CN103448893A - Self-regulating and course-changing underwater vertical section measuring platform in set sea area - Google Patents
Self-regulating and course-changing underwater vertical section measuring platform in set sea area Download PDFInfo
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- CN103448893A CN103448893A CN2013103966175A CN201310396617A CN103448893A CN 103448893 A CN103448893 A CN 103448893A CN 2013103966175 A CN2013103966175 A CN 2013103966175A CN 201310396617 A CN201310396617 A CN 201310396617A CN 103448893 A CN103448893 A CN 103448893A
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Abstract
The invention belongs to the technical field of a marine environment monitoring underwater platform, and particularly relates to an underwater vertical section measuring platform. According to the technical scheme, a self-regulating and course-changing underwater vertical section measuring platform in a set sea area comprises a Beidou satellite communication system (1), a CT (Current Transformer) sensor (2), a depth sensor (3), a pull rod (4), a head shell (5), a rotary wing plate mechanism (6), a middle-section pressure shell (7), a hydraulic driving device (8), a battery pack (9), a control circuit board (10), a pneumatic driving device (11), a tail shell (12), a joint body (13), an oil gas pocket (14) and an oil pocket protecting cover (15). The rotation of the rotary wing plate mechanism can be controlled through the control circuit board, so that an included angle between a wing plate and a water flow direction is adjusted, and a self-regulating and course-changing function of the platform is realized; meanwhile, the speed and direction of a water flow can be calculated by using the Beidou satellite communication system according to the adjustment process of the wing plate, so that an ocean data service function is provided for other detection equipment.
Description
Technical field
The invention belongs to marine environmental monitoring underwater platform technical field, be specifically related to a kind of measuring table of vertical section under water.
Background technology
Ocean is the fundamental space of human survival, be also the important stage of International Politics struggle, and the center of ocean political struggle is maritime rights and interests.Since entering the new century, ocean has become a grand strategy field of national interests expansion and survival space extension.Current, day by day serious from the multiple security threat of ocean direction.China exists on the problem of the South Sea that sovereignty are invaded, islands and reefs are occupied, marine site is divided, resource robbed, exploitation is by the serious situation obstructed, safety is compromised, and South Sea crisis is upgraded step by step.For better marine environment being surveyed and observed, collect ocean related data and data, the underwater platform of types of applications Yu Haiyang environmental monitoring is researched and developed successfully and place in operation in succession.The marine environmental monitoring underwater platform mainly can be divided into two classes at present, and the one, by anchor, be that device is fixed on marine environment underwater monitoring platform in the scope of a certain marine site, each aspect in the set depth scope of ocean is surveyed, but its monitoring range is limited, the 2nd, after the underwater monitoring platform is thrown in, realize the automatic plunging motion (vertical section motion) in the water surface and set depth scope under water according to program setting, at it, descend with the relevant ocean wave parameter data of collection in uphill process and in being stored in the storage card of platform inside, after platform floats to the water surface, by Beidou satellite communication system, the oceanographic data collected is sent to bank station again and control command centre, but it is rising, in decline and water surface communication process, because the effect of ocean current and wave, it will drift with the tide, can not control the position of self, after completing a section plunging motion, its water exit position is by uncertain, the problem of bringing is: the one, and the underwater monitoring platform is after completing a plurality of section plunging motions, its water exit position may be positioned at shallow sea area, other country marine site or bank, to cause underwater platform that danger stranded or that salvaged by the fisherman of other country is arranged, thereby cause leaking of equipment and oceanographic data, the 2nd, many covers underwater platform that the maritime researcher throws in different waters, after section plunging motion after a while, likely because of the effect of ocean current and wave, they are drifted about is monitored in same marine site among a small circle, this will cause realizing that the maritime researcher wants to monitor the purpose of a plurality of different waters oceanographic datas at first, thereby also just declare test failure.
For this reason, be necessary to develop a kind of self-regulation and become course and realize sink-float automatically, and carry out the collection of oceanographic data in setting marine site, and regularly image data is transferred to bank station and controls the underwater platform of command centre and just seem very important.
Summary of the invention
The objective of the invention is, design the measuring table of vertical section under water in self-regulation change course in a kind of marine site, reach the function of carrying out marine environmental monitoring in setting marine site.
Technical scheme of the present invention is: a kind of in setting marine site self-regulation become the measuring table of vertical section under water in course, it comprises: head capsule, be arranged on Beidou satellite communication system, CT sensor and depth transducer on head capsule, pull bar, rotary wing plate mechanism, the stage casing pressure shell, be arranged on fluid pressure drive device, battery pack, control circuit board, actuating device of atmospheric pressure, motor reducer, motor mounting rack and drive link in the pressure shell of stage casing, the tail shell, fittings body, the oil gas capsule, the oil sac guard shield;
Rotary wing plate mechanism comprises: rotating cylindrical, stable disk and wing plate; It is hollow that there is half cycle rotating cylindrical inside; Motor reducer in the pressure shell of stage casing is arranged on motor mounting rack, and its output shaft is connected with the circle centre position of rotating cylindrical by drive link; Stable disk and wing plate are arranged on respectively the both sides of rotating cylindrical outer circumference surface;
Rotary wing plate mechanism is arranged between head capsule and stage casing pressure shell by its rotating cylindrical, at O RunddichtringO together with respectively establish head capsule and pressure shell contact position, stage casing; Pull bar is through the hollow area of rotating cylindrical, and an end is fixedly connected with head capsule, and the other end is fixedly connected with motor mounting rack;
Fluid pressure drive device comprises: motor combination, screw mandrel, hydraulic actuating cylinder, guide rail, piston body and pipeline; Leading screw is connected with motor combination, and head also is equipped with piston body, and piston body moves in guide rail, hydraulic oil is injected in the oil gas capsule from hydraulic actuating cylinder by pipeline, or the hydraulic oil in the oil gas capsule is drawn in hydraulic actuating cylinder;
Actuating device of atmospheric pressure comprises: air pump, electromagnetic valve, check valve and tracheae; Wherein, electromagnetic valve is connected with the oil gas capsule by fittings body, and air pump is inflated in the oil gas capsule by check valve and tracheae, the rising of implementation platform; When platform sinks, open electromagnetic valve, the gas of oil gas capsule is pushed back the platform inner space;
The tail shell is arranged on the tail end of stage casing pressure shell, and the oil gas capsule is installed after the tail shell, and the oil gas capsule is provided with the oil sac guard shield outward;
Battery pack provides electric power for the consumer in platform;
Control circuit board becomes the course function to the autonomous sink-float function of platform, marine monitoring function, bi-directional communication function and the self-regulation when the water surface and is controlled.
The invention has the beneficial effects as follows: 1. the present invention can carry out the vertical section measurement in the marine site of program setting, if platform emerges behind location, find that its position has exceeded setting marine site scope, can automatically adjust drift direction navigation and get back to and set marine site and re-start profile survey, and can calculate speed and the direction of current according to its Drifting Course;
2. adopt rotary wing plate mechanism to adjust the angle of wing plate and water (flow) direction, thereby can change the drift direction of platform, reach platform self-regulation and become the course function;
3. when the water surface of the present invention drifts about, adopt Beidou satellite communication system interval setting-up time to position platform, and draw out the platform Drifting Course, program, according to the Drifting Course of platform and the angle of rotary wing plate institutional adjustment, realizes the calculating to speed and the direction of current.
The accompanying drawing explanation
Fig. 1 is structural representation of the present invention;
The structural scheme of mechanism that Fig. 2 is rotary wing plate mechanism in the present invention;
The structural representation that Fig. 3 is rotating cylindrical in the present invention;
Wherein, 1-Beidou satellite communication system, 2-CT sensor, 3-depth transducer, 4-pull bar, 5-head capsule, the rotary wing plate of 6-mechanism, 7-stage casing pressure shell, 8-fluid pressure drive device, 9-battery pack 9,10-control circuit board, 11-actuating device of atmospheric pressure, 12-tail shell, the 13-fittings body, 14-oil gas capsule, 15-oil sac guard shield, 16-motor reducer, 17-motor mounting rack 18-drive link, 19-rotating cylindrical, 20-stable disk 20,21-wing plate.
The specific embodiment
Referring to accompanying drawing 1, a kind of in setting marine site self-regulation become the measuring table of vertical section under water in course, it comprises: head capsule 5, be arranged on head capsule 5 rotary wing plate mechanism 6, stage casing pressure shell 7, be arranged on fluid pressure drive device 8, battery pack 9, control circuit board 10, actuating device of atmospheric pressure 11, motor reducer 16, motor mounting rack 17 and drive link 18 in stage casing pressure shell 7, tail shell 12, fittings body 13, oil gas capsule 14 and oil sac guard shield 15;
Beidou satellite communication system 1, CT sensor 2, depth transducer 3 are arranged on head capsule 5, and adopt standard O-ring seals radial seal structure form to realize pressure-resistant seal, can dissimilar sensor be installed on head capsule 5 according to the demand of marine environmental monitoring in addition, to realize different hydrospace detection purposes; For realizing the requirement of marine monitoring data security secrecy transmission, domestic big-dipper satellite communication and location technology have been adopted, it can realize bidirectional real-time, guarantee that platform can receive bank station and control the control command of command centre to its transmission after emerging, can control the ocean wave parameter data that command centre sends its collection to bank station simultaneously;
Rotary wing plate mechanism 6 comprises: rotating cylindrical 19, stable disk 20 and wing plate 21; It is hollow that there is half cycle rotating cylindrical 19 inside; Motor reducer 16 in stage casing pressure shell 7 is arranged on motor mounting rack 17, and its output shaft is connected with the circle centre position of rotating cylindrical 19 by drive link 18; Stable disk 20 and wing plate 21 are arranged on respectively the both sides of rotating cylindrical 19 outer circumference surfaces; It is hollow that there is half cycle rotating cylindrical 19 inside, the purpose of its design mainly contains the following aspects: the one, guarantee that the rotating part of rotary wing plate mechanism 6 can rotate in ± 90 degree scopes when parallel with flow direction with wing plate 21 (be defined as O degree), to regulate the angle of wing plate 21 and flow direction, thereby change the course of platform at the water surface; The 2nd, can allow pull bar 4 be connected and fixed with head capsule 5 by rotary wing plate mechanism 6, the relevant control circuit cable also can be connected with CT sensor 2, depth transducer 3 etc. by rotary wing plate mechanism 6 simultaneously;
Rotary wing plate mechanism 6 connects between head capsules 5 and stage casing pressure shell 7 by its rotating cylindrical 19, for guaranteeing the junction sealing, the groove of O-ring seals is installed together with rotary wing plate mechanism 6 contact positions respectively are designed with at head capsule 5, stage casing pressure shell 7, groove is undertaken by the design standard of the hydraulic pressure dynamic seal in piston rod packing herein, thus the overall sealing performance of platform while guaranteeing 6 rotation of rotary wing plate mechanism; Pull bar 4 is through the hollow area of rotating cylindrical 19, and an end is fixedly connected with head capsule 5, and the other end is fixedly connected with motor mounting rack 17, and its radical function is to be an integral body by head capsule 5, rotary wing plate mechanism 6 and 7 connections of stage casing pressure shell;
Fluid pressure drive device 8 comprises: motor combination, screw mandrel, hydraulic actuating cylinder, guide rail, piston body and pipeline; Leading screw is connected with motor combination, head also is equipped with piston body, piston body moves in guide rail, its radical function is that the hydraulic oil in device is injected in oil sac or by the hydraulic oil in oil sac and is drawn in hydraulic actuating cylinder from hydraulic actuating cylinder, reach the purpose that changes the oil sac volume, also just change the displacement of volume of whole platform, thereby realized the function of the underwater vertical section sink-float of platform;
Actuating device of atmospheric pressure 11 comprises: air pump, electromagnetic valve, check valve and tracheae; Wherein, electromagnetic valve is connected with oil gas capsule 14 by fittings body 13, actuating device of atmospheric pressure 11 radical functions are implementation platform plunging motions at the water surface, when platform approaches the water surface, actuating device of atmospheric pressure 11 is inflated in air bag, increase the displacement of volume of platform, Beidou satellite communication system 1 is surfaced can control command centre with bank station to realize two way communication, when platform will sink, open electromagnetic valve, gas in air bag is pushed back the platform inner space, reduces the displacement of volume of platform, and implementation platform sinks;
Tail shell 12 is arranged on the tail end of stage casing pressure shell 7, and oil gas capsule 14 is installed after tail shell 12, for protection oil gas capsule 14 in deep-sea not by foreign object damage, be designed with oil sac guard shield 15 and protected;
Battery pack 9 provides power supply for all kinds of components and parts in platform, Beidou satellite communication system 1, fluid pressure drive device 8, actuating device of atmospheric pressure 11 etc., guarantees that platform normally moves;
10 pairs of whole platforms of control circuit board are controlled, and the autonomous sink-float function of implementation platform, marine monitoring function, bi-directional communication function and the self-regulation when the water surface become the course function;
Rotating cylindrical 19 adopts the processing and manufacturing of 6061-T6 wrought aluminium, and material itself has good anti-marine corrosion ability, after machinework completes, it is carried out to the special-purpose coat of anodic oxidation treatment the anti-marine corrosion of surface spraying; The function of stable disk 20 is to guarantee the platform stability of attitude in motion process under water, the underwater vertical section of implementation platform is measured, it selects polypropylene material to be shaped to an integral body by die casting, adopt screw fastening with rotating cylindrical 19, its principal feature: the one, the mould molding high conformity, be easy to batch manufacturing; The 2nd, polypropylene material is positive buoyancy in water, is conducive to the attitude of whole platform, and its water absorption rate under deepwater environment is little; Wing plate 21 is integrated by screw fastening with stable disk 20, and under the drive of motor reducer 16, can in ± 90 degree scopes, rotate together with drive link 18, rotating cylindrical 19, stable disk 20, because a wing plate 21 only has been installed on stable disk 20, and according to its streamlined structure, while drifting about under the effect at current, the angle of wing plate 21 will be parallel with water (flow) direction, if change the course of platform at the water surface, as long as adjust wing plate 21 by control circuit board 10, with the angle of flow direction, just can realize; Wing plate 21 is formed by three kinds of materials processing manufactures, the lumen loading foam, interlayer is that aluminum alloy materials guarantees that its intensity meets the demands, outer casting polyurethane is shaped, be under water the neutral buoyancy state, adopt the characteristics of this structure to mainly contain the following aspects: the one, overall weight is light, owing to having adopted three kinds of Material claddings to shape, its weight is all more light by metal processing, makes overall weight be issued to the lightest meeting withstand voltage situation; The 2nd, good anti-collision for tool, because its skin is the polyurethane material, its surface has toughness preferably, has improved the impact resistance in work and transportation; The 3rd, due to outer and contact with sea water be mainly the polyurethane material, therefore there is good anti-marine corrosion and biological attachment function;
For implementation platform self-regulation in setting marine site becomes course vertical section measurement function, demand according to marine environmental monitoring, the oceanographer wishes that throwing in monitoring platform at some important sea areas carries out the vertical section measurement, and wish platform continuous working in it sets marine site always, therefore before every cover platform is thrown in the monitoring of plunging into the commercial sea, the release position longitude and latitude that the designer can pre-determine according to platform is set the corresponding working sea area of this platform in its control circuit board 10 internal programs, when the marine monitoring platform is thrown in behind the setting marine site, to at first carry out self poisoning and status checking etc., and the status checking result is sent to land control command centre, information is received by land control command centre, confirm that platform arranges relevant vertical section measurement parameter after normal, and the startup platform starts normal surveying work, after platform completes a vertical section and floats to the water surface, first by Beidou satellite communication system 1, carry out self poisoning, then locating information is sent to land control command centre, the locating information that the internal piloting unit of platform will be current according to it simultaneously checks whether platform works in the marine site of its setting, if platform is still worked in setting marine site, platform will start to send to the land command centre that controls the related data that a upper vertical section gathers by Beidou satellite communication system 1, after being sent completely, automatically carry out next profile survey work, exceeded setting marine site scope if be checked through position of platform, platform internal piloting unit will automatically perform self-regulation change heading command function, platform interval setting-up time carries out self poisoning one time, control unit is drawn out the Drifting Course of platform according to several locating information, thereby calculate direction and the flow velocity of water surface stream, the angle of the effect lower wing plate 21 now flowed at the water surface is parallel with water (flow) direction, then control unit is according to water (flow) direction, flow velocity and platform self correlation parameter calculates angle and the direction that rotary wing plate mechanism 6 should rotate, and starter motor reductor 16 actions, realize that wing plate 21 and water (flow) direction form certain angle, under flow action, platform will change course gradually, close to setting in the scope of marine site, control unit will be according to several lower platform locating information after wing plate 21 angular adjustment simultaneously, the Drifting Course that drafting makes new advances, and readjust the angle of wing plate 21 and water (flow) direction according to new Drifting Course, to under the effect of current, navigate by water to gradually and set in the scope of marine site by repeatedly adjusting platform, once control unit detects platform and has got back in the marine site of program setting, stop the adjustment to wing plate 21, then send to the land command centre that controls the related data that a upper vertical section gathers by Beidou satellite communication system 1, after being sent completely, automatically carry out next profile survey work, in addition in above-mentioned platform water surface drift process, the angle that program is adjusted according to the Drifting Course of platform and rotary wing plate mechanism 6, can calculate speed and the direction of current, for other oceanographers provide service,
Principle of work of the present invention is: at first, after ship arrive to be set release position, with magnetic switch, open platform and throw in into sea, now at first platform will carry out self poisoning and status checking etc., and the status checking result is sent to land control command centre; Information is received by land control command centre, and after confirming the platform normal operation, the staff can arrange relevant vertical section measurement parameter to platform, and starts platform and start normal surveying work; After platform starts, at first actuating device of atmospheric pressure 11 is opened electromagnetic valve, gas in air bag is pushed back the platform inner space, reduce the displacement of volume of platform, the implementation platform water surface sinks, and then primer fluid hydraulic driver 8 is withdrawn into the underwater sinking function of implementation platform in hydraulic actuating cylinder by the hydraulic oil in oil sac; When platform will float, primer fluid hydraulic driver 8 fills the hydraulic oil in hydraulic actuating cylinder to get back in oil sac, thereby the underwater floating function of implementation platform, when platform approaches the water surface, actuating device of atmospheric pressure 11 is inflated in air bag, increase the displacement of volume of platform, Beidou satellite communication system 1 is surfaced can control command centre with bank station to realize two way communication; Platform can carry out image data work according to default in sinking and floating-upward process, realizes the monitoring of marine environment; After platform completes a vertical section and floats to the water surface, first by Beidou satellite communication system 1, carry out self poisoning, then locating information is sent to land control command centre, the locating information that the internal piloting unit of platform will be current according to it simultaneously checks whether platform works in the marine site of its setting, if platform is still worked in setting marine site, by Beidou satellite communication system 1, to the land command centre that controls, send the related data that a upper vertical section gathers, after being sent completely, automatically carry out next profile survey work; Exceeded setting marine site scope if be checked through position of platform, platform internal piloting unit will automatically perform self-regulation change heading command function, by repeatedly adjusting wing plate 21 angles, come the automatic navigation of implementation platform to get back to the setting marine site, once control unit detects platform and has got back in the marine site of program setting, stop the adjustment to wing plate 21, then send to the land command centre that controls the related data that a upper vertical section gathers by Beidou satellite communication system 1, after being sent completely, automatically carry out next profile survey work; The platform vertical section that will always be circulated in setting marine site is measured, until running down of battery is for extremely.
Claims (4)
- One kind in setting marine site self-regulation become the measuring table of vertical section under water in course, it is characterized in that, it comprises: head capsule (5), be arranged on the Beidou satellite communication system (1) on described head capsule (5), CT sensor (2) and depth transducer (3), pull bar (4), rotary wing plate mechanism (6), stage casing pressure shell (7), be arranged on the fluid pressure drive device (8) in described stage casing pressure shell (7), battery pack (9), control circuit board (10), actuating device of atmospheric pressure (11), motor reducer (16), motor mounting rack (17) and drive link (18), tail shell (12), fittings body (13), oil gas capsule (14), oil sac guard shield (15),Described rotary wing plate mechanism (6) comprising: rotating cylindrical (19), stable disk (20) and wing plate (21); It is hollow that there is half cycle described rotating cylindrical (19) inside; It is upper that described motor reducer (16) in described stage casing pressure shell (7) is arranged on described motor mounting rack (17), and its output shaft is connected with the circle centre position of described rotating cylindrical (19) by described drive link (18); Described stable disk (20) and described wing plate (21) are arranged on respectively the both sides of described rotating cylindrical (19) outer circumference surface;Described rotary wing plate mechanism (6) is arranged between described head capsule (5) and described stage casing pressure shell (7) by its described rotating cylindrical (19), at O RunddichtringO together with respectively establish described head capsule (5) and described stage casing pressure shell (7) contact position; Described pull bar (4) is through the hollow area of described rotating cylindrical (19), and an end is fixedly connected with described head capsule (5), and the other end is fixedly connected with described motor mounting rack (17);Described fluid pressure drive device (8) comprising: motor combination, screw mandrel, hydraulic actuating cylinder, guide rail, piston body and pipeline; Described leading screw is connected with described motor combination, head also is equipped with described piston body, described piston body moves in described guide rail, hydraulic oil is injected in described oil gas capsule (14) from described hydraulic actuating cylinder by described pipeline, or the hydraulic oil in described oil gas capsule (14) is drawn in described hydraulic actuating cylinder;Described actuating device of atmospheric pressure (11) comprising: air pump, electromagnetic valve, check valve and tracheae; Wherein, described electromagnetic valve is connected with described oil gas capsule (14) by described fittings body (13), and described air pump is described to the interior inflation of described oil gas capsule (14), the rising of implementation platform by described check valve and tracheae; When platform sinks, open described electromagnetic valve, the gas of described oil gas capsule (14) is pushed back the platform inner space;Described tail shell (12) is arranged on the tail end of described stage casing pressure shell (7), and described oil gas capsule (14) is installed after described tail shell (12), and described oil gas capsule (14) peripheral hardware has described oil sac guard shield (15);Described battery pack (9) provides electric power for the consumer in platform;Described control circuit board (10) becomes the course function to the autonomous sink-float function of platform, marine monitoring function, bi-directional communication function and the self-regulation when the water surface and is controlled.
- As claimed in claim 1 a kind of in setting marine site self-regulation become the measuring table of vertical section under water in course, it is characterized in that, described rotating cylindrical (19) adopts the processing and manufacturing of 6061-T6 wrought aluminium, and its surface is carried out spraying the coating of preventing marine corrosion after anodic oxidation treatment; Described stable disk (20) is selected the polypropylene material die cast; Described wing plate (21) lumen loading foam, interlayer is that aluminum alloy materials guarantees that its intensity meets the demands, outer casting polyurethane is shaped.
- As claimed in claim 1 or 2 a kind of in setting marine site self-regulation become the measuring table of vertical section under water in course, it is characterized in that, control described rotary wing plate mechanism (6) rotation by described control circuit board (10), complete the adjusting of described wing plate (21) and water (flow) direction angle.
- As claimed in claim 1 or 2 a kind of in setting marine site self-regulation become the measuring table of vertical section under water in course, it is characterized in that, described Beidou satellite communication system (1) interval setting-up time positions platform, draw its Drifting Course, described control circuit board (10), according to the Drifting Course of platform and the angle of described rotary wing plate mechanism (6) adjustment, is realized the calculating to water velocity and direction.
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| CN106628076A (en) * | 2016-10-20 | 2017-05-10 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | Revolving-ring underwater glider |
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| CN107677780A (en) * | 2017-08-17 | 2018-02-09 | 马鞍山市桓泰环保设备有限公司 | A kind of water quality consistently online detection method of water body complicated and changeable |
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| CN107512365A (en) * | 2017-08-17 | 2017-12-26 | 马鞍山市桓泰环保设备有限公司 | A kind of Complex water body water quality consistently online detects buoy dump |
| CN107478793A (en) * | 2017-08-17 | 2017-12-15 | 马鞍山市桓泰环保设备有限公司 | A kind of water quality on-line checking buoy dump in high drop limiting water level river |
| CN108100167A (en) * | 2017-11-15 | 2018-06-01 | 浙江大学 | A kind of autonomous protrusive section subsurface buoy |
| CN110715652A (en) * | 2019-10-16 | 2020-01-21 | 天津市津海德科技有限公司 | Drift type ocean optical profile viewer |
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| CN111089741B (en) * | 2019-11-29 | 2022-03-04 | 熊猫电子集团有限公司 | Helicopter satellite communication system reliability test profile design method |
| CN110979610A (en) * | 2019-12-24 | 2020-04-10 | 天津大学 | Device for assisting oil return of underwater glider under normal pressure |
| CN114313176A (en) * | 2021-11-25 | 2022-04-12 | 宜昌测试技术研究所 | Automatic depth setting instrument |
| CN114313176B (en) * | 2021-11-25 | 2023-06-02 | 宜昌测试技术研究所 | Automatic depth setting instrument |
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