JP3218374U - Measuring device and 3D model generation system for manhole and pipe connection - Google Patents
Measuring device and 3D model generation system for manhole and pipe connection Download PDFInfo
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Abstract
【課題】現況実測値を重ねた正確な三次元モデルを作成可能なマンホール及び管渠接続部用の計測装置と、三次元モデル生成システムを提供する。【解決手段】マンホールや管渠接続部の三次元モデルを生成するのに必要な点群データを取得するための計測装置であって、マンホールの蓋を開いてなる開口部を覆うように設置する設置部材１０と、設置部材１０に取り付けて開口部から下方へと侵入可能な伸縮部材２０と、伸縮部材２０の下端に取り付けて、マンホールの内部の点群データを取得するレーザースキャナ３０と、を有する。設置部材を上下に移動可能な昇降機構を有する三脚で構成し、伸縮部材を昇降機構の下端に取り付けて下方に伸長可能な一脚で構成することで、安価に計測装置を製作できる。【選択図】図１An object of the present invention is to provide a measuring device for manholes and pipe joints capable of creating an accurate three-dimensional model in which actual measured values are superimposed, and a three-dimensional model generation system. A measuring apparatus for acquiring point cloud data necessary for generating a three-dimensional model of a manhole or a pipe joint, and is installed so as to cover an opening formed by opening a manhole cover. An installation member 10, an expansion member 20 that can be attached to the installation member 10 and can enter downward from the opening, and a laser scanner 30 that is attached to the lower end of the expansion member 20 to acquire point cloud data inside the manhole. Have. A measuring device can be manufactured at low cost by configuring the installation member with a tripod having a lifting mechanism that can move up and down, and mounting the expansion and contraction member with a lower end of the lifting mechanism and extending it downward. [Selection] Figure 1
Description
本考案は、マンホールや管渠接続部の三次元モデルを生成するためのシステムおよび当該システムに用いる計測装置に関する。 The present invention relates to a system for generating a three-dimensional model of a manhole or a pipe joint and a measuring device used in the system.
国土交通省は平成２４年度よりＣＩＭとして三次元モデルの活用による建設生産システムの生産性向上を目指しており、平成３０年３月には、ＣＩＭ導入ガイドラインの改訂版を公開した。現状のガイドラインでは、構造物を中心にしており、地下埋設物に関する記述は少ない。 The Ministry of Land, Infrastructure, Transport and Tourism has been aiming to improve the productivity of construction production systems by utilizing a three-dimensional model as CIM since FY2012. In March 2018, the revised version of CIM Introduction Guidelines was released. The current guidelines focus on structures and there are few descriptions about underground structures.
この地下埋設物の種類は、水インフラ、通信、熱エネルギー、交通インフラなど多岐にわたっている。これらの施設の管理は管理台帳のみか、これに二次元平面図とＧＩＳを用いた手法が主流となっている。
このため、新規に地下インフラを埋設する場合には、調査段階で先行敷設物を二次元平面図に集約定義し、計画・設計段階で調査データを正として（疑義がある場合には、試掘や非破壊探査を行う）、新規埋設物の規模・位置や深度の検討・決定、工事費を算出し、施工段階で設計図面を基に試掘などで現地照合し、不整合があれば設計に立ち戻る。
ＣＩＭを推進する中では、こうした不明確な情報をできるだけ早く正確な情報とすることで手戻りを減らすことが重要である。
There are various types of underground objects such as water infrastructure, communication, thermal energy, and transportation infrastructure. The management of these facilities is only the management ledger, and the method using two-dimensional plan view and GIS is the mainstream.
For this reason, when newly burying underground infrastructure, the prior laying structures are aggregated and defined in the two-dimensional plan view at the survey stage, and the survey data is set to be positive at the planning and design stage (if there is any doubt, (Non-destructive exploration), study / determination of the size, position and depth of new buried objects, calculate construction costs, verify on-site based on design drawings at the construction stage, and return to design if there is a mismatch .
In promoting CIM, it is important to reduce rework by making such unclear information accurate as soon as possible.
都市部の土木工事では、しばしば埋設構造物の位置情報が不明確で、実施工において既存管路施設や残置構造物との接触事故が後を絶たない状況にある。
地下インフラの管理者が二次元情報をもとにした手法で管理していることから、その情報から生成された地下モデルが不明確であり施工段階ではほとんど活用されていない、
特に圧力管およびケーブルの埋設管理台帳は、基本的に埋設深度を土被りで管理しており、台長作成当時の標高と現在の標高差を認識することが重要であるところ、敷設年次が古い場合、敷設時の地形と現在の地形の平面的並びに標高の差異を読み解くことは、経験豊富な技術者であっても困難である。
In civil engineering works in urban areas, the location information of buried structures is often unclear, and there is no end to contact accidents with existing pipeline facilities and remaining structures during construction.
Underground infrastructure managers manage with a method based on two-dimensional information, so the underground model generated from that information is unclear and is rarely used at the construction stage.
In particular, the embedding management ledger for pressure pipes and cables basically manages the embedding depth by covering the earth, and it is important to recognize the difference between the altitude at the time of creating the head length and the current altitude. When it is old, it is difficult for even an experienced engineer to read the difference between the terrain at the time of laying and the current terrain in plan and elevation.
これらから、現状の課題として、調査・設計段階での不確実な情報による設計が、そのまま施工段階へ引き継がれてしまうことが挙げられる。
この課題を解決するためには、現況実測値を重ねた正確な三次元モデルを作成し利用することが最も確実である。
From these, the current problem is that the design based on uncertain information at the investigation / design stage is passed on to the construction stage as it is.
In order to solve this problem, it is most certain to create and use an accurate three-dimensional model in which actual measured values are superimposed.
よって、本考案は、現況実測値を重ねた正確な三次元モデルを作成可能な手段の提供を目的との一つとするものである。 Therefore, an object of the present invention is to provide a means capable of creating an accurate three-dimensional model in which actual measured values are superimposed.
上記課題を解決すべくなされた本願考案は、マンホールや管渠接続部の三次元モデルを生成するのに必要な点群データを取得するための計測装置であって、マンホールの蓋を開いてなる開口部を覆うように設置する、設置部材と、前記設置部材に取り付けて、前記開口部から下方へと侵入可能な、伸縮部材と、前記伸縮部材の下端に取り付けて、前記マンホールの内部の点群データを取得する、レーザースキャナと、を有することを特徴とする。
また、本願考案は、前記マンホールの内部を撮影可能なカメラをさらに設けても良い。
また、本願考案は、前記マンホールの内部を照らす照明部材をさらに設けても良い。
また、本願考案は、前記設置部材を上下に移動可能な昇降機構を有する三脚で構成し、前記伸縮部材を前記昇降機構の下端に取り付けて下方に伸長可能な一脚で構成することができる。
また、本願考案は、三次元モデル生成システムとして、前記した計測装置と、前記レーザースキャナの位置を変えて得た複数の点群データに基づいて、前記マンホールの三次元モデルを生成する、情報処理装置と、を少なくとも具備して構成することができる。
また、本願考案は、前記情報処理装置が、さらに前記計測装置による計測作業をリモート操作する機能を備えておくよう構成することができる。
The present invention, which has been made to solve the above-mentioned problems, is a measuring device for acquiring point cloud data necessary for generating a three-dimensional model of a manhole or a pipe joint, and is formed by opening a manhole cover. Installed to cover the opening, an installation member, attached to the installation member, capable of entering downward from the opening, attached to the lower end of the extension member, and attached to the lower end of the extension member And a laser scanner for acquiring group data.
The present invention may further include a camera capable of photographing the inside of the manhole.
The present invention may further include an illumination member that illuminates the inside of the manhole.
Moreover, this invention can be comprised by the tripod which has the raising / lowering mechanism which can move the said installation member up and down, and can be comprised by the monopod which attaches the said expansion-contraction member to the lower end of the said raising / lowering mechanism, and can expand | extend below.
Further, the present invention provides a three-dimensional model generation system that generates a three-dimensional model of the manhole based on a plurality of point cloud data obtained by changing the position of the measurement device and the laser scanner. And at least a device.
In addition, the present invention can be configured such that the information processing apparatus further has a function of remotely operating a measurement operation by the measurement apparatus.
本考案によれば、以下に記載する効果のうち、少なくとも何れか１つの効果を奏する。
（１）マンホール内部への作業員の侵入を要することなく、三次元モデルの生成作業が可能となる。
（２）レーザースキャナを支持する部材に、市販の三脚や一脚を用いるため、安価に計測装置を製作することができる。
（３）点群データの取得に併せてさらにマンホール内部のカメラ撮影を行うことで、写真による現況確認資料の提供が可能となる。
また、カメラによる映像をリアルタイムに確認しながらレーザースキャナをマンホール内部に侵入させていくことで、高価なレーザースキャナが何らかの部材にぶつかって破損するなどの危険性を回避することができる。
（４）照明部材を設けることで、周囲の視認性を高め、レーザースキャナの侵入作業や、カメラによる撮影作業を効率良く行うことができる。
（５）情報処理装置でもって、複数の点群データを情報処理することによりマンホールの三次元モデルの生成が可能となる。
（６）情報処理装置でもって、計測装置による計測作業をリモート操作することで、マンホール内部への作業員の侵入を要することなく、三次元モデルの生成作業が可能となる。
According to the present invention, at least one of the effects described below is achieved.
(1) It is possible to generate a three-dimensional model without requiring an operator to enter the manhole.
(2) Since a commercially available tripod or monopod is used as a member that supports the laser scanner, a measuring device can be manufactured at low cost.
(3) By capturing the camera inside the manhole in conjunction with the acquisition of the point cloud data, it is possible to provide current status confirmation materials using photographs.
Further, by allowing the laser scanner to enter the manhole while checking the video from the camera in real time, it is possible to avoid the danger that the expensive laser scanner hits some member and is damaged.
(4) By providing the illumination member, it is possible to improve the visibility of the surroundings and efficiently perform the laser scanner intrusion operation and the camera imaging operation.
(5) The information processing apparatus can generate a three-dimensional manhole model by processing a plurality of point cloud data.
(6) With the information processing apparatus, by remotely operating the measurement work by the measurement apparatus, it is possible to generate a 3D model without requiring an operator to enter the manhole.
以下、図面を参照しながら、本考案の実施例について説明する。 Embodiments of the present invention will be described below with reference to the drawings.
＜１＞全体構成（図１）
本考案に係るマンホール用の三次元モデル計測システムは、計測対象のマンホール周辺に設置する計測装置Ａと、前記計測装置Ａで取得したデータを情報処理して三次元モデルを生成する情報処理装置Ｂと、を少なくとも具備する。
計測装置Ａは、設置部材１０、伸縮部材２０およびレーザースキャナ３０と、を少なくとも有する。
以下、各要素の詳細について説明する。
<1> Overall configuration (Fig. 1)
A three-dimensional model measurement system for manholes according to the present invention includes a measurement device A installed around a manhole to be measured, and an information processing device B that generates a three-dimensional model by processing data acquired by the measurement device A. And at least.
The measuring device A includes at least the installation member 10, the telescopic member 20, and the laser scanner 30.
Details of each element will be described below.
＜２＞設置部材
設置部材１０は、計測装置Ａを設置箇所に設置するための部材である。
本実施例では、設置部材１０として三脚を使用している。
この三脚は、開脚機構を有する脚部１１の根本に、上下に移動可能な昇降機構を有しており、この昇降機構の下端には、後述する伸縮手段２０を取付可能な機構を設けている。
設置部材１０（三脚）は、マンホールの蓋を開いてなる開口部を覆うように脚部１１を展開した状態で設置し、三脚の脚部１１の伸縮機構および開脚角度と、昇降機構の移動機構とを調整することで、後述するレーザースキャナ３０の位置を調整することができる。
<2> Installation Member The installation member 10 is a member for installing the measuring device A at the installation location.
In this embodiment, a tripod is used as the installation member 10.
This tripod has an elevating mechanism that can move up and down at the base of the
The installation member 10 (tripod) is installed in a state where the
＜３＞伸縮部材
伸縮部材２０は、先端にレーザースキャナ３０を取り付けるための部材である。
本実施例では、伸縮部材２０として一脚を用いている。
伸縮部材２０（一脚）の後端には、前記した昇降機構との取付機構を設け、先端にはレーザースキャナ３０との取付機構を設けている。
この一脚は長手方向に伸縮可能な機構を設けており、一脚を伸縮することで、前記した三脚の調整と同様、レーザースキャナ３０の位置を調整することができる。
<3> Elastic member The elastic member 20 is a member for attaching the laser scanner 30 to the tip.
In this embodiment, a monopod is used as the elastic member 20.
At the rear end of the telescopic member 20 (monopod), an attachment mechanism with the above-described lifting mechanism is provided, and an attachment mechanism with the laser scanner 30 is provided at the tip.
This monopod is provided with a mechanism that can be expanded and contracted in the longitudinal direction, and the position of the laser scanner 30 can be adjusted by extending and contracting the monopod as in the above-described adjustment of the tripod.
＜４＞レーザースキャナ
レーザースキャナ３０は、マンホールの内壁の点群データを取得するための部材である。
本実施例では、レーザースキャナ３０に、ライカジオシステムズ社の「ＢＬＫ３６０」を用いている。この製品は、高さが１６５ｍｍ、直径が１００ｍｍで、重量が１ｋｇ程度であるため、マンホールの開口部から内部への侵入に支障はなく、また三脚や一脚でも十分に倒立状態を維持しながら支持することが可能である。
<4> Laser Scanner The laser scanner 30 is a member for acquiring point cloud data on the inner wall of a manhole.
In this embodiment, “BLK360” manufactured by Leica Geosystems is used for the laser scanner 30. This product has a height of 165 mm, a diameter of 100 mm, and a weight of about 1 kg, so there is no hindrance to intrusion from the opening of the manhole, and even with a tripod or a monopod, while maintaining a sufficiently inverted state It is possible to support.
＜５＞カメラ
カメラ（図示せず）は、レーザースキャナによる点群データの取得対象であるマンホールの内壁を撮影するための装置である。
カメラによる撮影方法は、静止画または動画、或いはこれらの組合せを適宜選択可能であると好ましい。
また、カメラの取付位置は特段限定しない。
また、カメラはレンズの画角に併せて適宜回転しながら撮影するよう構成することもできる。
なお、複数のカメラを組み合わせて、一度に全周を撮影可能に構成してもよい。
<5> Camera A camera (not shown) is an apparatus for photographing an inner wall of a manhole, which is a target for acquiring point cloud data by a laser scanner.
It is preferable that the image capturing method using the camera can select a still image, a moving image, or a combination thereof.
The camera mounting position is not particularly limited.
The camera can also be configured to take an image while appropriately rotating in accordance with the angle of view of the lens.
A plurality of cameras may be combined so that the entire circumference can be photographed at once.
＜６＞照明部材（図２）
照明部材４０は、前記マンホールの内部を照らすための部材である。
マンホールの内部を照らすことで、周囲の視認性を高め、レーザースキャナ３０の侵入作業や、カメラによる撮影作業を効率良く行うことができる
照明部材４０の取付位置は特段限定しない。
図２に示す照明装置の取付例では、一脚の先端近傍に全周にＬＥＤ４１を配置している。
<6> Lighting member (FIG. 2)
The illumination member 40 is a member for illuminating the inside of the manhole.
By illuminating the interior of the manhole, the visibility of the surroundings can be improved, and the laser scanner 30 can be efficiently invaded and photographed by the camera. The mounting position of the illumination member 40 is not particularly limited.
In the mounting example of the illumination device shown in FIG. 2, the LEDs 41 are arranged around the entire periphery of the monopod.
＜７＞情報処理装置
情報処理装置Ｂは、レーザースキャナで取得した点群データを情報処理して三次元モデルを生成する装置である。
情報処理装置Ｂは、ＰＣ、タブレット、スマートフォンなどの公知の情報処理装置を使用することができる。
なお、本実施例のようにレーザースキャナに「ＢＬＫ３６０」を用いている場合、「ＢＬＫ３６０」で無線通信が可能なｉＯＳ端末上で動作するアプリとして「Ａｕｔｏｄｅｓｋ（登録商標） ＲｅＣａｐ Ｐｒｏ ｆｏｒ ｍｏｂｉｌｅ」をインストールしたｉＰａｄ Ｐｒｏ（登録商標）を、本考案における情報処理装置Ｂとして使用することができる。
<7> Information processing apparatus Information processing apparatus B is an apparatus that generates a three-dimensional model by processing point cloud data acquired by a laser scanner.
As the information processing apparatus B, a known information processing apparatus such as a PC, a tablet, or a smartphone can be used.
When “BLK360” is used for the laser scanner as in this embodiment, “Autodesk (registered trademark) ReCap Pro mobile” is installed as an application that operates on an iOS terminal capable of wireless communication with “BLK360”. IPad Pro (registered trademark) can be used as the information processing apparatus B in the present invention.
＜８＞使用イメージ（図３）
次に、本実施例に係る三次元モデル計測システムの使用イメージについて図３を参照しながら説明する。
<8> Use image (Fig. 3)
Next, the usage image of the three-dimensional model measurement system according to the present embodiment will be described with reference to FIG.
（１）計測装置の準備
レーザースキャナ３０（ＢＬＫ３６０）を、三脚アダプターにセットし、逆さ付けの状態にして、伸縮部材２０（一脚）を経由して設置部材１０（三脚）に接続する。
そして、現場のマンホールＣの大きさに合わせ、設置部材１０（三脚）の脚部１１を伸縮・開閉し、レーザースキャナ３０を確実に保持できるように調整する。
並行して、レーザースキャナ３０と情報処理装置Ｂを、ＷｉＦｉ（登録商標）接続して双方向通信を可能な状態とする。
(1) Preparation of measuring apparatus The laser scanner 30 (BLK360) is set on a tripod adapter, is turned upside down, and is connected to the installation member 10 (tripod) via the telescopic member 20 (monopod).
Then, in accordance with the size of the manhole C at the site, the
In parallel, the laser scanner 30 and the information processing apparatus B are connected by WiFi (registered trademark) to enable bidirectional communication.
（２）情報処理装置の準備
情報処理装置Ｂ上で、「Ａｕｔｏｄｅｓｋ ＲｅＣａｐ Ｐｒｏ ｆｏｒ ｍｏｂｉｌｅ」を起動し、新規プロジェクトを作成、スキャンの詳細設定を行なう。詳細設定の項目としては、スキャン密度、カメラ画像、フラッシュ、ＨＤＲなどがある。
(2) Preparation of information processing apparatus On the information processing apparatus B, “Autodesk ReCap Pro mobile” is started, a new project is created, and detailed scan settings are performed. The detailed setting items include scan density, camera image, flash, HDR, and the like.
（３）計測作業の開始
設置部材１０（三脚）およびまたは伸縮部材（一脚）を用いてレーザースキャナがマンホールの最下部に位置するように地上で長さ調整を行ってから、レーザースキャナ３０をマンホールの内部に侵入させる。
その後、情報処理装置Ｂのアプリ上でスキャンボタンを選択して１レベル目（スキャン領域Ｄ１）のスキャンを行い、マンホールＣの底部周辺と、マンホールＣから横方向に伸びる管渠接続部Ｃ１を含んだスキャン領域Ｄ１の点群データを取得する（図３（ａ））。このとき、
スキャン終了後は、伸縮部材２０（一脚）を縮めるなどして２レベル目の長さを調整したのち、２スキャン目（スキャン領域Ｄ２）を行い、スキャン領域Ｄ１の点群データを取得する（図３（ｂ））
これらの手順をマンホールＣの深さに応じて複数回繰り返して、点群データの取得が地上に達するまでスキャンを行う。
なお、中間スラブがあるような深いマンホールでは、中間スラブを設置部材の設置面として計測装置をセットし、最下部から順次計測作業を行えばよい。
(3) Start of measurement work The length of the laser scanner 30 is adjusted on the ground using the installation member 10 (tripod) and / or the expansion / contraction member (monopod) so that the laser scanner is positioned at the bottom of the manhole. Invade inside the manhole.
Thereafter, the scan button is selected on the application of the information processing apparatus B to perform the first level (scan area D1) scan, and includes the periphery of the bottom of the manhole C and the tube joint connecting portion C1 extending from the manhole C in the lateral direction. The point cloud data of the scan area D1 is acquired (FIG. 3A). At this time,
After the scan is completed, the length of the second level is adjusted by, for example, contracting the expansion / contraction member 20 (monopod), and then the second scan (scan area D2) is performed to acquire point cloud data of the scan area D1 ( FIG. 3 (b))
These procedures are repeated a plurality of times according to the depth of the manhole C, and scanning is performed until acquisition of point cloud data reaches the ground.
In a deep manhole where there is an intermediate slab, a measuring device may be set with the intermediate slab as the installation surface of the installation member, and measurement operations may be performed sequentially from the bottom.
（４）情報処理装置の挙動
情報処理装置Ｂで起動中のアプリで、複数回行ったスキャン動作で取得した各点群データを解析・結合し、自動で三次元モデルを生成する。
(4) Behavior of information processing apparatus The application running on the information processing apparatus B analyzes and combines each point cloud data acquired by a plurality of scan operations, and automatically generates a three-dimensional model.
Ａ ：計測装置
１０：設置部材（三脚）
２０：伸縮部材（一脚）
３０：レーザースキャナ
４０：照明部材
Ｂ ：情報処理装置
Ｃ ：マンホール
Ｃ１：管渠接続部
Ｄ１，Ｄ２：スキャン領域
A: Measuring device 10: Installation member (tripod)
20: Elastic member (monopod)
30: Laser scanner 40: Illumination member B: Information processing device C: Manhole C1: Tube connecting part D1, D2: Scan area
Claims (6)
マンホールの蓋を開いてなる開口部を覆うように設置する、設置部材と、
前記設置部材に取り付けて、前記開口部から下方へと侵入可能な、伸縮部材と、
前記伸縮部材の下端に取り付けて、前記マンホールの内部の点群データを取得する、レーザースキャナと、を有することを特徴とする、
マンホール及び管渠接続部用の計測装置。 A measuring device for acquiring point cloud data necessary to generate a three-dimensional model of a manhole or pipe connection,
An installation member installed so as to cover an opening formed by opening a manhole cover;
A telescopic member attached to the installation member and capable of entering downward from the opening,
A laser scanner, which is attached to the lower end of the elastic member and acquires point cloud data inside the manhole,
Measuring device for manhole and pipe connection.
請求項１に記載のマンホール及び管渠接続部用の計測装置。 Further comprising a camera capable of photographing the inside of the manhole,
The measuring device for a manhole and a pipe connection part according to claim 1.
請求項１または２に記載のマンホール及び管渠接続部用の計測装置。 It further has a lighting member that illuminates the inside of the manhole,
The measuring device for a manhole and a pipe joint connection part according to claim 1 or 2.
前記伸縮部材が、前記昇降機構の下端に取り付けて下方に伸長可能な一脚であることを特徴とする、
請求項１乃至３のうち何れか１項に記載のマンホール及び管渠接続部用の計測装置。 The installation member is a tripod having a lifting mechanism movable up and down;
The telescopic member is a monopod that is attached to the lower end of the elevating mechanism and can extend downward.
The measuring device for a manhole and a pipe tube connecting part according to any one of claims 1 to 3.
前記レーザースキャナの位置を変えて得た複数の点群データに基づいて、前記マンホールの三次元モデルを生成する、情報処理装置と、
を少なくとも具備してなる、
三次元モデル生成システム。 A measuring device according to any one of claims 1 to 4,
Based on a plurality of point cloud data obtained by changing the position of the laser scanner, to generate a three-dimensional model of the manhole, an information processing apparatus,
Comprising at least
3D model generation system.
請求項５に記載の三次元モデル生成システム。 The information processing apparatus further includes a function of remotely operating a measurement operation by the measurement apparatus,
The three-dimensional model generation system according to claim 5.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR102207795B1 (en) * | 2019-10-10 | 2021-01-26 | 한국전력공사 | Non-entry type manhole detection device |
| CN113882346A (en) * | 2021-08-27 | 2022-01-04 | 国网河北省电力有限公司经济技术研究院 | Non-contact type deep foundation pit detection device |
| CN114964183A (en) * | 2022-07-28 | 2022-08-30 | 金田产业发展(山东)集团有限公司 | Portable positioning navigation engineering surveying device |
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2018
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR102207795B1 (en) * | 2019-10-10 | 2021-01-26 | 한국전력공사 | Non-entry type manhole detection device |
| CN113882346A (en) * | 2021-08-27 | 2022-01-04 | 国网河北省电力有限公司经济技术研究院 | Non-contact type deep foundation pit detection device |
| CN114964183A (en) * | 2022-07-28 | 2022-08-30 | 金田产业发展(山东)集团有限公司 | Portable positioning navigation engineering surveying device |
| CN114964183B (en) * | 2022-07-28 | 2022-10-25 | 金田产业发展(山东)集团有限公司 | Portable positioning navigation engineering surveying device |
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