CN106768070B - A kind of device of submarine landslide monitoring - Google Patents
A kind of device of submarine landslide monitoring Download PDFInfo
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- CN106768070B CN106768070B CN201710045594.1A CN201710045594A CN106768070B CN 106768070 B CN106768070 B CN 106768070B CN 201710045594 A CN201710045594 A CN 201710045594A CN 106768070 B CN106768070 B CN 106768070B
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- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
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Abstract
The invention proposes a kind of devices of submarine landslide monitoring, comprising: monitoring side, processing end and connecting pin；Wherein, the outside of the monitoring side is provided with multi-layer sealed fluid-tight protective layer, and the inside of the monitoring side is equipped with cavity, is provided with MEMS sensor, sonar and vibration damping sheet in the cavity；The MEMS sensor and the sonar are fixed in the cavity by the vibration damping sheet；The connecting pin includes cable；The MEMS sensor, the sonar in one end connection monitoring side of the cable, the other end connect processing end, the data got from monitoring side are passed to processing end, and the cable is also used to power to monitoring side；The processing end includes data processor and power module.By the device of the application can the landslide situation effectively to seabed be monitored.
Description
Technical field
The present invention relates to seabeds to monitor field, in particular to a kind of device of submarine landslide monitoring.
Background technique
Submarine landslide is often referred to the unconsolidated soft-sediment in seabed or the rock there are weak structural face, in gravity
The lower quick sliding process occurred along slope, including translation landslide, rotatory lindslide；It is heavy that seabed is generally covered in the submarine landslide of broad sense
The various processes that product object is carried, further include wriggling, avalanche and gravity stream (clast stream, particle stream, fluidized flow, turbidity current) phenomenon.One
As for, submarine landslide be different type, different times landslide complex.And in handling process, structure feature and power
Learning property has time variation, with type change.
Submarine landslide belongs to one kind of Oceanic disasters.The reason of submarine landslide occurs, is on the one hand due to inside deposit
The high pressure that the content of clay material is more in structure and dynamic condition, such as bottom sediment, natural gas generates；On the other hand it is
Certain external inductions, such as earthquake, wave.Submarine landslide except directly endanger drilling platforms, submarine optical fiber cable, submarine pipeline, harbour,
Outside the facilities such as harbour, large-scale submarine landslide can also cause seabed mud-rock flow, or even can cause tsunami, and serious destruction is caused to damage
It loses.
The research of landslide monitoring is mostly used in land at present, and the research for being applied to submarine landslide is less.To seabed
The detection on landslide is mostly subsequent qualitative analysis understanding, lacks the device of corresponding seabed monitoring.Due to the complexity of subsea environment, sea
The process that bottom landslide occurs may be it is slow and subtle, submarine landslide is monitored there is no effective mode at present,
Using fixed point investigation subsequent at present and record, heavy workload, cost is high, and does not have real-time and long-term observation.With
The continuous construction of people's seabed engineering, the study on monitoring of marine geologic disasters increasingly plays an important role and meaning, and anxious
A kind of effective mode is needed to be monitored submarine landslide.
Summary of the invention
For the defects in the prior art, existing to overcome the invention proposes a kind of device of submarine landslide monitoring
The defects of technology, realization are monitored the landslide in seabed.
Specifically, the invention proposes embodiments in detail below:
The embodiment of the present invention proposes a kind of device of submarine landslide monitoring, comprising: for the landslide state to seabed into
The monitoring side of row monitoring is handled acquired data to analyze the processing end of submarine landslide situation, and described in connection
The connecting pin of monitoring side and processing end；Wherein,
The outside of the monitoring side is provided with multi-layer sealed fluid-tight protective layer, and the inside of the monitoring side is equipped with sky
Chamber is provided with MEMS sensor, sonar and vibration damping sheet in the cavity；The MEMS sensor and the sonar pass through institute
Vibration damping sheet is stated to be fixed in the cavity；
The connecting pin includes cable；The MEMS sensor, the sound in one end connection monitoring side of the cable
, the data got from monitoring side are passed to processing end, and the cable is also used to monitoring by other end connection processing end
End power supply；
The processing end includes data processor and power module；Wherein, the data processor is got for handling
Data, the power module connects the cable for giving data processor power supply to power to the monitoring side.
In a specific embodiment, the monitoring side has multiple, and each monitoring side passes through respectively described in cable connection
Manage the data processor at end.
In a specific embodiment, the vibration damping sheet is silica gel pad.
In a specific embodiment, intelligent acceleration transducer is built-in in the MEMS sensor, angular speed passes
Sense, magnetoresistive sensor, double-shaft tilt angle sensor, SCM and position locating module.
In a specific embodiment, the monitoring side further includes lithium ion battery, wherein the lithium ion battery point
It Lian Jie not MEMS sensor and the sonar.
The electricity of the lithium ion battery is greater than preset value；The quantity of the lithium ion battery is one or more.
In a specific embodiment, equipment further include: for carrying out visualization processing to data, and shown
Display end；Wherein, the display end connects the processing end.
In a specific embodiment, the display end connects the processing end by optical fiber.
In a specific embodiment, after the processing end includes for storing acquired initial data and processing
The memory of the analysis data of generation, wherein the memory timing by the initial data stored and analysis data be uploaded to it is aobvious
Show end.
In a specific embodiment, the protective layer successively includes polyethylene layer, polyester resin, pitch from outside to inside
Layer.
In a specific embodiment, the monitoring side is mounted in the drilling at preset sea bed bottom, when sea bed face and
When following stratum changes, MEMS sensor and sonar can sense its variation, generate sensing data and sonar respectively
Data.
Data that processing end analysis obtains the following steps are included:
Obtain the sensing data that MEMS sensor obtains, and the sonar data obtained by sonar；
The statue that sea-floor relief is carried out according to sonar data, generates the terrain data of subsea strata；
The slope change angle a in seabed in certain time is judged according to the terrain data；
In addition, determining seabed along the shearing force intensity b along slope direction according to sonar data and sensing data；
Specifically, including effective bonding force q of the substance of sea-floor relief in sensing data, the total of seabed slope surface is acted on
Stress e, the pore pressure r and effective normal stress t of the substance of seabed address；It include rubbing for sea-floor relief in sonar data
Wipe angle y1；Wherein, a=q+t × tan (y1)；Wherein, t=e-r；
If a > k1, and b > k2；Then the landslide possibility in seabed is J1=S1a+W1b；
Wherein, the k1 is the slope change threshold value obtained according to the historical data of submarine landslide；
The k2 is the anti-shearing force for surveying the place landform in measured corresponding sea area in advance；
The S1For weight coefficient of the slope change angle in submarine landslide；
The W1The weight coefficient for being shearing force in submarine landslide；
If a<k1, and b>k2；Then the landslide possibility in seabed is J2=W1b+p；
Wherein, the p is the first correction value；
It is then J3=S a possibility that the landslide in seabed if a>k1, and b<k21a+n；
Wherein, the n is the second correction value.
The embodiment of the present invention proposes a kind of device of submarine landslide monitoring, comprising: for the landslide state to seabed into
The monitoring side of row monitoring is handled acquired data to analyze the processing end of submarine landslide situation, and described in connection
The connecting pin of monitoring side and processing end；Wherein, the outside of the monitoring side is provided with multi-layer sealed fluid-tight protective layer, described
The inside of monitoring side is equipped with cavity, is provided with MEMS sensor, sonar and vibration damping sheet in the cavity；The MEMS sensing
Device and the sonar are fixed in the cavity by the vibration damping sheet；The connecting pin includes cable；One end of the cable
The MEMS sensor, the sonar in connection monitoring side, the other end connect processing end, the data that will be got from monitoring side
Processing end is passed to, and the cable is also used to power to monitoring side；The processing end includes data processor and power module；
Wherein, the data processor is used to power to the data processor for handling the data got, the power module,
And the connection cable to the monitoring side to power.By the device of the application can the landslide situation effectively to seabed carry out
Monitoring.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is a kind of structural schematic diagram of the device for submarine landslide monitoring that the embodiment of the present invention proposes；
Fig. 2 is a kind of structural schematic diagram of the device for submarine landslide monitoring that the embodiment of the present invention proposes；
Fig. 3 is a kind of structural schematic diagram of the device for submarine landslide monitoring that the embodiment of the present invention proposes；
Fig. 4 is a kind of structural schematic diagram of the device for submarine landslide monitoring that the embodiment of the present invention proposes.
Marginal data:
1: monitoring side
2: processing end 21: data processor 22: power module
3: connecting pin 4: display end
Specific embodiment
Hereinafter, the various embodiments of the disclosure will be described more fully.The disclosure can have various embodiments, and
It can adjust and change wherein.It should be understood, however, that: there is no the various embodiments of the disclosure are limited to spy disclosed herein
Determine the intention of embodiment, but the disclosure should be interpreted as in the spirit and scope for covering the various embodiments for falling into the disclosure
All adjustment, equivalent and/or optinal plan.
Hereinafter, can the term " includes " used in the various embodiments of the disclosure or " may include " instruction disclosed in
Function, operation or the presence of element, and do not limit the increase of one or more functions, operation or element.In addition, such as existing
Used in the various embodiments of the disclosure, term " includes ", " having " and its cognate are meant only to indicate special characteristic, number
Word, step, operation, the combination of element, component or aforementioned item, and be understood not to exclude first one or more other
Feature, number, step, operation, element, component or aforementioned item combined presence or increase one or more features, number,
Step, operation, element, component or aforementioned item combination a possibility that.
In the various embodiments of the disclosure, states "or" or " at least one of A or/and B " includes listing file names with
Any combination of text or all combinations.For example, statement " A or B " or " at least one of A or/and B " may include A, may include
B may include A and B both.
The statement (" first ", " second " etc.) used in the various embodiments of the disclosure can be modified in various implementations
Various constituent element in example, but respective sets can not be limited into element.For example, the above statement is not intended to limit the suitable of the element
Sequence and/or importance.The above statement is only used for the purpose for differentiating an element and other elements.For example, the first user fills
It sets and indicates different user device with second user device, although the two is all user apparatus.For example, not departing from each of the disclosure
In the case where the range of kind embodiment, first element is referred to alternatively as second element, and similarly, second element is also referred to as first
Element.
It should also be noted that if a constituent element ' attach ' to another constituent element by description, it can be by the first composition member
Part is directly connected to the second constituent element, and " connection " third can form between the first constituent element and the second constituent element
Element.On the contrary, when a constituent element " being directly connected to " is arrived another constituent element, it will be appreciated that in the first constituent element
And second third constituent element is not present between constituent element.
The term used in the various embodiments of the disclosure " user " can be indicated using the people of electronic device or using electricity
The device (for example, artificial intelligence electronic device) of sub-device.
The term used in the various embodiments of the disclosure is used only for the purpose of describing specific embodiments and not anticipates
In the various embodiments of the limitation disclosure.As used herein, singular is intended to also include plural form, unless context is clear
Chu it is indicated otherwise.Unless otherwise defined, otherwise all terms (including technical terms and scientific terms) used herein have
There is meaning identical with the various normally understood meanings of embodiment one skilled in the art of the disclosure.The term
(term such as limited in the dictionary generally used) is to be interpreted as having and situational meaning in the related technical field
Identical meaning and it will be interpreted as having Utopian meaning or meaning too formal, unless in the various of the disclosure
It is clearly defined in embodiment.
Embodiment 1
The embodiment of the present invention 1 discloses a kind of device of submarine landslide monitoring, as shown in Figure 1 and Figure 2, comprising: be used for
To the monitoring side 1 that the landslide state in seabed is monitored, acquired data are handled to analyze submarine landslide situation
Processing end 2, and the connecting pin 3 of the connection monitoring side and processing end；Wherein,
The outside of the monitoring side 1 is provided with multi-layer sealed fluid-tight protective layer, and the inside of the monitoring side is equipped with sky
Chamber is provided with MEMS sensor, sonar and vibration damping sheet in the cavity；The MEMS sensor and the sonar pass through institute
Vibration damping sheet is stated to be fixed in the cavity；
The connecting pin 3 includes cable；The MEMS sensor, the sound in one end connection monitoring side of the cable
, the data got from monitoring side are passed to processing end, and the cable is also used to monitoring by other end connection processing end
End power supply；
The processing end 2 includes data processor 21 and power module 22；Wherein, the data processor 21 is for handling
The data got, the power module 22 are used to power to the data processor, and connect the cable to the prison
End 1 is surveyed to power.
In a specific embodiment, the monitoring side has multiple, and each monitoring side passes through respectively described in cable connection
Manage the data processor at end.
In a specific embodiment, the vibration damping sheet is silica gel pad.
Silica gel pad is made of wherein silica gel (the Silica gel using silica gel；Silica) alias: silicic acid gel is a kind of
High activity adsorbent material belongs to amorphous substance, chemical molecular formula mSiO2nH2O；In addition to highly basic, hydrofluoric acid not with it is any
Substance reacts, not soluble in water and any solvent, non-toxic and tasteless, and chemical property is stablized.The silica gel of various models is because of its manufacture
Method is different and forms different microcellular structures.It is many other same to determine that it has for the chemical composition and physical structure of silica gel
Class material is difficult to replace to obtain feature: absorption property is high, thermal stability is good, chemical property is stable, has higher mechanical strength etc..Silicon
Glue is divided into according to the size in its aperture: macro porous silica gel, silochrom, Type B silica gel, Kiselgel A etc..
Be built-in in a specific embodiment, the MEMS sensor intelligent acceleration transducer, angular speed sensing,
Magnetoresistive sensor, double-shaft tilt angle sensor, SCM and position locating module.
Specifically, the case where considering seabed is complicated, by angular speed sensing, magnetoresistive sensor, double-shaft tilt angle sensor,
SCM and position locating module accurately position the sub-sea location monitored to integrate, so it is subsequent can in conjunction with geography
Position is monitored on the landslide in corresponding seabed；And the power in various seabeds is supervised by intelligent acceleration transducer
It surveys.
Specifically, MEMS sensor is the novel sensor manufactured using microelectronics and micromachining technology.With
Traditional sensor is compared, it has, and small in size, light weight and cost is low, low in energy consumption, high reliablity, is suitable for mass production, is easy
In integrated and realize intelligentized feature.Meanwhile it is allowed to complete certain tradition machineries in the characteristic size of micron dimension
The irrealizable function of sensor institute.
In a specific embodiment, the monitoring side 1 further includes lithium ion battery, wherein the lithium ion battery point
It Lian Jie not MEMS sensor and the sonar.
The electricity of the lithium ion battery is greater than preset value；The quantity of the lithium ion battery is one or more.
Specifically, can be the lithium ion battery of large capacity, such as electricity is greater than the battery of 10000mAh, it is certainly specific
Different electricity can be selected according to different needs, can also be carried out using multiple batteries and by the way of connecting.
In a specific embodiment, as shown in Figure 3 and 4, further includes: for being carried out at visualization to data
Reason, and the display end 4 shown；Wherein, the display end 4 connects the processing end 2.
In a specific embodiment, the display end connects the processing end by optical fiber.
Optical fiber is writing a Chinese character in simplified form for optical fiber, is a kind of fiber made of glass or plastics, can be used as light conduction tool.It passes
Defeated principle is carried out using the total reflection of light.
In a specific embodiment, after the processing end includes for storing acquired initial data and processing
The memory of the analysis data of generation, wherein the memory timing by the initial data stored and analysis data be uploaded to it is aobvious
Show end.
In a specific embodiment, the protective layer successively includes polyethylene layer, polyester resin, pitch from outside to inside
Layer.
In a specific embodiment, the monitoring side is mounted in the drilling at preset sea bed bottom, when sea bed face and
When following stratum changes, MEMS sensor and sonar can sense its variation, generate sensing data and sonar respectively
Data；
Data that processing end analysis obtains the following steps are included:
Obtain the sensing data that MEMS sensor obtains, and the sonar data obtained by sonar；
The statue that sea-floor relief is carried out according to sonar data, generates the terrain data of subsea strata；Specifically, terrain data
Can be 3 dimension stereoscopic image datas, therefore can there is one intuitively to judge the landform in place seabed, so it is subsequent can be right
The gradient for the position for needing to detect is monitored, and judges the angle of slope change.
The slope change angle a in seabed in certain time is judged according to the terrain data；
In addition, determining seabed along the shearing force intensity b along slope direction according to sonar data and sensing data；
Specifically, including effective bonding force q of the substance of sea-floor relief in sensing data, the total of seabed slope surface is acted on
Stress e, the pore pressure r and effective normal stress t of the substance of seabed address；It include rubbing for sea-floor relief in sonar data
Wipe angle y1；Wherein, a=q+t × tan (y1)；Wherein, t=e-r；
If a > k1, and b > k2；Then the landslide possibility in seabed is J1=S1a+W1b；
Wherein, the k1 is the slope change threshold value obtained according to the historical data of submarine landslide；
The k2 is the anti-shearing force for surveying the place landform in measured corresponding sea area in advance；
The S1For weight coefficient of the slope change angle in submarine landslide；
The W1The weight coefficient for being shearing force in submarine landslide；
If a<k1, and b>k2；Then the landslide possibility in seabed is J2=W1b+p；
Wherein, the p is the first correction value；
It is then J3=S a possibility that the landslide in seabed if a>k1, and b<k21a+n；
Wherein, the n is the second correction value.
With this, the landslide possibility in seabed is judged by slope change to sea-floor relief and anti-shearing force, specifically
, a possibility that slope change that this allows for sea-floor relief is bigger, landslide, is higher；And anti-shearing force is bigger, landslide can
Energy property is higher.
The embodiment of the present invention proposes a kind of device of submarine landslide monitoring, comprising: for the landslide state to seabed into
The monitoring side of row monitoring is handled acquired data to analyze the processing end of submarine landslide situation, and described in connection
The connecting pin of monitoring side and processing end；Wherein, the outside of the monitoring side is provided with multi-layer sealed fluid-tight protective layer, described
The inside of monitoring side is equipped with cavity, is provided with MEMS sensor, sonar and vibration damping sheet in the cavity；The MEMS sensing
Device and the sonar are fixed in the cavity by the vibration damping sheet；The connecting pin includes cable；One end of the cable
The MEMS sensor, the sonar in connection monitoring side, the other end connect processing end, the data that will be got from monitoring side
Processing end is passed to, and the cable is also used to power to monitoring side；The processing end includes data processor and power module；
Wherein, the data processor is used to power to the data processor for handling the data got, the power module,
And the connection cable to the monitoring side to power.By the device of the application can the landslide situation effectively to seabed carry out
Monitoring.
It will be appreciated by those skilled in the art that the accompanying drawings are only schematic diagrams of a preferred implementation scenario, module in attached drawing or
Process is not necessarily implemented necessary to the present invention.
It will be appreciated by those skilled in the art that the module in device in implement scene can be described according to implement scene into
Row is distributed in the device of implement scene, can also be carried out corresponding change and is located at the one or more dresses for being different from this implement scene
In setting.The module of above-mentioned implement scene can be merged into a module, can also be further split into multiple submodule.
Aforementioned present invention serial number is for illustration only, does not represent the superiority and inferiority of implement scene.
Disclosed above is only several specific implementation scenes of the invention, and still, the present invention is not limited to this, Ren Heben
What the technical staff in field can think variation should all fall into protection scope of the present invention.
Claims (9)
1. a kind of device of submarine landslide monitoring characterized by comprising the prison being monitored for the landslide state to seabed
End is surveyed, acquired data are handled to analyze the processing end of submarine landslide situation, and the connection monitoring side and place
Manage the connecting pin at end；Wherein,
The outside of the monitoring side is provided with multi-layer sealed fluid-tight protective layer, and the inside of the monitoring side is equipped with cavity, institute
It states and is provided with MEMS sensor, sonar and vibration damping sheet in cavity；The MEMS sensor and the sonar pass through the damping
Piece is fixed in the cavity；
The connecting pin includes cable；The MEMS sensor, the sonar in one end connection monitoring side of the cable, separately
One end connects processing end, the data got from monitoring side is passed to processing end, and the cable is also used to supply to monitoring side
Electricity；
The processing end includes data processor and power module；Wherein, the data processor is for handling the number got
According to the power module is used to power to the data processor, and connects the cable to power to the monitoring side；
The monitoring side is mounted in the drilling at preset sea bed bottom, when sea bed face and following stratum change, MEMS
Sensor and sonar can sense its variation, generate sensing data and sonar data respectively；
Data that processing end analysis obtains the following steps are included:
Obtain the sensing data that MEMS sensor obtains, and the sonar data obtained by sonar；
The statue that sea-floor relief is carried out according to sonar data, generates the terrain data of subsea strata；
The slope change angle a in seabed in certain time is judged according to the terrain data；
In addition, determining seabed along the shearing force intensity b along slope direction according to sonar data and sensing data；
Specifically, including effective bonding force q of the substance of sea-floor relief in sensing data, the total stress of seabed slope surface is acted on
E, the pore pressure r and effective normal stress t of the substance of seabed address；It include the angle of friction of sea-floor relief in sonar data
y1；Wherein, a=q+t × tan (y1)；Wherein, t=e-r；
If a > k1, and b > k2, then the landslide possibility in seabed is J1=S1a+W1b；
Wherein, the k1 is the slope change threshold value obtained according to the historical data of submarine landslide；
The k2 is the anti-shearing force for surveying the place landform in measured corresponding sea area in advance；
The S1For weight coefficient of the slope change angle in submarine landslide；
The W1The weight coefficient for being shearing force in submarine landslide；
If a<k1, and b>k2；Then the landslide possibility in seabed is J2=W1b+p；
Wherein, the p is the first correction value；
It is then J3=S a possibility that the landslide in seabed if a>k1, and b<k21a+n；
Wherein, the n is the second correction value.
2. device as described in claim 1, which is characterized in that the monitoring side has multiple, and each monitoring side passes through cable respectively
Connect the data processor of the processing end.
3. device as described in claim 1, which is characterized in that the vibration damping sheet is silica gel pad.
4. device as described in claim 1, which is characterized in that be built-in with intelligent acceleration sensing in the MEMS sensor
Device, angular speed sensing, magnetoresistive sensor, double-shaft tilt angle sensor, SCM and position locating module.
5. device as described in claim 1, which is characterized in that the monitoring side further includes lithium ion battery, wherein the lithium
Ion battery is separately connected MEMS sensor and the sonar；
The electricity of the lithium ion battery is greater than preset value；The quantity of the lithium ion battery is one or more.
6. device as described in claim 1, which is characterized in that further include: for carrying out visualization processing to data, and carry out
The display end of display；Wherein, the display end connects the processing end.
7. device as claimed in claim 6, which is characterized in that the display end connects the processing end by optical fiber.
8. device as claimed in claim 6, which is characterized in that the processing end includes for storing acquired initial data
And the memory of the analysis data generated after processing, wherein memory timing is by the initial data stored and analyzes number
According to being uploaded to display end.
9. device as described in claim 1, which is characterized in that the protective layer successively includes polyethylene layer, gathers from outside to inside
Ester resin, bitumen layer.
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| CN108627199B (en) * | 2018-07-18 | 2020-05-05 | 蔡灏晖 | Device capable of simultaneously measuring multiple mechanical and kinematic parameters of debris flow |
| CN111895939B (en) * | 2020-06-30 | 2022-04-08 | 河海大学 | Underwater landslide mass deformation monitoring device and method based on multi-source sonar positioning |
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| US7111577B1 (en) * | 2005-04-25 | 2006-09-26 | The United States Of America As Represented By The Secretaryof The Navy | Electromagnetic wave propagation scheme |
| US7923999B2 (en) * | 2008-08-14 | 2011-04-12 | The United States Of America As Represented By The Secretary Of The Army | MEMS device with supplemental flux concentrator |
| CN101650437B (en) * | 2009-09-10 | 2012-03-21 | 嘉兴中科声学科技有限公司 | Image sonar system and image sonar method for realizing rectangular scanning |
| CN102508298A (en) * | 2011-10-14 | 2012-06-20 | 高伟 | Housing structure device of acoustical secondary positioner of underwater armored cable |
| CN104990492B (en) * | 2015-07-29 | 2017-09-22 | 国家海洋局第一海洋研究所 | The equipment monitored for submarine landslide |
| CN105674945B (en) * | 2016-02-04 | 2018-02-27 | 浙江大学 | A kind of submarine landslide monitoring device and monitoring method based on MEMS sensor |
| CN205880213U (en) * | 2016-03-28 | 2017-01-11 | 北京海卓同创科技有限公司 | Sonar equipment is swept to multi -beam side |
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