CN109974779A - A kind of underwater monitoring device of ocean exploration basal disc - Google Patents
A kind of underwater monitoring device of ocean exploration basal disc Download PDFInfo
- Publication number
- CN109974779A CN109974779A CN201910245129.1A CN201910245129A CN109974779A CN 109974779 A CN109974779 A CN 109974779A CN 201910245129 A CN201910245129 A CN 201910245129A CN 109974779 A CN109974779 A CN 109974779A
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- cabin
- valve
- underwater
- pressure
- valve group
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Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B49/00—Testing the nature of borehole walls; Formation testing; Methods or apparatus for obtaining samples of soil or well fluids, specially adapted to earth drilling or wells
- E21B49/001—Testing the nature of borehole walls; Formation testing; Methods or apparatus for obtaining samples of soil or well fluids, specially adapted to earth drilling or wells specially adapted for underwater installations
-
- G—PHYSICS
- 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
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/04—Devices for withdrawing samples in the solid state, e.g. by cutting
- G01N1/08—Devices for withdrawing samples in the solid state, e.g. by cutting involving an extracting tool, e.g. core bit
Abstract
The invention discloses a kind of underwater monitoring devices of ocean exploration basal disc, comprising top base, connection frame, bottom base, pressure clamp and Subsea Control Systems, Subsea Control Systems are made of optoelectronic composite cable, photodetachment box, power supply cabin, Electric Machine at Pumping Station switch cabin, observing and controlling cabin, hydraulic power station, illumination camera unit and biography sensor unit；Hydraulic power station includes fuel tank, Electric Machine at Pumping Station cabin, check valve, valve group cabin, hydraulic control one-way valve, afflux flow divider and accumulator；Motor room includes motor, gear oil pump and filter；Valve group cabin is equipped with two two electric change valves, overflow valve, two-position two-way solenoid valve and system pressure sensor.The present invention solves the problems, such as that deck plane can not accurately understand and control ocean floor drilling and sampling handling situations, realizes real-time monitoring and control to underwater exploration template.
Description
Technical field
The invention belongs to seafari apparatus fields, and in particular to a kind of underwater monitoring device of ocean exploration basal disc.
Background technique
Ocean exploration basal disc is that Marine Geology investigation vessel carries out drilling well and samples one of the necessary equipment of operation, marine surveys
The job position of basal disc is sea bed face, and the drilling tool being used for when well head positioning when drillng operation, drilling tool guiding and power sample is solid
It is fixed.It needs to monitor that basal disc bottoms out in basal disc decentralization and lifting process and transfers situation with drill string；It is (such as quiet when using power sampling instrument
Power feeler inspection, hydraulical impact rope drilling tool etc.), it need to be realized by pressure clamp and drill string is gripped, improve the success rate of sampling；
Simultaneously in more bit change or BHA, monitoring drill string passes through basal disc and reenters foramen primum position.According to actual job needs, need
Underwater monitoring device is configured, well head vision signal is fed back to the control of pressure clamp and to deck plane with realization, while configuring depth
The sensors such as degree and posture realize deck plane to the accurate assurance and control of seabed operation situation.
Summary of the invention
The object of the present invention is to provide a kind of underwater monitoring devices of ocean exploration basal disc, can be realized to underwater exploration template
It is real-time monitoring and control.
The technical scheme adopted by the invention is that a kind of underwater monitoring device of ocean exploration basal disc, including consolidated by connection frame
The top base and bottom base connect, the bottom base are equipped with pressure clamp and Subsea Control Systems, and the Subsea Control Systems are by monitoring
System and control system composition.
The features of the present invention also characterized in that
Monitoring system includes photodetachment box, and photodetachment box is equipped with optoelectronic composite cable, and optoelectronic composite cable passes through photoelectricity
It is divided into watertight optical fiber and watertight cable, watertight cable connection power supply cabin after Seperating box, watertight optical fiber connects observing and controlling cabin, powers on cabin
Equipped with two-way cable, the Electric Machine at Pumping Station of cable connection all the way in the cabin that powers switchs cabin, and the another way cable in the cabin that powers passes through transformer
Connect observing and controlling cabin；
Observing and controlling cabin includes power module, and power module is separately connected digital data acquisition module, module amount acquisition module and water
Lower optical transmitter and receiver, underwater optical transmitter and receiver connecting communication module, power module are also respectively connected with illumination camera unit, pressure clamp, pass sensing
Device unit, system pressure sensor and valve group cabin, digital data acquisition module are separately connected pressure clamp and detection alarm sensor, mould
Block amount acquisition module is separately connected sensor unit and system pressure sensor, and communication module connects Electric Machine at Pumping Station switch cabin and valve
Group cabin, underwater optical transmitter and receiver connection illumination camera unit.
Photodetachment box connects pressure compensator a, and power supply cabin connects pressure compensator d, pressure compensator a and pressure compensation
Detection alarm sensor is each equipped on device d.
Pressure clamp is equipped with close to switch, described to be separately connected power module and digital data acquisition module close to switch.
Control system includes hydraulic power station, and hydraulic power station includes Electric Machine at Pumping Station cabin, the import connection in Electric Machine at Pumping Station cabin
Electric Machine at Pumping Station switchs cabin, and the outlet in Electric Machine at Pumping Station cabin connects check valve, and the outlet of check valve is separately connected accumulator and valve group cabin,
Valve group cabin includes oil inlet P, oil return inlet T, actuator port A and actuator port B, the oil inlet P in valve group cabin and the outlet of check valve
Connection, the actuator port A in valve group cabin and the rod cavity of pressure clamp connect, and the actuator port B in valve group cabin passes sequentially through hydraulic control one-way valve
The connection of the plug chamber of sum aggregate stream flow divider and pressure clamp, the oil return inlet T in valve group cabin are connect with fuel tank.
Valve group cabin includes the overflow valve and two-position two-way solenoid valve connected side by side, and one end of overflow valve is separately connected system pressure
Force snesor and two four-way electromagnetic reversing valves, the other end of overflow valve connect two four-way electromagnetic reversing valves, bi-bit bi-pass electricity
One end of magnet valve is separately connected system pressure sensor and two four-way electromagnetic reversing valves, and the other end of two-position two-way solenoid valve connects
Connect two four-way electromagnetic reversing valves, the oil inlet P in valve group cabin is separately connected two four-way electromagnetic reversing valves, overflow valve, two two
Three-way electromagnetic valve and system pressure sensing, the oil return inlet T in valve group cabin are inwardly separately connected four-way electromagnetic reversing valve, overflow valve and two
Two-way electromagnetic valve, actuator port A and actuator port B are all connected with two four-way electromagnetic reversing valves.
Electric Machine at Pumping Station cabin includes the identical gear oil pump of one group of structure, is equipped with motor, two teeth on each gear oil pump
The one end for taking turns oil pump connects filter, and filter is communicated with fuel tank, and the other end of two gear oil pumps connects check valve.
Pressure compensator b is communicated with the hydraulic oil pipeline in Electric Machine at Pumping Station cabin and valve group cabin respectively, pressure compensator c connection oil
Detection alarm sensor is each equipped on case, pressure compensator b and pressure compensator c.
Mounting rack is equipped with illumination camera unit and passes sensor unit, and the illumination camera unit includes that well head monitoring is shone
Bright lamp and well head monitor camera, well head monitoring, illumination lamp and well head monitor camera pass through mounting bracket and are fixed in top base
Lower section, the biography sensor unit includes water depth sensor and underwater posture instrument, and water depth sensor and underwater posture instrument are logical
Mounting bracket is crossed to be fixed on mounting rack.
Beneficial features of the invention are:
1) underwater monitoring system is directly installed on exploration template, realizes that power supply is transmitted with signal using optoelectronic composite cable,
The optical fiber that control signal, vision signal and equipment state pass through in composite rope is transmitted, and stable signal transmission, response are fast.
2) the emergency release function that seabed pincers are realized by monitoring system, when electric power, hydraulic or logical occurs for monitoring device
When interrogating failure, the function that seabed pincers unclamp is realized.
3) pressure compensator and leak sensor, compensation sealing cabin inside and outside differential pressure, it is ensured that cabin external and internal pressure phase are set
When, to reduce sealed compartment design requirement, while occurring closing power supply system when leakage alarm and equipment is repaired, it is anti-
Only in cabin element because of short circuit caused by abruptly entering seawater and the problems such as component damage.
Detailed description of the invention
Fig. 1 is a kind of whole axonometric drawing of the underwater monitoring device of ocean exploration basal disc of the present invention；
Fig. 2 is the apparatus structure schematic diagram on a kind of bottom base of the underwater monitoring device of ocean exploration basal disc of the present invention；
Fig. 3 is a kind of control structure figure of the underwater monitoring device of ocean exploration basal disc of the present invention；
Fig. 4 is the schematic diagram of hydraulic power station in the present invention.
In figure, 1. top bases, 2. connection frames, 3. bottom bases, 4. pressure clamps, 5. optoelectronic composite cables, 6. photodetachment boxes, 7.
Power cabin, and 8. Electric Machine at Pumping Station switch cabin, and 9. observing and controlling cabins, 10. hydraulic power stations, 11. illumination camera units, 12. pass sensor list
Member, 13. pressure compensator a, 14. fuel tanks, 15. Electric Machine at Pumping Station cabins, 16. check valves, 17. valve group cabins, 18. hydraulic control one-way valves, 19.
Afflux flow divider, 20. accumulators, 21. pressure compensator b, 22. pressure compensator c, 23. motors, 24 gear oil pumps, 25. filter
Device, 26. two four-way electromagnetic reversing valves, 27. overflow valves, 28. two-position two-way solenoid valves, 29. system pressure sensors, 30. inspections
Survey alarm sensor, 31. pressure compensator d.
Specific embodiment
The following describes the present invention in detail with reference to the accompanying drawings and specific embodiments.
It as shown in Figures 1 and 2, is a kind of structural schematic diagram of the underwater monitoring device of ocean exploration basal disc of the present invention, including
By connection frame 2 affixed top base 1 and bottom base 3, bottom base 3 is equipped with pressure clamp 4 and Subsea Control Systems, on pressure clamp 4
Equipped with close to switch, for detecting, pressure clamp is clamped and released position state, Subsea Control Systems are by monitoring system and control
System composition.
Mounting rack 2 is equipped with illumination camera unit 11 and passes sensor unit 12, and illumination camera unit 11 is supervised including well head
Control headlamp and well head monitor camera, well head monitoring, illumination lamp and well head monitor camera pass through mounting bracket and are fixed in
The lower section of pedestal 1 provides well head vision signal；Passing sensor unit 12 includes water depth sensor and underwater posture instrument, and the depth of water passes
Sensor and underwater posture instrument pass through mounting bracket and are fixed on mounting rack 2, to detect depth in basal disc water and bottom out
Position and attitude on sea bed afterwards.
Monitoring system includes photodetachment box 6, and photodetachment box 6 is equipped with optoelectronic composite cable 5, and optoelectronic composite cable 5 passes through
It is divided into watertight optical fiber and watertight cable, watertight cable connection power supply cabin 7 after photodetachment box 6, watertight optical fiber connects observing and controlling cabin 9,
Power supply cabin 7 separates two-way cable, and the Electric Machine at Pumping Station of cable connection all the way in power supply cabin 7 switchs cabin 8, the another way cable in the cabin 7 that powers
By transformer connection observing and controlling cabin 9, the connector at watertight cable and watertight optical fiber both ends is all made of underwater electrical connector.
Observing and controlling cabin 9 is the core cell of basal disc underwater monitoring system, and observing and controlling cabin 9 includes power module, power module difference
Connect digital data acquisition module, module amount acquisition module and underwater optical transmitter and receiver, underwater optical transmitter and receiver connecting communication module, the power supply
Module be also respectively connected with illumination camera unit 11, on pressure clamp 4 close to switch, pass sensor unit 12, system pressure sensing
Device 29 and valve group cabin 17, digital data acquisition module be separately connected pressure clamp 4 close to switch and detection alarm sensor 30, module
Acquisition module decibel connection sensor unit 12 and system pressure sensor 29 are measured, communication module connects Electric Machine at Pumping Station and switchs cabin 8
With valve group cabin 17, underwater optical transmitter and receiver connects well head monitor camera, and above-mentioned connection type is watertight cable connection.Power module
AC power source is provided for well head monitoring, illumination lamp, while being direct current by AC conversion, to approach switch, detection alarm sensing
Device 30 passes sensor unit 12, system pressure sensor 29 and the offer of valve group cabin 17 DC power supply, digital data acquisition module and mould
Block amount acquisition module carries out collecting sensor signal, and underwater optical transmitter and receiver carries out the conversion of photosignal, and communication module carries out signal
Processing and communication.
Control system includes hydraulic power station 10, as shown in figure 3, being that a kind of ocean exploration basal disc of the present invention monitors dress under water
The schematic diagram for the hydraulic power station set, hydraulic power station 10 include Electric Machine at Pumping Station cabin 15, and the import in Electric Machine at Pumping Station cabin 15 connects pump
It stands motor switch cabin 8, the outlet in Electric Machine at Pumping Station cabin 15 connects check valve 16, and the outlet of check valve 16 is separately connected storage by threeway
Energy device 20 and valve group cabin 17, valve group cabin 17 include oil inlet P, oil return inlet T, actuator port A and actuator port B, valve group cabin 17
Oil inlet P and the outlet of check valve 16 connect, and the actuator port A in valve group cabin 17 is connect with the rod cavity of pressure clamp 4, the work in valve group cabin 17
Make the plug chamber that hydraulic fluid port B passes sequentially through 18 sum aggregate stream flow divider 19 of hydraulic control one-way valve connection pressure clamp 4, the oil return inlet T in valve group cabin 17
It is connect with fuel tank 14.
Electric Machine at Pumping Station cabin 15 includes the identical gear oil pump 24 of one group of structure, is equipped with motor on each gear oil pump 24
23, one end of two gear oil pumps 24 connects filter 25, and filter 25 is communicated with fuel tank 14, two gear oil pumps 24 it is another
End connection check valve 16.
Valve group cabin 17 includes the overflow valve 27 and two-position two-way solenoid valve 28 connected side by side, and one end of overflow valve 27 connects respectively
Welding system pressure sensor 29 and two four-way electromagnetic reversing valves 26, the other end of overflow valve 27 connect two four-way electromagnetic commutations
Valve 26, one end of two-position two-way solenoid valve 28 are separately connected 29 and two four-way electromagnetic reversing valves 26, two-position two-way solenoid valve 28
The other end connect two four-way electromagnetic reversing valves 26, the oil inlet P in valve group cabin 17 is separately connected two four-way electromagnetic reversing valves
26, overflow valve 27, two-position two-way solenoid valve 28 and system pressure sensor 29, the oil return inlet T in valve group cabin 17 are inwardly separately connected
Four-way electromagnetic reversing valve 26, overflow valve 27 and two-position two-way solenoid valve 28, actuator port A and actuator port B are all connected with four energizations
Magnetic reversal valve 26.
As shown in figure 4, being a kind of control structure schematic diagram of the underwater monitoring device of ocean exploration basal disc of the present invention, photoelectricity point
Pressure compensator a13 is connected from box 6, power supply cabin 7 connects pressure compensator d31, and fuel tank 14 connects pressure compensator c22, pumping plant
Motor room 15 and valve group cabin 17 are each filled with transformer oil, and are interconnected by pipeline, are finally connected to pressure compensator b21,
The spring being arranged in pressure compensator a13, pressure compensator b21, pressure compensator c22 and pressure compensator d31, makes cabin internal pressure
Power is more bigger than pressure out of my cabin, if sealing problem occurs in cabin, leakage is also that oil liquid is revealed toward seawater, and seawater can not penetrate into cabin
In vivo, so that it is guaranteed that cabin vivo system is not contaminated or damages, while alarm signal is issued to deck plane, in time by device powers down
And it is detached from seawater and repairs.The effect of pressure compensator is to balance pressure between cabin inner fluid and seawater, while configuring inspection
Alarm sensor is surveyed, safety guarantee is formed.
A kind of working principle of the underwater monitoring device of ocean exploration basal disc of the present invention is: transferring present invention prospecting from deck plane
After basal disc, state in water is monitored, 10 meters from sea bed face or so start slowly decentralization, detect by water depth sensor, bottom out rear root
Judge that basal disc (is unsatisfactory for well-sampling requirement and then needs to change well head position in the lateral attitude in sea bed face according to underwater posture instrument parameter
Set), then start well-sampling work, different sampling instruments are used according to stratum difference, according to gravity core tool, camera shooting
Machine only provides vision signal；When according to power sampling instrument, then control pressure clamp 4 is needed to carry out holding action, thus fixed brill
Column provides reversed support for power sampling instrument, improves sampling rate.
A kind of course of work of the underwater monitoring device of ocean exploration basal disc of the present invention is: top base 1, connection frame 2 and lower base
Seat 3 is to provide installation foundation for pressure clamp 4 and Subsea Control Systems, and monitoring process includes that two parts are monitored and controlled.Monitoring portion
Divide and run through work overall process, i.e., since being lauched, acquisition biography sensor unit 12, system pressure sensor 29, detection are alarmed and passed
Sensor 30, the well head monitor camera in illumination camera unit 11 and pressure clamp 4 close to switching signal, signal passes through photoelectricity point
Exported from box 6 and optoelectronic composite cable 7, real-time monitoring basal disc in water depth, posture, system pressure, whether have leakage, pressure clamp
4 step up or releasing orientation and shaft mouth operation video；Control section is then that clamping and the release movement to pressure clamp 4 control,
It takes the drill string under the tools such as power sampling or static sounding and case of emergency to be promoted, is carried by pressure clamp 4 hydraulic
Oil cylinder drives the pinching action of pressure clamp 4, so that drill string be held tightly, to realize sampling work and Emergency recovery, this is dynamic
Make to realize particular by the valve group in the motor 23 and valve group cabin 17 in control Electric Machine at Pumping Station switch cabin 15, control signal by
Optoelectronic composite cable 5 inputs, and reaches the execution units such as motor 23 and valve group after observing and controlling cabin 9 is handled.
Claims (9)
1. a kind of underwater monitoring device of ocean exploration basal disc, which is characterized in that including the top base (1) affixed by connection frame (2)
With bottom base (3), the bottom base (3) is equipped with pressure clamp (4) and Subsea Control Systems, and the Subsea Control Systems are by monitoring
System and control system composition.
2. a kind of underwater monitoring device of ocean exploration basal disc as described in claim 1, which is characterized in that the monitoring system packet
It includes photodetachment box (6), photodetachment box (6) is equipped with optoelectronic composite cable (5), and optoelectronic composite cable (5) passes through photodetachment box
(6) it is divided into watertight optical fiber and watertight cable, watertight cable connection power supply cabin (7) after, watertight optical fiber connects observing and controlling cabin (9), power supply
Cabin (7) is equipped with two-way cable, and the Electric Machine at Pumping Station of cable connection all the way of power supply cabin (7) switchs cabin (8), and power the another of cabin (7)
Road cable connects observing and controlling cabin (9) by transformer；
The observing and controlling cabin (9) includes power module, power module be separately connected digital data acquisition module, module amount acquisition module and
Underwater optical transmitter and receiver, underwater optical transmitter and receiver connecting communication module, the power module are also respectively connected with illumination camera unit (11), pressure
It clamps (4), pass sensor unit (12), system pressure sensor (29) and valve group cabin (17), digital data acquisition module is separately connected
Pressure clamp (4) and detection alarm sensor (30), module amount acquisition module are separately connected sensor unit (12) and system pressure
Sensor (29), communication module connect Electric Machine at Pumping Station switch cabin (8) and valve group cabin (17), and underwater optical transmitter and receiver connection illumination camera shooting is single
First (11).
3. a kind of underwater monitoring device of ocean exploration basal disc as claimed in claim 2, which is characterized in that the photodetachment box
(6) pressure compensator a (13) are connected, power supply cabin (7) connects pressure compensator d (31), pressure compensator a (13) and pressure compensation
Detection alarm sensor (30) is each equipped on device d (31).
4. a kind of underwater monitoring device of ocean exploration basal disc as claimed in claim 3, which is characterized in that the pressure clamp (4)
It is equipped with close to switch, it is described to be separately connected power module and digital data acquisition module close to switch.
5. a kind of underwater monitoring device of ocean exploration basal disc as described in claim 1, which is characterized in that the control system packet
It includes hydraulic power station (10), hydraulic power station (10) includes Electric Machine at Pumping Station cabin (15), and the import of Electric Machine at Pumping Station cabin (15) connects pump
It stands motor switch cabin (8), the outlet of Electric Machine at Pumping Station cabin (15) connects check valve (16), and the outlet of check valve (16) is separately connected storage
Can device (20) and valve group cabin (17), the valve group cabin (17) includes oil inlet P, oil return inlet T, actuator port A and actuator port B,
The oil inlet P in valve group cabin (17) is connect with the outlet of check valve (16), actuator port A and pressure clamp (4) of valve group cabin (17)
Rod cavity connection, the actuator port B of valve group cabin (17) pass sequentially through hydraulic control one-way valve (18) sum aggregate stream flow divider (19) and pressure clamp
(4) plug chamber connection, the oil return inlet T of valve group cabin (17) are connect with fuel tank (14).
6. a kind of underwater monitoring device of ocean exploration basal disc as claimed in claim 5, which is characterized in that the valve group cabin (17)
Including the overflow valve (27) and two-position two-way solenoid valve (28) connected side by side, one end of overflow valve (27) is separately connected system pressure
The other end of sensor (29) He Liangwei four-way electromagnetic reversing valve (26), overflow valve (27) connects two four-way electromagnetic reversing valves
(26), one end of two-position two-way solenoid valve (28) is separately connected system pressure sensor (29) He Liangwei four-way electromagnetic reversing valve
(26), the other end of two-position two-way solenoid valve (28) connects two four-way electromagnetic reversing valves (26), the oil inlet P of valve group cabin (17)
It is separately connected two four-way electromagnetic reversing valves (26), overflow valve (27), two-position two-way solenoid valve (28) and system pressure sensing
(29), the oil return inlet T of valve group cabin (17) is inwardly separately connected four-way electromagnetic reversing valve (26), overflow valve (27) and bi-bit bi-pass electricity
Magnet valve (28), actuator port A and actuator port B are all connected with two four-way electromagnetic reversing valves (26).
7. a kind of underwater monitoring device of ocean exploration basal disc as claimed in claim 5, which is characterized in that the Electric Machine at Pumping Station cabin
(15) include the identical gear oil pump (24) of one group of structure, be equipped with motor (23) on each gear oil pump (24), two gears
One end of oil pump (24) connects filter (25), and filter (25) is communicated with fuel tank (14), two gear oil pumps (24) it is another
End connection check valve (16).
8. a kind of underwater monitoring device of ocean exploration basal disc as claimed in claim 5, which is characterized in that the pressure compensator
B (21) is communicated with the hydraulic oil pipeline of Electric Machine at Pumping Station cabin (15) and valve group cabin (17) respectively, pressure compensator c (22) connection fuel tank
(14), detection alarm sensor (30) is each equipped on pressure compensator b (21) and pressure compensator c (22).
9. a kind of underwater monitoring device of ocean exploration basal disc as described in any one of claims 1 to 8, which is characterized in that described
Mounting rack (2) is equipped with illumination camera unit (11) and passes sensor unit (12), and the illumination camera unit (11) includes well
Mouth monitoring, illumination lamp and well head monitor camera, the well head monitoring, illumination lamp and well head monitor camera pass through mounting bracket
It is fixed in the lower section of top base (1), the biography sensor unit (12) includes water depth sensor and underwater posture instrument, the depth of water
Sensor and underwater posture instrument pass through mounting bracket and are fixed on mounting rack (2).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910245129.1A CN109974779A (en) | 2019-03-28 | 2019-03-28 | A kind of underwater monitoring device of ocean exploration basal disc |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910245129.1A CN109974779A (en) | 2019-03-28 | 2019-03-28 | A kind of underwater monitoring device of ocean exploration basal disc |
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| CN109974779A true CN109974779A (en) | 2019-07-05 |
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Cited By (2)
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| CN117401132A (en) * | 2023-12-15 | 2024-01-16 | 天津瀚海蓝帆海洋科技有限公司 | Buoyancy adjusting method and buoyancy adjusting device of underwater robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111197602A (en) * | 2020-01-14 | 2020-05-26 | 宝鸡石油机械有限责任公司 | Seabed base plate hydraulic system and energy-saving control method of system |
| CN117401132A (en) * | 2023-12-15 | 2024-01-16 | 天津瀚海蓝帆海洋科技有限公司 | Buoyancy adjusting method and buoyancy adjusting device of underwater robot |
| CN117401132B (en) * | 2023-12-15 | 2024-02-09 | 天津瀚海蓝帆海洋科技有限公司 | Buoyancy adjusting method and buoyancy adjusting device of underwater robot |
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Effective date of registration: 20200927 Address after: Baoji City, Shaanxi Province, 721002 Dongfeng Road, Jintai District No. 2 Applicant after: Baoji Oilfield Machinery Co.,Ltd. Applicant after: CHINA NATIONAL PETROLEUM Corp. Applicant after: CNPC national oil and gas drilling equipment Engineering Technology Research Center Co., Ltd Address before: Baoji City, Shaanxi Province, 721002 Dongfeng Road, Jintai District No. 2 Applicant before: Baoji Oilfield Machinery Co.,Ltd. |
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