CN107014566A - A kind of crude oil leakage point detection device under water - Google Patents
A kind of crude oil leakage point detection device under water Download PDFInfo
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- CN107014566A CN107014566A CN201710178110.0A CN201710178110A CN107014566A CN 107014566 A CN107014566 A CN 107014566A CN 201710178110 A CN201710178110 A CN 201710178110A CN 107014566 A CN107014566 A CN 107014566A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M3/00—Investigating fluid-tightness of structures
- G01M3/02—Investigating fluid-tightness of structures by using fluid or vacuum
- G01M3/04—Investigating fluid-tightness of structures by using fluid or vacuum by detecting the presence of fluid at the leakage point
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M3/00—Investigating fluid-tightness of structures
- G01M3/02—Investigating fluid-tightness of structures by using fluid or vacuum
- G01M3/04—Investigating fluid-tightness of structures by using fluid or vacuum by detecting the presence of fluid at the leakage point
- G01M3/24—Investigating fluid-tightness of structures by using fluid or vacuum by detecting the presence of fluid at the leakage point using infrasonic, sonic, or ultrasonic vibrations
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Abstract
The present invention relates to a kind of crude oil leakage point detection device under water.The invention belongs to undersea detection technical field.A kind of crude oil leakage point detection device under water, is characterized in：Crude oil leakage point detection device includes test platform equipped system and detection sensor systems under water；Test platform equipped system includes submarine navigation device body, folding and unfolding and communication system, operational control module and alignment system, detection sensor systems include fluorescent optical sensor, voice detector, temperature sensor, video camera and sampler, test platform equipped system carries detection sensor systems, the detection sensor attended operation control module of detection sensor systems.The present invention has detection means a variety of, and positioning is quick, and detection efficient is high, equipment microminiature, and easy to operate, environment is unrestricted, and operating area is wide, real-time Data Transmission, the advantages of detecting accurate.The device of crude oil leakage point detection under water can work under 3 section flow rate environments, can change locking crude oil leakage point under water real-time.
Description
Technical field
The invention belongs to undersea detection technical field, more particularly to a kind of crude oil leakage point detection device under water.
Background technology
At present, with the exploration and development of Marine oil and gas resource, special environment condition causes greasy dirt leakage accident risk under water
Increase severely, and natural aging, seawater corrosion, marine organisms attachment and substrate motion etc. factor be likely to cause the things such as crude oil leakage
Therefore.
Leakage point is easily found by technological means such as on-line monitorings for medium-and-large-sized oil spill accident, but for micropore
Size is leaked or discontinuously the leakage accident of discontinuous form is difficult to find leakage point using existing technology, at present main detection skill
Art means are to send diver to feel possible accident spot, but diver is easily by the seawater depth of water, temperature, light and stream
The influence of the operating environments such as speed, and find the less efficient of leakage point.The multiple underwater small that for example sea occurs in recent years
In leakage accident, it is very difficult thing, it is necessary to just can determine that leakage point after prolonged detection and demonstration to find leakage point,
The leakage crash time is delayed, the loss that marine environment is unnecessary is caused.
Had occurred and that for sea after oil spill disaster, how quick detection go out crude oil leakage position, flow and
Area coverage etc., these problems are the problem of must solving in crude oil leakage contingency procedure under water.Therefore need to crude oil leakage
Point detection equipment is studied, once the position of leakage point can rapidly and accurately be detected by occurring leakage accident under water, so that most
Economic loss and environmental pollution are reduced to big degree, accident potential is reduced.
The content of the invention
The present invention provides a kind of crude oil leakage point detection device under water to solve technical problem present in known technology.
Have detection means a variety of it is an object of the invention to provide one kind, positioning is quick, detection efficient is high, equipment is small
Type, easy to operate, environment is unrestricted, and operating area is wide, real-time Data Transmission, the point of crude oil leakage under water for the features such as detecting accurate
Detection device.The system possesses the fast positioning function of microminiature crude oil leakage point under water, compensate for that diver's efficiency is low, environment
The limited defect of condition.The device can seabed evaporating, emitting, dripping or leaking of liquid or gas type oil spill accident kind application, help emergency worker quickly find
Leakage point position, technical support is provided for accident emergency with maintenance is robbed under water.
Crude oil leakage point detection device, including test platform equipped system and detection sensor systems under water of the invention, he
Between mutual relation be：The test platform equipped system includes submarine navigation device body, folding and unfolding and communication system, operation
Control module and alignment system, for carrying detection sensor；The detection sensor systems include fluorescent optical sensor, sound and examined
Device, temperature sensor, video camera and sampler are surveyed, for measuring oil percentage in water, acoustic signal, bed mud temperature and sample in real time
Product oil content (water sample and bed mud).Submarine navigation device is controlled by working mother boat.
(1) submarine navigation device body is by the part of module group such as buoyant module, carrier frame, propulsive units and auxiliary accessories
Into wherein buoyant module is used to provide enough buoyancy, and carrier frame is used for carrying sensor, control section and power tool
It is level and vertical thrusters Deng, propulsive units, mainly provides power by lash ship by umbilical cord, cooperating between them ensures
Submarine navigation device can freely make three-dimensional space motion in water, and auxiliary accessories are then supplemented and optimized to whole system.
Submarine navigation device can meet operating depth 100m, and maximum speed 3 is saved, 6DOF motion, it is possible to achieve forward travel, fortune of turning
It is dynamic, vertical movement；Fixed point movement is realized using the support feet of itself and sits bottom operation.
(2) communication and extension and retraction system be used for underwater robot power supply and the control command that sends of surface control unit to grasping
Make control module, and video, sensing data that underwater robot main frame is obtained etc. and be transferred to display ＆ control system.Winch is configured to use
In the folding and unfolding of umbilical cables.
(3) operational control module and alignment system include surface control unit, joystick, underwater positioning system and height
Meter.It is located through measurement deck transducer and calculates the 3D relative positions or utterly of target to the distance of subsea beacon and direction
Manage coordinate.
(4) detection sensor systems include fluorescent optical sensor, voice detector, temperature sensor, video camera and sampler.
Oily concentration, sensitivity 0.002ppb in water at fluorescent optical sensor measurement leakage point.It is the integrated hydrophone of voice detector, preposition
Amplifier, wave filter, A/D converters and data processing unit and data record unit.Temperature sensor is stretched into bed mud and adopted
Collect mud temperature data.Video camera gathers the view data monitoring oil spilling in the range of 1m in real time.Sampler realizes bottom sediment and water
The collection of sample, leakage is monitored whether by chemical analysis.Detection information is sent to operation by sensor in real time by communication module
Control module.
The present invention the point of crude oil leakage under water detection equipment, by fluorescent optical sensor, temperature sensor, voice detector,
5 kinds of modes such as video camera and sample devices are combined, and low coverage is carried out in suspicious region using the issue instruction of operational control module
The detection more become more meticulous from high-resolution, 5 kinds of equipment collaboration work reduction detection rate of false alarms improve emergent efficiency.And it is most normal at present
Means diver feels easily to be influenceed by operating environments such as the seawater depth of water, temperature, light and flow velocitys, daily window
Phase is very short, finds the less efficient of leakage point.The depth that submarine navigation device be able to can not be reached in diver is dangerous with complexity
Operation is carried out under environments such as subsea, and does not have the limitation of activity duration in equipment, with these obvious advantages, this items selection water
Lower ROV is used as the carrier for carrying sensor.
Crude oil leakage point detection device is adopted the technical scheme that the present invention under water：
A kind of crude oil leakage point detection device under water, is characterized in：Crude oil leakage point detection device includes detecting flat under water
Platform equipped system and detection sensor systems；Test platform equipped system comprising submarine navigation device body, folding and unfolding and communication system,
Operational control module and alignment system, detection sensor systems include fluorescent optical sensor, voice detector, temperature sensor, taken the photograph
As instrument and sampler, test platform equipped system carries detection sensor systems, and the detection sensor of detection sensor systems connects
Connect operational control module.
Crude oil leakage point detection device can also be adopted the following technical scheme that the present invention under water：
The described point detection device of crude oil leakage under water, is characterized in：Submarine navigation device body includes buoyant module, carrier
Framework and propulsive mechanism, buoyant module are used to provide buoyancy, and carrier frame is used for carrying detection sensor systems, operational control mould
Block and alignment system, propulsive mechanism are level and vertical thrusters.
The described point detection device of crude oil leakage under water, is characterized in：Crude oil leakage point detection device includes surface under water
Control unit and umbilical cables, surface control unit are provided with computer and display, and surface control unit is connected by umbilical cables and visited
Survey the operational control module of platform equipped system.
The described point detection device of crude oil leakage under water, is characterized in：Level and vertical thrusters are connected by umbilical cables
Lash ship, power is provided by lash ship, it is ensured that submarine navigation device body freely makees three-dimensional space motion in water.
The described point detection device of crude oil leakage under water, is characterized in：Communication and extension and retraction system are by umbilical cables, for water
The control command that lower ROV body is powered and surface control unit is sent is to operational control module, and by detection sensor systems
The video of acquisition, sensor data transmission to display, umbilical cables are configured with the winch of the folding and unfolding for umbilical cables.
The described point detection device of crude oil leakage under water, is characterized in：Alignment system includes gps system and ultra-short baseline water
Lower alignment system, gps system is used for the exact position for obtaining submarine navigation device lash ship, and ultra-short baseline underwater positioning system can be obtained
Position of the submarine navigation device relative to lash ship.
The described point detection device of crude oil leakage under water, is characterized in：Ultra-short baseline underwater positioning system includes one again
Transceiver and a transponder；Transceiver is arranged on the board of lash ship, and transponder is arranged on submarine navigation device.
The described point detection device of crude oil leakage under water, is characterized in：Oil in water at fluorescent optical sensor measurement leakage point
Concentration, sensitivity 0.002ppb, the integrated hydrophone of voice detector, preamplifier, wave filter, A/D converters and number
According to processing unit and data record unit, temperature sensor stretches into collection mud temperature data in bed mud, and video camera gathers 1m models in real time
View data monitoring oil spilling in enclosing, sampler realizes the collection of bottom sediment and water sample.
The present invention has the advantages and positive effects of：
Crude oil leakage point detection device is as a result of the brand-new technical scheme of the present invention under water, compared with prior art,
The invention has the characteristics that：
(1) integration technology based on a variety of detection means of submarine navigation device；
(2) operating environment meets 4 grades of sea situation environment；
(3) terminal real-time Data Transmission is shown.
Brief description of the drawings
Fig. 1 is present invention crude oil leakage point detection device structural representation under water；
Fig. 2 is submarine navigation device chassis structure schematic diagram；
Fig. 3 is Fig. 2 present invention looks up structural representation；
Fig. 4 is Multifunctional electric device structural representation.
In figure, 1, carrier frame, 2, Multifunctional electric device, 3, compensation cabin, 4, electronic compartment, 5, buoyant material, 6, connection
Head, 7, balancing weight, 8, sediment sampler, 9, water-quality sampler, 10, video camera, 11, altimeter, 12, temperature sensor, 13,
Voice detector, 14, fluorescent optical sensor, 15, adhesive tape cable, 16, winch, 17, bank base display control program, 18, power supply unit,
19th, Underwater Navigation transmitter, 20, submarine navigation device.
Embodiment
In order to further understand the content, features and effects of the present invention, hereby enumerating following examples, and coordinate accompanying drawing
Describe in detail as follows：
Refering to accompanying drawing 1, Fig. 2, Fig. 3 and Fig. 4.
Embodiment 1
A kind of crude oil leakage point detection device under water, including test platform equipped system, detection sensor systems, surface control
Unit processed and umbilical cables.Surface control unit is provided with computer and display, and surface control unit is connected by umbilical cables and detected
The operational control module of platform equipped system.Test platform equipped system comprising submarine navigation device body, folding and unfolding and communication system,
Operational control module and alignment system, detection sensor systems include fluorescent optical sensor, voice detector, temperature sensor, taken the photograph
As instrument and sampler, test platform equipped system carries detection sensor systems, and the detection sensor of detection sensor systems connects
Connect operational control module.
Submarine navigation device body includes buoyant module, carrier frame and propulsive mechanism, and buoyant module is used to provide buoyancy, carried
Body framework is used for carrying detection sensor systems, operational control module and alignment system, and propulsive mechanism is level and vertical propulsion
Device.Level and vertical thrusters connect lash ship by umbilical cables, provide power by lash ship, it is ensured that submarine navigation device body is in water
Freely make three-dimensional space motion.
Communication and extension and retraction system are powered and control that surface control unit is sent for submarine navigation device body by umbilical cables
System order arrive operational control module, and detection sensor systems are obtained video, sensor data transmission to display, umbilical cord
Cable is configured with the winch of the folding and unfolding for umbilical cables.
Alignment system includes gps system and ultra-short baseline underwater positioning system, and gps system is used to obtain submarine navigation device mother
The exact position of ship, ultra-short baseline underwater positioning system can obtain position of the submarine navigation device relative to lash ship.Ultra-short baseline water
Lower alignment system includes a transceiver and a transponder again；Transceiver is arranged on the board of lash ship, and transponder is installed
Under water on ROV.
Oily concentration, sensitivity 0.002ppb, the integrated water of voice detector in water at fluorescent optical sensor measurement leakage point
Device, preamplifier, wave filter, A/D converters and data processing unit and data record unit are listened, temperature sensor is stretched into
Mud temperature data are gathered in bed mud, video camera gathers the view data monitoring oil spilling in the range of 1m in real time, and sampler realizes that seabed sinks
The collection of product thing and water sample.
The concrete structure and implementation process of the present embodiment are described as follows：
Power supply unit is that whole test platform equipped system and detection sensor systems are powered.Power supply unit input is three
Phase, 50-60Hz, 380V to 440VAC.Rated power is 8KW.
Surface control unit built-in computer and 17 cun of LCD displays, for obtaining the sensor information of underwater robot,
And control the motion of underwater robot.Surface control unit can be also used for controlling each biography in detection sensor systems simultaneously
Sensor, and check and record the data of each sensor.
Control cable is used to connect submarine navigation device body and power supply unit and surface control unit.Its effect is under water
ROV body provides required electric power, and for the communication between submarine navigation device body and surface control unit.Due to
The sensor that the system is carried is more, therefore controls cable, 300 meters of length using optical fiber.Now, the body of submarine navigation device and
Surface control unit has a sonet multiplexer respectively, and two sonet multiplexers are used in pairs.Sonet multiplexer can transmit without
The high-definition video signal (highest supports 4K) of compression, SD vision signal, rs 232 serial interface signal and network signal.Such a communication scheme is made
Valency is higher, the quality of data is high, and later stage extended capability is strong.
Alignment system can be used for obtaining submarine navigation device position.Alignment system includes two parts again：Gps system and ultrashort
Baseline underwater positioning system, gps system can obtain the exact position of submarine navigation device lash ship, and ultra-short baseline underwater positioning system can
Obtain position of the submarine navigation device relative to lash ship.Ultra-short baseline underwater positioning system includes a transceiver and a response again
Device.Transceiver is arranged on the board of lash ship, and transponder is arranged on submarine navigation device.ROV operation under water under water
When, transceiver and transponder carry out underwater sound link, so that transceiver can get the relative position of transponder.By gps system
Position imported into after ultra-short baseline underwater positioning system, you can obtain the exact position of submarine navigation device.Transponder need not
Submarine navigation device provides data link, only need to be its power supply.
Submarine navigation device body is the core cell of test platform equipped system, and it is responsible for carrying detection sensor, and will
It is carried to required working region.Submarine navigation device body interior possesses many power supply interfaces, can be a variety of detections
The voltage options such as sensor offer 5VDC, 12VDC, 24VDC, 48VDC.Due to controlling cable, submarine navigation device sheet using optical fiber
Body reserves a variety of different data transmission interfaces, including Ethernet interface, high definition video interface, SD video interface, serial ports connect
Mouthful etc., a variety of detection sensors can be carried as needed.
Submarine navigation device chassis structure as shown in Figures 2 and 3, by carrier frame 1, Multifunctional electric device 2, compensation cabin 3,
Electronic compartment 4, buoyant material 5, connector 6, balancing weight 7.Control cabinet is connected by RS232 serial ports with surface control system, to connect
Receive the control command from submarine navigation device operator.
Design Multifunctional electric device 2 carries required detection sensor, including sediment sampler 8, water quality sampling
Device 9, video camera 10, altimeter 11, temperature sensor 12, voice detector 13, fluorescent optical sensor 14, such as Fig. 4.Water quality sampling
Device, voice detector and temperature sensor need two sets of motors and drive by a set of motor and driver control, sediment sampler
Dynamic device control.
Video camera 10 can shoot the image in water.Video camera is communicated using SD video interface.Through in submarine navigation device
Sonet multiplexer be converted to optical signal, by controlling cable, be transferred to surface control unit.Optical fiber in surface control unit
Multiplexer is converted into SD vision signal, and analog video signal then is converted into digital video letter through video frequency collection card
Number, input the computer of surface control unit.Therefore the PC of surface control unit can just check the water captured by video camera
Middle image.
Altimeter 11 can measure submarine navigation device to the distance in seabed.Altimeter uses RS232 serial communications.Through under water
Sonet multiplexer in ROV is converted to optical signal, by controlling cable, is transferred to surface control unit.Surface control unit
In sonet multiplexer be converted into RS232 signals, input the computer of surface control unit.Therefore surface control unit
PC can be controlled it, and check and record its data.
Temperature sensor 12 can measure the temperature in water body and seabed.Temperature sensor uses RS232 serial communications.Through water
Sonet multiplexer in lower ROV is converted to optical signal, by controlling cable, is transferred to surface control unit.Granule surface contral list
Sonet multiplexer in member is converted into RS232 signals, inputs the computer of surface control unit.Therefore surface control unit
PC can control it, and check and record its data.
Voice detector 13 can monitor the acoustic signal in water in real time.Voice detector is communicated using network interface.Through under water
Sonet multiplexer in ROV is converted to optical signal, by controlling cable, is transferred to surface control unit.Surface control unit
In sonet multiplexer be converted into network signal, input the computer of surface control unit.Therefore surface control unit
PC can be controlled it, and check and record its data.
Fluorescent optical sensor 14 can measure a series of chemical substances such as polycyclic aromatic hydrocarbon, CDOM and tryptophan in real time in water
Content, so as to infer oil leak situation.Fluorescent optical sensor uses RS232 serial communications.Through the sonet multiplexer in submarine navigation device
Optical signal is converted to, by controlling cable, surface control unit is transferred to.Sonet multiplexer in surface control unit is by its turn
RS232 signals are changed to, the computer of surface control unit is inputted.Therefore the PC of surface control unit can be controlled to it
System, and check and record its data.
Water-quality sampler 8 and sediment sampler 9 do not need data transmission interface.
The use step of the system is：
1. by working mother boat drive near doubtful leakage point and cast anchor (doubtful leakage point can by multibeam echosounder and
Other method is obtained).
2. complete the connection of test platform equipped system and detection sensor systems.It is powered and tests whole system.If
There is any exception, then whole system can not descend water, to prevent bigger damage from occurring.
3. after the completion of test, by device powers down.Submarine navigation device is hung into water using equipment is hung.For submarine navigation device
It is powered, whether the underwater positioning system work of test ultra-short baseline is normal.
4. the position of doubtful leakage point is labeled on the software interface of ultra short baseline locating system.Select one of them to doubt
Like leakage point, manipulation submarine navigation device is moved on the water surface, reaches vertical drop dive after this point.During dive, it should pass through
Manipulate advance, retrogressing and the translation functions of submarine navigation device, it is ensured that submarine navigation device is near doubtful position, observe simultaneously
Whether the data of fluorescent optical sensor, voice detector and temperature sensor, judgement leaks herein.By submarine navigation device dive
To the bottom, collection deposit and water sample, and submarine navigation device is returned into the water surface, analyze the deposit and water sample of collection.
5. oil concentration, temperature field, the limit value of gradation of image harmony signal amplitude in water are preset in operational control module, when
When the value of detection data exceedes the scope of preset value, PC control module judges there is a situation where crude oil leakage under water, and with adopting
Sampling device is contrasted to S ＆ W matter, determines leakage point.If sea conditions allow to send diver to examine leakage point.
6. power-off.Submarine navigation device is reclaimed using equipment is hung.Checked, remove absurd creature, and clean whole using fresh water
Individual submarine navigation device.Disconnect the connection of submarine navigation device.
The present embodiment has described detection means a variety of, and positioning is quick, and detection efficient is high, equipment microminiature, operation side
Just, environment is unrestricted, and operating area is wide, real-time Data Transmission, and detection is accurate to wait good effect.The crude oil leakage under water of the present invention
The device of point detection can work under 3 section flow rate environments, can change locking crude oil leakage point under water real-time.
Claims (8)
1. a kind of crude oil leakage point detection device under water, it is characterized in that：Crude oil leakage point detection device includes test platform under water
Equipped system and detection sensor systems；Test platform equipped system includes submarine navigation device body, folding and unfolding and communication system, behaviour
Make control module and alignment system, detection sensor systems include fluorescent optical sensor, voice detector, temperature sensor, shooting
Instrument and sampler, test platform equipped system carry detection sensor systems, the detection sensor connection of detection sensor systems
Operational control module.
2. the point of crude oil leakage under water detection device according to claim 1, it is characterized in that：Submarine navigation device body includes floating
Power module, carrier frame and propulsive mechanism, buoyant module are used to provide buoyancy, and carrier frame is used for carrying detection sensor system
System, operational control module and alignment system, propulsive mechanism are level and vertical thrusters.
3. the point of crude oil leakage under water detection device according to claim 1 or 2, it is characterized in that：Crude oil leakage point is visited under water
Surveying device includes surface control unit and umbilical cables, and surface control unit is provided with computer and display, and surface control unit is led to
Cross the operational control module that umbilical cables connect test platform equipped system.
4. the point of crude oil leakage under water detection device according to claim 3, it is characterized in that：Level and vertical thrusters pass through
Umbilical cables connect lash ship, provide power by lash ship, it is ensured that submarine navigation device body freely makees three-dimensional space motion in water.
5. the point of crude oil leakage under water detection device according to claim 3, it is characterized in that：Communication and extension and retraction system pass through navel
Band cable, powers for submarine navigation device body and control command that surface control unit is sent is to operational control module, and will spy
Video, sensor data transmission to display that sensing system is obtained are surveyed, umbilical cables are configured with the folding and unfolding for umbilical cables
Winch.
6. the point of crude oil leakage under water detection device according to claim 1, it is characterized in that：Alignment system includes gps system
With ultra-short baseline underwater positioning system, gps system is used for the exact position for obtaining submarine navigation device lash ship, and ultra-short baseline is fixed under water
Position system can obtain position of the submarine navigation device relative to lash ship.
7. the point of crude oil leakage under water detection device according to claim 6, it is characterized in that：Ultra-short baseline underwater positioning system
Include a transceiver and a transponder again；Transceiver is arranged on the board of lash ship, and transponder is arranged on underwater navigation
On device.
8. the point of crude oil leakage under water detection device according to claim 1, it is characterized in that：Fluorescent optical sensor measures leakage point
Oily concentration in the water at place, sensitivity 0.002ppb, the integrated hydrophone of voice detector, preamplifier, wave filter, A/D become
Parallel operation and data processing unit and data record unit, temperature sensor stretch into collection mud temperature data in bed mud, and video camera is real
When collection 1m in the range of view data monitoring oil spilling, sampler realizes the collection of bottom sediment and water sample.
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| CN109060256B (en) * | 2018-06-27 | 2023-11-21 | 中海石油环保服务（天津）有限公司 | Test device and method for simulating oil spilling of underwater pipeline |
| CN109268697A (en) * | 2018-11-07 | 2019-01-25 | 廖庆斌 | Robot is used in detection inside water-filled pipe |
| CN110045079A (en) * | 2019-05-13 | 2019-07-23 | 自然资源部第二海洋研究所 | A kind of Hydrothermal plumes autonomous classification sampling apparatus and method for autonomous underwater robot |
| CN112555234A (en) * | 2019-09-10 | 2021-03-26 | 上海中车艾森迪海洋装备有限公司 | Automatic pressure regulating system for regulating oil leakage pressure of underwater operation equipment |
| CN117250668A (en) * | 2023-11-10 | 2023-12-19 | 山东省科学院海洋仪器仪表研究所 | Oil leakage monitoring device applied to submarine oil-filled cable |
| CN117250668B (en) * | 2023-11-10 | 2024-01-26 | 山东省科学院海洋仪器仪表研究所 | Oil leakage monitoring device applied to submarine oil-filled cable |
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