CN106289034A - A kind of low-power consumption vibration wire sensor and excitation detection method thereof - Google Patents
A kind of low-power consumption vibration wire sensor and excitation detection method thereof Download PDFInfo
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- CN106289034A CN106289034A CN201610619720.5A CN201610619720A CN106289034A CN 106289034 A CN106289034 A CN 106289034A CN 201610619720 A CN201610619720 A CN 201610619720A CN 106289034 A CN106289034 A CN 106289034A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/02—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring length, width or thickness
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/16—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring the deformation in a solid, e.g. by resistance strain gauge
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Abstract
The invention discloses a kind of low-power consumption vibration wire sensor, including vibratory string, coil and sensor housing, exciting circuit unit, pick-up circuit unit and main control unit；Main control unit includes pre-module of shaking, shakes module, frequency detection module and signal processing module again, vibration frequency signal effectively answered in signal processing module record, control the excitation testing process of sensor simultaneously, sensor is made to work under stable state and unstable state both of which, and according to the effectively again resonance frequency value of record, be calculated steady state operating mode recurrence of disease at the same time next year and shake the driving frequency value of module output.The invention provides the vibrating string type sensor of a kind of low-power consumption, vibratory string motivation model is changed, traditional low pressure scanning frequency excitation mode is changed into pre-shaking and combines the energisation mode shaken again, and frequency values when detection is shaken in advance is as the driving pulse frequency shaken again, thus serve energy-conservation effect.
Description
Technical field
The invention belongs to sensor technical field, be specifically related to a kind of displacement for works or the vibratory string of deformation measurement
Sensor.
Background technology
In the routine servicing of large structure, deformation or displacement measurement to its critical component are particularly significant, above-mentioned are subject to
The stress size of power component and changes in distribution the most directly reflect the health status of structure, the therefore force-bearing situation to these components
Monitoring and the assessment of safety analysis on this basis are significant.
The sensing element of vibrating string type sensor is an one metal wire string at present, and it is connected fixing with force acting on transducer parts,
Utilizing the natural frequency of vibration of string wire and the external tension relational expression suffered by string wire to record various physical quantity, vibrating string type sensor is mesh
One of front sensor the most advanced in dynamometry application side, the output of this sensor is frequency signal, and therefore it is anti-interference
Ability is strong, and temperature is floated, drift is little, is affected little by electrical quantity, stable and reliable for performance, adapts to long-term observation and long distance under mal-condition
From test, thus be widely used in the ess-strains of engineering such as reservoir dam, port engineering, bridge, foundation ditch, deformation, seepage flow,
In the monitoring of liquid level etc..
Vibrating string type sensor excitation principal low-pressure scanning frequency excitation mode, low pressure scanning frequency excitation is the intrinsic frequency according to sensor
Rate selects suitable frequency band, sensor is applied the scanning frequency pulse string signal that the frequency of 5V becomes larger, when accumulation signal
When the natural frequency of frequency and string wire is close, string wire can be rapidly achieved resonance state, and under resonance state, amplitude is maximum, can produce relatively
Big induction electromotive force, the frequency signal signal to noise ratio of sensor output is higher and is easy to measure.
But owing to swept-frequency signal is the continuous impulse signal from lower-frequency limit to upper frequency limit, in order to ensure that exciting is imitated
Really, the pulse of each frequency will continue several cycles, and the exciting time is oversize, causes energy consumption big, limits this sensor and exist
The remotely application in unmanned measurement system, in order to improve the wear life of battery, saves energy consumption, it is necessary to sense type vibration wire
The electric excitation mode of device improves.
Upper " the vibrating string type sensor exciting policy optimization " Wen Zhonggong of " the sensor technology journal " of the 1st phase of volume 23 in 2010
Having opened a kind of vibrating wire sensor frequency detecting scheme preliminary survey and repetition measurement combined, the mode using low pressure to manipulate the strings first obtains one
Individual frequency of vibration initial value, then carry out secondary low-voltage with this initial value and manipulate the strings excitation, thus obtain the scheme of exact value, the program
Although higher certainty of measurement can be obtained, but carrying out twice excitation and detection owing to needing every time, energy consumption is higher,
Therefore the detection demand of the field unattendeds such as the bridge under being difficult in adapt to soft phase.
Summary of the invention
The power consumption that it is an object of the invention to overcome existing vibrating string type sensor mesolow scanning frequency excitation mode to have is high, difficult
With the deficiency of long-range long term monitoring, the vibrating string type sensor of a kind of low-power consumption is proposed, by the optimization of energisation mode is designed, real
Showed low-power consumption, high-precision Displacement-deformation is measured.
The technical scheme that the present invention takes is as follows:
A kind of low-power consumption vibration wire sensor, including vibratory string, coil and sensor housing, described vibratory string is fixed on sensor
The two ends of housing, coil is arranged on the middle part of vibratory string, vibratory string produces excitation and detects the vibration of vibratory string, also including exciting circuit
Unit, pick-up circuit unit and main control unit；Described exciting circuit unit provides the signal of telecommunication by coil for vibratory string starting of oscillation；Institute
The pick-up circuit unit stated obtains the frequency signal of vibratory string by coil；Described main control unit includes pre-module of shaking, shakes mould again
Block, frequency detection module and signal processing module, the outfan of described exciting circuit unit and the input of module of shaking in advance, shake again
The input of module electrically connects, and the described outfan of pick-up circuit unit electrically connects with the input of frequency detection module, described
The outfan of module of shaking in advance, again shake module outfan and frequency detection module outfan respectively with signal processing module Electricity Federation
Connect；Vibration frequency signal effectively answered in described signal processing module record, controls the excitation testing process of sensor simultaneously, makes biography
Sensor works under stable state and unstable state both of which, and according to the resonance frequency value the most again of record, is calculated the most steady
State mode of operation recurrence of disease at the same time next year shake module output driving frequency value.
In above-mentioned low-power consumption vibration wire sensor, unstable state mode of operation detects, according to pre-shaking of shaking in advance, inspection of shaking again of shaking again
Survey step is carried out；The described steady state operating mode detecting step that shakes again according to directly shaking again is carried out.
The excitation detection method of a kind of low-power consumption vibration wire sensor, comprises the following steps:
[1], after sensor installation and debugging, during front n detection, signal processing module controls sensor according to shaking in advance
In advance shake detection shake again shake again detection unstable state pattern work, the pumping signal shaken the most in advance be pulsewidth t1 pulse electricity
Signal, the frequency of detection of shaking in advance is Fi, the pumping signal shaken again is frequency of oscillation Fi, the signal of telecommunication of pulsewidth t2, detection frequency of shaking again
fiFor the result of this measurement, wherein n and i is positive integer, and i is for measuring the time；
[2] as i > n time, sensor shakes again according to directly shaking again the equilibrium mode work of detection, and shake excitation letter the most again
Number pulsewidth be t2, driving frequency FiThe moving average obtaining frequency values according to front n measurement is peeked: Fi=(fi-n+ ...
+ fi-2+fi-1)/n, and the frequency measurement obtaining this time is fi；
[3] if the multiple vibration frequency that in step [2], detection obtains exceeds the working range of sensor, or the signal value that shakes again
Weak normally detect to being difficult to, then this time is measured invalid, and sensor shakes the non-of detection that shake again again according to pre-detection of shaking of shaking in advance
Equilibrium mode works, and otherwise sensor is according to the direct equilibrium mode work detected of shaking again of shaking again；
[4], after measuring, record frequency values f of this time every timeiCalculating for Subsequent activations signal frequency.
In the excitation detection method of above-mentioned low-power consumption vibration wire sensor, excitation pulsewidth t1 of shaking in advance and excitation pulsewidth t2 of shaking again,
Obtain according to the calibration experiment of sensor.
In the excitation detection method of above-mentioned low-power consumption vibration wire sensor, n=10,20 or 50.
In the excitation detection method of above-mentioned low-power consumption vibration wire sensor, excitation pulsewidth t1 of shaking in advance is 100-200ms, shakes again sharp
Encouraging pulsewidth t2 is 200-500ms.
The Advantageous Effects that the present invention has is as follows:
One, the invention provides the vibrating string type sensor of a kind of low-power consumption measuring frequency according to moving average prediction,
Vibratory string motivation model is changed, traditional low pressure scanning frequency excitation mode is changed into pre-shaking and combines the energisation mode shaken again,
And detect frequency values when shaking in advance as the driving pulse frequency shaken again, thus serve energy-conservation effect.Simultaneously according to first n time
The calculating of the moving average of measurement result, it was predicted that obtain measurement frequency next time, and when controlling repetition measurement according to this frequency values
Excited oscillation frequency, compare and need to experience the measuring method shaken in advance and shake two steps again every time, further functioned as energy-conservation and
Improve the effect of the frequency.
Two, the present invention slowly becomes according to the measurement parameter in the large structure displacement such as bridge, building and shape changing detection
The feature changed so that being operated under stable state and two kinds of mode of operations of unstable state of sensor, when steady operation, uses directly multiple
Shake the detection motivation model that shakes again, and the average that the signal shaken again is front n practical frequency, only there is frequency under equilibrium mode
Rate measurement result make mistakes or driving frequency because shaking again improper and when causing detection signal be the most weak normally detecting,
Switch to pre-pre-detection of shaking of shaking shake again the unstable state MODE of operation of detection of shaking again so that averagely to the measurement merit of every day
Consumption is down to minimum, meets the sensor requirement that works long hours under unmanned, battery condition of power supply, is also adapted to simultaneously
The change of the vibratory string frequency occurred because of sensor ageing.
Three, when the present invention measures, sensor is measured demarcation, it is thus achieved that sensor in operating frequency range
Little pre-excitation pulsewidth t1 and excitation pulsewidth t2 of shaking again of shaking, it is ensured that while sensor can normally work, saved system power dissipation.
Four, either under stable state or unstable state pattern, the answering of the present invention is shaken being total to of driving pulse frequency and actual string wire
Vibration frequency is close, it is ensured that the signal obtained during excitation has bigger amplitude, is greatly improved certainty of measurement.
Accompanying drawing explanation
Fig. 1 is the principle schematic of low-power consumption vibration wire sensor of the present invention.
Fig. 2 is the excitation testing process of low-power consumption vibration wire sensor of the present invention.
Fig. 3 is the power consumption electric current sequential chart under unstable state pattern of the present invention.
Fig. 4 is the power consumption electric current sequential chart under equilibrium mode of the present invention.
In figure: 1 vibratory string；2 coils；3 sensor housings；4 exciting circuit unit；5 pick-up circuit units；
6 main control units
Detailed description of the invention
As it is shown in figure 1, vibrating string type sensor belongs to frequency type sensor, equivalence a two ends frequency can be become with steel wire tension
The vibration string wire of change, including vibratory string 1, coil 2 and sensor housing 3, vibratory string 1 is fixed on determining of the two ends of sensor housing 3
On the bearing of position, coil 2 is arranged on the middle part of vibratory string 1, and circuit produces pumping signal, drives coil 2 to produce magnetically-actuated vibratory string and produces
Raw vibration, and detect the vibration of vibratory string 1.
Under electric excitation, vibratory string 1, by its natural frequency vibration, changes the tension force F of vibratory string 1, can obtain different vibrations
Frequency F, i.e. tension force become monotropic function relation with resonant frequency.After vibratory string 1 is by tension length changes delta l, then haveWherein ρνFor the body density of string, E is the elastic modelling quantity of vibratory string, and l is chord length.
During actual application, when the housing 3 of vibrating string type sensor is by dilatation, the positioning support at two ends is driven to produce
Mobile, thus cause vibratory string 1 to extend or shrink, by detecting the change of vibratory string frequency, realize the measurement of displacement and deformation.When
When the frequency of signal and the natural frequency of vibratory string are close, vibratory string is rapidly reached resonance state, the induction electromotive force that vibration produces
Frequency measurement unit is given by testing circuit filtering, amplification, shaping.Export due to it is frequency signal, and having measurement can
Lean on, capacity of resisting disturbance strong, low to cable needs, be conducive to transmission and the feature remotely measured.
At vibrating wire sensor in the long term monitoring of field, the power consumption of sensor is proposed higher requirement, existing shake
String type sensor encourages the low pressure scanning frequency excitation mode taked, and generally uses the voltage pulse signal of 5V, with vibrating wire sensor
Can measure low frequency to start frequency and become larger, scanning is to highest frequency, such as from 200 to 5000Hz, when reaching resonance state
The frequency signal of record vibratory string, and be converted to displacement, the strain signal measured.
In order to reduce power consumption, as it is shown in figure 1, the energisation mode of coil is improved by the present invention, main control unit includes
Shake in advance module, shake module, frequency detection module and signal processing module again, vibration frequency letter effectively answered in signal processing module record
Number, control the excitation testing process of sensor simultaneously, make sensor work under stable state and unstable state both of which, and according to note
The effectively again resonance frequency value of record, is calculated steady state operating mode recurrence of disease at the same time next year and shakes the driving frequency value of module output.
The main thought of the present invention is from the point of view of energy-conservation, and energisation mode is divided into stable state and two kinds of moulds of unstable state
Formula, the most astable mode of operation according to shake in advance pre-shake detection shake again shake again detection step carry out, stable state work
The operation mode detecting step that shakes again according to directly shaking again is carried out.
In unstable state mode of operation, first coil is carried out pre-shaking, main control unit control module output one of shaking in advance
Individual pulsewidth be the single pulse signal of t1 to exciting circuit unit 4, this signal promote coil by vibratory string attract deviation equilbrium position, open
Beginning to shake in advance, after initial delay of shaking in advance a period of time, the vibratory string frequency shaken in advance is entered by frequency detection module by pick-up circuit unit 5
Row detection, it is thus achieved that pre-vibration frequency, then main control unit controls to shake module one frequency of oscillation of output again equal to pre-vibration frequency, pulsewidth
The signal of telecommunication of t2 is to exciting circuit unit, and after initial delay of shaking again a period of time, frequency detection module passes through pick-up circuit unit
The vibratory string frequency shaken again is detected, it is thus achieved that this measurement frequency, be converted into displacement or deformation parameter i.e. obtains this
Secondary measurement result.Owing to by the detection to pre-vibration frequency, the main control unit of sensor has been obtained for a rough frequency
Value, then answer, close to frequency, excitation of shaking by similar, can make string wire quickly produce resonance, and is readily available tool during shaking again
There is the counting of the signal of higher magnitude, beneficially frequency, and then improve certainty of measurement.
Although the above-mentioned pre-mode combined of shaking and shake again reduces than traditional scanning frequency excitation mode energy consumption at energy-conservation aspect
Many, but if every time detection time will carry out pre-excitation of shaking, and the t1 encouraged that shakes in advance is usually hundred ms levels, therefore can carry
Carry out bigger power consumption.From the angle of practical implementation, it is contemplated that install the sensing to the large structure such as bridge and building
Device was operated in the environment of a Relative steady-state in the overwhelming majority time, and the cycle of Sensor monitoring is second level, for often
For the large-sized structural parts of rule, such as bridge is installed vibrating wire sensor load and detects, under normal circumstances with hour for singly
The change that in the relatively long time of position, overload is the most violent, i.e. the change in displacement of sensor is little, say, that stable state bar
In part lower a period of time, the frequency values of actual measurement can be close, therefore can save the step of pre-excitation of shaking under limit completely, directly
Entering the detection that shakes again that shakes again, when shaking again, main control unit controls to shake module output pulse width t2, frequency of oscillation again with above real
The signal of telecommunication that measured frequency is close is to exciting circuit unit, it is possible to realize string wire resonance, it is thus achieved that displacement and deformation parameter.
As in figure 2 it is shown, take into account stable state and the requirement of unstable state work, sensor excitation detection method, according to following step
Suddenly carry out:
[1] in the data accumulation stage: after sensor installation and debugging, during front n detection, signal processing module controls sensing
Device according to shake in advance pre-shake detection shake again shake again detection unstable state pattern work, the pumping signal shaken the most in advance is pulsewidth
The pulse signal of telecommunication of t1, the frequency of detection of shaking in advance is Fi, the pumping signal shaken again is frequency of oscillation Fi, the signal of telecommunication of pulsewidth t2,
Shake again and detect frequency fiFor the result of this measurement, wherein n and i is positive integer, and i is for measuring the time；
[2] measurement under normal circumstances: as i > n time, sensor shakes again according to directly shaking again the equilibrium mode work of detection
Making, the pulsewidth of pumping signal of shaking the most again is t2, driving frequency FiThe moving average obtaining frequency values according to front n measurement takes
Count: Fi=(fi-n+ ...+fi-2+fi-1)/n, and the frequency measurement obtaining this time is fi；
[3] process under abnormal condition: if the multiple vibration frequency that in step [2], detection obtains is beyond the work of sensor
Scope, or the signal value that shakes again is weak normally detects to being difficult to, then this time is measured invalid, and sensor is according to pre-detection of shaking of shaking in advance
The unstable state pattern work that shaking again shakes again detects, otherwise sensor is according to the equilibrium mode work detected of shaking again of directly shaking again
Make；
[4] for measuring offer data next time: after measuring, record frequency values f of this time every timeiFor follow-up
The calculating of excitation signal frequency.
For conventional large-sized structural parts, normal conditions lower sensor uses the mode of operation of stable state, is only going out
Under existing emergency case, shake again and use the frequency number of arithmetic rolling average to occur in that measurement result exceeds sensor specified frequency when encouraging
Rate scope or the driving frequency because shaking again are not mated with the resonant frequency of string wire, cause resonating so that detection signal
The most weak when cannot normally detect, just switch to unstable state mode of operation, after the most instantaneous unstable state stage, owing to arithmetic moves
The smoothing effect of dynamic average, automatically switches to the most again the pattern of directly shaking again of stable state.Facts have proved that n takes 10,20 or 50 i.e.
Measurement requirement can be met, and there is preferable energy-saving effect.
As a kind of optimal way, when the present invention measures, sensor is measured demarcation, it is thus achieved that sensor is in work
Minimum pre-excitation pulsewidth t1 and excitation pulsewidth t2 of shaking again of shaking in frequency range, it is ensured that it is same that sensor can normally work
Time, save system power dissipation and the measurement frequency can have been increased.
Fig. 3 and Fig. 4 sets forth the current drain sequential chart under both of which, and excitation pulsewidth t1 value of shaking the most in advance is
100-200ms, excitation pulsewidth t2 value of shaking again is 200-500ms, and sampling processing of shaking in advance and sampling processing stage of shaking again are also because of AD
Conversions etc. consume portion of energy, and standby phase compares pre-stage then energy consumption of shaking and shake again and be down to minimum, the most standby duration by
The temporal resolution measuring sensor determines, usually second level.
The present invention compares low pressure scanning frequency excitation mode and is greatly saved energy consumption, meets sensor at unmanned, battery
The requirement that works long hours under condition of power supply.
Claims (5)
1. a low-power consumption vibration wire sensor, including vibratory string, coil and sensor housing, described vibratory string is fixed on sensor shell
The two ends of body, coil is arranged on the middle part of vibratory string, vibratory string produces excitation and detects the vibration of vibratory string, it is characterised in that: also wrap
Include exciting circuit unit, pick-up circuit unit and main control unit；
Described exciting circuit unit provides the signal of telecommunication by coil for vibratory string starting of oscillation；
Described pick-up circuit unit obtains the frequency signal of vibratory string by coil；
Described main control unit includes pre-module of shaking, shakes module, frequency detection module and signal processing module again, described excitation electricity
The input of the outfan of road unit and module of shaking in advance, again the shake input of module electrically connect, described pick-up circuit unit defeated
Go out end to electrically connect with the input of frequency detection module, the outfan of described pre-module of shaking, shake module outfan and frequency is examined again
The outfan surveying module electrically connects with signal processing module respectively；
Vibration frequency signal effectively answered in described signal processing module record, controls the excitation testing process of sensor simultaneously, makes
Sensor works under stable state and unstable state both of which, and according to the resonance frequency value the most again of record, is calculated next time
Steady state operating mode recurrence of disease at the same time next year shake module output driving frequency value；
Described unstable state mode of operation is carried out according to shake the again detecting step that shakes again of pre-detection of shaking of shaking in advance；Described stable state
The mode of operation detecting step that shakes again according to directly shaking again is carried out.
2. the excitation detection method of a low-power consumption vibration wire sensor, it is characterised in that comprise the following steps:
[1], after sensor installation and debugging, during front n detection, signal processing module controls sensor according to pre-shaking of shaking in advance
Detection shake again shake again detection unstable state pattern work, the pumping signal shaken the most in advance is the pulse telecommunications of pulsewidth t1
Number, the frequency of detection of shaking in advance is Fi, the pumping signal shaken again is frequency of oscillation Fi, the signal of telecommunication of pulsewidth t2, again shake detection frequency fi
For the result of this measurement, wherein n and i is positive integer, and i is for measuring the time；
[2] as i > n time, sensor shakes again according to directly shaking again the equilibrium mode work of detection, pumping signal of shaking the most again
Pulsewidth is t2, driving frequency FiThe moving average obtaining frequency values according to front n measurement is peeked: Fi=(fi-n+ ...+fi-
2+fi-1)/n, and the frequency measurement obtaining this time is fi；
[3] if the multiple vibration frequency that in step [2], detection obtains exceeds the working range of sensor, or the signal value that shakes again is weak extremely
Be difficult to normally detect, then this time measure invalid, sensor according to shake in advance pre-shake detection shake again shake again detection unstable state
Pattern works, and otherwise sensor is according to the direct equilibrium mode work detected of shaking again of shaking again；
[4], after measuring, record frequency values f of this time every timeiCalculating for Subsequent activations signal frequency.
The excitation detection method of low-power consumption vibration wire sensor the most according to claim 2, it is characterised in that: described pre-shake
Excitation pulsewidth t1 and shake again and encourage pulsewidth t2, obtains according to the calibration experiment of sensor.
The excitation detection method of low-power consumption vibration wire sensor the most according to claim 2, it is characterised in that: n=10,20 or
50。
The excitation detection method of low-power consumption vibration wire sensor the most according to claim 2, it is characterised in that: described pre-shake
Excitation pulsewidth t1 is 100-200ms, and excitation pulsewidth t2 of shaking again is 200-500ms.
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| CN106840246A (en) * | 2017-04-06 | 2017-06-13 | 中国电建集团中南勘测设计研究院有限公司 | A kind of vibrating string type sensor work condition on-line testing method and device |
| CN108051074A (en) * | 2017-12-07 | 2018-05-18 | 浙江大学 | A kind of frequency measurement method of vibrating string type sensor |
| CN109799010A (en) * | 2019-03-21 | 2019-05-24 | 京东方科技集团股份有限公司 | A kind of pressure-detecting device and method |
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| CN110702150A (en) * | 2019-10-11 | 2020-01-17 | 贵州省质安交通工程监控检测中心有限责任公司 | Optimized sweep frequency excitation method for vibrating wire collector |
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| CN106840246A (en) * | 2017-04-06 | 2017-06-13 | 中国电建集团中南勘测设计研究院有限公司 | A kind of vibrating string type sensor work condition on-line testing method and device |
| CN108051074A (en) * | 2017-12-07 | 2018-05-18 | 浙江大学 | A kind of frequency measurement method of vibrating string type sensor |
| CN109799010A (en) * | 2019-03-21 | 2019-05-24 | 京东方科技集团股份有限公司 | A kind of pressure-detecting device and method |
| CN110702150A (en) * | 2019-10-11 | 2020-01-17 | 贵州省质安交通工程监控检测中心有限责任公司 | Optimized sweep frequency excitation method for vibrating wire collector |
| CN112986391A (en) * | 2021-02-26 | 2021-06-18 | 北京龙鼎源科技股份有限公司 | Excitation frequency determination method and device |
| CN113790954A (en) * | 2021-08-20 | 2021-12-14 | 河北光兴半导体技术有限公司 | Thin glass elastic modulus testing method and device |
| CN114440936A (en) * | 2021-12-28 | 2022-05-06 | 福建省永正工程质量检测有限公司 | Signal acquisition circuit of vibrating wire type sensor |
| CN114838680A (en) * | 2022-07-01 | 2022-08-02 | 中山大学 | Real-time monitoring system and method for riverbed scouring depth |
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