CN110118766B - Hand-held universal substance analysis system - Google Patents
Hand-held universal substance analysis system Download PDFInfo
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- CN110118766B CN110118766B CN201810124510.8A CN201810124510A CN110118766B CN 110118766 B CN110118766 B CN 110118766B CN 201810124510 A CN201810124510 A CN 201810124510A CN 110118766 B CN110118766 B CN 110118766B
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- 238000004458 analytical method Methods 0.000 title claims abstract description 35
- 239000000126 substance Substances 0.000 title claims abstract description 30
- 230000005284 excitation Effects 0.000 claims abstract description 59
- 238000001228 spectrum Methods 0.000 claims abstract description 37
- 239000000523 sample Substances 0.000 claims abstract description 34
- 238000010183 spectrum analysis Methods 0.000 claims abstract description 30
- 238000004891 communication Methods 0.000 claims description 11
- 238000013500 data storage Methods 0.000 claims description 9
- 239000013307 optical fiber Substances 0.000 claims description 6
- 238000007789 sealing Methods 0.000 claims description 6
- 239000000463 material Substances 0.000 claims description 5
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 238000000034 method Methods 0.000 claims description 3
- 230000008569 process Effects 0.000 claims description 3
- 238000013461 design Methods 0.000 abstract description 7
- 238000012423 maintenance Methods 0.000 abstract description 4
- 238000010923 batch production Methods 0.000 abstract description 3
- 238000001069 Raman spectroscopy Methods 0.000 description 7
- 230000009286 beneficial effect Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 238000001237 Raman spectrum Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 238000002189 fluorescence spectrum Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000002265 prevention Effects 0.000 description 2
- 239000002537 cosmetic Substances 0.000 description 1
- 230000001066 destructive effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 229940079593 drug Drugs 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000003912 environmental pollution Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 235000013305 food Nutrition 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000006855 networking Effects 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/62—Systems in which the material investigated is excited whereby it emits light or causes a change in wavelength of the incident light
- G01N21/63—Systems in which the material investigated is excited whereby it emits light or causes a change in wavelength of the incident light optically excited
- G01N21/65—Raman scattering
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- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Physics & Mathematics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Investigating, Analyzing Materials By Fluorescence Or Luminescence (AREA)
Abstract
The invention provides a handheld general substance analysis system, which comprises a shell, an upper cover, a display control assembly, an excitation light source module, a brake focusing spectrum probe and a spectrum analysis module, wherein the upper cover and the shell are mutually matched and connected to form an internal cavity; according to the invention, the excitation light source module is detachably arranged in the shell, the display control assembly is fixed on the inner side of the upper cover, and the brake focusing spectrum probe and the spectrum analysis module are respectively fixed in the shell, namely, the excitation light source which needs to be replaced regularly is in a modularized design, and other parts which do not need to be replaced regularly are in an integrated machine fixing design, so that the miniaturization of the whole machine is ensured, and the whole machine assembly, batch production, product upgrading and updating, later maintenance and the like are facilitated.
Description
Technical Field
The invention relates to the technical field of general material analysis instruments, in particular to a handheld general material analysis system which can be widely used for material inspection and analysis of medicines, foods, cosmetics, environmental pollution and the like.
Background
Raman spectrometers are increasingly favored by the industry for their unique features, including the wide application of raman spectrometers in direct, non-destructive, material detection situations where sample preparation is not required or is very small. With the development of component level, many bench raman spectrometers which can be used in laboratories and are huge in size are gradually designed into online, portable and handheld raman spectrometers so as to meet the increasing field detection requirements, so that small raman spectrometer type is an analytical instrument which is rapidly developed at present.
However, the optical mechanical structure of the existing handheld Raman spectrometer mostly adopts the integrated machine immobilization design of the excitation light source, the probe, the spectrum analysis and other parts, so that the whole machine is complex to assemble, is not beneficial to mass production, and is also not beneficial to product upgrading and updating and later maintenance; in particular, the excitation light source has a certain service life and needs to be replaced periodically, and the design of the integrated machine design immobilization brings inconvenience to the periodic replacement of the excitation light source.
In addition, the focusing structure in the conventional handheld Raman spectrometer adopts a fixed focusing lens, when the laser power is high, the temperature of the measured object at the focus is easily increased to cause the reduction of stimulated spectrum signals, or the measured object at the focus is burnt to realize measurement.
Summary of the invention
In order to overcome the problems in the prior art, the main purpose of the invention is to provide a hand-held general portable substance analysis system which can ensure the miniaturization of the whole machine and is beneficial to the fixation of a half-modular semi-integrated machine for the assembly, batch production, product upgrading and updating and later maintenance of the whole machine.
In order to achieve the above purpose, the present invention specifically adopts the following technical scheme:
The invention provides a handheld general substance analysis system, which comprises a shell, an upper cover, a display control assembly, an excitation light source module, a brake focusing spectrum probe, a spectrum analysis module and a sealing ring, wherein the upper cover and the shell are mutually matched and connected to form an internal cavity; the excitation light source module is used for outputting excitation light, the braking focusing spectrum probe is used for emitting the excitation light to an object to be detected and receiving light generated by excitation of the object to be detected, the spectrum analysis module is used for analyzing the light generated by excitation of the object to be detected, the display control assembly is used for controlling operation of the excitation light source module, and meanwhile, the display control assembly is also used for displaying the power of the excitation light, the working temperature of the excitation light source module and the analysis result of the spectrum analysis module.
Preferably, the device further comprises a reflector fixedly arranged in the shell, the brake focusing spectrum probe comprises a transceiver module and a brake focusing mirror assembly, the transceiver module and the brake focusing mirror assembly are connected through a sleeve, the excitation light source module is connected with an excitation light input end of the transceiver module through an optical fiber, and the reflector is used for coupling light generated by exciting an object to be detected received by the brake focusing spectrum probe into the spectrum analysis module.
Preferably, the braking focusing lens assembly comprises a focusing lens, a coil framework, a coil, a spring piece, a focusing lens support and a magnet, wherein the focusing lens support is in an annular shape, the magnet is arranged on the inner wall of the focusing lens support, the coil framework is positioned in the ring of the focusing lens support, the focusing lens is installed in the coil framework, the coil is fixed on the outer surface of the coil framework, one end of the spring piece is fixedly connected with the focusing lens support, and the other end of the spring piece is fixedly connected with the coil framework.
Preferably, the device further comprises a window bracket and a window, wherein the window bracket is used for protecting the brake focusing spectrum probe, the window bracket is arranged on the side wall of the shell, a light outlet corresponding to the focusing lens is formed in the window bracket, and the window is fixed in the light outlet of the window bracket.
Preferably, the braking focusing lens assembly comprises a lens barrel and a focusing lens, wherein the focusing lens is fixedly arranged in the lens barrel, one end of the lens barrel is connected with the transceiver module through a sleeve, and the other end of the lens barrel is fixedly arranged on the side wall of the shell.
Preferably, the device further comprises a camera, wherein the camera is mounted on the side wall of the shell, and is connected with the display control assembly, and the camera is used for shooting and recording images of identified substances, users, equipment and instruments and analysis or experimental processes, and reading related bar codes and two-dimensional codes.
Preferably, the device further comprises a data storage module, wherein the data storage module is connected with the display control assembly and is used for storing the spectrum of the measured substance, and the spectrum of the measured substance is used for comparing with the spectrum analysis result of the spectrum analysis module.
Preferably, the system further comprises a communication interface, wherein the communication interface is connected with the display control assembly, and the handheld universal substance analysis system is connected with the terminal through the communication interface.
Preferably, the display control assembly comprises a display screen, keys, a display screen circuit board and a circuit main board, wherein the upper cover is provided with a first opening and a second opening, the display screen is installed in the first opening, the keys are installed in the second opening, the display screen is connected with the display screen circuit board, and the circuit main board is respectively connected with the display screen circuit board and the keys.
Compared with the prior art, the excitation light source module is detachably arranged in the shell, the display control assembly is fixed on the inner side of the upper cover, the brake focusing spectrum probe and the spectrum analysis module are respectively fixed in the shell, namely, the excitation light source which needs to be replaced regularly is in a modularized design, and other parts which do not need to be replaced regularly are in an integrated machine fixing design, so that the miniaturization of the whole machine is ensured, and the whole machine assembly, the batch production, the product upgrading and the later maintenance are facilitated.
Drawings
FIG. 1 is an exploded perspective view of a handheld universal substance analysis system according to embodiment 1 of the present invention;
FIG. 2 is a perspective view of a handheld universal substance analysis system according to example 1 of the present invention
FIG. 3 is a perspective view of a brake focus spectroscopic probe of example 1 of the present invention;
FIG. 4 is a cross-sectional view of a brake focus lens assembly of embodiment 1 of the present invention;
FIG. 5 is a perspective view of a brake focus lens assembly of embodiment 1 of the present invention;
FIG. 6 is a block diagram showing a structure of a handheld universal substance analysis system according to embodiment 1 of the present invention;
FIG. 7 is a schematic diagram of a spectrum analysis module according to embodiment 1 of the present invention;
FIG. 8 is a perspective view of a handheld universal substance analysis system according to example 2 of the present invention;
In the figure, 1, a shell; 11. a battery mounting groove; 12. a battery cover; 13. a battery; 2. an upper cover; 21. a first opening; 22. a second opening; 3. a display control assembly; 31. a display screen; 32. a key; 33. a display screen circuit board; 34. a circuit motherboard; 4. an excitation light source module; 41. an excitation light source power supply; 5. braking a focusing spectrum probe; 51. a transceiver module; 52. braking the focusing lens assembly; 521. a focusing lens; 522. a coil bobbin; 523. a coil; 524. a spring piece; 525. a focusing lens holder; 526. a magnet; 53. a window bracket; 531. a light outlet hole; 54. a window; 6. a spectrum analysis module; 61. a slit; 62. a collimator lens; 63. a planar grating; 64. a focusing mirror; 65. a photodetector; 7. a camera; 8. a data storage module; 9. a communication interface; 10. an object to be detected; 20. a seal ring; 30. an optical fiber; 40. a reflecting mirror; 50. a sleeve; 60. lens barrel.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Example 1
As shown in fig. 1 and 2, embodiment 1 of the present invention provides a handheld general substance analysis system, which includes a housing 1, an upper cover 2, a display control assembly 3, an excitation light source module 4, a brake focus spectrum probe 5, a spectrum analysis module 6, a reflecting mirror 40, and an excitation light source power supply 41. Wherein, the casing 1 and the upper cover 2 are cooperatively connected to form an internal cavity, the brake focus spectrum probe 5, the spectrum analysis module 6 and the reflecting mirror 40 are respectively fixed in the casing 1, the display control assembly 3 is fixedly arranged at the inner side of the upper cover 2, the excitation light source module 4 is detachably mounted in the casing 1 through screws, and the excitation light source power supply 41 is used for providing electric energy for the excitation light source module 4 and controlling the temperature of the excitation light source module 4. The excitation light source module 4 is connected with an excitation light input end of the brake focus spectrum probe 5 through an optical fiber 30, the display control component 3 is respectively connected with the excitation light source module 4 and the spectrum analysis module 6, the excitation light source module 4 is used for outputting excitation light and is coupled into the brake focus spectrum probe 5 through the optical fiber 30, the brake focus spectrum probe 5 is used for emitting the excitation light to the object 10 to be detected and receiving light excited by the object 10 to be detected, the reflecting mirror 40 is used for coupling light reflection excited by the object 10 to be detected received by the brake focus spectrum probe 5 into the spectrum analysis module 6, the spectrum analysis module 6 is used for analyzing the light excited by the object 10 to be detected, the display control component 3 is used for controlling the operation of the excitation light source module 4 and displaying the power of the excitation light, the working temperature of the excitation light source module 4 and the analysis result of the spectrum analysis module 6.
As shown in fig. 3, the brake focus spectroscopic probe 5 includes a transceiver module 51 and a brake focus mirror assembly 52. The excitation light input end of the transceiver module 51 is connected with the excitation light source module 4 through the optical fiber 30, and the excitation light output end of the transceiver module 51 is connected with the brake focusing lens assembly 52 through the sleeve 50. So that the transceiver module 51 emits the excitation light to the object to be detected 10 and the transceiver module 51 can receive the light generated by the excitation of the object to be detected 10, and the brake focusing mirror assembly 52 is used for focusing the excitation light emitted by the transceiver module 51.
As shown in fig. 4 and 5, the brake focus mirror assembly 52 includes a focus lens 521, a coil bobbin 522, a coil 523, a spring piece 524, a focus lens holder 525, and a magnet 526. Wherein the focusing lens holder 525 is provided in a ring-shaped structure, and the magnet 526 is a permanent magnet. The magnet 526 is fixed on the inner wall of the focusing lens bracket 525, the coil frame 522 is located in the ring of the focusing lens bracket 525, the focusing lens 521 is fixedly installed in the coil frame 522, the coil 523 is arranged on the outer surface of the coil frame 522, the spring piece 524 is correspondingly designed into an annular structure, the outer end of the spring piece 524 is connected with the focusing lens bracket 525 through a screw, and the inner end of the spring piece 524 is fixedly connected with the coil frame 522. When the handheld general substance analysis system detects substances, a certain pulsating current can be used for driving the coil 523 to make the coil reciprocate along the direction of the optical axis in the magnetic field generated by the magnet 526, so as to avoid the problem that the temperature of the object to be detected at the focus is increased due to laser focusing, so that the stimulated spectrum signal is reduced or the object to be detected at the focus is burnt, and the measurement cannot be realized.
In this embodiment, the spring piece 524 is designed to have a shape that easily provides a restoring deformation elastic force, such as a bellows shape. The spring piece 524 adopts a fully-closed structure, so that light leakage, dust prevention, water prevention and the like can be effectively prevented, detection noise is increased by moving the focusing spectrum probe 5 due to external light leakage, and meanwhile, the pollution to components in the focusing spectrum probe 5 can be avoided.
In order to prevent the focusing lens 521 from being polluted by dust, the brake focusing spectrum probe 5 is protected by a window bracket 53 and a window 54, the window bracket 53 is mounted on the side wall of the housing 1, and a light outlet 531 corresponding to the focusing lens 521 is formed on the window bracket 53, so that excitation light emitted by the transceiver module 51 can be emitted through the focusing lens 521 and the light outlet 531 in sequence. And the window 54 is fixed in the light outlet hole 531 of the window holder 53 by bonding or screwing or the like.
As shown in fig. 6, the handheld universal substance analysis system further comprises a camera 7, a data storage module 8 and a communication interface 9, and the display control assembly 3 is respectively connected with the camera 7, the data storage module 8 and the communication interface 9. The camera 7 is mounted on the side wall of the casing 1, and is used for shooting and recording images of the identified substances, users, equipment and instruments, and analysis or experimental processes, and reading related bar codes, two-dimensional codes and the like, so as to facilitate archiving, analysis experiments and evidence. The data storage module 8 is used for storing the spectrum of the measured substance, the spectrum of the measured substance can be used for comparing with the spectrum analysis result of the spectrum analysis module 6, and a user can also add other spectrum data to the data storage module 8 according to the use condition. The communication interface 9 is then used to connect with a terminal, such as a server, a smart phone or other external device, in order to transmit the relevant data to the terminal. The communication interface 9 may be connected to the terminal by wired or wireless means, for example by means of a network cable, wire, bluetooth or wireless networking technology (WIFI).
As shown in fig. 7, the spectrum analysis module 6 adopts a cross-cut-gurney-Turner (Czerny-Turner) structure, and the spectrum analysis module 6 includes a slit 61, a collimator lens 62, a planar grating 63, a focusing lens 64, and a photodetector 65. Light generated by exciting the object to be detected 10 is received by the brake focus spectrum probe 5, and is reflected and coupled into the slit 61 by the reflecting mirror 40, and the collimating mirror 62 is disposed on the outgoing light path of the slit 61, and is used for collimating and then outputting the light emitted by the slit 61. The plane grating 63 is disposed on the outgoing light path of the collimator lens 62, and is used for diffracting the light rays outgoing after being collimated by the collimator lens 62. The focusing mirror 64 is disposed on the outgoing light path of the plane grating 63, and is used for focusing and imaging the spectrum outgoing from the plane grating 63 after diffraction on the photodetector 65, so as to complete the analysis of the object 10 to be detected.
The display control assembly 3 includes a display 31, keys 32, a display circuit board 33, and a circuit board 34. The upper cover 2 is provided with a first opening 21 and a second opening 22. The display screen 31 is mounted in the first opening 21, the key 32 is mounted in the second opening 22, the communication interface 9 is disposed on the circuit board 34, the display screen 31 is connected with the display screen circuit board 33, and the circuit board 34 is connected with the display screen circuit board 33 and the key 32 respectively. And the circuit board 34 is provided with a microprocessor, a light source circuit, a video recording circuit and a power management circuit, so that the circuit board 34 receives input signals of the keys 32, controls the display screen 31 to display data of various parameters and controls the operation of the camera 7, the excitation light source module 4 and the like.
In order to enable the shell 1 and the upper cover 2 to be connected in a sealing way, a sealing ring 20 is further arranged, and the sealing ring 20 is arranged at the joint of the shell 1 and the upper cover 2.
In addition, the invention is also provided with a battery 13, a battery mounting groove 11 and a battery cover 12 for providing electric energy for the handheld universal substance analysis system. The battery mounting groove 11 is provided in the case 1, the battery 13 is mounted in the battery mounting groove 11, and the battery cover 12 is covered on the battery mounting groove 11. And a power plug is further provided on the housing 1, which can be used to charge the rechargeable battery or directly supply the hand-held universal substance analysis system with electric power when the battery 13 is a rechargeable battery.
In this embodiment, the excitation light source module 4 adopts a laser, and the brake focus spectrum probe 5 is a raman spectrum probe, so the hand-held universal substance analysis system is a raman spectrum analysis system. In other embodiments, the excitation light source module 4 adopts an ultraviolet light source, and the brake focus spectrum probe 5 is a fluorescence spectrum probe, so the handheld universal substance analysis system is a fluorescence spectrum analysis system.
Example 2
As shown in fig. 8, the structure of the handheld universal substance analysis system according to the present embodiment 2 is basically the same as that of the embodiment 1, except that the focusing lens assembly according to the present embodiment includes a focusing lens 521 of a lens barrel 60, the focusing lens 521 is fixedly mounted in the lens barrel 60, one end of the lens barrel 60 is connected with the transceiver module 51 through a sleeve 50, and the other end of the lens barrel 60 is fixedly mounted on the side wall of the housing 1. I.e. the position of the focusing mirror is fixed and immovable in example 2. The handheld general substance analysis system of the embodiment is suitable for measurement occasions where the object to be measured at the focus is not suitable to be burnt.
The present invention is not limited to the above-mentioned embodiments, and any changes or substitutions that can be easily understood by those skilled in the art within the technical scope of the present invention are intended to be included in the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.
Claims (5)
1. The handheld general substance analysis system is characterized by comprising a shell, an upper cover, a display control assembly, an excitation light source module, a brake focusing spectrum probe, a spectrum analysis module, a sealing ring, a reflecting mirror and a camera, wherein the upper cover and the shell are mutually matched and connected to form an internal cavity, the sealing ring is arranged at the joint of the upper cover and the shell, the spectrum analysis module, the brake focusing spectrum probe and the reflecting mirror are respectively fixed in the shell, the excitation light source module is detachably arranged in the shell, and the display control assembly is fixed on the inner side of the upper cover; the system comprises an excitation light source module, a brake focusing spectrum probe, a spectrum analysis module, a display control assembly and a display control assembly, wherein the excitation light source module is used for outputting excitation light, the brake focusing spectrum probe is used for transmitting the excitation light to an object to be detected and receiving light generated by excitation of the object to be detected, the spectrum analysis module is used for analyzing the light generated by excitation of the object to be detected, the display control assembly is used for controlling the operation of the excitation light source module, and meanwhile, the display control assembly is also used for displaying the power of the excitation light, the working temperature of the excitation light source module and the analysis result of the spectrum analysis module;
The braking focus spectrum probe comprises a receiving-transmitting module and a braking focus lens assembly, the receiving-transmitting module is connected with the braking focus lens assembly through a sleeve, the excitation light source module is connected with an excitation light input end of the receiving-transmitting module through an optical fiber, and the reflecting mirror is used for enabling light coupling generated when an object to be detected received by the braking focus spectrum probe is excited to enter the spectrum analysis module;
The braking focusing lens assembly comprises a focusing lens, a coil framework, a coil, a spring piece, a focusing lens support and a magnet, wherein the focusing lens support is in an annular shape, the magnet is arranged on the inner wall of the focusing lens support, the coil framework is positioned in the annular ring of the focusing lens support, the focusing lens is installed in the coil framework, the coil is fixed on the outer surface of the coil framework, one end of the spring piece is fixedly connected with the focusing lens support, and the other end of the spring piece is fixedly connected with the coil framework;
The camera is installed in the lateral wall of casing, and the camera with display control subassembly links to each other, the camera is used for taking notes to be identified the image of material, user, equipment instrument and analysis or experimental process, and relevant bar code and two-dimensional code are read.
2. The system of claim 1, further comprising a window mount and a window for protecting the brake focus spectrum probe, the window mount being mounted to a side wall of the housing, the window mount having an exit aperture corresponding to the focus lens, the window being secured within the exit aperture of the window mount.
3. The system of claim 1, further comprising a data storage module coupled to the display control assembly, the data storage module configured to store a spectrum of a measured substance for comparison with a spectral analysis result of the spectral analysis module.
4. The handheld universal substance analysis system of claim 1, further comprising a communication interface coupled to the display control assembly, the handheld universal substance analysis system being coupled to a terminal through the communication interface.
5. The system of claim 1, wherein the display control assembly comprises a display screen, keys, a display screen circuit board and a circuit board, the upper cover is provided with a first opening and a second opening, the display screen is mounted on the first opening, the keys are mounted on the second opening, the display screen is connected with the display screen circuit board, and the circuit board is connected with the display screen circuit board and the keys respectively.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810124510.8A CN110118766B (en) | 2018-02-07 | 2018-02-07 | Hand-held universal substance analysis system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810124510.8A CN110118766B (en) | 2018-02-07 | 2018-02-07 | Hand-held universal substance analysis system |
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| CN110118766B true CN110118766B (en) | 2024-05-14 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2019241941A1 (en) * | 2018-06-20 | 2019-12-26 | 汪晓波 | Laser scanning device and laser radar |
| CN111272465A (en) * | 2020-04-20 | 2020-06-12 | 河海大学 | Portable normal position soil map collection equipment |
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| CN110118766A (en) | 2019-08-13 |
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