CN111959700A - Underwater mobile detection platform and detection method thereof - Google Patents
Underwater mobile detection platform and detection method thereof Download PDFInfo
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- CN111959700A CN111959700A CN202010779262.8A CN202010779262A CN111959700A CN 111959700 A CN111959700 A CN 111959700A CN 202010779262 A CN202010779262 A CN 202010779262A CN 111959700 A CN111959700 A CN 111959700A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B35/44—Floating buildings, stores, drilling platforms, or workshops, e.g. carrying water-oil separating devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/48—Means for searching for underwater objects
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/30—Assessment of water resources
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Abstract
The invention provides an underwater mobile detection platform, which comprises: the device comprises a detachable pressure-resistant shell, a shell fixing module, a driving module, a central sealing cabin, a sealing module, a control module and a data acquisition module; the detachable pressure-resistant shell is fixedly connected with the central sealing cabin body, and the upper surface of the detachable pressure-resistant shell can be used as a residence surface; the shell fixing module is fixed at the edge area of the detachable pressure-resistant shell; the driving module is embedded in the detachable pressure-resistant shell and can drive the underwater mobile detection platform to perform horizontal and vertical overturning motion; the sealing module covers the central sealing cabin body, and the control module and the data acquisition module are installed inside the central sealing cabin body. According to the invention, the upper surface of the detachable pressure-resistant shell is used as a residence surface, so that equipment linkage with other underwater equipment or water surface equipment can be realized, and good linkage is realized; the invention has the characteristics of small volume, compact structure, easy carrying, assembly, distribution, recovery and the like.
Description
Technical Field
The invention relates to the technical field of marine robots, in particular to an underwater mobile detection platform and a detection method thereof, and particularly relates to an underwater mobile detection platform capable of vertically pitching.
Background
At present, the mainstream underwater mobile detection platform mainly comprises a remote-control unmanned underwater vehicle (ROV), an autonomous unmanned underwater vehicle (AUV) and an underwater Glider (Glider). The ROV is limited in underwater moving range due to the fact that the ROV needs to be tied with an umbilical cable, and the appearance of the open-frame cube determines that the ROV needs to bear large resistance in advancing and submerging processes; although the AUV can ensure a smaller incident flow area due to the appearance of the torpedo type elongated body, the AUV also has a larger turning radius and has inherent defects in low-speed operability; due to the characteristics that the Glider is not provided with driving devices such as a propeller and the like, although good cruising ability of the Glider can be ensured, the sailing speed of the Glider is slow, and the Glider can only sail with zigzag and spiral rotary tracks under water, so that the operating performance is poor.
Through retrieval, patent document CN105159320A discloses an underwater target detection platform system suitable for complex waters and a use method thereof, comprising a water surface support system, an underwater platform and an umbilical cable connecting the water surface support system and the underwater platform; a propeller, a detector, a navigation electronic cabin and a signal receiving module are arranged on the underwater platform, and the detector can select the types of a camera, sonar, a laser scanner and the like. The prior art has the defects that the umbilical cable is arranged, the underwater moving range is limited, and large resistance is born in the advancing and submerging processes. Patent document CN109991669A discloses an unmanned ship towing underwater magnetic detection system, which comprises an unmanned ship, a towing body connected with the unmanned ship through a towing cable, and a control system for data processing and automatic control of the magnetic detection system; the unmanned ship is a water surface platform of the magnetic detection system and comprises a ship body of the unmanned ship, a winch system arranged at the tail of the unmanned ship, a detection system arranged at the bow of the unmanned ship and a communication system for real-time communication between the unmanned ship and a shore station; the winch system is used for controlling the movement of the towing body under water through the arrangement and the recovery of the towing cable, and comprises a motor, the towing cable used for towing the towing body, a winch used for coiling the towing cable on the winch and a mounting bracket. The defects of the prior art are that the underwater magnet is small, the requirement of searching underwater small targets is difficult to meet, and the related directions are not comprehensive enough.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide an underwater mobile detection platform which is not in an open-frame shape and has the characteristics of modular design, high integration level, compact layout, small volume, good maneuverability, small submerging and surfacing resistance, good linkage and the like.
According to the invention, the underwater mobile detection platform comprises: the device comprises a detachable pressure-resistant shell, a shell fixing module, a driving module, a central sealing cabin, a sealing module, a control module and a data acquisition module;
the detachable pressure-resistant shell is fixedly connected with the central sealing cabin body, and the upper surface of the detachable pressure-resistant shell can be used as a residence surface; the shell fixing module is fixed at the edge area of the detachable pressure-resistant shell; the driving module is embedded in the detachable pressure-resistant shell and can drive the underwater mobile detection platform to perform horizontal and vertical overturning motion; the sealing module covers the central sealing cabin body, and the control module and the data acquisition module are installed inside the central sealing cabin body.
Preferably, the detachable pressure-resistant shell comprises a first pressure-resistant sub-shell, a second pressure-resistant sub-shell, a third pressure-resistant sub-shell, a fourth pressure-resistant sub-shell, a fifth pressure-resistant sub-shell and a sixth pressure-resistant sub-shell, the pressure-resistant sub-shells are fixedly connected and are reinforced by a shell fixing module (6), and the upper surface of the detachable pressure-resistant shell is flat and disc-shaped.
Preferably, the housing fixing module comprises a plurality of fixing blocks at the interface area of the sub-housings of the detachable pressure housing.
Preferably, the driving module includes a first horizontal driver, a second horizontal driver, a first vertical driver and a second vertical driver,
further, when the underwater mobile detection platform is in a vertical overturning motion state, the rotating speeds of the first vertical driver and the second vertical driver are the same, the rotating directions of the blades of the detection platform are the same, the first horizontal driver and the second horizontal driver are kept static, so that after the horizontal mobile detection platform is in an upright state, the rotating speeds of the first horizontal driver and the second horizontal driver are the same, the rotating directions of the blades of the detection platform are the same, and the first vertical driver and the second vertical driver are kept static;
still further, when the underwater mobile detection platform is in a horizontal motion state, the rotating speeds of the first horizontal driver and the second horizontal driver are the same, the rotating directions of the blades of the detection platform are the same or opposite, and the first vertical driver and the second vertical driver are kept static.
Preferably, the sealing module comprises a detachable sealing cover, a sealing ring, an outer sealing cover and an inner sealing cover, wherein the detachable sealing cover, the sealing ring and the outer sealing cover are sequentially connected and then are arranged on the inner sealing cover.
Preferably, the geometric center areas of the outer sealing cover and the inner sealing cover are provided with openings, and when the underwater mobile detection platform is in a working state, the openings are covered with the detachable sealing covers and the sealing rings.
Preferably, the device further comprises a sensor reserved opening, and the sensor reserved opening is arranged in the geometric center area of the bottom of the central sealing cabin body.
Preferably, the data acquisition module comprises a depth sensor, and the depth sensor is vertically placed at the sensor reserved opening.
Preferably, a sliding rail with a sliding block at an angle of 45 degrees is arranged in the central sealing cabin body, so that the underwater mobile detection platform has high stability when being in an upright posture.
According to the detection method of the underwater mobile detection platform provided by the invention, the underwater mobile detection platform is adopted for detection, and the detection method comprises the following steps:
s0: when the underwater mobile detection platform is switched from a horizontal motion state to a vertical motion state, the rotating speeds of the first vertical driver and the second vertical driver are set to be the same, the rotating directions of the blades are set to be opposite, and the first horizontal driver and the second horizontal driver are kept static, so that the underwater mobile detection platform is in an upright state;
s1: when the underwater mobile detection platform moves in the vertical direction, on the basis that the underwater mobile detection platform is in an upright state, the rotating speeds and the rotating directions of the blades of the first horizontal driver and the second horizontal driver are set to be the same, and at the moment, the first vertical driver and the second vertical driver are in a static state;
s2: when the underwater mobile detection platform is switched from a vertical motion state to a horizontal motion state, the rotating speeds of the first vertical driver and the second vertical driver are set to be the same, the rotating directions of the blades are set to be opposite, and the first horizontal driver and the second horizontal driver are in a static state, so that the underwater mobile detection platform is in a horizontal state;
s3: when the underwater mobile detection platform rotates in the horizontal direction, on the basis that the underwater mobile detection platform is in the horizontal state, the rotating speeds of the first horizontal driver and the second horizontal driver are set to be the same, the rotating directions of the blades are set to be opposite, and the first vertical driver and the second vertical driver are kept static;
s4: when the underwater mobile detection platform advances and retreats in the horizontal direction, the rotating speeds of the first horizontal driver and the second horizontal driver and the rotating direction of the paddle are set to be the same, and the first vertical driver and the second vertical driver are kept static.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the invention, the upper surface of the detachable pressure-resistant shell is used as a residence surface, so that equipment linkage with other underwater equipment or water surface equipment can be realized, and the device has good linkage.
2. According to the invention, the underwater mobile detection platform has good operation performance through the disc-shaped appearance and the configuration of the single-degree-of-freedom dual-drive motor.
3. The invention adopts a control mode of adjusting horizontal and vertical postures, so that the underwater mobile detection platform has the characteristic of vertical pitching, and the advancing and retreating and submerging resistance of the detection platform are small.
4. According to the invention, the sliding rail with the sliding block at an angle of 45 degrees is arranged in the central sealed cabin body, so that sufficient stable center height can be obtained when the detection platform is in a vertical standing posture, and the stability of the vertical posture of the detection platform is ensured.
5. The invention adopts modularized design involving a shell fixing module, a driving module, a sealing module and the like, so that the detection platform is convenient to debug and maintain at a later stage.
6. The invention has the characteristics of small volume, compact structure, easy carrying, assembly, distribution, recovery and the like.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic elevation view of an underwater mobile detection platform;
FIG. 2 is a schematic top view of the underwater mobile probing platform;
FIG. 3 is an exploded view of the underwater mobile detection platform;
FIG. 4 is a schematic view of a central sealed hull of the underwater mobile detection platform;
fig. 5 is a schematic diagram of the motion attitude of the underwater mobile detection platform.
In the figure:
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
As shown in fig. 1, 2 and 3, the invention provides an underwater mobile detection platform, which comprises a detachable sealing cover 1, a sealing ring 2, an outer sealing cover 3, an inner sealing cover 4, a central sealing cabin 5, a shell fixing module 6, a first horizontal driver 7, a second horizontal driver 8, a detachable pressure-resistant shell 9, a first vertical driver 10, a second vertical driver 11, a first pressure-resistant sub-shell 901, a second pressure-resistant sub-shell 902, a third pressure-resistant sub-shell 903, a fourth pressure-resistant sub-shell 904, a fifth pressure-resistant sub-shell 905, a sixth pressure-resistant sub-shell 906 and a sensor reserved opening 12.
Specifically, the detachable pressure-resistant casing 9 is fastened to the central sealed cabin 5 and is reinforced by glue, the detachable pressure-resistant casing 9 includes a first pressure-resistant sub-casing 901, a second pressure-resistant sub-casing 902, a third pressure-resistant sub-casing 903, a fourth pressure-resistant sub-casing 904, a fifth pressure-resistant sub-casing 905 and a sixth pressure-resistant sub-casing 906, and the pressure-resistant sub-casings are fastened by watering and are reinforced by the casing fixing module 6.
Further, the casing fixing module 6 has 12 fixing blocks in total, and is located in a region where the first pressure-resistant partial casing 901, the second pressure-resistant partial casing 902, the third pressure-resistant partial casing 903, the fourth pressure-resistant partial casing 904, the fifth pressure-resistant partial casing 905, and the sixth pressure-resistant partial casing 906 meet, wherein 6 fixing blocks are arranged at the top of the detachable pressure-resistant casing 9, and 6 fixing blocks are arranged at the bottom of the detachable pressure-resistant casing 9. Wherein, every fixed block all passes through glue to be fixed at the marginal area of each withstand voltage branch casing.
Still further, the first horizontal driver 7, the second horizontal driver 8, the first vertical driver 10 and the second vertical driver 11 are fixed by screws and embedded in the detachable pressure-resistant shell 9; the first horizontal driver 7 and the second horizontal driver 8 are symmetrically arranged in the horizontal direction and can drive the detection platform to move horizontally; the first vertical driver 10 and the second vertical driver 11 are symmetrically arranged in the vertical direction, and can drive the detection platform to vertically turn over.
Still further, the detachable sealing cover 1, the sealing ring 2, the outer sealing cover 3 and the inner sealing cover 4 are sequentially connected and then placed on the inner sealing cover 4, the detachable sealing cover 1, the sealing ring 2, the outer sealing cover 3 and the inner sealing cover 4 are covered on the central sealing cabin body 5, and openings are formed in the geometric center areas of the outer sealing cover 3 and the inner sealing cover 4 and used for connecting a battery charging wire and a program burning line; when the underwater mobile detection platform is in a working state, the opening is covered with a detachable sealing cover 1 and a sealing ring 2; the contact part of the detachable sealing cover 1 at the opening of the sealing cover and the outer sealing cover 3 is connected by a silica gel sealing ring 2 for water prevention, and the detachable sealing cover 1 is screwed by a screw to realize the fastening connection with the outer sealing cover 3. A sliding rail with a sliding block at an angle of 45 degrees is arranged at the central position of the central sealed cabin body module (5) so as to obtain enough stable height when the detection platform is in a vertical standing posture and ensure the stability of the vertical posture of the detection platform.
Continuing further, the control module and the data acquisition module are installed inside the central sealed cabin body 5, and the control module comprises a microprocessor, an electronic isolation module and a wireless data transmission module; the data acquisition module comprises a temperature sensor, a pressure sensor, an attitude sensor, a GPS and an inertial navigation device. As shown in fig. 4, a sensor reservation opening 12 is reserved in the central portion of the bottom of the central sealed cabin 5 for vertically placing the depth sensor in the data acquisition module.
According to the inventionVariation exampleFor further explanation.
Based on the basic embodiment, the detachable pressure-resistant casing 9 may be a disk, a hexahedron, a pentahedron, a tetrahedron, or the like, as long as it is ensured that the upper surface of the detachable pressure-resistant casing 9 is flat, and it is possible to perform linkage with other devices as a residence surface.
The working principle is as follows:
as shown in fig. 5, the underwater mobile detection platform provided by the invention has the advantages of small volume, good maneuverability, small advance and retreat and low submerging and surfacing resistance in the process of executing tasks. The resistance received by the device is minimum by adjusting the advancing posture, and the cruising ability and the maneuverability can be improved to the maximum extent.
In the process of converting the vertical motion attitude into the horizontal motion attitude, the rotating speeds of the first vertical driver 10 and the second vertical driver 11 are set to be the same, the rotating directions of the blades are set to be opposite, the first horizontal driver 7 and the second horizontal driver 8 are kept static, so that the underwater mobile detection platform is in an upright state, and the slider in the central sealed cabin body 5 enables the underwater mobile detection platform to have a certain stable center height, so that the stability of the vertical attitude is ensured.
In the process of realizing vertical movement in the vertical movement posture, the first horizontal driver 7 and the second horizontal driver 8 are set to be in the working mode with the same rotating speed and the same rotating direction of the blade, and the first vertical driver 10 and the second vertical driver 11 are kept static.
In the process of realizing horizontal movement in the horizontal movement posture, the first horizontal driver 7 and the second horizontal driver 8 are set to be in working modes with opposite rotating speeds and opposite rotating directions of the blades, and the first vertical driver 10 and the second vertical driver 11 are kept static so as to realize horizontal rotation of the underwater mobile detection platform.
The first horizontal driver 7 and the second horizontal driver 8 are set to be in the working modes with the same rotating speed and the same rotating direction of the blades, and the first vertical driver 10 and the second vertical driver 11 are kept static so as to realize the forward and backward movement of the underwater movement detection platform in the horizontal direction.
The four driving motors are reasonably arranged, so that the four driving motors have good operation performance, the vertical pitching motion characteristic enables the flow area to be small, and the small advance and retreat and submerging and surfacing resistance are ensured. The upper surface of the disc-shaped appearance of the detection platform is flat, and the detection platform can be used as a residence surface of other small-sized platforms and can be used for performing cooperative operation with other underwater equipment. The invention can be used for carrying out tasks such as underwater three-dimensional data acquisition, underwater equipment carrying and the like. The underwater mobile detection platform can work in modes of vertical high-speed submergence, depth-fixed cruising, track tracking and the like, and has wide application prospect in the fields of ocean observation, detection and the like.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (10)
1. An underwater mobile detection platform, comprising: the device comprises a detachable pressure-resistant shell (9), a shell fixing module (6), a driving module, a central sealing cabin body (5), a sealing module, a control module and a data acquisition module;
the detachable pressure-resistant shell (9) is fixedly connected with the central sealing cabin body (5), and the upper surface of the detachable pressure-resistant shell (9) can be used as a residence surface;
the housing fixing module (6) is fixed at the edge area of the detachable pressure-resistant housing;
the driving module is embedded in the detachable pressure-resistant shell (9) and can drive the underwater mobile detection platform to perform horizontal and vertical overturning motion;
the sealing module covers the central sealing cabin body (5), and the control module and the data acquisition module are installed inside the central sealing cabin body (5).
2. The underwater mobile detection platform of claim 1, wherein the detachable pressure-resistant casing (9) comprises a first pressure-resistant casing (901), a second pressure-resistant casing (902), a third pressure-resistant casing (903), a fourth pressure-resistant casing (904), a fifth pressure-resistant casing (905) and a sixth pressure-resistant casing (906), and the pressure-resistant casings are fastened and connected and reinforced by a casing fixing module (6).
3. Underwater movement detection platform according to claim 1, wherein the housing fixation module (6) comprises a plurality of fixation blocks at the interface area of the sub-housings of the detachable pressure housing (9).
4. Underwater movement detection platform according to claim 1, wherein the drive module comprises a first horizontal drive (7), a second horizontal drive (8), a first vertical drive (10) and a second vertical drive (11),
when the underwater mobile detection platform is in a vertical overturning motion state, the set rotating speed and the rotating direction of the blades of the first vertical driver (10) and the second vertical driver (11) are the same, the first horizontal driver (7) and the second horizontal driver (8) are kept static, so that after the underwater mobile detection platform is in an upright state, the set rotating speed and the rotating direction of the blades of the first horizontal driver (7) and the set rotating speed and the set rotating direction of the blades of the second horizontal driver (8) are the same, and the first vertical driver (10) and the second vertical driver (11) are kept static;
when the underwater moving detection platform is in a horizontal movement state, the first horizontal driver (7) and the second horizontal driver (8) are set to have the same rotating speed, the rotating directions of blades of the detection platform are the same or opposite, and the first vertical driver (10) and the second vertical driver (11) are kept static.
5. The underwater motion detection platform of claim 1, wherein the sealing module comprises a detachable sealing cover (1), a sealing ring (2), an outer sealing cover (3) and an inner sealing cover (4), and the detachable sealing cover (1), the sealing ring (2) and the outer sealing cover (3) are sequentially connected and then placed on the inner sealing cover (4).
6. Underwater movement detection platform according to claim 5, characterized in that the geometric centre area of the outer sealing cover (3) and the inner sealing cover (4) is provided with an opening, and when the underwater movement detection platform is in working condition, the opening is covered with the detachable sealing cover (1) and the sealing ring (2).
7. The underwater mobile detection platform of claim 1, further comprising a sensor reservation (12), the sensor reservation (12) being disposed in a geometrically central region of the bottom of the central containment vessel (5).
8. Underwater mobile detection platform according to claim 7, wherein the data acquisition module comprises a depth sensor placed vertically at the sensor reservation (12).
9. The underwater mobile detection platform of claim 1, wherein the central sealed cabin (5) is provided with 45 ° sliding rails with sliding blocks, so that the underwater mobile detection platform has high stability when in an upright posture.
10. A method of detecting an underwater mobile detection platform, wherein the underwater mobile detection platform of any one of claims 1 to 9 is used for detection, comprising the steps of:
s0: when the underwater mobile detection platform is switched from a horizontal motion state to a vertical motion state, the rotating speeds of the first vertical driver (10) and the second vertical driver (11) are set to be the same, the rotating directions of the blades are set to be opposite, and the first horizontal driver (7) and the second horizontal driver (8) are kept static, so that the underwater mobile detection platform is in an upright state;
s1: when the underwater mobile detection platform moves in the vertical direction, on the basis that the underwater mobile detection platform is in an upright state, the rotating speeds and the rotating directions of the blades of the first horizontal driver (7) and the second horizontal driver (8) are set to be the same, and at the moment, the first vertical driver (10) and the second vertical driver (11) are in a static state;
s2: when the underwater mobile detection platform is switched from a vertical motion state to a horizontal motion state, the rotating speeds of the first vertical driver (10) and the second vertical driver (11) are set to be the same, the rotating directions of the blades are set to be opposite, and the first horizontal driver (7) and the second horizontal driver (8) are in a static state, so that the underwater mobile detection platform is in a horizontal state;
s3: when the underwater mobile detection platform rotates in the horizontal direction, on the basis that the underwater mobile detection platform is in the horizontal state, the rotating speeds of the first horizontal driver (7) and the second horizontal driver (8) are set to be the same, the rotating directions of the blades are set to be opposite, and the first vertical driver (10) and the second vertical driver (11) are kept static;
s4: when the underwater mobile detection platform advances and retreats in the horizontal direction, the rotating speeds and the rotating directions of the first horizontal driver (7) and the second horizontal driver (8) are set to be the same, and the first vertical driver (10) and the second vertical driver (11) are kept static.
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| CN113697068A (en) * | 2021-08-12 | 2021-11-26 | 浙江大学 | Multifunctional underwater connection base station capable of being spliced and folded |
| CN113697068B (en) * | 2021-08-12 | 2022-07-01 | 浙江大学 | Multifunctional underwater connection base station capable of being spliced and folded |
| CN113884335A (en) * | 2021-10-12 | 2022-01-04 | 上海交通大学 | Mobile sediment trapping apparatus and method |
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