CN105891674A - Device and method of quickly positioning local discharging part of submarine power cable - Google Patents
Device and method of quickly positioning local discharging part of submarine power cable Download PDFInfo
- Publication number
- CN105891674A CN105891674A CN201610218984.XA CN201610218984A CN105891674A CN 105891674 A CN105891674 A CN 105891674A CN 201610218984 A CN201610218984 A CN 201610218984A CN 105891674 A CN105891674 A CN 105891674A
- Authority
- CN
- China
- Prior art keywords
- power cable
- rov
- subsea power
- shelf depreciation
- positioning device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/08—Locating faults in cables, transmission lines, or networks
- G01R31/081—Locating faults in cables, transmission lines, or networks according to type of conductors
- G01R31/083—Locating faults in cables, transmission lines, or networks according to type of conductors in cables, e.g. underground
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/12—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing
- G01R31/1209—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing using acoustic measurements
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/12—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing
- G01R31/1218—Testing dielectric strength or breakdown voltage ; Testing or monitoring effectiveness or level of insulation, e.g. of a cable or of an apparatus, for example using partial discharge measurements; Electrostatic testing using optical methods; using charged particle, e.g. electron, beams or X-rays
Abstract
The invention discloses a device and a method of quickly positioning a local discharging part of a submarine power cable. The device comprises a high-voltage pulse generator, a towed linear array sonar, an ROV and a water mobile platform, wherein the high-voltage pulse generator is serially connected onto the connection place of the submarine power cable; the water mobile platform is provided with a monitoring center, an acoustic beacon positioning device, and a satellite positioning device; the monitoring center is respectively connected with the acoustic beacon positioning device, the satellite positioning device, a communication device, the towed linear array sonar and the ROV; and an optical imaging device, a sonar array, a manipulator and an acoustic beacon are arranged on the ROV. The general location of a suspected discharging part is determined through the towed linear array, arrival confirmation is carried out with the help of the ROV, accurate and quick positioning of the local discharging part is realized, the submarine power cable structure is lowly required, the adaptability is strong, support from a composite cable technology is not needed, and the submarine power cable construction cost is reduced.
Description
Technical field
The present invention relates to a kind of subsea power cable shelf depreciation position fast-positioning device and method, belong to power cable detection technique field.
Background technology
Subsea power cable is the important way of maritime power transmission.Compared with land power cable, subsea power cable is highly prone to complicated marine environment and the impact of Activities of Ocean and breaks down.In the normal course of operation of subsea power cable, owing to the motion of sea bed and the mankind are to the exploitation activity of ocean (anchor that such as falls, cast anchor, fish for), easily produce subsea power cable insulating barrier damaged, reduce its insulating properties.Simultaneously as the special environment of ocean so that the more land power cable of subsea power cable is highly prone to burn into infiltration, also results in the reduction of insulating properties.The reduction of the insulating properties of power cable, easily cause the generation of partial discharge phenomenon, harm greatly is brought to power cable is properly functioning, it is thus desirable to a kind of simply, fast and accurately method and device position the shelf depreciation position of subsea power cable, it is simple to carry out the maintenance of cable in time.
Shelf depreciation, refers under electric field action, and in Electric Power Equipment Insulation system, discharge in only subregion, and do not extend through and execute between alive conductor, the phenomenon punctured the most not yet occurs.Subsea power cable shelf depreciation contains great transient energy, during release, makes it evaporate the medium heating at electric discharge position, and effect is similar to blast, and now, shelf depreciation position is equivalent to a sound source, sends out sound wave.
Existing subsea power cable detection method for local discharge is mostly from cable, use composite cable technology, such as laying distributed fiberoptic sensor coaxial to subsea power cable etc., by the collection of dependent field information around cable (such as pressure field, temperature field, electric field etc.) is judged whether shelf depreciation occur.This method has significant limitation: on the one hand, lays sensor in a large number, improves the construction cost of subsea power cable circuit；On the other hand, the precision of the sensor by being laid is limited, and the sensitivity to Partial Discharge Detection produces a very large impact, and easily misses optimal maintenance time, thus brings unnecessary loss.
Summary of the invention
Present invention is primarily targeted at the defect overcoming prior art, it is provided that a kind of subsea power cable shelf depreciation position fast-positioning device and method, subsea power cable shelf depreciation position can be carried out quickly, be accurately positioned.
In order to achieve the above object, the technical solution adopted in the present invention is:
Subsea power cable shelf depreciation position fast-positioning device, it is characterised in that include high voltage pulse generation device, towed linear-array sonar, ROV and moveable platform waterborne；
Described high voltage pulse generation device is connected on the estuary of subsea power cable or the connection of marine outfall, is used for producing high-voltage pulse signal；
Described moveable platform waterborne is provided with Surveillance center, acoustic marker positioner, satellite positioning device and communicator；
Described Surveillance center is connected with acoustic marker positioner, satellite positioning device, communicator, towed linear-array sonar and ROV respectively；
Being equipped with optical imaging apparatus, sonar array, mechanical hand, acoustic marker on described ROV, described optical imaging apparatus, sonar array are connected with Surveillance center respectively with mechanical hand.
Aforesaid subsea power cable shelf depreciation position fast-positioning device, it is characterised in that be additionally provided with towed linear-array sonar draw off gear and ROV draw off gear on described moveable platform waterborne；Described towed linear-array sonar draw off gear is for being positioned over towed linear-array sonar in water and draw or taking out from water, and described ROV draw off gear is for being positioned over ROV in water and draw or taking out from water.
Aforesaid subsea power cable shelf depreciation position fast-positioning device, it is characterised in that described moveable platform waterborne is ship or naval vessels.
Aforesaid subsea power cable shelf depreciation position fast-positioning device, it is characterised in that described towed linear-array sonar draw off gear and ROV draw off gear are winch or crane.
Aforesaid subsea power cable shelf depreciation position fast-positioning device, it is characterised in that described satellite positioning device and communicator are same equipment.
Aforesaid subsea power cable shelf depreciation position fast-positioning device, it is characterised in that described satellite positioning device is the big-dipper satellite alignment system with communication function.
Subsea power cable shelf depreciation position method for rapidly positioning based on power aforesaid subsea power cable shelf depreciation position fast-positioning device, it is characterised in that comprise the steps:
S001, lays high voltage pulse generation device, controls it and produces high-voltage pulse signal, the sound frequency range that subsea power cable shelf depreciation position sends is controlled；
S002, discharges towed linear-array sonar by towed linear-array sonar draw off gear, and moveable platform waterborne carries out cruise along subsea power cable layout path and starts to patrol and examine；
S003, it may be judged whether complete to patrol and examine, if completed, then terminates to patrol and examine work, if it is not, proceed S004 step；
S004, towed linear-array sonar collects the sound audio segment signal that the subsea power cable shelf depreciation position controlled by high-voltage pulse signal is sent, and uploads to Surveillance center；
S005, Surveillance center analyzes the acoustical signal collected and obtains its directivity；
S006, it is judged that directivity obtained in the previous step is the most notable；If directivity is notable, then enter step S007；Otherwise, then return step S002, proceed to patrol and examine；
S007, is carried out to entering confirmation by ROV draw off gear release ROV；
S008, is confirmed whether there is partial discharge phenomenon, without partial discharge phenomenon, then enters step S011, otherwise, enters step S009；
S009, ROV place acoustic marker and are marked discharge part position, local；
S010, Surveillance center calculates geographical coordinate position and the depth information of acoustic marker, and is sent to subsea power cable attendant；
S011, ROV return and patrol and examine ship, and enter step S002 and continue to patrol and examine, until completing to patrol and examine.
Aforesaid subsea power cable shelf depreciation position method for rapidly positioning, it is characterized in that, when described step S003 has judged whether to patrol and examine, judge especially by following method, moveable platform waterborne is by from the position in electronic chart and subsea power cable position in sea chart, judging to patrol and examine whether work completes.
Aforesaid subsea power cable shelf depreciation position method for rapidly positioning, it is characterised in that in described step S005, analysis acoustical signal obtains the method for its directivity is adaptive spatial filtering class algorithm or Estimation of Spatial Spectrum class algorithm.
Aforesaid subsea power cable shelf depreciation position method for rapidly positioning, it is characterized in that, described step S007 discharges ROV carry out in time entering confirmation, ROV is navigated by the sonar array carried on it, move to doubtful subsea power cable shelf depreciation position, after Kao Jin, observed by its optical imaging apparatus carried, be confirmed whether there is partial discharge phenomenon.
Compared with prior art, the subsea power cable shelf depreciation position fast-positioning device of the present invention and method, have the advantages that
(1) subsea power cable shelf depreciation position is utilized to be equivalent to the characteristic of sound source, the general orientation at doubtful shelf depreciation position is determined by towing line array, then carry out to entering confirmation by ROV, and be marked by special acoustic marker, it is achieved that shelf depreciation position accurate, quickly position.
(2) starting with from subsea power cable partial discharge phenomenon, determine shelf depreciation position, structural requirement own to subsea power cable is relatively low, has stronger adaptability.
(3) need not composite cable technical support, reduce the construction cost of subsea power cable.
Accompanying drawing explanation
Fig. 1 is the structural representation of the subsea power cable shelf depreciation position fast-positioning device of the present invention.
Fig. 2 is the overall flow figure of the subsea power cable shelf depreciation position method for rapidly positioning of the present invention.
Detailed description of the invention
The invention will be further described below in conjunction with the accompanying drawings.Following example are only used for clearly illustrating technical scheme, and can not limit the scope of the invention with this.
As it is shown in figure 1, a kind of subsea power cable shelf depreciation position fast-positioning device, including high voltage pulse generation device E001, towed linear-array sonar E002, ROV E010 with patrol and examine ship E006.
High voltage pulse generation device E001 is connected on the estuary of subsea power cable D001 or the connection of marine outfall, for producing the high-voltage pulse signal of special parameter, the parameter of high-voltage pulse signal is determined according to the situation in marine site and the kind of subsea power cable.
Patrol and examine ship E006 be provided with Surveillance center E005, acoustic marker positioner E007 and there is big-dipper satellite alignment system E008 of communication function.Surveillance center E005 is connected with acoustic marker positioner E007, big-dipper satellite alignment system E008, towed linear-array sonar E002 and ROVE010 respectively.ROV E010, for there being cable remote underwater robot, it is equipped with optical imaging apparatus, sonar array, mechanical hand, acoustic marker E004, and optical imaging apparatus, sonar array are connected with Surveillance center E005 respectively with mechanical hand.Optical imaging apparatus is for seeing whether to exist partial discharge phenomenon near subsea power cable, and sonar array, for receiving the signal of target sound source, guides the ROV direction of motion, and mechanical hand is used for placing acoustic marker E004.
Patrol and examine and on ship E006, be additionally provided with towed linear-array sonar draw off gear E003 and ROV draw off gear E009；Towed linear-array sonar draw off gear E003 is for being positioned over towed linear-array sonar E002 in water and draw or taking out from water, and ROV draw off gear E009 is for being positioned over ROVE010 in water and draw or taking out from water.Towed linear-array sonar draw off gear E003 and ROV draw off gear E009 is winch or crane, but is not limited to both equipment.
Towed linear-array sonar E002 is used for gathering acoustical signal.High voltage pulse generation device E001 can be by producing the high-voltage pulse signal of special parameter, the sound control sent at subsea power cable shelf depreciation position is in specific frequency range, the acoustical signal frequency of collection is limited in this frequency range by towed linear-array sonar E002, the interference of the acoustical signal that other sound sources of seabed produce can be got rid of, thus improving the accuracy rate of detection, the acoustical signal collected is sent into Surveillance center by towed linear-array sonar E002.
The acoustical signal that Surveillance center E005 analysis towed linear-array sonar E002 collects obtains its directivity, and after determining the general orientation at electric discharge position of subsea power cable, ROV draw off gear release ROV is carried out to entering confirmation.ROV is navigated by the sonar array carried, move to doubtful subsea power cable shelf depreciation position, after Kao Jin, carry out having seen whether partial discharge phenomenon by the optical imaging apparatus carried, if it is confirmed that there is partial discharge phenomenon then to place special acoustic marker labelling electric discharge position by mechanical hand.
After electric discharge part mark completes, Surveillance center E005 passes through big-dipper satellite alignment system E008, obtains the geographic coordinate information patrolling and examining ship E006, by acoustic marker positioner E007, obtains orientation and the range information of the acoustic marker E004 that ROV places.Surveillance center E005 is by the geographic coordinate information patrolling and examining ship E006 got and the orientation of acoustic marker and range information, calculate final geographic coordinate information and the depth information of acoustic marker E004, and by big-dipper satellite alignment system E008, the final position information (i.e. the positional information of shelf depreciation position D002) of the acoustic marker E004 calculated is sent to subsea power cable attendant.
Localization method based on above-mentioned subsea power cable shelf depreciation position fast-positioning device, flow chart is as in figure 2 it is shown, comprise the steps:
S001, lays high voltage pulse generation device, controls it and produces high-voltage pulse signal, and the sound control sent at subsea power cable shelf depreciation position is in specific frequency range；
S002, discharges towed linear-array sonar by towed linear-array sonar draw off gear, patrols and examines ship and carries out cruise along subsea power cable layout path and start to patrol and examine；Can be preserved it during subsea power cable construction and lay coordinate information, these coordinate informations are imported in electronic chart, can drive and patrol and examine ship and cruise along subsea power cable layout path；
S003, it may be judged whether complete to patrol and examine, patrolling and examining ship and judges to patrol and examine whether work completes by the position in electronic chart and subsea power cable position in sea chart certainly, if completed, then terminating to patrol and examine work, if it is not, proceed S004 step；
S004, towed linear-array sonar collects the sound audio segment signal that the subsea power cable shelf depreciation position controlled by high-voltage pulse signal is sent, and uploads to Surveillance center；
S005, Surveillance center analyzes the acoustical signal collected and obtains its directivity, and the acoustical signal gathered by analysis obtains the method for its directivity can be including but not limited to adaptive spatial filtering class algorithm and Estimation of Spatial Spectrum class algorithm；
S006, it is judged that directivity obtained in the previous step is the most notable；If directivity is notable, then enter step S007；Otherwise, then returning step S002, proceed to patrol and examine, can directivity the most significantly criterion be as the criterion with the azimuth that accurately distinguish out the sound source that a certain doubtful shelf depreciation position produces；
S007, carries out to entering confirmation by ROV draw off gear release ROV, and ROV is navigated by the sonar array carried it on, moves to doubtful subsea power cable shelf depreciation position, close after, observed by its optical imaging apparatus carried；
S008, is confirmed whether there is partial discharge phenomenon, without partial discharge phenomenon, then enters step S011, otherwise, enters step S009；
S009, ROV places acoustic marker and is marked discharge part position, local, ROV carries out the placement of acoustic marker by the mechanical hand carried, acoustic marker can produce the acoustical signal of characteristic frequency within a certain period of time, be used for coordinate patrol and examine ship determine its positional information and for guide subsea power cable attendant arrive appointment position safeguard；
S010, Surveillance center calculates geographical coordinate position and the depth information of acoustic marker, and it is sent to subsea power cable attendant, Surveillance center passes through satellite positioning device, obtain the geographic coordinate information patrolling and examining ship, orientation and the range information of the acoustic marker that ROV places is obtained by acoustic marker positioner, Surveillance center is by the geographic coordinate information patrolling and examining ship got and the orientation of acoustic marker and range information, calculate final geographic coordinate information and the depth information of acoustic marker, then the final position information of the acoustic marker calculated is sent to subsea power cable attendant by the big-dipper satellite alignment system by carrying；
S011, ROV return and patrol and examine ship, and enter step S002 and continue to patrol and examine, until completing to patrol and examine.
The above is only the preferred embodiment of the present invention; it should be pointed out that, for those skilled in the art, on the premise of without departing from the technology of the present invention principle; can also make some improvement and deformation, these improve and deformation also should be regarded as protection scope of the present invention.
Claims (10)
1. subsea power cable shelf depreciation position fast-positioning device, it is characterised in that include high voltage pulse generation device (E001), towed linear-array sonar (E002), ROV(E010) and moveable platform waterborne (E006)；
Described high voltage pulse generation device (E001) is connected on estuary or the connection of marine outfall of subsea power cable (D001), is used for producing high-voltage pulse signal；
Described moveable platform waterborne (E006) is provided with Surveillance center (E005), acoustic marker positioner (E007), satellite positioning device (E008) and communicator；
Described Surveillance center (E005) respectively with acoustic marker positioner (E007), satellite positioning device (E008), communicator, towed linear-array sonar (E002) and ROV(E010) be connected；
Described ROV(E010) on be equipped with optical imaging apparatus, sonar array, mechanical hand, acoustic marker (E004), described optical imaging apparatus, sonar array are connected with Surveillance center (E005) respectively with mechanical hand.
Subsea power cable shelf depreciation position the most according to claim 1 fast-positioning device, it is characterised in that be additionally provided with towed linear-array sonar draw off gear (E003) and ROV draw off gear (E009) on described moveable platform waterborne (E006)；Described towed linear-array sonar draw off gear (E003) is for being positioned over towed linear-array sonar (E002) in water and draw or taking out from water, and described ROV draw off gear (E009) is for by ROV(E010) it is positioned in water and draws or take out from water.
Subsea power cable shelf depreciation position the most according to claim 1 fast-positioning device, it is characterised in that described moveable platform waterborne (E006) is ship or naval vessels.
Subsea power cable shelf depreciation position the most according to claim 2 fast-positioning device, it is characterised in that described towed linear-array sonar draw off gear (E003) and ROV draw off gear (E009) are winch or crane.
Subsea power cable shelf depreciation position the most according to claim 1 fast-positioning device, it is characterised in that described satellite positioning device (E008) and communicator are same equipment.
Subsea power cable shelf depreciation position the most according to claim 5 fast-positioning device, it is characterised in that described satellite positioning device (E008) is the big-dipper satellite alignment system with communication function.
7. subsea power cable shelf depreciation position method for rapidly positioning based on the subsea power cable shelf depreciation position fast-positioning device described in claim 1-6 any one, it is characterised in that comprise the steps:
S001, lays high voltage pulse generation device, controls it and produces high-voltage pulse signal, the sound frequency range that subsea power cable shelf depreciation position sends is controlled；
S002, discharges towed linear-array sonar by towed linear-array sonar draw off gear, and moveable platform waterborne carries out cruise along subsea power cable layout path and starts to patrol and examine；
S003, it may be judged whether complete to patrol and examine, if completed, then terminates to patrol and examine work, if it is not, proceed S004 step；
S004, towed linear-array sonar collects the sound audio segment signal that the subsea power cable shelf depreciation position controlled by high-voltage pulse signal is sent, and uploads to Surveillance center；
S005, Surveillance center analyzes the acoustical signal collected and obtains its directivity；
S006, it is judged that directivity obtained in the previous step is the most notable；If directivity is notable, then enter step S007；Otherwise, then return step S002, proceed to patrol and examine；
S007, is carried out to entering confirmation by ROV draw off gear release ROV；
S008, is confirmed whether there is partial discharge phenomenon, without partial discharge phenomenon, then enters step S011, otherwise, enters step S009；
S009, ROV place acoustic marker and are marked discharge part position, local；
S010, Surveillance center calculates geographical coordinate position and the depth information of acoustic marker, and is sent to subsea power cable attendant；
S011, ROV return and patrol and examine ship, and enter step S002 and continue to patrol and examine, until completing to patrol and examine.
Subsea power cable shelf depreciation position the most according to claim 7 method for rapidly positioning, it is characterized in that, when described step S003 has judged whether to patrol and examine, judge especially by following method, moveable platform waterborne is by from the position in electronic chart and subsea power cable position in sea chart, judging to patrol and examine whether work completes.
Subsea power cable shelf depreciation position the most according to claim 7 method for rapidly positioning, it is characterised in that in described step S005, analysis acoustical signal obtains the method for its directivity is adaptive spatial filtering class algorithm or Estimation of Spatial Spectrum class algorithm.
Subsea power cable shelf depreciation position the most according to claim 7 method for rapidly positioning, it is characterized in that, described step S007 discharges ROV carry out in time entering confirmation, ROV is navigated by the sonar array carried on it, move to doubtful subsea power cable shelf depreciation position, after Kao Jin, observed by its optical imaging apparatus carried, be confirmed whether there is partial discharge phenomenon.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610218984.XA CN105891674B (en) | 2016-04-08 | 2016-04-08 | Subsea power cable shelf depreciation position fast-positioning device and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610218984.XA CN105891674B (en) | 2016-04-08 | 2016-04-08 | Subsea power cable shelf depreciation position fast-positioning device and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105891674A true CN105891674A (en) | 2016-08-24 |
| CN105891674B CN105891674B (en) | 2018-07-13 |
Family
ID=57013469
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610218984.XA Active CN105891674B (en) | 2016-04-08 | 2016-04-08 | Subsea power cable shelf depreciation position fast-positioning device and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105891674B (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106741658A (en) * | 2016-11-09 | 2017-05-31 | 哈尔滨工程大学 | A kind of acoustic marker automatic distributing and discharging structure |
| CN106952554A (en) * | 2017-03-22 | 2017-07-14 | 佛山市三水区希望火炬教育科技有限公司 | A kind of special civil-military inosculation fishing boat sonar system of teenager's research in defense-related science and technology |
| CN109521341A (en) * | 2018-12-14 | 2019-03-26 | 杭州晟冠科技有限公司 | A kind of partial discharge on-Line Monitor Device |
| CN109633556A (en) * | 2018-12-12 | 2019-04-16 | 上海无线电设备研究所 | A kind of sea cable monitoring and protecting system |
| CN110304207A (en) * | 2019-07-16 | 2019-10-08 | 上海船舶研究设计院（中国船舶工业集团公司第六0四研究院） | Special measurement ship for submarine pipeline and cable inspection upkeep operation |
| CN111239949A (en) * | 2020-03-26 | 2020-06-05 | 中邮建技术有限公司 | Submarine optical cable operation device |
| CN112281967A (en) * | 2020-10-20 | 2021-01-29 | 水利部交通运输部国家能源局南京水利科学研究院 | ROV-based (remote operated vehicle-based) dredging device and method for hectometer-level deep water environment |
| CN116148614A (en) * | 2023-04-18 | 2023-05-23 | 江苏明月软件技术股份有限公司 | Cable partial discharge detection system and method based on unmanned mobile carrier |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20110110194A1 (en) * | 2008-04-16 | 2011-05-12 | Coda Octopus Group, Inc. | Method of rendering volume representation of sonar images |
| CN103926587A (en) * | 2014-04-15 | 2014-07-16 | 哈尔滨工程大学 | Sonar device for measuring pipe router of seabed oil and gas pipeline |
| CN104067135A (en) * | 2012-01-31 | 2014-09-24 | 西门子公司 | Fault detection in subsea power cables |
| CN104199123A (en) * | 2014-08-07 | 2014-12-10 | 上海瑞洋船舶科技有限公司 | Submarine cable laying quality detection system |
| CN205120900U (en) * | 2015-11-09 | 2016-03-30 | 中国南方电网有限责任公司超高压输电公司检修试验中心 | Submarine cable direct current partial discharge detector probe |
-
2016
- 2016-04-08 CN CN201610218984.XA patent/CN105891674B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20110110194A1 (en) * | 2008-04-16 | 2011-05-12 | Coda Octopus Group, Inc. | Method of rendering volume representation of sonar images |
| CN104067135A (en) * | 2012-01-31 | 2014-09-24 | 西门子公司 | Fault detection in subsea power cables |
| CN103926587A (en) * | 2014-04-15 | 2014-07-16 | 哈尔滨工程大学 | Sonar device for measuring pipe router of seabed oil and gas pipeline |
| CN104199123A (en) * | 2014-08-07 | 2014-12-10 | 上海瑞洋船舶科技有限公司 | Submarine cable laying quality detection system |
| CN205120900U (en) * | 2015-11-09 | 2016-03-30 | 中国南方电网有限责任公司超高压输电公司检修试验中心 | Submarine cable direct current partial discharge detector probe |
Non-Patent Citations (1)
| Title |
|---|
| 王海波等: "一种新型拖体收放电液比例系统及其同步控制策略研究", 《兵工学报》 * |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106741658A (en) * | 2016-11-09 | 2017-05-31 | 哈尔滨工程大学 | A kind of acoustic marker automatic distributing and discharging structure |
| CN106952554A (en) * | 2017-03-22 | 2017-07-14 | 佛山市三水区希望火炬教育科技有限公司 | A kind of special civil-military inosculation fishing boat sonar system of teenager's research in defense-related science and technology |
| CN109633556A (en) * | 2018-12-12 | 2019-04-16 | 上海无线电设备研究所 | A kind of sea cable monitoring and protecting system |
| CN109521341A (en) * | 2018-12-14 | 2019-03-26 | 杭州晟冠科技有限公司 | A kind of partial discharge on-Line Monitor Device |
| CN110304207A (en) * | 2019-07-16 | 2019-10-08 | 上海船舶研究设计院（中国船舶工业集团公司第六0四研究院） | Special measurement ship for submarine pipeline and cable inspection upkeep operation |
| CN111239949A (en) * | 2020-03-26 | 2020-06-05 | 中邮建技术有限公司 | Submarine optical cable operation device |
| CN112281967A (en) * | 2020-10-20 | 2021-01-29 | 水利部交通运输部国家能源局南京水利科学研究院 | ROV-based (remote operated vehicle-based) dredging device and method for hectometer-level deep water environment |
| CN116148614A (en) * | 2023-04-18 | 2023-05-23 | 江苏明月软件技术股份有限公司 | Cable partial discharge detection system and method based on unmanned mobile carrier |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105891674B (en) | 2018-07-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105891674A (en) | Device and method of quickly positioning local discharging part of submarine power cable | |
| KR100734814B1 (en) | Auto-piloting unmanned ship | |
| KR101281630B1 (en) | Apparatus for dectecting underwater target and method thereof | |
| CN105388481A (en) | Dipping small-object detecting sonar system and detecting method thereof | |
| CN110133666B (en) | System and method for monitoring scouring state of offshore wind power pile | |
| CN103364408A (en) | Method for detecting underwater surface crack of hydraulic concrete structure by using underwater robot system | |
| CN106093923B (en) | A kind of online displacement monitoring evaluation method of submarine pipeline based on hydrophone | |
| CN105988117A (en) | Acoustic seabed distance measurement system and method thereof | |
| CN107085216A (en) | A kind of deep-sea underwater sound passive ranging depth detecting method based on single hydrophone | |
| KR101782493B1 (en) | Underwater acoustic projector system and operating method for generating camouflage signal | |
| CN108267717A (en) | A kind of acoustic beacon searching and locating method and system | |
| CN111190185B (en) | Underwater mine burying autonomous detection method and system based on swarm intelligence | |
| CN105988116A (en) | Underwater acoustic range finding, releasing and recovery system and method thereof | |
| CN102624463A (en) | Method and system for establishing communication links in submarine communication | |
| CN111010210B (en) | Underwater acoustic emission submerged buoy with cable and method thereof | |
| CN207601306U (en) | Underwater sound wave monitors system | |
| KR100969878B1 (en) | The real-time tracking system of underwater projectile and the method thereof | |
| KR101036286B1 (en) | System and method for simulating of underwater target | |
| CN110190898A (en) | A kind of communication means of control subsurface buoy long-range on the bank | |
| CN112684482B (en) | Underwater target detection system and method based on ocean unmanned platform | |
| CN107128442A (en) | Deep-water subsea equipment based on ROV Forward-looking Sonars is accurately positioned the method for laying | |
| KR20210057267A (en) | System and method for tracking 3-dimensional position of fishing gear using Acoustic Emission Sensor | |
| CN107121668A (en) | The detection system of space exploration node | |
| KR101336676B1 (en) | Observation system for seabed by the sonar | |
| CN112330904A (en) | Full-three-dimensional intelligent security monitoring system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |