AU2020102224A4 - A floating offshore platform ballast monitoring system and a calculation method for the volume of liquid in the tank - Google Patents
A floating offshore platform ballast monitoring system and a calculation method for the volume of liquid in the tank Download PDFInfo
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- AU2020102224A4 AU2020102224A4 AU2020102224A AU2020102224A AU2020102224A4 AU 2020102224 A4 AU2020102224 A4 AU 2020102224A4 AU 2020102224 A AU2020102224 A AU 2020102224A AU 2020102224 A AU2020102224 A AU 2020102224A AU 2020102224 A4 AU2020102224 A4 AU 2020102224A4
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
- G01F22/00—Methods or apparatus for measuring volume of fluids or fluent solid material, not otherwise provided for
- G01F22/02—Methods or apparatus for measuring volume of fluids or fluent solid material, not otherwise provided for involving measurement of pressure
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63J—AUXILIARIES ON VESSELS
- B63J4/00—Arrangements of installations for treating ballast water, waste water, sewage, sludge, or refuse, or for preventing environmental pollution not otherwise provided for
- B63J4/002—Arrangements of installations for treating ballast water, waste water, sewage, sludge, or refuse, or for preventing environmental pollution not otherwise provided for for treating ballast water
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
- G01F1/00—Measuring the volume flow or mass flow of fluid or fluent solid material wherein the fluid passes through a meter in a continuous flow
- G01F1/66—Measuring the volume flow or mass flow of fluid or fluent solid material wherein the fluid passes through a meter in a continuous flow by measuring frequency, phase shift or propagation time of electromagnetic or other waves, e.g. using ultrasonic flowmeters
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
- G01F23/00—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm
- G01F23/22—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by measuring physical variables, other than linear dimensions, pressure or weight, dependent on the level to be measured, e.g. by difference of heat transfer of steam or water
- G01F23/28—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by measuring physical variables, other than linear dimensions, pressure or weight, dependent on the level to be measured, e.g. by difference of heat transfer of steam or water by measuring the variations of parameters of electromagnetic or acoustic waves applied directly to the liquid or fluent solid material
- G01F23/296—Acoustic waves
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- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- Public Health (AREA)
- Mechanical Engineering (AREA)
- General Health & Medical Sciences (AREA)
- Health & Medical Sciences (AREA)
- Toxicology (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Environmental & Geological Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Acoustics & Sound (AREA)
- Thermal Sciences (AREA)
- Measurement Of Levels Of Liquids Or Fluent Solid Materials (AREA)
- Measuring Volume Flow (AREA)
- Testing Or Calibration Of Command Recording Devices (AREA)
Abstract
The invention relates to a ballast monitoring system of a floating offshore
platform and a calculation method of liquid volume in the tank, belonging to the
technical field of loading and unloading liquid level monitoring of ballast water of
a floating offshore platform and draft monitoring of the platform. The monitoring
system of this floating offshore platform includes four parts: tank level monitoring,
four-corner draft monitoring, fluid pipe flow monitoring and platform inclination
monitoring. As the tank of a floating offshore platform is square, when the
platform tilts, the volume of liquid in the tank can be calculated through the
pressure sensor at the four corners of the tank and the value of the overall heeling
angle and trim angle of the platform. The draft of the platform is calculated by an
ultrasonic level meter. Through the cooperation between ultrasonic flow meter,
biaxial dip sensor and the above sensors, the redundant monitoring of the overall
dip angle, draft and liquid volume of the tank of the platform can be realized to
check and correct each monitoring data, then the fault of the sensor can be found
in time. In this way, the complete monitoring of load capacity can be realized
even when some sensors fail.
Description
A floating offshore platform ballast monitoring system and a calculation
method for the volume of liquid in the tank
Technical field
The invention relates to a ballast monitoring system of a floating offshore
platform and a calculation method of liquid volume in the tank, belonging to the
technical field of loading and unloading liquid level monitoring of ballast water of
a floating offshore platform and draft monitoring of the platform.
Technical background
The ballast system can adjust the draft, dip Angle and stability of ships and
o offshore platforms. The system changes the floating state of the floating body by
adjusting ballast water to meet the requirements of different working conditions
(such as towing condition, cargo loading and unloading condition, drilling
condition, workover condition, etc.). Compared with ships, the length-width value
of floating platforms is larger and the length-width ratio is close to 1. In the case
i5 of improper or intimely load adjustment, instability is more likely to occur, and
even the platform will capsize. Therefore, in order to guarantee the normal work
of the platform and ensure the safe load adjustment of the platform, it is very
necessary to carry out on-site monitoring of the ballast system and provide
real-time information of ballast and floating state of the platform.
To monitor the ballast system, appropriate sensors should be arranged in the
tank, ballast tank, platform buoy and liquid pipe, such as liquid level meter,
current meter, etc. However, it is very difficult to use and install these sensors
reasonably, and to ensure that the sensors cooperate with each other. It is very difficult to accurately monitor the ballast and floating information under various working conditions.
The traditional ballast monitoring system has the following disadvantages: 1. The
monitoring accuracy is poor, does not have the ability to accurately monitor the
liquid volume of the tank when the platform is tilted and the liquid volume when
the volume of liquid in the tank is small; 2. Lack of continuous and accurate
monitoring draught information; 3. Lack of mutual check and redundancy
monitoring among all ballast sensors. These lead to errors in the measured ballast
values of the platform. When some sensors fail, relevant ballast information
o cannot be monitored, thus affecting the accuracy of ballast adjustment of the
platform. The ballast monitoring system proposed in this patent has improved the
deficiency of the traditional ballast monitoring system. The sensors cooperate
with each other to check and correct each other among the monitoring data, and to
find faulty sensors in time. It ensures that the complete monitoring of load
capacity can be realized even when some sensors fail.
The invention content
In view of the above problems, the purpose of the patent is to provide a
floating offshore platform ballast monitoring system and a calculation method for
the liquid volume in the tank. The system is simple to install, has high monitoring
frequency and accurate monitoring data, and improves the accuracy of tank level
monitoring when the platform is tilted and the amount of liquid is small. Each
sensor can check with each other and find faulty sensors in time, so as to ensure
the stability and long-term reliability of the ballast system, and ensure the complete monitoring of ballast information in the case of failure of some sensors.
The technical scheme adopted by the invention is as follows: a ballast
monitoring system of a floating offshore platform is provided with an instrument
device for monitoring tank liquid level, four-corner draft, liquid pipe flow rate and
dip sensor, the instrument device including the drain tank inlet liquid density
meter, liquid sensor at the four top corners of the tank, pressure sensor at the four
bottom corner of the tank, indoor biaxial dip sensor in the center of platform, inlet
pipe ultrasonic flow meter, outlet pipe ultrasonic flow meter, the ultrasonic liquid
level meter inside the pontoon under the deck, liquid tank volume, the difference
o between the inlet pipe ultrasonic flow meter and the drain pipe ultrasonic flow
meter and the draft of the floating platform;Pressure sensor, liquid density meter
and liquid sensor are used for monitoring the liquid level of the tank; ultrasonic
level meter is used for monitoring the four-corner draft; ultrasonic flow meter is
used for monitoring the liquid pipe flow; and biaxial dip sensor is used for
monitoring the platform roll angel. According to the coordination of liquid
densitometer, liquid sensor, pressure sensor and biaxial tilt sensor, the liquid
volume under the tilted state is obtained. Ultrasonic liquid level meter is used to
improve the measurement frequency and accuracy of draft.
Through the liquid density meter, liquid sensor, pressure sensor, the volume
in the tank obtained by the difference between the ultrasonic flow meter of inlet
pipe and ultrasonic flow meter of drain pipe, the heeling value and trim value of
the platform measured by ultrasonic liquid level meter and biaxial dip sensor, the
heeling and trim values of the platform measured by the pressure sensor in the tank, the draft change value obtained by the change of liquid volume in each tank, the coordination among sensors can realize the redundant monitoring of ballast information, the complete monitoring of the ballast capacity can be achieved even when some sensors fail.
The calculation method of the tank liquid volume in the ballast monitoring
system of the floating offshore platform is described. The corresponding heeling
angel 0 and trim angelqp of the platform is measured according to the biaxial
inclination sensor. The height from the four corners of the tank bottom to the
liquid level is obtained according to the pressure sensor, and the maximum value
o is selected as si; Combine the heeling angel 0 , the trim angle q1, the height of the
tank bilge to the liquid level si and the width a, length b and height C of the
cabin can obtaine the liquid volume of those tanks V by using the calculation
formula, where tank classification no. I = 1,2,3,4,5,6,7; The specific calculation
formula is as follows:
1. Liquid volume of class I tank, I =1: 3
6A sin o sin 01
2. Liquid volume of class II tank, I =2:
- asin O2) V = V - (s2 622sin92 sin 02
3. Liquid volume of class III tank, I =3:
V3 V2 -3sin 3 3 6A3 sin ¶o, sin 0,
4. Liquid volume of class IV tank, I =4: 3 a sin +(S4- 4-bsinq¶ 4 ) 6A4 sinO4 sin 04
5. Liquid volume of category V tank, I =5:
3 V =V - (s 5 -c2 5 ) 625 sin ¶o, sin0,
6. Liquid volume of class vi tank, I =6:
3 V -V4 (s 6 -c 6 )3 +([(s 6 -cl 6 )-asin06 ] 626 sin 9p6sin 06
7. Liquid volume of class VII tank, I =7: 3 ¶ ] 3 +(s 7 -asin 7) V =V [(s7 - cA 7 )-b2 sin 7 627 sin ¶p, sin 07
Where,2A = 1 - sin 2 0, - sin 2 (pi
o Beneficial effects of the present invention: The ballast monitoring system of
the floating offshore platform is provided with an instrument device for
monitoring tank liquid level, four-corner draft, liquid pipe flow rate and platform
dip sensor. As the tank of a floating offshore platform tend to be square, when the
platform tilts, the volume of liquid in the tank can be calculated through the
pressure sensor at the four corners of the tank and the value of the overall heeling
angel and trim angle of the platform. The draft of the platform is calculated by an
ultrasonic level meter. Through the cooperation between ultrasonic flow meter,
biaxial dip sensor and the above sensors, the redundant monitoring of the overall
heeling angle and trim angel, draft and liquid volume of the tank of the platform
can be realized to check and correct each monitoring data, and faulty sensors can
be found in time. In this way, the complete monitoring of load capacity can be realized even when some sensors fail.
The appended drawings show
FIG. 1 is the installation diagram of ultrasonic liquid level instrument and
biaxial tilt sensor.
FIG. 2 is the installation diagram of the tank level monitoring sensor.
FIG. 3 is a state diagram of submerged and a non-submerged Angle at the
top.
FIG. 4 is a state diagram of two submerged angles at the bottom and no
submerged angles at the top.
o FIG. 5 is a state diagram of three angles of bilge submergence and a
non-submerged Angle at the top.
FIG. 6 is a state diagram of four submerged angles of the bilge and a
non-submerged Angle at the top.
FIG. 7 is a state diagram of four angles of bilge immersion and one
submergeg angle at the top
FIG. 8 is a state diagram of four angles of bilge immersion and two
submergeg angles at the top.
FIG. 9 is a state diagram of four angles of bilge immersion and three
submergeg angles at the top.
FIG. 10 is the installation diagram of ultrasonic flow meter for inlet pipe.
FIG. 11 is the action schematic diagram of the ballast system.
Diagram: 1, the liquid density meter, 2, liquid sensor, 3, pressure sensor, 4, and
biaxial dip sensor, 5, and inlet pipe ultrasonic flow meter, 6, outlet pipe ultrasonic flow meter, 7, ultrasonic liquid level meter, 8, tank, 9, inside the pontoon under the deck, 10, tank liquid volume,11,difference of ultrasonic flow instrument between inlet pipe and outlet pipe,12, floating platform draft, 13, the tank drain, a, width of tank, b ,length of tank, c ,height of tank.
Specific implementation method
FIG. 1 shows the installation diagram of ultrasonic level meter and biaxial
dip sensor. In this figure, ultrasonic level meter 7 is installed inside the pontoon
under the deck 9, one for each pontoon, four in total. The measuring direction of
the ultrasonic liquid level meter is parallel to the pontoon, which is used to
o measure the distance between the inside of the buoy and the water surface in real
time, and then the platform draft is obtained after conversion. Its measurement
frequency is fast, and can measure 4-5 sets of data per second. The biaxial dip
sensor 4 is installed in the room near the center of the platform to measure the
overall tilt and trim Angle of the platform in real time.
FIG. 2 shows the installation diagram of tank level monitoring sensor. The
liquid densitometer 1in the figure is installed at the outlet 13 of the tank to
measure the liquid density in the tank. Liquid sensors 2 are installed at the four
corners of the tank top to determine whether the four corners of the tank top are
saturated with liquid. Pressure sensor 3 is installed at the four corners at the
bottom of the tank to determine whether the four corners at the bottom of the tank
are flooded by liquid and measure the hydraulic value at the position where the
sensor is installed.
Combined with the data measured by liquid densitometer 1, the distance between the installation position of pressure sensor 3 and liquid level can be calculated. Combining the liquid sensor 2 and the pressure sensor 3, the volume of liquid in the tank can be divided into seven categories according to the number of immersion angles at the top of the tank and the number of immersion angles at the bottom of the tank, referring to the real ballast situation of the floating
Figure 3-9 shows the state diagram of the liquids in the 1-7 liquid
compartments. The corresponding heeling angel 0 i and trim angel (p of the
platform is measured according to the biaxial inclination sensor. The height from
o the four corners of the tank bottom to the liquid level is obtained according to the
pressure sensor, and the maximum value is selected as sj; Combine the heeling
angel 0j, the trim angle py, the height of the tank bilge to the liquid level si and
the width a , length b and height C of the cabin can obtaine the liquid volume of those tanks Vi by using the calculation formula, where tank classification no. I
1,2,3,4,5,6,7; The specific calculation formula is as follows:
1. Liquid volume of class I tank (one Angle of immersion at the bottom and
no Angle of immersion at the top) : 3
V, St 6A , si sin 01
2. Liquid volume of class II tank (two immersion angles at the bottom and no
immersion Angle at the top) :
V2 - VI - (s2 - a sinO 2 ) 3 622 sin 92sin2
3. Liquid volume of class III tank (three immersion angles at the bottom and
no immersion Angle at the top)
o3)3 =V2- (s 3 -bsin V 6A3 sin ¶o, sin 0,
4. Liquid volume of class IV tank (four submerged angles of the bilge and no
submerged Angle of the roof) :
(s 4 -a sinO 4 -bsin ¶M43 624 sin ¶p4 sin 0 4
5. Liquid volume of class V tank (four angles of bilge immersion and one
Angle of roof immersion):
3 V =V (s 5 -c2 5 ) 625 sin ¶o, sin 5
o 6. Liquid volume of class VI tanks (four angles of bilge immersion and two
angles of roof immersion)
+(s6 -c 6 )-a sin 6 ]3 V -V4 (s 6 )3 6 cA 626 sin p6 sin 06
7. Liquid volume of class VII tank (four angles of bilge immersion and three
angles of roof immersion)
3
[(s7 - cA)- b2 sin ¶ 7 ] +(s 7 -a sin0 7 ) 3 15 627 sin ¶p7 sin 0 7
Where,2A = 1 - sin 2 0, - sin 2 (pi
FIG. 10 shows the installation diagram of the inlet pipe ultrasonic flow meter.
The ultrasonic flow meter 5 is installed on the wall of the inlet pipe to measure the
flow velocity of liquid in the pipe.
FIG. 11 shows the operating schematic diagram of the ballast system. Liquid
volume 10 in tank 8 can be obtained by liquid densitometer 1, liquid sensor 2 and pressure sensor 3.The volume in the liquid chamber can be obtained by the difference between the inlet tube ultrasonic flowmeter 5 and the drain tube ultrasonic flowmeter 6.By comparing the two methods, if the two values are within the allowable error range, the sensor is considered to be in normal operation. If the error is large in the long period of the two values, a sensor is considered to be out of order and shall be repaired and adjusted.
The draft at the four corners of the platform can be obtained through
ultrasonic level gauge 7. d, d, d,d 4 .According to the principle of determining a
surface from three points, a set of roll angles and pitch angles can be calculated by
o selecting three draft values. According to the permutation and combination, four
cases,d1 ,d 2 ,d3 ; d1 ,d 2 ,d 4; d1 ,d 3 ,d 4; d 2 ,d 3 ,d 4 , can be obtained,.So four sets
of heeling angles and trim angles can be obtained. Take the average of these four
sets of values, a set of heeling angel and trim angel can be obtained. Compare this
value with heeling angel 0 and trim angel q measured by biaxial dip sensor 4.
If the two values are within the allowable error range, the sensor is considered to
be operating normally, and if the error between the two values is large for a long
time, it is considered that a certain sensor is faulty, maintenance should be taken.
When three or more corners of the tank bottom are submerged, any three or
four of the distance from the tank bottom to the surfaceS 1 , ,s2,ss4 can be
obtained by means of pressure sensor 3. Similar to the above method, according
to the principle of determining a surface at three points, the lateral roll and pitch
values of each tank are calculated. The heeling angel and trim angel of the
platform can be obtained by averaging the heeling angel and trim angel of all tanks. Compare this value with the the heeling angel 0 and trim angel q calculated by the draft and measured by the biaxial dip sensor 4. If the two values are within the allowable error range, the sensor is considered to be operating normally, and if the error between the two values is large for a long time, it is considered that a certain sensor is faulty, maintenance should be taken.
The coordination between sensors can realize the redundant monitoring of
ballast information, which can ensure the complete monitoring of ballast capacity
even when some sensors fail.
Claims (7)
1. The ballast monitoring system of a floating offshore platform is provided with
an instrument device for monitoring tank liquid level, four-corner draft, liquid
pipe flow rate and inclination sensor; It has the following characteristics: the
instrument device including the drain tank inlet liquid density meter (1), liquid
sensor at the four top corners of the tank (2), pressure sensor at the four bottom
corner of the tank (3), indoor biaxial dip sensor in the center of platform (4), inlet
pipe ultrasonic flow meter (5), outlet pipe ultrasonic flow meter (6), the ultrasonic
liquid level meter (7) inside the pontoon under the deck (9), liquid tank volume
(10), the difference between the inlet pipe ultrasonic flow meter(5)(11) and the
drain pipe ultrasonic flow meter(6) and the draft of the floating platform;Pressure
sensor (3), liquid density meter (1) and liquid sensor (2) are used for monitoring
the liquid level of the tank; ultrasonic level meter (7) is used for monitoring the
four-corner draft; ultrasonic flow meter (6) is used for monitoring the liquid pipe
flow; and biaxial dip sensor (4) is used for monitoring the platform roll angel.
According to the coordination of liquid densitometer (1), liquid sensor (2),
pressure sensor (3) and biaxial tilt sensor (4), the liquid volume under the tilted
state is obtained. Ultrasonic liquid level meter (7) is used to improve the
measurement frequency and accuracy of draft.
2. According to the claim 1 a kind of floating offshore ballast monitoring
system, whose character is: through the liquid density meter (1), liquid sensor (2),
pressure sensor (3) , the volume in the tank obtained by the difference between the ultrasonic flow meter of inlet pipe (5) and ultrasonic flow meter of drain pipe (6), the heeling value and trim value of the platform measured by ultrasonic liquid level meter (7) and biaxial dip sensor (4), the heeling and trim values of the platform measured by the pressure sensor (3) in the tank, the draft change value obtained by the change of liquid volume in each tank, the coordination among sensors can realize the redundant monitoring of ballast information, the complete monitoring of the ballast capacity can be achieved even when some sensors fail.
3. According to the calculation method of the tank liquid volume in the
ballast monitoring system of the floating offshore platform mentioned in Claim 1,
its characteristics are as follows: the calculation method of the tank liquid volume
in the ballast monitoring system of the floating offshore platform is described.
The corresponding heeling angel 0 and trim angelpof the platform is measured
according to the biaxial inclination sensor. The height from the four corners of the
tank bottom to the liquid level is obtained according to the pressure sensor, and
the maximum value is selected as si; Combine the heeling angel 6 , the trim
angle (p, the height of the tank bilge to the liquid level si and the width a, length
b and height c of the cabin can obtaine the liquid volume of those tanks Vi by
using the calculation formula, where tank classification no. I = 1,2,3,4,5,6,7; The
specific calculation formula is as follows:
1. Liquid volume of class I tank, I =1: 3
V, St 64 sinqi sin 01
2. Liquid volume of class II tank, I =2:
V = V - (s2 -a sinO 2 )' 622sin 9 2 sinO 2
3. Liquid volume of class III tank, I =3:
(s3 -b sin (P3)3 V = V2 - 62,3 sin ¶p, sin 0,.
4. Liquid volume of class IV tank, I =4: )3 -a sin 4-bsinq¶ +(s4 4
6A4 sinO4 sin 04
5. Liquid volume of category V tank, I =5:
3 V =V - (s 5 -c2 5 ) 625 sin ¶p, sin 0,
6. Liquid volume of class vi tank, I =6:
3 V -V4 (s 6 -c 6 )3 +([(s 6 -cl 6 )-asin 6 ] 626 sin 96 sin 06
7. Liquid volume of class VII tank, I =7: 3 3 V [(s7 - cA 7 )-b2 sin ¶ 7 ] +(s7 -asin07) 627 sin ¶p, sin 07
Where,2A = 1 - sin 2 0, - sin 2 pO
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911295655.5A CN111024178B (en) | 2019-12-16 | 2019-12-16 | Method for calculating volume of liquid in tank of floating ocean platform ballast monitoring system |
| CN201911295655.5 | 2019-12-16 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| AU2020102224A4 true AU2020102224A4 (en) | 2020-10-22 |
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ID=70209583
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|---|---|---|---|
| AU2020102224A Ceased AU2020102224A4 (en) | 2019-12-16 | 2020-09-11 | A floating offshore platform ballast monitoring system and a calculation method for the volume of liquid in the tank |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN111024178B (en) |
| AU (1) | AU2020102224A4 (en) |
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| CN106882345B (en) * | 2017-03-24 | 2018-07-10 | 青岛永泰船舶用品有限公司 | A kind of method of the water ship above and below floating building berth or carrying barge deck |
| CN107298157A (en) * | 2017-05-22 | 2017-10-27 | 南通中远船务工程有限公司 | The roof-mounted drinking water measurement apparatus of ocean platform and FPSO ocean platforms |
| CN107702757A (en) * | 2017-10-11 | 2018-02-16 | 江苏远望仪器集团有限公司 | Volume of compartment multidimensional scaler, ship and tank volume calculation method |
| CN109655126A (en) * | 2019-01-15 | 2019-04-19 | 广州极飞科技有限公司 | For determining the method and apparatus of amount of liquid and plant protection equipment in container |
| CN110450699B (en) * | 2019-08-23 | 2021-08-27 | 淮安信息职业技术学院 | System and method for detecting rollover leakage parameters of liquid tank truck |
-
2019
- 2019-12-16 CN CN201911295655.5A patent/CN111024178B/en active Active
-
2020
- 2020-09-11 AU AU2020102224A patent/AU2020102224A4/en not_active Ceased
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115201832A (en) * | 2022-05-25 | 2022-10-18 | 福建省昊立建设工程有限公司 | Monitoring system and monitoring method of amphibious excavator |
| CN115201832B (en) * | 2022-05-25 | 2023-11-24 | 福建省昊立建设工程有限公司 | Monitoring system and monitoring method for amphibious excavator |
| CN116559804A (en) * | 2023-07-11 | 2023-08-08 | 浙江宜通华盛科技有限公司 | Phased array radar and method and device for detecting shaking degree of rotating platform of phased array radar |
| CN116559804B (en) * | 2023-07-11 | 2023-10-20 | 浙江宜通华盛科技有限公司 | Phased array radar and method and device for detecting shaking degree of rotating platform of phased array radar |
| CN117514647A (en) * | 2023-11-22 | 2024-02-06 | 江苏海龙风电科技股份有限公司 | Offshore wind power installation platform inclination monitoring system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111024178B (en) | 2021-04-06 |
| CN111024178A (en) | 2020-04-17 |
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