WO2007079556A1 - Procede, dispositif et systeme de surveillance de cables sous-marins - Google Patents

Procede, dispositif et systeme de surveillance de cables sous-marins Download PDF

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Publication number
WO2007079556A1
WO2007079556A1 PCT/BR2006/000003 BR2006000003W WO2007079556A1 WO 2007079556 A1 WO2007079556 A1 WO 2007079556A1 BR 2006000003 W BR2006000003 W BR 2006000003W WO 2007079556 A1 WO2007079556 A1 WO 2007079556A1
Authority
WO
WIPO (PCT)
Prior art keywords
sensor
monitoring device
line
capsule
variation
Prior art date
Application number
PCT/BR2006/000003
Other languages
English (en)
Inventor
Anselmo Carvalho Pontes
José Mauricio Ferreira de MATOS
Original Assignee
Anselmo Carvalho Pontes
Matos Jose Mauricio Ferreira D
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Anselmo Carvalho Pontes, Matos Jose Mauricio Ferreira D filed Critical Anselmo Carvalho Pontes
Priority to PCT/BR2006/000003 priority Critical patent/WO2007079556A1/fr
Publication of WO2007079556A1 publication Critical patent/WO2007079556A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
    • B63B21/04—Fastening or guiding equipment for chains, ropes, hawsers, or the like
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/04—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring tension in flexible members, e.g. ropes, cables, wires, threads, belts or bands
    • G01L5/10—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring tension in flexible members, e.g. ropes, cables, wires, threads, belts or bands using electrical means
    • G01L5/102—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring tension in flexible members, e.g. ropes, cables, wires, threads, belts or bands using electrical means using sensors located at a non-interrupted part of the flexible member
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
    • B63B21/50—Anchoring arrangements or methods for special vessels, e.g. for floating drilling platforms or dredgers

Definitions

  • the present invention refers to a method, system and device to monitor underwater lines. More specifically, the present invention refers to a monitoring device and system, including rupture alert and data collection, to be applied to lines pertaining to anchoring, production flow, communication, electric, hydraulic systems and other vessel systems, monobuoys, platforms and other floating or fixed units that must be positioned in a definitive or provisional form for sea operations.
  • the object of the present invention is a monitoring device that identifies the angle, traction forces, rupture or breaking of underwater lines in order to overcome the above presented problems.
  • Another objective of the present invention is a monitoring method to identify the angle, traction forces, rupture or breaking of underwater lines that can be easily applied with high reliability.
  • the monitoring device for underwater lines to be employed to monitor environment conditions and the rupture of underwater lines comprises a capsule fastened at a given depth to said anchoring line or to a parallel structure to said line, so that any movement of the line is followed by the capsule and that said capsule houses at least one sensor relative to a parameter that indicates a variation in the position of said capsule and a communication unit to inform any variation of said parameter.
  • the monitoring system for underwater lines to be used to control environment conditions and the rupture of underwater lines comprises:
  • a monitoring device fastened at a given depth to a line or parallel structure, so that any movement of the line is followed by the monitoring device, and that said monitoring device comprises at least one sensor relative to a parameter that indicates a variation in the position of said monitoring device, and a communication unit to inform any variation in said parameter;
  • a receiver/transmitter to receive and send signals to at least one monitoring device and receive and send signals to a processing unit; and - a processing unit in communication with said receiver/transmitter to at least measure the angle, calculate the traction forces and show the break of a line by an alert signal, detectable by the variation of the parameter detected by said sensor.
  • the monitoring method for underwater lines to be employed for the control of environment conditions and of the rupture of underwater lines comprises the steps of:
  • the present invention refers to a complex monitoring system provided with a monitoring device, an appropriate shaped capsule, to be installed by divers at a point of the anchoring line, cable or duct, directly on said line or by a parallel support structure; of a receiver/transmitter of hydro-acoustic signals, electric cable, optical cable, etc., to be installed on the hull of the vessel or near it; and of a processing unit installed on the vessel.
  • the system can be installed independently from the material of the cable, moorings or duct to be monitored.
  • the monitoring device is formed by a capsule fastened to an underwater line, such as an anchoring cable, a production flow line, a communication line, an electric cable, a hydraulic cable or any other line that has one end fastened to a vessel or platform and the other to the sea floor, or similar one.
  • Said capsule is hermetically sealed and it houses at least a relative position sensor and a hydro-acoustic communication unit, or electric cable, or optical cable, to send the data of the position sensor to the receiver/transmitter installed on the vessel or on the platform.
  • FIG. 1 is a schematic view of an oil extraction vessel showing three anchoring cables comprising the device of the present invention
  • FIG. 2 is a schematic view of an oil extraction platform showing two anchoring cables comprising the device of the present invention
  • - Figure 3 is a schematic view showing the platform of Figure 2 with an anchoring cable broken below the device of the invention
  • - Figure 4 is a schematic view showing the platform of Figure 2, with an anchoring cable broken above the device of the invention
  • - Figure 5 is a schematic view of the monitoring system for underwater lines, in accordance with the present invention, with acoustic data transmission
  • - Figure 6 is a schematic view of the monitoring system for underwater lines, in accordance with the present invention, with cable data transmission.
  • the sea-based oil extraction vessels (11) and/or floating platforms (10) must remain in immovable position, or with minimum calculated displacements in relation to the wellhead (not shown) placed on the sea floor (12). To this purpose, they are anchored by a series of anchoring cables (20, 21 , 22) and similar ones, which fasten said platform (10) or vessel (11) to the corresponding anchors.
  • a series of service lines (not shown) connect said platform (10) to the wellhead and to the various supporting oil extracting devices, such as electric and hydraulic cables, communication lines, besides the production flow line itself.
  • the present invention includes the use of a monitoring system, which comprises a monitoring device shaped as a hermetically sealed capsule (15) and housing at least one position sensor (151) and one hydro-acoustic (152) communication unit, being said device fastened to one or more underwater lines (20) of an oil extraction vessel (11) or platform (10); of a receiver/transmitter (17) for hydro-acoustic signals to be installed on the vessel hull or near it; and a processing unit (14) installed on the vessel.
  • a monitoring system which comprises a monitoring device shaped as a hermetically sealed capsule (15) and housing at least one position sensor (151) and one hydro-acoustic (152) communication unit, being said device fastened to one or more underwater lines (20) of an oil extraction vessel (11) or platform (10); of a receiver/transmitter (17) for hydro-acoustic signals to be installed on the vessel hull or near it; and a processing unit (14) installed on the vessel.
  • the signal transmitted from the capsule (15) to the platform (10) and/or vessel (11) is made by electric cables (18), which connect the capsule (15) to the receiver/transmitter (17) directly, and from it to the processing unit (14) installed on the platform (10) and/or vessel (11).
  • the monitoring device is embodied as a hermetically sealed capsule (15) fastened, as stated, to each one of the anchoring cables (20) that keep the vessel or platform (see Figures 1 and 2), at a pre-established level on the surface of the water.
  • the capsule (15) may be fastened directly to the underwater lines (20) or to an appropriate support (16), so that the relative position between the capsule (15) and said underwater line (20, 21, 22) is always kept.
  • Said capsule (15) houses at least one position sensor (151), to indicate its position in relation to a system reference to which the vessel is anchored.
  • said sensor (151) may be a sloping sensor, a pressure sensor, an acceleration sensor or any other sensor that indicates the change or alteration of its position and, consequently the rupture of the anchoring cable (20).
  • said sensor (151) additionally has a temperature sensor to indicate the conditions of the line or anchoring cables (20).
  • the sensor (151) is an indicator of the sloping of the capsule (15). By reading the sloping, it is possible to calculate the traction the underwater line (20) is submitted to, using mathematical methods known in the art.
  • Said device comprises a hydro-acoustic communication unit to transfer the information detected by the above-mentioned sensors (151) to said receiver/transmitter installed on submerged part of the vessel (11) or platform (10), as well as to receive information and instructions from the same receiver/transmitter (17).
  • the transfer of the information collected by the sensor(s) (151) inside the capsule (15) may be made by electric cables (18), optical fiber cables (18), or any other mean that is capable to transmit the information collected by the referred sensors (151) to the platform (10) and/or vessel (11).
  • the receiver/transmitter (17) will receive the information collected by the sensors (151) of capsule (15) and send them to the processing unit (14).
  • the receiver/transmitter (17) may simply function to receive and retransmit the data collected by the sensors (151) to the capsule (15), or function as an acoustic/electric, optical/electric, analog/digital, etc. transducer to convert the signals received into electric, analog and/or digital signals.
  • the capsule (15) also comprises other accessory devices for the functioning of sensors (151) and the communication unit (152), such as a battery, logical circuits, data conversion circuits, alert signal generators, etc., to allow said communication with the receiver/transmitter (17) installed on the vessel (11) and/or platform (10).
  • other accessory devices for the functioning of sensors (151) and the communication unit (152), such as a battery, logical circuits, data conversion circuits, alert signal generators, etc., to allow said communication with the receiver/transmitter (17) installed on the vessel (11) and/or platform (10).
  • the system also comprises a processing unit (14), installed on said vessel (11) or platform (10), which is in direct contact with the receiver/transmitter (17) by means of appropriate electric cables (13), to send to the processing unit (14) the signals detected by the receiver/transmitter (17) that come from the monitoring devices
  • the monitoring devices (15) are initially calibrated and set in order to send different signals, i.e. signal that allow the identification of each anchoring cable (20) by means of a specific capsule (15). Afterwards, each one of the anchoring cables to be monitored receives its corresponding capsule (15), which is fastened to it to follow the movement of said cable or anchoring line (20 ), either directly or by an appropriate support (16).
  • the receiver/transmitter (17) and the processing unit (14) are installed on the vessel (11) or platform (10) and the corresponding electric (13) and communication connections are made between both of them.
  • the processing unit (14) starts to receive information coming from underwater capsules (15), which, as stated, may be information concerning pressure, sloping and/or acceleration, to which said capsules are submitted.
  • said capsules (15) may also send information related to the conditions said capsules (15) are subject to, such as their ambient temperature.
  • the capsules (15) are programmed to send information from their sensors at each given period of time.
  • the capsules do not send any signal until a variation of the indication of the internal sensors (151) shows the rupture of the anchoring cable (20), and then an alert signal is sent.
  • the capsules (15) emit hydro-acoustic signals that contain information from the sensors (151) when requested by the monitoring system, or when there is variation of sensor indications, thus denoting rupture of the anchoring cable (21 ,22).
  • the anchoring cable (22) breaks, e.g. above the position where a capsule (15) is installed (see Figure 4), the portion of the cable (22) below the region of rupture, and therefore the capsule itself (15), falls toward the sea floor (12) by gravity. Said fall makes the sensors installed in the capsule detect a variation, which may be of pressure (increase in external pressure), sloping (variation in the capsule inclination) or acceleration (acceleration due to cable (22) movement) and, thus the capsule (15) sends an alert signal indicating the rupture of the anchoring cable (22).
  • a variation which may be of pressure (increase in external pressure), sloping (variation in the capsule inclination) or acceleration (acceleration due to cable (22) movement
  • Said hydro- acoustic alert signal is received by the receiver/transmitter (17) installed on the submerged part of the vessel (11) or platform (10) and then sent to the processing unit (14), which warns operators, by the appropriate means, of the rupture of the anchoring cable (22), also and mainly indicating which cable (22) was broken. Said action allows the prompt replacement of the cable, thus avoiding any damage to the platform or other existing lines (20).
  • the monitoring device has the following minimum features: to send hydro-acoustic/electric/optical signals, to receive and process hydro- acoustic/electric/optical signals, to measure the angle of the anchoring line (22), to detect limit angles for alert, to measure the environment pressure, to record the data collected and to collect, record and transmit other variants depending on the installed sensors, such as temperature, etc.
  • Various capsules may be installed on one single vessel and work simultaneously.
  • the receiver/transmitter (17) is responsible for the communication between the capsule(s) (15) and the processing unit (14).
  • the processing unit can record data, emit alerts, monitor position and angle of the capsule(s) and make this information available to the system operators. Additionally, the processing unit (14) can calculate the traction in each anchoring line (15) by the data of the sloping of each one of the capsules (15). Specifically, and as known by the experts in the art, there is a straight relation between, on one hand, the position and the sloping angle of a capsule (15) (and therefore of an anchoring line (20), and the tension such anchoring line is submitted to. Thus, if the position and angle of a given capsule (15) are known, we can calculate the traction applied to the anchoring cable (20).
  • the system allows the following modes of operation, among others.
  • the pressure sensor detects the increase in external pressure and emits a hydro-acoustic signal to the receiver (17) located on the hull, enabling an alert of line rupture and identifying the line.
  • the device is set to actuate the alert signal, by hydro-acoustic transmission, when there is an abrupt change in the monitored angle when such angle goes beyond a pre-determined limit.
  • the anchoring line when broken below the installation point of the capsule, tends, by the gravitational pull, to reach angles of almost ninety degrees.
  • the operational mode of angle reading may also be provided with such a sensitivity that the falling movement to the sea floor is also detected, starting the hydro-acoustic signal mechanism, alerting the operators of the line rupture (21 , 22) and identifying it.
  • Such operational mode creates a redundancy to the detection of the external pressure limit to indicate the rupture above the installation point.
  • the system responds to a hydro-acoustic signal received from the control, showing its presence at the defined place and the integrity of the line concerning the possibility of rupture above the installation point.
  • the system may be provided with a timer that activates the hydro-acoustic signal transmission unit (152) by periodically sending a signal to the operation control, thus reporting its presence at the place of installation and identification of the line.
  • the system may be provided with sensors to gather any environment data required.
  • the device with such features and construction may be made in different sizes, shapes, power, sensitivity and operational modes to meet the different features of anchoring systems and users' requirements.
  • a capsule may house a combination of sensors, the mentioned sensors or others not mentioned, to monitor one or more parameters.
  • the capsule may be partially hermetic, thus allowing for the installation of few sensors (151) inside the hermetic portion and others in the non-hermetic portion of the capsule.
  • the capsule may also be provided with sensors, to gather environment data that will be sent to the processing unit of the vessel by the same hydro- acoustic signal transmission unit.
  • the enclosure of the capsule may have attachment means for the lines or attachments may be used to fasten said capsule to the specific cable or line.
  • the processing unit (14), besides sending an alert signal, may comprise means to request information from the sensors (151) by each one of the installed capsules and inform said parameters numerically by means of graphs or others.
  • the present invention was described as a hydro-acoustic transmission system, as an embodiment of the invention, other transmission forms of the data collected by the sensors in the capsule (15) may be used.
  • the capsules (15) may send the data collected by the sensors by electric, optical or other cables.
  • said electric, optical and/or other cables (18) may be directly connected to the processing system, without the use of the receiver/transmitter (17), as shown in figure 6.
  • the processing unit (14) e.g. a dedicated hardware or of general use

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  • Chemical & Material Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Analytical Chemistry (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Arrangements For Transmission Of Measured Signals (AREA)
  • Testing Or Calibration Of Command Recording Devices (AREA)

Abstract

L'invention concerne un système de surveillance de ruptures de câbles, notamment de câbles d'ancrage (20), dans des navires (11) et des plates-formes (10) d'extraction pétrolière. Le système comprend un dispositif de surveillance (15) fixé à un câble donné et à une profondeur donnée (20) pour suivre les mouvements du câble, ledit dispositif de surveillance comprenant au moins un capteur (151) servant à mesurer un paramètre indiquant une variation quelconque de la position dudit dispositif de surveillance (pression, inclinaison et/ou accélération), et un module de communication (152) servant à communiquer une variation quelconque dudit paramètre; un récepteur/émetteur (17) servant à recevoir et à envoyer des signaux à au moins un dispositif de surveillance, et à recevoir et envoyer des signaux à un module de traitement ; et enfin, un module de traitement (14) communiquant avec ledit récepteur/émetteur (17) pour indiquer au moins, au moyen d'un signal d'alerte, la rupture d'un câble, détectable par la variation du paramètre détectée par le capteur. Si le capteur du dispositif de surveillance (15) comprend un capteur d'inclinaison (151), le système peut également calculer la traction dans le câble d'ancrage (20) à partir de son angle d'inclinaison dans une position donnée.
PCT/BR2006/000003 2006-01-09 2006-01-09 Procede, dispositif et systeme de surveillance de cables sous-marins WO2007079556A1 (fr)

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PCT/BR2006/000003 WO2007079556A1 (fr) 2006-01-09 2006-01-09 Procede, dispositif et systeme de surveillance de cables sous-marins

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Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2008029125A1 (fr) * 2006-09-08 2008-03-13 Qinetiq Limited Détection de défaut d'amarrage
EP2351687A1 (fr) * 2010-01-12 2011-08-03 Nederlandse Organisatie voor toegepast -natuurwetenschappelijk onderzoek TNO Système d'amarrage
GB2483796A (en) * 2010-09-15 2012-03-21 Catenary Testing Ltd Tension meter calibration based on determining tension in a mooring line from its catenary curve
CN102385051A (zh) * 2011-11-08 2012-03-21 中国海洋石油总公司 一种基于短基线水声定位的系泊系统监测装置及监测方法
WO2013088157A1 (fr) * 2011-12-14 2013-06-20 Wfs Technologies Ltd Système et procédé de surveillance d'amarrage pour appareil en mer
CN107576476A (zh) * 2017-08-18 2018-01-12 中国船舶重工集团公司第七〇九研究所 海洋核动力平台单点系泊集成监控系统及方法
WO2020164760A1 (fr) * 2019-02-11 2020-08-20 Innogy Se Système de chaîne d'ancrage
WO2020200541A1 (fr) * 2019-04-04 2020-10-08 Single Buoy Moorings Inc. Procédé d'inspection de lignes d'ancrage caténaires reliées à un objet flottant
CN113049174A (zh) * 2021-02-21 2021-06-29 南通中远海运船务工程有限公司 一种原油转驳船输油管状态检测系统及方法
EP3943747A1 (fr) * 2020-07-24 2022-01-26 Siemens Gamesa Renewable Energy A/S Surveillance de lignes d'amarrage d'une turbine éolienne flottante
CN114705342A (zh) * 2022-04-02 2022-07-05 重庆交通大学 趸船码头缆绳受力实时监测及安全预警系统及方法
FR3132499A1 (fr) * 2022-02-10 2023-08-11 Nantes Universite Dispositif de surveillance d’au moins une ligne d’ancrage pour support flottant

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US4912464A (en) * 1989-02-17 1990-03-27 Bachman Donald H Anchor alarm for boats and the like
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RU2183303C1 (ru) * 2000-12-06 2002-06-10 Андреасян Игорь Генрихович Способ диагностики технического состояния морского участка трубопровода
DE10064419A1 (de) * 2000-12-21 2002-07-04 I For T Gmbh Bewegungs- und Neigungsüberwachungsvorrichtung
RU2230252C2 (ru) * 2002-07-16 2004-06-10 Дальневосточный государственный технический университет Способ предупреждения о разрыве продуктопровода

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US4651139A (en) * 1983-06-22 1987-03-17 Oettli Martin W Method for monitoring the drift of an anchored vessel and device for implementing the method
US4912464A (en) * 1989-02-17 1990-03-27 Bachman Donald H Anchor alarm for boats and the like
DE19716684A1 (de) * 1997-04-21 1998-10-22 Deep Blue Technology Ag Anker-/Ankerketten-Überwachungsvorrichtung
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RU2183303C1 (ru) * 2000-12-06 2002-06-10 Андреасян Игорь Генрихович Способ диагностики технического состояния морского участка трубопровода
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RU2230252C2 (ru) * 2002-07-16 2004-06-10 Дальневосточный государственный технический университет Способ предупреждения о разрыве продуктопровода

Cited By (22)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2008029125A1 (fr) * 2006-09-08 2008-03-13 Qinetiq Limited Détection de défaut d'amarrage
EP2351687A1 (fr) * 2010-01-12 2011-08-03 Nederlandse Organisatie voor toegepast -natuurwetenschappelijk onderzoek TNO Système d'amarrage
GB2483796A (en) * 2010-09-15 2012-03-21 Catenary Testing Ltd Tension meter calibration based on determining tension in a mooring line from its catenary curve
WO2012035354A1 (fr) 2010-09-15 2012-03-22 Catenary Testing Limited Procédé de détermination dans la tension d'un câble d'amarrage
GB2490619A (en) * 2010-09-15 2012-11-07 Catenary Testing Ltd Determining mooring line tension from its elastic response
GB2483796B (en) * 2010-09-15 2013-02-20 Catenary Testing Ltd Method of determining the tension in a mooring line
GB2490619B (en) * 2010-09-15 2013-10-16 Catenary Testing Ltd Method of determining the tension in a mooring line
CN102385051A (zh) * 2011-11-08 2012-03-21 中国海洋石油总公司 一种基于短基线水声定位的系泊系统监测装置及监测方法
WO2013088157A1 (fr) * 2011-12-14 2013-06-20 Wfs Technologies Ltd Système et procédé de surveillance d'amarrage pour appareil en mer
CN107576476A (zh) * 2017-08-18 2018-01-12 中国船舶重工集团公司第七〇九研究所 海洋核动力平台单点系泊集成监控系统及方法
WO2020164760A1 (fr) * 2019-02-11 2020-08-20 Innogy Se Système de chaîne d'ancrage
WO2020200541A1 (fr) * 2019-04-04 2020-10-08 Single Buoy Moorings Inc. Procédé d'inspection de lignes d'ancrage caténaires reliées à un objet flottant
CN113692378A (zh) * 2019-04-04 2021-11-23 瑞士单浮筒系泊公司 用于检查连接到漂浮物体的悬链锚缆绳的方法
EP4056458A1 (fr) * 2019-04-04 2022-09-14 Single Buoy Moorings Inc Procédé d'inspection de lignes d'ancrage caténaires connectées à un objet flottant
JP7472164B2 (ja) 2019-04-04 2024-04-22 シングル・ブイ・ムーリングス・インコーポレイテッド 浮遊物体に接続された懸垂アンカーラインを検査する方法
EP3943747A1 (fr) * 2020-07-24 2022-01-26 Siemens Gamesa Renewable Energy A/S Surveillance de lignes d'amarrage d'une turbine éolienne flottante
WO2022017834A1 (fr) * 2020-07-24 2022-01-27 Siemens Gamesa Renewable Energy A/S Surveillance de lignes d'amarrage d'une éolienne flottante
CN113049174A (zh) * 2021-02-21 2021-06-29 南通中远海运船务工程有限公司 一种原油转驳船输油管状态检测系统及方法
FR3132499A1 (fr) * 2022-02-10 2023-08-11 Nantes Universite Dispositif de surveillance d’au moins une ligne d’ancrage pour support flottant
WO2023152435A1 (fr) * 2022-02-10 2023-08-17 Nantes Universite Dispositif de surveillance d'au moins une ligne d'ancrage pour support flottant
CN114705342A (zh) * 2022-04-02 2022-07-05 重庆交通大学 趸船码头缆绳受力实时监测及安全预警系统及方法
CN114705342B (zh) * 2022-04-02 2024-05-10 重庆交通大学 趸船码头缆绳受力实时监测及安全预警系统及方法

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