CN109855565A - Testing equipment and testing components - Google Patents
Testing equipment and testing components Download PDFInfo
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- CN109855565A CN109855565A CN201910231552.6A CN201910231552A CN109855565A CN 109855565 A CN109855565 A CN 109855565A CN 201910231552 A CN201910231552 A CN 201910231552A CN 109855565 A CN109855565 A CN 109855565A
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Abstract
本发明提供了一种检测设备及检测组件，属于图像采集领域，包括架体、清淤机构和检测机构，检测机构包括壳体、图像采集组件和透明介质，壳体包括一个密闭的腔室，腔室被透明介质充满，图像采集组件安装于壳体，且图像采集组件位于腔室内，壳体安装于架体，清淤机构安装于架体。本发明提供的检测设备，在壳体的腔室内充满透明介质，利用透明介质将图像采集组件包裹，能够让图像采集组件具有足够大的视野，且能够拍出较为清晰的图片，利用清淤机构清除池底的淤泥，可以进一步的提升拍摄视野，从而采集池底底板表面特征的数据，解决了浑水中拍摄图像的清晰度与拍摄视野大小的矛盾，以及采集图像效率低下的问题。
The invention provides a detection device and a detection component, which belong to the field of image acquisition, including a frame body, a dredging mechanism and a detection mechanism. The detection mechanism includes a casing, an image acquisition component and a transparent medium, and the casing includes a closed chamber. The chamber is filled with the transparent medium, the image acquisition component is installed in the housing, and the image acquisition component is located in the chamber, the housing is installed on the frame body, and the dredging mechanism is installed on the frame body. In the detection device provided by the present invention, the chamber of the casing is filled with a transparent medium, and the image acquisition component is wrapped by the transparent medium, so that the image acquisition component has a large enough field of view, and can take relatively clear pictures, and the dredging mechanism is used. Clearing the silt at the bottom of the pool can further improve the shooting field of view, thereby collecting data on the surface characteristics of the bottom floor of the pool, solving the contradiction between the clarity of the image taken in the muddy water and the size of the shooting field of view, and the problem of low image collection efficiency.
Description
Technical field
The present invention relates to Image Acquisition fields, in particular to a kind of detection device and detection components.
Background technique
Shooting clear is wanted in muddy water, needs camera lens close from reference object, and which results in the narrow of the shooting visual field.
Inventor has found that existing filming apparatus at least has the disadvantage in that existing filming apparatus muddy under study for action
Clarity and the shooting visual field that image is shot in water are conflicting, that is, when shooting relatively clear, the shooting visual field is bad, and shoots
When the visual field is preferable, shooting image is more fuzzy.
Summary of the invention
The embodiment of the present invention is designed to provide a kind of detection device, is clapped in muddy water with improving existing filming apparatus
Take the photograph ineffective problem.
The embodiment of the present invention is achieved in that
Based on above-mentioned purpose, the embodiment provides a kind of detection devices, including frame body, dredging mechanism and inspection
Mechanism is surveyed, the testing agency includes shell, image collection assembly and transparent medium, and the shell includes a closed chamber
Room, the chamber are full of by the transparent medium, and described image acquisition component is installed on the shell, and described image acquisition group
Part is located in the chamber, and the shell is installed on the frame body, and the dredging mechanism is installed on the frame body.
Detection device provided by the invention is full of transparent medium in the chamber of shell, is adopted image using transparent medium
Collect component package, can allow image collection assembly that there is the sufficiently large visual field, and relatively clear picture can be taken, using clear
Silt mechanism removes the mud of bottom of pond, can further promote the shooting visual field, so that the data of bottom of pond backplate surface feature are acquired,
Solves the contradiction of the clarity that image is shot in muddy water and shooting visual field size, and the problem of acquisition image inefficiency.
In an embodiment of the present embodiment: the transparent medium is gas or liquid.
When transparent medium is the gases such as air, nitrogen, the buoyancy of testing agency can be increased, when transparent medium is clear water
When equal liquid, the weight of testing agency can be mitigated, when transparent medium transparency liquid biggish for density, detection can be increased
The weight of mechanism, the state and type of transparent medium, which can according to need, to be selected, and using transparent medium, can effectively be increased
Add visual range of the image collection assembly in muddy water.
In an embodiment of the present embodiment: the testing agency further includes laser detector, the laser detection
Device is located in the chamber, and the laser detector is slidably connected with the shell, and the laser detector can be along the shell
The length direction of body is slided relative to the shell.
It is scanned using bottom plate of the laser detector to silt bottom of pond portion, laser detector is in the mistake mobile relative to shell
Dynamic realtime scanning can be formed in journey to bottom plate, so that the data allowed are more accurate clear.
In an embodiment of the present embodiment: being provided with lead screw on the shell, the axial line of the lead screw is along institute
The length direction for stating shell extends, and is provided with tapped through hole on the laser detector, the tapped through hole is bolted in the silk
Thick stick.
Laser detector is driven using lead screw, it is mobile that laser detector can be driven, simultaneously as lead screw precision is higher,
It therefore also can be that the data that laser detector obtains are more accurate, since chamber is sealing, lead screw will not go out substantially
The case where now getting rusty enables lead screw have longer service life.
In an embodiment of the present embodiment: the detection device further includes elevating mechanism, the elevating mechanism peace
Loaded on the frame body, the shell is connect by the elevating mechanism with the frame body, and the elevating mechanism is able to drive described
Shell generates displacement relative to the frame body along the short transverse of the shell.
When acquiring image, frame body is placed on the bottom plate in silt pond first, detection machine is then driven by elevating mechanism
Structure is up and down, when testing agency is apart from bottom plate certain distance, can open dredging mechanism and carry out mud cleaning, on bottom plate
Mud be cleaned substantially after, can control elevating mechanism drive testing agency drop to bottom plate surface carry out image adopt
Collection.
In an embodiment of the present embodiment: the elevating mechanism includes push-rod electric machine and fixed frame, the push rod
Motor is installed on the frame body, and the fixed frame is installed on the output end of the push-rod electric machine, the fixed frame and the shell
It is fixedly connected, and the fixed frame is slidably connected with the frame body, the fixed frame is able to drive described with frame body sliding
Shell generates displacement relative to the frame body along its short transverse.
Testing agency can be fixed using fixed frame, drive testing agency to move up and down by push-rod electric machine, examining
During survey mechanism moves up and down, laser detector moves back and forth in shell can carry out surface sweeping to bottom plate, establish three-dimensional
Point cloud chart picture, the length and width of quantization backplate surface feature and high data.
In an embodiment of the present embodiment: being provided with more guide rods, the axis of the guide rod on the frame body
Heart line is parallel with the short transverse of the shell, the more guide rod being provided at circumferentially spaced along the shell, the fixation
Multiple pilot holes are provided on frame, the more guide rods are connected in respectively in multiple pilot holes.
Fixed frame can be allowed more steady when moving using guide rod, meanwhile, more guide rods cooperate to solid
The case where frame forms limitation, fixed frame can be allowed to avoid the occurrence of inclination when moving is determined, to guarantee the figure of testing agency's acquisition
The accuracy of picture.
In an embodiment of the present embodiment: being provided with installation frame on the frame body, the installation frame is located at
The middle part of the frame body, the push-rod electric machine are installed on the installation frame, and one end of the guide rod is installed on the peace
Frame up frame, and the other end of the guide rod is connect with the frame body.
Installation frame enables push-rod electric machine be located at the middle position of frame body, the distance that the output shaft of push-rod electric machine can be made to stretch out
Be controlled in shorter distance, in this way can to avoid output shaft stretch out it is too long caused by push-rod electric machine meet it is too high, meanwhile,
For push-rod electric machine when shrinking, shell will not exceed frame body on a large scale, so that shell be avoided to be damaged.
In an embodiment of the present embodiment: the dredging mechanism includes water pump, pipeline and multiple spray heads, the water
Pump is installed on the frame body, and the pipeline is installed on the frame body, the output end of the water pump and the pipeline connection, Duo Gesuo
It states spray head and is respectively arranged in the pipeline, and the multiple spray head being provided at circumferentially spaced around the shell.
Pump working can allow clear water to spray out of multiple spray heads, will test the mud below mechanism and wash out.
Based on above-mentioned purpose, the present invention also provides a kind of detection components, including detection device as described above.
Detection components provided by the invention include above-mentioned detection device, image can be shot in muddy water with effective solution
Clarity and shooting visual field size contradiction, underwater picture collecting efficiency with higher.
Detailed description of the invention
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Required practical attached drawing is briefly described in embodiment or description of the prior art, it should be apparent that, it is described below attached
Figure is some embodiments of the present invention, for those of ordinary skill in the art, in the premise not made the creative labor
Under, it is also possible to obtain other drawings based on these drawings.
Fig. 1 shows the schematic diagram of the detection device of the offer of the embodiment of the present invention 1；
Fig. 2 shows the schematic diagrames for the testing agency that the embodiment of the present invention 1 provides；
Fig. 3 shows cross-sectional view of the testing agency at the first visual angle of the offer of the embodiment of the present invention 1；
Fig. 4 shows cross-sectional view of the testing agency at the second visual angle of the offer of the embodiment of the present invention 1；
Fig. 5 shows the schematic diagram of the frame body of the offer of the embodiment of the present invention 1；
Fig. 6 shows the schematic diagram of the elevating mechanism of the offer of the embodiment of the present invention 1；
Fig. 7 shows the schematic diagram of the dredging mechanism of the offer of the embodiment of the present invention 1.
In figure: 101- dredging mechanism；102- frame body；103- testing agency；104- elevating mechanism；105- shell；106- figure
As acquisition component；107- laser detector；108- lead screw；109- chamber；110- transparent medium；111- pedestal；112- crossbeam；
113- vertical beam；114- mounting bar；115- guide rod；116- push-rod electric machine；117- fixed frame；118- connecting plate；119- water pump；
120- connecting tube；121- ring pipe；122- spray head.
Specific embodiment
The present invention is described in further detail below through specific implementation examples and in conjunction with the accompanying drawings.
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, above in conjunction in the embodiment of the present invention
Attached drawing, technical solution in the embodiment of the present invention clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.The present invention being usually described and illustrated herein in the accompanying drawings is implemented
The component of example can be arranged and be designed with a variety of different configurations.
Therefore, the above detailed description to the embodiment of the present invention provided in the accompanying drawings is not intended to limit claimed
The scope of the present invention, but be merely representative of selected embodiment of the invention.Based on the embodiments of the present invention, this field is common
Technical staff's every other embodiment obtained without creative efforts belongs to the model that the present invention protects
It encloses.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.
In the description of the present invention, it is to be understood that, indicating position or the term of positional relationship are based on shown in attached drawing
Orientation or positional relationship, be merely for convenience of description of the present invention and simplification of the description, rather than the equipment of indication or suggestion meaning
Or element must have a particular orientation, be constructed and operated in a specific orientation, therefore be not considered as limiting the invention.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, or integral；It can be mechanical connection, be also possible to be electrically connected；
It can be directly connected, the connection inside two elements or two elements can also be can be indirectly connected through an intermediary
Interaction relationship.For the ordinary skill in the art, above-mentioned term can be understood at this as the case may be
Concrete meaning in invention.
In the present invention unless specifically defined or limited otherwise, fisrt feature can be on or below second feature
Directly contacted including the first and second features, also may include the first and second features be not direct contact but by them it
Between other characterisation contact.Moreover, fisrt feature is on second feature, top and above include fisrt feature second spy
Right above sign and oblique upper, or first feature horizontal height is merely representative of higher than second feature.Fisrt feature second feature it
Under, lower section and fisrt feature included below be directly below and diagonally below the second feature, or be merely representative of first feature horizontal height
Less than second feature.
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the present invention can phase
Mutually combination.
Embodiment 1
Referring to Figure 1 to Figure 7, the embodiment of the present embodiment provides a kind of detection device, including frame body 102, dredging mechanism
101, testing agency 103 and elevating mechanism 104, testing agency 103 include shell 105, image collection assembly 106 and transparent medium
110, shell 105 includes a closed chamber 109, and chamber 109 is full of by transparent medium 110, and image collection assembly 106 is installed
In shell 105, and image collection assembly 106 is located in chamber 109, and shell 105 is installed on frame body 102, and dredging mechanism 101 is installed
In frame body 102, elevating mechanism 104 is installed on frame body 102, and shell 105 is connect by elevating mechanism 104 with frame body 102, elevator
Structure 104 is able to drive shell 105 and generates displacement relative to frame body 102 along the short transverse of shell 105.
Detection device provided in this embodiment is full of transparent medium 110 in the chamber 109 of shell 105, utilizes transparent Jie
Matter 110 wraps up image collection assembly 106, can allow image collection assembly 106 have the sufficiently large visual field, and can take compared with
For clearly picture, the mud of bottom of pond is removed using dredging mechanism 101, the shooting visual field can be further promoted, to acquire
The data of bottom of pond backplate surface feature solve the contradiction of the clarity that image is shot in muddy water and shooting visual field size, and
The problem of acquiring image inefficiency.
In the present embodiment, image collection assembly 106 may include high definition camera and light compensating lamp, using high definition camera to silt
The bottom plate in pond is shot, and light compensating lamp can increase the underwater visibility of high definition camera.
Transparent medium 110 can be gas or liquid.When transparent medium 110 is the gases such as air, nitrogen, Ke Yizeng
The buoyancy of big testing agency 103 can mitigate the weight of testing agency 103 when transparent medium 110 is the liquid such as clear water, when
When transparent medium 110 is density biggish transparency liquid, the weight of testing agency 103, the state of transparent medium 110 can be increased
It can according to need and selected with type, using transparent medium 110, can effectively increase image collection assembly 106 muddy
Visual range in water.
Refering to Fig. 2 to Fig. 4, testing agency 103 further includes laser detector 107, and laser detector 107 is located at chamber 109
Interior, laser detector 107 is slidably connected with shell 105, laser detector 107 can along shell 105 length direction relative to
Shell 105 slides.It is scanned using the bottom plate of 107 pairs of silt bottom of pond portion of laser detector, laser detector 107 is relative to shell
Dynamic realtime scanning can be formed during body 105 is mobile to bottom plate, so that the data allowed are more accurate clear.
Lead screw 108 is provided on shell 105, the axial line of lead screw 108 extends along the length direction of shell 105, laser inspection
It surveys on device 107 and is provided with tapped through hole, tapped through hole is bolted in lead screw 108.Laser detector 107 is driven using lead screw 108, it can
It simultaneously as 108 precision of lead screw is higher, therefore also can be that laser detector 107 obtains to drive laser detector 107 mobile
Data it is more accurate, due to chamber 109 be sealing, lead screw 108 is not in the case where getting rusty, to enable lead screw substantially
108 have longer service life.Certainly, lead screw 108 is one of the present embodiment embodiment, in specific installation and in fact
Shi Shi, in order to which the movement to laser detector 107 can be controlled, lead screw 108 can also be by push rod or hydraulic cylinder
Etc. structures replace.
When acquiring image, frame body 102 is placed on the bottom plate in silt pond first, is then driven by elevating mechanism 104
Testing agency 103 is up and down, when testing agency 103 is apart from bottom plate certain distance, can open dredging mechanism 101 and become silted up
Mud cleaning after the mud on bottom plate is cleaned substantially, can control elevating mechanism 104 and testing agency 103 driven to decline
Image Acquisition is carried out to the surface of bottom plate.
Refering to Fig. 6, in an embodiment of the present embodiment, elevating mechanism 104 includes push-rod electric machine 116 and fixed frame
117, push-rod electric machine 116 is installed on frame body 102, and fixed frame 117 is installed on the output end of push-rod electric machine 116, fixed frame 117 and shell
Body 105 is fixedly connected, and fixed frame 117 is slidably connected with frame body 102, and fixed frame 117 and the sliding of frame body 102 are able to drive shell
105 generate displacement relative to frame body 102 along its short transverse.Testing agency 103 can be fixed using fixed frame 117,
Testing agency 103 is driven to move up and down by push-rod electric machine 116, during testing agency 103 moves up and down, laser detector
107 move back and forth in shell 105 and can carry out surface sweeping to bottom plate, establish three-dimensional point cloud image, quantization backplate surface feature
Length and width and high data.
More guide rods 115 are provided on frame body 102, the axial line of guide rod 115 and the short transverse of shell 105 are flat
Row, more being provided at circumferentially spaced along shell 105 of guide rod 115 are provided with multiple pilot holes, more guiding on fixed frame 117
Bar 115 is connected in respectively in multiple pilot holes.Fixed frame 117 can be allowed more steady when moving using guide rod 115, together
When, more guide rods 115 cooperate to form fixed frame 117 and limit, and fixed frame 117 can be allowed to avoid the occurrence of when moving and inclined
Oblique situation, to guarantee the accuracy for the image that testing agency 103 acquires.
Refering to Fig. 5, wherein fixed frame 117 can be to be made of four stripe boards, and four stripe boards are end to end to surround one
A rectangle, fixed frame 117 can be to be manufactured using integral molding techniques, can also be carried out manufacture to four stripe boards respectively and be added
Work, four stripe boards are connect with shell 105 respectively, can be using bolt or nail etc., in the present embodiment, can be allowed solid
The width for determining frame 117 is slightly larger than the width of shell 105, can be convenient installation guide rod 115 and push-rod electric machine 116 in this way.
In the present embodiment, guide rod 115 can be set to four, the connection of adjacent stripe board is arranged in pilot hole
Place, four guide rods 115 are respectively clamped into four pilot holes, the diameter of pilot hole should it is equal with the diameter of guide rod 115 or
Person is slightly larger than the diameter of guide rod 115, can shake during rising or decline to avoid shell 105 in this way.
In order to guarantee balance of the shell 105 in rising or decline, push-rod electric machine 116 can be set to two, two
A push-rod electric machine 116 is located at the two sides of shell 105, meanwhile, two push-rod electric machines 116 should operate synchronously, and just can guarantee
Shell 105 is not in inclination in rising or decline, and push-rod electric machine 116 during installation, can allow its outbound course direction
The top of frame body 102 is arranged, and can reduce the load of push-rod electric machine 116 in this way.
In order to increase the structural strength of fixed frame 117, while push-rod electric machine 116 being allowed to install more convenient, Ke Yi
Increasing a connecting plate 118 in four stripe boards, connecting plate 118 is arranged along the width direction of shell 105, and connecting plate 118
Length is greater than the width of fixed frame 117, and the both ends of connecting plate 118 is enabled to stretch out the range of fixed frame 117, two push-rod electric machines
116 output end can be the part for stretching out 117 range of fixed frame with connecting rod respectively and connect.
Installation frame is provided on frame body 102, installation frame is located at the middle part of frame body 102, and push-rod electric machine 116 is installed on
It frames up on frame, one end of guide rod 115 is installed on installation frame, and the other end of guide rod 115 is connect with frame body 102.Installing frame
Frame enables push-rod electric machine 116 be located at the middle position of frame body 102, and the distance that the output shaft of push-rod electric machine 116 can be made to stretch out is controlled
System in shorter distance, in this way can to avoid output shaft stretch out it is too long caused by push-rod electric machine 116 meet it is too high, meanwhile,
For push-rod electric machine 116 when shrinking, shell 105 will not exceed frame body 102 on a large scale, so that shell 105 be avoided to be damaged.
Frame body 102 forms an octahedron by 12 foundation framves 111, in addition there is four vertical beams 113 and two crossbeams 112,
Two crossbeams 112 are arranged along the width direction of shell 105, and are mounted on the top of frame body 102, and it is two that four vertical beams 113, which are divided to,
Group, two groups of vertical beams 113 are connect with two crossbeams 112 respectively, and two in every group piece vertical beam 113 is respectively arranged in the two of crossbeam 112
End can protect dredging mechanism 101 by the cavity that the edge of vertical beam 113 and crossbeam 112 and frame body 102 is encircled a city.
Installing frame can be made of four mounting bars 114, and two mounting bars 114 are arranged in parallel with crossbeam 112, two installations
Item 114 along shell 105 length direction be arranged, the both ends of the mounting bar 114 parallel with crossbeam 112 respectively with two vertical beams 113
Connection, two mounting bars 114 are connect with two groups of vertical beams 113 respectively, and mounting bar 114 can be mounted to the interposition of vertical beam 113
It sets, the both ends along the mounting bar 114 of 105 length direction of shell setting are connect with other two mounting bars 114 respectively, push-rod electric machine
116 may be mounted on mounting bar 114, can shorten the operating distance of push-rod electric machine 116 in this way, thus to push-rod electric machine 116
Protection is formed, the both ends of guide rod 115 are fixedly connected with crossbeam 112 and mounting bar 114 respectively.
In the present embodiment, the width of shell 105 can be the width less than frame body 102, and the length of shell 05 is also small
In the length of frame body 102.
Refering to Fig. 7, dredging mechanism 101 includes water pump 119, pipeline and multiple spray heads 122, and water pump 119 is installed on frame body
102, pipeline is installed on frame body 102, the output end and pipeline connection of water pump 119, and multiple spray heads 122 are respectively arranged in pipeline, and
Multiple being provided at circumferentially spaced around shell 105 of spray head 122.The work of water pump 119 can allow clear water to spray out of multiple spray heads 122,
The mud that will test 103 lower section of mechanism washes out.
Wherein, pipeline may include connecting tube 120 and ring pipe 121, the both ends of connecting tube 120 respectively with water pump 119 and
Ring pipe 121 connects, and ring pipe 121 wraps shell 105, and spray head 122 is arranged along annular central spacer, and the spray of spray head 122
The short transverse that direction is penetrated along shell 105 is downward, since the length and width of shell 105 is respectively less than frame body 102, by ring pipe
After 121 tunnels are wrapped in outside shell 105, protection can be formed to ring pipe 121 by pedestal 111.
Detection device provided in this embodiment works in this way:
Testing agency 103 to the top of frame body 102 is pushed by push-rod electric machine 116 first, frame body 102 is then placed into silt
On bottom plate in pond；
Light compensating lamp is opened, dredging mechanism 101 works, and clear water is rinsed bottom plate after spraying out of spray head 122, will test
The mud of 103 lower section of mechanism washes out；
Push-rod electric machine 116 works, and drives testing agency 103 mobile towards bottom plate, at the same laser detector 107 can within
Move back and forth and be scanned, obtain the length three dimensional point cloud of the surface characteristics of bottom plate, until shell 105 bottom with
Contacts baseplate；
It is taken pictures using high definition camera to bottom plate.
Detection device provided in this embodiment combines elevating mechanism 104, testing agency 103, dredging mechanism 101, real
Show bottom plate dredging, Image Acquisition, the synchronous progress of surface characteristics quantization, substantially increases the effect of long-pending silt bottom of pond backplate surface detection
Rate；Transparent medium 110 is increased between high definition camera, laser detector 107 and shooting medium under water, reduces interference light
The particle of propagation increases camera in the visibility of muddy underwater environment, increases the visual range of high definition camera shooting；It is transparent
Medium 110, the case where according to using, can diversification use clear water, air, transparent colloid etc. with balance, mitigation, increases inspection
Weight when mechanism 103 uses in water is surveyed, the versatility and environmental suitability of detection device are increased；Shell 105 is according to making
It can be rigid with situation, for rigid convenient for operating with, flexible material can make can be close with subject
Fitting, so that almost zero interference, form can be rectangular, cylindrical, ball under water for underwater high definition camera and laser detector 107
Shape etc. increases the use reliability and environmental suitability of testing agency 103.
The present embodiment additionally provides a kind of detection components, including detection device as above.
Detection components provided in this embodiment include above-mentioned detection device, can with effective solution in muddy water shooting figure
The clarity of picture and the contradiction of shooting visual field size, underwater picture collecting efficiency with higher.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
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| CN111294492A (en) * | 2020-02-13 | 2020-06-16 | 山东大学 | Auxiliary device for underwater shooting and shooting system |
| CN113125462A (en) * | 2021-04-21 | 2021-07-16 | 山东大学 | Intelligent detection device and method for underwater dredging of hydraulic structure |
| CN113203370A (en) * | 2021-06-11 | 2021-08-03 | 成都瑞拓科技股份有限公司 | Wet pearl eccentricity check out test set |
| CN114353626A (en) * | 2021-05-26 | 2022-04-15 | 清华四川能源互联网研究院 | Underwater deposition thickness detection device |
| CN118465208A (en) * | 2024-05-09 | 2024-08-09 | 中国长江三峡集团有限公司 | A detection device for river siltation |
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