CN109375226A - A kind of ocean sonar device and its application method for ship - Google Patents
A kind of ocean sonar device and its application method for ship Download PDFInfo
- Publication number
- CN109375226A CN109375226A CN201811573804.5A CN201811573804A CN109375226A CN 109375226 A CN109375226 A CN 109375226A CN 201811573804 A CN201811573804 A CN 201811573804A CN 109375226 A CN109375226 A CN 109375226A
- Authority
- CN
- China
- Prior art keywords
- scroll
- sonar
- console
- ocean
- hawser
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B49/00—Arrangements of nautical instruments or navigational aids
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/521—Constructional features
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention discloses a kind of ocean sonar devices and its application method for ship, including console and towed sonar basic matrix, the console is connected by waterproof compound electric hawser with single-chip microcontroller, the single-chip microcontroller is connected with retracting motor, the retracting motor is connected by gearbox with transmission shaft, the transmission shaft is connected with Scroll, the both sides of the Scroll are respectively arranged with a side baffle, the winding the tip of the axis is connected by rotary seal ring with the waterproof compound electric hawser, the lower section of the Scroll is connected by high-strength composite cable rope with the towed sonar basic matrix, graduation mark is provided on the high-strength composite cable rope.Beneficial effect is: the present invention can the depth listened to of regulation and control sonar in real time, improve the sensitivity to underwater sound signal, have the advantages that strong flexibility, operability are good, while the present invention facilitates operation convenient for staff's real time inspection depth.
Description
Technical field
The present invention relates to field of ship equipment, relate in particular to a kind of for the ocean sonar device of ship and its use
Method.
Background technique
Electromagnetic wave is the propagation most important carrier of information in air, for example, communication, broadcast, TV, radar etc. are all to utilize
Electromagnetic wave, but under water, electromagnetic wave is not just available, this is because seawater is a kind of conducting medium, to ocean space spoke
The electromagnetic wave penetrated can be shielded by Seawater itself, its most energy are soon lost with eddy currents, because
And the propagation of electromagnetic wave in the seawater is severely limited, this needs sonar just to substitute the effect of electromagnetic wave, and people utilize sound
The property that wave can be propagated relatively easily under water and its be propagated in different media is different, has developed a variety of subaqueous surveys
Instrument, reconnaissane tool and weaponry, i.e., various " sonar " equipment.
But current ship sonar, it is common that be fixed on boat bottom, be easily installed the advantage of doing so is that comparing, but is same
When bring and can not adjust depth, it is difficult to the problem of realizing to water-bed better Effect on Detecting.
Summary of the invention
The object of the invention is that provide to solve the above-mentioned problems a kind of ocean sonar device for ship and
Its application method.
The present invention through the following technical solutions to achieve the above objectives:
A kind of ocean sonar device for ship, including console and towed sonar basic matrix, the console pass through anti-
Water compound electric hawser is connected with single-chip microcontroller, and the single-chip microcontroller is connected with retracting motor, and the retracting motor passes through gearbox
It is connected with transmission shaft, the transmission shaft is connected with Scroll, and the both sides of the Scroll are respectively arranged with a side gear
Plate, the winding the tip of the axis are connected by rotary seal ring with the waterproof compound electric hawser, the lower section of the Scroll
It is connected by high-strength composite cable rope with the towed sonar basic matrix, is provided with scale on the high-strength composite cable rope
Line, the side of the towed sonar basic matrix are provided with energy converter, and the outside of the energy converter is respectively arranged with transmitter and reception
Machine, towed sonar basic matrix bottom are provided with bottom tenesmus portion, the console by microprocessor, cable concentrator, display screen, open
Button, signal amplifier, fm dial, heat dissipating grid and power connecting column composition, the cable concentrator is closed to be arranged in the microprocessor
Top, the display screen, the switch button, the signal amplifier and the fm dial are arranged at the micro process
The front surface of device, the heat dissipating grid, the power connecting column are arranged at the rear surface of the microprocessor, bottom tenesmus portion
It is made of storage bag, liquid injection pipe and drain pipe, the top of the storage bag is arranged in the liquid injection pipe, and the drain pipe setting exists
The lower section of the storage bag.
Further, the model I5 7200 of the microprocessor, the display screen are touch screen, each frequency modulation
Knob respectively corresponds the transmitter or the receiver.
Further, the cable concentrator, the display screen, the switch button, the signal amplifier, frequency modulation rotation
Button and the power connecting column are electrically connected with the microprocessor.
Further, the console is electrically connected with the waterproof compound electric hawser, the waterproof compound electric hawser and institute
Monolithic mechatronics are stated, the single-chip microcontroller is electrically connected with the retracting motor.
Further, the single-chip microcontroller model 80C51, the retracting motor be servo motor, the retracting motor with
The gearbox transmission connection, the gearbox are connect with the transmission shaft driven, and the transmission shaft and the Scroll are driven
Connection.
Further, the Scroll is fixedly connected with the side baffle, the Scroll and the rotary seal ring
Sealing rotation connection, the high-strength composite cable rope are electrically connected with the waterproof compound electric hawser.
Further, the graduation mark is molded over the surface of the high-strength composite cable rope by laser printing, described
High-strength composite cable rope is fixed on the middle part of the towed sonar basic matrix.
Further, the high-strength composite cable rope is electrically connected with the energy converter, the energy converter respectively with it is described
The quantity of transmitter and the reception mechatronics, the transmitter and the receiver is three, and cross arrangement is in institute
State the surface of towed sonar basic matrix.
Further, the towed sonar basic matrix is fixed together with bottom tenesmus portion by wirerope, the storing
Capsule and the liquid injection pipe integrated injection molding, the storage bag and the drain pipe integrated injection molding.
The present invention also provides a kind of application method of ocean sonar device for ship, applied to above-mentioned for ship
In ocean sonar device, which comprises
A, according to the depth of water to be detected, a certain amount of water is injected in the storage bag by the liquid injection pipe, and by institute
State bottom tenesmus portion and the towed sonar basic matrix into the water；
B, into the console, input service is instructed, and the console is by the waterproof compound electric hawser by electric signal
It is transmitted to the single-chip microcontroller, the retracting motor is controlled by the single-chip microcontroller and is rotated, the retracting motor passes through the gearbox
The transmission shaft is driven to rotate, to drive the Scroll to rotate, into the water by the towed sonar basic matrix, and by described
Graduation mark is observed be put into depth in real time；
C, after being put into certain depth, the retracting motor stops operating, and by the transmitter and the receiver into
Row underwater sound signal listens to operation, and signal is fed back to institute by the high-strength composite cable rope and the waterproof compound electric hawser
It states console to show, into the console, input signal controls the depth of the towed sonar basic matrix；
D, after the completion of listening to, the console controls the retracting motor by the single-chip microcontroller and rotates backward, will be described
High-strength composite cable rope is wound, and is wrapped in above the Scroll, in case next time listens to operation.
The beneficial effects of the present invention are: the present invention can regulation and control sonar is listened in real time depth, improve to water
The sensitivity of acoustical signal has the advantages that strong flexibility, operability are good, while the present invention is deep convenient for staff's real time inspection
Degree, facilitates operation.
Detailed description of the invention
Fig. 1 is a kind of front view structure schematic diagram of ocean sonar device for ship of the present invention；
Fig. 2 is a kind of front view structure schematic diagram of the console of ocean sonar device for ship of the present invention；
Fig. 3 is a kind of backsight structure diagram of the console of ocean sonar device for ship of the present invention；
Fig. 4 is a kind of enlarged structure letter in the bottom tenesmus portion of ocean sonar device for ship of the present invention
Figure；
Fig. 5 is a kind of circuit flow diagram of ocean sonar device for ship of the present invention.
The reference numerals are as follows:
1, console；2, single-chip microcontroller；3, retracting motor；4, gearbox；5, transmission shaft；6, Scroll；7, side baffle；8,
High-strength composite cable rope；9, graduation mark；10, towed sonar basic matrix；11, transmitter；12, receiver；13, bottom tenesmus portion；
14, rotary seal ring；15, energy converter；16, waterproof compound electric hawser；101, microprocessor；102, cable concentrator；103, display screen；
104, switch button；105, signal amplifier；106, fm dial；107, heat dissipating grid；108, power connecting column；1301, storage bag；
1302, liquid injection pipe；1303, drain pipe.
Specific embodiment
In the description of invention, it is to be understood that term " center ", " longitudinal direction ", " transverse direction ", "upper", "lower", " preceding ",
The orientation or positional relationship of the instructions such as " rear ", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside" be based on
Orientation or positional relationship shown in the drawings is merely for convenience of description invention and simplifies description, rather than indication or suggestion is signified
Device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as to invention
Limitation.In addition, term " first ", " second " etc. are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define as a result, " first ", " second " etc. feature can express or
Person implicitly includes one or more of the features.In the description of invention, unless otherwise indicated, the meaning of " plurality " is two
It is a or more than two.
In the description of invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood by concrete condition
Concrete meaning in invention.
The present invention will be further explained below with reference to the attached drawings:
As Figure 1-Figure 5, a kind of ocean sonar device for ship, including console 1 and towed sonar basic matrix 10,
The console 1 is connected by waterproof compound electric hawser 16 with single-chip microcontroller 2, and the single-chip microcontroller 2 is connected with retracting motor 3,
The retracting motor 3 is connected by gearbox 4 with transmission shaft 5, and the transmission shaft 5 is connected with Scroll 6, the Scroll
6 both sides are respectively arranged with a side baffle 7, and the end of the Scroll 6 is multiple by rotary seal ring 14 and the waterproof
It closes cable rope 16 to be connected, the lower section of the Scroll 6 passes through high-strength composite cable rope 8 and 10 phase of towed sonar basic matrix
It connects, is provided with graduation mark 9 on the high-strength composite cable rope 8, the side of the towed sonar basic matrix 10 is provided with transducing
Device 15, the outside of the energy converter 15 are respectively arranged with transmitter 11 and receiver 12, and 10 bottom of towed sonar basic matrix is set
It is equipped with bottom tenesmus portion 13, the console 1 is by microprocessor 101, cable concentrator 102, display screen 103, switch button 104, letter
Number amplifier 105, fm dial 106, heat dissipating grid 107 and power connecting column 108 form, and the cable concentrator 102 is arranged described micro-
The top of processor 101, the display screen 103, the switch button 104, the signal amplifier 105 and the fm dial
106 are arranged at the front surface of the microprocessor 101, and the heat dissipating grid 107, the power connecting column 108 are arranged at described
The rear surface of microprocessor 101, bottom tenesmus portion 13 are made of storage bag 1301, liquid injection pipe 1302 and drain pipe 1303,
The top of the storage bag 1301 is arranged in the liquid injection pipe 1302, and the storage bag 1301 is arranged in the drain pipe 1303
Lower section.
In the present embodiment, the model I5 7200 of the microprocessor 101, the display screen 103 is touch screen, each
The fm dial 106 respectively corresponds the transmitter 11 or the receiver 12.
In the present embodiment, the cable concentrator 102, the display screen 103, the switch button 104, the signal amplifier
105, the fm dial 106 and the power connecting column 108 are electrically connected with the microprocessor 101.
In the present embodiment, the console 1 is electrically connected with the waterproof compound electric hawser 16, the waterproof compound electric hawser
16 are electrically connected with the single-chip microcontroller 2, and the single-chip microcontroller 2 is electrically connected with the retracting motor 3.
In the present embodiment, the 2 model 80C51 of single-chip microcontroller, the retracting motor 3 is servo motor, the folding and unfolding electricity
Machine 3 and the gearbox 4 are sequentially connected, and the gearbox 4 is sequentially connected with the transmission shaft 5, the transmission shaft 5 and the receipts
Spool 6 is sequentially connected.
In the present embodiment, the Scroll 6 is fixedly connected with the side baffle 7, and the Scroll 6 and the rotation are close
The sealing rotation connection of seal ring 14, the high-strength composite cable rope 8 are electrically connected with the waterproof compound electric hawser 16.
In the present embodiment, the graduation mark 9 is molded over the surface of the high-strength composite cable rope 8 by laser printing,
The high-strength composite cable rope 8 is fixed on the middle part of the towed sonar basic matrix 10.
In the present embodiment, the high-strength composite cable rope 8 is electrically connected with the energy converter 15, and the energy converter 15 is distinguished
It being electrically connected with the transmitter 11 and the receiver 12, the quantity of the transmitter 11 and the receiver 12 is three,
And cross arrangement is on the surface of the towed sonar basic matrix 10.
In the present embodiment, the towed sonar basic matrix 10 is fixed together with bottom tenesmus portion 13 by wirerope, institute
State storage bag 1301 and 1302 integrated injection molding of liquid injection pipe, the storage bag 1301 and 1303 one of drain pipe
Change injection molding.
The present invention also provides a kind of application methods of ocean sonar device for ship, are applied to above-mentioned sonar set
In, its specific application method are as follows:
A, staff is according to actual demand, and according to the depth of water to be detected, a certain amount of water is passed through the liquid injection pipe
In the 1302 injection storage bags 1301, and into the water by bottom tenesmus portion 13 and the towed sonar basic matrix 10.
B, staff's input service into the console 1 instructs, and the console 1 passes through the waterproof composite cable
Electric signal transmission to the single-chip microcontroller 2 is controlled the retracting motor 3 by the single-chip microcontroller 2 and rotated by rope 16, the retracting motor
3 drive the transmission shaft 5 to rotate by the gearbox 4, to drive the Scroll 6 to rotate, by the towed sonar base
Battle array 10 into the water, and is put into depth by the observation in real time of graduation mark 9.
C, after being put into certain depth, the retracting motor 3 stops operating, and by the transmitter 11 and the receiver
12 progress underwater sound signals listen to operation, and by the high-strength composite cable rope 8 and the waterproof compound electric hawser 16 by signal
The console 1 is fed back to show, staff can also the input signal into the console 1 at any time, described in control
The depth of towed sonar basic matrix 10.
D, after the completion of listening to, the console 1 controls the retracting motor 3 by the single-chip microcontroller 2 and rotates backward, by institute
It states high-strength composite cable rope 8 to be wound, 6 top of Scroll is wrapped in, in case listening to operation next time.
The basic principles, main features and advantages of the invention have been shown and described above.The technical staff of the industry should
Understand, the present invention is not limited to the above embodiments, and the above embodiments and description only describe originals of the invention
Reason, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these changes and improvements
It all fall within the protetion scope of the claimed invention.
Claims (10)
1. a kind of ocean sonar device for ship, it is characterised in that: including console (1) and towed sonar basic matrix (10),
The console (1) is connected by waterproof compound electric hawser (16) with single-chip microcontroller (2), the single-chip microcontroller (2) and retracting motor
(3) it is connected, the retracting motor (3) is connected by gearbox (4) with transmission shaft (5), the transmission shaft (5) and Scroll
(6) it is connected, the both sides of the Scroll (6) are respectively arranged with a side baffle (7), and the end of the Scroll (6) is logical
It crosses rotary seal ring (14) to be connected with the waterproof compound electric hawser (16), passes through high intensity below the Scroll (6)
Compound electric hawser (8) is connected with the towed sonar basic matrix (10), is provided with scale on the high-strength composite cable rope (8)
The side of line (9), the towed sonar basic matrix (10) is provided with energy converter (15), and the outside of the energy converter (15) is respectively set
There are transmitter (11) and receiver (12), towed sonar basic matrix (10) bottom is provided with bottom tenesmus portion (13).
2. a kind of ocean sonar device for ship according to claim 1, it is characterised in that: the console (1)
By microprocessor (101), cable concentrator (102), display screen (103), switch button (104), signal amplifier (105), frequency modulation rotation
Button (106), heat dissipating grid (107) and power connecting column (108) composition, the cable concentrator (102) are arranged in the microprocessor (101)
Top, the display screen (103), the switch button (104), the signal amplifier (105) and the fm dial
(106) it is arranged at the front surface of the microprocessor (101), the heat dissipating grid (107), the power connecting column (108) are all provided with
Set the rear surface in the microprocessor (101).
3. a kind of ocean sonar device for ship according to claim 1 or 2, it is characterised in that: under the bottom
Pendant portion (13) is made of storage bag (1301), liquid injection pipe (1302) and drain pipe (1303), and liquid injection pipe (1302) setting exists
The top of the storage bag (1301), lower section of drain pipe (1303) setting in the storage bag (1301).
4. a kind of ocean sonar device for ship according to claim 3, it is characterised in that: the display screen
It (103) is touch screen, each fm dial (106) respectively corresponds a transmitter (11) or the receiver
(12)。
5. a kind of ocean sonar device for ship according to claim 3, it is characterised in that: the cable concentrator
(102), the display screen (103), the switch button (104), the signal amplifier (105), the fm dial (106)
It is electrically connected with the microprocessor (101) with the power connecting column (108).
6. a kind of ocean sonar device for ship according to claim 3, it is characterised in that: the retracting motor
It (3) is servo motor, the retracting motor (3) and the gearbox (4) are sequentially connected, the gearbox (4) and the transmission
Axis (5) transmission connection, the transmission shaft (5) and the Scroll (6) are sequentially connected.
7. a kind of ocean sonar device for ship according to claim 3, it is characterised in that: the Scroll (6)
It is fixedly connected with the side baffle (7), the Scroll (6) and the rotary seal ring (14) sealing are rotatablely connected, described
High-strength composite cable rope (8) is electrically connected with the waterproof compound electric hawser (16).
8. a kind of ocean sonar device for ship according to claim 3, it is characterised in that: the high-strength composite
Cable rope (8) is electrically connected with the energy converter (15), the energy converter (15) respectively with the transmitter (11) and the reception
The quantity of machine (12) electrical connection, the transmitter (11) and the receiver (12) is three, and cross arrangement is dragged described
Drag the surface of sonar array (10).
9. a kind of ocean sonar device for ship according to claim 3, it is characterised in that: the towed sonar base
Battle array (10) is fixed together with bottom tenesmus portion (13) by wirerope, the storage bag (1301) and the liquid injection pipe
(1302) integrated injection molding, the storage bag (1301) and the drain pipe (1303) integrated injection molding.
10. a kind of application method of the ocean sonar device for ship is applied to the described in any item use of claim 1 to 9
In the ocean sonar device of ship, it is characterised in that: the method includes following steps:
A, according to the depth of water to be detected, a certain amount of water is injected into the storage bag (1301) by the liquid injection pipe (1302)
In, and into the water by bottom tenesmus portion (13) and the towed sonar basic matrix (10)；
B, input service instructs in the console (1), and the console (1) will by the waterproof compound electric hawser (16)
Electric signal transmission controls retracting motor (3) rotation, the retracting motor by the single-chip microcontroller (2) to the single-chip microcontroller (2)
(3) transmission shaft (5) rotation is driven to drag so that the Scroll (6) be driven to rotate by described by the gearbox (4)
Drag sonar array (10) into the water, and observation is put into depth in real time by the graduation mark (9)；
C, after being put into certain depth, the retracting motor (3) stops operating, and by the transmitter (11) and the receiver
(12) it carries out underwater sound signal and listens to operation, and by the high-strength composite cable rope (8) and the waterproof compound electric hawser (16)
Signal is fed back to the console (1) to show, input signal controls the towed sonar base in the console (1)
The depth of battle array (10)；
D, after the completion of listening to, the console (1) controls the retracting motor (3) by the single-chip microcontroller (2) and rotates backward, will
The high-strength composite cable rope (8) is wound, and is wrapped in above the Scroll (6), in case next time listens to operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811573804.5A CN109375226A (en) | 2018-12-21 | 2018-12-21 | A kind of ocean sonar device and its application method for ship |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811573804.5A CN109375226A (en) | 2018-12-21 | 2018-12-21 | A kind of ocean sonar device and its application method for ship |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109375226A true CN109375226A (en) | 2019-02-22 |
Family
ID=65371771
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811573804.5A Withdrawn CN109375226A (en) | 2018-12-21 | 2018-12-21 | A kind of ocean sonar device and its application method for ship |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109375226A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020177038A1 (en) * | 2019-03-01 | 2020-09-10 | 唐山哈船科技有限公司 | All-weather sonar monitoring apparatus |
| CN113495261A (en) * | 2020-04-01 | 2021-10-12 | 哈尔滨学院 | FPGA underwater acoustic signal processing device |
| CN114198628A (en) * | 2022-02-18 | 2022-03-18 | 山东省地质矿产勘查开发局第四地质大队(山东省第四地质矿产勘查院) | Water depth rapid determination instrument for water area surveying and mapping |
| CN115195940A (en) * | 2022-09-16 | 2022-10-18 | 苏州海鱼电子科技有限责任公司 | Convenient sonar jack for type ship |
-
2018
- 2018-12-21 CN CN201811573804.5A patent/CN109375226A/en not_active Withdrawn
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020177038A1 (en) * | 2019-03-01 | 2020-09-10 | 唐山哈船科技有限公司 | All-weather sonar monitoring apparatus |
| CN113495261A (en) * | 2020-04-01 | 2021-10-12 | 哈尔滨学院 | FPGA underwater acoustic signal processing device |
| CN114198628A (en) * | 2022-02-18 | 2022-03-18 | 山东省地质矿产勘查开发局第四地质大队(山东省第四地质矿产勘查院) | Water depth rapid determination instrument for water area surveying and mapping |
| CN115195940A (en) * | 2022-09-16 | 2022-10-18 | 苏州海鱼电子科技有限责任公司 | Convenient sonar jack for type ship |
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Application publication date: 20190222 |
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