CN201007741Y - Portable Multibeam Echo Sounder - Google Patents
Portable Multibeam Echo Sounder Download PDFInfo
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- CN201007741Y CN201007741Y CNU200620166963XU CN200620166963U CN201007741Y CN 201007741 Y CN201007741 Y CN 201007741Y CN U200620166963X U CNU200620166963X U CN U200620166963XU CN 200620166963 U CN200620166963 U CN 200620166963U CN 201007741 Y CN201007741 Y CN 201007741Y
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Abstract
本实用新型涉及一种便携式多波束测深仪，它包括水上控制处理分机、收发合置换能器阵和收发转换电路；其中，水上控制处理分机主要由工控机、可编程信号源、信号发射系统、信号调理系统、信号采集与处理系统、显示器和海量存储器组成。本实用新型它利用多通道换能器阵和预成多波束技术，一次测量可以得到多点的水深数据，从而快速、准确的获得海底地形、地貌等信息，提高了测量的准确性和工作效率，换能器基阵采用船舷悬挂的方式从而具有便于安装和使用的便携式特性。本实用新型可广泛用于浅海和内陆湖泊江河的水下地形测量，适用于海洋工程、海道测量、海洋资源调查、打捞救生、港口建设、水库测量、抗洪抢险以及知道河道疏浚、水上安全航行等。
The utility model relates to a portable multi-beam depth sounder, which includes a water control processing extension, a transceiver array and a transceiver conversion circuit; wherein, the water control processing extension is mainly composed of an industrial computer, a programmable signal source, and a signal transmission system. , signal conditioning system, signal acquisition and processing system, display and mass storage. The utility model utilizes the multi-channel transducer array and pre-formed multi-beam technology to obtain multi-point water depth data in one measurement, thereby quickly and accurately obtaining information such as seabed topography and landform, and improving measurement accuracy and work efficiency , The transducer matrix adopts the way of hanging on the side of the ship, so it has the characteristics of portability that is easy to install and use. The utility model can be widely used in underwater topographic survey of shallow seas and inland lakes and rivers, and is suitable for marine engineering, hydrographic survey, survey of marine resources, salvage and lifesaving, port construction, reservoir survey, flood fighting and emergency rescue, river dredging, and safe navigation on water wait.
Description
(1) technical field
The utility model relates to field of detecting, and what be specifically related to is a kind of multibeam echosounder.
(2) background technology
Along with development in science and technology, the activity of human beings space has reached each corner in the world basically.Because the area on the earth more than 70% is all covered by water body, comprising ocean, rivers and lakes and reservoir etc., therefore a lot of science and engineering field all relate to the measurement to underwater topography, for example underwater construction, port construction, water course survey etc.
Just begin to develop the underwater topography detecting devices mid-term from eighties of last century abroad, alternate through the development of decades, from the single beam sounder of beginning, multibeam echosounder finally, the product that has formed seriation is to satisfy user's different demands.And at home, the data that can find at present, patent and product about the underwater topography detecting devices, what relate to substantially all is single beam sounder (single-frequency or double frequency).The appearance of the sounder that this prototype is born in eighties of last century fifties once brings great convenience for human development and use ocean and rivers and lakes, but in today, their defective has limited the frequent day by day water thing activity of Chinese society greatly.
The principle of work of single beam sounder is: emission detection ultrasound wave under surveying vessel sounds the depth of the water by measuring the mistiming of launching and receiving between the sound wave.The essential defect of single beam sounder is, can only provide the depth of water under the surveying vessel at every turn, can only realize that therefore " point-line " measure, and efficient is very low when large tracts of land is measured.In addition, for fear of the longitudinal and transverse influence of shaking of surveying vessel, the single beam sounder requires the wave beam (usually about ± 10 °) than broad, and this also causes measuring accuracy lower.Since the limit decision of above-mentioned this two aspect the single beam sounder be not suitable for current various water thing activity active demand.
The multibeam echosounding theory is that the eighties of last century early eighties proposes, and it measures traditional " point-line ", expands to " line-face ", thereby has greatly improved efficiency of measurement.Because multibeam echosounder adopted the preformation multibeam technique, so field angle relative narrower all, add advanced method, the measuring accuracy that can improve greatly newly handled well.
Because the bathymetric surveying technology of China and the development of equipment lag behind western countries greatly, the therefore present domestic multi-beam measuring equipment that is suitable for is mainly based on the external underwater topography detecting devices of import, yet these equipment price costlinesses, and mounting, commissioning and maintenance etc. has inconvenience more, and all objective facts have clearly show the tight demand of China to the low-cost underwater topography detecting devices being convenient to install, use.
(3) summary of the invention
The purpose of this utility model is to provide a kind of and can be carried to different waters easily and carries out the low cost of bathymetric surveying, high-level efficiency, be convenient to the portable multi-beam sounding device installing and use.
The purpose of this utility model is achieved in that it comprises control and treatment extension set 1 waterborne, receives and dispatches to close and put transducer array 2 and transmitting-receiving change-over circuit 3, and described control and treatment extension set 1 waterborne is made up of industrial computer 8, programmed signal source 4, signal transmitting system 5, signal condition system 7, signals collecting and disposal system 6, display 9, massage storage 10 and subsidiary equipment interface 11; Wherein, industrial computer 8, programmed signal source 4, signal transmitting system 5 are connected with transmitting-receiving change-over circuit 3 electric signal successively; Transmitting-receiving change-over circuit 3 is connected with disposal system 6, industrial computer 8, massage storage 10 electric signal successively with signal condition system 7, signals collecting; Signals collecting is connected with subsidiary equipment interface 11 electric signal with disposal system 6; Electric signal is connected between industrial computer 8 and the display 9; Electric signal is connected between transmitting-receiving change-over circuit 3 and the transducer array 2.
The utility model also has some features like this:
1, described programmed signal source 4 is made up of digital signal processor DSP 13, bus controller 12, digital-to-analog converter 14 and waveform shaping circuit 15; Wherein, bus controller 12, DSP13, digital-to-analog converter 14 are connected with waveform shaping circuit 15 electric signal successively;
2, described signals collecting and disposal system 6 are made up of bus interface controller 16, high-speed memory 17, central logic controller 24, A-D converter 25, automatic gain controller 26, data acquisition DSP23, data processing DSP1, data processing DSP2, data processing DSP3, data processing DSP4 and utility appliance data acquisition and the control DSP20 of system; Wherein, between bus interface controller 16 and high-speed memory 17, the central logic controller 24 successively electric signal be connected; Bus interface controller 16 again with the control DSP20 of utility appliance data acquisition and system, subsidiary equipment interface 11 between successively electric signal be connected; The utility appliance data acquisition is connected with central logic controller 24 electric signal with the control DSP20 of system; Electric signal is connected between data acquisition DSP23, data processing DSP1, data processing DSP2, data processing DSP3, data processing DSP4 and the high-speed memory 17; Electric signal connects between data acquisition DSP23, A-D converter 25, the automatic gain controller 26; Data processing DSP1, data processing DSP2, data processing DSP3 and data processing DSP4 constitute the parallel processing network simultaneously;
3, described transmitting-receiving is closed and is put the even linear array that transducer array 2 is made up of equidistant hyperchannel transducer, and mounting means adopts bilge keel to fix or ship side hangs.
The utility model utilizes multichannel transmitting-receiving to close and puts transducer array and preformation multibeam technique, has solved to obtain a plurality of bathymetric datas (21) problem in the measuring period, improves efficiency of measurement greatly; Utilize the center of energy of echoed signal to detect the precision that has improved measurement greatly; Utilize advanced signal processor and the extensive process circuit system that makes have volume little, in light weight, be convenient to the characteristics of installing and using.
Wherein, control and treatment extension set 1 waterborne is finished the control to the total system operation, real-time acquisition process, demonstration and the storage of information.Control and treatment extension set 1 waterborne is made up of industrial computer 8, programmed signal source 4, signal transmitting system 5, signal condition system 7, signals collecting and disposal system 6, display 9, massage storage 10 and subsidiary equipment interface 11; Wherein, industrial computer 8, programmed signal source 4, signal transmitting system 5 adopt electric signal to be connected with transmitting-receiving change-over circuit 3 successively; Transmitting-receiving change-over circuit 3 adopts electric signal to be connected with signal condition system 7, signals collecting with disposal system 6, industrial computer 8, massage storage 10 successively; Signals collecting adopts electric signal to be connected with disposal system 6 with subsidiary equipment interface 11; Electric signal is connected between industrial computer 8 and the display 9; The employing electric signal is connected between transmitting-receiving change-over circuit 3 and the transducer array 2.
Transmitting-receiving is closed and is put the even linear array that transducer array 2 is made up of equidistant hyperchannel transducer, and its port number is by the requirement decision of surveying index, and its mounting means can be fixed with bilge keel or the ship side suspension by rice.It when the emission detection signal, is that sound wave emissions go out with electrical signal conversion in conjunction with transmitting-receiving change-over circuit 3, and when receiving water-bed echo, acoustical signal is converted to electric signal, passes to control and treatment extension set 1 waterborne.
The task of programmed signal source 4 is running parameter and the control commands that receive industrial computer 8, and producing pulse width and adjustable direct impulse waveform of emission cycle, its composition comprises: digital signal processor DSP 13, bus controller 12, digital-to-analog converter 14 and waveform shaping circuit 15 are formed; Wherein, bus controller 12, DSP13, digital-to-analog converter 14 adopt electric signal to be connected with waveform shaping circuit 15 successively, in addition the signal form that it produced, pulse width, the recurrent interval can be by programmed control.
Signal transmitting system 5 is finished the power amplification and the emission of direct impulse signal, and closes with transmitting-receiving and to put transducer array 2 and carry out impedance matching.
Signal condition system 7 finishes puts the water-bed echo of hyperchannel that transducer array 2 obtained and nurses one's health being closed by transmitting-receiving, mainly comprises the method and the filtering of signal.
The task of signals collecting and disposal system 6 is to finish the signal that signal condition system 7 is sent here to gather and handle, the control command that reception industrial computer 3 provides also is provided with system operational parameters in real time, produce the synchronizing signal of coordinating total system work, its formation comprises: bus interface controller 16, high-speed memory 17, central logic controller 24, A-D converter 25, automatic gain controller 26, data acquisition DSP23, data processing DSP1, data processing DSP2, data processing DSP3, data processing DSP4 and utility appliance data acquisition and the control DSP20 of system form; Wherein, adopt electric signal to be connected successively between bus interface controller 16 and high-speed memory 17, the central logic controller 24; Bus interface controller 16 is controlled between DSP20, the subsidiary equipment interface 11 with system with the utility appliance data acquisition again and is adopted electric signal to be connected successively; The utility appliance data acquisition adopts electric signal to be connected with the control DSP20 of system with central logic controller 24; Adopt electric signal to be connected between data acquisition DSP23, data processing DSP1, data processing DSP2, data processing DSP3, data processing DSP4 and the high-speed memory 17; Adopt electric signal to connect between data acquisition DSP23, A-D converter 25, the automatic gain controller 26; Data processing DSP1, data processing DSP2, data processing DSP3 and data processing DSP4 constitute the parallel processing network simultaneously.
Principle of work of the present utility model is:
Portable multi-beam depth sounder is installed on the surface measurement ship, and transducer array 2 is positioned under water.When surveying vessel began to measure in the operation waters, the portable multi-beam depth sounder operating personnel according to the roughly situation in operation sea area, by showing the running parameter of Control Software initialization system, and started working by the Control Software start-up system.It is the CW pulse of 180 KHz that programmed signal source 4 produces frequency, amplify by signal transmitting system 5, becoming electrical signal conversion acoustical signal to be transmitted in the water via transducer array 2 sends out, the sound wave of launching is returned by the underwater reflection scattering, transducer array 2 is converted to electric signal to the acoustical signal that receives, send signal condition system 7 to, then the signal after will nursing one's health delivers to signals collecting and disposal system 6 is gathered and handled, thereby obtain the multiple spot bathymetric data in the investigative range, and pass to industrial computer 8 via computer bus, on display 9, demonstrate the various information that observe in real time, deposit these information in massage storage 10 simultaneously.
The utility model has the advantages that: traditional " point-line " measured upgrading " line-face " measure, can obtain bathymetric data efficiently, accurately, thereby form two dimension or three-dimensional underwater topographic map.It utilizes hyperchannel transducer array and preformation multibeam technique, one-shot measurement can obtain the bathymetric data of multiple spot, thereby obtain information such as submarine topography, landforms fast and accurately, accuracy and the work efficiency measured have been improved, it has adopted the large scale integrated circuit technology to make own vol reduce greatly in addition, is convenient to the portable nature of installing and using thereby the mode that transducer array can adopt ship side to hang has.The utility model can be widely used in the bathymetric surveying of shallow sea and inland lake rivers, is applicable to oceanographic engineering, hydrographic survey, marine resources investigation, salvaging lifesaving, port construction, reservoir survery, flood-fighting and knows the training of channel, water safety navigation etc.
(4) description of drawings
Fig. 1 is the structural principle block diagram of portable multi-beam depth sounder;
Fig. 2 is the subsystem structured flowchart of portable multi-beam depth sounder;
Fig. 3 is a portable multi-beam depth sounder automatic gain control circuit schematic diagram.
(5) embodiment
Below in conjunction with accompanying drawing the utility model is described in further detail:
In conjunction with Fig. 1-2, the utility model comprises control and treatment extension set 1 waterborne, receives and dispatches to close and put transducer array 2 and transmitting-receiving change-over circuit 3, and described control and treatment extension set 1 waterborne is made up of industrial computer 8, programmed signal source 4, signal transmitting system 5, signal condition system 7, signals collecting and disposal system 6, display 9, massage storage 10 and subsidiary equipment interface 11; Wherein, industrial computer 8, programmed signal source 4, signal transmitting system 5 are connected with transmitting-receiving change-over circuit 3 electric signal successively; Transmitting-receiving change-over circuit 3 is connected with disposal system 6, industrial computer 8, massage storage 10 electric signal successively with signal condition system 7, signals collecting; Signals collecting is connected with subsidiary equipment interface 11 electric signal with disposal system 6; Electric signal is connected between industrial computer 8 and the display 9; Electric signal is connected between transmitting-receiving change-over circuit 3 and the transducer array 2.Described programmed signal source 4 is made up of digital signal processor DSP 13, bus controller 12, digital-to-analog converter 14 and waveform shaping circuit 15; Wherein, bus controller 12, DSP13, digital-to-analog converter 14 are connected with waveform shaping circuit 15 electric signal successively; Described signals collecting and disposal system 6 are made up of bus interface controller 16, high-speed memory 17, central logic controller 24, A-D converter 25, automatic gain controller 26, data acquisition DSP23, data processing DSP1, data processing DSP2, data processing DSP3, data processing DSP4 and utility appliance data acquisition and the control DSP20 of system; Wherein, between bus interface controller 16 and high-speed memory 17, the central logic controller 24 successively electric signal be connected; Bus interface controller 16 again with the control DSP20 of utility appliance data acquisition and system, subsidiary equipment interface 11 between successively electric signal be connected; The utility appliance data acquisition is connected with central logic controller 24 electric signal with the control DSP20 of system; Electric signal is connected between data acquisition DSP23, data processing DSP1, data processing DSP2, data processing DSP3, data processing DSP4 and the high-speed memory 17; Electric signal connects between data acquisition DSP23, A-D converter 25, the automatic gain controller 26; Data processing DSP1, data processing DSP2, data processing DSP3 and data processing DSP4 constitute the parallel processing network simultaneously; Described transmitting-receiving is closed and is put the even linear array that transducer array 2 is made up of equidistant hyperchannel transducer, and mounting means adopts bilge keel to fix or ship side hangs.
Wherein, the effect of each several part is respectively described below:
The system of operation shows Control Software in real time on industrial computer 8, pass through computer bus, utilize mouse or keyboard respectively input working parameter and control command DSP13 and the utility appliance data acquisition on signals collecting and the disposal system 6 and the system to the programmed signal source 4 control DSP20, control command comprises: startup command, pause command, cease and desist order, running parameter comprises: pulse length, transmit power levels, detect cycle; Can also show the multiple spot bathymetric data that sends from data Collection ﹠ Processing System 6 in real time, and deposit these information in massage storage 10.
Described programmed signal source 4 is by signal form, pulse width and recurrent interval that programmed control produced; DSP13 on the programmed signal source 4 is by running parameter and the control command of total line traffic control reception from industrial computer 8, produce sampled signal, by digital-to-analog converter 14, waveform shaping circuit 15 and transmitting-receiving change-over circuit 3 electric signal is delivered to transducer array 2, change electric signal into acoustical signal by transducer 2 again and import in the water.The single-frequency filler pulse signal that the final signal form that produces of signal source is 200 KHz.
After one period emission reverberation duration, transmitting-receiving change-over circuit 3 becomes reception with state, water-bed echo amplify in advance by transducer array 2, transmitting-receiving change-over circuit 3 entering signal conditioning systems 7 and filtering after, enter A-D converter 25 by automatic gain control circuit 26, data acquisition DSP23 on signals collecting and the disposal system 6 gathers the echo data of each passage by A-D converter 25, and the amplitude of Control echo, the amplification quantity of adjusting automatic gain controller 26 according to varying in size of echo amplitude is controlled at suitable magnitude with the amplitude of echo.Data acquisition DSP23 gives the parallel processing network of being made up of data processing DSP1, data processing DSP2, data processing DSP3 data processing DSP4 with effective echo data and carries out estimation of Depth, and result deposited in the high-speed memory 17 by central roadbed controller 24, industrial computer 8 reads back bathymetric data by bus interface controller 16 and shows on display 9, and simultaneously measurement result is deposited in the massage storage 10, thereby finish one-shot measurement.Subsidiary equipment interface 11 and attitude sensor and gps system are connected to measure provides navigator fix and at western attitude information.
Transmitting-receiving is closed and is put 8 ceramic fillet wafers splicing compositions of transducer array 2 employings.Form 8 ° * 60 ° emission directive property, and 8 ° * 2.5 ° reception directive property.
After being powered on to system by 220V AC or 48V DC, programmed signal source 4 and signals collecting and disposal system 6 be boot respectively, enter holding state, start the demonstration Control Software in the control and treatment extension set 1 waterborne, carry out the parameter setting.Two grades of transmitting sound power (standard, strong) are adjustable, and direct impulse length (0.25ms, 0.5ms, 1ms, 2ms) fourth gear is adjustable, and detect cycle (0.25s, 0.5s, 1s, 2s) fourth gear is adjustable.
After the parameter of finishing the work is provided with, by startup command portable multi-beam depth sounder is started working, workflow is: signal source 4 produces corresponding detectable signal according to the running parameter of setting, and launches with certain power by signal transmitting system 5.Signal condition system 7 begins to receive after the detectable signal battery has fired of signal transmitting system 5.Simultaneously, data acquisition DSP23 in signals collecting and the disposal system 6 begins to gather, and send into the parallel processing network of forming by data processing DSP1, data processing DSP2 data processing DSP3 and data processing DSP4 and carry out estimation of Depth, thereby obtain the bathymetric data of multiple spot, industrial computer 8 is by bus interface controller 16 bathymetric data that reads back, and on display 9, show, simultaneously measurement result is deposited in massage storage 10.
In conjunction with Fig. 3, the utility model has adopted large scale integrated circuit to carry out circuit control, and instrument is an example with the automatic gain control circuit, and U7 is a latch among the figure, and selecting the element model for use is SN7416543, is used to latch the gain control sign indicating number; U8, U9, U10 be four with door, selecting the element model for use is SN74LV08A, is used for that gain control sign indicating number and a square-wave signal are carried out exporting gain code with certain frequency with computing and carries out gain control to multiplication DA.The control circuit of other parts all can adopt existing techniques in realizing in the utility model, does not just carefully lift one by one here.
Claims (4)
1. portable multi-beam depth sounder, it comprises that control and treatment extension set waterborne (1), transmitting-receiving are closed puts transducer array (2) and receives and dispatches change-over circuit (3), it is characterized in that described control and treatment extension set waterborne (1) is made up of industrial computer (8), programmed signal source (4), signal transmitting system (5), signal condition system (7), signals collecting and disposal system (6), display (9), massage storage (10) and subsidiary equipment interface (11); Wherein, industrial computer (8), programmed signal source (4), signal transmitting system (5) are connected with transmitting-receiving change-over circuit (3) electric signal successively; Transmitting-receiving change-over circuit (3) is connected with disposal system (6), industrial computer (8), massage storage (10) electric signal successively with signal condition system (7), signals collecting; Signals collecting is connected with subsidiary equipment interface (11) electric signal with disposal system (6); Electric signal is connected between industrial computer (8) and the display (9); The transmitting-receiving change-over circuit (3) with transducer array (2) between electric signal be connected.
2. portable multi-beam depth sounder according to claim 1 is characterized in that described programmed signal source (4) is made up of digital signal processor DSP (13), bus controller (12), digital-to-analog converter (14) and waveform shaping circuit (15); Wherein, bus controller (12), DSP (13), digital-to-analog converter (14) are connected with waveform shaping circuit (15) electric signal successively.
3. portable multi-beam depth sounder according to claim 1 is characterized in that described signals collecting and disposal system (6) be made up of the control DSP of bus interface controller (16), high-speed memory (17), central logic controller (24), A-D converter (25), automatic gain controller (26), data acquisition DSP (23), data processing DSP1 (18), data processing DSP2 (19), data processing DSP3 (21), data processing DSP4 (22) and utility appliance data acquisition and system (20); Wherein, between bus interface controller (16) and high-speed memory (17), the central logic controller (24) successively electric signal be connected; Bus interface controller (16) again with the control DSP (20) of utility appliance data acquisition and system, subsidiary equipment interface (11) between successively electric signal be connected; The utility appliance data acquisition is connected with central logic controller (24) electric signal with the control DSP of system (20); Electric signal is connected between data acquisition DSP (23), data processing DSP1 (18), data processing DSP2 (19), data processing DSP3 (21), data processing DSP4 (22) and the high-speed memory (17); Electric signal connects between data acquisition DSP (23), A-D converter (25), the automatic gain controller (26); Data processing DSP1 (18), data processing DSP2 (19), data processing DSP3 (21) and data processing DSP4 (22) constitute the parallel processing network simultaneously.
4. portable multi-beam depth sounder according to claim 1 is characterized in that described transmitting-receiving is closed to put the even linear array that transducer array (2) is made up of equidistant hyperchannel transducer, and mounting means adopts bilge keel to fix or ship side hangs.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU200620166963XU CN201007741Y (en) | 2006-12-31 | 2006-12-31 | Portable Multibeam Echo Sounder |
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| Application Number | Priority Date | Filing Date | Title |
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| CNU200620166963XU CN201007741Y (en) | 2006-12-31 | 2006-12-31 | Portable Multibeam Echo Sounder |
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| CN201007741Y true CN201007741Y (en) | 2008-01-16 |
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| CNU200620166963XU Expired - Lifetime CN201007741Y (en) | 2006-12-31 | 2006-12-31 | Portable Multibeam Echo Sounder |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100447531C (en) * | 2006-12-31 | 2008-12-31 | 哈尔滨工程大学 | Portable Multibeam Echo Sounder |
| CN105388480A (en) * | 2014-09-04 | 2016-03-09 | 苏州声光达水下探测仪器有限公司 | Data transmission device for multi-beam depth-sounding sonar |
| CN105467378A (en) * | 2014-09-04 | 2016-04-06 | 苏州声光达水下探测仪器有限公司 | Multi-beam depth-sounding sonar signal processing board based on fixed/floating-point processor |
| CN115092342A (en) * | 2022-07-04 | 2022-09-23 | 河南省北纬勘测设计有限公司 | Underwater terrain measuring device and method |
-
2006
- 2006-12-31 CN CNU200620166963XU patent/CN201007741Y/en not_active Expired - Lifetime
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100447531C (en) * | 2006-12-31 | 2008-12-31 | 哈尔滨工程大学 | Portable Multibeam Echo Sounder |
| CN105388480A (en) * | 2014-09-04 | 2016-03-09 | 苏州声光达水下探测仪器有限公司 | Data transmission device for multi-beam depth-sounding sonar |
| CN105467378A (en) * | 2014-09-04 | 2016-04-06 | 苏州声光达水下探测仪器有限公司 | Multi-beam depth-sounding sonar signal processing board based on fixed/floating-point processor |
| CN115092342A (en) * | 2022-07-04 | 2022-09-23 | 河南省北纬勘测设计有限公司 | Underwater terrain measuring device and method |
| CN115092342B (en) * | 2022-07-04 | 2024-03-08 | 河南省北纬勘测设计有限公司 | Underwater topography measurement device and method |
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