CN113406653B - Mining intrinsic safety type laser ranging device - Google Patents
Mining intrinsic safety type laser ranging device Download PDFInfo
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- CN113406653B CN113406653B CN202110658823.3A CN202110658823A CN113406653B CN 113406653 B CN113406653 B CN 113406653B CN 202110658823 A CN202110658823 A CN 202110658823A CN 113406653 B CN113406653 B CN 113406653B
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- 238000005065 mining Methods 0.000 title claims abstract description 12
- 230000007246 mechanism Effects 0.000 claims abstract description 68
- 230000001681 protective effect Effects 0.000 claims abstract description 8
- 238000005259 measurement Methods 0.000 description 8
- 238000000034 method Methods 0.000 description 6
- 238000005457 optimization Methods 0.000 description 5
- 239000003245 coal Substances 0.000 description 3
- 238000009826 distribution Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 239000011435 rock Substances 0.000 description 2
- JBRZTFJDHDCESZ-UHFFFAOYSA-N AsGa Chemical compound [As]#[Ga] JBRZTFJDHDCESZ-UHFFFAOYSA-N 0.000 description 1
- 229910001218 Gallium arsenide Inorganic materials 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- XKRFYHLGVUSROY-UHFFFAOYSA-N argon Substances [Ar] XKRFYHLGVUSROY-UHFFFAOYSA-N 0.000 description 1
- 229910052786 argon Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- LASZEGOTHPLHAJ-UHFFFAOYSA-N cadmium krypton Chemical compound [Kr].[Cd] LASZEGOTHPLHAJ-UHFFFAOYSA-N 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000007789 gas Substances 0.000 description 1
- CPBQJMYROZQQJC-UHFFFAOYSA-N helium neon Chemical compound [He].[Ne] CPBQJMYROZQQJC-UHFFFAOYSA-N 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
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- 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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
-
- 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
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention relates to a mining intrinsic safety type laser ranging device which comprises a laser ranging instrument, wherein the lower end of the laser ranging instrument is connected with a direction adjusting mechanism, the lower end of the direction adjusting mechanism is connected with a supporting plate, the lower end of the supporting plate is connected with a plurality of levelness adjusting mechanisms, a protective cover is detachably connected to the supporting plate, the laser ranging instrument and the direction adjusting mechanisms are positioned in the protective cover, the levelness adjusting mechanisms are symmetrically distributed at the lower end of the supporting plate, the upper end of the supporting plate is connected with a first level bar and a second level bar, and the first level bar and the second level bar are vertically distributed. This mining intrinsic safety type laser rangefinder can keep the laser rangefinder in the complex environment and be in the horizontality and measure to can carry out the regulation of arbitrary angle based on horizontal position, and accurate acquisition angle adjustment's when adjusting numerical value improves measuring precision under the ore deposit.
Description
Technical Field
The invention belongs to the technical field of laser ranging, and particularly relates to a mining intrinsic safety type laser ranging device.
Background
Laser ranging (laser ranging) is to use a laser as a light source for ranging. A continuous laser and a pulse laser are classified according to the manner in which laser light operates. The helium-neon, argon ion, krypton-cadmium and other gas lasers work in a continuous output state and are used for phase laser ranging; the double heterogeneous gallium arsenide semiconductor laser is used for infrared ranging; the solid laser is used for pulse laser ranging. Due to the characteristics of good monochromaticity, strong directivity and the like of laser, and the integration of electronic circuits, the laser range finder not only can operate day and night, but also can improve the range finding precision compared with the photoelectric range finder.
Laser rangefinders typically measure distance in two ways: pulse methods and phase methods. The pulse ranging process is as follows: the laser emitted by the distance meter is received by the distance meter after being reflected by the measured object, and the distance meter records the laser round trip time. Half the product of the speed of light and the round trip time is the distance between the rangefinder and the object being measured. The accuracy of the distance measured by the pulse method is generally about +/-10 cm. In addition, the measurement blind area of such a range finder is generally about 1 meter.
Laser ranging is one mode of ranging in light wave ranging, and if the time required for light to travel in air at speed c to make a round trip between A, B points is t, the distance D between A, B points can be expressed as follows.
D＝ct/2
Wherein:
d-measuring the distance between two points of the station A, B;
c-speed;
t—time required for one round trip A, B.
As can be seen from the above equation, the distance A, B to be measured is actually the time t for light to travel, and the laser rangefinder is generally classified into two measurement forms of pulse type and phase type according to the measurement time method.
At present, in the field of coal mines, as the mining depth of the coal mine increases, the stress of surrounding rock of a roadway is continuously increased, and the deformation of the roadway is also more serious. And measuring the deformation of surrounding rock of the roadway (comprising deformation of two sides and approaching amount of a top plate and a bottom plate), supporting the damaged roadway in time, and ensuring the safe production of the coal mine. However, in some roadways, the roadway is seriously damaged, the roadway deformation is difficult to measure by using a laser range finder, the measurement result is inaccurate, and a worker has a large potential safety hazard in the measurement process, so that the effect of automatic multi-azimuth accurate measurement cannot be achieved.
Disclosure of Invention
The invention aims to solve the problems and provide the mining intrinsic safety type laser ranging device which is simple in structure and reasonable in design.
The invention realizes the above purpose through the following technical scheme:
the utility model provides a mining intrinsic safety type laser rangefinder, includes the laser rangefinder, the lower extreme of laser rangefinder is connected with direction adjustment mechanism, and direction adjustment mechanism's lower extreme is connected with the backup pad, and the backup pad lower extreme is connected with a plurality of levelness adjustment mechanism, detachably is connected with the protection casing in the backup pad, and laser rangefinder and direction adjustment mechanism are located the protection casing, and a plurality of levelness adjustment mechanism symmetric distribution is in the lower extreme of backup pad, and the backup pad upper end is connected with first level bar and second level bar, perpendicular distribution between first level bar and the second level bar;
the direction adjusting mechanism comprises an X-axis rotating mechanism, a Y-axis rotating mechanism connected to the X-axis rotating mechanism and a circumferential rotating mechanism connected to the Y-axis rotating mechanism, and the circumferential rotating mechanism is connected with the laser range finder.
As a further optimization scheme of the invention, the X-axis rotating mechanism comprises a first bracket connected to the upper end of the supporting plate, a first rotating shaft movably connected to the first bracket, a connecting block and a first driven gear connected to the middle position of the first rotating shaft, a first gear motor detachably connected to the first bracket, a first driving gear connected to the output shaft of the first gear motor, and a first angle sensor connected to one end of the first rotating shaft, wherein a shell of the first angle sensor is connected with the supporting plate, and the first driving gear is meshed with the first driven gear.
As a further optimization scheme of the invention, the Y-axis rotating mechanism comprises a second bracket connected to the upper end of the connecting block, a mounting plate connected to the side wall of the second bracket, a second gear motor connected to the mounting plate, a second driving gear connected to the output shaft of the second gear motor, a second rotating shaft movably connected to the second bracket, a connecting rod connected to the middle part of the second rotating shaft, a second driven gear connected to one end of the second rotating shaft and a second angle sensor at the other end of the second rotating shaft, wherein the second driving gear is meshed with the second driven gear, and a shell of the second angle sensor is connected with the second bracket.
As a further optimization scheme of the invention, the circumferential rotation mechanism comprises a third rotating shaft movably connected to the upper end of the connecting rod, an inner cavity arranged in the connecting rod, a third angle sensor arranged in the inner cavity, a third gear motor connected to the side wall of the connecting rod, a third driving gear connected to the output shaft of the third gear motor, and a third driven gear connected to the middle position of the third rotating shaft, wherein the third driving gear is meshed with the third driven gear, and one end of the third rotating shaft extending in the inner cavity is connected with the third angle sensor.
As a further optimization scheme of the invention, the levelness adjusting mechanism comprises a fixed supporting column connected to the lower end of the supporting plate, a moving groove arranged in the fixed supporting column, an adjusting ring movably connected to the lower end of the fixed supporting column, a screw rod arranged in the moving groove, an inner limiting block connected to one end of the screw rod and a bottom plate connected to the other end of the screw rod, wherein the inner wall of the adjusting ring is provided with an inner thread matched with the screw rod.
As a further optimization scheme of the invention, the upper end of the supporting plate is connected with a plurality of limiting plates, the lower end of the protective cover is provided with a plurality of limiting grooves matched with the limiting plates, the inner wall of each limiting groove is connected with a spring, and the lower end of each spring is connected with a movable plate.
The invention has the beneficial effects that:
1) The invention can carry out adaptive adjustment according to different ground conditions under the mine, so that the supporting plate is in a horizontal state, the laser range finder can be ensured to be in a precise state when measuring, and a precise coordinate system is provided for the subsequent laser range finder when carrying out angle adjustment;
2) According to the invention, the laser range finder can automatically adjust any angle through the direction adjusting mechanism, so that the laser range finder can measure distances in different directions, the angle can be adjusted accurately or according to the angle adjusting value, the measuring accuracy is greatly improved, and the risk of manual operation under the mine is reduced;
3) The invention has simple structure, high stability, reasonable design and convenient realization.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic diagram of the mechanism of the direction adjustment mechanism of the present invention;
FIG. 3 is a mating view of a second bracket and connecting rod of the present invention;
fig. 4 is a schematic structural view of the levelness adjustment mechanism of the present invention.
In the figure: 1. a laser range finder; 2. a direction adjusting mechanism; 201. a first bracket; 202. a first rotating shaft; 203. a connecting block; 204. a first gear motor; 205. a first driven gear; 206. a first angle sensor; 207. a first drive gear; 208. a second bracket; 209. a mounting plate; 210. a second gear motor; 211. a second drive gear; 212. a second rotating shaft; 213. a second driven gear; 214. a second angle sensor; 215. a connecting rod; 216. a third rotating shaft; 217. a third driven gear; 218. a third gear motor; 219. a third drive gear; 3. a support plate; 301. a first level bar; 302. a second level bar; 303. a limiting plate; 4. a levelness adjusting mechanism; 401. fixing the support column; 402. a moving groove; 403. an adjusting ring; 404. a screw; 405. an inner limiting block; 406. a bottom plate; 5. a protective cover; 501. a spring; 502. and (3) moving the plate.
Detailed Description
The following detailed description of the present application is provided in conjunction with the accompanying drawings, and it is to be understood that the following detailed description is merely illustrative of the application and is not to be construed as limiting the scope of the application, since numerous insubstantial modifications and adaptations of the application will be to those skilled in the art in light of the foregoing disclosure.
Example 1
As shown in fig. 1-4, the mining intrinsic safety type laser ranging device comprises a laser ranging instrument 1, wherein the lower end of the laser ranging instrument 1 is connected with a direction adjusting mechanism 2, the lower end of the direction adjusting mechanism 2 is connected with a supporting plate 3, the lower end of the supporting plate 3 is connected with a plurality of levelness adjusting mechanisms 4, the supporting plate 3 is detachably connected with a protective cover 5, the laser ranging instrument 1 and the direction adjusting mechanisms 2 are positioned in the protective cover 5, the plurality of levelness adjusting mechanisms 4 are symmetrically distributed at the lower end of the supporting plate 3, the upper end of the supporting plate 3 is connected with a first level 301 and a second level 302, and the first level 301 and the second level 302 are vertically distributed;
the levelness adjusting mechanism 4 comprises a fixed support column 401 connected to the lower end of the support plate 3, a moving groove 402 arranged in the fixed support column 401, an adjusting ring 403 movably connected to the lower end of the fixed support column 401, a screw 404 arranged in the moving groove 402, an inner limiting block 405 connected to one end of the screw 404 and a bottom plate 406 connected to the other end of the screw 404, wherein the inner wall of the adjusting ring 403 is provided with an inner thread matched with the screw 404.
When the device is installed for the first time at different positions under the mine, the levelness of the supporting plate 3 can be adjusted according to the concave-convex degree of the actual ground, during adjustment, the driving screw 404 is driven to move in the moving groove 402 through the rotating adjusting ring 403, the adjustable screw 404 stretches out of the length of the fixed supporting column 401, the heights of four corners of the supporting plate 3 can be adjusted conveniently, and during adjustment, whether the supporting plate 3 is in a horizontal state or not is observed according to the first level ruler 301 and the second level ruler 302, the adjustment is stopped when the first level ruler 301 and the second level ruler 302 are both in the horizontal state, at the moment, the supporting plate 3 is in the horizontal state, the condition that the laser range finder 1 is in the horizontal state during the initial measurement can be ensured, and an accurate coordinate system can be provided for subsequent adjustment.
The direction adjusting mechanism 2 comprises an X-axis rotating mechanism, a Y-axis rotating mechanism connected to the X-axis rotating mechanism and a circumferential rotating mechanism connected to the Y-axis rotating mechanism, and the circumferential rotating mechanism is connected with the laser range finder 1.
The X-axis rotating mechanism comprises a first support 201 connected to the upper end of the support plate 3, a first rotating shaft 202 movably connected to the first support 201, a connecting block 203 and a first driven gear 205 connected to the middle position of the first rotating shaft 202, a first speed reduction motor 204 detachably connected to the first support 201, a first driving gear 207 connected to the output shaft of the first speed reduction motor 204, and a first angle sensor 206 connected to one end of the first rotating shaft 202, wherein the housing of the first angle sensor 206 is connected to the support plate 3, and the first driving gear 207 is meshed with the first driven gear 205.
When the measuring direction of the laser range finder 1 is adjusted, the first driving gear 207 is driven to rotate through the first gear motor 204, the first driven gear 205 is driven to rotate through the first driving gear 207, the first rotating shaft 202 is driven to rotate after the first driven gear 205 rotates, the connecting block 203 is driven to rotate at the same angle after the first rotating shaft 202 rotates, the Y-axis rotating mechanism, the circumferential rotating mechanism and the laser range finder 1 on the connecting block 203 can be driven to rotate at the same angle, and the rotating angle of the first rotating shaft 202 is accurately measured according to the first angle sensor 206.
The Y-axis rotating mechanism comprises a second bracket 208 connected to the upper end of the connecting block 203, a mounting plate 209 connected to the side wall of the second bracket 208, a second gear motor 210 connected to the mounting plate 209, a second driving gear 211 connected to the output shaft of the second gear motor 210, a second rotating shaft 212 movably connected to the second bracket 208, a connecting rod 215 connected to the middle part of the second rotating shaft 212, a second driven gear 213 connected to one end of the second rotating shaft 212 and a second angle sensor 214 at the other end, wherein the second driving gear 211 is meshed with the second driven gear 213, and the outer shell of the second angle sensor 214 is connected with the second bracket 208.
The second driving gear 211 is driven to rotate by the second gear motor 210, the second driven gear 213 is driven to rotate by the second driving gear 211, the second driven gear 213 drives the second rotating shaft 212 to rotate at the same angle after rotating, the connecting rod 215 is driven to rotate at the same angle after rotating the second rotating shaft 212, the circumference rotating mechanism and the laser range finder 1 can be driven to rotate at the same angle after rotating the connecting rod 215, and the rotating angle of the second rotating shaft 212 is accurately measured by the second angle sensor 214.
The circumference rotation mechanism comprises a third rotating shaft 216 movably connected to the upper end of the connecting rod 215, an inner cavity arranged in the connecting rod 215, a third angle sensor arranged in the inner cavity, a third gear motor 218 connected to the side wall of the connecting rod 215, a third driving gear 219 connected to the output shaft of the third gear motor 218, and a third driven gear 217 connected to the middle position of the third rotating shaft 216, wherein the third driving gear 219 is meshed with the third driven gear 217, and one end of the third rotating shaft 216 extending into the inner cavity is connected with the third angle sensor.
The third driving gear 219 is driven to rotate by the third gear motor 218, the third driven gear 217 is driven to rotate after the third driving gear 219 rotates, the third driven gear 217 drives the third rotating shaft 216 and the laser range finder 1 to rotate at the same angle, and the rotating angle of the third rotating shaft 216 can be accurately measured by the third angle sensor.
As shown in fig. 1 and fig. 2, the first rotating shaft 202 and the second rotating shaft 212 are distributed in a perpendicular crossing manner, when the measuring direction of the laser range finder 1 is adjusted, the laser range finder 1 can be adjusted at any angle according to the X-axis rotating mechanism, the Y-axis rotating mechanism connected to the X-axis rotating mechanism and the circumferential rotating mechanism connected to the Y-axis rotating mechanism, and the angle adjusting value can be accurately obtained in real time during adjustment, so that the accuracy of the laser range finder 1 in multi-angle measurement is greatly improved, the remote adjustment can be performed through the operation of a remote control motor, and the potential safety hazard of workers working under mines is reduced.
The upper end of backup pad 3 is connected with a plurality of limiting plate 303, and the lower extreme of protection casing 5 is equipped with a plurality of and limiting plate 303 matched with spacing groove, is connected with spring 501 on the inner wall of spacing groove, and the lower extreme of spring 501 is connected with movable plate 502.
When not using, can carry out cage formula protection through protection casing 5 with organ distancer and direction adjustment mechanism 2 to have the function of buffering pressure release between protection casing 5 and the backup pad 3, when protection casing 5 received external impact force, spring 501 in the spacing inslot was compressed, and produced corresponding reaction force and offset impact force, prevent that impact force from directly assaulting the deformation with protection casing 5, can effectually protect its inside device, directly take off protection casing 5 during the use can, it is comparatively convenient.
The foregoing examples illustrate only a few embodiments of the invention and are described in detail herein without thereby limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention.
Claims (3)
1. The utility model provides a mining ann's type laser rangefinder, includes laser rangefinder (1), its characterized in that: the laser range finder comprises a laser range finder (1), and is characterized in that the lower end of the laser range finder (1) is connected with a direction adjusting mechanism (2), the lower end of the direction adjusting mechanism (2) is connected with a supporting plate (3), the lower end of the supporting plate (3) is connected with a plurality of levelness adjusting mechanisms (4), a protective cover (5) is detachably connected to the supporting plate (3), the laser range finder (1) and the direction adjusting mechanism (2) are located in the protective cover (5), the plurality of levelness adjusting mechanisms (4) are symmetrically distributed at the lower end of the supporting plate (3), the upper end of the supporting plate (3) is connected with a first level (301) and a second level (302), and the first level (301) and the second level (302) are vertically distributed;
the direction adjusting mechanism (2) comprises an X-axis rotating mechanism, a Y-axis rotating mechanism connected to the X-axis rotating mechanism and a circumferential rotating mechanism connected to the Y-axis rotating mechanism, and the circumferential rotating mechanism is connected with the laser range finder (1);
the X-axis rotating mechanism comprises a first support (201) connected to the upper end of the support plate (3), a first rotating shaft (202) movably connected to the first support (201), a connecting block (203) and a first driven gear (205) which are connected to the middle position of the first rotating shaft (202), a first speed reduction motor (204) detachably connected to the first support (201), a first driving gear (207) connected to the output shaft of the first speed reduction motor (204) and a first angle sensor (206) connected to one end of the first rotating shaft (202), wherein a shell of the first angle sensor (206) is connected with the support plate (3), and the first driving gear (207) is meshed with the first driven gear (205);
the Y-axis rotating mechanism comprises a second bracket (208) connected to the upper end of the connecting block (203), a mounting plate (209) connected to the side wall of the second bracket (208), a second gear motor (210) connected to the mounting plate (209), a second driving gear (211) connected to the output shaft of the second gear motor (210), a second rotating shaft (212) movably connected to the second bracket (208), a connecting rod (215) connected to the middle position of the second rotating shaft (212), a second driven gear (213) connected to one end of the second rotating shaft (212) and a second angle sensor (214) connected to the other end of the second rotating shaft (212), wherein the second driving gear (211) is meshed with the second driven gear (213), and the shell of the second angle sensor (214) is connected with the second bracket (208);
the circumference rotation mechanism comprises a third rotating shaft (216) movably connected to the upper end of the connecting rod (215), an inner cavity arranged in the connecting rod (215), a third angle sensor arranged in the inner cavity, a third gear motor (218) connected to the side wall of the connecting rod (215), a third driving gear (219) connected to the output shaft of the third gear motor (218) and a third driven gear (217) connected to the middle position of the third rotating shaft (216), wherein the third driving gear (219) is meshed with the third driven gear (217), and one end of the third rotating shaft (216) extending into the inner cavity is connected with the third angle sensor.
2. The mining intrinsic safety type laser ranging device according to claim 1, wherein: the levelness adjustment mechanism (4) comprises a fixed support column (401) connected to the lower end of the support plate (3), a moving groove (402) arranged in the fixed support column (401), an adjusting ring (403) movably connected to the lower end of the fixed support column (401), a screw rod (404) arranged in the moving groove (402), an inner limiting block (405) connected to one end of the screw rod (404) and a bottom plate (406) connected to the other end of the screw rod (404), wherein inner threads matched with the screw rod (404) are arranged on the inner wall of the adjusting ring (403).
3. The mining intrinsic safety type laser ranging device according to claim 1, wherein: the upper end of backup pad (3) is connected with a plurality of limiting plate (303), the lower extreme of protection casing (5) is equipped with a plurality of and limiting plate (303) matched with spacing groove, is connected with spring (501) on the inner wall of spacing groove, and the lower extreme of spring (501) is connected with movable plate (502).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202110658823.3A CN113406653B (en) | 2021-06-15 | 2021-06-15 | Mining intrinsic safety type laser ranging device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110658823.3A CN113406653B (en) | 2021-06-15 | 2021-06-15 | Mining intrinsic safety type laser ranging device |
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| CN113406653A CN113406653A (en) | 2021-09-17 |
| CN113406653B true CN113406653B (en) | 2024-01-26 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114322956A (en) * | 2022-01-05 | 2022-04-12 | 山西潞安集团余吾煤业有限责任公司 | Tunnel excavation laser pointing measurement system and measurement method |
| CN116577769B (en) * | 2023-04-23 | 2024-05-24 | 山东众望地理信息科技有限公司 | Engineering survey and drawing electromagnetic wave range unit |
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