CN109799519A - A kind of double ship lifting dismounting offshore platform optics positioning mechanisms - Google Patents
A kind of double ship lifting dismounting offshore platform optics positioning mechanisms Download PDFInfo
- Publication number
- CN109799519A CN109799519A CN201910147339.7A CN201910147339A CN109799519A CN 109799519 A CN109799519 A CN 109799519A CN 201910147339 A CN201910147339 A CN 201910147339A CN 109799519 A CN109799519 A CN 109799519A
- Authority
- CN
- China
- Prior art keywords
- support column
- offshore platform
- hull
- ship
- positioning mechanism
- 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.)
- Pending
Links
- 230000007246 mechanism Effects 0.000 title claims abstract description 22
- 230000003287 optical effect Effects 0.000 claims abstract description 23
- 239000000463 material Substances 0.000 claims abstract description 7
- 238000000034 method Methods 0.000 claims description 19
- 238000013459 approach Methods 0.000 claims description 3
- 238000003032 molecular docking Methods 0.000 abstract description 7
- 230000008901 benefit Effects 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 2
- 238000004064 recycling Methods 0.000 description 2
- 241000251468 Actinopterygii Species 0.000 description 1
- 238000012935 Averaging Methods 0.000 description 1
- 241001061260 Emmelichthys struhsakeri Species 0.000 description 1
- 239000003653 coastal water Substances 0.000 description 1
- 238000000354 decomposition reaction Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 238000003912 environmental pollution Methods 0.000 description 1
- 238000005194 fractionation Methods 0.000 description 1
- 239000012634 fragment Substances 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000009897 systematic effect Effects 0.000 description 1
- 230000032258 transport Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B85/00—Dismantling or scrapping vessels
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/87—Combinations of systems using electromagnetic waves other than radio waves
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Ocean & Marine Engineering (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Lasers (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
本发明涉及一种双船吊装拆除海上平台用光学定位机构，所述的船体支撑柱下表面开设椎体凹槽，所述的平台支撑柱上表面为一与椎体凹槽形状配合的凸锥体，该定位机构包括安装在凸锥体内上的激光发射器和光敏传感器以及设置在椎体凹槽底面的反光镜；在进行对准操作时，当船支撑柱与平台支撑柱未对准时，激光发射器向上发出的垂直光线作用在导管架支撑柱底部材料上，反射较弱，此时船体支撑柱未移动到对准位置，当船支撑柱与平台支撑柱对准时，激光发射器向上发出的垂直光线作用在反光镜上，形成反射光，通过光敏传感器接收产生阶跃信号，此时船体支撑柱移动到对准位置。与现有技术相比，本发明具有提高对接精度和可靠性等优点。
The invention relates to an optical positioning mechanism for hoisting and dismantling an offshore platform for two ships. The lower surface of the hull supporting column is provided with a vertebral body groove, and the upper surface of the platform supporting column is a convex cone shaped to match the vertebral body groove. The positioning mechanism includes a laser transmitter and a photosensitive sensor installed on the convex cone and a reflector set on the bottom surface of the cone groove; during the alignment operation, when the ship support column and the platform support column are not aligned, The vertical light emitted upward by the laser transmitter acts on the bottom material of the jacket support column, and the reflection is weak. At this time, the hull support column does not move to the alignment position. When the ship support column is aligned with the platform support column, the laser transmitter emits upward. The vertical light acts on the reflector to form reflected light, which is received by the photosensitive sensor to generate a step signal. At this time, the hull support column moves to the alignment position. Compared with the prior art, the present invention has the advantages of improving docking precision and reliability.
Description
Technical field
The present invention relates to marine engineering equipment fields, and it is fixed with optics to remove offshore platform more particularly, to a kind of double ship liftings
Position mechanism.
Background technique
Offshore platform is that the critical equipment of marine resources exploitation has nearly 8000 offshore platforms in the world at present.General sea
The projected life of upper mounting plate was at 20 years or so.According to relevant regulations, if without other purposes, the operation service life expire after must carry out
It is discarded to remove.This is of great significance to marine environment, navigation and the fish production etc. that ensure operating area.
Different from oil field development, platform, which throws aside itself, to bring direct benefit to platform owner, and this requires not
It is disconnected to reduce its expenditure cost.How more efficiently to carry out platform and throw aside operation, is the emphasis side that each Oceanographic Engineering Corporation considers
To.
It is exactly to carry out decomposition dismounting to offshore platform that each major oil companies, which take most straightforward approach, i.e., is extractd by crane barge
With fractionation upper chunk, resulting metal fragment and chunking are unloaded on a barge, then transported in ashore recycling
The heart.This method activity duration is long, is tens of days up to a hundred, is easy to produce environmental pollution, costly.Another method
It is overall pulling down method.Overall pulling down is realized using platform removal ship.Currently, Sweden shipowner Allseas possesses the current world
Upper maximum platform removal ship " Pioneering Spirit " number.The ship uses catamaran design, and fore is u-shaped, can be each
The side of drilling platforms is leaned against, fore is equipped with more scissors lifters, these cranes will entirely be weighed by single operation
Tens of thousands of tons of upper chunk is sling and is removed.This method activity duration is short, and couple of days can complete dismounting task, and platform can be again
Using or recycling, but expense is still very high.
Industry is proving a variety of schemes that may be decreased cost at present.A kind of more advantageous scheme is to utilize two
General semi-submersible type towboat replaces single dismounting ship of overall pulling down method, replaces lever lifting using water tank and supporting mechanism
Machine, as shown in Figure 1.This method is referred to as double ship lifting methods, and the course of work is that two same dynamic positioning semi-submersible types are dragged
Ship from two sides close to offshore platform, after hull support column is aligned with jacket (supporting the steelframe of offshore platform) support column,
Double ships start to float, and keep balancing by ballast water tank water, and platform upper chunking is promoted, moves on third carrying ship and transports
(as shown in Figure 2).
The first step using double ship lifting methods, which is two, has the semi-submersible type towboats of dynamic positioning ability from two sides by coastal waters
Upper mounting plate promotes upper chunk after being directed at hull support column with jacket (supporting the steelframe of offshore platform) support column.
This is the key that double ship lifting methods face.The method that industry uses at present is proximate to process using RTK GPS positioning, approaches
It is aided with the non-contact opticals localization method such as laser radar when jacket.In this way it is unilateral to be at least equipped with 2 laser radars could be into
Row precise positioning, higher cost.
Summary of the invention
It is an object of the present invention to overcome the above-mentioned drawbacks of the prior art and provide a kind of double ship liftings to remove
Offshore platform optics positioning mechanism.
The purpose of the present invention can be achieved through the following technical solutions:
A kind of double ship lifting dismounting offshore platform optics positioning mechanisms, to realize ship support column in double ship lifting methods
With precisely aligning for platform support columns, the hull support column lower surface opens up centrum groove, on the platform support columns
Surface is the convex cone of one with the cooperation of centrum groove shapes, which includes the laser emitter being mounted on in convex cone
With photosensitive sensor and the reflective mirror of centrum groove floor is set；
When carrying out alignment function, when ship support column and platform support columns misalignment, what laser emitter issued upwards
Vertical light acts in jacket support column base material, and reflection is weaker, and hull support column is not moved to alignment position at this time,
When ship support column is aligned with platform support columns, the vertical light that laser emitter issues upwards is acted on reflective mirror, is formed
Reflected light is received by photosensitive sensor and generates step signal, and hull support column is moved to alignment position at this time.
The radius of the reflective mirror is equal to the alignment precision of setting.
The reflection coefficient of the reflective mirror is higher than the material of jacket support column bottom.
The laser emitter uses laser diode.
The photosensitive sensor uses photo resistance.
The workflow of this optical alignment mechanism the following steps are included:
1) two dynamic positioning semi-submersible type towboats rely on RTK GPS positioning information from two sides close to offshore platform 0.5m range
It is interior；
2) connect hull support column at laser emitter and emit laser upwards；
3) control unit starts the information for receiving optical sensor while receiving GPS information；
4) when optical sensor is exported without step signal, show that hull support column has not moved to desired position, when
When optical sensor has step signal output, show the relative position of hull support column and jacket support column desired
In error range；
5) control unit checks GPS information, if GPS information also indicates that the opposite position of hull support column Yu jacket support column
It sets in desired error range, then starts to promote offshore platform.
Compared with prior art, the invention has the following advantages that
Offshore platform optics positioning mechanism is removed in double dynamical station keeping ship lifting proposed by the present invention, in side support stake dress
There are laser emitter and photosensitive sensor, the support stake of the other side is equipped with reflective mirror, and the radius of reflective mirror is made to be equal to desired pair
Quasi- precision is realized by the way that whether light-sensitive device receives the laser being reflected back to whether hull support stake is moved to desired locations
Judgement, blended with GPS information, effectively increase the precision and reliability of docking.
Detailed description of the invention
Fig. 1 is that double ship lifting methods remove offshore platform structure schematic diagram.
Fig. 2 is that double double boatman of ship lifting method make process schematic.
Fig. 3 supports stake to dock schematic diagram for hull support stake with jacket, wherein figure (3a) is structure when being aligned completely
Schematic diagram, figure (3b) are the structural schematic diagram under the limiting case of alignment, and figure (3c) is the required precision signal being reliably aligned
Figure.
Fig. 4 is configuration state figure of the present invention in misalignment.
Fig. 5 is configuration state figure of the present invention in alignment.
Specific embodiment
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.
Embodiment
As shown in figure 3, hull support column is docked with jacket support column using taper interface, this interface it is significant
Advantage is reduction of the requirement to alignment precision, theoretically, as long as vertebra point is fallen in inside support column largest circumference, hull support column
It can guarantee to be aligned under pressure with jacket support column.And requirement of the cylinder jack interface to precision is then much higher.
In practice, in order to guarantee the reliable of docking, the requirement to alignment precision is less than support column largest circumference radius.
In application GPS, the position of rover station constantly changes, and calculating coordinate is dynamically that there are systematic errors, reduce
Measurement accuracy.The large area water surface will generate strong reflection effect to electromagnetic wave signal, so that antenna receives simultaneously to be had directly from satellite
The signal of transmitting and electromagnetic wave signal from water-reflected, the observed quantity that both Signal averagings are formed, will produce positioning result
Raw Multipath Errors, can cause GPS signal losing lock when serious.In order to guarantee to dock, it is generally desirable to there are two types of or above mode
Guarantee the alignment precision of hull support column and jacket support column.Optical alignment mechanism proposed by the present invention is capable of providing a kind of essence
Higher means are spent, are used in combination with GPS, the safety of docking is improved.
It is as shown in Figures 4 and 5 that hull support column proposed by the present invention docks optical alignment mechanism with jacket support column, with original
For some hull support columns compared with jacket support column docking mechanism, optical alignment mechanism proposed by the present invention includes two portions
Point, a part is the laser emitter and photosensitive sensor being installed at hull support column, and a part is to be installed at jacket branch
The reflective mirror of dagger bottom.Laser emitter can be used but be not limited to laser diode, which has widely in laser pen
Using；Photosensitive sensor but it is not limited to photo resistance, is a kind of light-sensitive device being widely used；Reflective mirror is not wanted strictly
It asks, as long as reflection coefficient is apparently higher than the material of jacket support column bottom.The radius of reflective mirror is equal to desired alignment
Precision.When misalignment, laser emitter issue vertical light act in jacket support column base material, reflection compared with
It is weak, show that hull support column has not moved to desired position.When aligned, the vertical light that laser emitter issues acts on
On reflective mirror, the biggish reflection of intensity is formed, is received by light-sensitive device and generates step signal, notifies control unit hull support
Column is moved into desired position.Control unit improves docking by the fusion to GPS information and photosensitive sensor information
Precision and reliability.
Platform upper chunking promotion is finally moved on third carrying ship and is transported by double ship lifting methods.It is proposed by the present invention
Docking optical alignment mechanism is similarly applied to fixation of the platform upper chunking on carrying ship, and specific implementation step is as follows:
1, two dynamic positioning semi-submersible type towboats rely on RTK GPS positioning information from two sides close to offshore platform 0.5m range
It is interior；
2, the laser emitter at hull support column is connected, and starts to emit laser；
3, control unit starts the information for receiving optical sensor while receiving GPS information；
4, when optical sensor is exported without step signal, show that hull support column has not moved to desired position；
5, when optical sensor has step signal output, show the relative position of hull support column Yu jacket support column
In desired error range；
6, control unit checks GPS information, if GPS information also indicates that the opposite position of hull support column Yu jacket support column
It sets in desired error range, starts to promote platform.
Claims (6)
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310362094.6A CN116381752A (en) | 2019-02-27 | 2019-02-27 | An optical positioning mechanism and method for hoisting and dismantling an offshore platform by two ships |
| CN201910147339.7A CN109799519A (en) | 2019-02-27 | 2019-02-27 | A kind of double ship lifting dismounting offshore platform optics positioning mechanisms |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910147339.7A CN109799519A (en) | 2019-02-27 | 2019-02-27 | A kind of double ship lifting dismounting offshore platform optics positioning mechanisms |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310362094.6A Division CN116381752A (en) | 2019-02-27 | 2019-02-27 | An optical positioning mechanism and method for hoisting and dismantling an offshore platform by two ships |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109799519A true CN109799519A (en) | 2019-05-24 |
Family
ID=66561439
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910147339.7A Pending CN109799519A (en) | 2019-02-27 | 2019-02-27 | A kind of double ship lifting dismounting offshore platform optics positioning mechanisms |
| CN202310362094.6A Pending CN116381752A (en) | 2019-02-27 | 2019-02-27 | An optical positioning mechanism and method for hoisting and dismantling an offshore platform by two ships |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310362094.6A Pending CN116381752A (en) | 2019-02-27 | 2019-02-27 | An optical positioning mechanism and method for hoisting and dismantling an offshore platform by two ships |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN109799519A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112389595A (en) * | 2020-11-24 | 2021-02-23 | 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） | Method for centering push-push combined barge and push wheel |
| WO2021135903A1 (en) * | 2019-12-30 | 2021-07-08 | 山东海洋能源有限公司 | Integrated disassembly system and disassembly method for large offshore structure |
| CN115806029A (en) * | 2022-12-20 | 2023-03-17 | 中电建海上风电工程有限公司 | Guiding system and guiding method for floating body and base bearing platform |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8051637B2 (en) * | 1997-12-23 | 2011-11-08 | Gaudencio Aquino Labrador | Heat energy recapture and recycle and its new applications |
| CN102409650A (en) * | 2011-09-23 | 2012-04-11 | 中国海洋石油总公司 | Installation method of shallow water ocean jacket platform |
| CN106342241B (en) * | 2011-12-14 | 2013-02-13 | 中国电子科技集团公司第二十七研究所 | A kind of cooperative target of the laser radar for space device intersection docking |
| CN103528513A (en) * | 2013-09-30 | 2014-01-22 | 上海大学 | OLED (organic light-emitting diode) glass substrate alignment method and OLED glass substrate alignment system |
| CN104088266A (en) * | 2014-07-14 | 2014-10-08 | 中国海洋石油总公司 | Standardized movable wellhead platform installed in floatover mode |
| CN104527940A (en) * | 2014-12-09 | 2015-04-22 | 中国海洋石油总公司 | Ocean platform block offshore double-boat integral migration method |
| CN105035260A (en) * | 2015-05-19 | 2015-11-11 | 中国海洋石油总公司 | Method for integrally detaching topside module of offshore abandoned platform |
| CN105121273A (en) * | 2012-11-06 | 2015-12-02 | E·多格拉 | Vessel dismantling device and method thereof |
| CN105939620A (en) * | 2013-10-17 | 2016-09-14 | 吉瑞高新科技股份有限公司 | Electronic cigarette and control method for matching battery rod component and atomizer component of same |
| CN107819187A (en) * | 2016-09-13 | 2018-03-20 | 美国西北仪器公司 | Alignment device, microwave antenna and alignment methods for microwave antenna |
| CN108445261A (en) * | 2018-03-13 | 2018-08-24 | 苏州显纳精密仪器有限公司 | A kind of microsphere lens super resolution optical scanning imaging system and its imaging method based on optical position sensitive sensors feedback |
-
2019
- 2019-02-27 CN CN201910147339.7A patent/CN109799519A/en active Pending
- 2019-02-27 CN CN202310362094.6A patent/CN116381752A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8051637B2 (en) * | 1997-12-23 | 2011-11-08 | Gaudencio Aquino Labrador | Heat energy recapture and recycle and its new applications |
| CN102409650A (en) * | 2011-09-23 | 2012-04-11 | 中国海洋石油总公司 | Installation method of shallow water ocean jacket platform |
| CN106342241B (en) * | 2011-12-14 | 2013-02-13 | 中国电子科技集团公司第二十七研究所 | A kind of cooperative target of the laser radar for space device intersection docking |
| CN105121273A (en) * | 2012-11-06 | 2015-12-02 | E·多格拉 | Vessel dismantling device and method thereof |
| CN103528513A (en) * | 2013-09-30 | 2014-01-22 | 上海大学 | OLED (organic light-emitting diode) glass substrate alignment method and OLED glass substrate alignment system |
| CN105939620A (en) * | 2013-10-17 | 2016-09-14 | 吉瑞高新科技股份有限公司 | Electronic cigarette and control method for matching battery rod component and atomizer component of same |
| CN104088266A (en) * | 2014-07-14 | 2014-10-08 | 中国海洋石油总公司 | Standardized movable wellhead platform installed in floatover mode |
| CN104527940A (en) * | 2014-12-09 | 2015-04-22 | 中国海洋石油总公司 | Ocean platform block offshore double-boat integral migration method |
| CN105035260A (en) * | 2015-05-19 | 2015-11-11 | 中国海洋石油总公司 | Method for integrally detaching topside module of offshore abandoned platform |
| CN107819187A (en) * | 2016-09-13 | 2018-03-20 | 美国西北仪器公司 | Alignment device, microwave antenna and alignment methods for microwave antenna |
| CN108445261A (en) * | 2018-03-13 | 2018-08-24 | 苏州显纳精密仪器有限公司 | A kind of microsphere lens super resolution optical scanning imaging system and its imaging method based on optical position sensitive sensors feedback |
Non-Patent Citations (2)
| Title |
|---|
| 张鼎: "南海导管架平台浮托安装实测研究", 《中国优秀硕士学位论文全文数据库 基础科学辑》 * |
| 阮志豪等: "一种新型桩腿耦合装置的应用", 《船舶与海洋工程》 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021135903A1 (en) * | 2019-12-30 | 2021-07-08 | 山东海洋能源有限公司 | Integrated disassembly system and disassembly method for large offshore structure |
| CN112389595A (en) * | 2020-11-24 | 2021-02-23 | 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） | Method for centering push-push combined barge and push wheel |
| CN115806029A (en) * | 2022-12-20 | 2023-03-17 | 中电建海上风电工程有限公司 | Guiding system and guiding method for floating body and base bearing platform |
Also Published As
| Publication number | Publication date |
|---|---|
| CN116381752A (en) | 2023-07-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109799519A (en) | A kind of double ship lifting dismounting offshore platform optics positioning mechanisms | |
| CN106080994B (en) | The method of construction of FPSO transfer platforms | |
| CN101080648A (en) | Lasar scanning for mooring robot | |
| CN105035260B (en) | The method that platform upper chunk is thrown aside at support overall pulling down sea is floated using double ships | |
| CN104075072A (en) | Submarine pipeline detection device based on ROV platform | |
| CN216339648U (en) | A self-leveling offshore wind power guide frame device | |
| CN112462373A (en) | Cabin position detection method based on multi-sensor fusion | |
| JP2005193854A (en) | Guidance device for underwater traveling vehicle | |
| CN104002923B (en) | A kind of knockdown half latent ships that transport and method of work thereof | |
| CN105151239A (en) | Shipboard supporting structure used for integrally dismounting offshore platform topside module by means of two boat flotage | |
| CN110745212A (en) | Carrier-based aircraft landing aid decision-making method and device based on wave measurement | |
| CN105464049A (en) | Real-time testing-controlling acceptance system for deepwater dumping ship and construction method | |
| CN102963494B (en) | Buoyancy mounting method for blocks | |
| CN103693170A (en) | Floating type offshore wind power assembly platform and method using floating type offshore wind power assembly platform for assembly offshore wind turbine | |
| CN111746746B (en) | Rudder system segmented positioning precision control method based on three-point circle center method | |
| CN104354831B (en) | Towing/anchor handling/supply vessel stern barrel mounting process | |
| GB2315464A (en) | Transporting offshore structures | |
| CN112325815B (en) | Three-dimensional detection method for lengthened and refitted container ship | |
| CN117745209A (en) | Ship hatch data management method based on point cloud technology | |
| CN212154676U (en) | A bottom-addressing device for a subsea drilling rig | |
| CN115310768B (en) | Intelligent integrated management system for transportation operation of semi-submersible barge | |
| CN203958536U (en) | A kind of knockdown half latent ships that transport | |
| CN205475100U (en) | Deep water throwing is filled out ship and is observed and controled examination system in real time | |
| CN215894951U (en) | Data acquisition system capable of simultaneously obtaining overwater and underwater point cloud data | |
| CN211642531U (en) | Semi-submersible type mounting and transporting platform for bridge section |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information |
Address after: 200030 Dongchuan Road, Minhang District, Minhang District, Shanghai Applicant after: SHANGHAI JIAO TONG University Address before: 200030 Huashan Road, Shanghai, No. 1954, No. Applicant before: SHANGHAI JIAO TONG University |
|
| CB02 | Change of applicant information | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190524 |
|
| RJ01 | Rejection of invention patent application after publication |