300 results about "Buoyancy regulation" patented technology

Provided is a bionic rescue robot fish, including a fish body skeleton, a fish head skeleton, a fishtail swing mechanism, a pectoral fin swing mechanism, a rescue mechanism and a buoyancy adjusting mechanism. The fish body skeleton is movably connected to the fish head skeleton. The fishtail swing mechanism, the pectoral fin swing mechanism, the rescue mechanism and the buoyancy adjusting mechanism are arranged on the fish head skeleton. Bionic fish skin is attached to surfaces of the fish body skeleton and the fish head skeleton in a sealing manner. The fishtail swing mechanism, the pectoral fin swing mechanism, the rescue mechanism and the buoyancy adjusting mechanism are each communicated with a control unit. The rescue mechanism can release a lifesaving airbag, and the buoyancy adjusting mechanism can change the volume of fish belly part.

The invention relates to a semi-submersible parking cabin and an unmanned aerial vehicle inspection system, and belongs to the technical field of unmanned aerial vehicles. Comprising a bearing device which is used for parking and centering of the unmanned aerial vehicle and comprises a supporting plate; the buoyancy adjusting device is used for providing buoyancy for the bearing device and comprises a semi-submersible platform; the automatic leveling device comprises a first inclination angle detection module, a second inclination angle detection module, a control module and an execution assembly, the two inclination angle detection modules are connected with the control module; the control module is connected with the execution assembly; the first dip angle detection module is connected with the supporting plate and detects dip angle information of the supporting plate in real time; the second inclination angle detection module is connected with the semi-submersible platform and detects inclination angle information of the semi-submersible platform in real time; the control module controls the execution assembly according to the two inclination angle information; and the driving device supplies power to the automatic leveling device. The cruising ability of the parking cabin is improved, human input and operation risks are reduced, the inspection coverage range is expanded, and the problem of unstable take-off and landing caused by shaking of the water platform is solved.

The invention discloses a deep sea mineral lifting unmanned transportation system. According to the system, an unmanned carrier-intelligent execution-elastic scheduling framework is constructed, and the system comprises four modules including unmanned carrying equipment, a communication network system, a scheduling control center and a support safeguard system. The unmanned carrying equipment realizes mineral transportation based on buoyancy driving; the communication network adopts a layered redundant architecture of underwater sound OFDM and a laser emergency link, and high-reliability communication and centimeter-level positioning are guaranteed; the scheduling control center improves the operation efficiency through intelligent task allocation and trajectory planning; the support and guarantee system integrates energy management, digital twin monitoring and emergency response mechanisms. The operation process adopts a mode of mainly unmanned autonomous and assisted by remote monitoring, and the links of ballast diving, acousto-optic docking, buoyancy regulation and control, mother ship dynamic unloading and the like are covered. The deep-sea mineral lifting efficiency, maneuverability and reliability are remarkably improved, and core technical support is provided for deep-sea resource development.

The invention discloses an underwater glider motion control method based on multi-agent reinforcement learning, and the method comprises the steps: deploying a final first decision network # imgabs0 # and a final second decision network # imgabs1 # in an underwater glider, and calculating an optimal control quantity: inputting a target operation speed (u, v, w) into # imgabs2 #, and outputting a buoyancy adjustment control quantity Bb and a pitching adjustment control quantity lp; inputting (u, v, w, Bb, lp) into # imgabs3, outputting a rolling adjustment control quantity, # imgabs4, and completing the navigation of the current section according to # imgabs5; judging whether the observation task is completed; calculating the ocean current interference speed in the current profile; compensating (u, v, w) according to the ocean current interference speed; and taking the compensated speed (u ', v, w') as the target running speed of the next section. According to the invention, the motion control of the underwater glider is realized, the precision of the motion control is improved, and the coupling problem among the control quantities of the underwater glider is avoided.

The invention discloses a marine pipe cable damping device which comprises a double-layer pipe body, a damping device and a damping device, and the double-layer pipe body is arranged outside a marine pipe cable in a sleeving mode and fixed to the marine pipe cable through a buckling device; the double-layer pipe body comprises an outer-layer pipe and an inner-layer pipe which are coaxially arranged, an interlayer space is arranged between the outer-layer pipe and the inner-layer pipe, a drainage hole communicated with the interlayer space is formed in the outer-layer pipe, an inflation buoyancy module is arranged in the interlayer space, a vibration power generation device is fixed to the outer-layer pipe, and a water pressure sensor is installed on the outer surface of the vibration power generation device; a controller is arranged on the outer surface of the outer-layer pipe, and the vibration power generation device is electrically connected with the controller; the water pressure sensor is electrically connected with the controller, and the controller is electrically connected with the inflatable buoyancy module; and a plurality of vibration reduction fins are irregularly distributed and fixed on the outer surface of the outer-layer pipe. The marine flexible pipe cable can achieve efficient vibration reduction and buoyancy adjustment, and then the stability, durability and safety of the marine flexible pipe cable in a complex dynamic environment are improved.

The utility model provides a suspension power system and a marine ecological aquaculture net cage. The suspension power system comprises a connecting frame, a plurality of balance air bags, a plurality of sets of suspension air bags and a buoyancy adjusting mechanism. Wherein the plurality of balance airbags are sequentially distributed around the net cage main body and are connected to the top of the connecting frame; the multiple sets of suspension air bags are sequentially distributed around the net cage body and located below the balance air bag, all the sets of suspension air bags are arranged in the connecting frame, and all the sets of suspension air bags are used for synchronously inflating and expanding to drive the net cage body to float upwards and are further used for synchronously exhausting and contracting to enable the net cage body to sink. The current inflation volume is kept so that the net cage main body can hover; the buoyancy adjusting mechanisms are connected to the four corners of the connecting frame, connected with the suspension air bags and used for synchronously adjusting the inflation volume of the suspension air bags. According to the suspension power system and the marine ecological breeding net cage, the depth adjusting flexibility and the transferring convenience of the net cage can be improved.

The invention relates to the technical field of underwater vehicle detection, and discloses a self-adaptive underwater vehicle suitable for an estuary high-salinity and high-turbidity environment and a detection method, and the vehicle integrates an environment perception module, a density inversion module, an acoustic configuration module, a buoyancy control module, a silent observation module and the like. By fusing the temperature-salinity-depth and acoustic backscattering data, the additional density caused by the suspended sediment is inverted, and a total environment density parameter is constructed; according to the parameter, a variable buoyancy system is driven by feedforward control logic to adjust the drainage volume, and buoyancy fluctuation caused by density abrupt change is counteracted in advance. The system dynamically switches the acoustic detection frequency according to the local turbidity and corrects the time-varying gain curve; cutting off propelling power in a neutral hovering state to enter a silent drifting mode, and executing sediment flux observation without mechanical disturbance. According to the invention, the problems of buoyancy adjustment lag, acoustic signal attenuation and propulsion disturbance in the complex water body of the estuary are effectively solved, and the dynamic stability and the observation data quality are remarkably improved.

The invention provides a resetting system and a resetting control method for an offshore floating energy island, and the resetting system comprises a counterweight adjusting module which comprises a servo motor, an annular mooring chain track and a counterweight block. The buoyancy adjusting module comprises air supply equipment and an air bag. And the thrust adjusting module comprises a horizontal thrust adjusting module and a vertical thrust adjusting module. And the monitoring module comprises a plurality of groups of sensors to monitor the position information of the energy island in real time. When the energy island is in vertical unbalance, the servo motor drives the balancing weight to move along the annular mooring chain track, and first-stage reset adjustment is carried out; further, the air supply equipment inflates and deflates the air bag for secondary reset adjustment; further, a vertical thrust adjusting module provides vertical thrust to carry out three-stage reset adjustment; when the energy island is horizontally unbalanced, the horizontal thrust adjusting module provides horizontal thrust and pushes the floating body main structure to achieve horizontal reset adjustment. According to the scheme of the invention, through a multi-stage reset strategy, the reset efficiency of the energy island and the adaptability in an extreme environment are improved.

The utility model relates to a fence type breeding device and a breeding system, the fence type breeding device comprises a breeding netting, the breeding netting comprises a first netting and a second netting, the first netting is fixedly connected to a seabed, and the first netting is detachably connected with the second netting; the second netting comprises a side net and a buoyancy adjusting piece, the buoyancy adjusting piece is connected to the side net, and the buoyancy adjusting piece is arranged to be capable of changing the buoyancy so as to control the side net to float or sink. According to the fence type breeding device, the first netting and the second netting can be separated, the second netting is cleaned, the first netting is kept on the seabed and is not taken out, the maintenance process of the breeding netting is greatly simplified, the workload is reduced, the side net can float or sink according to needs, operation is very convenient, and the workload is reduced.

The invention belongs to the technical field of overwater drilling, and provides an overwater drilling operation platform which comprises a platform frame, a drilling station, a propulsion system station, a plurality of hydraulic cylinders, a plurality of hydraulic cylinders, a plurality of hydraulic cylinders, a plurality of hydraulic cylinders and a plurality of hydraulic cylinders. The platform frame is sequentially provided with a plurality of containing spaces in the same direction. The wood plate is laid on the top of the platform frame; the buoy is arranged in the containing space and fixedly connected with the platform frame, an annular space and a counterweight space are arranged in the buoy, and the annular space surrounds the exterior of the counterweight space; the buoyancy adjusting assembly is arranged in the annular space; the counterweight device is arranged in the counterweight space; the drilling machine is arranged at the drilling station; and the propelling system is arranged at the propelling system station. Through organic combination of the platform frame, the buoy, the buoyancy adjusting assembly, the counterweight device, the drilling machine, the propelling system and other parts, the functions of stable floating, flexible movement, accurate drilling, safe operation and the like of the platform are achieved.

A buoyancy-adjustable amphibious humanoid robot underwater posture adjusting method comprises the following steps that an amphibious humanoid robot enters water in a cross-medium mode, and the water entering state of the amphibious humanoid robot is judged by conducting data detection through a first depth meter; after the amphibious humanoid robot is completely submerged in water, the underwater posture of the amphibious humanoid robot is adjusted through a buoyancy adjusting device and a posture adjusting propeller; when the amphibious humanoid robot goes out of water, the thrust of the propeller is adjusted to adjust the pitch attitude until the third depth gauge does not display corresponding data, it is indicated that the head of the amphibious humanoid robot goes out of water at the moment, then the buoyancy adjusting cabin is controlled to slide upwards to the topmost end, and the legs of the amphibious humanoid robot are controlled to rotate; and controlling the amphibious humanoid robot to walk out of the water surface until the first depth gauge does not display data, and indicating that the amphibious humanoid robot is completely discharged out of the water as a whole.

The invention provides an automatic pool cleaning device, a control method and a computer storage medium. The automatic pool cleaning device comprises a buoyancy adjusting mechanism, and the control method comprises the steps that the automatic pool cleaning device is controlled to execute a pool wall cleaning task; in the process that the automatic pool cleaning device moves from the pool bottom to the pool wall, after the automatic pool cleaning device meets preset conditions, the buoyancy of the automatic pool cleaning device is adjusted through the buoyancy adjusting mechanism, and the automatic pool cleaning device can move upwards along the pool wall.

The application discloses a buoyancy adjusting and communication device for underwater AUV, which comprises a communication cabin body, an integrated antenna, an inner oil tank, an air bag, an air bag pressing ring, an air bag cabin body, a rear end cover, a pump valve gas path assembly, a pump valve oil path assembly, an outer oil tank assembly and the like. The communication cabin body is connected with an AUV pressure cabin body and is sealed through an O-shaped ring. The integrated antenna is installed on the communication cabin body and is sealed through an O-shaped ring, and is used for the communication function of the underwater AUV. The inner oil tank is fixed on the air bag cabin body, and the air bag is sleeved on the air bag cabin body and is tightly sealed through the air bag pressing ring. The pump valve gas path assembly is used for discharging the gas in the cabin to the air bag or sucking the gas in the air bag into the cabin, so as to change the buoyancy state of the AUV. The pump valve oil path assembly is used for discharging the hydraulic oil in the inner oil tank to the outer oil tank assembly or sucking the hydraulic oil in the outer oil tank assembly into the inner oil tank, so as to change the buoyancy state of the AUV.

The invention discloses a multistage buoyancy adjusting device and method for an underwater vehicle, and relates to the technical field of buoyancy adjustment. The multistage buoyancy adjusting device comprises a piston cylinder type buoyancy adjusting assembly and an oil bag type buoyancy adjusting assembly; wherein the oil bag type buoyancy adjusting assemblies are integrally and annularly distributed on the periphery of the piston cylinder type buoyancy adjusting assembly, each oil bag type buoyancy adjusting assembly comprises a supporting plate, a seat body fixed to the supporting plate, an expansion and contraction bag body frame and a piston suction assembly, and the expansion and contraction bag body frames and the piston suction assemblies are arranged on the seat bodies and used for multi-stage buoyancy adjustment of the underwater vehicle; and the driving rod assembly is arranged on the seat body and is used for controlling the expansion and contraction bag body frame and the piston suction assembly in a linkage manner, so that the expansion and contraction bag body frame realizes buoyancy adjustment of the underwater vehicle through liquid oil transfer. By means of flexible application of two modes of liquid oil transfer and seawater pumping and drainage, multi-stage adjustment of the snorkeling depth of the aircraft is achieved.

A control method of an automatic pool cleaning device (20), the automatic pool cleaning device (20) comprising a water pump (201), a driving device (202) and a buoyancy adjusting assembly (203), the control method comprising: controlling the automatic pool cleaning device (20) to move at the pool bottom; closing the water pump (201) under the condition that whether the automatic pool cleaning device (20) meets the preset condition or not; the buoyancy borne by the automatic pool cleaning device (20) is increased through the buoyancy adjusting assembly (203); after a preset time period, whether the automatic pool cleaning device (20) floats to the water surface or not is judged, if not, the automatic pool cleaning device (20) is controlled to move towards the pool wall, so that at least part of the driving device (202) makes contact with the pool wall, and the automatic pool cleaning device (20) is controlled by the driving device (202) to move to the water surface along the pool wall.

The invention discloses a multi-mode wave propulsion unmanned vehicle, which relates to the technical field of unmanned vehicles and comprises a vehicle main body, a dynamic buoyancy adjusting module, a multifunctional intelligent sensing and communication system, a flexible solar power generation unit, an emergency load rejection device, a hanging cable and a dual-mode propulsion system. The wave energy capturing efficiency is improved through the wing body fusion or rotary body wing adding design of the navigation body main body; the dynamic buoyancy adjusting module controls the diving speed and depth through double closed loops; the multifunctional intelligent sensing and communication system integrates a multi-source sensor and a multi-mode communication unit, improves the environment sensing capability and the information transmission efficiency, and has a hierarchical threat response mechanism and the like. The underwater vehicle has the multi-mode movement capacity of water surface cruising, near-water-surface navigation, underwater sneaking and the like, integrates multiple functional modules of wave energy propelling, active propelling, intelligent sensing, dynamic buoyancy adjusting and the like, and aims at improving the cruising ability, the environmental adaptability and the autonomous operation capacity of the underwater vehicle.

The invention relates to the field of seawater detection, and particularly discloses a seawater detection system based on a wireless disposable temperature-salinity-depth sensor, which comprises an underwater sensor unit, a water surface relay unit and a data analysis terminal, and realizes accurate adjustment of the movement speed of the sensor through closed-loop feedback control. Wherein the underwater sensor unit comprises a pressure self-adaptive buoyancy system, a multi-parameter sensing array and an anti-interference communication module; the closed-loop feedback control takes real-time speed deviation as input; according to the invention, by adopting a dynamic buoyancy adjustment and self-adaptive communication strategy, stable motion control precision and data transmission reliability can be maintained under complex hydrological conditions. The pressure self-adaptive buoyancy system realizes quick response through linkage of a micro air pump and a compressed air cylinder, and can automatically adapt to different ocean scenes by combining three intelligent working modes, so that high-precision data acquisition can still be completed under a five-level sea condition, and the operation robustness in a severe environment is greatly improved.

The present disclosure relates to the technical field of swimming pool cleaning, and provides a cleaning apparatus and a buoyancy adjustment mechanism. The buoyancy adjustment mechanism comprises one or more flexible gas storage containers, at least one gas pumping device, an enclosed gas space and a control module, wherein the one or more flexible gas storage containers are arranged approximately symmetrically along the central line of the cleaning apparatus in the traveling direction of a traveling mechanism or around the geometric center of the cleaning apparatus; each gas pumping device is connected to the one or more flexible gas storage containers and the enclosed gas space; and the control module is connected to the gas pumping device to control the gas pumping device to convey gas between the flexible gas storage containers and the enclosed gas space. The present disclosure effectively improves the flexibility of the cleaning apparatus in floating and diving in a swimming pool.

The invention belongs to the field of underwater vehicles, and discloses a double-arm collaborative stable operation deformable underwater vehicle, which comprises a main body frame unit, a heavy buoyancy adjusting unit, a buoyancy material shell unit, a propulsion power control unit, a double-arm manipulator unit and a functional unit, a gear motor of the heavy buoyancy adjusting unit is connected with a lead screw jacking assembly and a gravity center adjusting assembly. The buoyancy material shell unit comprises a streamline shell and a middle liftable shell; the included angle between the central axis of a tail main propeller in the propelling power control unit and the middle longitudinal section of the deformable underwater vehicle is 5-20 degrees; the double-arm manipulator unit is used for stretching out to perform stable operation when the middle liftable shell is lifted; and the functional unit is used for collecting underwater information to assist operation. The advantages of low-resistance cruising and hovering operation are both considered, the interference of gravity center forward movement caused by stretching of the mechanical arm and the coupling effect on the underwater vehicle body can be weakened, and the stability of the underwater robot is effectively improved.

The invention discloses a deep sea ore conveying system and a cooperative control method thereof. Belongs to the technical field of deep sea mining and comprises a pre-crushing module, a middle transition pipeline and an anti-blocking conveying pipeline, and a periodic air pressure pulse device and a modular control correction unit are arranged on the outer wall of the anti-blocking conveying pipeline; the device has the characteristics that front-end pre-crushing: high-pressure water jet crushes ores in a non-contact manner, so that large ores are prevented from entering a pipeline; the particle size is detected in real time through laser, ore exceeding the standard is circularly and secondarily crushed, and the blocking risk is controlled from the source; middle-end anti-blocking conveying is achieved, ore is made to rotate and suspend through spiral flow deflectors, and pipe wall friction is reduced; the air pressure pulse periodically impacts the adhesion layer, and physical-pneumatic cooperative blockage removal is achieved; adjusting buoyancy at the rear end, namely dynamically filling and discharging liquid in a buoyancy cabin in a modular control correction unit, and matching ore density change in real time; buoyancy is adjusted in advance through predictive control, traction force on the water surface supporting platform is reduced, and meanwhile the problem of pipeline deviation caused by disturbance of a deep sea flow field is solved through a lateral pushing device.

The present invention discloses a buoyancy adjustment device for a small underwater robot based on electrolyzed seawater, which is fixed on the upper part of the sealed cavity end cover of the small underwater robot and includes a flow guide cover fixed to the sealed cavity end cover; an exhaust hole and an electric control switch module for controlling the opening and closing of the exhaust hole are provided at the top of the flow guide cover; the electric control switch module is connected to the circuit in the sealed cavity through a watertight cable; an electrolytic anode and an electrolytic cathode arranged in a nested manner are provided inside the flow guide cover, and the electrolytic anode and the electrolytic cathode are respectively fixed to the sealed cavity end cover through an anode watertight connector and a cathode watertight connector and are connected to the electrolysis control circuit in the sealed cavity; a water permeable hole is provided on the sealed cavity end cover. The structure of the present invention is simple, without additional sensors. The flow guide cover structure is used as a buoyancy adjustment gas container, reducing the external oil bag or air bag of the traditional buoyancy adjustment device. It can detect the gas volume during the gas production and exhaust processes, facilitating the quantitative control of buoyancy.

The invention discloses a motorized underwater robot for tidal and tidal current observation, relates to the technical field of robots, and mainly aims to solve the problem that an existing motorized underwater robot for tidal and tidal current observation is difficult to meet long-term stable tidal and tidal current observation requirements. Comprising a main cabin body (1), a plurality of auxiliary cabin bodies (2), a plurality of connecting mechanisms (3) and a plurality of supporting feet (4), wherein the main cabin body (1) is used for carrying different detection devices to execute detection tasks, and is provided with a buoyancy adjusting cabin section (11) for adjusting the buoyancy of the underwater robot; each auxiliary cabin body (2) is connected with the main cabin body (1) through a connecting mechanism (3), and each auxiliary cabin body (2) and the main cabin body (1) are arranged on the same plane and used for providing power for the underwater robot; the supporting feet (4) are arranged below the auxiliary cabin body (2) and used for supporting the underwater robot so that the underwater robot can complete the bottom-sitting detection task.

The invention provides an automatic pool cleaning device and a control method thereof and a computer storage medium, the automatic pool cleaning device comprises a filtering device, a buoyancy adjusting mechanism, a shell and a water pump at least partially located in the shell, the water pump is used for sucking external water flow into the filtering device, an opening is formed in the shell and communicates with the water pump, and the buoyancy adjusting mechanism is arranged in the opening; the control method comprises the steps that the automatic pool cleaning device is controlled to move upwards underwater till the opening is exposed out of the water surface; when the opening is exposed out of the water surface, the water pump is controlled to suck external air of the shell into the opening, and after the external air enters the opening, the pitch angle of the automatic pool cleaning device can be changed; and judging whether the variable quantity of the pitch angle of the automatic pool cleaning device or the duration that the water pump sucks air outside the shell into the opening meets preset conditions or not, and if yes, controlling the buoyancy adjusting mechanism to increase the buoyancy of the automatic pool cleaning device. The method can improve the stability and safety of buoyancy adjustment when the machine floats upwards.

The invention provides an intelligent cutting device for an underwater canal slope lining plate and a construction method. The device comprises an underwater self-adaptive walking platform, a three-dimensional visual recognition module, a cutting execution module, a buoyancy and pressure adjusting module and a remote control module. The intelligent cutting device for the underwater canal slope lining plate integrates three-dimensional laser scanning and algorithm recognition, the cutting range can be automatically recognized, manual judgment is not needed, the limitation of manual control of a simple robot is broken through, and the construction efficiency is improved; a triangular crawler belt of the underwater self-adaptive walking platform is matched with buoyancy adjustment of a buoyancy and pressure adjusting module, the underwater self-adaptive walking platform can be matched with a 1: 1.5-1: 3 variable-gradient channel slope and the water depth of 1-3 m, and the problem that a traditional robot slips and rolls over is solved. Closure pumping drainage is not needed, underwater cutting is directly carried out, the technical problem that water supply is affected by dry field repair is solved, and the pumping drainage cost is saved; no person enters the whole process, and safety accidents of divers are eliminated.

This invention discloses a passive buoyancy compensation method using gas-liquid mixing for profiling buoys, belonging to the field of buoyancy adjustment technology for marine observation buoys. This method constructs a passive buoyancy compensation system containing gas and liquid chambers, and adjusts the gas-liquid volume ratio to achieve linear and continuous adjustment of the system's equivalent compressibility coefficient, dynamically matching the compression characteristics of seawater at different depths. A mathematical model of the overall force on the buoy is established to determine system design parameters. Sensors are deployed to collect buoy depth and axial acceleration data, calculate motion parameters, predict and estimate the depth, and compare it with the target depth. When the deviation threshold is exceeded, an active fine-tuning judgment process is initiated. Active adjustment is disabled during the inertial-dominated phase, and during the non-inertial phase, the controller sends a fine-tuning command to the active buoyancy system to execute reverse buoyancy adjustment. The passive buoyancy compensation method using gas-liquid mixing provided by this invention can achieve low-power buoyancy control with passive adjustment as the primary method and active adjustment as a secondary method, effectively extending the underwater operational life of the buoy.

The embodiment of the invention provides a control method of swimming pool cleaning equipment and the swimming pool cleaning equipment. Relates to the technical field of cleaning equipment control. The swimming pool cleaning equipment comprises a power assembly and a buoyancy adjusting assembly. The buoyancy adjusting assembly comprises a fluid exchange port. The control method comprises the steps that in response to a floating instruction, the power assembly is controlled to operate in a first working state so as to drive the swimming pool cleaning equipment in water to move towards the water surface; under the condition that the swimming pool cleaning equipment is not exposed out of the water surface, the buoyancy adjusting assembly is started, and the buoyancy adjusting assembly continuously operates until the swimming pool cleaning equipment floats on the water surface; when the swimming pool cleaning equipment is immersed in the water, the swimming pool cleaning equipment and the external water body are subjected to fluid exchange through the fluid exchange port; and after the fluid exchange port moves to be exposed out of the water surface, external air is introduced into the swimming pool cleaning equipment through the fluid exchange port. According to the method, rapid switching between the under-pool cleaning mode and the water surface cleaning mode is achieved, and the overall efficiency of cleaning operation is improved.

The invention discloses an underwater robot depth and course control system, which relates to the technical field of underwater robots, and is characterized in that an equivalent strain energy anomaly index and a local maximum principal stress anomaly index are extracted through a structure-heat-fluid coupled three-dimensional finite element simulation model, and a failure risk prediction model is constructed by using a machine learning model; taking the comprehensive feature vector as input, and outputting a sealing structure failure prediction coefficient as a basis for dynamically adjusting a control strategy; the system limits or optimizes the propeller power, buoyancy adjusting frequency and course angle change rate in real time according to the failure prediction coefficient of the sealing structure so as to reduce the structural load and delay the fatigue process, a prediction model is continuously optimized through an error sample driven incremental learning mode, closed-loop self-learning and self-adaptive evolution of the control system are achieved, and the system reliability is improved. Therefore, the operation safety and the task execution stability of the underwater robot in the complex deep sea environment are improved.

The attitude-adjustable underwater robot based on the buoyancy adjusting system comprises a pressure-resistant shell, a bow end cover, a communication system, a control system, wings, a CTD sensor, an antenna and a stern end cover, and is characterized by further comprising an attitude adjusting and energy supply integrated device, a buoyancy adjusting device and a propelling device. Continuous adjustment of the pitch angle of 0-90 degrees is achieved through the posture adjusting system, and energy-saving vertical snorkeling motion and efficient horizontal sailing motion are achieved through the buoyancy adjusting system and the propellers respectively. In addition, through ingenious combination of the attitude adjusting system and the energy system, the space utilization rate of the machine body is improved, and various sensors can be carried according to specific observation tasks.

The invention provides automatic pool cleaning equipment which comprises a shell, an air inlet, a buoyancy adjusting system and a sealing bin arranged in the shell, and air is contained in the sealing bin; the buoyancy adjusting system comprises a first buoyancy adjusting assembly and a second buoyancy adjusting assembly; the first buoyancy adjusting assembly communicates with the sealing bin, and the first buoyancy adjusting assembly is configured to be capable of adjusting buoyancy borne by the automatic cleaning equipment for the water pool by sucking gas in the sealing bin; the second buoyancy adjusting assembly is communicated with the air inlet, and the second buoyancy adjusting assembly is configured to be capable of sucking external air through the air inlet and adjusting buoyancy or gravity borne by the automatic cleaning equipment for the water pool. According to the scheme provided by the invention, the automatic pool cleaning device can float and sink at any position.

The invention provides an underwater vehicle compact buoyancy adjusting device, and relates to the field of underwater vehicle buoyancy adjustment, the underwater vehicle compact buoyancy adjusting device comprises a sealing shell, a maintenance baffle plate is mounted on the sealing shell, and a sealing rubber ring is arranged between the sealing shell and the maintenance baffle plate; and a buoyancy adjusting cylinder is fixedly mounted in the sealing shell. Through cooperation of the first six-edge cylinder, the second six-edge cylinder, the third six-edge cylinder, the fourth six-edge cylinder, the fixing plate and the driving mechanism, the buoyancy adjusting device is compact in overall structure, so that the overall weight is light, the size is effectively reduced, the adjusting precision is high through a worm and a worm gear, a complex hydraulic system does not need to be matched, and cost is low. Therefore, the cost is effectively reduced, and flexible navigation of the small underwater vehicle is facilitated; the problems that a buoyancy adjusting device on an existing small underwater vehicle needs to be matched with a complex hydraulic system, and consequently the buoyancy adjusting device is heavy in overall weight, large in size and low in adjusting precision are solved.