CN113382197A - Underground image acquisition equipment - Google Patents
Underground image acquisition equipment Download PDFInfo
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- CN113382197A CN113382197A CN202010158314.XA CN202010158314A CN113382197A CN 113382197 A CN113382197 A CN 113382197A CN 202010158314 A CN202010158314 A CN 202010158314A CN 113382197 A CN113382197 A CN 113382197A
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- 238000012545 processing Methods 0.000 claims description 15
- 238000001514 detection method Methods 0.000 claims description 13
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- 239000004568 cement Substances 0.000 description 2
- 239000004020 conductor Substances 0.000 description 2
- 238000013480 data collection Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 229910001220 stainless steel Inorganic materials 0.000 description 2
- 239000010935 stainless steel Substances 0.000 description 2
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/20—Undercarriages with or without wheels
- F16M11/24—Undercarriages with or without wheels changeable in height or length of legs, also for transport only, e.g. by means of tubes screwed into each other
- F16M11/26—Undercarriages with or without wheels changeable in height or length of legs, also for transport only, e.g. by means of tubes screwed into each other by telescoping, with or without folding
- F16M11/28—Undercarriages for supports with one single telescoping pillar
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
- F16M13/04—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or holding steady relative to, a person, e.g. by chains, e.g. rifle butt or pistol grip supports, supports attached to the chest or head
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/70—Circuitry for compensating brightness variation in the scene
- H04N23/74—Circuitry for compensating brightness variation in the scene by influencing the scene brightness using illuminating means
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/80—Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
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- Engineering & Computer Science (AREA)
- Signal Processing (AREA)
- General Engineering & Computer Science (AREA)
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Abstract
The embodiment of the invention relates to the technical field of data acquisition and transmission, and provides underground image acquisition equipment. The underground image acquisition equipment comprises a data processor, a connecting rod and a data acquisition unit, wherein the data processor is arranged on the connecting rod, the connecting rod comprises a data acquisition end, and the data acquisition unit is arranged on the data acquisition end and transmits acquired image data to the data processor. According to the underground image acquisition equipment provided by the embodiment of the invention, the data processor and the data acquisition unit are arranged on the connecting rod, so that the pipe hole arrangement and pipe hole occupation conditions in the manhole can be accurately acquired without prying the manhole cover when the manhole cover is put into the well during outdoor exploration, the working intensity of operators is reduced, and the accuracy of underground data acquisition is improved.
Description
Technical Field
The invention relates to the technical field of data acquisition and transmission, in particular to underground image acquisition equipment.
Background
When the communication line engineering is used for surveying and collecting the occupation of the well bore of the hand well, the general working process is as follows: firstly, a crowbar is used for prying a manhole cover of a hand, then workers go down a well or kick the manhole cover to record the occupation of pipe holes at the well edge, and the occupation condition of the pipe holes in the well is photographed. When outdoor operations, in order to pry open the well lid and go into the well, workers often need to carry operation tools such as crowbars and ladders, and personnel load is heavy and is inconvenient to carry. Simultaneously, the cement well lid is heavier, and especially the cement well lid of suburb pipeline is hardly pried one by one under the general condition, and in addition, injure staff easily by a crashing object after the well lid is pried, causes the incident. In addition, because the hand hole wells have different models (SK series, hand hole series and manhole series), the depth of the hand hole wells is inconsistent, the insides of the wells are dark and moist and are stepped at the sides of the wells, the arrangement of pipe holes in the wells and the occupation conditions of the pipe holes are not clear in fundamental survey, and the survey design quality is directly influenced. If the underground exploration is carried out, the underground exploration is unsafe, and carbon monoxide or mosquito biting poisoning accidents in the well are suitable to happen. Therefore, how to provide equipment which can accurately collect the pipe hole arrangement and the pipe hole occupation condition in the manhole without prying the manhole cover and descending the manhole when the equipment is used for outdoor exploration becomes a problem to be solved urgently.
Disclosure of Invention
In order to solve the above problems in the prior art, an embodiment of the present invention provides an underground image capturing device.
The underground image acquisition equipment provided by the embodiment of the invention comprises a data processor, a connecting rod and a data acquisition unit, wherein the data processor is arranged on the connecting rod, the connecting rod comprises a data acquisition end, and the data acquisition unit is arranged on the data acquisition end and transmits acquired image data to the data processor.
According to one embodiment of the invention, the connecting rod is a telescopic rod comprising an outer rod section and at least one inner rod section telescopically arranged in the outer rod section, wherein the data acquisition end is located at an end of the inner rod section.
According to an embodiment of the invention, the data processor is embedded in the outer pole section of the connecting pole, and the connecting pole further comprises a handheld end on the outer pole section.
According to one embodiment of the invention, the data collector comprises: the image acquisition module is electrically connected with the data processor and acquires image data; and the obstacle detection module is electrically connected with the data processor and is used for detecting obstacles through infrared rays.
According to one embodiment of the invention, the data processor comprises: the processing module is used for processing and storing the image data and the obstacle detection data; and the Bluetooth module is used for carrying out data interaction with external mobile equipment.
According to one embodiment of the invention, the connecting rod is provided with a driving mechanism for driving the connecting rod to extend and retract, wherein the processing module controls the driving mechanism to stop acting in response to receiving the obstacle detection data.
According to one embodiment of the invention, the connecting rod is further provided with a warning module, wherein in response to receiving the obstacle detection data, the processing module further controls the warning module to send out an obstacle alarm.
According to an embodiment of the present invention, the connecting rod is further provided with a control button, and the control button comprises: the Bluetooth control button is electrically connected with the Bluetooth module to control the starting and stopping of the Bluetooth module; the connecting rod control button is electrically connected with the driving mechanism to control the starting, stopping and stretching of the connecting rod; and the image acquisition button is electrically connected with the image acquisition module to control the start and stop of the image acquisition module.
According to one embodiment of the invention, a lighting device is further arranged on the data acquisition end, and the control button further comprises a lighting control button, wherein the lighting control button is electrically connected with the lighting device to control the on-off of the lighting device.
According to an embodiment of the invention, the downhole image acquisition device further comprises a power module, and the power module comprises a battery for supplying power to the downhole image acquisition device and a USB charging interface connected with the battery.
According to the underground image acquisition equipment provided by the embodiment of the invention, the data processor and the data acquisition unit are arranged on the connecting rod, so that the pipe hole arrangement and pipe hole occupation conditions in the manhole can be accurately acquired without prying the manhole cover when the manhole cover is put into the well during outdoor exploration, the working intensity of operators is reduced, and the accuracy of underground data acquisition is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a downhole image capturing device according to an embodiment of the present invention, wherein the image capturing device is in an extended state;
FIG. 2 is a schematic structural diagram illustrating the downhole image capturing device of the embodiment of FIG. 1 in a retracted state;
fig. 3 is a schematic cross-sectional view of a downhole image capturing device according to an embodiment of the present invention.
Description of reference numerals:
1-a key ring; 2-a data processor;
3-an outer pole section; 4-a rod cover;
5-an inner pole section; 6-a data collector;
7-conducting wire.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Fig. 1 is a schematic view of an extended structure of a downhole image capturing device according to an embodiment of the present invention. As shown in fig. 1, in an embodiment of the present invention, the downhole image capturing device includes a data processor 2, a connecting rod, and a data collector 6, wherein the data processor 2 is disposed on the connecting rod, the connecting rod includes a data capturing end, and the data collector 6 is disposed on the data capturing end and transmits captured image data to the data processor 2.
In particular, in one embodiment of the invention, the connecting rod is a telescopic rod comprising an outer rod section 3 and at least one inner rod section 5 telescopically arranged in the outer rod section 3. In one embodiment of the present invention, the outer rod section 3 and the inner rod section 5 may be integrally formed by 3-5 rods, and the specific length of each rod and the required number of rod sections may be determined according to specific working conditions. The inner rod section 5 can freely retract or extend out of the outer rod section 3 in the outer rod section 3, and the outer rod section 3 and the inner rod section 5 are made of round stainless steel materials.
Further, the connecting rod still includes the data acquisition end, and data collection unit 6 sets up on the data acquisition end and transmits the image data who gathers to data processor 2. In particular, the data acquisition end is located at the end of the inner pole section 5, i.e. the data acquisition unit 6 is arranged at the end of the inner pole section 5. Simultaneously, still be provided with data processor 2 on the connecting rod, data processor 2 is embedded in outer pole section 3 to the connecting rod is still including being located the handheld end on outer pole section 3 for this image acquisition equipment in the pit is handed to the operating personnel when using.
Specifically, one end of the outer rod section 3 is a handheld end, the data processor 2 is embedded in the outer rod section 3, the inner rod section 5 can be freely retracted into the outer rod section 3 or extended out of the outer rod section 3, one end of the inner rod section 5 extended out of the outer rod section 3 is a data acquisition end, and the data acquisition unit 6 is arranged at the end part of the end.
According to the underground image acquisition equipment provided by the embodiment of the invention, the data processor and the data acquisition unit are arranged on the connecting rod, so that the pipe hole arrangement and pipe hole occupation conditions in the manhole can be accurately acquired without prying the manhole cover when the manhole cover is put into the well during outdoor exploration, the working intensity of operators is reduced, and the accuracy of underground data acquisition is improved.
Fig. 2 is a schematic structural diagram of an underground image acquisition device according to an embodiment of the present invention. As shown in fig. 2 and combined with fig. 1, when the inner rod section 5 contracts into the outer rod section 3, the outer rod section 3 and the rod cover 4 are both provided with matched threads, the rod cover 4 can be fixed on the outer rod section 3 through threaded connection, so that the effect of protecting the data acquisition device 6 is achieved, and meanwhile, a longer connecting rod contracts into a shorter size, so that the carrying is convenient.
In addition, in one embodiment of the present invention, the key ring 1 is connected to the hand-held end of the outer rod section 3 through a screw thread, and the material of the key ring 1 is stainless steel. When the connecting rod stretches into in the pit, the operation personnel can hang the key ring on hand, convenient operation.
Fig. 3 is a schematic cross-sectional view of a downhole image capturing device according to an embodiment of the present invention. In one embodiment of the invention, as shown in fig. 3, the conductor 7 is used for connecting the data processor 2 and the data collector 6, and the conductor 7 is a signal line.
In one embodiment of the present invention, data collector 6 includes an image collection module and an obstacle detection module. Wherein, the image acquisition module is arranged at the end part of the inner rod section 5. For example, it may be a miniature panoramic camera (corresponding to a camera, for example, capable of taking pictures and/or video), for example, with pixels of about 1000 ten thousand. The image acquisition module is used for acquiring images, namely acquiring the pipe hole arrangement in the hand hole well and the image data occupied by the pipe holes. In addition, the obstacle detection module detects the object by infrared rays.
When the image acquisition module acquires the image data of the tube hole arrangement and the tube hole occupation in the hand hole well, the image acquisition module transmits the image data information to the data processor 2 through the lead 7. The data processor 2 comprises a processing module and a bluetooth module. Specifically, after the processing module receives the image data information transmitted by the image acquisition module, the processing module performs image processing and storage on the image data.
In an embodiment of the invention, the connecting rod is further provided with a driving mechanism for driving the connecting rod to stretch, a warning module and a connecting rod control button.
Specifically, when the obstacle detection module detects an obstacle, the obstacle detection module transmits obstacle detection data to the processing module, and the processing module controls the driving mechanism to stop working, so that the connecting rod automatically stops extending; meanwhile, the processing module controls the warning module to send out an obstacle alarm, and an operator can press a connecting rod control button on the connecting rod to appropriately contract the connecting rod.
In one embodiment of the present invention, the data processor 2 further comprises a bluetooth module for data interaction with an external mobile device. Simultaneously, still be provided with bluetooth control button on the connecting rod. Specifically, when the underground image acquisition equipment starts to work, a Bluetooth control button is pressed, and the Bluetooth control button and the Bluetooth module can be connected through a wire for example and used for controlling the starting and stopping of the Bluetooth module. At the moment, the operator can simultaneously start the mobile device, such as the Bluetooth on the mobile phone, and then the image data acquired by the image acquisition module can be sent to the mobile phone of the operator, so that data interaction is realized.
In an embodiment of the present invention, the connecting rod is further provided with an image capturing button, which is electrically connected to the image capturing module for controlling the start and stop of the image capturing module. Specifically, when an operator presses an image acquisition button, the image acquisition module can perform operations such as photographing and/or shooting on pipe hole arrangement and pipe hole occupation conditions in the human hand hole well.
In an embodiment of the invention, a lighting device is further arranged on the data acquisition end, and the control button further comprises a lighting control button, wherein the lighting control button is electrically connected with the lighting device for controlling the starting and stopping of the lighting device. Specifically, the lighting device may employ, for example, a micro sodium lamp. The light intensity of the structural lamp can see objects in the well, and the image collected by the image collection module is clear.
In an embodiment of the present invention, the downhole image capturing device further includes a power module, and the power module includes a battery for supplying power to the downhole image capturing device, and a USB charging interface connected to the battery.
The working principle and the specific using method of the underground image acquisition equipment are specifically described by the following examples:
before the underground image acquisition device is used, the underground image acquisition device is charged by utilizing the USB charging interface, the storage space is cleaned, and the photo recording format is set.
When the outdoor reconnaissance is used, the handheld end of outer pole section 3 is handed to the operation personnel or hang key ring 1 on hand, stretch into staff's hole well lid hole with the connecting rod, press the bluetooth control button on the connecting rod, open the bluetooth function on the outside mobile device (for example cell-phone) in the operation personnel hand simultaneously, after bluetooth on the connecting rod pairs with the bluetooth on the operation personnel cell-phone, the operation personnel can see the image in the pit of staff's hole on own cell-phone. Pressing down the connecting rod control button on the connecting rod, the connecting rod begins automatic extension, and at this moment, interior pole section 5 is automatic to be extended outside outer pole section 3. The data acquisition unit 6 is located at the end part of the inner rod section 5, at the moment, the inner rod section is inserted into the manhole, the lighting control button on the connecting rod is pressed, the operator watches the arrangement and occupation condition of the pipe holes in the manhole through the mobile phone, and the photographing button on the mobile phone is pressed, so that the image data of the arrangement and occupation of the pipe holes in the manhole can be acquired.
When the operation personnel need not the scene look over the pipe hole in the people hand hole well and arrange and the photo that occupies, this moment, need not open the bluetooth on the operation personnel cell-phone, only need press the image and gather the button, can arrange and occupy the situation and shoot to the pipe hole in the people hand hole well, then, data collection unit 6 passes through wire 7 with the photo of gathering and transmits for data processor 2, data processor 2 handles and saves the photo, makes things convenient for the operation personnel to derive to the computer in.
With the inner rod section 5 continuously extending, when the inner rod section 5 meets an obstacle, the data acquisition unit 6 sends acquired obstacle exploration data to the data processor 2, and the data processor 2 controls the driving mechanism to stop working and controls the warning module to give an obstacle warning. At this time, the operator can press the control button of the connecting rod to properly retract the inner rod section 5.
After the picture that the pipe hole was arranged and was occupied the situation in the manhole shaft was collected and is finished, can continue to press the connecting rod control button on the connecting rod, and the interior pole section 5 that will stretch out all contracts to in the outer pole section 3, and pole cover 4 is gone up to the spiral, and outdoor reconnaissance operation is accomplished, and the operation personnel can leave the scene.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. An underground image acquisition device is characterized by comprising a data processor, a connecting rod and a data acquisition unit,
the data processor is arranged on the connecting rod, the connecting rod comprises a data acquisition end, and the data acquisition device is arranged on the data acquisition end and transmits acquired image data to the data processor.
2. The downhole image capturing device of claim 1, wherein the connecting rod is a telescoping rod comprising an outer rod segment and at least one inner rod segment telescopically disposed in the outer rod segment, wherein the data capturing end is located at an end of the inner rod segment.
3. A downhole image capturing device as claimed in claim 2, wherein the data processor is embedded in the outer rod section of the connecting rod, and the connecting rod further comprises a hand-held end on the outer rod section.
4. The downhole image capturing device of claim 1, wherein the data collector comprises:
the image acquisition module is electrically connected with the data processor and acquires the image data;
and the obstacle detection module is electrically connected with the data processor and is used for detecting obstacles through infrared rays.
5. The downhole image capturing device of claim 4, wherein the data processor comprises:
the processing module is used for processing and storing the image data and the obstacle detection data;
and the Bluetooth module is used for carrying out data interaction with external mobile equipment.
6. The downhole image capturing device as claimed in claim 5, wherein the connecting rod is provided with a driving mechanism for driving the connecting rod to extend and retract,
wherein the processing module controls the drive mechanism to stop acting in response to receiving the obstacle detection data.
7. The downhole image capturing device as claimed in claim 6, wherein the connecting rod is further provided with a warning module,
wherein, in response to receiving the obstacle detection data, the processing module further controls the alert module to issue an obstacle alert.
8. The downhole image capturing device as claimed in claim 6, wherein the connecting rod is further provided with a control button, the control button comprising:
the Bluetooth control button is electrically connected with the Bluetooth module to control the starting and stopping of the Bluetooth module;
the connecting rod control button is electrically connected with the driving mechanism to control the starting, stopping and stretching of the connecting rod;
and the image acquisition button is electrically connected with the image acquisition module to control the start and stop of the image acquisition module.
9. The downhole image capturing device of claim 8, wherein an illumination device is further disposed on the data capturing end and the control buttons further comprise an illuminated control button,
the lighting control button is electrically connected with the lighting device to control the on-off of the lighting device.
10. The downhole image capturing device of claim 1, further comprising a power module, wherein the power module comprises a battery for powering the downhole image capturing device and a USB charging interface connected to the battery.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010158314.XA CN113382197A (en) | 2020-03-09 | 2020-03-09 | Underground image acquisition equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010158314.XA CN113382197A (en) | 2020-03-09 | 2020-03-09 | Underground image acquisition equipment |
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| CN113382197A true CN113382197A (en) | 2021-09-10 |
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| CN202010158314.XA Pending CN113382197A (en) | 2020-03-09 | 2020-03-09 | Underground image acquisition equipment |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104234693A (en) * | 2014-09-29 | 2014-12-24 | 广东南方电信规划咨询设计院有限公司 | Telescopic communication manhole/handhole investigation tool |
| CN207377553U (en) * | 2017-11-10 | 2018-05-18 | 中煤航测遥感集团有限公司 | Detect instrument in underground |
| CN207816264U (en) * | 2017-11-24 | 2018-09-04 | 中南大学 | A kind of portable space survey meter |
| CN208703583U (en) * | 2018-08-31 | 2019-04-05 | 浙江省国土勘测规划有限公司 | A kind of visually underground pipelines searcher |
| CN209784209U (en) * | 2019-03-29 | 2019-12-13 | 南京御河环境工程有限公司 | Portable pipeline detector |
-
2020
- 2020-03-09 CN CN202010158314.XA patent/CN113382197A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104234693A (en) * | 2014-09-29 | 2014-12-24 | 广东南方电信规划咨询设计院有限公司 | Telescopic communication manhole/handhole investigation tool |
| CN207377553U (en) * | 2017-11-10 | 2018-05-18 | 中煤航测遥感集团有限公司 | Detect instrument in underground |
| CN207816264U (en) * | 2017-11-24 | 2018-09-04 | 中南大学 | A kind of portable space survey meter |
| CN208703583U (en) * | 2018-08-31 | 2019-04-05 | 浙江省国土勘测规划有限公司 | A kind of visually underground pipelines searcher |
| CN209784209U (en) * | 2019-03-29 | 2019-12-13 | 南京御河环境工程有限公司 | Portable pipeline detector |
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Application publication date: 20210910 |
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