CN100573106C - A kind of optical fiber biological sensor - Google Patents
A kind of optical fiber biological sensor Download PDFInfo
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- CN100573106C CN100573106C CNB2007100119326A CN200710011932A CN100573106C CN 100573106 C CN100573106 C CN 100573106C CN B2007100119326 A CNB2007100119326 A CN B2007100119326A CN 200710011932 A CN200710011932 A CN 200710011932A CN 100573106 C CN100573106 C CN 100573106C
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Abstract
The present invention relates to a kind of optical fiber biological sensor, be made up of excitation light path, detection light path and fluorescence receiving light path, three light paths are connected in three branches of y-type optical fiber.On excitation light path, excitation source utilizes coupling optical to be coupled in the branch of y-type optical fiber; Detecting light path, another branch of y-type optical fiber is connected with the carrier or the sample cell that are used for fixing biomolecule recognition agent and carry out sample detection; On the fluorescence receiving light path, the 3rd branch of y-type optical fiber is connected with data acquisition system (DAS), and further is connected to signal Processing and display system.The response of this sensor is fast, highly sensitive, selectivity is good, in light weight, volume is little, to biological friendly, be suitable for all fluorescent markers at present, can overcome outstanding defectives such as the existing luminescent lifetime weak point of conventional fluorescent mark, photobleaching, be widely used in numerous areas such as biomolecule identification, medical clinic applications, high-flux medicaments sifting, environmental monitoring, biochemical war agent detection.
Description
Technical field
The present invention relates to a kind of optical fiber biological sensor, can be widely used in numerous areas such as medical diagnosis, biomolecule, drug screening, environmental monitoring, food hygiene detection, biochemical war agent detection.
Background technology
Sensor is to experience certain measured signal, and converts thereof into the element of signals such as sound, light, electricity, comprises sensitive element, conversion element and respective lines etc.The kind of sensor is a lot, wherein the scales of forming as sensitive element with biomaterials such as antigen-antibody, enzyme, nucleic acid, cells is a biology sensor, and with fiber optic conduction with to collect the scales that light signal carries out biological detection be optical fiber biosensor (fiberoptic biosensor, FOBS), the light that this sensor is produced by the detection of biological reaction is determined the amount of analyte by detecting parameters such as light wavelength, intensity, amplitude, phase place.Compare with other sensors, it is strong that this sensor has an anti-electromagnetic interference capability, without reference electrode, can realize that probe is microminiaturized and be used for remote measurement and advantages such as detection in good time.
The optical fiber biosensor structure mainly contains light source, optical fiber, biosensor and signal detection system etc., and biosensor wherein is the critical component of sensor, and biosensor commonly used has antigen-antibody, enzyme and nucleic acid etc.It is antigen-antibody or the combination of receptors ligand specificity that measured object acts on mutually with specific biosensor selectivity; The pairing of nucleic acid molecules base complementrity; Enzyme is to the substrate-function selectivity etc., the physical characteristics of transmission light such as light intensity, light amplitude, phase place etc. in the biochemical information modulation optical fiber of generation.Therefore this sensor has stronger selectivity and very high sensitivity.Compare with other biology sensor, optical fiber biosensor combines the characteristics of Fibre Optical Sensor, is embodied in:
(1) owing to the good insulation performance shielding action of optical fiber own, its antijamming capability is strong, is not subjected to the disturbance of peripheral electromagnetic field.
(2) do not need reference electrode, the probe Miniaturizable, easy to operate.
(3) remote measurement can be realized, and real-time, online and detection of dynamic can be carried out.
(4) response speed is fast, and is highly sensitive.
The type of optical fiber biosensor is more, studies the more types such as evanescent wave type, light absorption type and fluorescent type sensor that have at present.Wherein, the fluorescent type sensor with high sensitivity characteristic has obtained very fast development in recent years.This sensor carries out qualitative and detection by quantitative by measuring characteristic fluorescence spectrum to measured object.Wherein, the generation of fluorescence is included in fluorescence that material itself under the exciting light effect produces or the fluorescent material by mark produces fluorescence.Fluorescence signal, detects with photoelectric tube or CCD through filtering, amplifying at last by the optical fiber transmission.
Under the exciting light effect, because most of biological substances itself are not luminous, and the fluorescence spectrum that minority biological substance self produces is closely similar, and therefore, the fluorescent type sensor adopts the fluorescence labeling technology that biological sample is surveyed more.As tracer, and instruments such as combined with fluorescent microscope, enzyme mark measuring instrument, radionetric survey instrument detect the result this technology by utilization fluorescein, enzyme, collaurum and other physics, chemistry and luminescent biological agent.It can realize cell, subcellular fraction, ultrastructure and on molecular level to target molecule target gene sequence, target protein carries out qualitative, The Location.Its core and gordian technique means are exactly to be used for " fluorescence labeling " or the title " fluorescence probe " that bioanalysis detects.There are defectives such as luminescent lifetime weak point, photobleaching in the conventional fluorescent mark, makes its practical application be subjected to very big restriction.For this reason, people strive to find always that new performance is good, function is strong, cost is low, easy to operate and " fluorescence labeling " that detection sensitivity is high.In nearly ten years, advanced " fluorescence labeling " occurs in the world in succession, as fluorophore Cy-5, nm of gold, semiconductor-quantum-point such as CdSe, upconversion fluorescent powder etc., thereby solved the fluorescent bleach problem substantially.Simultaneously, fluorescently-labeled development has also further promoted the development of fluorescence associated detection system.Though the applied research of the fluorescence labeling of no photobleaching aspect biology sensor also is in the starting stage, demonstrate huge application potential at numerous areas such as medical diagnosis, drug screening, environmental monitoring, food hygiene detection, biochemical war agent detections.At present, the development work of the sensing equipment that matches with above-mentioned fluorescence labeling is in the starting stage, does not still have corresponding patent achievement and is reported.For this reason, the invention provides a kind of based on above-mentioned fluorescently-labeled optical fiber biological sensor.
Summary of the invention
The purpose of this invention is to provide a kind of highly sensitive, selectivity good, response is fast, easy and simple to handle, a kind of optical fiber biological sensor that the sample requirement is few, cheap.With biomaterials such as antigen-antibody, nucleic acid, enzyme, cells as the sensitive element biomolecule recognition agent, by biochemical reactions such as specificity combination, base complementrity pairing, selectivity effects, the targeted biological specimen of crossing by high sensitivity, no photobleaching, to biological friendly fluorescence labeling substance markers is discerned.The fluorescent marker that the targeted biological specimen key that is identified the connects optical excitation that is excited, the high strength fluorescence signal of generation is received by data acquisition system (DAS) and by signal Processing and display system processing, realizes the detection qualitative or quantitative to targeted biological specimen.
Technical solution of the present invention is: a kind of optical fiber biological sensor, at least form by excitation light path, detection light path and fluorescence receiving light path three part light paths, above-mentioned three light paths connect by y-type optical fiber 1, the branch 2 of y-type optical fiber 1 connects excitation light path, branch 3 connects fluorescence receiving light path, branch's 4 joint detection light paths.At least 2 two elements of branch that comprise excitation source 5 and y-type optical fiber 1 on the excitation light path, excitation source 5 utilize coupling optical to be coupled in the branch 2 of y-type optical fiber 1; Detecting carrier or 6 two elements of sample cell that comprise the branch 4 and the fixed biologically identifier of y-type optical fiber 1 at least on the light path and carry out sample detection, the branch 4 of y-type optical fiber 1 is connected with carrier that is used for fixing biomolecule recognition agent or sample cell 6; Branch 3, data acquisition system (DAS) 7 and signal Processing and 8 three elements of display system of on the fluorescence receiving light path, comprising y-type optical fiber 1 at least, the branch 3 of y-type optical fiber 1 is connected with data acquisition system (DAS) 7, and data acquisition system (DAS) 7 further is connected to signal Processing and measures and display system 8.The fluorescence labeling that is used for the target-marking biological sample that described detection is required is at least a kind of or any several combination of surperficial Cy-5 through functionalized processing, nm of gold, semiconductor-quantum-point, up-conversion phosphor.
Described y-type optical fiber 1 can be the single fiber that one one end has two branch roads, it can be the fibre bundle that is bundled into by multifiber that an end is divided into two bundles, can be the coaxial optical fiber that an end is divided into two branch roads, also can be the combined type y-type optical fiber that one or more elements in many single fibers and single fiber Y type shunt, coupled lens, the collimation lens constitute.Its effect is to be connected with the test lead of sensor for exciting light and fluorescence to be accepted provide two separate paths.
Described excitation source 5 is He-Cd gas laser, N at least
2Gas laser, Kr gas laser, Ar gas laser, Ar-Kr gas laser, He-Ne gas laser, CO
2Gas laser, H
2O gas laser, ruby Cr
3+The light sources of a kind of or any several formations in solid state laser, GaAs semiconductor laser, GaAlAs semiconductor laser LD, Nd solid state laser, Nd/YAG solid state laser, xenon lamp, the tungsten lamp, or the elements combination formed of above-mentioned light source and lens, optical filter, grating.
Described excitation light path, detection light path and fluorescence receiving light path, the element group that can on light path, assign one or more filter elements, coupling element, collimating element, concentrating element, beam-expanding element or above-mentioned each element to form.
The biomolecule recognition agent that described carrier or sample cell 6 are fixed is at least a kind of or any several combination in protein, antigen, antibody, enzyme, nucleic acid, DNA, RNA, cell tissue, the tumor tissues.
Described data acquisition system (DAS) 7 is the element group that a kind of or said elements in photomultiplier, silicon semiconductor detector, indium gallium arsenic semiconductor detector, the CCD device and signal amplifier constitute at least.
Y-type optical fiber 1 is a core component of the present invention, and its effect is to be connected with the test lead of sensor for exciting light and fluorescence to be received provide two separate paths.The fluorescence that sends owing to exciting light and fluorescence labeling from light source transmits by two of y-type optical fiber 1 separate branches respectively, can significantly reduce the decay of light in transmission course, improves launching efficiency and detection sensitivity.The excitation light path of optical fiber biological sensor can assign filter system with the unwanted veiling glare of filtering on the light path between the branch 2 of light source 5 and y-type optical fiber 1, thereby improves the detection effect of sensor.The detection light path of optical fiber biological sensor, on the light path between the branch 4 of y-type optical fiber 1 and the carrier of fixed biologically identifier or the sample cell 6, assign collimating element or collective optics, guarantee the most fluorescence that fluorescence labeling sent that connect with the testing sample key converge to y-type optical fiber 1 branch 4 port and import in the y-type optical fiber 1, to improve detection efficiency.The fluorescence receiving light path of optical fiber biological sensor, collimating element is assigned in the port of the branch 3 of y-type optical fiber 1, and the light that the port of branch 3 is exported transfers directional light to.The fluorescence receiving light path of optical fiber biological sensor in the branch 3 and the light path between the data acquisition system (DAS) 7 of y-type optical fiber 1, can assign filter system with filtering other veiling glare except that fluorescence to be measured, to improve detection efficiency.
The course of work of optical fiber biological sensor of the present invention is: directional light that excitation source 5 sends or diverging light focus on the port of the branch 2 of y-type optical fiber 1 through coupling, are input in the y-type optical fiber 1.Exciting light is transferred to the port of the branch 4 of y-type optical fiber 1 by total reflection in y-type optical fiber 1, the output exciting light.The excitation light irradiation of the port output of branch 4 is in carrier that is fixed with biomolecule recognition agent or sample cell 6.When being marked with fluorescently-labeled targeted biological specimen flow through carrier or sample cell 6, and with carrier or sample cell 6 in biomolecule recognition agent generation biochemical reaction and after being fixed, the fluorescence labeling that is connected by the excitation targeted biological specimen key of branch's 4 ports output makes it send fluorescence.Fluorescence labeling fluoresce is imported y-type optical fiber 1 through the port of the branch 4 of y-type optical fiber 1.In optical fiber, be transferred to the port of the branch 3 of y-type optical fiber 1 through total reflection by the fluorescence of the port of branch 4 input.The fluorescence input data acquisition system (DAS) 7 of the port of branch 3 output, the light signal that data acquisition system (DAS) 7 obtains input signal through changing after handle with display system 8 in, thereby through circuit and the software processes realization detection qualitative or quantitative to targeted biological specimen.
The invention has the beneficial effects as follows, the optical fiber biological sensor that is provided has highly sensitive, selectivity is good, response is fast, easy and simple to handle, to biological friendly, in light weight, plurality of advantages such as volume is little and portable, employed fluorescent marker, as nm of gold, semiconductor-quantum-point, upconversion fluorescent powder etc., it is short to overcome the existing luminescent lifetime of conventional fluorescent mark, outstanding defective such as photobleaching can be widely used in biomolecule identification, medical clinic applications is diagnosing tumor particularly, high-flux medicaments sifting, environmental monitoring, numerous areas such as biochemical war agent detection.
Figure of description
The present invention is further illustrated below in conjunction with the drawings and specific embodiments.
Fig. 1 is the structural representation of a kind of optical fiber biological sensor provided by the invention
Fig. 2 is the used Y type of specific embodiment of the invention multimembrane fibre bundle 6 structural representations
Fig. 3 is the used Y type of specific embodiment of the invention multimembrane fibre bundle branch 10 sectional views
Fig. 4 is the used Y type of specific embodiment of the invention multimembrane fibre bundle branch 11 sectional views
Fig. 5 is the used Y type of specific embodiment of the invention multimembrane fibre bundle branch 12 sectional views
Fig. 6 is an optical fiber biological sensor specific embodiment structural representation provided by the present invention
Among the figure: 1, y-type optical fiber, 2, branch, 3, branch, 4, branch, 5, excitation source, 6, carrier or sample cell, 7, data acquisition system (DAS), 8, signal Processing and display system, 9, Y shape optical fiber beam, 10, branch, 11, branch, 12, branch, 13, center multimembrane optical fiber, 14, fibre core, 15, clad material, 16, coat, 17, outer multimembrane optical fiber, 18, clad, 19, the 980nm semiconductor laser, 20, the 950-1000nm bandpass filter, 21, coupled lens, 22, collimation lens, 23, sample carrier, 24, collimation lens, 25, program control 3 D grating, 26, photomultiplier, 27, computing machine.
Embodiment
The used Y shape optical fiber beam 9 of optical fiber biological sensor is tied up by seven multimembrane optical fiber and is formed, and one at center amounts to the six roots of sensation on every side.As shown in Figure 2, at an end of Y shape optical fiber beam 9, central optical fiber breaks away from fibre bundle 9 and forms a branch of Y shape optical fiber beam 9 separately, and promptly branch 10; Other peripheral optical fiber constitutes another branch of Y shape optical fiber beam 9 through tying up, and promptly branch 11; The other end of Y shape optical fiber beam 9 is as the 3rd branch of Y shape optical fiber beam 9, and promptly branch 12.
The branch 10 of Y shape optical fiber beam 9 is made of the single multimembrane optical fiber 13 in the center of Y shape optical fiber beam 9, and its schematic cross-section as shown in Figure 3.The internal layer of center multimembrane optical fiber 13 is a fibre core 14, and its material is a high-purity silicon oxide.Fibre core 14 skins are clad material 15, and material is a high-purity silicon oxide.At clad material 15 skins are coats 16.
The branch 11 of Y shape optical fiber beam 9 is tied up by the outer multimembrane optical fiber 17 of other except that center multimembrane optical fiber 13 in the Y shape optical fiber beam 9 and forms, and the cross section is a hexagon, and its sectional view as shown in Figure 4.The material of outer multimembrane optical fiber 17 is identical with center multimembrane optical fiber 13.The skin of fibre bundle is a clad 18.
The branch 12 of Y shape optical fiber beam 9 is by center multimembrane optical fiber 13 and outer multimembrane optical fiber 17, and outer cladding layer 18 constitutes jointly, and its sectional view as shown in Figure 5.Center multimembrane optical fiber 13 is positioned at the center of Y shape optical fiber beam 9, and outer multimembrane optical fiber 17 is that the center is tied up and formed with multimembrane optical fiber 13, and its cross section is a hexagon.
The concrete structure synoptic diagram of optical fiber biological sensor as shown in Figure 6.On excitation light path, light source is that wavelength is the semiconductor laser 19 of 980nm, and output power is 10-2000mW.For frequency doubled light and other veiling glare of removing laser instrument, on the light path between the branch 10 of 980nm semiconductor laser 19 and Y shape optical fiber beam 9, assigned 950-1000nm bandpass filter 20, to transmitance 〉=70% of 980nm laser, to transmittance≤10 of other light beyond the 950-1000nm
-5Exciting light by optical filter is the port that the coupled lens 21 of 5-20mm focuses on the branch 10 of Y shape optical fiber beam 9 through focal length.
Detecting on the light path, assigned fused quartz collimation lens 22 on the branch 12 of Y shape optical fiber beam 9 and the light path between the sample carrier 23, focal length 8.7mm, transmitance is greater than 90%200-1100nm.Exciting light by center multimembrane optical fiber 13 outputs of the branch 12 of Y shape optical fiber beam 9 changes directional light into through collimation lens 22 and shines on the carrier 23 that is fixed with biosensor.Be marked with after the targeted biological specimen of fluorescent marker and biosensor generation biochemical reaction be fixed, fluorescence labeling is excited, and sends fluorescence.The fluorescence that sends is imported after collimation lens 22 converges in the outer multimembrane optical fiber 17 of branch 12, reaches the branch 11 of Y shape fibre bundle 9 by total reflection repeatedly.
On the fluorescence receiving light path, between the port of the branch 11 of Y shape optical fiber beam 9 and the photomultiplier 26, fused quartz collimation lens 24 (focal length 8.7mm, transmitance is greater than 80%200-1100nm) and program control 3 D grating 25 have been assigned in turn as data acquisition system (DAS).Change directional light from the fluorescence of the port output of the branch 11 of Y shape optical fiber beam 9 into through collimation lens 24 and import program control 3 D grating 25.The transmission peak wavelength of program control 3 D grating 25 is controlled by computer software.Signal Processing and display system are computing machine 27.The data that photomultiplier 26 collects are imported computing machine 27, and handle by software.
With the matching used fluorescent marker of optical fiber biological sensor for being surrounded by one or more layers silicon dioxide, and through functionalized rear-earth-doped oxysulfide nanometer up-conversion fluorescence probe, average particle size range 20-500nm can send indigo plant, green, ruddiness that wavelength is respectively 440-500nm, 510-560nm and 620-700nm under 980nm laser excitation.
The used biomolecule recognition agent of sensor can be protein, antibody/antigen, enzyme, nucleic acid, DNA, RNA, cell tissue, tumor tissues or the like, specifically decides on targeted biological specimen.
Claims (7)
1, a kind of optical fiber biological sensor, it is characterized in that, at least form by excitation light path, detection light path and fluorescence receiving light path three part light paths, above-mentioned three light paths connect by y-type optical fiber (1), y-type optical fiber (1) provides separate path for exciting light and fluorescence to be received, first branch (2) of y-type optical fiber (1) connects excitation light path, and second branch (3) connects fluorescence receiving light path, the 3rd branch (4) joint detection light path; At least (2) two elements of first branch that comprise excitation source (5) and y-type optical fiber (1) on excitation light path, excitation source (5) utilize coupling optical to be coupled in first branch (2) of y-type optical fiber (1); Detecting carrier or (6) two elements of sample cell that comprise the 3rd branch (4) and the fixed biologically identifier of y-type optical fiber (1) at least on the light path and carry out sample detection, the 3rd branch (4) of y-type optical fiber (1) is connected with carrier that is used for fixing biomolecule recognition agent or sample cell (6), on the light path between the 3rd branch (4) of y-type optical fiber (1) and the carrier of fixed biologically identifier or the sample cell (6), assign collimating element or collective optics, guarantee the most fluorescence that fluorescence labeling sent that connect with the testing sample key converge to y-type optical fiber (1) the 3rd branch (4) port and import in the y-type optical fiber (1); Second branch (3), data acquisition system (DAS) (7) and signal Processing and (8) three elements of display system of on the fluorescence receiving light path, comprising y-type optical fiber (1) at least, second branch (3) of y-type optical fiber (1) is connected with data acquisition system (DAS) (7), and data acquisition system (DAS) (7) further is connected to signal Processing and measures and display system (8).
2, a kind of optical fiber biological sensor as claimed in claim 1, it is characterized in that the fluorescence labeling that is used for the target-marking biological sample that described detection is required is at least a kind of or any several combination of surperficial Cy-5 through functionalized processing, nm of gold, semiconductor-quantum-point, up-conversion phosphor.
3, optical fiber biological sensor as claimed in claim 1, it is characterized in that, described y-type optical fiber (1) is the fibre bundle that is bundled into by multifiber that an end is divided into two bundles, or one end be divided into the coaxial optical fiber of two branch roads, or the combined type y-type optical fiber that constitutes of one or more elements in multifiber and optical fiber Y type shunt, coupled lens, the collimation lens.
4, a kind of optical fiber biological sensor as claimed in claim 1 is characterized in that, described excitation source (5) is He-Cd gas laser, N at least
2Gas laser, Kr gas laser, Ar gas laser, Ar-Kr gas laser, He-Ne gas laser, CO
2Gas laser, H
2O gas laser, ruby Cr
3+The light sources of a kind of or any several formations in solid state laser, GaAs semiconductor laser, GaAlAs semiconductor laser, Nd solid state laser, Nd/YAG solid state laser, xenon lamp, the tungsten lamp, or the elements combination formed of light source and lens, optical filter, grating.
5, a kind of optical fiber biological sensor as claimed in claim 1, it is characterized in that, described excitation light path, detection light path and fluorescence receiving light path, the element group of on 3 light paths, assigning one or more filter elements, coupling element, collimating element, concentrating element, beam-expanding element or each element to form.
6, described a kind of optical fiber biological sensor as claimed in claim 1, it is characterized in that the biomolecule recognition agent that described carrier or sample cell (6) are fixed is at least a kind of or any several combination in protein, antigen, antibody, enzyme, nucleic acid, DNA, RNA, cell tissue, the tumor tissues.
7, a kind of optical fiber biological sensor as claimed in claim 1, it is characterized in that, described data acquisition system (DAS) (7) is the element group that a kind of and signal amplifier in photomultiplier, silicon semiconductor detector, indium gallium arsenic semiconductor detector, the CCD device constitutes at least.
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| CN101545899B (en) * | 2009-04-30 | 2012-12-05 | 华南理工大学 | Optical fibre micro-fluidic biological sensor and preparation method thereof |
| CN102575991B (en) * | 2009-10-23 | 2016-06-15 | 皇家飞利浦电子股份有限公司 | The detector of detection fluorescence signal and the equipment of the multiple discrete fluorescence signals of monitoring |
| US20130203082A1 (en) * | 2010-09-02 | 2013-08-08 | Tohoku University | Method for determining cancer onset or cancer onset risk |
| DE102013205205A1 (en) * | 2013-03-25 | 2014-10-09 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | Fiber optic sensor and its use |
| CN106198464A (en) * | 2015-05-08 | 2016-12-07 | 罗强 | A kind of laser-induced fluorescence (LIF) food detector |
| CN105181663B (en) * | 2015-09-01 | 2017-11-17 | 浙江大学 | Portable biochemical rapid detection system based on Quantum Dot Labeling |
| CN105223181A (en) * | 2015-10-26 | 2016-01-06 | 肯维捷斯（武汉）科技有限公司 | A kind of fluorescence detection device |
| CN105424663A (en) * | 2015-11-24 | 2016-03-23 | 西南大学 | Method for detecting phthalic acid ester compound concentration based on optical fiber immunosense |
| CN105424662A (en) * | 2015-11-24 | 2016-03-23 | 江南大学 | Fluorescent biological detection system |
| CN105424668A (en) * | 2015-12-22 | 2016-03-23 | 深圳先进技术研究院 | Fluorescent screening system |
| CN107488709B (en) * | 2017-06-23 | 2020-05-05 | 山东师范大学 | Optical fiber field effect tube biosensor, biological detection device and method |
| CN110132907A (en) * | 2018-02-09 | 2019-08-16 | 杨佳苗 | Fiber optic conduction multi-detector discrete spectrum and fluorescence lifetime detection method and sensor |
| CN108181290B (en) * | 2018-03-24 | 2020-07-10 | 王碧 | Fluorescent quantitative analyzer |
| CN109901279B (en) * | 2019-02-25 | 2021-12-14 | 桂林电子科技大学 | Microsphere self-assembly laser based on coaxial three-waveguide fiber |
| CN110018123A (en) * | 2019-05-16 | 2019-07-16 | 厦门斯坦道科学仪器股份有限公司 | A kind of In situ spectroscopic fado parameter water quality monitoring method and device |
| CN113720825B (en) * | 2021-11-04 | 2022-02-08 | 四川丹诺迪科技有限公司 | Optical instant detector and detection method and application |
| CN114919717A (en) * | 2022-05-26 | 2022-08-19 | 应急管理部天津消防研究所 | Underwater search system for fire rescue |
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