CN105526910A - Submarine topography change monitoring system and method - Google Patents
Submarine topography change monitoring system and method Download PDFInfo
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- CN105526910A CN105526910A CN201610070734.6A CN201610070734A CN105526910A CN 105526910 A CN105526910 A CN 105526910A CN 201610070734 A CN201610070734 A CN 201610070734A CN 105526910 A CN105526910 A CN 105526910A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C7/00—Tracing profiles
- G01C7/02—Tracing profiles of land surfaces
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C5/00—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C9/00—Measuring inclination, e.g. by clinometers, by levels
Abstract
The invention discloses a submarine topography change monitoring system and method. The system comprises a monitoring system control ship, monitoring devices and an ROV (remote operated vehicle), wherein the monitoring system control ship comprises a signal transmission receiver, a signal controller and a guide wire releaser; each monitoring device comprises a signal transceiver I, a signal transceiver II, a pressure meter, an inclinometer, a data storage unit, a storage battery, a crawler-type base, a signal transmission transponder, a lifting ring and a weight. The system can monitor the submarine topography of the development area of natural gas hydrate, collect a large quantity of submarine topography change data and transmit the data to the monitoring system for analysis, accordingly, the submarine topography change trend is mastered, the accident condition occurring during development of natural gas hydrate is avoided, and smooth and continuous preceding of the exploiting operation is guaranteed.
Description
Technical field
The present invention relates to marine oil and gas equipment field, particularly a kind of submarine topography variation monitoring system and method.
Background technology
Gas hydrate, also known as combustible ice, are the class ice-like crystalline materials that a kind of rock gas and water are formed under high pressure low temperature condition.Gas hydrate methane content is high, and have and pollute the advantages such as little, reserves are large, large-scale development gas hydrate are one of development trends of following clean energy resource.Gas hydrate mostly preserve in ocean, and its main source is the organism precipitation in seabed, transforms, can produce sufficient source of the gas through biology.When 0 DEG C, can generate, and pressure is higher under 30 atmospheric pressure, hydrate is more not easy to decompose.Seabed possesses temperature, pressure and source of the gas simultaneously, be easy to form gas hydrate in media voids, therefore gas hydrate extensively distribute and global marine site, are existing twices having verified rock gas, oil reserve, have wide DEVELOPMENT PROSPECT according to its reserves of calorific value equivalent calculation.
The ocean gas hydrate overwhelming majority is distributed in the marine bottom sediment of 300 ~ 3000m depth of water, and some is also distributed in unconsolidated mud, and exploration and development difficulty is larger.Be cemented in the gas hydrate in marine bottom sediment, once Reservior Conditions changes, methane gas is caused to discharge, physical property and the mechanical property of marine bottom sediment can be changed, seabed is softened, there is large-scale submarine slide, thus bring out submarine geological hazard, damage the important job facilities such as subsea cable, offshore oil drilling platform; Methane is a kind of important greenhouse gases simultaneously; great eco-catastrophe can be caused once be discharged in air; so in the process of natural gas hydrate exploration exploitation; also first to solve the gordian technique how preventing the environmental protection aspect such as the natural disintegration of gas hydrate, the unordered leakage of methane gas; the change of submarine topography can be monitored; adjust exploratory development item with this, avoid causing serious environmental problem.
Summary of the invention
For the problems referred to above, the object of the invention is to: monitoring device and method that a kind of submarine topography is provided, for monitoring the change of the physical property of the marine bottom sediment caused because of natural gas extraction.Thus take precautions against the generation of submarine geological hazard.The monitoring device of seabed of the present invention distortion mainly detects submarine topography and to sink in exploitation of gas hydrates process and tilt two kinds of changes.It is obtain by the water pressure change in monitoring seabed that seabed sinks.And the angle tilted is measured by using the inclinometer of liquid electrolyte sensor.
The technical solution used in the present invention is as follows:
A kind of submarine topography variation monitoring system, comprises monitoring system and controls ship, monitoring device and underwater robot (ROV); Described monitoring system controls ship and comprises signal transceiver, signal controller and checkrow wire distributor; Described monitoring device comprises signal transceiver one, signal transceiver two, pressure gauge, inclinometer, data-carrier store, accumulator, crawler type base, Signal transmissions transponder, suspension ring and weight.
Preferably, described monitoring system controls the signal controller of ship, signal transceiver and checkrow wire distributor, and be all arranged at above hull, signal transceiver is connected with signal controller, is arranged on midship; Checkrow wire distributor is boom hoisting arm being arranged checkrow wire, and lower base is installed on bow place, and base is rotary turnplate, hull is stretched out under arm end duty, checkrow wire total length is 3000m, and checkrow wire material is stainless steel wire, is provided with hook bottom checkrow wire.
Preferably, described monitoring device quantity is 10 ~ 15, and monitoring device is cube structure, and length, width and height are 1m, and inner structure is waterproof construction, has anti-voltage resistance simultaneously, and the maximum use degree of depth is 3000m under water.
Preferably, described monitoring device is off-line off-line working pattern, is provided with accumulator in monitoring device, and in whole observation process, accumulator is that monitoring device is powered; Monitoring device is provided with data storage, stores the data of monitoring device measured by observation process, and data collection reservoir the measurement data analyzed wherein are to obtain experimental data; The base of monitoring device adopts crawler type base, to avoid the error steadily not causing inclinometer sensor measurement of submarine topography; Monitoring device is equipped with the weight of certain mass, for reducing the impact of the buoyancy that monitoring device is subject to, the ocean current that minimizing monitoring device is subject to when seabed or slight geological movement when transferring to seabed from sea.
Preferably, quartz crystal resonator pressure gauge selected by described pressure gauge, and gauge measurement scope is 0 ~ 14MPa, and the corresponding degree of depth of pressure is 0 ~ 1400m, and resolution is 0.14Pa, and the corresponding degree of depth is 0.014mm; Liquid electrolyte inclinometer selected by described inclinometer, and gradient measurement scope is ± 30 °, resolution is 0.001 °.
Preferably, described a kind of submarine topography variation monitoring system is also provided with thermometer, for detecting seabed water temperature change, in exploitation of gas hydrates process, seabed water temperature changes excessive expression seabed and occurs situation, as earthquake, submarine volcano outburst, methane oxidizing archaea etc., submarine topography is in real-time change state.
Preferably, described weight is high desnity metal spheroid, is fixed on crawler type base by weight releasing mechanism; When needs reduce monitoring device weight, open weight releasing mechanism, weight loses fixation, tumbles sea bottom surface from crawler type base, realizes the effect reducing monitoring device weight.
Preferably, described underwater robot rests against monitoring system control load line place, shipboard face in a non-operative state and is fixedly connected with hull flexibility; When needing monitoring device or lifting monitoring device are installed, control underwater robot dive and carry out operation to monitoring device location, float up to original position after fulfiling assignment and fix.
Preferably, the present invention also provides a kind of using method of submarine topography variation monitoring system, and its measuring principle is as follows with use step:
The measuring principle of described a kind of submarine topography variation monitoring system is:
By the change of pressure gauge monitoring seabed water pressure, determine the height that surface, seabed declines; The degree of tilt on ground, the end of going to sea is monitored by the change of measuring inclinometer sensor two ends conductance;
The use step of described a kind of submarine topography variation monitoring system is:
Monitoring system controls ship and arrives exploitation marine site and also cast anchor, and checkrow wire distributor is sling monitoring device turn on sea, transfers checkrow wire and monitoring device is delivered to sea bottom surface, be in place by underwater robot, regain checkrow wire, the information of monitoring device in decentralization process and installation process is transmitted by signal transceiver one, signal controller sends signal instruction to signal transceiver, by signal transceiver signal instruction sent to the signal transceiver two in monitoring device, and perform corresponding operation by Signal transmissions transponder, start the pressure gauge in monitoring device, inclinometer and thermometer etc., start to measure the pressure of now seawater, the angle of plane residing for monitoring device, the temperature etc. of seawater, and surveyed data are stored in data storage, and feed back to signal transceiver by signal transceiver two, monitoring device work required electric power is provided by accumulator, in order to reduce the consumption of energy, monitoring device measures a secondary data and record every half an hour, and other times monitoring device is in holding state, after monitoring results completes, again transfer checkrow wire, monitoring device is connected on checkrow wire by suspension ring by underwater robot, is recovered to sea by checkrow wire distributor.
The invention has the advantages that:
The present invention can monitor to the submarine topography at place, exploitation of gas hydrates region, collect a large amount of submarine topography delta data and be transferred in monitoring system and analyze, understand submarine topography variation tendency, avoid exploitation of gas hydrates to occur fortuitous event, ensure that mining operations continues to carry out smoothly.
Accompanying drawing explanation
Fig. 1 is operating diagram of the present invention;
Fig. 2 is monitoring device structural representation front view of the present invention;
Fig. 3 is monitoring device structural representation left view of the present invention;
Fig. 4 is the plane distribution schematic diagram of monitoring device of the present invention at sea bottom surface.
In figure, 1-monitoring system controls ship, 2-monitoring device, 3-signal transceiver, 4-signal controller, 5-checkrow wire distributor, 6-extracting boat, 7-signal transceiver one, 8-signal transceiver two, 9-pressure gauge, 10-data storage, 11-Signal transmissions transponder, 12-weight releasing mechanism, 13-crawler type base, 14-weight, 15-inclinometer, 16-accumulator, 17-suspension ring, 18-gas recovery well, 19-seabed deformed region, 20-gas hydrate layer.
Embodiment
In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is described in detail, should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
As shown in FIG. 1 to 3, a kind of submarine topography variation monitoring system, comprises monitoring system and controls ship 1, monitoring device 2 and underwater robot; Described monitoring system controls ship 1 and comprises signal transceiver 3, signal controller 4 and checkrow wire distributor 5; Described monitoring device 2 comprises signal transceiver 1, signal transceiver 28, pressure gauge 9, inclinometer 15, data-carrier store 10, accumulator 16, crawler type base 13, Signal transmissions transponder 11, suspension ring 17 and weight 14.
As Fig. 2, shown in Fig. 3, underwater monitoring device 2 is core of the present invention, wherein signal transceiver 1 and signal transceiver 28 receive the signal from the signal transreceiver 3 on monitoring system control ship 1 and feed back corresponding confirmation signal, two signal transceivers work in the different periods respectively, signal transceiver 1 receives when monitoring device sinks to seabed and release weight reclaims monitoring device/transmits, signal transceiver 28 receives at monitoring device in subsea survey process/transmits, signal transceiver 1 and signal transceiver 28 can change mode of operation when needs, stop one of them working, open the transmitting-receiving of another settling signal, when ensureing that a signal transceiver breaks down wherein, another signal transceiver can normally work.Signal is transferred to signal responder unit (SRU) 11 by signal transceiver 1 and signal transceiver 28, performs corresponding operation or feedback information by transponder 11.Sea floor height can be associated with seawater pressure usually, namely can monitor out the falling head of submarine topography by measuring subsea pressure change.Quartz crystal resonator pressure gauge selected by pressure gauge 9, and pressure measurement range is 0 ~ 14MPa, and resolution is 0.14Pa; Liquid electrolyte inclinometer selected by inclinometer 15, can measure the tilt variation in seabed by the change of conductance between inclinometer two lateral electrode.Measurement range is ± 30 °, and resolution is 0.001 °.Monitoring device 2 is designed to off-line off-line working system, the system of working online is avoided to need power transmission line and data line to connect the unnecessary confusion produced between sea and seabed with this, therefore need accumulator 16 to provide power for monitoring device, data recorder 10 records the measurement data in whole observation process.Crawler type base 13 can keep monitoring device 2 in the steady placement in seabed, and when running into uneven sea bottom surface, track-face from Row sum-equal matrix adaptation to the ground, thus can maintain balance, ensures the accuracy of measurement data.Base there is one discharge weight mechanism 12, before seabed transferred to by monitoring device 2, weight 14 is fixed on crawler type base 13 by release weight mechanism 12, overcome the buoyancy in water and keep the balance of monitoring device 2, in the process that monitoring device 2 reclaims, sending signal to monitoring device 2 by signal controller 4, remove the fixing of weight 14, weight 14 tumbles sea bottom surface voluntarily, reduces the weight of monitoring device 2, reclaims to facilitate monitoring device 2.
As shown in Figure 4, sinking highly and the change of the degree of tilt in seabed to accurately measure seabed, the pressure differential between abundant 2 must be obtained, in observation process, selected distance extracting boat 6 horizontal range should be no less than the place of 100m as reference point, choose multiple spot as measurement point simultaneously.
Whole observation process comprises the institutes such as below installation, monitoring, recovery and numerical analysis in steps.Monitoring device 2 uses underwater robot to install and reclaims, in order to accurately detect the TERM DEFORMATION in seabed, monitoring device 2 must be in place at Mining Test the first two months, and terminate to reclaim again by latter two moon in exploitation, carry out overall numerical value analysis with all data in this cycle inner analysis data storage 10.
Embodiment:
The example process of the method for the invention is: test the first two months at exploitation of gas hydrates, choose several identical monitoring devices 2, by the suspension ring 17 on monitoring device 2 and the checkrow wire distributor 5 controlled on ship, monitoring device 2 is put into seabed specified measurement point, signal controller 4 controls checkrow wire distributor 5 and transfers monitoring device 2, when monitoring device 2 is transferred in the process of seabed specified measurement point, signal responder unit (SRU) 11 gives the signal transceiver 3 controlled on ship by signal transceiver 1 feedback position signal, and then by signal transmission to controller 3, if monitoring device 2 does not arrive seabed, signal controller 4 controls checkrow wire distributor 5 to be continued to transfer checkrow wire, when monitoring device 2 reaches seabed, the concurrent feedback signal of signal transceiver 28 is transmitted signals to signal controller 4 by Signal transmissions transponder 11, signal controller 4 stops transferring checkrow wire, checkrow wire is opened automatically, depart from suspension ring 17, signal controller 4 controls checkrow wire distributor 5 to regain checkrow wire, to discharge next monitoring device 2, the specified measurement point of transferring all is centered around near gas recovery well 18, gas recovery well 18 stretches in gas hydrate layer 20, therefrom exploitation of gas hydrate, therefore formulates measurement point region and belongs to seabed deformed region 19, adopt multiple monitoring device 2 can better measure whole region, because seabed depth is comparatively large, has certain deviation from checkrow wire distributor 4 lowered position and specified measurement point, to the monitoring device 2 not transferring to specified measurement point, need again transported by ROV and be installed on specified measurement point.After all monitoring devices are all arranged on specified measurement point, can start to measure.
In order to reduce power consumption, increase service time of battery, when monitoring device 2 is placed on the measurement point of specifying, whole monitoring device 2 is in holding state, and now accumulator 16 is not powered.The measuring period of monitoring device 2 be 30 minutes once, command signal is sent by signal controller 4 every 30 minutes, by signal transreceiver 3 command signal sent to the signal transceiver 28 on monitoring device 2, first monitoring device 2 is opened in running order according to command signal, accumulator 16 starts power supply, after system stability, pressure gauge 9 and inclinometer 15 start measurement data, wherein measured by pressure gauge 9 is seabed water pressure, by the change of measured force value, ground, corresponding seabed dropping distance in the vertical direction can be obtained.The three-dimensional tilt angle of submarine topography herein measured by inclinometer 15, the data measured are transferred to data storage 10, after data record completes, signal responder unit (SRU) 11 sends feedback signal to signal controller 4 by signal transceiver 28, signal controller 4 sends command signal by signal transreceiver 3 after being received in feedback signal, and close monitoring device 2 is to reduce power consumption.In exploitation of gas hydrates process, repeatedly implement above step, be continued until that Mining Test completes and reclaim monitoring device 2 more after two months, to obtain abundant measurement data, data analysis is greatly carried out to submarine topography change.
After observation process completes, recovery operation is carried out to monitoring device 2, first by seafloor robot by hook connecting bottom checkrow wire on the suspension ring 17 of monitoring device, signal controller 4 sends command signal to the weight releasing mechanism 12 in monitoring device 2 by signal transreceiver 3, the weight 14 that monitoring device 2 bottom is installed is removed installation, weight 14 tumbles sea bottom surface voluntarily, and monitoring device 2 buoyancy reduces, and reclaims monitoring device 2 by extra large buoyancy of water by the pull-up of checkrow wire.Measurement data in data recorder 10 is carried out large date comprision, is drawn out corresponding dimensional topography variation tendency animation figure, obtain the deformation extent of submarine topography in exploitation of gas hydrates process after reclaiming by monitoring device 2.
The above is only the preferred embodiment of the present invention, it should be pointed out that the present invention is not limited to aforesaid way, under the premise without departing from the principles of the invention, can also improve further, and these improvement also should be considered as protection scope of the present invention.
Claims (9)
1. a submarine topography variation monitoring system, is characterized in that, comprises monitoring system and controls ship (1), monitoring device (2) and underwater robot; Described monitoring system controls ship (1) and comprises signal transceiver (3), signal controller (4) and checkrow wire distributor (5); Described monitoring device (2) comprises signal transceiver one (7), signal transceiver two (8), pressure gauge (9), inclinometer (15), data-carrier store (10), accumulator (16), crawler type base (13), Signal transmissions transponder (11), suspension ring (17) and weight (14).
2. a kind of submarine topography variation monitoring system according to claim 1, it is characterized in that, described monitoring system controls the signal controller (4) of ship (1), signal transceiver (3) and checkrow wire distributor (5), all be arranged at above hull, signal transceiver (3) is connected with signal controller (4), is arranged on midship; Checkrow wire distributor (5) is for arm being arranged the boom hoisting of checkrow wire, and lower base is installed on bow place, and base is rotary turnplate, hull is stretched out under arm end duty, checkrow wire total length is 3000m, and checkrow wire material is stainless steel wire, is provided with hook bottom checkrow wire.
3. a kind of submarine topography variation monitoring system according to claim 1, it is characterized in that, described monitoring device (2) quantity is at least 10 ~ 15, monitoring device (2) is cube structure, length, width and height are 1m, inner structure is waterproof construction, has anti-voltage resistance simultaneously, and the maximum use degree of depth is 3000m under water.
4. a kind of submarine topography variation monitoring system according to claim 1, it is characterized in that, described monitoring device (2) is off-line off-line working pattern, accumulator (16) is provided with in monitoring device (2), in whole observation process, accumulator (16) is monitoring device (2) power supply; Monitoring device (2) is provided with data storage (10), store monitoring device (2) data measured by observation process, data collection reservoir (10) also analyzes measurement data wherein to obtain experimental data; The base of monitoring device (2) adopts crawler type base (13), to avoid the error steadily not causing inclinometer (15) sensor measurement of submarine topography; Monitoring device (2) is equipped with the weight (14) of certain mass, for reducing the impact of the buoyancy that monitoring device (2) is subject to, the ocean current that minimizing monitoring device (2) is subject to when seabed or slight geological movement when transferring to seabed from sea.
5. a kind of submarine topography variation monitoring system according to claim 1, it is characterized in that, quartz crystal resonator pressure gauge selected by described pressure gauge (9), gauge measurement scope is 0 ~ 14MPa, the corresponding degree of depth of pressure is 0 ~ 1400m, resolution is 0.14Pa, and the corresponding degree of depth is 0.014mm; Liquid electrolyte inclinometer selected by described inclinometer (15), and gradient measurement scope is ± 30 °, resolution is 0.001 °.
6. a kind of submarine topography variation monitoring system according to claim 1, is characterized in that, described a kind of submarine topography variation monitoring system is provided with thermometer, for detecting seabed water temperature change.
7. a kind of submarine topography variation monitoring system according to claim 1, is characterized in that, described weight (14) is high desnity metal spheroid, is fixed on crawler type base (13) by weight releasing mechanism; When needs reduce monitoring device (2) weight, open weight releasing mechanism (12), weight (14) loses fixation, tumbles sea bottom surface from crawler type base (13), realizes the effect reducing monitoring device (2) weight.
8. a kind of submarine topography variation monitoring system according to claim 1, is characterized in that, described underwater robot rests against monitoring system in a non-operative state and controls load line place, ship (1) side and be fixedly connected with hull flexibility; When needing monitoring device (2) or lifting monitoring device (2) are installed, control underwater robot dive and carry out operation to monitoring device (2) location, float up to original position after fulfiling assignment and fix.
9. a kind of submarine topography variation monitoring system according to claim 1, is characterized in that, the present invention also provides a kind of using method of submarine topography variation monitoring system, and its measuring principle is as follows with use step:
The measuring principle of described a kind of submarine topography variation monitoring system is:
By the change of pressure gauge (9) monitoring seabed water pressure, determine the height that surface, seabed declines; The degree of tilt on ground, the end of going to sea is monitored by the change of measuring inclinometer (15) sensor two ends conductance;
The use step of described a kind of submarine topography variation monitoring system is:
Monitoring system controls ship (1) and arrives exploitation marine site and cast anchor, checkrow wire distributor (5) is sling monitoring device (2) turn on sea, transfer checkrow wire and monitoring device (2) is delivered to sea bottom surface, be in place by underwater robot, regain checkrow wire, the information of monitoring device (2) in decentralization process and installation process is transmitted by signal transceiver one (7), signal controller (4) sends signal instruction to signal transceiver (3), by signal transceiver (3) signal instruction sent to the signal transceiver two (8) in monitoring device (2), and operated accordingly by Signal transmissions transponder (11) execution, start the pressure gauge (9) in monitoring device (2), inclinometer (15) and thermometer etc., start to measure the pressure of now seawater, the angle of the residing plane of monitoring device (2), the temperature etc. of seawater, and surveyed data are stored in data storage (10), and feed back to signal transceiver (3) by signal transceiver two (8), monitoring device (2) work required electric power is provided by accumulator (16), in order to reduce the consumption of energy, monitoring device (2) measures a secondary data and record every half an hour, and other times monitoring device (2) is in holding state, after monitoring results completes, again transfer checkrow wire, monitoring device (2) is connected on checkrow wire by suspension ring (17) by underwater robot, is recovered to sea by checkrow wire distributor (5).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610070734.6A CN105526910B (en) | 2016-01-29 | 2016-01-29 | A kind of sea-floor relief variation monitoring system and method |
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| CN201610070734.6A CN105526910B (en) | 2016-01-29 | 2016-01-29 | A kind of sea-floor relief variation monitoring system and method |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108413926A (en) * | 2018-01-31 | 2018-08-17 | 上海荟蔚信息科技有限公司 | Method for marine wind electric field clump of piles pile foundation underwater topography elevation high-acruracy survey |
| CN110415348A (en) * | 2019-07-31 | 2019-11-05 | 山东省地质调查院（山东省国土资源厅矿产勘查技术指导中心） | Integration system based on three-dimensional geological structure model and underground water numerical simulation |
| CN112857462A (en) * | 2021-02-26 | 2021-05-28 | 西南石油大学 | Geological risk monitoring system and method in solid-state fluidization exploitation of marine hydrate |
| CN112858624A (en) * | 2021-01-19 | 2021-05-28 | 浙江大学 | Multi-node sensor array structure and data acquisition and disaster early warning device thereof |
| CN113445487A (en) * | 2021-09-02 | 2021-09-28 | 中国海洋大学 | Pile foundation erosion pit underwater detection equipment and method based on ultra-short baseline positioning |
| CN113819884A (en) * | 2021-09-24 | 2021-12-21 | 中海石油(中国)有限公司 | Vertical displacement monitoring system and method for submarine oil production caisson device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108413926A (en) * | 2018-01-31 | 2018-08-17 | 上海荟蔚信息科技有限公司 | Method for marine wind electric field clump of piles pile foundation underwater topography elevation high-acruracy survey |
| CN110415348A (en) * | 2019-07-31 | 2019-11-05 | 山东省地质调查院（山东省国土资源厅矿产勘查技术指导中心） | Integration system based on three-dimensional geological structure model and underground water numerical simulation |
| CN110415348B (en) * | 2019-07-31 | 2022-06-07 | 山东省地质调查院(山东省自然资源厅矿产勘查技术指导中心) | Integration system based on three-dimensional geological structure model and underground water numerical simulation |
| CN112858624A (en) * | 2021-01-19 | 2021-05-28 | 浙江大学 | Multi-node sensor array structure and data acquisition and disaster early warning device thereof |
| CN112857462A (en) * | 2021-02-26 | 2021-05-28 | 西南石油大学 | Geological risk monitoring system and method in solid-state fluidization exploitation of marine hydrate |
| CN113445487A (en) * | 2021-09-02 | 2021-09-28 | 中国海洋大学 | Pile foundation erosion pit underwater detection equipment and method based on ultra-short baseline positioning |
| CN113819884A (en) * | 2021-09-24 | 2021-12-21 | 中海石油(中国)有限公司 | Vertical displacement monitoring system and method for submarine oil production caisson device |
| CN113819884B (en) * | 2021-09-24 | 2023-11-21 | 中海石油(中国)有限公司 | Vertical displacement monitoring system and method for submarine oil extraction caisson device |
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|---|---|
| CN105526910B (en) | 2017-10-10 |
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