) is connected with the water outlet pipeline (12) through the control gate valve, and the other end of the water outlet pipeline (12) is located at the top end of the water collecting tank (11).
6. The unmanned marine depth-adjustable automatic sampling and collision avoidance method according to claim 1, characterized in that: the rigid hose (2) is of a hollow structure, and a mesh grid (10) is arranged in the water inlet end of the rigid hose (2).
7. The unmanned marine depth-adjustable automatic sampling and collision avoidance method according to claim 1, characterized in that: the method comprises the following steps:
s1, specifying a sampling point and sampling information through an unmanned ship control system;
s2, moving the unmanned ship to a sampling point according to a specified path;
s3, stopping the unmanned ship, then driving the adjusting screw rod (1) to rotate according to the set sampling information motor (3), and enabling the rigid hose (2) to descend downwards along with the rotation of the adjusting screw rod (1);
s4, the wireless ultrasonic sensor (6) works in the descending process to detect the obstacle, when the obstacle is detected, the step S5 is carried out, and when the obstacle is not detected, the step S6 is carried out;
s5, the motor (3) rotates reversely, the rigid hose (2) is brought back to the original position, then the unmanned ship is started, the position is changed within a specified sampling point range, and then the step S3 is carried out;
s6, the motor (3) works until the rigid hose (2) descends to a designed position, and then sampling is started;
s7, opening the water pump (7) for 10 seconds, cleaning the rigid hose (2), discharging cleaning water into the water collecting tank (11), and then opening a control gate valve of a bottle opening of the sampling bottle (9) for sampling;
s8, after the water quality sample at one point is collected, the motor (3) is started to enable the adjusting screw rod (1) to rotate reversely, the rigid hose (2) and the telescopic rod (4) are driven to return to the original position upwards, then sampling is carried out at the next sampling point, and the sampling is carried out at the next time until all the sampling points are completely sampled.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011161481.6A CN112596512A (en) | 2020-10-27 | 2020-10-27 | Depth-adjustable automatic sampling and anti-collision method for unmanned ship |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115308382A (en) * | 2022-10-09 | 2022-11-08 | 广东海吉机电设备股份有限公司 | Ship oily water detection device with oil content monitoring function |
| CN116985970A (en) * | 2023-09-26 | 2023-11-03 | 集美大学 | Ship collision prevention risk identification monitoring device and monitoring method thereof |
-
2020
- 2020-10-27 CN CN202011161481.6A patent/CN112596512A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115308382A (en) * | 2022-10-09 | 2022-11-08 | 广东海吉机电设备股份有限公司 | Ship oily water detection device with oil content monitoring function |
| CN115308382B (en) * | 2022-10-09 | 2022-12-20 | 广东海吉机电设备股份有限公司 | Ship oily water detection device with oil content monitoring function |
| CN116985970A (en) * | 2023-09-26 | 2023-11-03 | 集美大学 | Ship collision prevention risk identification monitoring device and monitoring method thereof |
| CN116985970B (en) * | 2023-09-26 | 2024-01-12 | 集美大学 | Ship collision prevention risk identification monitoring device and monitoring method thereof |
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