CN209894590U - Portable deep and far sea bed on-site strength testing device of ship base - Google Patents
Portable deep and far sea bed on-site strength testing device of ship base Download PDFInfo
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- CN209894590U CN209894590U CN201920543714.5U CN201920543714U CN209894590U CN 209894590 U CN209894590 U CN 209894590U CN 201920543714 U CN201920543714 U CN 201920543714U CN 209894590 U CN209894590 U CN 209894590U
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- 238000012360 testing method Methods 0.000 title claims abstract description 49
- 239000000523 sample Substances 0.000 claims abstract description 77
- 238000000034 method Methods 0.000 claims abstract description 24
- 239000002689 soil Substances 0.000 claims abstract description 14
- 238000012545 processing Methods 0.000 claims abstract description 9
- 238000002347 injection Methods 0.000 claims abstract description 7
- 239000007924 injection Substances 0.000 claims abstract description 7
- 238000007906 compression Methods 0.000 claims description 21
- 238000001514 detection method Methods 0.000 claims description 19
- 230000035515 penetration Effects 0.000 claims description 19
- 238000006073 displacement reaction Methods 0.000 claims description 12
- 230000006835 compression Effects 0.000 claims description 8
- 238000004458 analytical method Methods 0.000 claims description 7
- 238000011065 in-situ storage Methods 0.000 claims description 7
- 239000000463 material Substances 0.000 claims description 4
- 230000000087 stabilizing effect Effects 0.000 claims description 3
- 230000000007 visual effect Effects 0.000 claims description 3
- 230000001133 acceleration Effects 0.000 claims description 2
- 238000012544 monitoring process Methods 0.000 claims description 2
- 230000000149 penetrating effect Effects 0.000 claims description 2
- 229910001220 stainless steel Inorganic materials 0.000 claims description 2
- 239000010935 stainless steel Substances 0.000 claims description 2
- 238000002474 experimental method Methods 0.000 abstract description 5
- 230000032683 aging Effects 0.000 abstract description 2
- 238000000605 extraction Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 125000004122 cyclic group Chemical group 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 238000005070 sampling Methods 0.000 description 2
- 238000011088 calibration curve Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000007405 data analysis Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 239000013049 sediment Substances 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 238000010008 shearing Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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Abstract
The utility model discloses a portable deep open sea seabed soil on-site strength test device of ship base belongs to the utility model discloses the achievement to deep open sea seabed soil mechanical properties testing technique and device in ocean engineering, geotechnical engineering and geological engineering field, because experimental site is located on-the-spot experiment or engineering ship to the obstruction of deep open sea on the space-time has been overcome to this technical device, can obtain the on-the-spot test result that has certain ageing. The utility model arranges the sensor on the top of the probe rod, thereby avoiding the distortion of the sensor caused by temperature difference or humidity difference; the sample is fixed by the telescopic clamping arm, so that the sample is not influenced by the shaking of the ship body in the test process; the automatic control of one-time injection or circular injection is realized by adopting computer programming, so that the method is more efficient and accurate; the optimized data acquisition system is adopted, so that the stability and reliability of the acquired data are ensured; by adopting optimized computer data analysis software, the integrity of data is ensured, and the rapidness, the accuracy and the high efficiency of data processing are realized.
Description
Technical Field
The utility model belongs to a to the utility model discloses the achievement of deep open sea seabed soil mechanical properties testing technique and device in ocean engineering, geotechnical engineering and geological engineering field, because the experimental place is located on-the-spot experiment or engineering ship to the obstruction of deep open sea on the space-time has been overcome to the technical equipment, can obtain the on-the-spot test result that has certain ageing, so name is the portable deep open sea seabed soil of ship base and is on-the-spot intensity test device.
Background
The method has great significance for the design of ocean engineering structures, stability evaluation and other aspects. At present, the research of full-flow penetration tests for deep and far sea bed soil is rare, the effective mode is mainly that a full-flow penetration instrument is adopted, the full-flow penetration instrument is mainly divided into a T-shaped probe and a spherical probe according to the difference of probe shapes, the probe with a sensor and a probe rod are penetrated into a seabed soil sample collected in advance once or circularly by a manual or electric device at a certain speed and penetration depth, the resistance of the probe in the process is recorded by a data collector, and finally the penetration resistance is analyzed, the indexes such as the shearing strength without drainage, the resistance coefficient and the sensitivity are obtained. In addition, there are studies on the shape, size, roughness, and penetration rate, depth, test conditions, and sample conditions of the probe. Most of the above experimental researches are only established in an indoor laboratory environment, and the properties of the submarine sediments can be explored only by virtue of an indoor test of a full-flow penetrometer, but the disturbance of the samples in the processes of collection, packaging and transportation back to the laboratory is ignored, and the accuracy of the experimental results is inevitably influenced.
Obviously, experimental studies need to take into account or avoid the disturbing influence of the sample during transportation, so as to obtain results closer to the true values. Therefore, the utility model relates to a portable deep and distant sea bed soil strength test device of ship base, promptly the utility model discloses the instrument can portable folding vanning be shipped to the laboratory vessel. In time, a test can be immediately carried out after field sampling and a result is obtained, and a soil sample does not need to be transported to a land or indoor laboratory for testing; in space, although the test is not carried out on the seabed in situ, the test is carried out on a surface ship in the sea area of the offshore engineering construction site, so that the influence of the soil sample caused by water loss and temperature change is avoided, and the test result has higher timeliness (namely 'on-site'). The utility model changes the test condition from the laboratory to the ship base, which avoids the problems of the obstruction of the deep and far sea in time and space, the disturbance of the sample in the transportation process, and the like; in addition, the sensor and the motor control system are improved, so that the test result is closer to the real condition, and the method has very important significance.
SUMMERY OF THE UTILITY MODEL
The utility model aims to obtain the real intensity index of the sample close to the original position; secondly, the influence of the temperature difference and the humidity difference on the sensor is avoided; thirdly, the test process is not influenced by the shaking of the ship body; fourthly, automatic control of one-time or cyclic penetration is realized; fifthly, the displacement space of the detection system is increased. The ship-based portable deep and far sea bed on-site strength testing device is adopted, can be folded in a portable mode and carried on an on-site experiment ship, and achieves the purpose of on-site testing of collected samples at the first time; the sensor is arranged at the top of the probe rod, so that the distortion of the sensor caused by temperature difference or humidity difference is avoided; the sample is fixed by adopting the telescopic clamping arm, so that the sample is not influenced by the shaking of the ship body in the test process, and the injection direction is always vertical to the cross section of the sample; the automatic control of one-time or cyclic penetration is realized by adopting computer programming control; in addition, the detectable depth and the length of the probe rod of the portable loading frame are increased.
The technical scheme of the utility model:
a ship-based portable deep and far sea bed in-situ strength testing device comprises a portable foldable loading frame I, a detection system II, a motor control system III and a real-time data acquisition, analysis and processing system IV;
the portable foldable loading frame I comprises a sample platform 1, a guide rail type sliding portal frame 2, a wind shielding and shading plate 3, a T-shaped linear module platform 4 and a telescopic fixing clamping arm 5; the sample platform 1 is a sample testing platform and a temporary article placing platform; the guide rail type sliding portal frame 2 realizes free sliding back and forth on the sample platform 1 through a left sliding guide rail and a right sliding guide rail, and the loading range is expanded to the middle part of the whole sample platform 1; the wind shielding light screen 3 shields the sample platform 1 from natural wind and natural light, so that the influence of the external environment is reduced; the T-shaped linear module platform 4 is arranged on the upper surface of the guide rail type sliding portal frame 2 and is used for installing and fixing motor modules with different penetration depths, and a proper motor module is selected according to the length of a sample; the telescopic fixed clamping arms 5 are fixed on the side surface of the guide rail type sliding portal frame 2, and the sample is fixed through the 4 telescopic fixed clamping arms 5, so that the sample is not influenced by the shaking of a ship body in the test process, the injection direction is always vertical to the cross section of the sample, and the test is stable and reliable;
the detection system II comprises a T-shaped probe 6, a high-rigidity thin rod 7, an external probe 8, a column type high-precision tension-compression sensor 9 and a base 10; the T-shaped probe 6 comprises various sizes and roughness, and can correct errors caused by the cross section or the roughness; the high-rigidity thin rod 7 is made of a high-rigidity non-flexing material and is used for connecting the T-shaped probe 6 and the column type high-precision tension-compression sensor 9 and completely transmitting the resistance force applied to the T-shaped probe 6 to the column type high-precision tension-compression sensor 9 at the top; the smooth external probe rod 8 plays a role in protecting the built-in high-rigidity thin rod 7 and isolating the surrounding soil body to avoid the generation of side friction resistance; the column type high-precision tension-compression sensor 9 is respectively connected with the end part of the high-rigidity thin rod 7 and the base 10, the outside of the sensor is protected by stainless steel materials, and the sensor is used for collecting real-time tension-compression signal values received by the T-shaped probe 6; the base 10 is used for fixing the whole detection system and is connected with a linear module controlled by a motor, so that the perpendicularity and stability of loading penetration and pulling-out are realized;
the motor control system III comprises an integrated motor linear module 11, a control displacement sensor 12, a controller 13, a motor driving system 14, a motor 15, a motor driver 16 and a stable 24V direct-current power supply 17; the integrated motor linear module 11 is arranged on the T-shaped linear module platform 4, and a detection system II is fixed, so that the perpendicularity and stability of loading penetration and pulling-out are realized; the control displacement sensor 12 is fixed on the integrated motor linear module 11 and used for controlling the loading displacement interval, avoiding the over-range movement of the external probe rod 8 and protecting the safety of the detection system II; the controller 13 is fixed on the integrated motor linear module 11, controls the starting, speed regulation, braking and reverse instructions of the motor by changing the resistance value in the control circuit according to a predetermined sequence, and is controlled manually or by computer programming; the motor driving system 14 is composed of a motor 15 and a motor driver 16, is fixed on the upper part of the integrated motor linear module 11, controls the angular displacement by controlling the number of pulses to realize positioning, and controls the rotating speed and the acceleration of the motor 15 by controlling the pulse frequency to realize speed regulation; the stable 24V direct-current power supply 17 is fixed on the integrated motor linear module 11 to supply power to the whole motor control system III;
the real-time data acquisition, analysis and processing system IV comprises a multi-channel data acquisition device 18, a signal amplifier 19 and a computer 20; the multi-channel data acquisition unit 18 realizes real-time data signal acquisition of a plurality of channels, and is stable and reliable; the signal amplifier 19 is used for amplifying a low signal value acquired by the column type high-precision tension and compression sensor 9 to a visual stable interface, monitoring the change of a voltage signal in real time, and stabilizing and accurately; the computer 20 performs data analysis and signal processing, processes and derives the precise change in intensity values throughout the experiment.
The utility model has the advantages that: the device of the utility model is suitable for the field test, extends the experimental environment from the laboratory to the experimental ship, avoids the disturbance influence of the collected sample in the process of transporting back to the laboratory, can obtain the intensity result of the collected sample in the first time, and obtains more accurate sample parameter index close to the original position; the improved data acquisition system can ensure the stability and reliability of the acquired data; the improved portable loading frame is convenient to carry, and simultaneously, the penetration and extraction displacement length of the detection system is increased; the improved detection system places the sensor at the top of the probe rod, so that the sensor is prevented from being distorted due to temperature difference or humidity difference; the improved telescopic clamping arm device ensures that a sample is not influenced by the shaking of a ship body in the test process, and the penetration direction is always vertical to the cross section of the sample; the improved computer data analysis software can collect, analyze and process data, and realizes comprehensive optimization.
Drawings
Fig. 1 is a schematic view of a portable foldable loading frame of the present invention;
fig. 2 is a schematic diagram of the detection system of the present invention;
fig. 3 is a layout diagram of the motor control system of the present invention:
FIG. 4 is a layout diagram of the real-time data acquisition, analysis and processing system of the present invention;
in the figure: 1 a sample platform; 2, a guide rail type sliding portal frame; 3 wind shielding and shading plates; 4T-shaped linear module platform; 5, fixing the clamping arm in a telescopic way; 6 'T' shaped probe; 7 high rigidity thin rod; 8 an external probe rod; 9 column type high precision tension-compression sensor; 10 a base; 11 integrating a motor linear module; 12 controlling the displacement sensor; 13 a controller; 14 motor drive system; 15 motor; 16 motor drivers; 17 stabilizing a 24V direct current power supply; 18, a multi-channel data acquisition unit; 19 a signal amplifier; 20 computer.
Detailed Description
The following describes the embodiments of the present invention in detail with reference to the accompanying drawings.
The manner in which the portable collapsible loading ledges I are expanded and collapsed will first be described.
The merging mode is as follows: the guide rail type sliding portal frame 2 of the portable foldable loading frame I is composed of a guide rail, a guide rail plate and a portal frame, the bottom of the guide rail plate penetrates through the guide rail, left and right free sliding is achieved, the guide rail plate and the portal frame are connected into a whole through a rotary bearing, the portal frame can rotate freely around the rotary bearing, when the portable foldable loading frame I is combined, the portal frame is rotated to be horizontal, a T-shaped linear module platform 4 connected through bolts is detached and placed on a sample platform 1, a wind shielding light screen 3 is covered, the whole loading frame is in a rectangular closed state, and then the loading frame is placed in a customized space draw-bar box, so that portable carrying and transportation can be achieved, and the portable foldable loading frame I is.
The unfolding mode is as follows: the method comprises the steps of firstly opening a wind shielding light screen 3 of a portable foldable loading frame I, pushing up a guide rail type sliding portal frame 2 to be vertical around a rotary bearing, penetrating 4 high-strength bolts through bolt holes in the portal frame and a guide rail plate, screwing two ends of the bolts with bolts, and limiting the free rotation of the portal frame to keep the portal frame vertical. And then, the telescopic fixed clamping arm 5 passes through a clamping arm hole reserved in the guide rail type sliding portal frame 2, and the two ends of the telescopic fixed clamping arm are adjusted and fixed by bolts. And finally, fixing the T-shaped linear module platform 4 on the top of the guide rail type sliding portal frame 2 by using bolts, and finishing the unfolding of the folding frame.
Examples
Firstly, calibrating a column type high-precision tension-compression sensor 9 in a full-flow penetration detection system II, connecting the column type high-precision tension-compression sensor 9 with a multi-channel data acquisition device 18 and a signal amplifier 19, connecting the column type high-precision tension-compression sensor with a computer 20, and calibrating two directions of tension and compression in the penetration and extraction processes of the column type high-precision tension-compression sensor 9 by adopting weights to respectively obtain calibration curves of pressure, tension and voltage difference signals.
And secondly, assembling the strength testing device. First, the portable collapsible loading frame I is unfolded and the various components are assembled as shown in FIG. 1. Secondly will integrate motor linear module 11 vertical fixation and be fixed in T shape linear module platform 4, carry out fixed connection with detection system II's base 10 and integrated motor linear module 11 for outside probe rod 8 passes the central entrance to a cave of guide tracked slip portal frame 2, realizes vertical injection and extracts. The motor 15 is then connected to a motor driver 16 and is connected to a computer 20 via a data line for programming control. Then, the control displacement sensor 12 and the two ends of the integrated motor linear module 11 are respectively connected with one another, so that the safety of the detection system II is ensured. Meanwhile, the column type high-precision tension-compression sensor 9 is connected with a multi-channel data acquisition unit 18 and a signal amplifier 19, and is connected with a computer 20 through a data line, so that real-time data acquisition, analysis and processing are realized. And finally, the controller 13, the motor driver 16 and the multi-channel data acquisition unit 18 are simultaneously connected with a stable 24V direct-current power supply 17. And turning on the power supply, turning green the indicator lamps of each part and indicating that the wiring is finished.
And thirdly, a testing stage. The collected sample is cut and placed on a sample platform 1, the sample is fixed by adopting a telescopic fixing clamping arm 5, a T-shaped probe 6 is perpendicular to the surface of the sample and projected on the central point of the sample, the power is switched on, and the whole process of penetration and extraction tests are automatically carried out manually or by programming by utilizing a visual window of a computer 20. Data acquisition in the test process is synchronously realized, and after the test is finished, the stable 24V direct current power supply 17 is closed. The computer 20 analyzes and processes the data, and can quickly acquire parameter indexes such as resistance change, non-drainage shear strength and the like in the injection and extraction processes. The whole test process is high in efficiency, and the test result is stable.
Through the utility model discloses, carry portable intensity test device to sampling experiment ship, can carry out the strength test of on-the-spot to the deep sea seabed soil sample, avoid the disturbance of transportation, can acquire the deep sea seabed soil strength parameter that is closer to the normal position, compare indoor full flow penetration test, it is more high-efficient, accurate, convenient, swift.
Claims (5)
1. A ship-based portable deep and far sea seabed in-situ strength testing device is characterized by comprising a portable foldable loading frame I, a detection system II, a motor control system III and a real-time data acquisition, analysis and processing system IV;
the portable foldable loading frame I comprises a sample platform (1), a guide rail type sliding portal frame (2), a wind shielding and shading plate (3), a T-shaped linear module platform (4) and a telescopic fixing clamping arm (5); the sample platform (1) is a sample testing platform and a temporary article placing platform; the guide rail type sliding portal frame (2) can freely slide back and forth on the sample platform (1) through a left sliding guide rail and a right sliding guide rail, and the loading range is expanded to the middle part of the whole sample platform (1); the wind shielding and shading plate (3) shields natural wind and natural light for the sample platform (1) and reduces the influence of the external environment; the T-shaped linear module platform (4) is arranged on the upper surface of the guide rail type sliding portal frame (2) and is used for installing and fixing motor modules with different penetration depths, and the motor modules are selected according to the length of a sample; the telescopic fixed clamping arms (5) are fixed on the side surface of the guide rail type sliding portal frame (2), and a sample is fixed through the 4 telescopic fixed clamping arms (5), so that the sample is not influenced by shaking of a ship body in the test process, and the injection direction is always vertical to the cross section of the sample, and the test is stable and reliable;
the detection system II comprises a T-shaped probe (6), a high-rigidity thin rod (7), an external probe rod (8), a column type high-precision tension and compression sensor (9) and a base (10); the T-shaped probe (6) comprises size and roughness, and can correct errors caused by section or roughness; the high-rigidity thin rod (7) is made of a high-rigidity non-flexing material and is used for connecting the T-shaped probe (6) and the column type high-precision tension and compression sensor (9) and completely transmitting the resistance force applied to the T-shaped probe (6) to the column type high-precision tension and compression sensor (9) at the top; the smooth external probe rod (8) plays a role in protecting the built-in high-rigidity thin rod (7) and isolating the surrounding soil body to avoid the generation of side friction resistance; the column type high-precision tension-compression sensor (9) is respectively connected with the end part of the high-rigidity thin rod (7) and the base (10), the outside of the sensor is protected by stainless steel materials and used for collecting real-time tension-compression signal values borne by the T-shaped probe (6); the base (10) is used for fixing the whole detection system and is connected with a linear module controlled by a motor, so that the perpendicularity and stability of loading penetration and pulling-out are realized;
the motor control system III comprises an integrated motor linear module (11), a control displacement sensor (12), a controller (13), a motor driving system (14), a motor (15), a motor driver (16) and a stable 24V direct-current power supply (17); the integrated motor linear module (11) is arranged on the T-shaped linear module platform (4) and fixes the detection system II; the control displacement sensor (12) is fixed on the integrated motor linear module (11) and used for controlling the loading displacement interval, avoiding the over-range movement of the external probe rod (8) and protecting the safety of the detection system II; the controller (13) is fixed on the integrated motor linear module (11), controls the starting, speed regulation, braking and reverse instructions of the motor by changing the resistance value in the control circuit according to a predetermined sequence, and is controlled manually or by computer programming; the motor driving system (14) is composed of a motor (15) and a motor driver (16), is fixed on the upper part of the integrated motor linear module (11), controls the angular displacement to realize positioning by controlling the number of pulses, and controls the rotating speed and the acceleration of the motor (15) to realize speed regulation by controlling the pulse frequency; the stable 24V direct-current power supply (17) is fixed on the integrated motor linear module (11) to supply power to the whole motor control system III;
the real-time data acquisition, analysis and processing system IV comprises a multi-channel data acquisition device (18), a signal amplifier (19) and a computer (20); the multi-channel data acquisition unit (18) realizes the real-time data signal acquisition of a plurality of channels; the signal amplifier (19) is used for amplifying a low signal value acquired by the column type high-precision tension and compression sensor (9) to a visual stable interface, monitoring the change of a voltage signal in real time, and stabilizing and accurately; the computer (20) realizes the analysis of data and the processing of the collected signals, processes and obtains the accurate change of the strength value in the whole process of the test.
2. The ship-based portable deep open sea seabed soil in-situ strength testing device of claim 1, wherein the guide rail type sliding portal frame (2) of the portable foldable loading frame I is composed of a guide rail, a guide rail plate and a portal frame, the bottom of the guide rail plate penetrates through the guide rail to realize free left and right sliding, the guide rail plate and the portal frame are connected into a whole by adopting a rotating bearing, and the portal frame can rotate freely around the rotating bearing; when the portable foldable loading frame I is combined, the portal frame is rotated to be horizontal, the T-shaped linear module platform (4) connected with the bolts is removed and placed on the sample platform (1), the wind shielding light screen (3) is covered, and the whole portable foldable loading frame I is in a rectangular closed state.
3. The ship-based portable deep sea seabed in-situ strength testing device according to claim 1 or 2, wherein the portable foldable loading frame I is unfolded in a manner that: firstly, opening a wind shielding light screen (3), pushing up a guide rail type sliding portal frame (2) to be vertical around a rotating bearing, penetrating 4 high-strength bolts through bolt holes in the portal frame and the guide rail plate, screwing two ends of each bolt tightly by using bolts, and limiting the free rotation of the portal frame to keep the portal frame vertical; then, the telescopic fixed clamping arm (5) penetrates through a clamping arm hole reserved in the guide rail type sliding portal frame (2), and two ends of the telescopic fixed clamping arm are adjusted and fixed by bolts; and finally, fixing the T-shaped linear module platform (4) on the top of the guide rail type sliding portal frame (2) by using bolts, and finishing the unfolding of the folding frame.
4. The ship-based portable deep and open sea seabed in-situ strength testing device according to claim 1 or 2, wherein the column type high-precision tension and compression sensor (9) is a micro sensor which has small volume, wide measuring range and high precision and is integrated in the detection system II.
5. The ship-based portable deep open sea seabed in-situ strength testing device of claim 3, wherein the column type high-precision tension and compression sensor (9) is a micro sensor which has small volume, wide measuring range and high precision and is integrated in the detection system II.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920543714.5U CN209894590U (en) | 2019-04-22 | 2019-04-22 | Portable deep and far sea bed on-site strength testing device of ship base |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920543714.5U CN209894590U (en) | 2019-04-22 | 2019-04-22 | Portable deep and far sea bed on-site strength testing device of ship base |
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| CN209894590U true CN209894590U (en) | 2020-01-03 |
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| CN201920543714.5U Withdrawn - After Issue CN209894590U (en) | 2019-04-22 | 2019-04-22 | Portable deep and far sea bed on-site strength testing device of ship base |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109991071A (en) * | 2019-04-22 | 2019-07-09 | 大连理工大学 | The portable far-reaching extra large seabed soil of ship base is come personally strength testing device |
-
2019
- 2019-04-22 CN CN201920543714.5U patent/CN209894590U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109991071A (en) * | 2019-04-22 | 2019-07-09 | 大连理工大学 | The portable far-reaching extra large seabed soil of ship base is come personally strength testing device |
| CN109991071B (en) * | 2019-04-22 | 2023-12-29 | 大连理工大学 | Ship-based portable deep open sea seabed soil in-situ strength testing device |
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