CN206205886U - Underwater platform for exploring sampling or in-situ test - Google Patents
Underwater platform for exploring sampling or in-situ test Download PDFInfo
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- CN206205886U CN206205886U CN201621093083.4U CN201621093083U CN206205886U CN 206205886 U CN206205886 U CN 206205886U CN 201621093083 U CN201621093083 U CN 201621093083U CN 206205886 U CN206205886 U CN 206205886U
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- platform
- underwater
- control module
- supporting leg
- sampling
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Abstract
The utility model discloses a kind of underwater platform for exploring sampling or in-situ test, including with lower component：Main platform body, including a scope of operation, for installing underwater exploration sampling equipment or in-situ test equipment；Adjustable supporting leg, there is multiple, installed in the surrounding of the main platform body；Data acquisition module, including for measuring the obliquity sensor at the scope of operation with respect to the horizontal plane inclination angle, and for measuring adjustable pressure of support leg duty pressure sensor；Control module, is connected with above-mentioned data acquisition module and adjustable supporting leg respectively, and control module receives the signal of obliquity sensor and pressure sensor, and adjusts the length of each adjustable supporting leg, makes the scope of operation holding level of main platform body；Communication module, the control module is communicated by communication module with host computer.The utility model underwater platform can self-adapting intelligent leveling, adapt to the exploration operation of Complex Sea bed surface, the underwater stratum parameter of acquisition is true and reliable.
Description
Technical field
The utility model is related to a kind of underwater exploration platform, can ensure that offshore waters geotechnical investigation sampling or survey in situ
Examination is normally carried out, and specifically, belongs to a kind of offshore engineering sea bed formula survey platform.
Background technology
In recent years, along with a series of coastal waters works such as bridge spanning the sea, offshore wind farm, deep water port, artificial islands and reefs, seabed tunnel
Cheng Jianshe, and national the Belt and Road strategy implementation, the water transport prospecting of China makees to extend to high sea, specially from coastal offshore already
Category economic zone, Asia and Africa, Latin America's continent harbor area.Marine engineering prospecting relates generally to core boring sampling and in-situ test, existing sea
Bottom samples and mainly relies on the seabed of rig sampling or Introduced From Abroad on ship borne type platform or elevating platform in situ with in-situ test
Equipment is carried out, Qian Zheru：Chinese invention patent " the unilateral cantilever type water survey platform system of Patent No. 200910194680.4
System "；The latter has：Dutch (A.P.Van den berg B.V.) ROSON-40kN types seabed CPT equipment；The U.S.
(Williamson＆Associates) BMS serial equipments.Document is " for the ROSON-40kN types seabed CPT of marine geologic survey
(Qi Chen waits engineering investigations, 2012, (9) to equipment ":30-34.) with " the domestic and international current situation and development trend of seabed rig "
(Zhang Hanquan waits University Of Science and Technology Of Hunan journal (natural science edition), 2016,31 (1):1-7.) etc. have a detailed description.
Such as, Chinese invention patent application CN102518105A describes a kind of " seabed static sounding penetration device ", carries
A kind of static sounding perforation device suitable for seabed is supplied, it is the feeler inspection technique of 15m to be capable of achieving depth capacity.The device is adapted to
Gentle sea bed, it is difficult to solve the factors such as complicated sea situation, sea bed rise and fall, ocean current washes away, injection vibrate and cause to be on sea bed face
Device incline so that in feeler inspection penetration process through base central drilling rod produce radial direction torsion so that the number for being gathered
According to distortion.
And for example, Chinese invention patent application CN102220841A is disclosed a kind of " a kind of submarine sampling drilling rig ", there is provided one
Submarine sampling drilling rig is planted, the submarine sampling drilling rig can take sample (3m) on sea bed top layer；Control system is to seabed rig on from ship
Power supply and informational linkage so that drilling process has features such as " visualizations ".But there is unitary function, drilling depth is not enough, difficult
To solve the problems, such as rig revolution at a high speed may cause under water basement tilt, the normal work of measuring and controlling equipment is influenceed.
In sum, existing apparatus and method have with strong points, unitary function weakness, it is difficult to solve Complex Sea
On bed surface sampling or in-situ test during produced equipment base gradually incline this problem.This inclination the lighter makes to survey under water
Path offset is visited, gathered formation data authenticity and reliability is influenceed；Severe one causes the distortion of drilling rod or fractures, with lotus
Carrying increase can cause equipment fault；More will notably cause equipment capsizing case, this problem limits prior art in coastal waters
Application in being reconnoitred under engineering water.
Utility model content
A technical problem to be solved in the utility model is to provide a kind of low cost, multipurpose, with self-adapting intelligent
Levelling function for underwater exploration sampling or in-situ test platform, to overcome the defect of prior art.
In order to solve the above-mentioned technical problem, the utility model uses following technical scheme：One kind is for exploring sampling or former
The underwater platform of bit test, including with lower component：Main platform body, including a scope of operation, for installing underwater exploration sampling equipment
Or in-situ test equipment；Adjustable supporting leg, there is multiple, installed in the surrounding of the main platform body；Data acquisition module, including with
In the obliquity sensor at the measurement scope of operation with respect to the horizontal plane inclination angle, and for measuring adjustable pressure of support leg duty pressure sensing
Device；Control module, is connected with above-mentioned data acquisition module and adjustable supporting leg respectively, control module receive obliquity sensor and
The signal of pressure sensor, and the length of each adjustable supporting leg is adjusted, make the scope of operation holding level of main platform body；Communication mould
Block, the control module is communicated by communication module with host computer.
Preferably, the main platform body includes the platform base and platform cover lid that are detachably connected, the platform base
Base plate is the scope of operation of main platform body.
More preferably, the platform base is a cuboid framework, and the platform cover lid is a truncated rectangular pyramids shape framework, platform cover
Cover and be provided with hanger.
Preferably, the adjustable supporting leg is made up of hydraulic cylinder, and the piston rod of hydraulic cylinder is extended downwardly, the lower end of piston rod
It is provided with shoe.
Preferably, also including the electro-hydraulic reversing valve being connected with the hydraulic cylinder, the electro-hydraulic reversing valve and control module
Electrical connection.
Preferably, the obliquity sensor is double-shaft tilt angle sensor.
Preferably, the also power module including being powered for the control module, data acquisition module and communication module.
Preferably, also including a umbilical cables, the umbilical cables include the cable being connected with operation lash ship.
More preferably, the pipeline being connected with operation lash ship is also included in the umbilical cables.
Another technical problem to be solved in the utility model is to provide a kind of application method of above-mentioned underwater platform, the party
Method is comprised the following steps：
A, installation：Each building block is transported to exploration scene, the underwater platform is assembled into；
B, towage：With operation lash ship by mounted underwater platform towage to the operation marine site specified；
C, debugging：It is powered, checks the operation conditions of data acquisition module, communication module and control module, observes host computer
The information of upper display, normal rear reset；
D, release：Underwater platform is slowly put into specified marine site using the crane on operation lash ship；
E, monitoring；During platform is drowned into sea bed face under water, the host computer meeting display platform on operation lash ship inclines
The information such as angle, pressure of support leg value, it is ensured that the normal land of underwater platform are on sea bed, and automatic intelligent carries out leveling；
F, operation, start the exploration sampling equipment or in-situ test equipment on underwater platform, are sampled or test jobs,
In operation process, drilling vibration and flow velocity wash away and are likely to result in underwater platform inclination, and underwater platform will be according to data acquisition module
The signal of block collection, control module controls to adjust the length of each adjustable supporting leg, makes the scope of operation holding level of main platform body；
G, transition, after the sampling of one setting of completion or test jobs, lift by crane transition, reach next operating location, weight
Multiple above-mentioned steps C~F, until specifying the job task in marine site to be fully completed.
Compared with prior art, the utility model has the advantages that：
(1) the utility model is provided with adjustable supporting leg, data acquisition module and control module, and control module receives inclination angle
The signal of sensor and pressure sensor, and each adjustable supporting leg of dynamic regulation length, make the scope of operation of main platform body
Level is kept in bed process and operation process, therefore the utility model underwater platform adapts to the exploration operation of Complex Sea bed surface,
The underwater stratum parameter of acquisition is true and reliable.The issuable drilling tool of platform inclination is radially turned round during solving exploration operation
Power, machine undermine the problem of the formation data distortion of acquisition etc..
(2) the utility model is also provided with communication module, can be by host computer to underwater platform on operation lash ship
State and operation carry out monitor in real time and remote control.
(3) the utility model underwater platform uses modularized design, is readily transported；Driving use thrust is big, small volume, weight
Amount is light, the hydraulic transmission mode of compact conformation.
Brief description of the drawings
Fig. 1 is the utility model underwater platform dimensional structure diagram.
Fig. 2 is the cut-away illustration under the utility model underwater platform job state.
Fig. 3 is the structural decomposition diagram of the utility model underwater platform.
Fig. 4 is the composition frame chart of the utility model underwater platform hardware system.
Fig. 5 is the control schematic diagram that the utility model underwater platform discharges process.
Fig. 6 is the process schematic of the utility model underwater platform self-adapting intelligent leveling.
10 umbilical cables；11 main platform bodies；12 vertical rods；13 osculums；
14 pedestal crossbeams；15 hangers；16 pilot holes；17 bolts；
18 scope of operations；19 machine frame holes；20 frame seats；21 adjustable supporting legs；
22 anchor ears；23 shoes；25 base central holes；30 platform cover lids；
32 cover lid crossbeams；33 platform bases；40 drill pipe couplings；41 drilling rods；
42 static sounding probes；43 cross wrench；44 soil samplers；45 exploring equipments；
Specific embodiment
Specific embodiment of the present utility model is described in further detail below in conjunction with the accompanying drawings.These implementation methods are only
For illustrating the utility model, and it is not limitation of the utility model.
It should be noted that in description of the present utility model, unless otherwise clearly defined and limited, term " connection "
Should be interpreted broadly, for example, it may be being fixedly connected, or being detachably connected, or be integrally connected；Can be that machinery connects
Connect, or electrically connect；Can be joined directly together, it is also possible to be indirectly connected to by intermediary, can be in two elements
The connection in portion；Term " sampling " is referred to using soil sampler " sampling " or " sampling " in weak soil, " is taken using core bit in rock
Core ", is referred to as " sampling " here.For the ordinary skill in the art, with concrete condition above-mentioned term can be understood at this
Concrete meaning in utility model.
As Figure 1-3, the utility model is a kind of puts down for exploring the underwater platform of sampling or in-situ test including one
Platform main body 11, the bottom of main platform body 11 is provided with a scope of operation 18, and the scope of operation 18 is used to install exploring equipment 45, exploring equipment 45
Can, for rig under water or in-situ test equipment, be installed according to job requirements.If job requirements are exploration sampling, exploration
From rig under water, the soil sampler 44 for sampling is installed in the lower end of drilling rod 41 to equipment 45；If job requirements are soft viscous in-situ tests
Native undrained shear strength, then using cross plate shearing instrument under water, cross wrench 43 is installed in the lower end of drilling rod 41 to exploring equipment 45；If
Need scene to obtain the indexs such as bearing stratum depth, bearing capacity of foundation slab, sand liquefaction, then the static(al) in in-situ test classification is installed
Cone penetration test equipment, static sounding probe 42 is installed in the lower end of drilling rod 41.In a word, the type according to exploring equipment 45 is installed therewith
Supporting probe.Frame seat 20 is set in the scope of operation 18, and exploring equipment 45 is arranged on frame seat 20, by bolt and frame seat
Machine frame hole 19 on 20 is connected.
Multiple adjustable supporting legs 21 are installed in the surrounding of main platform body 11；Adjustable supporting leg 21 is preferably by hydraulic cylinder structure
Into the piston rod of hydraulic cylinder is extended downwardly, and the lower end of piston rod is provided with shoe 23, can be adjusted by elongating or shortening for piston rod
The entire length of section adjustable supporting leg 21.The cylinder body of hydraulic cylinder is fixed in main platform body 11 by anchor ear 22.Certainly, adjustable branch
The structural shape that leg 21 can also can be stretched using screw-rod structure etc..
In a kind of preferred embodiment of the present utility model, main platform body 11 is detachable by platform base 33 and platform cover lid 30
It is formed by connecting.More preferably, the platform base 33 is a cuboid framework, and platform cover lid 30 is a truncated rectangular pyramids shape framework, is put down
Platform cover lid 30 is formed by fixedly connecting by cover lid crossbeam 32, upper cover plate 34 and cant beam, and upper cover plate 34 is provided with multiple hangers 15, umbilical cord
The upper end of cable 10 is connected through upper cover plate 34 with operation lash ship, and the center of upper cover plate 34 is provided with pilot hole 16, and pilot hole 16 allows to survey
The drilling rod 41 of spy equipment 45 is upwardly extended, and drilling rod is lengthened with will pass through drill pipe coupling 40.Platform base 33 is horizontal by pedestal
Beam 14 and vertical rod 12 are formed by fixedly connecting, and the bottom of platform base 33 is provided with base plate 18, and the base plate 18 constitutes above-mentioned platform master
The scope of operation 18 of body.Exploring equipment 45 is arranged on base plate 18, and base plate 18 is provided with base central hole 25 and multiple osculums 13,
Base central hole 25 allows the drilling rod 41 of exploring equipment 45 to extend vertically downward, and osculum 13 is then conducive to being protected during release
Water holding lower platform stabilization, it is to avoid rock.Cover lid crossbeam 32 is fixedly connected with pedestal crossbeam 14 by bolt 17, that is, constitutes platform
Main body 11.
Closed control cabinet is also equipped with the inside of main platform body 11, data acquisition module, control are provided with closed control cabinet
The circuit components such as molding block and communication module, can also include being the data acquisition module, control module and communication certainly
The power module of module for power supply.
As shown in figure 4, data acquisition module includes the obliquity sensor for measuring the scope of operation with respect to the horizontal plane inclination angle,
The output signal of obliquity sensor is transferred to control module by signal amplifier, and obliquity sensor is preferably double-shaft tilt angle sensing
Device；Data acquisition module is also included for measuring adjustable pressure of support leg duty pressure sensor, equal on each adjustable supporting leg 21
Pressure sensor is provided with, the output signal of pressure sensor is transferred to control module after being changed through A/D, control module receives above-mentioned
The signal of obliquity sensor and pressure sensor, and control instruction is sent, the length of each adjustable supporting leg is adjusted, make main platform body
The scope of operation keep level.Such as, the control instruction that control module sends, after D/A conversions and proportional amplifier are amplified, control
Electro-hydraulic reversing valve processed, adjusts the elongation of each hydraulic cylinder, so as to adjust the length of adjustable supporting leg 21.Control module can be with
Communicated with the host computer on operation lash ship by communication module, the status information of underwater platform is uploaded into host computer, or
Person receives control instruction from host computer.For the ease of realizing the communication between operation lash ship and underwater platform, one can be used
Umbilical cables 10 come connection operation lash ship and underwater platform, in umbilical cables in addition to including the communication cable being connected with host computer, also
Can include power cable, or even can also including hydraulic line etc. connection means.
Software control system is built-in with control module of the present utility model, as shown in figure 5, the release of platform under water
Cheng Zhong, control module reads the pressure value (a, b, c, d) of the adjustable supporting leg of each bar by data acquisition module, when adjustable supporting leg
When pressure is less than threshold value, represents supporting leg and do not land, then continue to discharge underwater platform；If certain the pressure of adjustable supporting leg is more than threshold
Value, then represent this adjustable leg and landed, and control module gathers the inclination angle of obliquity sensor by data acquisition module BOB(beginning of block)
Value (X, Y), and the inclination angle in platform operations face is calculated, when the inclination angle in platform operations face is more than threshold value (n), illustrate that sea bed face is oblique
Face (slope), then underwater platform stopping is discharged, and starts above to carry a segment distance, then changes prospecting position；If platform operations face
Inclination angle is less than threshold value, then underwater platform can continue decentralization, until platform lands.After platform lands, if the pressure of certain supporting leg is small
In threshold value, the leg is judged to empty leg, then need to harmonize (extend this supporting leg), if adjustment scope exceedes setting range and (such as surpasses
Cross the range of hydraulic cylinder), then change prospecting position；If the pressure of each bar supporting leg shows under water all in normal range (NR)
Platform normally lands, discharges process and terminates, and can start exploration operation.
After underwater platform is discharged successfully, during due to underwater operation (sampling or in-situ test), water impact on sea bed, wash away
And vibration equipment so that the equipment based on platform base produces inclination angle, and control module will be implemented to supervise by certain time interval (T)
Survey, with the intelligent automatic leveling of uninterrupted mode, it is ensured that the exploration path of the exploring equipment on underwater platform all the time with sea bed face
Vertically.As shown in fig. 6, control module reads inclination value (X, Y) by data acquisition module, using peak is motionless, low spot is " single
To regulation " leveling algorithm, minimum point X-direction leveling, then minimum point Y-direction leveling, if there is empty leg after leveling, continuation is adjusted
Flat, otherwise leveling terminates.
The application method to above-mentioned underwater platform is illustrated below, and the method is comprised the following steps：
(1) install：Each building block of above-mentioned underwater platform is placed in container or packing case, transport to the scene of exploring
Near, it is assembled into the underwater platform；Conventional exploring equipment has static sounding (perforation device, under water cone penetrometer), four-bladed vane
Shearing (boxshear apparatus, under water device for measuring force), exploration sampling (soil sampler, under water rig) etc., on demand in underwater platform, form
The underwater platform of complete set.
(2) towage：By mounted underwater platform, with (the exploration ship or elevating platform) towage of operation lash ship to specifying
Operation marine site, is positioned or made using anchoring elevating platform pitching pile to position and fix.
(3) debug：It is powered, checks the operation conditions of each parts such as data acquisition module, control module, communication module, and
Display information on observation host computer, normal rear reset.
(4) discharge：Using the crane on operation lash ship, by the rope being through on underwater platform hanger, by underwater platform
Slowly it is put into water from moon pool together with umbilical cables, and screws drilling rod on drill pipe coupling step by step and is lengthened；If surveying under water
Equipment is examined equipped with drill pipe system is added, then when discharging underwater platform, is implemented automatically plus drilling rod by exploration equipment under water.
(5) monitor：During platform (including various kinds of equipment on platform) is drowned into sea bed face under water, on operation lash ship
Host computer can the parameter such as display platform inclination angle, pressure of support leg value, it is ensured that underwater platform is normal, smoothly land on sea bed,
And automatic intelligent carries out leveling.
(6) operation：Start the exploration sampling equipment or in-situ test equipment on underwater platform, be sampled or test work
Industry, because required stratum physics is different from mechanics parameter, from targetedly exploring equipment.Some exploring equipments are in operation
Cheng Zhong, the vibration of generation or ocean current wash away etc. and to cause underwater platform deflection, control module by according to set time interval not
Signal is discontinuously obtained from data acquisition module, intelligent automatic implementation leveling makes scope of operation holding level, samples exploration
Or in-situ test equipment drilling rod, pop one's head in it is vertical with sea level holdings bury, until the setting explore completion.
(7) transition：After the sampling of one setting of completion or test jobs, transition is lifted by crane, reach next operating location, weight
Multiple above-mentioned steps (3)~(6), until specifying the job task in marine site to be fully completed.
The utility model underwater platform, is applicable all kinds of exploration operations, widely used.Operation field is installed, transport facility, base
Originally reach and once load and unload, so that it may complete the prospecting sampling or in-situ test operation of entire area.The utility model is fully demonstrated
Modularized design, convenient and recycling the environmental protection concept of transport；Underwater platform possesses self-adapting intelligent levelling function, with steady
The features such as qualitative height, low cost, rely on the utility model and carry out marine all kinds of prospecting sampling operation or in-situ tests, can be to set
Meter or research provide the Rock And Soil physics and mechanics parameter for meeting GB, American Standard.
The above is only preferred embodiment of the present utility model, it is noted that for the common skill of the art
For art personnel, on the premise of the utility model know-why is not departed from, some improvement and replacement can also be made, these change
Enter and replace also to should be regarded as protection domain of the present utility model.
Claims (9)
1. a kind of underwater platform for exploring sampling or in-situ test, it is characterized in that, including with lower component：
Main platform body, including a scope of operation, for installing underwater exploration sampling equipment or in-situ test equipment；
Adjustable supporting leg, there is multiple, installed in the surrounding of the main platform body；
Data acquisition module, including for measuring the obliquity sensor at the scope of operation with respect to the horizontal plane inclination angle, and for measuring
Adjustable pressure of support leg duty pressure sensor；
Control module, is connected with above-mentioned data acquisition module and adjustable supporting leg respectively, and control module receives obliquity sensor
With the signal of pressure sensor, and the length of each adjustable supporting leg is adjusted, make the scope of operation holding level of main platform body；
Communication module, the control module is communicated by communication module with host computer.
2. underwater platform according to claim 1, it is characterized in that, the main platform body includes the platform base being detachably connected
Seat and platform cover lid, the base plate of the platform base are the scope of operation of main platform body.
3. underwater platform according to claim 2, it is characterized in that, the platform base is a cuboid framework, described flat
Platform cover lid is a truncated rectangular pyramids shape framework, and platform cover is covered and is provided with hanger.
4. underwater platform according to claim 1, it is characterized in that, the adjustable supporting leg is made up of hydraulic cylinder, hydraulic cylinder
Piston rod extend downwardly, the lower end of piston rod is provided with shoe.
5. underwater platform according to claim 4, it is characterized in that, the also electro-hydraulic commutation including being connected with the hydraulic cylinder
Valve, the electro-hydraulic reversing valve is electrically connected with control module.
6. underwater platform according to claim 1, it is characterized in that, the obliquity sensor is double-shaft tilt angle sensor.
7. underwater platform according to claim 1, it is characterized in that, also including being the control module, data acquisition module
The power module powered with communication module.
8. underwater platform according to claim 1, it is characterized in that, also including a umbilical cables, the umbilical cables include
The cable being connected with operation lash ship.
9. underwater platform according to claim 8, it is characterized in that, also include being connected with operation lash ship in the umbilical cables
Pipeline.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621093083.4U CN206205886U (en) | 2016-09-29 | 2016-09-29 | Underwater platform for exploring sampling or in-situ test |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621093083.4U CN206205886U (en) | 2016-09-29 | 2016-09-29 | Underwater platform for exploring sampling or in-situ test |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206205886U true CN206205886U (en) | 2017-05-31 |
Family
ID=58761028
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621093083.4U Expired - Fee Related CN206205886U (en) | 2016-09-29 | 2016-09-29 | Underwater platform for exploring sampling or in-situ test |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106437698A (en) * | 2016-09-29 | 2017-02-22 | 中交第三航务工程勘察设计院有限公司 | Underwater platform for exploration sampling or in-situ test and using method thereof |
| CN108759889A (en) * | 2018-06-04 | 2018-11-06 | 国家海洋局第二海洋研究所 | Support device and sensor-based detection device |
| CN109094742A (en) * | 2018-10-24 | 2018-12-28 | 中国海洋大学 | A kind of bottom sediment mechanical characteristic in-situ measurement device deep suitable for full sea |
| CN109204747A (en) * | 2018-10-24 | 2019-01-15 | 中国海洋大学 | The cable-free type submarine observation system deep suitable for full sea |
| CN109278962A (en) * | 2018-10-24 | 2019-01-29 | 中国海洋大学 | A kind of cable-free type sea bed observation platform deep suitable for full sea |
| CN109297803A (en) * | 2018-10-24 | 2019-02-01 | 中国海洋大学 | A kind of bottom sediment mechanical characteristic measuring system deep suitable for full sea |
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2016
- 2016-09-29 CN CN201621093083.4U patent/CN206205886U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106437698A (en) * | 2016-09-29 | 2017-02-22 | 中交第三航务工程勘察设计院有限公司 | Underwater platform for exploration sampling or in-situ test and using method thereof |
| CN108759889A (en) * | 2018-06-04 | 2018-11-06 | 国家海洋局第二海洋研究所 | Support device and sensor-based detection device |
| CN109094742A (en) * | 2018-10-24 | 2018-12-28 | 中国海洋大学 | A kind of bottom sediment mechanical characteristic in-situ measurement device deep suitable for full sea |
| CN109204747A (en) * | 2018-10-24 | 2019-01-15 | 中国海洋大学 | The cable-free type submarine observation system deep suitable for full sea |
| CN109278962A (en) * | 2018-10-24 | 2019-01-29 | 中国海洋大学 | A kind of cable-free type sea bed observation platform deep suitable for full sea |
| CN109297803A (en) * | 2018-10-24 | 2019-02-01 | 中国海洋大学 | A kind of bottom sediment mechanical characteristic measuring system deep suitable for full sea |
| CN109204747B (en) * | 2018-10-24 | 2020-02-25 | 中国海洋大学 | Cable-free type seabed observation system suitable for full sea depth |
| CN109278962B (en) * | 2018-10-24 | 2023-11-03 | 中国海洋大学 | Cable-free submarine observation platform suitable for full sea depth |
| CN109094742B (en) * | 2018-10-24 | 2023-11-14 | 中国海洋大学 | In-situ measurement device for mechanical properties of submarine sediments suitable for full sea depth |
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170531 Termination date: 20200929 |