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CN107807685A - A kind of waters acid-base value adjusting and control instrument and its implementation - Google Patents

A kind of waters acid-base value adjusting and control instrument and its implementation Download PDF

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Publication number
CN107807685A
CN107807685A CN201711124974.0A CN201711124974A CN107807685A CN 107807685 A CN107807685 A CN 107807685A CN 201711124974 A CN201711124974 A CN 201711124974A CN 107807685 A CN107807685 A CN 107807685A
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CN
China
Prior art keywords
control
regulation
waters
acid
base value
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Pending
Application number
CN201711124974.0A
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Chinese (zh)
Inventor
刘柳君
代琪帆
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China University of Geosciences
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China University of Geosciences
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Priority to CN201711124974.0A priority Critical patent/CN107807685A/en
Publication of CN107807685A publication Critical patent/CN107807685A/en
Pending legal-status Critical Current

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    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D21/00Control of chemical or physico-chemical variables, e.g. pH value
    • G05D21/02Control of chemical or physico-chemical variables, e.g. pH value characterised by the use of electric means
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01NINVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N33/00Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
    • G01N33/18Water
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01NINVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N33/00Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
    • G01N33/18Water
    • G01N33/1813Specific cations in water, e.g. heavy metals

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  • Chemical & Material Sciences (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Analytical Chemistry (AREA)
  • Food Science & Technology (AREA)
  • Medicinal Chemistry (AREA)
  • Biochemistry (AREA)
  • General Health & Medical Sciences (AREA)
  • Immunology (AREA)
  • Pathology (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Non-Electrical Variables (AREA)

Abstract

The present invention relates to a kind of waters acid-base value adjusting and control instrument and its implementation, the waters acid-base value adjusting and control instrument includes numerical control module, monitoring regulation and control module, the monitoring regulation and control module can depart from adjusting and control instrument main body and carry out open shop scheduling, and the monitoring regulation and control module includes numerical control unit, regulation and control unit;The numerical control module is used to control the data of adjusting and control instrument to transmit and receive, it is additionally operable to the detection and regulation and control for controlling the monitoring regulation and control module to carry out waters acid-base value, the numerical control unit is used to control the data transmission of monitoring regulation and control module and received, and is additionally operable to the detection and regulation and control for controlling the regulation and control unit to carry out waters acid-base value;The regulation and control unit is used for the acid-base value for detecting and regulating and controlling waters.The present invention realizes the one automation of aquatic monitoring, prevention and regulation and control;It can monitor and regulate and control in real time;Monitoring regulation and control module in adjusting and control instrument can automatically move operation, it is simple in construction can scale.

Description

A kind of waters acid-base value adjusting and control instrument and its implementation
Technical field
The present invention relates to waters detection and control technique field, more particularly to a kind of instrument for detecting and regulating and controlling waters acid-base value Device and its implementation.
Background technology
With the continuous development of industry, global environment particularly water environmental problems are increasingly serious at present, such as industrial waste It is discharged into waters, water resource pollution getting worse, the health of the serious crisis mankind, therefore, the detection to water quality is aobvious with administering Obtain very necessary.
At present, in the prior art, monitoring, prevention and the processing of water quality are also without integral automation installation, monitoring system Generally require staff to be monitored at waters scene, waste of manpower;Complex designing, the cost of monitoring system are high, use the longevity Order short, and the data of water area monitoring are inaccurate.Therefore, for problem above, can be realized in real time it is necessory to develop one kind Monitoring and the instrument of regulation and control water quality, can realize and move freely operation.
The content of the invention
It is an object of the invention to provide a kind of monitoring in real time and the adjusting and control instrument of regulation and control waters acid-base value, can freely make Industry, it is simple in construction can scale.
To achieve the above object, present invention employs following technical scheme:A kind of waters acid-base value adjusting and control instrument, including numerical control Module, monitoring regulation and control module, the monitoring regulation and control module can depart from adjusting and control instrument main body and carry out open shop scheduling, the monitoring regulation and control mould Block includes numerical control unit, regulation and control unit, it is characterised in that:The numerical control module is used to control the data of adjusting and control instrument to transmit with connecing Receive, be additionally operable to the detection and regulation and control for controlling the monitoring regulation and control module to carry out waters acid-base value;The numerical control unit is used to control The data transmission of the monitoring regulation and control module and receive, be additionally operable to control the regulation and control unit carry out waters acid-base value detection and Regulation and control;The regulation and control unit is used for the acid-base value for detecting and regulating and controlling waters.
Further, the waters acid-base value adjusting and control instrument also includes power plant module and medicine storehouse, and the power plant module is tune Control instrument and the energy is provided, the medicine storehouse is used for the medicine for depositing regulation acid-base value.
Further, the numerical control module is additionally operable to control the power supplement of the monitoring regulation and control module, medicine supplement, made The combination of industry route and adjusting and control instrument main body and separate.
Further, the monitoring regulation and control module also includes power unit and alarm, and the power unit is the prison Survey regulation and control module and the energy is provided;It is described monitoring regulation and control module can not normal work when, the alarm automatic alarm, to regulation and control Instrument main body sends fault-signal.
Further, the medicine that acid-base value is raised and lowered by launching for the regulation and control unit carries out the soda acid in waters Degree.
Further, the regulation and control unit also includes medicine dispenser, pH meter, heavy metal detector and drug storage.
Further, the pH meter is used for the acid-base value for detecting and analyzing waters, and the heavy metal detector is used for Detection and the heavy metal in analysis waters.
Further, the medicine dispenser includes scalable agitating paddle and scalable shower nozzle.
Further, the waters acid-base value adjusting and control instrument can also be connected with terminal device, convenient monitoring in real time and tune Control.
The present invention is that another technical solution is used by solving above-mentioned technical problem:A kind of regulation and control waters acid-base value Method, regulated and controled using a kind of waters acid-base value adjusting and control instrument, the waters acid-base value adjusting and control instrument includes power plant module, numerical control mould Block, monitoring regulation and control module and medicine storehouse, the monitoring regulation and control module can depart from adjusting and control instrument main body and carry out open shop scheduling, the monitoring Regulating and controlling module includes power unit, numerical control unit, regulation and control unit and alarm, and the regulation and control unit includes medicine storehouse, medicine is thrown Put device, pH meter and heavy metal detector, it is characterised in that comprise the following steps:
Step 1:Regulation and control prepare:The waters acid-base value adjusting and control instrument is placed in waters bank, the power plant module is tune Control instrument and power is provided, the numerical control module control monitoring regulation and control module departs from adjusting and control instrument main body, and the power unit is institute State monitoring regulation and control module and power is provided, it is reached the waters specified by setting path and carry out acid-base value detection;
Step 2:Regulation and control start:Waters detection is carried out by the numerical control unit control regulation and control unit, by the soda acid Degree meter and the heavy metal detector extract water, carry out the detection of acid-base value and heavy metal respectively;
Step 3:Regulation and control analysis:Testing result based on the pH meter and the heavy metal detector, by the number Controlling unit controls the medicine dispenser to perform dispensing operation, and dispensing, which is deposited in the drug storage, is raised and lowered acid-base value Medicine, and control the species and dosage of medicine;
Step 4:Regulation and control are completed:After the completion of dispensing, the numerical control module produces subsequent instructions according to actual conditions, controls institute State pH meter and the heavy metal detector continues to detect, or the control monitoring regulation and control module presses new specified path Reach new waters again to be regulated and controled, or the control monitoring regulation and control module returns to adjusting and control instrument main body by specified path and terminates to adjust Control.
The beneficial effect that technical scheme provided by the invention is brought is:(1) the one of aquatic monitoring, prevention and regulation and control is realized Body automates;(2) monitoring in real time and regulation and control are realized;(3) monitoring modular in this adjusting and control instrument can automatically move operation, simple in construction Can scale.
Brief description of the drawings
Fig. 1 is the composition schematic diagram of acid-base value adjusting and control instrument in waters of the present invention;
Fig. 2 is the composition schematic diagram of present invention monitoring regulation and control module;
Fig. 3 is the composition schematic diagram of present invention regulation and control unit;
Fig. 4 is the structural representation of medicine dispenser of the present invention;
Fig. 5 is the method flow diagram of present invention regulation and control waters acid-base value.
Embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with accompanying drawing to embodiment party of the present invention Formula is further described.
As shown in figure 1, a kind of waters acid-base value adjusting and control instrument, including power plant module 1, numerical control module 2, monitoring regulation and control module 3 With medicine storehouse 4, wherein the monitoring regulation and control module 3, which can depart from adjusting and control instrument main body, carries out open shop scheduling, the power plant module 1 is tune Control instrument and the energy, such as electric energy etc. are provided;The numerical control module 2 is used for the transmission and reception for controlling the data of adjusting and control instrument, such as adjusts The data transfer between instrument main body and the monitoring regulation and control module 3 is controlled, while the monitoring regulation and control module 3 can also be controlled to carry out The detection and regulation and control of waters acid-base value, including power supplement, medicine supplement, set work route, and the combination of adjusting and control instrument main body With separation etc..For example, if the waters acid-base value that the numerical control module 2 judges now to monitor is in normal range (NR) without adjusting During control, the route that can set the monitoring regulation and control module 3 terminates to regulate and control to return to adjusting and control instrument main body, or the control monitoring is adjusted Control module 3 is moved to next waters scope by setting path and continues to detect and regulate and control, while ensures to regulate and control the monitoring The power supply of module 3 and supplement;If the waters acid-base value that the numerical control module 2 judges now to monitor is in non-normal range And when need to regulate and control, it can control the species and dosage of supplement medicine or medicine.The medicine storehouse 4 is used for the medicine for depositing regulation acid-base value Product.
The waters acid-base value adjusting and control instrument of the present invention can also be connected with other-end equipment 17, add artificial behaviour in real time Make, realize that long-range real-time monitoring and regulation and control, such as human intervention add species, dosage, addition time of medicine etc., the water Domain acid-base value adjusting and control instrument or the working time for monitoring die-filling piece 3, installation position, walking path etc..The waters acid Can be carried out data transmission between basicity adjusting and control instrument and the terminal device 17 by network 15, data can also deposit in third party with It is convenient to transfer whenever and wherever possible, such as memory 16.Such as the data of reception can be sent to computer by the numerical control module 2, warp After the analyzing and processing of computer, command adapted thereto is transmitted back to the monitoring regulation and control module 3 by the numerical control module 2 so that institute State monitoring regulation and control module 3 and perform corresponding operation.The terminal device 17 includes but is not limited to computer, notebook, flat board electricity Brain, smart mobile phone, intelligent television, intelligent game computer, intelligent wearable device;Wherein intelligent wearable device includes but is not limited to Intelligent watch, Intelligent bracelet, intelligent glasses, intelligence wear, intelligent clothing, intelligent shoe, intelligent accessories.
As shown in Fig. 2 the monitoring regulation and control module 3 includes power unit 5, numerical control unit 6, regulation and control unit 7 and alarm 8, the monitoring regulation and control module 3 is deposited in the storage compartment (Fig. 1 is not shown) of adjusting and control instrument main body when not in use, is when in use Adjusting and control instrument main body can be departed from and carry out open shop scheduling.The power unit 5 regulates and controls module 3 for the monitoring and provides the energy, such as Electric energy etc..The numerical control unit 6 is used to control the data transmission of the monitoring regulation and control module 3 and received, and the numerical control unit 6 is also The monitoring regulation and control module 3 can be controlled to carry out the detection and regulation and control of waters acid-base value;The numerical control unit 6 can be based on described The detection data for regulating and controlling unit 7 are controlled the regulation and control unit 7, the regulation and control unit 7 is performed corresponding operation, such as Launch medicine;The numerical control unit 6 can also transfer back to the detection data of the regulation and control unit 7 number of adjusting and control instrument main body Module 2 is controlled, command adapted thereto is transmitted back to the numerical control unit 6 after being analyzed and processed via adjusting and control instrument, and is realized single to the regulation and control The control of member 7.The detection data include but is not limited to positional information, the detection data in waters, and the detection data in waters include But it is not limited to acid-base value, heavy metal.
As shown in figure 3, the regulation and control unit 7 includes medicine dispenser 9, pH meter (PH meters) 10, heavy metal detector 11 and drug storage 12, the drug storage 12 is used for the medicine for depositing regulation pH value, if during the medicine deficiency of the drug storage 12, can Transferred from the medicine storehouse 4;The medicine dispenser 9 is used for the medicine that regulation acid-base value is launched into specified waters, described Medicine dispenser can include scalable agitating paddle 13 and scalable shower nozzle 14 (as shown in Figure 4), the scalable agitating paddle 13 The medicine in waters is invested in for stirring, the scalable shower nozzle 14 is used to launch medicine in waters;The PH meters 10 are used for Detection and the acid-base value in analysis waters;The heavy metal detector 11 is used for the heavy metal for detecting and analyzing waters.The PH meters 10 or described heavy metal detectors 11 first can be detected water extracting again, and the acid-base value detection in waters and heavy metal analysis can To carry out simultaneously, it can also separate and carry out.The regulation and control unit 7 is mainly by being raised and lowered the medicine of pH value corresponding to dispensing To adjust the pH value in waters, the medicine for raising pH value is alkaline matter, including but not limited to carbonate, nitrate, sulfate, phosphorus Hydrochlorate, such as sodium bicarbonate;The medicine for reducing pH value is acidic materials, including but not limited to hydrochloric acid, nitric acid, sulfuric acid, phosphoric acid.
The waters acid-base value adjusting and control instrument can be placed in waters bank, the convenient monitoring to water proximate;The monitoring is adjusted The water surface can be suspended in by controlling die-filling piece 3, and is moved by the path specified on the water surface and the acid-base value in waters is detected;Institute If state die-filling piece 3 of monitoring regulation and control can not normal work, such as be short of power, medicine deficiency, plant failure etc., the alarm 8 And alarm, fault-signal can be sent to adjusting and control instrument main body by numerical control unit 6, so that adjusting and control instrument main body makes corresponding instruction Reply fault-signal in time, such as being short of power, the power unit 5 can be adjusted;, can be from for medicine deficiency Medicine is extracted in the medicine storehouse 4 drug storage 12 such as to supplement.The monitoring regulates and controls die-filling piece 3 can also be according to prison Survey demand adds other monitoring unit, such as detecting the monitoring lists such as the salinity in waters, flow velocity, temperature, density, water level Member.
It is the waters acid-base value adjusting and control instrument using the present invention present invention also offers a kind of method of regulation and control waters acid-base value Regulated and controled, step is as follows:
Step 1:Regulation and control prepare:The waters acid-base value adjusting and control instrument is placed in waters bank, the power plant module 1 is tune Control instrument and power is provided, the numerical control module 2 controls the monitoring regulation and control module 3 to depart from adjusting and control instrument main body, the monitoring regulation and control mould Block 3 starts to move freely operation, and the power unit 5 regulates and controls module 3 for the monitoring and provides power, it is arrived by setting path Up to the region specified, the monitoring regulation and control can be suspended in the water surface for die-filling piece 3, and be moved by the path specified on the water surface to water The acid-base value in domain is detected;
Step 2:Regulation and control start:The regulation and control unit 7 is controlled to carry out waters detection, the soda acid by the numerical control unit 6 Degree meter 10 and the heavy metal detector 11 are detected water extracting respectively, can be by the numerical control unit 6 based on testing result Control the medicine dispenser 9 to perform and launch operation;Testing result can be also transmitted to adjusting and control instrument body via the numerical control unit 6 The numerical control module 2, after terminal device 17 (such as computer) Treatment Analysis being connected with adjusting and control instrument, then will accordingly refer to Order is transmitted back to the numerical control unit 6 by the numerical control module 2;
Step 3:Regulation and control analysis:Testing result based on the pH meter 10 and the heavy metal detector 11, via The numerical control unit 6 controls the medicine dispenser 9 to perform and launches operation, such as launches the liter deposited in the drug storage 12 Medicine that is high or reducing acid-base value, and control drug variety and dosage;
Step 4:Regulation and control are completed:After the completion of dispensing, the numerical control module 3 can produce subsequent instructions according to actual conditions, Being sent to the numerical control unit 6 controls the monitoring regulation and control module 3 to perform, such as controls the pH meter 10 and the huge sum of money Category detector 11 continues to detect, or the control monitoring regulation and control module 3 returns to adjusting and control instrument main body, or control by specified path The monitoring regulation and control module 3 reaches new waters by new specified path and detected again.
If in the course of the work it is described monitoring regulation and control die-filling piece 3 can not normal work, such as be short of power, medicine deficiency, Plant failure etc., the alarm 8 and alarm, fault-signal can be sent to adjusting and control instrument main body by the numerical control unit 6, with Just adjusting and control instrument main body makes corresponding instruction reply fault-signal in time.Such as being short of power, the power unit 5 is entered Row adjustment;For medicine deficiency, extraction medicine is supplemented etc. the drug storage 12 from the medicine storehouse 4.
Acid-base value adjusting and control instrument in waters provided by the invention realizes the one automation of aquatic monitoring, prevention and regulation and control;It is real Monitoring and regulation and control when real;Monitoring regulation and control module in this adjusting and control instrument can automatically move operation, it is simple in construction can scale.
In summary, only the present invention is described in detail for the above, but the protection model of the present invention should not be limited with this Enclose.In every case simple modifications, modification or the equivalent transformation done according to technical scheme, the right all fallen in the present invention are wanted Ask within protection domain.

Claims (10)

1. a kind of waters acid-base value adjusting and control instrument, including numerical control module, monitoring regulation and control module, the monitoring regulation and control module can depart from tune Control instrument main body and carry out open shop scheduling, the monitoring regulation and control module includes numerical control unit, regulation and control unit, it is characterised in that:The number Control module is used to control the data of adjusting and control instrument to transmit and receive, and is additionally operable to control the monitoring regulation and control module to carry out waters acid-base value Detection and regulation and control;The numerical control unit is used to control the data transmission of the monitoring regulation and control module and received, and is additionally operable to control The regulation and control unit carries out the detection and regulation and control of waters acid-base value;The regulation and control unit is used for the soda acid for detecting and regulating and controlling waters Degree.
2. acid-base value adjusting and control instrument in waters as claimed in claim 1, it is characterised in that:Also include power plant module and medicine storehouse, institute State power plant module and provide the energy for adjusting and control instrument, the medicine storehouse is used for the medicine for depositing regulation acid-base value.
3. acid-base value adjusting and control instrument in waters as claimed in claim 1, it is characterised in that:The numerical control module is additionally operable to described in control Monitoring regulates and controls the combination of the power supplement, medicine supplement, work route and adjusting and control instrument main body of module and separated.
4. acid-base value adjusting and control instrument in waters as claimed in claim 1, it is characterised in that:The monitoring regulation and control module also includes power Unit and alarm, the power unit provide the energy for the monitoring regulation and control module;The monitoring regulation and control module is can not be just Often during work, the alarm automatic alarm, fault-signal is sent to adjusting and control instrument main body.
5. acid-base value adjusting and control instrument in waters as claimed in claim 1, it is characterised in that:It is described regulation and control unit by launch rise or The medicine for reducing acid-base value carries out the acid-base value in waters.
6. acid-base value adjusting and control instrument in waters as claimed in claim 1, it is characterised in that:The regulation and control unit also includes medicine and launched Device, pH meter, heavy metal detector and drug storage.
7. acid-base value adjusting and control instrument in waters as claimed in claim 6, it is characterised in that:The pH meter is used to detect and analyze The acid-base value in waters, the heavy metal detector are used for the heavy metal for detecting and analyzing waters.
8. acid-base value adjusting and control instrument in waters as claimed in claim 6, it is characterised in that:The medicine dispenser includes scalable stir Mix oar and scalable shower nozzle.
9. acid-base value adjusting and control instrument in waters as claimed in claim 1, it is characterised in that:The waters acid-base value adjusting and control instrument can be with It is connected with terminal device, convenient monitoring in real time and regulation and control.
10. a kind of method of regulation and control waters acid-base value, is regulated and controled, the waters soda acid using a kind of waters acid-base value adjusting and control instrument Degree adjusting and control instrument includes power plant module, numerical control module, monitoring regulation and control module and medicine storehouse, and the monitoring regulation and control module can depart from regulation and control Instrument main body carries out open shop scheduling, and the monitoring regulation and control module includes power unit, numerical control unit, regulation and control unit and alarm, institute Stating regulation and control unit includes medicine storehouse, medicine dispenser, pH meter and heavy metal detector, it is characterised in that including following step Suddenly:
Step 1:Regulation and control prepare:The waters acid-base value adjusting and control instrument is placed in waters bank, the power plant module is adjusting and control instrument Power is provided, the numerical control module control monitoring regulation and control module departs from adjusting and control instrument main body, and the power unit is the prison Survey regulation and control module and power is provided, it is reached the waters specified by setting path and carry out acid-base value detection;
Step 2:Regulation and control start:Waters detection is carried out by the numerical control unit control regulation and control unit, by the pH meter Water is extracted with the heavy metal detector, carries out the detection of acid-base value and heavy metal respectively;
Step 3:Regulation and control analysis:Testing result based on the pH meter and the heavy metal detector, by the numerical control list Member controls the medicine dispenser to perform and launches operation, launches the medicine that acid-base value is raised and lowered deposited in the drug storage Product, and control the species and dosage of medicine;
Step 4:Regulation and control are completed:After the completion of dispensing, the numerical control module produces subsequent instructions according to actual conditions, controls the acid Alkalimeter and the heavy metal detector continue to detect, or the control monitoring regulation and control module is reached by new specified path New waters is regulated and controled again, or the control monitoring regulation and control module returns to adjusting and control instrument main body by specified path and terminates to regulate and control.
CN201711124974.0A 2017-11-14 2017-11-14 A kind of waters acid-base value adjusting and control instrument and its implementation Pending CN107807685A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201711124974.0A CN107807685A (en) 2017-11-14 2017-11-14 A kind of waters acid-base value adjusting and control instrument and its implementation

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201711124974.0A CN107807685A (en) 2017-11-14 2017-11-14 A kind of waters acid-base value adjusting and control instrument and its implementation

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CN107807685A true CN107807685A (en) 2018-03-16

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101592649A (en) * 2009-05-27 2009-12-02 深圳市华测检测技术股份有限公司 But a kind of remote-control self-navigation water quality sampling and analyzing device
CN101867869A (en) * 2010-06-01 2010-10-20 上海海洋大学 Water mobile robot network water area monitoring pre-warning system and realization method thereof
CN104391098A (en) * 2014-12-01 2015-03-04 成都蓝宇科维科技有限公司 DCS-based water quality monitoring equipment
CN105371896A (en) * 2015-11-30 2016-03-02 江苏大学 Cruising water quality multi-parameter remote monitoring system and method capable of self-learning locus navigation
CN206991539U (en) * 2017-08-04 2018-02-09 郑保宁 A kind of unmanned boat complex water areas intelligent monitor system
CN207676231U (en) * 2017-11-14 2018-07-31 中国地质大学(武汉) A kind of waters acid-base value adjusting and control instrument

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101592649A (en) * 2009-05-27 2009-12-02 深圳市华测检测技术股份有限公司 But a kind of remote-control self-navigation water quality sampling and analyzing device
CN101867869A (en) * 2010-06-01 2010-10-20 上海海洋大学 Water mobile robot network water area monitoring pre-warning system and realization method thereof
CN104391098A (en) * 2014-12-01 2015-03-04 成都蓝宇科维科技有限公司 DCS-based water quality monitoring equipment
CN105371896A (en) * 2015-11-30 2016-03-02 江苏大学 Cruising water quality multi-parameter remote monitoring system and method capable of self-learning locus navigation
CN206991539U (en) * 2017-08-04 2018-02-09 郑保宁 A kind of unmanned boat complex water areas intelligent monitor system
CN207676231U (en) * 2017-11-14 2018-07-31 中国地质大学(武汉) A kind of waters acid-base value adjusting and control instrument

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